diff --git a/libuavcan/include/uavcan/time.hpp b/libuavcan/include/uavcan/time.hpp
new file mode 100644
index 0000000000..29b27547d6
--- /dev/null
+++ b/libuavcan/include/uavcan/time.hpp
@@ -0,0 +1,227 @@
+/*
+ * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#pragma once
+
+#include <stdint.h>
+#include <algorithm>
+#include <limits>
+#include <sstream>
+#include <cstdio>
+#include <uavcan/util/compile_time.hpp>
+#include <uavcan/Timestamp.hpp>
+
+namespace uavcan
+{
+
+template <typename D>
+class DurationBase
+{
+    int64_t usec_;
+
+public:
+    DurationBase()
+    : usec_(0)
+    {
+        StaticAssert<(sizeof(D) == 8)>::check();
+    }
+
+    static D fromUSec(int64_t us)
+    {
+        D d;
+        d.usec_ = us;
+        return d;
+    }
+    static D fromMSec(int64_t ms) { return fromUSec(ms * 1000); }
+
+    int64_t toUSec() const { return usec_; }
+    int64_t toMSec() const { return usec_ / 1000; }
+
+    D getAbs() const { return D::fromUSec(std::abs(usec_)); }
+
+    bool isPositive() const { return usec_ > 0; }
+    bool isNegative() const { return usec_ < 0; }
+    bool isZero() const { return usec_ == 0; }
+
+    bool operator==(const D& r) const { return usec_ == r.usec_; }
+    bool operator!=(const D& r) const { return !operator==(r); }
+
+    bool operator<(const D& r) const { return usec_ < r.usec_; }
+    bool operator>(const D& r) const { return usec_ > r.usec_; }
+    bool operator<=(const D& r) const { return usec_ <= r.usec_; }
+    bool operator>=(const D& r) const { return usec_ >= r.usec_; }
+
+    D operator+(const D &r) const { return fromUSec(usec_ + r.usec_); } // TODO: overflow check
+    D operator-(const D &r) const { return fromUSec(usec_ - r.usec_); } // ditto
+
+    D operator-() const { return fromUSec(-usec_); }
+
+    D& operator+=(const D &r)
+    {
+        *this = *this + r;
+        return *static_cast<D*>(this);
+    }
+    D& operator-=(const D &r)
+    {
+        *this = *this - r;
+        return *static_cast<D*>(this);
+    }
+
+    template <typename Scale>
+    D operator*(Scale scale)   const { return fromUSec(usec_ * scale); }
+
+    template <typename Scale>
+    D& operator*=(Scale scale)
+    {
+        *this = *this * scale;
+        return *static_cast<D*>(this);
+    }
+
+    std::string toString() const;
+};
+
+
+template <typename T, typename D>
+class TimeBase
+{
+    uint64_t usec_;
+
+public:
+    TimeBase()
+    : usec_(0)
+    {
+        StaticAssert<(sizeof(T) == 8)>::check();
+        StaticAssert<(sizeof(D) == 8)>::check();
+    }
+
+    static T fromUSec(uint64_t us)
+    {
+        T d;
+        d.usec_ = us;
+        return d;
+    }
+    static T fromMSec(uint64_t ms) { return fromUSec(ms * 1000); }
+
+    uint64_t toUSec() const { return usec_; }
+    uint64_t toMSec() const { return usec_ / 1000; }
+
+    bool isZero() const { return usec_ == 0; }
+
+    bool operator==(const T& r) const { return usec_ == r.usec_; }
+    bool operator!=(const T& r) const { return !operator==(r); }
+
+    bool operator<(const T& r) const { return usec_ < r.usec_; }
+    bool operator>(const T& r) const { return usec_ > r.usec_; }
+    bool operator<=(const T& r) const { return usec_ <= r.usec_; }
+    bool operator>=(const T& r) const { return usec_ >= r.usec_; }
+
+    T operator+(const D& r) const
+    {
+        if (r.isNegative())
+        {
+            if (uint64_t(r.getAbs().usec_) > usec_)
+                return fromUSec(0);
+        }
+        else
+        {
+            if (uint64_t(usec_ + r.usec_) < usec_)
+                return fromUSec(std::numeric_limits<uint64_t>::max());
+        }
+        return fromUSec(usec_ + r.usec_);
+    }
+
+    T operator-(const D& r) const
+    {
+        return *static_cast<const T*>(this) + (-r);
+    }
+    D operator-(const T& r) const
+    {
+        return D::fromUSec((usec_ > r.usec_) ? (usec_ - r.usec_) : -(r.usec_ - usec_));
+    }
+
+    T& operator+=(const D& r)
+    {
+        *this = *this + r;
+        return *static_cast<T*>(this);
+    }
+    T& operator-=(const D& r)
+    {
+        *this = *this - r;
+        return *static_cast<T*>(this);
+    }
+
+    std::string toString() const;
+};
+
+
+class MonotonicDuration : public DurationBase<MonotonicDuration> { };
+
+class MonotonicTime : public TimeBase<MonotonicTime, MonotonicDuration> { };
+
+
+class UtcDuration : public DurationBase<UtcDuration> { };
+
+class UtcTime : public TimeBase<UtcTime, UtcDuration>
+{
+public:
+    UtcTime() { }
+
+    UtcTime(const Timestamp& ts)  // Implicit
+    {
+        operator=(ts);
+    }
+
+    UtcTime& operator=(const Timestamp& ts)
+    {
+        *this = UtcTime::fromUSec(ts.husec * Timestamp::USEC_PER_LSB);
+        return *this;
+    }
+
+    operator Timestamp() const
+    {
+        Timestamp ts;
+        ts.husec = toUSec() / Timestamp::USEC_PER_LSB;
+        return ts;
+    }
+};
+
+
+template <typename Stream, typename D>
+inline Stream& operator<<(Stream& s, DurationBase<D> d)
+{
+    char buf[8];
+    std::snprintf(buf, sizeof(buf), "%06lu", static_cast<unsigned long>(std::abs(d.toUSec() % 1000000L)));
+    if (d.isNegative())
+        s << '-';
+    s << std::abs(d.toUSec() / 1000000L) << '.' << buf;
+    return s;
+}
+
+template <typename Stream, typename T, typename D>
+inline Stream& operator<<(Stream& s, TimeBase<T, D> t)
+{
+    char buf[8];
+    std::snprintf(buf, sizeof(buf), "%06lu", static_cast<unsigned long>(t.toUSec() % 1000000L));
+    s << (t.toUSec() / 1000000L) << '.' << buf;
+    return s;
+}
+
+
+template <typename D>
+inline std::string DurationBase<D>::toString() const
+{
+    std::ostringstream os;
+    os << *static_cast<const D*>(this);
+    return os.str();
+}
+
+template <typename T, typename D>
+inline std::string TimeBase<T, D>::toString() const
+{
+    std::ostringstream os;
+    os << *static_cast<const T*>(this);
+    return os.str();
+}
+
+}
diff --git a/libuavcan/test/time.cpp b/libuavcan/test/time.cpp
new file mode 100644
index 0000000000..831c9fbbf9
--- /dev/null
+++ b/libuavcan/test/time.cpp
@@ -0,0 +1,86 @@
+/*
+ * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#include <gtest/gtest.h>
+#include <uavcan/time.hpp>
+
+
+TEST(Time, Monotonic)
+{
+    using uavcan::MonotonicDuration;
+    using uavcan::MonotonicTime;
+
+    MonotonicTime m1;
+    MonotonicTime m2 = MonotonicTime::fromMSec(1);
+    MonotonicDuration md1 = m2 - m1;  // 1000
+    MonotonicDuration md2 = m1 - m2;  // -1000
+
+    ASSERT_EQ(0, m1.toUSec());
+    ASSERT_EQ(1000, m2.toUSec());
+    ASSERT_EQ(1000, md1.toUSec());
+    ASSERT_EQ(-1000, md2.toUSec());
+
+    ASSERT_LT(m1, m2);
+    ASSERT_LE(m1, m2);
+    ASSERT_NE(m1, m2);
+    ASSERT_TRUE(m1.isZero());
+    ASSERT_FALSE(m2.isZero());
+
+    ASSERT_GT(md1, md2);
+    ASSERT_GE(md1, md2);
+    ASSERT_NE(md1, md2);
+    ASSERT_FALSE(md1.isZero());
+    ASSERT_TRUE(md1.isPositive());
+    ASSERT_TRUE(md2.isNegative());
+
+    ASSERT_EQ(0, (md1 + md2).toUSec());
+    ASSERT_EQ(2000, (md1 - md2).toUSec());
+
+    md1 *= 2;                      // 2000
+    ASSERT_EQ(2000, md1.toUSec());
+
+    md2 += md1;                    // md2 = -1000 + 2000
+    ASSERT_EQ(1000, md2.toUSec());
+
+    ASSERT_EQ(-1000, (-md2).toUSec());
+
+    /*
+     * To string
+     */
+    ASSERT_EQ("0.000000", m1.toString());
+    ASSERT_EQ("0.001000", m2.toString());
+
+    ASSERT_EQ("0.002000", md1.toString());
+    ASSERT_EQ("-0.001000", (-md2).toString());
+
+    ASSERT_EQ("1001.000001", MonotonicTime::fromUSec(1001000001).toString());
+    ASSERT_EQ("-1001.000001", MonotonicDuration::fromUSec(-1001000001).toString());
+}
+
+
+TEST(Time, Utc)
+{
+    using uavcan::UtcDuration;
+    using uavcan::UtcTime;
+    using uavcan::Timestamp;
+
+    Timestamp ts;
+    ts.husec = 90;
+
+    UtcTime u1(ts);
+    ASSERT_EQ(9000, u1.toUSec());
+
+    ts.husec *= 2;
+    u1 = ts;
+    ASSERT_EQ(18000, u1.toUSec());
+
+    ts = UtcTime::fromUSec(12345678900);
+    ASSERT_EQ(123456789, ts.husec);
+
+    /*
+     * To string
+     */
+    ASSERT_EQ("0.018000", u1.toString());
+    ASSERT_EQ("12345.678900", UtcTime(ts).toString());
+}