Create HOME on windows

Change-Id: Id16278b5280e25e383e474faf4b511c47e5d0751

eclipse-plugins/edu.wpi.first.wpilib.plugins.core/META-INF/MANIFEST.MF

@@ -22,7 +22,8 @@ Require-Bundle: org.eclipse.ui,
  org.eclipse.ui.navigator.resources;bundle-version="3.4.400",
  org.eclipse.ui.intro,
  org.eclipse.ui.intro.universal,
- org.eclipse.core.expressions;bundle-version="3.4.400"
+ org.eclipse.core.expressions;bundle-version="3.4.400",
+ org.eclipse.core.variables;bundle-version="3.2.700"
 Bundle-ActivationPolicy: lazy
 Bundle-RequiredExecutionEnvironment: JavaSE-1.7
 Export-Package: edu.wpi.first.wpilib.plugins.core,

eclipse-plugins/edu.wpi.first.wpilib.plugins.core/plugin.xml

@@ -83,5 +83,14 @@
             content="WPILib Intro/sample.xml">
       </configExtension>
    </extension>
+   <extension
+         point="org.eclipse.core.variables.valueVariables">
+          <variable
+    name="WPILIB"
+    initialValue="${HOME}/wpilib"
+    description="WPILib Path"
+    >
+   </variable>
+   </extension>
 
 </plugin>

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/META-INF/MANIFEST.MF

@@ -25,7 +25,8 @@ Require-Bundle: org.eclipse.ui,
  org.eclipse.cdt.debug.ui;bundle-version="7.2.0",
  org.eclipse.cdt.launch;bundle-version="7.1.0",
  org.eclipse.cdt.launch.remote;bundle-version="2.4.0",
- org.eclipse.cdt.debug.mi.core;bundle-version="7.2.0"
+ org.eclipse.cdt.debug.mi.core;bundle-version="7.2.0",
+ org.eclipse.core.variables
 Bundle-ActivationPolicy: lazy
 Bundle-RequiredExecutionEnvironment: JavaSE-1.7
 Export-Package: edu.wpi.first.wpilib.plugins.cpp,

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/.cproject

@@ -27,7 +27,7 @@
 								<option id="gnu.cpp.compiler.option.optimization.level.1204256582" name="Optimization Level" superClass="gnu.cpp.compiler.option.optimization.level" useByScannerDiscovery="false" value="gnu.cpp.compiler.optimization.level.none" valueType="enumerated"/>
 								<option id="gnu.cpp.compiler.option.debugging.level.969129918" name="Debug Level" superClass="gnu.cpp.compiler.option.debugging.level" useByScannerDiscovery="false" value="gnu.cpp.compiler.debugging.level.max" valueType="enumerated"/>
 								<option id="gnu.cpp.compiler.option.include.paths.394786621" name="Include paths (-I)" superClass="gnu.cpp.compiler.option.include.paths" useByScannerDiscovery="false" valueType="includePath">
-									<listOptionValue builtIn="false" value="&quot;$cpp-location/include&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${WPILIB}/cpp/current/include&quot;"/>
 								</option>
 								<option id="gnu.cpp.compiler.option.dialect.std.1060340803" name="Language standard" superClass="gnu.cpp.compiler.option.dialect.std" useByScannerDiscovery="true" value="gnu.cpp.compiler.dialect.c++1y" valueType="enumerated"/>
 								<inputType id="cdt.managedbuild.tool.gnu.cpp.compiler.input.1033680971" superClass="cdt.managedbuild.tool.gnu.cpp.compiler.input"/>
@@ -38,7 +38,7 @@
 									<listOptionValue builtIn="false" value="wpi"/>
 								</option>
 								<option id="gnu.cpp.link.option.paths.1566479969" name="Library search path (-L)" superClass="gnu.cpp.link.option.paths" valueType="libPaths">
-									<listOptionValue builtIn="false" value="&quot;$cpp-location/lib&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${WPILIB}/cpp/current/lib&quot;"/>
 								</option>
 								<inputType id="cdt.managedbuild.tool.gnu.cpp.linker.input.132949138" superClass="cdt.managedbuild.tool.gnu.cpp.linker.input">
 									<additionalInput kind="additionalinputdependency" paths="$(USER_OBJS)"/>
@@ -126,7 +126,7 @@
 							<tool id="cdt.managedbuild.tool.gnu.cpp.compiler.base.2105416021" name="GCC C++ Compiler" superClass="cdt.managedbuild.tool.gnu.cpp.compiler.base">
 								<option id="gnu.cpp.compiler.option.include.paths.1645322059" name="Include paths (-I)" superClass="gnu.cpp.compiler.option.include.paths" valueType="includePath">
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}}/src&quot;"/>
-									<listOptionValue builtIn="false" value="$cpp-location/sim/include"/>
+									<listOptionValue builtIn="false" value="${WPILIB}/cpp/current/sim/include"/>
 									<listOptionValue builtIn="false" value="/usr/include"/>
 									<listOptionValue builtIn="false" value="/usr/include/gazebo-3.1"/>
 									<listOptionValue builtIn="false" value="/usr/include/sdformat-2.0"/>

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/MecanumDrive/src/Robot.cpp

@@ -0,0 +1,49 @@
+#include "WPILib.h"
+
+/**
+ * This is a demo program showing how to use Mecanum control with the RobotDrive class.
+ */
+class Robot: public SampleRobot
+{
+
+    // Channels for the wheels
+    const static int frontLeftChannel	= 2;
+    const static int rearLeftChannel	= 3;
+    const static int frontRightChannel	= 1;
+    const static int rearRightChannel	= 0;
+
+    const static int joystickChannel	= 0;
+
+	RobotDrive robotDrive;	// robot drive system
+	Joystick stick;			// only joystick
+
+public:
+	Robot() :
+			robotDrive(frontLeftChannel, rearLeftChannel,
+					   frontRightChannel, rearRightChannel),	// these must be initialized in the same order
+			stick(joystickChannel)								// as they are declared above.
+	{
+		robotDrive.SetExpiration(0.1);
+		robotDrive.SetInvertedMotor(RobotDrive::kFrontLeftMotor, true);	// invert the left side motors
+		robotDrive.SetInvertedMotor(RobotDrive::kRearLeftMotor, true);	// you may need to change or remove this to match your robot
+	}
+
+	/**
+	 * Runs the motors with Mecanum drive.
+	 */
+	void OperatorControl()
+	{
+		robotDrive.SetSafetyEnabled(false);
+		while (IsOperatorControl())
+		{
+        	// Use the joystick X axis for lateral movement, Y axis for forward movement, and Z axis for rotation.
+        	// This sample does not use field-oriented drive, so the gyro input is set to zero.
+			robotDrive.MecanumDrive_Cartesian(stick.GetX(), stick.GetY(), stick.GetZ());
+
+			Wait(0.005); // wait 5ms to avoid hogging CPU cycles
+		}
+	}
+
+};
+
+START_ROBOT_CLASS(Robot);

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/examples.xml

@@ -105,6 +105,24 @@
   </example>
 
 
+<example>
+  <name>Mecanum Drive</name>
+  <description>An example program which the use of Mecanum Drive with the RobotDrive class</description>
+  <tags>
+    <tag>Getting Started with C++</tag>
+    <tag>Robot and Motor</tag>
+    <tag>Joystick</tag>
+    <tag>Complete List</tag>
+  </tags>
+  <packages>
+    <package>src</package>
+  </packages>
+  <files>
+    <file source="examples/MecanumDrive/src/Robot.cpp" destination="src/Robot.cpp"></file>
+  </files>
+  </example>
+
+
   <example>
   <name>Getting Started</name>
   <description>An example program which demonstrates the simplest autonomous and

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/src/main/java/edu/wpi/first/wpilib/plugins/cpp/installer/CPPInstaller.java

@@ -1,6 +1,12 @@
 package edu.wpi.first.wpilib.plugins.cpp.installer;
 
 import java.io.InputStream;
+
+import org.eclipse.core.runtime.CoreException;
+import org.eclipse.core.variables.IStringVariableManager;
+import org.eclipse.core.variables.IValueVariable;
+import org.eclipse.core.variables.VariablesPlugin;
+
 import edu.wpi.first.wpilib.plugins.core.installer.AbstractInstaller;
 import edu.wpi.first.wpilib.plugins.cpp.WPILibCPPPlugin;
 import edu.wpi.first.wpilib.plugins.cpp.preferences.PreferenceConstants;
@@ -21,6 +27,26 @@ public class CPPInstaller extends AbstractInstaller {
 	protected void updateInstalledVersion(String version) {
 		WPILibCPPPlugin.getDefault().getPreferenceStore().setValue(PreferenceConstants.LIBRARY_INSTALLED,
 				version);
+		
+		IStringVariableManager vm = VariablesPlugin.getDefault().getStringVariableManager();
+		try
+		{
+			if (System.getProperty("os.name").startsWith("Windows"))
+			{
+				IValueVariable vv = vm.getValueVariable("HOME");
+				if (vv == null)
+					vm.addVariables(new IValueVariable[]{vm.newValueVariable("HOME", "user.home directory", false,System.getProperty("user.home"))});
+				else
+				{
+					if (!System.getProperty("user.home").equals(vm.performStringSubstitution("${HOME}")))
+						vv.setValue(System.getProperty("user.home"));
+				}
+			}
+		} catch (CoreException e) {
+			// TODO Auto-generated catch block
+			e.printStackTrace();
+			throw new RuntimeException(e);
+		}
 	}
 	
 	@Override

eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/MecanumDrive/src/org/usfirst/frc/team190/robot/Robot.java

@@ -0,0 +1,53 @@
+
+package org.usfirst.frc.team190.robot;
+
+
+import edu.wpi.first.wpilibj.Joystick;
+import edu.wpi.first.wpilibj.RobotDrive;
+import edu.wpi.first.wpilibj.RobotDrive.MotorType;
+import edu.wpi.first.wpilibj.SampleRobot;
+import edu.wpi.first.wpilibj.Timer;
+
+/**
+ * This is a demo program showing how to use Mecanum control with the RobotDrive class.
+ */
+public class Robot extends SampleRobot {
+	
+    RobotDrive robotDrive;
+    Joystick stick;
+
+    // Channels for the wheels
+    final int frontLeftChannel	= 2;
+    final int rearLeftChannel	= 3;
+    final int frontRightChannel	= 1;
+    final int rearRightChannel	= 0;
+    
+    // The channel on the driver station that the joystick is connected to
+    final int joystickChannel	= 0;
+
+    public Robot() {
+    	robotDrive.setExpiration(0.1);
+        robotDrive = new RobotDrive(frontLeftChannel, rearLeftChannel, frontRightChannel, rearRightChannel);
+    	robotDrive.setInvertedMotor(MotorType.kFrontLeft, true);	// invert the left side motors
+    	robotDrive.setInvertedMotor(MotorType.kRearLeft, true);		// you may need to change or remove this to match your robot
+
+        stick = new Joystick(joystickChannel);
+    }
+        
+
+    /**
+     * Runs the motors with Mecanum drive.
+     */
+    public void operatorControl() {
+        robotDrive.setSafetyEnabled(true);
+        while (isOperatorControl()) {
+        	
+        	// Use the joystick X axis for lateral movement, Y axis for forward movement, and Z axis for rotation.
+        	// This sample does not use field-oriented drive, so the gyro input is set to zero.
+            robotDrive.mecanumDrive_Cartesian(stick.getX(), stick.getY(), stick.getZ(), 0);
+            
+            Timer.delay(0.005);	// wait 5ms to avoid hogging CPU cycles
+        }
+    }
+    
+}

eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/examples.xml

@@ -116,6 +116,25 @@
   </files>
   </example>
 
+ <example>
+  <name>Mecanum Drive</name>
+  <description>Demonstrate the use of the RobotDrive class doing teleop driving with Mecanum steering</description>
+  <tags>
+    <tag>Actuators</tag>
+    <tag>Complete List</tag>
+    <tag>Joystick</tag>
+    <tag>Robot and Motor</tag>
+    <tag>Safety</tag>
+  </tags>
+  <packages>
+    <package>src/$package-dir</package>
+  </packages>
+  <files>
+    <file source="examples/MecanumDrive/src/org/usfirst/frc/team190/robot/Robot.java"
+      destination="src/$package-dir/Robot.java"></file>
+  </files>
+  </example>
+
 
  <example>
   <name>Motor Controller</name>

eclipse-plugins/pom.xml

@@ -26,7 +26,7 @@
     <repository>
       <id>juno</id>
       <layout>p2</layout>
-      <url>http://download.eclipse.org/releases/juno</url>
+      <url>http://download.eclipse.org/releases/luna</url>
     </repository>
     <repository>
       <id>FRC Binaries</id>

hal/CMakeLists.txt

@@ -8,6 +8,10 @@ target_link_libraries(HALAthena ${NI_LIBS})
 INSTALL(TARGETS HALAthena ARCHIVE DESTINATION lib COMPONENT lib)
 INSTALL(FILES ${NI_LIBS} ${WPI_LD_LIBS} DESTINATION lib COMPONENT ni_lib)
 INSTALL(DIRECTORY include DESTINATION ${CMAKE_INSTALL_PREFIX} COMPONENT headers)
+
+add_library(HALAthena_shared SHARED ${SRC_FILES})
+target_link_libraries(HALAthena_shared ${NI_LIBS})
+INSTALL(TARGETS HALAthena_shared LIBRARY DESTINATION lib COMPONENT lib)
 # lib/ c m gcc_s ld-linux
 # usr/lib 
 # FRC_NetworkCommunication FRC_FPGA_ChipObject RoboRIO_FRC_ChipObject

hal/include/HAL/Digital.hpp

@@ -63,8 +63,6 @@ extern "C"
 	void setCounterPulseLengthMode(void* counter_pointer, double threshold, int32_t *status);
 	int32_t getCounterSamplesToAverage(void* counter_pointer, int32_t *status);
 	void setCounterSamplesToAverage(void* counter_pointer, int samplesToAverage, int32_t *status);
-	void startCounter(void* counter_pointer, int32_t *status);
-	void stopCounter(void* counter_pointer, int32_t *status);
 	void resetCounter(void* counter_pointer, int32_t *status);
 	int32_t getCounter(void* counter_pointer, int32_t *status);
 	double getCounterPeriod(void* counter_pointer, int32_t *status);
@@ -78,8 +76,6 @@ extern "C"
 			uint8_t port_b_module, uint32_t port_b_pin, bool port_b_analog_trigger,
 			bool reverseDirection, int32_t *index, int32_t *status); // TODO: fix routing
 	void freeEncoder(void* encoder_pointer, int32_t *status);
-	void startEncoder(void* encoder_pointer, int32_t *status);
-	void stopEncoder(void* encoder_pointer, int32_t *status);
 	void resetEncoder(void* encoder_pointer, int32_t *status);
 	int32_t getEncoder(void* encoder_pointer, int32_t *status); // Raw value
 	double getEncoderPeriod(void* encoder_pointer, int32_t *status);

hal/include/HAL/Interrupts.hpp

@@ -16,10 +16,11 @@ extern "C"
 	void* initializeInterrupts(uint32_t interruptIndex, bool watcher, int32_t *status);
 	void cleanInterrupts(void* interrupt_pointer, int32_t *status);
 
-	void waitForInterrupt(void* interrupt_pointer, double timeout, int32_t *status);
+	uint32_t waitForInterrupt(void* interrupt_pointer, double timeout, bool ignorePrevious, int32_t *status);
 	void enableInterrupts(void* interrupt_pointer, int32_t *status);
 	void disableInterrupts(void* interrupt_pointer, int32_t *status);
-	double readInterruptTimestamp(void* interrupt_pointer, int32_t *status);
+	double readRisingTimestamp(void* interrupt_pointer, int32_t *status);
+	double readFallingTimestamp(void* interrupt_pointer, int32_t *status);
 	void requestInterrupts(void* interrupt_pointer, uint8_t routing_module, uint32_t routing_pin,
 			bool routing_analog_trigger, int32_t *status);
 	void attachInterruptHandler(void* interrupt_pointer, InterruptHandlerFunction handler,

hal/lib/Athena/ChipObject.h

@@ -11,6 +11,7 @@
 #include <stdint.h>
 
 #include "FRC_FPGA_ChipObject/RoboRIO_FRC_ChipObject_Aliases.h"
+#include "FRC_FPGA_ChipObject/tDMAChannelDescriptor.h"
 #include "FRC_FPGA_ChipObject/tDMAManager.h"
 #include "FRC_FPGA_ChipObject/tInterruptManager.h"
 #include "FRC_FPGA_ChipObject/tSystem.h"

hal/lib/Athena/Digital.cpp

@@ -219,8 +219,8 @@ unsigned short getPWM(void* digital_port_pointer, int32_t *status) {
 
 void latchPWMZero(void* digital_port_pointer, int32_t *status) {
 	DigitalPort* port = (DigitalPort*) digital_port_pointer;
-	pwmSystem->writeZeroLatch(1 << port->port.pin, true, status);
-	pwmSystem->writeZeroLatch(1 << port->port.pin, false, status);
+	pwmSystem->writeZeroLatch(port->port.pin, true, status);
+	pwmSystem->writeZeroLatch(port->port.pin, false, status);
 }
 
 /**
@@ -683,14 +683,11 @@ void setCounterUpSourceEdge(void* counter_pointer, bool risingEdge, bool falling
  */
 void clearCounterUpSource(void* counter_pointer, int32_t *status) {
   Counter* counter = (Counter*) counter_pointer;
-  bool state = counter->counter->readConfig_Enable(status);
-  counter->counter->writeConfig_Enable(false, status);
   counter->counter->writeConfig_UpFallingEdge(false, status);
   counter->counter->writeConfig_UpRisingEdge(false, status);
   // Index 0 of digital is always 0.
   counter->counter->writeConfig_UpSource_Channel(0, status);
   counter->counter->writeConfig_UpSource_AnalogTrigger(false, status);
-  counter->counter->writeConfig_Enable(state, status);
 }
 
 /**
@@ -738,14 +735,11 @@ void setCounterDownSourceEdge(void* counter_pointer, bool risingEdge, bool falli
  */
 void clearCounterDownSource(void* counter_pointer, int32_t *status) {
   Counter* counter = (Counter*) counter_pointer;
-  bool state = counter->counter->readConfig_Enable(status);
-  counter->counter->writeConfig_Enable(false, status);
   counter->counter->writeConfig_DownFallingEdge(false, status);
   counter->counter->writeConfig_DownRisingEdge(false, status);
   // Index 0 of digital is always 0.
   counter->counter->writeConfig_DownSource_Channel(0, status);
   counter->counter->writeConfig_DownSource_AnalogTrigger(false, status);
-  counter->counter->writeConfig_Enable(state, status);
 }
 
 /**
@@ -814,25 +808,6 @@ void setCounterSamplesToAverage(void* counter_pointer, int samplesToAverage, int
   counter->counter->writeTimerConfig_AverageSize(samplesToAverage, status);
 }
 
-/**
- * Start the Counter counting.
- * This enables the counter and it starts accumulating counts from the associated
- * input channel. The counter value is not reset on starting, and still has the previous value.
- */
-void startCounter(void* counter_pointer, int32_t *status) {
-  Counter* counter = (Counter*) counter_pointer;
-  counter->counter->writeConfig_Enable(1, status);
-}
-
-/**
- * Stop the Counter.
- * Stops the counting but doesn't effect the current value.
- */
-void stopCounter(void* counter_pointer, int32_t *status) {
-  Counter* counter = (Counter*) counter_pointer;
-  counter->counter->writeConfig_Enable(0, status);
-}
-
 /**
  * Reset the Counter to zero.
  * Set the counter value to zero. This doesn't effect the running state of the counter, just sets
@@ -993,23 +968,6 @@ void freeEncoder(void* encoder_pointer, int32_t *status) {
   delete encoder->encoder;
 }
 
-/**
- * Start the Encoder.
- * Starts counting pulses on the Encoder device.
- */
-void startEncoder(void* encoder_pointer, int32_t *status) {
-  Encoder* encoder = (Encoder*) encoder_pointer;
-  encoder->encoder->writeConfig_Enable(1, status);
-}
-
-/**
- * Stops counting pulses on the Encoder device. The value is not changed.
- */
-void stopEncoder(void* encoder_pointer, int32_t *status) {
-  Encoder* encoder = (Encoder*) encoder_pointer;
-  encoder->encoder->writeConfig_Enable(0, status);
-}
-
 /**
  * Reset the Encoder distance to zero.
  * Resets the current count to zero on the encoder.

hal/lib/Athena/FRC_FPGA_ChipObject/FRC_FPGA_ChipObject_Aliases.h

@@ -4,7 +4,7 @@
 #ifndef __FRC_FPGA_ChipObject_Aliases_h__
 #define __FRC_FPGA_ChipObject_Aliases_h__
 
-#define nInvariantFPGANamespace nFRC_C0EF_1_1_0
 #define nRuntimeFPGANamespace nFRC_2012_1_6_4
+#define nInvariantFPGANamespace nFRC_C0EF_1_1_0
 
 #endif // __FRC_FPGA_ChipObject_Aliases_h__

hal/lib/Athena/FRC_FPGA_ChipObject/RoboRIO_FRC_ChipObject_Aliases.h

@@ -4,6 +4,6 @@
 #ifndef __RoboRIO_FRC_ChipObject_Aliases_h__
 #define __RoboRIO_FRC_ChipObject_Aliases_h__
 
-#define nRoboRIO_FPGANamespace nFRC_2015_1_0_8
+#define nRoboRIO_FPGANamespace nFRC_2015_1_0_9
 
 #endif // __RoboRIO_FRC_ChipObject_Aliases_h__

hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/nInterfaceGlobals.h

@@ -1,15 +1,15 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2015_1_0_8_nInterfaceGlobals_h__
-#define __nFRC_2015_1_0_8_nInterfaceGlobals_h__
+#ifndef __nFRC_2015_1_0_9_nInterfaceGlobals_h__
+#define __nFRC_2015_1_0_9_nInterfaceGlobals_h__
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_8
+namespace nFRC_2015_1_0_9
 {
    extern unsigned int g_currentTargetClass;
 }
 }
 
-#endif // __nFRC_2015_1_0_8_nInterfaceGlobals_h__
+#endif // __nFRC_2015_1_0_9_nInterfaceGlobals_h__

hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAI.h

@@ -1,14 +1,14 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2015_1_0_8_AI_h__
-#define __nFRC_2015_1_0_8_AI_h__
+#ifndef __nFRC_2015_1_0_9_AI_h__
+#define __nFRC_2015_1_0_9_AI_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_8
+namespace nFRC_2015_1_0_9
 {
 
 class tAI
@@ -140,4 +140,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_8_AI_h__
+#endif // __nFRC_2015_1_0_9_AI_h__

hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAO.h

@@ -1,14 +1,14 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2015_1_0_8_AO_h__
-#define __nFRC_2015_1_0_8_AO_h__
+#ifndef __nFRC_2015_1_0_9_AO_h__
+#define __nFRC_2015_1_0_9_AO_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_8
+namespace nFRC_2015_1_0_9
 {
 
 class tAO
@@ -47,4 +47,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_8_AO_h__
+#endif // __nFRC_2015_1_0_9_AO_h__

hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAccel.h

@@ -1,14 +1,14 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2015_1_0_8_Accel_h__
-#define __nFRC_2015_1_0_8_Accel_h__
+#ifndef __nFRC_2015_1_0_9_Accel_h__
+#define __nFRC_2015_1_0_9_Accel_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_8
+namespace nFRC_2015_1_0_9
 {
 
 class tAccel
@@ -99,4 +99,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_8_Accel_h__
+#endif // __nFRC_2015_1_0_9_Accel_h__

hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAccumulator.h

@@ -1,14 +1,14 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2015_1_0_8_Accumulator_h__
-#define __nFRC_2015_1_0_8_Accumulator_h__
+#ifndef __nFRC_2015_1_0_9_Accumulator_h__
+#define __nFRC_2015_1_0_9_Accumulator_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_8
+namespace nFRC_2015_1_0_9
 {
 
 class tAccumulator
@@ -84,4 +84,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_8_Accumulator_h__
+#endif // __nFRC_2015_1_0_9_Accumulator_h__

hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAlarm.h

@@ -1,14 +1,14 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2015_1_0_8_Alarm_h__
-#define __nFRC_2015_1_0_8_Alarm_h__
+#ifndef __nFRC_2015_1_0_9_Alarm_h__
+#define __nFRC_2015_1_0_9_Alarm_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_8
+namespace nFRC_2015_1_0_9
 {
 
 class tAlarm
@@ -54,4 +54,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_8_Alarm_h__
+#endif // __nFRC_2015_1_0_9_Alarm_h__

hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAnalogTrigger.h

@@ -1,14 +1,14 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2015_1_0_8_AnalogTrigger_h__
-#define __nFRC_2015_1_0_8_AnalogTrigger_h__
+#ifndef __nFRC_2015_1_0_9_AnalogTrigger_h__
+#define __nFRC_2015_1_0_9_AnalogTrigger_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_8
+namespace nFRC_2015_1_0_9
 {
 
 class tAnalogTrigger
@@ -126,4 +126,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_8_AnalogTrigger_h__
+#endif // __nFRC_2015_1_0_9_AnalogTrigger_h__

hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tBIST.h

@@ -1,14 +1,14 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2015_1_0_8_BIST_h__
-#define __nFRC_2015_1_0_8_BIST_h__
+#ifndef __nFRC_2015_1_0_9_BIST_h__
+#define __nFRC_2015_1_0_9_BIST_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_8
+namespace nFRC_2015_1_0_9
 {
 
 class tBIST
@@ -87,4 +87,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_8_BIST_h__
+#endif // __nFRC_2015_1_0_9_BIST_h__

hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tCounter.h

@@ -1,14 +1,14 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2015_1_0_8_Counter_h__
-#define __nFRC_2015_1_0_8_Counter_h__
+#ifndef __nFRC_2015_1_0_9_Counter_h__
+#define __nFRC_2015_1_0_9_Counter_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_8
+namespace nFRC_2015_1_0_9
 {
 
 class tCounter
@@ -56,21 +56,21 @@ public:
          unsigned IndexSource_Module : 1;
          unsigned IndexSource_AnalogTrigger : 1;
          unsigned IndexActiveHigh : 1;
+         unsigned IndexEdgeSensitive : 1;
          unsigned UpRisingEdge : 1;
          unsigned UpFallingEdge : 1;
          unsigned DownRisingEdge : 1;
          unsigned DownFallingEdge : 1;
          unsigned Mode : 2;
          unsigned PulseLengthThreshold : 6;
-         unsigned Enable : 1;
 #else
-         unsigned Enable : 1;
          unsigned PulseLengthThreshold : 6;
          unsigned Mode : 2;
          unsigned DownFallingEdge : 1;
          unsigned DownRisingEdge : 1;
          unsigned UpFallingEdge : 1;
          unsigned UpRisingEdge : 1;
+         unsigned IndexEdgeSensitive : 1;
          unsigned IndexActiveHigh : 1;
          unsigned IndexSource_AnalogTrigger : 1;
          unsigned IndexSource_Module : 1;
@@ -147,13 +147,13 @@ public:
    virtual void writeConfig_IndexSource_Module(unsigned char value, tRioStatusCode *status) = 0;
    virtual void writeConfig_IndexSource_AnalogTrigger(bool value, tRioStatusCode *status) = 0;
    virtual void writeConfig_IndexActiveHigh(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_IndexEdgeSensitive(bool value, tRioStatusCode *status) = 0;
    virtual void writeConfig_UpRisingEdge(bool value, tRioStatusCode *status) = 0;
    virtual void writeConfig_UpFallingEdge(bool value, tRioStatusCode *status) = 0;
    virtual void writeConfig_DownRisingEdge(bool value, tRioStatusCode *status) = 0;
    virtual void writeConfig_DownFallingEdge(bool value, tRioStatusCode *status) = 0;
    virtual void writeConfig_Mode(unsigned char value, tRioStatusCode *status) = 0;
    virtual void writeConfig_PulseLengthThreshold(unsigned short value, tRioStatusCode *status) = 0;
-   virtual void writeConfig_Enable(bool value, tRioStatusCode *status) = 0;
    virtual tConfig readConfig(tRioStatusCode *status) = 0;
    virtual unsigned char readConfig_UpSource_Channel(tRioStatusCode *status) = 0;
    virtual unsigned char readConfig_UpSource_Module(tRioStatusCode *status) = 0;
@@ -165,13 +165,13 @@ public:
    virtual unsigned char readConfig_IndexSource_Module(tRioStatusCode *status) = 0;
    virtual bool readConfig_IndexSource_AnalogTrigger(tRioStatusCode *status) = 0;
    virtual bool readConfig_IndexActiveHigh(tRioStatusCode *status) = 0;
+   virtual bool readConfig_IndexEdgeSensitive(tRioStatusCode *status) = 0;
    virtual bool readConfig_UpRisingEdge(tRioStatusCode *status) = 0;
    virtual bool readConfig_UpFallingEdge(tRioStatusCode *status) = 0;
    virtual bool readConfig_DownRisingEdge(tRioStatusCode *status) = 0;
    virtual bool readConfig_DownFallingEdge(tRioStatusCode *status) = 0;
    virtual unsigned char readConfig_Mode(tRioStatusCode *status) = 0;
    virtual unsigned short readConfig_PulseLengthThreshold(tRioStatusCode *status) = 0;
-   virtual bool readConfig_Enable(tRioStatusCode *status) = 0;
 
 
    typedef enum
@@ -216,4 +216,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_8_Counter_h__
+#endif // __nFRC_2015_1_0_9_Counter_h__

hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tDIO.h

@@ -1,14 +1,14 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2015_1_0_8_DIO_h__
-#define __nFRC_2015_1_0_8_DIO_h__
+#ifndef __nFRC_2015_1_0_9_DIO_h__
+#define __nFRC_2015_1_0_9_DIO_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_8
+namespace nFRC_2015_1_0_9
 {
 
 class tDIO
@@ -245,4 +245,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_8_DIO_h__
+#endif // __nFRC_2015_1_0_9_DIO_h__

hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tDMA.h

@@ -1,14 +1,14 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2015_1_0_8_DMA_h__
-#define __nFRC_2015_1_0_8_DMA_h__
+#ifndef __nFRC_2015_1_0_9_DMA_h__
+#define __nFRC_2015_1_0_9_DMA_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_8
+namespace nFRC_2015_1_0_9
 {
 
 class tDMA
@@ -185,4 +185,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_8_DMA_h__
+#endif // __nFRC_2015_1_0_9_DMA_h__

hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tEncoder.h

@@ -1,14 +1,14 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2015_1_0_8_Encoder_h__
-#define __nFRC_2015_1_0_8_Encoder_h__
+#ifndef __nFRC_2015_1_0_9_Encoder_h__
+#define __nFRC_2015_1_0_9_Encoder_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_8
+namespace nFRC_2015_1_0_9
 {
 
 class tEncoder
@@ -56,11 +56,11 @@ public:
          unsigned IndexSource_Module : 1;
          unsigned IndexSource_AnalogTrigger : 1;
          unsigned IndexActiveHigh : 1;
+         unsigned IndexEdgeSensitive : 1;
          unsigned Reverse : 1;
-         unsigned Enable : 1;
 #else
-         unsigned Enable : 1;
          unsigned Reverse : 1;
+         unsigned IndexEdgeSensitive : 1;
          unsigned IndexActiveHigh : 1;
          unsigned IndexSource_AnalogTrigger : 1;
          unsigned IndexSource_Module : 1;
@@ -137,8 +137,8 @@ public:
    virtual void writeConfig_IndexSource_Module(unsigned char value, tRioStatusCode *status) = 0;
    virtual void writeConfig_IndexSource_AnalogTrigger(bool value, tRioStatusCode *status) = 0;
    virtual void writeConfig_IndexActiveHigh(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_IndexEdgeSensitive(bool value, tRioStatusCode *status) = 0;
    virtual void writeConfig_Reverse(bool value, tRioStatusCode *status) = 0;
-   virtual void writeConfig_Enable(bool value, tRioStatusCode *status) = 0;
    virtual tConfig readConfig(tRioStatusCode *status) = 0;
    virtual unsigned char readConfig_ASource_Channel(tRioStatusCode *status) = 0;
    virtual unsigned char readConfig_ASource_Module(tRioStatusCode *status) = 0;
@@ -150,8 +150,8 @@ public:
    virtual unsigned char readConfig_IndexSource_Module(tRioStatusCode *status) = 0;
    virtual bool readConfig_IndexSource_AnalogTrigger(tRioStatusCode *status) = 0;
    virtual bool readConfig_IndexActiveHigh(tRioStatusCode *status) = 0;
+   virtual bool readConfig_IndexEdgeSensitive(tRioStatusCode *status) = 0;
    virtual bool readConfig_Reverse(tRioStatusCode *status) = 0;
-   virtual bool readConfig_Enable(tRioStatusCode *status) = 0;
 
 
    typedef enum
@@ -196,4 +196,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_8_Encoder_h__
+#endif // __nFRC_2015_1_0_9_Encoder_h__

hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tGlobal.h

@@ -1,14 +1,14 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2015_1_0_8_Global_h__
-#define __nFRC_2015_1_0_8_Global_h__
+#ifndef __nFRC_2015_1_0_9_Global_h__
+#define __nFRC_2015_1_0_9_Global_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_8
+namespace nFRC_2015_1_0_9
 {
 
 class tGlobal
@@ -101,4 +101,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_8_Global_h__
+#endif // __nFRC_2015_1_0_9_Global_h__

hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tInterrupt.h

@@ -1,14 +1,14 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2015_1_0_8_Interrupt_h__
-#define __nFRC_2015_1_0_8_Interrupt_h__
+#ifndef __nFRC_2015_1_0_9_Interrupt_h__
+#define __nFRC_2015_1_0_9_Interrupt_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_8
+namespace nFRC_2015_1_0_9
 {
 
 class tInterrupt
@@ -54,9 +54,9 @@ public:
 
    typedef enum
    {
-   } tTimeStamp_IfaceConstants;
+   } tFallingTimeStamp_IfaceConstants;
 
-   virtual unsigned int readTimeStamp(tRioStatusCode *status) = 0;
+   virtual unsigned int readFallingTimeStamp(tRioStatusCode *status) = 0;
 
 
    typedef enum
@@ -79,6 +79,13 @@ public:
    virtual bool readConfig_WaitForAck(tRioStatusCode *status) = 0;
 
 
+   typedef enum
+   {
+   } tRisingTimeStamp_IfaceConstants;
+
+   virtual unsigned int readRisingTimeStamp(tRioStatusCode *status) = 0;
+
+
 
 
 
@@ -90,4 +97,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_8_Interrupt_h__
+#endif // __nFRC_2015_1_0_9_Interrupt_h__

hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tPWM.h

@@ -1,14 +1,14 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2015_1_0_8_PWM_h__
-#define __nFRC_2015_1_0_8_PWM_h__
+#ifndef __nFRC_2015_1_0_9_PWM_h__
+#define __nFRC_2015_1_0_9_PWM_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_8
+namespace nFRC_2015_1_0_9
 {
 
 class tPWM
@@ -117,4 +117,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_8_PWM_h__
+#endif // __nFRC_2015_1_0_9_PWM_h__

hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tPower.h

@@ -1,14 +1,14 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2015_1_0_8_Power_h__
-#define __nFRC_2015_1_0_8_Power_h__
+#ifndef __nFRC_2015_1_0_9_Power_h__
+#define __nFRC_2015_1_0_9_Power_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_8
+namespace nFRC_2015_1_0_9
 {
 
 class tPower
@@ -214,4 +214,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_8_Power_h__
+#endif // __nFRC_2015_1_0_9_Power_h__

hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tRelay.h

@@ -1,14 +1,14 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2015_1_0_8_Relay_h__
-#define __nFRC_2015_1_0_8_Relay_h__
+#ifndef __nFRC_2015_1_0_9_Relay_h__
+#define __nFRC_2015_1_0_9_Relay_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_8
+namespace nFRC_2015_1_0_9
 {
 
 class tRelay
@@ -65,4 +65,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_8_Relay_h__
+#endif // __nFRC_2015_1_0_9_Relay_h__

hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tSPI.h

@@ -1,14 +1,14 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2015_1_0_8_SPI_h__
-#define __nFRC_2015_1_0_8_SPI_h__
+#ifndef __nFRC_2015_1_0_9_SPI_h__
+#define __nFRC_2015_1_0_9_SPI_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_8
+namespace nFRC_2015_1_0_9
 {
 
 class tSPI
@@ -65,4 +65,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_8_SPI_h__
+#endif // __nFRC_2015_1_0_9_SPI_h__

hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tSysWatchdog.h

@@ -1,14 +1,14 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2015_1_0_8_SysWatchdog_h__
-#define __nFRC_2015_1_0_8_SysWatchdog_h__
+#ifndef __nFRC_2015_1_0_9_SysWatchdog_h__
+#define __nFRC_2015_1_0_9_SysWatchdog_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_8
+namespace nFRC_2015_1_0_9
 {
 
 class tSysWatchdog
@@ -88,6 +88,13 @@ public:
    virtual unsigned int readTimer(tRioStatusCode *status) = 0;
 
 
+   typedef enum
+   {
+   } tForcedKills_IfaceConstants;
+
+   virtual unsigned short readForcedKills(tRioStatusCode *status) = 0;
+
+
 
 
 private:
@@ -98,4 +105,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_8_SysWatchdog_h__
+#endif // __nFRC_2015_1_0_9_SysWatchdog_h__

hal/lib/Athena/FRC_FPGA_ChipObject/tDMAChannelDescriptor.h

@@ -0,0 +1,17 @@
+// Describes the information needed to configure a DMA channel.
+// Copyright (c) National Instruments 2008.  All Rights Reserved.
+
+#include <stdint.h>
+
+#ifndef __tDMAChannelDescriptor_h__
+#define __tDMAChannelDescriptor_h__
+
+struct tDMAChannelDescriptor
+{
+   uint32_t channel;
+   uint32_t baseAddress;
+   uint32_t depth;
+   bool targetToHost;
+};
+
+#endif // __tDMAChannelDescriptor_h__

hal/lib/Athena/FRC_FPGA_ChipObject/tDMAManager.h

@@ -1,46 +1,41 @@
-// Class for handling DMA transters.
+// Class for handling DMA transfers.
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 
 #ifndef __tDMAManager_h__
 #define __tDMAManager_h__
 
 #include "tSystem.h"
+#include <stdint.h>
 
 namespace nFPGA
 {
-// TODO: Implement DMA Manager
-/*
 class tDMAManager : public tSystem
 {
 public:
-   tDMAManager(tNIRIO_u32 dmaChannel, tNIRIO_u32 hostBufferSize, tRioStatusCode *status);
+   tDMAManager(uint32_t dmaChannel, uint32_t hostBufferSize, tRioStatusCode *status);
    ~tDMAManager();
    void start(tRioStatusCode *status);
    void stop(tRioStatusCode *status);
    bool isStarted() {return _started;}
    void read(
-      tNIRIO_u32*      buf,
-      tNIRIO_u32       num,
-      tNIRIO_u32       timeout,
-      tNIRIO_u32*      read,
-      tNIRIO_u32*      remaining,
+      uint32_t*      buf,
+      size_t         num,
+      uint32_t       timeout,
+      size_t*        remaining,
       tRioStatusCode *status);
    void write(
-      tNIRIO_u32*      buf,
-      tNIRIO_u32       num,
-      tNIRIO_u32       timeout,
-      tNIRIO_u32*      remaining,
+      uint32_t*      buf,
+      size_t         num,
+      uint32_t       timeout,
+      size_t*        remaining,
       tRioStatusCode *status);
 private:
    bool _started;
-   tNIRIO_u32 _dmaChannel;
-   tNIRIO_u32 _hostBufferSize;
-   tDMAChannelDescriptor const *_dmaChannelDescriptor;
+   uint32_t _dmaChannel;
+   uint32_t _hostBufferSize;
 
 };
-*/
+
 }
 
-
 #endif // __tDMAManager_h__
-

hal/lib/Athena/FRC_FPGA_ChipObject/tInterruptManager.h

@@ -28,11 +28,11 @@ public:
    tInterruptManager(uint32_t interruptMask, bool watcher, tRioStatusCode *status);
    ~tInterruptManager();
    void registerHandler(tInterruptHandler handler, void *param, tRioStatusCode *status);
-   uint32_t watch(int32_t timeoutInMs, tRioStatusCode *status);
+   uint32_t watch(int32_t timeoutInMs, bool ignorePrevious, tRioStatusCode *status);
    void enable(tRioStatusCode *status);
    void disable(tRioStatusCode *status);
    bool isEnabled(tRioStatusCode *status);
-private:
+public:
    class tInterruptThread;
    friend class tInterruptThread;
    void handler();
@@ -58,4 +58,3 @@ private:
 
 
 #endif // __tInterruptManager_h__
-

hal/lib/Athena/FRC_FPGA_ChipObject/tSystem.h

@@ -20,6 +20,7 @@ public:
    tSystem(tRioStatusCode *status);
    ~tSystem();
    void getFpgaGuid(uint32_t *guid_ptr, tRioStatusCode *status);
+   void reset(tRioStatusCode *status);
 
 protected:
    static NiFpga_Session _DeviceHandle;

hal/lib/Athena/FRC_FPGA_ChipObject/tSystemInterface.h

@@ -18,8 +18,10 @@ public:
    virtual void getHardwareFpgaSignature(uint32_t *guid_ptr, tRioStatusCode *status)=0;
    virtual uint32_t getLVHandle(tRioStatusCode *status)=0;
    virtual uint32_t getHandle()=0;
+   virtual void reset(tRioStatusCode *status)=0;
 };
 
 }
 
 #endif // __tSystemInterface_h__
+

hal/lib/Athena/HAL.cpp

@@ -145,6 +145,7 @@ void HALSetNewDataSem(pthread_mutex_t * param)
  */
 int HALInitialize(int mode)
 {
+	FRC_NetworkCommunication_Reserve(nullptr);
 	// image 4; Fixes errors caused by multiple processes. Talk to NI about this
 	nFPGA::nRoboRIO_FPGANamespace::g_currentTargetClass =
 			nLoadOut::kTargetClass_RoboRIO;

hal/lib/Athena/Interrupts.cpp

@@ -13,7 +13,8 @@ void* initializeInterrupts(uint32_t interruptIndex, bool watcher, int32_t *statu
 	// Expects the calling leaf class to allocate an interrupt index.
 	anInterrupt->anInterrupt = tInterrupt::create(interruptIndex, status);
 	anInterrupt->anInterrupt->writeConfig_WaitForAck(false, status);
-	anInterrupt->manager = new tInterruptManager(1 << interruptIndex, watcher, status);
+	anInterrupt->manager = new tInterruptManager(
+		(1 << interruptIndex) | (1 << (interruptIndex + 8)), watcher, status);
 	return anInterrupt;
 }
 
@@ -29,16 +30,29 @@ void cleanInterrupts(void* interrupt_pointer, int32_t *status)
 /**
  * In synchronous mode, wait for the defined interrupt to occur.
  * @param timeout Timeout in seconds
+ * @param ignorePrevious If true, ignore interrupts that happened before
+ * waitForInterrupt was called.
+ * @return The mask of interrupts that fired.
  */
-void waitForInterrupt(void* interrupt_pointer, double timeout, int32_t *status)
+uint32_t waitForInterrupt(void* interrupt_pointer, double timeout, bool ignorePrevious, int32_t *status)
 {
+	uint32_t result;
 	Interrupt* anInterrupt = (Interrupt*)interrupt_pointer;
-	anInterrupt->manager->watch((int32_t)(timeout * 1e3), status);
+
+	result = anInterrupt->manager->watch((int32_t)(timeout * 1e3), ignorePrevious, status);
+
+	// Don't report a timeout as an error - the return code is enough to tell
+	// that a timeout happened.
+	if(*status == -NiFpga_Status_IrqTimeout) {
+		*status = NiFpga_Status_Success;
+	}
+
+	return result;
 }
 
 /**
  * Enable interrupts to occur on this input.
- * oInterrupts are disabled when the RequestInterrupt call is made. This gives time to do the
+ * Interrupts are disabled when the RequestInterrupt call is made. This gives time to do the
  * setup of the other options before starting to field interrupts.
  */
 void enableInterrupts(void* interrupt_pointer, int32_t *status)
@@ -52,21 +66,31 @@ void enableInterrupts(void* interrupt_pointer, int32_t *status)
  */
 void disableInterrupts(void* interrupt_pointer, int32_t *status)
 {
-
 	Interrupt* anInterrupt = (Interrupt*)interrupt_pointer;
 	anInterrupt->manager->disable(status);
-
 }
 
 /**
- * Return the timestamp for the interrupt that occurred most recently.
+ * Return the timestamp for the rising interrupt that occurred most recently.
  * This is in the same time domain as GetClock().
  * @return Timestamp in seconds since boot.
  */
-double readInterruptTimestamp(void* interrupt_pointer, int32_t *status)
+double readRisingTimestamp(void* interrupt_pointer, int32_t *status)
 {
 	Interrupt* anInterrupt = (Interrupt*)interrupt_pointer;
-	uint32_t timestamp = anInterrupt->anInterrupt->readTimeStamp(status);
+	uint32_t timestamp = anInterrupt->anInterrupt->readRisingTimeStamp(status);
+	return timestamp * 1e-6;
+}
+
+/**
+* Return the timestamp for the falling interrupt that occurred most recently.
+* This is in the same time domain as GetClock().
+* @return Timestamp in seconds since boot.
+*/
+double readFallingTimestamp(void* interrupt_pointer, int32_t *status)
+{
+	Interrupt* anInterrupt = (Interrupt*)interrupt_pointer;
+	uint32_t timestamp = anInterrupt->anInterrupt->readFallingTimeStamp(status);
 	return timestamp * 1e-6;
 }
 

hal/lib/Athena/NetworkCommunication/FRCComm.h

@@ -32,6 +32,8 @@
 #endif
 #endif
 
+#define ERR_FRCSystem_NetCommNotResponding -44049
+
 enum AllianceStationID_t {
 	kAllianceStationID_red1,
 	kAllianceStationID_red2,
@@ -68,7 +70,7 @@ struct JoystickAxes_t {
 
 struct JoystickPOV_t {
 	uint16_t count;
-	uint16_t povs[1];
+	int16_t povs[1];
 };
 
 #ifdef __cplusplus
@@ -81,9 +83,6 @@ extern "C" {
 	int EXPORT_FUNC setStatusData(float battery, uint8_t dsDigitalOut, uint8_t updateNumber,
 			const char *userDataHigh, int userDataHighLength,
 			const char *userDataLow, int userDataLowLength, int wait_ms);
-	int EXPORT_FUNC setStatusDataFloatAsInt(int battery, uint8_t dsDigitalOut, uint8_t updateNumber,
-			const char *userDataHigh, int userDataHighLength,
-			const char *userDataLow, int userDataLowLength, int wait_ms);
 	int EXPORT_FUNC setErrorData(const char *errors, int errorsLength, int wait_ms);
 	
 #ifdef SIMULATION
@@ -101,9 +100,13 @@ extern "C" {
 
 	int EXPORT_FUNC FRC_NetworkCommunication_getControlWord(struct ControlWord_t *controlWord);
 	int EXPORT_FUNC FRC_NetworkCommunication_getAllianceStation(enum AllianceStationID_t *allianceStation);
+	int EXPORT_FUNC FRC_NetworkCommunication_getMatchTime(float *matchTime);
 	int EXPORT_FUNC FRC_NetworkCommunication_getJoystickAxes(uint8_t joystickNum, struct JoystickAxes_t *axes, uint8_t maxAxes);
 	int EXPORT_FUNC FRC_NetworkCommunication_getJoystickButtons(uint8_t joystickNum, uint32_t *buttons, uint8_t *count);
 	int EXPORT_FUNC FRC_NetworkCommunication_getJoystickPOVs(uint8_t joystickNum, struct JoystickPOV_t *povs, uint8_t maxPOVs);
+	int EXPORT_FUNC FRC_NetworkCommunication_setJoystickOutputs(uint8_t joystickNum, uint32_t hidOutputs, uint16_t leftRumble, uint16_t rightRumble);
+	int EXPORT_FUNC FRC_NetworkCommunication_getJoystickDesc(uint8_t joystickNum, uint8_t *isXBox, uint8_t *type, char *name,
+		uint8_t *axisCount, uint8_t *axisTypes, uint8_t *buttonCount, uint8_t *povCount);
 
 	void EXPORT_FUNC FRC_NetworkCommunication_getVersionString(char *version);
 	int EXPORT_FUNC FRC_NetworkCommunication_observeUserProgramStarting(void);

ni-libraries/libNiFpga.so

@@ -1,2 +1,2 @@
 OUTPUT_FORMAT(elf32-littlearm)
-GROUP ( libNiFpga.so.13 )
+GROUP ( libNiFpga.so.14 )

ni-libraries/libNiFpga.so.14

@@ -1,2 +1,2 @@
 OUTPUT_FORMAT(elf32-littlearm)
-GROUP ( libfrccansae.so.1 )
+GROUP ( libNiFpga.so.14.0 )

ni-libraries/libNiFpga.so.14.0

@@ -1,2 +1,2 @@
 OUTPUT_FORMAT(elf32-littlearm)
-GROUP ( libni_emb.so.6 )
+GROUP ( libNiFpga.so.14.0.0 )

ni-libraries/libNiFpgaLv.so

@@ -1,2 +1,2 @@
 OUTPUT_FORMAT(elf32-littlearm)
-GROUP ( libNiFpgaLv.so.13 )
+GROUP ( libNiFpgaLv.so.14 )

ni-libraries/libNiFpgaLv.so.14

@@ -1,2 +1,2 @@
 OUTPUT_FORMAT(elf32-littlearm)
-GROUP ( libni_rtlog.so.2 )
+GROUP ( libNiFpgaLv.so.14.0 )

ni-libraries/libNiFpgaLv.so.14.0

@@ -0,0 +1,2 @@
+OUTPUT_FORMAT(elf32-littlearm)
+GROUP ( libNiFpgaLv.so.14.0.0 )

ni-libraries/libNiRioSrv.so

@@ -1,2 +1,2 @@
 OUTPUT_FORMAT(elf32-littlearm)
-GROUP ( libNiRioSrv.so.13 )
+GROUP ( libNiRioSrv.so.14 )

ni-libraries/libNiRioSrv.so.14

@@ -0,0 +1,2 @@
+OUTPUT_FORMAT(elf32-littlearm)
+GROUP ( libNiRioSrv.so.14.0 )

ni-libraries/libNiRioSrv.so.14.0

@@ -0,0 +1,2 @@
+OUTPUT_FORMAT(elf32-littlearm)
+GROUP ( libNiRioSrv.so.14.0.0 )

ni-libraries/libfrccansae.so.1.0

@@ -1,2 +0,0 @@
-OUTPUT_FORMAT(elf32-littlearm)
-GROUP ( libfrccansae.so.1.0.0 )

ni-libraries/libnirio_emb_can.so

@@ -1,2 +0,0 @@
-OUTPUT_FORMAT(elf32-littlearm)
-GROUP ( libnirio_emb_can.so.14 )

wpilibc/wpilibC++/include/Notifier.h

@@ -9,7 +9,7 @@
 #include "Task.h"
 #include "HAL/cpp/Synchronized.hpp"
 
-typedef void *(*TimerEventHandler)(void *param);
+typedef void (*TimerEventHandler)(void *param);
 
 class Notifier : public ErrorBase
 {

wpilibc/wpilibC++/include/PIDController.h

@@ -98,7 +98,7 @@ private:
 
 	void Initialize(float p, float i, float d, float f, PIDSource *source, PIDOutput *output,
 			float period = 0.05);
-	static void *CallCalculate(void *controller);
+	static void CallCalculate(void *controller);
 
 	virtual ITable* GetTable();
 	virtual std::string GetSmartDashboardType();

wpilibc/wpilibC++Devices/include/AnalogTriggerOutput.h

@@ -14,15 +14,15 @@ class AnalogTrigger;
  * This class is used to get the current output value and also as a DigitalSource
  * to provide routing of an output to digital subsystems on the FPGA such as
  * Counter, Encoder, and Interrupt.
- * 
+ *
  * The TriggerState output indicates the primary output value of the trigger.  If the analog
  * signal is less than the lower limit, the output is false.  If the analog value is greater
  * than the upper limit, then the output is true.  If the analog value is in between, then
  * the trigger output state maintains its most recent value.
- * 
+ *
  * The InWindow output indicates whether or not the analog signal is inside the range defined
  * by the limits.
- * 
+ *
  * The RisingPulse and FallingPulse outputs detect an instantaneous transition from above the
  * upper limit to below the lower limit, and vise versa.  These pulses represent a rollover
  * condition of a sensor and can be routed to an up / down couter or to interrupts.  Because
@@ -40,7 +40,7 @@ class AnalogTriggerOutput : public DigitalSource
 {
 	friend class AnalogTrigger;
 public:
-	
+
 	virtual ~AnalogTriggerOutput();
 	bool Get();
 
@@ -48,8 +48,6 @@ public:
 	virtual uint32_t GetChannelForRouting();
 	virtual uint32_t GetModuleForRouting();
 	virtual bool GetAnalogTriggerForRouting();
-	virtual void RequestInterrupts(InterruptHandlerFunction handler, void *param = NULL); ///< Asynchronus handler version.
-	virtual void RequestInterrupts();		///< Synchronus Wait version.
 protected:
 	AnalogTriggerOutput(AnalogTrigger *trigger, AnalogTriggerType outputType);
 

wpilibc/wpilibC++Devices/include/DigitalInput.h

@@ -28,11 +28,6 @@ public:
 	virtual uint32_t GetModuleForRouting();
 	virtual bool GetAnalogTriggerForRouting();
 
-	// Interruptable Interface
-	virtual void RequestInterrupts(InterruptHandlerFunction handler, void *param = NULL); ///< Asynchronus handler version.
-	virtual void RequestInterrupts();		///< Synchronus Wait version.
-	void SetUpSourceEdge(bool risingEdge, bool fallingEdge);
-
 	void UpdateTable();
 	void StartLiveWindowMode();
 	void StopLiveWindowMode();

wpilibc/wpilibC++Devices/include/DigitalOutput.h

@@ -32,10 +32,6 @@ public:
 	virtual uint32_t GetChannelForRouting();
 	virtual uint32_t GetModuleForRouting();
 	virtual bool GetAnalogTriggerForRouting();
-	virtual void RequestInterrupts(InterruptHandlerFunction handler, void *param);
-	virtual void RequestInterrupts();
-
-	void SetUpSourceEdge(bool risingEdge, bool fallingEdge);
 
 	virtual void ValueChanged(ITable* source, const std::string& key, EntryValue value, bool isNew);
 	void UpdateTable();

wpilibc/wpilibC++Devices/include/DigitalSource.h

@@ -21,6 +21,4 @@ public:
 	virtual uint32_t GetChannelForRouting() = 0;
 	virtual uint32_t GetModuleForRouting() = 0;
 	virtual bool GetAnalogTriggerForRouting() = 0;
-	virtual void RequestInterrupts(InterruptHandlerFunction handler, void *param) = 0;
-	virtual void RequestInterrupts() = 0;
 };

wpilibc/wpilibC++Devices/include/InterruptableSensorBase.h

@@ -12,15 +12,27 @@
 class InterruptableSensorBase : public SensorBase
 {
 public:
+	enum WaitResult {
+		kTimeout = 0x0,
+		kRisingEdge = 0x1,
+		kFallingEdge = 0x100,
+		kBoth = 0x101,
+	};
+
 	InterruptableSensorBase();
 	virtual ~InterruptableSensorBase();
-	virtual void RequestInterrupts(InterruptHandlerFunction handler, void *param) = 0; ///< Asynchronus handler version.
-	virtual void RequestInterrupts() = 0;		///< Synchronus Wait version.
+	virtual uint32_t GetChannelForRouting() = 0;
+	virtual uint32_t GetModuleForRouting() = 0;
+	virtual bool GetAnalogTriggerForRouting() = 0;
+	virtual void RequestInterrupts(InterruptHandlerFunction handler, void *param); ///< Asynchronus handler version.
+	virtual void RequestInterrupts();		///< Synchronus Wait version.
 	virtual void CancelInterrupts();			///< Free up the underlying chipobject functions.
-	virtual void WaitForInterrupt(float timeout); ///< Synchronus version.
+	virtual WaitResult WaitForInterrupt(float timeout, bool ignorePrevious = true); ///< Synchronus version.
 	virtual void EnableInterrupts();			///< Enable interrupts - after finishing setup.
 	virtual void DisableInterrupts();		///< Disable, but don't deallocate.
-	virtual double ReadInterruptTimestamp();///< Return the timestamp for the interrupt that occurred.
+	virtual double ReadRisingTimestamp();///< Return the timestamp for the rising interrupt that occurred.
+	virtual double ReadFallingTimestamp();///< Return the timestamp for the falling interrupt that occurred.
+	virtual void SetUpSourceEdge(bool risingEdge, bool fallingEdge);
 protected:
 	void* m_interrupt;
 	uint32_t m_interruptIndex;

wpilibc/wpilibC++Devices/include/NetworkCommunication/FRCComm.h

@@ -32,6 +32,8 @@
 #endif
 #endif
 
+#define ERR_FRCSystem_NetCommNotResponding -44049
+
 enum AllianceStationID_t {
 	kAllianceStationID_red1,
 	kAllianceStationID_red2,
@@ -68,7 +70,7 @@ struct JoystickAxes_t {
 
 struct JoystickPOV_t {
 	uint16_t count;
-	uint16_t povs[1];
+	int16_t povs[1];
 };
 
 #ifdef __cplusplus
@@ -81,9 +83,6 @@ extern "C" {
 	int EXPORT_FUNC setStatusData(float battery, uint8_t dsDigitalOut, uint8_t updateNumber,
 			const char *userDataHigh, int userDataHighLength,
 			const char *userDataLow, int userDataLowLength, int wait_ms);
-	int EXPORT_FUNC setStatusDataFloatAsInt(int battery, uint8_t dsDigitalOut, uint8_t updateNumber,
-			const char *userDataHigh, int userDataHighLength,
-			const char *userDataLow, int userDataLowLength, int wait_ms);
 	int EXPORT_FUNC setErrorData(const char *errors, int errorsLength, int wait_ms);
 	
 #ifdef SIMULATION
@@ -101,9 +100,13 @@ extern "C" {
 
 	int EXPORT_FUNC FRC_NetworkCommunication_getControlWord(struct ControlWord_t *controlWord);
 	int EXPORT_FUNC FRC_NetworkCommunication_getAllianceStation(enum AllianceStationID_t *allianceStation);
+	int EXPORT_FUNC FRC_NetworkCommunication_getMatchTime(float *matchTime);
 	int EXPORT_FUNC FRC_NetworkCommunication_getJoystickAxes(uint8_t joystickNum, struct JoystickAxes_t *axes, uint8_t maxAxes);
 	int EXPORT_FUNC FRC_NetworkCommunication_getJoystickButtons(uint8_t joystickNum, uint32_t *buttons, uint8_t *count);
 	int EXPORT_FUNC FRC_NetworkCommunication_getJoystickPOVs(uint8_t joystickNum, struct JoystickPOV_t *povs, uint8_t maxPOVs);
+	int EXPORT_FUNC FRC_NetworkCommunication_setJoystickOutputs(uint8_t joystickNum, uint32_t hidOutputs, uint16_t leftRumble, uint16_t rightRumble);
+	int EXPORT_FUNC FRC_NetworkCommunication_getJoystickDesc(uint8_t joystickNum, uint8_t *isXBox, uint8_t *type, char *name,
+		uint8_t *axisCount, uint8_t *axisTypes, uint8_t *buttonCount, uint8_t *povCount);
 
 	void EXPORT_FUNC FRC_NetworkCommunication_getVersionString(char *version);
 	int EXPORT_FUNC FRC_NetworkCommunication_observeUserProgramStarting(void);

wpilibc/wpilibC++Devices/src/AnalogTriggerOutput.cpp

@@ -72,54 +72,3 @@ bool AnalogTriggerOutput::GetAnalogTriggerForRouting()
 {
 	return true;
 }
-
-/**
- * Request interrupts asynchronously on this analog trigger output.
- * @param handler The address of the interrupt handler function of type tInterruptHandler that
- * will be called whenever there is an interrupt on the digitial input port.
- * Request interrupts in synchronus mode where the user program interrupt handler will be
- * called when an interrupt occurs.
- */
-void AnalogTriggerOutput::RequestInterrupts(InterruptHandlerFunction handler, void *param)
-{
-	if (StatusIsFatal()) return;
-	uint32_t index = m_interrupts->Allocate("Async Interrupt");
-	if (index == ~0ul)
-	{
-		CloneError(m_interrupts);
-		return;
-	}
-	m_interruptIndex = index;
-
-	AllocateInterrupts(false);
-
-	int32_t status = 0;
-	requestInterrupts(m_interrupt, GetModuleForRouting(), GetChannelForRouting(),
-	                  GetAnalogTriggerForRouting(), &status);
-	attachInterruptHandler(m_interrupt, handler, param, &status);
-	wpi_setErrorWithContext(status, getHALErrorMessage(status));
-}
-
-/**
- * Request interrupts synchronously on this analog trigger output.
- * Request interrupts in asynchronus mode where the user program will have to
- * explicitly wait for the interrupt to occur.
- */
-void AnalogTriggerOutput::RequestInterrupts()
-{
-	if (StatusIsFatal()) return;
-	uint32_t index = m_interrupts->Allocate("Sync Interrupt");
-	if (index == ~0ul)
-	{
-		CloneError(m_interrupts);
-		return;
-	}
-	m_interruptIndex = index;
-
-	AllocateInterrupts(true);
-
-	int32_t status = 0;
-	requestInterrupts(m_interrupt, GetModuleForRouting(), GetChannelForRouting(),
-					  GetAnalogTriggerForRouting(), &status);
-	wpi_setErrorWithContext(status, getHALErrorMessage(status));
-}

wpilibc/wpilibC++Devices/src/Counter.cpp

@@ -32,11 +32,6 @@ void Counter::InitCounter(Mode mode)
 	m_allocatedDownSource = false;
 
 	HALReport(HALUsageReporting::kResourceType_Counter, index, mode);
-
-	if (StatusIsFatal()) return;
-	status = 0;
-	startCounter(m_counter, &status);
-	wpi_setErrorWithContext(status, getHALErrorMessage(status));
 }
 
 /**

wpilibc/wpilibC++Devices/src/DigitalInput.cpp

@@ -109,78 +109,6 @@ bool DigitalInput::GetAnalogTriggerForRouting()
 	return false;
 }
 
-/**
- * Request interrupts asynchronously on this digital input.
- * @param handler The address of the interrupt handler function of type tInterruptHandler that
- * will be called whenever there is an interrupt on the digitial input port.
- * Request interrupts in asynchronus mode where the user program interrupt handler will be
- * called when an interrupt occurs.
- * The default is interrupt on rising edges only.
- */
-void DigitalInput::RequestInterrupts(InterruptHandlerFunction handler, void *param)
-{
-	if (StatusIsFatal()) return;
-	uint32_t index = m_interrupts->Allocate("Async Interrupt");
-	if (index == ~0ul)
-	{
-		CloneError(m_interrupts);
-		return;
-	}
-	m_interruptIndex = index;
-
-	 // Creates a manager too
-	AllocateInterrupts(false);
-
-	int32_t status = 0;
-	requestInterrupts(m_interrupt, GetModuleForRouting(), GetChannelForRouting(),
-					  GetAnalogTriggerForRouting(), &status);
-	SetUpSourceEdge(true, false);
-	attachInterruptHandler(m_interrupt, handler, param, &status);
-	wpi_setErrorWithContext(status, getHALErrorMessage(status));
-}
-
-/**
- * Request interrupts synchronously on this digital input.
- * Request interrupts in synchronus mode where the user program will have to explicitly
- * wait for the interrupt to occur.
- * The default is interrupt on rising edges only.
- */
-void DigitalInput::RequestInterrupts()
-{
-	if (StatusIsFatal()) return;
-	uint32_t index = m_interrupts->Allocate("Sync Interrupt");
-	if (index == ~0ul)
-	{
-		CloneError(m_interrupts);
-		return;
-	}
-	m_interruptIndex = index;
-
-	AllocateInterrupts(true);
-
-	int32_t status = 0;
-	requestInterrupts(m_interrupt, GetModuleForRouting(), GetChannelForRouting(),
-					  GetAnalogTriggerForRouting(), &status);
-	wpi_setErrorWithContext(status, getHALErrorMessage(status));
-	SetUpSourceEdge(true, false);
-}
-
-void DigitalInput::SetUpSourceEdge(bool risingEdge, bool fallingEdge)
-{
-	if (StatusIsFatal()) return;
-	if (m_interrupt == NULL)
-	{
-		wpi_setWPIErrorWithContext(NullParameter, "You must call RequestInterrupts before SetUpSourceEdge");
-		return;
-	}
-	if (m_interrupt != NULL)
-	{
-		int32_t status = 0;
-		setInterruptUpSourceEdge(m_interrupt, risingEdge, fallingEdge, &status);
-		wpi_setErrorWithContext(status, getHALErrorMessage(status));
-	}
-}
-
 void DigitalInput::UpdateTable() {
 	if (m_table != NULL) {
 		m_table->PutBoolean("Value", Get());

wpilibc/wpilibC++Devices/src/DigitalOutput.cpp

@@ -222,78 +222,6 @@ bool DigitalOutput::GetAnalogTriggerForRouting()
 	return false;
 }
 
-/**
- * Request interrupts asynchronously on this digital output.
- * @param handler The address of the interrupt handler function of type tInterruptHandler that
- * will be called whenever there is an interrupt on the digitial output port.
- * Request interrupts in synchronus mode where the user program interrupt handler will be
- * called when an interrupt occurs.
- * The default is interrupt on rising edges only.
- */
-void DigitalOutput::RequestInterrupts(InterruptHandlerFunction handler, void *param)
-{
-	if (StatusIsFatal()) return;
-	uint32_t index = m_interrupts->Allocate("Sync Interrupt");
-	if (index == ~0ul)
-	{
-		CloneError(m_interrupts);
-		return;
-	}
-	m_interruptIndex = index;
-
-	// Creates a manager too
-	AllocateInterrupts(false);
-
-	int32_t status = 0;
-    	requestInterrupts(m_interrupt, 1, GetChannelForRouting(),
-					  GetAnalogTriggerForRouting(), &status);
-	SetUpSourceEdge(true, false);
-	attachInterruptHandler(m_interrupt, handler, param, &status);
-	wpi_setErrorWithContext(status, getHALErrorMessage(status));
-}
-
-/**
- * Request interrupts synchronously on this digital output.
- * Request interrupts in synchronus mode where the user program will have to explicitly
- * wait for the interrupt to occur.
- * The default is interrupt on rising edges only.
- */
-void DigitalOutput::RequestInterrupts()
-{
-	if (StatusIsFatal()) return;
-	uint32_t index = m_interrupts->Allocate("Sync Interrupt");
-	if (index == ~0ul)
-	{
-		CloneError(m_interrupts);
-		return;
-	}
-	m_interruptIndex = index;
-
-	AllocateInterrupts(true);
-
-	int32_t status = 0;
-	requestInterrupts(m_interrupt, GetModuleForRouting(), GetChannelForRouting(),
-					  GetAnalogTriggerForRouting(), &status);
-	wpi_setErrorWithContext(status, getHALErrorMessage(status));
-	SetUpSourceEdge(true, false);
-}
-
-void DigitalOutput::SetUpSourceEdge(bool risingEdge, bool fallingEdge)
-{
-	if (StatusIsFatal()) return;
-	if (m_interrupt == NULL)
-	{
-		wpi_setWPIErrorWithContext(NullParameter, "You must call RequestInterrupts before SetUpSourceEdge");
-		return;
-	}
-	if (m_interrupt != NULL)
-	{
-		int32_t status = 0;
-		setInterruptUpSourceEdge(m_interrupt, risingEdge, fallingEdge, &status);
-		wpi_setErrorWithContext(status, getHALErrorMessage(status));
-	}
-}
-
 void DigitalOutput::ValueChanged(ITable* source, const std::string& key, EntryValue value, bool isNew) {
 	Set(value.b);
 }

wpilibc/wpilibC++Devices/src/Encoder.cpp

@@ -67,13 +67,6 @@ void Encoder::InitEncoder(bool reverseDirection, EncodingType encodingType)
 
 	HALReport(HALUsageReporting::kResourceType_Encoder, index, encodingType);
 	LiveWindow::GetInstance()->AddSensor("Encoder", m_aSource->GetChannelForRouting(), this);
-
-	if (StatusIsFatal()) return;
-	if (!m_counter) {
-		int32_t status = 0;
-		startEncoder(m_encoder, &status);
-		wpi_setErrorWithContext(status, getHALErrorMessage(status));
-	}
 }
 
 /**

wpilibc/wpilibC++Devices/src/InterruptableSensorBase.cpp

@@ -6,6 +6,7 @@
 
 #include "InterruptableSensorBase.h"
 #include "Utility.h"
+#include "WPIErrors.h"
 
 Resource *InterruptableSensorBase::m_interrupts = NULL;
 
@@ -20,6 +21,54 @@ InterruptableSensorBase::~InterruptableSensorBase()
 
 }
 
+void InterruptableSensorBase::RequestInterrupts(InterruptHandlerFunction handler, void *param)
+{
+	if (StatusIsFatal()) return;
+	uint32_t index = m_interrupts->Allocate("Async Interrupt");
+	if (index == ~0ul)
+	{
+		CloneError(m_interrupts);
+		return;
+	}
+	m_interruptIndex = index;
+
+	// Creates a manager too
+	AllocateInterrupts(false);
+
+	int32_t status = 0;
+	requestInterrupts(m_interrupt, GetModuleForRouting(), GetChannelForRouting(),
+					GetAnalogTriggerForRouting(), &status);
+	SetUpSourceEdge(true, false);
+	attachInterruptHandler(m_interrupt, handler, param, &status);
+	wpi_setErrorWithContext(status, getHALErrorMessage(status));
+}
+
+/**
+* Request interrupts synchronously on this digital input.
+* Request interrupts in synchronus mode where the user program will have to explicitly
+* wait for the interrupt to occur.
+* The default is interrupt on rising edges only.
+*/
+void InterruptableSensorBase::RequestInterrupts()
+{
+	if (StatusIsFatal()) return;
+	uint32_t index = m_interrupts->Allocate("Sync Interrupt");
+	if (index == ~0ul)
+	{
+		CloneError(m_interrupts);
+		return;
+	}
+	m_interruptIndex = index;
+
+	AllocateInterrupts(true);
+
+	int32_t status = 0;
+	requestInterrupts(m_interrupt, GetModuleForRouting(), GetChannelForRouting(),
+					GetAnalogTriggerForRouting(), &status);
+	wpi_setErrorWithContext(status, getHALErrorMessage(status));
+	SetUpSourceEdge(true, false);
+}
+
 void InterruptableSensorBase::AllocateInterrupts(bool watcher)
 {
 	wpi_assert(m_interrupt == NULL);
@@ -46,13 +95,20 @@ void InterruptableSensorBase::CancelInterrupts()
 /**
  * In synchronous mode, wait for the defined interrupt to occur.
  * @param timeout Timeout in seconds
+ * @param ignorePrevious If true, ignore interrupts that happened before
+ * WaitForInterrupt was called.
+ * @return What interrupts fired
  */
-void InterruptableSensorBase::WaitForInterrupt(float timeout)
+InterruptableSensorBase::WaitResult InterruptableSensorBase::WaitForInterrupt(float timeout, bool ignorePrevious)
 {
 	wpi_assert(m_interrupt != NULL);
 	int32_t status = 0;
-	waitForInterrupt(m_interrupt, timeout, &status);
+	uint32_t result;
+
+	result = waitForInterrupt(m_interrupt, timeout, ignorePrevious, &status);
 	wpi_setErrorWithContext(status, getHALErrorMessage(status));
+
+	return static_cast<WaitResult>(result);
 }
 
 /**
@@ -80,15 +136,57 @@ void InterruptableSensorBase::DisableInterrupts()
 }
 
 /**
- * Return the timestamp for the interrupt that occurred most recently.
+ * Return the timestamp for the rising interrupt that occurred most recently.
  * This is in the same time domain as GetClock().
+ * The rising-edge interrupt should be enabled with
+ * {@link #DigitalInput.SetUpSourceEdge}
  * @return Timestamp in seconds since boot.
  */
-double InterruptableSensorBase::ReadInterruptTimestamp()
+double InterruptableSensorBase::ReadRisingTimestamp()
 {
 	wpi_assert(m_interrupt != NULL);
 	int32_t status = 0;
-	double timestamp = readInterruptTimestamp(m_interrupt, &status);
+	double timestamp = readRisingTimestamp(m_interrupt, &status);
 	wpi_setErrorWithContext(status, getHALErrorMessage(status));
 	return timestamp;
 }
+
+/**
+ * Return the timestamp for the falling interrupt that occurred most recently.
+ * This is in the same time domain as GetClock().
+ * The falling-edge interrupt should be enabled with
+ * {@link #DigitalInput.SetUpSourceEdge}
+ * @return Timestamp in seconds since boot.
+*/
+double InterruptableSensorBase::ReadFallingTimestamp()
+{
+	wpi_assert(m_interrupt != NULL);
+	int32_t status = 0;
+	double timestamp = readFallingTimestamp(m_interrupt, &status);
+	wpi_setErrorWithContext(status, getHALErrorMessage(status));
+	return timestamp;
+}
+
+/**
+ * Set which edge to trigger interrupts on
+ *
+ * @param risingEdge
+ *            true to interrupt on rising edge
+ * @param fallingEdge
+ *            true to interrupt on falling edge
+ */
+void InterruptableSensorBase::SetUpSourceEdge(bool risingEdge, bool fallingEdge)
+{
+	if (StatusIsFatal()) return;
+	if (m_interrupt == NULL)
+	{
+		wpi_setWPIErrorWithContext(NullParameter, "You must call RequestInterrupts before SetUpSourceEdge");
+		return;
+	}
+	if (m_interrupt != NULL)
+	{
+		int32_t status = 0;
+		setInterruptUpSourceEdge(m_interrupt, risingEdge, fallingEdge, &status);
+		wpi_setErrorWithContext(status, getHALErrorMessage(status));
+	}
+}

wpilibc/wpilibC++Devices/src/PIDController.cpp

@@ -5,7 +5,6 @@
 /*----------------------------------------------------------------------------*/
 
 #include "PIDController.h"
-//#include "NetworkCommunication/UsageReporting.h"
 #include "Notifier.h"
 #include "PIDSource.h"
 #include "PIDOutput.h"
@@ -56,6 +55,20 @@ PIDController::PIDController(float Kp, float Ki, float Kd, float Kf,
 	Initialize(Kp, Ki, Kd, Kf, source, output, period);
 }
 
+struct CallerInfo
+{
+	TimerEventHandler fn;
+	void* data;
+};
+
+static void* forwardCallCalculate(CallerInfo* rdata)
+{
+	CallerInfo data = *rdata;
+	delete rdata;
+	data.fn(data.data);
+	return nullptr;
+}
+
 void PIDController::Initialize(float Kp, float Ki, float Kd, float Kf,
 								PIDSource *source, PIDOutput *output,
 								float period)
@@ -92,7 +105,11 @@ void PIDController::Initialize(float Kp, float Ki, float Kd, float Kf,
 	pthread_mutexattr_settype(&mutexattr, PTHREAD_MUTEX_RECURSIVE);
 	pthread_mutex_init(&m_mutex, &mutexattr);
 
-	pthread_create(&m_controlLoop, NULL, PIDController::CallCalculate, this);
+	CallerInfo *ci = new CallerInfo();
+	ci->fn = &CallCalculate;
+	ci->data = this;
+	pthread_create(&m_controlLoop, NULL, (void*(*)(void*))&forwardCallCalculate, ci);
+	//forwardCallCalculate will delete the obj, no need to delete it ourselves
 
 	static int32_t instances = 0;
 	instances++;
@@ -122,7 +139,7 @@ PIDController::~PIDController()
  * This method is static and called by pthreads.
  * @param controller the address of the PID controller object to use in the background loop
  */
-void *PIDController::CallCalculate(void *data)
+void PIDController::CallCalculate(void *data)
 {
 	PIDController *controller = (PIDController*) data;
 	int destruct = 0;
@@ -137,8 +154,6 @@ void *PIDController::CallCalculate(void *data)
 
 		Wait(controller->m_period);
 	}
-
-	return NULL;
 }
 
  /**

wpilibc/wpilibC++IntegrationTests/src/CANJaguarTest.cpp

@@ -308,7 +308,7 @@ TEST_F(CANJaguarTest, PositionModeWorks) {
  * Test if we can set a current setpoint with PID control on the Jaguar and get
  * a corresponding output current
  */
-TEST_F(CANJaguarTest, CurrentModeWorks) {
+TEST_F(CANJaguarTest, DISABLED_CurrentModeWorks) {
 	m_jaguar->SetCurrentMode(10.0, 4.0, 1.0);
 	m_jaguar->EnableControl();