diff --git a/include/sta/rtos/timer.hpp b/include/sta/rtos/timer.hpp
index 6447772..70ba816 100644
--- a/include/sta/rtos/timer.hpp
+++ b/include/sta/rtos/timer.hpp
@@ -10,6 +10,7 @@
 #include <sta/timer.hpp>
 
 #include <functional>
+#include "cmsis_os2.h"
 
 
 namespace sta
@@ -25,12 +26,13 @@ namespace sta
 	{
 	public:
 		/**
-		 * @brief
+		 * @brief Creates a new timer with a given callback function.
 		 *
 		 * @param callback 	The callback function to call upon timer timeout.
 		 * @param arg 		The argument to pass to the callback function.
+		 * @param repeating True if the timer should repeat. False if it should only run once.
 		 */
-		RtosTimer(std::function<void(void*)>, void *arg);
+		RtosTimer(std::function<void(void*)>, void *arg, bool repeating = false);
 
 		/**
 		 * @brief Initializes the timer with a callback that has no effect.
diff --git a/src/timer.cpp b/src/timer.cpp
index 7a7d6d3..33ff80b 100644
--- a/src/timer.cpp
+++ b/src/timer.cpp
@@ -2,17 +2,20 @@
 #include <sta/debug/debug.hpp>
 #include <sta/debug/assert.hpp>
 
+#include "cmsis_os2.h"
 
 namespace sta {
-    RtosTimer::RtosTimer(std::function<void(void*)> callback, void *arg)
+    RtosTimer::RtosTimer(std::function<void(void*)> callback, void *arg, bool repeating /*= false */)
     	: timer_id_{NULL},
-		  timer_attr_{.name="Timer", .attr_bits=osTimerOnce},
+		  timer_attr_{.name="Timer", .attr_bits=repeating ? osTimerPeriodic : osTimerOnce},
 		  callback_{callback},
 		  callbackArg_{arg},
 		  running_{false}
     {
-    	// Pass an anonymous function as the callback which will invoke the currently registered callback.
-        timer_id_ = osTimerNew(timeoutHandler, osTimerOnce, this, &timer_attr_);
+        osTimerType_t type = repeating ? osTimerPeriodic : osTimerOnce;
+
+        // Pass an anonymous function as the callback which will invoke the currently registered callback.
+        timer_id_ = osTimerNew(timeoutHandler, type, this, &timer_attr_);
 
         STA_ASSERT_MSG(timer_id_ != NULL, "Failed to create timer!");
     }
@@ -68,7 +71,7 @@ namespace sta {
     void RtosTimer::timeoutHandler(void* arg)
     {
 		RtosTimer* timer = static_cast<RtosTimer*>(arg);
-		timer->running_ = false;
+        timer->running_ = timer->isRunning();    
 		timer->callback_(timer->callbackArg_);
 	}