From 3a0e84aa3a92be4b28e68cce88618091e70931ab Mon Sep 17 00:00:00 2001
From: Ehsan Khodadad <ehkh@dtu.dk>
Date: Wed, 21 Feb 2024 11:46:00 +0100
Subject: [PATCH 1/8] Support for Patmos Platform

---
 core/platform/CMakeLists.txt                  | 37 ++++++++
 low_level_platform/api/low_level_platform.h   |  4 +-
 .../api/platform/lf_patmos_support.h          | 54 ++++++++++++
 low_level_platform/impl/src/lf_atomic_irq.c   |  2 +-
 .../impl/src/lf_patmos_support.c              | 87 +++++++++++++++++++
 5 files changed, 182 insertions(+), 2 deletions(-)
 create mode 100644 core/platform/CMakeLists.txt
 create mode 100644 low_level_platform/api/platform/lf_patmos_support.h
 create mode 100644 low_level_platform/impl/src/lf_patmos_support.c

diff --git a/core/platform/CMakeLists.txt b/core/platform/CMakeLists.txt
new file mode 100644
index 000000000..479cd448b
--- /dev/null
+++ b/core/platform/CMakeLists.txt
@@ -0,0 +1,37 @@
+# Check which system we are running on to select the correct platform support
+# file and assign the file's path to LF_PLATFORM_FILE
+
+set(LF_PLATFORM_FILES
+    lf_unix_clock_support.c
+    lf_unix_syscall_support.c
+    lf_linux_support.c
+    lf_macos_support.c
+    lf_windows_support.c
+    lf_nrf52_support.c
+    lf_zephyr_support.c
+    lf_zephyr_clock_counter.c
+    lf_zephyr_clock_kernel.c
+    lf_rp2040_support.c
+    lf_patmos_support.c
+    lf_atomic_windows.c
+    lf_atomic_gcc_clang.c
+    lf_atomic_irq.c
+)
+
+if(${CMAKE_SYSTEM_NAME} STREQUAL "Nrf52")
+    list(APPEND REACTORC_COMPILE_DEFS PLATFORM_NRF52)
+elseif(${CMAKE_SYSTEM_NAME} STREQUAL "Zephyr")
+    list(APPEND REACTORC_COMPILE_DEFS PLATFORM_ZEPHYR)
+    set(PLATFORM_ZEPHYR true)
+elseif(${CMAKE_SYSTEM_NAME} STREQUAL "Rp2040")
+    list(APPEND REACTORC_COMPILE_DEFS PLATFORM_RP2040)
+elseif(${CMAKE_SYSTEM_NAME} STREQUAL "Patmos")
+    list(APPEND REACTORC_COMPILE_DEFS PLATFORM_PATMOS)
+    set(PLATFORM_PATMOS true)
+endif()
+
+# Prepend all sources with platform
+list(TRANSFORM LF_PLATFORM_FILES PREPEND platform/)
+
+# Add sources to the list for debug info
+list(APPEND REACTORC_SOURCES ${LF_PLATFORM_FILES})
diff --git a/low_level_platform/api/low_level_platform.h b/low_level_platform/api/low_level_platform.h
index 9611870cc..84b675fe0 100644
--- a/low_level_platform/api/low_level_platform.h
+++ b/low_level_platform/api/low_level_platform.h
@@ -47,7 +47,9 @@ int lf_critical_section_exit(environment_t* env);
 #elif defined(PLATFORM_ZEPHYR)
 #include "platform/lf_zephyr_support.h"
 #elif defined(PLATFORM_NRF52)
-#include "platform/lf_nrf52_support.h"
+    #include "platform/lf_nrf52_support.h"
+#elif defined(PLATFORM_PATMOS)
+    #include "platform/lf_patmos_support.h"
 #elif defined(PLATFORM_RP2040)
 #include "platform/lf_rp2040_support.h"
 #elif defined(PLATFORM_FLEXPRET)
diff --git a/low_level_platform/api/platform/lf_patmos_support.h b/low_level_platform/api/platform/lf_patmos_support.h
new file mode 100644
index 000000000..9e434f2f6
--- /dev/null
+++ b/low_level_platform/api/platform/lf_patmos_support.h
@@ -0,0 +1,54 @@
+
+/* Patmos API support for the C target of Lingua Franca. */
+
+/*************
+Copyright (c) 2024, The University of California at Berkeley.
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice,
+   this list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
+EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL
+THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
+STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF
+THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+***************/
+
+/**
+ * Patmos API support for the C target of Lingua Franca.
+ *
+ * This is based on lf_nrf_support.h in icyphy/lf-buckler.
+ *  
+ * @author{Soroush Bateni <soroush@utdallas.edu>}
+ * @author{Abhi Gundrala <gundralaa@berkeley.edu>}
+ * @author{Shaokai Lin <shaokai@berkeley.edu>} 
+ */
+
+#ifndef LF_PATMOS_SUPPORT_H
+#define LF_PATMOS_SUPPORT_H
+
+#define LOG_LEVEL 2
+// This embedded platform has no TTY suport
+#define NO_TTY 
+
+#include <stdint.h> // For fixed-width integral types
+#include <time.h>   // For CLOCK_MONOTONIC
+#include <stdbool.h>
+
+#include <inttypes.h>  // Needed to define PRId64 and PRIu32
+#define PRINTF_TIME "%" PRId64
+#define PRINTF_MICROSTEP "%" PRIu32
+#define PRINTF_TAG "(%" PRId64 ", %" PRIu32 ")"
+
+#endif // LF_PATMOS_SUPPORT_H
\ No newline at end of file
diff --git a/low_level_platform/impl/src/lf_atomic_irq.c b/low_level_platform/impl/src/lf_atomic_irq.c
index 2854a6f11..3a9d72086 100644
--- a/low_level_platform/impl/src/lf_atomic_irq.c
+++ b/low_level_platform/impl/src/lf_atomic_irq.c
@@ -1,5 +1,5 @@
 #if defined(PLATFORM_ARDUINO) || defined(PLATFORM_NRF52) || defined(PLATFORM_ZEPHYR) || defined(PLATFORM_RP2040) ||    \
-    defined(PLATFORM_FLEXPRET)
+    defined(PLATFORM_FLEXPRET) || defined(PLATFORM_PATMOS)
 /**
  * @author Erling Rennemo Jellum
  * @copyright (c) 2023
diff --git a/low_level_platform/impl/src/lf_patmos_support.c b/low_level_platform/impl/src/lf_patmos_support.c
new file mode 100644
index 000000000..434b218de
--- /dev/null
+++ b/low_level_platform/impl/src/lf_patmos_support.c
@@ -0,0 +1,87 @@
+#include <time.h>
+#include <errno.h>
+#include <assert.h>
+#include <lf_patmos_support.h>
+#include "../platform.h"
+#include <machine/rtc.h>
+#include <machine/exceptions.h>
+#include <stdio.h>
+
+// Keep track of physical actions being entered into the system
+static volatile bool _lf_async_event = false;
+
+/**
+ * @brief Sleep until an absolute time.
+ * TODO: For improved power consumption this should be implemented with a HW timer and interrupts.
+ *
+ * @param wakeup int64_t time of wakeup
+ * @return int 0 if successful sleep, -1 if awoken by async event
+ */
+
+int _lf_interruptable_sleep_until_locked(environment_t* env, instant_t wakeup) {
+    instant_t now;
+    _lf_async_event = false;
+    lf_enable_interrupts_nested();
+
+    // Do busy sleep
+    do {
+        _lf_clock_gettime(&now);
+    } while ((now < wakeup) && !_lf_async_event);
+
+    lf_disable_interrupts_nested();
+
+    if (_lf_async_event) {
+        _lf_async_event = false;
+        return -1;
+    } else {
+        return 0;
+    }
+}
+
+/**
+ * Patmos clock does not need initialization.
+ */
+void _lf_initialize_clock() {
+
+}
+
+/**
+ * Write the current time in nanoseconds into the location given by the argument.
+ * This returns 0 (it never fails, assuming the argument gives a valid memory location).
+ * This has to be called at least once per 35 minutes to properly handle overflows of the 32-bit clock.
+ * TODO: This is only addressable by setting up interrupts on a timer peripheral to occur at wrap.
+ */
+
+int _lf_clock_gettime(instant_t* t) {
+
+    assert(t != NULL);
+
+   *t = get_cpu_usecs() * 1000;
+   
+    return 0;
+}
+
+#if defined(LF_SINGLE_THREADED)
+
+int lf_enable_interrupts_nested() {
+    intr_enable();
+    return 0;
+}
+int lf_disable_interrupts_nested() {
+    intr_disable();
+   return 0;
+}
+
+#endif
+// Overwrite print functions with NoOp.
+int puts(const char *str) {}
+
+#if 0
+
+int printf(const char *format, ...) {}
+int sprintf(char *str, const char *format, ...) {}
+int snprintf(char *str, size_t size, const char *format, ...) {}
+int vprintf(const char *format, va_list ap) {}
+int vfprintf(FILE *stream, const char *format, va_list arg) {}
+
+#endif
\ No newline at end of file

From 186cb68865372a92eed09d951a448c77256dbcbb Mon Sep 17 00:00:00 2001
From: Ehsan Khodadad <ehkh@dtu.dk>
Date: Tue, 12 Mar 2024 14:02:12 +0100
Subject: [PATCH 2/8] Support for Patmos platform.

---
 core/CMakeLists.txt                           | 26 +++++++------
 core/platform/CMakeLists.txt                  | 37 -------------------
 .../api/platform/lf_patmos_support.h          |  8 ++--
 low_level_platform/impl/CMakeLists.txt        |  3 ++
 .../impl/src/lf_patmos_support.c              | 34 ++++++++---------
 5 files changed, 36 insertions(+), 72 deletions(-)
 delete mode 100644 core/platform/CMakeLists.txt

diff --git a/core/CMakeLists.txt b/core/CMakeLists.txt
index ca51fd50c..6d938ae0c 100644
--- a/core/CMakeLists.txt
+++ b/core/CMakeLists.txt
@@ -7,7 +7,7 @@ include(${LF_ROOT}/core/lf_utils.cmake)
 list(APPEND GENERAL_SOURCES tag.c clock.c port.c mixed_radix.c reactor_common.c lf_token.c environment.c)
 
 # Add tracing support if requested
-if (DEFINED LF_TRACE)
+if(DEFINED LF_TRACE)
     message(STATUS "Including sources specific to tracing.")
     list(APPEND GENERAL_SOURCES tracepoint.c)
 endif()
@@ -16,7 +16,7 @@ endif()
 list(APPEND REACTORC_SOURCES ${GENERAL_SOURCES})
 
 # Add sources for either threaded or single-threaded runtime
-if (DEFINED FEDERATED)
+if(DEFINED FEDERATED)
     include(federated/CMakeLists.txt)
     include(federated/network/CMakeLists.txt)
 endif()
@@ -35,14 +35,14 @@ endif()
 
 # Add sources for the local RTI if we are using scheduling enclaves
 if(DEFINED LF_ENCLAVES)
-include(federated/RTI/local_rti.cmake)
+    include(federated/RTI/local_rti.cmake)
 endif()
 
 # Include sources from subdirectories
 include(utils/CMakeLists.txt)
 
-if (DEFINED MODAL_REACTORS)
-include(modal_models/CMakeLists.txt)
+if(DEFINED MODAL_REACTORS)
+    include(modal_models/CMakeLists.txt)
 endif()
 
 # Print sources used for compilation
@@ -53,7 +53,7 @@ add_library(reactor-c)
 target_sources(reactor-c PRIVATE ${REACTORC_SOURCES})
 lf_enable_compiler_warnings(reactor-c)
 
-if (DEFINED LF_TRACE)
+if(DEFINED LF_TRACE)
     include(${LF_ROOT}/trace/api/CMakeLists.txt)
     target_link_libraries(reactor-c PUBLIC lf::trace-api)
     # If the user specified an external trace plugin. Find it and link with it
@@ -106,18 +106,19 @@ target_include_directories(reactor-c PUBLIC ../include/core/threaded)
 target_include_directories(reactor-c PUBLIC ../include/core/utils)
 target_include_directories(reactor-c PUBLIC federated/RTI/)
 
-if (APPLE)
-    SET(CMAKE_C_ARCHIVE_CREATE   "<CMAKE_AR> Scr <TARGET> <LINK_FLAGS> <OBJECTS>")
+if(APPLE)
+    SET(CMAKE_C_ARCHIVE_CREATE "<CMAKE_AR> Scr <TARGET> <LINK_FLAGS> <OBJECTS>")
     SET(CMAKE_CXX_ARCHIVE_CREATE "<CMAKE_AR> Scr <TARGET> <LINK_FLAGS> <OBJECTS>")
-    SET(CMAKE_C_ARCHIVE_FINISH   "<CMAKE_RANLIB> -no_warning_for_no_symbols -c <TARGET>")
+    SET(CMAKE_C_ARCHIVE_FINISH "<CMAKE_RANLIB> -no_warning_for_no_symbols -c <TARGET>")
     SET(CMAKE_CXX_ARCHIVE_FINISH "<CMAKE_RANLIB> -no_warning_for_no_symbols -c <TARGET>")
 endif()
 
 # Link with OpenSSL library
 if(DEFINED FEDERATED_AUTHENTICATED)
-    if (APPLE)
+    if(APPLE)
         set(OPENSSL_ROOT_DIR /usr/local/opt/openssl)
     endif()
+
     find_package(OpenSSL REQUIRED)
     target_link_libraries(reactor-c PUBLIC OpenSSL::SSL)
 endif()
@@ -130,10 +131,11 @@ if(DEFINED FEDERATED)
 endif()
 
 # Unless specified otherwise initial event queue and reaction queue to size 10
-if (NOT DEFINED INITIAL_EVENT_QUEUE_SIZE)
+if(NOT DEFINED INITIAL_EVENT_QUEUE_SIZE)
     set(INITIAL_EVENT_QUEUE_SIZE 10)
 endif()
-if (NOT DEFINED INITIAL_REACT_QUEUE_SIZE)
+
+if(NOT DEFINED INITIAL_REACT_QUEUE_SIZE)
     set(INITIAL_REACT_QUEUE_SIZE 10)
 endif()
 
diff --git a/core/platform/CMakeLists.txt b/core/platform/CMakeLists.txt
deleted file mode 100644
index 479cd448b..000000000
--- a/core/platform/CMakeLists.txt
+++ /dev/null
@@ -1,37 +0,0 @@
-# Check which system we are running on to select the correct platform support
-# file and assign the file's path to LF_PLATFORM_FILE
-
-set(LF_PLATFORM_FILES
-    lf_unix_clock_support.c
-    lf_unix_syscall_support.c
-    lf_linux_support.c
-    lf_macos_support.c
-    lf_windows_support.c
-    lf_nrf52_support.c
-    lf_zephyr_support.c
-    lf_zephyr_clock_counter.c
-    lf_zephyr_clock_kernel.c
-    lf_rp2040_support.c
-    lf_patmos_support.c
-    lf_atomic_windows.c
-    lf_atomic_gcc_clang.c
-    lf_atomic_irq.c
-)
-
-if(${CMAKE_SYSTEM_NAME} STREQUAL "Nrf52")
-    list(APPEND REACTORC_COMPILE_DEFS PLATFORM_NRF52)
-elseif(${CMAKE_SYSTEM_NAME} STREQUAL "Zephyr")
-    list(APPEND REACTORC_COMPILE_DEFS PLATFORM_ZEPHYR)
-    set(PLATFORM_ZEPHYR true)
-elseif(${CMAKE_SYSTEM_NAME} STREQUAL "Rp2040")
-    list(APPEND REACTORC_COMPILE_DEFS PLATFORM_RP2040)
-elseif(${CMAKE_SYSTEM_NAME} STREQUAL "Patmos")
-    list(APPEND REACTORC_COMPILE_DEFS PLATFORM_PATMOS)
-    set(PLATFORM_PATMOS true)
-endif()
-
-# Prepend all sources with platform
-list(TRANSFORM LF_PLATFORM_FILES PREPEND platform/)
-
-# Add sources to the list for debug info
-list(APPEND REACTORC_SOURCES ${LF_PLATFORM_FILES})
diff --git a/low_level_platform/api/platform/lf_patmos_support.h b/low_level_platform/api/platform/lf_patmos_support.h
index 9e434f2f6..fed5ac853 100644
--- a/low_level_platform/api/platform/lf_patmos_support.h
+++ b/low_level_platform/api/platform/lf_patmos_support.h
@@ -30,20 +30,18 @@ THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  *
  * This is based on lf_nrf_support.h in icyphy/lf-buckler.
  *  
- * @author{Soroush Bateni <soroush@utdallas.edu>}
- * @author{Abhi Gundrala <gundralaa@berkeley.edu>}
- * @author{Shaokai Lin <shaokai@berkeley.edu>} 
+ * @author{Ehsan Khodadad <ehkh@dtu.dk>}
+ * @author{Luca Pezzarossa <lpez@dtu.dk>} 
+ * @author{Martin Schoeberl <masca@dtu.dk>}
  */
 
 #ifndef LF_PATMOS_SUPPORT_H
 #define LF_PATMOS_SUPPORT_H
 
-#define LOG_LEVEL 2
 // This embedded platform has no TTY suport
 #define NO_TTY 
 
 #include <stdint.h> // For fixed-width integral types
-#include <time.h>   // For CLOCK_MONOTONIC
 #include <stdbool.h>
 
 #include <inttypes.h>  // Needed to define PRId64 and PRIu32
diff --git a/low_level_platform/impl/CMakeLists.txt b/low_level_platform/impl/CMakeLists.txt
index c0f2d8bb5..33315be2d 100644
--- a/low_level_platform/impl/CMakeLists.txt
+++ b/low_level_platform/impl/CMakeLists.txt
@@ -56,6 +56,7 @@ if(${CMAKE_SYSTEM_NAME} STREQUAL "Zephyr")
     else()
         message(STATUS "Building Zephyr library with Kernel clock ")
     endif()
+
     zephyr_library_named(lf-low-level-platform-impl)
     zephyr_library_sources(${LF_LOW_LEVEL_PLATFORM_FILES})
     zephyr_library_link_libraries(kernel)
@@ -95,6 +96,7 @@ elseif(${CMAKE_SYSTEM_NAME} STREQUAL "FlexPRET")
     endif()
 else()
     add_library(lf-low-level-platform-impl STATIC ${LF_LOW_LEVEL_PLATFORM_FILES})
+
     # Link the platform to a threading library
     if(NOT DEFINED LF_SINGLE_THREADED OR DEFINED LF_TRACE)
         find_package(Threads REQUIRED)
@@ -116,6 +118,7 @@ macro(low_level_platform_define X)
         target_compile_definitions(lf-low-level-platform-impl PUBLIC ${X}=${${X}})
     endif(DEFINED ${X})
 endmacro()
+
 low_level_platform_define(LF_SINGLE_THREADED)
 low_level_platform_define(LOG_LEVEL)
 low_level_platform_define(MODAL_REACTORS)
diff --git a/low_level_platform/impl/src/lf_patmos_support.c b/low_level_platform/impl/src/lf_patmos_support.c
index 434b218de..f7efba220 100644
--- a/low_level_platform/impl/src/lf_patmos_support.c
+++ b/low_level_platform/impl/src/lf_patmos_support.c
@@ -9,7 +9,8 @@
 
 // Keep track of physical actions being entered into the system
 static volatile bool _lf_async_event = false;
-
+// Keep track of whether we are in a critical section or not
+static volatile int _lf_num_nested_critical_sections = 0;
 /**
  * @brief Sleep until an absolute time.
  * TODO: For improved power consumption this should be implemented with a HW timer and interrupts.
@@ -63,25 +64,22 @@ int _lf_clock_gettime(instant_t* t) {
 
 #if defined(LF_SINGLE_THREADED)
 
-int lf_enable_interrupts_nested() {
-    intr_enable();
-    return 0;
-}
 int lf_disable_interrupts_nested() {
-    intr_disable();
-   return 0;
+    if (_lf_num_nested_critical_sections++ == 0) {
+        intr_disable();
+    }
+    return 0;
 }
 
-#endif
-// Overwrite print functions with NoOp.
-int puts(const char *str) {}
-
-#if 0
-
-int printf(const char *format, ...) {}
-int sprintf(char *str, const char *format, ...) {}
-int snprintf(char *str, size_t size, const char *format, ...) {}
-int vprintf(const char *format, va_list ap) {}
-int vfprintf(FILE *stream, const char *format, va_list arg) {}
+int lf_enable_interrupts_nested() {
+    if (_lf_num_nested_critical_sections <= 0) {
+        return 1;
+    }
+    
+    if (--_lf_num_nested_critical_sections == 0) {
+        intr_enable();
+    }
+    return 0;
+}
 
 #endif
\ No newline at end of file

From 9a0939527e72616629c767ceb677f9b7d16c6ffd Mon Sep 17 00:00:00 2001
From: Ehsan Khodadad <ehsan.khodadad@gmail.com>
Date: Wed, 3 Apr 2024 16:52:13 +0200
Subject: [PATCH 3/8] Update low_level_platform/impl/src/lf_patmos_support.c

Co-authored-by: Marten Lohstroh <marten@berkeley.edu>
---
 low_level_platform/impl/src/lf_patmos_support.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/low_level_platform/impl/src/lf_patmos_support.c b/low_level_platform/impl/src/lf_patmos_support.c
index f7efba220..8bdf6d579 100644
--- a/low_level_platform/impl/src/lf_patmos_support.c
+++ b/low_level_platform/impl/src/lf_patmos_support.c
@@ -82,4 +82,4 @@ int lf_enable_interrupts_nested() {
     return 0;
 }
 
-#endif
\ No newline at end of file
+#endif

From c2e260fa25135f1abdae555d37bc7f1d3173fc1d Mon Sep 17 00:00:00 2001
From: Ehsan Khodadad <ehsan.khodadad@gmail.com>
Date: Wed, 3 Apr 2024 16:52:22 +0200
Subject: [PATCH 4/8] Update
 low_level_platform/api/platform/lf_patmos_support.h

Co-authored-by: Marten Lohstroh <marten@berkeley.edu>
---
 low_level_platform/api/platform/lf_patmos_support.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/low_level_platform/api/platform/lf_patmos_support.h b/low_level_platform/api/platform/lf_patmos_support.h
index fed5ac853..b71fff856 100644
--- a/low_level_platform/api/platform/lf_patmos_support.h
+++ b/low_level_platform/api/platform/lf_patmos_support.h
@@ -49,4 +49,4 @@ THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #define PRINTF_MICROSTEP "%" PRIu32
 #define PRINTF_TAG "(%" PRId64 ", %" PRIu32 ")"
 
-#endif // LF_PATMOS_SUPPORT_H
\ No newline at end of file
+#endif // LF_PATMOS_SUPPORT_H

From f14f319003025a40f22c4b2908b9132c380d7a19 Mon Sep 17 00:00:00 2001
From: Ehsan Khodadad <ehkh@dtu.dk>
Date: Fri, 12 Apr 2024 17:08:32 +0200
Subject: [PATCH 5/8] Support for Patmos platform..

---
 low_level_platform/api/low_level_platform.h   |  4 +-
 .../api/platform/lf_patmos_support.h          |  8 +--
 low_level_platform/impl/CMakeLists.txt        |  5 ++
 .../impl/src/lf_patmos_support.c              | 69 +++++++++----------
 4 files changed, 44 insertions(+), 42 deletions(-)

diff --git a/low_level_platform/api/low_level_platform.h b/low_level_platform/api/low_level_platform.h
index 84b675fe0..afffd2a9e 100644
--- a/low_level_platform/api/low_level_platform.h
+++ b/low_level_platform/api/low_level_platform.h
@@ -47,9 +47,9 @@ int lf_critical_section_exit(environment_t* env);
 #elif defined(PLATFORM_ZEPHYR)
 #include "platform/lf_zephyr_support.h"
 #elif defined(PLATFORM_NRF52)
-    #include "platform/lf_nrf52_support.h"
+#include "platform/lf_nrf52_support.h"
 #elif defined(PLATFORM_PATMOS)
-    #include "platform/lf_patmos_support.h"
+#include "platform/lf_patmos_support.h"
 #elif defined(PLATFORM_RP2040)
 #include "platform/lf_rp2040_support.h"
 #elif defined(PLATFORM_FLEXPRET)
diff --git a/low_level_platform/api/platform/lf_patmos_support.h b/low_level_platform/api/platform/lf_patmos_support.h
index b71fff856..afd7e1ce0 100644
--- a/low_level_platform/api/platform/lf_patmos_support.h
+++ b/low_level_platform/api/platform/lf_patmos_support.h
@@ -29,9 +29,9 @@ THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  * Patmos API support for the C target of Lingua Franca.
  *
  * This is based on lf_nrf_support.h in icyphy/lf-buckler.
- *  
+ *
  * @author{Ehsan Khodadad <ehkh@dtu.dk>}
- * @author{Luca Pezzarossa <lpez@dtu.dk>} 
+ * @author{Luca Pezzarossa <lpez@dtu.dk>}
  * @author{Martin Schoeberl <masca@dtu.dk>}
  */
 
@@ -39,12 +39,12 @@ THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #define LF_PATMOS_SUPPORT_H
 
 // This embedded platform has no TTY suport
-#define NO_TTY 
+#define NO_TTY
 
 #include <stdint.h> // For fixed-width integral types
 #include <stdbool.h>
 
-#include <inttypes.h>  // Needed to define PRId64 and PRIu32
+#include <inttypes.h> // Needed to define PRId64 and PRIu32
 #define PRINTF_TIME "%" PRId64
 #define PRINTF_MICROSTEP "%" PRIu32
 #define PRINTF_TAG "(%" PRId64 ", %" PRIu32 ")"
diff --git a/low_level_platform/impl/CMakeLists.txt b/low_level_platform/impl/CMakeLists.txt
index 33315be2d..e47903b6a 100644
--- a/low_level_platform/impl/CMakeLists.txt
+++ b/low_level_platform/impl/CMakeLists.txt
@@ -44,6 +44,11 @@ elseif(${CMAKE_SYSTEM_NAME} STREQUAL "FlexPRET")
         ${CMAKE_CURRENT_LIST_DIR}/src/lf_flexpret_support.c
         ${CMAKE_CURRENT_LIST_DIR}/src/lf_atomic_irq.c
     )
+elseif(${CMAKE_SYSTEM_NAME} STREQUAL "Patmos")
+    set(LF_LOW_LEVEL_PLATFORM_FILES
+        ${CMAKE_CURRENT_LIST_DIR}/src/lf_patmos_support.c
+        ${CMAKE_CURRENT_LIST_DIR}/src/lf_atomic_irq.c
+    )
 else()
     message(FATAL_ERROR "Your platform is not supported! The C target supports FlexPRET, Linux, MacOS, nRF52, RP2040, Windows, and Zephyr.")
 endif()
diff --git a/low_level_platform/impl/src/lf_patmos_support.c b/low_level_platform/impl/src/lf_patmos_support.c
index 8bdf6d579..90c043776 100644
--- a/low_level_platform/impl/src/lf_patmos_support.c
+++ b/low_level_platform/impl/src/lf_patmos_support.c
@@ -13,73 +13,70 @@ static volatile bool _lf_async_event = false;
 static volatile int _lf_num_nested_critical_sections = 0;
 /**
  * @brief Sleep until an absolute time.
- * TODO: For improved power consumption this should be implemented with a HW timer and interrupts.
+ * Since there is no sleep mode in Patmos, and energy saving is not important for real-time systems,
+ * we just used a busy sleep.
  *
  * @param wakeup int64_t time of wakeup
  * @return int 0 if successful sleep, -1 if awoken by async event
  */
 
 int _lf_interruptable_sleep_until_locked(environment_t* env, instant_t wakeup) {
-    instant_t now;
-    _lf_async_event = false;
-    lf_enable_interrupts_nested();
+  instant_t now;
+  _lf_async_event = false;
+  lf_enable_interrupts_nested();
 
-    // Do busy sleep
-    do {
-        _lf_clock_gettime(&now);
-    } while ((now < wakeup) && !_lf_async_event);
+  // Do busy sleep
+  do {
+    _lf_clock_gettime(&now);
+  } while ((now < wakeup) && !_lf_async_event);
 
-    lf_disable_interrupts_nested();
+  lf_disable_interrupts_nested();
 
-    if (_lf_async_event) {
-        _lf_async_event = false;
-        return -1;
-    } else {
-        return 0;
-    }
+  if (_lf_async_event) {
+    _lf_async_event = false;
+    return -1;
+  } else {
+    return 0;
+  }
 }
 
 /**
  * Patmos clock does not need initialization.
  */
-void _lf_initialize_clock() {
-
-}
+void _lf_initialize_clock() {}
 
 /**
  * Write the current time in nanoseconds into the location given by the argument.
  * This returns 0 (it never fails, assuming the argument gives a valid memory location).
- * This has to be called at least once per 35 minutes to properly handle overflows of the 32-bit clock.
- * TODO: This is only addressable by setting up interrupts on a timer peripheral to occur at wrap.
  */
 
 int _lf_clock_gettime(instant_t* t) {
 
-    assert(t != NULL);
+  assert(t != NULL);
 
-   *t = get_cpu_usecs() * 1000;
-   
-    return 0;
+  *t = get_cpu_usecs() * 1000;
+
+  return 0;
 }
 
 #if defined(LF_SINGLE_THREADED)
 
 int lf_disable_interrupts_nested() {
-    if (_lf_num_nested_critical_sections++ == 0) {
-        intr_disable();
-    }
-    return 0;
+  if (_lf_num_nested_critical_sections++ == 0) {
+    intr_disable();
+  }
+  return 0;
 }
 
 int lf_enable_interrupts_nested() {
-    if (_lf_num_nested_critical_sections <= 0) {
-        return 1;
-    }
-    
-    if (--_lf_num_nested_critical_sections == 0) {
-        intr_enable();
-    }
-    return 0;
+  if (_lf_num_nested_critical_sections <= 0) {
+    return 1;
+  }
+
+  if (--_lf_num_nested_critical_sections == 0) {
+    intr_enable();
+  }
+  return 0;
 }
 
 #endif

From 4646de6ac4546be8679a63c2c4cedcc3060aa06f Mon Sep 17 00:00:00 2001
From: Ehsan Khodadad <ehsan.khodadad@gmail.com>
Date: Fri, 19 Apr 2024 15:05:02 +0200
Subject: [PATCH 6/8] Update low_level_platform/impl/src/lf_patmos_support.c

Co-authored-by: erling <erling.jellum@gmail.com>
---
 low_level_platform/impl/src/lf_patmos_support.c | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/low_level_platform/impl/src/lf_patmos_support.c b/low_level_platform/impl/src/lf_patmos_support.c
index 90c043776..d1d1f8050 100644
--- a/low_level_platform/impl/src/lf_patmos_support.c
+++ b/low_level_platform/impl/src/lf_patmos_support.c
@@ -1,8 +1,8 @@
 #include <time.h>
 #include <errno.h>
 #include <assert.h>
-#include <lf_patmos_support.h>
-#include "../platform.h"
+#include "platform/lf_patmos_support.h"
+#include "low_level_platform.h"
 #include <machine/rtc.h>
 #include <machine/exceptions.h>
 #include <stdio.h>

From ec9b96a9fbf988d9f8e967e51c807d37995af2ab Mon Sep 17 00:00:00 2001
From: Ehsan Khodadad <ehsan.khodadad@gmail.com>
Date: Fri, 19 Apr 2024 16:13:05 +0200
Subject: [PATCH 7/8] #if defined(PLATFORM_PATMOS) added to lf_patmos_support.c

---
 .../impl/src/lf_patmos_support.c              | 34 ++++++++++++++++++-
 1 file changed, 33 insertions(+), 1 deletion(-)

diff --git a/low_level_platform/impl/src/lf_patmos_support.c b/low_level_platform/impl/src/lf_patmos_support.c
index d1d1f8050..fdfee79e7 100644
--- a/low_level_platform/impl/src/lf_patmos_support.c
+++ b/low_level_platform/impl/src/lf_patmos_support.c
@@ -1,3 +1,33 @@
+#if defined(PLATFORM_PATMOS)
+/*************
+Copyright (c) 2024, The University of California at Berkeley.
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice,
+   this list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
+EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL
+THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
+STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF
+THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+***************/
+
+/**
+ * @author{Ehsan Khodadad <ehkh@dtu.dk>}
+ * @author{Luca Pezzarossa <lpez@dtu.dk>}
+ * @author{Martin Schoeberl <masca@dtu.dk>}
+ */
 #include <time.h>
 #include <errno.h>
 #include <assert.h>
@@ -79,4 +109,6 @@ int lf_enable_interrupts_nested() {
   return 0;
 }
 
-#endif
+#endif // LF_SINGLE_THREADED
+
+#endif // PLATFORM_PATMOS

From 7b4408fe8979a92e5f7701b008a2f9f4a6fe80b6 Mon Sep 17 00:00:00 2001
From: Ehsan Khodadad <ehkh@dtu.dk>
Date: Fri, 2 Aug 2024 14:52:14 +0200
Subject: [PATCH 8/8] Support for Patmos Platform

---
 low_level_platform/api/CMakeLists.txt           | 2 ++
 low_level_platform/impl/CMakeLists.txt          | 4 +++-
 low_level_platform/impl/src/lf_patmos_support.c | 4 ++++
 platform/impl/CMakeLists.txt                    | 3 +++
 4 files changed, 12 insertions(+), 1 deletion(-)

diff --git a/low_level_platform/api/CMakeLists.txt b/low_level_platform/api/CMakeLists.txt
index 9f2172bce..599f87e59 100644
--- a/low_level_platform/api/CMakeLists.txt
+++ b/low_level_platform/api/CMakeLists.txt
@@ -7,6 +7,8 @@ if(${CMAKE_SYSTEM_NAME} STREQUAL "nRF52")
     target_compile_definitions(lf-low-level-platform-api INTERFACE PLATFORM_NRF52)
 elseif(${CMAKE_SYSTEM_NAME} STREQUAL "Zephyr")
     target_compile_definitions(lf-low-level-platform-api INTERFACE PLATFORM_ZEPHYR)
+elseif(${CMAKE_SYSTEM_NAME} STREQUAL "Patmos")
+    target_compile_definitions(lf-low-level-platform-api INTERFACE PLATFORM_PATMOS)
 elseif(${CMAKE_SYSTEM_NAME} STREQUAL "Rp2040")
     target_compile_definitions(lf-low-level-platform-api INTERFACE PLATFORM_RP2040)
     target_link_libraries(lf-low-level-platform-api INTERFACE pico_stdlib)
diff --git a/low_level_platform/impl/CMakeLists.txt b/low_level_platform/impl/CMakeLists.txt
index e47903b6a..ac035dcf4 100644
--- a/low_level_platform/impl/CMakeLists.txt
+++ b/low_level_platform/impl/CMakeLists.txt
@@ -50,7 +50,7 @@ elseif(${CMAKE_SYSTEM_NAME} STREQUAL "Patmos")
         ${CMAKE_CURRENT_LIST_DIR}/src/lf_atomic_irq.c
     )
 else()
-    message(FATAL_ERROR "Your platform is not supported! The C target supports FlexPRET, Linux, MacOS, nRF52, RP2040, Windows, and Zephyr.")
+    message(FATAL_ERROR "Your platform is not supported! The C target supports FlexPRET, Patmos, Linux, MacOS, nRF52, RP2040, Windows, and Zephyr.")
 endif()
 
 list(APPEND LF_LOW_LEVEL_PLATFORM_FILES ${CMAKE_CURRENT_LIST_DIR}/src/lf_platform_util.c)
@@ -99,6 +99,8 @@ elseif(${CMAKE_SYSTEM_NAME} STREQUAL "FlexPRET")
             )
         endif()
     endif()
+elseif(${CMAKE_SYSTEM_NAME} STREQUAL "Patmos")
+    add_library(lf-low-level-platform-impl STATIC ${LF_LOW_LEVEL_PLATFORM_FILES})
 else()
     add_library(lf-low-level-platform-impl STATIC ${LF_LOW_LEVEL_PLATFORM_FILES})
 
diff --git a/low_level_platform/impl/src/lf_patmos_support.c b/low_level_platform/impl/src/lf_patmos_support.c
index fdfee79e7..43f20710c 100644
--- a/low_level_platform/impl/src/lf_patmos_support.c
+++ b/low_level_platform/impl/src/lf_patmos_support.c
@@ -109,6 +109,10 @@ int lf_enable_interrupts_nested() {
   return 0;
 }
 
+int _lf_single_threaded_notify_of_event() {
+  _lf_async_event = true;
+  return 0;
+}
 #endif // LF_SINGLE_THREADED
 
 #endif // PLATFORM_PATMOS
diff --git a/platform/impl/CMakeLists.txt b/platform/impl/CMakeLists.txt
index 32753e7eb..3c86b3817 100644
--- a/platform/impl/CMakeLists.txt
+++ b/platform/impl/CMakeLists.txt
@@ -9,6 +9,9 @@ elseif(${CMAKE_SYSTEM_NAME} STREQUAL "FlexPRET")
     add_library(lf-platform-impl STATIC)
     target_sources(lf-platform-impl PUBLIC ${LF_PLATFORM_FILES})
     target_link_libraries(lf-platform-impl PRIVATE fp-sdk)
+elseif(${CMAKE_SYSTEM_NAME} STREQUAL "Patmos")
+    add_library(lf-platform-impl STATIC)
+    target_sources(lf-platform-impl PUBLIC ${LF_PLATFORM_FILES})
 else()
     add_library(lf-platform-impl STATIC)
     target_sources(lf-platform-impl PUBLIC ${LF_PLATFORM_FILES})