window.setInterval() returns an IntervalID, which can be used to stop that interval from continuing to run. To do this, store the return value of window.setInterval() in a variable and call clearInterval() with that variable as the only argument:
function waitFunc(){
console.log("This will be logged every 5 seconds");
}
var interval = window.setInterval(waitFunc,5000);
window.setTimeout(function(){
clearInterval(interval);
},32000);
This will log This will be logged every 5 seconds every 5 seconds, but will stop it after 32 seconds. So it will log the message 6 times.