diff --git a/src/shared/utils/KernelTime.h b/src/shared/utils/KernelTime.h
new file mode 100644
index 0000000000000000000000000000000000000000..55c751bd52ed22819b720998479114b2e7dbcd7f
--- /dev/null
+++ b/src/shared/utils/KernelTime.h
@@ -0,0 +1,98 @@
+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Author: Niccolò Betto
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#pragma once
+
+#include <miosix.h>
+
+#include "TimeUtils.h"
+
+namespace Boardcore
+{
+
+namespace Kernel
+{
+
+/**
+ * @brief Get the current time in milliseconds.
+ *
+ * Calls miosix::getTime() and converts the result to milliseconds.
+ * This function is not safe to call from an IRQ context.
+ *
+ * @deprecated Use miosix::getTime() instead and migrate to using nanoseconds.
+ */
+inline long long getOldTick() { return nsToMs(miosix::getTime()); }
+
+/**
+ * @brief Get the current time in milliseconds.
+ *
+ * Calls miosix::IRQgetTime() and converts the result to milliseconds.
+ * This function is safe to call from an IRQ context.
+ *
+ * @deprecated Use miosix::getTime() instead and migrate to using nanoseconds.
+ */
+inline long long IRQgetOldTick() { return nsToMs(miosix::IRQgetTime()); }
+
+namespace Thread
+{
+
+/**
+ * @brief Sleep until a given time in milliseconds.
+ *
+ * Converts the given time in milliseconds to nanoseconds and calls
+ * miosix::Thread::nanoSleepUntil().
+ *
+ * @param absoluteTimeMs The timestamp in milliseconds to sleep until.
+ *
+ * @deprecated Use miosix::Thread::nanoSleepUntil() instead and migrate to using
+ * nanoseconds.
+ */
+inline void sleepUntil(long long absoluteTimeMs)
+{
+    miosix::Thread::nanoSleepUntil(msToNs(absoluteTimeMs));
+}
+
+/**
+ * @brief Stops the thread until wakeup() is called or the specified absolute
+ * time in milliseconds is reached.
+ *
+ * Converts the given time in milliseconds to nanoseconds and calls
+ * miosix::Thread::IRQenableIrqAndTimedWait().
+ *
+ * @param absoluteTimeMs Absolute time after which the wait times out
+ * @return The result of the wait
+ *
+ * @deprecated Use miosix::Thread::IRQenableIrqAndTimedWait() instead and
+ * migrate to using nanoseconds.
+ */
+inline miosix::TimedWaitResult IRQenableIrqAndTimedWaitMs(
+    miosix::FastInterruptDisableLock &dLock, long long absoluteTimeMs)
+{
+    return miosix::Thread::IRQenableIrqAndTimedWait(dLock,
+                                                    msToNs(absoluteTimeMs));
+}
+
+}  // namespace Thread
+
+}  // namespace Kernel
+
+}  // namespace Boardcore
diff --git a/src/shared/utils/TimeUtils.h b/src/shared/utils/TimeUtils.h
new file mode 100644
index 0000000000000000000000000000000000000000..f2009cd8dde899eba3e3d56e2e0648005aff4180
--- /dev/null
+++ b/src/shared/utils/TimeUtils.h
@@ -0,0 +1,57 @@
+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Author: Niccolò Betto
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#pragma once
+
+namespace Boardcore
+{
+namespace Constants
+{
+constexpr long long NS_IN_MS = 1000000ll;     // Nanoseconds in 1 ms
+constexpr long long NS_IN_S  = 1000000000ll;  // Nanoseconds in 1 s
+}  // namespace Constants
+
+/**
+ * @brief Convert nanoseconds to milliseconds.
+ *
+ * @param ns Nanoseconds.
+ * @return Milliseconds.
+ */
+constexpr long long nsToMs(long long ns) { return ns / Constants::NS_IN_MS; }
+
+/**
+ * @brief Convert milliseconds to nanoseconds.
+ *
+ * @param ms Milliseconds.
+ * @return Nanoseconds.
+ */
+constexpr long long msToNs(long long ms) { return ms * Constants::NS_IN_MS; }
+
+/**
+ * @brief Convert seconds to nanoseconds.
+ *
+ * @param s Seconds.
+ * @return Nanoseconds.
+ */
+constexpr long long sToNs(long long s) { return s * Constants::NS_IN_S; }
+
+}  // namespace Boardcore