diff --git a/src/main/drivers/bus_i2c_hal.c b/src/main/drivers/bus_i2c_hal.c
index 4bb46c6a4a..2f55afaba7 100644
--- a/src/main/drivers/bus_i2c_hal.c
+++ b/src/main/drivers/bus_i2c_hal.c
@@ -115,9 +115,9 @@ bool i2cWrite(I2CDevice device, uint8_t addr_, uint8_t reg_, uint8_t data)
     HAL_StatusTypeDef status;
 
     if (reg_ == 0xFF)
-        status = HAL_I2C_Master_Transmit(pHandle ,addr_ << 1, &data, 1, I2C_DEFAULT_TIMEOUT);
+        status = HAL_I2C_Master_Transmit(pHandle ,addr_ << 1, &data, 1, I2C_TIMEOUT_SYS_TICKS);
     else
-        status = HAL_I2C_Mem_Write(pHandle ,addr_ << 1, reg_, I2C_MEMADD_SIZE_8BIT, &data, 1, I2C_DEFAULT_TIMEOUT);
+        status = HAL_I2C_Mem_Write(pHandle ,addr_ << 1, reg_, I2C_MEMADD_SIZE_8BIT, &data, 1, I2C_TIMEOUT_SYS_TICKS);
 
     if (status != HAL_OK)
         return i2cHandleHardwareFailure(device);
@@ -170,9 +170,9 @@ bool i2cRead(I2CDevice device, uint8_t addr_, uint8_t reg_, uint8_t len, uint8_t
     HAL_StatusTypeDef status;
 
     if (reg_ == 0xFF)
-        status = HAL_I2C_Master_Receive(pHandle ,addr_ << 1, buf, len, I2C_DEFAULT_TIMEOUT);
+        status = HAL_I2C_Master_Receive(pHandle ,addr_ << 1, buf, len, I2C_TIMEOUT_SYS_TICKS);
     else
-        status = HAL_I2C_Mem_Read(pHandle, addr_ << 1, reg_, I2C_MEMADD_SIZE_8BIT,buf, len, I2C_DEFAULT_TIMEOUT);
+        status = HAL_I2C_Mem_Read(pHandle, addr_ << 1, reg_, I2C_MEMADD_SIZE_8BIT,buf, len, I2C_TIMEOUT_SYS_TICKS);
 
     if (status != HAL_OK) {
         return i2cHandleHardwareFailure(device);
diff --git a/src/main/drivers/bus_i2c_impl.h b/src/main/drivers/bus_i2c_impl.h
index 5589f9d522..318f5e7243 100644
--- a/src/main/drivers/bus_i2c_impl.h
+++ b/src/main/drivers/bus_i2c_impl.h
@@ -25,9 +25,8 @@
 #include "drivers/io_types.h"
 #include "drivers/rcc_types.h"
 
-#define I2C_SHORT_TIMEOUT            ((uint32_t)0x1000)
-#define I2C_LONG_TIMEOUT             ((uint32_t)(10 * I2C_SHORT_TIMEOUT))
-#define I2C_DEFAULT_TIMEOUT          I2C_SHORT_TIMEOUT
+#define I2C_TIMEOUT_US          10000
+#define I2C_TIMEOUT_SYS_TICKS   (I2C_TIMEOUT_US / 1000)
 
 #define I2C_PIN_SEL_MAX 4
 
diff --git a/src/main/drivers/bus_i2c_stm32f10x.c b/src/main/drivers/bus_i2c_stm32f10x.c
index 673617474f..6c66536391 100644
--- a/src/main/drivers/bus_i2c_stm32f10x.c
+++ b/src/main/drivers/bus_i2c_stm32f10x.c
@@ -182,7 +182,7 @@ bool i2cWriteBuffer(I2CDevice device, uint8_t addr_, uint8_t reg_, uint8_t len_,
         return false;
     }
 
-    uint32_t timeout = I2C_DEFAULT_TIMEOUT;
+    timeUs_t timeoutStartUs = microsISR();
 
     state->addr = addr_ << 1;
     state->reg = reg_;
@@ -196,9 +196,11 @@ bool i2cWriteBuffer(I2CDevice device, uint8_t addr_, uint8_t reg_, uint8_t len_,
 
     if (!(I2Cx->CR2 & I2C_IT_EVT)) {                                    // if we are restarting the driver
         if (!(I2Cx->CR1 & I2C_CR1_START)) {                             // ensure sending a start
-            while (I2Cx->CR1 & I2C_CR1_STOP && --timeout > 0) {; }     // wait for any stop to finish sending
-            if (timeout == 0)
-                return i2cHandleHardwareFailure(device);
+            while (I2Cx->CR1 & I2C_CR1_STOP) {                          // wait for any stop to finish sending
+                if (cmpTimeUs(microsISR(), timeoutStartUs) >= I2C_TIMEOUT_US) {
+                    return i2cHandleHardwareFailure(device);
+                }
+            }
             I2C_GenerateSTART(I2Cx, ENABLE);                            // send the start for the new job
         }
         I2C_ITConfig(I2Cx, I2C_IT_EVT | I2C_IT_ERR, ENABLE);            // allow the interrupts to fire off again
@@ -220,11 +222,13 @@ bool i2cBusy(I2CDevice device, bool *error)
 bool i2cWait(I2CDevice device)
 {
     i2cState_t *state = &i2cDevice[device].state;
-    uint32_t timeout = I2C_DEFAULT_TIMEOUT;
+    timeUs_t timeoutStartUs = microsISR();
 
-    while (state->busy && --timeout > 0) {; }
-    if (timeout == 0)
-        return i2cHandleHardwareFailure(device) && i2cWait(device);
+    while (state->busy) {
+        if (cmpTimeUs(microsISR(), timeoutStartUs) >= I2C_TIMEOUT_US) {
+            return i2cHandleHardwareFailure(device) && i2cWait(device);
+        }
+    }
 
     return !(state->error);
 }
@@ -250,7 +254,7 @@ bool i2cReadBuffer(I2CDevice device, uint8_t addr_, uint8_t reg_, uint8_t len, u
         return false;
     }
 
-    uint32_t timeout = I2C_DEFAULT_TIMEOUT;
+    timeUs_t timeoutStartUs = microsISR();
 
     state->addr = addr_ << 1;
     state->reg = reg_;
@@ -264,9 +268,11 @@ bool i2cReadBuffer(I2CDevice device, uint8_t addr_, uint8_t reg_, uint8_t len, u
 
     if (!(I2Cx->CR2 & I2C_IT_EVT)) {                                    // if we are restarting the driver
         if (!(I2Cx->CR1 & I2C_CR1_START)) {                             // ensure sending a start
-            while (I2Cx->CR1 & I2C_CR1_STOP && --timeout > 0) {; }     // wait for any stop to finish sending
-            if (timeout == 0)
-                return i2cHandleHardwareFailure(device);
+            while (I2Cx->CR1 & I2C_CR1_STOP) {                          // wait for any stop to finish sending
+                if (cmpTimeUs(microsISR(), timeoutStartUs) >= I2C_TIMEOUT_US) {
+                    return i2cHandleHardwareFailure(device);
+                }
+            }
             I2C_GenerateSTART(I2Cx, ENABLE);                            // send the start for the new job
         }
         I2C_ITConfig(I2Cx, I2C_IT_EVT | I2C_IT_ERR, ENABLE);            // allow the interrupts to fire off again
diff --git a/src/main/drivers/bus_i2c_stm32f30x.c b/src/main/drivers/bus_i2c_stm32f30x.c
index 8c2d35db8f..b3f68cd783 100644
--- a/src/main/drivers/bus_i2c_stm32f30x.c
+++ b/src/main/drivers/bus_i2c_stm32f30x.c
@@ -32,6 +32,7 @@
 #include "drivers/io.h"
 #include "drivers/io_impl.h"
 #include "drivers/rcc.h"
+#include "drivers/time.h"
 
 #include "drivers/bus_i2c.h"
 #include "drivers/bus_i2c_impl.h"
@@ -44,8 +45,6 @@
 
 #define I2C_GPIO_AF         GPIO_AF_4
 
-static uint32_t i2cTimeout;
-
 static volatile uint16_t i2cErrorCount = 0;
 
 const i2cHardware_t i2cHardware[I2CDEV_COUNT] = {
@@ -144,10 +143,12 @@ bool i2cWrite(I2CDevice device, uint8_t addr_, uint8_t reg, uint8_t data)
 
     addr_ <<= 1;
 
+    timeUs_t timeoutStartUs;
+
     /* Test on BUSY Flag */
-    i2cTimeout = I2C_LONG_TIMEOUT;
+    timeoutStartUs = microsISR();
     while (I2C_GetFlagStatus(I2Cx, I2C_ISR_BUSY) != RESET) {
-        if ((i2cTimeout--) == 0) {
+        if (cmpTimeUs(microsISR(), timeoutStartUs) >= I2C_TIMEOUT_US) {
             return i2cTimeoutUserCallback();
         }
     }
@@ -156,9 +157,9 @@ bool i2cWrite(I2CDevice device, uint8_t addr_, uint8_t reg, uint8_t data)
     I2C_TransferHandling(I2Cx, addr_, 1, I2C_Reload_Mode, I2C_Generate_Start_Write);
 
     /* Wait until TXIS flag is set */
-    i2cTimeout = I2C_LONG_TIMEOUT;
+    timeoutStartUs = microsISR();
     while (I2C_GetFlagStatus(I2Cx, I2C_ISR_TXIS) == RESET) {
-        if ((i2cTimeout--) == 0) {
+        if (cmpTimeUs(microsISR(), timeoutStartUs) >= I2C_TIMEOUT_US) {
             return i2cTimeoutUserCallback();
         }
     }
@@ -167,10 +168,9 @@ bool i2cWrite(I2CDevice device, uint8_t addr_, uint8_t reg, uint8_t data)
     I2C_SendData(I2Cx, (uint8_t) reg);
 
     /* Wait until TCR flag is set */
-    i2cTimeout = I2C_LONG_TIMEOUT;
-    while (I2C_GetFlagStatus(I2Cx, I2C_ISR_TCR) == RESET)
-    {
-        if ((i2cTimeout--) == 0) {
+    timeoutStartUs = microsISR();
+    while (I2C_GetFlagStatus(I2Cx, I2C_ISR_TCR) == RESET) {
+        if (cmpTimeUs(microsISR(), timeoutStartUs) >= I2C_TIMEOUT_US) {
             return i2cTimeoutUserCallback();
         }
     }
@@ -179,9 +179,9 @@ bool i2cWrite(I2CDevice device, uint8_t addr_, uint8_t reg, uint8_t data)
     I2C_TransferHandling(I2Cx, addr_, 1, I2C_AutoEnd_Mode, I2C_No_StartStop);
 
     /* Wait until TXIS flag is set */
-    i2cTimeout = I2C_LONG_TIMEOUT;
+    timeoutStartUs = microsISR();
     while (I2C_GetFlagStatus(I2Cx, I2C_ISR_TXIS) == RESET) {
-        if ((i2cTimeout--) == 0) {
+        if (cmpTimeUs(microsISR(), timeoutStartUs) >= I2C_TIMEOUT_US) {
             return i2cTimeoutUserCallback();
         }
     }
@@ -190,9 +190,9 @@ bool i2cWrite(I2CDevice device, uint8_t addr_, uint8_t reg, uint8_t data)
     I2C_SendData(I2Cx, data);
 
     /* Wait until STOPF flag is set */
-    i2cTimeout = I2C_LONG_TIMEOUT;
+    timeoutStartUs = microsISR();
     while (I2C_GetFlagStatus(I2Cx, I2C_ISR_STOPF) == RESET) {
-        if ((i2cTimeout--) == 0) {
+        if (cmpTimeUs(microsISR(), timeoutStartUs) >= I2C_TIMEOUT_US) {
             return i2cTimeoutUserCallback();
         }
     }
@@ -217,10 +217,12 @@ bool i2cRead(I2CDevice device, uint8_t addr_, uint8_t reg, uint8_t len, uint8_t*
 
     addr_ <<= 1;
 
+    timeUs_t timeoutStartUs;
+
     /* Test on BUSY Flag */
-    i2cTimeout = I2C_LONG_TIMEOUT;
+    timeoutStartUs = microsISR();
     while (I2C_GetFlagStatus(I2Cx, I2C_ISR_BUSY) != RESET) {
-        if ((i2cTimeout--) == 0) {
+        if (cmpTimeUs(microsISR(), timeoutStartUs) >= I2C_TIMEOUT_US) {
             return i2cTimeoutUserCallback();
         }
     }
@@ -229,9 +231,9 @@ bool i2cRead(I2CDevice device, uint8_t addr_, uint8_t reg, uint8_t len, uint8_t*
     I2C_TransferHandling(I2Cx, addr_, 1, I2C_SoftEnd_Mode, I2C_Generate_Start_Write);
 
     /* Wait until TXIS flag is set */
-    i2cTimeout = I2C_LONG_TIMEOUT;
+    timeoutStartUs = microsISR();
     while (I2C_GetFlagStatus(I2Cx, I2C_ISR_TXIS) == RESET) {
-        if ((i2cTimeout--) == 0) {
+        if (cmpTimeUs(microsISR(), timeoutStartUs) >= I2C_TIMEOUT_US) {
             return i2cTimeoutUserCallback();
         }
     }
@@ -240,9 +242,9 @@ bool i2cRead(I2CDevice device, uint8_t addr_, uint8_t reg, uint8_t len, uint8_t*
     I2C_SendData(I2Cx, (uint8_t) reg);
 
     /* Wait until TC flag is set */
-    i2cTimeout = I2C_LONG_TIMEOUT;
+    timeoutStartUs = microsISR();
     while (I2C_GetFlagStatus(I2Cx, I2C_ISR_TC) == RESET) {
-        if ((i2cTimeout--) == 0) {
+        if (cmpTimeUs(microsISR(), timeoutStartUs) >= I2C_TIMEOUT_US) {
             return i2cTimeoutUserCallback();
         }
     }
@@ -253,9 +255,9 @@ bool i2cRead(I2CDevice device, uint8_t addr_, uint8_t reg, uint8_t len, uint8_t*
     /* Wait until all data are received */
     while (len) {
         /* Wait until RXNE flag is set */
-        i2cTimeout = I2C_LONG_TIMEOUT;
+        timeoutStartUs = microsISR();
         while (I2C_GetFlagStatus(I2Cx, I2C_ISR_RXNE) == RESET) {
-            if ((i2cTimeout--) == 0) {
+            if (cmpTimeUs(microsISR(), timeoutStartUs) >= I2C_TIMEOUT_US) {
                 return i2cTimeoutUserCallback();
             }
         }
@@ -270,9 +272,9 @@ bool i2cRead(I2CDevice device, uint8_t addr_, uint8_t reg, uint8_t len, uint8_t*
     }
 
     /* Wait until STOPF flag is set */
-    i2cTimeout = I2C_LONG_TIMEOUT;
+    timeoutStartUs = microsISR();
     while (I2C_GetFlagStatus(I2Cx, I2C_ISR_STOPF) == RESET) {
-        if ((i2cTimeout--) == 0) {
+        if (cmpTimeUs(microsISR(), timeoutStartUs) >= I2C_TIMEOUT_US) {
             return i2cTimeoutUserCallback();
         }
     }