[hal] Add autodetect for power modules (#3706)

Default autodetect to REV if no devices are found, as only the REV devices have control functionality (the switchable output).

hal/src/main/native/athena/HAL.cpp

@@ -34,6 +34,7 @@ using namespace hal;
 
 static std::unique_ptr<tGlobal> global;
 static std::unique_ptr<tSysWatchdog> watchdog;
+static uint64_t dsStartTime;
 
 using namespace hal;
 
@@ -86,6 +87,11 @@ void ReleaseFPGAInterrupt(int32_t interruptNumber) {
                                     &status);
   global->strobeInterruptForceOnce(&status);
 }
+
+uint64_t GetDSInitializeTime() {
+  return dsStartTime;
+}
+
 }  // namespace hal
 
 extern "C" {
@@ -420,6 +426,11 @@ HAL_Bool HAL_Initialize(int32_t timeout, int32_t mode) {
 
   HAL_InitializeDriverStation();
 
+  dsStartTime = HAL_GetFPGATime(&status);
+  if (status != 0) {
+    return false;
+  }
+
   // Set WPI_Now to use FPGA timestamp
   wpi::SetNowImpl([]() -> uint64_t {
     int32_t status = 0;