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 {                                \ | 
