diff --git a/src/shared/radio/MavlinkDriver/MavlinkDriver.h b/src/shared/radio/MavlinkDriver/MavlinkDriver.h
index 81607862cfe14f10b7de94b1faf00bd2fcce23bb..a1186fc2505ea36d780c40b89889ee4adb7572f5 100644
--- a/src/shared/radio/MavlinkDriver/MavlinkDriver.h
+++ b/src/shared/radio/MavlinkDriver/MavlinkDriver.h
@@ -42,6 +42,8 @@ implementation before including MavlinkDriver.h"
#include <radio/Transceiver.h>
#include <utils/collections/SyncPacketQueue.h>
+#include <functional>
+
#include "MavlinkStatus.h"
namespace Boardcore
diff --git a/src/shared/radio/SX1278/SX1278Common.cpp b/src/shared/radio/SX1278/SX1278Common.cpp
index a4cc12d11b023225a5504b94801a93956e9772fb..83a24b9cd9a9851729c481096370a85e03e5d9fa 100644
--- a/src/shared/radio/SX1278/SX1278Common.cpp
+++ b/src/shared/radio/SX1278/SX1278Common.cpp
@@ -23,6 +23,7 @@
#include "SX1278Common.h"
#include <kernel/scheduler/scheduler.h>
+#include <utils/Constants.h>
namespace Boardcore
{
@@ -107,10 +108,10 @@ ISX1278::IrqFlags SX1278Common::waitForIrqBusy(LockMode &_guard,
// otherwise don't do anything with it
(void)_guard;
- long long start = miosix::getTick();
+ long long start = miosix::getTime();
IrqFlags ret_irq = 0;
- while ((miosix::getTick() - start) < timeout)
+ while ((miosix::getTime() - start) < timeout * Constants::NS_IN_MS)
{
// Delay between polls
const unsigned int DELAY = 100;
@@ -143,7 +144,7 @@ bool SX1278Common::waitForIrqInner(LockMode &_guard, bool unlock)
mutex.unlock();
}
- int start = miosix::getTick();
+ long long start = miosix::getTime();
miosix::TimedWaitResult result = miosix::TimedWaitResult::NoTimeout;
{
@@ -151,8 +152,8 @@ bool SX1278Common::waitForIrqInner(LockMode &_guard, bool unlock)
while (state.irq_wait_thread &&
result == miosix::TimedWaitResult::NoTimeout)
{
- result = miosix::Thread::IRQenableIrqAndTimedWaitMs(
- lock, start + IRQ_TIMEOUT);
+ result = miosix::Thread::IRQenableIrqAndTimedWait(
+ lock, start + IRQ_TIMEOUT * Constants::NS_IN_MS);
}
}
diff --git a/src/shared/radio/SX1278/SX1278Fsk.cpp b/src/shared/radio/SX1278/SX1278Fsk.cpp
index 1cf29fceea9de8e894c51ab6a1b1ba746164595c..20b68bf5f41c60559eeb2c941526fcb898795463 100644
--- a/src/shared/radio/SX1278/SX1278Fsk.cpp
+++ b/src/shared/radio/SX1278/SX1278Fsk.cpp
@@ -34,7 +34,7 @@ namespace Boardcore
using namespace SX1278;
using namespace SX1278::Fsk;
-long long now() { return miosix::getTick() * 1000 / miosix::TICK_FREQ; }
+long long now() { return miosix::getTime() / Constants::NS_IN_MS; }
// Enable:
// - PayloadReady, PacketSent on DIO0 (mode 00)
diff --git a/src/shared/radio/Xbee/Xbee.cpp b/src/shared/radio/Xbee/Xbee.cpp
index 35553d134b2a3598838e5c728cc9f327c08f7e55..8ae96029d6b9c19555d7d99acae722091cb0cf5f 100644
--- a/src/shared/radio/Xbee/Xbee.cpp
+++ b/src/shared/radio/Xbee/Xbee.cpp
@@ -64,7 +64,7 @@ bool Xbee::send(uint8_t* pkt, size_t packetLength)
MAX_PACKET_PAYLOAD_LENGTH);
return false;
}
- long long startTick = miosix::getTick();
+ long long startTime = miosix::getTime();
TXRequestFrame txReq;
uint8_t txFrameId = buildTXRequestFrame(txReq, pkt, packetLength);
@@ -75,9 +75,9 @@ bool Xbee::send(uint8_t* pkt, size_t packetLength)
writeFrame(txReq);
// Wait for a TX Status frame
- long long timeoutTick = miosix::getTick() + txTimeout;
+ long long timeoutTime = miosix::getTime() + txTimeout;
- while (waitForFrame(FTYPE_TX_STATUS, FRAME_POLL_INTERVAL, timeoutTick))
+ while (waitForFrame(FTYPE_TX_STATUS, FRAME_POLL_INTERVAL, timeoutTime))
{
TXStatusFrame* f = parsingApiFrame.toFrameType<TXStatusFrame>();
@@ -106,7 +106,7 @@ bool Xbee::send(uint8_t* pkt, size_t packetLength)
++status.txTimeoutCount;
LOG_ERR(logger, "TX_STATUS timeout");
}
- timeToSendStats.add(miosix::getTick() - startTick);
+ timeToSendStats.add(miosix::getTime() - startTime);
StackLogger::getInstance().updateStack(THID_XBEE);
@@ -160,7 +160,7 @@ ssize_t Xbee::receive(uint8_t* buf, size_t bufMaxSize)
XbeeStatus Xbee::getStatus()
{
- status.timestamp = miosix::getTick();
+ status.timestamp = miosix::getTime();
status.timeToSendStats = timeToSendStats.getStats();
return status;
}
@@ -178,7 +178,7 @@ void Xbee::reset()
// When the xbee is ready, we should assert SSEL to tell it to use
// SPI, and it should provide us with a modem status frame
- long long timeout = miosix::getTick() + 1000;
+ long long timeout = miosix::getTime() + 1 * Constants::NS_IN_S;
do
{
// Assert SSEL on every iteration as we don't exactly know when the
@@ -200,7 +200,7 @@ void Xbee::reset()
break;
}
miosix::Thread::sleep(5);
- } while (miosix::getTick() < timeout);
+ } while (miosix::getTime() < timeout);
}
void Xbee::wakeReceiver(bool forceReturn)
@@ -293,7 +293,7 @@ bool Xbee::readRXFrame()
void Xbee::writeFrame(APIFrame& frame)
{
- frame.timestamp = miosix::getTick(); // Only for logging purposes
+ frame.timestamp = miosix::getTime(); // Only for logging purposes
// Serialize the frame
uint8_t txBuf[MAX_API_FRAME_SIZE];
@@ -319,7 +319,7 @@ void Xbee::writeFrame(APIFrame& frame)
}
bool Xbee::waitForFrame(uint8_t frameType, unsigned int pollInterval,
- long long timeoutTick)
+ long long timeoutTime)
{
do
{
@@ -337,7 +337,7 @@ bool Xbee::waitForFrame(uint8_t frameType, unsigned int pollInterval,
{
miosix::Thread::sleep(pollInterval);
}
- } while (miosix::getTick() < timeoutTick);
+ } while (miosix::getTime() < timeoutTime);
return false;
}
@@ -380,10 +380,10 @@ bool Xbee::sendATCommand(const char* cmd, ATCommandResponseFrame* response,
bool success = false;
- long long timeoutTick = miosix::getTick() + timeout;
+ long long timeoutTime = miosix::getTime() + (timeout * Constants::NS_IN_MS);
while (waitForFrame(FTYPE_AT_COMMAND_RESPONSE, FRAME_POLL_INTERVAL,
- timeoutTick))
+ timeoutTime))
{
ATCommandResponseFrame* f =
parsingApiFrame.toFrameType<ATCommandResponseFrame>();
@@ -435,7 +435,7 @@ uint8_t Xbee::sendATCommandInternal(uint8_t txFrameId, const char* cmd,
void Xbee::handleFrame(APIFrame& frame)
{
// Set the timestamp to the frame
- frame.timestamp = miosix::getTick();
+ frame.timestamp = miosix::getTime();
switch (frame.frameType)
{