diff --git a/src/tests/actuators/test-hbridge.cpp b/src/tests/actuators/test-hbridge.cpp
index a2aa0438aa91015c899273a37c38ff87458def55..c59c142babab6ee3b677d0d5a2d9872756da26fc 100644
--- a/src/tests/actuators/test-hbridge.cpp
+++ b/src/tests/actuators/test-hbridge.cpp
@@ -22,6 +22,7 @@
#include <actuators/HBridge/HBridge.h>
#include <miosix.h>
+#include <utils/Constants.h>
#include <utils/Debug.h>
#include <iostream>
@@ -31,7 +32,7 @@ using namespace Boardcore;
using namespace miosix;
using namespace std;
-static constexpr int PWM_DURATION = 60 * 1000;
+static constexpr int PWM_DURATION = 60 * 1000; ///< [ms]
static const TimerUtils::Channel HBRIDGE_PWM_CHANNEL =
TimerUtils::Channel::CHANNEL_1;
@@ -41,22 +42,22 @@ GpioPin hbridgeInhibit(GPIOA_BASE, 7); // inhibit pin for the hbridge
bool print = true; // print the elapsed time or not
-long long measuredTime = 0;
+long long measuredTime = 0; ///< [ns]
void wait()
{
- long long t = getTick();
+ long long t = getTime();
long long t0 = t;
- while (t < t0 + PWM_DURATION)
+ while (t < t0 + PWM_DURATION * Constants::NS_IN_MS)
{
Thread::sleep(50);
- t = getTick();
+ t = getTime();
if (print)
{
- TRACE("Elapsed time : %.2f \n", (t - t0) / 1000.0);
+ TRACE("Elapsed time : %.2f s\n", (t - t0) / Constants::NS_IN_S);
}
}
@@ -112,7 +113,7 @@ int main()
Thread::sleep(500);
- TRACE("Elapsed time: %.2f s\n", (measuredTime) / 1000.0f);
+ TRACE("Elapsed time: %.2f s\n", (measuredTime) / Constants::NS_IN_S);
TRACE("Done!\n\n");
}
diff --git a/src/tests/algorithms/NAS/test-triad-parafoil.cpp b/src/tests/algorithms/NAS/test-triad-parafoil.cpp
index d3dadc04fe00b89dfcd50293ee4f293b63c7e2c4..08cd21cebb426647f2b5717d85e5ba0b5bf3a026 100644
--- a/src/tests/algorithms/NAS/test-triad-parafoil.cpp
+++ b/src/tests/algorithms/NAS/test-triad-parafoil.cpp
@@ -47,7 +47,7 @@ int main()
mpu = new MPU9250(spi1, sensors::mpu9250::cs::getPin());
mpu->init();
- auto lastTick = getTick();
+ auto lastTime = getTime();
while (true)
{
mpu->sample();
@@ -73,7 +73,7 @@ int main()
printf("w%fwa%fab%fbc%fc\n", kalmanState(9), kalmanState(6),
kalmanState(7), kalmanState(8));
- Thread::sleepUntil(lastTick + 20);
- lastTick = getTick();
+ Thread::nanoSleepUntil(lastTime + 20 * Constants::NS_IN_MS);
+ lastTime = getTime();
}
}
diff --git a/src/tests/algorithms/NAS/test-triad.cpp b/src/tests/algorithms/NAS/test-triad.cpp
index af38fb8562e36b60441361b22df41c31715a1645..7d3dc39d3fd4e482d601199e35ede46a95fb5388 100644
--- a/src/tests/algorithms/NAS/test-triad.cpp
+++ b/src/tests/algorithms/NAS/test-triad.cpp
@@ -46,7 +46,7 @@ int main()
imuInit();
bmx->init();
- auto lastTick = getTick();
+ auto lastTime = getTime();
while (true)
{
bmx->sample();
@@ -72,8 +72,8 @@ int main()
printf("w%fwa%fab%fbc%fc\n", kalmanState(9), kalmanState(6),
kalmanState(7), kalmanState(8));
- Thread::sleepUntil(lastTick + 20);
- lastTick = getTick();
+ Thread::nanoSleepUntil(lastTime + 20 * Constants::NS_IN_MS);
+ lastTime = getTime();
}
}
diff --git a/src/tests/catch/test-eventbroker.cpp b/src/tests/catch/test-eventbroker.cpp
index 9590563db8b32f2c7694cc4dd4a287580068193d..c3492ea850f05caa8700b5d0e96af2f1e4951610 100644
--- a/src/tests/catch/test-eventbroker.cpp
+++ b/src/tests/catch/test-eventbroker.cpp
@@ -28,16 +28,18 @@
#endif
#include <events/EventBroker.h>
+#include <events/utils/EventCounter.h>
#include <miosix.h>
#include <utils/TestUtils/TestHelper.h>
#include <catch2/catch.hpp>
#include <cstdio>
-using miosix::getTick;
+using miosix::getTime;
using miosix::Thread;
using namespace Boardcore;
+using namespace Boardcore::Constants;
// Uncertainty on the time of delivery of a delayed event, in ms
static const unsigned int EVENT_DELAY_UNCERTAINTY = 1;
@@ -62,8 +64,8 @@ TEST_CASE("EventBroker - Posts to different topics")
Event ev;
EventBroker broker;
- EventCounter sub1(broker);
- EventCounter sub2(broker);
+ EventCounter sub1{broker};
+ EventCounter sub2{broker};
broker.subscribe(&sub1, TOPIC_1);
broker.subscribe(&sub2, TOPIC_2);
@@ -107,9 +109,9 @@ TEST_CASE("EventBroker - EventHandlers can unsubscribe")
Event ev{EV_A};
EventBroker broker;
- EventCounter sub1(broker);
- EventCounter sub2(broker);
- EventCounter sub3(broker);
+ EventCounter sub1{broker};
+ EventCounter sub2{broker};
+ EventCounter sub3{broker};
broker.subscribe(&sub1, TOPIC_1);
broker.subscribe(&sub1, TOPIC_2);
@@ -208,21 +210,21 @@ protected:
TEST_CASE_METHOD(EventBrokerTestFixture, "EventBroker - Events can be dalayed")
{
Event ev{EV_A};
- long long start = getTick();
+ long long start = getTime();
// Post delayed event by 1000 ms
broker.postDelayed(ev, TOPIC_1, 1000);
broker.postDelayed(ev, TOPIC_2, 3000);
- REQUIRE(expectEvent(EV_A, TOPIC_1, start + 1000, 2, broker));
- REQUIRE(expectEvent(EV_A, TOPIC_2, start + 3000, 2, broker));
+ REQUIRE(expectEvent(EV_A, TOPIC_1, start + 1 * NS_IN_S, 2, broker));
+ REQUIRE(expectEvent(EV_A, TOPIC_2, start + 3 * NS_IN_S, 2, broker));
}
TEST_CASE_METHOD(EventBrokerTestFixture,
"EventBroker - Delayed events can be removed")
{
Event ev{EV_A};
- long long start = getTick();
+ long long start = getTime();
// Post delayed event by 1000 ms
uint16_t delayed = broker.postDelayed(ev, TOPIC_1, 1000);
@@ -233,8 +235,9 @@ TEST_CASE_METHOD(EventBrokerTestFixture,
Thread::sleep(500);
broker.removeDelayed(delayed);
- REQUIRE_FALSE(expectEvent(EV_A, TOPIC_1, start + 1000, 2, broker));
- REQUIRE(expectEvent(EV_A, TOPIC_2, start + 3000, 2, broker));
+ REQUIRE_FALSE(
+ expectEvent(EV_A, TOPIC_1, start + 1 * NS_IN_S, 2, broker));
+ REQUIRE(expectEvent(EV_A, TOPIC_2, start + 3 * NS_IN_S, 2, broker));
}
SECTION("All events can be removed")
@@ -242,8 +245,10 @@ TEST_CASE_METHOD(EventBrokerTestFixture,
Thread::sleep(500);
broker.clearDelayedEvents();
- REQUIRE_FALSE(expectEvent(EV_A, TOPIC_1, start + 1000, 2, broker));
- REQUIRE_FALSE(expectEvent(EV_A, TOPIC_2, start + 3000, 2, broker));
+ REQUIRE_FALSE(
+ expectEvent(EV_A, TOPIC_1, start + 1 * NS_IN_S, 2, broker));
+ REQUIRE_FALSE(
+ expectEvent(EV_A, TOPIC_2, start + 3 * NS_IN_S, 2, broker));
}
}
diff --git a/src/tests/drivers/canbus/CanDriver/SimpleCanManager.h b/src/tests/drivers/canbus/CanDriver/SimpleCanManager.h
index 141c5a60e2fe12c72607cd171f35231313874559..bd89caf4507d6136fe0277159943f0e4f1438f89 100644
--- a/src/tests/drivers/canbus/CanDriver/SimpleCanManager.h
+++ b/src/tests/drivers/canbus/CanDriver/SimpleCanManager.h
@@ -26,6 +26,7 @@
#include <drivers/canbus/CanDriver/BusLoadEstimation.h>
#include <drivers/canbus/CanDriver/CanDriver.h>
#include <miosix.h>
+#include <utils/Constants.h>
#include <utils/collections/SyncCircularBuffer.h>
#include <cstdlib>
@@ -88,7 +89,8 @@ private:
}
Boardcore::Canbus::CanPacket p = parent.txPackets.pop();
parent.canbus.send(p);
- p.timestamp = miosix::getTick();
+ p.timestamp =
+ miosix::getTime() / Boardcore::Constants::NS_IN_MS;
parent.busLoad.addPacket(p);
}
}
diff --git a/src/tests/drivers/canbus/CanDriver/test-can-2way.cpp b/src/tests/drivers/canbus/CanDriver/test-can-2way.cpp
index 3fd1440dd945e7d2fb69dda142fe5972884fcad6..7d007e6fce6c96ed7eb42ad2a8a0c18249ab827b 100644
--- a/src/tests/drivers/canbus/CanDriver/test-can-2way.cpp
+++ b/src/tests/drivers/canbus/CanDriver/test-can-2way.cpp
@@ -84,7 +84,7 @@ void handleCanMessage(Canbus::CanRXPacket packet)
if (msg.id == packet.packet.id)
{
msg.id = 0;
- msg.ts = getTick() - msg.ts;
+ msg.ts = getTime() / Constants::NS_IN_MS - msg.ts;
break;
}
}
@@ -114,7 +114,8 @@ void sendNewRequest()
{
Lock<FastMutex> l(mutexMsgs);
- msgs.put({packet.id, (uint32_t)getTick()});
+ msgs.put({packet.id,
+ static_cast<uint32_t>(getTime() / Constants::NS_IN_MS)});
}
canManager->send(packet);
@@ -128,7 +129,7 @@ public:
unsigned int c = 0;
while (!shouldStop())
{
- uint32_t tick = (uint32_t)getTick();
+ uint32_t time = getTime() / Constants::NS_IN_MS; // [ms]
{
Lock<FastMutex> l(mutexMsgs);
if (msgs.isFull())
@@ -138,7 +139,7 @@ public:
while (!msgs.isEmpty())
{
CanMsg msg = msgs.get();
- if (msg.id == 0 || tick - msg.ts > MSG_LOST_DEADLINE)
+ if (msg.id == 0 || time - msg.ts > MSG_LOST_DEADLINE)
{
msgs.pop();
@@ -184,7 +185,7 @@ public:
info.loadPercent);
}
++c;
- Thread::sleepUntil(tick + MSG_DEADLINE);
+ Thread::nanoSleepUntil((time + MSG_DEADLINE) * Constants::NS_IN_MS);
}
}
diff --git a/src/tests/drivers/canbus/CanDriver/test-can-filters.cpp b/src/tests/drivers/canbus/CanDriver/test-can-filters.cpp
index b6c3f6b667ffcac3ff1021d99634f5430ec08b78..52ff89eac8ddc0093a7474870e74d1be78c54e0f 100644
--- a/src/tests/drivers/canbus/CanDriver/test-can-filters.cpp
+++ b/src/tests/drivers/canbus/CanDriver/test-can-filters.cpp
@@ -109,7 +109,7 @@ int main()
for (;;)
{
- p.timestamp = miosix::getTick();
+ p.timestamp = miosix::getTime() / Constants::NS_IN_MS;
p.id = 365854720;
c->send(p);
diff --git a/src/tests/drivers/canbus/CanDriver/test-can-loopback.cpp b/src/tests/drivers/canbus/CanDriver/test-can-loopback.cpp
index 06559020e6eaee2e933d2ce66696ec2a1c5baf44..e4ae29ebc5a3a8029174ec1bc45a7ba023dc8f3e 100644
--- a/src/tests/drivers/canbus/CanDriver/test-can-loopback.cpp
+++ b/src/tests/drivers/canbus/CanDriver/test-can-loopback.cpp
@@ -64,14 +64,14 @@ public:
{
while (!shouldStop())
{
- long long start = miosix::getTick();
+ long long start = miosix::getTime();
BusLoadEstimation::BusLoadInfo info = ble.getLoadInfo();
LOG_INFO(l,
"payload rate: {:.2f} kbps, total rate: {:.2f} kbps, "
"utilization: {:.2f}%",
info.payloadBitRate / 1000.0f, info.totalBitRate / 1000.0f,
info.loadPercent);
- Thread::sleepUntil(start + 1000);
+ Thread::nanoSleepUntil(start + 1000 * Constants::NS_IN_MS);
}
}
@@ -122,7 +122,7 @@ int main()
{
// printPacket("TX", p);
- p.timestamp = miosix::getTick();
+ p.timestamp = miosix::getTime() / Constants::NS_IN_MS;
c->send(p);
load.addPacket(p);
// Thread::sleep(1);
diff --git a/src/tests/drivers/test-dsgamma.cpp b/src/tests/drivers/test-dsgamma.cpp
index 1445ae8a674aaa467b3713faf1f8eef368ab9694..e1f8d47dd7c05b93da744dd8cffdcaa9aa697f6e 100644
--- a/src/tests/drivers/test-dsgamma.cpp
+++ b/src/tests/drivers/test-dsgamma.cpp
@@ -33,7 +33,7 @@ using miosix::Gpio;
using miosix::Thread;
// Protocol config
-//#define DATA_LEN 16384
+// #define DATA_LEN 16384
/* DISCOVERY F429I*/
typedef Gpio<GPIOA_BASE, 0> button;
@@ -78,7 +78,7 @@ int main()
int state = ST_STARTING;
bool end = false;
- uint32_t startT, endT;
+ long long startT{}, endT{};
while (1)
{
@@ -95,12 +95,12 @@ int main()
if (c == 255)
{
TRACE("Starting!\n", 0);
- startT = miosix::getTick();
+ startT = miosix::getTime();
// printf("%c", c);
// inputBuf[index] = c;
++index;
state = ST_WAIT_END_FRAME;
- endT = miosix::getTick();
+ endT = miosix::getTime();
}
break;
}
@@ -140,7 +140,7 @@ int main()
printf("Packet end %d. lost: %d\n", pktCount,
lostBytes);
++pktCount;
- // endT = miosix::getTick();
+ // endT = miosix::getTime();
state = ST_WAIT_START_FRAME;
}
@@ -156,7 +156,7 @@ int main()
}
case ST_SEND_DATA:
{
- endT = miosix::getTick();
+ endT = miosix::getTime();
end = true;
break;
/* uint8_t buf[] = {0x23, 0x23, 0x23, 0x23, 0x23};
@@ -169,12 +169,10 @@ int main()
}
}
+ int time = (endT - startT) / Constants::NS_IN_MS; // [ms]
printf("Bytes received: %d\nDropped: %d,Time:%d ms\n", index, lostBytes,
- // cppcheck-suppress uninitvar
- (int)(endT - startT));
- printf("Speed: %.3f KB/s\n",
- // cppcheck-suppress uninitvar
- index / ((endT - startT) / 1024.0f) / 1024.0f);
+ time);
+ printf("Speed: %.3f KB/s\n", index / (time / 1024.0f) / 1024.0f);
/* for (int i = 0; i < index; i++)
{
printf("%c", inputBuf[i]);
diff --git a/src/tests/drivers/test-mavlink.cpp b/src/tests/drivers/test-mavlink.cpp
index 8e70f5a51d734894a0d0a4d42dd0d9a97964c744..16d1a846c38755fcaa2f51ce2d60c20892f91f92 100644
--- a/src/tests/drivers/test-mavlink.cpp
+++ b/src/tests/drivers/test-mavlink.cpp
@@ -63,7 +63,8 @@ int main()
{
// Create a Mavlink message
mavlink_message_t pingMsg;
- mavlink_msg_ping_tc_pack(1, 1, &pingMsg, miosix::getTick());
+ mavlink_msg_ping_tc_pack(1, 1, &pingMsg,
+ miosix::getTime() / Constants::NS_IN_MS);
// Send the message
mavlink->enqueueMsg(pingMsg);
diff --git a/src/tests/drivers/timer/test-counted-pwm.cpp b/src/tests/drivers/timer/test-counted-pwm.cpp
index 497f33a868dc16002ab73a87f5e23613fa1eaeca..15895deb58c24171233b95db5a15e49b4c25f4ad 100644
--- a/src/tests/drivers/timer/test-counted-pwm.cpp
+++ b/src/tests/drivers/timer/test-counted-pwm.cpp
@@ -22,6 +22,7 @@
#include <drivers/timer/CountedPWM.h>
#include <miosix.h>
+#include <utils/Constants.h>
#include <thread>
@@ -55,8 +56,9 @@ int main()
{
while (true)
{
+ float time = (float)getTime() / Constants::NS_IN_S; // [s]
printf("[%.2f] Counter: %d\tTarget: %ld\tIs generating: %d\n",
- getTick() / 1000.0, pwm.getCurrentCount(), TIM4->CCR1,
+ time, pwm.getCurrentCount(), TIM4->CCR1,
pwm.isGenerating());
Thread::sleep(250);
}
diff --git a/src/tests/drivers/timer/test-timestamptimer.cpp b/src/tests/drivers/timer/test-timestamptimer.cpp
index 3ba13168412061eafaff618405be23b7e1ecc240..7d024c459f6eb890195ba1d1125378a654890171 100644
--- a/src/tests/drivers/timer/test-timestamptimer.cpp
+++ b/src/tests/drivers/timer/test-timestamptimer.cpp
@@ -23,6 +23,7 @@
#include <drivers/timer/TimerUtils.h>
#include <drivers/timer/TimestampTimer.h>
#include <miosix.h>
+#include <utils/Constants.h>
using namespace miosix;
using namespace Boardcore;
@@ -43,15 +44,15 @@ int main()
for (int i = 0; i < 10; i++)
{
- long long prevTick = getTick();
+ long long prevTime = getTime();
uint64_t timestamp = TimestampTimer::getTimestamp();
// cppcheck-suppress invalidPrintfArgType_uint
- printf("%12llu us, %12.3f ms, %12.6f s, %12lld tick \n", timestamp,
- timestamp / 1e3, timestamp / 1e6, prevTick);
+ printf("%12llu us, %12.3f ms, %12.6f s, %12lld time \n", timestamp,
+ timestamp / 1e3, timestamp / 1e6, prevTime);
- Thread::sleepUntil(prevTick + 1000);
+ Thread::nanoSleepUntil(prevTime + 1 * Constants::NS_IN_S);
}
printf("Now resetting the TimestampTimer\n");
@@ -60,15 +61,15 @@ int main()
while (true)
{
- long long prevTick = getTick();
+ long long prevTime = getTime();
uint64_t timestamp = TimestampTimer::getTimestamp();
// cppcheck-suppress invalidPrintfArgType_uint
- printf("%12llu us, %12.3f ms, %12.6f s, %12lld tick \n", timestamp,
- timestamp / 1e3, timestamp / 1e6, prevTick);
+ printf("%12llu us, %12.3f ms, %12.6f s, %12lld time \n", timestamp,
+ timestamp / 1e3, timestamp / 1e6, prevTime);
- Thread::sleepUntil(prevTick + 1000);
+ Thread::nanoSleepUntil(prevTime + 1 * Constants::NS_IN_S);
}
}
diff --git a/src/tests/drivers/xbee/XbeeTransceiver.h b/src/tests/drivers/xbee/XbeeTransceiver.h
index 3e41850e557367880e47fde90bcd57fc11788527..ffec1ee1a79087eda27f95fbaaa16c5aaca62063 100644
--- a/src/tests/drivers/xbee/XbeeTransceiver.h
+++ b/src/tests/drivers/xbee/XbeeTransceiver.h
@@ -35,7 +35,6 @@
#include "ActiveObject.h"
#include "XbeeTestData.h"
-using miosix::getTick;
using std::bind;
using std::function;
@@ -66,6 +65,9 @@ void memset32(uint8_t* buf, uint32_t val, int bufSize)
struct SendIntervalBase
{
+ /**
+ * @brief Get the interval in milliseconds
+ */
virtual unsigned int getInterval() const = 0;
};
@@ -111,22 +113,22 @@ public:
protected:
void run() override
{
- long long loopStartTs = miosix::getTick();
+ long long loopStartTs = miosix::getTime();
while (!shouldStop())
{
- data.timeSinceLastSend = miosix::getTick() - loopStartTs;
- loopStartTs = miosix::getTick();
+ data.timeSinceLastSend = miosix::getTime() - loopStartTs;
+ loopStartTs = miosix::getTime();
// Create packet
memcpy(buf, &PACKET_FIRST_INT, sizeof(uint32_t));
memset32(buf + sizeof(uint32_t), packetCounter++,
data.packetSize - sizeof(uint32_t));
- long long sendStartTs = miosix::getTick();
+ long long sendStartTs = miosix::getTime();
bool result = xbee.send(buf, data.packetSize);
- data.timeToSend = miosix::getTick() - sendStartTs;
+ data.timeToSend = miosix::getTime() - sendStartTs;
data.timestamp = sendStartTs;
if (result)
@@ -141,7 +143,8 @@ protected:
logger.log(data);
- miosix::Thread::sleepUntil(loopStartTs + interval.getInterval());
+ miosix::Thread::nanoSleepUntil(
+ loopStartTs + (interval.getInterval() * Constants::NS_IN_MS));
}
}
@@ -183,11 +186,11 @@ protected:
{
while (!shouldStop())
{
- long long start = miosix::getTick();
+ long long start = miosix::getTime();
size_t len = xbee.receive(buf, RCV_BUF_SIZE);
- data.lastPacketTimestamp = miosix::getTick();
+ data.lastPacketTimestamp = miosix::getTime();
data.timestamp = start;
++data.rcvCount;
diff --git a/src/tests/drivers/xbee/gui/StatusScreen.h b/src/tests/drivers/xbee/gui/StatusScreen.h
index 1c7a40b5c196ffe7ab85fbe6e87eddaa8265dc79..bd66dc8ce7af32b4f25bb2dad9e1d70e4f5cb870 100644
--- a/src/tests/drivers/xbee/gui/StatusScreen.h
+++ b/src/tests/drivers/xbee/gui/StatusScreen.h
@@ -42,19 +42,20 @@ namespace Boardcore
{
/**
- * @brief Converts tick in milliseconds to the HH:MM:SS format
+ * @brief Converts nanoseconds to the HH:MM:SS format
*/
-std::string tickToHMS(long long tick)
+std::string nanosToHMS(long long nanos)
{
- char buf[15];
+ long long millis = nanos / Constants::NS_IN_MS;
+ char buf[20];
- int h = tick / (1000 * 3600);
- tick -= h * (1000 * 3600);
- int m = tick / (1000 * 60);
- tick -= m * (1000 * 60);
- int s = tick / 1000;
+ lldiv_t hours = std::div(millis, 3600000ll);
+ long long h = hours.quot;
+ lldiv_t minutes = std::div(hours.rem, 60000ll);
+ long long m = minutes.quot;
+ long long s = (minutes.rem / 1000);
- snprintf(buf, 15, "%02d:%02d:%02d", h, m, s);
+ snprintf(buf, 20, "%02lld:%02lld:%02lld", h, m, s);
return string(buf);
}
@@ -255,7 +256,7 @@ struct StatusScreen
tvRxPps.setText(strBuf);
tvRxTimeSinceLastRx.setText(
- tickToHMS(miosix::getTick() - rxd.lastPacketTimestamp));
+ nanosToHMS(miosix::getTime() - rxd.lastPacketTimestamp));
}
VerticalLayout root{10};
diff --git a/src/tests/drivers/xbee/test-xbee-bidir.cpp b/src/tests/drivers/xbee/test-xbee-bidir.cpp
index def6764fda67deaf5aa1bae13881ea50e9ccdf03..1897ce239516c33e714bc20dfbd0f90332ddae05 100644
--- a/src/tests/drivers/xbee/test-xbee-bidir.cpp
+++ b/src/tests/drivers/xbee/test-xbee-bidir.cpp
@@ -161,7 +161,7 @@ int main()
config.packetSize = 256;
config.sendInterval = 333;
config.txEnabled = RUN_SENDER;
- config.timestamp = getTick();
+ config.timestamp = getTime();
configure();
@@ -209,7 +209,7 @@ int main()
// cppcheck-suppress knownConditionTrueFalse
while (getUserBtnValue() == 0)
{
- long long loopStart = getTick();
+ long long loopStart = getTime();
DataRateResult resRcv = trans->getReceiver().getDataRate();
DataRateResult resSnd = trans->getSender().getDataRate();
@@ -220,10 +220,10 @@ int main()
logger.log(xbeeDriver->getStatus());
logger.log(logger.getStats());
- long long tick = getTick();
- unsigned int h = tick / (1000 * 3600);
- unsigned int m = (tick - h * 1000 * 3600) / (1000 * 60);
- float s = (tick - h * 1000 * 3600 - m * 1000 * 60) / 1000.0f;
+ long long millis = getTime() / Constants::NS_IN_MS;
+ unsigned int h = millis / (1000 * 3600);
+ unsigned int m = (millis - h * 1000 * 3600) / (1000 * 60);
+ float s = (millis - h * 1000 * 3600 - m * 1000 * 60) / 1000.0f;
printf("%02u:%02u:%06.3f\n", h, m, s);
if (RUN_SENDER)
@@ -245,7 +245,7 @@ int main()
}
printf("\n");
- Thread::sleepUntil(loopStart + 1000);
+ Thread::nanoSleepUntil(loopStart + 1 * Constants::NS_IN_S);
}
trans->stop();
diff --git a/src/tests/drivers/xbee/test-xbee-gui.cpp b/src/tests/drivers/xbee/test-xbee-gui.cpp
index bc0d694aa9c2b460f7304bdb4d213ea7c169235b..070351f04d56be34042909ab317a3fe6eed7aea9 100644
--- a/src/tests/drivers/xbee/test-xbee-gui.cpp
+++ b/src/tests/drivers/xbee/test-xbee-gui.cpp
@@ -105,7 +105,7 @@ protected:
gui->screenEnergy.updateScan(scan);
- EnergyScanData data{getTick(), scan};
+ EnergyScanData data{getTime(), scan};
logger.log(data);
}
}
@@ -180,7 +180,7 @@ int main()
// Main loop: updates the information in the GUI
for (;;)
{
- long long start = getTick();
+ long long start = getTime();
// Update display values
switch (gui->screenManager.getScreen())
{
@@ -209,7 +209,7 @@ int main()
}
logger.log(logger.getStats());
- Thread::sleepUntil(start + 500);
+ Thread::nanoSleepUntil(start + (500 * Constants::NS_IN_MS));
}
}
@@ -219,7 +219,7 @@ void onStartButtonClick(View* btn __attribute__((unused)), Interaction action)
{
XbeeConfig cfg = gui->screenConfig.config;
- cfg.timestamp = getTick();
+ cfg.timestamp = getTime();
logger.log(cfg);
gui->screenConfig.btnStart.setText("Starting...");
@@ -265,7 +265,7 @@ void onMarkButtonClick(View* btn __attribute__((unused)), Interaction action)
{
if (action == Interaction::CLICK)
{
- Mark m{getTick(), markCounter++};
+ Mark m{getTime(), markCounter++};
logger.log(m);
TextView* tvBtn = dynamic_cast<TextView*>(btn);
diff --git a/src/tests/logger/test-logger.cpp b/src/tests/logger/test-logger.cpp
index a22753780bcfb70d7ef88080e3474cc7cd4898fe..ad79280e6dee0fae7441d57b3b03615901f773d0 100644
--- a/src/tests/logger/test-logger.cpp
+++ b/src/tests/logger/test-logger.cpp
@@ -24,18 +24,20 @@
#include <diagnostic/CpuMeter/CpuMeter.h>
#include <logger/Logger.h>
+#include <utils/Constants.h>
using namespace Boardcore;
+using namespace Boardcore::Constants;
using namespace std;
using namespace miosix;
void logThread(void*)
{
Logger& log = Logger::getInstance();
- const int period = 5;
- for (auto t = getTick();; t += period)
+ const int period = 5 * NS_IN_MS;
+ for (auto t = getTime();; t += period)
{
- Thread::sleepUntil(t);
+ Thread::nanoSleepUntil(t);
for (int i = 0; i < 5; i++)
{
Dummy d;
diff --git a/src/tests/logger/test-logger.h b/src/tests/logger/test-logger.h
index 3bfddd562b1bb6f859b245ef9b3b023c0a649b1d..56f8e9be241f4f056bcd0e24a60fe7dbf927ef67 100644
--- a/src/tests/logger/test-logger.h
+++ b/src/tests/logger/test-logger.h
@@ -38,7 +38,7 @@ public:
Dummy()
{
#ifdef _MIOSIX
- timestamp = miosix::getTick();
+ timestamp = miosix::getTime();
#else //_MIOSIX
timestamp = 0;
#endif //_MIOSIX
diff --git a/src/tests/radio/sx1278/fsk/test-sx1278-mavlink.cpp b/src/tests/radio/sx1278/fsk/test-sx1278-mavlink.cpp
index 794a7378cbfa51eb08e0afd0f2ff19040e215d9b..3cdafff28c71966cc36a9b8b647d9059161c6552 100644
--- a/src/tests/radio/sx1278/fsk/test-sx1278-mavlink.cpp
+++ b/src/tests/radio/sx1278/fsk/test-sx1278-mavlink.cpp
@@ -176,7 +176,7 @@ void flightTmLoop()
while (1)
{
- long long start = miosix::getTick;
+ long long start = miosix::getTime();
{
Lock<FastMutex> l(mutex);
@@ -204,7 +204,7 @@ void flightTmLoop()
channel->enqueueMsg(msg);
- Thread::sleepUntil(start + FLIGHT_TM_PERIOD);
+ Thread::nanoSleepUntil(start + FLIGHT_TM_PERIOD * Constants::NS_IN_MS);
i += 1;
}
}
diff --git a/src/tests/radio/sx1278/lora/test-sx1278-mavlink.cpp b/src/tests/radio/sx1278/lora/test-sx1278-mavlink.cpp
index 38398038442bab4e9df06774eef23d7be96ca75b..ae08b9d7bde03cf65bb74b2bc06891263052406c 100644
--- a/src/tests/radio/sx1278/lora/test-sx1278-mavlink.cpp
+++ b/src/tests/radio/sx1278/lora/test-sx1278-mavlink.cpp
@@ -136,7 +136,7 @@ void flightTmLoop()
{
while (1)
{
- long long start = miosix::getTick();
+ long long start = miosix::getTime();
mavlink_message_t msg;
mavlink_rocket_flight_tm_t tm = {0};
@@ -145,7 +145,7 @@ void flightTmLoop()
channel->enqueueMsg(msg);
printf("Enqueued flight_tm_tm!\n");
- Thread::sleepUntil(start + FLIGHT_TM_PERIOD);
+ Thread::nanoSleepUntil(start + FLIGHT_TM_PERIOD * Constants::NS_IN_MS);
}
}
@@ -153,7 +153,7 @@ void statsTmLoop()
{
while (1)
{
- long long start = miosix::getTick();
+ long long start = miosix::getTime();
mavlink_message_t msg;
mavlink_rocket_stats_tm_t tm = {0};
@@ -162,7 +162,7 @@ void statsTmLoop()
channel->enqueueMsg(msg);
printf("Enqueued stats_tm!\n");
- Thread::sleepUntil(start + STATS_TM_PERIOD);
+ Thread::nanoSleepUntil(start + STATS_TM_PERIOD * Constants::NS_IN_MS);
}
}
diff --git a/src/tests/radio/sx1278/sx1278-init.h b/src/tests/radio/sx1278/sx1278-init.h
index 068d7eb2861cebae47f831591a7f11c3767680aa..0c8cf6632e2d0be1271a137709b535f1f97103db 100644
--- a/src/tests/radio/sx1278/sx1278-init.h
+++ b/src/tests/radio/sx1278/sx1278-init.h
@@ -76,8 +76,8 @@ using sck = miosix::radio::sck;
using miso = miosix::radio::miso;
using mosi = miosix::radio::mosi;
-using txen = miosix::radio::txEn;
-using rxen = miosix::radio::rxEn;
+using txen = miosix::radio::txEn;
+using rxen = miosix::radio::rxEn;
#define SX1278_SPI SPI4
@@ -208,11 +208,11 @@ bool initRadio()
#elif defined SX1278_IS_SKYWARD433
printf("[sx1278] Confuring Skyward 433 frontend...\n");
std::unique_ptr<Boardcore::SX1278::ISX1278Frontend> frontend(
- new Boardcore::Skyward433Frontend());
+ new Boardcore::Skyward433Frontend());
#else
printf("[sx1278] Confuring RA01 frontend...\n");
std::unique_ptr<Boardcore::SX1278::ISX1278Frontend> frontend(
- new Boardcore::RA01Frontend());
+ new Boardcore::RA01Frontend());
#endif
// Initialize actual radio driver
@@ -240,14 +240,14 @@ bool initRadio()
Boardcore::SX1278Fsk::Error err;
sx1278 = new Boardcore::SX1278Fsk(sx1278_bus, cs::getPin(), dio0::getPin(),
- dio1::getPin(), dio3::getPin(),
- Boardcore::SPI::ClockDivider::DIV_256,
- std::move(frontend));
+ dio1::getPin(), dio3::getPin(),
+ Boardcore::SPI::ClockDivider::DIV_256,
+ std::move(frontend));
printf("\n[sx1278] Configuring sx1278 fsk...\n");
if ((err = sx1278->init(config)) != Boardcore::SX1278Fsk::Error::NONE)
{
- // FIXME: Why does clang-format put this line up here?
+ // FIXME: Why does clang-format put this line up here?
printf("[sx1278] sx1278->init error\n");
return false;
}
diff --git a/src/tests/sensors/test-l3gd20-fifo.cpp b/src/tests/sensors/test-l3gd20-fifo.cpp
index faa927dbb0f1cbd1b7791821286eb5f06fa0a2e0..4f687306568d0ead82a8ba35c7e485219a058d5e 100644
--- a/src/tests/sensors/test-l3gd20-fifo.cpp
+++ b/src/tests/sensors/test-l3gd20-fifo.cpp
@@ -54,6 +54,7 @@
#include <drivers/timer/GeneralPurposeTimer.h>
#include <drivers/timer/TimestampTimer.h>
#include <sensors/L3GD20/L3GD20.h>
+#include <utils/Constants.h>
#include <array>
@@ -166,7 +167,7 @@ int main()
int fifoNum = 0;
while (dataCounter < NUM_SAMPLES)
{
- long lastTick = miosix::getTick();
+ long lastTime = miosix::getTime();
// Read the fifo
uint64_t update = TimestampTimer::getTimestamp();
@@ -207,7 +208,8 @@ int main()
// we have 7 samples (~ 9 ms) of wiggle room before we start losing
// data, in case we sleep a bit too much (may happen if an higher
// priority thread has a long task to perform)
- Thread::sleepUntil(lastTick + 25.5 * 1000 / SAMPLE_FREQUENCY);
+ Thread::nanoSleepUntil(lastTime + (25.5 * 1000 / SAMPLE_FREQUENCY) *
+ Constants::NS_IN_MS);
}
// Dump buffer content as CSV on the serial (might take a while)
diff --git a/src/tests/sensors/test-l3gd20.cpp b/src/tests/sensors/test-l3gd20.cpp
index 1ce300bf7a435490c3afc4ecb11e284d40d2bbf3..69482937e85c68b819c04bd720dbf5df3dbb06b1 100644
--- a/src/tests/sensors/test-l3gd20.cpp
+++ b/src/tests/sensors/test-l3gd20.cpp
@@ -33,6 +33,7 @@
#include <drivers/spi/SPIDriver.h>
#include <drivers/timer/TimestampTimer.h>
#include <sensors/L3GD20/L3GD20.h>
+#include <utils/Constants.h>
#include <array>
@@ -138,7 +139,7 @@ int main()
// Collect NUM_SAMPLE samples
while (dataCounter < NUM_SAMPLES)
{
- long lastTick = miosix::getTick();
+ long lastTime = miosix::getTime();
// Read data from the sensor
gyro->sample();
@@ -152,7 +153,8 @@ int main()
// Wait until SAMPLE_PERIOD milliseconds from the start of this
// iteration have passed (SAMPLE_PERIOD = 1000 / SAMPLE_RATE)
- Thread::sleepUntil(lastTick + 1000 / SAMPLE_RATE);
+ Thread::nanoSleepUntil(lastTime +
+ (1000 / SAMPLE_RATE) * Constants::NS_IN_MS);
}
// Dump buffer content as CSV on the serial (might take a while)