diff --git a/cores/arduino/stm32/stm32_def.h b/cores/arduino/stm32/stm32_def.h
index 1765fa333d..b598d83a86 100644
--- a/cores/arduino/stm32/stm32_def.h
+++ b/cores/arduino/stm32/stm32_def.h
@@ -52,7 +52,6 @@
 
 // Here define some compatibility
 #ifdef STM32F0xx
-#define I2C1_EV_IRQn                     I2C1_IRQn
 
 #elif defined(STM32F1xx)
 
@@ -65,8 +64,7 @@
 #elif defined(STM32F7xx)
 
 #elif defined(STM32L0xx)
-#define I2C1_EV_IRQn                     I2C1_IRQn
-#define I2C2_EV_IRQn                     I2C2_IRQn
+
 #elif defined(STM32L1xx)
 
 #elif defined(STM32L4xx)
diff --git a/cores/arduino/stm32/twi.c b/cores/arduino/stm32/twi.c
index f2022752cc..f27239005e 100644
--- a/cores/arduino/stm32/twi.c
+++ b/cores/arduino/stm32/twi.c
@@ -101,7 +101,16 @@
   */
 
 /*  Family specific description for I2C */
-#define I2C_NUM (5)
+#if defined(STM32F7xx) || defined(STM32L4xx)
+#define I2C_NUM (4)
+#elif defined(STM32F2xx) || defined(STM32F3xx) || defined(STM32F4xx) || defined(STM32L0xx)
+#define I2C_NUM (3)
+#elif defined(STM32F0xx) || defined(STM32F1xx) || defined(STM32L1xx)
+#define I2C_NUM (2)
+#else
+#error "Unknown Family - unknown I2C_NUM"
+#endif
+
 static I2C_HandleTypeDef* i2c_handles[I2C_NUM];
 
 /**
@@ -142,7 +151,6 @@ void i2c_init(i2c_t *obj)
   */
 void i2c_custom_init(i2c_t *obj, i2c_timing_e timing, uint32_t addressingMode, uint32_t ownAddress, uint8_t master)
 {
-  UNUSED(master);
   if(obj == NULL)
     return;
 
@@ -170,53 +178,56 @@ void i2c_custom_init(i2c_t *obj, i2c_timing_e timing, uint32_t addressingMode, u
 #if defined I2C1_BASE
   // Enable I2C1 clock if not done
   if (obj->i2c == I2C1) {
-      __HAL_RCC_I2C1_CLK_ENABLE();
-      __HAL_RCC_I2C1_FORCE_RESET();
-      __HAL_RCC_I2C1_RELEASE_RESET();
-      obj->irq = I2C1_EV_IRQn;
-#ifdef STM32F1xx
-      obj->irqER = I2C1_ER_IRQn;
-#endif
-      i2c_handles[0] = handle;
+    __HAL_RCC_I2C1_CLK_ENABLE();
+    __HAL_RCC_I2C1_FORCE_RESET();
+    __HAL_RCC_I2C1_RELEASE_RESET();
+
+    obj->irq = I2C1_EV_IRQn;
+#if !defined(STM32F0xx) && !defined(STM32L0xx)
+    obj->irqER = I2C1_ER_IRQn;
+#endif // !defined(STM32F0xx) && !defined(STM32L0xx)
+    i2c_handles[0] = handle;
   }
-#endif
+#endif // I2C1_BASE
 #if defined I2C2_BASE
   // Enable I2C2 clock if not done
   if (obj->i2c == I2C2) {
-      __HAL_RCC_I2C2_CLK_ENABLE();
-      __HAL_RCC_I2C2_FORCE_RESET();
-      __HAL_RCC_I2C2_RELEASE_RESET();
-#ifdef STM32F0xx
-      obj->irq = I2C2_IRQn;
-#else
-      obj->irq = I2C2_EV_IRQn;
-#ifdef STM32F1xx
-      obj->irqER = I2C2_ER_IRQn;
-#endif
-#endif
-      i2c_handles[1] = handle;
+    __HAL_RCC_I2C2_CLK_ENABLE();
+    __HAL_RCC_I2C2_FORCE_RESET();
+    __HAL_RCC_I2C2_RELEASE_RESET();
+    obj->irq = I2C2_EV_IRQn;
+#if !defined(STM32F0xx) && !defined(STM32L0xx)
+    obj->irqER = I2C2_ER_IRQn;
+#endif // !defined(STM32F0xx) && !defined(STM32L0xx)
+    i2c_handles[1] = handle;
   }
-#endif
+#endif // I2C2_BASE
 #if defined I2C3_BASE
   // Enable I2C3 clock if not done
   if (obj->i2c == I2C3) {
-      __HAL_RCC_I2C3_CLK_ENABLE();
-      __HAL_RCC_I2C3_FORCE_RESET();
-      __HAL_RCC_I2C3_RELEASE_RESET();
-      obj->irq = I2C3_EV_IRQn;
-      i2c_handles[2] = handle;
+    __HAL_RCC_I2C3_CLK_ENABLE();
+    __HAL_RCC_I2C3_FORCE_RESET();
+    __HAL_RCC_I2C3_RELEASE_RESET();
+    obj->irq = I2C3_EV_IRQn;
+#if !defined(STM32F0xx) && !defined(STM32L0xx)
+    obj->irqER = I2C3_ER_IRQn;
+#endif // !defined(STM32F0xx) && !defined(STM32L0xx)
+    i2c_handles[2] = handle;
   }
-#endif
+#endif // I2C3_BASE
 #if defined I2C4_BASE
-  // Enable I2C3 clock if not done
+  // Enable I2C4 clock if not done
   if (obj->i2c == I2C4) {
-      __HAL_RCC_I2C4_CLK_ENABLE();
-      __HAL_RCC_I2C4_FORCE_RESET();
-      __HAL_RCC_I2C4_RELEASE_RESET();
-      obj->irq = I2C4_EV_IRQn;
-      i2c_handles[3] = handle;
+    __HAL_RCC_I2C4_CLK_ENABLE();
+    __HAL_RCC_I2C4_FORCE_RESET();
+    __HAL_RCC_I2C4_RELEASE_RESET();
+    obj->irq = I2C4_EV_IRQn;
+#if !defined(STM32F0xx) && !defined(STM32L0xx)
+    obj->irqER = I2C4_ER_IRQn;
+#endif // !defined(STM32F0xx) && !defined(STM32L0xx)
+    i2c_handles[3] = handle;
   }
-#endif
+#endif // I2C4_BASE
 
   //SCL
   port = set_GPIO_Port_Clock(STM_PORT(obj->scl));
@@ -250,7 +261,7 @@ void i2c_custom_init(i2c_t *obj, i2c_timing_e timing, uint32_t addressingMode, u
   handle->Init.Timing      = timing;
 #else
   handle->Init.ClockSpeed      = timing;
-  handle->Init.DutyCycle       = I2C_DUTYCYCLE_2;//16_9;
+  handle->Init.DutyCycle       = I2C_DUTYCYCLE_2;
 #endif
   handle->Init.OwnAddress1     = ownAddress;
   handle->Init.OwnAddress2     = 0xFF;
@@ -261,17 +272,17 @@ void i2c_custom_init(i2c_t *obj, i2c_timing_e timing, uint32_t addressingMode, u
 
   handle->State = HAL_I2C_STATE_RESET;
 
-  if(master == 0) {
-    HAL_NVIC_SetPriority(obj->irq, 0, 1);
-    HAL_NVIC_EnableIRQ(obj->irq);
-#ifdef STM32F1xx
-    HAL_NVIC_SetPriority(obj->irqER, 0, 1);
-    HAL_NVIC_EnableIRQ(obj->irqER);
-#endif
-  }
+  HAL_NVIC_SetPriority(obj->irq, 0, 1);
+  HAL_NVIC_EnableIRQ(obj->irq);
+#if !defined(STM32F0xx) && !defined(STM32L0xx)
+  HAL_NVIC_SetPriority(obj->irqER, 0, 1);
+  HAL_NVIC_EnableIRQ(obj->irqER);
+#endif // !defined(STM32F0xx) && !defined(STM32L0xx)
 
   // Init the I2C
   HAL_I2C_Init(handle);
+
+  obj->isMaster = master;
 }
 
 /**
@@ -282,9 +293,9 @@ void i2c_custom_init(i2c_t *obj, i2c_timing_e timing, uint32_t addressingMode, u
 void i2c_deinit(i2c_t *obj)
 {
   HAL_NVIC_DisableIRQ(obj->irq);
-#ifdef STM32F1xx
+#if !defined(STM32F0xx) && !defined(STM32L0xx)
   HAL_NVIC_DisableIRQ(obj->irqER);
-#endif
+#endif // !defined(STM32F0xx) && !defined(STM32L0xx)
   HAL_I2C_DeInit(&(obj->handle));
 }
 
@@ -341,17 +352,20 @@ i2c_status_e i2c_master_write(i2c_t *obj, uint8_t dev_address,
 
 {
   i2c_status_e ret = I2C_ERROR;
-  HAL_StatusTypeDef status = HAL_OK;
+  uint32_t tickstart = HAL_GetTick();
 
-  // Check the communication status
-  status = HAL_I2C_Master_Transmit(&(obj->handle), dev_address, data, size, I2C_TIMEOUT_TICK);
-
-  if(status == HAL_OK)
+  if(HAL_I2C_Master_Transmit_IT(&(obj->handle), dev_address, data, size) == HAL_OK){
     ret = I2C_OK;
-  else if(status == HAL_TIMEOUT)
-    ret = I2C_TIMEOUT;
-  else
-    ret = I2C_ERROR;
+    // wait for transfer completion
+    while((HAL_I2C_GetState(&(obj->handle)) != HAL_I2C_STATE_READY)
+           && (ret == I2C_OK)){
+      if((HAL_GetTick() - tickstart) > I2C_TIMEOUT_TICK) {
+        ret = I2C_TIMEOUT;
+      } else if(HAL_I2C_GetError(&(obj->handle)) != HAL_I2C_ERROR_NONE) {
+        ret = I2C_ERROR;
+      }
+    }
+  }
 
   return ret;
 }
@@ -385,9 +399,19 @@ void i2c_slave_write_IT(i2c_t *obj, uint8_t *data, uint8_t size)
 i2c_status_e i2c_master_read(i2c_t *obj, uint8_t dev_address, uint8_t *data, uint8_t size)
 {
   i2c_status_e ret = I2C_ERROR;
+  uint32_t tickstart = HAL_GetTick();
 
-  if(HAL_I2C_Master_Receive(&(obj->handle), dev_address, data, size, I2C_TIMEOUT_TICK) == HAL_OK) {
+  if(HAL_I2C_Master_Receive_IT(&(obj->handle), dev_address, data, size) == HAL_OK) {
     ret = I2C_OK;
+    // wait for transfer completion
+    while((HAL_I2C_GetState(&(obj->handle)) != HAL_I2C_STATE_READY)
+           && (ret == I2C_OK)){
+      if((HAL_GetTick() - tickstart) > I2C_TIMEOUT_TICK) {
+        ret = I2C_TIMEOUT;
+      } else if(HAL_I2C_GetError(&(obj->handle)) != HAL_I2C_ERROR_NONE) {
+        ret = I2C_ERROR;
+      }
+    }
   }
 
   return ret;
@@ -506,15 +530,24 @@ void HAL_I2C_ListenCpltCallback(I2C_HandleTypeDef *hi2c)
 
 /**
   * @brief  I2C error callback.
+  * @note   In master mode, the callback is not used because the error is reported
+  *         to the Arduino API from i2c_master_write() and i2c_master_read().
+  *         In slave mode, there is no mechanism in Arduino API to report an error
+  *         so the error callback forces the slave to listen again.
   * @param  hi2c Pointer to a I2C_HandleTypeDef structure that contains
   *                the configuration information for the specified I2C.
   * @retval None
   */
 void HAL_I2C_ErrorCallback(I2C_HandleTypeDef *hi2c)
 {
-  HAL_I2C_EnableListen_IT(hi2c);
+  i2c_t *obj = get_i2c_obj(hi2c);
+
+  if(obj->isMaster == 0) {
+    HAL_I2C_EnableListen_IT(hi2c);
+  }
 }
 
+#if defined(I2C1_BASE)
 /**
 * @brief  This function handles I2C1 interrupt.
 * @param  None
@@ -524,8 +557,12 @@ void I2C1_EV_IRQHandler(void)
 {
   I2C_HandleTypeDef * handle = i2c_handles[0];
   HAL_I2C_EV_IRQHandler(handle);
+#if defined(STM32F0xx) || defined(STM32L0xx)
+  HAL_I2C_ER_IRQHandler(handle);
+#endif // defined(STM32F0xx) || defined(STM32L0xx)
 }
 
+#if !defined(STM32F0xx) && !defined(STM32L0xx)
 /**
 * @brief  This function handles I2C1 interrupt.
 * @param  None
@@ -536,7 +573,10 @@ void I2C1_ER_IRQHandler(void)
   I2C_HandleTypeDef * handle = i2c_handles[0];
   HAL_I2C_ER_IRQHandler(handle);
 }
+#endif // !defined(STM32F0xx) && !defined(STM32L0xx)
+#endif // I2C1_BASE
 
+#if defined(I2C2_BASE)
 /**
 * @brief  This function handles I2C2 interrupt.
 * @param  None
@@ -546,8 +586,12 @@ void I2C2_EV_IRQHandler(void)
 {
   I2C_HandleTypeDef * handle = i2c_handles[1];
   HAL_I2C_EV_IRQHandler(handle);
+#if defined(STM32F0xx) || defined(STM32L0xx)
+  HAL_I2C_ER_IRQHandler(handle);
+#endif // defined(STM32F0xx) || defined(STM32L0xx)
 }
 
+#if !defined(STM32F0xx) && !defined(STM32L0xx)
 /**
 * @brief  This function handles I2C2 interrupt.
 * @param  None
@@ -558,7 +602,10 @@ void I2C2_ER_IRQHandler(void)
   I2C_HandleTypeDef * handle = i2c_handles[1];
   HAL_I2C_ER_IRQHandler(handle);
 }
+#endif // !defined(STM32F0xx) && !defined(STM32L0xx)
+#endif // I2C2_BASE
 
+#if defined(I2C3_BASE)
 /**
 * @brief  This function handles I2C3 interrupt.
 * @param  None
@@ -568,8 +615,12 @@ void I2C3_EV_IRQHandler(void)
 {
   I2C_HandleTypeDef * handle = i2c_handles[2];
   HAL_I2C_EV_IRQHandler(handle);
+#if defined(STM32F0xx) || defined(STM32L0xx)
+  HAL_I2C_ER_IRQHandler(handle);
+#endif // defined(STM32F0xx) || defined(STM32L0xx)
 }
 
+#if !defined(STM32F0xx) && !defined(STM32L0xx)
 /**
 * @brief  This function handles I2C3 interrupt.
 * @param  None
@@ -580,7 +631,10 @@ void I2C3_ER_IRQHandler(void)
   I2C_HandleTypeDef * handle = i2c_handles[2];
   HAL_I2C_ER_IRQHandler(handle);
 }
+#endif // !defined(STM32F0xx) && !defined(STM32L0xx)
+#endif // I2C3_BASE
 
+#if defined(I2C4_BASE)
 /**
 * @brief  This function handles I2C4 interrupt.
 * @param  None
@@ -590,8 +644,12 @@ void I2C4_EV_IRQHandler(void)
 {
   I2C_HandleTypeDef * handle = i2c_handles[3];
   HAL_I2C_EV_IRQHandler(handle);
+#if defined(STM32F0xx) || defined(STM32L0xx)
+  HAL_I2C_ER_IRQHandler(handle);
+#endif // defined(STM32F0xx) || defined(STM32L0xx)
 }
 
+#if !defined(STM32F0xx) && !defined(STM32L0xx)
 /**
 * @brief  This function handles I2C4 interrupt.
 * @param  None
@@ -602,6 +660,8 @@ void I2C4_ER_IRQHandler(void)
   I2C_HandleTypeDef * handle = i2c_handles[3];
   HAL_I2C_ER_IRQHandler(handle);
 }
+#endif // !defined(STM32F0xx) && !defined(STM32L0xx)
+#endif // I2C4_BASE
 
 /**
   * @}
diff --git a/cores/arduino/stm32/twi.h b/cores/arduino/stm32/twi.h
index bd865b9e45..7125ebabf7 100644
--- a/cores/arduino/stm32/twi.h
+++ b/cores/arduino/stm32/twi.h
@@ -52,8 +52,29 @@
 /* offsetof is a gcc built-in function, this is the manual implementation */
 #define OFFSETOF(type, member) ((uint32_t) (&(((type *)(0))->member)))
 
+/* I2C Tx/Rx buffer size */
 #define I2C_TXRX_BUFFER_SIZE    32
 
+/* Redefinition of IRQ for F0 & L0 family */
+#if defined(STM32F0xx) || defined(STM32L0xx)
+#if defined(I2C1_BASE)
+#define I2C1_EV_IRQn        I2C1_IRQn
+#define I2C1_EV_IRQHandler  I2C1_IRQHandler
+#endif // defined(I2C1_BASE)
+#if defined(I2C2_BASE)
+#define I2C2_EV_IRQn        I2C2_IRQn
+#define I2C2_EV_IRQHandler  I2C2_IRQHandler
+#endif // defined(I2C2_BASE)
+#if defined(I2C3_BASE)
+#define I2C3_EV_IRQn        I2C3_IRQn
+#define I2C3_EV_IRQHandler  I2C3_IRQHandler
+#endif // defined(I2C3_BASE)
+#if defined(I2C4_BASE)
+#define I2C4_EV_IRQn        I2C4_IRQn
+#define I2C4_EV_IRQHandler  I2C4_IRQHandler
+#endif // defined(I2C4_BASE)-
+#endif // defined(STM32F0xx) || defined(STM32L0xx)
+
 typedef struct i2c_s i2c_t;
 
 struct i2c_s {
@@ -67,10 +88,11 @@ struct i2c_s {
   PinName sda;
   PinName scl;
   IRQn_Type irq;
-#ifdef STM32F1xx
+#if !defined(STM32F0xx) && !defined(STM32L0xx)
   IRQn_Type irqER;
-#endif
+#endif //!defined(STM32F0xx) && !defined(STM32L0xx)
   uint8_t slaveMode;
+  uint8_t isMaster;
   void (*i2c_onSlaveReceive)(uint8_t *, int);
   void (*i2c_onSlaveTransmit)(void);
   uint8_t i2cTxRxBuffer[I2C_TXRX_BUFFER_SIZE];