diff --git a/Tools/AP_Periph/AP_Periph.cpp b/Tools/AP_Periph/AP_Periph.cpp
index 47c1d80d94..c4f71cbdc3 100644
--- a/Tools/AP_Periph/AP_Periph.cpp
+++ b/Tools/AP_Periph/AP_Periph.cpp
@@ -284,7 +284,7 @@ void AP_Periph_FW::init()
 #if AP_SCRIPTING_ENABLED
     scripting.init();
 #endif
-    start_ms = AP_HAL::native_millis();
+    start_ms = AP_HAL::millis();
 }
 
 #if (defined(HAL_PERIPH_NEOPIXEL_COUNT_WITHOUT_NOTIFY) && HAL_PERIPH_NEOPIXEL_COUNT_WITHOUT_NOTIFY == 8) || defined(HAL_PERIPH_ENABLE_NOTIFY)
@@ -302,7 +302,7 @@ void AP_Periph_FW::update_rainbow()
     if (rainbow_done) {
         return;
     }
-    uint32_t now = AP_HAL::native_millis();
+    uint32_t now = AP_HAL::millis();
     if (now - start_ms > 1500) {
         rainbow_done = true;
 #if defined (HAL_PERIPH_ENABLE_NOTIFY)
@@ -386,7 +386,7 @@ void AP_Periph_FW::update()
 #endif
 
     static uint32_t last_led_ms;
-    uint32_t now = AP_HAL::native_millis();
+    uint32_t now = AP_HAL::millis();
     if (now - last_led_ms > 1000) {
         last_led_ms = now;
 #ifdef HAL_GPIO_PIN_LED
diff --git a/Tools/AP_Periph/can.cpp b/Tools/AP_Periph/can.cpp
index abc7b54e51..5dfc37c307 100644
--- a/Tools/AP_Periph/can.cpp
+++ b/Tools/AP_Periph/can.cpp
@@ -214,7 +214,7 @@ static void handle_get_node_info(CanardInstance* canard_instance,
     uint8_t buffer[UAVCAN_PROTOCOL_GETNODEINFO_RESPONSE_MAX_SIZE] {};
     uavcan_protocol_GetNodeInfoResponse pkt {};
 
-    node_status.uptime_sec = AP_HAL::native_millis() / 1000U;
+    node_status.uptime_sec = AP_HAL::millis() / 1000U;
 
     pkt.status = node_status;
     pkt.software_version.major = AP::fwversion().major;
@@ -492,7 +492,7 @@ static void handle_allocation_response(CanardInstance* canard_instance, CanardRx
 {
     // Rule C - updating the randomized time interval
     dronecan.send_next_node_id_allocation_request_at_ms =
-        AP_HAL::native_millis() + UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_MIN_REQUEST_PERIOD_MS +
+        AP_HAL::millis() + UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_MIN_REQUEST_PERIOD_MS +
         get_random_range(UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_MAX_FOLLOWUP_DELAY_MS);
 
     if (transfer->source_node_id == CANARD_BROADCAST_NODE_ID)
@@ -564,7 +564,7 @@ static void handle_beep_command(CanardInstance* canard_instance, CanardRxTransfe
         hal.rcout->init();
         hal.util->toneAlarm_init(AP_Notify::Notify_Buzz_Builtin);
     }
-    buzzer_start_ms = AP_HAL::native_millis();
+    buzzer_start_ms = AP_HAL::millis();
     buzzer_len_ms = req.duration*1000;
 #ifdef HAL_PERIPH_ENABLE_BUZZER_WITHOUT_NOTIFY
     float volume = constrain_float(periph.g.buzz_volume/100.0f, 0, 1);
@@ -580,7 +580,7 @@ static void handle_beep_command(CanardInstance* canard_instance, CanardRxTransfe
 static void can_buzzer_update(void)
 {
     if (buzzer_start_ms != 0) {
-        uint32_t now = AP_HAL::native_millis();
+        uint32_t now = AP_HAL::millis();
         if (now - buzzer_start_ms > buzzer_len_ms) {
             hal.util->toneAlarm_set_buzzer_tone(0, 0, 0);
             buzzer_start_ms = 0;
@@ -829,7 +829,7 @@ static void can_safety_LED_update(void)
         palWriteLine(HAL_GPIO_PIN_SAFE_LED, SAFE_LED_ON);
         break;
     case ARDUPILOT_INDICATION_SAFETYSTATE_STATUS_SAFETY_ON: {
-        uint32_t now = AP_HAL::native_millis();
+        uint32_t now = AP_HAL::millis();
         if (now - last_update_ms > 100) {
             last_update_ms = now;
             static uint8_t led_counter;
@@ -858,7 +858,7 @@ static void can_safety_button_update(void)
 {
     static uint32_t last_update_ms;
     static uint8_t counter;
-    uint32_t now = AP_HAL::native_millis();
+    uint32_t now = AP_HAL::millis();
     // send at 10Hz when pressed
     if (palReadLine(HAL_GPIO_PIN_SAFE_BUTTON) != HAL_SAFE_BUTTON_ON) {
         counter = 0;
@@ -1203,7 +1203,7 @@ static void processTx(void)
 #endif
         // push message with 1s timeout
         bool sent = true;
-        const uint64_t deadline = AP_HAL::native_micros64() + 1000000;
+        const uint64_t deadline = AP_HAL::micros64() + 1000000;
         // try sending to all interfaces
         for (auto &_ins : instances) {
             if (_ins.iface == NULL) {
@@ -1493,12 +1493,12 @@ static void process1HzTasks(uint64_t timestamp_usec)
 
 #if 0
     // test code for watchdog reset
-    if (AP_HAL::native_millis() > 15000) {
+    if (AP_HAL::millis() > 15000) {
         while (true) ;
     }
 #endif
 #if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
-    if (AP_HAL::native_millis() > 30000) {
+    if (AP_HAL::millis() > 30000) {
         // use RTC to mark that we have been running fine for
         // 30s. This is used along with watchdog resets to ensure the
         // user has a chance to load a fixed firmware
@@ -1518,7 +1518,7 @@ static bool can_do_dna()
         return true;
     }
 
-    const uint32_t now = AP_HAL::native_millis();
+    const uint32_t now = AP_HAL::millis();
 
     static uint8_t node_id_allocation_transfer_id = 0;
 
@@ -1583,7 +1583,7 @@ void AP_Periph_FW::can_start()
 {
     node_status.health = UAVCAN_PROTOCOL_NODESTATUS_HEALTH_OK;
     node_status.mode = UAVCAN_PROTOCOL_NODESTATUS_MODE_INITIALIZATION;
-    node_status.uptime_sec = AP_HAL::native_millis() / 1000U;
+    node_status.uptime_sec = AP_HAL::millis() / 1000U;
 
     if (g.can_node >= 0 && g.can_node < 128) {
         PreferredNodeID = g.can_node;
@@ -1677,7 +1677,7 @@ void AP_Periph_FW::pwm_irq_handler(uint8_t pin, bool pin_state, uint32_t timesta
 
 void AP_Periph_FW::pwm_hardpoint_update()
 {
-    uint32_t now = AP_HAL::native_millis();
+    uint32_t now = AP_HAL::millis();
     // send at 10Hz
     void *save = hal.scheduler->disable_interrupts_save();
     uint16_t value = pwm_hardpoint.highest_pwm;
@@ -1821,7 +1821,7 @@ void AP_Periph_FW::apd_esc_telem_update()
 
 void AP_Periph_FW::can_update()
 {
-    const uint32_t now = AP_HAL::native_millis();
+    const uint32_t now = AP_HAL::millis();
     const uint32_t led_pattern = 0xAAAA;
     const uint32_t led_change_period = 50;
     static uint8_t led_idx = 0;
@@ -1849,7 +1849,7 @@ void AP_Periph_FW::can_update()
     static uint32_t last_1Hz_ms;
     if (now - last_1Hz_ms >= 1000) {
         last_1Hz_ms = now;
-        process1HzTasks(AP_HAL::native_micros64());
+        process1HzTasks(AP_HAL::micros64());
     }
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
@@ -1930,7 +1930,7 @@ void AP_Periph_FW::can_mag_update(void)
 #if AP_PERIPH_PROBE_CONTINUOUS
     if (compass.get_count() == 0) {
         static uint32_t last_probe_ms;
-        uint32_t now = AP_HAL::native_millis();
+        uint32_t now = AP_HAL::millis();
         if (now - last_probe_ms >= 1000) {
             last_probe_ms = now;
             compass.init();
@@ -1971,7 +1971,7 @@ void AP_Periph_FW::can_mag_update(void)
 void AP_Periph_FW::can_battery_update(void)
 {
 #ifdef HAL_PERIPH_ENABLE_BATTERY
-    const uint32_t now_ms = AP_HAL::native_millis();
+    const uint32_t now_ms = AP_HAL::millis();
     if (now_ms - battery.last_can_send_ms < 100) {
         return;
     }
@@ -2372,7 +2372,7 @@ void AP_Periph_FW::can_airspeed_update(void)
     }
 #if AP_PERIPH_PROBE_CONTINUOUS
     if (!airspeed.healthy()) {
-        uint32_t now = AP_HAL::native_millis();
+        uint32_t now = AP_HAL::millis();
         static uint32_t last_probe_ms;
         if (now - last_probe_ms >= 1000) {
             last_probe_ms = now;
@@ -2380,7 +2380,7 @@ void AP_Periph_FW::can_airspeed_update(void)
         }
     }
 #endif
-    uint32_t now = AP_HAL::native_millis();
+    uint32_t now = AP_HAL::millis();
     if (now - last_airspeed_update_ms < 50) {
         // max 20Hz data
         return;
@@ -2445,7 +2445,7 @@ void AP_Periph_FW::can_rangefinder_update(void)
     }
 #if AP_PERIPH_PROBE_CONTINUOUS
     if (rangefinder.num_sensors() == 0) {
-        uint32_t now = AP_HAL::native_millis();
+        uint32_t now = AP_HAL::millis();
         static uint32_t last_probe_ms;
         if (now - last_probe_ms >= 1000) {
             last_probe_ms = now;
@@ -2453,7 +2453,7 @@ void AP_Periph_FW::can_rangefinder_update(void)
         }
     }
 #endif
-    uint32_t now = AP_HAL::native_millis();
+    uint32_t now = AP_HAL::millis();
     static uint32_t last_update_ms;
     if (g.rangefinder_max_rate > 0 &&
         now - last_update_ms < 1000/g.rangefinder_max_rate) {
@@ -2526,7 +2526,7 @@ void AP_Periph_FW::can_proximity_update()
         return;
     }
 
-    uint32_t now = AP_HAL::native_millis();
+    uint32_t now = AP_HAL::millis();
     static uint32_t last_update_ms;
     if (g.proximity_max_rate > 0 &&
         now - last_update_ms < 1000/g.proximity_max_rate) {
diff --git a/Tools/AP_Periph/hwing_esc.cpp b/Tools/AP_Periph/hwing_esc.cpp
index a79862f3cf..13d30eb8d6 100644
--- a/Tools/AP_Periph/hwing_esc.cpp
+++ b/Tools/AP_Periph/hwing_esc.cpp
@@ -39,7 +39,7 @@ bool HWESC_Telem::update()
     }
 
     // we expect at least 50ms idle between frames
-    uint32_t now = AP_HAL::native_millis();
+    uint32_t now = AP_HAL::millis();
     bool frame_gap = (now - last_read_ms) > 10;
 
     last_read_ms = now;