micropython · dpgeorge · Apr 16, 2026 · Apr 16, 2026 · Apr 16, 2026 · Apr 16, 2026
diff --git a/ports/mimxrt/mphalport.h b/ports/mimxrt/mphalport.h
@@ -80,10 +80,6 @@
 extern int mp_interrupt_char;
 extern ringbuf_t stdin_ringbuf;
 
-// Define an alias for systick_ms, because the shared softtimer.c uses
-// the symbol uwTick for the systick ms counter.
-#define uwTick systick_ms
-
 #define mp_hal_pin_obj_t const machine_pin_obj_t *
 #define mp_hal_get_pin_obj(o)   pin_find(o)
 #define mp_hal_pin_name(p)      ((p)->name)
@@ -127,6 +123,9 @@ static inline mp_uint_t mp_hal_ticks_us(void) {
 }
 
 static inline void mp_hal_delay_ms(mp_uint_t ms) {
+    // This function must run events at least once, so do that now.
+    mp_event_handle_nowait();
+
     uint64_t us = (uint64_t)ms * 1000;
     ticks_delay_us64(us);
 }

diff --git a/ports/mimxrt/pendsv.h b/ports/mimxrt/pendsv.h
@@ -26,6 +26,8 @@
 #ifndef MICROPY_INCLUDED_MIMXRT_PENDSV_H
 #define MICROPY_INCLUDED_MIMXRT_PENDSV_H
 
+#include "py/mpconfig.h"
+
 enum {
     PENDSV_DISPATCH_SOFT_TIMER,  // For later & for having at least one entry
     #if MICROPY_PY_NETWORK && MICROPY_PY_LWIP

diff --git a/ports/mimxrt/systick.c b/ports/mimxrt/systick.c
@@ -24,10 +24,7 @@
  * THE SOFTWARE.
  */
 
-#include "py/runtime.h"
-#include "py/mphal.h"
 #include "systick.h"
-
 #include "pendsv.h"
 #include "shared/runtime/softtimer.h"
 
@@ -36,9 +33,7 @@ volatile uint32_t systick_ms = 0;
 systick_dispatch_t systick_dispatch_table[SYSTICK_DISPATCH_NUM_SLOTS];
 
 void SysTick_Handler(void) {
-    // Instead of calling HAL_IncTick we do the increment here of the counter.
-    // This is purely for efficiency, since SysTick is called 1000 times per
-    // second at the highest interrupt priority.
+    // Increment the systick millisecond counter.
     uint32_t uw_tick = systick_ms + 1;
     systick_ms = uw_tick;
 
@@ -52,16 +47,3 @@ void SysTick_Handler(void) {
         pendsv_schedule_dispatch(PENDSV_DISPATCH_SOFT_TIMER, soft_timer_handler);
     }
 }
-
-bool systick_has_passed(uint32_t start_tick, uint32_t delay_ms) {
-    return systick_ms - start_tick >= delay_ms;
-}
-
-// waits until at least delay_ms milliseconds have passed from the sampling of
-// startTick. Handles overflow properly. Assumes stc was taken from
-// HAL_GetTick() some time before calling this function.
-void systick_wait_at_least(uint32_t start_tick, uint32_t delay_ms) {
-    while (!systick_has_passed(start_tick, delay_ms)) {
-        __WFI(); // enter sleep mode, waiting for interrupt
-    }
-}
diff --git a/ports/mimxrt/systick.h b/ports/mimxrt/systick.h
@@ -26,6 +26,8 @@
 #ifndef MICROPY_INCLUDED_MIMXRT_SYSTICK_H
 #define MICROPY_INCLUDED_MIMXRT_SYSTICK_H
 
+#include "py/mpconfig.h"
+
 // Works for x between 0 and 16 inclusive
 #define POW2_CEIL(x) ((((x) - 1) | ((x) - 1) >> 1 | ((x) - 1) >> 2 | ((x) - 1) >> 3) + 1)
 
@@ -54,7 +56,4 @@ static inline void systick_disable_dispatch(size_t slot) {
     systick_dispatch_table[slot] = NULL;
 }
 
-void systick_wait_at_least(uint32_t stc, uint32_t delay_ms);
-bool systick_has_passed(uint32_t stc, uint32_t delay_ms);
-
 #endif // MICROPY_INCLUDED_MIMXRT_SYSTICK_H