diff --git a/Core/Inc/main.h b/Core/Inc/main.h
index 6e5e298..c085bc0 100644
--- a/Core/Inc/main.h
+++ b/Core/Inc/main.h
@@ -41,7 +41,7 @@ extern "C" {
 
 /* Exported constants --------------------------------------------------------*/
 /* USER CODE BEGIN EC */
-
+#define MAIN_LOOP_PERIOD 50 /* ms */
 /* USER CODE END EC */
 
 /* Exported macro ------------------------------------------------------------*/
diff --git a/Core/Src/main.c b/Core/Src/main.c
index 68673b1..b4254b8 100644
--- a/Core/Src/main.c
+++ b/Core/Src/main.c
@@ -29,6 +29,7 @@
 
 #include "stm32g4xx_hal.h"
 #include "stm32g4xx_hal_gpio.h"
+#include "stm32g4xx_hal_tim.h"
 
 #include <stdint.h>
 
@@ -74,7 +75,14 @@ static void MX_TIM2_Init(void);
 
 /* Private user code ---------------------------------------------------------*/
 /* USER CODE BEGIN 0 */
-
+void loop_delay() {
+  static uint32_t last_loop = 0;
+  int32_t diff = MAIN_LOOP_PERIOD - (HAL_GetTick() - last_loop);
+  if (diff > 0) {
+    HAL_Delay(diff);
+  }
+  last_loop = HAL_GetTick();
+}
 /* USER CODE END 0 */
 
 /**
@@ -134,6 +142,7 @@ int main(void) {
       // vehicle_send_mission_select(MISSION_ACCELERATION);
       last_can = now;
     }
+    loop_delay();
   }
   /* USER CODE END 3 */
 }