diff --git a/include/sta/rtos/timer.hpp b/include/sta/rtos/timer.hpp
new file mode 100644
index 0000000..b576078
--- /dev/null
+++ b/include/sta/rtos/timer.hpp
@@ -0,0 +1,34 @@
+/**
+ * @file
+ * @brief RTOS timer implementation.
+ */
+
+#ifndef STA_RTOS_TIMER_HPP
+#define STA_RTOS_TIMER_HPP
+
+#include <cmsis_os2.h>
+#include <sta/timer.hpp>
+
+namespace sta
+{
+	/**
+	 * @brief Implementation of Timer using CMSIS RTOS2.
+	 *
+	 * @ingroup STA_RTOS_API
+	 */
+	class RtosTimer : public Timer
+	{
+	public:
+		RtosTimer(void (*callback)(void *arg), void *arg);
+        ~RtosTimer();
+
+		void start(uint32_t millis) override;
+		void stop() override;
+
+	private:
+		osTimerId_t timer_id_;                  /**< CMSIS RTOS2 Timer */
+        osTimerAttr_t timer_attr_;         /**< CMSIS RTOS2 Timer attributes */
+	};
+} // namespace sta
+
+#endif // STA_RTOS_TIMER_HPP
\ No newline at end of file
diff --git a/src/timer.cpp b/src/timer.cpp
new file mode 100644
index 0000000..398cdd3
--- /dev/null
+++ b/src/timer.cpp
@@ -0,0 +1,28 @@
+#include <sta/rtos/timer.hpp>
+#include <sta/debug/debug.hpp>
+
+namespace sta {
+    RtosTimer::RtosTimer(void (*callback)(void *arg), void *arg) {
+        timer_attr_.name = "Timer";
+        timer_attr_.attr_bits = osTimerOnce;
+        timer_attr_.cb_size = sizeof(osTimerAttr_t);
+
+        timer_id_ = osTimerNew(callback, osTimerOnce, arg, &timer_attr_);
+    }
+
+    RtosTimer::~RtosTimer() {
+        osTimerDelete(timer_id_);
+    }
+
+    void RtosTimer::start(uint32_t millis) {
+        osStatus_t status = osTimerStart(timer_id_, millis);
+
+        if (status != osOK) STA_DEBUG_PRINTLN("Timer start failed");
+    }
+
+    void RtosTimer::stop() {
+        osStatus_t status = osTimerStop(timer_id_);
+        
+        if (status != osOK) STA_DEBUG_PRINTLN("Timer stop failed");
+    }
+} // namespace sta
\ No newline at end of file