diff --git a/examples/stm32/nucleo-f746zg-keil-freertos_cmsis2-lwip/RTE/Device/STM32F746ZGTx/FrameworkCubeMX.gpdsc b/examples/stm32/nucleo-f746zg-keil-freertos_cmsis2-lwip/RTE/Device/STM32F746ZGTx/FrameworkCubeMX.gpdsc
index 452ec77e..7ebb6443 100644
--- a/examples/stm32/nucleo-f746zg-keil-freertos_cmsis2-lwip/RTE/Device/STM32F746ZGTx/FrameworkCubeMX.gpdsc
+++ b/examples/stm32/nucleo-f746zg-keil-freertos_cmsis2-lwip/RTE/Device/STM32F746ZGTx/FrameworkCubeMX.gpdsc
@@ -1,7 +1,7 @@
 <?xml version="1.0" encoding="UTF-8" standalone="no"?>
 <!-- ******************************************************************************
  * File Name   : FrameworkCubeMX.gpdsc
- * Date        : 14/03/2023 13:35:04
+ * Date        : 05/05/2023 14:50:21
  * Description : Generator PDSC File generated by STM32CubeMX (DO NOT EDIT!)
  ****************************************************************************** -->
 
@@ -12,7 +12,7 @@
   <url>project-path</url>
   <releases>
     <release version="1.0.0">
-     - Generated: 14/03/2023 13:35:04
+     - Generated: 05/05/2023 14:50:21
     </release>
   </releases>
   <generators>
@@ -44,6 +44,7 @@
       <require Cclass="Device" Cgroup="STM32Cube HAL" Csub="ETH"/>
       <require Cclass="Device" Cgroup="STM32Cube HAL" Csub="RNG"/>
       <require Cclass="Device" Cgroup="STM32Cube HAL" Csub="UART"/>
+      <require Cclass="Device" Cgroup="STM32Cube HAL" Csub="TIM"/>
     </condition>
   </conditions>
   <components>
@@ -56,6 +57,7 @@
         <file category="header" name="MX_Device.h"/>
         <file category="header" name="STCubeGenerated/Inc/stm32f7xx_hal_conf.h"/>
         <file category="source" name="STCubeGenerated/Src/stm32f7xx_hal_msp.c"/>
+        <file category="source" name="STCubeGenerated/Src/stm32f7xx_hal_timebase_tim.c"/>
       </files>
     </component>
   </components>
diff --git a/examples/stm32/nucleo-f746zg-keil-freertos_cmsis2-lwip/RTE/Device/STM32F746ZGTx/MX_Device.h b/examples/stm32/nucleo-f746zg-keil-freertos_cmsis2-lwip/RTE/Device/STM32F746ZGTx/MX_Device.h
index 371261ff..d84f24dd 100644
--- a/examples/stm32/nucleo-f746zg-keil-freertos_cmsis2-lwip/RTE/Device/STM32F746ZGTx/MX_Device.h
+++ b/examples/stm32/nucleo-f746zg-keil-freertos_cmsis2-lwip/RTE/Device/STM32F746ZGTx/MX_Device.h
@@ -1,6 +1,6 @@
 /******************************************************************************
  * File Name   : MX_Device.h
- * Date        : 14/03/2023 13:35:04
+ * Date        : 05/05/2023 14:50:21
  * Description : STM32Cube MX parameter definitions
  * Note        : This file is generated by STM32CubeMX (DO NOT EDIT!)
  ******************************************************************************/
diff --git a/examples/stm32/nucleo-f746zg-keil-freertos_cmsis2-lwip/RTE/Device/STM32F746ZGTx/STCubeGenerated/.mxproject b/examples/stm32/nucleo-f746zg-keil-freertos_cmsis2-lwip/RTE/Device/STM32F746ZGTx/STCubeGenerated/.mxproject
index 6b12af56..04eb904e 100644
--- a/examples/stm32/nucleo-f746zg-keil-freertos_cmsis2-lwip/RTE/Device/STM32F746ZGTx/STCubeGenerated/.mxproject
+++ b/examples/stm32/nucleo-f746zg-keil-freertos_cmsis2-lwip/RTE/Device/STM32F746ZGTx/STCubeGenerated/.mxproject
@@ -8,5 +8,5 @@ SourceFiles=;;
 HeaderPath=..\Inc
 HeaderFiles=stm32f7xx_it.h;stm32f7xx_hal_conf.h;main.h;
 SourcePath=..\Src
-SourceFiles=stm32f7xx_it.c;stm32f7xx_hal_msp.c;main.c;
+SourceFiles=stm32f7xx_it.c;stm32f7xx_hal_msp.c;stm32f7xx_hal_timebase_tim.c;main.c;
 
diff --git a/examples/stm32/nucleo-f746zg-keil-freertos_cmsis2-lwip/RTE/Device/STM32F746ZGTx/STCubeGenerated/Inc/stm32f7xx_hal_conf.h b/examples/stm32/nucleo-f746zg-keil-freertos_cmsis2-lwip/RTE/Device/STM32F746ZGTx/STCubeGenerated/Inc/stm32f7xx_hal_conf.h
index f91ee4f8..eeeffc81 100644
--- a/examples/stm32/nucleo-f746zg-keil-freertos_cmsis2-lwip/RTE/Device/STM32F746ZGTx/STCubeGenerated/Inc/stm32f7xx_hal_conf.h
+++ b/examples/stm32/nucleo-f746zg-keil-freertos_cmsis2-lwip/RTE/Device/STM32F746ZGTx/STCubeGenerated/Inc/stm32f7xx_hal_conf.h
@@ -64,7 +64,7 @@
 /* #define HAL_MMC_MODULE_ENABLED */
 /* #define HAL_SPDIFRX_MODULE_ENABLED */
 /* #define HAL_SPI_MODULE_ENABLED */
-/* #define HAL_TIM_MODULE_ENABLED */
+#define HAL_TIM_MODULE_ENABLED
 #define HAL_UART_MODULE_ENABLED
 /* #define HAL_USART_MODULE_ENABLED */
 /* #define HAL_IRDA_MODULE_ENABLED */
diff --git a/examples/stm32/nucleo-f746zg-keil-freertos_cmsis2-lwip/RTE/Device/STM32F746ZGTx/STCubeGenerated/Inc/stm32f7xx_it.h b/examples/stm32/nucleo-f746zg-keil-freertos_cmsis2-lwip/RTE/Device/STM32F746ZGTx/STCubeGenerated/Inc/stm32f7xx_it.h
index 12b9054a..e6b69435 100644
--- a/examples/stm32/nucleo-f746zg-keil-freertos_cmsis2-lwip/RTE/Device/STM32F746ZGTx/STCubeGenerated/Inc/stm32f7xx_it.h
+++ b/examples/stm32/nucleo-f746zg-keil-freertos_cmsis2-lwip/RTE/Device/STM32F746ZGTx/STCubeGenerated/Inc/stm32f7xx_it.h
@@ -52,6 +52,7 @@ void MemManage_Handler(void);
 void BusFault_Handler(void);
 void UsageFault_Handler(void);
 void DebugMon_Handler(void);
+void TIM6_DAC_IRQHandler(void);
 /* USER CODE BEGIN EFP */
 
 /* USER CODE END EFP */
diff --git a/examples/stm32/nucleo-f746zg-keil-freertos_cmsis2-lwip/RTE/Device/STM32F746ZGTx/STCubeGenerated/STCubeGenerated.ioc b/examples/stm32/nucleo-f746zg-keil-freertos_cmsis2-lwip/RTE/Device/STM32F746ZGTx/STCubeGenerated/STCubeGenerated.ioc
index e5edcc6d..11c4940d 100644
--- a/examples/stm32/nucleo-f746zg-keil-freertos_cmsis2-lwip/RTE/Device/STM32F746ZGTx/STCubeGenerated/STCubeGenerated.ioc
+++ b/examples/stm32/nucleo-f746zg-keil-freertos_cmsis2-lwip/RTE/Device/STM32F746ZGTx/STCubeGenerated/STCubeGenerated.ioc
@@ -24,7 +24,7 @@ Mcu.Pin1=PA1
 Mcu.Pin10=PG13
 Mcu.Pin11=PB7
 Mcu.Pin12=VP_RNG_VS_RNG
-Mcu.Pin13=VP_SYS_VS_Systick
+Mcu.Pin13=VP_SYS_VS_tim6
 Mcu.Pin2=PA2
 Mcu.Pin3=PA7
 Mcu.Pin4=PC4
@@ -50,6 +50,9 @@ NVIC.PendSV_IRQn=true\:0\:0\:false\:false\:false\:false\:false\:false
 NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
 NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:false\:false\:false\:false
 NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:false\:false\:true\:false
+NVIC.TIM6_DAC_IRQn=true\:15\:0\:false\:false\:true\:false\:true\:true
+NVIC.TimeBase=TIM6_DAC_IRQn
+NVIC.TimeBaseIP=TIM6
 NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 PA1.Mode=RMII
 PA1.Signal=ETH_REF_CLK
@@ -173,6 +176,6 @@ USART3.IPParameters=VirtualMode-Asynchronous
 USART3.VirtualMode-Asynchronous=VM_ASYNC
 VP_RNG_VS_RNG.Mode=RNG_Activate
 VP_RNG_VS_RNG.Signal=RNG_VS_RNG
-VP_SYS_VS_Systick.Mode=SysTick
-VP_SYS_VS_Systick.Signal=SYS_VS_Systick
+VP_SYS_VS_tim6.Mode=TIM6
+VP_SYS_VS_tim6.Signal=SYS_VS_tim6
 board=custom
diff --git a/examples/stm32/nucleo-f746zg-keil-freertos_cmsis2-lwip/RTE/Device/STM32F746ZGTx/STCubeGenerated/Src/main.c b/examples/stm32/nucleo-f746zg-keil-freertos_cmsis2-lwip/RTE/Device/STM32F746ZGTx/STCubeGenerated/Src/main.c
index 22cdc9b7..cc451be4 100644
--- a/examples/stm32/nucleo-f746zg-keil-freertos_cmsis2-lwip/RTE/Device/STM32F746ZGTx/STCubeGenerated/Src/main.c
+++ b/examples/stm32/nucleo-f746zg-keil-freertos_cmsis2-lwip/RTE/Device/STM32F746ZGTx/STCubeGenerated/Src/main.c
@@ -84,18 +84,6 @@ static void MX_RNG_Init(void);
 /* Private user code ---------------------------------------------------------*/
 /* USER CODE BEGIN 0 */
 
-// https://www.keil.com/pack/doc/STM32Cube/html/cubemx_using.html
-uint32_t HAL_GetTick (void) {
-  static uint32_t ticks = 0U;
-  uint32_t i;
-  if (osKernelGetState() == osKernelRunning) {
-    return (uint32_t)osKernelGetTickCount();
-  } 
-  /* If Kernel is not running wait approximately 1 ms then increment and return auxiliary tick counter value */
-  for (i = (SystemCoreClock >> 14U); i > 0U; i--) { __NOP(); __NOP(); __NOP(); __NOP(); __NOP(); __NOP(); __NOP(); __NOP(); __NOP(); __NOP(); __NOP(); __NOP(); }
-  return ++ticks;
-}
-
 void mx_init(void) {
   SystemClock_Config();
   MX_GPIO_Init();
@@ -310,6 +298,27 @@ static void MX_GPIO_Init(void)
 
 /* USER CODE END 4 */
 
+/**
+  * @brief  Period elapsed callback in non blocking mode
+  * @note   This function is called  when TIM6 interrupt took place, inside
+  * HAL_TIM_IRQHandler(). It makes a direct call to HAL_IncTick() to increment
+  * a global variable "uwTick" used as application time base.
+  * @param  htim : TIM handle
+  * @retval None
+  */
+void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
+{
+  /* USER CODE BEGIN Callback 0 */
+
+  /* USER CODE END Callback 0 */
+  if (htim->Instance == TIM6) {
+    HAL_IncTick();
+  }
+  /* USER CODE BEGIN Callback 1 */
+
+  /* USER CODE END Callback 1 */
+}
+
 /**
   * @brief  This function is executed in case of error occurrence.
   * @retval None
diff --git a/examples/stm32/nucleo-f746zg-keil-freertos_cmsis2-lwip/RTE/Device/STM32F746ZGTx/STCubeGenerated/Src/stm32f7xx_hal_timebase_tim.c b/examples/stm32/nucleo-f746zg-keil-freertos_cmsis2-lwip/RTE/Device/STM32F746ZGTx/STCubeGenerated/Src/stm32f7xx_hal_timebase_tim.c
new file mode 100644
index 00000000..a4f3a4c1
--- /dev/null
+++ b/examples/stm32/nucleo-f746zg-keil-freertos_cmsis2-lwip/RTE/Device/STM32F746ZGTx/STCubeGenerated/Src/stm32f7xx_hal_timebase_tim.c
@@ -0,0 +1,137 @@
+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file    stm32f7xx_hal_timebase_TIM.c
+  * @brief   HAL time base based on the hardware TIM.
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2023 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+/* USER CODE END Header */
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f7xx_hal.h"
+#include "stm32f7xx_hal_tim.h"
+
+/* Private typedef -----------------------------------------------------------*/
+/* Private define ------------------------------------------------------------*/
+/* Private macro -------------------------------------------------------------*/
+/* Private variables ---------------------------------------------------------*/
+TIM_HandleTypeDef        htim6;
+/* Private function prototypes -----------------------------------------------*/
+/* Private functions ---------------------------------------------------------*/
+
+/**
+  * @brief  This function configures the TIM6 as a time base source.
+  *         The time source is configured  to have 1ms time base with a dedicated
+  *         Tick interrupt priority.
+  * @note   This function is called  automatically at the beginning of program after
+  *         reset by HAL_Init() or at any time when clock is configured, by HAL_RCC_ClockConfig().
+  * @param  TickPriority: Tick interrupt priority.
+  * @retval HAL status
+  */
+HAL_StatusTypeDef HAL_InitTick(uint32_t TickPriority)
+{
+  RCC_ClkInitTypeDef    clkconfig;
+  uint32_t              uwTimclock, uwAPB1Prescaler = 0U;
+
+  uint32_t              uwPrescalerValue = 0U;
+  uint32_t              pFLatency;
+  HAL_StatusTypeDef     status;
+
+  /* Enable TIM6 clock */
+  __HAL_RCC_TIM6_CLK_ENABLE();
+
+  /* Get clock configuration */
+  HAL_RCC_GetClockConfig(&clkconfig, &pFLatency);
+
+  /* Get APB1 prescaler */
+  uwAPB1Prescaler = clkconfig.APB1CLKDivider;
+  /* Compute TIM6 clock */
+  if (uwAPB1Prescaler == RCC_HCLK_DIV1)
+  {
+    uwTimclock = HAL_RCC_GetPCLK1Freq();
+  }
+  else
+  {
+    uwTimclock = 2UL * HAL_RCC_GetPCLK1Freq();
+  }
+
+  /* Compute the prescaler value to have TIM6 counter clock equal to 1MHz */
+  uwPrescalerValue = (uint32_t) ((uwTimclock / 1000000U) - 1U);
+
+  /* Initialize TIM6 */
+  htim6.Instance = TIM6;
+
+  /* Initialize TIMx peripheral as follow:
+
+  + Period = [(TIM6CLK/1000) - 1]. to have a (1/1000) s time base.
+  + Prescaler = (uwTimclock/1000000 - 1) to have a 1MHz counter clock.
+  + ClockDivision = 0
+  + Counter direction = Up
+  */
+  htim6.Init.Period = (1000000U / 1000U) - 1U;
+  htim6.Init.Prescaler = uwPrescalerValue;
+  htim6.Init.ClockDivision = 0;
+  htim6.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim6.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+
+  status = HAL_TIM_Base_Init(&htim6);
+  if (status == HAL_OK)
+  {
+    /* Start the TIM time Base generation in interrupt mode */
+    status = HAL_TIM_Base_Start_IT(&htim6);
+    if (status == HAL_OK)
+    {
+    /* Enable the TIM6 global Interrupt */
+        HAL_NVIC_EnableIRQ(TIM6_DAC_IRQn);
+      /* Configure the SysTick IRQ priority */
+      if (TickPriority < (1UL << __NVIC_PRIO_BITS))
+      {
+        /* Configure the TIM IRQ priority */
+        HAL_NVIC_SetPriority(TIM6_DAC_IRQn, TickPriority, 0U);
+        uwTickPrio = TickPriority;
+      }
+      else
+      {
+        status = HAL_ERROR;
+      }
+    }
+  }
+
+ /* Return function status */
+  return status;
+}
+
+/**
+  * @brief  Suspend Tick increment.
+  * @note   Disable the tick increment by disabling TIM6 update interrupt.
+  * @param  None
+  * @retval None
+  */
+void HAL_SuspendTick(void)
+{
+  /* Disable TIM6 update Interrupt */
+  __HAL_TIM_DISABLE_IT(&htim6, TIM_IT_UPDATE);
+}
+
+/**
+  * @brief  Resume Tick increment.
+  * @note   Enable the tick increment by Enabling TIM6 update interrupt.
+  * @param  None
+  * @retval None
+  */
+void HAL_ResumeTick(void)
+{
+  /* Enable TIM6 Update interrupt */
+  __HAL_TIM_ENABLE_IT(&htim6, TIM_IT_UPDATE);
+}
+
diff --git a/examples/stm32/nucleo-f746zg-keil-freertos_cmsis2-lwip/RTE/Device/STM32F746ZGTx/STCubeGenerated/Src/stm32f7xx_it.c b/examples/stm32/nucleo-f746zg-keil-freertos_cmsis2-lwip/RTE/Device/STM32F746ZGTx/STCubeGenerated/Src/stm32f7xx_it.c
index 6d94cff3..ba6f6981 100644
--- a/examples/stm32/nucleo-f746zg-keil-freertos_cmsis2-lwip/RTE/Device/STM32F746ZGTx/STCubeGenerated/Src/stm32f7xx_it.c
+++ b/examples/stm32/nucleo-f746zg-keil-freertos_cmsis2-lwip/RTE/Device/STM32F746ZGTx/STCubeGenerated/Src/stm32f7xx_it.c
@@ -55,6 +55,7 @@
 /* USER CODE END 0 */
 
 /* External variables --------------------------------------------------------*/
+extern TIM_HandleTypeDef htim6;
 
 /* USER CODE BEGIN EV */
 
@@ -158,6 +159,20 @@ void DebugMon_Handler(void)
 /* please refer to the startup file (startup_stm32f7xx.s).                    */
 /******************************************************************************/
 
+/**
+  * @brief This function handles TIM6 global interrupt, DAC1 and DAC2 underrun error interrupts.
+  */
+void TIM6_DAC_IRQHandler(void)
+{
+  /* USER CODE BEGIN TIM6_DAC_IRQn 0 */
+
+  /* USER CODE END TIM6_DAC_IRQn 0 */
+  HAL_TIM_IRQHandler(&htim6);
+  /* USER CODE BEGIN TIM6_DAC_IRQn 1 */
+
+  /* USER CODE END TIM6_DAC_IRQn 1 */
+}
+
 /* USER CODE BEGIN 1 */
 
 /* USER CODE END 1 */
diff --git a/examples/stm32/nucleo-f746zg-keil-freertos_cmsis2-lwip/RTE/_Target_1/RTE_Components.h b/examples/stm32/nucleo-f746zg-keil-freertos_cmsis2-lwip/RTE/_Target_1/RTE_Components.h
index 7caab922..b9d788e5 100644
--- a/examples/stm32/nucleo-f746zg-keil-freertos_cmsis2-lwip/RTE/_Target_1/RTE_Components.h
+++ b/examples/stm32/nucleo-f746zg-keil-freertos_cmsis2-lwip/RTE/_Target_1/RTE_Components.h
@@ -54,6 +54,8 @@
 #define RTE_DEVICE_HAL_RCC
 /* Keil::Device:STM32Cube HAL:RNG:1.3.0 */
 #define RTE_DEVICE_HAL_RNG
+/* Keil::Device:STM32Cube HAL:TIM:1.3.0 */
+#define RTE_DEVICE_HAL_TIM
 /* Keil::Device:STM32Cube HAL:UART:1.3.0 */
 #define RTE_DEVICE_HAL_UART
 /* Keil::Device:Startup:1.2.5 */
diff --git a/examples/stm32/nucleo-f746zg-keil-freertos_cmsis2-lwip/device-dashboard.uvoptx b/examples/stm32/nucleo-f746zg-keil-freertos_cmsis2-lwip/device-dashboard.uvoptx
index 80019e32..d3e9d885 100644
--- a/examples/stm32/nucleo-f746zg-keil-freertos_cmsis2-lwip/device-dashboard.uvoptx
+++ b/examples/stm32/nucleo-f746zg-keil-freertos_cmsis2-lwip/device-dashboard.uvoptx
@@ -382,7 +382,7 @@
 
   <Group>
     <GroupName>::CMSIS Driver</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>1</RteFlg>
diff --git a/examples/stm32/nucleo-f746zg-keil-freertos_cmsis2-lwip/device-dashboard.uvprojx b/examples/stm32/nucleo-f746zg-keil-freertos_cmsis2-lwip/device-dashboard.uvprojx
index db0569e7..aaf1796a 100644
--- a/examples/stm32/nucleo-f746zg-keil-freertos_cmsis2-lwip/device-dashboard.uvprojx
+++ b/examples/stm32/nucleo-f746zg-keil-freertos_cmsis2-lwip/device-dashboard.uvprojx
@@ -605,6 +605,12 @@
           <targetInfo name="Target 1"/>
         </targetInfos>
       </component>
+      <component Cclass="Device" Cgroup="STM32Cube HAL" Csub="TIM" Cvendor="Keil" Cversion="1.3.0" condition="STM32F7 HAL DMA">
+        <package name="STM32F7xx_DFP" schemaVersion="1.7.7" url="https://www.keil.com/pack/" vendor="Keil" version="2.15.1"/>
+        <targetInfos>
+          <targetInfo name="Target 1"/>
+        </targetInfos>
+      </component>
       <component Cclass="Device" Cgroup="STM32Cube HAL" Csub="UART" Cvendor="Keil" Cversion="1.3.0" condition="STM32F7 HAL DMA">
         <package name="STM32F7xx_DFP" schemaVersion="1.7.7" url="https://www.keil.com/pack/" vendor="Keil" version="2.15.1"/>
         <targetInfos>
diff --git a/examples/stm32/nucleo-f746zg-keil-freertos_cmsis2/RTE/Device/STM32F746ZGTx/FrameworkCubeMX.gpdsc b/examples/stm32/nucleo-f746zg-keil-freertos_cmsis2/RTE/Device/STM32F746ZGTx/FrameworkCubeMX.gpdsc
index 452ec77e..8ee2b297 100644
--- a/examples/stm32/nucleo-f746zg-keil-freertos_cmsis2/RTE/Device/STM32F746ZGTx/FrameworkCubeMX.gpdsc
+++ b/examples/stm32/nucleo-f746zg-keil-freertos_cmsis2/RTE/Device/STM32F746ZGTx/FrameworkCubeMX.gpdsc
@@ -1,7 +1,7 @@
 <?xml version="1.0" encoding="UTF-8" standalone="no"?>
 <!-- ******************************************************************************
  * File Name   : FrameworkCubeMX.gpdsc
- * Date        : 14/03/2023 13:35:04
+ * Date        : 05/05/2023 14:26:10
  * Description : Generator PDSC File generated by STM32CubeMX (DO NOT EDIT!)
  ****************************************************************************** -->
 
@@ -12,7 +12,7 @@
   <url>project-path</url>
   <releases>
     <release version="1.0.0">
-     - Generated: 14/03/2023 13:35:04
+     - Generated: 05/05/2023 14:26:10
     </release>
   </releases>
   <generators>
@@ -44,6 +44,7 @@
       <require Cclass="Device" Cgroup="STM32Cube HAL" Csub="ETH"/>
       <require Cclass="Device" Cgroup="STM32Cube HAL" Csub="RNG"/>
       <require Cclass="Device" Cgroup="STM32Cube HAL" Csub="UART"/>
+      <require Cclass="Device" Cgroup="STM32Cube HAL" Csub="TIM"/>
     </condition>
   </conditions>
   <components>
@@ -56,6 +57,7 @@
         <file category="header" name="MX_Device.h"/>
         <file category="header" name="STCubeGenerated/Inc/stm32f7xx_hal_conf.h"/>
         <file category="source" name="STCubeGenerated/Src/stm32f7xx_hal_msp.c"/>
+        <file category="source" name="STCubeGenerated/Src/stm32f7xx_hal_timebase_tim.c"/>
       </files>
     </component>
   </components>
diff --git a/examples/stm32/nucleo-f746zg-keil-freertos_cmsis2/RTE/Device/STM32F746ZGTx/MX_Device.h b/examples/stm32/nucleo-f746zg-keil-freertos_cmsis2/RTE/Device/STM32F746ZGTx/MX_Device.h
index 371261ff..5ccfe8b5 100644
--- a/examples/stm32/nucleo-f746zg-keil-freertos_cmsis2/RTE/Device/STM32F746ZGTx/MX_Device.h
+++ b/examples/stm32/nucleo-f746zg-keil-freertos_cmsis2/RTE/Device/STM32F746ZGTx/MX_Device.h
@@ -1,6 +1,6 @@
 /******************************************************************************
  * File Name   : MX_Device.h
- * Date        : 14/03/2023 13:35:04
+ * Date        : 05/05/2023 14:26:10
  * Description : STM32Cube MX parameter definitions
  * Note        : This file is generated by STM32CubeMX (DO NOT EDIT!)
  ******************************************************************************/
diff --git a/examples/stm32/nucleo-f746zg-keil-freertos_cmsis2/RTE/Device/STM32F746ZGTx/STCubeGenerated/.mxproject b/examples/stm32/nucleo-f746zg-keil-freertos_cmsis2/RTE/Device/STM32F746ZGTx/STCubeGenerated/.mxproject
index 6b12af56..04eb904e 100644
--- a/examples/stm32/nucleo-f746zg-keil-freertos_cmsis2/RTE/Device/STM32F746ZGTx/STCubeGenerated/.mxproject
+++ b/examples/stm32/nucleo-f746zg-keil-freertos_cmsis2/RTE/Device/STM32F746ZGTx/STCubeGenerated/.mxproject
@@ -8,5 +8,5 @@ SourceFiles=;;
 HeaderPath=..\Inc
 HeaderFiles=stm32f7xx_it.h;stm32f7xx_hal_conf.h;main.h;
 SourcePath=..\Src
-SourceFiles=stm32f7xx_it.c;stm32f7xx_hal_msp.c;main.c;
+SourceFiles=stm32f7xx_it.c;stm32f7xx_hal_msp.c;stm32f7xx_hal_timebase_tim.c;main.c;
 
diff --git a/examples/stm32/nucleo-f746zg-keil-freertos_cmsis2/RTE/Device/STM32F746ZGTx/STCubeGenerated/Inc/stm32f7xx_hal_conf.h b/examples/stm32/nucleo-f746zg-keil-freertos_cmsis2/RTE/Device/STM32F746ZGTx/STCubeGenerated/Inc/stm32f7xx_hal_conf.h
index f91ee4f8..eeeffc81 100644
--- a/examples/stm32/nucleo-f746zg-keil-freertos_cmsis2/RTE/Device/STM32F746ZGTx/STCubeGenerated/Inc/stm32f7xx_hal_conf.h
+++ b/examples/stm32/nucleo-f746zg-keil-freertos_cmsis2/RTE/Device/STM32F746ZGTx/STCubeGenerated/Inc/stm32f7xx_hal_conf.h
@@ -64,7 +64,7 @@
 /* #define HAL_MMC_MODULE_ENABLED */
 /* #define HAL_SPDIFRX_MODULE_ENABLED */
 /* #define HAL_SPI_MODULE_ENABLED */
-/* #define HAL_TIM_MODULE_ENABLED */
+#define HAL_TIM_MODULE_ENABLED
 #define HAL_UART_MODULE_ENABLED
 /* #define HAL_USART_MODULE_ENABLED */
 /* #define HAL_IRDA_MODULE_ENABLED */
diff --git a/examples/stm32/nucleo-f746zg-keil-freertos_cmsis2/RTE/Device/STM32F746ZGTx/STCubeGenerated/Inc/stm32f7xx_it.h b/examples/stm32/nucleo-f746zg-keil-freertos_cmsis2/RTE/Device/STM32F746ZGTx/STCubeGenerated/Inc/stm32f7xx_it.h
index 12b9054a..e6b69435 100644
--- a/examples/stm32/nucleo-f746zg-keil-freertos_cmsis2/RTE/Device/STM32F746ZGTx/STCubeGenerated/Inc/stm32f7xx_it.h
+++ b/examples/stm32/nucleo-f746zg-keil-freertos_cmsis2/RTE/Device/STM32F746ZGTx/STCubeGenerated/Inc/stm32f7xx_it.h
@@ -52,6 +52,7 @@ void MemManage_Handler(void);
 void BusFault_Handler(void);
 void UsageFault_Handler(void);
 void DebugMon_Handler(void);
+void TIM6_DAC_IRQHandler(void);
 /* USER CODE BEGIN EFP */
 
 /* USER CODE END EFP */
diff --git a/examples/stm32/nucleo-f746zg-keil-freertos_cmsis2/RTE/Device/STM32F746ZGTx/STCubeGenerated/STCubeGenerated.ioc b/examples/stm32/nucleo-f746zg-keil-freertos_cmsis2/RTE/Device/STM32F746ZGTx/STCubeGenerated/STCubeGenerated.ioc
index e5edcc6d..11c4940d 100644
--- a/examples/stm32/nucleo-f746zg-keil-freertos_cmsis2/RTE/Device/STM32F746ZGTx/STCubeGenerated/STCubeGenerated.ioc
+++ b/examples/stm32/nucleo-f746zg-keil-freertos_cmsis2/RTE/Device/STM32F746ZGTx/STCubeGenerated/STCubeGenerated.ioc
@@ -24,7 +24,7 @@ Mcu.Pin1=PA1
 Mcu.Pin10=PG13
 Mcu.Pin11=PB7
 Mcu.Pin12=VP_RNG_VS_RNG
-Mcu.Pin13=VP_SYS_VS_Systick
+Mcu.Pin13=VP_SYS_VS_tim6
 Mcu.Pin2=PA2
 Mcu.Pin3=PA7
 Mcu.Pin4=PC4
@@ -50,6 +50,9 @@ NVIC.PendSV_IRQn=true\:0\:0\:false\:false\:false\:false\:false\:false
 NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
 NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:false\:false\:false\:false
 NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:false\:false\:true\:false
+NVIC.TIM6_DAC_IRQn=true\:15\:0\:false\:false\:true\:false\:true\:true
+NVIC.TimeBase=TIM6_DAC_IRQn
+NVIC.TimeBaseIP=TIM6
 NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 PA1.Mode=RMII
 PA1.Signal=ETH_REF_CLK
@@ -173,6 +176,6 @@ USART3.IPParameters=VirtualMode-Asynchronous
 USART3.VirtualMode-Asynchronous=VM_ASYNC
 VP_RNG_VS_RNG.Mode=RNG_Activate
 VP_RNG_VS_RNG.Signal=RNG_VS_RNG
-VP_SYS_VS_Systick.Mode=SysTick
-VP_SYS_VS_Systick.Signal=SYS_VS_Systick
+VP_SYS_VS_tim6.Mode=TIM6
+VP_SYS_VS_tim6.Signal=SYS_VS_tim6
 board=custom
diff --git a/examples/stm32/nucleo-f746zg-keil-freertos_cmsis2/RTE/Device/STM32F746ZGTx/STCubeGenerated/Src/main.c b/examples/stm32/nucleo-f746zg-keil-freertos_cmsis2/RTE/Device/STM32F746ZGTx/STCubeGenerated/Src/main.c
index 69d4fe6f..cc451be4 100644
--- a/examples/stm32/nucleo-f746zg-keil-freertos_cmsis2/RTE/Device/STM32F746ZGTx/STCubeGenerated/Src/main.c
+++ b/examples/stm32/nucleo-f746zg-keil-freertos_cmsis2/RTE/Device/STM32F746ZGTx/STCubeGenerated/Src/main.c
@@ -84,17 +84,6 @@ static void MX_RNG_Init(void);
 /* Private user code ---------------------------------------------------------*/
 /* USER CODE BEGIN 0 */
 
-uint32_t HAL_GetTick (void) {
-  static uint32_t ticks = 0U;
-  uint32_t i;
-  if (osKernelGetState() == osKernelRunning) {
-    return (uint32_t)osKernelGetTickCount();
-  } 
-  /* If Kernel is not running wait approximately 1 ms then increment and return auxiliary tick counter value */
-  for (i = (SystemCoreClock >> 14U); i > 0U; i--) { __NOP(); __NOP(); __NOP(); __NOP(); __NOP(); __NOP(); __NOP(); __NOP(); __NOP(); __NOP(); __NOP(); __NOP(); }
-  return ++ticks;
-}
-
 void mx_init(void) {
   SystemClock_Config();
   MX_GPIO_Init();
@@ -309,6 +298,27 @@ static void MX_GPIO_Init(void)
 
 /* USER CODE END 4 */
 
+/**
+  * @brief  Period elapsed callback in non blocking mode
+  * @note   This function is called  when TIM6 interrupt took place, inside
+  * HAL_TIM_IRQHandler(). It makes a direct call to HAL_IncTick() to increment
+  * a global variable "uwTick" used as application time base.
+  * @param  htim : TIM handle
+  * @retval None
+  */
+void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
+{
+  /* USER CODE BEGIN Callback 0 */
+
+  /* USER CODE END Callback 0 */
+  if (htim->Instance == TIM6) {
+    HAL_IncTick();
+  }
+  /* USER CODE BEGIN Callback 1 */
+
+  /* USER CODE END Callback 1 */
+}
+
 /**
   * @brief  This function is executed in case of error occurrence.
   * @retval None
diff --git a/examples/stm32/nucleo-f746zg-keil-freertos_cmsis2/RTE/Device/STM32F746ZGTx/STCubeGenerated/Src/stm32f7xx_hal_timebase_tim.c b/examples/stm32/nucleo-f746zg-keil-freertos_cmsis2/RTE/Device/STM32F746ZGTx/STCubeGenerated/Src/stm32f7xx_hal_timebase_tim.c
new file mode 100644
index 00000000..a4f3a4c1
--- /dev/null
+++ b/examples/stm32/nucleo-f746zg-keil-freertos_cmsis2/RTE/Device/STM32F746ZGTx/STCubeGenerated/Src/stm32f7xx_hal_timebase_tim.c
@@ -0,0 +1,137 @@
+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file    stm32f7xx_hal_timebase_TIM.c
+  * @brief   HAL time base based on the hardware TIM.
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2023 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+/* USER CODE END Header */
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f7xx_hal.h"
+#include "stm32f7xx_hal_tim.h"
+
+/* Private typedef -----------------------------------------------------------*/
+/* Private define ------------------------------------------------------------*/
+/* Private macro -------------------------------------------------------------*/
+/* Private variables ---------------------------------------------------------*/
+TIM_HandleTypeDef        htim6;
+/* Private function prototypes -----------------------------------------------*/
+/* Private functions ---------------------------------------------------------*/
+
+/**
+  * @brief  This function configures the TIM6 as a time base source.
+  *         The time source is configured  to have 1ms time base with a dedicated
+  *         Tick interrupt priority.
+  * @note   This function is called  automatically at the beginning of program after
+  *         reset by HAL_Init() or at any time when clock is configured, by HAL_RCC_ClockConfig().
+  * @param  TickPriority: Tick interrupt priority.
+  * @retval HAL status
+  */
+HAL_StatusTypeDef HAL_InitTick(uint32_t TickPriority)
+{
+  RCC_ClkInitTypeDef    clkconfig;
+  uint32_t              uwTimclock, uwAPB1Prescaler = 0U;
+
+  uint32_t              uwPrescalerValue = 0U;
+  uint32_t              pFLatency;
+  HAL_StatusTypeDef     status;
+
+  /* Enable TIM6 clock */
+  __HAL_RCC_TIM6_CLK_ENABLE();
+
+  /* Get clock configuration */
+  HAL_RCC_GetClockConfig(&clkconfig, &pFLatency);
+
+  /* Get APB1 prescaler */
+  uwAPB1Prescaler = clkconfig.APB1CLKDivider;
+  /* Compute TIM6 clock */
+  if (uwAPB1Prescaler == RCC_HCLK_DIV1)
+  {
+    uwTimclock = HAL_RCC_GetPCLK1Freq();
+  }
+  else
+  {
+    uwTimclock = 2UL * HAL_RCC_GetPCLK1Freq();
+  }
+
+  /* Compute the prescaler value to have TIM6 counter clock equal to 1MHz */
+  uwPrescalerValue = (uint32_t) ((uwTimclock / 1000000U) - 1U);
+
+  /* Initialize TIM6 */
+  htim6.Instance = TIM6;
+
+  /* Initialize TIMx peripheral as follow:
+
+  + Period = [(TIM6CLK/1000) - 1]. to have a (1/1000) s time base.
+  + Prescaler = (uwTimclock/1000000 - 1) to have a 1MHz counter clock.
+  + ClockDivision = 0
+  + Counter direction = Up
+  */
+  htim6.Init.Period = (1000000U / 1000U) - 1U;
+  htim6.Init.Prescaler = uwPrescalerValue;
+  htim6.Init.ClockDivision = 0;
+  htim6.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim6.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+
+  status = HAL_TIM_Base_Init(&htim6);
+  if (status == HAL_OK)
+  {
+    /* Start the TIM time Base generation in interrupt mode */
+    status = HAL_TIM_Base_Start_IT(&htim6);
+    if (status == HAL_OK)
+    {
+    /* Enable the TIM6 global Interrupt */
+        HAL_NVIC_EnableIRQ(TIM6_DAC_IRQn);
+      /* Configure the SysTick IRQ priority */
+      if (TickPriority < (1UL << __NVIC_PRIO_BITS))
+      {
+        /* Configure the TIM IRQ priority */
+        HAL_NVIC_SetPriority(TIM6_DAC_IRQn, TickPriority, 0U);
+        uwTickPrio = TickPriority;
+      }
+      else
+      {
+        status = HAL_ERROR;
+      }
+    }
+  }
+
+ /* Return function status */
+  return status;
+}
+
+/**
+  * @brief  Suspend Tick increment.
+  * @note   Disable the tick increment by disabling TIM6 update interrupt.
+  * @param  None
+  * @retval None
+  */
+void HAL_SuspendTick(void)
+{
+  /* Disable TIM6 update Interrupt */
+  __HAL_TIM_DISABLE_IT(&htim6, TIM_IT_UPDATE);
+}
+
+/**
+  * @brief  Resume Tick increment.
+  * @note   Enable the tick increment by Enabling TIM6 update interrupt.
+  * @param  None
+  * @retval None
+  */
+void HAL_ResumeTick(void)
+{
+  /* Enable TIM6 Update interrupt */
+  __HAL_TIM_ENABLE_IT(&htim6, TIM_IT_UPDATE);
+}
+
diff --git a/examples/stm32/nucleo-f746zg-keil-freertos_cmsis2/RTE/Device/STM32F746ZGTx/STCubeGenerated/Src/stm32f7xx_it.c b/examples/stm32/nucleo-f746zg-keil-freertos_cmsis2/RTE/Device/STM32F746ZGTx/STCubeGenerated/Src/stm32f7xx_it.c
index 6d94cff3..ba6f6981 100644
--- a/examples/stm32/nucleo-f746zg-keil-freertos_cmsis2/RTE/Device/STM32F746ZGTx/STCubeGenerated/Src/stm32f7xx_it.c
+++ b/examples/stm32/nucleo-f746zg-keil-freertos_cmsis2/RTE/Device/STM32F746ZGTx/STCubeGenerated/Src/stm32f7xx_it.c
@@ -55,6 +55,7 @@
 /* USER CODE END 0 */
 
 /* External variables --------------------------------------------------------*/
+extern TIM_HandleTypeDef htim6;
 
 /* USER CODE BEGIN EV */
 
@@ -158,6 +159,20 @@ void DebugMon_Handler(void)
 /* please refer to the startup file (startup_stm32f7xx.s).                    */
 /******************************************************************************/
 
+/**
+  * @brief This function handles TIM6 global interrupt, DAC1 and DAC2 underrun error interrupts.
+  */
+void TIM6_DAC_IRQHandler(void)
+{
+  /* USER CODE BEGIN TIM6_DAC_IRQn 0 */
+
+  /* USER CODE END TIM6_DAC_IRQn 0 */
+  HAL_TIM_IRQHandler(&htim6);
+  /* USER CODE BEGIN TIM6_DAC_IRQn 1 */
+
+  /* USER CODE END TIM6_DAC_IRQn 1 */
+}
+
 /* USER CODE BEGIN 1 */
 
 /* USER CODE END 1 */
diff --git a/examples/stm32/nucleo-f746zg-keil-freertos_cmsis2/RTE/_Target_1/RTE_Components.h b/examples/stm32/nucleo-f746zg-keil-freertos_cmsis2/RTE/_Target_1/RTE_Components.h
index 7d372e9e..01af5920 100644
--- a/examples/stm32/nucleo-f746zg-keil-freertos_cmsis2/RTE/_Target_1/RTE_Components.h
+++ b/examples/stm32/nucleo-f746zg-keil-freertos_cmsis2/RTE/_Target_1/RTE_Components.h
@@ -50,6 +50,8 @@
 #define RTE_DEVICE_HAL_RCC
 /* Keil::Device:STM32Cube HAL:RNG:1.3.0 */
 #define RTE_DEVICE_HAL_RNG
+/* Keil::Device:STM32Cube HAL:TIM:1.3.0 */
+#define RTE_DEVICE_HAL_TIM
 /* Keil::Device:STM32Cube HAL:UART:1.3.0 */
 #define RTE_DEVICE_HAL_UART
 /* Keil::Device:Startup:1.2.5 */
diff --git a/examples/stm32/nucleo-f746zg-keil-freertos_cmsis2/device-dashboard.uvprojx b/examples/stm32/nucleo-f746zg-keil-freertos_cmsis2/device-dashboard.uvprojx
index 1ccf208a..476fd33a 100644
--- a/examples/stm32/nucleo-f746zg-keil-freertos_cmsis2/device-dashboard.uvprojx
+++ b/examples/stm32/nucleo-f746zg-keil-freertos_cmsis2/device-dashboard.uvprojx
@@ -575,6 +575,12 @@
           <targetInfo name="Target 1"/>
         </targetInfos>
       </component>
+      <component Cclass="Device" Cgroup="STM32Cube HAL" Csub="TIM" Cvendor="Keil" Cversion="1.3.0" condition="STM32F7 HAL DMA">
+        <package name="STM32F7xx_DFP" schemaVersion="1.7.7" url="https://www.keil.com/pack/" vendor="Keil" version="2.15.1"/>
+        <targetInfos>
+          <targetInfo name="Target 1"/>
+        </targetInfos>
+      </component>
       <component Cclass="Device" Cgroup="STM32Cube HAL" Csub="UART" Cvendor="Keil" Cversion="1.3.0" condition="STM32F7 HAL DMA">
         <package name="STM32F7xx_DFP" schemaVersion="1.7.7" url="https://www.keil.com/pack/" vendor="Keil" version="2.15.1"/>
         <targetInfos>
diff --git a/examples/stm32/nucleo-f746zg-keil-rtx-mdk/RTE/Device/STM32F746ZGTx/FrameworkCubeMX.gpdsc b/examples/stm32/nucleo-f746zg-keil-rtx-mdk/RTE/Device/STM32F746ZGTx/FrameworkCubeMX.gpdsc
index 452ec77e..122a1e7a 100644
--- a/examples/stm32/nucleo-f746zg-keil-rtx-mdk/RTE/Device/STM32F746ZGTx/FrameworkCubeMX.gpdsc
+++ b/examples/stm32/nucleo-f746zg-keil-rtx-mdk/RTE/Device/STM32F746ZGTx/FrameworkCubeMX.gpdsc
@@ -1,7 +1,7 @@
 <?xml version="1.0" encoding="UTF-8" standalone="no"?>
 <!-- ******************************************************************************
  * File Name   : FrameworkCubeMX.gpdsc
- * Date        : 14/03/2023 13:35:04
+ * Date        : 05/05/2023 16:28:43
  * Description : Generator PDSC File generated by STM32CubeMX (DO NOT EDIT!)
  ****************************************************************************** -->
 
@@ -12,7 +12,7 @@
   <url>project-path</url>
   <releases>
     <release version="1.0.0">
-     - Generated: 14/03/2023 13:35:04
+     - Generated: 05/05/2023 16:28:43
     </release>
   </releases>
   <generators>
@@ -44,6 +44,7 @@
       <require Cclass="Device" Cgroup="STM32Cube HAL" Csub="ETH"/>
       <require Cclass="Device" Cgroup="STM32Cube HAL" Csub="RNG"/>
       <require Cclass="Device" Cgroup="STM32Cube HAL" Csub="UART"/>
+      <require Cclass="Device" Cgroup="STM32Cube HAL" Csub="TIM"/>
     </condition>
   </conditions>
   <components>
@@ -56,6 +57,7 @@
         <file category="header" name="MX_Device.h"/>
         <file category="header" name="STCubeGenerated/Inc/stm32f7xx_hal_conf.h"/>
         <file category="source" name="STCubeGenerated/Src/stm32f7xx_hal_msp.c"/>
+        <file category="source" name="STCubeGenerated/Src/stm32f7xx_hal_timebase_tim.c"/>
       </files>
     </component>
   </components>
diff --git a/examples/stm32/nucleo-f746zg-keil-rtx-mdk/RTE/Device/STM32F746ZGTx/MX_Device.h b/examples/stm32/nucleo-f746zg-keil-rtx-mdk/RTE/Device/STM32F746ZGTx/MX_Device.h
index 371261ff..4b45a413 100644
--- a/examples/stm32/nucleo-f746zg-keil-rtx-mdk/RTE/Device/STM32F746ZGTx/MX_Device.h
+++ b/examples/stm32/nucleo-f746zg-keil-rtx-mdk/RTE/Device/STM32F746ZGTx/MX_Device.h
@@ -1,6 +1,6 @@
 /******************************************************************************
  * File Name   : MX_Device.h
- * Date        : 14/03/2023 13:35:04
+ * Date        : 05/05/2023 16:28:43
  * Description : STM32Cube MX parameter definitions
  * Note        : This file is generated by STM32CubeMX (DO NOT EDIT!)
  ******************************************************************************/
diff --git a/examples/stm32/nucleo-f746zg-keil-rtx-mdk/RTE/Device/STM32F746ZGTx/STCubeGenerated/.mxproject b/examples/stm32/nucleo-f746zg-keil-rtx-mdk/RTE/Device/STM32F746ZGTx/STCubeGenerated/.mxproject
index 6b12af56..04eb904e 100644
--- a/examples/stm32/nucleo-f746zg-keil-rtx-mdk/RTE/Device/STM32F746ZGTx/STCubeGenerated/.mxproject
+++ b/examples/stm32/nucleo-f746zg-keil-rtx-mdk/RTE/Device/STM32F746ZGTx/STCubeGenerated/.mxproject
@@ -8,5 +8,5 @@ SourceFiles=;;
 HeaderPath=..\Inc
 HeaderFiles=stm32f7xx_it.h;stm32f7xx_hal_conf.h;main.h;
 SourcePath=..\Src
-SourceFiles=stm32f7xx_it.c;stm32f7xx_hal_msp.c;main.c;
+SourceFiles=stm32f7xx_it.c;stm32f7xx_hal_msp.c;stm32f7xx_hal_timebase_tim.c;main.c;
 
diff --git a/examples/stm32/nucleo-f746zg-keil-rtx-mdk/RTE/Device/STM32F746ZGTx/STCubeGenerated/Inc/stm32f7xx_hal_conf.h b/examples/stm32/nucleo-f746zg-keil-rtx-mdk/RTE/Device/STM32F746ZGTx/STCubeGenerated/Inc/stm32f7xx_hal_conf.h
index f91ee4f8..eeeffc81 100644
--- a/examples/stm32/nucleo-f746zg-keil-rtx-mdk/RTE/Device/STM32F746ZGTx/STCubeGenerated/Inc/stm32f7xx_hal_conf.h
+++ b/examples/stm32/nucleo-f746zg-keil-rtx-mdk/RTE/Device/STM32F746ZGTx/STCubeGenerated/Inc/stm32f7xx_hal_conf.h
@@ -64,7 +64,7 @@
 /* #define HAL_MMC_MODULE_ENABLED */
 /* #define HAL_SPDIFRX_MODULE_ENABLED */
 /* #define HAL_SPI_MODULE_ENABLED */
-/* #define HAL_TIM_MODULE_ENABLED */
+#define HAL_TIM_MODULE_ENABLED
 #define HAL_UART_MODULE_ENABLED
 /* #define HAL_USART_MODULE_ENABLED */
 /* #define HAL_IRDA_MODULE_ENABLED */
diff --git a/examples/stm32/nucleo-f746zg-keil-rtx-mdk/RTE/Device/STM32F746ZGTx/STCubeGenerated/Inc/stm32f7xx_it.h b/examples/stm32/nucleo-f746zg-keil-rtx-mdk/RTE/Device/STM32F746ZGTx/STCubeGenerated/Inc/stm32f7xx_it.h
index 12b9054a..e6b69435 100644
--- a/examples/stm32/nucleo-f746zg-keil-rtx-mdk/RTE/Device/STM32F746ZGTx/STCubeGenerated/Inc/stm32f7xx_it.h
+++ b/examples/stm32/nucleo-f746zg-keil-rtx-mdk/RTE/Device/STM32F746ZGTx/STCubeGenerated/Inc/stm32f7xx_it.h
@@ -52,6 +52,7 @@ void MemManage_Handler(void);
 void BusFault_Handler(void);
 void UsageFault_Handler(void);
 void DebugMon_Handler(void);
+void TIM6_DAC_IRQHandler(void);
 /* USER CODE BEGIN EFP */
 
 /* USER CODE END EFP */
diff --git a/examples/stm32/nucleo-f746zg-keil-rtx-mdk/RTE/Device/STM32F746ZGTx/STCubeGenerated/STCubeGenerated.ioc b/examples/stm32/nucleo-f746zg-keil-rtx-mdk/RTE/Device/STM32F746ZGTx/STCubeGenerated/STCubeGenerated.ioc
index e5edcc6d..11c4940d 100644
--- a/examples/stm32/nucleo-f746zg-keil-rtx-mdk/RTE/Device/STM32F746ZGTx/STCubeGenerated/STCubeGenerated.ioc
+++ b/examples/stm32/nucleo-f746zg-keil-rtx-mdk/RTE/Device/STM32F746ZGTx/STCubeGenerated/STCubeGenerated.ioc
@@ -24,7 +24,7 @@ Mcu.Pin1=PA1
 Mcu.Pin10=PG13
 Mcu.Pin11=PB7
 Mcu.Pin12=VP_RNG_VS_RNG
-Mcu.Pin13=VP_SYS_VS_Systick
+Mcu.Pin13=VP_SYS_VS_tim6
 Mcu.Pin2=PA2
 Mcu.Pin3=PA7
 Mcu.Pin4=PC4
@@ -50,6 +50,9 @@ NVIC.PendSV_IRQn=true\:0\:0\:false\:false\:false\:false\:false\:false
 NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
 NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:false\:false\:false\:false
 NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:false\:false\:true\:false
+NVIC.TIM6_DAC_IRQn=true\:15\:0\:false\:false\:true\:false\:true\:true
+NVIC.TimeBase=TIM6_DAC_IRQn
+NVIC.TimeBaseIP=TIM6
 NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 PA1.Mode=RMII
 PA1.Signal=ETH_REF_CLK
@@ -173,6 +176,6 @@ USART3.IPParameters=VirtualMode-Asynchronous
 USART3.VirtualMode-Asynchronous=VM_ASYNC
 VP_RNG_VS_RNG.Mode=RNG_Activate
 VP_RNG_VS_RNG.Signal=RNG_VS_RNG
-VP_SYS_VS_Systick.Mode=SysTick
-VP_SYS_VS_Systick.Signal=SYS_VS_Systick
+VP_SYS_VS_tim6.Mode=TIM6
+VP_SYS_VS_tim6.Signal=SYS_VS_tim6
 board=custom
diff --git a/examples/stm32/nucleo-f746zg-keil-rtx-mdk/RTE/Device/STM32F746ZGTx/STCubeGenerated/Src/main.c b/examples/stm32/nucleo-f746zg-keil-rtx-mdk/RTE/Device/STM32F746ZGTx/STCubeGenerated/Src/main.c
index 98f0d5fe..37eab800 100644
--- a/examples/stm32/nucleo-f746zg-keil-rtx-mdk/RTE/Device/STM32F746ZGTx/STCubeGenerated/Src/main.c
+++ b/examples/stm32/nucleo-f746zg-keil-rtx-mdk/RTE/Device/STM32F746ZGTx/STCubeGenerated/Src/main.c
@@ -84,21 +84,6 @@ static void MX_RNG_Init(void);
 /* Private user code ---------------------------------------------------------*/
 /* USER CODE BEGIN 0 */
 
-// adapted from
-//   https://www.keil.com/pack/doc/STM32Cube/html/cubemx_using.html
-//   https://developer.arm.com/documentation/ka003821/latest
-uint32_t HAL_GetTick (void) {
-  static uint32_t ticks = 0U;
-  uint32_t i;
-  if (osKernelRunning()) {
-    extern uint32_t rt_time_get(void);
-    return rt_time_get();
-  } 
-  /* If Kernel is not running wait approximately 1 ms then increment and return auxiliary tick counter value */
-  for (i = (SystemCoreClock >> 14U); i > 0U; i--) { __NOP(); __NOP(); __NOP(); __NOP(); __NOP(); __NOP(); __NOP(); __NOP(); __NOP(); __NOP(); __NOP(); __NOP(); }
-  return ++ticks;
-}
-
 void mx_init(void) {
   SystemClock_Config();
   MX_GPIO_Init();
@@ -313,6 +298,27 @@ static void MX_GPIO_Init(void)
 
 /* USER CODE END 4 */
 
+/**
+  * @brief  Period elapsed callback in non blocking mode
+  * @note   This function is called  when TIM6 interrupt took place, inside
+  * HAL_TIM_IRQHandler(). It makes a direct call to HAL_IncTick() to increment
+  * a global variable "uwTick" used as application time base.
+  * @param  htim : TIM handle
+  * @retval None
+  */
+void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
+{
+  /* USER CODE BEGIN Callback 0 */
+
+  /* USER CODE END Callback 0 */
+  if (htim->Instance == TIM6) {
+    HAL_IncTick();
+  }
+  /* USER CODE BEGIN Callback 1 */
+
+  /* USER CODE END Callback 1 */
+}
+
 /**
   * @brief  This function is executed in case of error occurrence.
   * @retval None
diff --git a/examples/stm32/nucleo-f746zg-keil-rtx-mdk/RTE/Device/STM32F746ZGTx/STCubeGenerated/Src/stm32f7xx_hal_timebase_tim.c b/examples/stm32/nucleo-f746zg-keil-rtx-mdk/RTE/Device/STM32F746ZGTx/STCubeGenerated/Src/stm32f7xx_hal_timebase_tim.c
new file mode 100644
index 00000000..a4f3a4c1
--- /dev/null
+++ b/examples/stm32/nucleo-f746zg-keil-rtx-mdk/RTE/Device/STM32F746ZGTx/STCubeGenerated/Src/stm32f7xx_hal_timebase_tim.c
@@ -0,0 +1,137 @@
+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file    stm32f7xx_hal_timebase_TIM.c
+  * @brief   HAL time base based on the hardware TIM.
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2023 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+/* USER CODE END Header */
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f7xx_hal.h"
+#include "stm32f7xx_hal_tim.h"
+
+/* Private typedef -----------------------------------------------------------*/
+/* Private define ------------------------------------------------------------*/
+/* Private macro -------------------------------------------------------------*/
+/* Private variables ---------------------------------------------------------*/
+TIM_HandleTypeDef        htim6;
+/* Private function prototypes -----------------------------------------------*/
+/* Private functions ---------------------------------------------------------*/
+
+/**
+  * @brief  This function configures the TIM6 as a time base source.
+  *         The time source is configured  to have 1ms time base with a dedicated
+  *         Tick interrupt priority.
+  * @note   This function is called  automatically at the beginning of program after
+  *         reset by HAL_Init() or at any time when clock is configured, by HAL_RCC_ClockConfig().
+  * @param  TickPriority: Tick interrupt priority.
+  * @retval HAL status
+  */
+HAL_StatusTypeDef HAL_InitTick(uint32_t TickPriority)
+{
+  RCC_ClkInitTypeDef    clkconfig;
+  uint32_t              uwTimclock, uwAPB1Prescaler = 0U;
+
+  uint32_t              uwPrescalerValue = 0U;
+  uint32_t              pFLatency;
+  HAL_StatusTypeDef     status;
+
+  /* Enable TIM6 clock */
+  __HAL_RCC_TIM6_CLK_ENABLE();
+
+  /* Get clock configuration */
+  HAL_RCC_GetClockConfig(&clkconfig, &pFLatency);
+
+  /* Get APB1 prescaler */
+  uwAPB1Prescaler = clkconfig.APB1CLKDivider;
+  /* Compute TIM6 clock */
+  if (uwAPB1Prescaler == RCC_HCLK_DIV1)
+  {
+    uwTimclock = HAL_RCC_GetPCLK1Freq();
+  }
+  else
+  {
+    uwTimclock = 2UL * HAL_RCC_GetPCLK1Freq();
+  }
+
+  /* Compute the prescaler value to have TIM6 counter clock equal to 1MHz */
+  uwPrescalerValue = (uint32_t) ((uwTimclock / 1000000U) - 1U);
+
+  /* Initialize TIM6 */
+  htim6.Instance = TIM6;
+
+  /* Initialize TIMx peripheral as follow:
+
+  + Period = [(TIM6CLK/1000) - 1]. to have a (1/1000) s time base.
+  + Prescaler = (uwTimclock/1000000 - 1) to have a 1MHz counter clock.
+  + ClockDivision = 0
+  + Counter direction = Up
+  */
+  htim6.Init.Period = (1000000U / 1000U) - 1U;
+  htim6.Init.Prescaler = uwPrescalerValue;
+  htim6.Init.ClockDivision = 0;
+  htim6.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim6.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+
+  status = HAL_TIM_Base_Init(&htim6);
+  if (status == HAL_OK)
+  {
+    /* Start the TIM time Base generation in interrupt mode */
+    status = HAL_TIM_Base_Start_IT(&htim6);
+    if (status == HAL_OK)
+    {
+    /* Enable the TIM6 global Interrupt */
+        HAL_NVIC_EnableIRQ(TIM6_DAC_IRQn);
+      /* Configure the SysTick IRQ priority */
+      if (TickPriority < (1UL << __NVIC_PRIO_BITS))
+      {
+        /* Configure the TIM IRQ priority */
+        HAL_NVIC_SetPriority(TIM6_DAC_IRQn, TickPriority, 0U);
+        uwTickPrio = TickPriority;
+      }
+      else
+      {
+        status = HAL_ERROR;
+      }
+    }
+  }
+
+ /* Return function status */
+  return status;
+}
+
+/**
+  * @brief  Suspend Tick increment.
+  * @note   Disable the tick increment by disabling TIM6 update interrupt.
+  * @param  None
+  * @retval None
+  */
+void HAL_SuspendTick(void)
+{
+  /* Disable TIM6 update Interrupt */
+  __HAL_TIM_DISABLE_IT(&htim6, TIM_IT_UPDATE);
+}
+
+/**
+  * @brief  Resume Tick increment.
+  * @note   Enable the tick increment by Enabling TIM6 update interrupt.
+  * @param  None
+  * @retval None
+  */
+void HAL_ResumeTick(void)
+{
+  /* Enable TIM6 Update interrupt */
+  __HAL_TIM_ENABLE_IT(&htim6, TIM_IT_UPDATE);
+}
+
diff --git a/examples/stm32/nucleo-f746zg-keil-rtx-mdk/RTE/Device/STM32F746ZGTx/STCubeGenerated/Src/stm32f7xx_it.c b/examples/stm32/nucleo-f746zg-keil-rtx-mdk/RTE/Device/STM32F746ZGTx/STCubeGenerated/Src/stm32f7xx_it.c
index 6d94cff3..ba6f6981 100644
--- a/examples/stm32/nucleo-f746zg-keil-rtx-mdk/RTE/Device/STM32F746ZGTx/STCubeGenerated/Src/stm32f7xx_it.c
+++ b/examples/stm32/nucleo-f746zg-keil-rtx-mdk/RTE/Device/STM32F746ZGTx/STCubeGenerated/Src/stm32f7xx_it.c
@@ -55,6 +55,7 @@
 /* USER CODE END 0 */
 
 /* External variables --------------------------------------------------------*/
+extern TIM_HandleTypeDef htim6;
 
 /* USER CODE BEGIN EV */
 
@@ -158,6 +159,20 @@ void DebugMon_Handler(void)
 /* please refer to the startup file (startup_stm32f7xx.s).                    */
 /******************************************************************************/
 
+/**
+  * @brief This function handles TIM6 global interrupt, DAC1 and DAC2 underrun error interrupts.
+  */
+void TIM6_DAC_IRQHandler(void)
+{
+  /* USER CODE BEGIN TIM6_DAC_IRQn 0 */
+
+  /* USER CODE END TIM6_DAC_IRQn 0 */
+  HAL_TIM_IRQHandler(&htim6);
+  /* USER CODE BEGIN TIM6_DAC_IRQn 1 */
+
+  /* USER CODE END TIM6_DAC_IRQn 1 */
+}
+
 /* USER CODE BEGIN 1 */
 
 /* USER CODE END 1 */
diff --git a/examples/stm32/nucleo-f746zg-keil-rtx-mdk/RTE/_Target_1/RTE_Components.h b/examples/stm32/nucleo-f746zg-keil-rtx-mdk/RTE/_Target_1/RTE_Components.h
index 0f309136..7f846979 100644
--- a/examples/stm32/nucleo-f746zg-keil-rtx-mdk/RTE/_Target_1/RTE_Components.h
+++ b/examples/stm32/nucleo-f746zg-keil-rtx-mdk/RTE/_Target_1/RTE_Components.h
@@ -57,6 +57,8 @@
 #define RTE_DEVICE_HAL_RCC
 /* Keil::Device:STM32Cube HAL:RNG:1.3.0 */
 #define RTE_DEVICE_HAL_RNG
+/* Keil::Device:STM32Cube HAL:TIM:1.3.0 */
+#define RTE_DEVICE_HAL_TIM
 /* Keil::Device:STM32Cube HAL:UART:1.3.0 */
 #define RTE_DEVICE_HAL_UART
 /* Keil::Device:Startup:1.2.5 */
diff --git a/examples/stm32/nucleo-f746zg-keil-rtx-mdk/device-dashboard.uvprojx b/examples/stm32/nucleo-f746zg-keil-rtx-mdk/device-dashboard.uvprojx
index 8abe12a7..cc6c84b0 100644
--- a/examples/stm32/nucleo-f746zg-keil-rtx-mdk/device-dashboard.uvprojx
+++ b/examples/stm32/nucleo-f746zg-keil-rtx-mdk/device-dashboard.uvprojx
@@ -602,6 +602,12 @@
           <targetInfo name="Target 1"/>
         </targetInfos>
       </component>
+      <component Cclass="Device" Cgroup="STM32Cube HAL" Csub="TIM" Cvendor="Keil" Cversion="1.3.0" condition="STM32F7 HAL DMA">
+        <package name="STM32F7xx_DFP" schemaVersion="1.7.7" url="https://www.keil.com/pack/" vendor="Keil" version="2.15.1"/>
+        <targetInfos>
+          <targetInfo name="Target 1"/>
+        </targetInfos>
+      </component>
       <component Cclass="Device" Cgroup="STM32Cube HAL" Csub="UART" Cvendor="Keil" Cversion="1.3.0" condition="STM32F7 HAL DMA">
         <package name="STM32F7xx_DFP" schemaVersion="1.7.7" url="https://www.keil.com/pack/" vendor="Keil" version="2.15.1"/>
         <targetInfos>
diff --git a/examples/stm32/nucleo-f746zg-keil-rtx/RTE/Device/STM32F746ZGTx/FrameworkCubeMX.gpdsc b/examples/stm32/nucleo-f746zg-keil-rtx/RTE/Device/STM32F746ZGTx/FrameworkCubeMX.gpdsc
index 452ec77e..c8213a69 100644
--- a/examples/stm32/nucleo-f746zg-keil-rtx/RTE/Device/STM32F746ZGTx/FrameworkCubeMX.gpdsc
+++ b/examples/stm32/nucleo-f746zg-keil-rtx/RTE/Device/STM32F746ZGTx/FrameworkCubeMX.gpdsc
@@ -1,7 +1,7 @@
 <?xml version="1.0" encoding="UTF-8" standalone="no"?>
 <!-- ******************************************************************************
  * File Name   : FrameworkCubeMX.gpdsc
- * Date        : 14/03/2023 13:35:04
+ * Date        : 05/05/2023 17:27:28
  * Description : Generator PDSC File generated by STM32CubeMX (DO NOT EDIT!)
  ****************************************************************************** -->
 
@@ -12,7 +12,7 @@
   <url>project-path</url>
   <releases>
     <release version="1.0.0">
-     - Generated: 14/03/2023 13:35:04
+     - Generated: 05/05/2023 17:27:28
     </release>
   </releases>
   <generators>
@@ -44,6 +44,7 @@
       <require Cclass="Device" Cgroup="STM32Cube HAL" Csub="ETH"/>
       <require Cclass="Device" Cgroup="STM32Cube HAL" Csub="RNG"/>
       <require Cclass="Device" Cgroup="STM32Cube HAL" Csub="UART"/>
+      <require Cclass="Device" Cgroup="STM32Cube HAL" Csub="TIM"/>
     </condition>
   </conditions>
   <components>
@@ -56,6 +57,7 @@
         <file category="header" name="MX_Device.h"/>
         <file category="header" name="STCubeGenerated/Inc/stm32f7xx_hal_conf.h"/>
         <file category="source" name="STCubeGenerated/Src/stm32f7xx_hal_msp.c"/>
+        <file category="source" name="STCubeGenerated/Src/stm32f7xx_hal_timebase_tim.c"/>
       </files>
     </component>
   </components>
diff --git a/examples/stm32/nucleo-f746zg-keil-rtx/RTE/Device/STM32F746ZGTx/MX_Device.h b/examples/stm32/nucleo-f746zg-keil-rtx/RTE/Device/STM32F746ZGTx/MX_Device.h
index 371261ff..a1a079db 100644
--- a/examples/stm32/nucleo-f746zg-keil-rtx/RTE/Device/STM32F746ZGTx/MX_Device.h
+++ b/examples/stm32/nucleo-f746zg-keil-rtx/RTE/Device/STM32F746ZGTx/MX_Device.h
@@ -1,6 +1,6 @@
 /******************************************************************************
  * File Name   : MX_Device.h
- * Date        : 14/03/2023 13:35:04
+ * Date        : 05/05/2023 17:27:28
  * Description : STM32Cube MX parameter definitions
  * Note        : This file is generated by STM32CubeMX (DO NOT EDIT!)
  ******************************************************************************/
diff --git a/examples/stm32/nucleo-f746zg-keil-rtx/RTE/Device/STM32F746ZGTx/STCubeGenerated/.mxproject b/examples/stm32/nucleo-f746zg-keil-rtx/RTE/Device/STM32F746ZGTx/STCubeGenerated/.mxproject
index 6b12af56..04eb904e 100644
--- a/examples/stm32/nucleo-f746zg-keil-rtx/RTE/Device/STM32F746ZGTx/STCubeGenerated/.mxproject
+++ b/examples/stm32/nucleo-f746zg-keil-rtx/RTE/Device/STM32F746ZGTx/STCubeGenerated/.mxproject
@@ -8,5 +8,5 @@ SourceFiles=;;
 HeaderPath=..\Inc
 HeaderFiles=stm32f7xx_it.h;stm32f7xx_hal_conf.h;main.h;
 SourcePath=..\Src
-SourceFiles=stm32f7xx_it.c;stm32f7xx_hal_msp.c;main.c;
+SourceFiles=stm32f7xx_it.c;stm32f7xx_hal_msp.c;stm32f7xx_hal_timebase_tim.c;main.c;
 
diff --git a/examples/stm32/nucleo-f746zg-keil-rtx/RTE/Device/STM32F746ZGTx/STCubeGenerated/Inc/stm32f7xx_hal_conf.h b/examples/stm32/nucleo-f746zg-keil-rtx/RTE/Device/STM32F746ZGTx/STCubeGenerated/Inc/stm32f7xx_hal_conf.h
index f91ee4f8..eeeffc81 100644
--- a/examples/stm32/nucleo-f746zg-keil-rtx/RTE/Device/STM32F746ZGTx/STCubeGenerated/Inc/stm32f7xx_hal_conf.h
+++ b/examples/stm32/nucleo-f746zg-keil-rtx/RTE/Device/STM32F746ZGTx/STCubeGenerated/Inc/stm32f7xx_hal_conf.h
@@ -64,7 +64,7 @@
 /* #define HAL_MMC_MODULE_ENABLED */
 /* #define HAL_SPDIFRX_MODULE_ENABLED */
 /* #define HAL_SPI_MODULE_ENABLED */
-/* #define HAL_TIM_MODULE_ENABLED */
+#define HAL_TIM_MODULE_ENABLED
 #define HAL_UART_MODULE_ENABLED
 /* #define HAL_USART_MODULE_ENABLED */
 /* #define HAL_IRDA_MODULE_ENABLED */
diff --git a/examples/stm32/nucleo-f746zg-keil-rtx/RTE/Device/STM32F746ZGTx/STCubeGenerated/Inc/stm32f7xx_it.h b/examples/stm32/nucleo-f746zg-keil-rtx/RTE/Device/STM32F746ZGTx/STCubeGenerated/Inc/stm32f7xx_it.h
index 12b9054a..e6b69435 100644
--- a/examples/stm32/nucleo-f746zg-keil-rtx/RTE/Device/STM32F746ZGTx/STCubeGenerated/Inc/stm32f7xx_it.h
+++ b/examples/stm32/nucleo-f746zg-keil-rtx/RTE/Device/STM32F746ZGTx/STCubeGenerated/Inc/stm32f7xx_it.h
@@ -52,6 +52,7 @@ void MemManage_Handler(void);
 void BusFault_Handler(void);
 void UsageFault_Handler(void);
 void DebugMon_Handler(void);
+void TIM6_DAC_IRQHandler(void);
 /* USER CODE BEGIN EFP */
 
 /* USER CODE END EFP */
diff --git a/examples/stm32/nucleo-f746zg-keil-rtx/RTE/Device/STM32F746ZGTx/STCubeGenerated/STCubeGenerated.ioc b/examples/stm32/nucleo-f746zg-keil-rtx/RTE/Device/STM32F746ZGTx/STCubeGenerated/STCubeGenerated.ioc
index e5edcc6d..11c4940d 100644
--- a/examples/stm32/nucleo-f746zg-keil-rtx/RTE/Device/STM32F746ZGTx/STCubeGenerated/STCubeGenerated.ioc
+++ b/examples/stm32/nucleo-f746zg-keil-rtx/RTE/Device/STM32F746ZGTx/STCubeGenerated/STCubeGenerated.ioc
@@ -24,7 +24,7 @@ Mcu.Pin1=PA1
 Mcu.Pin10=PG13
 Mcu.Pin11=PB7
 Mcu.Pin12=VP_RNG_VS_RNG
-Mcu.Pin13=VP_SYS_VS_Systick
+Mcu.Pin13=VP_SYS_VS_tim6
 Mcu.Pin2=PA2
 Mcu.Pin3=PA7
 Mcu.Pin4=PC4
@@ -50,6 +50,9 @@ NVIC.PendSV_IRQn=true\:0\:0\:false\:false\:false\:false\:false\:false
 NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
 NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:false\:false\:false\:false
 NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:false\:false\:true\:false
+NVIC.TIM6_DAC_IRQn=true\:15\:0\:false\:false\:true\:false\:true\:true
+NVIC.TimeBase=TIM6_DAC_IRQn
+NVIC.TimeBaseIP=TIM6
 NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 PA1.Mode=RMII
 PA1.Signal=ETH_REF_CLK
@@ -173,6 +176,6 @@ USART3.IPParameters=VirtualMode-Asynchronous
 USART3.VirtualMode-Asynchronous=VM_ASYNC
 VP_RNG_VS_RNG.Mode=RNG_Activate
 VP_RNG_VS_RNG.Signal=RNG_VS_RNG
-VP_SYS_VS_Systick.Mode=SysTick
-VP_SYS_VS_Systick.Signal=SYS_VS_Systick
+VP_SYS_VS_tim6.Mode=TIM6
+VP_SYS_VS_tim6.Signal=SYS_VS_tim6
 board=custom
diff --git a/examples/stm32/nucleo-f746zg-keil-rtx/RTE/Device/STM32F746ZGTx/STCubeGenerated/Src/main.c b/examples/stm32/nucleo-f746zg-keil-rtx/RTE/Device/STM32F746ZGTx/STCubeGenerated/Src/main.c
index 98f0d5fe..37eab800 100644
--- a/examples/stm32/nucleo-f746zg-keil-rtx/RTE/Device/STM32F746ZGTx/STCubeGenerated/Src/main.c
+++ b/examples/stm32/nucleo-f746zg-keil-rtx/RTE/Device/STM32F746ZGTx/STCubeGenerated/Src/main.c
@@ -84,21 +84,6 @@ static void MX_RNG_Init(void);
 /* Private user code ---------------------------------------------------------*/
 /* USER CODE BEGIN 0 */
 
-// adapted from
-//   https://www.keil.com/pack/doc/STM32Cube/html/cubemx_using.html
-//   https://developer.arm.com/documentation/ka003821/latest
-uint32_t HAL_GetTick (void) {
-  static uint32_t ticks = 0U;
-  uint32_t i;
-  if (osKernelRunning()) {
-    extern uint32_t rt_time_get(void);
-    return rt_time_get();
-  } 
-  /* If Kernel is not running wait approximately 1 ms then increment and return auxiliary tick counter value */
-  for (i = (SystemCoreClock >> 14U); i > 0U; i--) { __NOP(); __NOP(); __NOP(); __NOP(); __NOP(); __NOP(); __NOP(); __NOP(); __NOP(); __NOP(); __NOP(); __NOP(); }
-  return ++ticks;
-}
-
 void mx_init(void) {
   SystemClock_Config();
   MX_GPIO_Init();
@@ -313,6 +298,27 @@ static void MX_GPIO_Init(void)
 
 /* USER CODE END 4 */
 
+/**
+  * @brief  Period elapsed callback in non blocking mode
+  * @note   This function is called  when TIM6 interrupt took place, inside
+  * HAL_TIM_IRQHandler(). It makes a direct call to HAL_IncTick() to increment
+  * a global variable "uwTick" used as application time base.
+  * @param  htim : TIM handle
+  * @retval None
+  */
+void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
+{
+  /* USER CODE BEGIN Callback 0 */
+
+  /* USER CODE END Callback 0 */
+  if (htim->Instance == TIM6) {
+    HAL_IncTick();
+  }
+  /* USER CODE BEGIN Callback 1 */
+
+  /* USER CODE END Callback 1 */
+}
+
 /**
   * @brief  This function is executed in case of error occurrence.
   * @retval None
diff --git a/examples/stm32/nucleo-f746zg-keil-rtx/RTE/Device/STM32F746ZGTx/STCubeGenerated/Src/stm32f7xx_hal_timebase_tim.c b/examples/stm32/nucleo-f746zg-keil-rtx/RTE/Device/STM32F746ZGTx/STCubeGenerated/Src/stm32f7xx_hal_timebase_tim.c
new file mode 100644
index 00000000..a4f3a4c1
--- /dev/null
+++ b/examples/stm32/nucleo-f746zg-keil-rtx/RTE/Device/STM32F746ZGTx/STCubeGenerated/Src/stm32f7xx_hal_timebase_tim.c
@@ -0,0 +1,137 @@
+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file    stm32f7xx_hal_timebase_TIM.c
+  * @brief   HAL time base based on the hardware TIM.
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2023 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+/* USER CODE END Header */
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f7xx_hal.h"
+#include "stm32f7xx_hal_tim.h"
+
+/* Private typedef -----------------------------------------------------------*/
+/* Private define ------------------------------------------------------------*/
+/* Private macro -------------------------------------------------------------*/
+/* Private variables ---------------------------------------------------------*/
+TIM_HandleTypeDef        htim6;
+/* Private function prototypes -----------------------------------------------*/
+/* Private functions ---------------------------------------------------------*/
+
+/**
+  * @brief  This function configures the TIM6 as a time base source.
+  *         The time source is configured  to have 1ms time base with a dedicated
+  *         Tick interrupt priority.
+  * @note   This function is called  automatically at the beginning of program after
+  *         reset by HAL_Init() or at any time when clock is configured, by HAL_RCC_ClockConfig().
+  * @param  TickPriority: Tick interrupt priority.
+  * @retval HAL status
+  */
+HAL_StatusTypeDef HAL_InitTick(uint32_t TickPriority)
+{
+  RCC_ClkInitTypeDef    clkconfig;
+  uint32_t              uwTimclock, uwAPB1Prescaler = 0U;
+
+  uint32_t              uwPrescalerValue = 0U;
+  uint32_t              pFLatency;
+  HAL_StatusTypeDef     status;
+
+  /* Enable TIM6 clock */
+  __HAL_RCC_TIM6_CLK_ENABLE();
+
+  /* Get clock configuration */
+  HAL_RCC_GetClockConfig(&clkconfig, &pFLatency);
+
+  /* Get APB1 prescaler */
+  uwAPB1Prescaler = clkconfig.APB1CLKDivider;
+  /* Compute TIM6 clock */
+  if (uwAPB1Prescaler == RCC_HCLK_DIV1)
+  {
+    uwTimclock = HAL_RCC_GetPCLK1Freq();
+  }
+  else
+  {
+    uwTimclock = 2UL * HAL_RCC_GetPCLK1Freq();
+  }
+
+  /* Compute the prescaler value to have TIM6 counter clock equal to 1MHz */
+  uwPrescalerValue = (uint32_t) ((uwTimclock / 1000000U) - 1U);
+
+  /* Initialize TIM6 */
+  htim6.Instance = TIM6;
+
+  /* Initialize TIMx peripheral as follow:
+
+  + Period = [(TIM6CLK/1000) - 1]. to have a (1/1000) s time base.
+  + Prescaler = (uwTimclock/1000000 - 1) to have a 1MHz counter clock.
+  + ClockDivision = 0
+  + Counter direction = Up
+  */
+  htim6.Init.Period = (1000000U / 1000U) - 1U;
+  htim6.Init.Prescaler = uwPrescalerValue;
+  htim6.Init.ClockDivision = 0;
+  htim6.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim6.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+
+  status = HAL_TIM_Base_Init(&htim6);
+  if (status == HAL_OK)
+  {
+    /* Start the TIM time Base generation in interrupt mode */
+    status = HAL_TIM_Base_Start_IT(&htim6);
+    if (status == HAL_OK)
+    {
+    /* Enable the TIM6 global Interrupt */
+        HAL_NVIC_EnableIRQ(TIM6_DAC_IRQn);
+      /* Configure the SysTick IRQ priority */
+      if (TickPriority < (1UL << __NVIC_PRIO_BITS))
+      {
+        /* Configure the TIM IRQ priority */
+        HAL_NVIC_SetPriority(TIM6_DAC_IRQn, TickPriority, 0U);
+        uwTickPrio = TickPriority;
+      }
+      else
+      {
+        status = HAL_ERROR;
+      }
+    }
+  }
+
+ /* Return function status */
+  return status;
+}
+
+/**
+  * @brief  Suspend Tick increment.
+  * @note   Disable the tick increment by disabling TIM6 update interrupt.
+  * @param  None
+  * @retval None
+  */
+void HAL_SuspendTick(void)
+{
+  /* Disable TIM6 update Interrupt */
+  __HAL_TIM_DISABLE_IT(&htim6, TIM_IT_UPDATE);
+}
+
+/**
+  * @brief  Resume Tick increment.
+  * @note   Enable the tick increment by Enabling TIM6 update interrupt.
+  * @param  None
+  * @retval None
+  */
+void HAL_ResumeTick(void)
+{
+  /* Enable TIM6 Update interrupt */
+  __HAL_TIM_ENABLE_IT(&htim6, TIM_IT_UPDATE);
+}
+
diff --git a/examples/stm32/nucleo-f746zg-keil-rtx/RTE/Device/STM32F746ZGTx/STCubeGenerated/Src/stm32f7xx_it.c b/examples/stm32/nucleo-f746zg-keil-rtx/RTE/Device/STM32F746ZGTx/STCubeGenerated/Src/stm32f7xx_it.c
index 6d94cff3..ba6f6981 100644
--- a/examples/stm32/nucleo-f746zg-keil-rtx/RTE/Device/STM32F746ZGTx/STCubeGenerated/Src/stm32f7xx_it.c
+++ b/examples/stm32/nucleo-f746zg-keil-rtx/RTE/Device/STM32F746ZGTx/STCubeGenerated/Src/stm32f7xx_it.c
@@ -55,6 +55,7 @@
 /* USER CODE END 0 */
 
 /* External variables --------------------------------------------------------*/
+extern TIM_HandleTypeDef htim6;
 
 /* USER CODE BEGIN EV */
 
@@ -158,6 +159,20 @@ void DebugMon_Handler(void)
 /* please refer to the startup file (startup_stm32f7xx.s).                    */
 /******************************************************************************/
 
+/**
+  * @brief This function handles TIM6 global interrupt, DAC1 and DAC2 underrun error interrupts.
+  */
+void TIM6_DAC_IRQHandler(void)
+{
+  /* USER CODE BEGIN TIM6_DAC_IRQn 0 */
+
+  /* USER CODE END TIM6_DAC_IRQn 0 */
+  HAL_TIM_IRQHandler(&htim6);
+  /* USER CODE BEGIN TIM6_DAC_IRQn 1 */
+
+  /* USER CODE END TIM6_DAC_IRQn 1 */
+}
+
 /* USER CODE BEGIN 1 */
 
 /* USER CODE END 1 */
diff --git a/examples/stm32/nucleo-f746zg-keil-rtx/RTE/_Target_1/RTE_Components.h b/examples/stm32/nucleo-f746zg-keil-rtx/RTE/_Target_1/RTE_Components.h
index 3a34210b..d7f21089 100644
--- a/examples/stm32/nucleo-f746zg-keil-rtx/RTE/_Target_1/RTE_Components.h
+++ b/examples/stm32/nucleo-f746zg-keil-rtx/RTE/_Target_1/RTE_Components.h
@@ -40,6 +40,8 @@
 #define RTE_DEVICE_HAL_RCC
 /* Keil::Device:STM32Cube HAL:RNG:1.3.0 */
 #define RTE_DEVICE_HAL_RNG
+/* Keil::Device:STM32Cube HAL:TIM:1.3.0 */
+#define RTE_DEVICE_HAL_TIM
 /* Keil::Device:STM32Cube HAL:UART:1.3.0 */
 #define RTE_DEVICE_HAL_UART
 /* Keil::Device:Startup:1.2.5 */
diff --git a/examples/stm32/nucleo-f746zg-keil-rtx/device-dashboard.uvprojx b/examples/stm32/nucleo-f746zg-keil-rtx/device-dashboard.uvprojx
index ac27f70a..8901a4fb 100644
--- a/examples/stm32/nucleo-f746zg-keil-rtx/device-dashboard.uvprojx
+++ b/examples/stm32/nucleo-f746zg-keil-rtx/device-dashboard.uvprojx
@@ -542,6 +542,12 @@
           <targetInfo name="Target 1"/>
         </targetInfos>
       </component>
+      <component Cclass="Device" Cgroup="STM32Cube HAL" Csub="TIM" Cvendor="Keil" Cversion="1.3.0" condition="STM32F7 HAL DMA">
+        <package name="STM32F7xx_DFP" schemaVersion="1.7.7" url="https://www.keil.com/pack/" vendor="Keil" version="2.15.1"/>
+        <targetInfos>
+          <targetInfo name="Target 1"/>
+        </targetInfos>
+      </component>
       <component Cclass="Device" Cgroup="STM32Cube HAL" Csub="UART" Cvendor="Keil" Cversion="1.3.0" condition="STM32F7 HAL DMA">
         <package name="STM32F7xx_DFP" schemaVersion="1.7.7" url="https://www.keil.com/pack/" vendor="Keil" version="2.15.1"/>
         <targetInfos>
diff --git a/examples/stm32/nucleo-f746zg-keil-rtx5-lwip/RTE/Device/STM32F746ZGTx/FrameworkCubeMX.gpdsc b/examples/stm32/nucleo-f746zg-keil-rtx5-lwip/RTE/Device/STM32F746ZGTx/FrameworkCubeMX.gpdsc
index 452ec77e..f8dfe80a 100644
--- a/examples/stm32/nucleo-f746zg-keil-rtx5-lwip/RTE/Device/STM32F746ZGTx/FrameworkCubeMX.gpdsc
+++ b/examples/stm32/nucleo-f746zg-keil-rtx5-lwip/RTE/Device/STM32F746ZGTx/FrameworkCubeMX.gpdsc
@@ -1,7 +1,7 @@
 <?xml version="1.0" encoding="UTF-8" standalone="no"?>
 <!-- ******************************************************************************
  * File Name   : FrameworkCubeMX.gpdsc
- * Date        : 14/03/2023 13:35:04
+ * Date        : 05/05/2023 14:58:31
  * Description : Generator PDSC File generated by STM32CubeMX (DO NOT EDIT!)
  ****************************************************************************** -->
 
@@ -12,7 +12,7 @@
   <url>project-path</url>
   <releases>
     <release version="1.0.0">
-     - Generated: 14/03/2023 13:35:04
+     - Generated: 05/05/2023 14:58:31
     </release>
   </releases>
   <generators>
@@ -44,6 +44,7 @@
       <require Cclass="Device" Cgroup="STM32Cube HAL" Csub="ETH"/>
       <require Cclass="Device" Cgroup="STM32Cube HAL" Csub="RNG"/>
       <require Cclass="Device" Cgroup="STM32Cube HAL" Csub="UART"/>
+      <require Cclass="Device" Cgroup="STM32Cube HAL" Csub="TIM"/>
     </condition>
   </conditions>
   <components>
@@ -56,6 +57,7 @@
         <file category="header" name="MX_Device.h"/>
         <file category="header" name="STCubeGenerated/Inc/stm32f7xx_hal_conf.h"/>
         <file category="source" name="STCubeGenerated/Src/stm32f7xx_hal_msp.c"/>
+        <file category="source" name="STCubeGenerated/Src/stm32f7xx_hal_timebase_tim.c"/>
       </files>
     </component>
   </components>
diff --git a/examples/stm32/nucleo-f746zg-keil-rtx5-lwip/RTE/Device/STM32F746ZGTx/MX_Device.h b/examples/stm32/nucleo-f746zg-keil-rtx5-lwip/RTE/Device/STM32F746ZGTx/MX_Device.h
index 371261ff..e80c30dc 100644
--- a/examples/stm32/nucleo-f746zg-keil-rtx5-lwip/RTE/Device/STM32F746ZGTx/MX_Device.h
+++ b/examples/stm32/nucleo-f746zg-keil-rtx5-lwip/RTE/Device/STM32F746ZGTx/MX_Device.h
@@ -1,6 +1,6 @@
 /******************************************************************************
  * File Name   : MX_Device.h
- * Date        : 14/03/2023 13:35:04
+ * Date        : 05/05/2023 14:58:31
  * Description : STM32Cube MX parameter definitions
  * Note        : This file is generated by STM32CubeMX (DO NOT EDIT!)
  ******************************************************************************/
diff --git a/examples/stm32/nucleo-f746zg-keil-rtx5-lwip/RTE/Device/STM32F746ZGTx/STCubeGenerated/.mxproject b/examples/stm32/nucleo-f746zg-keil-rtx5-lwip/RTE/Device/STM32F746ZGTx/STCubeGenerated/.mxproject
index 6b12af56..04eb904e 100644
--- a/examples/stm32/nucleo-f746zg-keil-rtx5-lwip/RTE/Device/STM32F746ZGTx/STCubeGenerated/.mxproject
+++ b/examples/stm32/nucleo-f746zg-keil-rtx5-lwip/RTE/Device/STM32F746ZGTx/STCubeGenerated/.mxproject
@@ -8,5 +8,5 @@ SourceFiles=;;
 HeaderPath=..\Inc
 HeaderFiles=stm32f7xx_it.h;stm32f7xx_hal_conf.h;main.h;
 SourcePath=..\Src
-SourceFiles=stm32f7xx_it.c;stm32f7xx_hal_msp.c;main.c;
+SourceFiles=stm32f7xx_it.c;stm32f7xx_hal_msp.c;stm32f7xx_hal_timebase_tim.c;main.c;
 
diff --git a/examples/stm32/nucleo-f746zg-keil-rtx5-lwip/RTE/Device/STM32F746ZGTx/STCubeGenerated/Inc/stm32f7xx_hal_conf.h b/examples/stm32/nucleo-f746zg-keil-rtx5-lwip/RTE/Device/STM32F746ZGTx/STCubeGenerated/Inc/stm32f7xx_hal_conf.h
index f91ee4f8..eeeffc81 100644
--- a/examples/stm32/nucleo-f746zg-keil-rtx5-lwip/RTE/Device/STM32F746ZGTx/STCubeGenerated/Inc/stm32f7xx_hal_conf.h
+++ b/examples/stm32/nucleo-f746zg-keil-rtx5-lwip/RTE/Device/STM32F746ZGTx/STCubeGenerated/Inc/stm32f7xx_hal_conf.h
@@ -64,7 +64,7 @@
 /* #define HAL_MMC_MODULE_ENABLED */
 /* #define HAL_SPDIFRX_MODULE_ENABLED */
 /* #define HAL_SPI_MODULE_ENABLED */
-/* #define HAL_TIM_MODULE_ENABLED */
+#define HAL_TIM_MODULE_ENABLED
 #define HAL_UART_MODULE_ENABLED
 /* #define HAL_USART_MODULE_ENABLED */
 /* #define HAL_IRDA_MODULE_ENABLED */
diff --git a/examples/stm32/nucleo-f746zg-keil-rtx5-lwip/RTE/Device/STM32F746ZGTx/STCubeGenerated/Inc/stm32f7xx_it.h b/examples/stm32/nucleo-f746zg-keil-rtx5-lwip/RTE/Device/STM32F746ZGTx/STCubeGenerated/Inc/stm32f7xx_it.h
index 12b9054a..e6b69435 100644
--- a/examples/stm32/nucleo-f746zg-keil-rtx5-lwip/RTE/Device/STM32F746ZGTx/STCubeGenerated/Inc/stm32f7xx_it.h
+++ b/examples/stm32/nucleo-f746zg-keil-rtx5-lwip/RTE/Device/STM32F746ZGTx/STCubeGenerated/Inc/stm32f7xx_it.h
@@ -52,6 +52,7 @@ void MemManage_Handler(void);
 void BusFault_Handler(void);
 void UsageFault_Handler(void);
 void DebugMon_Handler(void);
+void TIM6_DAC_IRQHandler(void);
 /* USER CODE BEGIN EFP */
 
 /* USER CODE END EFP */
diff --git a/examples/stm32/nucleo-f746zg-keil-rtx5-lwip/RTE/Device/STM32F746ZGTx/STCubeGenerated/STCubeGenerated.ioc b/examples/stm32/nucleo-f746zg-keil-rtx5-lwip/RTE/Device/STM32F746ZGTx/STCubeGenerated/STCubeGenerated.ioc
index e5edcc6d..11c4940d 100644
--- a/examples/stm32/nucleo-f746zg-keil-rtx5-lwip/RTE/Device/STM32F746ZGTx/STCubeGenerated/STCubeGenerated.ioc
+++ b/examples/stm32/nucleo-f746zg-keil-rtx5-lwip/RTE/Device/STM32F746ZGTx/STCubeGenerated/STCubeGenerated.ioc
@@ -24,7 +24,7 @@ Mcu.Pin1=PA1
 Mcu.Pin10=PG13
 Mcu.Pin11=PB7
 Mcu.Pin12=VP_RNG_VS_RNG
-Mcu.Pin13=VP_SYS_VS_Systick
+Mcu.Pin13=VP_SYS_VS_tim6
 Mcu.Pin2=PA2
 Mcu.Pin3=PA7
 Mcu.Pin4=PC4
@@ -50,6 +50,9 @@ NVIC.PendSV_IRQn=true\:0\:0\:false\:false\:false\:false\:false\:false
 NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
 NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:false\:false\:false\:false
 NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:false\:false\:true\:false
+NVIC.TIM6_DAC_IRQn=true\:15\:0\:false\:false\:true\:false\:true\:true
+NVIC.TimeBase=TIM6_DAC_IRQn
+NVIC.TimeBaseIP=TIM6
 NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 PA1.Mode=RMII
 PA1.Signal=ETH_REF_CLK
@@ -173,6 +176,6 @@ USART3.IPParameters=VirtualMode-Asynchronous
 USART3.VirtualMode-Asynchronous=VM_ASYNC
 VP_RNG_VS_RNG.Mode=RNG_Activate
 VP_RNG_VS_RNG.Signal=RNG_VS_RNG
-VP_SYS_VS_Systick.Mode=SysTick
-VP_SYS_VS_Systick.Signal=SYS_VS_Systick
+VP_SYS_VS_tim6.Mode=TIM6
+VP_SYS_VS_tim6.Signal=SYS_VS_tim6
 board=custom
diff --git a/examples/stm32/nucleo-f746zg-keil-rtx5-lwip/RTE/Device/STM32F746ZGTx/STCubeGenerated/Src/main.c b/examples/stm32/nucleo-f746zg-keil-rtx5-lwip/RTE/Device/STM32F746ZGTx/STCubeGenerated/Src/main.c
index 22cdc9b7..cc451be4 100644
--- a/examples/stm32/nucleo-f746zg-keil-rtx5-lwip/RTE/Device/STM32F746ZGTx/STCubeGenerated/Src/main.c
+++ b/examples/stm32/nucleo-f746zg-keil-rtx5-lwip/RTE/Device/STM32F746ZGTx/STCubeGenerated/Src/main.c
@@ -84,18 +84,6 @@ static void MX_RNG_Init(void);
 /* Private user code ---------------------------------------------------------*/
 /* USER CODE BEGIN 0 */
 
-// https://www.keil.com/pack/doc/STM32Cube/html/cubemx_using.html
-uint32_t HAL_GetTick (void) {
-  static uint32_t ticks = 0U;
-  uint32_t i;
-  if (osKernelGetState() == osKernelRunning) {
-    return (uint32_t)osKernelGetTickCount();
-  } 
-  /* If Kernel is not running wait approximately 1 ms then increment and return auxiliary tick counter value */
-  for (i = (SystemCoreClock >> 14U); i > 0U; i--) { __NOP(); __NOP(); __NOP(); __NOP(); __NOP(); __NOP(); __NOP(); __NOP(); __NOP(); __NOP(); __NOP(); __NOP(); }
-  return ++ticks;
-}
-
 void mx_init(void) {
   SystemClock_Config();
   MX_GPIO_Init();
@@ -310,6 +298,27 @@ static void MX_GPIO_Init(void)
 
 /* USER CODE END 4 */
 
+/**
+  * @brief  Period elapsed callback in non blocking mode
+  * @note   This function is called  when TIM6 interrupt took place, inside
+  * HAL_TIM_IRQHandler(). It makes a direct call to HAL_IncTick() to increment
+  * a global variable "uwTick" used as application time base.
+  * @param  htim : TIM handle
+  * @retval None
+  */
+void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
+{
+  /* USER CODE BEGIN Callback 0 */
+
+  /* USER CODE END Callback 0 */
+  if (htim->Instance == TIM6) {
+    HAL_IncTick();
+  }
+  /* USER CODE BEGIN Callback 1 */
+
+  /* USER CODE END Callback 1 */
+}
+
 /**
   * @brief  This function is executed in case of error occurrence.
   * @retval None
diff --git a/examples/stm32/nucleo-f746zg-keil-rtx5-lwip/RTE/Device/STM32F746ZGTx/STCubeGenerated/Src/stm32f7xx_hal_timebase_tim.c b/examples/stm32/nucleo-f746zg-keil-rtx5-lwip/RTE/Device/STM32F746ZGTx/STCubeGenerated/Src/stm32f7xx_hal_timebase_tim.c
new file mode 100644
index 00000000..a4f3a4c1
--- /dev/null
+++ b/examples/stm32/nucleo-f746zg-keil-rtx5-lwip/RTE/Device/STM32F746ZGTx/STCubeGenerated/Src/stm32f7xx_hal_timebase_tim.c
@@ -0,0 +1,137 @@
+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file    stm32f7xx_hal_timebase_TIM.c
+  * @brief   HAL time base based on the hardware TIM.
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2023 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+/* USER CODE END Header */
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f7xx_hal.h"
+#include "stm32f7xx_hal_tim.h"
+
+/* Private typedef -----------------------------------------------------------*/
+/* Private define ------------------------------------------------------------*/
+/* Private macro -------------------------------------------------------------*/
+/* Private variables ---------------------------------------------------------*/
+TIM_HandleTypeDef        htim6;
+/* Private function prototypes -----------------------------------------------*/
+/* Private functions ---------------------------------------------------------*/
+
+/**
+  * @brief  This function configures the TIM6 as a time base source.
+  *         The time source is configured  to have 1ms time base with a dedicated
+  *         Tick interrupt priority.
+  * @note   This function is called  automatically at the beginning of program after
+  *         reset by HAL_Init() or at any time when clock is configured, by HAL_RCC_ClockConfig().
+  * @param  TickPriority: Tick interrupt priority.
+  * @retval HAL status
+  */
+HAL_StatusTypeDef HAL_InitTick(uint32_t TickPriority)
+{
+  RCC_ClkInitTypeDef    clkconfig;
+  uint32_t              uwTimclock, uwAPB1Prescaler = 0U;
+
+  uint32_t              uwPrescalerValue = 0U;
+  uint32_t              pFLatency;
+  HAL_StatusTypeDef     status;
+
+  /* Enable TIM6 clock */
+  __HAL_RCC_TIM6_CLK_ENABLE();
+
+  /* Get clock configuration */
+  HAL_RCC_GetClockConfig(&clkconfig, &pFLatency);
+
+  /* Get APB1 prescaler */
+  uwAPB1Prescaler = clkconfig.APB1CLKDivider;
+  /* Compute TIM6 clock */
+  if (uwAPB1Prescaler == RCC_HCLK_DIV1)
+  {
+    uwTimclock = HAL_RCC_GetPCLK1Freq();
+  }
+  else
+  {
+    uwTimclock = 2UL * HAL_RCC_GetPCLK1Freq();
+  }
+
+  /* Compute the prescaler value to have TIM6 counter clock equal to 1MHz */
+  uwPrescalerValue = (uint32_t) ((uwTimclock / 1000000U) - 1U);
+
+  /* Initialize TIM6 */
+  htim6.Instance = TIM6;
+
+  /* Initialize TIMx peripheral as follow:
+
+  + Period = [(TIM6CLK/1000) - 1]. to have a (1/1000) s time base.
+  + Prescaler = (uwTimclock/1000000 - 1) to have a 1MHz counter clock.
+  + ClockDivision = 0
+  + Counter direction = Up
+  */
+  htim6.Init.Period = (1000000U / 1000U) - 1U;
+  htim6.Init.Prescaler = uwPrescalerValue;
+  htim6.Init.ClockDivision = 0;
+  htim6.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim6.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+
+  status = HAL_TIM_Base_Init(&htim6);
+  if (status == HAL_OK)
+  {
+    /* Start the TIM time Base generation in interrupt mode */
+    status = HAL_TIM_Base_Start_IT(&htim6);
+    if (status == HAL_OK)
+    {
+    /* Enable the TIM6 global Interrupt */
+        HAL_NVIC_EnableIRQ(TIM6_DAC_IRQn);
+      /* Configure the SysTick IRQ priority */
+      if (TickPriority < (1UL << __NVIC_PRIO_BITS))
+      {
+        /* Configure the TIM IRQ priority */
+        HAL_NVIC_SetPriority(TIM6_DAC_IRQn, TickPriority, 0U);
+        uwTickPrio = TickPriority;
+      }
+      else
+      {
+        status = HAL_ERROR;
+      }
+    }
+  }
+
+ /* Return function status */
+  return status;
+}
+
+/**
+  * @brief  Suspend Tick increment.
+  * @note   Disable the tick increment by disabling TIM6 update interrupt.
+  * @param  None
+  * @retval None
+  */
+void HAL_SuspendTick(void)
+{
+  /* Disable TIM6 update Interrupt */
+  __HAL_TIM_DISABLE_IT(&htim6, TIM_IT_UPDATE);
+}
+
+/**
+  * @brief  Resume Tick increment.
+  * @note   Enable the tick increment by Enabling TIM6 update interrupt.
+  * @param  None
+  * @retval None
+  */
+void HAL_ResumeTick(void)
+{
+  /* Enable TIM6 Update interrupt */
+  __HAL_TIM_ENABLE_IT(&htim6, TIM_IT_UPDATE);
+}
+
diff --git a/examples/stm32/nucleo-f746zg-keil-rtx5-lwip/RTE/Device/STM32F746ZGTx/STCubeGenerated/Src/stm32f7xx_it.c b/examples/stm32/nucleo-f746zg-keil-rtx5-lwip/RTE/Device/STM32F746ZGTx/STCubeGenerated/Src/stm32f7xx_it.c
index 6d94cff3..ba6f6981 100644
--- a/examples/stm32/nucleo-f746zg-keil-rtx5-lwip/RTE/Device/STM32F746ZGTx/STCubeGenerated/Src/stm32f7xx_it.c
+++ b/examples/stm32/nucleo-f746zg-keil-rtx5-lwip/RTE/Device/STM32F746ZGTx/STCubeGenerated/Src/stm32f7xx_it.c
@@ -55,6 +55,7 @@
 /* USER CODE END 0 */
 
 /* External variables --------------------------------------------------------*/
+extern TIM_HandleTypeDef htim6;
 
 /* USER CODE BEGIN EV */
 
@@ -158,6 +159,20 @@ void DebugMon_Handler(void)
 /* please refer to the startup file (startup_stm32f7xx.s).                    */
 /******************************************************************************/
 
+/**
+  * @brief This function handles TIM6 global interrupt, DAC1 and DAC2 underrun error interrupts.
+  */
+void TIM6_DAC_IRQHandler(void)
+{
+  /* USER CODE BEGIN TIM6_DAC_IRQn 0 */
+
+  /* USER CODE END TIM6_DAC_IRQn 0 */
+  HAL_TIM_IRQHandler(&htim6);
+  /* USER CODE BEGIN TIM6_DAC_IRQn 1 */
+
+  /* USER CODE END TIM6_DAC_IRQn 1 */
+}
+
 /* USER CODE BEGIN 1 */
 
 /* USER CODE END 1 */
diff --git a/examples/stm32/nucleo-f746zg-keil-rtx5-lwip/RTE/_Target_1/RTE_Components.h b/examples/stm32/nucleo-f746zg-keil-rtx5-lwip/RTE/_Target_1/RTE_Components.h
index fc47de41..9c7bd881 100644
--- a/examples/stm32/nucleo-f746zg-keil-rtx5-lwip/RTE/_Target_1/RTE_Components.h
+++ b/examples/stm32/nucleo-f746zg-keil-rtx5-lwip/RTE/_Target_1/RTE_Components.h
@@ -44,6 +44,8 @@
 #define RTE_DEVICE_HAL_RCC
 /* Keil::Device:STM32Cube HAL:RNG:1.3.0 */
 #define RTE_DEVICE_HAL_RNG
+/* Keil::Device:STM32Cube HAL:TIM:1.3.0 */
+#define RTE_DEVICE_HAL_TIM
 /* Keil::Device:STM32Cube HAL:UART:1.3.0 */
 #define RTE_DEVICE_HAL_UART
 /* Keil::Device:Startup:1.2.5 */
diff --git a/examples/stm32/nucleo-f746zg-keil-rtx5-lwip/device-dashboard.uvprojx b/examples/stm32/nucleo-f746zg-keil-rtx5-lwip/device-dashboard.uvprojx
index d6e759bc..1d534457 100644
--- a/examples/stm32/nucleo-f746zg-keil-rtx5-lwip/device-dashboard.uvprojx
+++ b/examples/stm32/nucleo-f746zg-keil-rtx5-lwip/device-dashboard.uvprojx
@@ -572,6 +572,12 @@
           <targetInfo name="Target 1"/>
         </targetInfos>
       </component>
+      <component Cclass="Device" Cgroup="STM32Cube HAL" Csub="TIM" Cvendor="Keil" Cversion="1.3.0" condition="STM32F7 HAL DMA">
+        <package name="STM32F7xx_DFP" schemaVersion="1.7.7" url="https://www.keil.com/pack/" vendor="Keil" version="2.15.1"/>
+        <targetInfos>
+          <targetInfo name="Target 1"/>
+        </targetInfos>
+      </component>
       <component Cclass="Device" Cgroup="STM32Cube HAL" Csub="UART" Cvendor="Keil" Cversion="1.3.0" condition="STM32F7 HAL DMA">
         <package name="STM32F7xx_DFP" schemaVersion="1.7.7" url="https://www.keil.com/pack/" vendor="Keil" version="2.15.1"/>
         <targetInfos>
diff --git a/examples/stm32/nucleo-f746zg-keil-rtx5-mdk/RTE/Device/STM32F746ZGTx/FrameworkCubeMX.gpdsc b/examples/stm32/nucleo-f746zg-keil-rtx5-mdk/RTE/Device/STM32F746ZGTx/FrameworkCubeMX.gpdsc
index 452ec77e..c05794ad 100644
--- a/examples/stm32/nucleo-f746zg-keil-rtx5-mdk/RTE/Device/STM32F746ZGTx/FrameworkCubeMX.gpdsc
+++ b/examples/stm32/nucleo-f746zg-keil-rtx5-mdk/RTE/Device/STM32F746ZGTx/FrameworkCubeMX.gpdsc
@@ -1,7 +1,7 @@
 <?xml version="1.0" encoding="UTF-8" standalone="no"?>
 <!-- ******************************************************************************
  * File Name   : FrameworkCubeMX.gpdsc
- * Date        : 14/03/2023 13:35:04
+ * Date        : 05/05/2023 15:02:27
  * Description : Generator PDSC File generated by STM32CubeMX (DO NOT EDIT!)
  ****************************************************************************** -->
 
@@ -12,7 +12,7 @@
   <url>project-path</url>
   <releases>
     <release version="1.0.0">
-     - Generated: 14/03/2023 13:35:04
+     - Generated: 05/05/2023 15:02:27
     </release>
   </releases>
   <generators>
@@ -44,6 +44,7 @@
       <require Cclass="Device" Cgroup="STM32Cube HAL" Csub="ETH"/>
       <require Cclass="Device" Cgroup="STM32Cube HAL" Csub="RNG"/>
       <require Cclass="Device" Cgroup="STM32Cube HAL" Csub="UART"/>
+      <require Cclass="Device" Cgroup="STM32Cube HAL" Csub="TIM"/>
     </condition>
   </conditions>
   <components>
@@ -56,6 +57,7 @@
         <file category="header" name="MX_Device.h"/>
         <file category="header" name="STCubeGenerated/Inc/stm32f7xx_hal_conf.h"/>
         <file category="source" name="STCubeGenerated/Src/stm32f7xx_hal_msp.c"/>
+        <file category="source" name="STCubeGenerated/Src/stm32f7xx_hal_timebase_tim.c"/>
       </files>
     </component>
   </components>
diff --git a/examples/stm32/nucleo-f746zg-keil-rtx5-mdk/RTE/Device/STM32F746ZGTx/MX_Device.h b/examples/stm32/nucleo-f746zg-keil-rtx5-mdk/RTE/Device/STM32F746ZGTx/MX_Device.h
index 371261ff..643da173 100644
--- a/examples/stm32/nucleo-f746zg-keil-rtx5-mdk/RTE/Device/STM32F746ZGTx/MX_Device.h
+++ b/examples/stm32/nucleo-f746zg-keil-rtx5-mdk/RTE/Device/STM32F746ZGTx/MX_Device.h
@@ -1,6 +1,6 @@
 /******************************************************************************
  * File Name   : MX_Device.h
- * Date        : 14/03/2023 13:35:04
+ * Date        : 05/05/2023 15:02:28
  * Description : STM32Cube MX parameter definitions
  * Note        : This file is generated by STM32CubeMX (DO NOT EDIT!)
  ******************************************************************************/
diff --git a/examples/stm32/nucleo-f746zg-keil-rtx5-mdk/RTE/Device/STM32F746ZGTx/STCubeGenerated/.mxproject b/examples/stm32/nucleo-f746zg-keil-rtx5-mdk/RTE/Device/STM32F746ZGTx/STCubeGenerated/.mxproject
index 6b12af56..04eb904e 100644
--- a/examples/stm32/nucleo-f746zg-keil-rtx5-mdk/RTE/Device/STM32F746ZGTx/STCubeGenerated/.mxproject
+++ b/examples/stm32/nucleo-f746zg-keil-rtx5-mdk/RTE/Device/STM32F746ZGTx/STCubeGenerated/.mxproject
@@ -8,5 +8,5 @@ SourceFiles=;;
 HeaderPath=..\Inc
 HeaderFiles=stm32f7xx_it.h;stm32f7xx_hal_conf.h;main.h;
 SourcePath=..\Src
-SourceFiles=stm32f7xx_it.c;stm32f7xx_hal_msp.c;main.c;
+SourceFiles=stm32f7xx_it.c;stm32f7xx_hal_msp.c;stm32f7xx_hal_timebase_tim.c;main.c;
 
diff --git a/examples/stm32/nucleo-f746zg-keil-rtx5-mdk/RTE/Device/STM32F746ZGTx/STCubeGenerated/Inc/stm32f7xx_hal_conf.h b/examples/stm32/nucleo-f746zg-keil-rtx5-mdk/RTE/Device/STM32F746ZGTx/STCubeGenerated/Inc/stm32f7xx_hal_conf.h
index f91ee4f8..eeeffc81 100644
--- a/examples/stm32/nucleo-f746zg-keil-rtx5-mdk/RTE/Device/STM32F746ZGTx/STCubeGenerated/Inc/stm32f7xx_hal_conf.h
+++ b/examples/stm32/nucleo-f746zg-keil-rtx5-mdk/RTE/Device/STM32F746ZGTx/STCubeGenerated/Inc/stm32f7xx_hal_conf.h
@@ -64,7 +64,7 @@
 /* #define HAL_MMC_MODULE_ENABLED */
 /* #define HAL_SPDIFRX_MODULE_ENABLED */
 /* #define HAL_SPI_MODULE_ENABLED */
-/* #define HAL_TIM_MODULE_ENABLED */
+#define HAL_TIM_MODULE_ENABLED
 #define HAL_UART_MODULE_ENABLED
 /* #define HAL_USART_MODULE_ENABLED */
 /* #define HAL_IRDA_MODULE_ENABLED */
diff --git a/examples/stm32/nucleo-f746zg-keil-rtx5-mdk/RTE/Device/STM32F746ZGTx/STCubeGenerated/Inc/stm32f7xx_it.h b/examples/stm32/nucleo-f746zg-keil-rtx5-mdk/RTE/Device/STM32F746ZGTx/STCubeGenerated/Inc/stm32f7xx_it.h
index 12b9054a..e6b69435 100644
--- a/examples/stm32/nucleo-f746zg-keil-rtx5-mdk/RTE/Device/STM32F746ZGTx/STCubeGenerated/Inc/stm32f7xx_it.h
+++ b/examples/stm32/nucleo-f746zg-keil-rtx5-mdk/RTE/Device/STM32F746ZGTx/STCubeGenerated/Inc/stm32f7xx_it.h
@@ -52,6 +52,7 @@ void MemManage_Handler(void);
 void BusFault_Handler(void);
 void UsageFault_Handler(void);
 void DebugMon_Handler(void);
+void TIM6_DAC_IRQHandler(void);
 /* USER CODE BEGIN EFP */
 
 /* USER CODE END EFP */
diff --git a/examples/stm32/nucleo-f746zg-keil-rtx5-mdk/RTE/Device/STM32F746ZGTx/STCubeGenerated/STCubeGenerated.ioc b/examples/stm32/nucleo-f746zg-keil-rtx5-mdk/RTE/Device/STM32F746ZGTx/STCubeGenerated/STCubeGenerated.ioc
index e5edcc6d..11c4940d 100644
--- a/examples/stm32/nucleo-f746zg-keil-rtx5-mdk/RTE/Device/STM32F746ZGTx/STCubeGenerated/STCubeGenerated.ioc
+++ b/examples/stm32/nucleo-f746zg-keil-rtx5-mdk/RTE/Device/STM32F746ZGTx/STCubeGenerated/STCubeGenerated.ioc
@@ -24,7 +24,7 @@ Mcu.Pin1=PA1
 Mcu.Pin10=PG13
 Mcu.Pin11=PB7
 Mcu.Pin12=VP_RNG_VS_RNG
-Mcu.Pin13=VP_SYS_VS_Systick
+Mcu.Pin13=VP_SYS_VS_tim6
 Mcu.Pin2=PA2
 Mcu.Pin3=PA7
 Mcu.Pin4=PC4
@@ -50,6 +50,9 @@ NVIC.PendSV_IRQn=true\:0\:0\:false\:false\:false\:false\:false\:false
 NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
 NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:false\:false\:false\:false
 NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:false\:false\:true\:false
+NVIC.TIM6_DAC_IRQn=true\:15\:0\:false\:false\:true\:false\:true\:true
+NVIC.TimeBase=TIM6_DAC_IRQn
+NVIC.TimeBaseIP=TIM6
 NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 PA1.Mode=RMII
 PA1.Signal=ETH_REF_CLK
@@ -173,6 +176,6 @@ USART3.IPParameters=VirtualMode-Asynchronous
 USART3.VirtualMode-Asynchronous=VM_ASYNC
 VP_RNG_VS_RNG.Mode=RNG_Activate
 VP_RNG_VS_RNG.Signal=RNG_VS_RNG
-VP_SYS_VS_Systick.Mode=SysTick
-VP_SYS_VS_Systick.Signal=SYS_VS_Systick
+VP_SYS_VS_tim6.Mode=TIM6
+VP_SYS_VS_tim6.Signal=SYS_VS_tim6
 board=custom
diff --git a/examples/stm32/nucleo-f746zg-keil-rtx5-mdk/RTE/Device/STM32F746ZGTx/STCubeGenerated/Src/main.c b/examples/stm32/nucleo-f746zg-keil-rtx5-mdk/RTE/Device/STM32F746ZGTx/STCubeGenerated/Src/main.c
index 22cdc9b7..cc451be4 100644
--- a/examples/stm32/nucleo-f746zg-keil-rtx5-mdk/RTE/Device/STM32F746ZGTx/STCubeGenerated/Src/main.c
+++ b/examples/stm32/nucleo-f746zg-keil-rtx5-mdk/RTE/Device/STM32F746ZGTx/STCubeGenerated/Src/main.c
@@ -84,18 +84,6 @@ static void MX_RNG_Init(void);
 /* Private user code ---------------------------------------------------------*/
 /* USER CODE BEGIN 0 */
 
-// https://www.keil.com/pack/doc/STM32Cube/html/cubemx_using.html
-uint32_t HAL_GetTick (void) {
-  static uint32_t ticks = 0U;
-  uint32_t i;
-  if (osKernelGetState() == osKernelRunning) {
-    return (uint32_t)osKernelGetTickCount();
-  } 
-  /* If Kernel is not running wait approximately 1 ms then increment and return auxiliary tick counter value */
-  for (i = (SystemCoreClock >> 14U); i > 0U; i--) { __NOP(); __NOP(); __NOP(); __NOP(); __NOP(); __NOP(); __NOP(); __NOP(); __NOP(); __NOP(); __NOP(); __NOP(); }
-  return ++ticks;
-}
-
 void mx_init(void) {
   SystemClock_Config();
   MX_GPIO_Init();
@@ -310,6 +298,27 @@ static void MX_GPIO_Init(void)
 
 /* USER CODE END 4 */
 
+/**
+  * @brief  Period elapsed callback in non blocking mode
+  * @note   This function is called  when TIM6 interrupt took place, inside
+  * HAL_TIM_IRQHandler(). It makes a direct call to HAL_IncTick() to increment
+  * a global variable "uwTick" used as application time base.
+  * @param  htim : TIM handle
+  * @retval None
+  */
+void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
+{
+  /* USER CODE BEGIN Callback 0 */
+
+  /* USER CODE END Callback 0 */
+  if (htim->Instance == TIM6) {
+    HAL_IncTick();
+  }
+  /* USER CODE BEGIN Callback 1 */
+
+  /* USER CODE END Callback 1 */
+}
+
 /**
   * @brief  This function is executed in case of error occurrence.
   * @retval None
diff --git a/examples/stm32/nucleo-f746zg-keil-rtx5-mdk/RTE/Device/STM32F746ZGTx/STCubeGenerated/Src/stm32f7xx_hal_timebase_tim.c b/examples/stm32/nucleo-f746zg-keil-rtx5-mdk/RTE/Device/STM32F746ZGTx/STCubeGenerated/Src/stm32f7xx_hal_timebase_tim.c
new file mode 100644
index 00000000..a4f3a4c1
--- /dev/null
+++ b/examples/stm32/nucleo-f746zg-keil-rtx5-mdk/RTE/Device/STM32F746ZGTx/STCubeGenerated/Src/stm32f7xx_hal_timebase_tim.c
@@ -0,0 +1,137 @@
+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file    stm32f7xx_hal_timebase_TIM.c
+  * @brief   HAL time base based on the hardware TIM.
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2023 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+/* USER CODE END Header */
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f7xx_hal.h"
+#include "stm32f7xx_hal_tim.h"
+
+/* Private typedef -----------------------------------------------------------*/
+/* Private define ------------------------------------------------------------*/
+/* Private macro -------------------------------------------------------------*/
+/* Private variables ---------------------------------------------------------*/
+TIM_HandleTypeDef        htim6;
+/* Private function prototypes -----------------------------------------------*/
+/* Private functions ---------------------------------------------------------*/
+
+/**
+  * @brief  This function configures the TIM6 as a time base source.
+  *         The time source is configured  to have 1ms time base with a dedicated
+  *         Tick interrupt priority.
+  * @note   This function is called  automatically at the beginning of program after
+  *         reset by HAL_Init() or at any time when clock is configured, by HAL_RCC_ClockConfig().
+  * @param  TickPriority: Tick interrupt priority.
+  * @retval HAL status
+  */
+HAL_StatusTypeDef HAL_InitTick(uint32_t TickPriority)
+{
+  RCC_ClkInitTypeDef    clkconfig;
+  uint32_t              uwTimclock, uwAPB1Prescaler = 0U;
+
+  uint32_t              uwPrescalerValue = 0U;
+  uint32_t              pFLatency;
+  HAL_StatusTypeDef     status;
+
+  /* Enable TIM6 clock */
+  __HAL_RCC_TIM6_CLK_ENABLE();
+
+  /* Get clock configuration */
+  HAL_RCC_GetClockConfig(&clkconfig, &pFLatency);
+
+  /* Get APB1 prescaler */
+  uwAPB1Prescaler = clkconfig.APB1CLKDivider;
+  /* Compute TIM6 clock */
+  if (uwAPB1Prescaler == RCC_HCLK_DIV1)
+  {
+    uwTimclock = HAL_RCC_GetPCLK1Freq();
+  }
+  else
+  {
+    uwTimclock = 2UL * HAL_RCC_GetPCLK1Freq();
+  }
+
+  /* Compute the prescaler value to have TIM6 counter clock equal to 1MHz */
+  uwPrescalerValue = (uint32_t) ((uwTimclock / 1000000U) - 1U);
+
+  /* Initialize TIM6 */
+  htim6.Instance = TIM6;
+
+  /* Initialize TIMx peripheral as follow:
+
+  + Period = [(TIM6CLK/1000) - 1]. to have a (1/1000) s time base.
+  + Prescaler = (uwTimclock/1000000 - 1) to have a 1MHz counter clock.
+  + ClockDivision = 0
+  + Counter direction = Up
+  */
+  htim6.Init.Period = (1000000U / 1000U) - 1U;
+  htim6.Init.Prescaler = uwPrescalerValue;
+  htim6.Init.ClockDivision = 0;
+  htim6.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim6.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+
+  status = HAL_TIM_Base_Init(&htim6);
+  if (status == HAL_OK)
+  {
+    /* Start the TIM time Base generation in interrupt mode */
+    status = HAL_TIM_Base_Start_IT(&htim6);
+    if (status == HAL_OK)
+    {
+    /* Enable the TIM6 global Interrupt */
+        HAL_NVIC_EnableIRQ(TIM6_DAC_IRQn);
+      /* Configure the SysTick IRQ priority */
+      if (TickPriority < (1UL << __NVIC_PRIO_BITS))
+      {
+        /* Configure the TIM IRQ priority */
+        HAL_NVIC_SetPriority(TIM6_DAC_IRQn, TickPriority, 0U);
+        uwTickPrio = TickPriority;
+      }
+      else
+      {
+        status = HAL_ERROR;
+      }
+    }
+  }
+
+ /* Return function status */
+  return status;
+}
+
+/**
+  * @brief  Suspend Tick increment.
+  * @note   Disable the tick increment by disabling TIM6 update interrupt.
+  * @param  None
+  * @retval None
+  */
+void HAL_SuspendTick(void)
+{
+  /* Disable TIM6 update Interrupt */
+  __HAL_TIM_DISABLE_IT(&htim6, TIM_IT_UPDATE);
+}
+
+/**
+  * @brief  Resume Tick increment.
+  * @note   Enable the tick increment by Enabling TIM6 update interrupt.
+  * @param  None
+  * @retval None
+  */
+void HAL_ResumeTick(void)
+{
+  /* Enable TIM6 Update interrupt */
+  __HAL_TIM_ENABLE_IT(&htim6, TIM_IT_UPDATE);
+}
+
diff --git a/examples/stm32/nucleo-f746zg-keil-rtx5-mdk/RTE/Device/STM32F746ZGTx/STCubeGenerated/Src/stm32f7xx_it.c b/examples/stm32/nucleo-f746zg-keil-rtx5-mdk/RTE/Device/STM32F746ZGTx/STCubeGenerated/Src/stm32f7xx_it.c
index 6d94cff3..ba6f6981 100644
--- a/examples/stm32/nucleo-f746zg-keil-rtx5-mdk/RTE/Device/STM32F746ZGTx/STCubeGenerated/Src/stm32f7xx_it.c
+++ b/examples/stm32/nucleo-f746zg-keil-rtx5-mdk/RTE/Device/STM32F746ZGTx/STCubeGenerated/Src/stm32f7xx_it.c
@@ -55,6 +55,7 @@
 /* USER CODE END 0 */
 
 /* External variables --------------------------------------------------------*/
+extern TIM_HandleTypeDef htim6;
 
 /* USER CODE BEGIN EV */
 
@@ -158,6 +159,20 @@ void DebugMon_Handler(void)
 /* please refer to the startup file (startup_stm32f7xx.s).                    */
 /******************************************************************************/
 
+/**
+  * @brief This function handles TIM6 global interrupt, DAC1 and DAC2 underrun error interrupts.
+  */
+void TIM6_DAC_IRQHandler(void)
+{
+  /* USER CODE BEGIN TIM6_DAC_IRQn 0 */
+
+  /* USER CODE END TIM6_DAC_IRQn 0 */
+  HAL_TIM_IRQHandler(&htim6);
+  /* USER CODE BEGIN TIM6_DAC_IRQn 1 */
+
+  /* USER CODE END TIM6_DAC_IRQn 1 */
+}
+
 /* USER CODE BEGIN 1 */
 
 /* USER CODE END 1 */
diff --git a/examples/stm32/nucleo-f746zg-keil-rtx5-mdk/RTE/_Target_1/RTE_Components.h b/examples/stm32/nucleo-f746zg-keil-rtx5-mdk/RTE/_Target_1/RTE_Components.h
index a795d9d1..02251248 100644
--- a/examples/stm32/nucleo-f746zg-keil-rtx5-mdk/RTE/_Target_1/RTE_Components.h
+++ b/examples/stm32/nucleo-f746zg-keil-rtx5-mdk/RTE/_Target_1/RTE_Components.h
@@ -57,6 +57,8 @@
 #define RTE_DEVICE_HAL_RCC
 /* Keil::Device:STM32Cube HAL:RNG:1.3.0 */
 #define RTE_DEVICE_HAL_RNG
+/* Keil::Device:STM32Cube HAL:TIM:1.3.0 */
+#define RTE_DEVICE_HAL_TIM
 /* Keil::Device:STM32Cube HAL:UART:1.3.0 */
 #define RTE_DEVICE_HAL_UART
 /* Keil::Device:Startup:1.2.5 */
diff --git a/examples/stm32/nucleo-f746zg-keil-rtx5-mdk/device-dashboard.uvoptx b/examples/stm32/nucleo-f746zg-keil-rtx5-mdk/device-dashboard.uvoptx
index fce7d8d7..68f145cb 100644
--- a/examples/stm32/nucleo-f746zg-keil-rtx5-mdk/device-dashboard.uvoptx
+++ b/examples/stm32/nucleo-f746zg-keil-rtx5-mdk/device-dashboard.uvoptx
@@ -365,7 +365,7 @@
 
   <Group>
     <GroupName>::CMSIS Driver</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>1</RteFlg>
@@ -381,7 +381,7 @@
 
   <Group>
     <GroupName>::Device</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>1</RteFlg>
diff --git a/examples/stm32/nucleo-f746zg-keil-rtx5-mdk/device-dashboard.uvprojx b/examples/stm32/nucleo-f746zg-keil-rtx5-mdk/device-dashboard.uvprojx
index e1bf39ff..f66fcafa 100644
--- a/examples/stm32/nucleo-f746zg-keil-rtx5-mdk/device-dashboard.uvprojx
+++ b/examples/stm32/nucleo-f746zg-keil-rtx5-mdk/device-dashboard.uvprojx
@@ -602,6 +602,12 @@
           <targetInfo name="Target 1"/>
         </targetInfos>
       </component>
+      <component Cclass="Device" Cgroup="STM32Cube HAL" Csub="TIM" Cvendor="Keil" Cversion="1.3.0" condition="STM32F7 HAL DMA">
+        <package name="STM32F7xx_DFP" schemaVersion="1.7.7" url="https://www.keil.com/pack/" vendor="Keil" version="2.15.1"/>
+        <targetInfos>
+          <targetInfo name="Target 1"/>
+        </targetInfos>
+      </component>
       <component Cclass="Device" Cgroup="STM32Cube HAL" Csub="UART" Cvendor="Keil" Cversion="1.3.0" condition="STM32F7 HAL DMA">
         <package name="STM32F7xx_DFP" schemaVersion="1.7.7" url="https://www.keil.com/pack/" vendor="Keil" version="2.15.1"/>
         <targetInfos>
diff --git a/examples/stm32/nucleo-f746zg-keil-rtx5/RTE/Device/STM32F746ZGTx/FrameworkCubeMX.gpdsc b/examples/stm32/nucleo-f746zg-keil-rtx5/RTE/Device/STM32F746ZGTx/FrameworkCubeMX.gpdsc
index 452ec77e..25595316 100644
--- a/examples/stm32/nucleo-f746zg-keil-rtx5/RTE/Device/STM32F746ZGTx/FrameworkCubeMX.gpdsc
+++ b/examples/stm32/nucleo-f746zg-keil-rtx5/RTE/Device/STM32F746ZGTx/FrameworkCubeMX.gpdsc
@@ -1,7 +1,7 @@
 <?xml version="1.0" encoding="UTF-8" standalone="no"?>
 <!-- ******************************************************************************
  * File Name   : FrameworkCubeMX.gpdsc
- * Date        : 14/03/2023 13:35:04
+ * Date        : 05/05/2023 17:33:46
  * Description : Generator PDSC File generated by STM32CubeMX (DO NOT EDIT!)
  ****************************************************************************** -->
 
@@ -12,7 +12,7 @@
   <url>project-path</url>
   <releases>
     <release version="1.0.0">
-     - Generated: 14/03/2023 13:35:04
+     - Generated: 05/05/2023 17:33:46
     </release>
   </releases>
   <generators>
@@ -44,6 +44,7 @@
       <require Cclass="Device" Cgroup="STM32Cube HAL" Csub="ETH"/>
       <require Cclass="Device" Cgroup="STM32Cube HAL" Csub="RNG"/>
       <require Cclass="Device" Cgroup="STM32Cube HAL" Csub="UART"/>
+      <require Cclass="Device" Cgroup="STM32Cube HAL" Csub="TIM"/>
     </condition>
   </conditions>
   <components>
@@ -56,6 +57,7 @@
         <file category="header" name="MX_Device.h"/>
         <file category="header" name="STCubeGenerated/Inc/stm32f7xx_hal_conf.h"/>
         <file category="source" name="STCubeGenerated/Src/stm32f7xx_hal_msp.c"/>
+        <file category="source" name="STCubeGenerated/Src/stm32f7xx_hal_timebase_tim.c"/>
       </files>
     </component>
   </components>
diff --git a/examples/stm32/nucleo-f746zg-keil-rtx5/RTE/Device/STM32F746ZGTx/MX_Device.h b/examples/stm32/nucleo-f746zg-keil-rtx5/RTE/Device/STM32F746ZGTx/MX_Device.h
index 371261ff..84934f9f 100644
--- a/examples/stm32/nucleo-f746zg-keil-rtx5/RTE/Device/STM32F746ZGTx/MX_Device.h
+++ b/examples/stm32/nucleo-f746zg-keil-rtx5/RTE/Device/STM32F746ZGTx/MX_Device.h
@@ -1,6 +1,6 @@
 /******************************************************************************
  * File Name   : MX_Device.h
- * Date        : 14/03/2023 13:35:04
+ * Date        : 05/05/2023 17:33:47
  * Description : STM32Cube MX parameter definitions
  * Note        : This file is generated by STM32CubeMX (DO NOT EDIT!)
  ******************************************************************************/
diff --git a/examples/stm32/nucleo-f746zg-keil-rtx5/RTE/Device/STM32F746ZGTx/STCubeGenerated/.mxproject b/examples/stm32/nucleo-f746zg-keil-rtx5/RTE/Device/STM32F746ZGTx/STCubeGenerated/.mxproject
index 6b12af56..04eb904e 100644
--- a/examples/stm32/nucleo-f746zg-keil-rtx5/RTE/Device/STM32F746ZGTx/STCubeGenerated/.mxproject
+++ b/examples/stm32/nucleo-f746zg-keil-rtx5/RTE/Device/STM32F746ZGTx/STCubeGenerated/.mxproject
@@ -8,5 +8,5 @@ SourceFiles=;;
 HeaderPath=..\Inc
 HeaderFiles=stm32f7xx_it.h;stm32f7xx_hal_conf.h;main.h;
 SourcePath=..\Src
-SourceFiles=stm32f7xx_it.c;stm32f7xx_hal_msp.c;main.c;
+SourceFiles=stm32f7xx_it.c;stm32f7xx_hal_msp.c;stm32f7xx_hal_timebase_tim.c;main.c;
 
diff --git a/examples/stm32/nucleo-f746zg-keil-rtx5/RTE/Device/STM32F746ZGTx/STCubeGenerated/Inc/stm32f7xx_hal_conf.h b/examples/stm32/nucleo-f746zg-keil-rtx5/RTE/Device/STM32F746ZGTx/STCubeGenerated/Inc/stm32f7xx_hal_conf.h
index f91ee4f8..eeeffc81 100644
--- a/examples/stm32/nucleo-f746zg-keil-rtx5/RTE/Device/STM32F746ZGTx/STCubeGenerated/Inc/stm32f7xx_hal_conf.h
+++ b/examples/stm32/nucleo-f746zg-keil-rtx5/RTE/Device/STM32F746ZGTx/STCubeGenerated/Inc/stm32f7xx_hal_conf.h
@@ -64,7 +64,7 @@
 /* #define HAL_MMC_MODULE_ENABLED */
 /* #define HAL_SPDIFRX_MODULE_ENABLED */
 /* #define HAL_SPI_MODULE_ENABLED */
-/* #define HAL_TIM_MODULE_ENABLED */
+#define HAL_TIM_MODULE_ENABLED
 #define HAL_UART_MODULE_ENABLED
 /* #define HAL_USART_MODULE_ENABLED */
 /* #define HAL_IRDA_MODULE_ENABLED */
diff --git a/examples/stm32/nucleo-f746zg-keil-rtx5/RTE/Device/STM32F746ZGTx/STCubeGenerated/Inc/stm32f7xx_it.h b/examples/stm32/nucleo-f746zg-keil-rtx5/RTE/Device/STM32F746ZGTx/STCubeGenerated/Inc/stm32f7xx_it.h
index 12b9054a..e6b69435 100644
--- a/examples/stm32/nucleo-f746zg-keil-rtx5/RTE/Device/STM32F746ZGTx/STCubeGenerated/Inc/stm32f7xx_it.h
+++ b/examples/stm32/nucleo-f746zg-keil-rtx5/RTE/Device/STM32F746ZGTx/STCubeGenerated/Inc/stm32f7xx_it.h
@@ -52,6 +52,7 @@ void MemManage_Handler(void);
 void BusFault_Handler(void);
 void UsageFault_Handler(void);
 void DebugMon_Handler(void);
+void TIM6_DAC_IRQHandler(void);
 /* USER CODE BEGIN EFP */
 
 /* USER CODE END EFP */
diff --git a/examples/stm32/nucleo-f746zg-keil-rtx5/RTE/Device/STM32F746ZGTx/STCubeGenerated/STCubeGenerated.ioc b/examples/stm32/nucleo-f746zg-keil-rtx5/RTE/Device/STM32F746ZGTx/STCubeGenerated/STCubeGenerated.ioc
index e5edcc6d..11c4940d 100644
--- a/examples/stm32/nucleo-f746zg-keil-rtx5/RTE/Device/STM32F746ZGTx/STCubeGenerated/STCubeGenerated.ioc
+++ b/examples/stm32/nucleo-f746zg-keil-rtx5/RTE/Device/STM32F746ZGTx/STCubeGenerated/STCubeGenerated.ioc
@@ -24,7 +24,7 @@ Mcu.Pin1=PA1
 Mcu.Pin10=PG13
 Mcu.Pin11=PB7
 Mcu.Pin12=VP_RNG_VS_RNG
-Mcu.Pin13=VP_SYS_VS_Systick
+Mcu.Pin13=VP_SYS_VS_tim6
 Mcu.Pin2=PA2
 Mcu.Pin3=PA7
 Mcu.Pin4=PC4
@@ -50,6 +50,9 @@ NVIC.PendSV_IRQn=true\:0\:0\:false\:false\:false\:false\:false\:false
 NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
 NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:false\:false\:false\:false
 NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:false\:false\:true\:false
+NVIC.TIM6_DAC_IRQn=true\:15\:0\:false\:false\:true\:false\:true\:true
+NVIC.TimeBase=TIM6_DAC_IRQn
+NVIC.TimeBaseIP=TIM6
 NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 PA1.Mode=RMII
 PA1.Signal=ETH_REF_CLK
@@ -173,6 +176,6 @@ USART3.IPParameters=VirtualMode-Asynchronous
 USART3.VirtualMode-Asynchronous=VM_ASYNC
 VP_RNG_VS_RNG.Mode=RNG_Activate
 VP_RNG_VS_RNG.Signal=RNG_VS_RNG
-VP_SYS_VS_Systick.Mode=SysTick
-VP_SYS_VS_Systick.Signal=SYS_VS_Systick
+VP_SYS_VS_tim6.Mode=TIM6
+VP_SYS_VS_tim6.Signal=SYS_VS_tim6
 board=custom
diff --git a/examples/stm32/nucleo-f746zg-keil-rtx5/RTE/Device/STM32F746ZGTx/STCubeGenerated/Src/main.c b/examples/stm32/nucleo-f746zg-keil-rtx5/RTE/Device/STM32F746ZGTx/STCubeGenerated/Src/main.c
index 22cdc9b7..cc451be4 100644
--- a/examples/stm32/nucleo-f746zg-keil-rtx5/RTE/Device/STM32F746ZGTx/STCubeGenerated/Src/main.c
+++ b/examples/stm32/nucleo-f746zg-keil-rtx5/RTE/Device/STM32F746ZGTx/STCubeGenerated/Src/main.c
@@ -84,18 +84,6 @@ static void MX_RNG_Init(void);
 /* Private user code ---------------------------------------------------------*/
 /* USER CODE BEGIN 0 */
 
-// https://www.keil.com/pack/doc/STM32Cube/html/cubemx_using.html
-uint32_t HAL_GetTick (void) {
-  static uint32_t ticks = 0U;
-  uint32_t i;
-  if (osKernelGetState() == osKernelRunning) {
-    return (uint32_t)osKernelGetTickCount();
-  } 
-  /* If Kernel is not running wait approximately 1 ms then increment and return auxiliary tick counter value */
-  for (i = (SystemCoreClock >> 14U); i > 0U; i--) { __NOP(); __NOP(); __NOP(); __NOP(); __NOP(); __NOP(); __NOP(); __NOP(); __NOP(); __NOP(); __NOP(); __NOP(); }
-  return ++ticks;
-}
-
 void mx_init(void) {
   SystemClock_Config();
   MX_GPIO_Init();
@@ -310,6 +298,27 @@ static void MX_GPIO_Init(void)
 
 /* USER CODE END 4 */
 
+/**
+  * @brief  Period elapsed callback in non blocking mode
+  * @note   This function is called  when TIM6 interrupt took place, inside
+  * HAL_TIM_IRQHandler(). It makes a direct call to HAL_IncTick() to increment
+  * a global variable "uwTick" used as application time base.
+  * @param  htim : TIM handle
+  * @retval None
+  */
+void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
+{
+  /* USER CODE BEGIN Callback 0 */
+
+  /* USER CODE END Callback 0 */
+  if (htim->Instance == TIM6) {
+    HAL_IncTick();
+  }
+  /* USER CODE BEGIN Callback 1 */
+
+  /* USER CODE END Callback 1 */
+}
+
 /**
   * @brief  This function is executed in case of error occurrence.
   * @retval None
diff --git a/examples/stm32/nucleo-f746zg-keil-rtx5/RTE/Device/STM32F746ZGTx/STCubeGenerated/Src/stm32f7xx_hal_timebase_tim.c b/examples/stm32/nucleo-f746zg-keil-rtx5/RTE/Device/STM32F746ZGTx/STCubeGenerated/Src/stm32f7xx_hal_timebase_tim.c
new file mode 100644
index 00000000..a4f3a4c1
--- /dev/null
+++ b/examples/stm32/nucleo-f746zg-keil-rtx5/RTE/Device/STM32F746ZGTx/STCubeGenerated/Src/stm32f7xx_hal_timebase_tim.c
@@ -0,0 +1,137 @@
+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file    stm32f7xx_hal_timebase_TIM.c
+  * @brief   HAL time base based on the hardware TIM.
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2023 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+/* USER CODE END Header */
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f7xx_hal.h"
+#include "stm32f7xx_hal_tim.h"
+
+/* Private typedef -----------------------------------------------------------*/
+/* Private define ------------------------------------------------------------*/
+/* Private macro -------------------------------------------------------------*/
+/* Private variables ---------------------------------------------------------*/
+TIM_HandleTypeDef        htim6;
+/* Private function prototypes -----------------------------------------------*/
+/* Private functions ---------------------------------------------------------*/
+
+/**
+  * @brief  This function configures the TIM6 as a time base source.
+  *         The time source is configured  to have 1ms time base with a dedicated
+  *         Tick interrupt priority.
+  * @note   This function is called  automatically at the beginning of program after
+  *         reset by HAL_Init() or at any time when clock is configured, by HAL_RCC_ClockConfig().
+  * @param  TickPriority: Tick interrupt priority.
+  * @retval HAL status
+  */
+HAL_StatusTypeDef HAL_InitTick(uint32_t TickPriority)
+{
+  RCC_ClkInitTypeDef    clkconfig;
+  uint32_t              uwTimclock, uwAPB1Prescaler = 0U;
+
+  uint32_t              uwPrescalerValue = 0U;
+  uint32_t              pFLatency;
+  HAL_StatusTypeDef     status;
+
+  /* Enable TIM6 clock */
+  __HAL_RCC_TIM6_CLK_ENABLE();
+
+  /* Get clock configuration */
+  HAL_RCC_GetClockConfig(&clkconfig, &pFLatency);
+
+  /* Get APB1 prescaler */
+  uwAPB1Prescaler = clkconfig.APB1CLKDivider;
+  /* Compute TIM6 clock */
+  if (uwAPB1Prescaler == RCC_HCLK_DIV1)
+  {
+    uwTimclock = HAL_RCC_GetPCLK1Freq();
+  }
+  else
+  {
+    uwTimclock = 2UL * HAL_RCC_GetPCLK1Freq();
+  }
+
+  /* Compute the prescaler value to have TIM6 counter clock equal to 1MHz */
+  uwPrescalerValue = (uint32_t) ((uwTimclock / 1000000U) - 1U);
+
+  /* Initialize TIM6 */
+  htim6.Instance = TIM6;
+
+  /* Initialize TIMx peripheral as follow:
+
+  + Period = [(TIM6CLK/1000) - 1]. to have a (1/1000) s time base.
+  + Prescaler = (uwTimclock/1000000 - 1) to have a 1MHz counter clock.
+  + ClockDivision = 0
+  + Counter direction = Up
+  */
+  htim6.Init.Period = (1000000U / 1000U) - 1U;
+  htim6.Init.Prescaler = uwPrescalerValue;
+  htim6.Init.ClockDivision = 0;
+  htim6.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim6.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+
+  status = HAL_TIM_Base_Init(&htim6);
+  if (status == HAL_OK)
+  {
+    /* Start the TIM time Base generation in interrupt mode */
+    status = HAL_TIM_Base_Start_IT(&htim6);
+    if (status == HAL_OK)
+    {
+    /* Enable the TIM6 global Interrupt */
+        HAL_NVIC_EnableIRQ(TIM6_DAC_IRQn);
+      /* Configure the SysTick IRQ priority */
+      if (TickPriority < (1UL << __NVIC_PRIO_BITS))
+      {
+        /* Configure the TIM IRQ priority */
+        HAL_NVIC_SetPriority(TIM6_DAC_IRQn, TickPriority, 0U);
+        uwTickPrio = TickPriority;
+      }
+      else
+      {
+        status = HAL_ERROR;
+      }
+    }
+  }
+
+ /* Return function status */
+  return status;
+}
+
+/**
+  * @brief  Suspend Tick increment.
+  * @note   Disable the tick increment by disabling TIM6 update interrupt.
+  * @param  None
+  * @retval None
+  */
+void HAL_SuspendTick(void)
+{
+  /* Disable TIM6 update Interrupt */
+  __HAL_TIM_DISABLE_IT(&htim6, TIM_IT_UPDATE);
+}
+
+/**
+  * @brief  Resume Tick increment.
+  * @note   Enable the tick increment by Enabling TIM6 update interrupt.
+  * @param  None
+  * @retval None
+  */
+void HAL_ResumeTick(void)
+{
+  /* Enable TIM6 Update interrupt */
+  __HAL_TIM_ENABLE_IT(&htim6, TIM_IT_UPDATE);
+}
+
diff --git a/examples/stm32/nucleo-f746zg-keil-rtx5/RTE/Device/STM32F746ZGTx/STCubeGenerated/Src/stm32f7xx_it.c b/examples/stm32/nucleo-f746zg-keil-rtx5/RTE/Device/STM32F746ZGTx/STCubeGenerated/Src/stm32f7xx_it.c
index 6d94cff3..ba6f6981 100644
--- a/examples/stm32/nucleo-f746zg-keil-rtx5/RTE/Device/STM32F746ZGTx/STCubeGenerated/Src/stm32f7xx_it.c
+++ b/examples/stm32/nucleo-f746zg-keil-rtx5/RTE/Device/STM32F746ZGTx/STCubeGenerated/Src/stm32f7xx_it.c
@@ -55,6 +55,7 @@
 /* USER CODE END 0 */
 
 /* External variables --------------------------------------------------------*/
+extern TIM_HandleTypeDef htim6;
 
 /* USER CODE BEGIN EV */
 
@@ -158,6 +159,20 @@ void DebugMon_Handler(void)
 /* please refer to the startup file (startup_stm32f7xx.s).                    */
 /******************************************************************************/
 
+/**
+  * @brief This function handles TIM6 global interrupt, DAC1 and DAC2 underrun error interrupts.
+  */
+void TIM6_DAC_IRQHandler(void)
+{
+  /* USER CODE BEGIN TIM6_DAC_IRQn 0 */
+
+  /* USER CODE END TIM6_DAC_IRQn 0 */
+  HAL_TIM_IRQHandler(&htim6);
+  /* USER CODE BEGIN TIM6_DAC_IRQn 1 */
+
+  /* USER CODE END TIM6_DAC_IRQn 1 */
+}
+
 /* USER CODE BEGIN 1 */
 
 /* USER CODE END 1 */
diff --git a/examples/stm32/nucleo-f746zg-keil-rtx5/RTE/_Target_1/RTE_Components.h b/examples/stm32/nucleo-f746zg-keil-rtx5/RTE/_Target_1/RTE_Components.h
index f771b6b8..61456aa3 100644
--- a/examples/stm32/nucleo-f746zg-keil-rtx5/RTE/_Target_1/RTE_Components.h
+++ b/examples/stm32/nucleo-f746zg-keil-rtx5/RTE/_Target_1/RTE_Components.h
@@ -40,6 +40,8 @@
 #define RTE_DEVICE_HAL_RCC
 /* Keil::Device:STM32Cube HAL:RNG:1.3.0 */
 #define RTE_DEVICE_HAL_RNG
+/* Keil::Device:STM32Cube HAL:TIM:1.3.0 */
+#define RTE_DEVICE_HAL_TIM
 /* Keil::Device:STM32Cube HAL:UART:1.3.0 */
 #define RTE_DEVICE_HAL_UART
 /* Keil::Device:Startup:1.2.5 */
diff --git a/examples/stm32/nucleo-f746zg-keil-rtx5/device-dashboard.uvprojx b/examples/stm32/nucleo-f746zg-keil-rtx5/device-dashboard.uvprojx
index d3b86536..9c618447 100644
--- a/examples/stm32/nucleo-f746zg-keil-rtx5/device-dashboard.uvprojx
+++ b/examples/stm32/nucleo-f746zg-keil-rtx5/device-dashboard.uvprojx
@@ -542,6 +542,12 @@
           <targetInfo name="Target 1"/>
         </targetInfos>
       </component>
+      <component Cclass="Device" Cgroup="STM32Cube HAL" Csub="TIM" Cvendor="Keil" Cversion="1.3.0" condition="STM32F7 HAL DMA">
+        <package name="STM32F7xx_DFP" schemaVersion="1.7.7" url="https://www.keil.com/pack/" vendor="Keil" version="2.15.1"/>
+        <targetInfos>
+          <targetInfo name="Target 1"/>
+        </targetInfos>
+      </component>
       <component Cclass="Device" Cgroup="STM32Cube HAL" Csub="UART" Cvendor="Keil" Cversion="1.3.0" condition="STM32F7 HAL DMA">
         <package name="STM32F7xx_DFP" schemaVersion="1.7.7" url="https://www.keil.com/pack/" vendor="Keil" version="2.15.1"/>
         <targetInfos>
diff --git a/test/keil/Clean b/test/keil/Clean
new file mode 100644
index 00000000..5d1c13fd
--- /dev/null
+++ b/test/keil/Clean
@@ -0,0 +1,12 @@
+# Do NOT use parenthesis on Windows project dir names
+PROJECTS ?= $(wildcard ../../examples/stm32/nucleo-*-keil-*)
+
+MAKEFILEPATH := $(dir $(word $(words $(MAKEFILE_LIST)),$(MAKEFILE_LIST)))
+BATPATH := $(subst /,\,$(MAKEFILEPATH))
+
+all: $(PROJECTS)
+	
+$(PROJECTS): FORCE
+	$(BATPATH)uniclean.bat $(subst /,\,$@)
+
+FORCE:
diff --git a/test/keil/uniclean.bat b/test/keil/uniclean.bat
new file mode 100644
index 00000000..5a57fb09
--- /dev/null
+++ b/test/keil/uniclean.bat
@@ -0,0 +1,6 @@
+cd %*
+C:\Keil_v5\UV4\UV4.exe -c device-dashboard.uvprojx -j0
+del /S /Q DebugConfig Listings Objects
+rd /S /Q DebugConfig
+rd /S /Q Listings
+rd /S /Q Objects