diff --git a/arch/arm/src/armv7-m/arm_systick.c b/arch/arm/src/armv7-m/arm_systick.c
index eccdae96af6..a25df880f5f 100644
--- a/arch/arm/src/armv7-m/arm_systick.c
+++ b/arch/arm/src/armv7-m/arm_systick.c
@@ -30,6 +30,7 @@
 #include <nuttx/irq.h>
 
 #include <stdio.h>
+#include <sys/param.h>
 
 #include "nvic.h"
 #include "systick.h"
@@ -37,6 +38,22 @@
 
 #ifdef CONFIG_ARMV7M_SYSTICK
 
+/****************************************************************************
+ * Pre-processor definitions
+ ****************************************************************************/
+
+/* According to what arm specified, we should set the
+ * RELOAD value to N-1 for a desired systick interval of
+ * N processor clock cycles.
+ * Therefore, when reading the RELOAD value, it is important
+ * to add one clock cycle back.
+ */
+#define RELOAD2TIMEOUT(reload) ((reload) + 1)
+#define TIMEOUT2RELOAD(timeout) ((timeout) - 1)
+
+#define CLAMP_RELOAD(reload) \
+CLAMP(reload, NVIC_MIN_SYSTICK_CNT, NVIC_MAX_SYSTICK_CNT)
+
 /****************************************************************************
  * Private Types
  ****************************************************************************/
@@ -141,10 +158,10 @@ static int systick_getstatus(struct timer_lowerhalf_s *lower_,
 
   status->flags    = lower->callback ? TCFLAGS_HANDLER : 0;
   status->flags   |= systick_is_running() ? TCFLAGS_ACTIVE : 0;
-  status->timeout  = usec_from_count(getreg32(NVIC_SYSTICK_RELOAD),
-                                     lower->freq);
-  status->timeleft = usec_from_count(getreg32(NVIC_SYSTICK_CURRENT),
-                                     lower->freq);
+  status->timeout  = usec_from_count(
+    RELOAD2TIMEOUT(getreg32(NVIC_SYSTICK_RELOAD)), lower->freq);
+  status->timeleft = usec_from_count(
+    getreg32(NVIC_SYSTICK_CURRENT), lower->freq);
 
   if (systick_irq_pending(lower))
     {
@@ -185,8 +202,9 @@ static int systick_settimeout(struct timer_lowerhalf_s *lower_,
     {
       uint32_t reload;
 
-      reload = usec_to_count(timeout, lower->freq);
-      putreg32(reload, NVIC_SYSTICK_RELOAD);
+      reload = TIMEOUT2RELOAD(usec_to_count(timeout, lower->freq));
+
+      putreg32(CLAMP_RELOAD(reload), NVIC_SYSTICK_RELOAD);
       if (systick_is_running())
         {
           if (reload != getreg32(NVIC_SYSTICK_CURRENT))
@@ -237,7 +255,8 @@ static int systick_interrupt(int irq, void *context, void *arg)
   if (lower->callback && systick_is_running())
     {
       uint32_t reload = getreg32(NVIC_SYSTICK_RELOAD);
-      uint32_t interval = usec_from_count(reload, lower->freq);
+      uint32_t interval = usec_from_count(
+        RELOAD2TIMEOUT(reload), lower->freq);
       uint32_t next_interval = interval;
 
       lower->next_interval = &next_interval;
@@ -245,8 +264,9 @@ static int systick_interrupt(int irq, void *context, void *arg)
         {
           if (next_interval && next_interval != interval)
             {
-              reload = usec_to_count(next_interval, lower->freq);
-              putreg32(reload, NVIC_SYSTICK_RELOAD);
+              reload = TIMEOUT2RELOAD(
+                usec_to_count(next_interval, lower->freq));
+              putreg32(CLAMP_RELOAD(reload), NVIC_SYSTICK_RELOAD);
               putreg32(0, NVIC_SYSTICK_CURRENT);
             }
         }
diff --git a/arch/arm/src/armv7-m/nvic.h b/arch/arm/src/armv7-m/nvic.h
index 49d0af16338..e6e1d8171ad 100644
--- a/arch/arm/src/armv7-m/nvic.h
+++ b/arch/arm/src/armv7-m/nvic.h
@@ -470,18 +470,25 @@
 
 /* SysTick reload value register (SYSTICK_RELOAD) */
 
+/* The armv7-m systick RELOAD regitser has 24 bits
+ * ranging from 0x1 ~ 0x00ffffff
+ * noting that, setting reload to 0 is valid but doesn't have any effects
+ */
+
+#define NVIC_MIN_SYSTICK_CNT            (0x00000001)
+#define NVIC_MAX_SYSTICK_CNT            (0x00ffffff)
 #define NVIC_SYSTICK_RELOAD_SHIFT       0         /* Bits 23-0: Timer reload value */
-#define NVIC_SYSTICK_RELOAD_MASK        (0x00ffffff << NVIC_SYSTICK_RELOAD_SHIFT)
+#define NVIC_SYSTICK_RELOAD_MASK        (NVIC_MAX_SYSTICK_CNT << NVIC_SYSTICK_RELOAD_SHIFT)
 
 /* SysTick current value register (SYSTICK_CURRENT) */
 
 #define NVIC_SYSTICK_CURRENT_SHIFT      0         /* Bits 23-0: Timer current value */
-#define NVIC_SYSTICK_CURRENT_MASK       (0x00ffffff << NVIC_SYSTICK_RELOAD_SHIFT)
+#define NVIC_SYSTICK_CURRENT_MASK       (NVIC_MAX_SYSTICK_CNT << NVIC_SYSTICK_RELOAD_SHIFT)
 
 /* SysTick calibration value register (SYSTICK_CALIB) */
 
 #define NVIC_SYSTICK_CALIB_TENMS_SHIFT  0         /* Bits 23-0: Calibration value */
-#define NVIC_SYSTICK_CALIB_TENMS_MASK   (0x00ffffff << NVIC_SYSTICK_CALIB_TENMS_SHIFT)
+#define NVIC_SYSTICK_CALIB_TENMS_MASK   (NVIC_MAX_SYSTICK_CNT << NVIC_SYSTICK_CALIB_TENMS_SHIFT)
 #define NVIC_SYSTICK_CALIB_SKEW         (1 << 30) /* Bit 30: Calibration value inexact */
 #define NVIC_SYSTICK_CALIB_NOREF        (1 << 31) /* Bit 31: No external reference clock */
 
diff --git a/arch/arm/src/armv8-m/arm_systick.c b/arch/arm/src/armv8-m/arm_systick.c
index 7d7e54c9bbc..9a0d5f52112 100644
--- a/arch/arm/src/armv8-m/arm_systick.c
+++ b/arch/arm/src/armv8-m/arm_systick.c
@@ -29,6 +29,7 @@
 #include <nuttx/arch.h>
 #include <nuttx/irq.h>
 
+#include <sys/param.h>
 #include <stdio.h>
 
 #include "nvic.h"
@@ -37,6 +38,22 @@
 
 #ifdef CONFIG_ARMV8M_SYSTICK
 
+/****************************************************************************
+ * Pre-processor definitions
+ ****************************************************************************/
+
+/* According to what arm specified, we should set the
+ * RELOAD value to N-1 for a desired systick interval of
+ * N processor clock cycles.
+ * Therefore, when reading the RELOAD value, it is important
+ * to add one clock cycle back.
+ */
+#define RELOAD2TIMEOUT(reload) ((reload) + 1)
+#define TIMEOUT2RELOAD(timeout) ((timeout) - 1)
+
+#define CLAMP_RELOAD(reload) \
+CLAMP(reload, NVIC_MIN_SYSTICK_CNT, NVIC_MAX_SYSTICK_CNT)
+
 /****************************************************************************
  * Private Types
  ****************************************************************************/
@@ -141,8 +158,8 @@ static int systick_getstatus(struct timer_lowerhalf_s *lower_,
 
   status->flags    = lower->callback ? TCFLAGS_HANDLER : 0;
   status->flags   |= systick_is_running() ? TCFLAGS_ACTIVE : 0;
-  status->timeout  = usec_from_count(getreg32(NVIC_SYSTICK_RELOAD),
-                                     lower->freq);
+  status->timeout  = usec_from_count(
+    RELOAD2TIMEOUT(getreg32(NVIC_SYSTICK_RELOAD)), lower->freq);
   status->timeleft = usec_from_count(getreg32(NVIC_SYSTICK_CURRENT),
                                      lower->freq);
 
@@ -185,8 +202,9 @@ static int systick_settimeout(struct timer_lowerhalf_s *lower_,
     {
       uint32_t reload;
 
-      reload = usec_to_count(timeout, lower->freq);
-      putreg32(reload, NVIC_SYSTICK_RELOAD);
+      reload = TIMEOUT2RELOAD(usec_to_count(timeout, lower->freq));
+
+      putreg32(CLAMP_RELOAD(reload), NVIC_SYSTICK_RELOAD);
       if (systick_is_running())
         {
           if (reload != getreg32(NVIC_SYSTICK_CURRENT))
@@ -237,7 +255,8 @@ static int systick_interrupt(int irq, void *context, void *arg)
   if (lower->callback && systick_is_running())
     {
       uint32_t reload = getreg32(NVIC_SYSTICK_RELOAD);
-      uint32_t interval = usec_from_count(reload, lower->freq);
+      uint32_t interval = usec_from_count(
+        RELOAD2TIMEOUT(reload), lower->freq);
       uint32_t next_interval = interval;
 
       lower->next_interval = &next_interval;
@@ -245,8 +264,9 @@ static int systick_interrupt(int irq, void *context, void *arg)
         {
           if (next_interval && next_interval != interval)
             {
-              reload = usec_to_count(next_interval, lower->freq);
-              putreg32(reload, NVIC_SYSTICK_RELOAD);
+              reload = TIMEOUT2RELOAD(
+                usec_to_count(next_interval, lower->freq));
+              putreg32(CLAMP_RELOAD(reload), NVIC_SYSTICK_RELOAD);
               putreg32(0, NVIC_SYSTICK_CURRENT);
             }
         }
diff --git a/arch/arm/src/armv8-m/nvic.h b/arch/arm/src/armv8-m/nvic.h
index 646ebbf33e9..0df6a9e60db 100644
--- a/arch/arm/src/armv8-m/nvic.h
+++ b/arch/arm/src/armv8-m/nvic.h
@@ -544,18 +544,25 @@
 
 /* SysTick reload value register (SYSTICK_RELOAD) */
 
+/* The armv8-m systick RELOAD regitser has 24 bits
+ * ranging from 0x1 ~ 0x00ffffff
+ * noting that, setting reload to 0 is valid but doesn't have any effects
+ */
+
+#define NVIC_MIN_SYSTICK_CNT            (0x00000001)
+#define NVIC_MAX_SYSTICK_CNT            (0x00ffffff)
 #define NVIC_SYSTICK_RELOAD_SHIFT       0         /* Bits 23-0: Timer reload value */
-#define NVIC_SYSTICK_RELOAD_MASK        (0x00ffffff << NVIC_SYSTICK_RELOAD_SHIFT)
+#define NVIC_SYSTICK_RELOAD_MASK        (NVIC_MAX_SYSTICK_CNT << NVIC_SYSTICK_RELOAD_SHIFT)
 
 /* SysTick current value register (SYSTICK_CURRENT) */
 
 #define NVIC_SYSTICK_CURRENT_SHIFT      0         /* Bits 23-0: Timer current value */
-#define NVIC_SYSTICK_CURRENT_MASK       (0x00ffffff << NVIC_SYSTICK_RELOAD_SHIFT)
+#define NVIC_SYSTICK_CURRENT_MASK       (NVIC_MAX_SYSTICK_CNT << NVIC_SYSTICK_RELOAD_SHIFT)
 
 /* SysTick calibration value register (SYSTICK_CALIB) */
 
 #define NVIC_SYSTICK_CALIB_TENMS_SHIFT  0         /* Bits 23-0: Calibration value */
-#define NVIC_SYSTICK_CALIB_TENMS_MASK   (0x00ffffff << NVIC_SYSTICK_CALIB_TENMS_SHIFT)
+#define NVIC_SYSTICK_CALIB_TENMS_MASK   (NVIC_MAX_SYSTICK_CNT << NVIC_SYSTICK_CALIB_TENMS_SHIFT)
 #define NVIC_SYSTICK_CALIB_SKEW         (1 << 30) /* Bit 30: Calibration value inexact */
 #define NVIC_SYSTICK_CALIB_NOREF        (1 << 31) /* Bit 31: No external reference clock */
 
diff --git a/include/sys/param.h b/include/sys/param.h
index ff7ebb38ae3..ebce5444ccc 100644
--- a/include/sys/param.h
+++ b/include/sys/param.h
@@ -45,6 +45,11 @@
 #  define MAX(a,b)      (((a) > (b)) ? (a) : (b))
 #endif  /* MAX */
 
+#ifndef CLAMP
+/* inclusively clamping a value into a given range */
+#  define CLAMP(x, min, max) ((x) <= (min) ? (min) : MIN(x, max))
+#endif /* CLAMP */
+
 /* Macros for number of items.
  * (aka. ARRAY_SIZE, ArraySize, Size of an Array)
  */