Added sleep_ticks to C interface

lispBM/c_libs/vesc_c_if.h

@@ -620,6 +620,7 @@ typedef struct {
 	// Use ts_to_age_s to get the age of a timestamp in
 	// seconds. ts_to_age_s should hanlde overflows.
 	systime_t (*system_time_ticks)(void);
+	void (*sleep_ticks)(systime_t ticks);
 
 	// FOC Audio
 	bool (*foc_beep)(float freq, float time, float voltage);

lispBM/lispif_c_lib.c

@@ -934,6 +934,7 @@ lbm_value ext_load_native_lib(lbm_value *args, lbm_uint argn) {
 
 		// System time
 		cif.cif.system_time_ticks = chVTGetSystemTimeX;
+		cif.cif.sleep_ticks = chThdSleep;
 
 		// FOC Audio
 		cif.cif.foc_beep = mcpwm_foc_beep;

lispBM/lispif_vesc_extensions.c

@@ -113,8 +113,7 @@ typedef struct {
 #endif
 #ifdef PIN_HW_2
 	lbm_uint pin_hw_2;
-#endif	
-	
+#endif
 
 	// Settings
 	lbm_uint l_current_min;