diff --git a/src/main/drivers/rx/expresslrs_driver.c b/src/main/drivers/rx/expresslrs_driver.c
index 610c7ea286..e61d8bd033 100644
--- a/src/main/drivers/rx/expresslrs_driver.c
+++ b/src/main/drivers/rx/expresslrs_driver.c
@@ -101,13 +101,8 @@ void expressLrsUpdateTimerInterval(uint16_t intervalUs)
     timerState.intervalUs = intervalUs;
     expressLrsRecalculatePhaseShiftLimits();
 
-#ifdef USE_HAL_DRIVER
     timerReconfigureTimeBase(timer, expressLrsCalculateMaximumExpectedPeriod(timerState.intervalUs), MHZ_TO_HZ(1));
-    LL_TIM_SetAutoReload(timer, (timerState.intervalUs / TICK_TOCK_COUNT) - 1);
-#else
-    configTimeBase(timer, expressLrsCalculateMaximumExpectedPeriod(timerState.intervalUs), MHZ_TO_HZ(1));
-    TIM_SetAutoreload(timer, (timerState.intervalUs / TICK_TOCK_COUNT) - 1);
-#endif
+    timerSetPeriod(timer, (timerState.intervalUs / TICK_TOCK_COUNT) - 1);
 }
 
 void expressLrsUpdatePhaseShift(int32_t newPhaseShift)
@@ -140,11 +135,7 @@ static void expressLrsOnTimerUpdate(timerOvrHandlerRec_t *cbRec, captureCompare_
 
         uint32_t adjustedPeriod = (timerState.intervalUs / TICK_TOCK_COUNT) + timerState.frequencyOffsetTicks;
 
-#ifdef USE_HAL_DRIVER
-        LL_TIM_SetAutoReload(timer, adjustedPeriod - 1);
-#else
-        TIM_SetAutoreload(timer, adjustedPeriod - 1);
-#endif
+        timerSetPeriod(timer, adjustedPeriod - 1);
 
         expressLrsOnTimerTickISR();
 
@@ -154,11 +145,7 @@ static void expressLrsOnTimerUpdate(timerOvrHandlerRec_t *cbRec, captureCompare_
 
         uint32_t adjustedPeriod = (timerState.intervalUs / TICK_TOCK_COUNT) + timerState.phaseShiftUs + timerState.frequencyOffsetTicks;
 
-#ifdef USE_HAL_DRIVER
-        LL_TIM_SetAutoReload(timer, adjustedPeriod - 1);
-#else
-        TIM_SetAutoreload(timer, adjustedPeriod - 1);
-#endif
+        timerSetPeriod(timer, adjustedPeriod - 1);
 
         timerState.phaseShiftUs = 0;
 
@@ -175,15 +162,8 @@ bool expressLrsTimerIsRunning(void)
 
 void expressLrsTimerStop(void)
 {
-#ifdef USE_HAL_DRIVER
-    LL_TIM_DisableIT_UPDATE(timer);
-    LL_TIM_DisableCounter(timer);
-    LL_TIM_SetCounter(timer, 0);
-#else
-    TIM_ITConfig(timer, TIM_IT_Update, DISABLE);
-    TIM_Cmd(timer, DISABLE);
-    TIM_SetCounter(timer, 0);
-#endif
+    timerDisable(timer);
+    timerSetCounter(timer, 0);
     timerState.running = false;
 }
 
@@ -191,29 +171,12 @@ void expressLrsTimerResume(void)
 {
     timerState.tickTock = TOCK;
 
-#ifdef USE_HAL_DRIVER
-    LL_TIM_SetAutoReload(timer, (timerState.intervalUs / TICK_TOCK_COUNT));
-    LL_TIM_SetCounter(timer, 0);
-
-    LL_TIM_ClearFlag_UPDATE(timer);
-    LL_TIM_EnableIT_UPDATE(timer);
-#else
-    TIM_SetAutoreload(timer, (timerState.intervalUs / TICK_TOCK_COUNT));
-    TIM_SetCounter(timer, 0);
-
-    TIM_ClearFlag(timer, TIM_FLAG_Update);
-    TIM_ITConfig(timer, TIM_IT_Update, ENABLE);
-#endif
+    timerSetPeriod(timer, (timerState.intervalUs / TICK_TOCK_COUNT));
+    timerSetCounter(timer, 0);
 
+    timerEnableInterrupt(timer);
     timerState.running = true;
-
-#ifdef USE_HAL_DRIVER
-    LL_TIM_EnableCounter(timer);
-    LL_TIM_GenerateEvent_UPDATE(timer);
-#else
-    TIM_Cmd(timer, ENABLE);
-    TIM_GenerateEvent(timer, TIM_EventSource_Update);
-#endif
+    timerEnable(timer);
 }
 
 void expressLrsInitialiseTimer(TIM_TypeDef *t, timerOvrHandlerRec_t *timerUpdateCb)
diff --git a/src/main/drivers/serial_escserial.c b/src/main/drivers/serial_escserial.c
index b0d7424a1b..6067dfde22 100644
--- a/src/main/drivers/serial_escserial.c
+++ b/src/main/drivers/serial_escserial.c
@@ -134,13 +134,6 @@ enum {
 #define STOP_BIT_MASK (1 << 0)
 #define START_BIT_MASK (1 << (RX_TOTAL_BITS - 1))
 
-#ifdef USE_HAL_DRIVER
-static void TIM_DeInit(TIM_TypeDef *tim)
-{
-    LL_TIM_DeInit(tim);
-}
-#endif
-
 static void setTxSignalEsc(escSerial_t *escSerial, uint8_t state)
 {
     if (escSerial->mode == PROTOCOL_KISSALL)
@@ -343,7 +336,7 @@ static void serialTimerTxConfigBL(const timerHardware_t *timerHardwarePtr, uint8
 {
     uint32_t clock = SystemCoreClock/2;
     uint32_t timerPeriod;
-    TIM_DeInit(timerHardwarePtr->tim);
+    timerReset(timerHardwarePtr->tim);
     do {
         timerPeriod = clock / baud;
         if (isTimerPeriodTooLarge(timerPeriod)) {
@@ -377,11 +370,8 @@ static void onSerialRxPinChangeBL(timerCCHandlerRec_t *cbRec, captureCompare_t c
         // Adjust the timing so it will interrupt on the middle.
         // This is clobbers transmission, but it is okay because we are
         // always half-duplex.
-#ifdef USE_HAL_DRIVER
-        __HAL_TIM_SetCounter(escSerial->txTimerHandle, __HAL_TIM_GetAutoreload(escSerial->txTimerHandle) / 2);
-#else
-        TIM_SetCounter(escSerial->txTimerHardware->tim, escSerial->txTimerHardware->tim->ARR / 2);
-#endif
+        timerSetCounter(escSerial->txTimerHardware->tim, timerGetPeriod(escSerial->txTimerHardware->tim) / 2);
+
         if (escSerial->isTransmittingData) {
             escSerial->transmissionErrors++;
         }
@@ -414,7 +404,7 @@ static void onSerialRxPinChangeBL(timerCCHandlerRec_t *cbRec, captureCompare_t c
 static void serialTimerRxConfigBL(const timerHardware_t *timerHardwarePtr, uint8_t reference, portOptions_e options)
 {
     // start bit is usually a FALLING signal
-    TIM_DeInit(timerHardwarePtr->tim);
+    timerReset(timerHardwarePtr->tim);
     timerReconfigureTimeBase(timerHardwarePtr->tim, 0xFFFF, SystemCoreClock / 2);
     timerChConfigIC(timerHardwarePtr, (options & SERIAL_INVERTED) ? ICPOLARITY_RISING : ICPOLARITY_FALLING, 0);
     timerChCCHandlerInit(&escSerialPorts[reference].edgeCb, onSerialRxPinChangeBL);
@@ -538,7 +528,7 @@ static void onSerialTimerEsc(timerCCHandlerRec_t *cbRec, captureCompare_t captur
 static void escSerialTimerTxConfig(const timerHardware_t *timerHardwarePtr, uint8_t reference)
 {
     uint32_t timerPeriod = 34;
-    TIM_DeInit(timerHardwarePtr->tim);
+    timerReset(timerHardwarePtr->tim);
     timerReconfigureTimeBase(timerHardwarePtr->tim, timerPeriod, MHZ_TO_HZ(1));
     timerChCCHandlerInit(&escSerialPorts[reference].timerCb, onSerialTimerEsc);
     timerChConfigCallbacks(timerHardwarePtr, &escSerialPorts[reference].timerCb, NULL);
@@ -570,12 +560,7 @@ static void onSerialRxPinChangeEsc(timerCCHandlerRec_t *cbRec, captureCompare_t
 
     escSerial_t *escSerial = container_of(cbRec, escSerial_t, edgeCb);
 
-    //clear timer
-#ifdef USE_HAL_DRIVER
-    __HAL_TIM_SetCounter(escSerial->rxTimerHandle, 0);
-#else
-    TIM_SetCounter(escSerial->rxTimerHardware->tim,0);
-#endif
+    timerSetCounter(escSerial->rxTimerHardware->tim, 0);
 
     if (capture > 40 && capture < 90)
     {
@@ -628,7 +613,7 @@ static void onSerialRxPinChangeEsc(timerCCHandlerRec_t *cbRec, captureCompare_t
 static void escSerialTimerRxConfig(const timerHardware_t *timerHardwarePtr, uint8_t reference)
 {
     // start bit is usually a FALLING signal
-    TIM_DeInit(timerHardwarePtr->tim);
+    timerReset(timerHardwarePtr->tim);
     timerReconfigureTimeBase(timerHardwarePtr->tim, 0xFFFF, MHZ_TO_HZ(1));
     timerChConfigIC(timerHardwarePtr, ICPOLARITY_FALLING, 0);
     timerChCCHandlerInit(&escSerialPorts[reference].edgeCb, onSerialRxPinChangeEsc);
@@ -786,11 +771,11 @@ static void closeEscSerial(escSerialPortIndex_e portIndex, uint8_t mode)
     if (mode != PROTOCOL_KISSALL) {
         escSerialInputPortDeConfig(escSerial->rxTimerHardware);
         timerChConfigCallbacks(escSerial->rxTimerHardware,NULL,NULL);
-        TIM_DeInit(escSerial->rxTimerHardware->tim);
+        timerReset(escSerial->rxTimerHardware->tim);
     }
 
     timerChConfigCallbacks(escSerial->txTimerHardware,NULL,NULL);
-    TIM_DeInit(escSerial->txTimerHardware->tim);
+    timerReset(escSerial->txTimerHardware->tim);
 }
 
 static uint32_t escSerialTotalBytesWaiting(const serialPort_t *instance)
diff --git a/src/main/drivers/serial_softserial.c b/src/main/drivers/serial_softserial.c
index 13fe8bb682..0f69dee869 100644
--- a/src/main/drivers/serial_softserial.c
+++ b/src/main/drivers/serial_softserial.c
@@ -487,11 +487,7 @@ void onSerialRxPinChange(timerCCHandlerRec_t *cbRec, captureCompare_t capture)
         // Synchronize the bit timing so that it will interrupt at the center
         // of the bit period.
 
-#ifdef USE_HAL_DRIVER
-        __HAL_TIM_SetCounter(self->timerHandle, __HAL_TIM_GetAutoreload(self->timerHandle) / 2);
-#else
-        TIM_SetCounter(self->timerHardware->tim, self->timerHardware->tim->ARR / 2);
-#endif
+        timerSetCounter(self->timerHardware->tim, timerGetPeriod(self->timerHardware->tim) / 2);
 
         // For a mono-timer full duplex configuration, this may clobber the
         // transmission because the next callback to the onSerialTimerOverflow
diff --git a/src/main/drivers/timer.h b/src/main/drivers/timer.h
index 28ed1872b3..40bae0689c 100644
--- a/src/main/drivers/timer.h
+++ b/src/main/drivers/timer.h
@@ -216,3 +216,12 @@ uint16_t timerGetPeriodByPrescaler(TIM_TypeDef *tim, uint16_t prescaler, uint32_
 int8_t timerGetNumberByIndex(uint8_t index);
 int8_t timerGetTIMNumber(const TIM_TypeDef *tim);
 uint8_t timerLookupChannelIndex(const uint16_t channel);
+
+// TODO: replace TIM_TypeDef with alternate
+void timerReset(TIM_TypeDef *timer);
+void timerSetPeriod(TIM_TypeDef *timer, uint32_t period);
+uint32_t timerGetPeriod(TIM_TypeDef *timer);
+void timerSetCounter(TIM_TypeDef *timer, uint32_t counter);
+void timerDisable(TIM_TypeDef *timer);
+void timerEnable(TIM_TypeDef *timer);
+void timerEnableInterrupt(TIM_TypeDef *timer);
diff --git a/src/platform/APM32/timer_apm32.c b/src/platform/APM32/timer_apm32.c
index b113bc5f07..12ef8f197b 100644
--- a/src/platform/APM32/timer_apm32.c
+++ b/src/platform/APM32/timer_apm32.c
@@ -330,8 +330,9 @@ static void timerNVICConfigure(uint8_t irq)
 TMR_HandleTypeDef* timerFindTimerHandle(TMR_TypeDef *tim)
 {
     uint8_t timerIndex = lookupTimerIndex(tim);
-    if (timerIndex >= USED_TIMER_COUNT)
+    if (timerIndex >= USED_TIMER_COUNT) {
         return NULL;
+    }
 
     return &timerHandle[timerIndex].Handle;
 }
@@ -1196,4 +1197,43 @@ DAL_StatusTypeDef DMA_SetCurrDataCounter(TMR_HandleTypeDef *htim, uint32_t Chann
     /* Return function status */
     return DAL_OK;
 }
+
+void timerReset(TIM_TypeDef *timer)
+{
+    DDL_TMR_DeInit(timer);
+}
+
+void timerSetPeriod(TIM_TypeDef *timer, uint32_t period)
+{
+    timer->AUTORLD = period;
+}
+
+uint32_t timerGetPeriod(TIM_TypeDef *timer)
+{
+    return timer->AUTORLD;
+}
+
+void timerSetCounter(TIM_TypeDef *timer, uint32_t counter)
+{
+    timer->CNT = counter;
+}
+
+void timerDisable(TIM_TypeDef *timer)
+{
+    DDL_TMR_DisableIT_UPDATE(timer);
+    DDL_TMR_DisableCounter(timer);
+}
+
+void timerEnable(TIM_TypeDef *timer)
+{
+    DDL_TMR_EnableCounter(timer);
+    DDL_TMR_GenerateEvent_UPDATE(timer);
+}
+
+void timerEnableInterrupt(TIM_TypeDef *timer)
+{
+    DDL_TMR_ClearFlag_UPDATE(timer);
+    DDL_TMR_EnableIT_UPDATE(timer);
+}
+
 #endif
diff --git a/src/platform/AT32/target/AT32F435G/target.h b/src/platform/AT32/target/AT32F435G/target.h
index b76a523cd4..e9dbcebed6 100644
--- a/src/platform/AT32/target/AT32F435G/target.h
+++ b/src/platform/AT32/target/AT32F435G/target.h
@@ -97,5 +97,6 @@
 #undef USE_RX_EXPRESSLRS
 // #undef USE_SERIAL_4WAY_BLHELI_BOOTLOADER
 #undef USE_SERIAL_4WAY_SK_BOOTLOADER
+#define USE_ESCSERIAL
 
 #define FLASH_PAGE_SIZE ((uint32_t)0x0800) // 2K sectors
diff --git a/src/platform/AT32/target/AT32F435M/target.h b/src/platform/AT32/target/AT32F435M/target.h
index fb52e7fcea..3ee3ca1928 100644
--- a/src/platform/AT32/target/AT32F435M/target.h
+++ b/src/platform/AT32/target/AT32F435M/target.h
@@ -97,5 +97,6 @@
 #undef USE_RX_EXPRESSLRS
 // #undef USE_SERIAL_4WAY_BLHELI_BOOTLOADER
 #undef USE_SERIAL_4WAY_SK_BOOTLOADER
+#define USE_ESCSERIAL
 
 #define FLASH_PAGE_SIZE ((uint32_t)0x1000) // 4K sectors
diff --git a/src/platform/AT32/timer_at32bsp.c b/src/platform/AT32/timer_at32bsp.c
index f76a417152..6336ad1a2a 100644
--- a/src/platform/AT32/timer_at32bsp.c
+++ b/src/platform/AT32/timer_at32bsp.c
@@ -777,4 +777,50 @@ uint16_t timerGetPrescalerByDesiredHertz(tmr_type *tim, uint32_t hz)
     }
     return (uint16_t)((timerClock(tim) + hz / 2 ) / hz) - 1;
 }
+
+void timerReset(tmr_type *timer)
+{
+    ATOMIC_BLOCK(NVIC_PRIO_TIMER) {
+        tmr_counter_enable(timer, FALSE);
+    }
+}
+
+void timerSetPeriod(tmr_type *timer, uint32_t period)
+{
+    tmr_period_value_set(timer, period);
+}
+
+uint32_t timerGetPeriod(tmr_type *timer)
+{
+    return tmr_period_value_get(timer);
+}
+
+void timerSetCounter(tmr_type *timer, uint32_t counter)
+{
+    tmr_counter_value_set(timer, counter);
+}
+
+void timerReconfigureTimeBase(tmr_type *timer, uint16_t period, uint32_t hz)
+{
+    configTimeBase(timer, period, hz);
+}
+
+void timerDisable(TIM_TypeDef *timer)
+{
+    tmr_interrupt_enable(timer, TMR_OVF_INT, FALSE);
+    tmr_counter_enable(timer, FALSE);
+}
+
+void timerEnable(TIM_TypeDef *timer)
+{
+    tmr_counter_enable(timer, TRUE);
+    tmr_overflow_event_disable(timer, TRUE);
+}
+
+void timerEnableInterrupt(TIM_TypeDef *timer)
+{
+    tmr_flag_clear(timer, TMR_OVF_FLAG);
+    tmr_interrupt_enable(timer, TMR_OVF_INT, TRUE);
+}
+
 #endif
diff --git a/src/platform/STM32/timer_hal.c b/src/platform/STM32/timer_hal.c
index 9f68624eca..c9e9180f6c 100644
--- a/src/platform/STM32/timer_hal.c
+++ b/src/platform/STM32/timer_hal.c
@@ -1251,4 +1251,43 @@ HAL_StatusTypeDef DMA_SetCurrDataCounter(TIM_HandleTypeDef *htim, uint32_t Chann
     /* Return function status */
     return HAL_OK;
 }
+
+void timerReset(TIM_TypeDef *timer)
+{
+    LL_TIM_DeInit(timer);
+}
+
+void timerSetPeriod(TIM_TypeDef *timer, uint32_t period)
+{
+    timer->ARR = period;
+}
+
+uint32_t timerGetPeriod(TIM_TypeDef *timer)
+{
+    return timer->ARR;
+}
+
+void timerSetCounter(TIM_TypeDef *timer, uint32_t counter)
+{
+    timer->CNT = counter;
+}
+
+void timerDisable(TIM_TypeDef *timer)
+{
+    LL_TIM_DisableIT_UPDATE(timer);
+    LL_TIM_DisableCounter(timer);
+}
+
+void timerEnable(TIM_TypeDef *timer)
+{
+    LL_TIM_EnableCounter(timer);
+    LL_TIM_GenerateEvent_UPDATE(timer);
+}
+
+void timerEnableInterrupt(TIM_TypeDef *timer)
+{
+    LL_TIM_ClearFlag_UPDATE(timer);
+    LL_TIM_EnableIT_UPDATE(timer);
+}
+
 #endif
diff --git a/src/platform/STM32/timer_stdperiph.c b/src/platform/STM32/timer_stdperiph.c
index f12fd5547b..8e0c2bc95a 100644
--- a/src/platform/STM32/timer_stdperiph.c
+++ b/src/platform/STM32/timer_stdperiph.c
@@ -954,4 +954,43 @@ uint16_t timerGetPrescalerByDesiredHertz(TIM_TypeDef *tim, uint32_t hz)
     }
     return (uint16_t)((timerClock(tim) + hz / 2 ) / hz) - 1;
 }
+
+void timerReset(TIM_TypeDef *timer)
+{
+    TIM_DeInit(timer);
+}
+
+void timerSetPeriod(TIM_TypeDef *timer, uint32_t period)
+{
+    timer->ARR = period;
+}
+
+uint32_t timerGetPeriod(TIM_TypeDef *timer)
+{
+    return timer->ARR;
+}
+
+void timerSetCounter(TIM_TypeDef *timer, uint32_t counter)
+{
+    timer->CNT = counter;
+}
+
+void timerDisable(TIM_TypeDef *timer)
+{
+    TIM_ITConfig(timer, TIM_IT_Update, DISABLE);
+    TIM_Cmd(timer, DISABLE);
+}
+
+void timerEnable(TIM_TypeDef *timer)
+{
+    TIM_Cmd(timer, ENABLE);
+    TIM_GenerateEvent(timer, TIM_EventSource_Update);
+}
+
+void timerEnableInterrupt(TIM_TypeDef *timer)
+{
+    TIM_ClearFlag(timer, TIM_FLAG_Update);
+    TIM_ITConfig(timer, TIM_IT_Update, ENABLE);
+}
+
 #endif