From 72997bb636872bec5a0fb4c42d6a001596dcac1e Mon Sep 17 00:00:00 2001
From: Davide Basso <davide.basso@skywarder.eu>
Date: Wed, 7 Feb 2024 21:36:56 +0100
Subject: [PATCH] [Units] remove Microseconds for timestamp

---
 src/shared/sensors/BMX160/BMX160.cpp                | 13 ++++++-------
 src/shared/sensors/BMX160/BMX160Data.h              |  8 ++++----
 src/shared/sensors/BMX160/BMX160WithCorrection.cpp  |  4 ++--
 .../sensors/BMX160/BMX160WithCorrectionData.h       |  6 +++---
 src/shared/sensors/H3LIS331DL/H3LIS331DLData.h      |  9 ++++-----
 src/shared/sensors/LIS331HH/LIS331HH.cpp            |  2 +-
 src/shared/sensors/LIS331HH/LIS331HHData.h          |  5 ++---
 src/shared/sensors/LIS3DSH/LIS3DSH.h                |  2 +-
 src/shared/sensors/LIS3DSH/LIS3DSHData.h            | 12 ++++++------
 src/shared/sensors/LSM6DSRX/LSM6DSRX.cpp            |  8 ++++----
 src/shared/sensors/LSM6DSRX/LSM6DSRXData.h          |  8 ++++----
 src/shared/sensors/MPU9250/MPU9250.cpp              |  2 +-
 src/shared/sensors/MPU9250/MPU9250Data.h            |  8 ++++----
 src/shared/sensors/SensorData.h                     | 12 +++++-------
 src/shared/sensors/VN100/VN100.cpp                  |  2 +-
 src/shared/sensors/VN100/VN100Data.h                |  8 ++++----
 src/tests/sensors/test-lis3dsh.cpp                  |  2 +-
 17 files changed, 53 insertions(+), 58 deletions(-)

diff --git a/src/shared/sensors/BMX160/BMX160.cpp b/src/shared/sensors/BMX160/BMX160.cpp
index 2fdd343e6..612e02f79 100644
--- a/src/shared/sensors/BMX160/BMX160.cpp
+++ b/src/shared/sensors/BMX160/BMX160.cpp
@@ -34,7 +34,7 @@ BMX160::BMX160(SPIBusInterface& bus, miosix::GpioPin cs, BMX160Config config)
     spiSlave.config.clockDivider  = SPI::ClockDivider::DIV_32;
     oldMag.magneticFieldTimestamp = 0.0f;
     oldGyr.angularSpeedTimestamp  = 0.0f;
-    oldAcc.accelerationTimestamp  = Microsecond(0);
+    oldAcc.accelerationTimestamp  = 0;
 }
 
 BMX160::BMX160(SPIBusInterface& bus, miosix::GpioPin cs, BMX160Config config,
@@ -43,7 +43,7 @@ BMX160::BMX160(SPIBusInterface& bus, miosix::GpioPin cs, BMX160Config config,
 {
     oldMag.magneticFieldTimestamp = 0.0f;
     oldGyr.angularSpeedTimestamp  = 0.0f;
-    oldAcc.accelerationTimestamp  = Microsecond(0);
+    oldAcc.accelerationTimestamp  = 0;
 }
 
 bool BMX160::init()
@@ -609,8 +609,7 @@ AccelerometerData BMX160::buildAccData(BMX160Defs::AccRaw data,
     using namespace Constants;
 
     return AccelerometerData{
-        Microsecond(timestamp),
-        MeterPerSecondSquared(data.x * accSensibility * g),
+        timestamp, MeterPerSecondSquared(data.x * accSensibility * g),
         MeterPerSecondSquared(data.y * accSensibility * g),
         MeterPerSecondSquared(data.z * accSensibility * g)};
 }
@@ -736,8 +735,8 @@ void BMX160::readFifo(bool headerless)
         oldMag.magneticFieldTimestamp -= interruptTimestampDelta;
     if (oldGyr.angularSpeedTimestamp != 0)
         oldGyr.angularSpeedTimestamp -= interruptTimestampDelta;
-    if (oldAcc.accelerationTimestamp.value() != 0)
-        oldAcc.accelerationTimestamp -= Microsecond(interruptTimestampDelta);
+    if (oldAcc.accelerationTimestamp != 0)
+        oldAcc.accelerationTimestamp -= interruptTimestampDelta;
 
     // Calculate time offset
     uint64_t timeOffset = std::min({
@@ -866,7 +865,7 @@ void BMX160::readFifo(bool headerless)
     for (int i = 0; i < lastFifoLevel; i++)
     {
         lastFifo[i].accelerationTimestamp +=
-            Microsecond(lastInterruptTimestamp - watermarkTimestamp);
+            lastInterruptTimestamp - watermarkTimestamp;
         lastFifo[i].angularSpeedTimestamp +=
             lastInterruptTimestamp - watermarkTimestamp;
         lastFifo[i].magneticFieldTimestamp +=
diff --git a/src/shared/sensors/BMX160/BMX160Data.h b/src/shared/sensors/BMX160/BMX160Data.h
index be594c562..62fd29c10 100644
--- a/src/shared/sensors/BMX160/BMX160Data.h
+++ b/src/shared/sensors/BMX160/BMX160Data.h
@@ -32,7 +32,7 @@ struct BMX160Data : public AccelerometerData,
                     public MagnetometerData
 {
     BMX160Data()
-        : AccelerometerData{Microsecond(0), MeterPerSecondSquared(0),
+        : AccelerometerData{0, MeterPerSecondSquared(0),
                             MeterPerSecondSquared(0), MeterPerSecondSquared(0)},
           GyroscopeData{0, 0.0, 0.0, 0.0}, MagnetometerData{0, 0.0, 0.0, 0.0}
     {
@@ -53,9 +53,9 @@ struct BMX160Data : public AccelerometerData,
 
     void print(std::ostream& os) const
     {
-        os << accelerationTimestamp.value() << "," << accelerationX.value()
-           << "," << accelerationY.value() << "," << accelerationZ.value()
-           << "," << angularSpeedTimestamp << "," << angularSpeedX << ","
+        os << accelerationTimestamp << "," << accelerationX.value() << ","
+           << accelerationY.value() << "," << accelerationZ.value() << ","
+           << angularSpeedTimestamp << "," << angularSpeedX << ","
            << angularSpeedY << "," << angularSpeedZ << ","
            << magneticFieldTimestamp << "," << magneticFieldX << ","
            << magneticFieldY << "," << magneticFieldZ << "\n";
diff --git a/src/shared/sensors/BMX160/BMX160WithCorrection.cpp b/src/shared/sensors/BMX160/BMX160WithCorrection.cpp
index ba32d9897..ba68500bb 100644
--- a/src/shared/sensors/BMX160/BMX160WithCorrection.cpp
+++ b/src/shared/sensors/BMX160/BMX160WithCorrection.cpp
@@ -115,9 +115,9 @@ BMX160WithCorrectionData BMX160WithCorrection::sampleImpl()
 
     result.accelerationTimestamp = fifoElement.accelerationTimestamp;
     static_cast<AccelerometerData&>(result) << avgAccel;
-    result.magneticFieldTimestamp = fifoElement.accelerationTimestamp.value();
+    result.magneticFieldTimestamp = fifoElement.accelerationTimestamp;
     static_cast<MagnetometerData&>(result) << avgMag;
-    result.angularSpeedTimestamp = fifoElement.accelerationTimestamp.value();
+    result.angularSpeedTimestamp = fifoElement.accelerationTimestamp;
     static_cast<GyroscopeData&>(result) << (avgGyro - gyroscopeBias);
 
     if (calibrating)
diff --git a/src/shared/sensors/BMX160/BMX160WithCorrectionData.h b/src/shared/sensors/BMX160/BMX160WithCorrectionData.h
index ee95eddd2..0f5aaaa32 100644
--- a/src/shared/sensors/BMX160/BMX160WithCorrectionData.h
+++ b/src/shared/sensors/BMX160/BMX160WithCorrectionData.h
@@ -76,9 +76,9 @@ struct BMX160WithCorrectionData : public BMX160Data
 
     void print(std::ostream& os) const
     {
-        os << accelerationTimestamp.value() << "," << accelerationX.value()
-           << "," << accelerationY.value() << "," << accelerationZ.value()
-           << "," << angularSpeedTimestamp << "," << angularSpeedX << ","
+        os << accelerationTimestamp << "," << accelerationX.value() << ","
+           << accelerationY.value() << "," << accelerationZ.value() << ","
+           << angularSpeedTimestamp << "," << angularSpeedX << ","
            << angularSpeedY << "," << angularSpeedZ << ","
            << magneticFieldTimestamp << "," << magneticFieldX << ","
            << magneticFieldY << "," << magneticFieldZ << "\n";
diff --git a/src/shared/sensors/H3LIS331DL/H3LIS331DLData.h b/src/shared/sensors/H3LIS331DL/H3LIS331DLData.h
index 090649e47..6ab962a74 100644
--- a/src/shared/sensors/H3LIS331DL/H3LIS331DLData.h
+++ b/src/shared/sensors/H3LIS331DL/H3LIS331DLData.h
@@ -31,12 +31,12 @@ struct H3LIS331DLData : public AccelerometerData
 {
 
     H3LIS331DLData()
-        : AccelerometerData(Microsecond(0), MeterPerSecondSquared(0),
+        : AccelerometerData(0, MeterPerSecondSquared(0),
                             MeterPerSecondSquared(0),
                             MeterPerSecondSquared(0)){};
 
     H3LIS331DLData(uint64_t ts, float aX, float aY, float aZ)
-        : AccelerometerData(Microsecond(0), MeterPerSecondSquared(aX),
+        : AccelerometerData(0, MeterPerSecondSquared(aX),
                             MeterPerSecondSquared(aY),
                             MeterPerSecondSquared(aZ)){};
 
@@ -49,9 +49,8 @@ struct H3LIS331DLData : public AccelerometerData
 
     void print(std::ostream& os) const
     {
-        os << accelerationTimestamp.value() << "," << accelerationX.value()
-           << "," << accelerationY.value() << "," << accelerationZ.value()
-           << "\n";
+        os << accelerationTimestamp << "," << accelerationX.value() << ","
+           << accelerationY.value() << "," << accelerationZ.value() << "\n";
     }
 };
 
diff --git a/src/shared/sensors/LIS331HH/LIS331HH.cpp b/src/shared/sensors/LIS331HH/LIS331HH.cpp
index 2af538bc7..d62da57d4 100644
--- a/src/shared/sensors/LIS331HH/LIS331HH.cpp
+++ b/src/shared/sensors/LIS331HH/LIS331HH.cpp
@@ -75,7 +75,7 @@ LIS331HHData LIS331HH::sampleImpl()
     int16_t val;
     LIS331HHData data;
 
-    data.accelerationTimestamp = Microsecond(TimestampTimer::getTimestamp());
+    data.accelerationTimestamp = TimestampTimer::getTimestamp();
 
     SPITransaction spi(slave);
 
diff --git a/src/shared/sensors/LIS331HH/LIS331HHData.h b/src/shared/sensors/LIS331HH/LIS331HHData.h
index ebf85ca3c..31bef1fb2 100644
--- a/src/shared/sensors/LIS331HH/LIS331HHData.h
+++ b/src/shared/sensors/LIS331HH/LIS331HHData.h
@@ -39,9 +39,8 @@ struct LIS331HHData : public AccelerometerData
 
     void print(std::ostream& os) const
     {
-        os << accelerationTimestamp.value() << "," << accelerationX.value()
-           << "," << accelerationY.value() << "," << accelerationZ.value()
-           << "\n";
+        os << accelerationTimestamp << "," << accelerationX.value() << ","
+           << accelerationY.value() << "," << accelerationZ.value() << "\n";
     }
 };
 
diff --git a/src/shared/sensors/LIS3DSH/LIS3DSH.h b/src/shared/sensors/LIS3DSH/LIS3DSH.h
index 9ae1c7674..aebb40fbd 100644
--- a/src/shared/sensors/LIS3DSH/LIS3DSH.h
+++ b/src/shared/sensors/LIS3DSH/LIS3DSH.h
@@ -365,7 +365,7 @@ private:
             {  // bit 7 of status set to 1 (some data overwritten)
 
                 accelData.accelerationTimestamp =
-                    Microsecond(TimestampTimer::getTimestamp());
+                    TimestampTimer::getTimestamp();
 
                 // read acceleration on X
                 int8_t accel_L          = spi.readRegister(OUT_X_L);
diff --git a/src/shared/sensors/LIS3DSH/LIS3DSHData.h b/src/shared/sensors/LIS3DSH/LIS3DSHData.h
index e42b9b88b..f650cd2d3 100644
--- a/src/shared/sensors/LIS3DSH/LIS3DSHData.h
+++ b/src/shared/sensors/LIS3DSH/LIS3DSHData.h
@@ -32,15 +32,15 @@ using namespace Units::Time;
 struct LIS3DSHData : public AccelerometerData, public TemperatureData
 {
     LIS3DSHData()
-        : AccelerometerData{Microsecond(0), MeterPerSecondSquared(0),
+        : AccelerometerData{0, MeterPerSecondSquared(0),
                             MeterPerSecondSquared(0), MeterPerSecondSquared(0)},
           TemperatureData{0, 0.0}
     {
     }
 
-    LIS3DSHData(Microsecond t, MeterPerSecondSquared x, MeterPerSecondSquared y,
+    LIS3DSHData(uint64_t t, MeterPerSecondSquared x, MeterPerSecondSquared y,
                 MeterPerSecondSquared z, float temp)
-        : AccelerometerData{t, x, y, z}, TemperatureData{t.value(), temp}
+        : AccelerometerData{t, x, y, z}, TemperatureData{t, temp}
     {
     }
 
@@ -61,9 +61,9 @@ struct LIS3DSHData : public AccelerometerData, public TemperatureData
 
     void print(std::ostream& os) const
     {
-        os << accelerationTimestamp.value() << "," << accelerationX.value()
-           << "," << accelerationY.value() << "," << accelerationZ.value()
-           << "," << temperatureTimestamp << "," << temperature << "\n";
+        os << accelerationTimestamp << "," << accelerationX.value() << ","
+           << accelerationY.value() << "," << accelerationZ.value() << ","
+           << temperatureTimestamp << "," << temperature << "\n";
     }
 };
 
diff --git a/src/shared/sensors/LSM6DSRX/LSM6DSRX.cpp b/src/shared/sensors/LSM6DSRX/LSM6DSRX.cpp
index e98c87af4..6a64aba4a 100644
--- a/src/shared/sensors/LSM6DSRX/LSM6DSRX.cpp
+++ b/src/shared/sensors/LSM6DSRX/LSM6DSRX.cpp
@@ -624,7 +624,7 @@ uint16_t LSM6DSRX::combineHighLowBitsUnsigned(uint8_t low, uint8_t high)
 
 void LSM6DSRX::getAccelerometerData(LSM6DSRXData& data)
 {
-    data.accelerationTimestamp = Microsecond(TimestampTimer::getTimestamp());
+    data.accelerationTimestamp = TimestampTimer::getTimestamp();
 
     data.accelerationX = MeterPerSecondSquared(
         getAxisData(LSM6DSRXDefs::REG_OUTX_L_A, LSM6DSRXDefs::REG_OUTX_H_A,
@@ -885,9 +885,9 @@ void LSM6DSRX::readFromFifo()
 
                 // Set new data
                 timestamps[timeslotTag].data.accelerationTimestamp =
-                    Microsecond(convertTimestamp(static_cast<uint64_t>(t)));
+                    convertTimestamp(static_cast<uint64_t>(t));
                 timestamps[timeslotTag].data.angularSpeedTimestamp =
-                    timestamps[timeslotTag].data.accelerationTimestamp.value();
+                    timestamps[timeslotTag].data.accelerationTimestamp;
 
                 timestamps[timeslotTag].accPresent = false;
                 timestamps[timeslotTag].gyrPresent = false;
@@ -912,7 +912,7 @@ void LSM6DSRX::pushIntoFifo(LSM6DSRXDefs::FifoTimeslotData& timeslot,
     // check if data can be pushed
     if ((fifoIdx > 0 && timeslot.data.accelerationTimestamp ==
                             lastFifo[fifoIdx - 1].accelerationTimestamp) ||
-        timeslot.data.accelerationTimestamp.value() == 0)
+        timeslot.data.accelerationTimestamp == 0)
     {
         // the new sample has the same timestamp of the previous one or
         // timestamp is 0 --> discarded
diff --git a/src/shared/sensors/LSM6DSRX/LSM6DSRXData.h b/src/shared/sensors/LSM6DSRX/LSM6DSRXData.h
index 6135ef24c..268df0354 100644
--- a/src/shared/sensors/LSM6DSRX/LSM6DSRXData.h
+++ b/src/shared/sensors/LSM6DSRX/LSM6DSRXData.h
@@ -30,7 +30,7 @@ namespace Boardcore
 struct LSM6DSRXData : public AccelerometerData, public GyroscopeData
 {
     LSM6DSRXData()
-        : AccelerometerData{Microsecond(0), MeterPerSecondSquared(0),
+        : AccelerometerData{0, MeterPerSecondSquared(0),
                             MeterPerSecondSquared(0), MeterPerSecondSquared(0)},
           GyroscopeData{0, 0.0, 0.0, 0.0}
     {
@@ -45,9 +45,9 @@ struct LSM6DSRXData : public AccelerometerData, public GyroscopeData
 
     void print(std::ostream& os) const
     {
-        os << accelerationTimestamp.value() << "," << accelerationX.value()
-           << "," << accelerationY.value() << "," << accelerationZ.value()
-           << "," << angularSpeedTimestamp << "," << angularSpeedX << ","
+        os << accelerationTimestamp << "," << accelerationX.value() << ","
+           << accelerationY.value() << "," << accelerationZ.value() << ","
+           << angularSpeedTimestamp << "," << angularSpeedX << ","
            << angularSpeedY << "," << angularSpeedZ << "\n";
     }
 };
diff --git a/src/shared/sensors/MPU9250/MPU9250.cpp b/src/shared/sensors/MPU9250/MPU9250.cpp
index ce54e4bb3..14c5a840c 100644
--- a/src/shared/sensors/MPU9250/MPU9250.cpp
+++ b/src/shared/sensors/MPU9250/MPU9250.cpp
@@ -112,7 +112,7 @@ MPU9250Data MPU9250::sampleImpl()
 
     // Save timestamps
     uint64_t timestamp          = TimestampTimer::getTimestamp();
-    data.accelerationTimestamp  = Microsecond(timestamp);
+    data.accelerationTimestamp  = timestamp;
     data.temperatureTimestamp   = timestamp;
     data.angularSpeedTimestamp  = timestamp;
     data.magneticFieldTimestamp = timestamp;
diff --git a/src/shared/sensors/MPU9250/MPU9250Data.h b/src/shared/sensors/MPU9250/MPU9250Data.h
index b113cb61f..dd526fa50 100644
--- a/src/shared/sensors/MPU9250/MPU9250Data.h
+++ b/src/shared/sensors/MPU9250/MPU9250Data.h
@@ -33,7 +33,7 @@ struct MPU9250Data : public AccelerometerData,
                      public TemperatureData
 {
     MPU9250Data()
-        : AccelerometerData{Microsecond(0), MeterPerSecondSquared(0),
+        : AccelerometerData{0, MeterPerSecondSquared(0),
                             MeterPerSecondSquared(0), MeterPerSecondSquared(0)},
           GyroscopeData{0, 0.0, 0.0, 0.0}, MagnetometerData{0, 0.0, 0.0, 0.0},
           TemperatureData{0, 0.0}
@@ -56,9 +56,9 @@ struct MPU9250Data : public AccelerometerData,
 
     void print(std::ostream& os) const
     {
-        os << accelerationTimestamp.value() << "," << accelerationX.value()
-           << "," << accelerationY.value() << "," << accelerationZ.value()
-           << "," << angularSpeedTimestamp << "," << angularSpeedX << ","
+        os << accelerationTimestamp << "," << accelerationX.value() << ","
+           << accelerationY.value() << "," << accelerationZ.value() << ","
+           << angularSpeedTimestamp << "," << angularSpeedX << ","
            << angularSpeedY << "," << angularSpeedZ << ","
            << magneticFieldTimestamp << "," << magneticFieldX << ","
            << magneticFieldY << "," << magneticFieldZ << ","
diff --git a/src/shared/sensors/SensorData.h b/src/shared/sensors/SensorData.h
index e45b97726..dab8657e4 100644
--- a/src/shared/sensors/SensorData.h
+++ b/src/shared/sensors/SensorData.h
@@ -31,7 +31,6 @@
 namespace Boardcore
 {
 using namespace Units::Acceleration;
-using namespace Units::Time;
 
 /**
  * @brief Generic error codes that a sensor can generate.
@@ -113,16 +112,16 @@ struct HumidityData
  */
 struct AccelerometerData
 {
-    Microsecond accelerationTimestamp   = Microsecond(0);
+    uint64_t accelerationTimestamp      = 0;
     MeterPerSecondSquared accelerationX = MeterPerSecondSquared(0);
     MeterPerSecondSquared accelerationY = MeterPerSecondSquared(0);
     MeterPerSecondSquared accelerationZ = MeterPerSecondSquared(0);
 
     AccelerometerData() {}
 
-    AccelerometerData(Microsecond timestamp, MeterPerSecondSquared x,
+    AccelerometerData(uint64_t timestamp, MeterPerSecondSquared x,
                       MeterPerSecondSquared y, MeterPerSecondSquared z)
-        : accelerationTimestamp(timestamp), accelerationX(x), accelerationY(y),
+        : accelerationTimestamp(0), accelerationX(x), accelerationY(y),
           accelerationZ(z)
     {
     }
@@ -141,9 +140,8 @@ struct AccelerometerData
 
     void print(std::ostream& os) const
     {
-        os << accelerationTimestamp.value() << "," << accelerationX.value()
-           << "," << accelerationY.value() << "," << accelerationZ.value()
-           << "\n";
+        os << accelerationTimestamp << "," << accelerationX.value() << ","
+           << accelerationY.value() << "," << accelerationZ.value() << "\n";
     }
 
     operator Eigen::Vector3f() const
diff --git a/src/shared/sensors/VN100/VN100.cpp b/src/shared/sensors/VN100/VN100.cpp
index dac1f18f7..5cf1a4aa8 100644
--- a/src/shared/sensors/VN100/VN100.cpp
+++ b/src/shared/sensors/VN100/VN100.cpp
@@ -523,7 +523,7 @@ AccelerometerData VN100::sampleAccelerometer()
     }
 
     // Parse the data
-    data.accelerationTimestamp = Microsecond(TimestampTimer::getTimestamp());
+    data.accelerationTimestamp = TimestampTimer::getTimestamp();
     data.accelerationX =
         MeterPerSecondSquared(strtod(recvString + indexStart + 1, &nextNumber));
     data.accelerationY =
diff --git a/src/shared/sensors/VN100/VN100Data.h b/src/shared/sensors/VN100/VN100Data.h
index 00f9b973b..0f759d957 100644
--- a/src/shared/sensors/VN100/VN100Data.h
+++ b/src/shared/sensors/VN100/VN100Data.h
@@ -47,7 +47,7 @@ struct VN100Data : public QuaternionData,
     VN100Data()
         : QuaternionData{0, 0.0, 0.0, 0.0, 0.0}, MagnetometerData{0, 0.0, 0.0,
                                                                   0.0},
-          AccelerometerData{Microsecond(0), MeterPerSecondSquared(0),
+          AccelerometerData{0, MeterPerSecondSquared(0),
                             MeterPerSecondSquared(0), MeterPerSecondSquared(0)},
           GyroscopeData{0, 0.0, 0.0, 0.0}, TemperatureData{0, 0.0},
           PressureData{0, 0.0}
@@ -86,9 +86,9 @@ struct VN100Data : public QuaternionData,
            << "," << quaternionZ << "," << quaternionW << ","
            << magneticFieldTimestamp << "," << magneticFieldX << ","
            << magneticFieldY << "," << magneticFieldZ << ","
-           << accelerationTimestamp.value() << "," << accelerationX.value()
-           << "," << accelerationY.value() << "," << accelerationZ.value()
-           << "," << angularSpeedTimestamp << "," << angularSpeedX << ","
+           << accelerationTimestamp << "," << accelerationX.value() << ","
+           << accelerationY.value() << "," << accelerationZ.value() << ","
+           << angularSpeedTimestamp << "," << angularSpeedX << ","
            << angularSpeedY << "," << angularSpeedZ << ","
            << temperatureTimestamp << "," << temperature << ","
            << pressureTimestamp << "," << pressure << "\n";
diff --git a/src/tests/sensors/test-lis3dsh.cpp b/src/tests/sensors/test-lis3dsh.cpp
index 559af1ca6..852909c85 100644
--- a/src/tests/sensors/test-lis3dsh.cpp
+++ b/src/tests/sensors/test-lis3dsh.cpp
@@ -97,7 +97,7 @@ int main()
 
         data = sensor.getLastSample();
 
-        printf("\nTimestamp: %llu \n", data.accelerationTimestamp.value());
+        printf("\nTimestamp: %llu \n", data.accelerationTimestamp);
         printf("Acc: x: %f | y: %f | z: %f \n", data.accelerationX.value(),
                data.accelerationY.value(), data.accelerationZ.value());
         printf("Temp: %.2f C \n", data.temperature);
-- 
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