diff --git a/Inc/config.h b/Inc/config.h
index 9b8f6eefd..de2fe0f5f 100644
--- a/Inc/config.h
+++ b/Inc/config.h
@@ -110,6 +110,10 @@
 #define TEMP_POWEROFF           650       // overheat poweroff. (while not driving) [°C * 10]. Here 65.0 °C
 // ######################## END OF TEMPERATURE ###############################
 
+// ############################### ODOMETRY ######################################
+// #define ENABLE_ODOMETRY                   // [-] Enable hall sensor tick counters for wheel odometry (adds wheelR_cnt / wheelL_cnt to serial feedback)
+// ########################### END OF ODOMETRY ###################################
+
 
 
 // ############################### MOTOR CONTROL #########################
diff --git a/Src/bldc.c b/Src/bldc.c
index 03677f9b1..ccfb2912a 100644
--- a/Src/bldc.c
+++ b/Src/bldc.c
@@ -81,6 +81,23 @@ static int16_t offsetdcr    = 2000;
 int16_t        batVoltage       = (400 * BAT_CELLS * BAT_CALIB_ADC) / BAT_CALIB_REAL_VOLTAGE;
 static int32_t batVoltageFixdt  = (400 * BAT_CELLS * BAT_CALIB_ADC) / BAT_CALIB_REAL_VOLTAGE << 16;  // Fixed-point filter output initialized at 400 V*100/cell = 4 V/cell converted to fixed-point
 
+#ifdef ENABLE_ODOMETRY
+int16_t odom_l = 0;
+int16_t odom_r = 0;
+
+static uint16_t wp_l_prev = 0;
+static uint16_t wp_r_prev = 0;
+
+static int16_t hallTickModulo(int16_t m, int16_t n) {
+  return (((m % n) + n) % n);
+}
+
+static int16_t hallTickDirection(int16_t prev, int16_t curr) {
+  static const uint16_t dir_lut[6] = {0, -1, -2, 0, 2, 1};
+  return dir_lut[hallTickModulo(prev - curr, 6)];
+}
+#endif
+
 // =================================
 // DMA interrupt frequency =~ 16 kHz
 // =================================
@@ -202,6 +219,14 @@ void DMA1_Channel1_IRQHandler(void) {
   // motSpeedLeft = rtY_Left.n_mot;
   // motAngleLeft = rtY_Left.a_elecAngle;
 
+#ifdef ENABLE_ODOMETRY
+    // Hall sensor tick counter (left)
+    uint8_t encoding = (uint8_t)((hall_ul << 2) + (hall_vl << 1) + hall_wl);
+    int wheel_pos = rtConstP.vec_hallToPos_Value[encoding];
+    odom_l = hallTickModulo(odom_l + hallTickDirection(wp_l_prev, wheel_pos), 9000);
+    wp_l_prev = wheel_pos;
+#endif
+
     /* Apply commands */
     LEFT_TIM->LEFT_TIM_U    = (uint16_t)CLAMP(ul + pwm_res / 2, pwm_margin, pwm_res-pwm_margin);
     LEFT_TIM->LEFT_TIM_V    = (uint16_t)CLAMP(vl + pwm_res / 2, pwm_margin, pwm_res-pwm_margin);
@@ -240,6 +265,14 @@ void DMA1_Channel1_IRQHandler(void) {
  // motSpeedRight = rtY_Right.n_mot;
  // motAngleRight = rtY_Right.a_elecAngle;
 
+#ifdef ENABLE_ODOMETRY
+    // Hall sensor tick counter (right)
+    encoding = (uint8_t)((hall_ur << 2) + (hall_vr << 1) + hall_wr);
+    wheel_pos = rtConstP.vec_hallToPos_Value[encoding];
+    odom_r = hallTickModulo(odom_r - hallTickDirection(wp_r_prev, wheel_pos), 9000);
+    wp_r_prev = wheel_pos;
+#endif
+
     /* Apply commands */
     RIGHT_TIM->RIGHT_TIM_U  = (uint16_t)CLAMP(ur + pwm_res / 2, pwm_margin, pwm_res-pwm_margin);
     RIGHT_TIM->RIGHT_TIM_V  = (uint16_t)CLAMP(vr + pwm_res / 2, pwm_margin, pwm_res-pwm_margin);
diff --git a/Src/main.c b/Src/main.c
index 5946b1115..7a9196910 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -113,6 +113,11 @@ int16_t dc_curr;                 // global variable for Total DC Link current
 int16_t cmdL;                    // global variable for Left Command 
 int16_t cmdR;                    // global variable for Right Command 
 
+#ifdef ENABLE_ODOMETRY
+extern int16_t odom_l;
+extern int16_t odom_r;
+#endif
+
 //------------------------------------------------------------------------
 // Local variables
 //------------------------------------------------------------------------
@@ -123,6 +128,10 @@ typedef struct{
   int16_t   cmd2;
   int16_t   speedR_meas;
   int16_t   speedL_meas;
+#ifdef ENABLE_ODOMETRY
+  int16_t   wheelR_cnt;
+  int16_t   wheelL_cnt;
+#endif
   int16_t   batVoltage;
   int16_t   boardTemp;
   uint16_t  cmdLed;
@@ -514,13 +523,20 @@ int main(void) {
         Feedback.cmd2           = (int16_t)input2[inIdx].cmd;
         Feedback.speedR_meas	  = (int16_t)rtY_Right.n_mot;
         Feedback.speedL_meas	  = (int16_t)rtY_Left.n_mot;
+#ifdef ENABLE_ODOMETRY
+        Feedback.wheelR_cnt     = (int16_t)odom_r;
+        Feedback.wheelL_cnt     = (int16_t)odom_l;
+#endif
         Feedback.batVoltage	    = (int16_t)batVoltageCalib;
         Feedback.boardTemp	    = (int16_t)board_temp_deg_c;
 
         #if defined(FEEDBACK_SERIAL_USART2)
           if(__HAL_DMA_GET_COUNTER(huart2.hdmatx) == 0) {
             Feedback.cmdLed     = (uint16_t)sideboard_leds_L;
-            Feedback.checksum   = (uint16_t)(Feedback.start ^ Feedback.cmd1 ^ Feedback.cmd2 ^ Feedback.speedR_meas ^ Feedback.speedL_meas 
+            Feedback.checksum   = (uint16_t)(Feedback.start ^ Feedback.cmd1 ^ Feedback.cmd2 ^ Feedback.speedR_meas ^ Feedback.speedL_meas
+#ifdef ENABLE_ODOMETRY
+                                           ^ Feedback.wheelR_cnt ^ Feedback.wheelL_cnt
+#endif
                                            ^ Feedback.batVoltage ^ Feedback.boardTemp ^ Feedback.cmdLed);
 
             HAL_UART_Transmit_DMA(&huart2, (uint8_t *)&Feedback, sizeof(Feedback));
@@ -529,7 +545,10 @@ int main(void) {
         #if defined(FEEDBACK_SERIAL_USART3)
           if(__HAL_DMA_GET_COUNTER(huart3.hdmatx) == 0) {
             Feedback.cmdLed     = (uint16_t)sideboard_leds_R;
-            Feedback.checksum   = (uint16_t)(Feedback.start ^ Feedback.cmd1 ^ Feedback.cmd2 ^ Feedback.speedR_meas ^ Feedback.speedL_meas 
+            Feedback.checksum   = (uint16_t)(Feedback.start ^ Feedback.cmd1 ^ Feedback.cmd2 ^ Feedback.speedR_meas ^ Feedback.speedL_meas
+#ifdef ENABLE_ODOMETRY
+                                           ^ Feedback.wheelR_cnt ^ Feedback.wheelL_cnt
+#endif
                                            ^ Feedback.batVoltage ^ Feedback.boardTemp ^ Feedback.cmdLed);
 
             HAL_UART_Transmit_DMA(&huart3, (uint8_t *)&Feedback, sizeof(Feedback));