diff --git a/include/sta/hal/delay.hpp b/include/sta/hal/delay.hpp
new file mode 100644
index 0000000..afb2b5f
--- /dev/null
+++ b/include/sta/hal/delay.hpp
@@ -0,0 +1,40 @@
+/**
+ * @brief Delay functions.
+ *
+ * Configuration:
+ *     STA_HAL_DELAY_ENABLE: Enable module
+ *     STA_HAL_DELAY_US_TIM: HAL TIM instance for `delayUs()`
+ *
+ * NOTE: Don't forget to start TIM. When using startup system task this
+ *       is automatically handled.
+ */
+#ifndef STA_HAL_DELAY_HPP
+#define STA_HAL_DELAY_HPP
+
+#include <sta/config.hpp>
+#ifdef STA_HAL_DELAY_ENABLE
+
+
+namespace sta
+{
+	/**
+	 * @brief Millisecond delay.
+	 *
+	 * @param ms    Milliseconds
+	 */
+	void delayMs(uint32_t ms);
+
+#ifdef STA_HAL_DELAY_US_TIM
+	/**
+	 * @brief Microsecond delay.
+	 *
+	 * @param us    Microseconds
+	 */
+	void delayUs(uint32_t us);
+#endif // STA_HAL_DELAY_US_TIM
+} // namespace sta
+
+
+#endif // STA_HAL_DELAY_TIM
+
+#endif // STA_HAL_DELAY_HPP
diff --git a/src/hal/delay.cpp b/src/hal/delay.cpp
new file mode 100644
index 0000000..9e4a0d0
--- /dev/null
+++ b/src/hal/delay.cpp
@@ -0,0 +1,32 @@
+#include <sta/hal/delay.hpp>
+#ifdef STA_HAL_DELAY_ENABLE
+
+#include <main.h>
+
+
+namespace sta
+{
+	void delayMs(uint32_t ms)
+	{
+		HAL_Delay(ms);
+	}
+} // namespace sta
+
+
+#ifdef STA_HAL_DELAY_US_TIM
+
+#include <tim.h>
+
+namespace sta
+{
+	void delayUs(uint32_t us)
+	{
+		__HAL_TIM_SET_COUNTER(&STA_HAL_DELAY_US_TIM, 0);
+		while (__HAL_TIM_GET_COUNTER(&STA_HAL_DELAY_US_TIM) < us);
+	}
+} // namespace sta
+
+#endif // STA_HAL_DELAY_US_TIM
+
+
+#endif // STA_HAL_DELAY_ENABLE