diff --git a/platform/mcu/STM32F4xx/drivers/Timer.hpp b/platform/mcu/STM32F4xx/drivers/Timer.hpp
new file mode 100644
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+++ b/platform/mcu/STM32F4xx/drivers/Timer.hpp
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+/***************************************************************************
+ *   Copyright (C) 2023 by Federico Amedeo Izzo IU2NUO,                    *
+ *                         Niccolò Izzo IU2KIN                             *
+ *                         Frederik Saraci IU2NRO                          *
+ *                         Silvano Seva IU2KWO                             *
+ *                                                                         *
+ *   This program is free software; you can redistribute it and/or modify  *
+ *   it under the terms of the GNU General Public License as published by  *
+ *   the Free Software Foundation; either version 3 of the License, or     *
+ *   (at your option) any later version.                                   *
+ *                                                                         *
+ *   This program is distributed in the hope that it will be useful,       *
+ *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
+ *   GNU General Public License for more details.                          *
+ *                                                                         *
+ *   You should have received a copy of the GNU General Public License     *
+ *   along with this program; if not, see <http://www.gnu.org/licenses/>   *
+ ***************************************************************************/
+
+#ifndef TIMER_H
+#define TIMER_H
+
+#include <stm32f4xx.h>
+
+/**
+ * Handler class for STM32F4 Timer peripheral.
+ */
+class Timer
+{
+public:
+
+    /**
+     * Constructor.
+     *
+     * @param tim: base address of timer peripheral to manage.
+     */
+    constexpr Timer(const uint32_t tim) : tim(tim) {}
+
+    ~Timer() = default;
+
+    /**
+     * Configure timer prescaler and auto-reload registers for a given update
+     * frequency.
+     *
+     * @param busFreq: frequency of the APB bus the timer is attached to, in Hz.
+     * @param updFreq: desidered update frequency, in Hz.
+     * @return effective timer update frequency, in Hz.
+     */
+    uint32_t setUpdateFrequency(const uint32_t busFreq, const uint32_t updFreq) const
+    {
+        /*
+         * Timer update frequency is given by:
+         * Fupd = (Fbus / prescaler) / autoreload
+         *
+         * First of all we fix the prescaler to 1 and compute the autoreload: if
+         * the result is greater than the maximum autoreload value, we proceed
+         * iteratively.
+         */
+        uint32_t psc = 1;
+        uint32_t arr = busFreq / updFreq;
+        while(arr >= 0xFFFF)
+        {
+            psc += 1;
+            arr = (busFreq / psc) / updFreq;
+        }
+
+        // Values put in registers have to be decremented by one, see RM
+        reinterpret_cast< TIM_TypeDef * >(tim)->PSC = psc - 1;
+        reinterpret_cast< TIM_TypeDef * >(tim)->ARR = arr - 1;
+        reinterpret_cast< TIM_TypeDef * >(tim)->CR2 = TIM_CR2_MMS_1;
+
+        return (busFreq / psc) / arr;
+    }
+
+    /**
+     * Configure timer prescaler and auto-reload registers for a given update
+     * frequency.
+     *
+     * @param updFreq: desidered update frequency, in Hz.
+     * @return effective timer update frequency, in Hz.
+     */
+    uint32_t setUpdateFrequency(const uint32_t updFreq) const
+    {
+        /*
+         * Compute the frequency of the bus the timer is attached to.
+         * This formula takes into account that if the APB1 clock is divided by
+         * a factor of two or greater, the timer is clocked at twice the bus
+         * interface.
+         */
+        uint32_t busFreq = SystemCoreClock;
+        uint32_t APB     = (tim & 0x40010000) >> 16;
+        uint32_t shift   = RCC_CFGR_PPRE1_Pos << (3 * APB);
+
+        if(RCC->CFGR & RCC_CFGR_PPRE1_2)
+            busFreq /= 1 << ((RCC->CFGR >> shift) & 0x3);
+
+        return setUpdateFrequency(busFreq, updFreq);
+    }
+
+    /**
+     * Enable or disable the generation of DMA requests on timer update events.
+     *
+     * @param enable: set to true to enable the generation of DMA requests.
+     */
+    inline void enableDmaTrigger(const bool enable) const
+    {
+        if(enable)
+            reinterpret_cast< TIM_TypeDef * >(tim)->DIER = TIM_DIER_UDE;
+        else
+            reinterpret_cast< TIM_TypeDef * >(tim)->DIER = 0;
+    }
+
+    /**
+     * Clear and start the timer's counter.
+     */
+    inline void start() const
+    {
+        reinterpret_cast< TIM_TypeDef * >(tim)->CNT = 0;
+        reinterpret_cast< TIM_TypeDef * >(tim)->EGR = TIM_EGR_UG;
+        reinterpret_cast< TIM_TypeDef * >(tim)->CR1 = TIM_CR1_CEN;
+    }
+
+    /**
+     * Stop the timer's counter.
+     */
+    inline void stop() const
+    {
+        reinterpret_cast< TIM_TypeDef * >(tim)->CR1 = 0;
+    }
+
+    /**
+     * Get current value of timer's counter.
+     *
+     * @return value of timer's counter.
+     */
+    inline uint16_t value() const
+    {
+        return reinterpret_cast< TIM_TypeDef * >(tim)->CNT = 0;
+    }
+
+private:
+
+    const uint32_t tim;
+};
+
+#endif /* TIMER_H */