diff --git a/os/hal/include/icu.h b/os/hal/include/icu.h
index 99cfc4e3c..15a9b2380 100644
--- a/os/hal/include/icu.h
+++ b/os/hal/include/icu.h
@@ -157,6 +157,17 @@ typedef void (*icucallback_t)(ICUDriver *icup);
   if (previous_state != ICU_WAITING)                                        \
     (icup)->config->period_cb(icup);                                        \
 }
+
+/**
+ * @brief   Common ISR code, ICU timer overflow event.
+ *
+ * @param[in] icup      pointer to the @p ICUDriver object
+ *
+ * @notapi
+ */
+#define _icu_isr_invoke_overflow_cb(icup) {                                 \
+  (icup)->config->overflow_cb(icup);                                        \
+}
 /** @} */
 
 /*===========================================================================*/
diff --git a/os/hal/platforms/STM32/icu_lld.c b/os/hal/platforms/STM32/icu_lld.c
index 2bfffd3bd..849241c2b 100644
--- a/os/hal/platforms/STM32/icu_lld.c
+++ b/os/hal/platforms/STM32/icu_lld.c
@@ -17,6 +17,10 @@
     You should have received a copy of the GNU General Public License
     along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */
+/*
+   Concepts and parts of this file have been contributed by Fabio Utzig and
+   Xo Wang.
+ */
 
 /**
  * @file    STM32/icu_lld.c
@@ -112,6 +116,8 @@ static void icu_lld_serve_interrupt(ICUDriver *icup) {
     if ((sr & TIM_SR_CC2IF) != 0)
       _icu_isr_invoke_period_cb(icup);
   }
+  if ((sr & TIM_SR_UIF) != 0)
+    _icu_isr_invoke_overflow_cb(icup);
 }
 
 /*===========================================================================*/
@@ -482,7 +488,7 @@ void icu_lld_stop(ICUDriver *icup) {
  */
 void icu_lld_enable(ICUDriver *icup) {
 
-  icup->tim->SR   = 0;                      /* Clear pending IRQs (if any). */
+  icup->tim->SR = 0;                        /* Clear pending IRQs (if any). */
   if (icup->config->channel == ICU_CHANNEL_1) {
     if (icup->config->period_cb != NULL)
       icup->tim->DIER |= TIM_DIER_CC1IE;
@@ -494,6 +500,8 @@ void icu_lld_enable(ICUDriver *icup) {
     if (icup->config->period_cb != NULL)
       icup->tim->DIER |= TIM_DIER_CC2IE;
   }
+  if (icup->config->overflow_cb != NULL)
+    icup->tim->DIER |= TIM_DIER_UIE;
   icup->tim->CR1  = TIM_CR1_URS | TIM_CR1_CEN;
 }
 
diff --git a/os/hal/platforms/STM32/icu_lld.h b/os/hal/platforms/STM32/icu_lld.h
index 642de2a64..691b06a71 100644
--- a/os/hal/platforms/STM32/icu_lld.h
+++ b/os/hal/platforms/STM32/icu_lld.h
@@ -227,6 +227,10 @@ typedef struct {
    * @brief   Callback for cycle period measurement.
    */
   icucallback_t             period_cb;
+  /**
+   * @brief   Callback for timer overflow.
+   */
+  icucallback_t             overflow_cb;
   /* End of the mandatory fields.*/
   /**
    * @brief   Timer input channel to be used.
diff --git a/os/hal/templates/icu_lld.h b/os/hal/templates/icu_lld.h
index 4b0568102..56ce3af98 100644
--- a/os/hal/templates/icu_lld.h
+++ b/os/hal/templates/icu_lld.h
@@ -17,6 +17,10 @@
     You should have received a copy of the GNU General Public License
     along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */
+/*
+   Concepts and parts of this file have been contributed by Fabio Utzig and
+   Xo Wang.
+ */
 
 /**
  * @file    templates/icu_lld.h
@@ -88,6 +92,10 @@ typedef struct {
    * @brief   Callback for cycle period measurement.
    */
   icucallback_t             period_cb;
+  /**
+   * @brief   Callback for timer overflow.
+   */
+  icucallback_t             overflow_cb;
   /* End of the mandatory fields.*/
 } ICUConfig;
 
diff --git a/readme.txt b/readme.txt
index 5521d3349..639793ae3 100644
--- a/readme.txt
+++ b/readme.txt
@@ -97,6 +97,7 @@
   3484947)(backported to 2.4.1).
 - FIX: Fixed various minor documentation errors (bug 3484942)(backported
   to 2.4.1).
+- NEW: Added overflow handling in the ICU driver (contributed by Xo).
 - NEW: Updated debug plugin 1.0.8 (backported to 2.4.0).
 - NEW: Added more accurate UBRR calculation in AVR serial driver (backported
   to 2.4.0).
diff --git a/testhal/STM32F1xx/PWM-ICU/main.c b/testhal/STM32F1xx/PWM-ICU/main.c
index ab9cd8be2..78bcbf063 100644
--- a/testhal/STM32F1xx/PWM-ICU/main.c
+++ b/testhal/STM32F1xx/PWM-ICU/main.c
@@ -66,6 +66,7 @@ static ICUConfig icucfg = {
   10000,                                    /* 10KHz ICU clock frequency.   */
   icuwidthcb,
   icuperiodcb,
+  NULL,
   ICU_CHANNEL_1
 };
 
diff --git a/testhal/STM32F4xx/PWM-ICU/main.c b/testhal/STM32F4xx/PWM-ICU/main.c
index af3caa109..5221123e2 100644
--- a/testhal/STM32F4xx/PWM-ICU/main.c
+++ b/testhal/STM32F4xx/PWM-ICU/main.c
@@ -51,20 +51,22 @@ icucnt_t last_width, last_period;
 static void icuwidthcb(ICUDriver *icup) {
 
   palSetPad(GPIOD, GPIOD_LED4);
-  last_width = icuGetWidthI(icup);
+  last_width = icuGetWidth(icup);
 }
 
 static void icuperiodcb(ICUDriver *icup) {
 
   palClearPad(GPIOD, GPIOD_LED4);
-  last_period = icuGetPeriodI(icup);
+  last_period = icuGetPeriod(icup);
 }
 
 static ICUConfig icucfg = {
   ICU_INPUT_ACTIVE_HIGH,
   10000,                                    /* 10KHz ICU clock frequency.   */
   icuwidthcb,
-  icuperiodcb
+  icuperiodcb,
+  NULL,
+  ICU_CHANNEL_1
 };
 
 /*
diff --git a/testhal/STM32L1xx/PWM-ICU/main.c b/testhal/STM32L1xx/PWM-ICU/main.c
index 22d31a379..35044663c 100644
--- a/testhal/STM32L1xx/PWM-ICU/main.c
+++ b/testhal/STM32L1xx/PWM-ICU/main.c
@@ -51,20 +51,22 @@ icucnt_t last_width, last_period;
 static void icuwidthcb(ICUDriver *icup) {
 
   palSetPad(GPIOB, GPIOB_LED3);
-  last_width = icuGetWidthI(icup);
+  last_width = icuGetWidth(icup);
 }
 
 static void icuperiodcb(ICUDriver *icup) {
 
   palClearPad(GPIOB, GPIOB_LED3);
-  last_period = icuGetPeriodI(icup);
+  last_period = icuGetPeriod(icup);
 }
 
 static ICUConfig icucfg = {
   ICU_INPUT_ACTIVE_HIGH,
   10000,                                    /* 10KHz ICU clock frequency.   */
   icuwidthcb,
-  icuperiodcb
+  icuperiodcb,
+  NULL,
+  ICU_CHANNEL_1
 };
 
 /*