diff options
Diffstat (limited to 'platforms/chibios/_wait.h')
| -rw-r--r-- | platforms/chibios/_wait.h | 6 |
1 files changed, 6 insertions, 0 deletions
diff --git a/platforms/chibios/_wait.h b/platforms/chibios/_wait.h index 2f36c64a2e..c0ccbc5569 100644 --- a/platforms/chibios/_wait.h +++ b/platforms/chibios/_wait.h @@ -17,6 +17,7 @@ #include <ch.h> #include <hal.h> +#include "chibios_config.h" /* chThdSleepX of zero maps to infinite - so we map to a tiny delay to still yield */ #define wait_ms(ms) \ @@ -30,6 +31,11 @@ #ifdef WAIT_US_TIMER void wait_us(uint16_t duration); +#elif PORT_SUPPORTS_RT == TRUE +# define wait_us(us) \ + do { \ + chSysPolledDelayX(US2RTC(REALTIME_COUNTER_CLOCK, us)); \ + } while (0) #else # define wait_us(us) \ do { \ |