diff --git a/os/hal/dox/icu.dox b/os/hal/dox/icu.dox
index 1d3fe092e..76506c10a 100644
--- a/os/hal/dox/icu.dox
+++ b/os/hal/dox/icu.dox
@@ -54,6 +54,7 @@
     ready -> waiting [label="\nicuEnable()"];
     waiting -> active [label="\nStart Front"];
     waiting -> ready [label="\nicuDisable()"];
+    waiting -> waiting [label="\nStop Front"];
     active -> idle [label="\nStop Front\n>width_cb<"];
     active -> ready [label="\nicuDisable()\nicuDisableI()"];
     idle -> active [label="\nStart Front\n>period_cb<"];
@@ -83,6 +84,7 @@
     ready -> waiting [label="\nicuEnable()"];
     waiting -> active [label="\nStart Front"];
     waiting -> ready [label="\nicuDisable()"];
+    waiting -> waiting [label="\nStop Front"];
     active -> idle [label="\nStop Front\n>width_cb<"];
     active -> ready [label="\nicuDisable()\nicuDisableI()"];
     idle -> active [label="\nStart Front\n>period_cb<"];
diff --git a/os/hal/include/icu.h b/os/hal/include/icu.h
index ef42470cb..7db895fbf 100644
--- a/os/hal/include/icu.h
+++ b/os/hal/include/icu.h
@@ -140,8 +140,10 @@ typedef void (*icucallback_t)(ICUDriver *icup);
  * @notapi
  */
 #define _icu_isr_invoke_width_cb(icup) {                                    \
-  (icup)->state = ICU_IDLE;                                                 \
-  (icup)->config->width_cb(icup);                                           \
+  if ((icup)->state != ICU_WAITING) {                                       \
+    (icup)->state = ICU_IDLE;                                               \
+    (icup)->config->width_cb(icup);                                         \
+  }                                                                         \
 }
 
 /**
diff --git a/os/hal/platforms/STM32/TIMv1/icu_lld.c b/os/hal/platforms/STM32/TIMv1/icu_lld.c
index b407d33ae..0b1013a23 100644
--- a/os/hal/platforms/STM32/TIMv1/icu_lld.c
+++ b/os/hal/platforms/STM32/TIMv1/icu_lld.c
@@ -614,6 +614,7 @@ void icu_lld_stop(ICUDriver *icup) {
  */
 void icu_lld_enable(ICUDriver *icup) {
 
+  icup->tim->EGR |= STM32_TIM_EGR_UG;
   icup->tim->SR = 0;                        /* Clear pending IRQs (if any). */
   if (icup->config->channel == ICU_CHANNEL_1) {
     if (icup->config->period_cb != NULL)
diff --git a/readme.txt b/readme.txt
index f2e2b9d19..075376917 100644
--- a/readme.txt
+++ b/readme.txt
@@ -89,6 +89,8 @@
 *****************************************************************************
 
 *** 2.7.0 ***
+- FIX: Fixed spurious callback in ICU driver (bug #461)(backported to 2.6.3
+  and 2.4.6).
 - FIX: Fixed compile error in STM32F0xx ADC driver when STM32F0XX_LD devices
   are selected (bug #460)(backported to 2.6.3).
 - FIX: Fixed race condition in STM32 SDC driver (bug #458)(backported