diff --git a/rtic-time/Cargo.toml b/rtic-time/Cargo.toml
index 462ad5d2b5..b0746c17cb 100644
--- a/rtic-time/Cargo.toml
+++ b/rtic-time/Cargo.toml
@@ -20,3 +20,7 @@ license = "MIT OR Apache-2.0"
 critical-section = "1"
 futures-util = { version = "0.3.25", default-features = false }
 rtic-common = { version = "1.0.0-alpha.0", path = "../rtic-common" }
+
+[dev-dependencies]
+parking_lot = "0.12"
+cassette = "0.2"
diff --git a/rtic-time/tests/timer_queue.rs b/rtic-time/tests/timer_queue.rs
new file mode 100644
index 0000000000..9ad717574f
--- /dev/null
+++ b/rtic-time/tests/timer_queue.rs
@@ -0,0 +1,289 @@
+//! A test that verifies the correctness of the [`TimerQueue`].
+//!
+//! To run this test, you need to activate the `critical-section/std` feature.
+
+use std::{
+    fmt::Debug,
+    task::{Poll, Waker},
+};
+
+use cassette::Cassette;
+use parking_lot::Mutex;
+use rtic_time::{Monotonic, TimerQueue};
+
+static NOW: Mutex<Option<Instant>> = Mutex::new(None);
+
+#[derive(PartialEq, Eq, PartialOrd, Ord, Clone, Copy, Debug)]
+pub struct Duration(u64);
+
+impl Duration {
+    pub fn from_ticks(millis: u64) -> Self {
+        Self(millis)
+    }
+
+    pub fn as_ticks(&self) -> u64 {
+        self.0
+    }
+}
+
+impl core::ops::Add<Duration> for Duration {
+    type Output = Duration;
+
+    fn add(self, rhs: Duration) -> Self::Output {
+        Self(self.0 + rhs.0)
+    }
+}
+
+impl From<Duration> for Instant {
+    fn from(value: Duration) -> Self {
+        Instant(value.0)
+    }
+}
+
+static WAKERS: Mutex<Vec<Waker>> = Mutex::new(Vec::new());
+
+#[derive(PartialEq, Eq, PartialOrd, Ord, Clone, Copy, Debug)]
+pub struct Instant(u64);
+
+impl Instant {
+    const ZERO: Self = Self(0);
+
+    pub fn tick() -> bool {
+        // If we've never ticked before, initialize the clock.
+        if NOW.lock().is_none() {
+            *NOW.lock() = Some(Instant::ZERO);
+        }
+        // We've ticked before, add one to the clock
+        else {
+            let now = Instant::now();
+            let new_time = now + Duration(1);
+            *NOW.lock() = Some(new_time);
+        }
+
+        let had_wakers = !WAKERS.lock().is_empty();
+        // Wake up all things waiting for a specific time to happen.
+        for waker in WAKERS.lock().drain(..) {
+            waker.wake_by_ref();
+        }
+
+        let had_interrupt = TestMono::tick(false);
+
+        had_interrupt || had_wakers
+    }
+
+    pub fn now() -> Self {
+        NOW.lock().clone().unwrap_or(Instant::ZERO)
+    }
+
+    pub fn elapsed(&self) -> Duration {
+        Duration(Self::now().0 - self.0)
+    }
+
+    pub async fn wait_until(time: Instant) {
+        core::future::poll_fn(|ctx| {
+            if Instant::now() >= time {
+                Poll::Ready(())
+            } else {
+                WAKERS.lock().push(ctx.waker().clone());
+                Poll::Pending
+            }
+        })
+        .await;
+    }
+}
+
+impl From<u64> for Instant {
+    fn from(value: u64) -> Self {
+        Self(value)
+    }
+}
+
+impl core::ops::Add<Duration> for Instant {
+    type Output = Instant;
+
+    fn add(self, rhs: Duration) -> Self::Output {
+        Self(self.0 + rhs.0)
+    }
+}
+
+impl core::ops::Sub<Duration> for Instant {
+    type Output = Instant;
+
+    fn sub(self, rhs: Duration) -> Self::Output {
+        Self(self.0 - rhs.0)
+    }
+}
+
+impl core::ops::Sub<Instant> for Instant {
+    type Output = Duration;
+
+    fn sub(self, rhs: Instant) -> Self::Output {
+        Duration(self.0 - rhs.0)
+    }
+}
+
+static COMPARE: Mutex<Option<Instant>> = Mutex::new(None);
+static TIMER_QUEUE: TimerQueue<TestMono> = TimerQueue::new();
+
+pub struct TestMono;
+
+impl TestMono {
+    pub fn tick(force_interrupt: bool) -> bool {
+        let now = Instant::now();
+
+        let compare_reached = Some(now) == Self::compare();
+        let interrupt = compare_reached || force_interrupt;
+
+        if interrupt {
+            unsafe {
+                TestMono::queue().on_monotonic_interrupt();
+            }
+            true
+        } else {
+            false
+        }
+    }
+
+    /// Initialize the monotonic.
+    pub fn init() {
+        Self::queue().initialize(Self);
+    }
+
+    /// Used to access the underlying timer queue
+    pub fn queue() -> &'static TimerQueue<TestMono> {
+        &TIMER_QUEUE
+    }
+
+    pub fn compare() -> Option<Instant> {
+        COMPARE.lock().clone()
+    }
+}
+
+impl Monotonic for TestMono {
+    const ZERO: Self::Instant = Instant::ZERO;
+
+    type Instant = Instant;
+
+    type Duration = Duration;
+
+    fn now() -> Self::Instant {
+        Instant::now()
+    }
+
+    fn set_compare(instant: Self::Instant) {
+        let _ = COMPARE.lock().insert(instant);
+    }
+
+    fn clear_compare_flag() {}
+
+    fn pend_interrupt() {
+        Self::tick(true);
+    }
+}
+
+#[test]
+fn timer_queue() {
+    TestMono::init();
+    let start = Instant::ZERO;
+
+    let build_delay_test = |pre_delay: Option<u64>, delay: u64| {
+        let delay = Duration::from_ticks(delay);
+        let pre_delay = pre_delay.map(Duration::from_ticks);
+
+        let total = if let Some(pre_delay) = pre_delay {
+            pre_delay + delay
+        } else {
+            delay
+        };
+        let total_millis = total.as_ticks();
+
+        async move {
+            // A `pre_delay` simulates a delay in scheduling,
+            // without the `pre_delay` being present in the timer
+            // queue
+            if let Some(pre_delay) = pre_delay {
+                Instant::wait_until(start + pre_delay).await;
+            }
+
+            TestMono::queue().delay(delay).await;
+
+            let elapsed = start.elapsed().as_ticks();
+            println!("{total_millis} ticks delay reached after {elapsed} ticks");
+
+            if elapsed != total_millis {
+                panic!(
+                    "{total_millis} ticks delay was not on time ({elapsed} ticks passed instead)"
+                );
+            }
+        }
+    };
+
+    macro_rules! cassette {
+        ($($x:ident),* $(,)?) => { $(
+            // Move the value to ensure that it is owned
+            let mut $x = $x;
+            // Shadow the original binding so that it can't be directly accessed
+            // ever again.
+            #[allow(unused_mut)]
+            let mut $x = unsafe {
+                core::pin::Pin::new_unchecked(&mut $x)
+            };
+
+            let mut $x = Cassette::new($x);
+        )* }
+    }
+
+    let d1 = build_delay_test(Some(100), 100);
+    cassette!(d1);
+
+    let d2 = build_delay_test(None, 300);
+    cassette!(d2);
+
+    let d3 = build_delay_test(None, 400);
+    cassette!(d3);
+
+    macro_rules! poll {
+        ($($fut:ident),*) => {
+            $(if !$fut.is_done() {
+                    $fut.poll_on();
+            })*
+        };
+    }
+
+    // Do an initial poll to set up all of the waiting futures
+    poll!(d1, d2, d3);
+
+    for _ in 0..500 {
+        // We only poll the waiting futures if an
+        // interrupt occured or if an artificial delay
+        // has passed.
+        if Instant::tick() {
+            poll!(d1, d2, d3);
+        }
+
+        if Instant::now() == 0.into() {
+            // First, we want to be waiting for our 300 tick delay
+            assert_eq!(TestMono::compare(), Some(300.into()));
+        }
+
+        if Instant::now() == 100.into() {
+            // After 100 ticks, we enqueue a new delay that is supposed to last
+            // until the 200-tick-mark
+            assert_eq!(TestMono::compare(), Some(200.into()));
+        }
+
+        if Instant::now() == 200.into() {
+            // After 200 ticks, we dequeue the 200-tick-mark delay and
+            // requeue the 300 tick delay
+            assert_eq!(TestMono::compare(), Some(300.into()));
+        }
+
+        if Instant::now() == 300.into() {
+            // After 300 ticks, we dequeue the 300-tick-mark delay and
+            // go to the 400 tick delay that is already enqueued
+            assert_eq!(TestMono::compare(), Some(400.into()));
+        }
+    }
+
+    assert!(d1.is_done() && d2.is_done() && d3.is_done());
+}
diff --git a/xtask/src/argument_parsing.rs b/xtask/src/argument_parsing.rs
index 8795213215..c0538e204e 100644
--- a/xtask/src/argument_parsing.rs
+++ b/xtask/src/argument_parsing.rs
@@ -71,7 +71,7 @@ impl TestMetadata {
             },
             Package::RticTime => CargoCommand::Test {
                 package: Some(package),
-                features: None,
+                features: Some("critical-section/std".into()),
                 test: None,
             },
         }