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Keep track of FPGA time rollovers with 64-bit time.

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This allows both greater than 72 minute (2^32 * 1 us) timeouts and also
gracefully handles notifiers across the FPGA time counter rollover.

Change-Id: Ibde0b903155f60b618b0ca4d5f8f6dd49f90b020
This commit is contained in:
Peter Johnson
2015-12-30 19:06:47 -08:00
committed by Brad Miller (WPI)
parent 063925e737
commit e2ec34090a
13 changed files with 71 additions and 43 deletions
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31
hal/lib/Athena/HALAthena.cpp
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@@ -12,6 +12,7 @@
#include <cstdlib>
#include <fstream>
#include <iostream>
#include <mutex>
#include <unistd.h>
#include <sys/prctl.h>
#include <signal.h> // linux for kill
@@ -23,6 +24,11 @@ const uint32_t kSystemClockTicksPerMicrosecond = 40;
static tGlobal *global = nullptr;
static tSysWatchdog *watchdog = nullptr;
static priority_mutex timeMutex;
static uint32_t timeEpoch = 0;
static uint32_t prevFPGATime = 0;
static void* rolloverNotifier = nullptr;
void* getPort(uint8_t pin)
{
Port* port = new Port();
@@ -184,13 +190,19 @@ uint32_t getFPGARevision(int32_t *status)
*
* @return The current time in microseconds according to the FPGA (since FPGA reset).
*/
uint32_t getFPGATime(int32_t *status)
uint64_t getFPGATime(int32_t *status)
{
if (!global) {
*status = NiFpga_Status_ResourceNotInitialized;
return 0;
}
return global->readLocalTime(status);
std::lock_guard<priority_mutex> lock(timeMutex);
uint32_t fpgaTime = global->readLocalTime(status);
if (*status != 0) return 0;
// check for rollover
if (fpgaTime < prevFPGATime) ++timeEpoch;
prevFPGATime = fpgaTime;
return (((uint64_t)timeEpoch) << 32) | ((uint64_t)fpgaTime);
}
/**
@@ -235,6 +247,12 @@ static void HALCleanupAtExit() {
watchdog = nullptr;
}
static void timerRollover(uint64_t currentTime, void*) {
// reschedule timer for next rollover
int32_t status = 0;
updateNotifierAlarm(rolloverNotifier, currentTime + 0x80000000ULL, &status);
}
/**
* Call this to start up HAL. This is required for robot programs.
*/
@@ -256,6 +274,14 @@ int HALInitialize(int mode)
std::atexit(HALCleanupAtExit);
if (!rolloverNotifier)
rolloverNotifier = initializeNotifier(timerRollover, nullptr, &status);
if (status == 0) {
uint64_t curTime = getFPGATime(&status);
if (status == 0)
updateNotifierAlarm(rolloverNotifier, curTime + 0x80000000ULL, &status);
}
// Kill any previous robot programs
std::fstream fs;
// By making this both in/out, it won't give us an error if it doesnt exist
@@ -302,6 +328,7 @@ int HALInitialize(int mode)
pid = getpid();
fs << pid << std::endl;
fs.close();
return 1;
}