diff --git a/justfile b/justfile
index a8fa389..0742af3 100644
--- a/justfile
+++ b/justfile
@@ -1,5 +1,5 @@
 kernel-dev board:
-    cargo run --bin kernel --features {{board}}
+    cargo run --bin kernel --features {{board}} --features fps
 kernel-release board:
     cargo build --bin kernel --release --no-default-features --features {{board}}
     elf2uf2-rs -d target/thumbv8m.main-none-eabihf/release/kernel
diff --git a/kernel/Cargo.toml b/kernel/Cargo.toml
index d890cba..5ccc973 100644
--- a/kernel/Cargo.toml
+++ b/kernel/Cargo.toml
@@ -30,6 +30,7 @@ defmt = [
   # "cyw43/defmt",
   # "cyw43-pio/defmt",
 ]
+fps = []
 
 [dependencies]
 embassy-executor = { version = "0.9", features = [
diff --git a/kernel/src/display.rs b/kernel/src/display.rs
index 742c719..de39410 100644
--- a/kernel/src/display.rs
+++ b/kernel/src/display.rs
@@ -15,6 +15,9 @@ use embedded_graphics::{
 use embedded_hal_bus::spi::ExclusiveDevice;
 use st7365p_lcd::ST7365P;
 
+#[cfg(feature = "fps")]
+pub use fps::FPS_COUNTER;
+
 type DISPLAY = ST7365P<
     ExclusiveDevice<Spi<'static, SPI1, Async>, Output<'static>, Delay>,
     Output<'static>,
@@ -90,7 +93,176 @@ pub async fn display_handler(mut display: DISPLAY) {
             };
         }
 
+        #[cfg(feature = "fps")]
+        if unsafe { FPS_COUNTER.should_draw() } {
+            fps::draw_fps(&mut display).await;
+        }
+
         // small yield to allow other tasks to run
-        Timer::after_nanos(500).await;
+        Timer::after_millis(10).await;
+    }
+}
+
+#[cfg(feature = "fps")]
+mod fps {
+    use crate::display::{DISPLAY, SCREEN_WIDTH};
+    use core::fmt::Write;
+    use embassy_time::{Duration, Instant};
+    use embedded_graphics::{
+        Drawable, Pixel,
+        draw_target::DrawTarget,
+        geometry::Point,
+        mono_font::{MonoTextStyle, ascii::FONT_8X13},
+        pixelcolor::Rgb565,
+        prelude::{IntoStorage, OriginDimensions, RgbColor, Size},
+        text::{Alignment, Text},
+    };
+
+    pub static mut FPS_COUNTER: FpsCounter = FpsCounter::new();
+    pub static mut FPS_CANVAS: FpsCanvas = FpsCanvas::new();
+
+    pub async fn draw_fps(mut display: &mut DISPLAY) {
+        let mut buf: heapless::String<FPS_LEN> = heapless::String::new();
+        let fps = unsafe { FPS_COUNTER.smoothed };
+        let _ = write!(buf, "FPS: {}", fps as u8);
+
+        unsafe { FPS_CANVAS.clear() };
+        let text_style = MonoTextStyle::new(&FONT_8X13, Rgb565::WHITE);
+        Text::with_alignment(
+            buf.as_str(),
+            Point::new(
+                FPS_CANVAS_WIDTH as i32 / 2,
+                (FPS_CANVAS_HEIGHT as i32 + 8) / 2,
+            ),
+            text_style,
+            Alignment::Center,
+        )
+        .draw(unsafe { &mut FPS_CANVAS })
+        .unwrap();
+
+        unsafe { FPS_CANVAS.draw(&mut display).await };
+    }
+
+    // "FPS: 120" = 8 len
+    const FPS_LEN: usize = 8;
+    const FPS_CANVAS_WIDTH: usize = (FONT_8X13.character_size.width + 4) as usize * FPS_LEN;
+    const FPS_CANVAS_HEIGHT: usize = FONT_8X13.character_size.height as usize;
+
+    pub struct FpsCanvas {
+        canvas: [u16; FPS_CANVAS_HEIGHT * FPS_CANVAS_WIDTH],
+        top_left: Point,
+    }
+
+    impl FpsCanvas {
+        const fn new() -> Self {
+            let top_right = Point::new((SCREEN_WIDTH - FPS_CANVAS_WIDTH) as i32, 0);
+            Self {
+                canvas: [0; FPS_CANVAS_HEIGHT * FPS_CANVAS_WIDTH],
+                top_left: top_right,
+            }
+        }
+
+        fn clear(&mut self) {
+            for p in &mut self.canvas {
+                *p = 0;
+            }
+        }
+
+        async fn draw(&self, display: &mut DISPLAY) {
+            let top_left = self.top_left;
+
+            for y in 0..FPS_CANVAS_HEIGHT {
+                let row_start = y * FPS_CANVAS_WIDTH;
+                let row_end = row_start + FPS_CANVAS_WIDTH;
+                let row = &self.canvas[row_start..row_end];
+
+                display
+                    .set_pixels_buffered(
+                        top_left.x as u16,
+                        top_left.y as u16 + y as u16,
+                        top_left.x as u16 + FPS_CANVAS_WIDTH as u16 - 1,
+                        y as u16,
+                        row,
+                    )
+                    .await
+                    .unwrap();
+            }
+        }
+    }
+
+    impl DrawTarget for FpsCanvas {
+        type Error = ();
+        type Color = Rgb565;
+
+        fn draw_iter<I>(&mut self, pixels: I) -> Result<(), Self::Error>
+        where
+            I: IntoIterator<Item = Pixel<Self::Color>>,
+        {
+            for Pixel(point, color) in pixels {
+                if point.x < 0
+                    || point.x >= FPS_CANVAS_WIDTH as i32
+                    || point.y < 0
+                    || point.y >= FPS_CANVAS_HEIGHT as i32
+                {
+                    continue;
+                }
+
+                let index = (point.y as usize) * FPS_CANVAS_WIDTH + point.x as usize;
+                self.canvas[index] = color.into_storage();
+            }
+            Ok(())
+        }
+    }
+
+    impl OriginDimensions for FpsCanvas {
+        fn size(&self) -> Size {
+            Size::new(FPS_CANVAS_WIDTH as u32, FPS_CANVAS_HEIGHT as u32)
+        }
+    }
+
+    pub struct FpsCounter {
+        last_frame: Option<Instant>,
+        smoothed: f32,
+        last_draw: Option<Instant>,
+    }
+
+    impl FpsCounter {
+        pub const fn new() -> Self {
+            Self {
+                last_frame: None,
+                smoothed: 0.0,
+                last_draw: None,
+            }
+        }
+
+        // Is called once per frame or partial frame to update FPS
+        pub fn measure(&mut self) {
+            let now = Instant::now();
+
+            if let Some(last) = self.last_frame {
+                let dt_us = (now - last).as_micros() as f32;
+                if dt_us > 0.0 {
+                    let current = 1_000_000.0 / dt_us;
+                    self.smoothed = if self.smoothed == 0.0 {
+                        current
+                    } else {
+                        0.9 * self.smoothed + 0.1 * current
+                    };
+                }
+            }
+
+            self.last_frame = Some(now);
+        }
+
+        pub fn should_draw(&mut self) -> bool {
+            let now = Instant::now();
+            match self.last_draw {
+                Some(last) if now - last < Duration::from_millis(200) => false,
+                _ => {
+                    self.last_draw = Some(now);
+                    true
+                }
+            }
+        }
     }
 }
diff --git a/kernel/src/framebuffer.rs b/kernel/src/framebuffer.rs
index 7fece08..2292bcd 100644
--- a/kernel/src/framebuffer.rs
+++ b/kernel/src/framebuffer.rs
@@ -130,6 +130,11 @@ impl<'a> AtomicFrameBuffer<'a> {
             tile.store(false, Ordering::Release);
         }
 
+        #[cfg(feature = "fps")]
+        unsafe {
+            crate::display::FPS_COUNTER.measure()
+        }
+
         Ok(())
     }
 
@@ -216,6 +221,11 @@ impl<'a> AtomicFrameBuffer<'a> {
             }
         }
 
+        #[cfg(feature = "fps")]
+        unsafe {
+            crate::display::FPS_COUNTER.measure()
+        }
+
         Ok(())
     }
 }