diff --git a/embassy-time/src/timer.rs b/embassy-time/src/timer.rs
index 3444d3e24..fe0e93951 100644
--- a/embassy-time/src/timer.rs
+++ b/embassy-time/src/timer.rs
@@ -185,13 +185,15 @@ impl Ticker {
     }
 
     /// Reset the ticker to fire for the next time on the deadline.
+    /// If the deadline is in the past, the ticker will fire instantly.
     pub fn reset_at(&mut self, deadline: Instant) {
         self.expires_at = deadline;
     }
 
     /// Resets the ticker, after the specified duration has passed.
+    /// If the specified duration is zero, the next tick will be after the duration of the ticker.
     pub fn reset_after(&mut self, after: Duration) {
-        self.expires_at = Instant::now() + after;
+        self.expires_at = Instant::now() + after + self.duration;
     }
 
     /// Waits for the next tick.