diff --git a/Cargo.lock b/Cargo.lock
index 3fabcd0..5ddb9d9 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -532,12 +532,6 @@ dependencies = [
  "autocfg",
 ]
 
-[[package]]
-name = "panic-halt"
-version = "0.2.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "de96540e0ebde571dc55c73d60ef407c653844e6f9a1e2fdbd40c07b9252d812"
-
 [[package]]
 name = "panic-semihosting"
 version = "0.5.6"
@@ -740,7 +734,6 @@ dependencies = [
  "mcp23017",
  "miniconf",
  "nb 1.0.0",
- "panic-halt",
  "panic-semihosting",
  "paste",
  "serde",
diff --git a/Cargo.toml b/Cargo.toml
index 584f777..f49855f 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -33,7 +33,6 @@ cortex-m-rt = { version = "0.6", features = ["device"] }
 cortex-m-log = { version = "0.7", features = ["log-integration"] }
 log = "0.4"
 panic-semihosting = { version = "0.5", optional = true }
-panic-halt = "0.2"
 serde = { version = "1.0", features = ["derive"], default-features = false }
 heapless = { version = "0.5", features = ["serde"] }
 cortex-m-rtic = "0.5.6"
diff --git a/src/hardware/configuration.rs b/src/hardware/configuration.rs
index 07fbd32..aead723 100644
--- a/src/hardware/configuration.rs
+++ b/src/hardware/configuration.rs
@@ -865,6 +865,14 @@ pub fn setup(
         None
     };
 
+    let cycle_counter = {
+        // Set TRCENA bit, which is required for DWT counter to tick. (This is also
+        // set automatically when running in the debugger, and only cleared on power
+        // reset, not on soft reset.)
+        core.DCB.enable_trace();
+        CycleCounter::new(core.DWT, ccdr.clocks.c_ck())
+    };
+
     let stabilizer = StabilizerDevices {
         afes,
         adcs,
@@ -873,7 +881,7 @@ pub fn setup(
         net: network_devices,
         adc_dac_timer: sampling_timer,
         timestamp_timer,
-        cycle_counter: CycleCounter::new(core.DWT, ccdr.clocks.c_ck()),
+        cycle_counter,
     };
 
     // info!("Version {} {}", build_info::PKG_VERSION, build_info::GIT_VERSION.unwrap());
diff --git a/src/hardware/mod.rs b/src/hardware/mod.rs
index 0fa6d65..cc7a34a 100644
--- a/src/hardware/mod.rs
+++ b/src/hardware/mod.rs
@@ -4,9 +4,6 @@ use stm32h7xx_hal as hal;
 #[cfg(feature = "semihosting")]
 use panic_semihosting as _;
 
-#[cfg(not(any(feature = "nightly", feature = "semihosting")))]
-use panic_halt as _;
-
 mod adc;
 mod afe;
 mod configuration;
@@ -47,15 +44,16 @@ pub use configuration::{setup, PounderDevices, StabilizerDevices};
 
 #[inline(never)]
 #[panic_handler]
-#[cfg(all(feature = "nightly", not(feature = "semihosting")))]
+#[cfg(all(not(feature = "semihosting")))]
 fn panic(_info: &core::panic::PanicInfo) -> ! {
     let gpiod = unsafe { &*hal::stm32::GPIOD::ptr() };
-    gpiod.odr.modify(|_, w| w.odr6().high().odr12().high()); // FP_LED_1, FP_LED_3
-    #[cfg(feature = "nightly")]
-    core::intrinsics::abort();
-    #[cfg(not(feature = "nightly"))]
-    unsafe {
-        core::intrinsics::abort();
+    // Turn on both red LEDs, FP_LED_1, FP_LED_3
+    gpiod.odr.modify(|_, w| w.odr6().high().odr12().high());
+    loop {
+        // Halt
+        core::sync::atomic::compiler_fence(
+            core::sync::atomic::Ordering::SeqCst,
+        );
     }
 }