diff --git a/Projects/ds_twr_Responder/inc/TaskTimer.h b/Projects/ds_twr_Responder/inc/TaskTimer.h
new file mode 100644
index 0000000..ba98f1f
--- /dev/null
+++ b/Projects/ds_twr_Responder/inc/TaskTimer.h
@@ -0,0 +1,14 @@
+#ifndef __TASKTIMER_H
+#define __TASKTIMER_H
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f0xx.h"
+#include "stm32f0xx_tim.h"
+#include "stm32f0xx_rcc.h"
+#include "stm32f0xx_misc.h"
+
+void TaskTimerInit(uint32_t TaskRate);
+
+void TaskTimerCallback(void);
+
+#endif /* __TASKTIMER_H */
diff --git a/Projects/ds_twr_Responder/src/TaskTimer.c b/Projects/ds_twr_Responder/src/TaskTimer.c
new file mode 100644
index 0000000..45993ed
--- /dev/null
+++ b/Projects/ds_twr_Responder/src/TaskTimer.c
@@ -0,0 +1,44 @@
+#include "TaskTImer.h"
+
+void TaskTimerInit(uint32_t TaskRate)
+{
+	NVIC_InitTypeDef NVIC_InitStructure;
+	TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
+	/* TIM2 clock enable */
+	RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
+
+	/* Time base configuration */
+  TIM_TimeBaseStructure.TIM_Period = (1000 / TaskRate) - 1;
+  TIM_TimeBaseStructure.TIM_Prescaler = (uint16_t) ((SystemCoreClock) / 1000) - 1;
+  TIM_TimeBaseStructure.TIM_ClockDivision = 0;
+  TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
+  TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);
+
+	/* NVIC configuration *******************************************************/
+	NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn;
+	NVIC_InitStructure.NVIC_IRQChannelPriority = 0x3;
+	NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
+	NVIC_Init(&NVIC_InitStructure);
+
+	/* Clear TIM2 Counter */
+	TIM_SetCounter(TIM2, 0);
+
+	/* TIM Interrupts enable */
+  TIM_ITConfig(TIM2, TIM_IT_Update, ENABLE);
+
+	/* TIM2 counter enable */
+  TIM_Cmd(TIM2, ENABLE);
+}
+
+/**
+  * @brief  This function handles the TIM2 interrupt request.
+  * @param  None
+  * @retval None
+  */
+void TIM2_IRQHandler(void)
+{
+	if (TIM_GetITStatus(TIM2, TIM_IT_Update) != RESET) {
+		TIM_ClearITPendingBit(TIM2, TIM_IT_Update);
+		TaskTimerCallback();
+	}
+}