[driver] iwr6843aop fixes for review

Author: hshose

examples/linux/iwr6843aop/main.cpp

@@ -12,10 +12,10 @@
 #include <cstdlib>
 #include <fstream>
 #include <modm/debug/logger.hpp>
+#include <modm/driver/radar/iwr6843aop.hpp>
 #include <modm/platform.hpp>
 #include <modm/platform/uart/static_serial_interface.hpp>
 #include <string>
-#include <modm/driver/radar/iwr6843aop.hpp>
 
 using namespace modm::platform;
 

src/modm/driver/radar/iwr6843aop.hpp

@@ -324,8 +324,7 @@ class Iwr6843aop : public iwr6843aop
 
 	Duration syncInterval_{Duration{100}};
 	Duration controlResponseTimeout_{Duration{250}};
-	Timestamp lastSyncTime_{};
-	bool hasLastSyncTime_{false};
+	Timeout syncTimer_{Duration{100}};
 
 	Error lastError_{Error::None};
 

src/modm/driver/radar/iwr6843aop.lb

@@ -23,8 +23,8 @@ def prepare(module, options):
 	module.depends(
 		":architecture:gpio",
 		":architecture:uart",
-		":architecture:delay",
-		":processing:timer",
+		":architecture:fiber",
+  		":processing:timer",
 		":platform:gpio")
 	return True
 

src/modm/driver/radar/iwr6843aop_impl.hpp

@@ -37,6 +37,13 @@ Iwr6843aop<ControlUart, DataUart, SyncPin, FrameQueueSize, MaxPointsPerFrame,
 		   MaxParserBufferSize>::setSyncInterval(Duration interval)
 {
 	syncInterval_ = interval;
+	if (syncInterval_.count() == 0)
+	{
+		syncTimer_.stop();
+	} else
+	{
+		syncTimer_.restart(syncInterval_);
+	}
 }
 
 template<class ControlUart, class DataUart, class SyncPin, std::size_t FrameQueueSize,
@@ -236,7 +243,7 @@ Iwr6843aop<ControlUart, DataUart, SyncPin, FrameQueueSize, MaxPointsPerFrame,
 			return false;
 		} else
 		{
-			modm::delay_us(100);
+			modm::this_fiber::sleep_for(100us);
 		}
 	}
 
@@ -260,6 +267,7 @@ Iwr6843aop<ControlUart, DataUart, SyncPin, FrameQueueSize, MaxPointsPerFrame,
 		if (bytesRead == 0) { break; }
 
 		if (not appendData(dataReadChunk_.data(), bytesRead)) { return false; }
+		modm::this_fiber::yield();
 	}
 
 	if (DataUart::hasError())
@@ -354,18 +362,10 @@ Iwr6843aop<ControlUart, DataUart, SyncPin, FrameQueueSize, MaxPointsPerFrame,
 {
 	if (syncInterval_.count() == 0) { return; }
 
-	const auto now = Clock::now();
-	if (not hasLastSyncTime_)
-	{
-		lastSyncTime_ = now;
-		hasLastSyncTime_ = true;
-		return;
-	}
-
-	if ((now - lastSyncTime_) >= syncInterval_)
+	if (syncTimer_.isExpired())
 	{
 		triggerSyncPulse();
-		lastSyncTime_ = now;
+		syncTimer_.restart(syncInterval_);
 	}
 }
 
@@ -376,7 +376,7 @@ Iwr6843aop<ControlUart, DataUart, SyncPin, FrameQueueSize, MaxPointsPerFrame,
 		   MaxParserBufferSize>::triggerSyncPulse()
 {
 	SyncPin::set();
-	modm::delay_us(100);
+	modm::this_fiber::sleep_for(100us);
 	SyncPin::reset();
 }