diff --git a/include/sta/os2/easy_config.hpp b/include/sta/os2/easy_config.hpp
index 0e6ff52..931daf0 100644
--- a/include/sta/os2/easy_config.hpp
+++ b/include/sta/os2/easy_config.hpp
@@ -1,7 +1,7 @@
 /**
- * @brief Helper for easy system task setup in <sta/config.hpp>.
+ * @brief Helper for easy system task setup in `<sta/config.hpp>`.
  *
- * Define STA_OS2_SYSTEM_TASKS_ENABLE before including this header
+ * Define **STA_OS2_SYSTEM_TASKS_ENABLE** before including this header
  * to enable all system tasks and required features.
  */
 #ifndef STA_OS2_EASY_CONFIG_HPP
diff --git a/include/sta/os2/mutex.hpp b/include/sta/os2/mutex.hpp
index 028b88e..23e1d85 100644
--- a/include/sta/os2/mutex.hpp
+++ b/include/sta/os2/mutex.hpp
@@ -9,13 +9,13 @@
 namespace sta
 {
 	/**
-	 * @brief Implementation of Mutex for CMSIS V2.
+	 * @brief Implementation of `Mutex` interface using CMSIS RTOS2.
 	 */
 	class Os2Mutex : public Mutex
 	{
 	public:
 		/**
-		 * @param handle    CMSIS V2 mutex
+		 * @param handle    CMSIS RTOS2 mutex
 		 */
 		Os2Mutex(osMutexId_t * handle);
 
@@ -23,7 +23,7 @@ namespace sta
 		void release() override;
 
 	private:
-		osMutexId_t * handle_;    /**< CMSIS V2 mutex */
+		osMutexId_t * handle_;    /**< CMSIS RTOS2 mutex */
 	};
 } // namespace sta
 
diff --git a/include/sta/os2/signal.hpp b/include/sta/os2/signal.hpp
index ed0e815..319f623 100644
--- a/include/sta/os2/signal.hpp
+++ b/include/sta/os2/signal.hpp
@@ -8,9 +8,15 @@
 
 namespace sta
 {
+	/**
+	 * @brief Implementation of `Signal` interface using CMSIS RTOS2.
+	 */
 	class Os2Signal : public Signal
 	{
 	public:
+		/**
+		 * @param semaphore     CMSIS RTOS2 semaphore
+		 */
 		Os2Signal(osSemaphoreId_t * semaphore);
 
 		void notify() override;
@@ -19,7 +25,7 @@ namespace sta
 		void wait() override;
 
 	private:
-		osSemaphoreId_t * semaphore_;
+		osSemaphoreId_t * semaphore_;   /**< CMSIS RTOS2 semaphore */
 	};
 } // namespace sta
 
diff --git a/include/sta/os2/startup.hpp b/include/sta/os2/startup.hpp
index 4c66f11..94b11c4 100644
--- a/include/sta/os2/startup.hpp
+++ b/include/sta/os2/startup.hpp
@@ -1,10 +1,9 @@
 /**
  * @brief Implementation of startup system task.
  *
- * Define STA_OS2_STARTUP_ENABLE in <sta/config.hpp> to enable.
- *
  * Configuration:
- *     STA_OS2_STARTUP_ENTRY_FUNCTION:  Name of task entry function (default: startupTask)
+ *     STA_OS2_STARTUP_ENABLE:         Enable module
+ *     STA_OS2_STARTUP_ENTRY_FUNCTION: Override name of startup task entry function (default: startupTask)
  */
 #ifndef STA_OS2_STARTUP_HPP
 #define STA_OS2_STARTUP_HPP
diff --git a/include/sta/os2/system_event.hpp b/include/sta/os2/system_event.hpp
index 182f086..b36d501 100644
--- a/include/sta/os2/system_event.hpp
+++ b/include/sta/os2/system_event.hpp
@@ -1,10 +1,9 @@
 /**
  * @brief Implementation of system events.
  *
- * Define STA_OS2_SYSTEM_EVENT_ENABLE in <sta/config.hpp> to enable.
- *
- * Set STA_OS2_SYSTEM_EVENT_HANDLE to name of global handle variable.
- * Defaults to `systemEventHandle`.
+ * Configuration:
+ *     STA_OS2_SYSTEM_EVENT_ENABLE: Enable module
+ *     STA_OS2_SYSTEM_EVENT_HANDLE: Override variable name of flag handle (default: systemEventHandle)
  */
 #ifndef STA_OS2_SYSTEM_EVENT_HPP
 #define STA_OS2_SYSTEM_EVENT_HPP
@@ -12,7 +11,7 @@
 #include <sta/config.hpp>
 #ifdef STA_OS2_SYSTEM_EVENT_ENABLE
 
-#include <stdint.h>
+#include <cstdint>
 
 
 // System event flags
diff --git a/include/sta/os2/watchdog.hpp b/include/sta/os2/watchdog.hpp
index 8ef5989..481696e 100644
--- a/include/sta/os2/watchdog.hpp
+++ b/include/sta/os2/watchdog.hpp
@@ -1,15 +1,13 @@
 /**
  * @brief Implementation of watchdog system task.
  *
- * Define STA_OS2_WATCHDOG_ENABLE in <sta/config.hpp> to enable.
- *
  * Configuration:
- *     STA_OS2_WATCHDOG_TIMER_PERIOD:   Period of heartbeat timer (default: 1000)
- *     STA_OS2_WATCHDOG_TIMER_HANDLE:   Name of global timer handle variable (default: heartbeatHandle)
- *     STA_OS2_WATCHDOG_TIMER_CALLBACK: Name of timer callback function (default: heartbeatCallback)
- *
- *     STA_OS2_WATCHDOG_HANDLE:         Name of global task handle variable (default:  watchdogHandle)
- *     STA_OS2_WATCHDOG_ENTRY_FUNCTION: Name of task entry function (default: watchdogTask)
+ *     STA_OS2_WATCHDOG_ENABLE:         Enable module
+ *     STA_OS2_WATCHDOG_TIMER_PERIOD:   Set period in ticks of heartbeat timer (default: 1000)
+ *     STA_OS2_WATCHDOG_TIMER_HANDLE:   Override variable name of heartbeat timer handle (default: heartbeatHandle)
+ *     STA_OS2_WATCHDOG_TIMER_CALLBACK: Override name of heartbeat timer callback function (default: heartbeatCallback)
+ *     STA_OS2_WATCHDOG_HANDLE:         Override variable name of watchdog task handle (default: watchdogHandle)
+ *     STA_OS2_WATCHDOG_ENTRY_FUNCTION: Override name of watchdog task entry function (default: watchdogTask)
  */
 #ifndef STA_OS2_WATCHDOG_HPP
 #define STA_OS2_WATCHDOG_HPP
@@ -17,7 +15,7 @@
 #include <sta/config.hpp>
 #ifdef STA_OS2_WATCHDOG_ENABLE
 
-#include <stdint.h>
+#include <cstdint>
 
 
 // Watchdog task flags
diff --git a/src/os2/startup.cpp b/src/os2/startup.cpp
index f5d8f13..aa1ee3f 100644
--- a/src/os2/startup.cpp
+++ b/src/os2/startup.cpp
@@ -36,7 +36,11 @@ extern "C"
 #ifdef STA_OS2_WATCHDOG_ENABLE
 		// Start timers
 		sta::startWatchdogTimer();
-#endif
+#endif // STA_OS2_WATCHDOG_ENABLE
+
+#ifdef STA_HAL_DELAY_US_TIM
+		HAL_TIM_Base_Start(&STA_HAL_DELAY_US_TIM);
+#endif // STA_HAL_DELAY_US_TIM
 
 		// Wake tasks
 		sta::signalStartupEvent();