Converted currentTime to currentTimeUs

src/main/blackbox/blackbox.c

@@ -938,7 +938,7 @@ static void writeGPSHomeFrame()
     gpsHistory.GPS_home[1] = GPS_home[1];
 }
 
-static void writeGPSFrame(uint32_t currentTime)
+static void writeGPSFrame(timeUs_t currentTimeUs)
 {
     blackboxWrite('G');
 
@@ -950,7 +950,7 @@ static void writeGPSFrame(uint32_t currentTime)
      */
     if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_NOT_LOGGING_EVERY_FRAME)) {
         // Predict the time of the last frame in the main log
-        blackboxWriteUnsignedVB(currentTime - blackboxHistory[1]->time);
+        blackboxWriteUnsignedVB(currentTimeUs - blackboxHistory[1]->time);
     }
 
     blackboxWriteUnsignedVB(GPS_numSat);
@@ -969,12 +969,12 @@ static void writeGPSFrame(uint32_t currentTime)
 /**
  * Fill the current state of the blackbox using values read from the flight controller
  */
-static void loadMainState(uint32_t currentTime)
+static void loadMainState(timeUs_t currentTimeUs)
 {
     blackboxMainState_t *blackboxCurrent = blackboxHistory[0];
     int i;
 
-    blackboxCurrent->time = currentTime;
+    blackboxCurrent->time = currentTimeUs;
 
     for (i = 0; i < XYZ_AXIS_COUNT; i++) {
         blackboxCurrent->axisPID_P[i] = axisPID_P[i];
@@ -1401,7 +1401,7 @@ static void blackboxAdvanceIterationTimers()
 }
 
 // Called once every FC loop in order to log the current state
-static void blackboxLogIteration(uint32_t currentTime)
+static void blackboxLogIteration(timeUs_t currentTimeUs)
 {
     // Write a keyframe every BLACKBOX_I_INTERVAL frames so we can resynchronise upon missing frames
     if (blackboxShouldLogIFrame()) {
@@ -1411,7 +1411,7 @@ static void blackboxLogIteration(uint32_t currentTime)
          */
         writeSlowFrameIfNeeded(blackboxIsOnlyLoggingIntraframes());
 
-        loadMainState(currentTime);
+        loadMainState(currentTimeUs);
         writeIntraframe();
     } else {
         blackboxCheckAndLogArmingBeep();
@@ -1424,7 +1424,7 @@ static void blackboxLogIteration(uint32_t currentTime)
              */
             writeSlowFrameIfNeeded(true);
 
-            loadMainState(currentTime);
+            loadMainState(currentTimeUs);
             writeInterframe();
         }
 #ifdef GPS
@@ -1440,11 +1440,11 @@ static void blackboxLogIteration(uint32_t currentTime)
                 || (blackboxPFrameIndex == BLACKBOX_I_INTERVAL / 2 && blackboxIFrameIndex % 128 == 0)) {
 
                 writeGPSHomeFrame();
-                writeGPSFrame(currentTime);
+                writeGPSFrame(currentTimeUs);
             } else if (GPS_numSat != gpsHistory.GPS_numSat || GPS_coord[0] != gpsHistory.GPS_coord[0]
                     || GPS_coord[1] != gpsHistory.GPS_coord[1]) {
                 //We could check for velocity changes as well but I doubt it changes independent of position
-                writeGPSFrame(currentTime);
+                writeGPSFrame(currentTimeUs);
             }
         }
 #endif
@@ -1457,7 +1457,7 @@ static void blackboxLogIteration(uint32_t currentTime)
 /**
  * Call each flight loop iteration to perform blackbox logging.
  */
-void handleBlackbox(uint32_t currentTime)
+void handleBlackbox(timeUs_t currentTimeUs)
 {
     int i;
 
@@ -1549,12 +1549,12 @@ void handleBlackbox(uint32_t currentTime)
                 flightLogEvent_loggingResume_t resume;
 
                 resume.logIteration = blackboxIteration;
-                resume.currentTime = currentTime;
+                resume.currentTime = currentTimeUs;
 
                 blackboxLogEvent(FLIGHT_LOG_EVENT_LOGGING_RESUME, (flightLogEventData_t *) &resume);
                 blackboxSetState(BLACKBOX_STATE_RUNNING);
 
-                blackboxLogIteration(currentTime);
+                blackboxLogIteration(currentTimeUs);
             }
 
             // Keep the logging timers ticking so our log iteration continues to advance
@@ -1566,7 +1566,7 @@ void handleBlackbox(uint32_t currentTime)
             if (blackboxModeActivationConditionPresent && !IS_RC_MODE_ACTIVE(BOXBLACKBOX) && !startedLoggingInTestMode) {
                 blackboxSetState(BLACKBOX_STATE_PAUSED);
             } else {
-                blackboxLogIteration(currentTime);
+                blackboxLogIteration(currentTimeUs);
             }
 
             blackboxAdvanceIterationTimers();

src/main/blackbox/blackbox.h

@@ -19,6 +19,8 @@
 
 #include "blackbox/blackbox_fielddefs.h"
 
+#include "common/time.h"
+
 typedef struct blackboxConfig_s {
     uint8_t rate_num;
     uint8_t rate_denom;
@@ -29,7 +31,7 @@ typedef struct blackboxConfig_s {
 void blackboxLogEvent(FlightLogEvent event, flightLogEventData_t *data);
 
 void initBlackbox(void);
-void handleBlackbox(uint32_t currentTime);
+void handleBlackbox(timeUs_t currentTimeUs);
 void startBlackbox(void);
 void finishBlackbox(void);
 

src/main/cms/cms.c

@@ -897,16 +897,16 @@ static void cmsUpdate(uint32_t currentTimeUs)
     lastCalledMs = currentTimeMs;
 }
 
-void cmsHandler(uint32_t currentTime)
+void cmsHandler(timeUs_t currentTimeUs)
 {
     if (cmsDeviceCount < 0)
         return;
 
-    static uint32_t lastCalled = 0;
+    static timeUs_t lastCalledUs = 0;
 
-    if (currentTime >= lastCalled + CMS_UPDATE_INTERVAL_US) {
+    if (currentTimeUs >= lastCalledUs + CMS_UPDATE_INTERVAL_US) {
-        lastCalled = currentTime;
+        lastCalledUs = currentTimeUs;
-        cmsUpdate(currentTime);
+        cmsUpdate(currentTimeUs);
     }
 }
 

src/main/cms/cms.h

@@ -2,12 +2,14 @@
 
 #include "drivers/display.h"
 
+#include "common/time.h"
+
 // Device management
 bool cmsDisplayPortRegister(displayPort_t *pDisplay);
 
 // For main.c and scheduler
 void cmsInit(void);
-void cmsHandler(uint32_t currentTime);
+void cmsHandler(timeUs_t currentTimeUs);
 
 long cmsMenuChange(displayPort_t *pPort, const void *ptr);
 long cmsMenuExit(displayPort_t *pPort, const void *ptr);

src/main/common/time.h

@@ -21,6 +21,8 @@
 
 #include "platform.h"
 
+// time difference, 32 bits always sufficient
+typedef int32_t timeDelta_t;
 // millisecond time
 typedef uint32_t timeMs_t ;
 // microsecond time
@@ -31,3 +33,5 @@ typedef uint64_t timeUs_t;
 typedef uint32_t timeUs_t;
 #define TIMEUS_MAX UINT32_MAX
 #endif
+
+static inline timeDelta_t cmpTimeUs(timeUs_t a, timeUs_t b) { return (timeDelta_t)(a - b); }

src/main/fc/fc_tasks.c

@@ -74,7 +74,7 @@
 #include "config/config_master.h"
 
 #ifdef USE_BST
-void taskBstMasterProcess(uint32_t currentTime);
+void taskBstMasterProcess(timeUs_t currentTimeUs);
 #endif
 
 #define TASK_PERIOD_HZ(hz) (1000000 / (hz))
@@ -87,16 +87,16 @@ void taskBstMasterProcess(uint32_t currentTime);
 #define IBATINTERVAL (6 * 3500)
 
 
-static void taskUpdateAccelerometer(uint32_t currentTime)
+static void taskUpdateAccelerometer(timeUs_t currentTimeUs)
 {
-    UNUSED(currentTime);
+    UNUSED(currentTimeUs);
 
     imuUpdateAccelerometer(&masterConfig.accelerometerTrims);
 }
 
-static void taskHandleSerial(uint32_t currentTime)
+static void taskHandleSerial(timeUs_t currentTimeUs)
 {
-    UNUSED(currentTime);
+    UNUSED(currentTimeUs);
 #ifdef USE_CLI
     // in cli mode, all serial stuff goes to here. enter cli mode by sending #
     if (cliMode) {
@@ -107,13 +107,13 @@ static void taskHandleSerial(uint32_t currentTime)
     mspSerialProcess(ARMING_FLAG(ARMED) ? MSP_SKIP_NON_MSP_DATA : MSP_EVALUATE_NON_MSP_DATA, mspFcProcessCommand);
 }
 
-static void taskUpdateBattery(uint32_t currentTime)
+static void taskUpdateBattery(timeUs_t currentTimeUs)
 {
 #ifdef USE_ADC
     static uint32_t vbatLastServiced = 0;
     if (feature(FEATURE_VBAT) || feature(FEATURE_ESC_TELEMETRY)) {
-        if (cmp32(currentTime, vbatLastServiced) >= VBATINTERVAL) {
+        if (cmp32(currentTimeUs, vbatLastServiced) >= VBATINTERVAL) {
-            vbatLastServiced = currentTime;
+            vbatLastServiced = currentTimeUs;
             updateBattery();
         }
     }
@@ -121,18 +121,18 @@ static void taskUpdateBattery(uint32_t currentTime)
 
     static uint32_t ibatLastServiced = 0;
     if (feature(FEATURE_CURRENT_METER) || feature(FEATURE_ESC_TELEMETRY)) {
-        const int32_t ibatTimeSinceLastServiced = cmp32(currentTime, ibatLastServiced);
+        const int32_t ibatTimeSinceLastServiced = cmp32(currentTimeUs, ibatLastServiced);
 
         if (ibatTimeSinceLastServiced >= IBATINTERVAL) {
-            ibatLastServiced = currentTime;
+            ibatLastServiced = currentTimeUs;
             updateCurrentMeter(ibatTimeSinceLastServiced, &masterConfig.rxConfig, flight3DConfig()->deadband3d_throttle);
         }
     }
 }
 
-static void taskUpdateRxMain(uint32_t currentTime)
+static void taskUpdateRxMain(timeUs_t currentTimeUs)
 {
-    processRx(currentTime);
+    processRx(currentTimeUs);
     isRXDataNew = true;
 
 #if !defined(BARO) && !defined(SONAR)
@@ -155,18 +155,18 @@ static void taskUpdateRxMain(uint32_t currentTime)
 }
 
 #ifdef MAG
-static void taskUpdateCompass(uint32_t currentTime)
+static void taskUpdateCompass(timeUs_t currentTimeUs)
 {
     if (sensors(SENSOR_MAG)) {
-        compassUpdate(currentTime, &sensorTrims()->magZero);
+        compassUpdate(currentTimeUs, &sensorTrims()->magZero);
     }
 }
 #endif
 
 #ifdef BARO
-static void taskUpdateBaro(uint32_t currentTime)
+static void taskUpdateBaro(timeUs_t currentTimeUs)
 {
-    UNUSED(currentTime);
+    UNUSED(currentTimeUs);
 
     if (sensors(SENSOR_BARO)) {
         const uint32_t newDeadline = baroUpdate();
@@ -178,7 +178,7 @@ static void taskUpdateBaro(uint32_t currentTime)
 #endif
 
 #if defined(BARO) || defined(SONAR)
-static void taskCalculateAltitude(uint32_t currentTime)
+static void taskCalculateAltitude(timeUs_t currentTimeUs)
 {
     if (false
 #if defined(BARO)
@@ -188,26 +188,26 @@ static void taskCalculateAltitude(uint32_t currentTime)
         || sensors(SENSOR_SONAR)
 #endif
         ) {
-        calculateEstimatedAltitude(currentTime);
+        calculateEstimatedAltitude(currentTimeUs);
     }}
 #endif
 
 #ifdef TELEMETRY
-static void taskTelemetry(uint32_t currentTime)
+static void taskTelemetry(timeUs_t currentTimeUs)
 {
     telemetryCheckState();
 
     if (!cliMode && feature(FEATURE_TELEMETRY)) {
-        telemetryProcess(currentTime, &masterConfig.rxConfig, flight3DConfig()->deadband3d_throttle);
+        telemetryProcess(currentTimeUs, &masterConfig.rxConfig, flight3DConfig()->deadband3d_throttle);
     }
 }
 #endif
 
 #ifdef USE_ESC_TELEMETRY
-static void taskEscTelemetry(uint32_t currentTime)
+static void taskEscTelemetry(timeUs_t currentTimeUs)
 {
     if (feature(FEATURE_ESC_TELEMETRY)) {
-        escTelemetryProcess(currentTime);
+        escTelemetryProcess(currentTimeUs);
      }
  }
 #endif

src/main/fc/mw.c

@@ -493,12 +493,12 @@ void updateMagHold(void)
         magHold = DECIDEGREES_TO_DEGREES(attitude.values.yaw);
 }
 
-void processRx(uint32_t currentTime)
+void processRx(timeUs_t currentTimeUs)
 {
     static bool armedBeeperOn = false;
     static bool airmodeIsActivated;
 
-    calculateRxChannelsAndUpdateFailsafe(currentTime);
+    calculateRxChannelsAndUpdateFailsafe(currentTimeUs);
 
     // in 3D mode, we need to be able to disarm by switch at any time
     if (feature(FEATURE_3D)) {
@@ -506,11 +506,11 @@ void processRx(uint32_t currentTime)
             mwDisarm();
     }
 
-    updateRSSI(currentTime);
+    updateRSSI(currentTimeUs);
 
     if (feature(FEATURE_FAILSAFE)) {
 
-        if (currentTime > FAILSAFE_POWER_ON_DELAY_US && !failsafeIsMonitoring()) {
+        if (currentTimeUs > FAILSAFE_POWER_ON_DELAY_US && !failsafeIsMonitoring()) {
             failsafeStartMonitoring();
         }
 
@@ -811,9 +811,9 @@ uint8_t setPidUpdateCountDown(void)
 }
 
 // Function for loop trigger
-void taskMainPidLoop(uint32_t currentTime)
+void taskMainPidLoop(timeUs_t currentTimeUs)
 {
-    UNUSED(currentTime);
+    UNUSED(currentTimeUs);
 
     static bool runTaskMainSubprocesses;
     static uint8_t pidUpdateCountdown;

src/main/fc/mw.h

@@ -17,6 +17,8 @@
 
 #pragma once
 
+#include "common/time.h"
+
 extern int16_t magHold;
 extern bool isRXDataNew;
 
@@ -27,8 +29,8 @@ void handleInflightCalibrationStickPosition();
 void mwDisarm(void);
 void mwArm(void);
 
-void processRx(uint32_t currentTime);
+void processRx(timeUs_t currentTimeUs);
 void updateLEDs(void);
 void updateRcCommands(void);
 
-void taskMainPidLoop(uint32_t currentTime);
+void taskMainPidLoop(timeUs_t currentTimeUs);

src/main/flight/altitudehold.c

@@ -204,9 +204,9 @@ int32_t calculateAltHoldThrottleAdjustment(int32_t vel_tmp, float accZ_tmp, floa
     return result;
 }
 
-void calculateEstimatedAltitude(uint32_t currentTime)
+void calculateEstimatedAltitude(timeUs_t currentTimeUs)
 {
-    static uint32_t previousTime;
+    static timeUs_t previousTimeUs;
     uint32_t dTime;
     int32_t baroVel;
     float dt;
@@ -224,11 +224,11 @@ void calculateEstimatedAltitude(uint32_t currentTime)
     float sonarTransition;
 #endif
 
-    dTime = currentTime - previousTime;
+    dTime = currentTimeUs - previousTimeUs;
     if (dTime < BARO_UPDATE_FREQUENCY_40HZ)
         return;
 
-    previousTime = currentTime;
+    previousTimeUs = currentTimeUs;
 
 #ifdef BARO
     if (!isBaroCalibrationComplete()) {

src/main/flight/altitudehold.h

@@ -20,7 +20,7 @@
 extern int32_t AltHold;
 extern int32_t vario;
 
-void calculateEstimatedAltitude(uint32_t currentTime);
+void calculateEstimatedAltitude(timeUs_t currentTimeUs);
 
 struct pidProfile_s;
 struct barometerConfig_s;

src/main/flight/imu.c

@@ -369,7 +369,7 @@ static bool isMagnetometerHealthy(void)
     return (mag.magADC[X] != 0) && (mag.magADC[Y] != 0) && (mag.magADC[Z] != 0);
 }
 
-static void imuCalculateEstimatedAttitude(uint32_t currentTime)
+static void imuCalculateEstimatedAttitude(timeUs_t currentTimeUs)
 {
     static uint32_t previousIMUUpdateTime;
     float rawYawError = 0;
@@ -377,8 +377,8 @@ static void imuCalculateEstimatedAttitude(uint32_t currentTime)
     bool useMag = false;
     bool useYaw = false;
 
-    uint32_t deltaT = currentTime - previousIMUUpdateTime;
+    uint32_t deltaT = currentTimeUs - previousIMUUpdateTime;
-    previousIMUUpdateTime = currentTime;
+    previousIMUUpdateTime = currentTimeUs;
 
     if (imuIsAccelerometerHealthy()) {
         useAcc = true;
@@ -414,10 +414,10 @@ void imuUpdateAccelerometer(rollAndPitchTrims_t *accelerometerTrims)
     }
 }
 
-void imuUpdateAttitude(uint32_t currentTime)
+void imuUpdateAttitude(timeUs_t currentTimeUs)
 {
     if (sensors(SENSOR_ACC) && isAccelUpdatedAtLeastOnce) {
-        imuCalculateEstimatedAttitude(currentTime);
+        imuCalculateEstimatedAttitude(currentTimeUs);
     } else {
         acc.accSmooth[X] = 0;
         acc.accSmooth[Y] = 0;

src/main/flight/imu.h

@@ -19,6 +19,7 @@
 
 #include "common/axis.h"
 #include "common/maths.h"
+#include "common/time.h"
 
 #include "sensors/acceleration.h"
 
@@ -96,10 +97,10 @@ void imuConfigure(
 );
 
 float getCosTiltAngle(void);
-void calculateEstimatedAltitude(uint32_t currentTime);
+void calculateEstimatedAltitude(timeUs_t currentTimeUs);
 union rollAndPitchTrims_u;
 void imuUpdateAccelerometer(union rollAndPitchTrims_u *accelerometerTrims);
-void imuUpdateAttitude(uint32_t currentTime);
+void imuUpdateAttitude(timeUs_t currentTimeUs);
 float calculateThrottleAngleScale(uint16_t throttle_correction_angle);
 int16_t calculateThrottleAngleCorrection(uint8_t throttle_correction_value);
 float calculateAccZLowPassFilterRCTimeConstant(float accz_lpf_hz);

src/main/flight/navigation.c

@@ -26,8 +26,9 @@
 
 #include "build/debug.h"
 
-#include "common/maths.h"
 #include "common/axis.h"
+#include "common/maths.h"
+#include "common/time.h"
 
 #include "drivers/system.h"
 

src/main/io/beeper.c

@@ -135,7 +135,7 @@ static uint32_t beeperNextToggleTime = 0;
 // Time of last arming beep in microseconds (for blackbox)
 static uint32_t armingBeepTimeMicros = 0;
 
-static void beeperProcessCommand(uint32_t currentTime);
+static void beeperProcessCommand(timeUs_t currentTimeUs);
 
 typedef struct beeperTableEntry_s {
     uint8_t mode;
@@ -280,7 +280,7 @@ void beeperGpsStatus(void)
  * Beeper handler function to be called periodically in loop. Updates beeper
  * state via time schedule.
  */
-void beeperUpdate(uint32_t currentTime)
+void beeperUpdate(timeUs_t currentTimeUs)
 {
     // If beeper option from AUX switch has been selected
     if (IS_RC_MODE_ACTIVE(BOXBEEPERON)) {
@@ -300,7 +300,7 @@ void beeperUpdate(uint32_t currentTime)
         return;
     }
 
-    if (beeperNextToggleTime > currentTime) {
+    if (beeperNextToggleTime > currentTimeUs) {
         return;
     }
 
@@ -328,13 +328,13 @@ void beeperUpdate(uint32_t currentTime)
         }
     }
 
-    beeperProcessCommand(currentTime);
+    beeperProcessCommand(currentTimeUs);
 }
 
 /*
  * Calculates array position when next to change beeper state is due.
  */
-static void beeperProcessCommand(uint32_t currentTime)
+static void beeperProcessCommand(timeUs_t currentTimeUs)
 {
     if (currentBeeperEntry->sequence[beeperPos] == BEEPER_COMMAND_REPEAT) {
         beeperPos = 0;
@@ -342,7 +342,7 @@ static void beeperProcessCommand(uint32_t currentTime)
         beeperSilence();
     } else {
         // Otherwise advance the sequence and calculate next toggle time
-        beeperNextToggleTime = currentTime + 1000 * 10 * currentBeeperEntry->sequence[beeperPos];
+        beeperNextToggleTime = currentTimeUs + 1000 * 10 * currentBeeperEntry->sequence[beeperPos];
         beeperPos++;
     }
 }
@@ -400,7 +400,7 @@ bool isBeeperOn(void)
 void beeper(beeperMode_e mode) {UNUSED(mode);}
 void beeperSilence(void) {}
 void beeperConfirmationBeeps(uint8_t beepCount) {UNUSED(beepCount);}
-void beeperUpdate(uint32_t currentTime) {UNUSED(currentTime);}
+void beeperUpdate(timeUs_t currentTimeUs) {UNUSED(currentTimeUs);}
 uint32_t getArmingBeepTimeMicros(void) {return 0;}
 beeperMode_e beeperModeForTableIndex(int idx) {UNUSED(idx); return BEEPER_SILENCE;}
 const char *beeperNameForTableIndex(int idx) {UNUSED(idx); return NULL;}

src/main/io/beeper.h

@@ -17,6 +17,8 @@
 
 #pragma once
 
+#include "common/time.h"
+
 typedef enum {
     // IMPORTANT: these are in priority order, 0 = Highest
     BEEPER_SILENCE = 0,             // Silence, see beeperSilence()
@@ -47,7 +49,7 @@ typedef enum {
 
 void beeper(beeperMode_e mode);
 void beeperSilence(void);
-void beeperUpdate(uint32_t currentTime);
+void beeperUpdate(timeUs_t currentTimeUs);
 void beeperConfirmationBeeps(uint8_t beepCount);
 uint32_t getArmingBeepTimeMicros(void);
 beeperMode_e beeperModeForTableIndex(int idx);

src/main/io/dashboard.c

@@ -586,7 +586,7 @@ void showDebugPage(void)
 }
 #endif
 
-void dashboardUpdate(uint32_t currentTime)
+void dashboardUpdate(timeUs_t currentTimeUs)
 {
     static uint8_t previousArmedState = 0;
 
@@ -596,12 +596,12 @@ void dashboardUpdate(uint32_t currentTime)
     }
 #endif
 
-    const bool updateNow = (int32_t)(currentTime - nextDisplayUpdateAt) >= 0L;
+    const bool updateNow = (int32_t)(currentTimeUs - nextDisplayUpdateAt) >= 0L;
     if (!updateNow) {
         return;
     }
 
-    nextDisplayUpdateAt = currentTime + DISPLAY_UPDATE_FREQUENCY;
+    nextDisplayUpdateAt = currentTimeUs + DISPLAY_UPDATE_FREQUENCY;
 
     bool armedState = ARMING_FLAG(ARMED) ? true : false;
     bool armedStateChanged = armedState != previousArmedState;
@@ -621,7 +621,7 @@ void dashboardUpdate(uint32_t currentTime)
         }
 
         pageState.pageChanging = (pageState.pageFlags & PAGE_STATE_FLAG_FORCE_PAGE_CHANGE) ||
-                (((int32_t)(currentTime - pageState.nextPageAt) >= 0L && (pageState.pageFlags & PAGE_STATE_FLAG_CYCLE_ENABLED)));
+                (((int32_t)(currentTimeUs - pageState.nextPageAt) >= 0L && (pageState.pageFlags & PAGE_STATE_FLAG_CYCLE_ENABLED)));
         if (pageState.pageChanging && (pageState.pageFlags & PAGE_STATE_FLAG_CYCLE_ENABLED)) {
             pageState.cycleIndex++;
             pageState.cycleIndex = pageState.cycleIndex % CYCLE_PAGE_ID_COUNT;
@@ -631,7 +631,7 @@ void dashboardUpdate(uint32_t currentTime)
 
     if (pageState.pageChanging) {
         pageState.pageFlags &= ~PAGE_STATE_FLAG_FORCE_PAGE_CHANGE;
-        pageState.nextPageAt = currentTime + PAGE_CYCLE_FREQUENCY;
+        pageState.nextPageAt = currentTimeUs + PAGE_CYCLE_FREQUENCY;
 
         // Some OLED displays do not respond on the first initialisation so refresh the display
         // when the page changes in the hopes the hardware responds.  This also allows the
@@ -730,7 +730,7 @@ void dashboardShowFixedPage(pageId_e pageId)
     dashboardDisablePageCycling();
 }
 
-void dashboardSetNextPageChangeAt(uint32_t futureMicros)
+void dashboardSetNextPageChangeAt(timeUs_t futureMicros)
 {
     pageState.nextPageAt = futureMicros;
 }

src/main/io/dashboard.h

@@ -15,6 +15,8 @@
  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  */
 
+#include "common/time.h"
+
 #define ENABLE_DEBUG_DASHBOARD_PAGE
 
 typedef enum {
@@ -37,11 +39,11 @@ typedef enum {
 
 struct rxConfig_s;
 void dashboardInit(struct rxConfig_s *intialRxConfig);
-void dashboardUpdate(uint32_t currentTime);
+void dashboardUpdate(timeUs_t currentTimeUs);
 
 void dashboardShowFixedPage(pageId_e pageId);
 
 void dashboardEnablePageCycling(void);
 void dashboardDisablePageCycling(void);
 void dashboardResetPageCycling(void);
-void dashboardSetNextPageChangeAt(uint32_t futureMicros);
+void dashboardSetNextPageChangeAt(timeUs_t futureMicros);

src/main/io/gps.c

@@ -395,16 +395,16 @@ void gpsInitHardware(void)
     }
 }
 
-static void updateGpsIndicator(uint32_t currentTime)
+static void updateGpsIndicator(timeUs_t currentTimeUs)
 {
     static uint32_t GPSLEDTime;
-    if ((int32_t)(currentTime - GPSLEDTime) >= 0 && (GPS_numSat >= 5)) {
+    if ((int32_t)(currentTimeUs - GPSLEDTime) >= 0 && (GPS_numSat >= 5)) {
-        GPSLEDTime = currentTime + 150000;
+        GPSLEDTime = currentTimeUs + 150000;
         LED1_TOGGLE;
     }
 }
 
-void gpsUpdate(uint32_t currentTime)
+void gpsUpdate(timeUs_t currentTimeUs)
 {
     // read out available GPS bytes
     if (gpsPort) {
@@ -429,7 +429,7 @@ void gpsUpdate(uint32_t currentTime)
                 gpsData.baudrateIndex++;
                 gpsData.baudrateIndex %= GPS_INIT_ENTRIES;
             }
-            gpsData.lastMessage = currentTime / 1000;
+            gpsData.lastMessage = currentTimeUs / 1000;
             // TODO - move some / all of these into gpsData
             GPS_numSat = 0;
             DISABLE_STATE(GPS_FIX);
@@ -438,7 +438,7 @@ void gpsUpdate(uint32_t currentTime)
 
         case GPS_RECEIVING_DATA:
             // check for no data/gps timeout/cable disconnection etc
-            if (currentTime / 1000 - gpsData.lastMessage > GPS_TIMEOUT) {
+            if (currentTimeUs / 1000 - gpsData.lastMessage > GPS_TIMEOUT) {
                 // remove GPS from capability
                 sensorsClear(SENSOR_GPS);
                 gpsSetState(GPS_LOST_COMMUNICATION);
@@ -446,7 +446,7 @@ void gpsUpdate(uint32_t currentTime)
             break;
     }
     if (sensors(SENSOR_GPS)) {
-        updateGpsIndicator(currentTime);
+        updateGpsIndicator(currentTimeUs);
     }
 }
 

src/main/io/gps.h

@@ -17,6 +17,8 @@
 
 #pragma once
 
+#include "common/time.h"
+
 #define LAT 0
 #define LON 1
 
@@ -119,5 +121,5 @@ extern uint8_t GPS_svinfo_cno[16];         // Carrier to Noise Ratio (Signal Str
 
 struct serialConfig_s;
 void gpsInit(struct serialConfig_s *serialConfig, gpsConfig_t *initialGpsConfig);
-void gpsUpdate(uint32_t currentTime);
+void gpsUpdate(timeUs_t currentTimeUs);
 bool gpsNewFrame(uint8_t c);

src/main/io/ledstrip.c

@@ -518,7 +518,7 @@ typedef enum {
     WARNING_FAILSAFE,
 } warningFlags_e;
 
-static void applyLedWarningLayer(bool updateNow, uint32_t *timer)
+static void applyLedWarningLayer(bool updateNow, timeUs_t *timer)
 {
     static uint8_t warningFlashCounter = 0;
     static uint8_t warningFlags = 0;          // non-zero during blinks
@@ -564,7 +564,7 @@ static void applyLedWarningLayer(bool updateNow, uint32_t *timer)
     }
 }
 
-static void applyLedBatteryLayer(bool updateNow, uint32_t *timer)
+static void applyLedBatteryLayer(bool updateNow, timeUs_t *timer)
 {
     static bool flash = false;
 
@@ -601,7 +601,7 @@ static void applyLedBatteryLayer(bool updateNow, uint32_t *timer)
     }
 }
 
-static void applyLedRssiLayer(bool updateNow, uint32_t *timer)
+static void applyLedRssiLayer(bool updateNow, timeUs_t *timer)
 {
     static bool flash = false;
 
@@ -632,7 +632,7 @@ static void applyLedRssiLayer(bool updateNow, uint32_t *timer)
 }
 
 #ifdef GPS
-static void applyLedGpsLayer(bool updateNow, uint32_t *timer)
+static void applyLedGpsLayer(bool updateNow, timeUs_t *timer)
 {
     static uint8_t gpsFlashCounter = 0;
     static uint8_t gpsPauseCounter = 0;
@@ -671,7 +671,7 @@ static void applyLedGpsLayer(bool updateNow, uint32_t *timer)
 
 #define INDICATOR_DEADBAND 25
 
-static void applyLedIndicatorLayer(bool updateNow, uint32_t *timer)
+static void applyLedIndicatorLayer(bool updateNow, timeUs_t *timer)
 {
     static bool flash = 0;
 
@@ -734,7 +734,7 @@ static void updateLedRingCounts(void)
     ledCounts.ringSeqLen = seqLen;
 }
 
-static void applyLedThrustRingLayer(bool updateNow, uint32_t *timer)
+static void applyLedThrustRingLayer(bool updateNow, timeUs_t *timer)
 {
     static uint8_t rotationPhase;
     int ledRingIndex = 0;
@@ -804,7 +804,7 @@ static void larsonScannerNextStep(larsonParameters_t *larsonParameters, int delt
     }
 }
 
-static void applyLarsonScannerLayer(bool updateNow, uint32_t *timer)
+static void applyLarsonScannerLayer(bool updateNow, timeUs_t *timer)
 {
     static larsonParameters_t larsonParameters = { 0, 0, 1 };
 
@@ -829,7 +829,7 @@ static void applyLarsonScannerLayer(bool updateNow, uint32_t *timer)
 }
 
 // blink twice, then wait ; either always or just when landing
-static void applyLedBlinkLayer(bool updateNow, uint32_t *timer)
+static void applyLedBlinkLayer(bool updateNow, timeUs_t *timer)
 {
     const uint16_t blinkPattern = 0x8005; // 0b1000000000000101;
     static uint16_t blinkMask;
@@ -856,7 +856,7 @@ static void applyLedBlinkLayer(bool updateNow, uint32_t *timer)
 }
 
 #ifdef USE_LED_ANIMATION
-static void applyLedAnimationLayer(bool updateNow, uint32_t *timer)
+static void applyLedAnimationLayer(bool updateNow, timeUs_t *timer)
 {
     static uint8_t frameCounter = 0;
     const int animationFrames = ledGridHeight;
@@ -904,14 +904,14 @@ typedef enum {
     timTimerCount
 } timId_e;
 
-static uint32_t timerVal[timTimerCount];
+static timeUs_t timerVal[timTimerCount];
 
 // function to apply layer.
 // function must replan self using timer pointer
 // when updateNow is true (timer triggered), state must be updated first,
 //  before calculating led state. Otherwise update started by different trigger
 //  may modify LED state.
-typedef void applyLayerFn_timed(bool updateNow, uint32_t *timer);
+typedef void applyLayerFn_timed(bool updateNow, timeUs_t *timer);
 
 static applyLayerFn_timed* layerTable[] = {
     [timBlink] = &applyLedBlinkLayer,
@@ -929,7 +929,7 @@ static applyLayerFn_timed* layerTable[] = {
     [timRing] = &applyLedThrustRingLayer
 };
 
-void ledStripUpdate(uint32_t currentTime)
+void ledStripUpdate(timeUs_t currentTimeUs)
 {
     if (!(ledStripInitialised && isWS2811LedStripReady())) {
         return;
@@ -944,13 +944,13 @@ void ledStripUpdate(uint32_t currentTime)
     }
     ledStripEnabled = true;
 
-    const uint32_t now = currentTime;
+    const uint32_t now = currentTimeUs;
 
     // test all led timers, setting corresponding bits
     uint32_t timActive = 0;
     for (timId_e timId = 0; timId < timTimerCount; timId++) {
         // sanitize timer value, so that it can be safely incremented. Handles inital timerVal value.
-        int32_t delta = cmp32(now, timerVal[timId]);
+        const timeDelta_t delta = cmpTimeUs(now, timerVal[timId]);
         // max delay is limited to 5s
         if (delta < 0 && delta > -MAX_TIMER_DELAY)
             continue;  // not ready yet

src/main/io/ledstrip.h

@@ -18,6 +18,7 @@
 #pragma once
 
 #include "common/color.h"
+#include "common/time.h"
 #include "drivers/io_types.h"
 
 #define LED_MAX_STRIP_LENGTH           32
@@ -178,7 +179,7 @@ void reevaluateLedConfig(void);
 
 void ledStripInit(ledStripConfig_t *ledStripConfig);
 void ledStripEnable(void);
-void ledStripUpdate(uint32_t currentTime);
+void ledStripUpdate(timeUs_t currentTimeUs);
 
 bool setModeColor(ledModeIndex_e modeIndex, int modeColorIndex, int colorIndex);
 

src/main/io/osd.c

@@ -581,7 +581,7 @@ static void osdArmMotors(void)
     osdResetStats();
 }
 
-static void osdRefresh(uint32_t currentTime)
+static void osdRefresh(timeUs_t currentTimeUs)
 {
     static uint8_t lastSec = 0;
     uint8_t sec;
@@ -598,7 +598,7 @@ static void osdRefresh(uint32_t currentTime)
 
     osdUpdateStats();
 
-    sec = currentTime / 1000000;
+    sec = currentTimeUs / 1000000;
 
     if (ARMING_FLAG(ARMED) && sec != lastSec) {
         flyTime++;
@@ -614,7 +614,7 @@ static void osdRefresh(uint32_t currentTime)
         return;
     }
 
-    blinkState = (currentTime / 200000) % 2;
+    blinkState = (currentTimeUs / 200000) % 2;
 
 #ifdef CMS
     if (!displayIsGrabbed(osdDisplayPort)) {
@@ -623,7 +623,7 @@ static void osdRefresh(uint32_t currentTime)
         displayHeartbeat(osdDisplayPort); // heartbeat to stop Minim OSD going back into native mode
 #ifdef OSD_CALLS_CMS
     } else {
-        cmsUpdate(currentTime);
+        cmsUpdate(currentTimeUs);
 #endif
     }
 #endif
@@ -632,7 +632,7 @@ static void osdRefresh(uint32_t currentTime)
 /*
  * Called periodically by the scheduler
  */
-void osdUpdate(uint32_t currentTime)
+void osdUpdate(timeUs_t currentTimeUs)
 {
     static uint32_t counter = 0;
 #ifdef MAX7456_DMA_CHANNEL_TX
@@ -649,7 +649,7 @@ void osdUpdate(uint32_t currentTime)
 #define DRAW_FREQ_DENOM 10 // MWOSD @ 115200 baud
 #endif
     if (counter++ % DRAW_FREQ_DENOM == 0) {
-        osdRefresh(currentTime);
+        osdRefresh(currentTimeUs);
     } else { // rest of time redraw screen 10 chars per idle so it doesn't lock the main idle
         displayDrawScreen(osdDisplayPort);
     }

src/main/io/osd.h

@@ -64,4 +64,4 @@ struct displayPort_s;
 void osdInit(struct displayPort_s *osdDisplayPort);
 void osdResetConfig(osd_profile_t *osdProfile);
 void osdResetAlarms(void);
-void osdUpdate(uint32_t currentTime);
+void osdUpdate(timeUs_t currentTimeUs);

src/main/io/transponder_ir.c

@@ -37,12 +37,12 @@ static bool transponderInitialised = false;
 static bool transponderRepeat = false;
 
 // timers
-static uint32_t nextUpdateAt = 0;
+static timeUs_t nextUpdateAtUs = 0;
 
 #define JITTER_DURATION_COUNT (sizeof(jitterDurations) / sizeof(uint8_t))
 static uint8_t jitterDurations[] = {0,9,4,8,3,9,6,7,1,6,9,7,8,2,6};
 
-void transponderUpdate(uint32_t currentTime)
+void transponderUpdate(timeUs_t currentTimeUs)
 {
     static uint32_t jitterIndex = 0;
 
@@ -50,7 +50,7 @@ void transponderUpdate(uint32_t currentTime)
         return;
     }
 
-    const bool updateNow = (int32_t)(currentTime - nextUpdateAt) >= 0L;
+    const bool updateNow = (timeDelta_t)(currentTimeUs - nextUpdateAtUs) >= 0L;
     if (!updateNow) {
         return;
     }
@@ -61,12 +61,12 @@ void transponderUpdate(uint32_t currentTime)
         jitterIndex = 0;
     }
 
-    nextUpdateAt = currentTime + 4500 + jitter;
+    nextUpdateAtUs = currentTimeUs + 4500 + jitter;
 
 #ifdef REDUCE_TRANSPONDER_CURRENT_DRAW_WHEN_USB_CABLE_PRESENT
     // reduce current draw when USB cable is plugged in by decreasing the transponder transmit rate.
     if (usbCableIsInserted()) {
-        nextUpdateAt = currentTime + (1000 * 1000) / 10; // 10 hz.
+        nextUpdateAtUs = currentTimeUs + (1000 * 1000) / 10; // 10 hz.
     }
 #endif
 

src/main/io/transponder_ir.h

@@ -17,11 +17,13 @@
 
 #pragma once
 
+#include "common/time.h"
+
 void transponderInit(uint8_t* transponderCode);
 
 void transponderEnable(void);
 void transponderDisable(void);
-void transponderUpdate(uint32_t currentTime);
+void transponderUpdate(timeUs_t currentTimeUs);
 void transponderUpdateData(uint8_t* transponderData);
 void transponderTransmitOnce(void);
 void transponderStartRepeating(void);

src/main/rx/rx.c

@@ -306,12 +306,12 @@ void resumeRxSignal(void)
     failsafeOnRxResume();
 }
 
-bool rxUpdateCheck(uint32_t currentTime, uint32_t currentDeltaTime)
+bool rxUpdateCheck(timeUs_t currentTimeUs, timeDelta_t currentDeltaTime)
 {
     UNUSED(currentDeltaTime);
 
     if (rxSignalReceived) {
-        if (currentTime >= needRxSignalBefore) {
+        if (currentTimeUs >= needRxSignalBefore) {
             rxSignalReceived = false;
             rxSignalReceivedNotDataDriven = false;
         }
@@ -322,14 +322,14 @@ bool rxUpdateCheck(uint32_t currentTime, uint32_t currentDeltaTime)
         if (isPPMDataBeingReceived()) {
             rxSignalReceivedNotDataDriven = true;
             rxIsInFailsafeModeNotDataDriven = false;
-            needRxSignalBefore = currentTime + needRxSignalMaxDelayUs;
+            needRxSignalBefore = currentTimeUs + needRxSignalMaxDelayUs;
             resetPPMDataReceivedState();
         }
     } else if (feature(FEATURE_RX_PARALLEL_PWM)) {
         if (isPWMDataBeingReceived()) {
             rxSignalReceivedNotDataDriven = true;
             rxIsInFailsafeModeNotDataDriven = false;
-            needRxSignalBefore = currentTime + needRxSignalMaxDelayUs;
+            needRxSignalBefore = currentTimeUs + needRxSignalMaxDelayUs;
         }
     } else
 #endif
@@ -340,10 +340,10 @@ bool rxUpdateCheck(uint32_t currentTime, uint32_t currentDeltaTime)
             rxDataReceived = true;
             rxIsInFailsafeMode = (frameStatus & RX_FRAME_FAILSAFE) != 0;
             rxSignalReceived = !rxIsInFailsafeMode;
-            needRxSignalBefore = currentTime + needRxSignalMaxDelayUs;
+            needRxSignalBefore = currentTimeUs + needRxSignalMaxDelayUs;
         }
     }
-    return rxDataReceived || (currentTime >= rxUpdateAt); // data driven or 50Hz
+    return rxDataReceived || (currentTimeUs >= rxUpdateAt); // data driven or 50Hz
 }
 
 static uint16_t calculateNonDataDrivenChannel(uint8_t chan, uint16_t sample)
@@ -448,11 +448,11 @@ static void readRxChannelsApplyRanges(void)
     }
 }
 
-static void detectAndApplySignalLossBehaviour(uint32_t currentTime)
+static void detectAndApplySignalLossBehaviour(timeUs_t currentTimeUs)
 {
     bool useValueFromRx = true;
     const bool rxIsDataDriven = isRxDataDriven();
-    const uint32_t currentMilliTime = currentTime / 1000;
+    const uint32_t currentMilliTime = currentTimeUs / 1000;
 
     if (!rxIsDataDriven) {
         rxSignalReceived = rxSignalReceivedNotDataDriven;
@@ -513,20 +513,20 @@ static void detectAndApplySignalLossBehaviour(uint32_t currentTime)
 #endif
 }
 
-void calculateRxChannelsAndUpdateFailsafe(uint32_t currentTime)
+void calculateRxChannelsAndUpdateFailsafe(timeUs_t currentTimeUs)
 {
-    rxUpdateAt = currentTime + DELAY_50_HZ;
+    rxUpdateAt = currentTimeUs + DELAY_50_HZ;
 
     // only proceed when no more samples to skip and suspend period is over
     if (skipRxSamples) {
-        if (currentTime > suspendRxSignalUntil) {
+        if (currentTimeUs > suspendRxSignalUntil) {
             skipRxSamples--;
         }
         return;
     }
 
     readRxChannelsApplyRanges();
-    detectAndApplySignalLossBehaviour(currentTime);
+    detectAndApplySignalLossBehaviour(currentTimeUs);
 
     rcSampleIndex++;
 }
@@ -560,19 +560,19 @@ static void updateRSSIPWM(void)
 #define RSSI_ADC_SAMPLE_COUNT 16
 //#define RSSI_SCALE (0xFFF / 100.0f)
 
-static void updateRSSIADC(uint32_t currentTime)
+static void updateRSSIADC(timeUs_t currentTimeUs)
 {
 #ifndef USE_ADC
-    UNUSED(currentTime);
+    UNUSED(currentTimeUs);
 #else
     static uint8_t adcRssiSamples[RSSI_ADC_SAMPLE_COUNT];
     static uint8_t adcRssiSampleIndex = 0;
     static uint32_t rssiUpdateAt = 0;
 
-    if ((int32_t)(currentTime - rssiUpdateAt) < 0) {
+    if ((int32_t)(currentTimeUs - rssiUpdateAt) < 0) {
         return;
     }
-    rssiUpdateAt = currentTime + DELAY_50_HZ;
+    rssiUpdateAt = currentTimeUs + DELAY_50_HZ;
 
     int16_t adcRssiMean = 0;
     uint16_t adcRssiSample = adcGetChannel(ADC_RSSI);
@@ -594,13 +594,13 @@ static void updateRSSIADC(uint32_t currentTime)
 #endif
 }
 
-void updateRSSI(uint32_t currentTime)
+void updateRSSI(timeUs_t currentTimeUs)
 {
 
     if (rxConfig->rssi_channel > 0) {
         updateRSSIPWM();
     } else if (feature(FEATURE_RSSI_ADC)) {
-        updateRSSIADC(currentTime);
+        updateRSSIADC(currentTimeUs);
     }
 }
 

src/main/rx/rx.h

@@ -17,6 +17,8 @@
 
 #pragma once
 
+#include "common/time.h"
+
 #define STICK_CHANNEL_COUNT 4
 
 #define PWM_RANGE_ZERO 0 // FIXME should all usages of this be changed to use PWM_RANGE_MIN?
@@ -155,14 +157,14 @@ extern rxRuntimeConfig_t rxRuntimeConfig; //!!TODO remove this extern, only need
 struct modeActivationCondition_s;
 void rxInit(const rxConfig_t *rxConfig, const struct modeActivationCondition_s *modeActivationConditions);
 void useRxConfig(const rxConfig_t *rxConfigToUse);
-bool rxUpdateCheck(uint32_t currentTime, uint32_t currentDeltaTime);
+bool rxUpdateCheck(timeUs_t currentTimeUs, timeDelta_t currentDeltaTimeUs);
 bool rxIsReceivingSignal(void);
 bool rxAreFlightChannelsValid(void);
-void calculateRxChannelsAndUpdateFailsafe(uint32_t currentTime);
+void calculateRxChannelsAndUpdateFailsafe(timeUs_t currentTimeUs);
 
 void parseRcChannels(const char *input, rxConfig_t *rxConfig);
 
-void updateRSSI(uint32_t currentTime);
+void updateRSSI(timeUs_t currentTimeUs);
 void resetAllRxChannelRangeConfigurations(rxChannelRangeConfiguration_t *rxChannelRangeConfiguration);
 
 void suspendRxSignal(void);

src/main/scheduler/scheduler.h

@@ -113,7 +113,7 @@ typedef struct {
     /* Configuration */
     const char * taskName;
     const char * subTaskName;
-    bool (*checkFunc)(timeUs_t currentTimeUs, uint32_t currentDeltaTimeUs);
+    bool (*checkFunc)(timeUs_t currentTimeUs, timeDelta_t currentDeltaTimeUs);
     void (*taskFunc)(timeUs_t currentTimeUs);
     uint32_t desiredPeriod;         // target period of execution
     const uint8_t staticPriority;   // dynamicPriority grows in steps of this size, shouldn't be zero

src/main/sensors/sonar.c

@@ -88,9 +88,9 @@ static int32_t applySonarMedianFilter(int32_t newSonarReading)
         return newSonarReading;
 }
 
-void sonarUpdate(uint32_t currentTime)
+void sonarUpdate(timeUs_t currentTimeUs)
 {
-    UNUSED(currentTime);
+    UNUSED(currentTimeUs);
     hcsr04_start_reading();
 }
 

src/main/sensors/sonar.h

@@ -17,9 +17,12 @@
 
 #pragma once
 
-#include "sensors/battery.h"
+#include "common/time.h"
+
 #include "drivers/sonar_hcsr04.h"
 
+#include "sensors/battery.h"
+
 #define SONAR_OUT_OF_RANGE (-1)
 
 extern int16_t sonarMaxRangeCm;
@@ -27,7 +30,7 @@ extern int16_t sonarCfAltCm;
 extern int16_t sonarMaxAltWithTiltCm;
 
 void sonarInit(const sonarConfig_t *sonarConfig);
-void sonarUpdate(uint32_t currentTime);
+void sonarUpdate(timeUs_t currentTimeUs);
 int32_t sonarRead(void);
 int32_t sonarCalculateAltitude(int32_t sonarDistance, float cosTiltAngle);
 int32_t sonarGetLatestAltitude(void);

src/main/target/COLIBRI_RACE/i2c_bst.c

@@ -1482,10 +1482,10 @@ void bstProcessInCommand(void)
     }
 }
 
-static void resetBstChecker(uint32_t currentTime)
+static void resetBstChecker(timeUs_t currentTimeUs)
 {
     if(needResetCheck) {
-        if(currentTime >= (resetBstTimer + BST_RESET_TIME))
+        if(currentTimeUs >= (resetBstTimer + BST_RESET_TIME))
         {
             bstTimeoutUserCallback();
             needResetCheck = false;
@@ -1502,14 +1502,14 @@ static uint32_t next20hzUpdateAt_1 = 0;
 
 static uint8_t sendCounter = 0;
 
-void taskBstMasterProcess(uint32_t currentTime)
+void taskBstMasterProcess(timeUs_t currentTimeUs)
 {
     if(coreProReady) {
-        if(currentTime >= next02hzUpdateAt_1 && !bstWriteBusy()) {
+        if(currentTimeUs >= next02hzUpdateAt_1 && !bstWriteBusy()) {
             writeFCModeToBST();
-            next02hzUpdateAt_1 = currentTime + UPDATE_AT_02HZ;
+            next02hzUpdateAt_1 = currentTimeUs + UPDATE_AT_02HZ;
         }
-        if(currentTime >= next20hzUpdateAt_1 && !bstWriteBusy()) {
+        if(currentTimeUs >= next20hzUpdateAt_1 && !bstWriteBusy()) {
             if(sendCounter == 0)
                 writeRCChannelToBST();
             else if(sendCounter == 1)
@@ -1517,7 +1517,7 @@ void taskBstMasterProcess(uint32_t currentTime)
             sendCounter++;
             if(sendCounter > 1)
                 sendCounter = 0;
-            next20hzUpdateAt_1 = currentTime + UPDATE_AT_20HZ;
+            next20hzUpdateAt_1 = currentTimeUs + UPDATE_AT_20HZ;
         }
 
         if(sensors(SENSOR_GPS) && !bstWriteBusy())
@@ -1529,7 +1529,7 @@ void taskBstMasterProcess(uint32_t currentTime)
         stopMotors();
         systemReset();
     }
-    resetBstChecker(currentTime);
+    resetBstChecker(currentTimeUs);
 }
 
 /*************************************************************************************************/

src/main/target/COLIBRI_RACE/i2c_bst.h

@@ -19,7 +19,7 @@
 
 void bstProcessInCommand(void);
 void bstSlaveProcessInCommand(void);
-void taskBstMasterProcess(uint32_t currentTime);
+void taskBstMasterProcess(timeUs_t currentTimeUs);
 
 bool writeGpsPositionPrameToBST(void);
 bool writeRollPitchYawToBST(void);

src/main/telemetry/crsf.c

@@ -330,7 +330,7 @@ bool checkCrsfTelemetryState(void)
 /*
  * Called periodically by the scheduler
  */
-void handleCrsfTelemetry(uint32_t currentTime)
+void handleCrsfTelemetry(timeUs_t currentTimeUs)
 {
     static uint32_t crsfLastCycleTime;
 
@@ -343,8 +343,8 @@ void handleCrsfTelemetry(uint32_t currentTime)
     crsfRxSendTelemetryData();
 
     // Actual telemetry data only needs to be sent at a low frequency, ie 10Hz
-    if (currentTime >= crsfLastCycleTime + CRSF_CYCLETIME_US) {
+    if (currentTimeUs >= crsfLastCycleTime + CRSF_CYCLETIME_US) {
-        crsfLastCycleTime = currentTime;
+        crsfLastCycleTime = currentTimeUs;
         processCrsf();
     }
 }

src/main/telemetry/crsf.h

@@ -19,6 +19,8 @@
 
 #pragma once
 
+#include "common/time.h"
+
 typedef enum {
     CRSF_FRAME_START = 0,
     CRSF_FRAME_ATTITUDE = CRSF_FRAME_START,
@@ -30,7 +32,7 @@ typedef enum {
 
 void initCrsfTelemetry(void);
 bool checkCrsfTelemetryState(void);
-void handleCrsfTelemetry(uint32_t currentTime);
+void handleCrsfTelemetry(timeUs_t currentTimeUs);
 
 int getCrsfFrame(uint8_t *frame, crsfFrameType_e frameType);
 

src/main/telemetry/esc_telemetry.c

@@ -200,9 +200,9 @@ uint8_t escTelemetryFrameStatus(void)
     return frameStatus;
 }
 
-void escTelemetryProcess(uint32_t currentTime)
+void escTelemetryProcess(timeUs_t currentTimeUs)
 {
-    uint32_t currentTimeMs = currentTime / 1000;
+    const timeMs_t currentTimeMs = currentTimeUs / 1000;
 
     if (!escTelemetryEnabled) {
         return;

src/main/telemetry/esc_telemetry.h

@@ -1,5 +1,7 @@
 #pragma once
 
+#include "common/time.h"
+
 uint8_t escTelemetryFrameStatus(void);
 bool escTelemetryInit(void);
 bool isEscTelemetryActive(void);
@@ -7,4 +9,4 @@ int16_t getEscTelemetryVbat(void);
 int16_t getEscTelemetryCurrent(void);
 int16_t getEscTelemetryConsumption(void);
 
-void escTelemetryProcess(uint32_t currentTime);
+void escTelemetryProcess(timeUs_t currentTimeUs);

src/main/telemetry/hott.c

@@ -489,33 +489,33 @@ void checkHoTTTelemetryState(void)
         freeHoTTTelemetryPort();
 }
 
-void handleHoTTTelemetry(uint32_t currentTime)
+void handleHoTTTelemetry(timeUs_t currentTimeUs)
 {
-    static uint32_t serialTimer;
+    static timeUs_t serialTimer;
 
     if (!hottTelemetryEnabled) {
         return;
     }
 
-    if (shouldPrepareHoTTMessages(currentTime)) {
+    if (shouldPrepareHoTTMessages(currentTimeUs)) {
         hottPrepareMessages();
-        lastMessagesPreparedAt = currentTime;
+        lastMessagesPreparedAt = currentTimeUs;
     }
 
     if (shouldCheckForHoTTRequest()) {
-        hottCheckSerialData(currentTime);
+        hottCheckSerialData(currentTimeUs);
     }
 
     if (!hottMsg)
         return;
 
     if (hottIsSending) {
-        if(currentTime - serialTimer < HOTT_TX_DELAY_US) {
+        if(currentTimeUs - serialTimer < HOTT_TX_DELAY_US) {
             return;
         }
     }
     hottSendTelemetryData();
-    serialTimer = currentTime;
+    serialTimer = currentTimeUs;
 }
 
 #endif

src/main/telemetry/hott.h

@@ -25,6 +25,8 @@
 
 #pragma once
 
+#include "common/time.h"
+
 #define HOTTV4_RXTX 4
 
 #define HOTTV4_TEXT_MODE_REQUEST_ID       0x7f
@@ -485,7 +487,7 @@ typedef struct HOTT_AIRESC_MSG_s {
     uint8_t stop_byte;      //#44 constant value 0x7d
 } HOTT_AIRESC_MSG_t;
 
-void handleHoTTTelemetry(uint32_t currentTime);
+void handleHoTTTelemetry(timeUs_t currentTimeUs);
 void checkHoTTTelemetryState(void);
 
 void initHoTTTelemetry(telemetryConfig_t *telemetryConfig);