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Uses new FPGA calls to get 64 bit FPGA time and 64 bit PWM cycle start time. (#687)

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This commit is contained in:
Thad House
2017-10-27 18:03:10 -07:00
committed by Peter Johnson
parent 4ab095e9c9
commit f34332643a
4 changed files with 37 additions and 35 deletions
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44
hal/src/main/native/athena/HAL.cpp
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@@ -35,11 +35,6 @@ using namespace hal;
static std::unique_ptr<tGlobal> global;
static std::unique_ptr<tSysWatchdog> watchdog;
static std::mutex timeMutex;
static uint32_t timeEpoch = 0;
static uint32_t prevFPGATime = 0;
static HAL_NotifierHandle rolloverNotifier = 0;
using namespace hal;
extern "C" {
@@ -224,14 +219,16 @@ uint64_t HAL_GetFPGATime(int32_t* status) {
*status = NiFpga_Status_ResourceNotInitialized;
return 0;
}
std::lock_guard<std::mutex> lock(timeMutex);
uint32_t fpgaTime = global->readLocalTime(status);
uint64_t upper1 = global->readLocalTimeUpper(status);
uint32_t lower = global->readLocalTime(status);
uint64_t upper2 = global->readLocalTimeUpper(status);
if (*status != 0) return 0;
// check for rollover
if (fpgaTime < prevFPGATime) ++timeEpoch;
prevFPGATime = fpgaTime;
return static_cast<uint64_t>(timeEpoch) << 32 |
static_cast<uint64_t>(fpgaTime);
if (upper1 != upper2) {
// Rolled over between the lower call, reread lower
lower = global->readLocalTime(status);
if (*status != 0) return 0;
}
return (upper2 << 32) + lower;
}
/**
@@ -262,12 +259,6 @@ HAL_Bool HAL_GetBrownedOut(int32_t* status) {
return !(watchdog->readStatus_PowerAlive(status));
}
static void timerRollover(uint64_t currentTime, HAL_NotifierHandle handle) {
// reschedule timer for next rollover
int32_t status = 0;
HAL_UpdateNotifierAlarm(handle, currentTime + 0x80000000ULL, &status);
}
void HAL_BaseInitialize(int32_t* status) {
static std::atomic_bool initialized{false};
static std::mutex initializeMutex;
@@ -361,23 +352,6 @@ HAL_Bool HAL_Initialize(int32_t timeout, int32_t mode) {
int32_t status = 0;
HAL_BaseInitialize(&status);
if (!rolloverNotifier)
rolloverNotifier = HAL_InitializeNotifierNonThreadedUnsafe(
timerRollover, nullptr, &status);
if (status == 0) {
uint64_t curTime = HAL_GetFPGATime(&status);
if (status == 0) {
HAL_UpdateNotifierAlarm(rolloverNotifier, curTime + 0x80000000ULL,
&status);
} else {
// return false if status failed.
return false;
}
} else {
// return false if status failed.
return false;
}
HAL_InitializeDriverStation();
initialized = true;