From adb032d2e553deda0f6a1af9eacbc4972dd2e155 Mon Sep 17 00:00:00 2001
From: rfu <Robert.Fu@vudu.com>
Date: Tue, 31 Mar 2020 15:16:32 +0200
Subject: [PATCH] drivers: up_udelay -> px4_usleep

---
 src/drivers/imu/bmi088/BMI088_accel.cpp    |  4 ++--
 src/drivers/imu/bmi088/BMI088_gyro.cpp     |  3 ++-
 src/drivers/imu/icm20948/ICM20948_mag.cpp  |  3 ++-
 src/drivers/magnetometer/bmm150/bmm150.cpp | 10 ++++++----
 4 files changed, 12 insertions(+), 8 deletions(-)

diff --git a/src/drivers/imu/bmi088/BMI088_accel.cpp b/src/drivers/imu/bmi088/BMI088_accel.cpp
index 035f2e2e2a..623da69890 100644
--- a/src/drivers/imu/bmi088/BMI088_accel.cpp
+++ b/src/drivers/imu/bmi088/BMI088_accel.cpp
@@ -120,7 +120,7 @@ int BMI088_accel::reset()
 	 * Setting it to 5ms.
 	 */
 
-	up_udelay(5000);
+	px4_usleep(5000);
 
 	// Perform a dummy read here to put the accelerometer part of the BMI088 back into SPI mode after the reset
 	// The dummy read basically pulls the chip select line low and then high
@@ -134,7 +134,7 @@ int BMI088_accel::reset()
 	 * Any communication with the sensor during this time should be avoided
 	 * (see section "Power Modes: Acceleromter" in the BMI datasheet) */
 
-	up_udelay(5000);
+	px4_usleep(5000);
 
 	// Set the PWR CONF to be active
 	write_checked_reg(BMI088_ACC_PWR_CONF, BMI088_ACC_PWR_CONF_ACTIVE); // Sets the accelerometer to active mode
diff --git a/src/drivers/imu/bmi088/BMI088_gyro.cpp b/src/drivers/imu/bmi088/BMI088_gyro.cpp
index d4ed11522d..2dee5d568e 100644
--- a/src/drivers/imu/bmi088/BMI088_gyro.cpp
+++ b/src/drivers/imu/bmi088/BMI088_gyro.cpp
@@ -104,7 +104,8 @@ int BMI088_gyro::reset()
 
 	//Enable Gyroscope in normal mode
 	write_reg(BMI088_GYR_LPM1, BMI088_GYRO_NORMAL);
-	up_udelay(1000);
+
+	px4_usleep(1000);
 
 	uint8_t retries = 10;
 
diff --git a/src/drivers/imu/icm20948/ICM20948_mag.cpp b/src/drivers/imu/icm20948/ICM20948_mag.cpp
index 35fb2d9e68..ffa97c69b8 100644
--- a/src/drivers/imu/icm20948/ICM20948_mag.cpp
+++ b/src/drivers/imu/icm20948/ICM20948_mag.cpp
@@ -311,7 +311,8 @@ ICM20948_mag::ak09916_setup(void)
 		retries--;
 		PX4_WARN("AK09916: bad id %d retries %d", id, retries);
 		_parent->modify_reg(ICMREG_20948_USER_CTRL, 0, BIT_I2C_MST_RST);
-		up_udelay(100);
+
+		px4_usleep(100) ;
 	} while (retries > 0);
 
 	if (retries == 0) {
diff --git a/src/drivers/magnetometer/bmm150/bmm150.cpp b/src/drivers/magnetometer/bmm150/bmm150.cpp
index a94cdefe3e..ecbf85fbe5 100644
--- a/src/drivers/magnetometer/bmm150/bmm150.cpp
+++ b/src/drivers/magnetometer/bmm150/bmm150.cpp
@@ -96,8 +96,8 @@ int BMM150::init()
 
 	/* Bring the device to sleep mode */
 	modify_reg(BMM150_POWER_CTRL_REG, 1, 1);
-	up_udelay(10000);
 
+	px4_usleep(10000);
 
 	/* check id*/
 	if (read_reg(BMM150_CHIP_ID_REG) != BMM150_CHIP_ID) {
@@ -115,7 +115,7 @@ int BMM150::init()
 		return -EIO;
 	}
 
-	up_udelay(10000);
+	px4_usleep(10000);
 
 	if (collect()) {
 		return -EIO;
@@ -342,11 +342,13 @@ int BMM150::reset()
 
 	/* Soft-reset */
 	modify_reg(BMM150_POWER_CTRL_REG, BMM150_SOFT_RESET_MASK, BMM150_SOFT_RESET_VALUE);
-	up_udelay(5000);
+
+	px4_usleep(5000);
 
 	/* Enable Magnetometer in normal mode */
 	ret += set_power_mode(BMM150_DEFAULT_POWER_MODE);
-	up_udelay(1000);
+
+	px4_usleep(1000);
 
 	/* Set the data rate to default */
 	ret += set_data_rate(BMM150_DEFAULT_ODR);