From 1beadda3df85ed0b9ee8293d1519698c2df7bc7f Mon Sep 17 00:00:00 2001
From: Alexander Entinger <consulting@lxrobotics.com>
Date: Tue, 12 Dec 2023 08:24:49 +0100
Subject: [PATCH] Fix: Increase accuracy of "delay()" routine. This fixes #194.

---
 cores/arduino/time.cpp | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/cores/arduino/time.cpp b/cores/arduino/time.cpp
index 8fc9a2e08..c5269c928 100644
--- a/cores/arduino/time.cpp
+++ b/cores/arduino/time.cpp
@@ -4,8 +4,11 @@
 
 // this file implements the following public funcions: delay, delayMicroseconds, yield, millis, micros
 
-__attribute__((weak)) void delay(uint32_t ms) {
-	R_BSP_SoftwareDelay(ms, BSP_DELAY_UNITS_MILLISECONDS);
+__attribute__((weak)) void delay(uint32_t ms)
+{
+  auto const start = millis();
+  auto const stop = start + ms;
+  while(millis() < stop) yield();
 }
 
 void delayMicroseconds(unsigned int us) {