commit 94f51e96711f54085b9e901a467f6cb63ebd06c8
author Austin Schuh <austin.linux@gmail.com> Mon Oct 30 19:25:32 2017 -0700
committer Austin Schuh <austin.linux@gmail.com> Fri Mar 02 21:37:13 2018 -0800
tree 396d2ee1ca9685b8725f7567323e40e6c538c00e
parent 2b1fce0a320c514f591f16647d3382680cd677d1

Initial stab at the new WPILib.

Change-Id: Id04cc07649959566deb5b4fa637267072a5191ca

frc971/wpilib/dma.cc

diff --git a/frc971/wpilib/dma.cc b/frc971/wpilib/dma.cc
index dbbfc56..8dca72c 100644
--- a/frc971/wpilib/dma.cc
+++ b/frc971/wpilib/dma.cc
@@ -8,9 +8,7 @@
 #include "DigitalSource.h"
 #include "AnalogInput.h"
 #include "Encoder.h"
-#ifdef WPILIB2017
 #include "HAL/HAL.h"
-#endif
 
 // Interface to the roboRIO FPGA's DMA features.
 
@@ -30,10 +28,6 @@
 static constexpr ssize_t kChannelSize[20] = {2, 2, 4, 4, 2, 2, 4, 4, 3, 3,
                                              2, 1, 4, 4, 4, 4, 4, 4, 4, 4};
 
-#ifndef WPILIB2017
-#define HAL_GetErrorMessage getHALErrorMessage
-#endif
-
 enum DMAOffsetConstants {
   kEnable_AI0_Low = 0,
   kEnable_AI0_High = 1,
@@ -188,12 +182,7 @@
   new_trigger.RisingEdge = rising;
   new_trigger.ExternalClockSource_AnalogTrigger = false;
   unsigned char module = 0;
-  uint32_t channel =
-#ifdef WPILIB2017
-      input->GetChannel();
-#else
-      input->GetChannelForRouting();
-#endif
+  uint32_t channel = input->GetChannel();
   if (channel >= kNumHeaders) {
     module = 1;
     channel -= kNumHeaders;
@@ -228,6 +217,7 @@
   sample->dma_ = this;
   manager_->read(sample->read_buffer_, capture_size_, timeout_ms,
                  &remainingBytes, &status);
+  sample->CalculateTimestamp();
 
   // TODO(jerry): Do this only if status == 0?
   *remaining_out = remainingBytes / capture_size_;
@@ -296,7 +286,7 @@
   }
 
   manager_.reset(
-      new nFPGA::tDMAManager(0, queue_depth * capture_size_, &status));
+      new nFPGA::tDMAManager(1, queue_depth * capture_size_, &status));
 
   wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
   if (status != 0) {
@@ -323,10 +313,23 @@
 
 static_assert(::std::is_pod<DMASample>::value, "DMASample needs to be POD");
 
-ssize_t DMASample::offset(int index) const { return dma_->channel_offsets_[index]; }
+ssize_t DMASample::offset(int index) const {
+  return dma_->channel_offsets_[index];
+}
 
-uint32_t DMASample::GetTime() const {
-  return read_buffer_[dma_->capture_size_ - 1];
+void DMASample::CalculateTimestamp() {
+  uint32_t lower_sample = read_buffer_[dma_->capture_size_ - 1];
+#if WPILIB2018
+  int32_t status = 0;
+  fpga_timestamp_ = HAL_ExpandFPGATime(lower_sample, &status);
+  assert(status == 0);
+#else
+  fpga_timestamp_ = lower_sample;
+#endif
+}
+
+uint64_t DMASample::GetTime() const {
+  return fpga_timestamp_;
 }
 
 double DMASample::GetTimestamp() const {
@@ -340,12 +343,7 @@
         HAL_GetErrorMessage(NiFpga_Status_ResourceNotFound));
     return false;
   }
-  const uint32_t channel =
-#ifdef WPILIB2017
-      input->GetChannel();
-#else
-      input->GetChannelForRouting();
-#endif
+  const uint32_t channel = input->GetChannel();
   if (channel < kNumHeaders) {
     return (read_buffer_[offset(kEnable_DI)] >> channel) & 0x1;
   } else {