diff --git a/CMakeLists.txt b/CMakeLists.txt
index 0772a8044ff94f4963e019909be41fbb2e2a8603..947d96da010c9be2f5c5caf267b76e276b111cfd 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -392,6 +392,15 @@ sbs_target(test-vn100 stm32f407vg_stm32f4discovery)
add_executable(test-lis2mdl src/tests/sensors/test-lis2mdl.cpp)
sbs_target(test-lis2mdl stm32f429zi_stm32f4discovery)
+#-----------------------------------------------------------------------------#
+# Tests - Utils #
+#-----------------------------------------------------------------------------#
+
+add_executable(test-threadtimedwait src/tests/timedwait/test-threadtimedwait.cpp)
+sbs_target(test-threadtimedwait stm32f407vg_stm32f4discovery)
+
+add_executable(test-condtimedwait src/tests/timedwait/test-condtimedwait.cpp)
+sbs_target(test-condtimedwait stm32f407vg_stm32f4discovery)
#-----------------------------------------------------------------------------#
# Tests - Utils #
diff --git a/src/tests/timedwait/test-condtimedwait.cpp b/src/tests/timedwait/test-condtimedwait.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..f3929e1665b1ffb663c3515468c29316668e8a63
--- /dev/null
+++ b/src/tests/timedwait/test-condtimedwait.cpp
@@ -0,0 +1,94 @@
+/* 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
+
+FastMutex mutex{};
+ConditionVariable condvar{};
+
+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)
+ {
+ bool isNowPressed = !button.value();
+
+ if (isNowPressed && !wasPressed)
+ {
+ condvar.signal();
+ }
+
+ wasPressed = isNowPressed;
+
+ // 10Hz polling
+ Thread::sleep(100);
+ }
+}
+} // namespace
+
+int main()
+{
+ printf("TEST: ConditionVariable::timedWaitFor - No Boardcore dependencies\n");
+
+ button.mode(Mode::INPUT);
+
+ Thread::create(buttonPollingThread, STACK_MIN, 0, nullptr,
+ Thread::JOINABLE);
+
+ while (true)
+ {
+ Lock<FastMutex> lock{mutex};
+
+ printf("[%lld] Waiting...\n", getTick());
+ if (condvar.timedWaitFor(lock, 3000) == TimedWaitResult::Timeout)
+ {
+ printf("[%lld] Timed out, 3 seconds elapsed\n", getTick());
+ blinkLed(1);
+ }
+ else
+ {
+ printf("[%lld] Waken up, user button pressed\n", getTick());
+ blinkLed(2);
+ }
+ }
+}
diff --git a/src/tests/timedwait/test-threadtimedwait.cpp b/src/tests/timedwait/test-threadtimedwait.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..f4689e0f3f421b82f33a841572fc8b7f105960dc
--- /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::timedWaitFor(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);
+ }
+ }
+}