diff --git a/README.md b/README.md
index 57a9791..0cc739d 100644
--- a/README.md
+++ b/README.md
@@ -85,6 +85,13 @@ Configuration:
 TIM time base must be started before using `sta::delayUs` by calling `sta::initHAL`.
 When using the startup system task this is handled automatically.
 
+Steps to enable delayUs: 
+* Include sta/devices/stm32/delay.hpp in the file where the delayUs function is called
+* Enable a timer TIM in .ioc file with the settings: Slave Mode=Disable, Trigger Mode=Disable, Clock Source=Internal Clock, all other channels =Disable)
+* Define STA_STM32_DELAY_US_TIM in App/Inc/sta/config.hpp as the timer handle (can be found in Core/Inc/tim.h). For TIM1, this would be htim1
+* Do not use this timer for delays of over 1000 us; we have delayMs for that
+ 
+
 
 ## Interfaces
 
diff --git a/include/sta/devices/stm32/delay.hpp b/include/sta/devices/stm32/delay.hpp
index 6fbd3c5..81b3bb1 100644
--- a/include/sta/devices/stm32/delay.hpp
+++ b/include/sta/devices/stm32/delay.hpp
@@ -44,7 +44,7 @@ namespace sta
      *
      * @param us    Microseconds
      */
-    void delayUs(uint32_t us);
+    void delayUs(uint16_t us);
 #endif // STA_STM32_DELAY_US_TIM
 
 
diff --git a/include/sta/devices/stm32/init.hpp b/include/sta/devices/stm32/init.hpp
index 7fee75f..cd34558 100644
--- a/include/sta/devices/stm32/init.hpp
+++ b/include/sta/devices/stm32/init.hpp
@@ -5,6 +5,7 @@
 #ifndef STA_CORE_STM32_INIT_HPP
 #define STA_CORE_STM32_INIT_HPP
 
+#include <sta/devices/stm32/hal.hpp>
 
 namespace sta
 {
diff --git a/src/devices/stm32/delay.cpp b/src/devices/stm32/delay.cpp
index 8f51d73..dba0891 100644
--- a/src/devices/stm32/delay.cpp
+++ b/src/devices/stm32/delay.cpp
@@ -62,10 +62,11 @@ namespace sta
 		return (updateFreq >= 1000000);
 	}
 
-    void delayUs(uint32_t us)
+    void delayUs(uint16_t us)
     {
     	// Check if the specified timer is usable for microsecond delays.
     	STA_ASSERT(isValidDelayUsTIM());
+    	STA_ASSERT(us < 1000);
 
         __HAL_TIM_SET_COUNTER(&STA_STM32_DELAY_US_TIM, 0);
         while (__HAL_TIM_GET_COUNTER(&STA_STM32_DELAY_US_TIM) < us * gDelayUsMul);