Counter to find the delay between a radar and an object

Good evening,

I am doing a project to measure a distance between a Radar and an object. I am sending a pulse throw the FPGA (DE0-nano) to the radar and I am receiving the signal echo in the FPGA again. I want to measure the delay between the sending signal and the received echo in HW because the delay is about 30 nanoseconds from distance starting in 5 meters.

Can anyone help me please to find out how to measure that delay!?

Thanks in advance and please give me some ideas because I'm really desperate :(:(:(.