From 3d2deacddb62335ab758f7697382e9d6b6c2805d Mon Sep 17 00:00:00 2001
From: Francisco Molina <femolina@uc.cl>
Date: Mon, 5 Jul 2021 14:31:52 +0200
Subject: [PATCH] examples/twr_aloha: use ZTIMER_MSEC

---
 examples/twr_aloha/Makefile  |  1 +
 examples/twr_aloha/control.c | 13 ++++++-------
 examples/twr_aloha/control.h |  4 ++--
 3 files changed, 9 insertions(+), 9 deletions(-)

diff --git a/examples/twr_aloha/Makefile b/examples/twr_aloha/Makefile
index 9a03b53c5f..88f6a82a0f 100644
--- a/examples/twr_aloha/Makefile
+++ b/examples/twr_aloha/Makefile
@@ -28,6 +28,7 @@ USEMODULE += uwb-core_twr_ds_ext
 USEMODULE += shell
 USEMODULE += shell_commands
 USEMODULE += ps
+USEMODULE += ztimer_usec
 
 # Set the device role: 0x0 for tag, 0x4 for an anchor
 DW1000_ROLE ?= 0x00
diff --git a/examples/twr_aloha/control.c b/examples/twr_aloha/control.c
index 492584cbb6..c0cba17926 100644
--- a/examples/twr_aloha/control.c
+++ b/examples/twr_aloha/control.c
@@ -29,7 +29,6 @@
 
 #include "shell_commands.h"
 #include "shell.h"
-#include "xtimer.h"
 
 static struct dpl_callout _rng_req_callout;
 static uint8_t _ranging_enabled_flag;
@@ -46,7 +45,7 @@ static int _range_cli_cmd(int argc, char **argv)
 
     if (!strcmp(argv[1], "start")) {
         printf("Start ranging\n");
-        dpl_callout_reset(&_rng_req_callout, RANGE_REQUEST_T_US);
+        dpl_callout_reset(&_rng_req_callout, RANGE_REQUEST_T_MS);
         _ranging_enabled_flag = 1;
     }
     else if (!strcmp(argv[1], "stop")) {
@@ -150,12 +149,12 @@ static void _slot_complete_cb(struct dpl_event *ev)
 }
 
 /**
- * @brief An event callback to send range request every RANGE_REQUEST_T_US.
+ * @brief An event callback to send range request every RANGE_REQUEST_T_MS.
  * On every request it will switch the used ranging algorithm.
  */
 static void uwb_ev_cb(struct dpl_event *ev)
 {
-    struct uwb_rng_instance *rng = (struct uwb_rng_instance *)ev->arg;
+    struct uwb_rng_instance *rng = (struct uwb_rng_instance *)ev->ev.arg;
     struct uwb_dev *inst = rng->dev_inst;
 
     if (inst->role & UWB_ROLE_ANCHOR) {
@@ -195,7 +194,7 @@ static void uwb_ev_cb(struct dpl_event *ev)
 
     /* reset the callback if ranging is enabled */
     if (_ranging_enabled_flag) {
-        dpl_callout_reset(&_rng_req_callout, RANGE_REQUEST_T_US);
+        dpl_callout_reset(&_rng_req_callout, RANGE_REQUEST_T_MS);
     }
 }
 
@@ -211,7 +210,7 @@ void init_ranging(void)
     _uwb_mac_cbs.inst_ptr = rng;
     uwb_mac_append_interface(udev, &_uwb_mac_cbs);
 
-    uint32_t utime = xtimer_now_usec();
+    uint32_t utime = ztimer_now(ZTIMER_USEC);
 
     printf("{\"utime\": %" PRIu32 ",\"exec\": \"%s\"}\n", utime, __FILE__);
     printf("{\"device_id\"=\"%" PRIx32 "\"", udev->device_id);
@@ -235,7 +234,7 @@ void init_ranging(void)
 
     dpl_callout_init(&_rng_req_callout, dpl_eventq_dflt_get(),
                      uwb_ev_cb, rng);
-    dpl_callout_reset(&_rng_req_callout, RANGE_REQUEST_T_US);
+    dpl_callout_reset(&_rng_req_callout, RANGE_REQUEST_T_MS);
     dpl_event_init(&_slot_event, _slot_complete_cb, rng);
 
     /* Apply config */
diff --git a/examples/twr_aloha/control.h b/examples/twr_aloha/control.h
index 2c3e467d91..1d5557b4a3 100644
--- a/examples/twr_aloha/control.h
+++ b/examples/twr_aloha/control.h
@@ -37,8 +37,8 @@ extern "C" {
 /**
  * @brief Range request period
  */
-#ifndef RANGE_REQUEST_T_US
-#define RANGE_REQUEST_T_US      (40 * US_PER_MS)
+#ifndef RANGE_REQUEST_T_MS
+#define RANGE_REQUEST_T_MS      (40)
 #endif
 
 /**