diff --git a/components/esp_timer/src/esp_timer_impl_systimer.c b/components/esp_timer/src/esp_timer_impl_systimer.c
index 19c963110b..ead5d24cab 100644
--- a/components/esp_timer/src/esp_timer_impl_systimer.c
+++ b/components/esp_timer/src/esp_timer_impl_systimer.c
@@ -75,7 +75,7 @@ int64_t IRAM_ATTR esp_timer_impl_get_time(void)
     if (unlikely(s_alarm_handler == NULL)) {
         return 0;
     }
-    return systimer_hal_get_time(&systimer_hal, SYSTIMER_LL_COUNTER_CLOCK);
+    return systimer_hal_get_counter_value(&systimer_hal, SYSTIMER_LL_COUNTER_CLOCK) / SYSTIMER_LL_TICKS_PER_US;
 }
 
 int64_t esp_timer_get_time(void) __attribute__((alias("esp_timer_impl_get_time")));
diff --git a/components/hal/esp32c3/include/hal/systimer_ll.h b/components/hal/esp32c3/include/hal/systimer_ll.h
index e7d50778ab..9aa0c32da5 100644
--- a/components/hal/esp32c3/include/hal/systimer_ll.h
+++ b/components/hal/esp32c3/include/hal/systimer_ll.h
@@ -23,6 +23,8 @@
 #define SYSTIMER_LL_ALARM_OS_TICK_CORE0 (0) // Alarm used for OS tick of CPU core 0
 #define SYSTIMER_LL_ALARM_CLOCK         (2) // Alarm used for "wallclock" time
 
+#define SYSTIMER_LL_TICKS_PER_US        (16) // 16 systimer ticks == 1us
+
 #ifdef __cplusplus
 extern "C" {
 #endif
diff --git a/components/hal/esp32s2/include/hal/systimer_ll.h b/components/hal/esp32s2/include/hal/systimer_ll.h
index 388f00580f..158c4a8aa9 100644
--- a/components/hal/esp32s2/include/hal/systimer_ll.h
+++ b/components/hal/esp32s2/include/hal/systimer_ll.h
@@ -21,6 +21,8 @@
 #define SYSTIMER_LL_COUNTER_CLOCK (0) // Counter used for "wallclock" time
 #define SYSTIMER_LL_ALARM_CLOCK   (2) // Alarm used for "wallclock" time
 
+#define SYSTIMER_LL_TICKS_PER_US  (80) // 80 systimer ticks == 1us
+
 #ifdef __cplusplus
 extern "C" {
 #endif
diff --git a/components/hal/esp32s3/include/hal/systimer_ll.h b/components/hal/esp32s3/include/hal/systimer_ll.h
index ba07f4658b..d540b99b37 100644
--- a/components/hal/esp32s3/include/hal/systimer_ll.h
+++ b/components/hal/esp32s3/include/hal/systimer_ll.h
@@ -24,6 +24,8 @@
 #define SYSTIMER_LL_ALARM_OS_TICK_CORE1 (1) // Alarm used for OS tick of CPU core 1
 #define SYSTIMER_LL_ALARM_CLOCK         (2) // Alarm used for "wallclock" time
 
+#define SYSTIMER_LL_TICKS_PER_US        (16) // 16 systimer ticks == 1us
+
 #ifdef __cplusplus
 extern "C" {
 #endif
diff --git a/components/hal/systimer_hal.c b/components/hal/systimer_hal.c
index 2521060308..9ecf8c70ca 100644
--- a/components/hal/systimer_hal.c
+++ b/components/hal/systimer_hal.c
@@ -19,13 +19,6 @@
 #include "hal/systimer_types.h"
 #include "hal/clk_gate_ll.h"
 
-// Number of timer ticks per microsecond
-#if SOC_SYSTIMER_FIXED_TICKS_US
-#define SYSTIMER_TICKS_PER_US  (SOC_SYSTIMER_FIXED_TICKS_US)
-#else
-#define SYSTIMER_TICKS_PER_US (80)
-#endif
-
 void systimer_hal_init(systimer_hal_context_t *hal)
 {
     hal->dev = &SYSTIMER;
@@ -61,13 +54,13 @@ uint64_t systimer_hal_get_counter_value(systimer_hal_context_t *hal, uint32_t co
 
 uint64_t systimer_hal_get_time(systimer_hal_context_t *hal, uint32_t counter_id)
 {
-    return systimer_hal_get_counter_value(hal, counter_id) / SYSTIMER_TICKS_PER_US;
+    return systimer_hal_get_counter_value(hal, counter_id) / SYSTIMER_LL_TICKS_PER_US;
 }
 
 #if SOC_SYSTIMER_ALARM_MISS_COMPENSATE
 void systimer_hal_set_alarm_target(systimer_hal_context_t *hal, uint32_t alarm_id, uint64_t target)
 {
-    systimer_counter_value_t alarm = { .val = target * SYSTIMER_TICKS_PER_US};
+    systimer_counter_value_t alarm = { .val = target * SYSTIMER_LL_TICKS_PER_US};
     systimer_ll_enable_alarm(hal->dev, alarm_id, false);
     systimer_ll_set_alarm_target(hal->dev, alarm_id, alarm.val);
     systimer_ll_apply_alarm_value(hal->dev, alarm_id);
@@ -76,9 +69,9 @@ void systimer_hal_set_alarm_target(systimer_hal_context_t *hal, uint32_t alarm_i
 #else
 void systimer_hal_set_alarm_target(systimer_hal_context_t *hal, uint32_t alarm_id, uint64_t timestamp)
 {
-    int64_t offset = SYSTIMER_TICKS_PER_US * 2;
+    int64_t offset = SYSTIMER_LL_TICKS_PER_US * 2;
     uint64_t now_time = systimer_hal_get_counter_value(hal, 0);
-    systimer_counter_value_t alarm = { .val = MAX(timestamp * SYSTIMER_TICKS_PER_US, now_time + offset) };
+    systimer_counter_value_t alarm = { .val = MAX(timestamp * SYSTIMER_LL_TICKS_PER_US, now_time + offset) };
     do {
         systimer_ll_enable_alarm(hal->dev, alarm_id, false);
         systimer_ll_set_alarm_target(hal->dev, alarm_id, alarm.val);
@@ -87,7 +80,7 @@ void systimer_hal_set_alarm_target(systimer_hal_context_t *hal, uint32_t alarm_i
         int64_t delta = (int64_t)alarm.val - (int64_t)now_time;
         if (delta <= 0 && !systimer_ll_is_alarm_int_fired(hal->dev, alarm_id)) {
             // new alarm is less than the counter and the interrupt flag is not set
-            offset += -1 * delta + SYSTIMER_TICKS_PER_US * 2;
+            offset += -1 * delta + SYSTIMER_LL_TICKS_PER_US * 2;
             alarm.val = now_time + offset;
         } else {
             // finish if either (alarm > counter) or the interrupt flag is already set.
@@ -100,7 +93,7 @@ void systimer_hal_set_alarm_target(systimer_hal_context_t *hal, uint32_t alarm_i
 void systimer_hal_set_alarm_period(systimer_hal_context_t *hal, uint32_t alarm_id, uint32_t period)
 {
     systimer_ll_enable_alarm(hal->dev, alarm_id, false);
-    systimer_ll_set_alarm_period(hal->dev, alarm_id, period * SYSTIMER_TICKS_PER_US);
+    systimer_ll_set_alarm_period(hal->dev, alarm_id, period * SYSTIMER_LL_TICKS_PER_US);
     systimer_ll_apply_alarm_value(hal->dev, alarm_id);
     systimer_ll_enable_alarm(hal->dev, alarm_id, true);
 }
@@ -117,7 +110,7 @@ void systimer_hal_enable_alarm_int(systimer_hal_context_t *hal, uint32_t alarm_i
 
 void systimer_hal_counter_value_advance(systimer_hal_context_t *hal, uint32_t counter_id, int64_t time_us)
 {
-    systimer_counter_value_t new_count = { .val = systimer_hal_get_counter_value(hal, counter_id) + time_us * SYSTIMER_TICKS_PER_US };
+    systimer_counter_value_t new_count = { .val = systimer_hal_get_counter_value(hal, counter_id) + time_us * SYSTIMER_LL_TICKS_PER_US };
     systimer_ll_set_counter_value(hal->dev, counter_id, new_count.val);
     systimer_ll_apply_counter_value(hal->dev, counter_id);
 }
@@ -180,9 +173,9 @@ void systimer_hal_on_apb_freq_update(systimer_hal_context_t *hal, uint32_t apb_t
     * If this was called when switching APB clock to XTAL, need to adjust
     * XTAL_STEP value accordingly.
     */
-    if (apb_ticks_per_us != SYSTIMER_TICKS_PER_US) {
-        assert((SYSTIMER_TICKS_PER_US % apb_ticks_per_us) == 0 && "TICK_PER_US should be divisible by APB frequency (in MHz)");
-        systimer_ll_set_step_for_xtal(hal->dev, SYSTIMER_TICKS_PER_US / apb_ticks_per_us);
+    if (apb_ticks_per_us != SYSTIMER_LL_TICKS_PER_US) {
+        assert((SYSTIMER_LL_TICKS_PER_US % apb_ticks_per_us) == 0 && "TICK_PER_US should be divisible by APB frequency (in MHz)");
+        systimer_ll_set_step_for_xtal(hal->dev, SYSTIMER_LL_TICKS_PER_US / apb_ticks_per_us);
     }
 }
 #endif