Merge "Keep Notifier firing after FPGA rollover (fixes artf3582), simulation may still have an issue with counter rollover"

wpilibc/wpilibC++/include/Timer.h

@@ -35,6 +35,9 @@ public:
 	static double GetFPGATimestamp();
 	static double GetPPCTimestamp();
     static double GetMatchTime();
+	
+	// The time, in seconds, at which the 32-bit FPGA timestamp rolls over to 0
+	static constexpr double kRolloverTime = (1ll << 32) / 1e6;
 
 private:
 	double m_startTime;

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

@@ -138,7 +138,7 @@ void Notifier::ProcessQueue(uint32_t mask, void *params)
  * Insert this Notifier into the timer queue in right place.
  * WARNING: this method does not do synchronization! It must be called from somewhere
  * that is taking care of synchronizing access to the queue.
- * @param reschedule If false, the scheduled alarm is based on the curent time and UpdateAlarm
+ * @param reschedule If false, the scheduled alarm is based on the current time and UpdateAlarm
  * method is called which will enable the alarm if necessary.
  * If true, update the time by adding the period (no drift) when rescheduled periodic from ProcessQueue.
  * This ensures that the public methods only update the queue after finishing inserting.
@@ -153,6 +153,10 @@ void Notifier::InsertInQueue(bool reschedule)
 	{
 		m_expirationTime = GetClock() + m_period;
 	}
+	if (m_expirationTime > Timer::kRolloverTime)
+	{
+		m_expirationTime -= Timer::kRolloverTime;
+	}
 	if (timerQueueHead == NULL || timerQueueHead->m_expirationTime >= this->m_expirationTime)
 	{
 		// the queue is empty or greater than the new entry

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

@@ -13,9 +13,6 @@
 #include "Utility.h"
 #include <iostream>
 
-// The time, in seconds, at which the 32-bit FPGA timestamp rolls over to 0
-static const double kRolloverTime = (1ll << 32) / 1e6;
-
 /**
  * Pause the task for a specified time.
  *