From a2ec8f983c799dea0a6f57ba97431ded54fc6197 Mon Sep 17 00:00:00 2001
From: Nils Fitinghoff <nils.fitinghoff@mobilaris.se>
Date: Thu, 14 Sep 2023 16:47:52 +0200
Subject: rtic-monotonics: Implement blocking DelayUs from embedded-hal 1

---
 rtic-monotonics/src/systick.rs | 9 +++++++++
 1 file changed, 9 insertions(+)

(limited to 'rtic-monotonics/src/systick.rs')

diff --git a/rtic-monotonics/src/systick.rs b/rtic-monotonics/src/systick.rs
index 9b8fca8..fb4f883 100644
--- a/rtic-monotonics/src/systick.rs
+++ b/rtic-monotonics/src/systick.rs
@@ -203,6 +203,15 @@ impl embedded_hal_async::delay::DelayUs for Systick {
     }
 }
 
+impl embedded_hal::delay::DelayUs for Systick {
+    fn delay_us(&mut self, us: u32) {
+        #[cfg(feature = "systick-64bit")]
+        let us = u64::from(us);
+        let done = Self::now() + us.micros();
+        while Self::now() < done {}
+    }
+}
+
 /// Register the Systick interrupt for the monotonic.
 #[macro_export]
 macro_rules! create_systick_token {
-- 
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