diff --git a/Documentation/applications/examples/calib_udelay/index.rst b/Documentation/applications/examples/calib_udelay/index.rst
index d5390fbe697..2c5b1e5402e 100644
--- a/Documentation/applications/examples/calib_udelay/index.rst
+++ b/Documentation/applications/examples/calib_udelay/index.rst
@@ -2,4 +2,51 @@
 ``calib_udelay`` Calibration tool for udelay
 =============================================
 
-Calibration tool for udelay.
+This tool is used for calibrating the configuration option
+``CONFIG_BOARD_LOOPSPERMSEC``. This option is used by NuttX to perform
+busy-waiting (i.e., spinning in a loop) when a very basic busy-wait sleep is
+needed in board logic. This is also sometimes used when the timer-based sleep
+functions do not have a low enough resolution for shorter timings (i.e. system
+tick every 1ms but you want to sleep for 100us).
+
+When porting NuttX a new board, this example program is very useful to get a
+calibrated value for ``CONFIG_BOARD_LOOPSPERMSEC``.
+
+.. note::
+
+   If you are testing any drivers and have unexpected issues with them, make
+   sure that this configuration option has been calibrated. It can cause
+   bad/incorrect timings in drivers if not calibrated.
+
+Here is the example output from running the application:
+
+.. code-block:: console
+
+   nsh> calib_udelay
+
+   Calibrating timer for main calibration...
+   Performing main calibration for udelay.This will take approx. 17.280 seconds.
+   Calibration slope for udelay:
+     Y = m*X + b, where
+       X is loop iterations,
+       Y is time in nanoseconds,
+       b is base overhead,
+       m is nanoseconds per loop iteration.
+
+     m = 5.33333333 nsec/iter
+     b = -199999.99999995 nsec
+
+     Correlation coefficient, R² = 1.0000
+
+   Without overhead, 0.18750000 iterations per nanosecond and 187500.00 iterations per millis.
+
+   Recommended setting for CONFIG_BOARD_LOOPSPERMSEC:
+      CONFIG_BOARD_LOOPSPERMSEC=187500
+
+You can simply copy paste the value from the console output and use it as the
+value for your board by setting it in the Kconfig menu.
+
+The program is run without any arguments. Configuration options for how the
+program runs (taking more measurements, etc.) can be seen in its Kconfig menu.
+Press ``h`` with the configuration option highlighted under your cursor to read
+the help text about what each option does.