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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
wpimath/src/main/java/org/wpilib/math/estimator/PoseEstimator.java
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@@ -272,9 +272,9 @@ public class PoseEstimator<T> {
* @param timestamp The timestamp of the vision measurement in seconds. Note that if you don't use
* your own time source by calling {@link
* PoseEstimator#updateWithTime(double,Rotation2d,Object)} then you must use a timestamp with
* an epoch since FPGA startup (i.e., the epoch of this timestamp is the same epoch as {@link
* org.wpilib.system.Timer#getFPGATimestamp()}.) This means that you should use {@link
* org.wpilib.system.Timer#getFPGATimestamp()} as your time source or sync the epochs.
* the same epoch as {@link org.wpilib.system.Timer#getMonotonicTimestamp()}.) This means that
* you should use {@link org.wpilib.system.Timer#getMonotonicTimestamp()} as your time source
* or sync the epochs.
*/
public void addVisionMeasurement(Pose2d visionRobotPose, double timestamp) {
// Step 0: If this measurement is old enough to be outside the pose buffer's timespan, skip.
@@ -344,9 +344,9 @@ public class PoseEstimator<T> {
* @param visionRobotPose The pose of the robot as measured by the vision camera.
* @param timestamp The timestamp of the vision measurement in seconds. Note that if you don't use
* your own time source by calling {@link #updateWithTime}, then you must use a timestamp with
* an epoch since FPGA startup (i.e., the epoch of this timestamp is the same epoch as {@link
* org.wpilib.system.Timer#getFPGATimestamp()}). This means that you should use {@link
* org.wpilib.system.Timer#getFPGATimestamp()} as your time source in this case.
* the same epoch as {@link org.wpilib.system.Timer#getMonotonicTimestamp()}). This means that
* you should use {@link org.wpilib.system.Timer#getMonotonicTimestamp()} as your time source
* in this case.
* @param visionMeasurementStdDevs Standard deviations of the vision pose measurement (x position
* in meters, y position in meters, and heading in radians). Increase these numbers to trust
* the vision pose measurement less.

12
wpimath/src/main/java/org/wpilib/math/estimator/PoseEstimator3d.java
View File

@@ -283,9 +283,9 @@ public class PoseEstimator3d<T> {
* @param timestamp The timestamp of the vision measurement in seconds. Note that if you don't use
* your own time source by calling {@link
* PoseEstimator3d#updateWithTime(double,Rotation3d,Object)} then you must use a timestamp
* with an epoch since FPGA startup (i.e., the epoch of this timestamp is the same epoch as
* {@link org.wpilib.system.Timer#getFPGATimestamp()}.) This means that you should use {@link
* org.wpilib.system.Timer#getFPGATimestamp()} as your time source or sync the epochs.
* with the same epoch as {@link org.wpilib.system.Timer#getMonotonicTimestamp()}.) This means
* that you should use {@link org.wpilib.system.Timer#getMonotonicTimestamp()} as your time
* source or sync the epochs.
*/
public void addVisionMeasurement(Pose3d visionRobotPose, double timestamp) {
// Step 0: If this measurement is old enough to be outside the pose buffer's timespan, skip.
@@ -359,9 +359,9 @@ public class PoseEstimator3d<T> {
* @param visionRobotPose The pose of the robot as measured by the vision camera.
* @param timestamp The timestamp of the vision measurement in seconds. Note that if you don't use
* your own time source by calling {@link #updateWithTime}, then you must use a timestamp with
* an epoch since FPGA startup (i.e., the epoch of this timestamp is the same epoch as {@link
* org.wpilib.system.Timer#getFPGATimestamp()}). This means that you should use {@link
* org.wpilib.system.Timer#getFPGATimestamp()} as your time source in this case.
* the same epoch as {@link org.wpilib.system.Timer#getMonotonicTimestamp()}). This means that
* you should use {@link org.wpilib.system.Timer#getMonotonicTimestamp()} as your time source
* in this case.
* @param visionMeasurementStdDevs Standard deviations of the vision pose measurement (x position
* in meters, y position in meters, z position in meters, and angle in radians). Increase
* these numbers to trust the vision pose measurement less.

14
wpimath/src/main/native/include/wpi/math/estimator/PoseEstimator.hpp
View File

@@ -280,10 +280,9 @@ class WPILIB_DLLEXPORT PoseEstimator {
* camera.
* @param timestamp The timestamp of the vision measurement in seconds. Note
* that if you don't use your own time source by calling UpdateWithTime(),
* then you must use a timestamp with an epoch since FPGA startup (i.e.,
* the epoch of this timestamp is the same epoch as
* wpi::math::Timer::GetTimestamp(). This means that you should use
* wpi::math::Timer::GetTimestamp() as your time source in this case.
* then you must use a timestamp with the same epoch as
* wpi::Timer::GetMonotonicTimestamp(). This means that you should use
* wpi::Timer::GetMonotonicTimestamp() as your time source in this case.
*/
void AddVisionMeasurement(const Pose2d& visionRobotPose,
wpi::units::second_t timestamp) {
@@ -365,10 +364,9 @@ class WPILIB_DLLEXPORT PoseEstimator {
* camera.
* @param timestamp The timestamp of the vision measurement in seconds. Note
* that if you don't use your own time source by calling UpdateWithTime(),
* then you must use a timestamp with an epoch since FPGA startup (i.e.,
* the epoch of this timestamp is the same epoch as
* wpi::math::Timer::GetTimestamp(). This means that you should use
* wpi::math::Timer::GetTimestamp() as your time source in this case.
* then you must use a timestamp with the same epoch as
* wpi::Timer::GetMonotonicTimestamp(). This means that you should use
* wpi::Timer::GetMonotonicTimestamp() as your time source in this case.
* @param visionMeasurementStdDevs Standard deviations of the vision pose
* measurement (x position in meters, y position in meters, and heading in
* radians). Increase these numbers to trust the vision pose measurement

14
wpimath/src/main/native/include/wpi/math/estimator/PoseEstimator3d.hpp
View File

@@ -288,10 +288,9 @@ class WPILIB_DLLEXPORT PoseEstimator3d {
* camera.
* @param timestamp The timestamp of the vision measurement in seconds. Note
* that if you don't use your own time source by calling UpdateWithTime(),
* then you must use a timestamp with an epoch since FPGA startup (i.e.,
* the epoch of this timestamp is the same epoch as
* wpi::math::Timer::GetFPGATimestamp(). This means that you should use
* wpi::math::Timer::GetFPGATimestamp() as your time source in this case.
* then you must use a timestamp with the same epoch as
* wpi::Timer::GetMonotonicTimestamp(). This means that you should use
* wpi::Timer::GetMonotonicTimestamp() as your time source in this case.
*/
void AddVisionMeasurement(const Pose3d& visionRobotPose,
wpi::units::second_t timestamp) {
@@ -379,10 +378,9 @@ class WPILIB_DLLEXPORT PoseEstimator3d {
* camera.
* @param timestamp The timestamp of the vision measurement in seconds. Note
* that if you don't use your own time source by calling UpdateWithTime(),
* then you must use a timestamp with an epoch since FPGA startup (i.e.,
* the epoch of this timestamp is the same epoch as
* wpi::math::Timer::GetFPGATimestamp(). This means that you should use
* wpi::math::Timer::GetFPGATimestamp() as your time source in this case.
* then you must use a timestamp with the same epoch as
* wpi::Timer::GetMonotonicTimestamp(). This means that you should use
* wpi::Timer::GetMonotonicTimestamp() as your time source in this case.
* @param visionMeasurementStdDevs Standard deviations of the vision pose
* measurement (x position in meters, y position in meters, and heading in
* radians). Increase these numbers to trust the vision pose measurement