diff --git a/hal/lib/Athena/Utilities.cpp b/hal/lib/Athena/Utilities.cpp
index b821e32132..b34677fead 100644
--- a/hal/lib/Athena/Utilities.cpp
+++ b/hal/lib/Athena/Utilities.cpp
@@ -9,7 +9,12 @@ void delayTicks(int32_t ticks)
 	struct timespec test, remaining;
 	test.tv_sec = 0;
 	test.tv_nsec = ticks * 3;
-	nanosleep(&test, &remaining);
+
+	/* Sleep until the requested number of ticks has passed, with additional
+		time added if nanosleep is interrupted. */
+	while(nanosleep(&test, &remaining) == -1) {
+		test = remaining;
+	}
 }
 
 void delayMillis(double ms)
@@ -17,7 +22,12 @@ void delayMillis(double ms)
 	struct timespec test, remaining;
 	test.tv_sec = ms / 1000;
 	test.tv_nsec = 1000 * (((uint64_t)ms) % 1000000);
-	nanosleep(&test, &remaining);
+
+	/* Sleep until the requested number of milliseconds has passed, with
+		additional time added if nanosleep is interrupted. */
+	while(nanosleep(&test, &remaining) == -1) {
+		test = remaining;
+	}
 }
 
 void delaySeconds(double s)
@@ -25,5 +35,10 @@ void delaySeconds(double s)
 	struct timespec test, remaining;
 	test.tv_sec = (int)s;
 	test.tv_nsec = (s - (int)s) * 1000000000.0;
-	nanosleep(&test, &remaining);
+
+	/* Sleep until the requested number of seconds has passed, with additional
+		time added if nanosleep is interrupted. */
+	while(nanosleep(&test, &remaining) == -1) {
+		test = remaining;
+	}
 }