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-rw-r--r--platforms/chibios/_wait.h6
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 { \