Replacing usleep with px4_usleep

This is a step towards isolating time from the system.

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;

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;

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;

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;
 			}
 		}

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
 

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];

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);

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;

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()) {

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");

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()) {

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()) {

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()) {

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()) {

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()) {

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;
 		}
 

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);
 

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;
 }
 

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);

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();

src/drivers/lights/rgbled/rgbled.cpp

@@ -152,7 +152,7 @@ RGBLED::~RGBLED()
 	int counter = 0;
 
 	while (_running && ++counter < 10) {
-		usleep(100000);
+		px4_usleep(100000);
 	}
 }
 

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()) {

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) {

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);
 		}
 	}
 

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 {

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) {

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);
 		}
 	}
 

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);

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);
 	}
 }
 

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);
 	}
 }