diff --git a/board/drivers/bxcan.h b/board/drivers/bxcan.h
index 523e68d6..7feec4cf 100644
--- a/board/drivers/bxcan.h
+++ b/board/drivers/bxcan.h
@@ -3,6 +3,11 @@
 //       CAN3_TX, CAN3_RX0, CAN3_SCE
 
 CAN_TypeDef *cans[] = {CAN1, CAN2, CAN3};
+uint8_t can_irq_number[3][3] = {
+  { CAN1_TX_IRQn, CAN1_RX0_IRQn, CAN1_SCE_IRQn },
+  { CAN2_TX_IRQn, CAN2_RX0_IRQn, CAN2_SCE_IRQn },
+  { CAN3_TX_IRQn, CAN3_RX0_IRQn, CAN3_SCE_IRQn },
+};
 
 bool can_set_speed(uint8_t can_number) {
   bool ret = true;
@@ -72,17 +77,6 @@ void update_can_health_pkt(uint8_t can_number, uint32_t ir_reg) {
   CAN_TypeDef *CAN = CANIF_FROM_CAN_NUM(can_number);
   uint32_t esr_reg = CAN->ESR;
 
-  if (ir_reg != 0U) {
-    can_health[can_number].total_error_cnt += 1U;
-
-    // RX message lost due to FIFO overrun
-    if ((CAN->RF0R & (CAN_RF0R_FOVR0)) != 0) {
-      can_health[can_number].total_rx_lost_cnt += 1U;
-      CAN->RF0R &= ~(CAN_RF0R_FOVR0);
-    }
-    llcan_clear_send(CAN);
-  }
-
   can_health[can_number].bus_off = ((esr_reg & CAN_ESR_BOFF) >> CAN_ESR_BOFF_Pos);
   can_health[can_number].bus_off_cnt += can_health[can_number].bus_off;
   can_health[can_number].error_warning = ((esr_reg & CAN_ESR_EWGF) >> CAN_ESR_EWGF_Pos);
@@ -95,6 +89,22 @@ void update_can_health_pkt(uint8_t can_number, uint32_t ir_reg) {
 
   can_health[can_number].receive_error_cnt = ((esr_reg & CAN_ESR_REC) >> CAN_ESR_REC_Pos);
   can_health[can_number].transmit_error_cnt = ((esr_reg & CAN_ESR_TEC) >> CAN_ESR_TEC_Pos);
+
+  can_health[can_number].irq0_call_rate = interrupts[can_irq_number[can_number][0]].call_rate;
+  can_health[can_number].irq1_call_rate = interrupts[can_irq_number[can_number][1]].call_rate;
+  can_health[can_number].irq2_call_rate = interrupts[can_irq_number[can_number][2]].call_rate;
+
+  if (ir_reg != 0U) {
+    can_health[can_number].total_error_cnt += 1U;
+
+    // RX message lost due to FIFO overrun
+    if ((CAN->RF0R & (CAN_RF0R_FOVR0)) != 0) {
+      can_health[can_number].total_rx_lost_cnt += 1U;
+      CAN->RF0R &= ~(CAN_RF0R_FOVR0);
+    }
+    can_health[can_number].can_core_reset_cnt += 1U;
+    llcan_clear_send(CAN);
+  }
 }
 
 // ***************************** CAN *****************************
diff --git a/board/drivers/fdcan.h b/board/drivers/fdcan.h
index c0a9021a..3b43128a 100644
--- a/board/drivers/fdcan.h
+++ b/board/drivers/fdcan.h
@@ -11,6 +11,12 @@ typedef struct {
 
 FDCAN_GlobalTypeDef *cans[] = {FDCAN1, FDCAN2, FDCAN3};
 
+uint8_t can_irq_number[3][2] = {
+  { FDCAN1_IT0_IRQn, FDCAN1_IT1_IRQn },
+  { FDCAN2_IT0_IRQn, FDCAN2_IT1_IRQn },
+  { FDCAN3_IT0_IRQn, FDCAN3_IT1_IRQn },
+};
+
 bool can_set_speed(uint8_t can_number) {
   bool ret = true;
   FDCAN_GlobalTypeDef *CANx = CANIF_FROM_CAN_NUM(can_number);
@@ -57,14 +63,19 @@ void update_can_health_pkt(uint8_t can_number, uint32_t ir_reg) {
   can_health[can_number].receive_error_cnt = ((ecr_reg & FDCAN_ECR_REC) >> FDCAN_ECR_REC_Pos);
   can_health[can_number].transmit_error_cnt = ((ecr_reg & FDCAN_ECR_TEC) >> FDCAN_ECR_TEC_Pos);
 
+  can_health[can_number].irq0_call_rate = interrupts[can_irq_number[can_number][0]].call_rate;
+  can_health[can_number].irq1_call_rate = interrupts[can_irq_number[can_number][1]].call_rate;
+
 
   if (ir_reg != 0U) {
     can_health[can_number].total_error_cnt += 1U;
     if ((ir_reg & (FDCAN_IR_RF0L)) != 0) {
       can_health[can_number].total_rx_lost_cnt += 1U;
     }
-    // Actually reset can core only on arbitration or data phase errors and when CEL couter reaches at least 100 errors
+    // Reset CAN core when CEL couter reaches at least 100 errors
     if (((ir_reg & (FDCAN_IR_PED | FDCAN_IR_PEA)) != 0) && (((ecr_reg & FDCAN_ECR_CEL) >> FDCAN_ECR_CEL_Pos) >= 100U)) {
+      can_health[can_number].can_core_reset_cnt += 1U;
+      can_health[can_number].total_tx_lost_cnt += (FDCAN_TX_FIFO_EL_CNT - (FDCAN_TXFQS_TFFL & FDCAN_TXFQS_TFFL_Msk)); // TX FIFO msgs will be lost after reset
       llcan_clear_send(CANx);
     }
     // Clear error interrupts
@@ -128,7 +139,6 @@ void process_can(uint8_t can_number) {
         refresh_can_tx_slots_available();
       }
     }
-
     EXIT_CRITICAL();
   }
 }
diff --git a/board/health.h b/board/health.h
index 4dce741f..9d9dcfb3 100644
--- a/board/health.h
+++ b/board/health.h
@@ -31,7 +31,7 @@ struct __attribute__((packed)) health_t {
   uint16_t sbu2_voltage_mV;
 };
 
-#define CAN_HEALTH_PACKET_VERSION 4
+#define CAN_HEALTH_PACKET_VERSION 5
 typedef struct __attribute__((packed)) {
   uint8_t bus_off;
   uint32_t bus_off_cnt;
@@ -55,4 +55,8 @@ typedef struct __attribute__((packed)) {
   uint8_t canfd_enabled;
   uint8_t brs_enabled;
   uint8_t canfd_non_iso;
+  uint32_t irq0_call_rate;
+  uint32_t irq1_call_rate;
+  uint32_t irq2_call_rate;
+  uint32_t can_core_reset_cnt;
 } can_health_t;
diff --git a/python/__init__.py b/python/__init__.py
index 0a266d47..705e62cf 100644
--- a/python/__init__.py
+++ b/python/__init__.py
@@ -201,9 +201,9 @@ class Panda:
 
   CAN_PACKET_VERSION = 4
   HEALTH_PACKET_VERSION = 14
-  CAN_HEALTH_PACKET_VERSION = 4
+  CAN_HEALTH_PACKET_VERSION = 5
   HEALTH_STRUCT = struct.Struct("<IIIIIIIIIBBBBBBHBBBHfBBHBHH")
-  CAN_HEALTH_STRUCT = struct.Struct("<BIBBBBBBBBIIIIIIIHHBBB")
+  CAN_HEALTH_STRUCT = struct.Struct("<BIBBBBBBBBIIIIIIIHHBBBIIII")
 
   F2_DEVICES = (HW_TYPE_PEDAL, )
   F4_DEVICES = (HW_TYPE_WHITE_PANDA, HW_TYPE_GREY_PANDA, HW_TYPE_BLACK_PANDA, HW_TYPE_UNO, HW_TYPE_DOS)
@@ -650,6 +650,10 @@ class Panda:
       "canfd_enabled": a[19],
       "brs_enabled": a[20],
       "canfd_non_iso": a[21],
+      "irq0_call_rate": a[22],
+      "irq1_call_rate": a[23],
+      "irq2_call_rate": a[24],
+      "can_core_reset_count": a[25],
     }
 
   # ******************* control *******************