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Merge pull request #383 from EhsanKhodadad/main
Support for Patmos platform
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,52 @@ | ||
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| /* Patmos API support for the C target of Lingua Franca. */ | ||
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| /************* | ||
| 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. | ||
| ***************/ | ||
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| /** | ||
| * 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{Martin Schoeberl <masca@dtu.dk>} | ||
| */ | ||
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| #ifndef LF_PATMOS_SUPPORT_H | ||
| #define LF_PATMOS_SUPPORT_H | ||
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| // This embedded platform has no TTY suport | ||
| #define NO_TTY | ||
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| #include <stdint.h> // For fixed-width integral types | ||
| #include <stdbool.h> | ||
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| #include <inttypes.h> // Needed to define PRId64 and PRIu32 | ||
| #define PRINTF_TIME "%" PRId64 | ||
| #define PRINTF_MICROSTEP "%" PRIu32 | ||
| #define PRINTF_TAG "(%" PRId64 ", %" PRIu32 ")" | ||
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| #endif // LF_PATMOS_SUPPORT_H |
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,118 @@ | ||
| #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. | ||
| ***************/ | ||
|
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| /** | ||
| * @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> | ||
| #include "platform/lf_patmos_support.h" | ||
| #include "low_level_platform.h" | ||
| #include <machine/rtc.h> | ||
| #include <machine/exceptions.h> | ||
| #include <stdio.h> | ||
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| // 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. | ||
| * 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 | ||
| */ | ||
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| int _lf_interruptable_sleep_until_locked(environment_t* env, instant_t wakeup) { | ||
| instant_t now; | ||
| _lf_async_event = false; | ||
| lf_enable_interrupts_nested(); | ||
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| // Do busy sleep | ||
| do { | ||
| _lf_clock_gettime(&now); | ||
| } while ((now < wakeup) && !_lf_async_event); | ||
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| lf_disable_interrupts_nested(); | ||
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| if (_lf_async_event) { | ||
| _lf_async_event = false; | ||
| return -1; | ||
| } else { | ||
| return 0; | ||
| } | ||
| } | ||
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| /** | ||
| * Patmos clock does not need initialization. | ||
| */ | ||
| void _lf_initialize_clock() {} | ||
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| /** | ||
| * 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). | ||
| */ | ||
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| int _lf_clock_gettime(instant_t* t) { | ||
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| assert(t != NULL); | ||
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| *t = get_cpu_usecs() * 1000; | ||
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| return 0; | ||
| } | ||
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| #if defined(LF_SINGLE_THREADED) | ||
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| int lf_disable_interrupts_nested() { | ||
| if (_lf_num_nested_critical_sections++ == 0) { | ||
| intr_disable(); | ||
| } | ||
| return 0; | ||
| } | ||
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| int lf_enable_interrupts_nested() { | ||
| if (_lf_num_nested_critical_sections <= 0) { | ||
| return 1; | ||
| } | ||
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| if (--_lf_num_nested_critical_sections == 0) { | ||
| intr_enable(); | ||
| } | ||
| return 0; | ||
| } | ||
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| int _lf_single_threaded_notify_of_event() { | ||
| _lf_async_event = true; | ||
| return 0; | ||
| } | ||
| #endif // LF_SINGLE_THREADED | ||
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| #endif // PLATFORM_PATMOS |
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