diff --git a/libraries/AP_HAL_ChibiOS/hwdef/common/hrt.c b/libraries/AP_HAL_ChibiOS/hwdef/common/hrt.c
index 6c481475da..f99110f080 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/common/hrt.c
+++ b/libraries/AP_HAL_ChibiOS/hwdef/common/hrt.c
@@ -37,7 +37,7 @@
   boot in microseconds, and which wraps at 0xFFFFFFFF.
 
   On top of this base function we build get_systime_us32() which has
-  the same property, but which also maintains timer_base_us64 to allow
+  the same property, but which allows for a startup offset
   for micros64()
 */
 
@@ -68,48 +68,84 @@ static uint32_t system_time_u32_us(void)
 #error "unsupported timer resolution"
 #endif
 
-// offset for micros64()
-static uint64_t timer_base_us64;
-
 static uint32_t get_systime_us32(void)
 {
-    static uint32_t last_us32;
     uint32_t now = system_time_u32_us();
 #ifdef AP_BOARD_START_TIME
     now += AP_BOARD_START_TIME;
 #endif
-    if (now < last_us32) {
-        const uint64_t dt_us = 0x100000000ULL;
-        timer_base_us64 += dt_us;
-    }
-    last_us32 = now;
     return now;
 }
 
 /*
-  for the exposed functions we use chSysGetStatusAndLockX() to prevent
-  an interrupt changing the globals while allowing this call from any
-  context
+  for the exposed functions we use chVTGetTimeStampI which handles
+  wrap and directly gives a uint64_t (aka systimestamp_t)
 */
 
+uint64_t hrt_micros64I()
+{
+#ifdef AP_BOARD_START_TIME
+    return chVTGetTimeStampI() + AP_BOARD_START_TIME;
+#endif
+    return chVTGetTimeStampI();
+}
+
+static inline bool is_locked(void) {
+    return !port_irq_enabled(port_get_irq_status());
+}
+
 uint64_t hrt_micros64()
 {
-    syssts_t sts = chSysGetStatusAndLockX();
-    uint32_t now = get_systime_us32();
-    uint64_t ret = timer_base_us64 + now;
-    chSysRestoreStatusX(sts);
-    return ret;
+    if (is_locked()) {
+        return chVTGetTimeStampI();
+    } else if (port_is_isr_context()) {
+        uint64_t ret;
+        chSysLockFromISR();
+        ret = chVTGetTimeStampI();
+        chSysUnlockFromISR();
+        return ret;
+    } else {
+        uint64_t ret;
+        chSysLock();
+        ret = chVTGetTimeStampI();
+        chSysUnlock();
+        return ret;
+    }
 }
 
 uint32_t hrt_micros32()
 {
-    syssts_t sts = chSysGetStatusAndLockX();
-    uint32_t ret = get_systime_us32();
-    chSysRestoreStatusX(sts);
-    return ret;
+#if CH_CFG_ST_RESOLUTION == 16
+    // boards with 16 bit timers need to call get_systime_us32() in a
+    // lock state because on those boards we have local static
+    // variables that need protection
+    if (is_locked()) {
+        return get_systime_us32();
+    } else if (port_is_isr_context()) {
+        uint32_t ret;
+        chSysLockFromISR();
+        ret = get_systime_us32();
+        chSysUnlockFromISR();
+        return ret;
+    } else {
+        uint32_t ret;
+        chSysLock();
+        ret = get_systime_us32();
+        chSysUnlock();
+        return ret;
+    }
+#else
+    return get_systime_us32();
+#endif
 }
 
+uint32_t hrt_millis64()
+{
+    return _hrt_div1000(hrt_micros64());
+}
+        
 uint32_t hrt_millis32()
 {
-    return (uint32_t)(hrt_micros64() / 1000U);
+    return (uint32_t)(hrt_millis64());
 }
+
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/common/hrt.h b/libraries/AP_HAL_ChibiOS/hwdef/common/hrt.h
index 9ecfd9a373..c11637ec12 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/common/hrt.h
+++ b/libraries/AP_HAL_ChibiOS/hwdef/common/hrt.h
@@ -4,10 +4,48 @@
 #ifdef __cplusplus
 extern "C" {
 #endif
+
 void hrt_init(void);
 uint64_t hrt_micros64(void);
+uint64_t hrt_micros64I(void); // from locked context
+uint64_t hrt_micros64_from_ISR(void); // from an ISR
 uint32_t hrt_micros32(void);
 uint32_t hrt_millis32(void);
+uint32_t hrt_millis32I(void); // from locked context
+uint32_t hrt_millis32_from_ISR(void); // from an ISR
+uint32_t hrt_millis64(void);
+
+/*
+  thanks to:
+  https://0x414b.com/2021/04/16/arm-division.html
+ */
+static inline uint64_t _hrt_umul64x64hi(uint32_t b, uint32_t a, uint32_t d, uint32_t c)
+{
+    __asm__ ("\n\
+umull   r4, r5, %[b], %[d]   \n\
+umull   %[d], r4, %[a], %[d]    \n\
+adds    r5, %[d]         \n\
+umull   %[d], %[a], %[a], %[c]  \n\
+adcs    r4, %[d]        \n\
+adc     %[a], #0        \n\
+umull   %[c], %[b], %[b], %[c]  \n\
+adds    r5, %[c]        \n\
+adcs    %[b], r4        \n\
+adc     %[a], #0        \n\
+"   : [a] "+r" (a), [b] "+r" (b), [c] "+r" (c), [d] "+r" (d) : : "r4", "r5");
+    return (uint64_t) a << 32 | b;
+}
+
+/*
+  return x / 1000
+  faster than the gcc implementation using _hrt_umul64x64hi() by about 3x
+*/
+static inline uint64_t _hrt_div1000(uint64_t x)
+{
+    x >>= 3U;
+    return _hrt_umul64x64hi((uint32_t)x, x >> 32U, 0xe353f7cfU, 0x20c49ba5U) >> 4U;
+}
+
 #ifdef __cplusplus
 }
 #endif
diff --git a/libraries/AP_HAL_ChibiOS/system.cpp b/libraries/AP_HAL_ChibiOS/system.cpp
index d58b069f7b..183484c428 100644
--- a/libraries/AP_HAL_ChibiOS/system.cpp
+++ b/libraries/AP_HAL_ChibiOS/system.cpp
@@ -30,6 +30,9 @@
 #include "hal.h"
 #include <hrt.h>
 
+// we rely on systimestamp_t for 64 bit timestamps
+static_assert(sizeof(uint64_t) == sizeof(systimestamp_t), "unexpected systimestamp_t size");
+
 #if CH_CFG_ST_RESOLUTION == 16
 static_assert(sizeof(systime_t) == 2, "expected 16 bit systime_t");
 #elif CH_CFG_ST_RESOLUTION == 32
@@ -385,7 +388,7 @@ __FASTRAMFUNC__ uint64_t micros64()
 
 __FASTRAMFUNC__ uint64_t millis64()
 {
-    return hrt_micros64() / 1000U;
+    return hrt_millis64();
 }