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| author | Drashna Jael're <drashna@live.com> | 2022-11-08 17:14:27 -0800 |
|---|---|---|
| committer | Drashna Jael're <drashna@live.com> | 2022-11-08 17:14:27 -0800 |
| commit | 64f04b30c2f48fc0e7c49ca043443f03dc56df94 (patch) | |
| tree | e0f374d3b92bacefd22c31e7bda8ee1c6fcb37de /platforms/chibios/_wait.h | |
| parent | d9f575fa86ca10b990958d4e677c6a0a387dc7c3 (diff) | |
| parent | 96c48a5f4aa461ed31fd4ee61151ac206e16fb5f (diff) | |
Merge tag '0.18.16' into firmware22
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 { \ |