diff --git a/drivers/i2c/i2c_ll_stm32.c b/drivers/i2c/i2c_ll_stm32.c
index da69256579d..6e10d73f6ec 100644
--- a/drivers/i2c/i2c_ll_stm32.c
+++ b/drivers/i2c/i2c_ll_stm32.c
@@ -61,24 +61,47 @@ static int i2c_stm32_transfer(struct device *dev, struct i2c_msg *msg,
 	LL_I2C_Enable(i2c);
 
 	current = msg;
+	/*
+	 * Set I2C_MSG_RESTART flag on first message in order to send start
+	 * condition
+	 */
+	current->flags |= I2C_MSG_RESTART;
 	while (num_msgs > 0) {
-		unsigned int flags = 0;
+		u8_t *next_msg_flags = NULL;
 
-		if (current->len > 255)
-			return -EINVAL;
-
-		/* do NOT issue the i2c stop condition at the end of transfer */
 		if (num_msgs > 1) {
 			next = current + 1;
+			next_msg_flags = &(next->flags);
+
+			/*
+			 * Stop or restart condition between messages
+			 * of different directions is required
+			 */
 			if (OPERATION(current) != OPERATION(next)) {
-				flags = I2C_MSG_RESTART;
+				if (!(next->flags & I2C_MSG_RESTART)) {
+					ret = -EINVAL;
+					break;
+				}
 			}
 		}
 
+		if (current->len > 255) {
+			ret = -EINVAL;
+			break;
+		}
+
+		/* Stop condition is required for the last message */
+		if ((num_msgs == 1) && !(current->flags & I2C_MSG_STOP)) {
+			ret = -EINVAL;
+			break;
+		}
+
 		if ((current->flags & I2C_MSG_RW_MASK) == I2C_MSG_WRITE) {
-			ret = stm32_i2c_msg_write(dev, current, flags, slave);
+			ret = stm32_i2c_msg_write(dev, current, next_msg_flags,
+						  slave);
 		} else {
-			ret = stm32_i2c_msg_read(dev, current, flags, slave);
+			ret = stm32_i2c_msg_read(dev, current, next_msg_flags,
+						 slave);
 		}
 
 		if (ret < 0) {
diff --git a/drivers/i2c/i2c_ll_stm32.h b/drivers/i2c/i2c_ll_stm32.h
index 9e75f2f3350..d0e744092de 100644
--- a/drivers/i2c/i2c_ll_stm32.h
+++ b/drivers/i2c/i2c_ll_stm32.h
@@ -42,9 +42,9 @@ struct i2c_stm32_data {
 	} current;
 };
 
-s32_t stm32_i2c_msg_write(struct device *dev, struct i2c_msg *msg, u32_t flg,
+s32_t stm32_i2c_msg_write(struct device *dev, struct i2c_msg *msg, u8_t *flg,
 			  u16_t sadr);
-s32_t stm32_i2c_msg_read(struct device *dev, struct i2c_msg *msg, u32_t flg,
+s32_t stm32_i2c_msg_read(struct device *dev, struct i2c_msg *msg, u8_t *flg,
 			 u16_t sadr);
 s32_t stm32_i2c_configure_timing(struct device *dev, u32_t clk);
 
diff --git a/drivers/i2c/i2c_ll_stm32_v1.c b/drivers/i2c/i2c_ll_stm32_v1.c
index e964f4cf91f..ace1e413977 100644
--- a/drivers/i2c/i2c_ll_stm32_v1.c
+++ b/drivers/i2c/i2c_ll_stm32_v1.c
@@ -90,7 +90,7 @@ static inline void handle_txe(I2C_TypeDef *i2c, struct i2c_stm32_data *data)
 		LL_I2C_TransmitData8(i2c, *data->current.buf);
 		data->current.buf++;
 	} else {
-		if ((data->current.flags & I2C_MSG_RESTART) == 0) {
+		if (data->current.flags & I2C_MSG_STOP) {
 			LL_I2C_GenerateStopCondition(i2c);
 		}
 		if (LL_I2C_IsActiveFlag_BTF(i2c)) {
@@ -107,7 +107,7 @@ static inline void handle_rxne(I2C_TypeDef *i2c, struct i2c_stm32_data *data)
 		switch (data->current.len) {
 		case 1:
 			/* Single byte reception */
-			if ((data->current.flags & I2C_MSG_RESTART) == 0) {
+			if (data->current.flags & I2C_MSG_STOP) {
 				LL_I2C_GenerateStopCondition(i2c);
 			}
 			LL_I2C_DisableIT_BUF(i2c);
@@ -146,7 +146,7 @@ static inline void handle_btf(I2C_TypeDef *i2c, struct i2c_stm32_data *data)
 			 * Stop condition must be generated before reading the
 			 * last two bytes.
 			 */
-			if ((data->current.flags & I2C_MSG_RESTART) == 0) {
+			if (data->current.flags & I2C_MSG_STOP) {
 				LL_I2C_GenerateStopCondition(i2c);
 			}
 
@@ -209,16 +209,18 @@ void stm32_i2c_error_isr(void *arg)
 }
 
 s32_t stm32_i2c_msg_write(struct device *dev, struct i2c_msg *msg,
-			  u32_t flags, u16_t saddr)
+			  u8_t *next_msg_flags, u16_t saddr)
 {
 	const struct i2c_stm32_config *cfg = DEV_CFG(dev);
 	struct i2c_stm32_data *data = DEV_DATA(dev);
 	I2C_TypeDef *i2c = cfg->i2c;
 	s32_t ret = 0;
 
+	ARG_UNUSED(next_msg_flags);
+
 	data->current.len = msg->len;
 	data->current.buf = msg->buf;
-	data->current.flags = flags;
+	data->current.flags = msg->flags;
 	data->current.is_restart = 0;
 	data->current.is_write = 1;
 	data->current.is_nack = 0;
@@ -228,7 +230,9 @@ s32_t stm32_i2c_msg_write(struct device *dev, struct i2c_msg *msg,
 	LL_I2C_EnableIT_EVT(i2c);
 	LL_I2C_EnableIT_ERR(i2c);
 	LL_I2C_AcknowledgeNextData(i2c, LL_I2C_ACK);
-	LL_I2C_GenerateStartCondition(i2c);
+	if (msg->flags & I2C_MSG_RESTART) {
+		LL_I2C_GenerateStartCondition(i2c);
+	}
 	LL_I2C_EnableIT_BUF(i2c);
 
 	k_sem_take(&data->device_sync_sem, K_FOREVER);
@@ -255,16 +259,18 @@ s32_t stm32_i2c_msg_write(struct device *dev, struct i2c_msg *msg,
 }
 
 s32_t stm32_i2c_msg_read(struct device *dev, struct i2c_msg *msg,
-			 u32_t flags, u16_t saddr)
+			 u8_t *next_msg_flags, u16_t saddr)
 {
 	const struct i2c_stm32_config *cfg = DEV_CFG(dev);
 	struct i2c_stm32_data *data = DEV_DATA(dev);
 	I2C_TypeDef *i2c = cfg->i2c;
 	s32_t ret = 0;
 
+	ARG_UNUSED(next_msg_flags);
+
 	data->current.len = msg->len;
 	data->current.buf = msg->buf;
-	data->current.flags = flags;
+	data->current.flags = msg->flags;
 	data->current.is_restart = 0;
 	data->current.is_write = 0;
 	data->current.is_err = 0;
@@ -294,7 +300,7 @@ s32_t stm32_i2c_msg_read(struct device *dev, struct i2c_msg *msg,
 #else
 
 s32_t stm32_i2c_msg_write(struct device *dev, struct i2c_msg *msg,
-			  u32_t flags, u16_t saddr)
+			  u8_t *next_msg_flags, u16_t saddr)
 {
 	const struct i2c_stm32_config *cfg = DEV_CFG(dev);
 	struct i2c_stm32_data *data = DEV_DATA(dev);
@@ -302,31 +308,37 @@ s32_t stm32_i2c_msg_write(struct device *dev, struct i2c_msg *msg,
 	u32_t len = msg->len;
 	u8_t *buf = msg->buf;
 
+	ARG_UNUSED(next_msg_flags);
+
 	LL_I2C_AcknowledgeNextData(i2c, LL_I2C_ACK);
-	LL_I2C_GenerateStartCondition(i2c);
-	while (!LL_I2C_IsActiveFlag_SB(i2c)) {
-		;
-	}
 
-	if (I2C_ADDR_10_BITS & data->dev_config) {
-		u8_t slave = (((saddr & 0x0300) >> 7) & 0xFF);
-		u8_t header = slave | HEADER;
-
-		LL_I2C_TransmitData8(i2c, header);
-		while (!LL_I2C_IsActiveFlag_ADD10(i2c)) {
+	if (msg->flags & I2C_MSG_RESTART) {
+		LL_I2C_GenerateStartCondition(i2c);
+		while (!LL_I2C_IsActiveFlag_SB(i2c)) {
 			;
 		}
-		slave = data->slave_address & 0xFF;
-		LL_I2C_TransmitData8(i2c, slave);
-	} else {
-		u8_t slave = (saddr << 1) & 0xFF;
 
-		LL_I2C_TransmitData8(i2c, slave | I2C_REQUEST_WRITE);
+		if (I2C_ADDR_10_BITS & data->dev_config) {
+			u8_t slave = (((saddr & 0x0300) >> 7) & 0xFF);
+			u8_t header = slave | HEADER;
+
+			LL_I2C_TransmitData8(i2c, header);
+			while (!LL_I2C_IsActiveFlag_ADD10(i2c)) {
+				;
+			}
+			slave = data->slave_address & 0xFF;
+			LL_I2C_TransmitData8(i2c, slave);
+		} else {
+			u8_t slave = (saddr << 1) & 0xFF;
+
+			LL_I2C_TransmitData8(i2c, slave | I2C_REQUEST_WRITE);
+		}
+		while (!LL_I2C_IsActiveFlag_ADDR(i2c)) {
+			;
+		}
+		LL_I2C_ClearFlag_ADDR(i2c);
 	}
-	while (!LL_I2C_IsActiveFlag_ADDR(i2c)) {
-		;
-	}
-	LL_I2C_ClearFlag_ADDR(i2c);
+
 	while (len) {
 		while (1) {
 			if (LL_I2C_IsActiveFlag_TXE(i2c)) {
@@ -343,10 +355,12 @@ s32_t stm32_i2c_msg_write(struct device *dev, struct i2c_msg *msg,
 		buf++;
 		len--;
 	}
+
 	while (!LL_I2C_IsActiveFlag_BTF(i2c)) {
 		;
 	}
-	if ((flags & I2C_MSG_RESTART) == 0) {
+
+	if (msg->flags & I2C_MSG_STOP) {
 		LL_I2C_GenerateStopCondition(i2c);
 	}
 
@@ -354,7 +368,7 @@ s32_t stm32_i2c_msg_write(struct device *dev, struct i2c_msg *msg,
 }
 
 s32_t stm32_i2c_msg_read(struct device *dev, struct i2c_msg *msg,
-			 u32_t flags, u16_t saddr)
+			 u8_t *next_msg_flags, u16_t saddr)
 {
 	const struct i2c_stm32_config *cfg = DEV_CFG(dev);
 	struct i2c_stm32_data *data = DEV_DATA(dev);
@@ -362,57 +376,65 @@ s32_t stm32_i2c_msg_read(struct device *dev, struct i2c_msg *msg,
 	u32_t len = msg->len;
 	u8_t *buf = msg->buf;
 
+	ARG_UNUSED(next_msg_flags);
+
 	LL_I2C_AcknowledgeNextData(i2c, LL_I2C_ACK);
-	LL_I2C_GenerateStartCondition(i2c);
-	while (!LL_I2C_IsActiveFlag_SB(i2c)) {
-		;
-	}
 
-	if (I2C_ADDR_10_BITS & data->dev_config) {
-		u8_t slave = (((saddr &	0x0300) >> 7) & 0xFF);
-		u8_t header = slave | HEADER;
-
-		LL_I2C_TransmitData8(i2c, header);
-		while (!LL_I2C_IsActiveFlag_ADD10(i2c)) {
-			;
-		}
-		slave = saddr & 0xFF;
-		LL_I2C_TransmitData8(i2c, slave);
-		while (!LL_I2C_IsActiveFlag_ADDR(i2c)) {
-			;
-		}
-		LL_I2C_ClearFlag_ADDR(i2c);
+	if (msg->flags & I2C_MSG_RESTART) {
 		LL_I2C_GenerateStartCondition(i2c);
 		while (!LL_I2C_IsActiveFlag_SB(i2c)) {
 			;
 		}
-		header |= I2C_REQUEST_READ;
-		LL_I2C_TransmitData8(i2c, header);
-	} else {
-		u8_t slave = ((saddr) << 1) & 0xFF;
 
-		LL_I2C_TransmitData8(i2c, slave | I2C_REQUEST_READ);
+		if (I2C_ADDR_10_BITS & data->dev_config) {
+			u8_t slave = (((saddr &	0x0300) >> 7) & 0xFF);
+			u8_t header = slave | HEADER;
+
+			LL_I2C_TransmitData8(i2c, header);
+			while (!LL_I2C_IsActiveFlag_ADD10(i2c)) {
+				;
+			}
+			slave = saddr & 0xFF;
+			LL_I2C_TransmitData8(i2c, slave);
+			while (!LL_I2C_IsActiveFlag_ADDR(i2c)) {
+				;
+			}
+			LL_I2C_ClearFlag_ADDR(i2c);
+			LL_I2C_GenerateStartCondition(i2c);
+			while (!LL_I2C_IsActiveFlag_SB(i2c)) {
+				;
+			}
+			header |= I2C_REQUEST_READ;
+			LL_I2C_TransmitData8(i2c, header);
+		} else {
+			u8_t slave = ((saddr) << 1) & 0xFF;
+
+			LL_I2C_TransmitData8(i2c, slave | I2C_REQUEST_READ);
+		}
+
+		while (!LL_I2C_IsActiveFlag_ADDR(i2c)) {
+			;
+		}
+
+		if (len == 1) {
+			/* Single byte reception: enable NACK and set STOP */
+			LL_I2C_AcknowledgeNextData(i2c, LL_I2C_NACK);
+		} else if (len == 2) {
+			/* 2-byte reception: enable NACK and set POS */
+			LL_I2C_AcknowledgeNextData(i2c, LL_I2C_NACK);
+			LL_I2C_EnableBitPOS(i2c);
+		}
+
+		LL_I2C_ClearFlag_ADDR(i2c);
 	}
 
-	while (!LL_I2C_IsActiveFlag_ADDR(i2c)) {
-		;
-	}
-	if (len == 1) {
-		/* Single byte reception: enable NACK and set STOP */
-		LL_I2C_AcknowledgeNextData(i2c, LL_I2C_NACK);
-	} else if (len == 2) {
-		/* 2-byte reception: enable NACK and set POS */
-		LL_I2C_AcknowledgeNextData(i2c, LL_I2C_NACK);
-		LL_I2C_EnableBitPOS(i2c);
-	}
-	LL_I2C_ClearFlag_ADDR(i2c);
 	while (len) {
 		while (!LL_I2C_IsActiveFlag_RXNE(i2c)) {
 			;
 		}
 		switch (len) {
 		case 1:
-			if ((flags & I2C_MSG_RESTART) == 0) {
+			if (msg->flags & I2C_MSG_STOP) {
 				LL_I2C_GenerateStopCondition(i2c);
 			}
 			len--;
@@ -427,7 +449,7 @@ s32_t stm32_i2c_msg_read(struct device *dev, struct i2c_msg *msg,
 			 * Stop condition must be generated before reading the
 			 * last two bytes.
 			 */
-			if ((data->current.flags & I2C_MSG_RESTART) == 0) {
+			if (msg->flags & I2C_MSG_STOP) {
 				LL_I2C_GenerateStopCondition(i2c);
 			}
 
diff --git a/drivers/i2c/i2c_ll_stm32_v2.c b/drivers/i2c/i2c_ll_stm32_v2.c
index e6406d96734..b87d89102ca 100644
--- a/drivers/i2c/i2c_ll_stm32_v2.c
+++ b/drivers/i2c/i2c_ll_stm32_v2.c
@@ -21,48 +21,56 @@
 #include <logging/sys_log.h>
 
 static inline void msg_init(struct device *dev, struct i2c_msg *msg,
-			    unsigned int flags, u16_t slave, uint32_t transfer)
+			    u8_t *next_msg_flags, u16_t slave,
+			    uint32_t transfer)
 {
 	const struct i2c_stm32_config *cfg = DEV_CFG(dev);
 	struct i2c_stm32_data *data = DEV_DATA(dev);
 	I2C_TypeDef *i2c = cfg->i2c;
-	unsigned int len = msg->len;
 
-	if (I2C_ADDR_10_BITS & data->dev_config) {
-		LL_I2C_SetMasterAddressingMode(i2c,
-						LL_I2C_ADDRESSING_MODE_10BIT);
-		LL_I2C_SetSlaveAddr(i2c, (uint32_t) slave);
+	if (LL_I2C_IsEnabledReloadMode(i2c)) {
+		LL_I2C_SetTransferSize(i2c, msg->len);
 	} else {
-		LL_I2C_SetMasterAddressingMode(i2c,
-						LL_I2C_ADDRESSING_MODE_7BIT);
-		LL_I2C_SetSlaveAddr(i2c, (uint32_t) slave << 1);
+		if (I2C_ADDR_10_BITS & data->dev_config) {
+			LL_I2C_SetMasterAddressingMode(i2c,
+					LL_I2C_ADDRESSING_MODE_10BIT);
+			LL_I2C_SetSlaveAddr(i2c, (uint32_t) slave);
+		} else {
+			LL_I2C_SetMasterAddressingMode(i2c,
+				LL_I2C_ADDRESSING_MODE_7BIT);
+			LL_I2C_SetSlaveAddr(i2c, (uint32_t) slave << 1);
+		}
+
+		if (!(msg->flags & I2C_MSG_STOP) && next_msg_flags &&
+		    !(*next_msg_flags & I2C_MSG_RESTART)) {
+			LL_I2C_EnableReloadMode(i2c);
+		} else {
+			LL_I2C_DisableReloadMode(i2c);
+		}
+		LL_I2C_DisableAutoEndMode(i2c);
+		LL_I2C_SetTransferRequest(i2c, transfer);
+		LL_I2C_SetTransferSize(i2c, msg->len);
+		LL_I2C_GenerateStartCondition(i2c);
 	}
-
-	LL_I2C_SetTransferRequest(i2c, transfer);
-	LL_I2C_SetTransferSize(i2c, len);
-
-	LL_I2C_DisableAutoEndMode(i2c);
-	LL_I2C_DisableReloadMode(i2c);
-	LL_I2C_GenerateStartCondition(i2c);
 }
 
-static inline void msg_done(struct device *dev, unsigned int flags)
+static inline void msg_done(struct device *dev, unsigned int current_msg_flags)
 {
 	const struct i2c_stm32_config *cfg = DEV_CFG(dev);
 	I2C_TypeDef *i2c = cfg->i2c;
 
 	/* Wait for transfer to complete */
-	while (!LL_I2C_IsActiveFlag_TC(i2c)) {
+	while (!LL_I2C_IsActiveFlag_TC(i2c) && !LL_I2C_IsActiveFlag_TCR(i2c)) {
 		;
 	}
-
 	/* Issue stop condition if necessary */
-	if ((flags & I2C_MSG_RESTART) == 0) {
+	if (current_msg_flags & I2C_MSG_STOP) {
 		LL_I2C_GenerateStopCondition(i2c);
 		while (!LL_I2C_IsActiveFlag_STOP(i2c)) {
 			;
 		}
 		LL_I2C_ClearFlag_STOP(i2c);
+		LL_I2C_DisableReloadMode(i2c);
 	}
 }
 
@@ -91,9 +99,9 @@ void stm32_i2c_event_isr(void *arg)
 
 	data->current.buf++;
 	data->current.len--;
-	if (!data->current.len)
+	if (!data->current.len) {
 		k_sem_give(&data->device_sync_sem);
-
+	}
 	return;
 error:
 	data->current.is_err = 1;
@@ -117,7 +125,7 @@ void stm32_i2c_error_isr(void *arg)
 }
 
 int stm32_i2c_msg_write(struct device *dev, struct i2c_msg *msg,
-			unsigned int flags, uint16_t slave)
+			u8_t *next_msg_flags, uint16_t slave)
 {
 	const struct i2c_stm32_config *cfg = DEV_CFG(dev);
 	struct i2c_stm32_data *data = DEV_DATA(dev);
@@ -129,7 +137,7 @@ int stm32_i2c_msg_write(struct device *dev, struct i2c_msg *msg,
 	data->current.is_nack = 0;
 	data->current.is_err = 0;
 
-	msg_init(dev, msg, flags, slave, LL_I2C_REQUEST_WRITE);
+	msg_init(dev, msg, next_msg_flags, slave, LL_I2C_REQUEST_WRITE);
 	LL_I2C_EnableIT_TX(i2c);
 	LL_I2C_EnableIT_NACK(i2c);
 
@@ -138,7 +146,7 @@ int stm32_i2c_msg_write(struct device *dev, struct i2c_msg *msg,
 		goto error;
 	}
 
-	msg_done(dev, flags);
+	msg_done(dev, msg->flags);
 	LL_I2C_DisableIT_TX(i2c);
 	LL_I2C_DisableIT_NACK(i2c);
 
@@ -162,7 +170,7 @@ error:
 }
 
 int stm32_i2c_msg_read(struct device *dev, struct i2c_msg *msg,
-			unsigned int flags, uint16_t slave)
+		       u8_t *next_msg_flags, uint16_t slave)
 {
 	const struct i2c_stm32_config *cfg = DEV_CFG(dev);
 	struct i2c_stm32_data *data = DEV_DATA(dev);
@@ -173,7 +181,7 @@ int stm32_i2c_msg_read(struct device *dev, struct i2c_msg *msg,
 	data->current.is_write = 0;
 	data->current.is_err = 0;
 
-	msg_init(dev, msg, flags, slave, LL_I2C_REQUEST_READ);
+	msg_init(dev, msg, next_msg_flags, slave, LL_I2C_REQUEST_READ);
 	LL_I2C_EnableIT_RX(i2c);
 
 	k_sem_take(&data->device_sync_sem, K_FOREVER);
@@ -181,7 +189,7 @@ int stm32_i2c_msg_read(struct device *dev, struct i2c_msg *msg,
 		goto error;
 	}
 
-	msg_done(dev, flags);
+	msg_done(dev, msg->flags);
 	LL_I2C_DisableIT_RX(i2c);
 
 	return 0;
@@ -195,15 +203,16 @@ error:
 
 #else /* !CONFIG_I2C_STM32_INTERRUPT */
 int stm32_i2c_msg_write(struct device *dev, struct i2c_msg *msg,
-			   unsigned int flags, uint16_t slave)
+			u8_t *next_msg_flags, uint16_t slave)
 {
 	const struct i2c_stm32_config *cfg = DEV_CFG(dev);
 	I2C_TypeDef *i2c = cfg->i2c;
-	unsigned int len = msg->len;
+	unsigned int len = 0;
 	u8_t *buf = msg->buf;
 
-	msg_init(dev, msg, flags, slave, LL_I2C_REQUEST_WRITE);
+	msg_init(dev, msg, next_msg_flags, slave, LL_I2C_REQUEST_WRITE);
 
+	len = msg->len;
 	while (len) {
 		while (1) {
 			if (LL_I2C_IsActiveFlag_TXIS(i2c)) {
@@ -220,7 +229,7 @@ int stm32_i2c_msg_write(struct device *dev, struct i2c_msg *msg,
 		len--;
 	}
 
-	msg_done(dev, flags);
+	msg_done(dev, msg->flags);
 
 	return 0;
 error:
@@ -231,15 +240,16 @@ error:
 }
 
 int stm32_i2c_msg_read(struct device *dev, struct i2c_msg *msg,
-			unsigned int flags, uint16_t slave)
+		       u8_t *next_msg_flags, uint16_t slave)
 {
 	const struct i2c_stm32_config *cfg = DEV_CFG(dev);
 	I2C_TypeDef *i2c = cfg->i2c;
-	unsigned int len = msg->len;
+	unsigned int len = 0;
 	u8_t *buf = msg->buf;
 
-	msg_init(dev, msg, flags, slave, LL_I2C_REQUEST_READ);
+	msg_init(dev, msg, next_msg_flags, slave, LL_I2C_REQUEST_READ);
 
+	len = msg->len;
 	while (len) {
 		while (!LL_I2C_IsActiveFlag_RXNE(i2c)) {
 			;
@@ -250,7 +260,7 @@ int stm32_i2c_msg_read(struct device *dev, struct i2c_msg *msg,
 		len--;
 	}
 
-	msg_done(dev, flags);
+	msg_done(dev, msg->flags);
 
 	return 0;
 }