From 5b9dea56045b742fc04b96223a340c51f4adae56 Mon Sep 17 00:00:00 2001
From: Julian Oes <julian@oes.ch>
Date: Thu, 4 Oct 2018 06:51:04 +0200
Subject: [PATCH] Replacing usleep with px4_usleep
This is a step towards isolating time from the system.
---
boards/px4/fmu-v2/src/init.c | 4 +--
boards/px4/fmu-v2/src/spi.c | 5 +--
platforms/posix/src/main.cpp | 4 +--
src/drivers/barometer/ms5611/ms5611.cpp | 8 ++---
src/drivers/barometer/ms5611/ms5611_i2c.cpp | 3 +-
src/drivers/barometer/ms5611/ms5611_spi.cpp | 3 +-
src/drivers/batt_smbus/batt_smbus.cpp | 8 ++---
.../differential_pressure/ms5525/MS5525.cpp | 2 +-
.../differential_pressure/sdp3x/SDP3X.cpp | 4 +--
.../distance_sensor/leddar_one/leddar_one.cpp | 2 +-
.../distance_sensor/ll40ls/LidarLiteI2C.cpp | 8 ++---
src/drivers/distance_sensor/mb12xx/mb12xx.cpp | 4 +--
src/drivers/distance_sensor/pga460/pga460.cpp | 36 +++++++++----------
src/drivers/distance_sensor/sf0x/sf0x.cpp | 2 +-
src/drivers/distance_sensor/sf1xx/sf1xx.cpp | 2 +-
src/drivers/distance_sensor/srf02/srf02.cpp | 4 +--
.../distance_sensor/teraranger/teraranger.cpp | 2 +-
src/drivers/distance_sensor/tfmini/tfmini.cpp | 2 +-
.../distance_sensor/ulanding/ulanding.cpp | 4 +--
src/drivers/gps/devices | 2 +-
src/drivers/gps/gps.cpp | 16 ++++-----
src/drivers/imu/mpu6000/mpu6000.cpp | 19 +++++-----
src/drivers/imu/mpu9250/mag.cpp | 7 ++--
src/drivers/imu/mpu9250/mpu9250.cpp | 3 +-
src/drivers/lights/rgbled/rgbled.cpp | 2 +-
src/drivers/magnetometer/hmc5883/hmc5883.cpp | 3 +-
src/drivers/magnetometer/lis3mdl/lis3mdl.cpp | 9 ++---
src/drivers/pwm_input/pwm_input.cpp | 3 +-
src/drivers/px4flow/px4flow.cpp | 2 +-
src/drivers/px4io/px4io.cpp | 24 ++++++-------
src/drivers/px4io/px4io_uploader.cpp | 3 +-
src/drivers/stm32/adc/adc.cpp | 10 +++---
src/drivers/stm32/tone_alarm/tone_alarm.cpp | 2 +-
src/drivers/tone_alarm_sim/tone_alarm.cpp | 2 +-
src/examples/bottle_drop/bottle_drop.cpp | 12 +++----
.../px4_mavlink_debug/px4_mavlink_debug.cpp | 2 +-
src/include/visibility.h | 11 ++++++
src/lib/cdev/posix/cdev_platform.cpp | 2 +-
src/lib/cdev/test/cdevtest_example.cpp | 2 +-
src/lib/parameters/parameters.cpp | 2 +-
src/lib/rc/dsm.cpp | 2 +-
.../attitude_estimator_q_main.cpp | 4 +--
.../camera_feedback/camera_feedback.cpp | 2 +-
src/modules/commander/Commander.cpp | 20 +++++------
.../commander/accelerometer_calibration.cpp | 4 +--
.../commander/airspeed_calibration.cpp | 6 ++--
src/modules/commander/arm_auth.cpp | 2 +-
.../commander/calibration_routines.cpp | 20 +++++------
src/modules/commander/calibration_routines.h | 6 ++--
src/modules/commander/esc_calibration.cpp | 4 +--
src/modules/commander/gyro_calibration.cpp | 4 +--
src/modules/commander/mag_calibration.cpp | 18 +++++-----
src/modules/commander/rc_calibration.cpp | 2 +-
src/modules/commander/rc_check.cpp | 20 +++++------
src/modules/ekf2/ekf2_main.cpp | 2 +-
.../events/temperature_calibration/task.cpp | 4 +--
.../GroundRoverAttitudeControl.cpp | 4 +--
.../GroundRoverPositionControl.cpp | 4 +--
.../landing_target_estimator_main.cpp | 2 +-
src/modules/logger/log_writer_file.cpp | 4 +--
src/modules/mavlink/mavlink_main.cpp | 28 +++++++--------
src/modules/mavlink/mavlink_receiver.cpp | 4 +--
.../mc_att_control/mc_att_control_main.cpp | 2 +-
src/modules/navigator/navigator_main.cpp | 2 +-
src/modules/replay/replay_main.cpp | 4 +--
src/modules/sensors/sensors.cpp | 2 +-
.../simulator/airspeedsim/airspeedsim.cpp | 2 +-
src/modules/simulator/gpssim/gpssim.cpp | 6 ++--
src/modules/simulator/simulator.cpp | 2 +-
src/modules/simulator/simulator_mavlink.cpp | 4 +--
src/modules/uORB/uORBDeviceMaster.cpp | 2 +-
src/modules/uORB/uORBDeviceNode.cpp | 2 +-
.../uORB/uORB_tests/uORBTest_UnitTest.cpp | 16 ++++-----
.../uORB/uORB_tests/uORBTest_UnitTest.hpp | 2 +-
src/modules/vmount/vmount.cpp | 6 ++--
.../vtol_att_control_main.cpp | 4 +--
src/platforms/apps.cpp.in | 3 +-
src/platforms/common/work_queue/hrt_thread.c | 2 +-
src/platforms/common/work_queue/work_thread.c | 2 +-
src/platforms/px4_module.h | 5 +--
src/platforms/px4_nodehandle.h | 3 +-
src/platforms/px4_time.h | 2 ++
src/systemcmds/bl_update/bl_update.c | 4 +--
src/systemcmds/esc_calib/esc_calib.c | 8 ++---
src/systemcmds/led_control/led_control.cpp | 14 ++++----
src/systemcmds/mixer/mixer.cpp | 2 +-
src/systemcmds/motor_ramp/motor_ramp.cpp | 4 +--
src/systemcmds/mtd/24xxxx_mtd.c | 7 ++--
src/systemcmds/pwm/pwm.cpp | 8 ++---
src/systemcmds/reboot/reboot.c | 2 +-
src/systemcmds/tests/hrt_test/hrt_test.cpp | 2 +-
src/systemcmds/tests/test_adc.c | 3 +-
src/systemcmds/tests/test_dataman.c | 2 +-
src/systemcmds/tests/test_hott_telemetry.c | 5 +--
src/systemcmds/tests/test_hrt.cpp | 6 ++--
src/systemcmds/tests/test_hysteresis.cpp | 34 +++++++++---------
src/systemcmds/tests/test_led.c | 3 +-
src/systemcmds/tests/test_microbench_hrt.cpp | 2 +-
src/systemcmds/tests/test_microbench_math.cpp | 2 +-
.../tests/test_microbench_matrix.cpp | 2 +-
src/systemcmds/tests/test_microbench_uorb.cpp | 2 +-
src/systemcmds/tests/test_mixer.cpp | 6 ++--
src/systemcmds/tests/test_mount.c | 10 +++---
src/systemcmds/tests/test_ppm_loopback.c | 3 +-
src/systemcmds/tests/test_rc.c | 2 +-
src/systemcmds/tests/test_sensors.c | 9 ++---
src/systemcmds/tests/test_servo.c | 3 +-
src/systemcmds/tests/test_sleep.c | 3 +-
src/systemcmds/top/top.c | 2 +-
.../topic_listener/listener_main.cpp | 2 +-
src/systemcmds/tune_control/tune_control.cpp | 6 ++--
src/templates/module/module.cpp | 2 +-
112 files changed, 339 insertions(+), 305 deletions(-)
diff --git a/boards/px4/fmu-v2/src/init.c b/boards/px4/fmu-v2/src/init.c
index 49c37cc398..b4b6044ee5 100644
--- a/boards/px4/fmu-v2/src/init.c
+++ b/boards/px4/fmu-v2/src/init.c
@@ -133,7 +133,7 @@ __EXPORT void board_peripheral_reset(int ms)
stm32_gpiowrite(GPIO_VDD_5V_PERIPH_EN, 1);
/* wait for the peripheral rail to reach GND */
- usleep(ms * 1000);
+ px4_usleep(ms * 1000);
warnx("reset done, %d ms", ms);
/* re-enable power */
@@ -393,7 +393,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
#endif
/* Ensure the power is on 1 ms before we drive the GPIO pins */
- usleep(1000);
+ px4_usleep(1000);
if (OK == determin_hw_version(&hw_version, & hw_revision)) {
switch (hw_version) {
diff --git a/boards/px4/fmu-v2/src/spi.c b/boards/px4/fmu-v2/src/spi.c
index ca29b39c32..fc2233f30b 100644
--- a/boards/px4/fmu-v2/src/spi.c
+++ b/boards/px4/fmu-v2/src/spi.c
@@ -41,6 +41,7 @@
* Included Files
************************************************************************************/
+#include <px4_time.h>
#include <px4_config.h>
#include <stdint.h>
@@ -420,7 +421,7 @@ __EXPORT void board_spi_reset(int ms)
stm32_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 0);
/* wait for the sensor rail to reach GND */
- usleep(ms * 1000);
+ px4_usleep(ms * 1000);
warnx("reset done, %d ms", ms);
/* re-enable power */
@@ -429,7 +430,7 @@ __EXPORT void board_spi_reset(int ms)
stm32_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 1);
/* wait a bit before starting SPI, different times didn't influence results */
- usleep(100);
+ px4_usleep(100);
/* reconfigure the SPI pins */
stm32_configgpio(GPIO_SPI1_SCK);
diff --git a/platforms/posix/src/main.cpp b/platforms/posix/src/main.cpp
index 7cf1cae21a..b504b434fa 100644
--- a/platforms/posix/src/main.cpp
+++ b/platforms/posix/src/main.cpp
@@ -61,11 +61,11 @@
#include <sys/stat.h>
#include <stdlib.h>
+#include <px4_time.h>
#include <px4_log.h>
#include <px4_getopt.h>
#include <px4_tasks.h>
#include <px4_posix.h>
-#include <px4_log.h>
#include "apps.h"
#include "px4_middleware.h"
@@ -544,7 +544,7 @@ int run_startup_script(const std::string &commands_file, const std::string &abso
void wait_to_exit()
{
while (!_exit_requested) {
- usleep(100000);
+ px4_usleep(100000);
}
}
diff --git a/src/drivers/barometer/ms5611/ms5611.cpp b/src/drivers/barometer/ms5611/ms5611.cpp
index 3890c859ee..8d03cf947d 100644
--- a/src/drivers/barometer/ms5611/ms5611.cpp
+++ b/src/drivers/barometer/ms5611/ms5611.cpp
@@ -313,7 +313,7 @@ MS5611::init()
break;
}
- usleep(MS5611_CONVERSION_INTERVAL);
+ px4_usleep(MS5611_CONVERSION_INTERVAL);
if (OK != collect()) {
ret = -EIO;
@@ -326,7 +326,7 @@ MS5611::init()
break;
}
- usleep(MS5611_CONVERSION_INTERVAL);
+ px4_usleep(MS5611_CONVERSION_INTERVAL);
if (OK != collect()) {
ret = -EIO;
@@ -429,7 +429,7 @@ MS5611::read(struct file *filp, char *buffer, size_t buflen)
break;
}
- usleep(MS5611_CONVERSION_INTERVAL);
+ px4_usleep(MS5611_CONVERSION_INTERVAL);
if (OK != collect()) {
ret = -EIO;
@@ -442,7 +442,7 @@ MS5611::read(struct file *filp, char *buffer, size_t buflen)
break;
}
- usleep(MS5611_CONVERSION_INTERVAL);
+ px4_usleep(MS5611_CONVERSION_INTERVAL);
if (OK != collect()) {
ret = -EIO;
diff --git a/src/drivers/barometer/ms5611/ms5611_i2c.cpp b/src/drivers/barometer/ms5611/ms5611_i2c.cpp
index e67d6e10ea..3b21dd9171 100644
--- a/src/drivers/barometer/ms5611/ms5611_i2c.cpp
+++ b/src/drivers/barometer/ms5611/ms5611_i2c.cpp
@@ -40,6 +40,7 @@
/* XXX trim includes */
#include <px4_config.h>
#include <px4_defines.h>
+#include <px4_time.h>
#include <sys/types.h>
#include <stdint.h>
@@ -238,7 +239,7 @@ MS5611_I2C::_read_prom()
* Wait for PROM contents to be in the device (2.8 ms) in the case we are
* called immediately after reset.
*/
- usleep(3000);
+ px4_usleep(3000);
uint8_t last_val = 0;
bool bits_stuck = true;
diff --git a/src/drivers/barometer/ms5611/ms5611_spi.cpp b/src/drivers/barometer/ms5611/ms5611_spi.cpp
index 2f52f6cf6e..7a8ee8a0fe 100644
--- a/src/drivers/barometer/ms5611/ms5611_spi.cpp
+++ b/src/drivers/barometer/ms5611/ms5611_spi.cpp
@@ -38,6 +38,7 @@
*/
/* XXX trim includes */
+#include <px4_time.h>
#include <px4_config.h>
#include <sys/types.h>
@@ -248,7 +249,7 @@ MS5611_SPI::_read_prom()
* Wait for PROM contents to be in the device (2.8 ms) in the case we are
* called immediately after reset.
*/
- usleep(3000);
+ px4_usleep(3000);
/* read and convert PROM words */
bool all_zero = true;
diff --git a/src/drivers/batt_smbus/batt_smbus.cpp b/src/drivers/batt_smbus/batt_smbus.cpp
index 63e80a4993..0a033453c3 100644
--- a/src/drivers/batt_smbus/batt_smbus.cpp
+++ b/src/drivers/batt_smbus/batt_smbus.cpp
@@ -269,7 +269,7 @@ void BATT_SMBUS::cycle()
} else {
while (_should_suspend) {
- usleep(200000);
+ px4_usleep(200000);
}
// Schedule a fresh cycle call when the measurement is done.
@@ -444,7 +444,7 @@ int BATT_SMBUS::get_startup_info()
if (lifetime_data_flush() == PX4_OK) {
// Flush needs time to complete, otherwise device is busy. 100ms not enough, 200ms works.
- usleep(200000);
+ px4_usleep(200000);
if (lifetime_read_block_one() == PX4_OK) {
if (_lifetime_max_delta_cell_voltage > BATT_CELL_VOLTAGE_THRESHOLD_FAILED) {
@@ -668,11 +668,11 @@ int BATT_SMBUS::custom_command(int argc, char *argv[])
if (PX4_OK != obj->dataflash_write(address, tx_buf, length)) {
PX4_INFO("Dataflash write failed: %d", address);
- usleep(100000);
+ px4_usleep(100000);
return 1;
} else {
- usleep(100000);
+ px4_usleep(100000);
return 0;
}
}
diff --git a/src/drivers/differential_pressure/ms5525/MS5525.cpp b/src/drivers/differential_pressure/ms5525/MS5525.cpp
index 2c830b7e12..4f8e077209 100644
--- a/src/drivers/differential_pressure/ms5525/MS5525.cpp
+++ b/src/drivers/differential_pressure/ms5525/MS5525.cpp
@@ -70,7 +70,7 @@ MS5525::init_ms5525()
return false;
}
- usleep(3000);
+ px4_usleep(3000);
// Step 2 - read calibration coefficients from prom
diff --git a/src/drivers/differential_pressure/sdp3x/SDP3X.cpp b/src/drivers/differential_pressure/sdp3x/SDP3X.cpp
index 0715922c61..cf632b4db3 100644
--- a/src/drivers/differential_pressure/sdp3x/SDP3X.cpp
+++ b/src/drivers/differential_pressure/sdp3x/SDP3X.cpp
@@ -70,7 +70,7 @@ SDP3X::init_sdp3x()
}
// wait until sensor is ready
- usleep(20000);
+ px4_usleep(20000);
// step 2 - configure
ret = write_command(SDP3X_CONT_MEAS_AVG_MODE);
@@ -81,7 +81,7 @@ SDP3X::init_sdp3x()
return false;
}
- usleep(10000);
+ px4_usleep(10000);
// step 3 - get scale
uint8_t val[9];
diff --git a/src/drivers/distance_sensor/leddar_one/leddar_one.cpp b/src/drivers/distance_sensor/leddar_one/leddar_one.cpp
index 784a8b1b9f..c0a9b68eca 100644
--- a/src/drivers/distance_sensor/leddar_one/leddar_one.cpp
+++ b/src/drivers/distance_sensor/leddar_one/leddar_one.cpp
@@ -357,7 +357,7 @@ int leddar_one::init()
return PX4_OK;
}
- usleep(1000);
+ px4_usleep(1000);
}
PX4_ERR("No readings from " NAME);
diff --git a/src/drivers/distance_sensor/ll40ls/LidarLiteI2C.cpp b/src/drivers/distance_sensor/ll40ls/LidarLiteI2C.cpp
index abf72e5264..31b97dcc7f 100644
--- a/src/drivers/distance_sensor/ll40ls/LidarLiteI2C.cpp
+++ b/src/drivers/distance_sensor/ll40ls/LidarLiteI2C.cpp
@@ -283,7 +283,7 @@ ssize_t LidarLiteI2C::read(device::file_t *filp, char *buffer, size_t buflen)
}
/* wait for it to complete */
- usleep(LL40LS_CONVERSION_INTERVAL);
+ px4_usleep(LL40LS_CONVERSION_INTERVAL);
/* run the collection phase */
if (OK != collect()) {
@@ -353,7 +353,7 @@ int LidarLiteI2C::reset_sensor()
}
// wait for sensor reset to complete
- usleep(50000);
+ px4_usleep(50000);
ret = write_reg(LL40LS_SIG_COUNT_VAL_REG, LL40LS_SIG_COUNT_VAL_MAX);
if (ret != OK) {
@@ -361,7 +361,7 @@ int LidarLiteI2C::reset_sensor()
}
// wait for register write to complete
- usleep(1000);
+ px4_usleep(1000);
return OK;
}
@@ -374,7 +374,7 @@ void LidarLiteI2C::print_registers()
_pause_measurements = true;
printf("ll40ls registers\n");
// wait for a while to ensure the lidar is in a ready state
- usleep(50000);
+ px4_usleep(50000);
for (uint8_t reg = 0; reg <= 0x67; reg++) {
uint8_t val = 0;
diff --git a/src/drivers/distance_sensor/mb12xx/mb12xx.cpp b/src/drivers/distance_sensor/mb12xx/mb12xx.cpp
index 67afacf2f4..f1d5ceaef6 100644
--- a/src/drivers/distance_sensor/mb12xx/mb12xx.cpp
+++ b/src/drivers/distance_sensor/mb12xx/mb12xx.cpp
@@ -264,7 +264,7 @@ MB12XX::init()
}
// XXX we should find out why we need to wait 200 ms here
- usleep(200000);
+ px4_usleep(200000);
/* check for connected rangefinders on each i2c port:
We start from i2c base address (0x70 = 112) and count downwards
@@ -440,7 +440,7 @@ MB12XX::read(device::file_t *filp, char *buffer, size_t buflen)
}
/* wait for it to complete */
- usleep(_cycling_rate * 2);
+ px4_usleep(_cycling_rate * 2);
/* run the collection phase */
if (OK != collect()) {
diff --git a/src/drivers/distance_sensor/pga460/pga460.cpp b/src/drivers/distance_sensor/pga460/pga460.cpp
index e263b49ee5..648ec8bde6 100644
--- a/src/drivers/distance_sensor/pga460/pga460.cpp
+++ b/src/drivers/distance_sensor/pga460/pga460.cpp
@@ -113,13 +113,13 @@ int PGA460::initialize_device_settings()
return PX4_ERROR;
}
- usleep(10000);
+ px4_usleep(10000);
// Read to see if eeprom saved data matches desired data, otherwise overwrite eeprom.
if (read_eeprom() != PX4_OK) {
write_eeprom();
// Allow sufficient time for the device to complete writing to registers.
- usleep(10000);
+ px4_usleep(10000);
}
// Verify the device is alive.
@@ -152,7 +152,7 @@ int PGA460::initialize_thresholds()
}
// Must wait >50us per datasheet.
- usleep(100);
+ px4_usleep(100);
if (read_threshold_registers() == PX4_OK) {
return PX4_OK;
@@ -183,7 +183,7 @@ uint32_t PGA460::collect_results()
bytes_available -= ret;
- usleep(1000);
+ px4_usleep(1000);
} while (bytes_available > 0);
@@ -250,7 +250,7 @@ float PGA460::get_temperature()
}
// The pga460 requires a 2ms delay per the datasheet.
- usleep(5000);
+ px4_usleep(5000);
buf_tx[1] = TNLR;
ret = ::write(_fd, &buf_tx[0], sizeof(buf_tx) - 2);
@@ -259,7 +259,7 @@ float PGA460::get_temperature()
return PX4_ERROR;
}
- usleep(10000);
+ px4_usleep(10000);
uint8_t buf_rx[4] = {};
int bytes_available = sizeof(buf_rx);
@@ -278,7 +278,7 @@ float PGA460::get_temperature()
bytes_available -= ret;
- usleep(1000);
+ px4_usleep(1000);
} while (bytes_available > 0);
@@ -528,7 +528,7 @@ int PGA460::read_eeprom()
return PX4_ERROR;
}
- usleep(10000);
+ px4_usleep(10000);
int bytes_available = sizeof(buf_rx);
int total_bytes = 0;
@@ -546,7 +546,7 @@ int PGA460::read_eeprom()
bytes_available -= ret;
- usleep(1000);
+ px4_usleep(1000);
} while (bytes_available > 0);
@@ -580,7 +580,7 @@ uint8_t PGA460::read_register(const uint8_t reg)
return PX4_ERROR;
}
- usleep(10000);
+ px4_usleep(10000);
uint8_t buf_rx[3] = {};
int bytes_available = sizeof(buf_rx);
@@ -599,7 +599,7 @@ uint8_t PGA460::read_register(const uint8_t reg)
bytes_available -= ret;
- usleep(1000);
+ px4_usleep(1000);
} while (bytes_available > 0);
@@ -628,7 +628,7 @@ int PGA460::read_threshold_registers()
return PX4_ERROR;
}
- usleep(10000);
+ px4_usleep(10000);
uint8_t buf_rx[array_size + 2] = {};
int bytes_available = sizeof(buf_rx);
@@ -647,7 +647,7 @@ int PGA460::read_threshold_registers()
bytes_available -= ret;
- usleep(1000);
+ px4_usleep(1000);
} while (bytes_available > 0);
@@ -669,7 +669,7 @@ int PGA460::request_results()
{
uint8_t buf_tx[2] = {SYNCBYTE, UMR};
int ret = ::write(_fd, &buf_tx[0], sizeof(buf_tx));
- usleep(10000);
+ px4_usleep(10000);
if(!ret) {
return PX4_ERROR;
@@ -707,7 +707,7 @@ void PGA460::run()
// Control rate.
uint64_t loop_time = hrt_absolute_time() - _start_loop;
uint32_t sleep_time = (loop_time > POLL_RATE_US) ? 0 : POLL_RATE_US - loop_time;
- usleep(sleep_time);
+ px4_usleep(sleep_time);
_start_loop = hrt_absolute_time();
request_results();
@@ -856,17 +856,17 @@ int PGA460::write_eeprom()
}
// Needs time, see datasheet timing requirements.
- usleep(5000);
+ px4_usleep(5000);
unlock_eeprom();
flash_eeprom();
- usleep(5000);
+ px4_usleep(5000);
uint8_t result = 0;
// Give up to 100ms for ee_cntrl register to reflect a successful eeprom write.
for (int i = 0; i < 100; i++) {
result = read_register(EE_CNTRL_ADDR);
- usleep(5000);
+ px4_usleep(5000);
if (result & 1 << 2) {
PX4_INFO("EEPROM write successful");
diff --git a/src/drivers/distance_sensor/sf0x/sf0x.cpp b/src/drivers/distance_sensor/sf0x/sf0x.cpp
index a0b40b721a..4614bb2e48 100644
--- a/src/drivers/distance_sensor/sf0x/sf0x.cpp
+++ b/src/drivers/distance_sensor/sf0x/sf0x.cpp
@@ -420,7 +420,7 @@ SF0X::read(device::file_t *filp, char *buffer, size_t buflen)
}
/* wait for it to complete */
- usleep(_conversion_interval);
+ px4_usleep(_conversion_interval);
/* run the collection phase */
if (OK != collect()) {
diff --git a/src/drivers/distance_sensor/sf1xx/sf1xx.cpp b/src/drivers/distance_sensor/sf1xx/sf1xx.cpp
index e5a0a6c78b..de9791e12e 100644
--- a/src/drivers/distance_sensor/sf1xx/sf1xx.cpp
+++ b/src/drivers/distance_sensor/sf1xx/sf1xx.cpp
@@ -439,7 +439,7 @@ SF1XX::read(device::file_t *filp, char *buffer, size_t buflen)
}
/* wait for it to complete */
- usleep(_conversion_interval);
+ px4_usleep(_conversion_interval);
/* run the collection phase */
if (OK != collect()) {
diff --git a/src/drivers/distance_sensor/srf02/srf02.cpp b/src/drivers/distance_sensor/srf02/srf02.cpp
index d128470871..4a64e43d56 100644
--- a/src/drivers/distance_sensor/srf02/srf02.cpp
+++ b/src/drivers/distance_sensor/srf02/srf02.cpp
@@ -264,7 +264,7 @@ SRF02::init()
}
// XXX we should find out why we need to wait 200 ms here
- usleep(200000);
+ px4_usleep(200000);
/* check for connected rangefinders on each i2c port:
We start from i2c base address (0x70 = 112) and count downwards
@@ -440,7 +440,7 @@ SRF02::read(device::file_t *filp, char *buffer, size_t buflen)
}
/* wait for it to complete */
- usleep(_cycling_rate * 2);
+ px4_usleep(_cycling_rate * 2);
/* run the collection phase */
if (OK != collect()) {
diff --git a/src/drivers/distance_sensor/teraranger/teraranger.cpp b/src/drivers/distance_sensor/teraranger/teraranger.cpp
index 6cd5f59354..75a27d0ccc 100644
--- a/src/drivers/distance_sensor/teraranger/teraranger.cpp
+++ b/src/drivers/distance_sensor/teraranger/teraranger.cpp
@@ -517,7 +517,7 @@ TERARANGER::read(device::file_t *filp, char *buffer, size_t buflen)
}
/* wait for it to complete */
- usleep(TERARANGER_CONVERSION_INTERVAL);
+ px4_usleep(TERARANGER_CONVERSION_INTERVAL);
/* run the collection phase */
if (OK != collect()) {
diff --git a/src/drivers/distance_sensor/tfmini/tfmini.cpp b/src/drivers/distance_sensor/tfmini/tfmini.cpp
index 6c9f2da4cd..c3222d01e2 100644
--- a/src/drivers/distance_sensor/tfmini/tfmini.cpp
+++ b/src/drivers/distance_sensor/tfmini/tfmini.cpp
@@ -451,7 +451,7 @@ TFMINI::read(device::file_t *filp, char *buffer, size_t buflen)
_reports->flush();
/* wait for it to complete */
- usleep(_conversion_interval);
+ px4_usleep(_conversion_interval);
/* run the collection phase */
if (OK != collect()) {
diff --git a/src/drivers/distance_sensor/ulanding/ulanding.cpp b/src/drivers/distance_sensor/ulanding/ulanding.cpp
index bbf6fdc5d3..5f58560bcd 100644
--- a/src/drivers/distance_sensor/ulanding/ulanding.cpp
+++ b/src/drivers/distance_sensor/ulanding/ulanding.cpp
@@ -169,7 +169,7 @@ Radar::~Radar()
do {
/* wait 20ms */
- usleep(20000);
+ px4_usleep(20000);
/* if we have given up, kill it */
if (++i > 50) {
@@ -436,7 +436,7 @@ Radar::task_main()
if (pret < 0) {
PX4_DEBUG("radar serial port poll error");
// sleep a bit before next try
- usleep(100000);
+ px4_usleep(100000);
continue;
}
diff --git a/src/drivers/gps/devices b/src/drivers/gps/devices
index 3d7df42aee..2fecb4912d 160000
--- a/src/drivers/gps/devices
+++ b/src/drivers/gps/devices
@@ -1 +1 @@
-Subproject commit 3d7df42aee85f14d3100cf87a819dfb557e71e20
+Subproject commit 2fecb4912dd8c97a9eee42c5dbecfb58c4aeb9ee
diff --git a/src/drivers/gps/gps.cpp b/src/drivers/gps/gps.cpp
index e372a0b884..8a6d566831 100644
--- a/src/drivers/gps/gps.cpp
+++ b/src/drivers/gps/gps.cpp
@@ -300,7 +300,7 @@ GPS::~GPS()
unsigned int i = 0;
do {
- usleep(20000); // 20 ms
+ px4_usleep(20000); // 20 ms
++i;
} while (_secondary_instance && i < 100);
}
@@ -400,11 +400,11 @@ int GPS::pollOrRead(uint8_t *buf, size_t buf_length, int timeout)
err = ioctl(_serial_fd, FIONREAD, (unsigned long)&bytes_available);
if (err != 0 || bytes_available < (int)character_count) {
- usleep(sleeptime);
+ px4_usleep(sleeptime);
}
#else
- usleep(sleeptime);
+ px4_usleep(sleeptime);
#endif
ret = ::read(_serial_fd, buf, buf_length);
@@ -419,7 +419,7 @@ int GPS::pollOrRead(uint8_t *buf, size_t buf_length, int timeout)
#else
/* For QURT, just use read for now, since this doesn't block, we need to slow it down
* just a bit. */
- usleep(10000);
+ px4_usleep(10000);
return ::read(_serial_fd, buf, buf_length);
#endif
}
@@ -693,7 +693,7 @@ GPS::run()
publish();
- usleep(200000);
+ px4_usleep(200000);
} else {
@@ -810,7 +810,7 @@ GPS::run()
case GPS_DRIVER_MODE_ASHTECH:
_mode = GPS_DRIVER_MODE_UBX;
- usleep(500000); // tried all possible drivers. Wait a bit before next round
+ px4_usleep(500000); // tried all possible drivers. Wait a bit before next round
break;
default:
@@ -818,7 +818,7 @@ GPS::run()
}
} else {
- usleep(500000);
+ px4_usleep(500000);
}
}
@@ -1139,7 +1139,7 @@ GPS *GPS::instantiate(int argc, char *argv[], Instance instance)
do {
/* wait up to 1s */
- usleep(2500);
+ px4_usleep(2500);
} while (!_secondary_instance && ++i < 400);
diff --git a/src/drivers/imu/mpu6000/mpu6000.cpp b/src/drivers/imu/mpu6000/mpu6000.cpp
index 3c1eda6246..a226c2580d 100644
--- a/src/drivers/imu/mpu6000/mpu6000.cpp
+++ b/src/drivers/imu/mpu6000/mpu6000.cpp
@@ -56,6 +56,7 @@
*/
#include <px4_config.h>
+#include <px4_time.h>
#include <ecl/geo/geo.h>
#include <sys/types.h>
@@ -762,7 +763,7 @@ int MPU6000::reset()
}
perf_count(_reset_retries);
- usleep(2000);
+ px4_usleep(2000);
}
// Hold off sampling for 30 ms
@@ -775,11 +776,11 @@ int MPU6000::reset()
return -EIO;
}
- usleep(1000);
+ px4_usleep(1000);
// SAMPLE RATE
_set_sample_rate(_sample_rate);
- usleep(1000);
+ px4_usleep(1000);
_set_dlpf_filter(MPU6000_DEFAULT_ONCHIP_FILTER_FREQ);
@@ -787,10 +788,10 @@ int MPU6000::reset()
_set_icm_acc_dlpf_filter(MPU6000_DEFAULT_ONCHIP_FILTER_FREQ);
}
- usleep(1000);
+ px4_usleep(1000);
// Gyro scale 2000 deg/s ()
write_checked_reg(MPUREG_GYRO_CONFIG, BITS_FS_2000DPS);
- usleep(1000);
+ px4_usleep(1000);
// correct gyro scale factors
// scale to rad/s in SI units
@@ -802,13 +803,13 @@ int MPU6000::reset()
set_accel_range(MPU6000_ACCEL_DEFAULT_RANGE_G);
- usleep(1000);
+ px4_usleep(1000);
// INT CFG => Interrupt on Data Ready
write_checked_reg(MPUREG_INT_ENABLE, BIT_RAW_RDY_EN); // INT: Raw data ready
- usleep(1000);
+ px4_usleep(1000);
write_checked_reg(MPUREG_INT_PIN_CFG, BIT_INT_ANYRD_2CLEAR); // INT: Clear on any read
- usleep(1000);
+ px4_usleep(1000);
if (is_icm_device()) {
write_checked_reg(MPUREG_ICM_UNDOC1, MPUREG_ICM_UNDOC1_VALUE);
@@ -816,7 +817,7 @@ int MPU6000::reset()
// Oscillator set
// write_reg(MPUREG_PWR_MGMT_1,MPU_CLK_SEL_PLLGYROZ);
- usleep(1000);
+ px4_usleep(1000);
return OK;
}
diff --git a/src/drivers/imu/mpu9250/mag.cpp b/src/drivers/imu/mpu9250/mag.cpp
index cdbc35f3da..402bc69a68 100644
--- a/src/drivers/imu/mpu9250/mag.cpp
+++ b/src/drivers/imu/mpu9250/mag.cpp
@@ -42,6 +42,7 @@
#include <px4_config.h>
#include <px4_log.h>
+#include <px4_time.h>
#include <lib/perf/perf_counter.h>
#include <drivers/drv_hrt.h>
#include <drivers/device/spi.h>
@@ -353,7 +354,7 @@ void
MPU9250_mag::passthrough_read(uint8_t reg, uint8_t *buf, uint8_t size)
{
set_passthrough(reg, size);
- usleep(25 + 25 * size); // wait for the value to be read from slave
+ px4_usleep(25 + 25 * size); // wait for the value to be read from slave
read_block(AK_MPU_OR_ICM(MPUREG_EXT_SENS_DATA_00, ICMREG_20948_EXT_SLV_SENS_DATA_00), buf, size);
_parent->write_reg(AK_MPU_OR_ICM(MPUREG_I2C_SLV0_CTRL, ICMREG_20948_I2C_SLV0_CTRL), 0); // disable new reads
}
@@ -388,7 +389,7 @@ void
MPU9250_mag::passthrough_write(uint8_t reg, uint8_t val)
{
set_passthrough(reg, 1, &val);
- usleep(50); // wait for the value to be written to slave
+ px4_usleep(50); // wait for the value to be written to slave
_parent->write_reg(AK_MPU_OR_ICM(MPUREG_I2C_SLV0_CTRL, ICMREG_20948_I2C_SLV0_CTRL), 0); // disable new writes
}
@@ -428,7 +429,7 @@ MPU9250_mag::ak8963_read_adjustments(void)
float ak8963_ASA[3];
write_reg(AK8963REG_CNTL1, AK8963_FUZE_MODE | AK8963_16BIT_ADC);
- usleep(50);
+ px4_usleep(50);
if (_interface != nullptr) {
_interface->read(AK8963REG_ASAX, response, 3);
diff --git a/src/drivers/imu/mpu9250/mpu9250.cpp b/src/drivers/imu/mpu9250/mpu9250.cpp
index 1c5792371e..4127f10977 100644
--- a/src/drivers/imu/mpu9250/mpu9250.cpp
+++ b/src/drivers/imu/mpu9250/mpu9250.cpp
@@ -42,6 +42,7 @@
*/
#include <px4_config.h>
+#include <px4_time.h>
#include <lib/ecl/geo/geo.h>
#include <lib/perf/perf_counter.h>
#include <systemlib/conversions.h>
@@ -436,7 +437,7 @@ int MPU9250::reset()
*
*/
- usleep(110000);
+ px4_usleep(110000);
// Hold off sampling until done (100 MS will be shortened)
state = px4_enter_critical_section();
diff --git a/src/drivers/lights/rgbled/rgbled.cpp b/src/drivers/lights/rgbled/rgbled.cpp
index f72cf2e7da..1f5f873457 100644
--- a/src/drivers/lights/rgbled/rgbled.cpp
+++ b/src/drivers/lights/rgbled/rgbled.cpp
@@ -152,7 +152,7 @@ RGBLED::~RGBLED()
int counter = 0;
while (_running && ++counter < 10) {
- usleep(100000);
+ px4_usleep(100000);
}
}
diff --git a/src/drivers/magnetometer/hmc5883/hmc5883.cpp b/src/drivers/magnetometer/hmc5883/hmc5883.cpp
index 3b6e5131b5..b5738926ad 100644
--- a/src/drivers/magnetometer/hmc5883/hmc5883.cpp
+++ b/src/drivers/magnetometer/hmc5883/hmc5883.cpp
@@ -39,6 +39,7 @@
#include <px4_config.h>
#include <px4_defines.h>
+#include <px4_time.h>
#include <drivers/device/i2c.h>
@@ -591,7 +592,7 @@ HMC5883::read(struct file *filp, char *buffer, size_t buflen)
}
/* wait for it to complete */
- usleep(HMC5883_CONVERSION_INTERVAL);
+ px4_usleep(HMC5883_CONVERSION_INTERVAL);
/* run the collection phase */
if (OK != collect()) {
diff --git a/src/drivers/magnetometer/lis3mdl/lis3mdl.cpp b/src/drivers/magnetometer/lis3mdl/lis3mdl.cpp
index 6935ddfe21..262c812780 100644
--- a/src/drivers/magnetometer/lis3mdl/lis3mdl.cpp
+++ b/src/drivers/magnetometer/lis3mdl/lis3mdl.cpp
@@ -39,6 +39,7 @@
* Based on the hmc5883 driver.
*/
+#include <px4_time.h>
#include "lis3mdl.h"
LIS3MDL::LIS3MDL(device::Device *interface, const char *path, enum Rotation rotation) :
@@ -146,7 +147,7 @@ LIS3MDL::calibrate(struct file *file_pointer, unsigned enable)
goto out;
}
- usleep(20000);
+ px4_usleep(20000);
/* discard 10 samples to let the sensor settle */
for (uint8_t i = 0; i < num_samples; i++) {
@@ -211,7 +212,7 @@ LIS3MDL::calibrate(struct file *file_pointer, unsigned enable)
goto out;
}
- usleep(60000);
+ px4_usleep(60000);
/* discard 10 samples to let the sensor settle */
for (uint8_t i = 0; i < num_samples; i++) {
@@ -285,7 +286,7 @@ out:
set_range(4);
set_default_register_values();
- usleep(20000);
+ px4_usleep(20000);
return ret;
}
@@ -687,7 +688,7 @@ LIS3MDL::read(struct file *file_pointer, char *buffer, size_t buffer_len)
}
/* wait for it to complete */
- usleep(LIS3MDL_CONVERSION_INTERVAL);
+ px4_usleep(LIS3MDL_CONVERSION_INTERVAL);
/* run the collection phase */
if (collect() != OK) {
diff --git a/src/drivers/pwm_input/pwm_input.cpp b/src/drivers/pwm_input/pwm_input.cpp
index 1fd655a4ca..5efca66d64 100644
--- a/src/drivers/pwm_input/pwm_input.cpp
+++ b/src/drivers/pwm_input/pwm_input.cpp
@@ -42,6 +42,7 @@
*/
#include <px4_config.h>
+#include <px4_time.h>
#include <nuttx/arch.h>
#include <nuttx/irq.h>
@@ -587,7 +588,7 @@ static void pwmin_test(void)
} else {
/* no data, retry in 2 ms */
- ::usleep(2000);
+ px4_usleep(2000);
}
}
diff --git a/src/drivers/px4flow/px4flow.cpp b/src/drivers/px4flow/px4flow.cpp
index 2df9c71368..e2a345a1ce 100644
--- a/src/drivers/px4flow/px4flow.cpp
+++ b/src/drivers/px4flow/px4flow.cpp
@@ -800,7 +800,7 @@ start(int argc, char *argv[])
if (retry_nr < START_RETRY_COUNT) {
/* lets not be too verbose */
// PX4_WARN("PX4FLOW not found on I2C busses. Retrying in %d ms. Giving up in %d retries.", START_RETRY_TIMEOUT, START_RETRY_COUNT - retry_nr);
- usleep(START_RETRY_TIMEOUT * 1000);
+ px4_usleep(START_RETRY_TIMEOUT * 1000);
retry_nr++;
} else {
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index 334f9d82a8..814b6e9d92 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -513,7 +513,7 @@ PX4IO::~PX4IO()
/* spin waiting for the task to stop */
for (unsigned i = 0; (i < 10) && (_task != -1); i++) {
/* give it another 100ms */
- usleep(100000);
+ px4_usleep(100000);
}
/* well, kill it anyway, though this will probably crash */
@@ -606,7 +606,7 @@ PX4IO::init()
hrt_abstime start_try_time = hrt_absolute_time();
do {
- usleep(2000);
+ px4_usleep(2000);
protocol = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_PROTOCOL_VERSION);
} while (protocol == _io_reg_get_error && (hrt_elapsed_time(&start_try_time) < 700U * 1000U));
@@ -709,7 +709,7 @@ PX4IO::init()
}
/* wait 10 ms */
- usleep(10000);
+ px4_usleep(10000);
/* abort after 5s */
if ((hrt_absolute_time() - try_start_time) / 1000 > 3000) {
@@ -757,7 +757,7 @@ PX4IO::init()
}
/* wait 50 ms */
- usleep(50000);
+ px4_usleep(50000);
/* abort after 5s */
if ((hrt_absolute_time() - try_start_time) / 1000 > 2000) {
@@ -2022,7 +2022,7 @@ PX4IO::print_debug()
fds[0].fd = io_fd;
fds[0].events = POLLIN;
- usleep(500);
+ px4_usleep(500);
int pret = ::poll(fds, sizeof(fds) / sizeof(fds[0]), 0);
if (pret > 0) {
@@ -2103,7 +2103,7 @@ PX4IO::mixer_send(const char *buf, unsigned buflen, unsigned retries)
ret = io_reg_set(PX4IO_PAGE_MIXERLOAD, 0, (uint16_t *)frame, total_len / 2);
if (ret) {
- usleep(333);
+ px4_usleep(333);
} else {
break;
@@ -2139,7 +2139,7 @@ PX4IO::mixer_send(const char *buf, unsigned buflen, unsigned retries)
ret = io_reg_set(PX4IO_PAGE_MIXERLOAD, 0, (uint16_t *)frame, (sizeof(px4io_mixdata) + 2) / 2);
if (ret) {
- usleep(333);
+ px4_usleep(333);
} else {
break;
@@ -2665,12 +2665,12 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
arg == DSMX_BIND_PULSES ||
arg == DSMX8_BIND_PULSES) {
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_power_down);
- usleep(500000);
+ px4_usleep(500000);
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_set_rx_out);
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_power_up);
- usleep(72000);
+ px4_usleep(72000);
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_send_pulses | (arg << 4));
- usleep(50000);
+ px4_usleep(50000);
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_reinit_uart);
ret = OK;
@@ -3190,7 +3190,7 @@ test(void)
}
}
- usleep(250);
+ px4_usleep(250);
/* readback servo values */
for (unsigned i = 0; i < servo_count; i++) {
@@ -3316,7 +3316,7 @@ lockdown(int argc, char *argv[])
}
}
- usleep(10000);
+ px4_usleep(10000);
}
if (hrt_elapsed_time(&start) > timeout) {
diff --git a/src/drivers/px4io/px4io_uploader.cpp b/src/drivers/px4io/px4io_uploader.cpp
index b0af24aa08..84c3ddaeb8 100644
--- a/src/drivers/px4io/px4io_uploader.cpp
+++ b/src/drivers/px4io/px4io_uploader.cpp
@@ -37,6 +37,7 @@
*/
#include <px4_config.h>
+#include <px4_time.h>
#include <sys/types.h>
#include <stdlib.h>
@@ -127,7 +128,7 @@ PX4IO_Uploader::upload(const char *filenames[])
break;
} else {
- usleep(10000);
+ px4_usleep(10000);
}
}
diff --git a/src/drivers/stm32/adc/adc.cpp b/src/drivers/stm32/adc/adc.cpp
index 706ae0c52d..8b5835d3b7 100644
--- a/src/drivers/stm32/adc/adc.cpp
+++ b/src/drivers/stm32/adc/adc.cpp
@@ -220,7 +220,7 @@ int board_adc_init()
/* do calibration if supported */
#ifdef ADC_CR2_CAL
rCR2 |= ADC_CR2_CAL;
- usleep(100);
+ px4_usleep(100);
if (rCR2 & ADC_CR2_CAL) {
return -1;
@@ -260,11 +260,11 @@ int board_adc_init()
/* power-cycle the ADC and turn it on */
rCR2 &= ~ADC_CR2_ADON;
- usleep(10);
+ px4_usleep(10);
rCR2 |= ADC_CR2_ADON;
- usleep(10);
+ px4_usleep(10);
rCR2 |= ADC_CR2_ADON;
- usleep(10);
+ px4_usleep(10);
/* kick off a sample and wait for it to complete */
hrt_abstime now = hrt_absolute_time();
@@ -541,7 +541,7 @@ test(void)
}
printf("\n");
- usleep(500000);
+ px4_usleep(500000);
}
exit(0);
diff --git a/src/drivers/stm32/tone_alarm/tone_alarm.cpp b/src/drivers/stm32/tone_alarm/tone_alarm.cpp
index 871f70cf5c..af9dddf0f9 100644
--- a/src/drivers/stm32/tone_alarm/tone_alarm.cpp
+++ b/src/drivers/stm32/tone_alarm/tone_alarm.cpp
@@ -331,7 +331,7 @@ ToneAlarm::~ToneAlarm()
int counter = 0;
while (_running && ++counter < 10) {
- usleep(100000);
+ px4_usleep(100000);
}
}
diff --git a/src/drivers/tone_alarm_sim/tone_alarm.cpp b/src/drivers/tone_alarm_sim/tone_alarm.cpp
index 05c5877ff9..c5dc913b11 100644
--- a/src/drivers/tone_alarm_sim/tone_alarm.cpp
+++ b/src/drivers/tone_alarm_sim/tone_alarm.cpp
@@ -135,7 +135,7 @@ ToneAlarm::~ToneAlarm()
int counter = 0;
while (_running && ++counter < 10) {
- usleep(100000);
+ px4_usleep(100000);
}
}
diff --git a/src/examples/bottle_drop/bottle_drop.cpp b/src/examples/bottle_drop/bottle_drop.cpp
index 165eb5ae6a..eca17abc9c 100644
--- a/src/examples/bottle_drop/bottle_drop.cpp
+++ b/src/examples/bottle_drop/bottle_drop.cpp
@@ -206,7 +206,7 @@ BottleDrop::~BottleDrop()
do {
/* wait 20ms */
- usleep(20000);
+ px4_usleep(20000);
/* if we have given up, kill it */
if (++i > 50) {
@@ -261,7 +261,7 @@ BottleDrop::open_bay()
actuators_publish();
- usleep(500 * 1000);
+ px4_usleep(500 * 1000);
}
void
@@ -276,7 +276,7 @@ BottleDrop::close_bay()
actuators_publish();
// delay until the bay is closed
- usleep(500 * 1000);
+ px4_usleep(500 * 1000);
}
void
@@ -292,7 +292,7 @@ BottleDrop::drop()
}
while (hrt_elapsed_time(&_doors_opened) < 500 * 1000 && hrt_elapsed_time(&starttime) < 2000000) {
- usleep(50000);
+ px4_usleep(50000);
warnx("delayed by door!");
}
@@ -304,7 +304,7 @@ BottleDrop::drop()
warnx("dropping now");
// Give it time to drop
- usleep(1000 * 1000);
+ px4_usleep(1000 * 1000);
}
void
@@ -728,7 +728,7 @@ BottleDrop::task_main()
// update_actuators();
// run at roughly 100 Hz
- usleep(sleeptime_us);
+ px4_usleep(sleeptime_us);
dt_runs = hrt_elapsed_time(&last_run) / 1e6f;
last_run = hrt_absolute_time();
diff --git a/src/examples/px4_mavlink_debug/px4_mavlink_debug.cpp b/src/examples/px4_mavlink_debug/px4_mavlink_debug.cpp
index 273d780469..d2e0580fec 100644
--- a/src/examples/px4_mavlink_debug/px4_mavlink_debug.cpp
+++ b/src/examples/px4_mavlink_debug/px4_mavlink_debug.cpp
@@ -118,7 +118,7 @@ int px4_mavlink_debug_main(int argc, char *argv[])
warnx("sent one more value..");
value_counter++;
- usleep(500000);
+ px4_usleep(500000);
}
return 0;
diff --git a/src/include/visibility.h b/src/include/visibility.h
index 9f1cf06c6f..ff2c0db93f 100644
--- a/src/include/visibility.h
+++ b/src/include/visibility.h
@@ -66,6 +66,11 @@
#define system_exit exit
#ifdef __PX4_POSIX
#include <stdlib.h>
+
+#include <unistd.h>
+#define system_usleep usleep
+#pragma GCC poison usleep
+
#ifdef __cplusplus
#include <cstdlib>
#endif
@@ -80,5 +85,11 @@
#ifdef __cplusplus
#include <cstdlib>
#endif
+
+// We don't poison usleep and sleep on NuttX because it is used in dependencies
+// like uavcan and we don't need to fake time on the real system.
+#include <unistd.h>
+#define system_usleep usleep
+
#pragma GCC poison getenv setenv putenv
#endif /* __PX4_NUTTX */
diff --git a/src/lib/cdev/posix/cdev_platform.cpp b/src/lib/cdev/posix/cdev_platform.cpp
index a892e17da2..8418f6c4ca 100644
--- a/src/lib/cdev/posix/cdev_platform.cpp
+++ b/src/lib/cdev/posix/cdev_platform.cpp
@@ -340,7 +340,7 @@ extern "C" {
#endif
while (sim_delay) {
- usleep(100);
+ px4_usleep(100);
}
PX4_DEBUG("Called px4_poll timeout = %d", timeout);
diff --git a/src/lib/cdev/test/cdevtest_example.cpp b/src/lib/cdev/test/cdevtest_example.cpp
index abf66acfb1..7b8374ee1f 100644
--- a/src/lib/cdev/test/cdevtest_example.cpp
+++ b/src/lib/cdev/test/cdevtest_example.cpp
@@ -234,7 +234,7 @@ int CDevExample::do_poll(int fd, int timeout, int iterations, int delayms_after_
}
if (delayms_after_poll) {
- usleep(delayms_after_poll * 1000);
+ px4_usleep(delayms_after_poll * 1000);
}
loop_count++;
diff --git a/src/lib/parameters/parameters.cpp b/src/lib/parameters/parameters.cpp
index c587a8751a..879be08fd6 100644
--- a/src/lib/parameters/parameters.cpp
+++ b/src/lib/parameters/parameters.cpp
@@ -1280,7 +1280,7 @@ param_import_internal(int fd, bool mark_saved)
do {
result = bson_decoder_next(&decoder);
- usleep(1);
+ px4_usleep(1);
} while (result > 0);
diff --git a/src/lib/rc/dsm.cpp b/src/lib/rc/dsm.cpp
index 6821e69ebd..765bbdaaef 100644
--- a/src/lib/rc/dsm.cpp
+++ b/src/lib/rc/dsm.cpp
@@ -57,7 +57,7 @@
#include <nuttx/arch.h>
#define dsm_udelay(arg) up_udelay(arg)
#else
-#define dsm_udelay(arg) usleep(arg)
+#define dsm_udelay(arg) px4_usleep(arg)
#endif
// #define DSM_DEBUG
diff --git a/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp b/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
index f72f11e694..187f6d54ee 100644
--- a/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
+++ b/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
@@ -214,7 +214,7 @@ AttitudeEstimatorQ::~AttitudeEstimatorQ()
do {
/* wait 20ms */
- usleep(20000);
+ px4_usleep(20000);
/* if we have given up, kill it */
if (++i > 50) {
@@ -282,7 +282,7 @@ void AttitudeEstimatorQ::task_main()
if (ret < 0) {
// Poll error, sleep and try again
- usleep(10000);
+ px4_usleep(10000);
PX4_WARN("POLL ERROR");
continue;
diff --git a/src/modules/camera_feedback/camera_feedback.cpp b/src/modules/camera_feedback/camera_feedback.cpp
index 206cf85084..6738acad05 100644
--- a/src/modules/camera_feedback/camera_feedback.cpp
+++ b/src/modules/camera_feedback/camera_feedback.cpp
@@ -76,7 +76,7 @@ CameraFeedback::~CameraFeedback()
do {
/* wait 20ms */
- usleep(20000);
+ px4_usleep(20000);
/* if we have given up, kill it */
if (++i > 50) {
diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
index 590a6f52b3..9716a8678b 100644
--- a/src/modules/commander/Commander.cpp
+++ b/src/modules/commander/Commander.cpp
@@ -310,7 +310,7 @@ int commander_main(int argc, char *argv[])
unsigned i;
for (i = 0; i < max_wait_steps; i++) {
- usleep(max_wait_us / max_wait_steps);
+ px4_usleep(max_wait_us / max_wait_steps);
if (thread_running) {
break;
@@ -1629,7 +1629,7 @@ Commander::run()
* so lets reset to a classic non-usb state.
*/
mavlink_log_critical(&mavlink_log_pub, "USB disconnected, rebooting.")
- usleep(400000);
+ px4_usleep(400000);
px4_shutdown_request(true, false);
}
}
@@ -2101,7 +2101,7 @@ Commander::run()
&mavlink_log_pub, &status_flags, arm_requirements, hrt_elapsed_time(&commander_boot_timestamp));
if (arming_ret != TRANSITION_CHANGED) {
- usleep(100000);
+ px4_usleep(100000);
print_reject_arm("NOT ARMING: Preflight checks failed");
}
}
@@ -2556,7 +2556,7 @@ Commander::run()
arm_auth_update(now, params_updated || param_init_forced);
- usleep(COMMANDER_MONITORING_INTERVAL);
+ px4_usleep(COMMANDER_MONITORING_INTERVAL);
}
thread_should_exit = true;
@@ -3574,19 +3574,19 @@ void *commander_low_prio_loop(void *arg)
if (((int)(cmd.param1)) == 1) {
answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED, command_ack_pub);
- usleep(100000);
+ px4_usleep(100000);
/* reboot */
px4_shutdown_request(true, false);
} else if (((int)(cmd.param1)) == 2) {
answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED, command_ack_pub);
- usleep(100000);
+ px4_usleep(100000);
/* shutdown */
px4_shutdown_request(false, false);
} else if (((int)(cmd.param1)) == 3) {
answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED, command_ack_pub);
- usleep(100000);
+ px4_usleep(100000);
/* reboot to bootloader */
px4_shutdown_request(true, true);
@@ -3733,7 +3733,7 @@ void *commander_low_prio_loop(void *arg)
#ifdef __PX4_QURT
// TODO FIXME: on snapdragon the save happens too early when the params
// are not set yet. We therefore need to wait some time first.
- usleep(1000000);
+ px4_usleep(1000000);
#endif
int ret = param_save_default();
@@ -4115,7 +4115,7 @@ void Commander::battery_status_check()
if (battery.warning == battery_status_s::BATTERY_WARNING_EMERGENCY) {
mavlink_log_critical(&mavlink_log_pub, "DANGEROUSLY LOW BATTERY, SHUT SYSTEM DOWN");
- usleep(200000);
+ px4_usleep(200000);
int ret_val = px4_shutdown_request(false, false);
@@ -4123,7 +4123,7 @@ void Commander::battery_status_check()
mavlink_log_critical(&mavlink_log_pub, "SYSTEM DOES NOT SUPPORT SHUTDOWN");
} else {
- while (1) { usleep(1); }
+ while (1) { px4_usleep(1); }
}
}
}
diff --git a/src/modules/commander/accelerometer_calibration.cpp b/src/modules/commander/accelerometer_calibration.cpp
index 040948b1bb..29302ed7d8 100644
--- a/src/modules/commander/accelerometer_calibration.cpp
+++ b/src/modules/commander/accelerometer_calibration.cpp
@@ -441,7 +441,7 @@ int do_accel_calibration(orb_advert_t *mavlink_log_pub)
if (res == PX4_OK) {
/* if there is a any preflight-check system response, let the barrage of messages through */
- usleep(200000);
+ px4_usleep(200000);
calibration_log_info(mavlink_log_pub, CAL_QGC_DONE_MSG, sensor_name);
@@ -450,7 +450,7 @@ int do_accel_calibration(orb_advert_t *mavlink_log_pub)
}
/* give this message enough time to propagate */
- usleep(600000);
+ px4_usleep(600000);
return res;
}
diff --git a/src/modules/commander/airspeed_calibration.cpp b/src/modules/commander/airspeed_calibration.cpp
index 52815cb44c..8929921b08 100644
--- a/src/modules/commander/airspeed_calibration.cpp
+++ b/src/modules/commander/airspeed_calibration.cpp
@@ -121,7 +121,7 @@ int do_airspeed_calibration(orb_advert_t *mavlink_log_pub)
}
calibration_log_critical(mavlink_log_pub, "[cal] Ensure sensor is not measuring wind");
- usleep(500 * 1000);
+ px4_usleep(500 * 1000);
while (calibration_counter < calibration_count) {
@@ -198,7 +198,7 @@ int do_airspeed_calibration(orb_advert_t *mavlink_log_pub)
calibration_log_info(mavlink_log_pub, "[cal] Offset of %d Pascal", (int)diff_pres_offset);
/* wait 500 ms to ensure parameter propagated through the system */
- usleep(500 * 1000);
+ px4_usleep(500 * 1000);
calibration_log_critical(mavlink_log_pub, "[cal] Blow across front of pitot without touching");
@@ -277,7 +277,7 @@ int do_airspeed_calibration(orb_advert_t *mavlink_log_pub)
/* Wait 2sec for the airflow to stop and ensure the driver filter has caught up, otherwise
* the followup preflight checks might fail. */
- usleep(2e6);
+ px4_usleep(2e6);
normal_return:
calibrate_cancel_unsubscribe(cancel_sub);
diff --git a/src/modules/commander/arm_auth.cpp b/src/modules/commander/arm_auth.cpp
index ed25652375..891f9c7038 100644
--- a/src/modules/commander/arm_auth.cpp
+++ b/src/modules/commander/arm_auth.cpp
@@ -120,7 +120,7 @@ static uint8_t _auth_method_arm_req_check()
}
/* 0.5ms */
- usleep(500);
+ px4_usleep(500);
now = hrt_absolute_time();
}
diff --git a/src/modules/commander/calibration_routines.cpp b/src/modules/commander/calibration_routines.cpp
index 4ca23444af..4ff9a36c19 100644
--- a/src/modules/commander/calibration_routines.cpp
+++ b/src/modules/commander/calibration_routines.cpp
@@ -605,7 +605,7 @@ enum detect_orientation_return detect_orientation(orb_advert_t *mavlink_log_pub,
/* not still, reset still start time */
if (t_still != 0) {
calibration_log_info(mavlink_log_pub, "[cal] detected motion, hold still...");
- usleep(200000);
+ px4_usleep(200000);
t_still = 0;
}
}
@@ -739,16 +739,16 @@ calibrate_return calibrate_from_orientation(orb_advert_t *mavlink_log_pub,
}
calibration_log_info(mavlink_log_pub, "[cal] pending:%s", pendingStr);
- usleep(20000);
+ px4_usleep(20000);
calibration_log_info(mavlink_log_pub, "[cal] hold vehicle still on a pending side");
- usleep(20000);
+ px4_usleep(20000);
enum detect_orientation_return orient = detect_orientation(mavlink_log_pub, cancel_sub, sub_accel,
lenient_still_position);
if (orient == DETECT_ORIENTATION_ERROR) {
orientation_failures++;
calibration_log_info(mavlink_log_pub, "[cal] detected motion, hold still...");
- usleep(20000);
+ px4_usleep(20000);
continue;
}
@@ -757,14 +757,14 @@ calibrate_return calibrate_from_orientation(orb_advert_t *mavlink_log_pub,
orientation_failures++;
set_tune(TONE_NOTIFY_NEGATIVE_TUNE);
calibration_log_info(mavlink_log_pub, "[cal] %s side already completed", detect_orientation_str(orient));
- usleep(20000);
+ px4_usleep(20000);
continue;
}
calibration_log_info(mavlink_log_pub, CAL_QGC_ORIENTATION_DETECTED_MSG, detect_orientation_str(orient));
- usleep(20000);
+ px4_usleep(20000);
calibration_log_info(mavlink_log_pub, CAL_QGC_ORIENTATION_DETECTED_MSG, detect_orientation_str(orient));
- usleep(20000);
+ px4_usleep(20000);
orientation_failures = 0;
// Call worker routine
@@ -775,9 +775,9 @@ calibrate_return calibrate_from_orientation(orb_advert_t *mavlink_log_pub,
}
calibration_log_info(mavlink_log_pub, CAL_QGC_SIDE_DONE_MSG, detect_orientation_str(orient));
- usleep(20000);
+ px4_usleep(20000);
calibration_log_info(mavlink_log_pub, CAL_QGC_SIDE_DONE_MSG, detect_orientation_str(orient));
- usleep(20000);
+ px4_usleep(20000);
// Note that this side is complete
side_data_collected[orient] = true;
@@ -787,7 +787,7 @@ calibrate_return calibrate_from_orientation(orb_advert_t *mavlink_log_pub,
// temporary priority boost for the white blinking led to come trough
rgbled_set_color_and_mode(led_control_s::COLOR_WHITE, led_control_s::MODE_BLINK_FAST, 3, 1);
- usleep(200000);
+ px4_usleep(200000);
}
if (sub_accel >= 0) {
diff --git a/src/modules/commander/calibration_routines.h b/src/modules/commander/calibration_routines.h
index a9d6243d04..d644d225d3 100644
--- a/src/modules/commander/calibration_routines.h
+++ b/src/modules/commander/calibration_routines.h
@@ -140,17 +140,17 @@ bool calibrate_cancel_check(orb_advert_t *mavlink_log_pub, ///< uORB handle to w
#define calibration_log_info(_pub, _text, ...) \
do { \
mavlink_and_console_log_info(_pub, _text, ##__VA_ARGS__); \
- usleep(10000); \
+ px4_usleep(10000); \
} while(0);
#define calibration_log_critical(_pub, _text, ...) \
do { \
mavlink_log_critical(_pub, _text, ##__VA_ARGS__); \
- usleep(10000); \
+ px4_usleep(10000); \
} while(0);
#define calibration_log_emergency(_pub, _text, ...) \
do { \
mavlink_log_emergency(_pub, _text, ##__VA_ARGS__); \
- usleep(10000); \
+ px4_usleep(10000); \
} while(0);
diff --git a/src/modules/commander/esc_calibration.cpp b/src/modules/commander/esc_calibration.cpp
index 634505dd6a..017ded76ed 100644
--- a/src/modules/commander/esc_calibration.cpp
+++ b/src/modules/commander/esc_calibration.cpp
@@ -79,7 +79,7 @@ int do_esc_calibration(orb_advert_t *mavlink_log_pub, struct actuator_armed_s *a
break;
} else {
- usleep(50000);
+ px4_usleep(50000);
}
}
@@ -188,7 +188,7 @@ int do_esc_calibration(orb_advert_t *mavlink_log_pub, struct actuator_armed_s *a
}
}
- usleep(50_ms);
+ px4_usleep(50_ms);
}
Out:
diff --git a/src/modules/commander/gyro_calibration.cpp b/src/modules/commander/gyro_calibration.cpp
index 3fc618fa7f..13ac8308f3 100644
--- a/src/modules/commander/gyro_calibration.cpp
+++ b/src/modules/commander/gyro_calibration.cpp
@@ -539,7 +539,7 @@ int do_gyro_calibration(orb_advert_t *mavlink_log_pub)
}
/* if there is a any preflight-check system response, let the barrage of messages through */
- usleep(200000);
+ px4_usleep(200000);
if (res == PX4_OK) {
calibration_log_info(mavlink_log_pub, CAL_QGC_DONE_MSG, sensor_name);
@@ -551,7 +551,7 @@ int do_gyro_calibration(orb_advert_t *mavlink_log_pub)
orb_unsubscribe(worker_data.sensor_correction_sub);
/* give this message enough time to propagate */
- usleep(600000);
+ px4_usleep(600000);
return res;
}
diff --git a/src/modules/commander/mag_calibration.cpp b/src/modules/commander/mag_calibration.cpp
index 58a439806c..966bd87bad 100644
--- a/src/modules/commander/mag_calibration.cpp
+++ b/src/modules/commander/mag_calibration.cpp
@@ -246,23 +246,23 @@ int do_mag_calibration(orb_advert_t *mavlink_log_pub)
case calibrate_return_ok:
/* if there is a any preflight-check system response, let the barrage of messages through */
- usleep(200000);
+ px4_usleep(200000);
calibration_log_info(mavlink_log_pub, CAL_QGC_PROGRESS_MSG, 100);
- usleep(20000);
+ px4_usleep(20000);
calibration_log_info(mavlink_log_pub, CAL_QGC_DONE_MSG, sensor_name);
- usleep(20000);
+ px4_usleep(20000);
break;
default:
calibration_log_critical(mavlink_log_pub, CAL_QGC_FAILED_MSG, sensor_name);
- usleep(20000);
+ px4_usleep(20000);
break;
}
}
/* give this message enough time to propagate */
- usleep(600000);
+ px4_usleep(600000);
return result;
}
@@ -497,7 +497,7 @@ static calibrate_return mag_calibration_worker(detect_orientation_return orienta
calibration_log_info(worker_data->mavlink_log_pub,
"[cal] %s side calibration: progress <%u>",
detect_orientation_str(orientation), new_progress);
- usleep(20000);
+ px4_usleep(20000);
_last_mag_progress = new_progress;
}
@@ -519,7 +519,7 @@ static calibrate_return mag_calibration_worker(detect_orientation_return orienta
detect_orientation_str(orientation));
worker_data->done_count++;
- usleep(20000);
+ px4_usleep(20000);
calibration_log_info(worker_data->mavlink_log_pub, CAL_QGC_PROGRESS_MSG, progress_percentage(worker_data));
}
@@ -559,7 +559,7 @@ calibrate_return mag_calibrate_all(orb_advert_t *mavlink_log_pub)
calibration_log_info(mavlink_log_pub,
"[cal] %s side done, rotate to a different side",
detect_orientation_str(static_cast<enum detect_orientation_return>(i)));
- usleep(100000);
+ px4_usleep(100000);
}
}
@@ -891,7 +891,7 @@ calibrate_return mag_calibrate_all(orb_advert_t *mavlink_log_pub)
calibration_log_info(mavlink_log_pub, "[cal] mag #%u scale: x:%.2f y:%.2f z:%.2f",
cur_mag, (double)mscale.x_scale, (double)mscale.y_scale, (double)mscale.z_scale);
#endif
- usleep(200000);
+ px4_usleep(200000);
}
}
}
diff --git a/src/modules/commander/rc_calibration.cpp b/src/modules/commander/rc_calibration.cpp
index cbcd8ece3f..6dd4951a28 100644
--- a/src/modules/commander/rc_calibration.cpp
+++ b/src/modules/commander/rc_calibration.cpp
@@ -54,7 +54,7 @@
int do_trim_calibration(orb_advert_t *mavlink_log_pub)
{
int sub_man = orb_subscribe(ORB_ID(manual_control_setpoint));
- usleep(400000);
+ px4_usleep(400000);
struct manual_control_setpoint_s sp;
bool changed;
orb_check(sub_man, &changed);
diff --git a/src/modules/commander/rc_check.cpp b/src/modules/commander/rc_check.cpp
index 31c164874e..582e73503b 100644
--- a/src/modules/commander/rc_check.cpp
+++ b/src/modules/commander/rc_check.cpp
@@ -77,7 +77,7 @@ int rc_calibration_check(orb_advert_t *mavlink_log_pub, bool report_fail, bool i
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "RC_MAP_TRANS_SW PARAMETER MISSING."); }
/* give system time to flush error message in case there are more */
- usleep(100000);
+ px4_usleep(100000);
map_fail_count++;
} else {
@@ -102,7 +102,7 @@ int rc_calibration_check(orb_advert_t *mavlink_log_pub, bool report_fail, bool i
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "RC ERROR: PARAM %s MISSING.", rc_map_mandatory[j]); }
/* give system time to flush error message in case there are more */
- usleep(100000);
+ px4_usleep(100000);
map_fail_count++;
j++;
continue;
@@ -115,7 +115,7 @@ int rc_calibration_check(orb_advert_t *mavlink_log_pub, bool report_fail, bool i
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "RC ERROR: %s >= NUMBER OF CHANNELS.", rc_map_mandatory[j]); }
/* give system time to flush error message in case there are more */
- usleep(100000);
+ px4_usleep(100000);
map_fail_count++;
}
@@ -123,7 +123,7 @@ int rc_calibration_check(orb_advert_t *mavlink_log_pub, bool report_fail, bool i
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "RC ERROR: mandatory %s is unmapped.", rc_map_mandatory[j]); }
/* give system time to flush error message in case there are more */
- usleep(100000);
+ px4_usleep(100000);
map_fail_count++;
}
@@ -176,7 +176,7 @@ int rc_calibration_check(orb_advert_t *mavlink_log_pub, bool report_fail, bool i
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "RC ERROR: RC%d_MIN < %u.", i + 1, RC_INPUT_LOWEST_MIN_US); }
/* give system time to flush error message in case there are more */
- usleep(100000);
+ px4_usleep(100000);
}
if (param_max > RC_INPUT_HIGHEST_MAX_US) {
@@ -185,7 +185,7 @@ int rc_calibration_check(orb_advert_t *mavlink_log_pub, bool report_fail, bool i
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "RC ERROR: RC%d_MAX > %u.", i + 1, RC_INPUT_HIGHEST_MAX_US); }
/* give system time to flush error message in case there are more */
- usleep(100000);
+ px4_usleep(100000);
}
if (param_trim < param_min) {
@@ -194,7 +194,7 @@ int rc_calibration_check(orb_advert_t *mavlink_log_pub, bool report_fail, bool i
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "RC ERROR: RC%d_TRIM < MIN (%d/%d).", i + 1, (int)param_trim, (int)param_min); }
/* give system time to flush error message in case there are more */
- usleep(100000);
+ px4_usleep(100000);
}
if (param_trim > param_max) {
@@ -203,7 +203,7 @@ int rc_calibration_check(orb_advert_t *mavlink_log_pub, bool report_fail, bool i
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "RC ERROR: RC%d_TRIM > MAX (%d/%d).", i + 1, (int)param_trim, (int)param_max); }
/* give system time to flush error message in case there are more */
- usleep(100000);
+ px4_usleep(100000);
}
/* assert deadzone is sane */
@@ -211,7 +211,7 @@ int rc_calibration_check(orb_advert_t *mavlink_log_pub, bool report_fail, bool i
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "RC ERROR: RC%d_DZ > %u.", i + 1, RC_INPUT_MAX_DEADZONE_US); }
/* give system time to flush error message in case there are more */
- usleep(100000);
+ px4_usleep(100000);
count++;
}
@@ -231,7 +231,7 @@ int rc_calibration_check(orb_advert_t *mavlink_log_pub, bool report_fail, bool i
(total_fail_count > 1) ? "s" : "", channels_failed, (channels_failed > 1) ? "s" : "");
}
- usleep(100000);
+ px4_usleep(100000);
}
return total_fail_count + map_fail_count;
diff --git a/src/modules/ekf2/ekf2_main.cpp b/src/modules/ekf2/ekf2_main.cpp
index 002fb2a285..42716c5d53 100644
--- a/src/modules/ekf2/ekf2_main.cpp
+++ b/src/modules/ekf2/ekf2_main.cpp
@@ -727,7 +727,7 @@ void Ekf2::run()
if (ret < 0) {
// Poll error, sleep and try again
- usleep(10000);
+ px4_usleep(10000);
continue;
} else if (ret == 0) {
diff --git a/src/modules/events/temperature_calibration/task.cpp b/src/modules/events/temperature_calibration/task.cpp
index 3f2afeb7ce..d8c3b97065 100644
--- a/src/modules/events/temperature_calibration/task.cpp
+++ b/src/modules/events/temperature_calibration/task.cpp
@@ -181,7 +181,7 @@ void TemperatureCalibration::task_main()
// make sure the system updates the changed parameters
param_notify_changes();
- usleep(300000); // wait a bit for the system to apply the parameters
+ px4_usleep(300000); // wait a bit for the system to apply the parameters
hrt_abstime next_progress_output = hrt_absolute_time() + 1e6;
@@ -205,7 +205,7 @@ void TemperatureCalibration::task_main()
if (ret < 0) {
// Poll error, sleep and try again
- usleep(10000);
+ px4_usleep(10000);
continue;
} else if (ret == 0) {
diff --git a/src/modules/gnd_att_control/GroundRoverAttitudeControl.cpp b/src/modules/gnd_att_control/GroundRoverAttitudeControl.cpp
index fe2f12b0e7..3288ed8194 100644
--- a/src/modules/gnd_att_control/GroundRoverAttitudeControl.cpp
+++ b/src/modules/gnd_att_control/GroundRoverAttitudeControl.cpp
@@ -89,7 +89,7 @@ GroundRoverAttitudeControl::~GroundRoverAttitudeControl()
do {
/* wait 20ms */
- usleep(20000);
+ px4_usleep(20000);
/* if we have given up, kill it */
if (++i > 50) {
@@ -403,7 +403,7 @@ int gnd_att_control_main(int argc, char *argv[])
/* avoid memory fragmentation by not exiting start handler until the task has fully started */
while (att_gnd_control::g_control == nullptr || !att_gnd_control::g_control->task_running()) {
- usleep(50000);
+ px4_usleep(50000);
printf(".");
fflush(stdout);
}
diff --git a/src/modules/gnd_pos_control/GroundRoverPositionControl.cpp b/src/modules/gnd_pos_control/GroundRoverPositionControl.cpp
index 4960b788e9..e3013956ca 100644
--- a/src/modules/gnd_pos_control/GroundRoverPositionControl.cpp
+++ b/src/modules/gnd_pos_control/GroundRoverPositionControl.cpp
@@ -103,7 +103,7 @@ GroundRoverPositionControl::~GroundRoverPositionControl()
do {
/* wait 20ms */
- usleep(20000);
+ px4_usleep(20000);
/* if we have given up, kill it */
if (++i > 50) {
@@ -523,7 +523,7 @@ int gnd_pos_control_main(int argc, char *argv[])
/* avoid memory fragmentation by not exiting start handler until the task has fully started */
while (gnd_control::g_control == nullptr || !gnd_control::g_control->task_running()) {
- usleep(50000);
+ px4_usleep(50000);
printf(".");
fflush(stdout);
}
diff --git a/src/modules/landing_target_estimator/landing_target_estimator_main.cpp b/src/modules/landing_target_estimator/landing_target_estimator_main.cpp
index af501bf6ce..db00255f6c 100644
--- a/src/modules/landing_target_estimator/landing_target_estimator_main.cpp
+++ b/src/modules/landing_target_estimator/landing_target_estimator_main.cpp
@@ -140,7 +140,7 @@ int landing_target_estimator_thread_main(int argc, char *argv[])
while (!thread_should_exit) {
est.update();
- usleep(1000000 / landing_target_estimator_UPDATE_RATE_HZ);
+ px4_usleep(1000000 / landing_target_estimator_UPDATE_RATE_HZ);
}
PX4_DEBUG("exiting");
diff --git a/src/modules/logger/log_writer_file.cpp b/src/modules/logger/log_writer_file.cpp
index a2c09fbc7f..435f8c1652 100644
--- a/src/modules/logger/log_writer_file.cpp
+++ b/src/modules/logger/log_writer_file.cpp
@@ -300,7 +300,7 @@ int LogWriterFile::write_message(LogType type, void *ptr, size_t size, uint64_t
while ((ret = write(type, ptr, 0, dropout_start)) == -1) {
unlock();
notify();
- usleep(3000);
+ px4_usleep(3000);
lock();
}
}
@@ -314,7 +314,7 @@ int LogWriterFile::write_message(LogType type, void *ptr, size_t size, uint64_t
while ((ret = write(type, uptr, write_size, 0)) == -1) {
unlock();
notify();
- usleep(3000);
+ px4_usleep(3000);
lock();
}
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
index b626cf8e27..da171f2876 100644
--- a/src/modules/mavlink/mavlink_main.cpp
+++ b/src/modules/mavlink/mavlink_main.cpp
@@ -345,7 +345,7 @@ Mavlink::~Mavlink()
do {
/* wait 20ms */
- usleep(20000);
+ px4_usleep(20000);
/* if we have given up, kill it */
if (++i > 50) {
@@ -465,7 +465,7 @@ Mavlink::destroy_all_instances()
while (inst_to_del->_task_running) {
printf(".");
fflush(stdout);
- usleep(10000);
+ px4_usleep(10000);
iterations++;
if (iterations > 1000) {
@@ -701,7 +701,7 @@ int Mavlink::mavlink_open_uart(int baud, const char *uart_name, bool force_flow_
/* back off 1800 ms to avoid running into the USB setup timing */
while (_mode == MAVLINK_MODE_CONFIG &&
hrt_absolute_time() < 1800U * 1000U) {
- usleep(50000);
+ px4_usleep(50000);
}
/* open uart */
@@ -734,7 +734,7 @@ int Mavlink::mavlink_open_uart(int baud, const char *uart_name, bool force_flow_
}
}
- usleep(100000);
+ px4_usleep(100000);
_uart_fd = ::open(uart_name, O_RDWR | O_NOCTTY);
}
@@ -1457,7 +1457,7 @@ Mavlink::configure_stream_threadsafe(const char *stream_name, const float rate)
if (!_task_should_exit) {
/* wait for previous subscription completion */
while (_subscribe_to_stream != nullptr) {
- usleep(MAIN_LOOP_DELAY / 2);
+ px4_usleep(MAIN_LOOP_DELAY / 2);
}
/* copy stream name */
@@ -1471,7 +1471,7 @@ Mavlink::configure_stream_threadsafe(const char *stream_name, const float rate)
/* wait for subscription */
do {
- usleep(MAIN_LOOP_DELAY / 2);
+ px4_usleep(MAIN_LOOP_DELAY / 2);
} while (_subscribe_to_stream != nullptr);
delete[] s;
@@ -2280,7 +2280,7 @@ Mavlink::task_main(int argc, char *argv[])
while (!_task_should_exit) {
/* main loop */
- usleep(_main_loop_delay);
+ px4_usleep(_main_loop_delay);
perf_begin(_loop_perf);
@@ -2667,28 +2667,28 @@ void Mavlink::check_radio_config()
if (fs) {
/* switch to AT command mode */
- usleep(1200000);
+ px4_usleep(1200000);
fprintf(fs, "+++\n");
- usleep(1200000);
+ px4_usleep(1200000);
if (_param_radio_id.get() > 0) {
/* set channel */
fprintf(fs, "ATS3=%u\n", _param_radio_id.get());
- usleep(200000);
+ px4_usleep(200000);
} else {
/* reset to factory defaults */
fprintf(fs, "AT&F\n");
- usleep(200000);
+ px4_usleep(200000);
}
/* write config */
fprintf(fs, "AT&W");
- usleep(200000);
+ px4_usleep(200000);
/* reboot */
fprintf(fs, "ATZ");
- usleep(200000);
+ px4_usleep(200000);
// XXX NuttX suffers from a bug where
// fclose() also closes the fd, not just
@@ -2779,7 +2779,7 @@ Mavlink::start(int argc, char *argv[])
unsigned count = 0;
while (ic == Mavlink::instance_count() && count < limit) {
- ::usleep(sleeptime);
+ px4_usleep(sleeptime);
count++;
}
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index c7875f37c1..a74712fdaf 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -2638,7 +2638,7 @@ MavlinkReceiver::receive_thread(void *arg)
if (_mavlink->get_protocol() == UDP || _mavlink->get_protocol() == TCP) {
// make sure mavlink app has booted before we start using the socket
while (!_mavlink->boot_complete()) {
- usleep(100000);
+ px4_usleep(100000);
}
fds[0].fd = _mavlink->get_socket_fd();
@@ -2662,7 +2662,7 @@ MavlinkReceiver::receive_thread(void *arg)
/* non-blocking read. read may return negative values */
if ((nread = ::read(fds[0].fd, buf, sizeof(buf))) < (ssize_t)character_count) {
const unsigned sleeptime = character_count * 1000000 / (_mavlink->get_baudrate() / 10);
- usleep(sleeptime);
+ px4_usleep(sleeptime);
}
}
diff --git a/src/modules/mc_att_control/mc_att_control_main.cpp b/src/modules/mc_att_control/mc_att_control_main.cpp
index 464e96ff81..ec2a07c218 100644
--- a/src/modules/mc_att_control/mc_att_control_main.cpp
+++ b/src/modules/mc_att_control/mc_att_control_main.cpp
@@ -849,7 +849,7 @@ MulticopterAttitudeControl::run()
if (pret < 0) {
PX4_ERR("poll error %d, %d", pret, errno);
/* sleep a bit before next try */
- usleep(100000);
+ px4_usleep(100000);
continue;
}
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
index 70045453e2..6510373a98 100644
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@@ -234,7 +234,7 @@ Navigator::run()
} else if (pret < 0) {
/* this is undesirable but not much we can do - might want to flag unhappy status */
PX4_ERR("poll error %d, %d", pret, errno);
- usleep(10000);
+ px4_usleep(10000);
continue;
} else {
diff --git a/src/modules/replay/replay_main.cpp b/src/modules/replay/replay_main.cpp
index 21057db0eb..b76fe1a01d 100644
--- a/src/modules/replay/replay_main.cpp
+++ b/src/modules/replay/replay_main.cpp
@@ -875,7 +875,7 @@ uint64_t Replay::handleTopicDelay(uint64_t next_file_time, uint64_t timestamp_of
// if some topics have a timestamp smaller than the log file start, publish them immediately
if (cur_time < publish_timestamp && next_file_time > _file_start_time) {
- usleep(publish_timestamp - cur_time);
+ px4_usleep(publish_timestamp - cur_time);
}
return publish_timestamp;
@@ -948,7 +948,7 @@ bool ReplayEkf2::handleTopicUpdate(Subscription &sub, void *data, std::ifstream
// introduce some breaks to make sure the logger can keep up
if (++_topic_counter == 50) {
- usleep(1000);
+ px4_usleep(1000);
_topic_counter = 0;
}
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp
index a32d7db128..1d6291158e 100644
--- a/src/modules/sensors/sensors.cpp
+++ b/src/modules/sensors/sensors.cpp
@@ -641,7 +641,7 @@ Sensors::run()
_voted_sensors_update.initialize_sensors();
}
- usleep(1000);
+ px4_usleep(1000);
continue;
}
diff --git a/src/modules/simulator/airspeedsim/airspeedsim.cpp b/src/modules/simulator/airspeedsim/airspeedsim.cpp
index fb21757b46..c3b0cbda4e 100644
--- a/src/modules/simulator/airspeedsim/airspeedsim.cpp
+++ b/src/modules/simulator/airspeedsim/airspeedsim.cpp
@@ -271,7 +271,7 @@ AirspeedSim::read(cdev::file_t *filp, char *buffer, size_t buflen)
}
/* wait for it to complete */
- usleep(_conversion_interval);
+ px4_usleep(_conversion_interval);
/* run the collection phase */
if (OK != collect()) {
diff --git a/src/modules/simulator/gpssim/gpssim.cpp b/src/modules/simulator/gpssim/gpssim.cpp
index a2c17ecf2a..700df26a5d 100644
--- a/src/modules/simulator/gpssim/gpssim.cpp
+++ b/src/modules/simulator/gpssim/gpssim.cpp
@@ -198,7 +198,7 @@ GPSSIM::~GPSSIM()
/* spin waiting for the task to stop */
for (unsigned i = 0; (i < 10) && (_task != -1); i++) {
/* give it another 100ms */
- usleep(100000);
+ px4_usleep(100000);
}
/* well, kill it anyway, though this will probably crash */
@@ -301,7 +301,7 @@ GPSSIM::receive(int timeout)
} else {
- usleep(timeout);
+ px4_usleep(timeout);
return 0;
}
}
@@ -371,7 +371,7 @@ GPSSIM::print_info()
print_message(_report_gps_pos);
}
- usleep(100000);
+ px4_usleep(100000);
}
void
diff --git a/src/modules/simulator/simulator.cpp b/src/modules/simulator/simulator.cpp
index 9188830901..077a6ca837 100644
--- a/src/modules/simulator/simulator.cpp
+++ b/src/modules/simulator/simulator.cpp
@@ -220,7 +220,7 @@ extern "C" {
break;
} else {
- usleep(100000);
+ px4_usleep(100000);
}
}
diff --git a/src/modules/simulator/simulator_mavlink.cpp b/src/modules/simulator/simulator_mavlink.cpp
index d860fd57eb..d58430daf2 100644
--- a/src/modules/simulator/simulator_mavlink.cpp
+++ b/src/modules/simulator/simulator_mavlink.cpp
@@ -336,7 +336,7 @@ void Simulator::handle_message(mavlink_message_t *msg, bool publish)
unsigned usleep_delay = (sysdelay - min_delay) / _realtime_factor;
// extend by the realtime factor to avoid drift
- usleep(usleep_delay);
+ px4_usleep(usleep_delay);
hrt_stop_delay_delta(exact_delay);
px4_sim_stop_delay();
}
@@ -838,7 +838,7 @@ void Simulator::pollForMAVLinkMessages(bool publish, int udp_port)
if (pret < 0) {
PX4_WARN("simulator mavlink: poll error %d, %d", pret, errno);
// sleep a bit before next try
- usleep(100000);
+ px4_usleep(100000);
continue;
}
diff --git a/src/modules/uORB/uORBDeviceMaster.cpp b/src/modules/uORB/uORBDeviceMaster.cpp
index bd97e951e5..160aec9584 100644
--- a/src/modules/uORB/uORBDeviceMaster.cpp
+++ b/src/modules/uORB/uORBDeviceMaster.cpp
@@ -316,7 +316,7 @@ void uORB::DeviceMaster::showTop(char **topic_filter, int num_filters)
}
}
- usleep(200000);
+ px4_usleep(200000);
}
#endif
diff --git a/src/modules/uORB/uORBDeviceNode.cpp b/src/modules/uORB/uORBDeviceNode.cpp
index e176598722..e50b9ccff3 100644
--- a/src/modules/uORB/uORBDeviceNode.cpp
+++ b/src/modules/uORB/uORBDeviceNode.cpp
@@ -593,7 +593,7 @@ uORB::DeviceNode::appears_updated(SubscriberData *sd)
/* block if in simulation mode */
while (px4_sim_delay_enabled()) {
- usleep(100);
+ px4_usleep(100);
}
/* assume it doesn't look updated */
diff --git a/src/modules/uORB/uORB_tests/uORBTest_UnitTest.cpp b/src/modules/uORB/uORB_tests/uORBTest_UnitTest.cpp
index 621b11cd62..9e729bf055 100644
--- a/src/modules/uORB/uORB_tests/uORBTest_UnitTest.cpp
+++ b/src/modules/uORB/uORB_tests/uORBTest_UnitTest.cpp
@@ -455,12 +455,12 @@ int uORBTest::UnitTest::pub_test_multi2_main()
}
}
- usleep(100 * 1000);
+ px4_usleep(100 * 1000);
int message_counter = 0, num_messages = 50 * num_instances;
while (message_counter++ < num_messages) {
- usleep(2); //make sure the timestamps are different
+ px4_usleep(2); //make sure the timestamps are different
orb_advert_t &pub = orb_pub[data_next_idx];
data_topic.time = hrt_absolute_time();
@@ -472,11 +472,11 @@ int uORBTest::UnitTest::pub_test_multi2_main()
data_next_idx = (data_next_idx + 1) % num_instances;
if (data_next_idx == 0) {
- usleep(50 * 1000);
+ px4_usleep(50 * 1000);
}
}
- usleep(100 * 1000);
+ px4_usleep(100 * 1000);
_thread_should_exit = true;
for (int i = 0; i < num_instances; ++i) {
@@ -528,9 +528,9 @@ int uORBTest::UnitTest::test_multi2()
// Relax timing requirement for Darwin CI system
#ifdef __PX4_DARWIN
- usleep(10000);
+ px4_usleep(10000);
#else
- usleep(1000);
+ px4_usleep(1000);
#endif
if (last_time >= msg.time && last_time != 0) {
@@ -767,11 +767,11 @@ int uORBTest::UnitTest::pub_test_queue_main()
}
message_counter += burst_counter;
- usleep(20 * 1000); //give subscriber a chance to catch up
+ px4_usleep(20 * 1000); //give subscriber a chance to catch up
}
_num_messages_sent = t.val;
- usleep(100 * 1000);
+ px4_usleep(100 * 1000);
_thread_should_exit = true;
orb_unadvertise(ptopic);
diff --git a/src/modules/uORB/uORB_tests/uORBTest_UnitTest.hpp b/src/modules/uORB/uORB_tests/uORBTest_UnitTest.hpp
index bb54d92bbf..83442f68aa 100644
--- a/src/modules/uORB/uORB_tests/uORBTest_UnitTest.hpp
+++ b/src/modules/uORB/uORB_tests/uORBTest_UnitTest.hpp
@@ -162,7 +162,7 @@ int uORBTest::UnitTest::latency_test(orb_id_t T, bool print)
}
/* simulate >800 Hz system operation */
- usleep(1000);
+ px4_usleep(1000);
}
if (pubsub_task < 0) {
diff --git a/src/modules/vmount/vmount.cpp b/src/modules/vmount/vmount.cpp
index e82e745ddd..0589f9be10 100644
--- a/src/modules/vmount/vmount.cpp
+++ b/src/modules/vmount/vmount.cpp
@@ -387,7 +387,7 @@ static int vmount_thread_main(int argc, char *argv[])
} else {
//wait for parameter changes. We still need to wake up regularily to check for thread exit requests
- usleep(1e6);
+ px4_usleep(1e6);
}
if (test_input && test_input->finished()) {
@@ -478,7 +478,7 @@ int vmount_main(int argc, char *argv[])
int counter = 0;
while (!thread_running && vmount_task >= 0) {
- usleep(5000);
+ px4_usleep(5000);
if (++counter >= 100) {
break;
@@ -504,7 +504,7 @@ int vmount_main(int argc, char *argv[])
thread_should_exit = true;
while (thread_running) {
- usleep(100000);
+ px4_usleep(100000);
}
return 0;
diff --git a/src/modules/vtol_att_control/vtol_att_control_main.cpp b/src/modules/vtol_att_control/vtol_att_control_main.cpp
index 1180875cc2..3032179f10 100644
--- a/src/modules/vtol_att_control/vtol_att_control_main.cpp
+++ b/src/modules/vtol_att_control/vtol_att_control_main.cpp
@@ -120,7 +120,7 @@ VtolAttitudeControl::~VtolAttitudeControl()
do {
/* wait 20ms */
- usleep(20000);
+ px4_usleep(20000);
/* if we have given up, kill it */
if (++i > 50) {
@@ -590,7 +590,7 @@ void VtolAttitudeControl::task_main()
if (pret < 0) {
PX4_ERR("poll error %d, %d", pret, errno);
/* sleep a bit before next try */
- usleep(100000);
+ px4_usleep(100000);
continue;
}
diff --git a/src/platforms/apps.cpp.in b/src/platforms/apps.cpp.in
index 123a138c4e..f768845d99 100644
--- a/src/platforms/apps.cpp.in
+++ b/src/platforms/apps.cpp.in
@@ -1,4 +1,5 @@
/* definitions of builtin command list - automatically generated, do not edit */
+#include "px4_time.h"
#include "px4_posix.h"
#include "px4_log.h"
@@ -86,7 +87,7 @@ int sleep_main(int argc, char *argv[])
unsigned long usecs = 1000000UL * atol(argv[1]);
printf("Sleeping for %s s; (%lu us).\n", argv[1], usecs);
- usleep(usecs);
+ px4_usleep(usecs);
return 0;
}
diff --git a/src/platforms/common/work_queue/hrt_thread.c b/src/platforms/common/work_queue/hrt_thread.c
index 700daa215a..e17b90ddba 100644
--- a/src/platforms/common/work_queue/hrt_thread.c
+++ b/src/platforms/common/work_queue/hrt_thread.c
@@ -217,7 +217,7 @@ static void hrt_work_process()
/* might sleep less if a signal received and new item was queued */
//PX4_INFO("Sleeping for %u usec", next);
- usleep(next);
+ px4_usleep(next);
}
/****************************************************************************
diff --git a/src/platforms/common/work_queue/work_thread.c b/src/platforms/common/work_queue/work_thread.c
index 806c2179d7..a5c3cd873f 100644
--- a/src/platforms/common/work_queue/work_thread.c
+++ b/src/platforms/common/work_queue/work_thread.c
@@ -182,7 +182,7 @@ static void work_process(struct wqueue_s *wqueue, int lock_id)
*/
work_unlock(lock_id);
- usleep(next);
+ px4_usleep(next);
}
/****************************************************************************
diff --git a/src/platforms/px4_module.h b/src/platforms/px4_module.h
index bd362ecd2d..0961ffb4c9 100644
--- a/src/platforms/px4_module.h
+++ b/src/platforms/px4_module.h
@@ -41,6 +41,7 @@
#include <unistd.h>
#include <stdbool.h>
+#include <px4_time.h>
#include <px4_log.h>
#include <px4_tasks.h>
#include <systemlib/px4_macros.h>
@@ -236,7 +237,7 @@ public:
do {
unlock_module();
- usleep(20000); // 20 ms
+ px4_usleep(20000); // 20 ms
lock_module();
if (++i > 100 && _task_id != -1) { // wait at most 2 sec
@@ -369,7 +370,7 @@ protected:
do {
/* Wait up to 1s. */
- usleep(2500);
+ px4_usleep(2500);
} while (!_object && ++i < 400);
diff --git a/src/platforms/px4_nodehandle.h b/src/platforms/px4_nodehandle.h
index 9ae11474de..faf5b0158b 100644
--- a/src/platforms/px4_nodehandle.h
+++ b/src/platforms/px4_nodehandle.h
@@ -39,6 +39,7 @@
#pragma once
/* includes for all platforms */
+#include "px4_time.h"
#include "px4_subscriber.h"
#include "px4_publisher.h"
#include "px4_middleware.h"
@@ -274,7 +275,7 @@ public:
/* Only continue in the loop if the nodehandle has subscriptions */
if (_sub_min_interval == nullptr) {
- usleep(timeout_ms * 1000);
+ px4_usleep(timeout_ms * 1000);
continue;
}
diff --git a/src/platforms/px4_time.h b/src/platforms/px4_time.h
index 9324151cd0..ef22d7db6c 100644
--- a/src/platforms/px4_time.h
+++ b/src/platforms/px4_time.h
@@ -34,4 +34,6 @@ __END_DECLS
#define px4_clock_gettime clock_gettime
#define px4_clock_settime clock_settime
+#define px4_usleep system_usleep
+
#endif
diff --git a/src/systemcmds/bl_update/bl_update.c b/src/systemcmds/bl_update/bl_update.c
index b7b924b374..86ee48afab 100644
--- a/src/systemcmds/bl_update/bl_update.c
+++ b/src/systemcmds/bl_update/bl_update.c
@@ -154,7 +154,7 @@ bl_update_main(int argc, char *argv[])
}
PX4_INFO("image validated, erasing bootloader...");
- usleep(10000);
+ px4_usleep(10000);
/* prevent other tasks from running while we do this */
sched_lock();
@@ -232,7 +232,7 @@ setopt(void)
/* program the new option value */
*optcr = (*optcr & ~opt_mask) | opt_bits | (1 << 1);
- usleep(1000);
+ px4_usleep(1000);
if ((*optcr & opt_mask) == opt_bits) {
PX4_INFO("option bits set");
diff --git a/src/systemcmds/esc_calib/esc_calib.c b/src/systemcmds/esc_calib/esc_calib.c
index 39220a3ff1..cdb135ac6e 100644
--- a/src/systemcmds/esc_calib/esc_calib.c
+++ b/src/systemcmds/esc_calib/esc_calib.c
@@ -210,7 +210,7 @@ esc_calib_main(int argc, char *argv[])
orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, act_sub, &actuators);
/* wait 50 ms */
- usleep(50000);
+ px4_usleep(50000);
/* now expect nothing changed on that topic */
bool orb_updated;
@@ -261,7 +261,7 @@ esc_calib_main(int argc, char *argv[])
}
/* rate limit to ~ 20 Hz */
- usleep(50000);
+ px4_usleep(50000);
}
/* open for ioctl only */
@@ -338,7 +338,7 @@ esc_calib_main(int argc, char *argv[])
}
/* rate limit to ~ 20 Hz */
- usleep(50000);
+ px4_usleep(50000);
}
printf("Low PWM set: %d\n"
@@ -378,7 +378,7 @@ esc_calib_main(int argc, char *argv[])
}
/* rate limit to ~ 20 Hz */
- usleep(50000);
+ px4_usleep(50000);
}
/* disarm */
diff --git a/src/systemcmds/led_control/led_control.cpp b/src/systemcmds/led_control/led_control.cpp
index 1981e4c267..94f4e274ed 100644
--- a/src/systemcmds/led_control/led_control.cpp
+++ b/src/systemcmds/led_control/led_control.cpp
@@ -112,7 +112,7 @@ static void run_led_test1()
led_control.priority = led_control_s::MAX_PRIORITY;
publish_led_control(led_control);
- usleep(200 * 1000);
+ px4_usleep(200 * 1000);
// generate some pattern
for (int round = led_control_s::COLOR_RED; round <= led_control_s::COLOR_WHITE; ++round) {
@@ -121,25 +121,25 @@ static void run_led_test1()
led_control.mode = led_control_s::MODE_ON;
led_control.color = round;
publish_led_control(led_control);
- usleep(80 * 1000);
+ px4_usleep(80 * 1000);
}
- usleep(100 * 1000);
+ px4_usleep(100 * 1000);
led_control.led_mask = 0xff;
for (int i = 0; i < 3; ++i) {
led_control.mode = led_control_s::MODE_ON;
publish_led_control(led_control);
- usleep(100 * 1000);
+ px4_usleep(100 * 1000);
led_control.mode = led_control_s::MODE_OFF;
publish_led_control(led_control);
- usleep(100 * 1000);
+ px4_usleep(100 * 1000);
}
- usleep(200 * 1000);
+ px4_usleep(200 * 1000);
}
- usleep(500 * 1000);
+ px4_usleep(500 * 1000);
// reset
led_control.led_mask = 0xff;
diff --git a/src/systemcmds/mixer/mixer.cpp b/src/systemcmds/mixer/mixer.cpp
index 9bc520777f..7524c7b30e 100644
--- a/src/systemcmds/mixer/mixer.cpp
+++ b/src/systemcmds/mixer/mixer.cpp
@@ -133,7 +133,7 @@ static int
load(const char *devname, const char *fname, bool append)
{
// sleep a while to ensure device has been set up
- usleep(20000);
+ px4_usleep(20000);
int dev;
diff --git a/src/systemcmds/motor_ramp/motor_ramp.cpp b/src/systemcmds/motor_ramp/motor_ramp.cpp
index a7b0a4a882..cf30b76b7c 100644
--- a/src/systemcmds/motor_ramp/motor_ramp.cpp
+++ b/src/systemcmds/motor_ramp/motor_ramp.cpp
@@ -273,7 +273,7 @@ int prepare(int fd, unsigned long *max_channels)
orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, act_sub, &actuators);
/* wait 50 ms */
- usleep(50000);
+ px4_usleep(50000);
/* now expect nothing changed on that topic */
bool orb_updated;
@@ -409,7 +409,7 @@ int motor_ramp_thread_main(int argc, char *argv[])
}
// rate limit
- usleep(2000);
+ px4_usleep(2000);
}
if (fd >= 0) {
diff --git a/src/systemcmds/mtd/24xxxx_mtd.c b/src/systemcmds/mtd/24xxxx_mtd.c
index 8c476e91f8..fdae55edcd 100644
--- a/src/systemcmds/mtd/24xxxx_mtd.c
+++ b/src/systemcmds/mtd/24xxxx_mtd.c
@@ -51,6 +51,7 @@
************************************************************************************/
#include <px4_config.h>
+#include <px4_time.h>
#include <sys/types.h>
#include <stdint.h>
@@ -228,7 +229,7 @@ static int at24c_eraseall(FAR struct at24c_dev_s *priv)
while (I2C_TRANSFER(priv->dev, &msgv[0], 1) < 0) {
fwarn("erase stall\n");
- usleep(10000);
+ px4_usleep(10000);
}
}
@@ -341,7 +342,7 @@ static ssize_t at24c_bread(FAR struct mtd_dev_s *dev, off_t startblock,
}
finfo("read stall");
- usleep(1000);
+ px4_usleep(1000);
/* We should normally only be here on the first read after
* a write.
@@ -430,7 +431,7 @@ static ssize_t at24c_bwrite(FAR struct mtd_dev_s *dev, off_t startblock, size_t
}
finfo("write stall");
- usleep(1000);
+ px4_usleep(1000);
/* We expect to see a number of retries per write cycle as we
* poll for write completion.
diff --git a/src/systemcmds/pwm/pwm.cpp b/src/systemcmds/pwm/pwm.cpp
index fc1e1d356e..e01e0ca389 100644
--- a/src/systemcmds/pwm/pwm.cpp
+++ b/src/systemcmds/pwm/pwm.cpp
@@ -703,7 +703,7 @@ pwm_main(int argc, char *argv[])
/* Delay longer than the max Oneshot duration */
- usleep(2542);
+ px4_usleep(2542);
#ifdef __PX4_NUTTX
/* Trigger all timer's channels in Oneshot mode to fire
@@ -828,13 +828,13 @@ err_out_no_test:
}
if (phase == 1) {
- usleep(steps_timings_us[steps_timing_index] / phase_maxcount);
+ px4_usleep(steps_timings_us[steps_timing_index] / phase_maxcount);
} else if (phase == 0) {
- usleep(50000);
+ px4_usleep(50000);
} else if (phase == 2) {
- usleep(50000);
+ px4_usleep(50000);
} else {
break;
diff --git a/src/systemcmds/reboot/reboot.c b/src/systemcmds/reboot/reboot.c
index 92d8389d36..56d7c1f42f 100644
--- a/src/systemcmds/reboot/reboot.c
+++ b/src/systemcmds/reboot/reboot.c
@@ -107,7 +107,7 @@ int reboot_main(int argc, char *argv[])
return -1;
}
- while (1) { usleep(1); } // this command should not return on success
+ while (1) { px4_usleep(1); } // this command should not return on success
return 0;
}
diff --git a/src/systemcmds/tests/hrt_test/hrt_test.cpp b/src/systemcmds/tests/hrt_test/hrt_test.cpp
index 2c220af492..00fd2e9952 100644
--- a/src/systemcmds/tests/hrt_test/hrt_test.cpp
+++ b/src/systemcmds/tests/hrt_test/hrt_test.cpp
@@ -70,7 +70,7 @@ int HRTTest::main()
appState.setRunning(true);
hrt_abstime t = hrt_absolute_time();
- usleep(1000000);
+ px4_usleep(1000000);
hrt_abstime elt = hrt_elapsed_time(&t);
PX4_INFO("Elapsed time %llu in 1 sec (usleep)\n", (unsigned long long)elt);
PX4_INFO("Start time %llu\n", (unsigned long long)t);
diff --git a/src/systemcmds/tests/test_adc.c b/src/systemcmds/tests/test_adc.c
index b507b323f7..99252a2dd4 100644
--- a/src/systemcmds/tests/test_adc.c
+++ b/src/systemcmds/tests/test_adc.c
@@ -36,6 +36,7 @@
* Test for the analog to digital converter.
*/
+#include <px4_time.h>
#include <px4_config.h>
#include <px4_posix.h>
#include <px4_log.h>
@@ -78,7 +79,7 @@ int test_adc(int argc, char *argv[])
}
printf("\n");
- usleep(150000);
+ px4_usleep(150000);
}
printf("\t ADC test successful.\n");
diff --git a/src/systemcmds/tests/test_dataman.c b/src/systemcmds/tests/test_dataman.c
index 10668d99d7..a70f9af256 100644
--- a/src/systemcmds/tests/test_dataman.c
+++ b/src/systemcmds/tests/test_dataman.c
@@ -108,7 +108,7 @@ task_main(int argc, char *argv[])
PX4_INFO("task %d: %.0f%%", my_id, (double)i * 100.0f / NUM_MISSIONS_TEST);
}
- usleep(rand() & ((64 * 1024) - 1));
+ px4_usleep(rand() & ((64 * 1024) - 1));
}
hrt_abstime rstart = hrt_absolute_time();
diff --git a/src/systemcmds/tests/test_hott_telemetry.c b/src/systemcmds/tests/test_hott_telemetry.c
index b9b01ff44a..5e863773c6 100644
--- a/src/systemcmds/tests/test_hott_telemetry.c
+++ b/src/systemcmds/tests/test_hott_telemetry.c
@@ -43,6 +43,7 @@
* Included Files
****************************************************************************/
+#include <px4_time.h>
#include <px4_config.h>
#include <px4_defines.h>
#include <px4_log.h>
@@ -220,11 +221,11 @@ int test_hott_telemetry(int argc, char *argv[])
0x00, 0x00, 0x00, 0x7d, 0x12
};
- usleep(5000);
+ px4_usleep(5000);
for (unsigned int i = 0; i < sizeof(response); i++) {
write(fd, &response[i], 1);
- usleep(1000);
+ px4_usleep(1000);
}
PX4_INFO("PASS: Response sent to the HoTT receiver device. Voltage should now show 2.5V.");
diff --git a/src/systemcmds/tests/test_hrt.cpp b/src/systemcmds/tests/test_hrt.cpp
index e64e4f3104..8f51804b9d 100644
--- a/src/systemcmds/tests/test_hrt.cpp
+++ b/src/systemcmds/tests/test_hrt.cpp
@@ -191,7 +191,7 @@ int test_hrt(int argc, char *argv[])
for (i = 0; i < 10; i++) {
prev = hrt_absolute_time();
gettimeofday(&tv1, nullptr);
- usleep(100000);
+ px4_usleep(100000);
now = hrt_absolute_time();
gettimeofday(&tv2, nullptr);
printf("%lu (%lu/%lu), %lu (%lu/%lu), %lu\n",
@@ -201,7 +201,7 @@ int test_hrt(int argc, char *argv[])
fflush(stdout);
}
- usleep(1000000);
+ px4_usleep(1000000);
printf("one-second ticks\n");
@@ -209,7 +209,7 @@ int test_hrt(int argc, char *argv[])
hrt_call_after(&call, 1000000, nullptr, nullptr);
while (!hrt_called(&call)) {
- usleep(1000);
+ px4_usleep(1000);
}
printf("tick\n");
diff --git a/src/systemcmds/tests/test_hysteresis.cpp b/src/systemcmds/tests/test_hysteresis.cpp
index 84f2ea49a0..1af3e5b9e5 100644
--- a/src/systemcmds/tests/test_hysteresis.cpp
+++ b/src/systemcmds/tests/test_hysteresis.cpp
@@ -69,7 +69,7 @@ bool HysteresisTest::_zero_case()
ut_assert_true(hysteresis.get_state());
// A wait won't change anything.
- usleep(1000 * f);
+ px4_usleep(1000 * f);
hysteresis.update();
ut_assert_true(hysteresis.get_state());
@@ -86,20 +86,20 @@ bool HysteresisTest::_change_after_time()
// Change to true.
hysteresis.set_state_and_update(true);
ut_assert_false(hysteresis.get_state());
- usleep(4000 * f);
+ px4_usleep(4000 * f);
hysteresis.update();
ut_assert_false(hysteresis.get_state());
- usleep(2000 * f);
+ px4_usleep(2000 * f);
hysteresis.update();
ut_assert_true(hysteresis.get_state());
// Change back to false.
hysteresis.set_state_and_update(false);
ut_assert_true(hysteresis.get_state());
- usleep(1000 * f);
+ px4_usleep(1000 * f);
hysteresis.update();
ut_assert_true(hysteresis.get_state());
- usleep(3000 * f);
+ px4_usleep(3000 * f);
hysteresis.update();
ut_assert_false(hysteresis.get_state());
@@ -115,10 +115,10 @@ bool HysteresisTest::_hysteresis_changed()
// Change to true.
hysteresis.set_state_and_update(true);
ut_assert_false(hysteresis.get_state());
- usleep(3000 * f);
+ px4_usleep(3000 * f);
hysteresis.update();
ut_assert_false(hysteresis.get_state());
- usleep(3000 * f);
+ px4_usleep(3000 * f);
hysteresis.update();
ut_assert_true(hysteresis.get_state());
@@ -128,10 +128,10 @@ bool HysteresisTest::_hysteresis_changed()
// Change back to false.
hysteresis.set_state_and_update(false);
ut_assert_true(hysteresis.get_state());
- usleep(7000 * f);
+ px4_usleep(7000 * f);
hysteresis.update();
ut_assert_true(hysteresis.get_state());
- usleep(5000 * f);
+ px4_usleep(5000 * f);
hysteresis.update();
ut_assert_false(hysteresis.get_state());
@@ -147,20 +147,20 @@ bool HysteresisTest::_change_after_multiple_sets()
// Change to true.
hysteresis.set_state_and_update(true);
ut_assert_false(hysteresis.get_state());
- usleep(3000 * f);
+ px4_usleep(3000 * f);
hysteresis.set_state_and_update(true);
ut_assert_false(hysteresis.get_state());
- usleep(3000 * f);
+ px4_usleep(3000 * f);
hysteresis.set_state_and_update(true);
ut_assert_true(hysteresis.get_state());
// Change to false.
hysteresis.set_state_and_update(false);
ut_assert_true(hysteresis.get_state());
- usleep(3000 * f);
+ px4_usleep(3000 * f);
hysteresis.set_state_and_update(false);
ut_assert_true(hysteresis.get_state());
- usleep(3000 * f);
+ px4_usleep(3000 * f);
hysteresis.set_state_and_update(false);
ut_assert_false(hysteresis.get_state());
@@ -175,23 +175,23 @@ bool HysteresisTest::_take_change_back()
// Change to true.
hysteresis.set_state_and_update(true);
ut_assert_false(hysteresis.get_state());
- usleep(3000 * f);
+ px4_usleep(3000 * f);
hysteresis.update();
ut_assert_false(hysteresis.get_state());
// Change your mind to false.
hysteresis.set_state_and_update(false);
ut_assert_false(hysteresis.get_state());
- usleep(6000 * f);
+ px4_usleep(6000 * f);
hysteresis.update();
ut_assert_false(hysteresis.get_state());
// And true again
hysteresis.set_state_and_update(true);
ut_assert_false(hysteresis.get_state());
- usleep(3000 * f);
+ px4_usleep(3000 * f);
hysteresis.update();
ut_assert_false(hysteresis.get_state());
- usleep(3000 * f);
+ px4_usleep(3000 * f);
hysteresis.update();
ut_assert_true(hysteresis.get_state());
diff --git a/src/systemcmds/tests/test_led.c b/src/systemcmds/tests/test_led.c
index 72830a2e90..d17cd74d23 100644
--- a/src/systemcmds/tests/test_led.c
+++ b/src/systemcmds/tests/test_led.c
@@ -35,6 +35,7 @@
* Included Files
****************************************************************************/
+#include <px4_time.h>
#include <px4_config.h>
#include <px4_posix.h>
@@ -120,7 +121,7 @@ int test_led(int argc, char *argv[])
}
ledon = !ledon;
- usleep(60000);
+ px4_usleep(60000);
}
/* Go back to default */
diff --git a/src/systemcmds/tests/test_microbench_hrt.cpp b/src/systemcmds/tests/test_microbench_hrt.cpp
index 80d917280c..8e3410f473 100644
--- a/src/systemcmds/tests/test_microbench_hrt.cpp
+++ b/src/systemcmds/tests/test_microbench_hrt.cpp
@@ -65,7 +65,7 @@ void unlock()
}
#define PERF(name, op, count) do { \
- usleep(1000); \
+ px4_usleep(1000); \
reset(); \
perf_counter_t p = perf_alloc(PC_ELAPSED, name); \
for (int i = 0; i < count; i++) { \
diff --git a/src/systemcmds/tests/test_microbench_math.cpp b/src/systemcmds/tests/test_microbench_math.cpp
index a3d50f5adf..6e005c94c8 100644
--- a/src/systemcmds/tests/test_microbench_math.cpp
+++ b/src/systemcmds/tests/test_microbench_math.cpp
@@ -65,7 +65,7 @@ void unlock()
}
#define PERF(name, op, count) do { \
- usleep(1000); \
+ px4_usleep(1000); \
reset(); \
perf_counter_t p = perf_alloc(PC_ELAPSED, name); \
for (int i = 0; i < count; i++) { \
diff --git a/src/systemcmds/tests/test_microbench_matrix.cpp b/src/systemcmds/tests/test_microbench_matrix.cpp
index 2cd7107c77..b8b83a2ee6 100644
--- a/src/systemcmds/tests/test_microbench_matrix.cpp
+++ b/src/systemcmds/tests/test_microbench_matrix.cpp
@@ -67,7 +67,7 @@ void unlock()
}
#define PERF(name, op, count) do { \
- usleep(1000); \
+ px4_usleep(1000); \
reset(); \
perf_counter_t p = perf_alloc(PC_ELAPSED, name); \
for (int i = 0; i < count; i++) { \
diff --git a/src/systemcmds/tests/test_microbench_uorb.cpp b/src/systemcmds/tests/test_microbench_uorb.cpp
index 9d9faff226..c1ac196daf 100644
--- a/src/systemcmds/tests/test_microbench_uorb.cpp
+++ b/src/systemcmds/tests/test_microbench_uorb.cpp
@@ -70,7 +70,7 @@ void unlock()
}
#define PERF(name, op, count) do { \
- usleep(1000); \
+ px4_usleep(1000); \
reset(); \
perf_counter_t p = perf_alloc(PC_ELAPSED, name); \
for (int i = 0; i < count; i++) { \
diff --git a/src/systemcmds/tests/test_mixer.cpp b/src/systemcmds/tests/test_mixer.cpp
index 609b4a58f5..c84a30b6c6 100644
--- a/src/systemcmds/tests/test_mixer.cpp
+++ b/src/systemcmds/tests/test_mixer.cpp
@@ -451,7 +451,7 @@ bool MixerTest::mixerTest()
}
}
- usleep(sleep_quantum_us);
+ px4_usleep(sleep_quantum_us);
sleepcount++;
if (sleepcount % 10 == 0) {
@@ -516,7 +516,7 @@ bool MixerTest::mixerTest()
}
}
- usleep(sleep_quantum_us);
+ px4_usleep(sleep_quantum_us);
sleepcount++;
if (sleepcount % 10 == 0) {
@@ -566,7 +566,7 @@ bool MixerTest::mixerTest()
}
}
- usleep(sleep_quantum_us);
+ px4_usleep(sleep_quantum_us);
sleepcount++;
if (sleepcount % 10 == 0) {
diff --git a/src/systemcmds/tests/test_mount.c b/src/systemcmds/tests/test_mount.c
index b6074c2559..896c961445 100644
--- a/src/systemcmds/tests/test_mount.c
+++ b/src/systemcmds/tests/test_mount.c
@@ -151,7 +151,7 @@ test_mount(int argc, char *argv[])
PX4_INFO("\n SUCCESSFULLY PASSED FSYNC'ED WRITES, CONTINUTING WITHOUT FSYNC");
fsync(fileno(stdout));
fsync(fileno(stderr));
- usleep(20000);
+ px4_usleep(20000);
}
}
@@ -186,7 +186,7 @@ test_mount(int argc, char *argv[])
printf("unpower the system immediately (within 0.5s) when the hash (#) sign appears\n");
fsync(fileno(stdout));
fsync(fileno(stderr));
- usleep(50000);
+ px4_usleep(50000);
for (unsigned a = 0; a < alignments; a++) {
@@ -236,7 +236,7 @@ test_mount(int argc, char *argv[])
printf(".");
fsync(fileno(stdout));
fsync(fileno(stderr));
- usleep(200000);
+ px4_usleep(200000);
px4_close(fd);
fd = px4_open(PX4_STORAGEDIR "/testfile", O_RDONLY);
@@ -282,7 +282,7 @@ test_mount(int argc, char *argv[])
fsync(fileno(stdout));
fsync(fileno(stderr));
- usleep(20000);
+ px4_usleep(20000);
close(cmd_fd);
@@ -290,7 +290,7 @@ test_mount(int argc, char *argv[])
PX4_INFO("Iteration done, rebooting..");
fsync(fileno(stdout));
fsync(fileno(stderr));
- usleep(50000);
+ px4_usleep(50000);
px4_systemreset(false);
/* never going to get here */
diff --git a/src/systemcmds/tests/test_ppm_loopback.c b/src/systemcmds/tests/test_ppm_loopback.c
index 23023b059f..10e264bfa4 100644
--- a/src/systemcmds/tests/test_ppm_loopback.c
+++ b/src/systemcmds/tests/test_ppm_loopback.c
@@ -37,6 +37,7 @@
*
*/
+#include <px4_time.h>
#include <px4_config.h>
#include <sys/types.h>
@@ -136,7 +137,7 @@ int test_ppm_loopback(int argc, char *argv[])
/* read low-level values from FMU or IO RC inputs (PPM, Spektrum, S.Bus) */
struct input_rc_s rc_input;
orb_copy(ORB_ID(input_rc), _rc_sub, &rc_input);
- usleep(100000);
+ px4_usleep(100000);
/* open PPM input and expect values close to the output values */
diff --git a/src/systemcmds/tests/test_rc.c b/src/systemcmds/tests/test_rc.c
index 723af3d88c..d7f948442a 100644
--- a/src/systemcmds/tests/test_rc.c
+++ b/src/systemcmds/tests/test_rc.c
@@ -67,7 +67,7 @@ int test_rc(int argc, char *argv[])
struct input_rc_s rc_input;
struct input_rc_s rc_last;
orb_copy(ORB_ID(input_rc), _rc_sub, &rc_input);
- usleep(100000);
+ px4_usleep(100000);
/* open PPM input and expect values close to the output values */
diff --git a/src/systemcmds/tests/test_sensors.c b/src/systemcmds/tests/test_sensors.c
index 41c2fef1d8..20fe551cb3 100644
--- a/src/systemcmds/tests/test_sensors.c
+++ b/src/systemcmds/tests/test_sensors.c
@@ -38,6 +38,7 @@
* @author Lorenz Meier <lm@inf.ethz.ch>
*/
+#include <px4_time.h>
#include <px4_config.h>
#include <px4_posix.h>
@@ -101,7 +102,7 @@ accel(int argc, char *argv[], const char *path)
}
/* wait at least 100ms, sensor should have data after no more than 20ms */
- usleep(100000);
+ px4_usleep(100000);
/* read data - expect samples */
ret = px4_read(fd, &buf, sizeof(buf));
@@ -151,7 +152,7 @@ gyro(int argc, char *argv[], const char *path)
}
/* wait at least 5 ms, sensor should have data after that */
- usleep(5000);
+ px4_usleep(5000);
/* read data - expect samples */
ret = px4_read(fd, &buf, sizeof(buf));
@@ -196,7 +197,7 @@ mag(int argc, char *argv[], const char *path)
}
/* wait at least 5 ms, sensor should have data after that */
- usleep(5000);
+ px4_usleep(5000);
/* read data - expect samples */
ret = px4_read(fd, &buf, sizeof(buf));
@@ -241,7 +242,7 @@ baro(int argc, char *argv[], const char *path)
}
/* wait at least 5 ms, sensor should have data after that */
- usleep(5000);
+ px4_usleep(5000);
/* read data - expect samples */
ret = px4_read(fd, &buf, sizeof(buf));
diff --git a/src/systemcmds/tests/test_servo.c b/src/systemcmds/tests/test_servo.c
index a1980ce11e..27f34967c9 100644
--- a/src/systemcmds/tests/test_servo.c
+++ b/src/systemcmds/tests/test_servo.c
@@ -37,6 +37,7 @@
*
*/
+#include <px4_time.h>
#include <px4_config.h>
#include <sys/types.h>
@@ -113,7 +114,7 @@ int test_servo(int argc, char *argv[])
goto out;
}
- usleep(5000000);
+ px4_usleep(5000000);
printf("Advancing channel 0 to 1500\n");
result = ioctl(fd, PWM_SERVO_SET(0), 1500);
printf("Advancing channel 1 to 1800\n");
diff --git a/src/systemcmds/tests/test_sleep.c b/src/systemcmds/tests/test_sleep.c
index 9f4536c34d..addc7195d7 100644
--- a/src/systemcmds/tests/test_sleep.c
+++ b/src/systemcmds/tests/test_sleep.c
@@ -35,6 +35,7 @@
* Included Files
****************************************************************************/
+#include <px4_time.h>
#include <px4_config.h>
#include <px4_defines.h>
@@ -57,7 +58,7 @@ int test_sleep(int argc, char *argv[])
fflush(stdout);
for (unsigned int i = 0; i < nsleeps; i++) {
- usleep(100000);
+ px4_usleep(100000);
}
printf("\t Sleep test successful.\n");
diff --git a/src/systemcmds/top/top.c b/src/systemcmds/top/top.c
index fccf3fd705..b5cebc29d8 100644
--- a/src/systemcmds/top/top.c
+++ b/src/systemcmds/top/top.c
@@ -121,7 +121,7 @@ top_main(int argc, char *argv[])
}
}
- usleep(200000);
+ px4_usleep(200000);
}
curr_time = hrt_absolute_time();
diff --git a/src/systemcmds/topic_listener/listener_main.cpp b/src/systemcmds/topic_listener/listener_main.cpp
index 99efcada91..17d4b40c47 100644
--- a/src/systemcmds/topic_listener/listener_main.cpp
+++ b/src/systemcmds/topic_listener/listener_main.cpp
@@ -69,7 +69,7 @@ void listener(listener_print_topic_cb cb, const orb_id_t &id, unsigned num_msgs,
updated = true;
} else {
- usleep(500);
+ px4_usleep(500);
}
if (updated) {
diff --git a/src/systemcmds/tune_control/tune_control.cpp b/src/systemcmds/tune_control/tune_control.cpp
index 326d6cd7d3..cd1a69a176 100644
--- a/src/systemcmds/tune_control/tune_control.cpp
+++ b/src/systemcmds/tune_control/tune_control.cpp
@@ -207,7 +207,7 @@ tune_control_main(int argc, char *argv[])
tune_control.silence = (uint32_t)silence;
tune_control.strength = (uint8_t)strength;
publish_tune_control(tune_control);
- usleep(duration + silence);
+ px4_usleep(duration + silence);
exit_counter++;
// exit if the loop is doing too many iterations
@@ -237,7 +237,7 @@ tune_control_main(int argc, char *argv[])
while (tunes.get_next_tune(frequency, duration, silence, strength) > 0) {
PX4_INFO("frequency: %d, duration %d, silence %d, strength%d",
frequency, duration, silence, strength);
- usleep(500000);
+ px4_usleep(500000);
exit_counter++;
// exit if the loop is doing too many iterations
@@ -256,7 +256,7 @@ tune_control_main(int argc, char *argv[])
publish_tune_control(tune_control);
// We wait the maximum update interval to ensure
// The stop will not be overwritten
- usleep(tunes.get_maximum_update_interval());
+ px4_usleep(tunes.get_maximum_update_interval());
} else {
usage();
diff --git a/src/templates/module/module.cpp b/src/templates/module/module.cpp
index 2527708668..27423a75e1 100644
--- a/src/templates/module/module.cpp
+++ b/src/templates/module/module.cpp
@@ -190,7 +190,7 @@ void Module::run()
} else if (pret < 0) {
// this is undesirable but not much we can do
PX4_ERR("poll error %d, %d", pret, errno);
- usleep(50000);
+ px4_usleep(50000);
continue;
} else if (fds[0].revents & POLLIN) {
--
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