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[hal,wpilib] Rename FPGA clock to monotonic clock (#8672)

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- Remove status return from HAL level (clock getting should never fail)
- Remove 32-bit timestamp expand function
- Make monotonic_clock.hpp (formerly fpga_clock.hpp) header-only and
move to root hal include directory
This commit is contained in:
Peter Johnson
2026-03-15 15:08:41 -07:00
committed by GitHub
parent 1a5b023235
commit e944ae9aca
59 changed files with 233 additions and 358 deletions
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6
wpilibc/src/main/native/cpp/hardware/motor/MotorSafety.cpp
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@@ -115,7 +115,7 @@ MotorSafety& MotorSafety::operator=(MotorSafety&& rhs) {
void MotorSafety::Feed() {
std::scoped_lock lock(m_thisMutex);
m_stopTime = Timer::GetFPGATimestamp() + m_expiration;
m_stopTime = Timer::GetMonotonicTimestamp() + m_expiration;
}
void MotorSafety::SetExpiration(wpi::units::second_t expirationTime) {
@@ -130,7 +130,7 @@ wpi::units::second_t MotorSafety::GetExpiration() const {
bool MotorSafety::IsAlive() const {
std::scoped_lock lock(m_thisMutex);
return !m_enabled || m_stopTime > Timer::GetFPGATimestamp();
return !m_enabled || m_stopTime > Timer::GetMonotonicTimestamp();
}
void MotorSafety::SetSafetyEnabled(bool enabled) {
@@ -157,7 +157,7 @@ void MotorSafety::Check() {
return;
}
if (stopTime < Timer::GetFPGATimestamp()) {
if (stopTime < Timer::GetMonotonicTimestamp()) {
WPILIB_ReportError(
err::Timeout,
"{}... Output not updated often enough. See "