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[hal] Expose CAN timestamp base clock (#5357)

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This commit is contained in:
Ryan Blue
2023-06-07 12:54:03 -04:00
committed by GitHub
parent 91cbcea841
commit 1c00a52b67
9 changed files with 81 additions and 28 deletions
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20
hal/src/main/native/sim/CANAPI.cpp
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@@ -35,13 +35,6 @@ struct CANStorage {
static UnlimitedHandleResource<HAL_CANHandle, CANStorage, HAL_HandleEnum::CAN>*
canHandles;
static uint32_t GetPacketBaseTime() {
int status = 0;
auto basetime = HAL_GetFPGATime(&status);
// us to ms
return (basetime / 1000ull) & 0xFFFFFFFF;
}
namespace hal {
namespace init {
void InitializeCANAPI() {
@@ -71,6 +64,13 @@ static int32_t CreateCANId(CANStorage* storage, int32_t apiId) {
return createdId;
}
uint32_t HAL_GetCANPacketBaseTime() {
int status = 0;
auto basetime = HAL_GetFPGATime(&status);
// us to ms
return (basetime / 1000ull) & 0xFFFFFFFF;
}
HAL_CANHandle HAL_InitializeCAN(HAL_CANManufacturer manufacturer,
int32_t deviceId, HAL_CANDeviceType deviceType,
int32_t* status) {
@@ -275,7 +275,7 @@ void HAL_ReadCANPacketTimeout(HAL_CANHandle handle, int32_t apiId,
auto i = can->receives.find(messageId);
if (i != can->receives.end()) {
// Found, check if new enough
uint32_t now = GetPacketBaseTime();
uint32_t now = HAL_GetCANPacketBaseTime();
if (now - i->second.lastTimeStamp > static_cast<uint32_t>(timeoutMs)) {
// Timeout, return bad status
*status = HAL_CAN_TIMEOUT;
@@ -307,7 +307,7 @@ void HAL_ReadCANPeriodicPacket(HAL_CANHandle handle, int32_t apiId,
auto i = can->receives.find(messageId);
if (i != can->receives.end()) {
// Found, check if new enough
uint32_t now = GetPacketBaseTime();
uint32_t now = HAL_GetCANPacketBaseTime();
if (now - i->second.lastTimeStamp < static_cast<uint32_t>(periodMs)) {
*status = 0;
// Read the data from the stored message into the output
@@ -337,7 +337,7 @@ void HAL_ReadCANPeriodicPacket(HAL_CANHandle handle, int32_t apiId,
auto i = can->receives.find(messageId);
if (i != can->receives.end()) {
// Found, check if new enough
uint32_t now = GetPacketBaseTime();
uint32_t now = HAL_GetCANPacketBaseTime();
if (now - i->second.lastTimeStamp > static_cast<uint32_t>(timeoutMs)) {
// Timeout, return bad status
*status = HAL_CAN_TIMEOUT;