rtic-monotonics: Implement blocking DelayUs from embedded-hal 1

1 files changed, 7 insertions, 0 deletions

diff --git a/rtic-monotonics/src/stm32.rs b/rtic-monotonics/src/stm32.rs
index 3232f4a..77d36e4 100644
--- a/rtic-monotonics/src/stm32.rs
+++ b/rtic-monotonics/src/stm32.rs
@@ -230,6 +230,13 @@ macro_rules! make_timer {
             }
         }
 
+        impl embedded_hal::delay::DelayUs for $mono_name {
+            fn delay_us(&mut self, us: u32) {
+                let done = Self::now() + (us as u64).micros();
+                while Self::now() < done {}
+            }
+        }
+
         impl Monotonic for $mono_name {
             type Instant = fugit::TimerInstantU64<TIMER_HZ>;
             type Duration = fugit::TimerDurationU64<TIMER_HZ>;