Replace millis with esp timer

esp32/src/ap_service.cpp

@@ -1,4 +1,5 @@
 #include <ap_service.h>
+#include "esp_timer.h"
 #include <string>
 
 static const char *TAG = "APService";
@@ -37,14 +38,14 @@ APNetworkStatus APService::getAPNetworkStatus() {
 }
 
 void APService::reconfigureAP() {
-    _lastManaged = millis() - MANAGE_NETWORK_DELAY;
+    _lastManaged = esp_timer_get_time() / 1000 - MANAGE_NETWORK_DELAY;
     _reconfigureAp = true;
     _recoveryMode = false;
 }
 
 void APService::recoveryMode() {
     ESP_LOGI(TAG, "Recovery Mode needed");
-    _lastManaged = millis() - MANAGE_NETWORK_DELAY;
+    _lastManaged = esp_timer_get_time() / 1000 - MANAGE_NETWORK_DELAY;
     _recoveryMode = true;
     _reconfigureAp = true;
 }

esp32/src/motion.cpp

@@ -63,8 +63,8 @@ void MotionService::handleGestures(const gesture_t ges) {
 bool MotionService::update(Peripherals *peripherals) {
     handleGestures(peripherals->takeGesture());
     if (!state) return false;
-    unsigned long now = millis();
-    float dt = (now - lastUpdate) / 1000.0f;
+    int64_t now = esp_timer_get_time();
+    float dt = (now - lastUpdate) / 1000000.0f; // Convert microseconds to seconds
     lastUpdate = now;
     state->updateImuOffsets(peripherals->angleY(), peripherals->angleX());
     state->step(body_state, dt);

esp32/src/system_service.cpp

@@ -1,4 +1,5 @@
 #include "system_service.h"
+#include "esp_timer.h"
 #include <string>
 
 namespace system_service {
@@ -108,11 +109,11 @@ void status(JsonObject &root) {
     root["fs_used"] = ESP_FS.usedBytes();
     root["core_temp"] = temperatureRead();
     root["cpu_reset_reason"] = resetReason(esp_reset_reason());
-    root["uptime"] = millis() / 1000;
+    root["uptime"] = esp_timer_get_time() / 1000000;
 }
 
 void metrics(JsonObject &root) {
-    root["uptime"] = millis() / 1000;
+    root["uptime"] = esp_timer_get_time() / 1000000;
     root["free_heap"] = ESP.getFreeHeap();
     root["total_heap"] = ESP.getHeapSize();
     root["min_free_heap"] = ESP.getMinFreeHeap();