Update headers and .sos to v15 image + most API changes

Java still does not work

Change-Id: I172ac401a07b6703909068f82b7b6cc67e6075c0

hal/include/HAL/Digital.hpp

@@ -63,8 +63,6 @@ extern "C"
 	void setCounterPulseLengthMode(void* counter_pointer, double threshold, int32_t *status);
 	int32_t getCounterSamplesToAverage(void* counter_pointer, int32_t *status);
 	void setCounterSamplesToAverage(void* counter_pointer, int samplesToAverage, int32_t *status);
-	void startCounter(void* counter_pointer, int32_t *status);
-	void stopCounter(void* counter_pointer, int32_t *status);
 	void resetCounter(void* counter_pointer, int32_t *status);
 	int32_t getCounter(void* counter_pointer, int32_t *status);
 	double getCounterPeriod(void* counter_pointer, int32_t *status);
@@ -78,8 +76,6 @@ extern "C"
 			uint8_t port_b_module, uint32_t port_b_pin, bool port_b_analog_trigger,
 			bool reverseDirection, int32_t *index, int32_t *status); // TODO: fix routing
 	void freeEncoder(void* encoder_pointer, int32_t *status);
-	void startEncoder(void* encoder_pointer, int32_t *status);
-	void stopEncoder(void* encoder_pointer, int32_t *status);
 	void resetEncoder(void* encoder_pointer, int32_t *status);
 	int32_t getEncoder(void* encoder_pointer, int32_t *status); // Raw value
 	double getEncoderPeriod(void* encoder_pointer, int32_t *status);

hal/include/HAL/Interrupts.hpp

@@ -16,10 +16,11 @@ extern "C"
 	void* initializeInterrupts(uint32_t interruptIndex, bool watcher, int32_t *status);
 	void cleanInterrupts(void* interrupt_pointer, int32_t *status);
 
-	void waitForInterrupt(void* interrupt_pointer, double timeout, int32_t *status);
+	uint32_t waitForInterrupt(void* interrupt_pointer, double timeout, bool ignorePrevious, int32_t *status);
 	void enableInterrupts(void* interrupt_pointer, int32_t *status);
 	void disableInterrupts(void* interrupt_pointer, int32_t *status);
-	double readInterruptTimestamp(void* interrupt_pointer, int32_t *status);
+	double readRisingTimestamp(void* interrupt_pointer, int32_t *status);
+	double readFallingTimestamp(void* interrupt_pointer, int32_t *status);
 	void requestInterrupts(void* interrupt_pointer, uint8_t routing_module, uint32_t routing_pin,
 			bool routing_analog_trigger, int32_t *status);
 	void attachInterruptHandler(void* interrupt_pointer, InterruptHandlerFunction handler,

hal/lib/Athena/ChipObject.h

@@ -11,6 +11,7 @@
 #include <stdint.h>
 
 #include "FRC_FPGA_ChipObject/RoboRIO_FRC_ChipObject_Aliases.h"
+#include "FRC_FPGA_ChipObject/tDMAChannelDescriptor.h"
 #include "FRC_FPGA_ChipObject/tDMAManager.h"
 #include "FRC_FPGA_ChipObject/tInterruptManager.h"
 #include "FRC_FPGA_ChipObject/tSystem.h"

hal/lib/Athena/Digital.cpp

@@ -683,14 +683,11 @@ void setCounterUpSourceEdge(void* counter_pointer, bool risingEdge, bool falling
  */
 void clearCounterUpSource(void* counter_pointer, int32_t *status) {
   Counter* counter = (Counter*) counter_pointer;
-  bool state = counter->counter->readConfig_Enable(status);
-  counter->counter->writeConfig_Enable(false, status);
   counter->counter->writeConfig_UpFallingEdge(false, status);
   counter->counter->writeConfig_UpRisingEdge(false, status);
   // Index 0 of digital is always 0.
   counter->counter->writeConfig_UpSource_Channel(0, status);
   counter->counter->writeConfig_UpSource_AnalogTrigger(false, status);
-  counter->counter->writeConfig_Enable(state, status);
 }
 
 /**
@@ -738,14 +735,11 @@ void setCounterDownSourceEdge(void* counter_pointer, bool risingEdge, bool falli
  */
 void clearCounterDownSource(void* counter_pointer, int32_t *status) {
   Counter* counter = (Counter*) counter_pointer;
-  bool state = counter->counter->readConfig_Enable(status);
-  counter->counter->writeConfig_Enable(false, status);
   counter->counter->writeConfig_DownFallingEdge(false, status);
   counter->counter->writeConfig_DownRisingEdge(false, status);
   // Index 0 of digital is always 0.
   counter->counter->writeConfig_DownSource_Channel(0, status);
   counter->counter->writeConfig_DownSource_AnalogTrigger(false, status);
-  counter->counter->writeConfig_Enable(state, status);
 }
 
 /**
@@ -814,25 +808,6 @@ void setCounterSamplesToAverage(void* counter_pointer, int samplesToAverage, int
   counter->counter->writeTimerConfig_AverageSize(samplesToAverage, status);
 }
 
-/**
- * Start the Counter counting.
- * This enables the counter and it starts accumulating counts from the associated
- * input channel. The counter value is not reset on starting, and still has the previous value.
- */
-void startCounter(void* counter_pointer, int32_t *status) {
-  Counter* counter = (Counter*) counter_pointer;
-  counter->counter->writeConfig_Enable(1, status);
-}
-
-/**
- * Stop the Counter.
- * Stops the counting but doesn't effect the current value.
- */
-void stopCounter(void* counter_pointer, int32_t *status) {
-  Counter* counter = (Counter*) counter_pointer;
-  counter->counter->writeConfig_Enable(0, status);
-}
-
 /**
  * Reset the Counter to zero.
  * Set the counter value to zero. This doesn't effect the running state of the counter, just sets
@@ -993,23 +968,6 @@ void freeEncoder(void* encoder_pointer, int32_t *status) {
   delete encoder->encoder;
 }
 
-/**
- * Start the Encoder.
- * Starts counting pulses on the Encoder device.
- */
-void startEncoder(void* encoder_pointer, int32_t *status) {
-  Encoder* encoder = (Encoder*) encoder_pointer;
-  encoder->encoder->writeConfig_Enable(1, status);
-}
-
-/**
- * Stops counting pulses on the Encoder device. The value is not changed.
- */
-void stopEncoder(void* encoder_pointer, int32_t *status) {
-  Encoder* encoder = (Encoder*) encoder_pointer;
-  encoder->encoder->writeConfig_Enable(0, status);
-}
-
 /**
  * Reset the Encoder distance to zero.
  * Resets the current count to zero on the encoder.

hal/lib/Athena/FRC_FPGA_ChipObject/FRC_FPGA_ChipObject_Aliases.h

@@ -4,7 +4,7 @@
 #ifndef __FRC_FPGA_ChipObject_Aliases_h__
 #define __FRC_FPGA_ChipObject_Aliases_h__
 
-#define nInvariantFPGANamespace nFRC_C0EF_1_1_0
 #define nRuntimeFPGANamespace nFRC_2012_1_6_4
+#define nInvariantFPGANamespace nFRC_C0EF_1_1_0
 
 #endif // __FRC_FPGA_ChipObject_Aliases_h__

hal/lib/Athena/FRC_FPGA_ChipObject/RoboRIO_FRC_ChipObject_Aliases.h

@@ -4,6 +4,6 @@
 #ifndef __RoboRIO_FRC_ChipObject_Aliases_h__
 #define __RoboRIO_FRC_ChipObject_Aliases_h__
 
-#define nRoboRIO_FPGANamespace nFRC_2015_1_0_8
+#define nRoboRIO_FPGANamespace nFRC_2015_1_0_9
 
 #endif // __RoboRIO_FRC_ChipObject_Aliases_h__

hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/nInterfaceGlobals.h

@@ -1,15 +1,15 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2015_1_0_8_nInterfaceGlobals_h__
-#define __nFRC_2015_1_0_8_nInterfaceGlobals_h__
+#ifndef __nFRC_2015_1_0_9_nInterfaceGlobals_h__
+#define __nFRC_2015_1_0_9_nInterfaceGlobals_h__
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_8
+namespace nFRC_2015_1_0_9
 {
    extern unsigned int g_currentTargetClass;
 }
 }
 
-#endif // __nFRC_2015_1_0_8_nInterfaceGlobals_h__
+#endif // __nFRC_2015_1_0_9_nInterfaceGlobals_h__

hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAI.h

@@ -1,14 +1,14 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2015_1_0_8_AI_h__
-#define __nFRC_2015_1_0_8_AI_h__
+#ifndef __nFRC_2015_1_0_9_AI_h__
+#define __nFRC_2015_1_0_9_AI_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_8
+namespace nFRC_2015_1_0_9
 {
 
 class tAI
@@ -140,4 +140,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_8_AI_h__
+#endif // __nFRC_2015_1_0_9_AI_h__

hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAO.h

@@ -1,14 +1,14 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2015_1_0_8_AO_h__
-#define __nFRC_2015_1_0_8_AO_h__
+#ifndef __nFRC_2015_1_0_9_AO_h__
+#define __nFRC_2015_1_0_9_AO_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_8
+namespace nFRC_2015_1_0_9
 {
 
 class tAO
@@ -47,4 +47,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_8_AO_h__
+#endif // __nFRC_2015_1_0_9_AO_h__

hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAccel.h

@@ -1,14 +1,14 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2015_1_0_8_Accel_h__
-#define __nFRC_2015_1_0_8_Accel_h__
+#ifndef __nFRC_2015_1_0_9_Accel_h__
+#define __nFRC_2015_1_0_9_Accel_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_8
+namespace nFRC_2015_1_0_9
 {
 
 class tAccel
@@ -99,4 +99,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_8_Accel_h__
+#endif // __nFRC_2015_1_0_9_Accel_h__

hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAccumulator.h

@@ -1,14 +1,14 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2015_1_0_8_Accumulator_h__
-#define __nFRC_2015_1_0_8_Accumulator_h__
+#ifndef __nFRC_2015_1_0_9_Accumulator_h__
+#define __nFRC_2015_1_0_9_Accumulator_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_8
+namespace nFRC_2015_1_0_9
 {
 
 class tAccumulator
@@ -84,4 +84,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_8_Accumulator_h__
+#endif // __nFRC_2015_1_0_9_Accumulator_h__

hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAlarm.h

@@ -1,14 +1,14 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2015_1_0_8_Alarm_h__
-#define __nFRC_2015_1_0_8_Alarm_h__
+#ifndef __nFRC_2015_1_0_9_Alarm_h__
+#define __nFRC_2015_1_0_9_Alarm_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_8
+namespace nFRC_2015_1_0_9
 {
 
 class tAlarm
@@ -54,4 +54,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_8_Alarm_h__
+#endif // __nFRC_2015_1_0_9_Alarm_h__

hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAnalogTrigger.h

@@ -1,14 +1,14 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2015_1_0_8_AnalogTrigger_h__
-#define __nFRC_2015_1_0_8_AnalogTrigger_h__
+#ifndef __nFRC_2015_1_0_9_AnalogTrigger_h__
+#define __nFRC_2015_1_0_9_AnalogTrigger_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_8
+namespace nFRC_2015_1_0_9
 {
 
 class tAnalogTrigger
@@ -126,4 +126,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_8_AnalogTrigger_h__
+#endif // __nFRC_2015_1_0_9_AnalogTrigger_h__

hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tBIST.h

@@ -1,14 +1,14 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2015_1_0_8_BIST_h__
-#define __nFRC_2015_1_0_8_BIST_h__
+#ifndef __nFRC_2015_1_0_9_BIST_h__
+#define __nFRC_2015_1_0_9_BIST_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_8
+namespace nFRC_2015_1_0_9
 {
 
 class tBIST
@@ -87,4 +87,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_8_BIST_h__
+#endif // __nFRC_2015_1_0_9_BIST_h__

hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tCounter.h

@@ -1,14 +1,14 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2015_1_0_8_Counter_h__
-#define __nFRC_2015_1_0_8_Counter_h__
+#ifndef __nFRC_2015_1_0_9_Counter_h__
+#define __nFRC_2015_1_0_9_Counter_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_8
+namespace nFRC_2015_1_0_9
 {
 
 class tCounter
@@ -56,21 +56,21 @@ public:
          unsigned IndexSource_Module : 1;
          unsigned IndexSource_AnalogTrigger : 1;
          unsigned IndexActiveHigh : 1;
+         unsigned IndexEdgeSensitive : 1;
          unsigned UpRisingEdge : 1;
          unsigned UpFallingEdge : 1;
          unsigned DownRisingEdge : 1;
          unsigned DownFallingEdge : 1;
          unsigned Mode : 2;
          unsigned PulseLengthThreshold : 6;
-         unsigned Enable : 1;
 #else
-         unsigned Enable : 1;
          unsigned PulseLengthThreshold : 6;
          unsigned Mode : 2;
          unsigned DownFallingEdge : 1;
          unsigned DownRisingEdge : 1;
          unsigned UpFallingEdge : 1;
          unsigned UpRisingEdge : 1;
+         unsigned IndexEdgeSensitive : 1;
          unsigned IndexActiveHigh : 1;
          unsigned IndexSource_AnalogTrigger : 1;
          unsigned IndexSource_Module : 1;
@@ -147,13 +147,13 @@ public:
    virtual void writeConfig_IndexSource_Module(unsigned char value, tRioStatusCode *status) = 0;
    virtual void writeConfig_IndexSource_AnalogTrigger(bool value, tRioStatusCode *status) = 0;
    virtual void writeConfig_IndexActiveHigh(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_IndexEdgeSensitive(bool value, tRioStatusCode *status) = 0;
    virtual void writeConfig_UpRisingEdge(bool value, tRioStatusCode *status) = 0;
    virtual void writeConfig_UpFallingEdge(bool value, tRioStatusCode *status) = 0;
    virtual void writeConfig_DownRisingEdge(bool value, tRioStatusCode *status) = 0;
    virtual void writeConfig_DownFallingEdge(bool value, tRioStatusCode *status) = 0;
    virtual void writeConfig_Mode(unsigned char value, tRioStatusCode *status) = 0;
    virtual void writeConfig_PulseLengthThreshold(unsigned short value, tRioStatusCode *status) = 0;
-   virtual void writeConfig_Enable(bool value, tRioStatusCode *status) = 0;
    virtual tConfig readConfig(tRioStatusCode *status) = 0;
    virtual unsigned char readConfig_UpSource_Channel(tRioStatusCode *status) = 0;
    virtual unsigned char readConfig_UpSource_Module(tRioStatusCode *status) = 0;
@@ -165,13 +165,13 @@ public:
    virtual unsigned char readConfig_IndexSource_Module(tRioStatusCode *status) = 0;
    virtual bool readConfig_IndexSource_AnalogTrigger(tRioStatusCode *status) = 0;
    virtual bool readConfig_IndexActiveHigh(tRioStatusCode *status) = 0;
+   virtual bool readConfig_IndexEdgeSensitive(tRioStatusCode *status) = 0;
    virtual bool readConfig_UpRisingEdge(tRioStatusCode *status) = 0;
    virtual bool readConfig_UpFallingEdge(tRioStatusCode *status) = 0;
    virtual bool readConfig_DownRisingEdge(tRioStatusCode *status) = 0;
    virtual bool readConfig_DownFallingEdge(tRioStatusCode *status) = 0;
    virtual unsigned char readConfig_Mode(tRioStatusCode *status) = 0;
    virtual unsigned short readConfig_PulseLengthThreshold(tRioStatusCode *status) = 0;
-   virtual bool readConfig_Enable(tRioStatusCode *status) = 0;
 
 
    typedef enum
@@ -216,4 +216,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_8_Counter_h__
+#endif // __nFRC_2015_1_0_9_Counter_h__

hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tDIO.h

@@ -1,14 +1,14 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2015_1_0_8_DIO_h__
-#define __nFRC_2015_1_0_8_DIO_h__
+#ifndef __nFRC_2015_1_0_9_DIO_h__
+#define __nFRC_2015_1_0_9_DIO_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_8
+namespace nFRC_2015_1_0_9
 {
 
 class tDIO
@@ -245,4 +245,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_8_DIO_h__
+#endif // __nFRC_2015_1_0_9_DIO_h__

hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tDMA.h

@@ -1,14 +1,14 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2015_1_0_8_DMA_h__
-#define __nFRC_2015_1_0_8_DMA_h__
+#ifndef __nFRC_2015_1_0_9_DMA_h__
+#define __nFRC_2015_1_0_9_DMA_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_8
+namespace nFRC_2015_1_0_9
 {
 
 class tDMA
@@ -185,4 +185,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_8_DMA_h__
+#endif // __nFRC_2015_1_0_9_DMA_h__

hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tEncoder.h

@@ -1,14 +1,14 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2015_1_0_8_Encoder_h__
-#define __nFRC_2015_1_0_8_Encoder_h__
+#ifndef __nFRC_2015_1_0_9_Encoder_h__
+#define __nFRC_2015_1_0_9_Encoder_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_8
+namespace nFRC_2015_1_0_9
 {
 
 class tEncoder
@@ -56,11 +56,11 @@ public:
          unsigned IndexSource_Module : 1;
          unsigned IndexSource_AnalogTrigger : 1;
          unsigned IndexActiveHigh : 1;
+         unsigned IndexEdgeSensitive : 1;
          unsigned Reverse : 1;
-         unsigned Enable : 1;
 #else
-         unsigned Enable : 1;
          unsigned Reverse : 1;
+         unsigned IndexEdgeSensitive : 1;
          unsigned IndexActiveHigh : 1;
          unsigned IndexSource_AnalogTrigger : 1;
          unsigned IndexSource_Module : 1;
@@ -137,8 +137,8 @@ public:
    virtual void writeConfig_IndexSource_Module(unsigned char value, tRioStatusCode *status) = 0;
    virtual void writeConfig_IndexSource_AnalogTrigger(bool value, tRioStatusCode *status) = 0;
    virtual void writeConfig_IndexActiveHigh(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_IndexEdgeSensitive(bool value, tRioStatusCode *status) = 0;
    virtual void writeConfig_Reverse(bool value, tRioStatusCode *status) = 0;
-   virtual void writeConfig_Enable(bool value, tRioStatusCode *status) = 0;
    virtual tConfig readConfig(tRioStatusCode *status) = 0;
    virtual unsigned char readConfig_ASource_Channel(tRioStatusCode *status) = 0;
    virtual unsigned char readConfig_ASource_Module(tRioStatusCode *status) = 0;
@@ -150,8 +150,8 @@ public:
    virtual unsigned char readConfig_IndexSource_Module(tRioStatusCode *status) = 0;
    virtual bool readConfig_IndexSource_AnalogTrigger(tRioStatusCode *status) = 0;
    virtual bool readConfig_IndexActiveHigh(tRioStatusCode *status) = 0;
+   virtual bool readConfig_IndexEdgeSensitive(tRioStatusCode *status) = 0;
    virtual bool readConfig_Reverse(tRioStatusCode *status) = 0;
-   virtual bool readConfig_Enable(tRioStatusCode *status) = 0;
 
 
    typedef enum
@@ -196,4 +196,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_8_Encoder_h__
+#endif // __nFRC_2015_1_0_9_Encoder_h__

hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tGlobal.h

@@ -1,14 +1,14 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2015_1_0_8_Global_h__
-#define __nFRC_2015_1_0_8_Global_h__
+#ifndef __nFRC_2015_1_0_9_Global_h__
+#define __nFRC_2015_1_0_9_Global_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_8
+namespace nFRC_2015_1_0_9
 {
 
 class tGlobal
@@ -101,4 +101,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_8_Global_h__
+#endif // __nFRC_2015_1_0_9_Global_h__

hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tInterrupt.h

@@ -1,14 +1,14 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2015_1_0_8_Interrupt_h__
-#define __nFRC_2015_1_0_8_Interrupt_h__
+#ifndef __nFRC_2015_1_0_9_Interrupt_h__
+#define __nFRC_2015_1_0_9_Interrupt_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_8
+namespace nFRC_2015_1_0_9
 {
 
 class tInterrupt
@@ -54,9 +54,9 @@ public:
 
    typedef enum
    {
-   } tTimeStamp_IfaceConstants;
+   } tFallingTimeStamp_IfaceConstants;
 
-   virtual unsigned int readTimeStamp(tRioStatusCode *status) = 0;
+   virtual unsigned int readFallingTimeStamp(tRioStatusCode *status) = 0;
 
 
    typedef enum
@@ -79,6 +79,13 @@ public:
    virtual bool readConfig_WaitForAck(tRioStatusCode *status) = 0;
 
 
+   typedef enum
+   {
+   } tRisingTimeStamp_IfaceConstants;
+
+   virtual unsigned int readRisingTimeStamp(tRioStatusCode *status) = 0;
+
+
 
 
 
@@ -90,4 +97,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_8_Interrupt_h__
+#endif // __nFRC_2015_1_0_9_Interrupt_h__

hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tPWM.h

@@ -1,14 +1,14 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2015_1_0_8_PWM_h__
-#define __nFRC_2015_1_0_8_PWM_h__
+#ifndef __nFRC_2015_1_0_9_PWM_h__
+#define __nFRC_2015_1_0_9_PWM_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_8
+namespace nFRC_2015_1_0_9
 {
 
 class tPWM
@@ -117,4 +117,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_8_PWM_h__
+#endif // __nFRC_2015_1_0_9_PWM_h__

hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tPower.h

@@ -1,14 +1,14 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2015_1_0_8_Power_h__
-#define __nFRC_2015_1_0_8_Power_h__
+#ifndef __nFRC_2015_1_0_9_Power_h__
+#define __nFRC_2015_1_0_9_Power_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_8
+namespace nFRC_2015_1_0_9
 {
 
 class tPower
@@ -214,4 +214,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_8_Power_h__
+#endif // __nFRC_2015_1_0_9_Power_h__

hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tRelay.h

@@ -1,14 +1,14 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2015_1_0_8_Relay_h__
-#define __nFRC_2015_1_0_8_Relay_h__
+#ifndef __nFRC_2015_1_0_9_Relay_h__
+#define __nFRC_2015_1_0_9_Relay_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_8
+namespace nFRC_2015_1_0_9
 {
 
 class tRelay
@@ -65,4 +65,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_8_Relay_h__
+#endif // __nFRC_2015_1_0_9_Relay_h__

hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tSPI.h

@@ -1,14 +1,14 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2015_1_0_8_SPI_h__
-#define __nFRC_2015_1_0_8_SPI_h__
+#ifndef __nFRC_2015_1_0_9_SPI_h__
+#define __nFRC_2015_1_0_9_SPI_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_8
+namespace nFRC_2015_1_0_9
 {
 
 class tSPI
@@ -65,4 +65,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_8_SPI_h__
+#endif // __nFRC_2015_1_0_9_SPI_h__

hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tSysWatchdog.h

@@ -1,14 +1,14 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2015_1_0_8_SysWatchdog_h__
-#define __nFRC_2015_1_0_8_SysWatchdog_h__
+#ifndef __nFRC_2015_1_0_9_SysWatchdog_h__
+#define __nFRC_2015_1_0_9_SysWatchdog_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_8
+namespace nFRC_2015_1_0_9
 {
 
 class tSysWatchdog
@@ -88,6 +88,13 @@ public:
    virtual unsigned int readTimer(tRioStatusCode *status) = 0;
 
 
+   typedef enum
+   {
+   } tForcedKills_IfaceConstants;
+
+   virtual unsigned short readForcedKills(tRioStatusCode *status) = 0;
+
+
 
 
 private:
@@ -98,4 +105,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_8_SysWatchdog_h__
+#endif // __nFRC_2015_1_0_9_SysWatchdog_h__

hal/lib/Athena/FRC_FPGA_ChipObject/tDMAChannelDescriptor.h

@@ -0,0 +1,17 @@
+// Describes the information needed to configure a DMA channel.
+// Copyright (c) National Instruments 2008.  All Rights Reserved.
+
+#include <stdint.h>
+
+#ifndef __tDMAChannelDescriptor_h__
+#define __tDMAChannelDescriptor_h__
+
+struct tDMAChannelDescriptor
+{
+   uint32_t channel;
+   uint32_t baseAddress;
+   uint32_t depth;
+   bool targetToHost;
+};
+
+#endif // __tDMAChannelDescriptor_h__

hal/lib/Athena/FRC_FPGA_ChipObject/tDMAManager.h

@@ -1,46 +1,41 @@
-// Class for handling DMA transters.
+// Class for handling DMA transfers.
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 
 #ifndef __tDMAManager_h__
 #define __tDMAManager_h__
 
 #include "tSystem.h"
+#include <stdint.h>
 
 namespace nFPGA
 {
-// TODO: Implement DMA Manager
-/*
 class tDMAManager : public tSystem
 {
 public:
-   tDMAManager(tNIRIO_u32 dmaChannel, tNIRIO_u32 hostBufferSize, tRioStatusCode *status);
+   tDMAManager(uint32_t dmaChannel, uint32_t hostBufferSize, tRioStatusCode *status);
    ~tDMAManager();
    void start(tRioStatusCode *status);
    void stop(tRioStatusCode *status);
    bool isStarted() {return _started;}
    void read(
-      tNIRIO_u32*      buf,
-      tNIRIO_u32       num,
-      tNIRIO_u32       timeout,
-      tNIRIO_u32*      read,
-      tNIRIO_u32*      remaining,
+      uint32_t*      buf,
+      size_t         num,
+      uint32_t       timeout,
+      size_t*        remaining,
       tRioStatusCode *status);
    void write(
-      tNIRIO_u32*      buf,
-      tNIRIO_u32       num,
-      tNIRIO_u32       timeout,
-      tNIRIO_u32*      remaining,
+      uint32_t*      buf,
+      size_t         num,
+      uint32_t       timeout,
+      size_t*        remaining,
       tRioStatusCode *status);
 private:
    bool _started;
-   tNIRIO_u32 _dmaChannel;
-   tNIRIO_u32 _hostBufferSize;
-   tDMAChannelDescriptor const *_dmaChannelDescriptor;
+   uint32_t _dmaChannel;
+   uint32_t _hostBufferSize;
 
 };
-*/
+
 }
 
-
 #endif // __tDMAManager_h__
-

hal/lib/Athena/FRC_FPGA_ChipObject/tInterruptManager.h

@@ -28,11 +28,11 @@ public:
    tInterruptManager(uint32_t interruptMask, bool watcher, tRioStatusCode *status);
    ~tInterruptManager();
    void registerHandler(tInterruptHandler handler, void *param, tRioStatusCode *status);
-   uint32_t watch(int32_t timeoutInMs, tRioStatusCode *status);
+   uint32_t watch(int32_t timeoutInMs, bool ignorePrevious, tRioStatusCode *status);
    void enable(tRioStatusCode *status);
    void disable(tRioStatusCode *status);
    bool isEnabled(tRioStatusCode *status);
-private:
+public:
    class tInterruptThread;
    friend class tInterruptThread;
    void handler();
@@ -58,4 +58,3 @@ private:
 
 
 #endif // __tInterruptManager_h__
-

hal/lib/Athena/FRC_FPGA_ChipObject/tSystem.h

@@ -20,6 +20,7 @@ public:
    tSystem(tRioStatusCode *status);
    ~tSystem();
    void getFpgaGuid(uint32_t *guid_ptr, tRioStatusCode *status);
+   void reset(tRioStatusCode *status);
 
 protected:
    static NiFpga_Session _DeviceHandle;

hal/lib/Athena/FRC_FPGA_ChipObject/tSystemInterface.h

@@ -18,8 +18,10 @@ public:
    virtual void getHardwareFpgaSignature(uint32_t *guid_ptr, tRioStatusCode *status)=0;
    virtual uint32_t getLVHandle(tRioStatusCode *status)=0;
    virtual uint32_t getHandle()=0;
+   virtual void reset(tRioStatusCode *status)=0;
 };
 
 }
 
 #endif // __tSystemInterface_h__
+

hal/lib/Athena/Interrupts.cpp

@@ -13,7 +13,8 @@ void* initializeInterrupts(uint32_t interruptIndex, bool watcher, int32_t *statu
 	// Expects the calling leaf class to allocate an interrupt index.
 	anInterrupt->anInterrupt = tInterrupt::create(interruptIndex, status);
 	anInterrupt->anInterrupt->writeConfig_WaitForAck(false, status);
-	anInterrupt->manager = new tInterruptManager(1 << interruptIndex, watcher, status);
+	anInterrupt->manager = new tInterruptManager(
+		(1 << interruptIndex) | (1 << (interruptIndex + 8)), watcher, status);
 	return anInterrupt;
 }
 
@@ -29,16 +30,29 @@ void cleanInterrupts(void* interrupt_pointer, int32_t *status)
 /**
  * In synchronous mode, wait for the defined interrupt to occur.
  * @param timeout Timeout in seconds
+ * @param ignorePrevious If true, ignore interrupts that happened before
+ * waitForInterrupt was called.
+ * @return The mask of interrupts that fired.
  */
-void waitForInterrupt(void* interrupt_pointer, double timeout, int32_t *status)
+uint32_t waitForInterrupt(void* interrupt_pointer, double timeout, bool ignorePrevious, int32_t *status)
 {
+	uint32_t result;
 	Interrupt* anInterrupt = (Interrupt*)interrupt_pointer;
-	anInterrupt->manager->watch((int32_t)(timeout * 1e3), status);
+
+	result = anInterrupt->manager->watch((int32_t)(timeout * 1e3), ignorePrevious, status);
+
+	// Don't report a timeout as an error - the return code is enough to tell
+	// that a timeout happened.
+	if(*status == -NiFpga_Status_IrqTimeout) {
+		*status = NiFpga_Status_Success;
+	}
+
+	return result;
 }
 
 /**
  * Enable interrupts to occur on this input.
- * oInterrupts are disabled when the RequestInterrupt call is made. This gives time to do the
+ * Interrupts are disabled when the RequestInterrupt call is made. This gives time to do the
  * setup of the other options before starting to field interrupts.
  */
 void enableInterrupts(void* interrupt_pointer, int32_t *status)
@@ -52,21 +66,31 @@ void enableInterrupts(void* interrupt_pointer, int32_t *status)
  */
 void disableInterrupts(void* interrupt_pointer, int32_t *status)
 {
-
 	Interrupt* anInterrupt = (Interrupt*)interrupt_pointer;
 	anInterrupt->manager->disable(status);
-
 }
 
 /**
- * Return the timestamp for the interrupt that occurred most recently.
+ * Return the timestamp for the rising interrupt that occurred most recently.
  * This is in the same time domain as GetClock().
  * @return Timestamp in seconds since boot.
  */
-double readInterruptTimestamp(void* interrupt_pointer, int32_t *status)
+double readRisingTimestamp(void* interrupt_pointer, int32_t *status)
 {
 	Interrupt* anInterrupt = (Interrupt*)interrupt_pointer;
-	uint32_t timestamp = anInterrupt->anInterrupt->readTimeStamp(status);
+	uint32_t timestamp = anInterrupt->anInterrupt->readRisingTimeStamp(status);
+	return timestamp * 1e-6;
+}
+
+/**
+* Return the timestamp for the falling interrupt that occurred most recently.
+* This is in the same time domain as GetClock().
+* @return Timestamp in seconds since boot.
+*/
+double readFallingTimestamp(void* interrupt_pointer, int32_t *status)
+{
+	Interrupt* anInterrupt = (Interrupt*)interrupt_pointer;
+	uint32_t timestamp = anInterrupt->anInterrupt->readFallingTimeStamp(status);
 	return timestamp * 1e-6;
 }
 

hal/lib/Athena/NetworkCommunication/FRCComm.h

@@ -32,6 +32,8 @@
 #endif
 #endif
 
+#define ERR_FRCSystem_NetCommNotResponding -44049
+
 enum AllianceStationID_t {
 	kAllianceStationID_red1,
 	kAllianceStationID_red2,
@@ -68,7 +70,7 @@ struct JoystickAxes_t {
 
 struct JoystickPOV_t {
 	uint16_t count;
-	uint16_t povs[1];
+	int16_t povs[1];
 };
 
 #ifdef __cplusplus
@@ -81,9 +83,6 @@ extern "C" {
 	int EXPORT_FUNC setStatusData(float battery, uint8_t dsDigitalOut, uint8_t updateNumber,
 			const char *userDataHigh, int userDataHighLength,
 			const char *userDataLow, int userDataLowLength, int wait_ms);
-	int EXPORT_FUNC setStatusDataFloatAsInt(int battery, uint8_t dsDigitalOut, uint8_t updateNumber,
-			const char *userDataHigh, int userDataHighLength,
-			const char *userDataLow, int userDataLowLength, int wait_ms);
 	int EXPORT_FUNC setErrorData(const char *errors, int errorsLength, int wait_ms);
 	
 #ifdef SIMULATION
@@ -101,9 +100,13 @@ extern "C" {
 
 	int EXPORT_FUNC FRC_NetworkCommunication_getControlWord(struct ControlWord_t *controlWord);
 	int EXPORT_FUNC FRC_NetworkCommunication_getAllianceStation(enum AllianceStationID_t *allianceStation);
+	int EXPORT_FUNC FRC_NetworkCommunication_getMatchTime(float *matchTime);
 	int EXPORT_FUNC FRC_NetworkCommunication_getJoystickAxes(uint8_t joystickNum, struct JoystickAxes_t *axes, uint8_t maxAxes);
 	int EXPORT_FUNC FRC_NetworkCommunication_getJoystickButtons(uint8_t joystickNum, uint32_t *buttons, uint8_t *count);
 	int EXPORT_FUNC FRC_NetworkCommunication_getJoystickPOVs(uint8_t joystickNum, struct JoystickPOV_t *povs, uint8_t maxPOVs);
+	int EXPORT_FUNC FRC_NetworkCommunication_setJoystickOutputs(uint8_t joystickNum, uint32_t hidOutputs, uint16_t leftRumble, uint16_t rightRumble);
+	int EXPORT_FUNC FRC_NetworkCommunication_getJoystickDesc(uint8_t joystickNum, uint8_t *isXBox, uint8_t *type, char *name,
+		uint8_t *axisCount, uint8_t *axisTypes, uint8_t *buttonCount, uint8_t *povCount);
 
 	void EXPORT_FUNC FRC_NetworkCommunication_getVersionString(char *version);
 	int EXPORT_FUNC FRC_NetworkCommunication_observeUserProgramStarting(void);

ni-libraries/libNiFpga.so

@@ -1,2 +1,2 @@
 OUTPUT_FORMAT(elf32-littlearm)
-GROUP ( libNiFpga.so.13 )
+GROUP ( libNiFpga.so.14 )

ni-libraries/libNiFpga.so.14

@@ -1,2 +1,2 @@
 OUTPUT_FORMAT(elf32-littlearm)
-GROUP ( libfrccansae.so.1 )
+GROUP ( libNiFpga.so.14.0 )

ni-libraries/libNiFpga.so.14.0

@@ -1,2 +1,2 @@
 OUTPUT_FORMAT(elf32-littlearm)
-GROUP ( libni_emb.so.6 )
+GROUP ( libNiFpga.so.14.0.0 )

ni-libraries/libNiFpgaLv.so

@@ -1,2 +1,2 @@
 OUTPUT_FORMAT(elf32-littlearm)
-GROUP ( libNiFpgaLv.so.13 )
+GROUP ( libNiFpgaLv.so.14 )

ni-libraries/libNiFpgaLv.so.14

@@ -1,2 +1,2 @@
 OUTPUT_FORMAT(elf32-littlearm)
-GROUP ( libni_rtlog.so.2 )
+GROUP ( libNiFpgaLv.so.14.0 )

ni-libraries/libNiFpgaLv.so.14.0

@@ -0,0 +1,2 @@
+OUTPUT_FORMAT(elf32-littlearm)
+GROUP ( libNiFpgaLv.so.14.0.0 )

ni-libraries/libNiRioSrv.so

@@ -1,2 +1,2 @@
 OUTPUT_FORMAT(elf32-littlearm)
-GROUP ( libNiRioSrv.so.13 )
+GROUP ( libNiRioSrv.so.14 )

ni-libraries/libNiRioSrv.so.14

@@ -0,0 +1,2 @@
+OUTPUT_FORMAT(elf32-littlearm)
+GROUP ( libNiRioSrv.so.14.0 )

ni-libraries/libNiRioSrv.so.14.0

@@ -0,0 +1,2 @@
+OUTPUT_FORMAT(elf32-littlearm)
+GROUP ( libNiRioSrv.so.14.0.0 )

ni-libraries/libfrccansae.so.1.0

@@ -1,2 +0,0 @@
-OUTPUT_FORMAT(elf32-littlearm)
-GROUP ( libfrccansae.so.1.0.0 )

ni-libraries/libnirio_emb_can.so

@@ -1,2 +0,0 @@
-OUTPUT_FORMAT(elf32-littlearm)
-GROUP ( libnirio_emb_can.so.14 )

wpilibc/wpilibC++Devices/include/InterruptableSensorBase.h

@@ -12,15 +12,23 @@
 class InterruptableSensorBase : public SensorBase
 {
 public:
+	enum WaitResult {
+		kTimeout = 0x0,
+		kRisingEdge = 0x1,
+		kFallingEdge = 0x100,
+		kBoth = 0x101,
+	};
+
 	InterruptableSensorBase();
 	virtual ~InterruptableSensorBase();
 	virtual void RequestInterrupts(InterruptHandlerFunction handler, void *param) = 0; ///< Asynchronus handler version.
 	virtual void RequestInterrupts() = 0;		///< Synchronus Wait version.
 	virtual void CancelInterrupts();			///< Free up the underlying chipobject functions.
-	virtual void WaitForInterrupt(float timeout); ///< Synchronus version.
+	virtual WaitResult WaitForInterrupt(float timeout, bool ignorePrevious = true); ///< Synchronus version.
 	virtual void EnableInterrupts();			///< Enable interrupts - after finishing setup.
 	virtual void DisableInterrupts();		///< Disable, but don't deallocate.
-	virtual double ReadInterruptTimestamp();///< Return the timestamp for the interrupt that occurred.
+	virtual double ReadRisingTimestamp();///< Return the timestamp for the rising interrupt that occurred.
+	virtual double ReadFallingTimestamp();///< Return the timestamp for the falling interrupt that occurred.
 protected:
 	void* m_interrupt;
 	uint32_t m_interruptIndex;

wpilibc/wpilibC++Devices/include/NetworkCommunication/FRCComm.h

@@ -32,6 +32,8 @@
 #endif
 #endif
 
+#define ERR_FRCSystem_NetCommNotResponding -44049
+
 enum AllianceStationID_t {
 	kAllianceStationID_red1,
 	kAllianceStationID_red2,
@@ -68,7 +70,7 @@ struct JoystickAxes_t {
 
 struct JoystickPOV_t {
 	uint16_t count;
-	uint16_t povs[1];
+	int16_t povs[1];
 };
 
 #ifdef __cplusplus
@@ -81,9 +83,6 @@ extern "C" {
 	int EXPORT_FUNC setStatusData(float battery, uint8_t dsDigitalOut, uint8_t updateNumber,
 			const char *userDataHigh, int userDataHighLength,
 			const char *userDataLow, int userDataLowLength, int wait_ms);
-	int EXPORT_FUNC setStatusDataFloatAsInt(int battery, uint8_t dsDigitalOut, uint8_t updateNumber,
-			const char *userDataHigh, int userDataHighLength,
-			const char *userDataLow, int userDataLowLength, int wait_ms);
 	int EXPORT_FUNC setErrorData(const char *errors, int errorsLength, int wait_ms);
 	
 #ifdef SIMULATION
@@ -101,9 +100,13 @@ extern "C" {
 
 	int EXPORT_FUNC FRC_NetworkCommunication_getControlWord(struct ControlWord_t *controlWord);
 	int EXPORT_FUNC FRC_NetworkCommunication_getAllianceStation(enum AllianceStationID_t *allianceStation);
+	int EXPORT_FUNC FRC_NetworkCommunication_getMatchTime(float *matchTime);
 	int EXPORT_FUNC FRC_NetworkCommunication_getJoystickAxes(uint8_t joystickNum, struct JoystickAxes_t *axes, uint8_t maxAxes);
 	int EXPORT_FUNC FRC_NetworkCommunication_getJoystickButtons(uint8_t joystickNum, uint32_t *buttons, uint8_t *count);
 	int EXPORT_FUNC FRC_NetworkCommunication_getJoystickPOVs(uint8_t joystickNum, struct JoystickPOV_t *povs, uint8_t maxPOVs);
+	int EXPORT_FUNC FRC_NetworkCommunication_setJoystickOutputs(uint8_t joystickNum, uint32_t hidOutputs, uint16_t leftRumble, uint16_t rightRumble);
+	int EXPORT_FUNC FRC_NetworkCommunication_getJoystickDesc(uint8_t joystickNum, uint8_t *isXBox, uint8_t *type, char *name,
+		uint8_t *axisCount, uint8_t *axisTypes, uint8_t *buttonCount, uint8_t *povCount);
 
 	void EXPORT_FUNC FRC_NetworkCommunication_getVersionString(char *version);
 	int EXPORT_FUNC FRC_NetworkCommunication_observeUserProgramStarting(void);

wpilibc/wpilibC++Devices/src/Counter.cpp

@@ -32,11 +32,6 @@ void Counter::InitCounter(Mode mode)
 	m_allocatedDownSource = false;
 
 	HALReport(HALUsageReporting::kResourceType_Counter, index, mode);
-
-	if (StatusIsFatal()) return;
-	status = 0;
-	startCounter(m_counter, &status);
-	wpi_setErrorWithContext(status, getHALErrorMessage(status));
 }
 
 /**

wpilibc/wpilibC++Devices/src/Encoder.cpp

@@ -67,13 +67,6 @@ void Encoder::InitEncoder(bool reverseDirection, EncodingType encodingType)
 
 	HALReport(HALUsageReporting::kResourceType_Encoder, index, encodingType);
 	LiveWindow::GetInstance()->AddSensor("Encoder", m_aSource->GetChannelForRouting(), this);
-
-	if (StatusIsFatal()) return;
-	if (!m_counter) {
-		int32_t status = 0;
-		startEncoder(m_encoder, &status);
-		wpi_setErrorWithContext(status, getHALErrorMessage(status));
-	}
 }
 
 /**

wpilibc/wpilibC++Devices/src/InterruptableSensorBase.cpp

@@ -46,13 +46,20 @@ void InterruptableSensorBase::CancelInterrupts()
 /**
  * In synchronous mode, wait for the defined interrupt to occur.
  * @param timeout Timeout in seconds
+ * @param ignorePrevious If true, ignore interrupts that happened before
+ * WaitForInterrupt was called.
+ * @return What interrupts fired
  */
-void InterruptableSensorBase::WaitForInterrupt(float timeout)
+InterruptableSensorBase::WaitResult InterruptableSensorBase::WaitForInterrupt(float timeout, bool ignorePrevious)
 {
 	wpi_assert(m_interrupt != NULL);
 	int32_t status = 0;
-	waitForInterrupt(m_interrupt, timeout, &status);
+	uint32_t result;
+
+	result = waitForInterrupt(m_interrupt, timeout, ignorePrevious, &status);
 	wpi_setErrorWithContext(status, getHALErrorMessage(status));
+
+	return static_cast<WaitResult>(result);
 }
 
 /**
@@ -80,15 +87,33 @@ void InterruptableSensorBase::DisableInterrupts()
 }
 
 /**
- * Return the timestamp for the interrupt that occurred most recently.
+ * Return the timestamp for the rising interrupt that occurred most recently.
  * This is in the same time domain as GetClock().
+ * The rising-edge interrupt should be enabled with
+ * {@link #DigitalInput.SetUpSourceEdge}
  * @return Timestamp in seconds since boot.
  */
-double InterruptableSensorBase::ReadInterruptTimestamp()
+double InterruptableSensorBase::ReadRisingTimestamp()
 {
 	wpi_assert(m_interrupt != NULL);
 	int32_t status = 0;
-	double timestamp = readInterruptTimestamp(m_interrupt, &status);
+	double timestamp = readRisingTimestamp(m_interrupt, &status);
+	wpi_setErrorWithContext(status, getHALErrorMessage(status));
+	return timestamp;
+}
+
+/**
+ * Return the timestamp for the falling interrupt that occurred most recently.
+ * This is in the same time domain as GetClock().
+ * The falling-edge interrupt should be enabled with
+ * {@link #DigitalInput.SetUpSourceEdge}
+ * @return Timestamp in seconds since boot.
+*/
+double InterruptableSensorBase::ReadFallingTimestamp()
+{
+	wpi_assert(m_interrupt != NULL);
+	int32_t status = 0;
+	double timestamp = readFallingTimestamp(m_interrupt, &status);
 	wpi_setErrorWithContext(status, getHALErrorMessage(status));
 	return timestamp;
 }

wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/Counter.java

@@ -88,11 +88,6 @@ public class Counter extends SensorBase implements CounterBase,
 
 		UsageReporting.report(tResourceType.kResourceType_Counter, m_index,
 				mode.value);
-
-		status = ByteBuffer.allocateDirect(4);
-		status.order(ByteOrder.LITTLE_ENDIAN);
-		CounterJNI.startCounter(m_counter, status.asIntBuffer());
-		HALUtil.checkStatus(status.asIntBuffer());
 	}
 
 	/**
@@ -325,7 +320,7 @@ public class Counter extends SensorBase implements CounterBase,
 		if(source == null){
 			throw new NullPointerException("The Digital Source given was null");
 		}
-		
+
 		if (m_downSource != null && m_allocatedDownSource) {
 			m_downSource.free();
 			m_allocatedDownSource = false;
@@ -358,7 +353,7 @@ public class Counter extends SensorBase implements CounterBase,
 		if (triggerType == null){
 			throw new NullPointerException("Analog Trigger Type given was null");
 		}
-		
+
 		setDownSource(analogTrigger.createOutput(triggerType));
 		m_allocatedDownSource = true;
 	}

wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/Encoder.java

@@ -107,14 +107,6 @@ public class Encoder extends SensorBase implements CounterBase, PIDSource, LiveW
 		UsageReporting.report(tResourceType.kResourceType_Encoder,
 				m_index, m_encodingType.value);
 		LiveWindow.addSensor("Encoder", m_aSource.getChannelForRouting(), this);
-
-		if (m_counter == null) {
-			ByteBuffer status = ByteBuffer.allocateDirect(4);
-			// set the byte order
-			status.order(ByteOrder.LITTLE_ENDIAN);
-			EncoderJNI.startEncoder(m_encoder, status.asIntBuffer());
-			HALUtil.checkStatus(status.asIntBuffer());
-		}
 	}
 
 	/**

wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/InterruptableSensorBase.java

@@ -19,7 +19,7 @@ import edu.wpi.first.wpilibj.util.CheckedAllocationException;
  * Base for sensors to be used with interrupts
  */
 public abstract class InterruptableSensorBase extends SensorBase {
-	/** 
+	/**
 	 * This is done to store the JVM variable in the InterruptJNI
 	 * This is done because the HAL must have access to the JVM variable
 	 * in order to attach the newly spawned thread when an interrupt is fired.
@@ -35,12 +35,12 @@ public abstract class InterruptableSensorBase extends SensorBase {
 	 * The interrupt resource
 	 */
 	protected ByteBuffer m_interrupt = null;
-	
+
 	/**
 	 * Flags if the interrupt being allocated is synchronous
 	 */
 	protected boolean m_isSynchronousInterrupt = false;
-	
+
 	/**
 	 * The index of the interrupt
 	 */
@@ -56,7 +56,7 @@ public abstract class InterruptableSensorBase extends SensorBase {
 	public InterruptableSensorBase() {
 		m_interrupt = null;
 	}
-	
+
 	/**
 	 * @return
 	 */
@@ -71,7 +71,7 @@ public abstract class InterruptableSensorBase extends SensorBase {
 	 * @return
 	 */
 	abstract byte getModuleForRouting();
-	
+
 	/**
 	 * Request interrupts asynchronously on this digital input.
 	 *
@@ -80,16 +80,16 @@ public abstract class InterruptableSensorBase extends SensorBase {
 	 *            {@link InterruptHandlerFunction#interruptFired(int, Object)} that
 	 *            will be called whenever there is an interrupt on this device.
 	 *            Request interrupts in synchronus mode where the user program
-	 *            interrupt handler will be called when an interrupt occurs. The 
+	 *            interrupt handler will be called when an interrupt occurs. The
 	 *            default is interrupt on rising edges only.
 	 */
 	public void requestInterrupts(InterruptHandlerFunction<?> handler) {
 		if(m_interrupt != null){
 			throw new AllocationException("The interrupt has already been allocated");
 		}
-		
+
 		allocateInterrupts(false);
-		
+
 		assert (m_interrupt != null);
 
 		ByteBuffer status = ByteBuffer.allocateDirect(4);
@@ -114,7 +114,7 @@ public abstract class InterruptableSensorBase extends SensorBase {
 		if(m_interrupt != null){
 			throw new AllocationException("The interrupt has already been allocated");
 		}
-		
+
 		allocateInterrupts(true);
 
 		assert (m_interrupt != null);
@@ -132,7 +132,7 @@ public abstract class InterruptableSensorBase extends SensorBase {
 
 	/**
 	 * Allocate the interrupt
-	 * 
+	 *
 	 * @param watcher true if the interrupt should be in synchronous mode where the user
 	 * program will have to explicitly wait for the interrupt to occur.
 	 */
@@ -170,20 +170,33 @@ public abstract class InterruptableSensorBase extends SensorBase {
 
 	/**
 	 * In synchronous mode, wait for the defined interrupt to occur.
-	 * 
+	 *
 	 * @param timeout
 	 *            Timeout in seconds
+	 * @param ignorePrevious
+	 *            If true, ignore interrupts that happened before
+	 *            waitForInterrupt was called.
 	 */
-	public void waitForInterrupt(double timeout) {
+	public void waitForInterrupt(double timeout, boolean ignorePrevious) {
 		if (m_interrupt == null) {
 			throw new IllegalStateException("The interrupt is not allocated.");
 		}
 		ByteBuffer status = ByteBuffer.allocateDirect(4);
 		status.order(ByteOrder.LITTLE_ENDIAN);
-		InterruptJNI.waitForInterrupt(m_interrupt, (float) timeout, status.asIntBuffer());
+		InterruptJNI.waitForInterrupt(m_interrupt, (float) timeout, ignorePrevious, status.asIntBuffer());
 		HALUtil.checkStatus(status.asIntBuffer());
 	}
 
+	/**
+	 * In synchronous mode, wait for the defined interrupt to occur.
+	 *
+	 * @param timeout
+	 *            Timeout in seconds
+	 */
+	public void waitForInterrupt(double timeout) {
+		waitForInterrupt(timeout, true);
+	}
+
 	/**
 	 * Enable interrupts to occur on this input. Interrupts are disabled when
 	 * the RequestInterrupt call is made. This gives time to do the setup of the
@@ -219,22 +232,41 @@ public abstract class InterruptableSensorBase extends SensorBase {
 	}
 
 	/**
-	 * Return the timestamp for the interrupt that occurred most recently. This
-	 * is in the same time domain as getClock().
-	 * 
+	 * Return the timestamp for the rising interrupt that occurred most
+	 * recently. This is in the same time domain as getClock().
+	 * The rising-edge interrupt should be enabled with
+	 * {@link #setUpSourceEdge}
 	 * @return Timestamp in seconds since boot.
 	 */
-	public double readInterruptTimestamp() {
+	public double readRisingTimestamp() {
 		if (m_interrupt == null) {
 			throw new IllegalStateException("The interrupt is not allocated.");
 		}
 		ByteBuffer status = ByteBuffer.allocateDirect(4);
 		status.order(ByteOrder.LITTLE_ENDIAN);
-		double timestamp = InterruptJNI.readInterruptTimestamp(m_interrupt, status.asIntBuffer());
+		double timestamp = InterruptJNI.readRisingTimestamp(m_interrupt, status.asIntBuffer());
 		HALUtil.checkStatus(status.asIntBuffer());
 		return timestamp;
 	}
-	
+
+	/**
+	* Return the timestamp for the falling interrupt that occurred most
+	* recently. This is in the same time domain as getClock().
+	* The falling-edge interrupt should be enabled with
+	* {@link #setUpSourceEdge}
+	* @return Timestamp in seconds since boot.
+	*/
+	public double readFallingTimestamp() {
+		if (m_interrupt == null) {
+			throw new IllegalStateException("The interrupt is not allocated.");
+		}
+		ByteBuffer status = ByteBuffer.allocateDirect(4);
+		status.order(ByteOrder.LITTLE_ENDIAN);
+		double timestamp = InterruptJNI.readFallingTimestamp(m_interrupt, status.asIntBuffer());
+		HALUtil.checkStatus(status.asIntBuffer());
+		return timestamp;
+	}
+
 	/**
 	 * Set which edge to trigger interrupts on
 	 *

wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/hal/CounterJNI.java

@@ -19,8 +19,6 @@ public class CounterJNI extends JNIWrapper {
 	public static native void setCounterPulseLengthMode(ByteBuffer counter_pointer, double threshold, IntBuffer status);
 	public static native int getCounterSamplesToAverage(ByteBuffer counter_pointer, IntBuffer status);
 	public static native void setCounterSamplesToAverage(ByteBuffer counter_pointer, int samplesToAverage, IntBuffer status);
-	public static native void startCounter(ByteBuffer counter_pointer, IntBuffer status);
-	public static native void stopCounter(ByteBuffer counter_pointer, IntBuffer status);
 	public static native void resetCounter(ByteBuffer counter_pointer, IntBuffer status);
 	public static native int getCounter(ByteBuffer counter_pointer, IntBuffer status);
 	public static native double getCounterPeriod(ByteBuffer counter_pointer, IntBuffer status);

wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/hal/EncoderJNI.java

@@ -6,8 +6,6 @@ import java.nio.ByteBuffer;
 public class EncoderJNI extends JNIWrapper {
 	public static native ByteBuffer initializeEncoder(byte port_a_module, int port_a_pin, byte port_a_analog_trigger, byte port_b_module, int port_b_pin, byte port_b_analog_trigger, byte reverseDirection, IntBuffer index, IntBuffer status);
 	public static native void freeEncoder(ByteBuffer encoder_pointer, IntBuffer status);
-	public static native void startEncoder(ByteBuffer encoder_pointer, IntBuffer status);
-	public static native void stopEncoder(ByteBuffer encoder_pointer, IntBuffer status);
 	public static native void resetEncoder(ByteBuffer encoder_pointer, IntBuffer status);
 	public static native int getEncoder(ByteBuffer encoder_pointer, IntBuffer status);
 	public static native double getEncoderPeriod(ByteBuffer encoder_pointer, IntBuffer status);

wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/hal/InterruptJNI.java

@@ -10,10 +10,11 @@ public class InterruptJNI extends JNIWrapper {
 	public static native void initializeInterruptJVM(IntBuffer status);
 	public static native ByteBuffer initializeInterrupts(int interruptIndex, byte watcher, IntBuffer status);
 	public static native void cleanInterrupts(ByteBuffer interrupt_pointer, IntBuffer status);
-	public static native void waitForInterrupt(ByteBuffer interrupt_pointer, double timeout, IntBuffer status);
+	public static native int waitForInterrupt(ByteBuffer interrupt_pointer, double timeout, boolean ignorePrevious, IntBuffer status);
 	public static native void enableInterrupts(ByteBuffer interrupt_pointer, IntBuffer status);
 	public static native void disableInterrupts(ByteBuffer interrupt_pointer, IntBuffer status);
-	public static native double readInterruptTimestamp(ByteBuffer interrupt_pointer, IntBuffer status);
+	public static native double readRisingTimestamp(ByteBuffer interrupt_pointer, IntBuffer status);
+	public static native double readFallingTimestamp(ByteBuffer interrupt_pointer, IntBuffer status);
 	public static native void requestInterrupts(ByteBuffer interrupt_pointer, byte routing_module, int routing_pin, byte routing_analog_trigger, IntBuffer status);
 	public static native void attachInterruptHandler(ByteBuffer interrupt_pointer, InterruptJNIHandlerFunction handler, Object param, IntBuffer status);
 	public static native void setInterruptUpSourceEdge(ByteBuffer interrupt_pointer, byte risingEdge, byte fallingEdge, IntBuffer status);

wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/AbstractInterruptTest.java

@@ -24,13 +24,13 @@ import edu.wpi.first.wpilibj.test.AbstractComsSetup;
 
 /**
  * This class should not be run as a test explicitly. Instead it should be extended by tests that use the InterruptableSensorBase
- * 
+ *
  * @author jonathanleitschuh
  *
  */
 public abstract class AbstractInterruptTest extends AbstractComsSetup {
 	private InterruptableSensorBase interruptable = null;
-	
+
 	private InterruptableSensorBase getInterruptable(){
 		if(interruptable == null){
 			interruptable = giveInterruptableSensorBase();
@@ -46,7 +46,7 @@ public abstract class AbstractInterruptTest extends AbstractComsSetup {
 			interruptable = null;
 		}
 	}
-	
+
 	/**
 	 * Give the interruptible sensor base that interrupts can be attached to.
 	 * @return
@@ -64,19 +64,19 @@ public abstract class AbstractInterruptTest extends AbstractComsSetup {
 	 * Perform whatever action is required to set the interrupt low.
 	 */
 	abstract void setInterruptLow();
-	
-	
+
+
 	private class InterruptCounter{
 		private final AtomicInteger count  = new AtomicInteger();
 		void increment(){
 			count.addAndGet(1);
 		}
-		
+
 		int getCount(){
 			return count.get();
 		}
 	};
-	
+
 	private class TestInterruptHandlerFunction extends InterruptHandlerFunction<InterruptCounter>{
 		protected final AtomicBoolean exceptionThrown = new AtomicBoolean(false);
 		/** Stores the time that the interrupt fires */
@@ -85,11 +85,11 @@ public abstract class AbstractInterruptTest extends AbstractComsSetup {
 		final AtomicBoolean interruptComplete = new AtomicBoolean(false);
 		protected Exception ex;
 		final InterruptCounter counter;
-		
+
 		TestInterruptHandlerFunction(InterruptCounter counter){
 			this.counter = counter;
 		}
-		
+
 		@Override
 		void interruptFired(int interruptAssertedMask, InterruptCounter param) {
 			interruptFireTime.set(Utility.getFPGATime());
@@ -104,60 +104,60 @@ public abstract class AbstractInterruptTest extends AbstractComsSetup {
 			}
 			interruptComplete.set(true);
 		};
-		
+
 		@Override
 		public InterruptCounter overridableParamater(){
 			return counter;
 		}
 	};
-	
+
 	@Test(timeout = 1000)
 	public void testSingleInterruptsTriggering() throws Exception{
 		//Given
 		final InterruptCounter counter = new InterruptCounter();
 		TestInterruptHandlerFunction function = new TestInterruptHandlerFunction(counter);
-		
+
 		//When
 		getInterruptable().requestInterrupts(function);
 		getInterruptable().enableInterrupts();
-		
+
 		setInterruptLow();
 		Timer.delay(0.01);
 		//Note: Utility.getFPGATime() is used because double values can turn over after the robot has been running for a long time
 		final long interruptTriggerTime = Utility.getFPGATime();
 		setInterruptHigh();
-		
+
 		//Delay until the interrupt is complete
 		while(!function.interruptComplete.get()){
 			Timer.delay(.005);
 		}
-		
-		
+
+
 		//Then
 		assertEquals("The interrupt did not fire the expected number of times", 1, counter.getCount());
 		//If the test within the interrupt failed
 		if(function.exceptionThrown.get()){
 			throw function.ex;
 		}
-		final long range = 10000; //in microseconds 
+		final long range = 10000; //in microseconds
 		assertThat("The interrupt did not fire within the expected time period (values in milliseconds)",
 		           function.interruptFireTime.get(), both(greaterThan(interruptTriggerTime - range))
 		                                             .and(lessThan(interruptTriggerTime + range)));
-		assertThat("The readInterruptTimestamp() did not return the correct value (values in seconds)",
-		           getInterruptable().readInterruptTimestamp(), both(greaterThan((interruptTriggerTime - range)/1e6))
+		assertThat("The readRisingTimestamp() did not return the correct value (values in seconds)",
+		           getInterruptable().readRisingTimestamp(), both(greaterThan((interruptTriggerTime - range)/1e6))
 		                                                    .and(lessThan((interruptTriggerTime + range)/1e6)));
 	}
-	
+
 	@Test(timeout = 1000)
 	public void testMultipleInterruptsTriggering() throws Exception{
 		//Given
 		final InterruptCounter counter = new InterruptCounter();
 		TestInterruptHandlerFunction function = new TestInterruptHandlerFunction(counter);
-		
+
 		//When
 		getInterruptable().requestInterrupts(function);
 		getInterruptable().enableInterrupts();
-		
+
 		final int fireCount = 50;
 		for(int i = 0; i < fireCount; i ++){
 			setInterruptLow();
@@ -170,14 +170,14 @@ public abstract class AbstractInterruptTest extends AbstractComsSetup {
 		//Then
 		assertEquals("The interrupt did not fire the expected number of times", fireCount, counter.getCount());
 	}
-	
+
 	/** The timeout length for this test in seconds */
 	private static final int synchronousTimeout = 5;
 	@Test(timeout = (long)(synchronousTimeout*1e3))
 	public void testSynchronousInterruptsTriggering(){
 		//Given
 		getInterruptable().requestInterrupts();
-		
+
 		final double synchronousDelay = synchronousTimeout/2.;
 		Runnable r = new Runnable(){
 			@Override
@@ -187,32 +187,32 @@ public abstract class AbstractInterruptTest extends AbstractComsSetup {
 				setInterruptHigh();
 			}
 		};
-		
+
 		//When
-		
+
 		//Note: the long time value is used because doubles can flip if the robot is left running for long enough
 		final long startTimeStamp = Utility.getFPGATime();
 		new Thread(r).start();
 		//Delay for twice as long as the timeout so the test should fail first
 		getInterruptable().waitForInterrupt(synchronousTimeout * 2);
 		final long stopTimeStamp = Utility.getFPGATime();
-		
+
 		//Then
 		//The test will not have timed out and:
 		final double interruptRunTime = (stopTimeStamp - startTimeStamp)*1e-6;
 		assertEquals("The interrupt did not run for the expected amount of time (units in seconds)", synchronousDelay, interruptRunTime, .1);
 	}
-	
-	
+
+
 	@Test(timeout = 2000)
 	public void testDisableStopsInterruptFiring(){
 		final InterruptCounter counter = new InterruptCounter();
 		TestInterruptHandlerFunction function = new TestInterruptHandlerFunction(counter);
-		
+
 		//When
 		getInterruptable().requestInterrupts(function);
 		getInterruptable().enableInterrupts();
-		
+
 		final int fireCount = 50;
 		for(int i = 0; i < fireCount; i ++){
 			setInterruptLow();
@@ -224,16 +224,16 @@ public abstract class AbstractInterruptTest extends AbstractComsSetup {
 		}
 		getInterruptable().disableInterrupts();
 		//TestBench.out().println("Finished disabling the robot");
-		
+
 		for(int i = 0; i < fireCount; i ++){
 			setInterruptLow();
 			setInterruptHigh();
 			//Just wait because the interrupt should not fire
 			Timer.delay(.005);
 		}
-		
+
 		//Then
 		assertEquals("The interrupt did not fire the expected number of times", fireCount, counter.getCount());
 	}
-	
+
 }

wpilibj/wpilibJavaJNI/lib/CounterJNI.cpp

@@ -287,40 +287,6 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterSampl
 	COUNTERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
 }
 
-/*
- * Class:     edu_wpi_first_wpilibj_hal_CounterJNI
- * Method:    startCounter
- * Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
- */
-JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CounterJNI_startCounter
-  (JNIEnv * env, jclass, jobject id, jobject status)
-{
-	COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI startCounter";
-	void ** javaId = (void**)env->GetDirectBufferAddress(id);
-	COUNTERJNI_LOG(logDEBUG) << "Counter Ptr = " << *javaId;
-	jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
-	COUNTERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
-	startCounter(*javaId, statusPtr);
-	COUNTERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
-}
-
-/*
- * Class:     edu_wpi_first_wpilibj_hal_CounterJNI
- * Method:    stopCounter
- * Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
- */
-JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CounterJNI_stopCounter
-  (JNIEnv * env, jclass, jobject id, jobject status)
-{
-	COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI stopCounter";
-	void ** javaId = (void**)env->GetDirectBufferAddress(id);
-	COUNTERJNI_LOG(logDEBUG) << "Counter Ptr = " << *javaId;
-	jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
-	COUNTERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
-	stopCounter(*javaId, statusPtr);
-	COUNTERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
-}
-
 /*
  * Class:     edu_wpi_first_wpilibj_hal_CounterJNI
  * Method:    resetCounter

wpilibj/wpilibJavaJNI/lib/EncoderJNI.cpp

@@ -61,40 +61,6 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_freeEncoder
 	ENCODERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
 }
 
-/*
- * Class:     edu_wpi_first_wpilibj_hal_EncoderJNI
- * Method:    startEncoder
- * Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
- */
-JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_startEncoder
-  (JNIEnv * env, jclass, jobject id, jobject status)
-{
-	ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI startEncoder";
-	void ** javaId = (void**)env->GetDirectBufferAddress(id);
-	ENCODERJNI_LOG(logDEBUG) << "Encoder Ptr = " << *javaId;
-	jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
-	ENCODERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
-	startEncoder(*javaId, statusPtr);
-	ENCODERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
-}
-
-/*
- * Class:     edu_wpi_first_wpilibj_hal_EncoderJNI
- * Method:    stopEncoder
- * Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
- */
-JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_stopEncoder
-  (JNIEnv * env, jclass, jobject id, jobject status)
-{
-	ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI stopEncoder";
-	void ** javaId = (void**)env->GetDirectBufferAddress(id);
-	ENCODERJNI_LOG(logDEBUG) << "Encoder Ptr = " << *javaId;
-	jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
-	ENCODERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
-	stopEncoder(*javaId, statusPtr);
-	ENCODERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
-}
-
 /*
  * Class:     edu_wpi_first_wpilibj_hal_EncoderJNI
  * Method:    resetEncoder

wpilibj/wpilibJavaJNI/lib/InterruptJNI.cpp

@@ -8,8 +8,8 @@
 TLogLevel interruptJNILogLevel = logERROR;
 
 #define INTERRUPTJNI_LOG(level) \
-    if (level > interruptJNILogLevel) ; \
-    else Log().Get(level)
+	if (level > interruptJNILogLevel) ; \
+	else Log().Get(level)
 
 //Used for callback when an interrupt is fired.
 static JavaVM *jvm;
@@ -79,8 +79,8 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_cleanInterrup
  * Method:    waitForInterrupt
  * Signature: (Ljava/nio/ByteBuffer;DLjava/nio/IntBuffer;)V
  */
-JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_waitForInterrupt
-  (JNIEnv * env, jclass, jobject interrupt_pointer, jdouble timeout, jobject status)
+JNIEXPORT int JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_waitForInterrupt
+  (JNIEnv * env, jclass, jobject interrupt_pointer, jdouble timeout, jboolean ignorePrevious, jobject status)
 {
 	INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI waitForInterrupt";
 	void ** javaId = (void**)env->GetDirectBufferAddress(interrupt_pointer);
@@ -88,9 +88,11 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_waitForInterr
 	jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
 	INTERRUPTJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
 
-	waitForInterrupt(*javaId, timeout, statusPtr);
+	int result = waitForInterrupt(*javaId, timeout, ignorePrevious, statusPtr);
 
 	INTERRUPTJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
+
+	return result;
 }
 
 /*
@@ -133,19 +135,39 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_disableInterr
 
 /*
  * Class:     edu_wpi_first_wpilibj_hal_InterruptJNI
- * Method:    readInterruptTimestamp
+ * Method:    readRisingTimestamp
  * Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)D
  */
-JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_readInterruptTimestamp
+JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_readRisingTimestamp
   (JNIEnv * env, jclass, jobject interrupt_pointer, jobject status)
 {
-	INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI readInterruptTimestamp";
+	INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI readRisingTimestamp";
 	void ** javaId = (void**)env->GetDirectBufferAddress(interrupt_pointer);
 	INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Ptr = " << *javaId;
 	jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
 	INTERRUPTJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
 
-	jdouble timeStamp = readInterruptTimestamp(*javaId, statusPtr);
+	jdouble timeStamp = readRisingTimestamp(*javaId, statusPtr);
+
+	INTERRUPTJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
+	return timeStamp;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_InterruptJNI
+ * Method:    readFallingTimestamp
+ * Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)D
+ */
+JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_readFallingTimestamp
+  (JNIEnv * env, jclass, jobject interrupt_pointer, jobject status)
+{
+	INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI readFallingTimestamp";
+	void ** javaId = (void**)env->GetDirectBufferAddress(interrupt_pointer);
+	INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Ptr = " << *javaId;
+	jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
+	INTERRUPTJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
+
+	jdouble timeStamp = readFallingTimestamp(*javaId, statusPtr);
 
 	INTERRUPTJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
 	return timeStamp;