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Convert ReadInterrupt* to return int64_t time (#1417)

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HAL_ReadInterruptRisingTimestamp and HAL_ReadInterruptFallingTimestamp
return time as a double.  Instead, keep the raw integer count and move the
double conversion into the C++ and Java code.  This enables comparison of the
time with other timers.
This commit is contained in:
Austin Schuh
2018-11-15 21:22:03 -08:00
committed by Peter Johnson
parent ef3a31aa20
commit 9207d788ab
7 changed files with 53 additions and 49 deletions
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20
hal/src/main/native/include/hal/Interrupts.h
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@@ -77,24 +77,28 @@ void HAL_DisableInterrupts(HAL_InterruptHandle interruptHandle,
/**
* Returns the timestamp for the rising interrupt that occurred most recently.
*
* This is in the same time domain as HAL_GetFPGATime().
* This is in the same time domain as HAL_GetFPGATime(). It only contains the
* bottom 32 bits of the timestamp. If your robot has been running for over 1
* hour, you will need to fill in the upper 32 bits yourself.
*
* @param interruptHandle the interrupt handle
* @return timestamp in seconds since FPGA Initialization
* @return timestamp in microseconds since FPGA Initialization
*/
double HAL_ReadInterruptRisingTimestamp(HAL_InterruptHandle interruptHandle,
int32_t* status);
int64_t HAL_ReadInterruptRisingTimestamp(HAL_InterruptHandle interruptHandle,
int32_t* status);
/**
* Returns the timestamp for the falling interrupt that occurred most recently.
*
* This is in the same time domain as HAL_GetFPGATime().
* This is in the same time domain as HAL_GetFPGATime(). It only contains the
* bottom 32 bits of the timestamp. If your robot has been running for over 1
* hour, you will need to fill in the upper 32 bits yourself.
*
* @param interruptHandle the interrupt handle
* @return timestamp in seconds since FPGA Initialization
* @return timestamp in microseconds since FPGA Initialization
*/
double HAL_ReadInterruptFallingTimestamp(HAL_InterruptHandle interruptHandle,
int32_t* status);
int64_t HAL_ReadInterruptFallingTimestamp(HAL_InterruptHandle interruptHandle,
int32_t* status);
/**
* Requests interrupts on a specific digital source.