Index: Sources/Kernel/rX_Tim.c
===================================================================
--- Sources/Kernel/rX_Tim.c	(revision 2172)
+++ Sources/Kernel/rX_Tim.c	(working copy)
@@ -97,12 +97,15 @@
 
           if (ptOldTimer->bOpt == RX_TIM_AUTO_RELOAD)
           {
-            UINT uNewSpoke;
-            /* Recalculate new position of timer in wheel */
-            ptOldTimer->ulMatch = ptOldTimer->ulPeriod + ulTimeTickToProcess;
-            uNewSpoke           = ptOldTimer->ulMatch & s_uWheelModMask;
-            /* Reinsert timer into wheel */
-            TAILQ_INSERT_TAIL(&s_patTimerWheelTbl[uNewSpoke], ptOldTimer, tTimerList);
+            if (0 != ptOldTimer->ulPeriod) {
+              UINT uNewSpoke;
+              /* Recalculate new position of timer in wheel */
+              ptOldTimer->ulMatch = ptOldTimer->ulPeriod + ulTimeTickToProcess;
+              uNewSpoke           = ptOldTimer->ulMatch & s_uWheelModMask;
+              /* Reinsert timer into wheel */
+              TAILQ_INSERT_TAIL(&s_patTimerWheelTbl[uNewSpoke], ptOldTimer, tTimerList);
+            } else
+              ptOldTimer->bState = RX_TIMER_STATE_STOPPED;
           } else
           {
             /* Remove timer from wheel and indicate that the timer has completed */
Index: Tests/Kernel/Timer/TimerInfiniteLoopTest.c
===================================================================
--- Tests/Kernel/Timer/TimerInfiniteLoopTest.c	(revision 0)
+++ Tests/Kernel/Timer/TimerInfiniteLoopTest.c	(working copy)
@@ -0,0 +1,75 @@
+#include "TLR_Includes.h"
+#include "rX_Testcase.h"
+
+/* Two timers started at the same time can cause an infinite loop
+ * within the rXTimerTask, if their ulPeriod value is reset to 0.
+ * Resetting ulPeriod to 0 causes
+ * - ulMatch to never change
+ * - uSpoke & uNewSpoke to never change
+ * The timers will stay in the same timer slot/list and will get
+ * iterated over and over again.
+ */
+
+#define TIMER_COUNT 2
+
+static RX_HANDLE s_hTimer[TIMER_COUNT];
+
+/* Forward declarations */
+static void TimerInfiniteLoopTest(void* pvParam);
+
+static TESTCASE_TABLE_T s_atTestcase[] TESTCASE_SECTION_NAME(TimerInfiniteLoopTest)=
+{
+  {
+    .szTestcase   = "Timer Infinite Loop Test",
+    .pfnTestcase  = TimerInfiniteLoopTest,
+    .pvParam      = NULL,
+  }
+};
+
+static void TimerFnc(void* pvParam)
+{
+  /* Reset ulPeriod to 0 */
+  rX_TimSetReload(pvParam, 0);
+}
+
+/**
+ * \b test_start
+ *
+ * Start timer test.
+ *
+ */
+static void TimerInfiniteLoopTest(void* pvParam)
+{
+  RX_RESULT eRslt = RX_OK;
+  int32_t   iIdx;
+
+  for (iIdx = 0; iIdx < TIMER_COUNT; iIdx++)
+  {
+    s_hTimer[iIdx] = LIB_MALLOC(RX_TIMER_SIZE);
+    TEST_ASSERT_NOT_NULL(s_hTimer[iIdx]);
+    
+    eRslt = rX_TimCreateTimer(s_hTimer[iIdx], TimerFnc, (void*)(s_hTimer[iIdx]), RX_TIM_AUTO_RELOAD, 5, 0);
+    TEST_ASSERT_EQUAL_UINT(RX_OK, eRslt);
+  }
+
+  /* Timer needs to be started at the same time to share the same ulMatch/uSpoke values.
+   * Only then they will be put in the same timer wheel list/slot. */
+  for (iIdx = 0; iIdx < TIMER_COUNT; iIdx++)
+  {
+    eRslt = rX_TimResumeTimer(s_hTimer[iIdx]);
+    TEST_ASSERT_EQUAL_UINT(RX_OK, eRslt);
+  }
+
+  TLR_TSK_SLEEP(5000);
+
+  for (iIdx = 0; iIdx < TIMER_COUNT; iIdx++)
+  {
+    eRslt = rX_TimStopTimer(s_hTimer[iIdx]);
+    TEST_ASSERT_EQUAL_UINT(RX_OK, eRslt);
+
+    eRslt = rX_TimDeleteTimer(s_hTimer[iIdx]);
+    TEST_ASSERT_EQUAL_UINT(RX_OK, eRslt);
+
+    LIB_FREE(s_hTimer[iIdx]);
+  }
+}