From 56f17cc3127cb78a8e64c022574adf4c30a4660b Mon Sep 17 00:00:00 2001
From: Mike O'Driscoll <modriscoll@clearpathrobotics.com>
Date: Wed, 23 Mar 2016 11:22:15 -0400
Subject: [PATCH] Make MillisecondTimer::delay weak

Made MillisecondTimer delay() member function a weak attribute.
This will allow for those integrating with an RTOS to yield rather
than busy-wait. This solves issue #149.
---
 lib/include/timing/MillisecondTimer.h | 16 +---------------
 lib/src/timing/MillisecondTimer.cpp   | 14 ++++++++++++++
 2 files changed, 15 insertions(+), 15 deletions(-)

diff --git a/lib/include/timing/MillisecondTimer.h b/lib/include/timing/MillisecondTimer.h
index 6ef82e15..f3e9090b 100644
--- a/lib/include/timing/MillisecondTimer.h
+++ b/lib/include/timing/MillisecondTimer.h
@@ -24,7 +24,7 @@ namespace stm32plus {
 
     public:
       static void initialise();
-      static void delay(uint32_t millis_);
+      static void __attribute__ ((weak)) delay(uint32_t millis_);
       static uint32_t millis();
       static void reset();
       static bool hasTimedOut(uint32_t start,uint32_t timeout);
@@ -42,20 +42,6 @@ namespace stm32plus {
   }
 
 
-  /**
-   * Delay for given time. Waits for the current value of the systick counter to reach a target.
-   * @param millis The amount of time to wait.
-   */
-
-  inline void MillisecondTimer::delay(uint32_t millis) {
-
-    uint32_t target;
-
-    target=_counter+millis;
-    while(_counter<target);
-  }
-
-
   /**
    * Reset the counter to zero
    */
diff --git a/lib/src/timing/MillisecondTimer.cpp b/lib/src/timing/MillisecondTimer.cpp
index 402503fd..29ad353e 100644
--- a/lib/src/timing/MillisecondTimer.cpp
+++ b/lib/src/timing/MillisecondTimer.cpp
@@ -23,6 +23,20 @@ namespace stm32plus {
     _counter=0;
     SysTick_Config(SystemCoreClock / 1000);
   }
+
+
+  /**
+   * Delay for given time. Waits for the current value of the systick counter to reach a target.
+   * @param millis The amount of time to wait.
+   */
+
+  inline void MillisecondTimer::delay(uint32_t millis) {
+
+    uint32_t target;
+
+    target=_counter+millis;
+    while(_counter<target);
+  }
 }