The question is as simple as the topic. How to delay exact one clock cycle in STM32? If the controller runs at 168MHz, is one clock cycle equal to 1/168MHz, which is 5.95ns?
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You can try to use assembly in your C code. Its quite easy with the asm() function. I believe it would look like this:
This is just the assembly instruction for 'Don't do anything for this PC tick'. Also you should make sure that your compiler does not optimize it out.