commit 58076ac6bdf032cc32816713dba7ca34e88c1284
author James Kuszmaul <jabukuszmaul@gmail.com> Sun Jan 21 15:44:13 2024 -0800
committer Gerrit Code Review <gerrit@software.frc971.org> Sun Jan 21 15:44:13 2024 -0800
tree 6f8196d3b4d7e77b1b95515d5f9fd4ea7f42b8c5
parent 536353b62d6ad9bd98f106545b7c529f8699ff53
parent 9b26800253cf608f4363ad419f710ac105028f8a

Merge "Update DMA code to match NI-Libaries change"

frc971/wpilib/dma.cc

diff --git a/frc971/wpilib/dma.cc b/frc971/wpilib/dma.cc
index cff1ac1..2d40aa9 100644
--- a/frc971/wpilib/dma.cc
+++ b/frc971/wpilib/dma.cc
@@ -290,7 +290,7 @@
     SET_SIZE(Enable_EncoderTimers_Low);
     SET_SIZE(Enable_EncoderTimers_High);
 #undef SET_SIZE
-    capture_size_ = accum_size + 1;
+    capture_size_ = accum_size + 2;
   }
 
   manager_.reset(
@@ -327,13 +327,14 @@
 }
 
 void DMASample::CalculateTimestamp() {
-  uint32_t lower_sample = read_buffer_[dma_->capture_size_ - 1];
+  uint64_t upper_sample = read_buffer_[dma_->capture_size_ - 1];
+  uint64_t lower_sample = read_buffer_[dma_->capture_size_ - 2];
 #if WPILIB2018
   int32_t status = 0;
   fpga_timestamp_ = HAL_ExpandFPGATime(lower_sample, &status);
   assert(status == 0);
 #else
-  fpga_timestamp_ = lower_sample;
+  fpga_timestamp_ = (upper_sample << 32) + lower_sample;
 #endif
 }