diff --git a/src/main/drivers/pwm_output.c b/src/main/drivers/pwm_output.c
index 0f15a467f4..94925f941f 100644
--- a/src/main/drivers/pwm_output.c
+++ b/src/main/drivers/pwm_output.c
@@ -266,8 +266,11 @@ static uint16_t prepareDshotPacket(const uint16_t value, bool requestTelemetry)
     return packet;
 }
 
-void pwmCompleteDshotUpdate(uint8_t motorCount, timeUs_t currentTimeUs)
+void pwmCompleteDshotUpdate(uint8_t motorCount)
 {
+    // Get latest REAL time
+    timeUs_t currentTimeUs = micros();
+
     // Enforce motor update rate
     if (!isProtocolDshot || (dshotMotorUpdateIntervalUs == 0) || ((currentTimeUs - dshotMotorLastUpdateUs) <= dshotMotorUpdateIntervalUs)) {
         return;
diff --git a/src/main/drivers/pwm_output.h b/src/main/drivers/pwm_output.h
index 68d7f68160..a7b6adfbf4 100644
--- a/src/main/drivers/pwm_output.h
+++ b/src/main/drivers/pwm_output.h
@@ -34,7 +34,7 @@ typedef enum {
 
 void pwmWriteMotor(uint8_t index, uint16_t value);
 void pwmShutdownPulsesForAllMotors(uint8_t motorCount);
-void pwmCompleteDshotUpdate(uint8_t motorCount, timeUs_t currentTimeUs);
+void pwmCompleteDshotUpdate(uint8_t motorCount);
 bool isMotorProtocolDshot(void);
 
 void pwmWriteServo(uint8_t index, uint16_t value);
diff --git a/src/main/drivers/timer_impl_hal.c b/src/main/drivers/timer_impl_hal.c
index 14f785ac99..1834d84c74 100644
--- a/src/main/drivers/timer_impl_hal.c
+++ b/src/main/drivers/timer_impl_hal.c
@@ -306,7 +306,11 @@ static void impl_timerDMA_IRQHandler(DMA_t descriptor)
 {
     if (DMA_GET_FLAG_STATUS(descriptor, DMA_IT_TCIF)) {
         TCH_t * tch = (TCH_t *)descriptor->userParam;
-        tch->dmaState = TCH_DMA_IDLE;
+
+        // If it was ACTIVE - switch to IDLE
+        if (tch->dmaState == TCH_DMA_ACTIVE) {
+            tch->dmaState = TCH_DMA_IDLE;
+        }
 
         LL_DMA_DisableStream(tch->dma->dma, lookupDMALLStreamTable[DMATAG_GET_STREAM(tch->timHw->dmaTag)]);
         LL_TIM_DisableDMAReq_CCx(tch->timHw->tim, lookupDMASourceTable[tch->timHw->channelIndex]);
@@ -376,15 +380,20 @@ void impl_timerPWMPrepareDMA(TCH_t * tch, uint32_t dmaBufferSize)
     const uint32_t streamLL = lookupDMALLStreamTable[DMATAG_GET_STREAM(tch->timHw->dmaTag)];
     DMA_TypeDef * dmaBase = tch->dma->dma;
 
-    tch->dmaState = TCH_DMA_READY;
+    // Make sure we terminate any DMA transaction currently in progress
+    // Clear the flag as well, so even if DMA transfer finishes while within ATOMIC_BLOCK
+    // the resulting IRQ won't mess up the DMA state
+    ATOMIC_BLOCK(NVIC_PRIO_MAX) {
+        LL_TIM_DisableDMAReq_CCx(tch->timHw->tim, lookupDMASourceTable[tch->timHw->channelIndex]);
+        LL_DMA_DisableStream(dmaBase, streamLL);
+        DMA_CLEAR_FLAG(tch->dma, DMA_IT_TCIF);
+    }
 
-    LL_TIM_DisableDMAReq_CCx(tch->timHw->tim, lookupDMASourceTable[tch->timHw->channelIndex]);
-
-    LL_DMA_DisableStream(dmaBase, streamLL);
     LL_DMA_SetDataLength(dmaBase, streamLL, dmaBufferSize);
     LL_DMA_ConfigAddresses(dmaBase, streamLL, (uint32_t)tch->dmaBuffer, (uint32_t)impl_timerCCR(tch), LL_DMA_DIRECTION_MEMORY_TO_PERIPH);
     LL_DMA_EnableIT_TC(dmaBase, streamLL);
     LL_DMA_EnableStream(dmaBase, streamLL);
+    tch->dmaState = TCH_DMA_READY;
 }
 
 void impl_timerPWMStartDMA(TCH_t * tch)
diff --git a/src/main/drivers/timer_impl_stdperiph.c b/src/main/drivers/timer_impl_stdperiph.c
index 0c232ffe9f..17ccae91c2 100644
--- a/src/main/drivers/timer_impl_stdperiph.c
+++ b/src/main/drivers/timer_impl_stdperiph.c
@@ -347,9 +347,18 @@ bool impl_timerPWMConfigChannelDMA(TCH_t * tch, void * dmaBuffer, uint32_t dmaBu
 
 void impl_timerPWMPrepareDMA(TCH_t * tch, uint32_t dmaBufferSize)
 {
-    tch->dmaState = TCH_DMA_READY;
+    // Make sure we terminate any DMA transaction currently in progress
+    // Clear the flag as well, so even if DMA transfer finishes while within ATOMIC_BLOCK
+    // the resulting IRQ won't mess up the DMA state
+    ATOMIC_BLOCK(NVIC_PRIO_MAX) {
+        DMA_Cmd(tch->dma->ref, DISABLE);
+        TIM_DMACmd(tch->timHw->tim, lookupDMASourceTable[tch->timHw->channelIndex], DISABLE);
+        DMA_CLEAR_FLAG(tch->dma, DMA_IT_TCIF);
+    }
+
     DMA_SetCurrDataCounter(tch->dma->ref, dmaBufferSize);
     DMA_Cmd(tch->dma->ref, ENABLE);
+    tch->dmaState = TCH_DMA_READY;
 }
 
 void impl_timerPWMStartDMA(TCH_t * tch)
diff --git a/src/main/fc/fc_core.c b/src/main/fc/fc_core.c
index c2da7bf6d2..a9ce120e2d 100755
--- a/src/main/fc/fc_core.c
+++ b/src/main/fc/fc_core.c
@@ -784,7 +784,7 @@ void taskRunRealtimeCallbacks(timeUs_t currentTimeUs)
 #endif
 
 #ifdef USE_DSHOT
-    pwmCompleteDshotUpdate(getMotorCount(), currentTimeUs);
+    pwmCompleteDshotUpdate(getMotorCount());
 #endif
 }