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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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12
wpilibj/src/main/java/org/wpilib/opmode/PeriodicOpMode.java
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@@ -66,7 +66,7 @@ public abstract class PeriodicOpMode implements OpMode {
startTime
+ offset
+ this.period
+ (RobotController.getFPGATime() - startTime) / this.period * this.period;
+ (RobotController.getMonotonicTime() - startTime) / this.period * this.period;
}
@Override
@@ -120,7 +120,7 @@ public abstract class PeriodicOpMode implements OpMode {
* @param period period (in seconds) for callbacks to the periodic() function
*/
protected PeriodicOpMode(double period) {
m_startTimeUs = RobotController.getFPGATime();
m_startTimeUs = RobotController.getMonotonicTime();
m_period = period;
m_watchdog = new Watchdog(period, this::printLoopOverrunMessage);
@@ -157,8 +157,8 @@ public abstract class PeriodicOpMode implements OpMode {
/**
* Return the system clock time in micrseconds for the start of the current periodic loop. This is
* in the same time base as Timer.getFPGATimestamp(), but is stable through a loop. It is updated
* at the beginning of every periodic callback (including the normal periodic loop).
* in the same time base as Timer.getMonotonicTimestamp(), but is stable through a loop. It is
* updated at the beginning of every periodic callback (including the normal periodic loop).
*
* @return Robot running time in microseconds, as of the start of the current periodic function.
*/
@@ -290,8 +290,8 @@ public abstract class PeriodicOpMode implements OpMode {
break;
}
long currentTime = RobotController.getFPGATime();
m_loopStartTimeUs = RobotController.getFPGATime();
long currentTime = RobotController.getMonotonicTime();
m_loopStartTimeUs = RobotController.getMonotonicTime();
callback.func.run();