diff --git a/CMakeLists.txt b/CMakeLists.txt
index 197c8e5e501c4239fb7514fc2eb0dfce6743c0f7..b997a29655b3ee1547898c5abaddf81aad2d1f9f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -419,3 +419,6 @@ sbs_target(test-buttonhandler stm32f429zi_stm32f4discovery)
 
 add_executable(test-syncpacketqueue src/tests/utils/test-syncpacketqueue.cpp)
 sbs_target(test-syncpacketqueue stm32f407vg_stm32f4discovery)
+
+add_executable(test-threadtimedwait src/tests/timedwait/test-threadtimedwait.cpp)
+sbs_target(test-threadtimedwait stm32f407vg_stm32f4discovery)
diff --git a/src/tests/timedwait/test-threadtimedwait.cpp b/src/tests/timedwait/test-threadtimedwait.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..f7df8971e0da4cd1856530abd75fddbae855d9dc
--- /dev/null
+++ b/src/tests/timedwait/test-threadtimedwait.cpp
@@ -0,0 +1,104 @@
+/* Copyright (c) 2023 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.
+ */
+
+#include <miosix.h>
+
+#include <functional>
+
+using namespace miosix;
+
+namespace
+{
+GpioPin button =
+    GpioPin(GPIOA_BASE, 0);  // PA0 for the stm32f407 discovery board
+
+Thread *mainThread = nullptr;
+
+void blinkLed(int times)
+{
+    for (int i = 0; i < times; i++)
+    {
+        ledOn();
+        Thread::sleep(100);
+        ledOff();
+        Thread::sleep(75);
+    }
+}
+
+bool wasPressed = false;
+
+void buttonPollingThread(void *argv)
+{
+    while (true)
+    {
+        printf("[%lld] buttonPollingThread: (%p) Polling button...\n",
+               getTick(), (void *)Thread::getCurrentThread());
+        bool isNowPressed = !button.value();
+
+        if (isNowPressed && !wasPressed)
+        {
+            printf("[%lld] buttonPollingThread: (%p) Button pressed\n",
+                   getTick(), (void *)Thread::getCurrentThread());
+            mainThread->wakeup();
+        }
+
+        wasPressed = isNowPressed;
+
+        // 10Hz polling
+        Thread::sleep(100);
+    }
+}
+}  // namespace
+
+int main()
+{
+    printf("TEST: Thread::timedWait\n");
+
+    button.mode(Mode::INPUT);
+
+    Thread *poller =
+        Thread::create(buttonPollingThread, 1024, 0, nullptr, Thread::JOINABLE);
+    mainThread = Thread::getCurrentThread();
+    printf(
+        "SUMMARY:\n"
+        "* mainThread: thread ID (%p)\n"
+        "* buttonPollingThread: thread ID (%p)\n",
+        (void *)mainThread, (void *)poller);
+
+    while (true)
+    {
+        printf("[%lld] main: (%p) Waiting for button press...\n", getTick(),
+               (void *)Thread::getCurrentThread());
+        if (Thread::timedWaitMs(3000) == TimedWaitResult::Timeout)
+        {
+            printf("[%lld] main: (%p) Timed out, 3 seconds elapsed\n",
+                   getTick(), (void *)Thread::getCurrentThread());
+            blinkLed(1);
+        }
+        else
+        {
+            printf("[%lld] main: (%p) Waken up, user button pressed\n",
+                   getTick(), (void *)Thread::getCurrentThread());
+            blinkLed(2);
+        }
+    }
+}