Replacing usleep with px4_usleep

This is a step towards isolating time from the system.

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");

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 */

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;

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;
 

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) {

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.

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;

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;
 }

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);

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");

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();

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.");

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");

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());
 

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 */

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++) { \

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++) { \

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++) { \

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++) { \

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) {

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 */

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 */
 

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 */
 

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));

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");

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");

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();

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) {

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();