diff --git a/hal/targets/cmsis/TARGET_STM/TARGET_STM32F0/TARGET_NUCLEO_F030R8/hal_tick.c b/hal/targets/cmsis/TARGET_STM/TARGET_STM32F0/TARGET_NUCLEO_F030R8/hal_tick.c
index ec1839ebdc4..9547c9bc456 100644
--- a/hal/targets/cmsis/TARGET_STM/TARGET_STM32F0/TARGET_NUCLEO_F030R8/hal_tick.c
+++ b/hal/targets/cmsis/TARGET_STM/TARGET_STM32F0/TARGET_NUCLEO_F030R8/hal_tick.c
@@ -43,7 +43,6 @@ void set_compare(uint16_t count);
 extern volatile uint32_t SlaveCounter;
 extern volatile uint32_t oc_int_part;
 extern volatile uint16_t oc_rem_part;
-extern volatile uint16_t cnt_val;
 
 // Used to increment the slave counter
 void timer_update_irq_handler(void)
@@ -60,7 +59,7 @@ void timer_update_irq_handler(void)
 // Used for mbed timeout (channel 1) and HAL tick (channel 2)
 void timer_oc_irq_handler(void)
 {
-    cnt_val = TIM_MST->CNT;
+    uint16_t cval = TIM_MST->CNT;
     TimMasterHandle.Instance = TIM_MST;
 
     // Channel 1 for mbed timeout
@@ -72,7 +71,7 @@ void timer_oc_irq_handler(void)
         } else {
             if (oc_int_part > 0) {
                 set_compare(0xFFFF);
-                oc_rem_part = cnt_val; // To finish the counter loop the next time
+                oc_rem_part = cval; // To finish the counter loop the next time
                 oc_int_part--;
             } else {
                 us_ticker_irq_handler();
@@ -129,8 +128,10 @@ HAL_StatusTypeDef HAL_InitTick(uint32_t TickPriority) {
     // Output compare channel 2 interrupt for HAL tick
     NVIC_SetVector(TIM_MST_UP_IRQ, (uint32_t)timer_update_irq_handler);
     NVIC_EnableIRQ(TIM_MST_UP_IRQ);
+    NVIC_SetPriority(TIM_MST_UP_IRQ, 0);
     NVIC_SetVector(TIM_MST_OC_IRQ, (uint32_t)timer_oc_irq_handler);
     NVIC_EnableIRQ(TIM_MST_OC_IRQ);
+    NVIC_SetPriority(TIM_MST_OC_IRQ, 1);
 
     // Enable interrupts
     __HAL_TIM_ENABLE_IT(&TimMasterHandle, TIM_IT_UPDATE); // For 32-bit counter
diff --git a/hal/targets/cmsis/TARGET_STM/TARGET_STM32F0/TARGET_NUCLEO_F070RB/hal_tick.c b/hal/targets/cmsis/TARGET_STM/TARGET_STM32F0/TARGET_NUCLEO_F070RB/hal_tick.c
index f56a479e4c7..7757d67aa6c 100644
--- a/hal/targets/cmsis/TARGET_STM/TARGET_STM32F0/TARGET_NUCLEO_F070RB/hal_tick.c
+++ b/hal/targets/cmsis/TARGET_STM/TARGET_STM32F0/TARGET_NUCLEO_F070RB/hal_tick.c
@@ -43,7 +43,6 @@ void set_compare(uint16_t count);
 extern volatile uint32_t SlaveCounter;
 extern volatile uint32_t oc_int_part;
 extern volatile uint16_t oc_rem_part;
-extern volatile uint16_t cnt_val;
 
 // Used to increment the slave counter
 void timer_update_irq_handler(void)
@@ -60,7 +59,7 @@ void timer_update_irq_handler(void)
 // Used for mbed timeout (channel 1) and HAL tick (channel 2)
 void timer_oc_irq_handler(void)
 {
-    cnt_val = TIM_MST->CNT;
+    uint16_t cval = TIM_MST->CNT;
     TimMasterHandle.Instance = TIM_MST;
 
     // Channel 1 for mbed timeout
@@ -72,7 +71,7 @@ void timer_oc_irq_handler(void)
         } else {
             if (oc_int_part > 0) {
                 set_compare(0xFFFF);
-                oc_rem_part = cnt_val; // To finish the counter loop the next time
+                oc_rem_part = cval; // To finish the counter loop the next time
                 oc_int_part--;
             } else {
                 us_ticker_irq_handler();
@@ -131,8 +130,10 @@ HAL_StatusTypeDef HAL_InitTick(uint32_t TickPriority) {
     // Output compare channel 2 interrupt for HAL tick
     NVIC_SetVector(TIM_MST_UP_IRQ, (uint32_t)timer_update_irq_handler);
     NVIC_EnableIRQ(TIM_MST_UP_IRQ);
+    NVIC_SetPriority(TIM_MST_UP_IRQ, 0);
     NVIC_SetVector(TIM_MST_OC_IRQ, (uint32_t)timer_oc_irq_handler);
     NVIC_EnableIRQ(TIM_MST_OC_IRQ);
+    NVIC_SetPriority(TIM_MST_OC_IRQ, 1);
 
     // Enable interrupts
     __HAL_TIM_ENABLE_IT(&TimMasterHandle, TIM_IT_UPDATE); // For 32-bit counter
diff --git a/hal/targets/hal/TARGET_STM/TARGET_STM32F0/us_ticker.c b/hal/targets/hal/TARGET_STM/TARGET_STM32F0/us_ticker.c
index 4bb4bd3519b..91ee9457ded 100644
--- a/hal/targets/hal/TARGET_STM/TARGET_STM32F0/us_ticker.c
+++ b/hal/targets/hal/TARGET_STM/TARGET_STM32F0/us_ticker.c
@@ -41,7 +41,6 @@ static int us_ticker_inited = 0;
 volatile uint32_t SlaveCounter = 0;
 volatile uint32_t oc_int_part = 0;
 volatile uint16_t oc_rem_part = 0;
-volatile uint16_t cnt_val = 0;
 
 void set_compare(uint16_t count) {
     TimMasterHandle.Instance = TIM_MST;
@@ -59,15 +58,24 @@ void us_ticker_init(void) {
 }
 
 uint32_t us_ticker_read() {
-    uint32_t counter;
+    uint32_t counter, counter2;
     if (!us_ticker_inited) us_ticker_init();
-
-    //Current value of TIM_MST->CNT is stored in cnt_val and is
-    //updated in interrupt context
+    // A situation might appear when Master overflows right after Slave is read and before the
+    // new (overflowed) value of Master is read. Which would make the code below consider the
+    // previous (incorrect) value of Slave and the new value of Master, which would return a
+    // value in the past. Avoid this by computing consecutive values of the timer until they
+    // are properly ordered.
     counter = (uint32_t)(SlaveCounter << 16);
-    counter += cnt_val;
-
-    return counter;
+    counter += TIM_MST->CNT;
+    while (1) {
+        counter2 = (uint32_t)(SlaveCounter << 16);
+        counter2 += TIM_MST->CNT;
+        if (counter2 > counter) {
+            break;
+        }
+        counter = counter2;
+    }
+    return counter2;
 }
 
 void us_ticker_set_interrupt(timestamp_t timestamp) {