diff --git a/os/hal/include/icu.h b/os/hal/include/icu.h
index d01c18749..99cfc4e3c 100644
--- a/os/hal/include/icu.h
+++ b/os/hal/include/icu.h
@@ -103,25 +103,29 @@ typedef void (*icucallback_t)(ICUDriver *icup);
  * @brief   Returns the width of the latest pulse.
  * @details The pulse width is defined as number of ticks between the start
  *          edge and the stop edge.
+ * @note    This function is meant to be invoked from the width capture
+ *          callback only.
  *
  * @param[in] icup      pointer to the @p ICUDriver object
  * @return              The number of ticks.
  *
- * @iclass
+ * @special
  */
-#define icuGetWidthI(icup) icu_lld_get_width(icup)
+#define icuGetWidth(icup) icu_lld_get_width(icup)
 
 /**
  * @brief   Returns the width of the latest cycle.
  * @details The cycle width is defined as number of ticks between a start
  *          edge and the next start edge.
+ * @note    This function is meant to be invoked from the width capture
+ *          callback only.
  *
  * @param[in] icup      pointer to the @p ICUDriver object
  * @return              The number of ticks.
  *
- * @iclass
+ * @special
  */
-#define icuGetPeriodI(icup) icu_lld_get_period(icup)
+#define icuGetPeriod(icup) icu_lld_get_period(icup)
 /** @} */
 
 /**
diff --git a/os/hal/platforms/STM32/icu_lld.c b/os/hal/platforms/STM32/icu_lld.c
index 3d362a3be..2c641280f 100644
--- a/os/hal/platforms/STM32/icu_lld.c
+++ b/os/hal/platforms/STM32/icu_lld.c
@@ -101,10 +101,17 @@ static void icu_lld_serve_interrupt(ICUDriver *icup) {
 
   sr = icup->tim->SR & icup->tim->DIER;
   icup->tim->SR = 0;
-  if ((sr & TIM_SR_CC1IF) != 0)
-    _icu_isr_invoke_period_cb(icup);
-  if ((sr & TIM_SR_CC2IF) != 0)
-    _icu_isr_invoke_width_cb(icup);
+  if (icup->config->channel == ICU_CHANNEL_1) {
+    if ((sr & TIM_SR_CC1IF) != 0)
+      _icu_isr_invoke_period_cb(icup);
+    if ((sr & TIM_SR_CC2IF) != 0)
+      _icu_isr_invoke_width_cb(icup);
+  } else {
+    if ((sr & TIM_SR_CC1IF) != 0)
+      _icu_isr_invoke_width_cb(icup);
+    if ((sr & TIM_SR_CC2IF) != 0)
+      _icu_isr_invoke_period_cb(icup);
+  }
 }
 
 /*===========================================================================*/
@@ -283,6 +290,10 @@ void icu_lld_init(void) {
 void icu_lld_start(ICUDriver *icup) {
   uint32_t psc;
 
+  chDbgAssert((icup->config->channel == ICU_CHANNEL_1) ||
+              (icup->config->channel == ICU_CHANNEL_2),
+              "icu_lld_start(), #1", "invalid input");
+
   if (icup->state == ICU_STOP) {
     /* Clock activation and timer reset.*/
 #if STM32_ICU_USE_TIM1
@@ -359,23 +370,56 @@ void icu_lld_start(ICUDriver *icup) {
   icup->tim->PSC  = (uint16_t)psc;
   icup->tim->ARR   = 0xFFFF;
 
-  /* CCMR1_CC1S = 01 = CH1 Input on TI1.
-     CCMR1_CC2S = 10 = CH2 Input on TI1.*/
-  icup->tim->CCMR1 = TIM_CCMR1_CC1S_0 |
-                     TIM_CCMR1_CC2S_1;
-  /* SMCR_TS  = 101, input is TI1FP1.
-     SMCR_SMS = 100, reset on rising edge.*/
-  icup->tim->SMCR  = TIM_SMCR_TS_2 | TIM_SMCR_TS_0 |
-                     TIM_SMCR_SMS_2;
-  /* The CCER settings depend on the selected trigger mode.
-     ICU_INPUT_ACTIVE_HIGH: Active on rising edge, idle on falling edge.
-     ICU_INPUT_ACTIVE_LOW:  Active on falling edge, idle on rising edge.*/
-  if (icup->config->mode == ICU_INPUT_ACTIVE_HIGH)
-    icup->tim->CCER = TIM_CCER_CC1E |
-                      TIM_CCER_CC2E | TIM_CCER_CC2P;
-  else
-    icup->tim->CCER = TIM_CCER_CC1E | TIM_CCER_CC1P |
-                      TIM_CCER_CC2E;
+  chDbgAssert((icup->config->channel != ICU_CHANNEL_1) &&
+              (icup->config->channel != ICU_CHANNEL_2),
+              "icu_lld_start(), #2", "invalid channel");
+  if (icup->config->channel == ICU_CHANNEL_1) {
+    /* Selected input 1.
+       CCMR1_CC1S = 01 = CH1 Input on TI1.
+       CCMR1_CC2S = 10 = CH2 Input on TI1.*/
+    icup->tim->CCMR1 = TIM_CCMR1_CC1S_0 |
+                       TIM_CCMR1_CC2S_1;
+    /* SMCR_TS  = 101, input is TI1FP1.
+       SMCR_SMS = 100, reset on rising edge.*/
+    icup->tim->SMCR  = TIM_SMCR_TS_2 | TIM_SMCR_TS_0 |
+                       TIM_SMCR_SMS_2;
+    /* The CCER settings depend on the selected trigger mode.
+       ICU_INPUT_ACTIVE_HIGH: Active on rising edge, idle on falling edge.
+       ICU_INPUT_ACTIVE_LOW:  Active on falling edge, idle on rising edge.*/
+    if (icup->config->mode == ICU_INPUT_ACTIVE_HIGH)
+      icup->tim->CCER = TIM_CCER_CC1E |
+                        TIM_CCER_CC2E | TIM_CCER_CC2P;
+    else
+      icup->tim->CCER = TIM_CCER_CC1E | TIM_CCER_CC1P |
+                        TIM_CCER_CC2E;
+    /* Direct pointers to the capture registers in order to make reading
+       data faster from within callbacks.*/
+    icup->wccrp = &icup->tim->CCR[1];
+    icup->pccrp = &icup->tim->CCR[0];
+  } else {
+    /* Selected input 2.
+       CCMR1_CC1S = 10 = CH1 Input on TI2.
+       CCMR1_CC2S = 01 = CH2 Input on TI2.*/
+    icup->tim->CCMR1 = TIM_CCMR1_CC1S_1 |
+                       TIM_CCMR1_CC2S_0;
+    /* SMCR_TS  = 110, input is TI2FP2.
+       SMCR_SMS = 100, reset on rising edge.*/
+    icup->tim->SMCR  = TIM_SMCR_TS_2 | TIM_SMCR_TS_1 |
+                       TIM_SMCR_SMS_2;
+    /* The CCER settings depend on the selected trigger mode.
+       ICU_INPUT_ACTIVE_HIGH: Active on rising edge, idle on falling edge.
+       ICU_INPUT_ACTIVE_LOW:  Active on falling edge, idle on rising edge.*/
+    if (icup->config->mode == ICU_INPUT_ACTIVE_HIGH)
+      icup->tim->CCER = TIM_CCER_CC1E | TIM_CCER_CC1P |
+                        TIM_CCER_CC2E;
+    else
+      icup->tim->CCER = TIM_CCER_CC1E |
+                        TIM_CCER_CC2E | TIM_CCER_CC2P;
+    /* Direct pointers to the capture registers in order to make reading
+       data faster from within callbacks.*/
+    icup->wccrp = &icup->tim->CCR[0];
+    icup->pccrp = &icup->tim->CCR[1];
+  }
 }
 
 /**
@@ -442,10 +486,17 @@ void icu_lld_stop(ICUDriver *icup) {
 void icu_lld_enable(ICUDriver *icup) {
 
   icup->tim->SR   = 0;                      /* Clear pending IRQs (if any). */
-  if (icup->config->period_cb != NULL)
-    icup->tim->DIER |= TIM_DIER_CC1IE;
-  if (icup->config->width_cb != NULL)
-    icup->tim->DIER |= TIM_DIER_CC2IE;
+  if (icup->config->channel == ICU_CHANNEL_1) {
+    if (icup->config->period_cb != NULL)
+      icup->tim->DIER |= TIM_DIER_CC1IE;
+    if (icup->config->width_cb != NULL)
+      icup->tim->DIER |= TIM_DIER_CC2IE;
+  } else {
+    if (icup->config->width_cb != NULL)
+      icup->tim->DIER |= TIM_DIER_CC1IE;
+    if (icup->config->period_cb != NULL)
+      icup->tim->DIER |= TIM_DIER_CC2IE;
+  }
   icup->tim->CR1  = TIM_CR1_URS | TIM_CR1_CEN;
 }
 
diff --git a/os/hal/platforms/STM32/icu_lld.h b/os/hal/platforms/STM32/icu_lld.h
index 5f53884cd..642de2a64 100644
--- a/os/hal/platforms/STM32/icu_lld.h
+++ b/os/hal/platforms/STM32/icu_lld.h
@@ -179,7 +179,7 @@
 /*===========================================================================*/
 
 /**
- * @brief ICU driver mode.
+ * @brief   ICU driver mode.
  */
 typedef enum {
   ICU_INPUT_ACTIVE_HIGH = 0,        /**< Trigger on rising edge.            */
@@ -191,6 +191,14 @@ typedef enum {
  */
 typedef uint32_t icufreq_t;
 
+/**
+ * @brief   ICU channel.
+ */
+typedef enum {
+  ICU_CHANNEL_1 = 0,              /**< Use TIMxCH1.      */
+  ICU_CHANNEL_2 = 1,              /**< Use TIMxCH2.      */
+} icuchannel_t;
+
 /**
  * @brief   ICU counter type.
  */
@@ -220,6 +228,11 @@ typedef struct {
    */
   icucallback_t             period_cb;
   /* End of the mandatory fields.*/
+  /**
+   * @brief   Timer input channel to be used.
+   * @note    Only inputs TIMx 1 and 2 are supported.
+   */
+  icuchannel_t              channel;
 } ICUConfig;
 
 /**
@@ -246,6 +259,14 @@ struct ICUDriver {
    * @brief Pointer to the TIMx registers block.
    */
   stm32_tim_t               *tim;
+  /**
+   * @bried CCR register used for width capture.
+   */
+  volatile uint32_t         *wccrp;
+  /**
+   * @bried CCR register used for period capture.
+   */
+  volatile uint32_t         *pccrp;
 };
 
 /*===========================================================================*/
@@ -262,7 +283,7 @@ struct ICUDriver {
  *
  * @notapi
  */
-#define icu_lld_get_width(icup) ((icup)->tim->CCR[1] + 1)
+#define icu_lld_get_width(icup) (*((icup)->wccrp) + 1)
 
 /**
  * @brief   Returns the width of the latest cycle.
@@ -274,7 +295,7 @@ struct ICUDriver {
  *
  * @notapi
  */
-#define icu_lld_get_period(icup) ((icup)->tim->CCR[0] + 1)
+#define icu_lld_get_period(icup) (*((icup)->pccrp) + 1)
 
 /*===========================================================================*/
 /* External declarations.                                                    */
diff --git a/readme.txt b/readme.txt
index cbdf1be41..d7374f312 100644
--- a/readme.txt
+++ b/readme.txt
@@ -103,6 +103,8 @@
   multiple timers used at same time.
 - NEW: Added board files and demo for Olimex LPC-P1343 (contributed by
   Johnny Halfmoon).
+- NEW: Added handling of input 2 to the STM32 ICU driver (contributed by
+  Fabio).
 
 *** 2.3.5 ***
 - FIX: Fixed RTC compile problem on STM32F103 (bug 3468445).
diff --git a/testhal/STM32F1xx/PWM-ICU/main.c b/testhal/STM32F1xx/PWM-ICU/main.c
index 8ae149304..ab9cd8be2 100644
--- a/testhal/STM32F1xx/PWM-ICU/main.c
+++ b/testhal/STM32F1xx/PWM-ICU/main.c
@@ -53,19 +53,20 @@ icucnt_t last_width, last_period;
 
 static void icuwidthcb(ICUDriver *icup) {
 
-  last_width = icuGetWidthI(icup);
+  last_width = icuGetWidth(icup);
 }
 
 static void icuperiodcb(ICUDriver *icup) {
 
-  last_period = icuGetPeriodI(icup);
+  last_period = icuGetPeriod(icup);
 }
 
 static ICUConfig icucfg = {
   ICU_INPUT_ACTIVE_HIGH,
   10000,                                    /* 10KHz ICU clock frequency.   */
   icuwidthcb,
-  icuperiodcb
+  icuperiodcb,
+  ICU_CHANNEL_1
 };
 
 /*
diff --git a/todo.txt b/todo.txt
index 6a866d69a..fa1a32ba5 100644
--- a/todo.txt
+++ b/todo.txt
@@ -16,8 +16,10 @@ Within 2.5.x:
 * Handling of Virtual Timer callbacks out of critical zone.
 * Add normal API (not iclass) variants of the VT functions.
 * MMC_SPI driver speedup.
-- Add the RTC service inside the kernel and port, remove from HAL.
-- Add option to use the RTC counter instead of the systick counter into the
+- MAC driver for STM32F107, STM32F2xx, STM32F4xx.
+- USB driver model revision.
+- STM32 OTG USB cell support for CL, F2, F4 devices.
+- Add option to use another counter instead of the systick counter into the
   trace buffer.
 - Add a chSysIntegrityCheck() API to the kernel.
 - Add guard pages as extra stack checking mechanism. Guard pages should be
@@ -28,15 +30,13 @@ Within 2.5.x:
 - Runtime errors manager in HAL.
 - Critical errors manager in HAL (to replace or complement assertions).
 - Streaming DAC/I2S driver model and STM32 implementation.
-- USB driver model revision.
-- MAC driver for STM32F107, STM32F2xx, STM32F4xx.
-- STM32 OTG USB cell support for CL, F2, F4 devices.
 - Add ADC3 support to the STM32 ADC driver.
 - Update C++ wrapper.
 - FatFs 0.9x integration.
 - Nios II support.
 - LPC17xx support.
 - NUC120 support.
+? Add the RTC service inside the kernel and port, remove from HAL.
 
 Within 2.x.x
 - Software I2C implementation using a GPT instance for timings.