From b1f3ef4872786fb3150b58ed51d9a11e63919dd9 Mon Sep 17 00:00:00 2001
From: Bradley Scott <Bradley.Scott@zebra.com>
Date: Wed, 31 May 2017 16:46:14 -0400
Subject: [PATCH] STM32: Fix 32-bit us ticker interrupt scheduling

For STM32 targets using a 32-bit timer for the microsecond ticker, the
driver did not properly handle timestamps that are in the past.  It
would just blindly set the compare register to the requested timestamp,
resulting in the interrupt being serviced up to 4295 seconds late
(i.e. after the 32-bit timer counts all the way around to hit the
timestamp again).

This problem can easily be reproduced by creating a Timeout object
then calling the timeout's attach_us() member function to attach a
callback with a timeout of 0 us.  The callback will not get called for
over 2147 seconds, and possibly up to 4295 seconds late if no other
microsecond ticker events are getting scheduled in the meantime.

Now, after the compare register has been set, the timestamp is checked
against the current time to see if the timestamp is in the past, and
if so, the compare event is manually set.

NOTE: By checking if the timestamp is in the past after configuring the
capture register, we ensure proper handling in the case where the timer
updates past the timestamp while setting the capture register.
---
 .../TARGET_STM32F0/TARGET_DISCO_F051R8/device/hal_tick.h      | 1 +
 .../TARGET_STM32F0/TARGET_NUCLEO_F030R8/device/hal_tick.h     | 1 +
 .../TARGET_STM32F0/TARGET_NUCLEO_F031K6/device/hal_tick.h     | 1 +
 .../TARGET_STM32F0/TARGET_NUCLEO_F042K6/device/hal_tick.h     | 1 +
 .../TARGET_STM32F0/TARGET_NUCLEO_F070RB/device/hal_tick.h     | 1 +
 .../TARGET_STM32F0/TARGET_NUCLEO_F072RB/device/hal_tick.h     | 1 +
 .../TARGET_STM32F0/TARGET_NUCLEO_F091RC/device/hal_tick.h     | 1 +
 .../TARGET_STM32F1/TARGET_BLUEPILL_F103C8/device/hal_tick.h   | 1 +
 .../TARGET_STM32F1/TARGET_DISCO_F100RB/device/hal_tick.h      | 1 +
 .../TARGET_STM32F1/TARGET_NUCLEO_F103RB/device/hal_tick.h     | 1 +
 .../TARGET_STM32F2/TARGET_NUCLEO_F207ZG/device/hal_tick.h     | 1 +
 .../TARGET_STM32F3/TARGET_STM32F302x8/device/hal_tick.h       | 1 +
 .../TARGET_STM32F3/TARGET_STM32F303x8/device/hal_tick.h       | 1 +
 .../TARGET_STM32F3/TARGET_STM32F303xC/device/hal_tick.h       | 1 +
 .../TARGET_STM32F3/TARGET_STM32F303xE/device/hal_tick.h       | 1 +
 .../TARGET_STM32F3/TARGET_STM32F334x8/device/hal_tick.h       | 1 +
 .../TARGET_MTS_DRAGONFLY_F411RE/device/hal_tick.h             | 1 +
 .../TARGET_STM32F4/TARGET_MTS_MDOT_F405RG/device/hal_tick.h   | 1 +
 .../TARGET_STM32F4/TARGET_MTS_MDOT_F411RE/device/hal_tick.h   | 1 +
 .../TARGET_STM32F4/TARGET_STM32F401xC/device/hal_tick.h       | 1 +
 .../TARGET_STM32F4/TARGET_STM32F401xE/device/hal_tick.h       | 1 +
 .../TARGET_STM32F4/TARGET_STM32F407xG/device/hal_tick.h       | 1 +
 .../TARGET_STM32F4/TARGET_STM32F410xB/device/hal_tick.h       | 1 +
 .../TARGET_STM32F4/TARGET_STM32F411xE/device/hal_tick.h       | 1 +
 .../TARGET_STM32F4/TARGET_STM32F412xG/device/hal_tick.h       | 1 +
 .../TARGET_STM32F4/TARGET_STM32F429xI/device/hal_tick.h       | 1 +
 .../TARGET_STM32F4/TARGET_STM32F437xG/device/hal_tick.h       | 1 +
 .../TARGET_STM32F4/TARGET_STM32F439xI/device/hal_tick.h       | 1 +
 .../TARGET_STM32F4/TARGET_STM32F446xE/device/hal_tick.h       | 1 +
 .../TARGET_STM32F4/TARGET_STM32F469xI/device/hal_tick.h       | 1 +
 .../TARGET_STM32F4/TARGET_UBLOX_EVK_ODIN_W2/device/hal_tick.h | 1 +
 .../TARGET_STM32F7/TARGET_STM32F746xG/device/hal_tick.h       | 1 +
 .../TARGET_STM32F7/TARGET_STM32F756xG/device/hal_tick.h       | 1 +
 .../TARGET_STM32F7/TARGET_STM32F767xI/device/hal_tick.h       | 1 +
 .../TARGET_STM32F7/TARGET_STM32F769xI/device/hal_tick.h       | 1 +
 .../TARGET_STM32L0/TARGET_DISCO_L053C8/device/hal_tick.h      | 1 +
 .../TARGET_DISCO_L072CZ_LRWAN1/device/hal_tick.h              | 1 +
 .../TARGET_STM32L0/TARGET_NUCLEO_L011K4/device/hal_tick.h     | 1 +
 .../TARGET_STM32L0/TARGET_NUCLEO_L031K6/device/hal_tick.h     | 1 +
 .../TARGET_STM32L0/TARGET_NUCLEO_L053R8/device/hal_tick.h     | 1 +
 .../TARGET_STM32L0/TARGET_NUCLEO_L073RZ/device/hal_tick.h     | 1 +
 .../TARGET_STM32L1/TARGET_MOTE_L152RC/device/hal_tick.h       | 1 +
 .../TARGET_STM32L1/TARGET_NUCLEO_L152RE/device/hal_tick.h     | 1 +
 .../TARGET_STM32L1/TARGET_NZ32_SC151/device/hal_tick.h        | 1 +
 .../TARGET_STM32L1/TARGET_XDOT_L151CC/device/hal_tick.h       | 1 +
 .../TARGET_STM32L4/TARGET_STM32L432xC/device/hal_tick.h       | 1 +
 .../TARGET_STM32L4/TARGET_STM32L476xG/device/hal_tick.h       | 1 +
 .../TARGET_STM32L4/TARGET_STM32L486xG/device/hal_tick.h       | 1 +
 targets/TARGET_STM/us_ticker_32b.c                            | 4 ++++
 49 files changed, 52 insertions(+)

diff --git a/targets/TARGET_STM/TARGET_STM32F0/TARGET_DISCO_F051R8/device/hal_tick.h b/targets/TARGET_STM/TARGET_STM32F0/TARGET_DISCO_F051R8/device/hal_tick.h
index 7693bd3838..2c662d8d40 100644
--- a/targets/TARGET_STM/TARGET_STM32F0/TARGET_DISCO_F051R8/device/hal_tick.h
+++ b/targets/TARGET_STM/TARGET_STM32F0/TARGET_DISCO_F051R8/device/hal_tick.h
@@ -40,6 +40,7 @@
 #endif
 
 #include "stm32f0xx.h"
+#include "stm32f0xx_ll_tim.h"
 #include "cmsis_nvic.h"
    
 #define TIM_MST         TIM1
diff --git a/targets/TARGET_STM/TARGET_STM32F0/TARGET_NUCLEO_F030R8/device/hal_tick.h b/targets/TARGET_STM/TARGET_STM32F0/TARGET_NUCLEO_F030R8/device/hal_tick.h
index 7693bd3838..2c662d8d40 100644
--- a/targets/TARGET_STM/TARGET_STM32F0/TARGET_NUCLEO_F030R8/device/hal_tick.h
+++ b/targets/TARGET_STM/TARGET_STM32F0/TARGET_NUCLEO_F030R8/device/hal_tick.h
@@ -40,6 +40,7 @@
 #endif
 
 #include "stm32f0xx.h"
+#include "stm32f0xx_ll_tim.h"
 #include "cmsis_nvic.h"
    
 #define TIM_MST         TIM1
diff --git a/targets/TARGET_STM/TARGET_STM32F0/TARGET_NUCLEO_F031K6/device/hal_tick.h b/targets/TARGET_STM/TARGET_STM32F0/TARGET_NUCLEO_F031K6/device/hal_tick.h
index a4aebea92e..760f6b9c74 100644
--- a/targets/TARGET_STM/TARGET_STM32F0/TARGET_NUCLEO_F031K6/device/hal_tick.h
+++ b/targets/TARGET_STM/TARGET_STM32F0/TARGET_NUCLEO_F031K6/device/hal_tick.h
@@ -40,6 +40,7 @@ extern "C" {
 #endif
 
 #include "stm32f0xx.h"
+#include "stm32f0xx_ll_tim.h"
 #include "cmsis_nvic.h"
 
 #define TIM_MST      TIM2
diff --git a/targets/TARGET_STM/TARGET_STM32F0/TARGET_NUCLEO_F042K6/device/hal_tick.h b/targets/TARGET_STM/TARGET_STM32F0/TARGET_NUCLEO_F042K6/device/hal_tick.h
index a4aebea92e..34e8fead9a 100644
--- a/targets/TARGET_STM/TARGET_STM32F0/TARGET_NUCLEO_F042K6/device/hal_tick.h
+++ b/targets/TARGET_STM/TARGET_STM32F0/TARGET_NUCLEO_F042K6/device/hal_tick.h
@@ -40,6 +40,7 @@ extern "C" {
 #endif
 
 #include "stm32f0xx.h"
+#include "stm32f0xx_ll_tim.h":
 #include "cmsis_nvic.h"
 
 #define TIM_MST      TIM2
diff --git a/targets/TARGET_STM/TARGET_STM32F0/TARGET_NUCLEO_F070RB/device/hal_tick.h b/targets/TARGET_STM/TARGET_STM32F0/TARGET_NUCLEO_F070RB/device/hal_tick.h
index 7693bd3838..2c662d8d40 100644
--- a/targets/TARGET_STM/TARGET_STM32F0/TARGET_NUCLEO_F070RB/device/hal_tick.h
+++ b/targets/TARGET_STM/TARGET_STM32F0/TARGET_NUCLEO_F070RB/device/hal_tick.h
@@ -40,6 +40,7 @@
 #endif
 
 #include "stm32f0xx.h"
+#include "stm32f0xx_ll_tim.h"
 #include "cmsis_nvic.h"
    
 #define TIM_MST         TIM1
diff --git a/targets/TARGET_STM/TARGET_STM32F0/TARGET_NUCLEO_F072RB/device/hal_tick.h b/targets/TARGET_STM/TARGET_STM32F0/TARGET_NUCLEO_F072RB/device/hal_tick.h
index 8ed05b5b47..082b22cebb 100644
--- a/targets/TARGET_STM/TARGET_STM32F0/TARGET_NUCLEO_F072RB/device/hal_tick.h
+++ b/targets/TARGET_STM/TARGET_STM32F0/TARGET_NUCLEO_F072RB/device/hal_tick.h
@@ -40,6 +40,7 @@
 #endif
 
 #include "stm32f0xx.h"
+#include "stm32f0xx_ll_tim.h"
 #include "cmsis_nvic.h"
    
 #define TIM_MST      TIM2
diff --git a/targets/TARGET_STM/TARGET_STM32F0/TARGET_NUCLEO_F091RC/device/hal_tick.h b/targets/TARGET_STM/TARGET_STM32F0/TARGET_NUCLEO_F091RC/device/hal_tick.h
index 8ed05b5b47..082b22cebb 100644
--- a/targets/TARGET_STM/TARGET_STM32F0/TARGET_NUCLEO_F091RC/device/hal_tick.h
+++ b/targets/TARGET_STM/TARGET_STM32F0/TARGET_NUCLEO_F091RC/device/hal_tick.h
@@ -40,6 +40,7 @@
 #endif
 
 #include "stm32f0xx.h"
+#include "stm32f0xx_ll_tim.h"
 #include "cmsis_nvic.h"
    
 #define TIM_MST      TIM2
diff --git a/targets/TARGET_STM/TARGET_STM32F1/TARGET_BLUEPILL_F103C8/device/hal_tick.h b/targets/TARGET_STM/TARGET_STM32F1/TARGET_BLUEPILL_F103C8/device/hal_tick.h
index 5872d57f7a..91fd0c3789 100644
--- a/targets/TARGET_STM/TARGET_STM32F1/TARGET_BLUEPILL_F103C8/device/hal_tick.h
+++ b/targets/TARGET_STM/TARGET_STM32F1/TARGET_BLUEPILL_F103C8/device/hal_tick.h
@@ -40,6 +40,7 @@
 #endif
 
 #include "stm32f1xx.h"
+#include "stm32f1xx_ll_tim.h"
 #include "cmsis_nvic.h"
    
 #define TIM_MST      TIM4
diff --git a/targets/TARGET_STM/TARGET_STM32F1/TARGET_DISCO_F100RB/device/hal_tick.h b/targets/TARGET_STM/TARGET_STM32F1/TARGET_DISCO_F100RB/device/hal_tick.h
index 5872d57f7a..91fd0c3789 100644
--- a/targets/TARGET_STM/TARGET_STM32F1/TARGET_DISCO_F100RB/device/hal_tick.h
+++ b/targets/TARGET_STM/TARGET_STM32F1/TARGET_DISCO_F100RB/device/hal_tick.h
@@ -40,6 +40,7 @@
 #endif
 
 #include "stm32f1xx.h"
+#include "stm32f1xx_ll_tim.h"
 #include "cmsis_nvic.h"
    
 #define TIM_MST      TIM4
diff --git a/targets/TARGET_STM/TARGET_STM32F1/TARGET_NUCLEO_F103RB/device/hal_tick.h b/targets/TARGET_STM/TARGET_STM32F1/TARGET_NUCLEO_F103RB/device/hal_tick.h
index 5872d57f7a..91fd0c3789 100644
--- a/targets/TARGET_STM/TARGET_STM32F1/TARGET_NUCLEO_F103RB/device/hal_tick.h
+++ b/targets/TARGET_STM/TARGET_STM32F1/TARGET_NUCLEO_F103RB/device/hal_tick.h
@@ -40,6 +40,7 @@
 #endif
 
 #include "stm32f1xx.h"
+#include "stm32f1xx_ll_tim.h"
 #include "cmsis_nvic.h"
    
 #define TIM_MST      TIM4
diff --git a/targets/TARGET_STM/TARGET_STM32F2/TARGET_NUCLEO_F207ZG/device/hal_tick.h b/targets/TARGET_STM/TARGET_STM32F2/TARGET_NUCLEO_F207ZG/device/hal_tick.h
index 944dc4a4ca..cc5b124ad1 100644
--- a/targets/TARGET_STM/TARGET_STM32F2/TARGET_NUCLEO_F207ZG/device/hal_tick.h
+++ b/targets/TARGET_STM/TARGET_STM32F2/TARGET_NUCLEO_F207ZG/device/hal_tick.h
@@ -40,6 +40,7 @@ extern "C" {
 #endif
 
 #include "stm32f2xx.h"
+#include "stm32f2xx_ll_tim.h"
 #include "cmsis_nvic.h"
 
 #define TIM_MST      TIM5
diff --git a/targets/TARGET_STM/TARGET_STM32F3/TARGET_STM32F302x8/device/hal_tick.h b/targets/TARGET_STM/TARGET_STM32F3/TARGET_STM32F302x8/device/hal_tick.h
index 18d268d133..8ff2fb0ace 100644
--- a/targets/TARGET_STM/TARGET_STM32F3/TARGET_STM32F302x8/device/hal_tick.h
+++ b/targets/TARGET_STM/TARGET_STM32F3/TARGET_STM32F302x8/device/hal_tick.h
@@ -40,6 +40,7 @@
 #endif
 
 #include "stm32f3xx.h"
+#include "stm32f3xx_ll_tim.h"
 #include "cmsis_nvic.h"
    
 #define TIM_MST      TIM2
diff --git a/targets/TARGET_STM/TARGET_STM32F3/TARGET_STM32F303x8/device/hal_tick.h b/targets/TARGET_STM/TARGET_STM32F3/TARGET_STM32F303x8/device/hal_tick.h
index 18d268d133..8ff2fb0ace 100644
--- a/targets/TARGET_STM/TARGET_STM32F3/TARGET_STM32F303x8/device/hal_tick.h
+++ b/targets/TARGET_STM/TARGET_STM32F3/TARGET_STM32F303x8/device/hal_tick.h
@@ -40,6 +40,7 @@
 #endif
 
 #include "stm32f3xx.h"
+#include "stm32f3xx_ll_tim.h"
 #include "cmsis_nvic.h"
    
 #define TIM_MST      TIM2
diff --git a/targets/TARGET_STM/TARGET_STM32F3/TARGET_STM32F303xC/device/hal_tick.h b/targets/TARGET_STM/TARGET_STM32F3/TARGET_STM32F303xC/device/hal_tick.h
index 18d268d133..8ff2fb0ace 100644
--- a/targets/TARGET_STM/TARGET_STM32F3/TARGET_STM32F303xC/device/hal_tick.h
+++ b/targets/TARGET_STM/TARGET_STM32F3/TARGET_STM32F303xC/device/hal_tick.h
@@ -40,6 +40,7 @@
 #endif
 
 #include "stm32f3xx.h"
+#include "stm32f3xx_ll_tim.h"
 #include "cmsis_nvic.h"
    
 #define TIM_MST      TIM2
diff --git a/targets/TARGET_STM/TARGET_STM32F3/TARGET_STM32F303xE/device/hal_tick.h b/targets/TARGET_STM/TARGET_STM32F3/TARGET_STM32F303xE/device/hal_tick.h
index 18d268d133..8ff2fb0ace 100644
--- a/targets/TARGET_STM/TARGET_STM32F3/TARGET_STM32F303xE/device/hal_tick.h
+++ b/targets/TARGET_STM/TARGET_STM32F3/TARGET_STM32F303xE/device/hal_tick.h
@@ -40,6 +40,7 @@
 #endif
 
 #include "stm32f3xx.h"
+#include "stm32f3xx_ll_tim.h"
 #include "cmsis_nvic.h"
    
 #define TIM_MST      TIM2
diff --git a/targets/TARGET_STM/TARGET_STM32F3/TARGET_STM32F334x8/device/hal_tick.h b/targets/TARGET_STM/TARGET_STM32F3/TARGET_STM32F334x8/device/hal_tick.h
index 18d268d133..8ff2fb0ace 100644
--- a/targets/TARGET_STM/TARGET_STM32F3/TARGET_STM32F334x8/device/hal_tick.h
+++ b/targets/TARGET_STM/TARGET_STM32F3/TARGET_STM32F334x8/device/hal_tick.h
@@ -40,6 +40,7 @@
 #endif
 
 #include "stm32f3xx.h"
+#include "stm32f3xx_ll_tim.h"
 #include "cmsis_nvic.h"
    
 #define TIM_MST      TIM2
diff --git a/targets/TARGET_STM/TARGET_STM32F4/TARGET_MTS_DRAGONFLY_F411RE/device/hal_tick.h b/targets/TARGET_STM/TARGET_STM32F4/TARGET_MTS_DRAGONFLY_F411RE/device/hal_tick.h
index 3cb2b64fbc..19d9584eee 100644
--- a/targets/TARGET_STM/TARGET_STM32F4/TARGET_MTS_DRAGONFLY_F411RE/device/hal_tick.h
+++ b/targets/TARGET_STM/TARGET_STM32F4/TARGET_MTS_DRAGONFLY_F411RE/device/hal_tick.h
@@ -40,6 +40,7 @@
 #endif
 
 #include "stm32f4xx.h"
+#include "stm32f4xx_ll_tim.h"
 #include "cmsis_nvic.h"
    
 #define TIM_MST      TIM5
diff --git a/targets/TARGET_STM/TARGET_STM32F4/TARGET_MTS_MDOT_F405RG/device/hal_tick.h b/targets/TARGET_STM/TARGET_STM32F4/TARGET_MTS_MDOT_F405RG/device/hal_tick.h
index 3cb2b64fbc..19d9584eee 100644
--- a/targets/TARGET_STM/TARGET_STM32F4/TARGET_MTS_MDOT_F405RG/device/hal_tick.h
+++ b/targets/TARGET_STM/TARGET_STM32F4/TARGET_MTS_MDOT_F405RG/device/hal_tick.h
@@ -40,6 +40,7 @@
 #endif
 
 #include "stm32f4xx.h"
+#include "stm32f4xx_ll_tim.h"
 #include "cmsis_nvic.h"
    
 #define TIM_MST      TIM5
diff --git a/targets/TARGET_STM/TARGET_STM32F4/TARGET_MTS_MDOT_F411RE/device/hal_tick.h b/targets/TARGET_STM/TARGET_STM32F4/TARGET_MTS_MDOT_F411RE/device/hal_tick.h
index 3cb2b64fbc..19d9584eee 100644
--- a/targets/TARGET_STM/TARGET_STM32F4/TARGET_MTS_MDOT_F411RE/device/hal_tick.h
+++ b/targets/TARGET_STM/TARGET_STM32F4/TARGET_MTS_MDOT_F411RE/device/hal_tick.h
@@ -40,6 +40,7 @@
 #endif
 
 #include "stm32f4xx.h"
+#include "stm32f4xx_ll_tim.h"
 #include "cmsis_nvic.h"
    
 #define TIM_MST      TIM5
diff --git a/targets/TARGET_STM/TARGET_STM32F4/TARGET_STM32F401xC/device/hal_tick.h b/targets/TARGET_STM/TARGET_STM32F4/TARGET_STM32F401xC/device/hal_tick.h
index 3cb2b64fbc..19d9584eee 100644
--- a/targets/TARGET_STM/TARGET_STM32F4/TARGET_STM32F401xC/device/hal_tick.h
+++ b/targets/TARGET_STM/TARGET_STM32F4/TARGET_STM32F401xC/device/hal_tick.h
@@ -40,6 +40,7 @@
 #endif
 
 #include "stm32f4xx.h"
+#include "stm32f4xx_ll_tim.h"
 #include "cmsis_nvic.h"
    
 #define TIM_MST      TIM5
diff --git a/targets/TARGET_STM/TARGET_STM32F4/TARGET_STM32F401xE/device/hal_tick.h b/targets/TARGET_STM/TARGET_STM32F4/TARGET_STM32F401xE/device/hal_tick.h
index 3cb2b64fbc..19d9584eee 100644
--- a/targets/TARGET_STM/TARGET_STM32F4/TARGET_STM32F401xE/device/hal_tick.h
+++ b/targets/TARGET_STM/TARGET_STM32F4/TARGET_STM32F401xE/device/hal_tick.h
@@ -40,6 +40,7 @@
 #endif
 
 #include "stm32f4xx.h"
+#include "stm32f4xx_ll_tim.h"
 #include "cmsis_nvic.h"
    
 #define TIM_MST      TIM5
diff --git a/targets/TARGET_STM/TARGET_STM32F4/TARGET_STM32F407xG/device/hal_tick.h b/targets/TARGET_STM/TARGET_STM32F4/TARGET_STM32F407xG/device/hal_tick.h
index 3cb2b64fbc..19d9584eee 100644
--- a/targets/TARGET_STM/TARGET_STM32F4/TARGET_STM32F407xG/device/hal_tick.h
+++ b/targets/TARGET_STM/TARGET_STM32F4/TARGET_STM32F407xG/device/hal_tick.h
@@ -40,6 +40,7 @@
 #endif
 
 #include "stm32f4xx.h"
+#include "stm32f4xx_ll_tim.h"
 #include "cmsis_nvic.h"
    
 #define TIM_MST      TIM5
diff --git a/targets/TARGET_STM/TARGET_STM32F4/TARGET_STM32F410xB/device/hal_tick.h b/targets/TARGET_STM/TARGET_STM32F4/TARGET_STM32F410xB/device/hal_tick.h
index 3cb2b64fbc..19d9584eee 100644
--- a/targets/TARGET_STM/TARGET_STM32F4/TARGET_STM32F410xB/device/hal_tick.h
+++ b/targets/TARGET_STM/TARGET_STM32F4/TARGET_STM32F410xB/device/hal_tick.h
@@ -40,6 +40,7 @@
 #endif
 
 #include "stm32f4xx.h"
+#include "stm32f4xx_ll_tim.h"
 #include "cmsis_nvic.h"
    
 #define TIM_MST      TIM5
diff --git a/targets/TARGET_STM/TARGET_STM32F4/TARGET_STM32F411xE/device/hal_tick.h b/targets/TARGET_STM/TARGET_STM32F4/TARGET_STM32F411xE/device/hal_tick.h
index 3cb2b64fbc..19d9584eee 100644
--- a/targets/TARGET_STM/TARGET_STM32F4/TARGET_STM32F411xE/device/hal_tick.h
+++ b/targets/TARGET_STM/TARGET_STM32F4/TARGET_STM32F411xE/device/hal_tick.h
@@ -40,6 +40,7 @@
 #endif
 
 #include "stm32f4xx.h"
+#include "stm32f4xx_ll_tim.h"
 #include "cmsis_nvic.h"
    
 #define TIM_MST      TIM5
diff --git a/targets/TARGET_STM/TARGET_STM32F4/TARGET_STM32F412xG/device/hal_tick.h b/targets/TARGET_STM/TARGET_STM32F4/TARGET_STM32F412xG/device/hal_tick.h
index 3cb2b64fbc..19d9584eee 100644
--- a/targets/TARGET_STM/TARGET_STM32F4/TARGET_STM32F412xG/device/hal_tick.h
+++ b/targets/TARGET_STM/TARGET_STM32F4/TARGET_STM32F412xG/device/hal_tick.h
@@ -40,6 +40,7 @@
 #endif
 
 #include "stm32f4xx.h"
+#include "stm32f4xx_ll_tim.h"
 #include "cmsis_nvic.h"
    
 #define TIM_MST      TIM5
diff --git a/targets/TARGET_STM/TARGET_STM32F4/TARGET_STM32F429xI/device/hal_tick.h b/targets/TARGET_STM/TARGET_STM32F4/TARGET_STM32F429xI/device/hal_tick.h
index a5ee5c1d65..d5ede91000 100644
--- a/targets/TARGET_STM/TARGET_STM32F4/TARGET_STM32F429xI/device/hal_tick.h
+++ b/targets/TARGET_STM/TARGET_STM32F4/TARGET_STM32F429xI/device/hal_tick.h
@@ -40,6 +40,7 @@
 #endif
 
 #include "stm32f4xx.h"
+#include "stm32f4xx_ll_tim.h"
 #include "cmsis_nvic.h"
    
 #define TIM_MST      TIM5
diff --git a/targets/TARGET_STM/TARGET_STM32F4/TARGET_STM32F437xG/device/hal_tick.h b/targets/TARGET_STM/TARGET_STM32F4/TARGET_STM32F437xG/device/hal_tick.h
index a5ee5c1d65..d5ede91000 100644
--- a/targets/TARGET_STM/TARGET_STM32F4/TARGET_STM32F437xG/device/hal_tick.h
+++ b/targets/TARGET_STM/TARGET_STM32F4/TARGET_STM32F437xG/device/hal_tick.h
@@ -40,6 +40,7 @@
 #endif
 
 #include "stm32f4xx.h"
+#include "stm32f4xx_ll_tim.h"
 #include "cmsis_nvic.h"
    
 #define TIM_MST      TIM5
diff --git a/targets/TARGET_STM/TARGET_STM32F4/TARGET_STM32F439xI/device/hal_tick.h b/targets/TARGET_STM/TARGET_STM32F4/TARGET_STM32F439xI/device/hal_tick.h
index 3cb2b64fbc..19d9584eee 100644
--- a/targets/TARGET_STM/TARGET_STM32F4/TARGET_STM32F439xI/device/hal_tick.h
+++ b/targets/TARGET_STM/TARGET_STM32F4/TARGET_STM32F439xI/device/hal_tick.h
@@ -40,6 +40,7 @@
 #endif
 
 #include "stm32f4xx.h"
+#include "stm32f4xx_ll_tim.h"
 #include "cmsis_nvic.h"
    
 #define TIM_MST      TIM5
diff --git a/targets/TARGET_STM/TARGET_STM32F4/TARGET_STM32F446xE/device/hal_tick.h b/targets/TARGET_STM/TARGET_STM32F4/TARGET_STM32F446xE/device/hal_tick.h
index c4a2666b4b..3515470935 100644
--- a/targets/TARGET_STM/TARGET_STM32F4/TARGET_STM32F446xE/device/hal_tick.h
+++ b/targets/TARGET_STM/TARGET_STM32F4/TARGET_STM32F446xE/device/hal_tick.h
@@ -40,6 +40,7 @@
 #endif
 
 #include "stm32f4xx.h"
+#include "stm32f4xx_ll_tim.h"
 #include "cmsis_nvic.h"
    
 #define TIM_MST      TIM5
diff --git a/targets/TARGET_STM/TARGET_STM32F4/TARGET_STM32F469xI/device/hal_tick.h b/targets/TARGET_STM/TARGET_STM32F4/TARGET_STM32F469xI/device/hal_tick.h
index 03809e158c..90f6a00776 100644
--- a/targets/TARGET_STM/TARGET_STM32F4/TARGET_STM32F469xI/device/hal_tick.h
+++ b/targets/TARGET_STM/TARGET_STM32F4/TARGET_STM32F469xI/device/hal_tick.h
@@ -40,6 +40,7 @@
 #endif
 
 #include "stm32f4xx.h"
+#include "stm32f4xx_ll_tim.h"
 #include "cmsis_nvic.h"
    
 #define TIM_MST      TIM2
diff --git a/targets/TARGET_STM/TARGET_STM32F4/TARGET_UBLOX_EVK_ODIN_W2/device/hal_tick.h b/targets/TARGET_STM/TARGET_STM32F4/TARGET_UBLOX_EVK_ODIN_W2/device/hal_tick.h
index a5ee5c1d65..d5ede91000 100644
--- a/targets/TARGET_STM/TARGET_STM32F4/TARGET_UBLOX_EVK_ODIN_W2/device/hal_tick.h
+++ b/targets/TARGET_STM/TARGET_STM32F4/TARGET_UBLOX_EVK_ODIN_W2/device/hal_tick.h
@@ -40,6 +40,7 @@
 #endif
 
 #include "stm32f4xx.h"
+#include "stm32f4xx_ll_tim.h"
 #include "cmsis_nvic.h"
    
 #define TIM_MST      TIM5
diff --git a/targets/TARGET_STM/TARGET_STM32F7/TARGET_STM32F746xG/device/hal_tick.h b/targets/TARGET_STM/TARGET_STM32F7/TARGET_STM32F746xG/device/hal_tick.h
index 98096391dc..fa8cc97963 100644
--- a/targets/TARGET_STM/TARGET_STM32F7/TARGET_STM32F746xG/device/hal_tick.h
+++ b/targets/TARGET_STM/TARGET_STM32F7/TARGET_STM32F746xG/device/hal_tick.h
@@ -40,6 +40,7 @@
 #endif
 
 #include "stm32f7xx.h"
+#include "stm32f7xx_ll_tim.h"
 #include "cmsis_nvic.h"
    
 #define TIM_MST      TIM5
diff --git a/targets/TARGET_STM/TARGET_STM32F7/TARGET_STM32F756xG/device/hal_tick.h b/targets/TARGET_STM/TARGET_STM32F7/TARGET_STM32F756xG/device/hal_tick.h
index 98096391dc..fa8cc97963 100644
--- a/targets/TARGET_STM/TARGET_STM32F7/TARGET_STM32F756xG/device/hal_tick.h
+++ b/targets/TARGET_STM/TARGET_STM32F7/TARGET_STM32F756xG/device/hal_tick.h
@@ -40,6 +40,7 @@
 #endif
 
 #include "stm32f7xx.h"
+#include "stm32f7xx_ll_tim.h"
 #include "cmsis_nvic.h"
    
 #define TIM_MST      TIM5
diff --git a/targets/TARGET_STM/TARGET_STM32F7/TARGET_STM32F767xI/device/hal_tick.h b/targets/TARGET_STM/TARGET_STM32F7/TARGET_STM32F767xI/device/hal_tick.h
index 98096391dc..fa8cc97963 100644
--- a/targets/TARGET_STM/TARGET_STM32F7/TARGET_STM32F767xI/device/hal_tick.h
+++ b/targets/TARGET_STM/TARGET_STM32F7/TARGET_STM32F767xI/device/hal_tick.h
@@ -40,6 +40,7 @@
 #endif
 
 #include "stm32f7xx.h"
+#include "stm32f7xx_ll_tim.h"
 #include "cmsis_nvic.h"
    
 #define TIM_MST      TIM5
diff --git a/targets/TARGET_STM/TARGET_STM32F7/TARGET_STM32F769xI/device/hal_tick.h b/targets/TARGET_STM/TARGET_STM32F7/TARGET_STM32F769xI/device/hal_tick.h
index 98096391dc..fa8cc97963 100644
--- a/targets/TARGET_STM/TARGET_STM32F7/TARGET_STM32F769xI/device/hal_tick.h
+++ b/targets/TARGET_STM/TARGET_STM32F7/TARGET_STM32F769xI/device/hal_tick.h
@@ -40,6 +40,7 @@
 #endif
 
 #include "stm32f7xx.h"
+#include "stm32f7xx_ll_tim.h"
 #include "cmsis_nvic.h"
    
 #define TIM_MST      TIM5
diff --git a/targets/TARGET_STM/TARGET_STM32L0/TARGET_DISCO_L053C8/device/hal_tick.h b/targets/TARGET_STM/TARGET_STM32L0/TARGET_DISCO_L053C8/device/hal_tick.h
index e02c692d5d..7724b546fb 100644
--- a/targets/TARGET_STM/TARGET_STM32L0/TARGET_DISCO_L053C8/device/hal_tick.h
+++ b/targets/TARGET_STM/TARGET_STM32L0/TARGET_DISCO_L053C8/device/hal_tick.h
@@ -40,6 +40,7 @@
 #endif
 
 #include "stm32l0xx.h"
+#include "stm32l0xx_ll_tim.h"
 #include "cmsis_nvic.h"
    
 #define TIM_MST      TIM21
diff --git a/targets/TARGET_STM/TARGET_STM32L0/TARGET_DISCO_L072CZ_LRWAN1/device/hal_tick.h b/targets/TARGET_STM/TARGET_STM32L0/TARGET_DISCO_L072CZ_LRWAN1/device/hal_tick.h
index e79a4e7568..966ce876ae 100644
--- a/targets/TARGET_STM/TARGET_STM32L0/TARGET_DISCO_L072CZ_LRWAN1/device/hal_tick.h
+++ b/targets/TARGET_STM/TARGET_STM32L0/TARGET_DISCO_L072CZ_LRWAN1/device/hal_tick.h
@@ -40,6 +40,7 @@
 #endif
 
 #include "stm32l0xx.h"
+#include "stm32l0xx_ll_tim.h"
 #include "cmsis_nvic.h"
    
 #define TIM_MST      TIM21
diff --git a/targets/TARGET_STM/TARGET_STM32L0/TARGET_NUCLEO_L011K4/device/hal_tick.h b/targets/TARGET_STM/TARGET_STM32L0/TARGET_NUCLEO_L011K4/device/hal_tick.h
index e02c692d5d..7724b546fb 100644
--- a/targets/TARGET_STM/TARGET_STM32L0/TARGET_NUCLEO_L011K4/device/hal_tick.h
+++ b/targets/TARGET_STM/TARGET_STM32L0/TARGET_NUCLEO_L011K4/device/hal_tick.h
@@ -40,6 +40,7 @@
 #endif
 
 #include "stm32l0xx.h"
+#include "stm32l0xx_ll_tim.h"
 #include "cmsis_nvic.h"
    
 #define TIM_MST      TIM21
diff --git a/targets/TARGET_STM/TARGET_STM32L0/TARGET_NUCLEO_L031K6/device/hal_tick.h b/targets/TARGET_STM/TARGET_STM32L0/TARGET_NUCLEO_L031K6/device/hal_tick.h
index e02c692d5d..7724b546fb 100644
--- a/targets/TARGET_STM/TARGET_STM32L0/TARGET_NUCLEO_L031K6/device/hal_tick.h
+++ b/targets/TARGET_STM/TARGET_STM32L0/TARGET_NUCLEO_L031K6/device/hal_tick.h
@@ -40,6 +40,7 @@
 #endif
 
 #include "stm32l0xx.h"
+#include "stm32l0xx_ll_tim.h"
 #include "cmsis_nvic.h"
    
 #define TIM_MST      TIM21
diff --git a/targets/TARGET_STM/TARGET_STM32L0/TARGET_NUCLEO_L053R8/device/hal_tick.h b/targets/TARGET_STM/TARGET_STM32L0/TARGET_NUCLEO_L053R8/device/hal_tick.h
index e02c692d5d..7724b546fb 100644
--- a/targets/TARGET_STM/TARGET_STM32L0/TARGET_NUCLEO_L053R8/device/hal_tick.h
+++ b/targets/TARGET_STM/TARGET_STM32L0/TARGET_NUCLEO_L053R8/device/hal_tick.h
@@ -40,6 +40,7 @@
 #endif
 
 #include "stm32l0xx.h"
+#include "stm32l0xx_ll_tim.h"
 #include "cmsis_nvic.h"
    
 #define TIM_MST      TIM21
diff --git a/targets/TARGET_STM/TARGET_STM32L0/TARGET_NUCLEO_L073RZ/device/hal_tick.h b/targets/TARGET_STM/TARGET_STM32L0/TARGET_NUCLEO_L073RZ/device/hal_tick.h
index e02c692d5d..7724b546fb 100644
--- a/targets/TARGET_STM/TARGET_STM32L0/TARGET_NUCLEO_L073RZ/device/hal_tick.h
+++ b/targets/TARGET_STM/TARGET_STM32L0/TARGET_NUCLEO_L073RZ/device/hal_tick.h
@@ -40,6 +40,7 @@
 #endif
 
 #include "stm32l0xx.h"
+#include "stm32l0xx_ll_tim.h"
 #include "cmsis_nvic.h"
    
 #define TIM_MST      TIM21
diff --git a/targets/TARGET_STM/TARGET_STM32L1/TARGET_MOTE_L152RC/device/hal_tick.h b/targets/TARGET_STM/TARGET_STM32L1/TARGET_MOTE_L152RC/device/hal_tick.h
index 7e2887a173..408bc75d4f 100644
--- a/targets/TARGET_STM/TARGET_STM32L1/TARGET_MOTE_L152RC/device/hal_tick.h
+++ b/targets/TARGET_STM/TARGET_STM32L1/TARGET_MOTE_L152RC/device/hal_tick.h
@@ -40,6 +40,7 @@
 #endif
 
 #include "stm32l1xx.h"
+#include "stm32l1xx_ll_tim.h"
 #include "cmsis_nvic.h"
    
 #define TIM_MST      TIM5
diff --git a/targets/TARGET_STM/TARGET_STM32L1/TARGET_NUCLEO_L152RE/device/hal_tick.h b/targets/TARGET_STM/TARGET_STM32L1/TARGET_NUCLEO_L152RE/device/hal_tick.h
index 7e2887a173..408bc75d4f 100644
--- a/targets/TARGET_STM/TARGET_STM32L1/TARGET_NUCLEO_L152RE/device/hal_tick.h
+++ b/targets/TARGET_STM/TARGET_STM32L1/TARGET_NUCLEO_L152RE/device/hal_tick.h
@@ -40,6 +40,7 @@
 #endif
 
 #include "stm32l1xx.h"
+#include "stm32l1xx_ll_tim.h"
 #include "cmsis_nvic.h"
    
 #define TIM_MST      TIM5
diff --git a/targets/TARGET_STM/TARGET_STM32L1/TARGET_NZ32_SC151/device/hal_tick.h b/targets/TARGET_STM/TARGET_STM32L1/TARGET_NZ32_SC151/device/hal_tick.h
index 067ff1bd83..dc2245e8f8 100644
--- a/targets/TARGET_STM/TARGET_STM32L1/TARGET_NZ32_SC151/device/hal_tick.h
+++ b/targets/TARGET_STM/TARGET_STM32L1/TARGET_NZ32_SC151/device/hal_tick.h
@@ -40,6 +40,7 @@
 #endif
 
 #include "stm32l1xx.h"
+#include "stm32l1xx_ll_tim.h"
 #include "cmsis_nvic.h"
    
 #define TIM_MST      TIM5
diff --git a/targets/TARGET_STM/TARGET_STM32L1/TARGET_XDOT_L151CC/device/hal_tick.h b/targets/TARGET_STM/TARGET_STM32L1/TARGET_XDOT_L151CC/device/hal_tick.h
index 067ff1bd83..dc2245e8f8 100644
--- a/targets/TARGET_STM/TARGET_STM32L1/TARGET_XDOT_L151CC/device/hal_tick.h
+++ b/targets/TARGET_STM/TARGET_STM32L1/TARGET_XDOT_L151CC/device/hal_tick.h
@@ -40,6 +40,7 @@
 #endif
 
 #include "stm32l1xx.h"
+#include "stm32l1xx_ll_tim.h"
 #include "cmsis_nvic.h"
    
 #define TIM_MST      TIM5
diff --git a/targets/TARGET_STM/TARGET_STM32L4/TARGET_STM32L432xC/device/hal_tick.h b/targets/TARGET_STM/TARGET_STM32L4/TARGET_STM32L432xC/device/hal_tick.h
index c04ae0427e..bdcb1570c3 100644
--- a/targets/TARGET_STM/TARGET_STM32L4/TARGET_STM32L432xC/device/hal_tick.h
+++ b/targets/TARGET_STM/TARGET_STM32L4/TARGET_STM32L432xC/device/hal_tick.h
@@ -40,6 +40,7 @@
 #endif
 
 #include "stm32l4xx.h"
+#include "stm32l4xx_ll_tim.h"
 #include "cmsis_nvic.h"
 
 #define TIM_MST      TIM2
diff --git a/targets/TARGET_STM/TARGET_STM32L4/TARGET_STM32L476xG/device/hal_tick.h b/targets/TARGET_STM/TARGET_STM32L4/TARGET_STM32L476xG/device/hal_tick.h
index c7895116dc..173f8e7cb9 100644
--- a/targets/TARGET_STM/TARGET_STM32L4/TARGET_STM32L476xG/device/hal_tick.h
+++ b/targets/TARGET_STM/TARGET_STM32L4/TARGET_STM32L476xG/device/hal_tick.h
@@ -40,6 +40,7 @@
 #endif
 
 #include "stm32l4xx.h"
+#include "stm32l4xx_ll_tim.h"
 #include "cmsis_nvic.h"
    
 #define TIM_MST      TIM5
diff --git a/targets/TARGET_STM/TARGET_STM32L4/TARGET_STM32L486xG/device/hal_tick.h b/targets/TARGET_STM/TARGET_STM32L4/TARGET_STM32L486xG/device/hal_tick.h
index c7895116dc..173f8e7cb9 100644
--- a/targets/TARGET_STM/TARGET_STM32L4/TARGET_STM32L486xG/device/hal_tick.h
+++ b/targets/TARGET_STM/TARGET_STM32L4/TARGET_STM32L486xG/device/hal_tick.h
@@ -40,6 +40,7 @@
 #endif
 
 #include "stm32l4xx.h"
+#include "stm32l4xx_ll_tim.h"
 #include "cmsis_nvic.h"
    
 #define TIM_MST      TIM5
diff --git a/targets/TARGET_STM/us_ticker_32b.c b/targets/TARGET_STM/us_ticker_32b.c
index de431756dc..90ce35aad1 100644
--- a/targets/TARGET_STM/us_ticker_32b.c
+++ b/targets/TARGET_STM/us_ticker_32b.c
@@ -48,6 +48,10 @@ void us_ticker_set_interrupt(timestamp_t timestamp)
     __HAL_TIM_SET_COMPARE(&TimMasterHandle, TIM_CHANNEL_1, (uint32_t)timestamp);
     // Enable IT
     __HAL_TIM_ENABLE_IT(&TimMasterHandle, TIM_IT_CC1);
+    // Check if timestamp has already passed, and if so, set the event immediately
+    if ((int32_t)(timestamp - TIM_MST->CNT) <= 0) {
+        LL_TIM_GenerateEvent_CC1(TimMasterHandle.Instance);
+    }
 }
 
 void us_ticker_disable_interrupt(void)