diff --git a/targets/TARGET_STM/TARGET_STM32F0/CMakeLists.txt b/targets/TARGET_STM/TARGET_STM32F0/CMakeLists.txt
index fb1ef56291..cf33302d07 100644
--- a/targets/TARGET_STM/TARGET_STM32F0/CMakeLists.txt
+++ b/targets/TARGET_STM/TARGET_STM32F0/CMakeLists.txt
@@ -21,6 +21,7 @@ target_sources(mbed-stm32f0
         cmsis_nvic.c
         flash_api.c
         gpio_irq_device.c
+        i2c_device.c
         pwmout_device.c
         serial_device.c
         spi_api.c
diff --git a/targets/TARGET_STM/TARGET_STM32F0/i2c_device.c b/targets/TARGET_STM/TARGET_STM32F0/i2c_device.c
new file mode 100755
index 0000000000..a14f653d46
--- /dev/null
+++ b/targets/TARGET_STM/TARGET_STM32F0/i2c_device.c
@@ -0,0 +1,90 @@
+/* mbed Microcontroller Library
+ * SPDX-License-Identifier: BSD-3-Clause
+ ******************************************************************************
+ *
+ * Copyright (c) 2021 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software component is licensed by ST under BSD 3-Clause license,
+ * the "License"; You may not use this file except in compliance with the
+ * License. You may obtain a copy of the License at:
+ *                        opensource.org/licenses/BSD-3-Clause
+ *
+ ******************************************************************************
+ */
+
+#include "i2c_device.h"
+#include "mbed_assert.h"
+#include "mbed_error.h"
+#include "stm32f0xx_ll_rcc.h"
+
+/*  Define I2C Device */
+#if DEVICE_I2C
+
+/**
+  * @brief  Get I2C clock source frequency according I2C instance used.
+  * @param  i2c I2C instance name.
+  * @retval I2C clock source frequency in Hz.
+  */
+uint32_t i2c_get_pclk(I2CName i2c)
+{
+    uint32_t clocksource;
+    uint32_t pclk = 0;
+    if (i2c == I2C_1) {
+        clocksource = __HAL_RCC_GET_I2C1_SOURCE();
+        switch (clocksource) {
+            case RCC_I2C1CLKSOURCE_SYSCLK:
+                pclk = HAL_RCC_GetSysClockFreq();
+                break;
+
+            case RCC_I2C1CLKSOURCE_HSI:
+                pclk = HSI_VALUE;
+                break;
+        }
+    } else {
+        // should not happend
+        error("I2C: unknown instance");
+    }
+    return pclk;
+}
+
+/**
+ * @brief  Provide the suitable timing depending on requested frequency
+ * @param  hz Required I2C clock in Hz.
+ * @retval I2C timing or 0 in case of error.
+ */
+uint32_t i2c_get_timing(I2CName i2c, int hz)
+{
+    uint32_t tim;
+    uint32_t pclk;
+
+    pclk = i2c_get_pclk(i2c);
+
+    if (pclk == I2C_PCLK_DEF) {
+        switch (hz) {
+            case 100000:
+                tim = TIMING_VAL_DEFAULT_CLK_100KHZ;
+                break;
+            case 400000:
+                tim = TIMING_VAL_DEFAULT_CLK_400KHZ;
+                break;
+            case 1000000:
+                tim = TIMING_VAL_DEFAULT_CLK_1MHZ;
+                break;
+            default:
+                MBED_ASSERT((hz == 100000) || (hz == 400000) || (hz == 1000000));
+                break;
+        }
+    }
+
+    else {
+        tim = i2c_compute_timing(pclk, hz);
+    }
+    return tim;
+}
+
+/**
+  * @}
+  */
+
+#endif // DEVICE_I2C
diff --git a/targets/TARGET_STM/TARGET_STM32F0/i2c_device.h b/targets/TARGET_STM/TARGET_STM32F0/i2c_device.h
index bda4eb7adb..1fb9f83404 100644
--- a/targets/TARGET_STM/TARGET_STM32F0/i2c_device.h
+++ b/targets/TARGET_STM/TARGET_STM32F0/i2c_device.h
@@ -2,7 +2,7 @@
  * SPDX-License-Identifier: BSD-3-Clause
  ******************************************************************************
  *
- * Copyright (c) 2015-2020 STMicroelectronics.
+ * Copyright (c) 2015-2021 STMicroelectronics.
  * All rights reserved.
  *
  * This software component is licensed by ST under BSD 3-Clause license,
@@ -16,12 +16,13 @@
 #ifndef MBED_I2C_DEVICE_H
 #define MBED_I2C_DEVICE_H
 
-#include "cmsis.h"
+#include "PeripheralNames.h"
 
 #ifdef __cplusplus
 extern "C" {
 #endif
 
+/*  Define I2C Device */
 #if DEVICE_I2C
 
 #if defined I2C1_BASE
@@ -32,41 +33,28 @@ extern "C" {
 #define I2C2_EV_IRQn I2C2_IRQn
 #define I2C2_ER_IRQn I2C2_IRQn
 #endif
-#if defined I2C3_BASE
-#define I2C3_EV_IRQn I2C3_IRQn
-#define I2C3_ER_IRQn I2C3_IRQn
-#endif
-
-#define I2C_IT_ALL (I2C_IT_ERRI|I2C_IT_TCI|I2C_IT_STOPI|I2C_IT_NACKI|I2C_IT_ADDRI|I2C_IT_RXI|I2C_IT_TXI)
-
 
 /*  Define IP version */
 #define I2C_IP_VERSION_V2
 
+#define TIMING_VAL_DEFAULT_CLK_100KHZ  0x10805E89  // Standard mode with Rise Time = 400ns and Fall Time = 100ns
+#define TIMING_VAL_DEFAULT_CLK_400KHZ  0x00901850  // Fast mode with Rise Time = 250ns and Fall Time = 100ns
+#define TIMING_VAL_DEFAULT_CLK_1MHZ    0x00700818  // Fast mode Plus with Rise Time = 60ns and Fall Time = 100ns
+#define I2C_PCLK_DEF                   48000000    // 48 MHz    
+
+#define I2C_IT_ALL (I2C_IT_ERRI|I2C_IT_TCI|I2C_IT_STOPI|I2C_IT_NACKI|I2C_IT_ADDRI|I2C_IT_RXI|I2C_IT_TXI)
+
 /*  Family specifc settings for clock source */
 #define I2CAPI_I2C1_CLKSRC RCC_I2C1CLKSOURCE_SYSCLK
 
-/*  Provide the suitable timing depending on requested frequencie */
-static inline uint32_t get_i2c_timing(int hz)
-{
-    uint32_t tim = 0;
+uint32_t i2c_get_pclk(I2CName i2c);
+uint32_t i2c_compute_timing(uint32_t clock_src_freq, uint32_t i2c_freq);
+uint32_t i2c_get_timing(I2CName i2c, int hz);
+void i2c_compute_presc_scldel_sdadel(uint32_t clock_src_freq, uint32_t I2C_speed);
+uint32_t i2c_compute_scll_sclh(uint32_t clock_src_freq, uint32_t I2C_speed);
 
-    switch (hz) {
-        case 100000:
-            tim = 0x10805E89; // Standard mode with Rise Time = 400ns and Fall Time = 100ns
-            break;
-        case 400000:
-            tim = 0x00901850; // Fast mode with Rise Time = 250ns and Fall Time = 100ns
-            break;
-        case 1000000:
-            tim = 0x00700818; // Fast mode Plus with Rise Time = 60ns and Fall Time = 100ns
-            break;
-        default:
-            break;
-    }
-    return tim;
+#ifdef __cplusplus
 }
-
-#endif // DEVICE_I2C
-
+#endif
+#endif // DEVICE_I2C
 #endif
diff --git a/targets/TARGET_STM/TARGET_STM32F3/CMakeLists.txt b/targets/TARGET_STM/TARGET_STM32F3/CMakeLists.txt
index b13377e017..f1684b7fc6 100644
--- a/targets/TARGET_STM/TARGET_STM32F3/CMakeLists.txt
+++ b/targets/TARGET_STM/TARGET_STM32F3/CMakeLists.txt
@@ -21,6 +21,7 @@ target_sources(mbed-stm32f3
         analogout_device.c
         flash_api.c
         gpio_irq_device.c
+        i2c_device.c
         pwmout_device.c
         serial_device.c
         spi_api.c
diff --git a/targets/TARGET_STM/TARGET_STM32F3/i2c_device.c b/targets/TARGET_STM/TARGET_STM32F3/i2c_device.c
new file mode 100755
index 0000000000..3ac6dc1b18
--- /dev/null
+++ b/targets/TARGET_STM/TARGET_STM32F3/i2c_device.c
@@ -0,0 +1,134 @@
+/* mbed Microcontroller Library
+ * SPDX-License-Identifier: BSD-3-Clause
+ ******************************************************************************
+ *
+ * Copyright (c) 2021 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software component is licensed by ST under BSD 3-Clause license,
+ * the "License"; You may not use this file except in compliance with the
+ * License. You may obtain a copy of the License at:
+ *                        opensource.org/licenses/BSD-3-Clause
+ *
+ ******************************************************************************
+ */
+
+#include "i2c_device.h"
+#include "mbed_assert.h"
+#include "mbed_error.h"
+#include "stm32f3xx_ll_rcc.h"
+
+/*  Define I2C Device */
+#if DEVICE_I2C
+
+/**
+  * @brief  Get I2C clock source frequency according I2C instance used.
+  * @param  i2c I2C instance name.
+  * @retval I2C clock source frequency in Hz.
+  */
+uint32_t i2c_get_pclk(I2CName i2c)
+{
+    uint32_t clocksource;
+    uint32_t pclk = 0;
+    if (i2c == I2C_1) {
+        clocksource = __HAL_RCC_GET_I2C1_SOURCE();
+        switch (clocksource) {
+            case RCC_I2C1CLKSOURCE_SYSCLK:
+                pclk = HAL_RCC_GetSysClockFreq();
+                break;
+
+            case RCC_I2C1CLKSOURCE_HSI:
+                pclk = HSI_VALUE;
+                break;
+        }
+    }
+#if defined I2C2_BASE
+    else if (i2c == I2C_2) {
+        clocksource = __HAL_RCC_GET_I2C2_SOURCE();
+        switch (clocksource) {
+            case RCC_I2C2CLKSOURCE_SYSCLK:
+                pclk = HAL_RCC_GetSysClockFreq();
+                break;
+
+            case RCC_I2C2CLKSOURCE_HSI:
+                pclk = HSI_VALUE;
+                break;
+        }
+    }
+#endif
+#if defined I2C3_BASE
+    else if (i2c == I2C_3) {
+        clocksource = __HAL_RCC_GET_I2C3_SOURCE();
+        switch (clocksource) {
+            case RCC_I2C3CLKSOURCE_SYSCLK:
+                pclk = HAL_RCC_GetSysClockFreq();
+                break;
+
+            case RCC_I2C3CLKSOURCE_HSI:
+                pclk = HSI_VALUE;
+                break;
+        }
+    }
+#endif
+    else {
+        // should not happend
+        error("I2C: unknown instance");
+    }
+    return pclk;
+}
+
+/**
+ * @brief  Provide the suitable timing depending on requested frequency
+ * @param  hz Required I2C clock in Hz.
+ * @retval I2C timing or 0 in case of error.
+ */
+uint32_t i2c_get_timing(I2CName i2c, int hz)
+{
+    uint32_t tim;
+    uint32_t pclk;
+
+    pclk = i2c_get_pclk(i2c);
+
+    if (pclk == I2C_PCLK_HSI) {
+        switch (hz) {
+            case 100000:
+                tim = TIMING_VAL_64M_CLK_100KHZ;
+                break;
+            case 400000:
+                tim = TIMING_VAL_64M_CLK_400KHZ;
+                break;
+            case 1000000:
+                tim = TIMING_VAL_64M_CLK_1MHZ;
+                break;
+            default:
+                MBED_ASSERT((hz == 100000) || (hz == 400000) || (hz == 1000000));
+                break;
+        }
+    } else if (pclk == I2C_PCLK_HSE) {
+        switch (hz) {
+            case 100000:
+                tim = TIMING_VAL_72M_CLK_100KHZ;
+                break;
+            case 400000:
+                tim = TIMING_VAL_72M_CLK_400KHZ;
+                break;
+            case 1000000:
+                tim = TIMING_VAL_72M_CLK_1MHZ;
+                break;
+            default:
+                MBED_ASSERT((hz == 100000) || (hz == 400000) || (hz == 1000000));
+                break;
+        }
+    }
+
+    else {
+        tim = i2c_compute_timing(pclk, hz);
+    }
+    return tim;
+}
+
+/**
+  * @}
+  */
+
+#endif // DEVICE_I2C
diff --git a/targets/TARGET_STM/TARGET_STM32F3/i2c_device.h b/targets/TARGET_STM/TARGET_STM32F3/i2c_device.h
index 7ef29226aa..7e19708eb3 100644
--- a/targets/TARGET_STM/TARGET_STM32F3/i2c_device.h
+++ b/targets/TARGET_STM/TARGET_STM32F3/i2c_device.h
@@ -1,6 +1,6 @@
 /* mbed Microcontroller Library
  *******************************************************************************
- * Copyright (c) 2015, STMicroelectronics
+ * Copyright (c) 2015-2021, STMicroelectronics
  * All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
@@ -27,76 +27,48 @@
  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  *******************************************************************************
  */
+
 #ifndef MBED_I2C_DEVICE_H
 #define MBED_I2C_DEVICE_H
 
-#include "cmsis.h"
+#include "PeripheralNames.h"
 
 #ifdef __cplusplus
 extern "C" {
 #endif
 
+/*  Define I2C Device */
 #if DEVICE_I2C
 
-#define I2C_IP_VERSION_V2
+#define TIMING_VAL_64M_CLK_100KHZ  0x10B17DB4  // Standard mode with Rise time = 120ns, Fall time = 120ns
+#define TIMING_VAL_64M_CLK_400KHZ  0x00E22163  // Fast Mode with Rise time = 120ns, Fall time = 120ns
+#define TIMING_VAL_64M_CLK_1MHZ    0x00A00D1E  // Fast Mode Plus with Rise time = 120ns, Fall time = 10ns
+#define I2C_PCLK_HSI               64000000    // 64 MHz
+
+#define TIMING_VAL_72M_CLK_100KHZ  0x10D28DCB  // Standard mode with Rise time = 120ns, Fall time = 120ns
+#define TIMING_VAL_72M_CLK_400KHZ  0x00F32571  // Fast Mode with Rise time = 120ns, Fall time = 120ns
+#define TIMING_VAL_72M_CLK_1MHZ    0x00C00D24  // Fast Mode Plus with Rise time = 120ns, Fall time = 10ns
+#define I2C_PCLK_HSE               72000000    // 72 MHz
+
 
 #define I2C_IT_ALL (I2C_IT_ERRI|I2C_IT_TCI|I2C_IT_STOPI|I2C_IT_NACKI|I2C_IT_ADDRI|I2C_IT_RXI|I2C_IT_TXI)
 
+/*  Define IP version */
+#define I2C_IP_VERSION_V2
+
 /*  Family specifc settings for clock source */
 #define I2CAPI_I2C1_CLKSRC RCC_I2C1CLKSOURCE_SYSCLK
 #define I2CAPI_I2C2_CLKSRC RCC_I2C2CLKSOURCE_SYSCLK
 #define I2CAPI_I2C3_CLKSRC RCC_I2C3CLKSOURCE_SYSCLK
 
-/*  Provide the suitable timing depending on requested frequencie */
-static inline uint32_t get_i2c_timing(int hz)
-{
-    uint32_t tim = 0;
-    /*
-       Values calculated with I2C_Timing_Configuration_V1.0.1.xls file (see AN4235)
-       * Standard mode (up to 100 kHz)
-       * Fast Mode (up to 400 kHz)
-       * Fast Mode Plus (up to 1 MHz)
-       Below values obtained with:
-       - I2C clock source = 64 MHz (System Clock w/ HSI) or 72 (System Clock w/ HSE)
-       - Analog filter delay = ON
-       - Digital filter coefficient = 0
-    */
-    if (SystemCoreClock == 64000000) {
-        switch (hz) {
-            case 100000:
-                tim = 0x10B17DB4; // Standard mode with Rise time = 120ns, Fall time = 120ns
-                break;
-            case 400000:
-                tim = 0x00E22163; // Fast Mode with Rise time = 120ns, Fall time = 120ns
-                break;
-            case 1000000:
-                tim = 0x00A00D1E; // Fast Mode Plus with Rise time = 120ns, Fall time = 10ns
-                break;
-            default:
-                break;
-        }
-    } else if (SystemCoreClock == 72000000) {
-        switch (hz) {
-            case 100000:
-                tim = 0x10D28DCB; // Standard mode with Rise time = 120ns, Fall time = 120ns
-                break;
-            case 400000:
-                tim = 0x00F32571; // Fast Mode with Rise time = 120ns, Fall time = 120ns
-                break;
-            case 1000000:
-                tim = 0x00C00D24; // Fast Mode Plus with Rise time = 120ns, Fall time = 10ns
-                break;
-            default:
-                break;
-        }
-    }
-    return tim;
-}
+uint32_t i2c_get_pclk(I2CName i2c);
+uint32_t i2c_compute_timing(uint32_t clock_src_freq, uint32_t i2c_freq);
+uint32_t i2c_get_timing(I2CName i2c, int hz);
+void i2c_compute_presc_scldel_sdadel(uint32_t clock_src_freq, uint32_t I2C_speed);
+uint32_t i2c_compute_scll_sclh(uint32_t clock_src_freq, uint32_t I2C_speed);
 
 #ifdef __cplusplus
 }
 #endif
-
 #endif // DEVICE_I2C
-
 #endif
diff --git a/targets/TARGET_STM/TARGET_STM32F7/CMakeLists.txt b/targets/TARGET_STM/TARGET_STM32F7/CMakeLists.txt
index a7e0becfd3..9cada3e83c 100644
--- a/targets/TARGET_STM/TARGET_STM32F7/CMakeLists.txt
+++ b/targets/TARGET_STM/TARGET_STM32F7/CMakeLists.txt
@@ -15,6 +15,7 @@ target_sources(mbed-stm32f7
         analogout_device.c
         flash_api.c
         gpio_irq_device.c
+        i2c_device.c
         pwmout_device.c
         serial_device.c
         spi_api.c
diff --git a/targets/TARGET_STM/TARGET_STM32F7/i2c_device.c b/targets/TARGET_STM/TARGET_STM32F7/i2c_device.c
new file mode 100755
index 0000000000..01d39d0a72
--- /dev/null
+++ b/targets/TARGET_STM/TARGET_STM32F7/i2c_device.c
@@ -0,0 +1,144 @@
+/* mbed Microcontroller Library
+ * SPDX-License-Identifier: BSD-3-Clause
+ ******************************************************************************
+ *
+ * Copyright (c) 2021 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software component is licensed by ST under BSD 3-Clause license,
+ * the "License"; You may not use this file except in compliance with the
+ * License. You may obtain a copy of the License at:
+ *                        opensource.org/licenses/BSD-3-Clause
+ *
+ ******************************************************************************
+ */
+
+#include "i2c_device.h"
+#include "mbed_assert.h"
+#include "mbed_error.h"
+#include "stm32f7xx_ll_rcc.h"
+
+/*  Define I2C Device */
+#if DEVICE_I2C
+
+/**
+  * @brief  Get I2C clock source frequency according I2C instance used.
+  * @param  i2c I2C instance name.
+  * @retval I2C clock source frequency in Hz.
+  */
+uint32_t i2c_get_pclk(I2CName i2c)
+{
+    uint32_t clocksource;
+    uint32_t pclk = 0;
+    if (i2c == I2C_1) {
+        clocksource = __HAL_RCC_GET_I2C1_SOURCE();
+        switch (clocksource) {
+            case RCC_I2C1CLKSOURCE_PCLK1:
+                pclk = HAL_RCC_GetPCLK1Freq();
+                break;
+
+            case RCC_I2C1CLKSOURCE_SYSCLK:
+                pclk = HAL_RCC_GetSysClockFreq();
+                break;
+
+            case RCC_I2C1CLKSOURCE_HSI:
+                pclk = HSI_VALUE;
+                break;
+        }
+    }
+#if defined I2C2_BASE
+    else if (i2c == I2C_2) {
+        clocksource = __HAL_RCC_GET_I2C2_SOURCE();
+        switch (clocksource) {
+            case RCC_I2C2CLKSOURCE_PCLK1:
+                pclk = HAL_RCC_GetPCLK1Freq();
+                break;
+
+            case RCC_I2C2CLKSOURCE_SYSCLK:
+                pclk = HAL_RCC_GetSysClockFreq();
+                break;
+
+            case RCC_I2C2CLKSOURCE_HSI:
+                pclk = HSI_VALUE;
+                break;
+        }
+    }
+#endif
+#if defined I2C3_BASE
+    else if (i2c == I2C_3) {
+        clocksource = __HAL_RCC_GET_I2C3_SOURCE();
+        switch (clocksource) {
+            case RCC_I2C3CLKSOURCE_PCLK1:
+                pclk = HAL_RCC_GetPCLK1Freq();
+                break;
+
+            case RCC_I2C3CLKSOURCE_SYSCLK:
+                pclk = HAL_RCC_GetSysClockFreq();
+                break;
+
+            case RCC_I2C3CLKSOURCE_HSI:
+                pclk = HSI_VALUE;
+                break;
+        }
+    }
+#endif
+#if defined I2C4_BASE
+    else if (i2c == I2C_4) {
+        clocksource = __HAL_RCC_GET_I2C4_SOURCE();
+        switch (clocksource) {
+            case RCC_I2C4CLKSOURCE_PCLK1:
+                pclk = HAL_RCC_GetPCLK1Freq();
+                break;
+
+            case RCC_I2C4CLKSOURCE_SYSCLK:
+                pclk = HAL_RCC_GetSysClockFreq();
+                break;
+
+            case RCC_I2C4CLKSOURCE_HSI:
+                pclk = HSI_VALUE;
+                break;
+        }
+    }
+#endif
+    else {
+        // should not happend
+        error("I2C: unknown instance");
+    }
+    return pclk;
+}
+
+/**
+ * @brief  Provide the suitable timing depending on requested frequency
+ * @param  hz Required I2C clock in Hz.
+ * @retval I2C timing or 0 in case of error.
+ */
+uint32_t i2c_get_timing(I2CName i2c, int hz)
+{
+    uint32_t tim;
+    uint32_t pclk;
+    pclk = i2c_get_pclk(i2c);
+    if (pclk == I2C_PCLK_DEF) {
+        switch (hz) {
+            case 100000:
+                tim = TIMING_VAL_DEFAULT_CLK_100KHZ;
+                break;
+            case 400000:
+                tim = TIMING_VAL_DEFAULT_CLK_400KHZ;
+                break;
+            case 1000000:
+                tim = TIMING_VAL_DEFAULT_CLK_1MHZ;
+                break;
+            default:
+                MBED_ASSERT((hz == 100000) || (hz == 400000) || (hz == 1000000));
+                break;
+        }
+    } else {
+        tim = i2c_compute_timing(pclk, hz);
+    }
+    return tim;
+}
+
+/**
+  * @}
+  */
+#endif // DEVICE_I2C
diff --git a/targets/TARGET_STM/TARGET_STM32F7/i2c_device.h b/targets/TARGET_STM/TARGET_STM32F7/i2c_device.h
index 3bfbc23c86..66f9717bed 100644
--- a/targets/TARGET_STM/TARGET_STM32F7/i2c_device.h
+++ b/targets/TARGET_STM/TARGET_STM32F7/i2c_device.h
@@ -1,6 +1,6 @@
 /* mbed Microcontroller Library
  *******************************************************************************
- * Copyright (c) 2015, STMicroelectronics
+ * Copyright (c) 2015-2021, STMicroelectronics
  * All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
@@ -27,17 +27,25 @@
  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  *******************************************************************************
  */
+
 #ifndef MBED_I2C_DEVICE_H
 #define MBED_I2C_DEVICE_H
 
-#include "cmsis.h"
+#include "PeripheralNames.h"
 
 #ifdef __cplusplus
 extern "C" {
 #endif
 
+/*  Define I2C Device */
 #if DEVICE_I2C
 
+#define TIMING_VAL_DEFAULT_CLK_100KHZ  0x10916998  // Standard mode with Rise time = 120ns, Fall time = 120ns
+#define TIMING_VAL_DEFAULT_CLK_400KHZ  0x00B11B54  // Fast Mode with Rise time = 120ns, Fall time = 120ns
+#define TIMING_VAL_DEFAULT_CLK_1MHZ    0x0090091B  // Fast Mode Plus with Rise time = 120ns, Fall time = 10ns
+#define I2C_PCLK_DEF                   54000000    // 54 MHz
+
+/*  Define IP version */
 #define I2C_IP_VERSION_V2
 
 #define I2C_IT_ALL (I2C_IT_ERRI|I2C_IT_TCI|I2C_IT_STOPI|I2C_IT_NACKI|I2C_IT_ADDRI|I2C_IT_RXI|I2C_IT_TXI)
@@ -48,40 +56,14 @@ extern "C" {
 #define I2CAPI_I2C3_CLKSRC RCC_I2C3CLKSOURCE_PCLK1
 #define I2CAPI_I2C4_CLKSRC RCC_I2C4CLKSOURCE_PCLK1
 
-/*  Provide the suitable timing depending on requested frequencie */
-static inline uint32_t get_i2c_timing(int hz)
-{
-    uint32_t tim = 0;
-    /*
-       Values calculated with I2C_Timing_Configuration tool (excel file)
-       * Standard mode (up to 100 kHz)
-       * Fast Mode (up to 400 kHz)
-       * Fast Mode Plus (up to 1 MHz)
-       Below values obtained with:
-       - I2Cx clock source = APB1CLK = 54 MHz
-       - Analog filter delay = ON
-       - Digital filter coefficient = 0
-    */
-    switch (hz) {
-        case 100000:
-            tim = 0x10916998; // Standard mode with Rise time = 120ns, Fall time = 120ns
-            break;
-        case 400000:
-            tim = 0x00B11B54; // Fast Mode with Rise time = 120ns, Fall time = 120ns
-            break;
-        case 1000000:
-            tim = 0x0090091B; // Fast Mode Plus with Rise time = 120ns, Fall time = 10ns
-            break;
-        default:
-            break;
-    }
-    return tim;
-}
+uint32_t i2c_get_pclk(I2CName i2c);
+uint32_t i2c_compute_timing(uint32_t clock_src_freq, uint32_t i2c_freq);
+uint32_t i2c_get_timing(I2CName i2c, int hz);
+void i2c_compute_presc_scldel_sdadel(uint32_t clock_src_freq, uint32_t I2C_speed);
+uint32_t i2c_compute_scll_sclh(uint32_t clock_src_freq, uint32_t I2C_speed);
 
 #ifdef __cplusplus
 }
 #endif
-
 #endif // DEVICE_I2C
-
 #endif
diff --git a/targets/TARGET_STM/TARGET_STM32G0/CMakeLists.txt b/targets/TARGET_STM/TARGET_STM32G0/CMakeLists.txt
index 697a933c3e..6fabba85b5 100644
--- a/targets/TARGET_STM/TARGET_STM32G0/CMakeLists.txt
+++ b/targets/TARGET_STM/TARGET_STM32G0/CMakeLists.txt
@@ -17,6 +17,7 @@ target_sources(mbed-stm32g0
         analogout_device.c
         flash_api.c
         gpio_irq_device.c
+        i2c_device.c
         pwmout_device.c
         serial_device.c
         spi_api.c
diff --git a/targets/TARGET_STM/TARGET_STM32G0/i2c_device.c b/targets/TARGET_STM/TARGET_STM32G0/i2c_device.c
new file mode 100755
index 0000000000..f20aae22f8
--- /dev/null
+++ b/targets/TARGET_STM/TARGET_STM32G0/i2c_device.c
@@ -0,0 +1,90 @@
+/* mbed Microcontroller Library
+ * SPDX-License-Identifier: BSD-3-Clause
+ ******************************************************************************
+ *
+ * Copyright (c) 2021 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software component is licensed by ST under BSD 3-Clause license,
+ * the "License"; You may not use this file except in compliance with the
+ * License. You may obtain a copy of the License at:
+ *                        opensource.org/licenses/BSD-3-Clause
+ *
+ ******************************************************************************
+ */
+
+#include "i2c_device.h"
+#include "mbed_assert.h"
+#include "mbed_error.h"
+#include "stm32g0xx_ll_rcc.h"
+
+/*  Define I2C Device */
+#if DEVICE_I2C
+
+/**
+  * @brief  Get I2C clock source frequency according I2C instance used.
+  * @param  i2c I2C instance name.
+  * @retval I2C clock source frequency in Hz.
+  */
+uint32_t i2c_get_pclk(I2CName i2c)
+{
+    uint32_t clocksource;
+    uint32_t pclk = 0;
+    if (i2c == I2C_1) {
+        clocksource = __HAL_RCC_GET_I2C1_SOURCE();
+        switch (clocksource) {
+            case RCC_I2C1CLKSOURCE_PCLK1:
+                pclk = HAL_RCC_GetPCLK1Freq();
+                break;
+
+            case RCC_I2C1CLKSOURCE_SYSCLK:
+                pclk = HAL_RCC_GetSysClockFreq();
+                break;
+
+            case RCC_I2C1CLKSOURCE_HSI:
+                pclk = HSI_VALUE;
+                break;
+        }
+    } else {
+        // should not happend
+        error("I2C: unknown instance");
+    }
+    return pclk;
+}
+
+/**
+ * @brief  Provide the suitable timing depending on requested frequency
+ * @param  hz Required I2C clock in Hz.
+ * @retval I2C timing or 0 in case of error.
+ */
+uint32_t i2c_get_timing(I2CName i2c, int hz)
+{
+    uint32_t tim;
+    uint32_t pclk;
+    pclk = i2c_get_pclk(i2c);
+    if (pclk == I2C_PCLK_DEF) {
+        switch (hz) {
+            case 100000:
+                tim = TIMING_VAL_DEFAULT_CLK_100KHZ;
+                break;
+            case 400000:
+                tim = TIMING_VAL_DEFAULT_CLK_400KHZ;
+                break;
+            case 1000000:
+                tim = TIMING_VAL_DEFAULT_CLK_1MHZ;
+                break;
+            default:
+                MBED_ASSERT((hz == 100000) || (hz == 400000) || (hz == 1000000));
+                break;
+        }
+    } else {
+        tim = i2c_compute_timing(pclk, hz);
+    }
+    return tim;
+}
+
+/**
+  * @}
+  */
+
+#endif // DEVICE_I2C
diff --git a/targets/TARGET_STM/TARGET_STM32G0/i2c_device.h b/targets/TARGET_STM/TARGET_STM32G0/i2c_device.h
index 21d527549c..4b189f7abc 100644
--- a/targets/TARGET_STM/TARGET_STM32G0/i2c_device.h
+++ b/targets/TARGET_STM/TARGET_STM32G0/i2c_device.h
@@ -2,7 +2,7 @@
  * SPDX-License-Identifier: BSD-3-Clause
  ******************************************************************************
  *
- * Copyright (c) 2015 STMicroelectronics.
+ * Copyright (c) 2015-2021 STMicroelectronics.
  * All rights reserved.
  *
  * This software component is licensed by ST under BSD 3-Clause license,
@@ -12,19 +12,27 @@
  *
  ******************************************************************************
  */
+
 #ifndef MBED_I2C_DEVICE_H
 #define MBED_I2C_DEVICE_H
 
-#include "cmsis.h"
+#include "PeripheralNames.h"
 
 #ifdef __cplusplus
 extern "C" {
 #endif
 
+/*  Define IP version */
 #if DEVICE_I2C
 
-#define I2C_IP_VERSION_V2
+// Common settings: I2C clock = 64 MHz, Analog filter = ON, Digital filter coefficient = 0
+#define TIMING_VAL_DEFAULT_CLK_100KHZ  0xC0311319  // Standard mode with Rise Time = 400ns and Fall Time = 100ns
+#define TIMING_VAL_DEFAULT_CLK_400KHZ  0x10B1102E  // Fast mode with Rise Time = 250ns and Fall Time = 100ns
+#define TIMING_VAL_DEFAULT_CLK_1MHZ    0x00710B1E  // Fast mode Plus with Rise Time = 60ns and Fall Time = 100ns
+#define I2C_PCLK_DEF                   64000000    // 64 MHz
 
+/*  Define IP version */
+#define I2C_IP_VERSION_V2
 
 #define I2C1_EV_IRQn I2C1_IRQn
 #define I2C1_ER_IRQn I2C1_IRQn
@@ -32,39 +40,20 @@ extern "C" {
 #define I2C2_EV_IRQn I2C2_IRQn
 #define I2C2_ER_IRQn I2C2_IRQn
 
-
-
 #define I2C_IT_ALL (I2C_IT_ERRI|I2C_IT_TCI|I2C_IT_STOPI|I2C_IT_NACKI|I2C_IT_ADDRI|I2C_IT_RXI|I2C_IT_TXI)
 
 /*  Family specifc settings for clock source */
 #define I2CAPI_I2C1_CLKSRC RCC_I2C1CLKSOURCE_SYSCLK
 #define I2CAPI_I2C2_CLKSRC RCC_I2C2CLKSOURCE_SYSCLK
 
-/*  Provide the suitable timing depending on requested frequencie */
-static inline uint32_t get_i2c_timing(int hz)
-{
-    uint32_t tim = 0;
-    // Common settings: I2C clock = 64 MHz, Analog filter = ON, Digital filter coefficient = 0
-    switch (hz) {
-        case 100000:
-            tim = 0xC0311319; // Standard mode with Rise Time = 400ns and Fall Time = 100ns
-            break;
-        case 400000:
-            tim = 0x10B1102E; // Fast mode with Rise Time = 250ns and Fall Time = 100ns
-            break;
-        case 1000000:
-            tim = 0x00710B1E; // Fast mode Plus with Rise Time = 60ns and Fall Time = 100ns
-            break;
-        default:
-            break;
-    }
-    return tim;
-}
+uint32_t i2c_get_pclk(I2CName i2c);
+uint32_t i2c_compute_timing(uint32_t clock_src_freq, uint32_t i2c_freq);
+uint32_t i2c_get_timing(I2CName i2c, int hz);
+void i2c_compute_presc_scldel_sdadel(uint32_t clock_src_freq, uint32_t I2C_speed);
+uint32_t i2c_compute_scll_sclh(uint32_t clock_src_freq, uint32_t I2C_speed);
 
 #ifdef __cplusplus
 }
 #endif
-
 #endif // DEVICE_I2C
-
 #endif
diff --git a/targets/TARGET_STM/TARGET_STM32G4/CMakeLists.txt b/targets/TARGET_STM/TARGET_STM32G4/CMakeLists.txt
index 298030962a..a670385d2d 100644
--- a/targets/TARGET_STM/TARGET_STM32G4/CMakeLists.txt
+++ b/targets/TARGET_STM/TARGET_STM32G4/CMakeLists.txt
@@ -18,6 +18,7 @@ target_sources(mbed-stm32g4
         analogout_device.c
         flash_api.c
         gpio_irq_device.c
+        i2c_device.c
         pwmout_device.c
         serial_device.c
         spi_api.c
diff --git a/targets/TARGET_STM/TARGET_STM32G4/i2c_device.c b/targets/TARGET_STM/TARGET_STM32G4/i2c_device.c
new file mode 100755
index 0000000000..dfd06765f9
--- /dev/null
+++ b/targets/TARGET_STM/TARGET_STM32G4/i2c_device.c
@@ -0,0 +1,143 @@
+/* mbed Microcontroller Library
+ * SPDX-License-Identifier: BSD-3-Clause
+ ******************************************************************************
+ *
+ * Copyright (c) 2021 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software component is licensed by ST under BSD 3-Clause license,
+ * the "License"; You may not use this file except in compliance with the
+ * License. You may obtain a copy of the License at:
+ *                        opensource.org/licenses/BSD-3-Clause
+ *
+ ******************************************************************************
+ */
+
+#include "i2c_device.h"
+#include "mbed_assert.h"
+#include "mbed_error.h"
+#include "stm32g4xx_ll_rcc.h"
+
+/*  Define I2C Device */
+#if DEVICE_I2C
+
+/**
+  * @brief  Get I2C clock source frequency according I2C instance used.
+  * @param  i2c I2C instance name.
+  * @retval I2C clock source frequency in Hz.
+  */
+uint32_t i2c_get_pclk(I2CName i2c)
+{
+    uint32_t clocksource;
+    uint32_t pclk = 0;
+    if (i2c == I2C_1) {
+        clocksource = __HAL_RCC_GET_I2C1_SOURCE();
+        switch (clocksource) {
+            case RCC_I2C1CLKSOURCE_PCLK1:
+                pclk = HAL_RCC_GetPCLK1Freq();
+                break;
+
+            case RCC_I2C1CLKSOURCE_SYSCLK:
+                pclk = HAL_RCC_GetSysClockFreq();
+                break;
+
+            case RCC_I2C1CLKSOURCE_HSI:
+                pclk = HSI_VALUE;
+                break;
+        }
+    }
+#if defined I2C2_BASE
+    else if (i2c == I2C_2) {
+        clocksource = __HAL_RCC_GET_I2C2_SOURCE();
+        switch (clocksource) {
+            case RCC_I2C2CLKSOURCE_PCLK1:
+                pclk = HAL_RCC_GetPCLK1Freq();
+                break;
+
+            case RCC_I2C2CLKSOURCE_SYSCLK:
+                pclk = HAL_RCC_GetSysClockFreq();
+                break;
+
+            case RCC_I2C2CLKSOURCE_HSI:
+                pclk = HSI_VALUE;
+                break;
+        }
+    }
+#endif
+#if defined I2C3_BASE
+    else if (i2c == I2C_3) {
+        clocksource = __HAL_RCC_GET_I2C3_SOURCE();
+        switch (clocksource) {
+            case RCC_I2C3CLKSOURCE_PCLK1:
+                pclk = HAL_RCC_GetPCLK1Freq();
+                break;
+
+            case RCC_I2C3CLKSOURCE_SYSCLK:
+                pclk = HAL_RCC_GetSysClockFreq();
+                break;
+
+            case RCC_I2C3CLKSOURCE_HSI:
+                pclk = HSI_VALUE;
+                break;
+        }
+    }
+#endif
+#if defined I2C4_BASE
+    else if (i2c == I2C_4) {
+        clocksource = __HAL_RCC_GET_I2C4_SOURCE();
+        switch (clocksource) {
+            case RCC_I2C4CLKSOURCE_PCLK1:
+                pclk = HAL_RCC_GetPCLK1Freq();
+                break;
+
+            case RCC_I2C4CLKSOURCE_SYSCLK:
+                pclk = HAL_RCC_GetSysClockFreq();
+                break;
+
+            case RCC_I2C4CLKSOURCE_HSI:
+                pclk = HSI_VALUE;
+                break;
+        }
+    }
+#endif
+    else {
+        // should not happend
+        error("I2C: unknown instance");
+    }
+    return pclk;
+}
+
+/**
+ * @brief  Provide the suitable timing depending on requested frequency
+ * @param  hz Required I2C clock in Hz.
+ * @retval I2C timing or 0 in case of error.
+ */
+uint32_t i2c_get_timing(I2CName i2c, int hz)
+{
+    uint32_t tim;
+    uint32_t pclk;
+    pclk = i2c_get_pclk(i2c);
+    if (pclk == I2C_PCLK_DEF) {
+        switch (hz) {
+            case 100000:
+                tim = TIMING_VAL_DEFAULT_CLK_100KHZ;
+                break;
+            case 400000:
+                tim = TIMING_VAL_DEFAULT_CLK_400KHZ;
+                break;
+            case 1000000:
+                tim = TIMING_VAL_DEFAULT_CLK_1MHZ;
+                break;
+            default:
+                MBED_ASSERT((hz == 100000) || (hz == 400000) || (hz == 1000000));
+                break;
+        }
+    } else {
+        tim = i2c_compute_timing(pclk, hz);
+    }
+    return tim;
+}
+/**
+  * @}
+  */
+#endif // DEVICE_I2C
diff --git a/targets/TARGET_STM/TARGET_STM32G4/i2c_device.h b/targets/TARGET_STM/TARGET_STM32G4/i2c_device.h
index 35f5c320e1..dada081833 100644
--- a/targets/TARGET_STM/TARGET_STM32G4/i2c_device.h
+++ b/targets/TARGET_STM/TARGET_STM32G4/i2c_device.h
@@ -2,7 +2,7 @@
  * SPDX-License-Identifier: BSD-3-Clause
  ******************************************************************************
  *
- * Copyright (c) 2015-2020 STMicroelectronics.
+ * Copyright (c) 2015-2021 STMicroelectronics.
  * All rights reserved.
  *
  * This software component is licensed by ST under BSD 3-Clause license,
@@ -16,14 +16,22 @@
 #ifndef MBED_I2C_DEVICE_H
 #define MBED_I2C_DEVICE_H
 
-#include "cmsis.h"
+#include "PeripheralNames.h"
 
 #ifdef __cplusplus
 extern "C" {
 #endif
 
+/*  Define I2C Device */
 #if DEVICE_I2C
 
+// Common settings: I2C clock = 64 MHz, Analog filter = ON, Digital filter coefficient = 0
+#define TIMING_VAL_DEFAULT_CLK_100KHZ  0xC0311319  // Standard mode with Rise Time = 400ns and Fall Time = 100ns
+#define TIMING_VAL_DEFAULT_CLK_400KHZ  0x10B1102E  // Fast mode with Rise Time = 250ns and Fall Time = 100ns
+#define TIMING_VAL_DEFAULT_CLK_1MHZ    0x00710B1E  // Fast mode Plus with Rise Time = 60ns and Fall Time = 100ns
+#define I2C_PCLK_DEF                170000000   // 170 MHz
+
+/*  Define IP version */
 #define I2C_IP_VERSION_V2
 
 #define I2C_IT_ALL (I2C_IT_ERRI|I2C_IT_TCI|I2C_IT_STOPI|I2C_IT_NACKI|I2C_IT_ADDRI|I2C_IT_RXI|I2C_IT_TXI)
@@ -34,31 +42,14 @@ extern "C" {
 #define I2CAPI_I2C3_CLKSRC RCC_I2C3CLKSOURCE_SYSCLK
 #define I2CAPI_I2C4_CLKSRC RCC_I2C4CLKSOURCE_SYSCLK
 
-/*  Provide the suitable timing depending on requested frequencie */
-static inline uint32_t get_i2c_timing(int hz)
-{
-    uint32_t tim = 0;
-    // Common settings: I2C clock = 64 MHz, Analog filter = ON, Digital filter coefficient = 0
-    switch (hz) {
-        case 100000:
-            tim = 0xC0311319; // Standard mode with Rise Time = 400ns and Fall Time = 100ns
-            break;
-        case 400000:
-            tim = 0x10B1102E; // Fast mode with Rise Time = 250ns and Fall Time = 100ns
-            break;
-        case 1000000:
-            tim = 0x00710B1E; // Fast mode Plus with Rise Time = 60ns and Fall Time = 100ns
-            break;
-        default:
-            break;
-    }
-    return tim;
-}
+uint32_t i2c_get_pclk(I2CName i2c);
+uint32_t i2c_compute_timing(uint32_t clock_src_freq, uint32_t i2c_freq);
+uint32_t i2c_get_timing(I2CName i2c, int hz);
+void i2c_compute_presc_scldel_sdadel(uint32_t clock_src_freq, uint32_t I2C_speed);
+uint32_t i2c_compute_scll_sclh(uint32_t clock_src_freq, uint32_t I2C_speed);
 
 #ifdef __cplusplus
 }
 #endif
-
 #endif // DEVICE_I2C
-
 #endif
diff --git a/targets/TARGET_STM/TARGET_STM32H7/i2c_device.c b/targets/TARGET_STM/TARGET_STM32H7/i2c_device.c
old mode 100644
new mode 100755
index b1a9e8b182..889192c157
--- a/targets/TARGET_STM/TARGET_STM32H7/i2c_device.c
+++ b/targets/TARGET_STM/TARGET_STM32H7/i2c_device.c
@@ -2,8 +2,7 @@
  * SPDX-License-Identifier: BSD-3-Clause
  ******************************************************************************
  *
- * Copyright (c) 2015-2020 STMicroelectronics.
- * Copyright (c) 2020, Arduino SA.
+ * Copyright (c) 2021 STMicroelectronics.
  * All rights reserved.
  *
  * This software component is licensed by ST under BSD 3-Clause license,
@@ -19,313 +18,20 @@
 #include "mbed_error.h"
 #include "stm32h7xx_ll_rcc.h"
 
+/*  Define I2C Device */
 #if DEVICE_I2C
 
-/** @defgroup I2C_DEVICE_Private_Constants I2C_DEVICE Private Constants
- * @{
- */
-#ifndef I2C_VALID_TIMING_NBR
-#define I2C_VALID_TIMING_NBR                 128U
-#endif
-#define I2C_SPEED_FREQ_STANDARD                0U    /* 100 kHz */
-#define I2C_SPEED_FREQ_FAST                    1U    /* 400 kHz */
-#define I2C_SPEED_FREQ_FAST_PLUS               2U    /* 1 MHz */
-#define I2C_ANALOG_FILTER_DELAY_MIN            50U   /* ns */
-#define I2C_ANALOG_FILTER_DELAY_MAX            260U  /* ns */
-#define I2C_USE_ANALOG_FILTER                  1U
-#define I2C_DIGITAL_FILTER_COEF                0U
-#define I2C_PRESC_MAX                          16U
-#define I2C_SCLDEL_MAX                         16U
-#define I2C_SDADEL_MAX                         16U
-#define I2C_SCLH_MAX                           256U
-#define I2C_SCLL_MAX                           256U
-#define SEC2NSEC                               1000000000UL
-/**
-  * @}
-  */
-
-/** @defgroup I2C_DEVICE_Private_Types I2C_DEVICE Private Types
-  * @{
-  */
-typedef struct {
-    uint32_t freq;       /* Frequency in Hz */
-    uint32_t freq_min;   /* Minimum frequency in Hz */
-    uint32_t freq_max;   /* Maximum frequency in Hz */
-    uint32_t hddat_min;  /* Minimum data hold time in ns */
-    uint32_t vddat_max;  /* Maximum data valid time in ns */
-    uint32_t sudat_min;  /* Minimum data setup time in ns */
-    uint32_t lscl_min;   /* Minimum low period of the SCL clock in ns */
-    uint32_t hscl_min;   /* Minimum high period of SCL clock in ns */
-    uint32_t trise;      /* Rise time in ns */
-    uint32_t tfall;      /* Fall time in ns */
-    uint32_t dnf;        /* Digital noise filter coefficient */
-} I2C_Charac_t;
-
-typedef struct {
-    uint32_t presc;      /* Timing prescaler */
-    uint32_t tscldel;    /* SCL delay */
-    uint32_t tsdadel;    /* SDA delay */
-    uint32_t sclh;       /* SCL high period */
-    uint32_t scll;       /* SCL low period */
-} I2C_Timings_t;
-/**
-  * @}
-  */
-
-/** @defgroup I2C_DEVICE_Private_Constants I2C_DEVICE Private Constants
-  * @{
-  */
-static const I2C_Charac_t I2C_Charac[] = {
-    [I2C_SPEED_FREQ_STANDARD] =
-    {
-        .freq = 100000,
-        .freq_min = 80000,
-        .freq_max = 120000,
-        .hddat_min = 0,
-        .vddat_max = 3450,
-        .sudat_min = 250,
-        .lscl_min = 4700,
-        .hscl_min = 4000,
-        .trise = 640,
-        .tfall = 20,
-        .dnf = I2C_DIGITAL_FILTER_COEF,
-    },
-    [I2C_SPEED_FREQ_FAST] =
-    {
-        .freq = 400000,
-        .freq_min = 320000,
-        .freq_max = 480000,
-        .hddat_min = 0,
-        .vddat_max = 900,
-        .sudat_min = 100,
-        .lscl_min = 1300,
-        .hscl_min = 600,
-        .trise = 250,
-        .tfall = 100,
-        .dnf = I2C_DIGITAL_FILTER_COEF,
-    },
-    [I2C_SPEED_FREQ_FAST_PLUS] =
-    {
-        .freq = 1000000,
-        .freq_min = 800000,
-        .freq_max = 1200000,
-        .hddat_min = 0,
-        .vddat_max = 450,
-        .sudat_min = 50,
-        .lscl_min = 500,
-        .hscl_min = 260,
-        .trise = 60,
-        .tfall = 100,
-        .dnf = I2C_DIGITAL_FILTER_COEF,
-    },
-};
-/**
-  * @}
-  */
-
-/** @defgroup I2C_DEVICE_Private_Variables I2C_DEVICE Private Variables
-* @{
-*/
-static I2C_Timings_t I2c_valid_timing[I2C_VALID_TIMING_NBR];
-static uint32_t      I2c_valid_timing_nbr = 0;
-/**
-  * @}
-  */
-
-/** @defgroup I2C_DEVICE_Private_Functions I2C_DEVICE Private Functions
-  * @{
-  */
-/**
-  * @brief  Compute PRESC, SCLDEL and SDADEL.
-  * @param  clock_src_freq I2C source clock in HZ.
-  * @param  I2C_speed I2C frequency (index).
-  * @retval None.
-  */
-static void I2C_Compute_PRESC_SCLDEL_SDADEL(uint32_t clock_src_freq, uint32_t I2C_speed)
-{
-    uint32_t prev_presc = I2C_PRESC_MAX;
-    uint32_t ti2cclk;
-    int32_t  tsdadel_min, tsdadel_max;
-    int32_t  tscldel_min;
-    uint32_t presc, scldel, sdadel;
-    uint32_t tafdel_min, tafdel_max;
-
-    ti2cclk   = (SEC2NSEC + (clock_src_freq / 2U)) / clock_src_freq;
-
-    tafdel_min = (I2C_USE_ANALOG_FILTER == 1U) ? I2C_ANALOG_FILTER_DELAY_MIN : 0U;
-    tafdel_max = (I2C_USE_ANALOG_FILTER == 1U) ? I2C_ANALOG_FILTER_DELAY_MAX : 0U;
-
-    /* tDNF = DNF x tI2CCLK
-       tPRESC = (PRESC+1) x tI2CCLK
-       SDADEL >= {tf +tHD;DAT(min) - tAF(min) - tDNF - [3 x tI2CCLK]} / {tPRESC}
-       SDADEL <= {tVD;DAT(max) - tr - tAF(max) - tDNF- [4 x tI2CCLK]} / {tPRESC} */
-
-    tsdadel_min = (int32_t)I2C_Charac[I2C_speed].tfall + (int32_t)I2C_Charac[I2C_speed].hddat_min -
-                  (int32_t)tafdel_min - (int32_t)(((int32_t)I2C_Charac[I2C_speed].dnf + 3) * (int32_t)ti2cclk);
-
-    tsdadel_max = (int32_t)I2C_Charac[I2C_speed].vddat_max - (int32_t)I2C_Charac[I2C_speed].trise -
-                  (int32_t)tafdel_max - (int32_t)(((int32_t)I2C_Charac[I2C_speed].dnf + 4) * (int32_t)ti2cclk);
-
-
-    /* {[tr+ tSU;DAT(min)] / [tPRESC]} - 1 <= SCLDEL */
-    tscldel_min = (int32_t)I2C_Charac[I2C_speed].trise + (int32_t)I2C_Charac[I2C_speed].sudat_min;
-
-    if (tsdadel_min <= 0) {
-        tsdadel_min = 0;
-    }
-
-    if (tsdadel_max <= 0) {
-        tsdadel_max = 0;
-    }
-
-    for (presc = 0; presc < I2C_PRESC_MAX; presc++) {
-        for (scldel = 0; scldel < I2C_SCLDEL_MAX; scldel++) {
-            /* TSCLDEL = (SCLDEL+1) * (PRESC+1) * TI2CCLK */
-            uint32_t tscldel = (scldel + 1U) * (presc + 1U) * ti2cclk;
-
-            if (tscldel >= (uint32_t)tscldel_min) {
-                for (sdadel = 0; sdadel < I2C_SDADEL_MAX; sdadel++) {
-                    /* TSDADEL = SDADEL * (PRESC+1) * TI2CCLK */
-                    uint32_t tsdadel = (sdadel * (presc + 1U)) * ti2cclk;
-
-                    if ((tsdadel >= (uint32_t)tsdadel_min) && (tsdadel <= (uint32_t)tsdadel_max)) {
-                        if (presc != prev_presc) {
-                            I2c_valid_timing[I2c_valid_timing_nbr].presc = presc;
-                            I2c_valid_timing[I2c_valid_timing_nbr].tscldel = scldel;
-                            I2c_valid_timing[I2c_valid_timing_nbr].tsdadel = sdadel;
-                            prev_presc = presc;
-                            I2c_valid_timing_nbr ++;
-
-                            if (I2c_valid_timing_nbr >= I2C_VALID_TIMING_NBR) {
-                                return;
-                            }
-                        }
-                    }
-                }
-            }
-        }
-    }
-}
-
-/**
-  * @brief  Calculate SCLL and SCLH and find best configuration.
-  * @param  clock_src_freq I2C source clock in HZ.
-  * @param  I2C_speed I2C frequency (index).
-  * @retval config index (0 to I2C_VALID_TIMING_NBR], 0xFFFFFFFF for no valid config.
-  */
-static uint32_t I2C_Compute_SCLL_SCLH(uint32_t clock_src_freq, uint32_t I2C_speed)
-{
-    uint32_t ret = 0xFFFFFFFFU;
-    uint32_t ti2cclk;
-    uint32_t ti2cspeed;
-    uint32_t prev_error;
-    uint32_t dnf_delay;
-    uint32_t clk_min, clk_max;
-    uint32_t scll, sclh;
-    uint32_t tafdel_min;
-
-    ti2cclk   = (SEC2NSEC + (clock_src_freq / 2U)) / clock_src_freq;
-    ti2cspeed   = (SEC2NSEC + (I2C_Charac[I2C_speed].freq / 2U)) / I2C_Charac[I2C_speed].freq;
-
-    tafdel_min = (I2C_USE_ANALOG_FILTER == 1U) ? I2C_ANALOG_FILTER_DELAY_MIN : 0U;
-
-    /* tDNF = DNF x tI2CCLK */
-    dnf_delay = I2C_Charac[I2C_speed].dnf * ti2cclk;
-
-    clk_max = SEC2NSEC / I2C_Charac[I2C_speed].freq_min;
-    clk_min = SEC2NSEC / I2C_Charac[I2C_speed].freq_max;
-
-    prev_error = ti2cspeed;
-
-    for (uint32_t count = 0; count < I2c_valid_timing_nbr; count++) {
-        /* tPRESC = (PRESC+1) x tI2CCLK*/
-        uint32_t tpresc = (I2c_valid_timing[count].presc + 1U) * ti2cclk;
-
-        for (scll = 0; scll < I2C_SCLL_MAX; scll++) {
-            /* tLOW(min) <= tAF(min) + tDNF + 2 x tI2CCLK + [(SCLL+1) x tPRESC ] */
-            uint32_t tscl_l = tafdel_min + dnf_delay + (2U * ti2cclk) + ((scll + 1U) * tpresc);
-
-
-            /* The I2CCLK period tI2CCLK must respect the following conditions:
-            tI2CCLK < (tLOW - tfilters) / 4 and tI2CCLK < tHIGH */
-            if ((tscl_l > I2C_Charac[I2C_speed].lscl_min) && (ti2cclk < ((tscl_l - tafdel_min - dnf_delay) / 4U))) {
-                for (sclh = 0; sclh < I2C_SCLH_MAX; sclh++) {
-                    /* tHIGH(min) <= tAF(min) + tDNF + 2 x tI2CCLK + [(SCLH+1) x tPRESC] */
-                    uint32_t tscl_h = tafdel_min + dnf_delay + (2U * ti2cclk) + ((sclh + 1U) * tpresc);
-
-                    /* tSCL = tf + tLOW + tr + tHIGH */
-                    uint32_t tscl = tscl_l + tscl_h + I2C_Charac[I2C_speed].trise + I2C_Charac[I2C_speed].tfall;
-
-                    if ((tscl >= clk_min) && (tscl <= clk_max) && (tscl_h >= I2C_Charac[I2C_speed].hscl_min) && (ti2cclk < tscl_h)) {
-                        int32_t error = (int32_t)tscl - (int32_t)ti2cspeed;
-
-                        if (error < 0) {
-                            error = -error;
-                        }
-
-                        /* look for the timings with the lowest clock error */
-                        if ((uint32_t)error < prev_error) {
-                            prev_error = (uint32_t)error;
-                            I2c_valid_timing[count].scll = scll;
-                            I2c_valid_timing[count].sclh = sclh;
-                            ret = count;
-                        }
-                    }
-                }
-            }
-        }
-    }
-
-    return ret;
-}
-
-/**
-  * @brief  Compute I2C timing according current I2C clock source and required I2C clock.
-  * @param  clock_src_freq I2C clock source in Hz.
-  * @param  i2c_freq Required I2C clock in Hz.
-  * @retval I2C timing or 0 in case of error.
-  */
-static uint32_t I2C_ComputeTiming(uint32_t clock_src_freq, uint32_t i2c_freq)
-{
-    uint32_t ret = 0;
-    uint32_t speed;
-    uint32_t idx;
-
-
-    if ((clock_src_freq != 0U) && (i2c_freq != 0U)) {
-        for (speed = 0 ; speed <= (uint32_t)I2C_SPEED_FREQ_FAST_PLUS ; speed++) {
-            if ((i2c_freq >= I2C_Charac[speed].freq_min) &&
-                    (i2c_freq <= I2C_Charac[speed].freq_max)) {
-                I2C_Compute_PRESC_SCLDEL_SDADEL(clock_src_freq, speed);
-                idx = I2C_Compute_SCLL_SCLH(clock_src_freq, speed);
-
-                if (idx < I2C_VALID_TIMING_NBR) {
-                    ret = ((I2c_valid_timing[idx].presc  & 0x0FU) << 28) | \
-                          ((I2c_valid_timing[idx].tscldel & 0x0FU) << 20) | \
-                          ((I2c_valid_timing[idx].tsdadel & 0x0FU) << 16) | \
-                          ((I2c_valid_timing[idx].sclh & 0xFFU) << 8) | \
-                          ((I2c_valid_timing[idx].scll & 0xFFU) << 0);
-                }
-                break;
-            }
-        }
-    }
-
-    return ret;
-}
-
 /**
   * @brief  Get I2C clock source frequency according I2C instance used.
   * @param  i2c I2C instance name.
   * @retval I2C clock source frequency in Hz.
   */
-static uint32_t I2C_GetPclk(I2CName i2c)
+uint32_t i2c_get_pclk(I2CName i2c)
 {
     uint32_t clocksource;
     uint32_t pclk = 0;
     PLL3_ClocksTypeDef pll3_clocks;
-
-    if (i2c == I2C_1 || i2c == I2C_2 || i2c == I2C_3) {
+    if ((i2c == I2C_1) || (i2c == I2C_2) || (i2c == I2C_3)) {
         clocksource = __HAL_RCC_GET_I2C123_SOURCE();
         switch (clocksource) {
             case RCC_I2C123CLKSOURCE_D2PCLK1:
@@ -346,7 +52,9 @@ static uint32_t I2C_GetPclk(I2CName i2c)
                 error("I2C123: Invalid clock source");
                 break;
         }
-    } else if (i2c == I2C_4) {
+    }
+#if defined I2C4_BASE
+    else if (i2c == I2C_4) {
         clocksource = __HAL_RCC_GET_I2C4_SOURCE();
         switch (clocksource) {
             case RCC_I2C4CLKSOURCE_D3PCLK1:
@@ -367,11 +75,12 @@ static uint32_t I2C_GetPclk(I2CName i2c)
                 error("I2C4: Invalid clock source");
                 break;
         }
-    } else {
+    }
+#endif
+    else {
         // should not happend
         error("I2C: unknown instance");
     }
-
     return pclk;
 }
 /**
@@ -386,17 +95,29 @@ static uint32_t I2C_GetPclk(I2CName i2c)
  * @param  hz Required I2C clock in Hz.
  * @retval I2C timing or 0 in case of error.
  */
-uint32_t get_i2c_timing(I2CName i2c, int hz)
+uint32_t i2c_get_timing(I2CName i2c, int hz)
 {
     uint32_t tim;
     uint32_t pclk;
-
-    I2c_valid_timing_nbr = 0;
-
-    pclk = I2C_GetPclk(i2c);
-
-    tim = I2C_ComputeTiming(pclk, hz);
-
+    pclk = i2c_get_pclk(i2c);
+    if (pclk == I2C_PCLK_DEF) {
+        switch (hz) {
+            case 100000:
+                tim = TIMING_VAL_DEFAULT_CLK_100KHZ;
+                break;
+            case 400000:
+                tim = TIMING_VAL_DEFAULT_CLK_400KHZ;
+                break;
+            case 1000000:
+                tim = TIMING_VAL_DEFAULT_CLK_1MHZ;
+                break;
+            default:
+                MBED_ASSERT((hz == 100000) || (hz == 400000) || (hz == 1000000));
+                break;
+        }
+    } else {
+        tim = i2c_compute_timing(pclk, hz);
+    }
     return tim;
 }
 /**
diff --git a/targets/TARGET_STM/TARGET_STM32H7/i2c_device.h b/targets/TARGET_STM/TARGET_STM32H7/i2c_device.h
index 829290d9c6..cc56874f26 100644
--- a/targets/TARGET_STM/TARGET_STM32H7/i2c_device.h
+++ b/targets/TARGET_STM/TARGET_STM32H7/i2c_device.h
@@ -2,7 +2,7 @@
  * SPDX-License-Identifier: BSD-3-Clause
  ******************************************************************************
  *
- * Copyright (c) 2015-2020 STMicroelectronics.
+ * Copyright (c) 2015-2021 STMicroelectronics.
  * Copyright (c) 2020, Arduino SA.
  * All rights reserved.
  *
@@ -23,10 +23,17 @@
 extern "C" {
 #endif
 
+/*  Define I2C Device */
 #if DEVICE_I2C
 
+/*  Define IP version */
 #define I2C_IP_VERSION_V2
 
+#define TIMING_VAL_DEFAULT_CLK_100KHZ 0x40E15676   // Standard mode with Rise Time = 400ns and Fall Time = 100ns
+#define TIMING_VAL_DEFAULT_CLK_400KHZ 0x20C11434   // Fast mode with Rise Time = 250ns and Fall Time = 100ns
+#define TIMING_VAL_DEFAULT_CLK_1MHZ   0x00C31536   // Fast mode Plus with Rise Time = 60ns and Fall Time = 100ns
+#define I2C_PCLK_DEF                  120000000    // 120 MHz
+
 #define I2C_IT_ALL (I2C_IT_ERRI|I2C_IT_TCI|I2C_IT_STOPI|I2C_IT_NACKI|I2C_IT_ADDRI|I2C_IT_RXI|I2C_IT_TXI)
 
 /*  Family specifc settings for clock source */
@@ -35,14 +42,14 @@ extern "C" {
 #define I2CAPI_I2C3_CLKSRC RCC_I2C3CLKSOURCE_D2PCLK1
 #define I2CAPI_I2C4_CLKSRC RCC_I2C4CLKSOURCE_D3PCLK1
 
-/*  Provide the suitable timing depending on requested frequency */
-extern uint32_t get_i2c_timing(I2CName i2c, int hz);
-
+uint32_t i2c_get_pclk(I2CName i2c);
+uint32_t i2c_compute_timing(uint32_t clock_src_freq, uint32_t i2c_freq);
+uint32_t i2c_get_timing(I2CName i2c, int hz);
+void i2c_compute_presc_scldel_sdadel(uint32_t clock_src_freq, uint32_t I2C_speed);
+uint32_t i2c_compute_scll_sclh(uint32_t clock_src_freq, uint32_t I2C_speed);
 
 #ifdef __cplusplus
 }
 #endif
-
 #endif // DEVICE_I2C
-
 #endif
diff --git a/targets/TARGET_STM/TARGET_STM32L0/CMakeLists.txt b/targets/TARGET_STM/TARGET_STM32L0/CMakeLists.txt
index fbeb9c20d8..a9a2a6c5d3 100644
--- a/targets/TARGET_STM/TARGET_STM32L0/CMakeLists.txt
+++ b/targets/TARGET_STM/TARGET_STM32L0/CMakeLists.txt
@@ -17,6 +17,7 @@ target_sources(mbed-stm32l0
         analogout_device.c
         flash_api.c
         gpio_irq_device.c
+        i2c_device.c
         pwmout_device.c
         serial_device.c
         spi_api.c
diff --git a/targets/TARGET_STM/TARGET_STM32L0/i2c_device.c b/targets/TARGET_STM/TARGET_STM32L0/i2c_device.c
new file mode 100755
index 0000000000..21df6a93a6
--- /dev/null
+++ b/targets/TARGET_STM/TARGET_STM32L0/i2c_device.c
@@ -0,0 +1,114 @@
+/* mbed Microcontroller Library
+ * SPDX-License-Identifier: BSD-3-Clause
+ ******************************************************************************
+ *
+ * Copyright (c) 2021 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software component is licensed by ST under BSD 3-Clause license,
+ * the "License"; You may not use this file except in compliance with the
+ * License. You may obtain a copy of the License at:
+ *                        opensource.org/licenses/BSD-3-Clause
+ *
+ ******************************************************************************
+ */
+
+#include "i2c_device.h"
+#include "mbed_assert.h"
+#include "mbed_error.h"
+#include "stm32l0xx_ll_rcc.h"
+
+/*  Define I2C Device */
+#if DEVICE_I2C
+
+/**
+  * @brief  Get I2C clock source frequency according I2C instance used.
+  * @param  i2c I2C instance name.
+  * @retval I2C clock source frequency in Hz.
+  */
+uint32_t i2c_get_pclk(I2CName i2c)
+{
+    uint32_t clocksource;
+    uint32_t pclk = 0;
+    if (i2c == I2C_1) {
+        clocksource = __HAL_RCC_GET_I2C1_SOURCE();
+        switch (clocksource) {
+            case RCC_I2C1CLKSOURCE_PCLK1:
+                pclk = HAL_RCC_GetPCLK1Freq();
+                break;
+
+            case RCC_I2C1CLKSOURCE_SYSCLK:
+                pclk = HAL_RCC_GetSysClockFreq();
+                break;
+
+            case RCC_I2C1CLKSOURCE_HSI:
+                pclk = HSI_VALUE;
+                break;
+        }
+    }
+#if defined I2C3_BASE
+    else if (i2c == I2C_3) {
+        clocksource = __HAL_RCC_GET_I2C3_SOURCE();
+        switch (clocksource) {
+            case RCC_I2C3CLKSOURCE_PCLK1:
+                pclk = HAL_RCC_GetPCLK1Freq();
+                break;
+
+            case RCC_I2C3CLKSOURCE_SYSCLK:
+                pclk = HAL_RCC_GetSysClockFreq();
+                break;
+
+            case RCC_I2C3CLKSOURCE_HSI:
+                pclk = HSI_VALUE;
+                break;
+        }
+    }
+#endif
+    else {
+        // should not happend
+        error("I2C: unknown instance");
+    }
+    return pclk;
+}
+/**
+  * @}
+  */
+
+/** @defgroup I2C_DEVICE_Exported_Functions I2C_DEVICE Exported Functions
+  * @{
+  */
+/**
+ * @brief  Provide the suitable timing depending on requested frequency
+ * @param  hz Required I2C clock in Hz.
+ * @retval I2C timing or 0 in case of error.
+ */
+uint32_t i2c_get_timing(I2CName i2c, int hz)
+{
+    uint32_t tim;
+    uint32_t pclk;
+    pclk = i2c_get_pclk(i2c);
+    if (pclk == I2C_PCLK_DEF) {
+        switch (hz) {
+            case 100000:
+                tim = TIMING_VAL_DEFAULT_CLK_100KHZ;
+                break;
+            case 400000:
+                tim = TIMING_VAL_DEFAULT_CLK_400KHZ;
+                break;
+            case 1000000:
+                tim = TIMING_VAL_DEFAULT_CLK_1MHZ;
+                break;
+            default:
+                MBED_ASSERT((hz == 100000) || (hz == 400000) || (hz == 1000000));
+                break;
+        }
+    } else {
+        tim = i2c_compute_timing(pclk, hz);
+    }
+    return tim;
+}
+/**
+  * @}
+  */
+
+#endif // DEVICE_I2C
diff --git a/targets/TARGET_STM/TARGET_STM32L0/i2c_device.h b/targets/TARGET_STM/TARGET_STM32L0/i2c_device.h
index 175bde9f2d..b5e50a17eb 100644
--- a/targets/TARGET_STM/TARGET_STM32L0/i2c_device.h
+++ b/targets/TARGET_STM/TARGET_STM32L0/i2c_device.h
@@ -2,7 +2,7 @@
  * SPDX-License-Identifier: BSD-3-Clause
  ******************************************************************************
  *
- * Copyright (c) 2016-2020 STMicroelectronics.
+ * Copyright (c) 2016-2021 STMicroelectronics.
  * All rights reserved.
  *
  * This software component is licensed by ST under BSD 3-Clause license,
@@ -12,17 +12,20 @@
  *
  ******************************************************************************
  */
+
 #ifndef MBED_I2C_DEVICE_H
 #define MBED_I2C_DEVICE_H
 
-#include "cmsis.h"
+#include "PeripheralNames.h"
 
 #ifdef __cplusplus
 extern "C" {
 #endif
 
+/*  Define I2C Device */
 #if DEVICE_I2C
 
+/*  Define IP version */
 #define I2C_IP_VERSION_V2
 
 #if defined I2C1_BASE
@@ -38,6 +41,11 @@ extern "C" {
 #define I2C3_ER_IRQn I2C3_IRQn
 #endif
 
+#define TIMING_VAL_DEFAULT_CLK_100KHZ 0x20602938   // Standard mode with Rise Time = 400ns and Fall Time = 100ns
+#define TIMING_VAL_DEFAULT_CLK_400KHZ 0x00B0122A   // Fast mode with Rise Time = 250ns and Fall Time = 100ns
+#define TIMING_VAL_DEFAULT_CLK_1MHZ   0x0030040E   // Fast mode Plus with Rise Time = 60ns and Fall Time = 100ns
+#define I2C_PCLK_DEF                  32000000     // 32 MHz
+
 #define I2C_IT_ALL (I2C_IT_ERRI|I2C_IT_TCI|I2C_IT_STOPI|I2C_IT_NACKI|I2C_IT_ADDRI|I2C_IT_RXI|I2C_IT_TXI)
 
 /*  Family specifc settings for clock source */
@@ -45,31 +53,14 @@ extern "C" {
 #define I2CAPI_I2C3_CLKSRC RCC_I2C3CLKSOURCE_SYSCLK
 #define I2CAPI_I2C4_CLKSRC RCC_I2C4CLKSOURCE_SYSCLK
 
-/*  Provide the suitable timing depending on requested frequencie */
-static inline uint32_t get_i2c_timing(int hz)
-{
-    uint32_t tim = 0;
-
-    switch (hz) {
-        case 100000:
-            tim = 0x20602938; // Standard mode with Rise Time = 400ns and Fall Time = 100ns
-            break;
-        case 400000:
-            tim = 0x00B0122A; // Fast mode with Rise Time = 250ns and Fall Time = 100ns
-            break;
-        case 1000000:
-            tim = 0x0030040E; // Fast mode Plus with Rise Time = 60ns and Fall Time = 100ns
-            break;
-        default:
-            break;
-    }
-    return tim;
-}
+uint32_t i2c_get_pclk(I2CName i2c);
+uint32_t i2c_compute_timing(uint32_t clock_src_freq, uint32_t i2c_freq);
+uint32_t i2c_get_timing(I2CName i2c, int hz);
+void i2c_compute_presc_scldel_sdadel(uint32_t clock_src_freq, uint32_t I2C_speed);
+uint32_t i2c_compute_scll_sclh(uint32_t clock_src_freq, uint32_t I2C_speed);
 
 #ifdef __cplusplus
 }
 #endif
-
 #endif // DEVICE_I2C
-
 #endif
diff --git a/targets/TARGET_STM/TARGET_STM32L4/CMakeLists.txt b/targets/TARGET_STM/TARGET_STM32L4/CMakeLists.txt
index 0642e934d0..6664473031 100644
--- a/targets/TARGET_STM/TARGET_STM32L4/CMakeLists.txt
+++ b/targets/TARGET_STM/TARGET_STM32L4/CMakeLists.txt
@@ -23,6 +23,7 @@ target_sources(mbed-stm32l4
         analogout_device.c
         flash_api.c
         gpio_irq_device.c
+        i2c_device.c
         pwmout_device.c
         serial_device.c
         spi_api.c
diff --git a/targets/TARGET_STM/TARGET_STM32L4/i2c_device.c b/targets/TARGET_STM/TARGET_STM32L4/i2c_device.c
new file mode 100755
index 0000000000..0db4d13000
--- /dev/null
+++ b/targets/TARGET_STM/TARGET_STM32L4/i2c_device.c
@@ -0,0 +1,179 @@
+/* mbed Microcontroller Library
+ * SPDX-License-Identifier: BSD-3-Clause
+ ******************************************************************************
+ *
+ * Copyright (c) 2021 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software component is licensed by ST under BSD 3-Clause license,
+ * the "License"; You may not use this file except in compliance with the
+ * License. You may obtain a copy of the License at:
+ *                        opensource.org/licenses/BSD-3-Clause
+ *
+ ******************************************************************************
+ */
+
+#include "i2c_device.h"
+#include "mbed_assert.h"
+#include "mbed_error.h"
+#include "stm32l4xx_ll_rcc.h"
+
+/*  Define I2C Device */
+#if DEVICE_I2C
+
+/**
+  * @brief  Get I2C clock source frequency according I2C instance used.
+  * @param  i2c I2C instance name.
+  * @retval I2C clock source frequency in Hz.
+  */
+uint32_t i2c_get_pclk(I2CName i2c)
+{
+    uint32_t clocksource;
+    uint32_t pclk = 0;
+    if (i2c == I2C_1) {
+        clocksource = __HAL_RCC_GET_I2C1_SOURCE();
+        switch (clocksource) {
+            case RCC_I2C1CLKSOURCE_PCLK1:
+                pclk = HAL_RCC_GetPCLK1Freq();
+                break;
+
+            case RCC_I2C1CLKSOURCE_SYSCLK:
+                pclk = HAL_RCC_GetSysClockFreq();
+                break;
+
+            case RCC_I2C1CLKSOURCE_HSI:
+                pclk = HSI_VALUE;
+                break;
+        }
+    }
+#if defined I2C2_BASE
+    else if (i2c == I2C_2) {
+        clocksource = __HAL_RCC_GET_I2C2_SOURCE();
+        switch (clocksource) {
+            case RCC_I2C2CLKSOURCE_PCLK1:
+                pclk = HAL_RCC_GetPCLK1Freq();
+                break;
+
+            case RCC_I2C2CLKSOURCE_SYSCLK:
+                pclk = HAL_RCC_GetSysClockFreq();
+                break;
+
+            case RCC_I2C2CLKSOURCE_HSI:
+                pclk = HSI_VALUE;
+                break;
+        }
+    }
+#endif
+#if defined I2C3_BASE
+    else if (i2c == I2C_3) {
+        clocksource = __HAL_RCC_GET_I2C3_SOURCE();
+        switch (clocksource) {
+            case RCC_I2C3CLKSOURCE_PCLK1:
+                pclk = HAL_RCC_GetPCLK1Freq();
+                break;
+
+            case RCC_I2C3CLKSOURCE_SYSCLK:
+                pclk = HAL_RCC_GetSysClockFreq();
+                break;
+
+            case RCC_I2C3CLKSOURCE_HSI:
+                pclk = HSI_VALUE;
+                break;
+        }
+    }
+#endif
+#if defined I2C4_BASE
+    else if (i2c == I2C_4) {
+        clocksource = __HAL_RCC_GET_I2C4_SOURCE();
+        switch (clocksource) {
+            case RCC_I2C4CLKSOURCE_PCLK1:
+                pclk = HAL_RCC_GetPCLK1Freq();
+                break;
+            case RCC_I2C4CLKSOURCE_SYSCLK:
+                pclk = HAL_RCC_GetSysClockFreq();
+                break;
+
+            case RCC_I2C4CLKSOURCE_HSI:
+                pclk = HSI_VALUE;
+                break;
+        }
+    }
+#endif
+    else {
+        // should not happend
+        error("I2C: unknown instance");
+    }
+    return pclk;
+}
+/**
+  * @}
+  */
+
+/** @defgroup I2C_DEVICE_Exported_Functions I2C_DEVICE Exported Functions
+  * @{
+  */
+/**
+ * @brief  Provide the suitable timing depending on requested frequency
+ * @param  hz Required I2C clock in Hz.
+ * @retval I2C timing or 0 in case of error.
+ */
+uint32_t i2c_get_timing(I2CName i2c, int hz)
+{
+    uint32_t tim;
+    uint32_t pclk;
+    pclk = i2c_get_pclk(i2c);
+    if (pclk == I2C_PCLK_80M) {
+        switch (hz) {
+            case 100000:
+                tim = TIMING_VAL_80M_CLK_100KHZ;
+                break;
+            case 400000:
+                tim = TIMING_VAL_80M_CLK_400KHZ;
+                break;
+            case 1000000:
+                tim = TIMING_VAL_80M_CLK_1MHZ;
+                break;
+            default:
+                MBED_ASSERT((hz == 100000) || (hz == 400000) || (hz == 1000000));
+                break;
+        }
+    } else if (pclk == I2C_PCLK_48M) {
+        switch (hz) {
+            case 100000:
+                tim = TIMING_VAL_48M_CLK_100KHZ;
+                break;
+            case 400000:
+                tim = TIMING_VAL_48M_CLK_400KHZ;
+                break;
+            case 1000000:
+                tim = TIMING_VAL_48M_CLK_1MHZ;
+                break;
+            default:
+                MBED_ASSERT((hz == 100000) || (hz == 400000) || (hz == 1000000));
+                break;
+        }
+    } else if (pclk == I2C_PCLK_120M) {
+        switch (hz) {
+            case 100000:
+                tim = TIMING_VAL_120M_CLK_100KHZ;
+                break;
+            case 400000:
+                tim = TIMING_VAL_120M_CLK_400KHZ;
+                break;
+            case 1000000:
+                tim = TIMING_VAL_120M_CLK_1MHZ;
+                break;
+            default:
+                MBED_ASSERT((hz == 100000) || (hz == 400000) || (hz == 1000000));
+                break;
+        }
+    } else {
+        tim = i2c_compute_timing(pclk, hz);
+    }
+    return tim;
+}
+/**
+  * @}
+  */
+
+#endif // DEVICE_I2C
diff --git a/targets/TARGET_STM/TARGET_STM32L4/i2c_device.h b/targets/TARGET_STM/TARGET_STM32L4/i2c_device.h
index 6368b4c53b..9cd5712954 100644
--- a/targets/TARGET_STM/TARGET_STM32L4/i2c_device.h
+++ b/targets/TARGET_STM/TARGET_STM32L4/i2c_device.h
@@ -1,5 +1,5 @@
 /* mbed Microcontroller Library
- * Copyright (c) 2016-2020 STMicroelectronics
+ * Copyright (c) 2016-2021 STMicroelectronics
  * SPDX-License-Identifier: Apache-2.0
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
@@ -18,17 +18,36 @@
 #ifndef MBED_I2C_DEVICE_H
 #define MBED_I2C_DEVICE_H
 
-#include "cmsis.h"
-#include "mbed_error.h"
+#include "PeripheralNames.h"
 
 #ifdef __cplusplus
 extern "C" {
 #endif
 
+/*  Define I2C Device */
 #if DEVICE_I2C
 
+/*  Define IP version */
 #define I2C_IP_VERSION_V2
 
+// Common settings: I2C clock = 80 MHz, Analog filter = ON, Digital filter coefficient = 0
+#define TIMING_VAL_80M_CLK_100KHZ 0x30C14E6B   // Standard mode with Rise Time = 400ns and Fall Time = 100ns
+#define TIMING_VAL_80M_CLK_400KHZ 0x10D1143A   // Fast mode with Rise Time = 250ns and Fall Time = 100ns
+#define TIMING_VAL_80M_CLK_1MHZ   0x00810E27   // Fast mode Plus with Rise Time = 60ns and Fall Time = 100ns
+#define I2C_PCLK_80M                80000000     // 80 MHz
+
+// Common settings: I2C clock = 48 MHz, Analog filter = ON, Digital filter coefficient = 0
+#define TIMING_VAL_48M_CLK_100KHZ 0x20A03E55   // Standard mode with Rise Time = 400ns and Fall Time = 100ns
+#define TIMING_VAL_48M_CLK_400KHZ 0x10800C21   // Fast mode with Rise Time = 250ns and Fall Time = 100ns
+#define TIMING_VAL_48M_CLK_1MHZ   0x00500816   // Fast mode Plus with Rise Time = 60ns and Fall Time = 100ns
+#define I2C_PCLK_48M              48000000     // 48 MHz
+
+// Common settings: I2C clock = 120 MHz, Analog filter = ON, Digital filter coefficient = 0
+#define TIMING_VAL_120M_CLK_100KHZ 0x107075B0  // Standard mode with Rise Time = 400ns and Fall Time = 100ns
+#define TIMING_VAL_120M_CLK_400KHZ 0x00501E6C  // Fast mode with Rise Time = 250ns and Fall Time = 100ns
+#define TIMING_VAL_120M_CLK_1MHZ   0x00200A26  // Fast mode Plus with Rise Time = 60ns and Fall Time = 100ns
+#define I2C_PCLK_120M              120000000   // 120 MHz
+
 #define I2C_IT_ALL (I2C_IT_ERRI|I2C_IT_TCI|I2C_IT_STOPI|I2C_IT_NACKI|I2C_IT_ADDRI|I2C_IT_RXI|I2C_IT_TXI)
 
 /*  Family specifc settings for clock source */
@@ -37,65 +56,14 @@ extern "C" {
 #define I2CAPI_I2C3_CLKSRC RCC_I2C3CLKSOURCE_SYSCLK
 #define I2CAPI_I2C4_CLKSRC RCC_I2C4CLKSOURCE_SYSCLK
 
-/*  Provide the suitable timing depending on requested frequencie */
-static inline uint32_t get_i2c_timing(int hz)
-{
-    uint32_t tim = 0;
-    if (SystemCoreClock == 80000000) {
-        // Common settings: I2C clock = 80 MHz, Analog filter = ON, Digital filter coefficient = 0
-        switch (hz) {
-            case 100000:
-                tim = 0x30C14E6B; // Standard mode with Rise Time = 400ns and Fall Time = 100ns
-                break;
-            case 400000:
-                tim = 0x10D1143A; // Fast mode with Rise Time = 250ns and Fall Time = 100ns
-                break;
-            case 1000000:
-                tim = 0x00810E27; // Fast mode Plus with Rise Time = 60ns and Fall Time = 100ns
-                break;
-            default:
-                break;
-        }
-    } else if (SystemCoreClock == 48000000) {
-        // Common settings: I2C clock = 48 MHz, Analog filter = ON, Digital filter coefficient = 0
-        switch (hz) {
-            case 100000:
-                tim = 0x20A03E55; // Standard mode with Rise Time = 400ns and Fall Time = 100ns
-                break;
-            case 400000:
-                tim = 0x10800C21; // Fast mode with Rise Time = 250ns and Fall Time = 100ns
-                break;
-            case 1000000:
-                tim = 0x00500816; // Fast mode Plus with Rise Time = 60ns and Fall Time = 100ns
-                break;
-            default:
-                break;
-        }
-    } else if (SystemCoreClock == 120000000) {
-        // Common settings: I2C clock = 120 MHz, Analog filter = ON, Digital filter coefficient = 0
-        switch (hz) {
-            case 100000:
-                tim = 0x107075B0; // Standard mode with Rise Time = 400ns and Fall Time = 100ns
-                break;
-            case 400000:
-                tim = 0x00501E6C; // Fast mode with Rise Time = 250ns and Fall Time = 100ns
-                break;
-            case 1000000:
-                tim = 0x00200A26; // Fast mode Plus with Rise Time = 60ns and Fall Time = 100ns
-                break;
-            default:
-                break;
-        }
-    } else {
-        error("get_i2c_timing error\n");
-    }
-    return tim;
-}
+uint32_t i2c_get_pclk(I2CName i2c);
+uint32_t i2c_compute_timing(uint32_t clock_src_freq, uint32_t i2c_freq);
+uint32_t i2c_get_timing(I2CName i2c, int hz);
+void i2c_compute_presc_scldel_sdadel(uint32_t clock_src_freq, uint32_t I2C_speed);
+uint32_t i2c_compute_scll_sclh(uint32_t clock_src_freq, uint32_t I2C_speed);
 
 #ifdef __cplusplus
 }
 #endif
-
 #endif // DEVICE_I2C
-
 #endif
diff --git a/targets/TARGET_STM/TARGET_STM32L5/CMakeLists.txt b/targets/TARGET_STM/TARGET_STM32L5/CMakeLists.txt
index fe6e123def..54a213bb2b 100644
--- a/targets/TARGET_STM/TARGET_STM32L5/CMakeLists.txt
+++ b/targets/TARGET_STM/TARGET_STM32L5/CMakeLists.txt
@@ -14,6 +14,7 @@ target_sources(mbed-stm32l5
         analogout_device.c
         flash_api.c
         gpio_irq_device.c
+        i2c_device.c
         pwmout_device.c
         serial_device.c
         system_clock.c
diff --git a/targets/TARGET_STM/TARGET_STM32L5/i2c_device.c b/targets/TARGET_STM/TARGET_STM32L5/i2c_device.c
new file mode 100755
index 0000000000..84fe773c67
--- /dev/null
+++ b/targets/TARGET_STM/TARGET_STM32L5/i2c_device.c
@@ -0,0 +1,153 @@
+/* mbed Microcontroller Library
+ * SPDX-License-Identifier: BSD-3-Clause
+ ******************************************************************************
+ *
+ * Copyright (c) 2021 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software component is licensed by ST under BSD 3-Clause license,
+ * the "License"; You may not use this file except in compliance with the
+ * License. You may obtain a copy of the License at:
+ *                        opensource.org/licenses/BSD-3-Clause
+ *
+ ******************************************************************************
+ */
+
+#include "i2c_device.h"
+#include "mbed_assert.h"
+#include "mbed_error.h"
+#include "stm32l5xx_ll_rcc.h"
+
+/*  Define I2C Device */
+#if DEVICE_I2C
+
+/**
+  * @brief  Get I2C clock source frequency according I2C instance used.
+  * @param  i2c I2C instance name.
+  * @retval I2C clock source frequency in Hz.
+  */
+uint32_t i2c_get_pclk(I2CName i2c)
+{
+    uint32_t clocksource;
+    uint32_t pclk = 0;
+    if (i2c == I2C_1) {
+        clocksource = __HAL_RCC_GET_I2C1_SOURCE();
+        switch (clocksource) {
+            case RCC_I2C1CLKSOURCE_PCLK1:
+                pclk = HAL_RCC_GetPCLK1Freq();
+                break;
+
+            case RCC_I2C1CLKSOURCE_SYSCLK:
+                pclk = HAL_RCC_GetSysClockFreq();
+                break;
+
+            case RCC_I2C1CLKSOURCE_HSI:
+                pclk = HSI_VALUE;
+                break;
+        }
+    }
+#if defined I2C2_BASE
+    else if (i2c == I2C_2) {
+        clocksource = __HAL_RCC_GET_I2C2_SOURCE();
+        switch (clocksource) {
+            case RCC_I2C2CLKSOURCE_PCLK1:
+                pclk = HAL_RCC_GetPCLK1Freq();
+                break;
+
+            case RCC_I2C2CLKSOURCE_SYSCLK:
+                pclk = HAL_RCC_GetSysClockFreq();
+                break;
+
+            case RCC_I2C2CLKSOURCE_HSI:
+                pclk = HSI_VALUE;
+                break;
+        }
+    }
+#endif
+#if defined I2C3_BASE
+    else if (i2c == I2C_3) {
+        clocksource = __HAL_RCC_GET_I2C3_SOURCE();
+        switch (clocksource) {
+            case RCC_I2C3CLKSOURCE_PCLK1:
+                pclk = HAL_RCC_GetPCLK1Freq();
+                break;
+
+            case RCC_I2C3CLKSOURCE_SYSCLK:
+                pclk = HAL_RCC_GetSysClockFreq();
+                break;
+
+            case RCC_I2C3CLKSOURCE_HSI:
+                pclk = HSI_VALUE;
+                break;
+        }
+    }
+#endif
+#if defined I2C4_BASE
+    else if (i2c == I2C_4) {
+        clocksource = __HAL_RCC_GET_I2C4_SOURCE();
+        switch (clocksource) {
+            case RCC_I2C4CLKSOURCE_PCLK1:
+                pclk = HAL_RCC_GetPCLK1Freq();
+                break;
+
+            case RCC_I2C4CLKSOURCE_SYSCLK:
+                pclk = HAL_RCC_GetSysClockFreq();
+                break;
+
+            case RCC_I2C4CLKSOURCE_HSI:
+                pclk = HSI_VALUE;
+                break;
+        }
+    }
+#endif
+    else {
+        // should not happend
+        error("I2C: unknown instance");
+    }
+    return pclk;
+}
+/**
+  * @}
+  */
+
+/** @defgroup I2C_DEVICE_Exported_Functions I2C_DEVICE Exported Functions
+  * @{
+  */
+/**
+ * @brief  Provide the suitable timing depending on requested frequency
+ * @param  hz Required I2C clock in Hz.
+ * @retval I2C timing or 0 in case of error.
+ */
+uint32_t i2c_get_timing(I2CName i2c, int hz)
+{
+    uint32_t tim;
+    uint32_t pclk;
+
+    pclk = i2c_get_pclk(i2c);
+    if (pclk == I2C_PCLK_DEF) {
+        switch (hz) {
+            case 100000:
+                tim = TIMING_VAL_DEFAULT_CLK_100KHZ;
+                break;
+            case 400000:
+                tim = TIMING_VAL_DEFAULT_CLK_400KHZ;
+                break;
+            case 1000000:
+                tim = TIMING_VAL_DEFAULT_CLK_1MHZ;
+                break;
+            default:
+                MBED_ASSERT((hz == 100000) || (hz == 400000) || (hz == 1000000));
+                break;
+        }
+    }
+
+    else {
+        tim = i2c_compute_timing(pclk, hz);
+    }
+    return tim;
+}
+/**
+  * @}
+  */
+
+#endif // DEVICE_I2C
diff --git a/targets/TARGET_STM/TARGET_STM32L5/i2c_device.h b/targets/TARGET_STM/TARGET_STM32L5/i2c_device.h
index 90ee70c22f..c3d1a2797a 100644
--- a/targets/TARGET_STM/TARGET_STM32L5/i2c_device.h
+++ b/targets/TARGET_STM/TARGET_STM32L5/i2c_device.h
@@ -2,7 +2,7 @@
  * SPDX-License-Identifier: BSD-3-Clause
  ******************************************************************************
  *
- * Copyright (c) 2015 STMicroelectronics.
+ * Copyright (c) 2015-2021 STMicroelectronics.
  * All rights reserved.
  *
  * This software component is licensed by ST under BSD 3-Clause license,
@@ -16,17 +16,24 @@
 #ifndef MBED_I2C_DEVICE_H
 #define MBED_I2C_DEVICE_H
 
-#include "cmsis.h"
-#include "mbed_error.h"
+#include "PeripheralNames.h"
 
 #ifdef __cplusplus
 extern "C" {
 #endif
 
+/*  Define I2C Device */
 #if DEVICE_I2C
 
+/*  Define IP version */
 #define I2C_IP_VERSION_V2
 
+// Common settings: I2C clock = 110 MHz, Analog filter = ON, Digital filter coefficient = 0
+#define TIMING_VAL_DEFAULT_CLK_100KHZ 0x40E15676   // Standard mode with Rise Time = 400ns and Fall Time = 100ns
+#define TIMING_VAL_DEFAULT_CLK_400KHZ 0x20C11434   // Fast mode with Rise Time = 250ns and Fall Time = 100ns
+#define TIMING_VAL_DEFAULT_CLK_1MHZ   0x00C31536   // Fast mode Plus with Rise Time = 60ns and Fall Time = 100ns
+#define I2C_PCLK_DEF                  110000000    // 110 MHz
+
 #define I2C_IT_ALL (I2C_IT_ERRI|I2C_IT_TCI|I2C_IT_STOPI|I2C_IT_NACKI|I2C_IT_ADDRI|I2C_IT_RXI|I2C_IT_TXI)
 
 /*  Family specifc settings for clock source */
@@ -35,36 +42,14 @@ extern "C" {
 #define I2CAPI_I2C3_CLKSRC RCC_I2C3CLKSOURCE_SYSCLK
 #define I2CAPI_I2C4_CLKSRC RCC_I2C4CLKSOURCE_SYSCLK
 
-/*  Provide the suitable timing depending on requested frequencie */
-static inline uint32_t get_i2c_timing(int hz)
-{
-    uint32_t tim = 0;
-    if (SystemCoreClock == 110000000) {
-        // Common settings: I2C clock = 80 MHz, Analog filter = ON, Digital filter coefficient = 0
-        switch (hz) {
-            case 100000:
-                tim = 0x40E15676; // Standard mode with Rise Time = 400ns and Fall Time = 100ns
-                break;
-            case 400000:
-                tim = 0x20C11434; // Fast mode with Rise Time = 250ns and Fall Time = 100ns
-                break;
-            case 1000000:
-                tim = 0x00C31536; // Fast mode Plus with Rise Time = 60ns and Fall Time = 100ns
-                break;
-            default:
-                break;
-        }
-    }
-    else  {
-        error("Value not provided for SystemCoreClock %u\n", SystemCoreClock);
-    }
-    return tim;
-}
+uint32_t i2c_get_pclk(I2CName i2c);
+uint32_t i2c_compute_timing(uint32_t clock_src_freq, uint32_t i2c_freq);
+uint32_t i2c_get_timing(I2CName i2c, int hz);
+void i2c_compute_presc_scldel_sdadel(uint32_t clock_src_freq, uint32_t I2C_speed);
+uint32_t i2c_compute_scll_sclh(uint32_t clock_src_freq, uint32_t I2C_speed);
 
 #ifdef __cplusplus
 }
 #endif
-
 #endif // DEVICE_I2C
-
 #endif
diff --git a/targets/TARGET_STM/TARGET_STM32WB/CMakeLists.txt b/targets/TARGET_STM/TARGET_STM32WB/CMakeLists.txt
index c1a9d96996..7e54bfb73b 100644
--- a/targets/TARGET_STM/TARGET_STM32WB/CMakeLists.txt
+++ b/targets/TARGET_STM/TARGET_STM32WB/CMakeLists.txt
@@ -12,6 +12,7 @@ target_sources(mbed-stm32wb
         analogin_device.c
         flash_api.c
         gpio_irq_device.c
+        i2c_device.c
         pwmout_device.c
         serial_device.c
         spi_api.c
diff --git a/targets/TARGET_STM/TARGET_STM32WB/i2c_device.c b/targets/TARGET_STM/TARGET_STM32WB/i2c_device.c
new file mode 100755
index 0000000000..0c234dcf6f
--- /dev/null
+++ b/targets/TARGET_STM/TARGET_STM32WB/i2c_device.c
@@ -0,0 +1,151 @@
+/* mbed Microcontroller Library
+ * SPDX-License-Identifier: BSD-3-Clause
+ ******************************************************************************
+ *
+ * Copyright (c) 2021 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software component is licensed by ST under BSD 3-Clause license,
+ * the "License"; You may not use this file except in compliance with the
+ * License. You may obtain a copy of the License at:
+ *                        opensource.org/licenses/BSD-3-Clause
+ *
+ ******************************************************************************
+ */
+#include "i2c_device.h"
+#include "mbed_assert.h"
+#include "mbed_error.h"
+#include "stm32wbxx_ll_rcc.h"
+
+/*  Define I2C Device */
+#if DEVICE_I2C
+
+/**
+  * @brief  Get I2C clock source frequency according I2C instance used.
+  * @param  i2c I2C instance name.
+  * @retval I2C clock source frequency in Hz.
+  */
+uint32_t i2c_get_pclk(I2CName i2c)
+{
+    uint32_t clocksource;
+    uint32_t pclk = 0;
+    if (i2c == I2C_1) {
+        clocksource = __HAL_RCC_GET_I2C1_SOURCE();
+        switch (clocksource) {
+            case RCC_I2C1CLKSOURCE_PCLK1:
+                pclk = HAL_RCC_GetPCLK1Freq();
+                break;
+
+            case RCC_I2C1CLKSOURCE_SYSCLK:
+                pclk = HAL_RCC_GetSysClockFreq();
+                break;
+
+            case RCC_I2C1CLKSOURCE_HSI:
+                pclk = HSI_VALUE;
+                break;
+        }
+    }
+#if defined I2C2_BASE
+    if (i2c == I2C_2) {
+        clocksource = __HAL_RCC_GET_I2C2_SOURCE();
+        switch (clocksource) {
+            case RCC_I2C2CLKSOURCE_PCLK1:
+                pclk = HAL_RCC_GetPCLK1Freq();
+                break;
+
+            case RCC_I2C2CLKSOURCE_SYSCLK:
+                pclk = HAL_RCC_GetSysClockFreq();
+                break;
+
+            case RCC_I2C2CLKSOURCE_HSI:
+                pclk = HSI_VALUE;
+                break;
+        }
+    }
+#endif
+#if defined I2C3_BASE
+    else if (i2c == I2C_3) {
+        clocksource = __HAL_RCC_GET_I2C3_SOURCE();
+        switch (clocksource) {
+            case RCC_I2C3CLKSOURCE_PCLK1:
+                pclk = HAL_RCC_GetPCLK1Freq();
+                break;
+
+            case RCC_I2C3CLKSOURCE_SYSCLK:
+                pclk = HAL_RCC_GetSysClockFreq();
+                break;
+
+            case RCC_I2C3CLKSOURCE_HSI:
+                pclk = HSI_VALUE;
+                break;
+        }
+    }
+#endif
+    else {
+        // should not happend
+        error("I2C: unknown instance");
+    }
+    return pclk;
+}
+/**
+  * @}
+  */
+
+/** @defgroup I2C_DEVICE_Exported_Functions I2C_DEVICE Exported Functions
+  * @{
+  */
+/**
+ * @brief  Provide the suitable timing depending on requested frequency
+ * @param  hz Required I2C clock in Hz.
+ * @retval I2C timing or 0 in case of error.
+ */
+uint32_t i2c_get_timing(I2CName i2c, int hz)
+{
+    uint32_t tim;
+    uint32_t pclk;
+
+    pclk = i2c_get_pclk(i2c);
+    if (pclk == I2C_PCLK_64M) {
+        switch (hz) {
+            case 100000:
+                tim = TIMING_VAL_64M_CLK_100KHZ;
+                break;
+            case 400000:
+                tim = TIMING_VAL_64M_CLK_400KHZ;
+                break;
+            case 1000000:
+                tim = TIMING_VAL_64M_CLK_1MHZ;
+                break;
+            default:
+                MBED_ASSERT((hz == 100000) || (hz == 400000) || (hz == 1000000));
+                break;
+        }
+    }
+
+    else if (pclk == I2C_PCLK_32M) {
+        switch (hz) {
+            case 100000:
+                tim = TIMING_VAL_32M_CLK_100KHZ;
+                break;
+            case 400000:
+                tim = TIMING_VAL_32M_CLK_400KHZ;
+                break;
+            case 1000000:
+                tim = TIMING_VAL_32M_CLK_1MHZ;
+                break;
+            default:
+                MBED_ASSERT((hz == 100000) || (hz == 400000) || (hz == 1000000));
+                break;
+        }
+    }
+
+    else {
+        tim = i2c_compute_timing(pclk, hz);
+    }
+    return tim;
+}
+/**
+  * @}
+  */
+
+#endif // DEVICE_I2C
diff --git a/targets/TARGET_STM/TARGET_STM32WB/i2c_device.h b/targets/TARGET_STM/TARGET_STM32WB/i2c_device.h
index 023f8ab9d5..53cdcff5ae 100644
--- a/targets/TARGET_STM/TARGET_STM32WB/i2c_device.h
+++ b/targets/TARGET_STM/TARGET_STM32WB/i2c_device.h
@@ -1,5 +1,5 @@
 /* mbed Microcontroller Library
- * Copyright (c) 2019 STMicroelectronics
+ * Copyright (c) 2019-2021 STMicroelectronics
  * SPDX-License-Identifier: Apache-2.0
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
@@ -18,16 +18,30 @@
 #ifndef MBED_I2C_DEVICE_H
 #define MBED_I2C_DEVICE_H
 
-#include "cmsis.h"
+#include "PeripheralNames.h"
 
 #ifdef __cplusplus
 extern "C" {
 #endif
 
-#ifdef DEVICE_I2C
+/*  Define I2C Device */
+#if DEVICE_I2C
 
+/*  Define IP version */
 #define I2C_IP_VERSION_V2
 
+// Common settings: I2C clock = 64 MHz, Analog filter = ON, Digital filter coefficient = 0
+#define TIMING_VAL_64M_CLK_100KHZ 0x10707DBC   // Standard mode with Rise Time = 400ns and Fall Time = 100ns
+#define TIMING_VAL_64M_CLK_400KHZ 0x00602173   // Fast mode with Rise Time = 250ns and Fall Time = 100ns
+#define TIMING_VAL_64M_CLK_1MHZ   0x00300B29   // Fast mode Plus with Rise Time = 60ns and Fall Time = 100ns
+#define I2C_PCLK_64M           64000000     // 64 MHz
+
+// Common settings: I2C clock = 32 MHz, Analog filter = ON, Digital filter coefficient = 0
+#define TIMING_VAL_32M_CLK_100KHZ 0x00707CBB   // Standard mode with Rise Time = 400ns and Fall Time = 100ns
+#define TIMING_VAL_32M_CLK_400KHZ 0x00300F38   // Fast mode with Rise Time = 250ns and Fall Time = 100ns
+#define TIMING_VAL_32M_CLK_1MHZ   0x00100413   // Fast mode Plus with Rise Time = 60ns and Fall Time = 100ns
+#define I2C_PCLK_32M           32000000     // 32 MHz
+
 #define I2C_IT_ALL (I2C_IT_ERRI|I2C_IT_TCI|I2C_IT_STOPI|I2C_IT_NACKI|I2C_IT_ADDRI|I2C_IT_RXI|I2C_IT_TXI)
 
 /*  Family specific settings for clock source */
@@ -35,48 +49,14 @@ extern "C" {
 #define I2CAPI_I2C2_CLKSRC RCC_I2C2CLKSOURCE_SYSCLK
 #define I2CAPI_I2C3_CLKSRC RCC_I2C3CLKSOURCE_SYSCLK
 
-/*  Provide the suitable timing depending on requested frequency */
-static inline uint32_t get_i2c_timing(int hz)
-{
-    uint32_t tim = 0;
-    if (SystemCoreClock == 64000000) {
-        // Common settings: I2C clock = 64 MHz, Analog filter = ON, Digital filter coefficient = 0
-        switch (hz) {
-            case 100000:
-                tim = 0x10707DBC; // Standard mode with Rise Time = 400ns and Fall Time = 100ns
-                break;
-            case 400000:
-                tim = 0x00602173; // Fast mode with Rise Time = 250ns and Fall Time = 100ns
-                break;
-            case 1000000:
-                tim = 0x00300B29; // Fast mode Plus with Rise Time = 60ns and Fall Time = 100ns
-                break;
-            default:
-                break;
-        }
-    } else if (SystemCoreClock == 32000000) {
-        // Common settings: I2C clock = 32 MHz, Analog filter = ON, Digital filter coefficient = 0
-        switch (hz) {
-            case 100000:
-                tim = 0x00707CBB; // Standard mode with Rise Time = 400ns and Fall Time = 100ns
-                break;
-            case 400000:
-                tim = 0x00300F38; // Fast mode with Rise Time = 250ns and Fall Time = 100ns
-                break;
-            case 1000000:
-                tim = 0x00100413; // Fast mode Plus with Rise Time = 60ns and Fall Time = 100ns
-                break;
-            default:
-                break;
-        }
-    }
-    return tim;
-}
+uint32_t i2c_get_pclk(I2CName i2c);
+uint32_t i2c_compute_timing(uint32_t clock_src_freq, uint32_t i2c_freq);
+uint32_t i2c_get_timing(I2CName i2c, int hz);
+void i2c_compute_presc_scldel_sdadel(uint32_t clock_src_freq, uint32_t I2C_speed);
+uint32_t i2c_compute_scll_sclh(uint32_t clock_src_freq, uint32_t I2C_speed);
 
 #ifdef __cplusplus
 }
 #endif
-
 #endif // DEVICE_I2C
-
 #endif
diff --git a/targets/TARGET_STM/TARGET_STM32WL/CMakeLists.txt b/targets/TARGET_STM/TARGET_STM32WL/CMakeLists.txt
index 36c47064a1..1b8e784872 100644
--- a/targets/TARGET_STM/TARGET_STM32WL/CMakeLists.txt
+++ b/targets/TARGET_STM/TARGET_STM32WL/CMakeLists.txt
@@ -12,6 +12,7 @@ target_sources(mbed-stm32wl
         analogout_device.c
         flash_api.c
         gpio_irq_device.c
+        i2c_device.c
         pwmout_device.c
         serial_device.c
         spi_api.c
diff --git a/targets/TARGET_STM/TARGET_STM32WL/i2c_device.c b/targets/TARGET_STM/TARGET_STM32WL/i2c_device.c
new file mode 100755
index 0000000000..bd18a50b6b
--- /dev/null
+++ b/targets/TARGET_STM/TARGET_STM32WL/i2c_device.c
@@ -0,0 +1,136 @@
+/* mbed Microcontroller Library
+ * SPDX-License-Identifier: BSD-3-Clause
+ ******************************************************************************
+ *
+ * Copyright (c) 2021 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software component is licensed by ST under BSD 3-Clause license,
+ * the "License"; You may not use this file except in compliance with the
+ * License. You may obtain a copy of the License at:
+ *                        opensource.org/licenses/BSD-3-Clause
+ *
+ ******************************************************************************
+ */
+
+#include "i2c_device.h"
+#include "mbed_assert.h"
+#include "mbed_error.h"
+#include "stm32wlxx_ll_rcc.h"
+
+/*  Define I2C Device */
+#if DEVICE_I2C
+
+/**
+  * @brief  Get I2C clock source frequency according I2C instance used.
+  * @param  i2c I2C instance name.
+  * @retval I2C clock source frequency in Hz.
+  */
+uint32_t i2c_get_pclk(I2CName i2c)
+{
+    uint32_t clocksource;
+    uint32_t pclk = 0;
+    if (i2c == I2C_1) {
+        clocksource = __HAL_RCC_GET_I2C1_SOURCE();
+        switch (clocksource) {
+            case RCC_I2C1CLKSOURCE_PCLK1:
+                pclk = HAL_RCC_GetPCLK1Freq();
+                break;
+
+            case RCC_I2C1CLKSOURCE_SYSCLK:
+                pclk = HAL_RCC_GetSysClockFreq();
+                break;
+
+            case RCC_I2C1CLKSOURCE_HSI:
+                pclk = HSI_VALUE;
+                break;
+        }
+    }
+#if defined I2C2_BASE
+    if (i2c == I2C_2) {
+        clocksource = __HAL_RCC_GET_I2C2_SOURCE();
+        switch (clocksource) {
+            case RCC_I2C2CLKSOURCE_PCLK1:
+                pclk = HAL_RCC_GetPCLK1Freq();
+                break;
+
+            case RCC_I2C2CLKSOURCE_SYSCLK:
+                pclk = HAL_RCC_GetSysClockFreq();
+                break;
+
+            case RCC_I2C2CLKSOURCE_HSI:
+                pclk = HSI_VALUE;
+                break;
+        }
+    }
+#endif
+#if defined I2C3_BASE
+    else if (i2c == I2C_3) {
+        clocksource = __HAL_RCC_GET_I2C3_SOURCE();
+        switch (clocksource) {
+            case RCC_I2C3CLKSOURCE_PCLK1:
+                pclk = HAL_RCC_GetPCLK1Freq();
+                break;
+
+            case RCC_I2C3CLKSOURCE_SYSCLK:
+                pclk = HAL_RCC_GetSysClockFreq();
+                break;
+
+            case RCC_I2C3CLKSOURCE_HSI:
+                pclk = HSI_VALUE;
+                break;
+        }
+    }
+#endif
+    else {
+        // should not happend
+        error("I2C: unknown instance");
+    }
+
+    return pclk;
+}
+/**
+  * @}
+  */
+
+/** @defgroup I2C_DEVICE_Exported_Functions I2C_DEVICE Exported Functions
+  * @{
+  */
+/**
+ * @brief  Provide the suitable timing depending on requested frequency
+ * @param  hz Required I2C clock in Hz.
+ * @retval I2C timing or 0 in case of error.
+ */
+uint32_t i2c_get_timing(I2CName i2c, int hz)
+{
+    uint32_t tim;
+    uint32_t pclk;
+
+    pclk = i2c_get_pclk(i2c);
+    if (pclk == I2C_PCLK_DEF) {
+        switch (hz) {
+            case 100000:
+                tim = TIMING_VAL_DEFAULT_CLK_100KHZ;
+                break;
+            case 400000:
+                tim = TIMING_VAL_DEFAULT_CLK_400KHZ;
+                break;
+            case 1000000:
+                tim = TIMING_VAL_DEFAULT_CLK_1MHZ;
+                break;
+            default:
+                MBED_ASSERT((hz == 100000) || (hz == 400000) || (hz == 1000000));
+                break;
+        }
+    }
+
+    else {
+        tim = i2c_compute_timing(pclk, hz);
+    }
+    return tim;
+}
+/**
+  * @}
+  */
+
+#endif // DEVICE_I2C
diff --git a/targets/TARGET_STM/TARGET_STM32WL/i2c_device.h b/targets/TARGET_STM/TARGET_STM32WL/i2c_device.h
index eedf470733..ef7df02404 100644
--- a/targets/TARGET_STM/TARGET_STM32WL/i2c_device.h
+++ b/targets/TARGET_STM/TARGET_STM32WL/i2c_device.h
@@ -16,16 +16,24 @@
 #ifndef MBED_I2C_DEVICE_H
 #define MBED_I2C_DEVICE_H
 
-#include "cmsis.h"
+#include "PeripheralNames.h"
 
 #ifdef __cplusplus
 extern "C" {
 #endif
 
-#ifdef DEVICE_I2C
+/*  Define I2C Device */
+#if DEVICE_I2C
 
+/*  Define IP version */
 #define I2C_IP_VERSION_V2
 
+// Common settings: I2C clock = 48 MHz, Analog filter = ON, Digital filter coefficient = 0
+#define TIMING_VAL_DEFAULT_CLK_100KHZ  0x20E03F53  // Standard mode with Rise Time = 640ns and Fall Time = 20ns
+#define TIMING_VAL_DEFAULT_CLK_400KHZ  0x20500817  // Fast mode with Rise Time = 250ns and Fall Time = 100ns
+#define TIMING_VAL_DEFAULT_CLK_1MHZ    0x00500A18  // Fast mode Plus with Rise Time = 60ns and Fall Time = 100ns
+#define I2C_PCLK_DEF                48000000    // 48 MHz
+
 #define I2C_IT_ALL (I2C_IT_ERRI|I2C_IT_TCI|I2C_IT_STOPI|I2C_IT_NACKI|I2C_IT_ADDRI|I2C_IT_RXI|I2C_IT_TXI)
 
 /*  Family specific settings for clock source */
@@ -33,32 +41,14 @@ extern "C" {
 #define I2CAPI_I2C2_CLKSRC RCC_I2C2CLKSOURCE_SYSCLK
 #define I2CAPI_I2C3_CLKSRC RCC_I2C3CLKSOURCE_SYSCLK
 
-/*  Provide the suitable timing depending on requested frequency */
-static inline uint32_t get_i2c_timing(int hz)
-{
-    uint32_t tim = 0;
-
-    // Common settings: I2C clock = 48 MHz, Analog filter = ON, Digital filter coefficient = 0
-    switch (hz) {
-        case 100000:
-            tim = 0x20E03F53; // Standard mode with Rise Time = 640ns and Fall Time = 20ns
-            break;
-        case 400000:
-            tim = 0x20500817; // Fast mode with Rise Time = 250ns and Fall Time = 100ns
-            break;
-        case 1000000:
-            tim = 0x00500A18; // Fast mode Plus with Rise Time = 60ns and Fall Time = 100ns
-            break;
-        default:
-            break;
-    }
-    return tim;
-}
+uint32_t i2c_get_pclk(I2CName i2c);
+uint32_t i2c_compute_timing(uint32_t clock_src_freq, uint32_t i2c_freq);
+uint32_t i2c_get_timing(I2CName i2c, int hz);
+void i2c_compute_presc_scldel_sdadel(uint32_t clock_src_freq, uint32_t I2C_speed);
+uint32_t i2c_compute_scll_sclh(uint32_t clock_src_freq, uint32_t I2C_speed);
 
 #ifdef __cplusplus
 }
 #endif
-
 #endif // DEVICE_I2C
-
 #endif
diff --git a/targets/TARGET_STM/i2c_api.c b/targets/TARGET_STM/i2c_api.c
index 72c8c0bd96..824512c268 100644
--- a/targets/TARGET_STM/i2c_api.c
+++ b/targets/TARGET_STM/i2c_api.c
@@ -1,6 +1,6 @@
 /* mbed Microcontroller Library
  *******************************************************************************
- * Copyright (c) 2015, STMicroelectronics
+ * Copyright (c) 2015-2021, STMicroelectronics
  * All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
@@ -43,6 +43,115 @@
 #include "mbed_error.h"
 #include "platform/mbed_power_mgmt.h"
 
+/** @defgroup I2C_DEVICE_Private_Constants I2C_DEVICE Private Constants
+ * @{
+ */
+#ifndef I2C_VALID_TIMING_NBR
+#define I2C_VALID_TIMING_NBR                 128U
+#endif
+#define I2C_SPEED_FREQ_STANDARD                0U    /* 100 kHz */
+#define I2C_SPEED_FREQ_FAST                    1U    /* 400 kHz */
+#define I2C_SPEED_FREQ_FAST_PLUS               2U    /* 1 MHz */
+#define I2C_ANALOG_FILTER_DELAY_MIN            50U   /* ns */
+#define I2C_ANALOG_FILTER_DELAY_MAX            260U  /* ns */
+#define I2C_USE_ANALOG_FILTER                  1U
+#define I2C_DIGITAL_FILTER_COEF                0U
+#define I2C_PRESC_MAX                          16U
+#define I2C_SCLDEL_MAX                         16U
+#define I2C_SDADEL_MAX                         16U
+#define I2C_SCLH_MAX                           256U
+#define I2C_SCLL_MAX                           256U
+#define SEC2NSEC                               1000000000UL
+/**
+  * @}
+  */
+
+
+/** @defgroup I2C_DEVICE_Private_Types I2C_DEVICE Private Types
+  * @{
+  */
+typedef struct {
+    uint32_t freq;       /* Frequency in Hz */
+    uint32_t freq_min;   /* Minimum frequency in Hz */
+    uint32_t freq_max;   /* Maximum frequency in Hz */
+    uint32_t hddat_min;  /* Minimum data hold time in ns */
+    uint32_t vddat_max;  /* Maximum data valid time in ns */
+    uint32_t sudat_min;  /* Minimum data setup time in ns */
+    uint32_t lscl_min;   /* Minimum low period of the SCL clock in ns */
+    uint32_t hscl_min;   /* Minimum high period of SCL clock in ns */
+    uint32_t trise;      /* Rise time in ns */
+    uint32_t tfall;      /* Fall time in ns */
+    uint32_t dnf;        /* Digital noise filter coefficient */
+} I2C_Charac_t;
+
+typedef struct {
+    uint32_t presc;      /* Timing prescaler */
+    uint32_t tscldel;    /* SCL delay */
+    uint32_t tsdadel;    /* SDA delay */
+    uint32_t sclh;       /* SCL high period */
+    uint32_t scll;       /* SCL low period */
+} I2C_Timings_t;
+/**
+  * @}
+  */
+
+/** @defgroup I2C_DEVICE_Private_Constants I2C_DEVICE Private Constants
+  * @{
+  */
+static const I2C_Charac_t I2C_Charac[] = {
+    [I2C_SPEED_FREQ_STANDARD] =
+    {
+        .freq = 100000,
+        .freq_min = 80000,
+        .freq_max = 120000,
+        .hddat_min = 0,
+        .vddat_max = 3450,
+        .sudat_min = 250,
+        .lscl_min = 4700,
+        .hscl_min = 4000,
+        .trise = 640,
+        .tfall = 20,
+        .dnf = I2C_DIGITAL_FILTER_COEF,
+    },
+    [I2C_SPEED_FREQ_FAST] =
+    {
+        .freq = 400000,
+        .freq_min = 320000,
+        .freq_max = 480000,
+        .hddat_min = 0,
+        .vddat_max = 900,
+        .sudat_min = 100,
+        .lscl_min = 1300,
+        .hscl_min = 600,
+        .trise = 250,
+        .tfall = 100,
+        .dnf = I2C_DIGITAL_FILTER_COEF,
+    },
+    [I2C_SPEED_FREQ_FAST_PLUS] =
+    {
+        .freq = 1000000,
+        .freq_min = 800000,
+        .freq_max = 1200000,
+        .hddat_min = 0,
+        .vddat_max = 450,
+        .sudat_min = 50,
+        .lscl_min = 500,
+        .hscl_min = 260,
+        .trise = 60,
+        .tfall = 100,
+        .dnf = I2C_DIGITAL_FILTER_COEF,
+    },
+};
+/**
+  * @}
+  */
+
+/** @defgroup I2C_DEVICE_Private_Variables I2C_DEVICE Private Variables
+* @{
+*/
+static I2C_Timings_t I2c_valid_timing[I2C_VALID_TIMING_NBR];
+static uint32_t      I2c_valid_timing_nbr = 0;
+
 #ifndef DEBUG_STDIO
 #   define DEBUG_STDIO 0
 #endif
@@ -482,7 +591,8 @@ void i2c_frequency(i2c_t *obj, int hz)
 #ifdef I2C_IP_VERSION_V2
     /*  Only predefined timing for below frequencies are supported */
     MBED_ASSERT((hz == 100000) || (hz == 400000) || (hz == 1000000));
-
+    /* Calculates I2C timing value with respect to I2C input clock and I2C bus frequency */
+    handle->Init.Timing = i2c_get_timing(obj_s->i2c, hz);
     // Enable the Fast Mode Plus capability
     if (hz == 1000000) {
 #if defined(I2C1_BASE) && defined(I2C_FASTMODEPLUS_I2C1)  // sometimes I2C_FASTMODEPLUS_I2Cx is define even if not supported by the chip
@@ -550,14 +660,6 @@ void i2c_frequency(i2c_t *obj, int hz)
     HAL_I2CEx_ConfigAnalogFilter(handle, I2C_ANALOGFILTER_ENABLE);
 #endif
 
-#ifdef I2C_IP_VERSION_V2
-#ifdef TARGET_STM32H7
-    handle->Init.Timing = get_i2c_timing(obj_s->i2c, hz);
-#else
-    handle->Init.Timing = get_i2c_timing(hz);
-#endif
-#endif
-
     // I2C configuration
     handle->Init.AddressingMode  = I2C_ADDRESSINGMODE_7BIT;
     handle->Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
@@ -1399,6 +1501,184 @@ void i2c_abort_asynch(i2c_t *obj)
     HAL_I2C_Master_Abort_IT(handle, Dummy_DevAddress);
 }
 
+/**
+  * @brief  Calculate SCLL and SCLH and find best configuration.
+  * @param  clock_src_freq I2C source clock in HZ.
+  * @param  I2C_speed I2C frequency (index).
+  * @retval config index (0 to I2C_VALID_TIMING_NBR], 0xFFFFFFFF for no valid config.
+  */
+uint32_t i2c_compute_scll_sclh(uint32_t clock_src_freq, uint32_t I2C_speed)
+{
+    uint32_t ret = 0xFFFFFFFFU;
+    uint32_t ti2cclk;
+    uint32_t ti2cspeed;
+    uint32_t prev_error;
+    uint32_t dnf_delay;
+    uint32_t clk_min, clk_max;
+    uint32_t scll, sclh;
+    uint32_t tafdel_min;
+
+    ti2cclk   = (SEC2NSEC + (clock_src_freq / 2U)) / clock_src_freq;
+    ti2cspeed   = (SEC2NSEC + (I2C_Charac[I2C_speed].freq / 2U)) / I2C_Charac[I2C_speed].freq;
+
+    tafdel_min = (I2C_USE_ANALOG_FILTER == 1U) ? I2C_ANALOG_FILTER_DELAY_MIN : 0U;
+
+    /* tDNF = DNF x tI2CCLK */
+    dnf_delay = I2C_Charac[I2C_speed].dnf * ti2cclk;
+
+    clk_max = SEC2NSEC / I2C_Charac[I2C_speed].freq_min;
+    clk_min = SEC2NSEC / I2C_Charac[I2C_speed].freq_max;
+
+    prev_error = ti2cspeed;
+
+    for (uint32_t count = 0; count < I2c_valid_timing_nbr; count++) {
+        /* tPRESC = (PRESC+1) x tI2CCLK*/
+        uint32_t tpresc = (I2c_valid_timing[count].presc + 1U) * ti2cclk;
+
+        for (scll = 0; scll < I2C_SCLL_MAX; scll++) {
+            /* tLOW(min) <= tAF(min) + tDNF + 2 x tI2CCLK + [(SCLL+1) x tPRESC ] */
+            uint32_t tscl_l = tafdel_min + dnf_delay + (2U * ti2cclk) + ((scll + 1U) * tpresc);
+
+
+            /* The I2CCLK period tI2CCLK must respect the following conditions:
+            tI2CCLK < (tLOW - tfilters) / 4 and tI2CCLK < tHIGH */
+            if ((tscl_l > I2C_Charac[I2C_speed].lscl_min) && (ti2cclk < ((tscl_l - tafdel_min - dnf_delay) / 4U))) {
+                for (sclh = 0; sclh < I2C_SCLH_MAX; sclh++) {
+                    /* tHIGH(min) <= tAF(min) + tDNF + 2 x tI2CCLK + [(SCLH+1) x tPRESC] */
+                    uint32_t tscl_h = tafdel_min + dnf_delay + (2U * ti2cclk) + ((sclh + 1U) * tpresc);
+
+                    /* tSCL = tf + tLOW + tr + tHIGH */
+                    uint32_t tscl = tscl_l + tscl_h + I2C_Charac[I2C_speed].trise + I2C_Charac[I2C_speed].tfall;
+
+                    if ((tscl >= clk_min) && (tscl <= clk_max) && (tscl_h >= I2C_Charac[I2C_speed].hscl_min) && (ti2cclk < tscl_h)) {
+                        int32_t error = (int32_t)tscl - (int32_t)ti2cspeed;
+
+                        if (error < 0) {
+                            error = -error;
+                        }
+
+                        /* look for the timings with the lowest clock error */
+                        if ((uint32_t)error < prev_error) {
+                            prev_error = (uint32_t)error;
+                            I2c_valid_timing[count].scll = scll;
+                            I2c_valid_timing[count].sclh = sclh;
+                            ret = count;
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    return ret;
+}
+
+/**
+  * @brief  Compute PRESC, SCLDEL and SDADEL.
+  * @param  clock_src_freq I2C source clock in HZ.
+  * @param  I2C_speed I2C frequency (index).
+  * @retval None.
+  */
+void i2c_compute_presc_scldel_sdadel(uint32_t clock_src_freq, uint32_t I2C_speed)
+{
+    uint32_t prev_presc = I2C_PRESC_MAX;
+    uint32_t ti2cclk;
+    int32_t  tsdadel_min, tsdadel_max;
+    int32_t  tscldel_min;
+    uint32_t presc, scldel, sdadel;
+    uint32_t tafdel_min, tafdel_max;
+
+    ti2cclk   = (SEC2NSEC + (clock_src_freq / 2U)) / clock_src_freq;
+
+    tafdel_min = (I2C_USE_ANALOG_FILTER == 1U) ? I2C_ANALOG_FILTER_DELAY_MIN : 0U;
+    tafdel_max = (I2C_USE_ANALOG_FILTER == 1U) ? I2C_ANALOG_FILTER_DELAY_MAX : 0U;
+
+    /* tDNF = DNF x tI2CCLK
+       tPRESC = (PRESC+1) x tI2CCLK
+       SDADEL >= {tf +tHD;DAT(min) - tAF(min) - tDNF - [3 x tI2CCLK]} / {tPRESC}
+       SDADEL <= {tVD;DAT(max) - tr - tAF(max) - tDNF- [4 x tI2CCLK]} / {tPRESC} */
+
+    tsdadel_min = (int32_t)I2C_Charac[I2C_speed].tfall + (int32_t)I2C_Charac[I2C_speed].hddat_min -
+                  (int32_t)tafdel_min - (int32_t)(((int32_t)I2C_Charac[I2C_speed].dnf + 3) * (int32_t)ti2cclk);
+
+    tsdadel_max = (int32_t)I2C_Charac[I2C_speed].vddat_max - (int32_t)I2C_Charac[I2C_speed].trise -
+                  (int32_t)tafdel_max - (int32_t)(((int32_t)I2C_Charac[I2C_speed].dnf + 4) * (int32_t)ti2cclk);
+
+
+    /* {[tr+ tSU;DAT(min)] / [tPRESC]} - 1 <= SCLDEL */
+    tscldel_min = (int32_t)I2C_Charac[I2C_speed].trise + (int32_t)I2C_Charac[I2C_speed].sudat_min;
+
+    if (tsdadel_min <= 0) {
+        tsdadel_min = 0;
+    }
+
+    if (tsdadel_max <= 0) {
+        tsdadel_max = 0;
+    }
+
+    for (presc = 0; presc < I2C_PRESC_MAX; presc++) {
+        for (scldel = 0; scldel < I2C_SCLDEL_MAX; scldel++) {
+            /* TSCLDEL = (SCLDEL+1) * (PRESC+1) * TI2CCLK */
+            uint32_t tscldel = (scldel + 1U) * (presc + 1U) * ti2cclk;
+
+            if (tscldel >= (uint32_t)tscldel_min) {
+                for (sdadel = 0; sdadel < I2C_SDADEL_MAX; sdadel++) {
+                    /* TSDADEL = SDADEL * (PRESC+1) * TI2CCLK */
+                    uint32_t tsdadel = (sdadel * (presc + 1U)) * ti2cclk;
+
+                    if ((tsdadel >= (uint32_t)tsdadel_min) && (tsdadel <= (uint32_t)tsdadel_max)) {
+                        if (presc != prev_presc) {
+                            I2c_valid_timing[I2c_valid_timing_nbr].presc = presc;
+                            I2c_valid_timing[I2c_valid_timing_nbr].tscldel = scldel;
+                            I2c_valid_timing[I2c_valid_timing_nbr].tsdadel = sdadel;
+                            prev_presc = presc;
+                            I2c_valid_timing_nbr ++;
+
+                            if (I2c_valid_timing_nbr >= I2C_VALID_TIMING_NBR) {
+                                return;
+                            }
+                        }
+                    }
+                }
+            }
+        }
+    }
+}
+
+/**
+  * @brief  Compute I2C timing according current I2C clock source and required I2C clock.
+  * @param  clock_src_freq I2C clock source in Hz.
+  * @param  i2c_freq Required I2C clock in Hz.
+  * @retval I2C timing or 0 in case of error.
+  */
+uint32_t i2c_compute_timing(uint32_t clock_src_freq, uint32_t i2c_freq)
+{
+    uint32_t ret = 0;
+    uint32_t speed;
+    uint32_t idx;
+
+    if ((clock_src_freq != 0U) && (i2c_freq != 0U)) {
+        for (speed = 0 ; speed <= (uint32_t)I2C_SPEED_FREQ_FAST_PLUS ; speed++) {
+            if ((i2c_freq >= I2C_Charac[speed].freq_min) &&
+                    (i2c_freq <= I2C_Charac[speed].freq_max)) {
+                i2c_compute_presc_scldel_sdadel(clock_src_freq, speed);
+                idx = i2c_compute_scll_sclh(clock_src_freq, speed);
+
+                if (idx < I2C_VALID_TIMING_NBR) {
+                    ret = ((I2c_valid_timing[idx].presc  & 0x0FU) << 28) | \
+                          ((I2c_valid_timing[idx].tscldel & 0x0FU) << 20) | \
+                          ((I2c_valid_timing[idx].tsdadel & 0x0FU) << 16) | \
+                          ((I2c_valid_timing[idx].sclh & 0xFFU) << 8) | \
+                          ((I2c_valid_timing[idx].scll & 0xFFU) << 0);
+                }
+                break;
+            }
+        }
+    }
+
+    return ret;
+}
+
 #endif // DEVICE_I2C_ASYNCH
 
 #endif // DEVICE_I2C