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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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2
wpilibc/Athena/include/Notifier.h
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@@ -35,7 +35,7 @@ class Notifier : public ErrorBase {
// update the HAL alarm
void UpdateAlarm();
// HAL callback
static void Notify(uint32_t currentTimeInt, void *param);
static void Notify(uint64_t currentTimeInt, void *param);
// held while updating process information
priority_mutex m_processMutex;

4
wpilibc/Athena/src/Notifier.cpp
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@@ -43,7 +43,7 @@ Notifier::~Notifier() {
*/
void Notifier::UpdateAlarm() {
int32_t status = 0;
updateNotifierAlarm(m_notifier, (uint32_t)(m_expirationTime * 1e6), &status);
updateNotifierAlarm(m_notifier, (uint64_t)(m_expirationTime * 1e6), &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
@@ -51,7 +51,7 @@ void Notifier::UpdateAlarm() {
* Notify is called by the HAL layer. We simply need to pass it through to
* the user handler.
*/
void Notifier::Notify(uint32_t currentTimeInt, void *param) {
void Notifier::Notify(uint64_t currentTimeInt, void *param) {
Notifier* notifier = static_cast<Notifier*>(param);
notifier->m_processMutex.lock();

4
wpilibc/Athena/src/Utility.cpp
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@@ -156,9 +156,9 @@ uint32_t GetFPGARevision() {
* @return The current time in microseconds according to the FPGA (since FPGA
* reset).
*/
uint32_t GetFPGATime() {
uint64_t GetFPGATime() {
int32_t status = 0;
uint32_t time = getFPGATime(&status);
uint64_t time = getFPGATime(&status);
wpi_setGlobalErrorWithContext(status, getHALErrorMessage(status));
return time;
}

2
wpilibc/shared/include/Utility.h
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@@ -46,6 +46,6 @@ void wpi_suspendOnAssertEnabled(bool enabled);
uint16_t GetFPGAVersion();
uint32_t GetFPGARevision();
uint32_t GetFPGATime();
uint64_t GetFPGATime();
bool GetUserButton();
std::string GetStackTrace(uint32_t offset);

2
wpilibc/simulation/src/Utility.cpp
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@@ -159,7 +159,7 @@ bool wpi_assertNotEqual_impl(int valueA,
*
* @return The current time in microseconds according to the FPGA (since FPGA reset).
*/
uint32_t GetFPGATime()
uint64_t GetFPGATime()
{
return wpilib::internal::simTime * 1e6;
}