kernel: replace all usleep to nxsig_usleep in kernel space

syscall cannot be called from kernel space Signed-off-by: chao an <anchao@xiaomi.com>
2023-10-25 11:08:56 +08:00 · 2023-10-25 11:08:56 +08:00 · 3cadf6642a
commit 3cadf6642a
parent ee84ea3875
35 changed files with 81 additions and 48 deletions
--- a/arch/arm/src/cxd56xx/cxd56_gnss.c
+++ b/arch/arm/src/cxd56xx/cxd56_gnss.c
@ -2719,7 +2719,7 @@ static int cxd56_gnss_open(struct file *filep)
    {
      /* GNSS requires stable RTC */

-      usleep(100 * 1000);
+      nxsig_usleep(100 * 1000);
    }

  ret = nxmutex_lock(&priv->devlock);
--- a/arch/arm/src/nrf53/nrf53_rptun.c
+++ b/arch/arm/src/nrf53/nrf53_rptun.c
@ -29,6 +29,7 @@
 #include <nuttx/nuttx.h>
 #include <nuttx/kthread.h>
 #include <nuttx/rptun/rptun.h>
+#include <nuttx/signal.h>

 #include <nuttx/semaphore.h>

@ -245,7 +246,7 @@ nrf53_rptun_get_resource(struct rptun_dev_s *dev)

      while (priv->shmem->base == 0)
        {
-          usleep(100);
+          nxsig_usleep(100);
        }
    }

--- a/arch/arm/src/nrf91/nrf91_modem_os.c
+++ b/arch/arm/src/nrf91/nrf91_modem_os.c
@ -27,6 +27,7 @@
 #include <arch/irq.h>

 #include <nuttx/mutex.h>
+#include <nuttx/signal.h>

 #include <nuttx/mm/mm.h>

@ -385,7 +386,7 @@ int nrf_modem_os_sleep(uint32_t timeout)
 {
  /* Timeout in ms */

-  usleep(timeout * 1000);
+  nxsig_usleep(timeout * 1000);
  return OK;
 }

--- a/arch/arm/src/nrf91/nrf91_modem_sock.c
+++ b/arch/arm/src/nrf91/nrf91_modem_sock.c
@ -38,6 +38,7 @@
 #include <nuttx/arch.h>
 #include <nuttx/net/usrsock.h>
 #include <nuttx/net/ioctl.h>
+#include <nuttx/signal.h>

 #include <nuttx/wireless/lte/lte_ioctl.h>
 #include <nuttx/wireless/lte/lte.h>
@ -682,7 +683,7 @@ static void nrf91_usrsock_poll_work(void *arg)
        {
          while (g_usrsock.sock[pollfd->fd].recvpending == true)
            {
-              usleep(100);
+              nxsig_usleep(100);
            }
        }

--- a/arch/arm/src/rp2040/rp2040_cyw43439.c
+++ b/arch/arm/src/rp2040/rp2040_cyw43439.c
@ -29,6 +29,7 @@
 #include <errno.h>

 #include <nuttx/kmalloc.h>
+#include <nuttx/signal.h>
 #include <nuttx/wireless/ieee80211/bcmf_gspi.h>

 #include "barriers.h"
@ -164,11 +165,11 @@ static int my_init(gspi_dev_t  *gspi)
  rp2040_gpio_setdir(rp_io->gpio_data, true);
  rp2040_gpio_put(rp_io->gpio_data, false);

-  usleep(50000); /* Leave off for at least 50ms. */
+  nxsig_usleep(50000); /* Leave off for at least 50ms. */

  rp2040_gpio_put(rp_io->gpio_on, true);     /* power on */

-  usleep(50000); /* Wait a bit to let the power come up. */
+  nxsig_usleep(50000); /* Wait a bit to let the power come up. */

  /* Don't let anyone else grab a PIO while we are doing so. */

--- a/arch/arm/src/rp2040/rp2040_ws2812.c
+++ b/arch/arm/src/rp2040/rp2040_ws2812.c
@ -30,6 +30,7 @@
 #include <string.h>

 #include <nuttx/kmalloc.h>
+#include <nuttx/signal.h>
 #include <nuttx/leds/ws2812.h>

 #include <rp2040_pio.h>
@ -141,7 +142,7 @@ static void update_pixels(struct ws2812_dev_s  *dev_data)

  if (time_delta < 50)
    {
-      usleep(50 - time_delta);
+      nxsig_usleep(50 - time_delta);
    }

  rp2040_dmastart(dma_handle, dma_complete, dev_data);
--- a/arch/arm/src/rtl8720c/ameba_hci.c
+++ b/arch/arm/src/rtl8720c/ameba_hci.c
@ -24,6 +24,7 @@

 #include <nuttx/config.h>
 #include <fcntl.h>
+#include <nuttx/signal.h>
 #include <nuttx/serial/serial.h>
 #include <nuttx/net/netdev.h>
 #include <nuttx/net/netdev/netdev.h>
@ -327,7 +328,7 @@ static int hci_load_firmware(struct file *filep)
      command[1] = 0x20;
      command[2] = 0xfc;
      buffer_size = header_size + command[3];
-      usleep(10);
+      nxsig_usleep(10);
      ret = hci_send(filep, command, buffer_size);
      if (ret != buffer_size)
        {
--- a/arch/arm/src/rtl8720c/amebaz_depend.c
+++ b/arch/arm/src/rtl8720c/amebaz_depend.c
@ -25,6 +25,7 @@
 #include "amebaz_depend.h"
 #include <nuttx/mqueue.h>
 #include <nuttx/semaphore.h>
+#include <nuttx/signal.h>
 #include <nuttx/syslog/syslog.h>

 /****************************************************************************
@ -397,7 +398,7 @@ void rtw_yield_os(void)

 void rtw_usleep_os(int us)
 {
-  usleep(us);
+  nxsig_usleep(us);
 }

 void rtw_msleep_os(int ms)
--- a/arch/arm/src/rtl8720c/amebaz_driver.c
+++ b/arch/arm/src/rtl8720c/amebaz_driver.c
@ -25,6 +25,7 @@
 #include <nuttx/config.h>
 #include <stdio.h>
 #include <netinet/arp.h>
+#include <nuttx/signal.h>
 #include <nuttx/kmalloc.h>

 #include "amebaz_netdev.h"
@ -958,7 +959,7 @@ int amebaz_wl_set_mode(struct amebaz_dev_s *priv, struct iwreq *iwr)

          while (!rltk_wlan_running(priv->devnum))
            {
-              usleep(1000);
+              nxsig_usleep(1000);
            }

          ret = amebaz_wl_disable_powersave(0);
@ -1125,7 +1126,7 @@ static int amebaz_wl_on(int mode)

      while (!rltk_wlan_running(gp_wlan_dev[i]->devnum))
        {
-          usleep(1000);
+          nxsig_usleep(1000);
        }
    }

--- a/arch/arm/src/sama5/sam_classd.c
+++ b/arch/arm/src/sama5/sam_classd.c
@ -38,6 +38,7 @@
 #include <arch/board/board.h>
 #include <nuttx/kmalloc.h>
 #include <nuttx/mqueue.h>
+#include <nuttx/signal.h>
 #include <nuttx/fs/fs.h>
 #include <nuttx/fs/ioctl.h>
 #include <nuttx/audio/audio.h>
@ -665,7 +666,7 @@ void classd_enable_audio(struct classd_dev_s *priv, bool pmc_clock_enable)

  /* wait for Audio PLL startup time */

-  usleep(100);
+  nxsig_usleep(100);
 #endif
 }

--- a/arch/arm/src/sama5/sam_sdmmc.c
+++ b/arch/arm/src/sama5/sam_sdmmc.c
@ -42,6 +42,7 @@
 #include <nuttx/semaphore.h>
 #include <nuttx/mmcsd.h>
 #include <nuttx/kmalloc.h>
+#include <nuttx/signal.h>

 #include <nuttx/irq.h>
 #include <arch/board/board.h>
@ -1578,7 +1579,7 @@ static void sam_reset(struct sdio_dev_s *dev)
        }

      timeout_ms--;
-      usleep(100);
+      nxsig_usleep(100);
    }

    mcinfo("Reset complete\n");
@ -1964,7 +1965,7 @@ static void sam_clock(struct sdio_dev_s *dev, enum sdio_clock_e rate)

  if (wait_microseconds > 0)
    {
-     usleep(wait_microseconds);
+     nxsig_usleep(wait_microseconds);
    }
 }

@ -2674,7 +2675,7 @@ static int sam_recvshortcrc(struct sdio_dev_s *dev, uint32_t cmd,

  /* We need a short delay here to let the SDMMC peripheral respond */

-  usleep(10);
+  nxsig_usleep(10);

  return ret;
 }
@ -3323,7 +3324,7 @@ static int sam_set_clock(struct sam_dev_s *priv, uint32_t clock)
        }

        timeout--;
-        usleep(100);
+        nxsig_usleep(100);
    }

  sam_putreg16(priv, 0, SAMA5_SDMMC_SYSCTL_OFFSET);
@ -3433,7 +3434,7 @@ static int sam_set_clock(struct sam_dev_s *priv, uint32_t clock)
            }

          timeout--;
-          usleep(100);
+          nxsig_usleep(100);
        }

      /* High Speed Mode? */
--- a/arch/arm/src/samv7/sam_serial.c
+++ b/arch/arm/src/samv7/sam_serial.c
@ -41,6 +41,7 @@
 #include <nuttx/arch.h>
 #include <nuttx/fs/ioctl.h>
 #include <nuttx/serial/serial.h>
+#include <nuttx/signal.h>

 #include <arch/board/board.h>

@ -1711,7 +1712,7 @@ static int sam_ioctl(struct file *filep, int cmd, unsigned long arg)
             * waiting to improve CPU utilization
             */

-            usleep((8 * 1000 * 1000) / priv->baud);
+            nxsig_usleep((8 * 1000 * 1000) / priv->baud);

            regval = sam_serialin(priv, SAM_UART_SR_OFFSET);
          }
--- a/arch/arm/src/stm32h7/stm32_rptun.c
+++ b/arch/arm/src/stm32h7/stm32_rptun.c
@ -29,6 +29,7 @@
 #include <nuttx/nuttx.h>
 #include <nuttx/kthread.h>
 #include <nuttx/rptun/rptun.h>
+#include <nuttx/signal.h>

 #include <nuttx/semaphore.h>

@ -250,7 +251,7 @@ stm32_rptun_get_resource(struct rptun_dev_s *dev)

      while (priv->shmem->base == 0)
        {
-          usleep(100);
+          nxsig_usleep(100);
        }
    }

--- a/arch/risc-v/src/esp32c3/esp32c3_ble_adapter.c
+++ b/arch/risc-v/src/esp32c3/esp32c3_ble_adapter.c
@ -2213,7 +2213,7 @@ int esp32c3_bt_controller_disable(void)

  while (!btdm_power_state_active())
    {
-      usleep(1000); /* wait */
+      nxsig_usleep(1000); /* wait */
    }

  btdm_controller_disable();
--- a/arch/risc-v/src/esp32c3/esp32c3_twai.c
+++ b/arch/risc-v/src/esp32c3/esp32c3_twai.c
@ -37,6 +37,7 @@
 #include <nuttx/irq.h>
 #include <nuttx/arch.h>
 #include <nuttx/can/can.h>
+#include <nuttx/signal.h>

 #include "riscv_internal.h"

@ -1217,7 +1218,7 @@ struct can_dev_s *esp32c3_twaiinitialize(int port)
      modifyreg32(SYSTEM_PERIP_RST_EN0_REG, 0, SYSTEM_TWAI_RST_M);
      modifyreg32(SYSTEM_PERIP_CLK_EN0_REG, SYSTEM_TWAI_CLK_EN_M, 0);

-      usleep(1);
+      nxsig_usleep(1);

      modifyreg32(SYSTEM_PERIP_CLK_EN0_REG, 0, SYSTEM_TWAI_CLK_EN_M);
      modifyreg32(SYSTEM_PERIP_RST_EN0_REG, SYSTEM_TWAI_RST_M, 0);
--- a/arch/risc-v/src/mpfs/mpfs_dsn.c
+++ b/arch/risc-v/src/mpfs/mpfs_dsn.c
@ -25,6 +25,7 @@
 #include <nuttx/config.h>
 #include <errno.h>
 #include <unistd.h>
+#include <nuttx/signal.h>
 #include "mpfs_dsn.h"
 #include "riscv_internal.h"

@ -89,7 +90,7 @@ int mpfs_read_dsn(uint8_t *dsn, size_t len)
  while ((getreg32(SERVICES_SR) & SCBCTRL_SERVICESSR_BUSY) && --retries > 0)
    {
      leave_critical_section(flags);
-      usleep(1000);
+      nxsig_usleep(1000);
      flags = enter_critical_section();
    }

--- a/arch/xtensa/src/esp32/esp32_ble_adapter.c
+++ b/arch/xtensa/src/esp32/esp32_ble_adapter.c
@ -2529,7 +2529,7 @@ int esp32_bt_controller_disable(void)

  while (!btdm_power_state_active())
    {
-      usleep(1000); /* wait */
+      nxsig_usleep(1000); /* wait */
    }

  btdm_controller_disable();
--- a/arch/xtensa/src/esp32s3/esp32s3_ble_adapter.c
+++ b/arch/xtensa/src/esp32s3/esp32s3_ble_adapter.c
@ -2658,7 +2658,7 @@ int esp32s3_bt_controller_disable(void)

  while (!btdm_power_state_active())
    {
-      usleep(1000); /* wait */
+      nxsig_usleep(1000); /* wait */
    }

  btdm_controller_disable();
--- a/boards/arm/cxd56xx/common/src/cxd56_bcm20706.c
+++ b/boards/arm/cxd56xx/common/src/cxd56_bcm20706.c
@ -25,6 +25,7 @@
 #include <unistd.h>
 #include <stdbool.h>
 #include <string.h>
+#include <nuttx/signal.h>
 #include <arch/board/board.h>

 #include "cxd56_gpio.h"
@ -116,9 +117,9 @@ int board_bluetooth_uart_pin_cfg(void)
 void board_bluetooth_reset(void)
 {
  cxd56_gpio_write(BCM20707_RST_N, false);
-  usleep(BCM20707_RST_DELAY);
+  nxsig_usleep(BCM20707_RST_DELAY);
  cxd56_gpio_write(BCM20707_RST_N, true);
-  usleep(BCM20707_RST_DELAY);
+  nxsig_usleep(BCM20707_RST_DELAY);
 }

 /****************************************************************************
--- a/boards/arm/cxd56xx/spresense/src/cxd56_power.c
+++ b/boards/arm/cxd56xx/spresense/src/cxd56_power.c
@ -33,6 +33,7 @@

 #include <nuttx/arch.h>
 #include <nuttx/mutex.h>
+#include <nuttx/signal.h>

 #include "chip.h"
 #include "arm_internal.h"
@ -233,7 +234,7 @@ int board_power_control(int target, bool en)

      if (!g_rtc_enabled && (PMIC_GET_TYPE(target) == PMIC_TYPE_GPO))
        {
-          usleep(1);
+          nxsig_usleep(1);
        }
    }

@ -271,7 +272,7 @@ int board_power_control_tristate(int target, int value)

      if (!g_rtc_enabled)
        {
-          usleep(1);
+          nxsig_usleep(1);
        }
    }
  else if (PMIC_GET_TYPE(target) == CHIP_TYPE_GPIO)
--- a/boards/arm/samv7/same70-qmtech/src/sam_bringup.c
+++ b/boards/arm/samv7/same70-qmtech/src/sam_bringup.c
@ -37,6 +37,7 @@
 #include <nuttx/drivers/ramdisk.h>
 #include <nuttx/fs/fs.h>
 #include <nuttx/fs/nxffs.h>
+#include <nuttx/signal.h>

 #include "same70-qmtech.h"

@ -172,7 +173,7 @@ int sam_bringup(void)
    {
      if (sam_cardinserted(HSMCI0_SLOTNO))
        {
-          usleep(1000 * 1000);
+          nxsig_usleep(1000 * 1000);

          /* Mount the volume on HSMCI0 */

--- a/boards/arm/samv7/same70-xplained/src/sam_bringup.c
+++ b/boards/arm/samv7/same70-xplained/src/sam_bringup.c
@ -37,6 +37,7 @@
 #  include <nuttx/usb/usbmonitor.h>
 #endif

+#include <nuttx/signal.h>
 #include <nuttx/drivers/drivers.h>
 #include <nuttx/drivers/ramdisk.h>
 #include <nuttx/fs/fs.h>
@ -233,7 +234,7 @@ int sam_bringup(void)
    {
      if (sam_cardinserted(HSMCI0_SLOTNO))
        {
-          usleep(1000 * 1000);
+          nxsig_usleep(1000 * 1000);

          /* Mount the volume on HSMCI0 */

--- a/boards/arm/samv7/samv71-xult/src/sam_bringup.c
+++ b/boards/arm/samv7/samv71-xult/src/sam_bringup.c
@ -32,6 +32,7 @@
 #include <syslog.h>
 #include <errno.h>
 #include <debug.h>
+#include <nuttx/signal.h>

 #ifdef CONFIG_USBMONITOR
 #  include <nuttx/usb/usbmonitor.h>
@ -349,7 +350,7 @@ int sam_bringup(void)
    {
      if (sam_cardinserted(HSMCI0_SLOTNO))
        {
-          usleep(1000 * 1000);
+          nxsig_usleep(1000 * 1000);

          /* Mount the volume on HSMCI0 */

--- a/boards/arm/stm32/stm32f103-minimum/src/stm32_hyt271.c
+++ b/boards/arm/stm32/stm32f103-minimum/src/stm32_hyt271.c
@ -31,6 +31,7 @@
 #include <debug.h>

 #include <nuttx/board.h>
+#include <nuttx/signal.h>
 #include <arch/board/board.h>
 #ifdef CONFIG_SENSORS_HYT271
 #  include <nuttx/sensors/hyt271.h>
@ -110,7 +111,7 @@ static int stm32_i2c_power_reset(struct hyt271_bus_s *bus)
    }

  stm32_gpiowrite(BOARD_HYT271_POWOUT, false);
-  usleep(250000);
+  nxsig_usleep(250000);
  stm32_gpiowrite(BOARD_HYT271_POWOUT, true);

  while (1)
--- a/boards/xtensa/esp32s3/esp32s3-devkit/src/esp32s3_st7735.c
+++ b/boards/xtensa/esp32s3/esp32s3-devkit/src/esp32s3_st7735.c
@ -31,6 +31,7 @@

 #include <nuttx/arch.h>
 #include <nuttx/board.h>
+#include <nuttx/signal.h>
 #include <nuttx/spi/spi.h>
 #include <nuttx/lcd/lcd.h>
 #include <nuttx/lcd/st7735.h>
@ -84,9 +85,9 @@ int board_lcd_initialize(void)

  esp32s3_configgpio(GPIO_LCD_RST, OUTPUT);
  esp32s3_gpiowrite(GPIO_LCD_RST, false);
-  usleep(10000);
+  nxsig_usleep(10000);
  esp32s3_gpiowrite(GPIO_LCD_RST, true);
-  usleep(100000);
+  nxsig_usleep(100000);

  return OK;
 }
--- a/drivers/audio/audio_null.c
+++ b/drivers/audio/audio_null.c
@ -42,6 +42,7 @@
 #include <nuttx/fs/ioctl.h>
 #include <nuttx/audio/audio.h>
 #include <nuttx/audio/audio_null.h>
+#include <nuttx/signal.h>

 /****************************************************************************
 * Pre-processor Definitions
@ -171,7 +172,7 @@ static int null_sleep(FAR struct audio_lowerhalf_s *dev,
  uint64_t sleep_time;

  sleep_time = USEC_PER_SEC * (uint64_t)apb->nbytes / priv->scaler;
-  usleep(sleep_time);
+  nxsig_usleep(sleep_time);
 #ifdef CONFIG_AUDIO_MULTI_SESSION
  priv->dev.upper(priv->dev.priv, AUDIO_CALLBACK_DEQUEUE,
                  apb, OK, NULL);
--- a/drivers/crypto/pnt/sm_timer.c
+++ b/drivers/crypto/pnt/sm_timer.c
@ -26,11 +26,13 @@

 #include <unistd.h>

+#include <nuttx/signal.h>
+
 /****************************************************************************
 * Public Functions
 ****************************************************************************/

 void sm_sleep(uint32_t msec)
 {
-  usleep(1000 * msec);
+  nxsig_usleep(1000 * msec);
 }
--- a/drivers/modem/alt1250/alt1250.c
+++ b/drivers/modem/alt1250/alt1250.c
@ -27,6 +27,7 @@
 #include <nuttx/kmalloc.h>
 #include <nuttx/kthread.h>
 #include <nuttx/fs/fs.h>
+#include <nuttx/signal.h>
 #include <poll.h>
 #include <errno.h>
 #include <arch/board/board.h>
@ -1050,7 +1051,7 @@ static int altcom_recvthread(int argc, FAR char *argv[])
               * does not accept any requests and must stay alive.
               */

-              sleep(1);
+              nxsig_sleep(1);
            }
        }
      else if (ret == ALTMDM_RETURN_EXIT)
--- a/drivers/motor/a4988.c
+++ b/drivers/motor/a4988.c
@ -28,6 +28,8 @@
 #include <errno.h>
 #include <debug.h>

+#include <nuttx/signal.h>
+
 /****************************************************************************
 * Pre-processor Definitions
 ****************************************************************************/
@ -137,7 +139,7 @@ static int a4988_work(FAR struct stepper_lowerhalf_s *dev,
  if (priv->auto_idle)
    {
      priv->ops->idle(false);
-      usleep(USEC_PER_MSEC);
+      nxsig_usleep(USEC_PER_MSEC);
    }

  dev->status.state = STEPPER_STATE_RUN;
@ -197,7 +199,7 @@ static int a4988_idle(FAR struct stepper_lowerhalf_s *dev, uint8_t idle)
  else
    {
      priv->ops->idle(false);
-      usleep(USEC_PER_MSEC);
+      nxsig_usleep(USEC_PER_MSEC);
      dev->status.state = STEPPER_STATE_READY;
    }

--- a/drivers/motor/drv8825.c
+++ b/drivers/motor/drv8825.c
@ -27,6 +27,7 @@

 #include <errno.h>
 #include <debug.h>
+#include <nuttx/signal.h>

 /****************************************************************************
 * Pre-processor Definitions
@ -144,7 +145,7 @@ static int drv8825_work(FAR struct stepper_lowerhalf_s *dev,
  if (priv->auto_idle)
    {
      priv->ops->idle(false);
-      usleep(USEC_PER_MSEC * 2);
+      nxsig_usleep(USEC_PER_MSEC * 2);
    }

  dev->status.state = STEPPER_STATE_RUN;
@ -222,7 +223,7 @@ static int drv8825_idle(FAR struct stepper_lowerhalf_s *dev, uint8_t idle)
  else
    {
      priv->ops->idle(false);
-      usleep(USEC_PER_MSEC * 2);
+      nxsig_usleep(USEC_PER_MSEC * 2);
      dev->status.state = STEPPER_STATE_READY;
    }

--- a/drivers/rptun/rptun_ping.c
+++ b/drivers/rptun/rptun_ping.c
@ -29,6 +29,7 @@
 #include <string.h>
 #include <sys/param.h>
 #include <time.h>
+#include <nuttx/signal.h>

 #include "rptun.h"

@ -167,7 +168,7 @@ int rptun_ping(FAR struct rpmsg_endpoint *ept,
      max    = MAX(max, tm);
      total += tm;

-      usleep(ping->sleep * USEC_PER_MSEC);
+      nxsig_usleep(ping->sleep * USEC_PER_MSEC);
    }

  syslog(LOG_INFO, "ping times: %d\n", ping->times);
--- a/drivers/sensors/bmi160_uorb.c
+++ b/drivers/sensors/bmi160_uorb.c
@ -25,6 +25,7 @@
 #include "bmi160_base.h"
 #include <sys/param.h>
 #include <nuttx/wqueue.h>
+#include <nuttx/signal.h>
 #include <nuttx/sensors/sensor.h>

 #if defined(CONFIG_SENSORS_BMI160_UORB)
@ -206,7 +207,7 @@ static void bmi160_accel_enable(FAR struct bmi160_dev_uorb_s *priv,
      /* Set accel as normal mode. */

      bmi160_putreg8(&priv->dev, BMI160_CMD, ACCEL_PM_NORMAL);
-      usleep(30000);
+      nxsig_usleep(30000);

      idx = bmi160_findodr(priv->interval, g_bmi160_accel_odr,
                           nitems(g_bmi160_accel_odr));
@ -257,7 +258,7 @@ static void bmi160_gyro_enable(FAR struct bmi160_dev_uorb_s *priv,
      /* Set gyro as normal mode. */

      bmi160_putreg8(&priv->dev, BMI160_CMD, GYRO_PM_NORMAL);
-      usleep(30000);
+      nxsig_usleep(30000);

      idx = bmi160_findodr(priv->interval, g_bmi160_gyro_odr,
                           nitems(g_bmi160_gyro_odr));
@ -594,7 +595,7 @@ static int bmi160_register_accel(int devno,

  bmi160_getreg8(priv, 0x7f);
  bmi160_getreg8(priv, 0x7f); /* workaround: fail to switch SPI, run twice */
-  usleep(200);
+  nxsig_usleep(200);

 #endif

--- a/drivers/sensors/wtgahrs2_uorb.c
+++ b/drivers/sensors/wtgahrs2_uorb.c
@ -29,6 +29,7 @@
 #include <nuttx/sensors/wtgahrs2.h>
 #include <nuttx/kthread.h>
 #include <nuttx/kmalloc.h>
+#include <nuttx/signal.h>

 #include <sys/param.h>

@ -151,7 +152,7 @@ static void wtgahrs2_sendcmd(FAR struct wtgahrs2_dev_s *rtdata,
                             const void *cmd)
 {
  file_write(&rtdata->file, cmd, WTGAHRS2_CMD_LENGTH);
-  usleep(10000);
+  nxsig_usleep(10000);
 }

 static int wtgahrs2_activate(FAR struct sensor_lowerhalf_s *lower,
--- a/drivers/usbmisc/fusb302.c
+++ b/drivers/usbmisc/fusb302.c
@ -35,6 +35,7 @@
 #include <nuttx/mutex.h>
 #include <nuttx/wqueue.h>
 #include <nuttx/i2c/i2c_master.h>
+#include <nuttx/signal.h>

 #include <nuttx/usb/fusb302.h>
 #include <sys/ioctl.h>
@ -644,7 +645,7 @@ void setmdac(struct fusb302_dev_s *priv, enum src_current_e thresh)
  regval |= MEASURE_MDAC(src_mdac_val[thresh]);

  fusb302_putreg(priv, FUSB302_MEASURE_REG, regval);
-  usleep(150);
+  nxsig_usleep(150);
 }

 /****************************************************************************
--- a/fs/rpmsgfs/rpmsgfs.c
+++ b/fs/rpmsgfs/rpmsgfs.c
@ -40,6 +40,7 @@
 #include <nuttx/mutex.h>
 #include <nuttx/fs/fs.h>
 #include <nuttx/fs/ioctl.h>
+#include <nuttx/signal.h>

 #include "rpmsgfs.h"

@ -260,7 +261,7 @@ static void rpmsgfs_mkpath(FAR struct rpmsgfs_mountpt_s *fs,
          break;
        }

-      usleep(RPMSGFS_RETRY_DELAY_MS * USEC_PER_MSEC);
+      nxsig_usleep(RPMSGFS_RETRY_DELAY_MS * USEC_PER_MSEC);
      fs->timeout -= RPMSGFS_RETRY_DELAY_MS;
    }
 }