diff --git a/include/sta/devices/stm32/clocks.hpp b/include/sta/devices/stm32/clocks.hpp
index 0d8d832..cd2ac38 100644
--- a/include/sta/devices/stm32/clocks.hpp
+++ b/include/sta/devices/stm32/clocks.hpp
@@ -58,6 +58,7 @@ namespace sta
  */
 #define _STA_STM32_PCLK_IDX_MAP(type, idx)          STA_STM32_ ## type ## _ ## idx ## _PCLK_IDX
 // Get HAL handle to PCLK index map macro
+
 /**
  * @brief Map instance handle to PCLK index.
  *
diff --git a/include/sta/time.hpp b/include/sta/time.hpp
index 6495952..1cb5562 100644
--- a/include/sta/time.hpp
+++ b/include/sta/time.hpp
@@ -16,12 +16,27 @@ namespace sta
      * @return Time in milliseconds
      */
     using TimeMsFn = uint32_t (*)();
+
     /**
      * @brief Signature for microseconds precision time.
      *
      * @return Time in microseconds
      */
     using TimeUsFn = uint32_t (*)();
+
+    /**
+     * @brief Gets the current time in milliseconds.
+     *
+     * @return Time in milliseconds
+     */
+    uint32_t timeMs();
+
+    /**
+     * @brief Gets the current time in microseconds.
+     *
+     * @return Time in microseconds
+     */
+    uint32_t timeUs();
 } // namespace sta
 
 
diff --git a/src/devices/stm32/delay.cpp b/src/devices/stm32/delay.cpp
index 3592bf0..6475b51 100644
--- a/src/devices/stm32/delay.cpp
+++ b/src/devices/stm32/delay.cpp
@@ -52,6 +52,7 @@ namespace sta
 
 		// Calculate TIM clock frequency
 		uint32_t clkFreq = pclkMul * STA_STM32_GET_HANDLE_PCLK_FREQ_FN(STA_STM32_DELAY_US_TIM)();
+
 		// Calculate update frequency based on prescaler value
 		uint32_t prescaler = (STA_STM32_DELAY_US_TIM.Init.Prescaler) ? STA_STM32_DELAY_US_TIM.Init.Prescaler : 1;
 		uint32_t updateFreq = clkFreq / prescaler;
@@ -66,10 +67,29 @@ namespace sta
     {
     	// 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);
+    	// Use millisecond delays for us > 1000 and use microseconds delay for the remainder.
+    	delayMs(us / 1000);
+    	us = us % 1000;
+
+        // __HAL_TIM_SET_COUNTER(&STA_STM32_DELAY_US_TIM, 0);
+
+        uint32_t startTime = __HAL_TIM_GET_COUNTER(&STA_STM32_DELAY_US_TIM);
+
+        // Check if an overflow is expected during the delay time.
+        if (startTime < __HAL_TIM_GET_AUTORELOAD(&STA_STM32_DELAY_US_TIM) - us * gDelayUsMul)
+        {
+        	while (__HAL_TIM_GET_COUNTER(&STA_STM32_DELAY_US_TIM) < startTime + us * gDelayUsMul);
+        }
+        else
+        {
+        	uint32_t overflowTime = __HAL_TIM_GET_AUTORELOAD(&STA_STM32_DELAY_US_TIM) - startTime;
+        	// Wait until the overflow happens
+        	while (__HAL_TIM_GET_COUNTER(&STA_STM32_DELAY_US_TIM) > startTime);
+
+        	// Wait the remaining time after the overflow.
+        	while (__HAL_TIM_GET_COUNTER(&STA_STM32_DELAY_US_TIM) < us * gDelayUsMul - overflowTime);
+        }
     }
 
 } // namespace sta
diff --git a/src/devices/stm32/init.cpp b/src/devices/stm32/init.cpp
index 0f06016..dc07c79 100644
--- a/src/devices/stm32/init.cpp
+++ b/src/devices/stm32/init.cpp
@@ -23,6 +23,8 @@ namespace sta
         STA_ASSERT(isValidDelayUsTIM());
         // Start timer base
         HAL_TIM_Base_Start(&STA_STM32_DELAY_US_TIM);
+#else
+
 #endif // STA_STM32_DELAY_US_TIM
     }
 } // namespace sta
diff --git a/src/devices/stm32/time.cpp b/src/devices/stm32/time.cpp
new file mode 100644
index 0000000..3cc7df5
--- /dev/null
+++ b/src/devices/stm32/time.cpp
@@ -0,0 +1,32 @@
+/*
+ * time.cpp
+ *
+ *  Created on: May 22, 2024
+ *      Author: Dario
+ */
+
+#include <sta/time.hpp>
+
+#include <sta/config.hpp>
+#ifdef STA_PLATFORM_STM32
+
+#include <sta/devices/stm32/hal.hpp>
+
+namespace sta
+{
+	uint32_t timeMs()
+	{
+		return HAL_GetTick();
+	}
+
+#ifdef STA_STM32_DELAY_US_TIM
+	extern uint32_t gDelayUsMul;
+
+	uint32_t timeUs()
+	{
+		return __HAL_TIM_GET_COUNTER(&STA_STM32_DELAY_US_TIM) / gDelayUsMul;
+	}
+}
+#endif // STA_STM32_DELAY_US_TIM
+
+#endif // STA_PLATFORM_STM32
diff --git a/src/time.cpp b/src/time.cpp
new file mode 100644
index 0000000..eeeba78
--- /dev/null
+++ b/src/time.cpp
@@ -0,0 +1,26 @@
+/*
+ * time.cpp
+ *
+ *  Created on: May 22, 2024
+ *      Author: Dario
+ */
+
+#include <sta/time.hpp>
+#include <sta/lang.hpp>
+
+namespace sta
+{
+	STA_WEAK
+	uint32_t timeMs()
+	{
+		STA_NOT_IMPLEMENTED();
+	}
+
+	STA_WEAK
+	uint32_t timeUs()
+	{
+		STA_NOT_IMPLEMENTED();
+	}
+}  // namespace sta
+
+