diff --git a/libraries/AP_HAL_ChibiOS/RCOutput.cpp b/libraries/AP_HAL_ChibiOS/RCOutput.cpp
index 1817c3e681..4c995188b6 100644
--- a/libraries/AP_HAL_ChibiOS/RCOutput.cpp
+++ b/libraries/AP_HAL_ChibiOS/RCOutput.cpp
@@ -1535,16 +1535,15 @@ void RCOutput::dma_deallocate(Shared_DMA *ctx)
     for (auto &group : pwm_group_list) {
         if (group.dma_handle == ctx && group.dma != nullptr) {
             chSysLock();
+            dmaStreamFreeI(group.dma);
 #if defined(STM32F1)
             // leaving the peripheral running on IOMCU plays havoc with the UART that is
             // also sharing this channel, we only turn it off rather than resetting so
             // that we don't have to worry about line modes etc
             if (group.pwm_started && group.dma_handle->is_shared()) {
-                group.pwm_drv->tim->CR1   = 0;
-                group.pwm_drv->tim->DIER  = 0;
+                bdshot_disable_pwm_f1(group);
             }
 #endif
-            dmaStreamFreeI(group.dma);
             group.dma = nullptr;
             chSysUnlock();
         }
diff --git a/libraries/AP_HAL_ChibiOS/RCOutput.h b/libraries/AP_HAL_ChibiOS/RCOutput.h
index 8fbfa6615b..0bf7bcd1c6 100644
--- a/libraries/AP_HAL_ChibiOS/RCOutput.h
+++ b/libraries/AP_HAL_ChibiOS/RCOutput.h
@@ -725,6 +725,7 @@ private:
     static void bdshot_receive_pulses_DMAR_f1(pwm_group* group);
     static void bdshot_reset_pwm(pwm_group& group, uint8_t telem_channel);
     static void bdshot_reset_pwm_f1(pwm_group& group, uint8_t telem_channel);
+    static void bdshot_disable_pwm_f1(pwm_group& group);
     static void bdshot_config_icu_dshot(stm32_tim_t* TIMx, uint8_t chan, uint8_t ccr_ch);
     static void bdshot_config_icu_dshot_f1(stm32_tim_t* TIMx, uint8_t chan, uint8_t ccr_ch);
     static uint32_t bdshot_get_output_rate_hz(const enum output_mode mode);
diff --git a/libraries/AP_HAL_ChibiOS/RCOutput_bdshot.cpp b/libraries/AP_HAL_ChibiOS/RCOutput_bdshot.cpp
index 7d4002cc23..d0badaa021 100644
--- a/libraries/AP_HAL_ChibiOS/RCOutput_bdshot.cpp
+++ b/libraries/AP_HAL_ChibiOS/RCOutput_bdshot.cpp
@@ -230,6 +230,11 @@ void RCOutput::bdshot_ic_dma_deallocate(Shared_DMA *ctx)
             chSysLock();
             if (group.bdshot.ic_dma_handle[icuch] == ctx && group.bdshot.ic_dma[icuch] != nullptr) {
                 dmaStreamFreeI(group.bdshot.ic_dma[icuch]);
+#if defined(STM32F1)
+                if (group.bdshot.ic_dma_handle[icuch]->is_shared()) {
+                    bdshot_disable_pwm_f1(group);
+                }
+#endif
                 group.bdshot.ic_dma[icuch] = nullptr;
             }
             chSysUnlock();
diff --git a/libraries/AP_HAL_ChibiOS/RCOutput_iofirmware.cpp b/libraries/AP_HAL_ChibiOS/RCOutput_iofirmware.cpp
index c8d535dc5b..645e77906c 100644
--- a/libraries/AP_HAL_ChibiOS/RCOutput_iofirmware.cpp
+++ b/libraries/AP_HAL_ChibiOS/RCOutput_iofirmware.cpp
@@ -134,6 +134,22 @@ void RCOutput::rcout_thread() {
     }
 }
 
+#if defined(STM32F1)
+void RCOutput::bdshot_disable_pwm_f1(pwm_group& group)
+{
+    stm32_tim_t* TIMx = group.pwm_drv->tim;
+    // pwmStop sets these
+    TIMx->CR1  = 0;                    /* Timer disabled.              */
+    TIMx->DIER = 0;                    /* All IRQs disabled.           */
+    TIMx->SR   = 0;                    /* Clear eventual pending IRQs. */
+    TIMx->CNT  = 0;
+    TIMx->CCR[0] = 0;                  /* Comparator 1 disabled.       */
+    TIMx->CCR[1] = 0;                  /* Comparator 2 disabled.       */
+    TIMx->CCR[2] = 0;                  /* Comparator 3 disabled.       */
+    TIMx->CCR[3] = 0;                  /* Comparator 4 disabled.       */
+}
+#endif
+
 #if defined(HAL_WITH_BIDIR_DSHOT) && defined(STM32F1)
 // reset pwm driver to output mode without resetting the clock or the peripheral
 // the code here is the equivalent of pwmStart()/pwmStop()
@@ -142,15 +158,8 @@ void RCOutput::bdshot_reset_pwm_f1(pwm_group& group, uint8_t telem_channel)
     osalSysLock();
 
     stm32_tim_t* TIMx = group.pwm_drv->tim;
-    // pwmStop sets these
-    TIMx->CR1  = 0;                    /* Timer disabled.              */
-    TIMx->DIER = 0;                    /* All IRQs disabled.           */
-    TIMx->SR   = 0;                    /* Clear eventual pending IRQs. */
-    TIMx->CNT = 0;
-    TIMx->CCR[0] = 0;                  /* Comparator 1 disabled.       */
-    TIMx->CCR[1] = 0;                  /* Comparator 2 disabled.       */
-    TIMx->CCR[2] = 0;                  /* Comparator 3 disabled.       */
-    TIMx->CCR[3] = 0;                  /* Comparator 4 disabled.       */
+    bdshot_disable_pwm_f1(group);
+
     // at the point this is called we will have done input capture on two CC channels
     // we need to switch those channels back to output and the default settings
     // all other channels will not have been modified