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

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Brad Miller (WPI)
2014-10-24 11:07:09 -07:00
committed by Gerrit Code Review
parent c58fde19f9 f3fe64a60e
commit b85b0c8eb2
3 changed files with 8 additions and 4 deletions
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3
wpilibc/wpilibC++/include/Timer.h
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@@ -36,6 +36,9 @@ public:
static double GetPPCTimestamp(); static double GetPPCTimestamp();
static double GetMatchTime(); 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: private:
double m_startTime; double m_startTime;
double m_accumulatedTime; double m_accumulatedTime;

6
wpilibc/wpilibC++Devices/src/Notifier.cpp
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@@ -138,7 +138,7 @@ void Notifier::ProcessQueue(uint32_t mask, void *params)
* Insert this Notifier into the timer queue in right place. * Insert this Notifier into the timer queue in right place.
* WARNING: this method does not do synchronization! It must be called from somewhere * WARNING: this method does not do synchronization! It must be called from somewhere
* that is taking care of synchronizing access to the queue. * 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. * 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. * 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. * 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; m_expirationTime = GetClock() + m_period;
} }
if (m_expirationTime > Timer::kRolloverTime)
{
m_expirationTime -= Timer::kRolloverTime;
}
if (timerQueueHead == NULL || timerQueueHead->m_expirationTime >= this->m_expirationTime) if (timerQueueHead == NULL || timerQueueHead->m_expirationTime >= this->m_expirationTime)
{ {
// the queue is empty or greater than the new entry // the queue is empty or greater than the new entry

3
wpilibc/wpilibC++Devices/src/Timer.cpp
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@@ -13,9 +13,6 @@
#include "Utility.h" #include "Utility.h"
#include <iostream> #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. * Pause the task for a specified time.
* *