From 79546994b0a307059f01388e4826d9a749ff415b Mon Sep 17 00:00:00 2001
From: Erling Rennemo Jellum <erling.r.jellum@ntnu.no>
Date: Thu, 5 Jan 2023 12:48:54 -0800
Subject: [PATCH 01/63] Add Zephyr as target platform and add simple test

---
 org.lflang/src/org/lflang/TargetProperty.java |  1 +
 .../lflang/generator/c/CCmakeGenerator.java   |  6 ++-
 test/C/src/zephyr/HelloZephyr.lf              | 12 ++++++
 test/C/src/zephyr/scripts/prj.conf            | 16 +++++++
 test/C/src/zephyr/scripts/zephyr.cmake        | 10 +++++
 test/C/src/zephyr/scripts/zephyr_build.sh     | 42 +++++++++++++++++++
 test/C/src/zephyr/scripts/zephyr_flash_nrf.sh |  9 ++++
 7 files changed, 95 insertions(+), 1 deletion(-)
 create mode 100644 test/C/src/zephyr/HelloZephyr.lf
 create mode 100644 test/C/src/zephyr/scripts/prj.conf
 create mode 100644 test/C/src/zephyr/scripts/zephyr.cmake
 create mode 100644 test/C/src/zephyr/scripts/zephyr_build.sh
 create mode 100644 test/C/src/zephyr/scripts/zephyr_flash_nrf.sh

diff --git a/org.lflang/src/org/lflang/TargetProperty.java b/org.lflang/src/org/lflang/TargetProperty.java
index 14cc3bb4c8..53736c31be 100644
--- a/org.lflang/src/org/lflang/TargetProperty.java
+++ b/org.lflang/src/org/lflang/TargetProperty.java
@@ -1413,6 +1413,7 @@ public enum Platform {
         NRF52("Nrf52"),
         LINUX("Linux"),
         MAC("Darwin"),
+        ZEPHYR("Zephyr"),
         WINDOWS("Windows");
 
         String cMakeName;
diff --git a/org.lflang/src/org/lflang/generator/c/CCmakeGenerator.java b/org.lflang/src/org/lflang/generator/c/CCmakeGenerator.java
index f63c9e1c2b..d6e15b343c 100644
--- a/org.lflang/src/org/lflang/generator/c/CCmakeGenerator.java
+++ b/org.lflang/src/org/lflang/generator/c/CCmakeGenerator.java
@@ -120,7 +120,11 @@ CodeBuilder generateCMakeCode(
         cMakeCode.pr("cmake_minimum_required(VERSION " + MIN_CMAKE_VERSION + ")");
         cMakeCode.pr("project("+executableName+" LANGUAGES C)");
         cMakeCode.newLine();
-
+        if (targetConfig.platformOptions.platform == Platform.ZEPHYR) {
+            cMakeCode.pr("find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE}");
+            cMakeCode.newLine();
+        }
+        
         // The Test build type is the Debug type plus coverage generation
         cMakeCode.pr("if(CMAKE_BUILD_TYPE STREQUAL \"Test\")");
         cMakeCode.pr("  set(CMAKE_BUILD_TYPE \"Debug\")");
diff --git a/test/C/src/zephyr/HelloZephyr.lf b/test/C/src/zephyr/HelloZephyr.lf
new file mode 100644
index 0000000000..1f23d0ad72
--- /dev/null
+++ b/test/C/src/zephyr/HelloZephyr.lf
@@ -0,0 +1,12 @@
+target C {
+    platform: Zephyr,
+    build: "bash scripts/zephyr_build.sh qemu_cortex_m3 flash",
+    threading: false,
+    cmake-include: "scripts/zephyr.cmake"
+}
+
+main reactor {
+    reaction(startup) {=
+        printf("Hello World!\n");
+    =}
+}
\ No newline at end of file
diff --git a/test/C/src/zephyr/scripts/prj.conf b/test/C/src/zephyr/scripts/prj.conf
new file mode 100644
index 0000000000..0142c24b0c
--- /dev/null
+++ b/test/C/src/zephyr/scripts/prj.conf
@@ -0,0 +1,16 @@
+# Enable printk
+CONFIG_PRINTK=y
+# Set the memory pool sufficently large.
+CONFIG_HEAP_MEM_POOL_SIZE=2048
+# THis is the memory pool used by minimal libc
+CONFIG_MINIMAL_LIBC=y
+CONFIG_MINIMAL_LIBC_MALLOC_ARENA_SIZE=50000
+# Enable FP printing
+CONFIG_CBPRINTF_FP_SUPPORT=y
+# Enable counters (used as HW clock)
+CONFIG_COUNTER=y
+# Have counter use the HW timer as basis
+# FIXME: Use overlays etc to support all sorts of boards. I think this will only work in NRF boards.
+CONFIG_COUNTER_TIMER1=y
+# Set main stack size big enough
+CONFIG_MAIN_STACK_SIZE=2048
\ No newline at end of file
diff --git a/test/C/src/zephyr/scripts/zephyr.cmake b/test/C/src/zephyr/scripts/zephyr.cmake
new file mode 100644
index 0000000000..363b00c8a3
--- /dev/null
+++ b/test/C/src/zephyr/scripts/zephyr.cmake
@@ -0,0 +1,10 @@
+# Disable the old target defined in the generated cmake file
+set_target_properties(${LF_MAIN_TARGET} PROPERTIES EXCLUDE_FROM_ALL 1 EXCLUDE_FROM_DEFAULT_BUILD 1)
+# Get the source files assoicated with the generated cmake build
+get_target_property(LF_SOURCES ${LF_MAIN_TARGET} SOURCES)
+# Get the compile definitions added to target
+get_target_property(LF_COMPILE_DEFS ${LF_MAIN_TARGET} COMPILE_DEFINITIONS)
+# Use these sources with Zephyr build.
+target_compile_definitions(app PUBLIC ${LF_COMPILE_DEFS})
+target_sources(app PRIVATE ${LF_SOURCES})
+zephyr_library_compile_options(-Wl,--print-memory-usage)
diff --git a/test/C/src/zephyr/scripts/zephyr_build.sh b/test/C/src/zephyr/scripts/zephyr_build.sh
new file mode 100644
index 0000000000..a726e60b2f
--- /dev/null
+++ b/test/C/src/zephyr/scripts/zephyr_build.sh
@@ -0,0 +1,42 @@
+#!/usr/bin/bash
+
+echo "Building Zephyr application"
+SCRIPT_DIR=$(dirname $0)
+
+set -e # Return on first error
+
+# Verify command line arguments
+if [ $# -lt 1 ]; then
+    echo "ERROR: Please pass the board to zephyr_build.sh. e.g. ./zephyr_build.sh qemu_cortex_m3 flash"
+    exit 1
+fi
+
+# Set some global variables
+export BOARD=$1
+export LF_SRC_DIRECTORY=$(pwd)
+
+cp $LF_SRC_DIRECTORY/$SCRIPT_DIR/prj.conf $LF_SOURCE_GEN_DIRECTORY/
+cp $LF_SRC_DIRECTORY/$SCRIPT_DIR/Kconfig $LF_SOURCE_GEN_DIRECTORY/
+
+cd $LF_SOURCE_GEN_DIRECTORY
+
+# Build project
+west build -b $BOARD 
+
+if [[ "$2" == "flash" ]]; then
+
+if [[ "$BOARD" == "nrf"* ]]; then
+    echo "--- Flashing to NRF board"
+    # Flash application
+    bash $LF_SRC_DIRECTORY/$SCRIPT_DIR/zephyr_flash_nrf.sh .
+
+    # Debug application
+    # FIXME: Fix the issues here. Why isnt gdb working when invoked from this script?
+    # $LF_SRC_DIRECTORY/../scripts/zephyr_debug_nrf.sh
+elif [[ "$BOARD" == "qemu"* ]]; then 
+    echo "--- Executing on QEMU emulation"
+    west build -t run
+else
+    echo "Unrecognized board $BOARD" 
+    exit 1
+fi
diff --git a/test/C/src/zephyr/scripts/zephyr_flash_nrf.sh b/test/C/src/zephyr/scripts/zephyr_flash_nrf.sh
new file mode 100644
index 0000000000..7659051d43
--- /dev/null
+++ b/test/C/src/zephyr/scripts/zephyr_flash_nrf.sh
@@ -0,0 +1,9 @@
+# Erase and flash application onto NRF52
+# Takes the path to the build folder as an argument
+SRC_GEN_PATH=$1
+
+NRFJPROG=nrfjprog.exe
+echo "--- Executing zephyr_flash_nrf.sh"
+eval $NRFJPROG -e
+eval $NRFJPROG --program $SRC_GEN_PATH/build/zephyr/zephyr.hex --sectorerase --verify
+eval $NRFJPROG --hardreset

From 4fb62694a20a06a6ac99bd1f0ab012279fc7a1d5 Mon Sep 17 00:00:00 2001
From: Erling Rennemo Jellum <erling.r.jellum@ntnu.no>
Date: Thu, 5 Jan 2023 13:52:16 -0800
Subject: [PATCH 02/63] Fix zepyr target property and add Kconfig

---
 org.lflang/src/org/lflang/generator/c/CCmakeGenerator.java | 2 +-
 test/C/src/zephyr/HelloZephyr.lf                           | 2 +-
 test/C/src/zephyr/scripts/Kconfig                          | 1 +
 3 files changed, 3 insertions(+), 2 deletions(-)
 create mode 100644 test/C/src/zephyr/scripts/Kconfig

diff --git a/org.lflang/src/org/lflang/generator/c/CCmakeGenerator.java b/org.lflang/src/org/lflang/generator/c/CCmakeGenerator.java
index d6e15b343c..8a3db4c6c7 100644
--- a/org.lflang/src/org/lflang/generator/c/CCmakeGenerator.java
+++ b/org.lflang/src/org/lflang/generator/c/CCmakeGenerator.java
@@ -121,7 +121,7 @@ CodeBuilder generateCMakeCode(
         cMakeCode.pr("project("+executableName+" LANGUAGES C)");
         cMakeCode.newLine();
         if (targetConfig.platformOptions.platform == Platform.ZEPHYR) {
-            cMakeCode.pr("find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE}");
+            cMakeCode.pr("find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})");
             cMakeCode.newLine();
         }
         
diff --git a/test/C/src/zephyr/HelloZephyr.lf b/test/C/src/zephyr/HelloZephyr.lf
index 1f23d0ad72..f4d5b898da 100644
--- a/test/C/src/zephyr/HelloZephyr.lf
+++ b/test/C/src/zephyr/HelloZephyr.lf
@@ -1,5 +1,5 @@
 target C {
-    platform: Zephyr,
+    platform: "Zephyr",
     build: "bash scripts/zephyr_build.sh qemu_cortex_m3 flash",
     threading: false,
     cmake-include: "scripts/zephyr.cmake"
diff --git a/test/C/src/zephyr/scripts/Kconfig b/test/C/src/zephyr/scripts/Kconfig
new file mode 100644
index 0000000000..0ffe175530
--- /dev/null
+++ b/test/C/src/zephyr/scripts/Kconfig
@@ -0,0 +1 @@
+source "Kconfig.zephyr"
\ No newline at end of file

From 934099f651d572e8720af565ea3ec723b11fcda2 Mon Sep 17 00:00:00 2001
From: Erling Rennemo Jellum <erling.r.jellum@ntnu.no>
Date: Sat, 7 Jan 2023 14:27:35 -0800
Subject: [PATCH 03/63] Use newlib

---
 test/C/src/zephyr/scripts/prj.conf | 7 +++----
 1 file changed, 3 insertions(+), 4 deletions(-)

diff --git a/test/C/src/zephyr/scripts/prj.conf b/test/C/src/zephyr/scripts/prj.conf
index 0142c24b0c..383044f32b 100644
--- a/test/C/src/zephyr/scripts/prj.conf
+++ b/test/C/src/zephyr/scripts/prj.conf
@@ -2,9 +2,8 @@
 CONFIG_PRINTK=y
 # Set the memory pool sufficently large.
 CONFIG_HEAP_MEM_POOL_SIZE=2048
-# THis is the memory pool used by minimal libc
-CONFIG_MINIMAL_LIBC=y
-CONFIG_MINIMAL_LIBC_MALLOC_ARENA_SIZE=50000
+# We use NEWLIB to get access to `atexit`
+CONFIG_NEWLIB_LIBC=y
 # Enable FP printing
 CONFIG_CBPRINTF_FP_SUPPORT=y
 # Enable counters (used as HW clock)
@@ -13,4 +12,4 @@ CONFIG_COUNTER=y
 # FIXME: Use overlays etc to support all sorts of boards. I think this will only work in NRF boards.
 CONFIG_COUNTER_TIMER1=y
 # Set main stack size big enough
-CONFIG_MAIN_STACK_SIZE=2048
\ No newline at end of file
+CONFIG_MAIN_STACK_SIZE=2048

From 0abab3872c96393516320b57ba6c0e2a5241c1a5 Mon Sep 17 00:00:00 2001
From: Erling Rennemo Jellum <erling.r.jellum@ntnu.no>
Date: Sat, 7 Jan 2023 14:28:14 -0800
Subject: [PATCH 04/63] Parse CompileDefinitions.txt from zephyr build script

---
 test/C/src/zephyr/scripts/zephyr_build.sh | 12 +++++++++++-
 1 file changed, 11 insertions(+), 1 deletion(-)

diff --git a/test/C/src/zephyr/scripts/zephyr_build.sh b/test/C/src/zephyr/scripts/zephyr_build.sh
index a726e60b2f..d0b6e205d1 100644
--- a/test/C/src/zephyr/scripts/zephyr_build.sh
+++ b/test/C/src/zephyr/scripts/zephyr_build.sh
@@ -1,8 +1,11 @@
 #!/usr/bin/bash
 
 echo "Building Zephyr application"
+echo "ZEPHYR_BASE=${ZEPHYR_BASE}"
 SCRIPT_DIR=$(dirname $0)
 
+
+
 set -e # Return on first error
 
 # Verify command line arguments
@@ -20,8 +23,15 @@ cp $LF_SRC_DIRECTORY/$SCRIPT_DIR/Kconfig $LF_SOURCE_GEN_DIRECTORY/
 
 cd $LF_SOURCE_GEN_DIRECTORY
 
+# Parse additional compile defs
+COMPILE_DEFS=""
+while IFS= read -r line; do
+  COMPILE_DEFS="${COMPILE_DEFS} -D$line"
+done < CompileDefinitions.txt
+echo "Passing compile defs: $COMPILE_DEFS to cmake"
+
 # Build project
-west build -b $BOARD 
+west build -b $BOARD -- $COMPILE_DEFS
 
 if [[ "$2" == "flash" ]]; then
 

From 0cae265f1aa496b4063cb6c7902054e3c2ccc772 Mon Sep 17 00:00:00 2001
From: Erling Rennemo Jellum <erling.r.jellum@ntnu.no>
Date: Sat, 7 Jan 2023 14:28:44 -0800
Subject: [PATCH 05/63] Update zephyr.

---
 test/C/src/zephyr/scripts/zephyr.cmake | 8 +++++++-
 1 file changed, 7 insertions(+), 1 deletion(-)

diff --git a/test/C/src/zephyr/scripts/zephyr.cmake b/test/C/src/zephyr/scripts/zephyr.cmake
index 363b00c8a3..dbc9f701f9 100644
--- a/test/C/src/zephyr/scripts/zephyr.cmake
+++ b/test/C/src/zephyr/scripts/zephyr.cmake
@@ -2,9 +2,15 @@
 set_target_properties(${LF_MAIN_TARGET} PROPERTIES EXCLUDE_FROM_ALL 1 EXCLUDE_FROM_DEFAULT_BUILD 1)
 # Get the source files assoicated with the generated cmake build
 get_target_property(LF_SOURCES ${LF_MAIN_TARGET} SOURCES)
-# Get the compile definitions added to target
 get_target_property(LF_COMPILE_DEFS ${LF_MAIN_TARGET} COMPILE_DEFINITIONS)
+get_target_property(LF_LINKS ${LF_MAIN_TARGET} LINK_LIBRARIES)
+get_target_property(LF_INCLUDES ${LF_MAIN_TARGET} INCLUDE_DIRECTORIES)
 # Use these sources with Zephyr build.
 target_compile_definitions(app PUBLIC ${LF_COMPILE_DEFS})
 target_sources(app PRIVATE ${LF_SOURCES})
+target_link_libraries(app PUBLIC ${LF_LINKS})
+target_include_directories(app PUBLIC ${LF_INCLUDES})
+
+# Link corelib with zephyr
+target_link_libraries(core PUBLIC zephyr_interface)
 zephyr_library_compile_options(-Wl,--print-memory-usage)

From ffd466946863f39f37119d9a4f0861e5a3770987 Mon Sep 17 00:00:00 2001
From: Erling Rennemo Jellum <erling.r.jellum@sentisystems.com>
Date: Sun, 8 Jan 2023 23:05:24 -0800
Subject: [PATCH 06/63] Fix cmake generator for zephyr

---
 .../lflang/generator/c/CCmakeGenerator.java   | 51 +++++++++++++++++--
 1 file changed, 46 insertions(+), 5 deletions(-)

diff --git a/org.lflang/src/org/lflang/generator/c/CCmakeGenerator.java b/org.lflang/src/org/lflang/generator/c/CCmakeGenerator.java
index 8a3db4c6c7..0cbb44f14b 100644
--- a/org.lflang/src/org/lflang/generator/c/CCmakeGenerator.java
+++ b/org.lflang/src/org/lflang/generator/c/CCmakeGenerator.java
@@ -182,11 +182,19 @@ CodeBuilder generateCMakeCode(
             cMakeCode.pr("set(CMAKE_SYSTEM_NAME "+targetConfig.platformOptions.platform.getcMakeName()+")");
         }
 
-        cMakeCode.pr(setUpMainTarget.getCmakeCode(
-            hasMain,
-            executableName,
-            Stream.concat(additionalSources.stream(), sources.stream())
-        ));
+        if (targetConfig.platformOptions.platform == Platform.ZEPHYR) {
+            cMakeCode.pr(setUpMainTargetZephyr(
+                hasMain,
+                executableName,
+                Stream.concat(additionalSources.stream(), sources.stream())
+            ));
+        } else {
+            cMakeCode.pr(setUpMainTarget(
+                hasMain,
+                executableName,
+                Stream.concat(additionalSources.stream(), sources.stream())
+            ));
+        }
 
         cMakeCode.pr("target_link_libraries(${LF_MAIN_TARGET} PRIVATE core)");
 
@@ -345,4 +353,37 @@ private static String setUpMainTarget(
         code.newLine();
         return code.toString();
     }
+
+    private static String setUpMainTargetZephyr(
+        boolean hasMain,
+        String executableName,
+        Stream<String> cSources
+    ) {
+        var code = new CodeBuilder();
+        code.pr("add_subdirectory(core)");
+        code.pr("target_link_libraries(core PUBLIC zephyr_interface)");
+        code.newLine();
+
+        if (hasMain) {
+            code.pr("# Declare a new executable target and list all its sources");
+            code.pr("set(LF_MAIN_TARGET app)");
+            code.pr("target_sources(");
+        } else {
+            code.pr("# Declare a new library target and list all its sources");
+            code.pr("set(LF_MAIN_TARGET"+executableName+")");
+            code.pr("add_library(");
+        }
+        code.indent();
+        code.pr("${LF_MAIN_TARGET}");
+
+        if (hasMain) {
+            code.pr("PRIVATE");
+        }
+
+        cSources.forEach(code::pr);
+        code.unindent();
+        code.pr(")");
+        code.newLine();
+        return code.toString();
+    }
 }

From 62362836a315fd01e0f8cd7f43eed9bd9716d04a Mon Sep 17 00:00:00 2001
From: Erling Rennemo Jellum <erling.r.jellum@ntnu.no>
Date: Sun, 8 Jan 2023 23:20:55 -0800
Subject: [PATCH 07/63] HelloZephyr compiles and runs on qemu

---
 org.lflang/src/lib/c/reactor-c                   |  2 +-
 .../org/lflang/generator/c/CCmakeGenerator.java  |  6 ++++--
 test/C/src/zephyr/HelloZephyr.lf                 |  1 -
 test/C/src/zephyr/scripts/zephyr.cmake           | 16 ----------------
 test/C/src/zephyr/scripts/zephyr_build.sh        |  2 ++
 5 files changed, 7 insertions(+), 20 deletions(-)
 delete mode 100644 test/C/src/zephyr/scripts/zephyr.cmake

diff --git a/org.lflang/src/lib/c/reactor-c b/org.lflang/src/lib/c/reactor-c
index d97620bb54..6dcdf0c657 160000
--- a/org.lflang/src/lib/c/reactor-c
+++ b/org.lflang/src/lib/c/reactor-c
@@ -1 +1 @@
-Subproject commit d97620bb54734a25521271169dadae68b6b3ad9b
+Subproject commit 6dcdf0c657614a78bf0dd61451287c3846d0cd7f
diff --git a/org.lflang/src/org/lflang/generator/c/CCmakeGenerator.java b/org.lflang/src/org/lflang/generator/c/CCmakeGenerator.java
index 0cbb44f14b..7de898f1cf 100644
--- a/org.lflang/src/org/lflang/generator/c/CCmakeGenerator.java
+++ b/org.lflang/src/org/lflang/generator/c/CCmakeGenerator.java
@@ -118,13 +118,15 @@ CodeBuilder generateCMakeCode(
         cMakeCode.newLine();
 
         cMakeCode.pr("cmake_minimum_required(VERSION " + MIN_CMAKE_VERSION + ")");
-        cMakeCode.pr("project("+executableName+" LANGUAGES C)");
-        cMakeCode.newLine();
+        
         if (targetConfig.platformOptions.platform == Platform.ZEPHYR) {
             cMakeCode.pr("find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})");
             cMakeCode.newLine();
         }
         
+        cMakeCode.pr("project("+executableName+" LANGUAGES C)");
+        cMakeCode.newLine();
+        
         // The Test build type is the Debug type plus coverage generation
         cMakeCode.pr("if(CMAKE_BUILD_TYPE STREQUAL \"Test\")");
         cMakeCode.pr("  set(CMAKE_BUILD_TYPE \"Debug\")");
diff --git a/test/C/src/zephyr/HelloZephyr.lf b/test/C/src/zephyr/HelloZephyr.lf
index f4d5b898da..6274c4c174 100644
--- a/test/C/src/zephyr/HelloZephyr.lf
+++ b/test/C/src/zephyr/HelloZephyr.lf
@@ -2,7 +2,6 @@ target C {
     platform: "Zephyr",
     build: "bash scripts/zephyr_build.sh qemu_cortex_m3 flash",
     threading: false,
-    cmake-include: "scripts/zephyr.cmake"
 }
 
 main reactor {
diff --git a/test/C/src/zephyr/scripts/zephyr.cmake b/test/C/src/zephyr/scripts/zephyr.cmake
deleted file mode 100644
index dbc9f701f9..0000000000
--- a/test/C/src/zephyr/scripts/zephyr.cmake
+++ /dev/null
@@ -1,16 +0,0 @@
-# Disable the old target defined in the generated cmake file
-set_target_properties(${LF_MAIN_TARGET} PROPERTIES EXCLUDE_FROM_ALL 1 EXCLUDE_FROM_DEFAULT_BUILD 1)
-# Get the source files assoicated with the generated cmake build
-get_target_property(LF_SOURCES ${LF_MAIN_TARGET} SOURCES)
-get_target_property(LF_COMPILE_DEFS ${LF_MAIN_TARGET} COMPILE_DEFINITIONS)
-get_target_property(LF_LINKS ${LF_MAIN_TARGET} LINK_LIBRARIES)
-get_target_property(LF_INCLUDES ${LF_MAIN_TARGET} INCLUDE_DIRECTORIES)
-# Use these sources with Zephyr build.
-target_compile_definitions(app PUBLIC ${LF_COMPILE_DEFS})
-target_sources(app PRIVATE ${LF_SOURCES})
-target_link_libraries(app PUBLIC ${LF_LINKS})
-target_include_directories(app PUBLIC ${LF_INCLUDES})
-
-# Link corelib with zephyr
-target_link_libraries(core PUBLIC zephyr_interface)
-zephyr_library_compile_options(-Wl,--print-memory-usage)
diff --git a/test/C/src/zephyr/scripts/zephyr_build.sh b/test/C/src/zephyr/scripts/zephyr_build.sh
index d0b6e205d1..8212e36dac 100644
--- a/test/C/src/zephyr/scripts/zephyr_build.sh
+++ b/test/C/src/zephyr/scripts/zephyr_build.sh
@@ -50,3 +50,5 @@ else
     echo "Unrecognized board $BOARD" 
     exit 1
 fi
+
+fi
\ No newline at end of file

From 625b8ac15be9fc2f4d5cccc72f1eb28328f0b61f Mon Sep 17 00:00:00 2001
From: Erling Rennemo Jellum <erling.r.jellum@ntnu.no>
Date: Mon, 9 Jan 2023 00:08:47 -0800
Subject: [PATCH 08/63] Add overlay file for esp32

---
 test/C/src/zephyr/scripts/esp32.overlay   | 3 +++
 test/C/src/zephyr/scripts/zephyr_build.sh | 3 +++
 2 files changed, 6 insertions(+)
 create mode 100755 test/C/src/zephyr/scripts/esp32.overlay

diff --git a/test/C/src/zephyr/scripts/esp32.overlay b/test/C/src/zephyr/scripts/esp32.overlay
new file mode 100755
index 0000000000..241947b064
--- /dev/null
+++ b/test/C/src/zephyr/scripts/esp32.overlay
@@ -0,0 +1,3 @@
+&timer0 {
+	status = "okay";
+};
diff --git a/test/C/src/zephyr/scripts/zephyr_build.sh b/test/C/src/zephyr/scripts/zephyr_build.sh
index 8212e36dac..600c97dc18 100644
--- a/test/C/src/zephyr/scripts/zephyr_build.sh
+++ b/test/C/src/zephyr/scripts/zephyr_build.sh
@@ -20,6 +20,9 @@ export LF_SRC_DIRECTORY=$(pwd)
 
 cp $LF_SRC_DIRECTORY/$SCRIPT_DIR/prj.conf $LF_SOURCE_GEN_DIRECTORY/
 cp $LF_SRC_DIRECTORY/$SCRIPT_DIR/Kconfig $LF_SOURCE_GEN_DIRECTORY/
+mkdir $LF_SOURCE_GEN_DIRECTORY/boards
+cp $LF_SRC_DIRECTORY/$SCRIPT_DIR/*.overlay $LF_SOURCE_GEN_DIRECTORY/boards/
+
 
 cd $LF_SOURCE_GEN_DIRECTORY
 

From 574907c7e37fd9dd507caa39e2c1f47fd37ca279 Mon Sep 17 00:00:00 2001
From: Erling Rennemo Jellum <erling.r.jellum@ntnu.no>
Date: Mon, 9 Jan 2023 00:08:54 -0800
Subject: [PATCH 09/63] Bump reactor-c

---
 org.lflang/src/lib/c/reactor-c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/org.lflang/src/lib/c/reactor-c b/org.lflang/src/lib/c/reactor-c
index 6dcdf0c657..2ea444d05b 160000
--- a/org.lflang/src/lib/c/reactor-c
+++ b/org.lflang/src/lib/c/reactor-c
@@ -1 +1 @@
-Subproject commit 6dcdf0c657614a78bf0dd61451287c3846d0cd7f
+Subproject commit 2ea444d05b98b55536ba4e464a7ba3a5c2932908

From 3f8022f4dd4562f26d24e2ee03c2ff7a6aaf8013 Mon Sep 17 00:00:00 2001
From: Erling Rennemo Jellum <erling.r.jellum@ntnu.no>
Date: Mon, 9 Jan 2023 00:17:57 -0800
Subject: [PATCH 10/63] bump reactor-c

---
 org.lflang/src/lib/c/reactor-c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/org.lflang/src/lib/c/reactor-c b/org.lflang/src/lib/c/reactor-c
index 2ea444d05b..c41810b21f 160000
--- a/org.lflang/src/lib/c/reactor-c
+++ b/org.lflang/src/lib/c/reactor-c
@@ -1 +1 @@
-Subproject commit 2ea444d05b98b55536ba4e464a7ba3a5c2932908
+Subproject commit c41810b21f49ecc33fc4e81e44f7d5e36b579105

From 87c78e50fa9cee287853bcfbb5f7e42ef3e63908 Mon Sep 17 00:00:00 2001
From: Erling Rennemo Jellum <erling.r.jellum@ntnu.no>
Date: Mon, 9 Jan 2023 17:57:00 -0800
Subject: [PATCH 11/63] Blinky works on nrf52

---
 org.lflang/src/lib/c/reactor-c     | 2 +-
 test/C/src/zephyr/scripts/prj.conf | 4 +---
 2 files changed, 2 insertions(+), 4 deletions(-)

diff --git a/org.lflang/src/lib/c/reactor-c b/org.lflang/src/lib/c/reactor-c
index c41810b21f..c7dfe42075 160000
--- a/org.lflang/src/lib/c/reactor-c
+++ b/org.lflang/src/lib/c/reactor-c
@@ -1 +1 @@
-Subproject commit c41810b21f49ecc33fc4e81e44f7d5e36b579105
+Subproject commit c7dfe4207520018eebd68dce62893170eff42761
diff --git a/test/C/src/zephyr/scripts/prj.conf b/test/C/src/zephyr/scripts/prj.conf
index 383044f32b..cdddfd7555 100644
--- a/test/C/src/zephyr/scripts/prj.conf
+++ b/test/C/src/zephyr/scripts/prj.conf
@@ -2,10 +2,8 @@
 CONFIG_PRINTK=y
 # Set the memory pool sufficently large.
 CONFIG_HEAP_MEM_POOL_SIZE=2048
-# We use NEWLIB to get access to `atexit`
 CONFIG_NEWLIB_LIBC=y
-# Enable FP printing
-CONFIG_CBPRINTF_FP_SUPPORT=y
+CONFIG_NEWLIB_LIBC_FLOAT_PRINTF=y
 # Enable counters (used as HW clock)
 CONFIG_COUNTER=y
 # Have counter use the HW timer as basis

From 06e538d009884d9d7db10642b5cb4cc54cdfe692 Mon Sep 17 00:00:00 2001
From: Erling Rennemo Jellum <erling.r.jellum@ntnu.no>
Date: Tue, 10 Jan 2023 12:11:44 -0800
Subject: [PATCH 12/63] Put CMakeLists.txt compile defs at top

---
 .../src/org/lflang/generator/c/CCmakeGenerator.java   | 11 ++++++-----
 1 file changed, 6 insertions(+), 5 deletions(-)

diff --git a/org.lflang/src/org/lflang/generator/c/CCmakeGenerator.java b/org.lflang/src/org/lflang/generator/c/CCmakeGenerator.java
index 7de898f1cf..af9ea82609 100644
--- a/org.lflang/src/org/lflang/generator/c/CCmakeGenerator.java
+++ b/org.lflang/src/org/lflang/generator/c/CCmakeGenerator.java
@@ -183,6 +183,12 @@ CodeBuilder generateCMakeCode(
         if (targetConfig.platformOptions.platform != Platform.AUTO) {
             cMakeCode.pr("set(CMAKE_SYSTEM_NAME "+targetConfig.platformOptions.platform.getcMakeName()+")");
         }
+        
+        cMakeCode.pr("# Target definitions\n");
+        targetConfig.compileDefinitions.forEach((key, value) -> cMakeCode.pr(
+            "add_compile_definitions("+key+"="+value+")\n"
+        ));
+        cMakeCode.newLine();
 
         if (targetConfig.platformOptions.platform == Platform.ZEPHYR) {
             cMakeCode.pr(setUpMainTargetZephyr(
@@ -247,11 +253,6 @@ CodeBuilder generateCMakeCode(
         }
         cMakeCode.newLine();
 
-        cMakeCode.pr("# Target definitions\n");
-        targetConfig.compileDefinitions.forEach((key, value) -> cMakeCode.pr(
-            "target_compile_definitions(${LF_MAIN_TARGET} PUBLIC "+key+"="+value+")\n"
-        ));
-        cMakeCode.newLine();
 
         if (CppMode) cMakeCode.pr("enable_language(CXX)");
 

From 2c9807133798ee4a60bc1721452804e8ead26fc0 Mon Sep 17 00:00:00 2001
From: Erling Rennemo Jellum <erling.r.jellum@sentisystems.com>
Date: Tue, 10 Jan 2023 13:52:03 -0800
Subject: [PATCH 13/63] Add test category for Zephyr

---
 org.lflang.tests/src/org/lflang/tests/TestBase.java      | 1 +
 org.lflang.tests/src/org/lflang/tests/TestRegistry.java  | 3 ++-
 org.lflang.tests/src/org/lflang/tests/runtime/CTest.java | 9 +++++++++
 3 files changed, 12 insertions(+), 1 deletion(-)

diff --git a/org.lflang.tests/src/org/lflang/tests/TestBase.java b/org.lflang.tests/src/org/lflang/tests/TestBase.java
index 942c5c531a..c8e6fde461 100644
--- a/org.lflang.tests/src/org/lflang/tests/TestBase.java
+++ b/org.lflang.tests/src/org/lflang/tests/TestBase.java
@@ -151,6 +151,7 @@ public static class Message {
         public static final String DESC_CONCURRENT = "Run concurrent tests.";
         public static final String DESC_TARGET_SPECIFIC = "Run target-specific tests";
         public static final String DESC_ARDUINO = "Running Arduino tests.";
+        public static final String DESC_ZEPHYR = "Running Zephyr tests.";
         public static final String DESC_AS_CCPP = "Running C tests as CCpp.";
         public static final String DESC_SINGLE_THREADED = "Run non-concurrent and non-federated tests with threading = off.";
         public static final String DESC_SCHED_SWAPPING = "Running with non-default runtime scheduler ";
diff --git a/org.lflang.tests/src/org/lflang/tests/TestRegistry.java b/org.lflang.tests/src/org/lflang/tests/TestRegistry.java
index 60172bf5bf..1ad69103af 100644
--- a/org.lflang.tests/src/org/lflang/tests/TestRegistry.java
+++ b/org.lflang.tests/src/org/lflang/tests/TestRegistry.java
@@ -148,8 +148,9 @@ public enum TestCategory {
         DOCKER_FEDERATED(true, "docker" + File.separator + "federated"),
         SERIALIZATION(false),
         ARDUINO(false, TestLevel.BUILD),
+        ZEPHYR(false, TestLevel.BUILD),
         TARGET(false);
-        
+
         /**
          * Whether or not we should compare coverage against other targets.
          */
diff --git a/org.lflang.tests/src/org/lflang/tests/runtime/CTest.java b/org.lflang.tests/src/org/lflang/tests/runtime/CTest.java
index 1e0eee6f2f..838b04f350 100644
--- a/org.lflang.tests/src/org/lflang/tests/runtime/CTest.java
+++ b/org.lflang.tests/src/org/lflang/tests/runtime/CTest.java
@@ -100,6 +100,15 @@ public void runWithThreadingOff() {
         super.runWithThreadingOff();
     }
 
+
+    @Test
+    public void runZephyrTests() {
+        Assumptions.assumeTrue(isLinux(), "Zephyr tests only run on Linux");
+        super.runTestsFor(List.of(Target.C),
+            Message.DESC_ZEPHYR,
+            TestCategory.ZEPHYR::equals, Configurators::disableThreading,
+            false);
+    }
     @Test
     @Disabled("TODO only 27/96 tests pass")
     @Override

From 5a7ac1fc577b237372605bcae82f83bc57620c3e Mon Sep 17 00:00:00 2001
From: Erling Rennemo Jellum <erling.r.jellum@ntnu.no>
Date: Tue, 10 Jan 2023 15:33:04 -0800
Subject: [PATCH 14/63] Update zephyr cmake and add conf files

---
 org.lflang/src/lib/c/reactor-c                |  2 +-
 .../src/lib/platform/zephyr}/Kconfig          |  0
 .../lib/platform/zephyr/boards}/esp32.overlay |  0
 .../zephyr/boards/nrf52dk_nrf52832_lf.conf    |  1 +
 .../src/lib/platform/zephyr/prj_lf.conf       | 14 +++++++++++++
 .../lflang/generator/c/CCmakeGenerator.java   |  1 +
 .../org/lflang/generator/c/CGenerator.java    | 21 +++++++++++++++++++
 test/C/src/zephyr/scripts/prj.conf            | 13 ------------
 test/C/src/zephyr/scripts/zephyr_build.sh     | 15 -------------
 9 files changed, 38 insertions(+), 29 deletions(-)
 rename {test/C/src/zephyr/scripts => org.lflang/src/lib/platform/zephyr}/Kconfig (100%)
 rename {test/C/src/zephyr/scripts => org.lflang/src/lib/platform/zephyr/boards}/esp32.overlay (100%)
 create mode 100644 org.lflang/src/lib/platform/zephyr/boards/nrf52dk_nrf52832_lf.conf
 create mode 100644 org.lflang/src/lib/platform/zephyr/prj_lf.conf
 delete mode 100644 test/C/src/zephyr/scripts/prj.conf

diff --git a/org.lflang/src/lib/c/reactor-c b/org.lflang/src/lib/c/reactor-c
index c7dfe42075..b1200a6425 160000
--- a/org.lflang/src/lib/c/reactor-c
+++ b/org.lflang/src/lib/c/reactor-c
@@ -1 +1 @@
-Subproject commit c7dfe4207520018eebd68dce62893170eff42761
+Subproject commit b1200a6425d8bdf04de6e12009d980cfafaf9227
diff --git a/test/C/src/zephyr/scripts/Kconfig b/org.lflang/src/lib/platform/zephyr/Kconfig
similarity index 100%
rename from test/C/src/zephyr/scripts/Kconfig
rename to org.lflang/src/lib/platform/zephyr/Kconfig
diff --git a/test/C/src/zephyr/scripts/esp32.overlay b/org.lflang/src/lib/platform/zephyr/boards/esp32.overlay
similarity index 100%
rename from test/C/src/zephyr/scripts/esp32.overlay
rename to org.lflang/src/lib/platform/zephyr/boards/esp32.overlay
diff --git a/org.lflang/src/lib/platform/zephyr/boards/nrf52dk_nrf52832_lf.conf b/org.lflang/src/lib/platform/zephyr/boards/nrf52dk_nrf52832_lf.conf
new file mode 100644
index 0000000000..8bc7cfdbc5
--- /dev/null
+++ b/org.lflang/src/lib/platform/zephyr/boards/nrf52dk_nrf52832_lf.conf
@@ -0,0 +1 @@
+CONFIG_COUNTER_TIMER1=y
diff --git a/org.lflang/src/lib/platform/zephyr/prj_lf.conf b/org.lflang/src/lib/platform/zephyr/prj_lf.conf
new file mode 100644
index 0000000000..88613edc08
--- /dev/null
+++ b/org.lflang/src/lib/platform/zephyr/prj_lf.conf
@@ -0,0 +1,14 @@
+# Lingua Franca Zephyr configuration file
+
+# This is a generated file, do not edit.
+# To supply additional configuration parameters add an additional
+# configuration file to the build with
+# west build -b qemu_cortex_m3 -- -DOVERLAY_CONFIG=my_conf.prj
+
+# Enable printf
+CONFIG_PRINTK=y
+# Use the newlib C library
+CONFIG_NEWLIB_LIBC=y
+CONFIG_NEWLIB_LIBC_FLOAT_PRINTF=y
+# Enable the counter API used for hi-res clock
+CONFIG_COUNTER=y
diff --git a/org.lflang/src/org/lflang/generator/c/CCmakeGenerator.java b/org.lflang/src/org/lflang/generator/c/CCmakeGenerator.java
index af9ea82609..87b1b35670 100644
--- a/org.lflang/src/org/lflang/generator/c/CCmakeGenerator.java
+++ b/org.lflang/src/org/lflang/generator/c/CCmakeGenerator.java
@@ -120,6 +120,7 @@ CodeBuilder generateCMakeCode(
         cMakeCode.pr("cmake_minimum_required(VERSION " + MIN_CMAKE_VERSION + ")");
         
         if (targetConfig.platformOptions.platform == Platform.ZEPHYR) {
+            cMakeCode.pr("set(CONF_FILE prj_lf.conf)");
             cMakeCode.pr("find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})");
             cMakeCode.newLine();
         }
diff --git a/org.lflang/src/org/lflang/generator/c/CGenerator.java b/org.lflang/src/org/lflang/generator/c/CGenerator.java
index e3b864b99f..81fc0b384b 100644
--- a/org.lflang/src/org/lflang/generator/c/CGenerator.java
+++ b/org.lflang/src/org/lflang/generator/c/CGenerator.java
@@ -596,6 +596,27 @@ public void doGenerate(Resource resource, LFGeneratorContext context) {
                         fileConfig.getSrcGenPath().resolve("toolchain/BoardOptions.cmake"));
                 }
 
+                // If Zephyr target then copy default config and board files 
+                //  for Zephyr support
+                if (targetConfig.platformOptions.platform == Platform.ZEPHYR) {
+                    FileUtil.copyDirectoryFromClassPath(
+                        "/lib/platform/zephyr/boards",
+                        fileConfig.getSrcGenPath().resolve("boards"),
+                        false
+                    );
+                    FileUtil.copyFileFromClassPath(
+                        "/lib/platform/zephyr/prj_lf.conf",
+                        fileConfig.getSrcGenPath().resolve("prj_lf.conf"),
+                        true
+                    );
+
+                    FileUtil.copyFileFromClassPath(
+                        "/lib/platform/zephyr/Kconfig",
+                        fileConfig.getSrcGenPath().resolve("Kconfig"),
+                        true
+                    );
+                }
+
                 // Write the generated code
                 code.writeToFile(targetFile);
             } catch (IOException e) {
diff --git a/test/C/src/zephyr/scripts/prj.conf b/test/C/src/zephyr/scripts/prj.conf
deleted file mode 100644
index cdddfd7555..0000000000
--- a/test/C/src/zephyr/scripts/prj.conf
+++ /dev/null
@@ -1,13 +0,0 @@
-# Enable printk
-CONFIG_PRINTK=y
-# Set the memory pool sufficently large.
-CONFIG_HEAP_MEM_POOL_SIZE=2048
-CONFIG_NEWLIB_LIBC=y
-CONFIG_NEWLIB_LIBC_FLOAT_PRINTF=y
-# Enable counters (used as HW clock)
-CONFIG_COUNTER=y
-# Have counter use the HW timer as basis
-# FIXME: Use overlays etc to support all sorts of boards. I think this will only work in NRF boards.
-CONFIG_COUNTER_TIMER1=y
-# Set main stack size big enough
-CONFIG_MAIN_STACK_SIZE=2048
diff --git a/test/C/src/zephyr/scripts/zephyr_build.sh b/test/C/src/zephyr/scripts/zephyr_build.sh
index 600c97dc18..0255417c07 100644
--- a/test/C/src/zephyr/scripts/zephyr_build.sh
+++ b/test/C/src/zephyr/scripts/zephyr_build.sh
@@ -1,7 +1,5 @@
 #!/usr/bin/bash
-
 echo "Building Zephyr application"
-echo "ZEPHYR_BASE=${ZEPHYR_BASE}"
 SCRIPT_DIR=$(dirname $0)
 
 
@@ -18,21 +16,8 @@ fi
 export BOARD=$1
 export LF_SRC_DIRECTORY=$(pwd)
 
-cp $LF_SRC_DIRECTORY/$SCRIPT_DIR/prj.conf $LF_SOURCE_GEN_DIRECTORY/
-cp $LF_SRC_DIRECTORY/$SCRIPT_DIR/Kconfig $LF_SOURCE_GEN_DIRECTORY/
-mkdir $LF_SOURCE_GEN_DIRECTORY/boards
-cp $LF_SRC_DIRECTORY/$SCRIPT_DIR/*.overlay $LF_SOURCE_GEN_DIRECTORY/boards/
-
-
 cd $LF_SOURCE_GEN_DIRECTORY
 
-# Parse additional compile defs
-COMPILE_DEFS=""
-while IFS= read -r line; do
-  COMPILE_DEFS="${COMPILE_DEFS} -D$line"
-done < CompileDefinitions.txt
-echo "Passing compile defs: $COMPILE_DEFS to cmake"
-
 # Build project
 west build -b $BOARD -- $COMPILE_DEFS
 

From bfdfd8537ebdb79c08faf85796862cf309451075 Mon Sep 17 00:00:00 2001
From: Erling Rennemo Jellum <erling.r.jellum@sentisystems.com>
Date: Tue, 10 Jan 2023 16:04:06 -0800
Subject: [PATCH 15/63] Add board and flash targer properties to build and
 support cmake native building of Zephyr

---
 org.lflang/src/org/lflang/TargetConfig.java    |  4 +++-
 org.lflang/src/org/lflang/TargetProperty.java  | 18 +++++++-----------
 .../lflang/generator/c/CCmakeGenerator.java    | 12 +++++++++++-
 .../src/org/lflang/generator/c/CGenerator.java |  2 +-
 4 files changed, 22 insertions(+), 14 deletions(-)

diff --git a/org.lflang/src/org/lflang/TargetConfig.java b/org.lflang/src/org/lflang/TargetConfig.java
index b16dfadd19..b2ce5ce4a5 100644
--- a/org.lflang/src/org/lflang/TargetConfig.java
+++ b/org.lflang/src/org/lflang/TargetConfig.java
@@ -418,12 +418,14 @@ public static class PlatformOptions {
         /**
          * The base board we target when building LF on Arduino/Embedded Boards. For OS development and generic embedded systems, this value is unused.
          */
-        public Board board = Board.UNO;
+        public String board = null;
 
         /**
          * The baud rate used as a parameter to certain embedded platforms. 9600 is a standard rate amongst systems like Arduino, so it's the default value.
          */
         public int baudRate = 9600;
+
+        public boolean flash = false;
     }   
 
     /**
diff --git a/org.lflang/src/org/lflang/TargetProperty.java b/org.lflang/src/org/lflang/TargetProperty.java
index 53736c31be..8ee4494f16 100644
--- a/org.lflang/src/org/lflang/TargetProperty.java
+++ b/org.lflang/src/org/lflang/TargetProperty.java
@@ -327,15 +327,10 @@ public enum TargetProperty {
                                 config.platformOptions.baudRate = ASTUtils.toInteger(entry.getValue());
                                 break;
                             case BOARD:
-                                Board b = (Board) UnionType.BOARD_UNION
-                                    .forName(ASTUtils.elementToSingleString(entry.getValue()));
-                                if(b == null){
-                                    String s = "Unidentified Board Type, LF supports the following board types: " + Arrays.asList(Board.values()).toString();
-                                    err.reportError(s);
-                                    throw new AssertionError(s);
-                                }
-
-                                config.platformOptions.board = b;
+                                config.platformOptions.board = ASTUtils.elementToSingleString(entry.getValue());
+                                break;
+                            case FLASH:
+                                config.platformOptions.flash = ASTUtils.toBoolean(entry.getValue())    ;
                                 break;
                             default:
                                 break;
@@ -1327,8 +1322,9 @@ public TargetPropertyType getType() {
     public enum PlatformOption implements DictionaryElement {
         NAME("name", PrimitiveType.STRING),
         BAUDRATE("baud-rate", PrimitiveType.NON_NEGATIVE_INTEGER),
-        BOARD("board", PrimitiveType.STRING);
-        
+        BOARD("board", PrimitiveType.STRING),
+        FLASH("flash", PrimitiveType.BOOLEAN);
+
         public final PrimitiveType type;
         
         private final String description;
diff --git a/org.lflang/src/org/lflang/generator/c/CCmakeGenerator.java b/org.lflang/src/org/lflang/generator/c/CCmakeGenerator.java
index 87b1b35670..29cbb2ede4 100644
--- a/org.lflang/src/org/lflang/generator/c/CCmakeGenerator.java
+++ b/org.lflang/src/org/lflang/generator/c/CCmakeGenerator.java
@@ -120,8 +120,18 @@ CodeBuilder generateCMakeCode(
         cMakeCode.pr("cmake_minimum_required(VERSION " + MIN_CMAKE_VERSION + ")");
         
         if (targetConfig.platformOptions.platform == Platform.ZEPHYR) {
+            cMakeCode.pr("# Set default configuration file. To add custom configurations");
+            cMakeCode.pr("# Pass -- -DOVERLAY_CONFIG=my_config.prj to either cmake or west");
             cMakeCode.pr("set(CONF_FILE prj_lf.conf)");
-            cMakeCode.pr("find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})");
+            if (targetConfig.platformOptions.board != null) {
+                cMakeCode.pr("# Selecting board specified in target property");
+                cMakeCode.pr("set(BOARD "+targetConfig.platformOptions.board+")");
+            } else {
+                cMakeCode.pr("# Selecting default board");
+                cMakeCode.pr("set(BOARD qemu_cortex_m3)");
+            }
+            cMakeCode.pr("# We require Zephyr version 3.2.0");
+            cMakeCode.pr("find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE} EXACT 3.2.0)");
             cMakeCode.newLine();
         }
         
diff --git a/org.lflang/src/org/lflang/generator/c/CGenerator.java b/org.lflang/src/org/lflang/generator/c/CGenerator.java
index 81fc0b384b..57cabe55a8 100644
--- a/org.lflang/src/org/lflang/generator/c/CGenerator.java
+++ b/org.lflang/src/org/lflang/generator/c/CGenerator.java
@@ -590,7 +590,7 @@ public void doGenerate(Resource resource, LFGeneratorContext context) {
 
                     StringBuilder s = new StringBuilder();
                     s.append("set(ARDUINO_BOARD \"");
-                    s.append(targetConfig.platformOptions.board.getBoardName());
+//                    s.append(targetConfig.platformOptions.board.getBoardName());
                     s.append("\")");
                     FileUtil.writeToFile(s.toString(),
                         fileConfig.getSrcGenPath().resolve("toolchain/BoardOptions.cmake"));

From c0ed4223468a125327af96c1d96c2e2deb20cd05 Mon Sep 17 00:00:00 2001
From: Erling Rennemo Jellum <erling.r.jellum@sentisystems.com>
Date: Tue, 10 Jan 2023 16:23:56 -0800
Subject: [PATCH 16/63] Add special flash command for  qemu

---
 .../src/org/lflang/generator/c/CCompiler.java | 25 +++++++++++++++++++
 1 file changed, 25 insertions(+)

diff --git a/org.lflang/src/org/lflang/generator/c/CCompiler.java b/org.lflang/src/org/lflang/generator/c/CCompiler.java
index 02333e3704..24052150aa 100644
--- a/org.lflang/src/org/lflang/generator/c/CCompiler.java
+++ b/org.lflang/src/org/lflang/generator/c/CCompiler.java
@@ -178,6 +178,10 @@ public boolean runCCompiler(
                 System.out.println("SUCCESS: Compiling generated code for " + fileConfig.name + " finished with no errors.");
             }
 
+            if (targetConfig.platformOptions.platform == Platform.ZEPHYR && targetConfig.platformOptions.flash) {
+                LFCommand flash = buildWestFlashCommand();
+            }
+
         }
         return cMakeReturnCode == 0 && makeReturnCode == 0;
     }
@@ -275,6 +279,27 @@ public LFCommand buildCmakeCommand() {
         return command;
     }
 
+    public LFCommand buildWestFlashCommand() {
+        // Set the build directory to be "build"
+        Path buildPath = fileConfig.getSrcGenPath().resolve("build");
+        String board = targetConfig.platformOptions.board;
+        LFCommand cmd;
+        if (board == null || board.startsWith("qemu")) {
+            cmd = commandFactory.createCommand(
+                "west", List.of("build", "-t"), buildPath);
+        } else {
+            cmd = commandFactory.createCommand(
+                "west", List.of("flash"), buildPath);
+        }
+        if (cmd == null) {
+            errorReporter.reportError(
+                "Could not create west flash command."
+            );
+        }
+
+        return cmd;
+    }
+
     /**
      * Check if the output produced by CMake has any known and common errors.
      * If a known error is detected, a specialized, more informative message

From a252135659fb05239a026bbff19ddb84ae57e145 Mon Sep 17 00:00:00 2001
From: Erling Rennemo Jellum <erling.r.jellum@sentisystems.com>
Date: Tue, 10 Jan 2023 16:34:06 -0800
Subject: [PATCH 17/63] Fix west flash command

---
 org.lflang/src/org/lflang/generator/c/CCompiler.java | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/org.lflang/src/org/lflang/generator/c/CCompiler.java b/org.lflang/src/org/lflang/generator/c/CCompiler.java
index 24052150aa..2f6e8cf342 100644
--- a/org.lflang/src/org/lflang/generator/c/CCompiler.java
+++ b/org.lflang/src/org/lflang/generator/c/CCompiler.java
@@ -179,7 +179,14 @@ public boolean runCCompiler(
             }
 
             if (targetConfig.platformOptions.platform == Platform.ZEPHYR && targetConfig.platformOptions.flash) {
+                System.out.println("Invoking flash command for Zephyr");
                 LFCommand flash = buildWestFlashCommand();
+                int flashRet = flash.run();
+                if (flashRet != 0) {
+                    errorReporter.reportError("West flash command failed with error code " + flashRet);
+                } else {
+                    System.out.println("SUCCESS: Flash application with west");
+                }
             }
 
         }

From 32bd83446481e92ba47dc7e6b86bb56d7c6690ed Mon Sep 17 00:00:00 2001
From: Erling Rennemo Jellum <erling.r.jellum@ntnu.no>
Date: Tue, 10 Jan 2023 16:47:50 -0800
Subject: [PATCH 18/63] Fix flash command

---
 .../src/org/lflang/generator/c/CCompiler.java |  8 ++++-
 test/C/src/zephyr/Blinky2.lf                  | 14 ++++++++
 test/C/src/zephyr/HelloZephyr.lf              |  9 +++--
 test/C/src/zephyr/Timer.lf                    | 12 +++++++
 test/C/src/zephyr/lib/Led.lf                  | 33 +++++++++++++++++++
 5 files changed, 72 insertions(+), 4 deletions(-)
 create mode 100644 test/C/src/zephyr/Blinky2.lf
 create mode 100644 test/C/src/zephyr/Timer.lf
 create mode 100644 test/C/src/zephyr/lib/Led.lf

diff --git a/org.lflang/src/org/lflang/generator/c/CCompiler.java b/org.lflang/src/org/lflang/generator/c/CCompiler.java
index 2f6e8cf342..59689ac110 100644
--- a/org.lflang/src/org/lflang/generator/c/CCompiler.java
+++ b/org.lflang/src/org/lflang/generator/c/CCompiler.java
@@ -286,6 +286,12 @@ public LFCommand buildCmakeCommand() {
         return command;
     }
 
+    /**
+     * Return a flash/emulate command using west.
+     * If board is null (defaults to qemu_cortex_m3) or qemu_*
+     * Return a flash command which runs the target as an emulation
+     * If ordinary target, return `west flash`
+     */
     public LFCommand buildWestFlashCommand() {
         // Set the build directory to be "build"
         Path buildPath = fileConfig.getSrcGenPath().resolve("build");
@@ -293,7 +299,7 @@ public LFCommand buildWestFlashCommand() {
         LFCommand cmd;
         if (board == null || board.startsWith("qemu")) {
             cmd = commandFactory.createCommand(
-                "west", List.of("build", "-t"), buildPath);
+                "west", List.of("build", "-t", "run"), buildPath);
         } else {
             cmd = commandFactory.createCommand(
                 "west", List.of("flash"), buildPath);
diff --git a/test/C/src/zephyr/Blinky2.lf b/test/C/src/zephyr/Blinky2.lf
new file mode 100644
index 0000000000..5a28caa464
--- /dev/null
+++ b/test/C/src/zephyr/Blinky2.lf
@@ -0,0 +1,14 @@
+target C {
+    platform: {
+        name: "Zephyr",
+        board: nrf52dk_nrf52832,
+        flash: true,
+    },
+    threading: false,
+}
+
+import NrfLeds from "lib/Led.lf"
+
+main reactor {
+    led0 = new NrfLeds()
+}
\ No newline at end of file
diff --git a/test/C/src/zephyr/HelloZephyr.lf b/test/C/src/zephyr/HelloZephyr.lf
index 6274c4c174..7c765aa7a6 100644
--- a/test/C/src/zephyr/HelloZephyr.lf
+++ b/test/C/src/zephyr/HelloZephyr.lf
@@ -1,8 +1,11 @@
 target C {
-    platform: "Zephyr",
-    build: "bash scripts/zephyr_build.sh qemu_cortex_m3 flash",
     threading: false,
-}
+    platform: {
+        name: Zephyr,
+        board: nrf52dk_nrf52832,
+        flash: true,
+    },
+} 
 
 main reactor {
     reaction(startup) {=
diff --git a/test/C/src/zephyr/Timer.lf b/test/C/src/zephyr/Timer.lf
new file mode 100644
index 0000000000..ab40abd40d
--- /dev/null
+++ b/test/C/src/zephyr/Timer.lf
@@ -0,0 +1,12 @@
+
+target C {
+    platform: "Zephyr",
+    threading: false,
+}
+
+main reactor {
+    timer t(0, 1 sec)
+    reaction(t) {=
+        printf("Hello\n");
+    =}
+}
\ No newline at end of file
diff --git a/test/C/src/zephyr/lib/Led.lf b/test/C/src/zephyr/lib/Led.lf
new file mode 100644
index 0000000000..53293362c9
--- /dev/null
+++ b/test/C/src/zephyr/lib/Led.lf
@@ -0,0 +1,33 @@
+target C;
+    
+
+reactor NrfLeds {
+    preamble {=
+        #include <zephyr/kernel.h>
+        #include <zephyr/drivers/gpio.h>
+        #define LED0_NODE DT_ALIAS(led0)
+        #define LED1_NODE DT_ALIAS(led1)
+        #define LED2_NODE DT_ALIAS(led2)
+        #define LED3_NODE DT_ALIAS(led3)
+        static const struct gpio_dt_spec led0 = GPIO_DT_SPEC_GET(LED0_NODE, gpios);
+        static const struct gpio_dt_spec led1 = GPIO_DT_SPEC_GET(LED1_NODE, gpios);
+        static const struct gpio_dt_spec led2 = GPIO_DT_SPEC_GET(LED2_NODE, gpios);
+        static const struct gpio_dt_spec led3 = GPIO_DT_SPEC_GET(LED3_NODE, gpios);
+    =}
+    timer t(0, 100 msec)
+
+    reaction(startup) {=
+        gpio_pin_configure_dt(&led0, GPIO_OUTPUT_ACTIVE);
+        gpio_pin_configure_dt(&led1, GPIO_OUTPUT_ACTIVE);
+        gpio_pin_configure_dt(&led2, GPIO_OUTPUT_ACTIVE);
+        gpio_pin_configure_dt(&led3, GPIO_OUTPUT_ACTIVE);
+    =}
+
+    reaction(t) {=
+        printf("Hello\n");
+        gpio_pin_toggle_dt(&led0);
+        gpio_pin_toggle_dt(&led1);
+        gpio_pin_toggle_dt(&led2);
+        gpio_pin_toggle_dt(&led3);
+    =}
+}

From c5c0d582c2628f3301458393e39c9398528aa9ec Mon Sep 17 00:00:00 2001
From: Erling Rennemo Jellum <erling.r.jellum@sentisystems.com>
Date: Tue, 10 Jan 2023 16:56:04 -0800
Subject: [PATCH 19/63] Make Zephyr tests

---
 .../src/org/lflang/tests/Configurators.java          | 12 ++++++++++++
 .../src/org/lflang/tests/runtime/CTest.java          |  2 +-
 org.lflang/src/org/lflang/generator/c/CCompiler.java |  2 +-
 3 files changed, 14 insertions(+), 2 deletions(-)

diff --git a/org.lflang.tests/src/org/lflang/tests/Configurators.java b/org.lflang.tests/src/org/lflang/tests/Configurators.java
index e73150c669..5ad3c8e156 100644
--- a/org.lflang.tests/src/org/lflang/tests/Configurators.java
+++ b/org.lflang.tests/src/org/lflang/tests/Configurators.java
@@ -62,6 +62,18 @@ public static boolean disableThreading(LFTest test) {
         return true;
     }
 
+
+    public static boolean makeZephyrCompatible(LFTest test) {
+        test.getContext().getArgs().setProperty("threading", "false");
+        test.getContext().getArgs().setProperty("platform.name", "Zephyr");
+        test.getContext().getArgs().setProperty("platform.board", "qemu_cortex_m3");
+        // TODO: In the future we want to execute to the test with QEMU
+        //  but it requires parsing QEMU output until either:
+        //  1) A timeout
+        //  2) "exit" is printed to stdout. Then look if there is a FATAL ERROR printed somewhere
+        test.getContext().getArgs().setProperty("platform.flash", "false");
+        return true;
+    }
     /**
      * Make no changes to the configuration.
      *
diff --git a/org.lflang.tests/src/org/lflang/tests/runtime/CTest.java b/org.lflang.tests/src/org/lflang/tests/runtime/CTest.java
index 838b04f350..8817c87a63 100644
--- a/org.lflang.tests/src/org/lflang/tests/runtime/CTest.java
+++ b/org.lflang.tests/src/org/lflang/tests/runtime/CTest.java
@@ -106,7 +106,7 @@ public void runZephyrTests() {
         Assumptions.assumeTrue(isLinux(), "Zephyr tests only run on Linux");
         super.runTestsFor(List.of(Target.C),
             Message.DESC_ZEPHYR,
-            TestCategory.ZEPHYR::equals, Configurators::disableThreading,
+            TestCategory.ZEPHYR::equals, Configurators::makeZephyrCompatible,
             false);
     }
     @Test
diff --git a/org.lflang/src/org/lflang/generator/c/CCompiler.java b/org.lflang/src/org/lflang/generator/c/CCompiler.java
index 59689ac110..ac0ccce2c2 100644
--- a/org.lflang/src/org/lflang/generator/c/CCompiler.java
+++ b/org.lflang/src/org/lflang/generator/c/CCompiler.java
@@ -185,7 +185,7 @@ public boolean runCCompiler(
                 if (flashRet != 0) {
                     errorReporter.reportError("West flash command failed with error code " + flashRet);
                 } else {
-                    System.out.println("SUCCESS: Flash application with west");
+                    System.out.println("SUCCESS: Flashed application with west");
                 }
             }
 

From 844ca145a1ffb19508cb873e8b43ae72715d9451 Mon Sep 17 00:00:00 2001
From: Erling Rennemo Jellum <erling.r.jellum@ntnu.no>
Date: Tue, 10 Jan 2023 17:35:10 -0800
Subject: [PATCH 20/63] Add a separate CI flow for Zephyr

---
 .github/workflows/c-zephyr-tests.yml          | 47 ++++++++++++++
 .github/workflows/ci.yml                      |  5 ++
 .../src/org/lflang/tests/runtime/CTest.java   |  8 ---
 .../org/lflang/tests/runtime/CZephyrTest.java | 65 +++++++++++++++++++
 4 files changed, 117 insertions(+), 8 deletions(-)
 create mode 100644 .github/workflows/c-zephyr-tests.yml
 create mode 100644 org.lflang.tests/src/org/lflang/tests/runtime/CZephyrTest.java

diff --git a/.github/workflows/c-zephyr-tests.yml b/.github/workflows/c-zephyr-tests.yml
new file mode 100644
index 0000000000..3e82f68d85
--- /dev/null
+++ b/.github/workflows/c-zephyr-tests.yml
@@ -0,0 +1,47 @@
+name: C Zephyr tests
+
+on:
+  workflow_call:
+    inputs:
+      compiler-ref:
+        required: false
+        type: string
+      runtime-ref:
+        required: false
+        type: string
+      use-cpp:
+        required: false
+        type: boolean
+        default: false
+      scheduler:
+        required: false
+        type: string
+
+jobs:
+  run:
+    runs-on: ubuntu-latest
+    # FIXME: Can we specify the Zephyr version? We are currently hardcoding a 
+    #   requirement on exactly v3.2.0
+    container: zephyrprojectrtos/ci:latest
+    env:
+      CMAKE_PREFIX_PATH: /opt/toolchains
+    steps:
+      - name: Check out lingua-franca repository
+        uses: actions/checkout@v3
+        with:
+          repository: lf-lang/lingua-franca
+          submodules: true
+          ref: ${{ inputs.compiler-ref }}
+          fetch-depth: 0
+      - name: Prepare build environment
+        uses: ./.github/actions/prepare-build-env
+      - name: Check out specific ref of reactor-c
+        uses: actions/checkout@v3
+        with:
+          repository: lf-lang/reactor-c
+          path: org.lflang/src/lib/c/reactor-c
+          ref: ${{ inputs.runtime-ref }}
+        if: ${{ inputs.runtime-ref }}
+      - name: Perform Zephyr tests for C target with default scheduler
+        run: |
+          ./gradlew test --tests org.lflang.tests.runtime.CZephyrTests.*
\ No newline at end of file
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 094cb0f1db..c2c15f8b4a 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -62,6 +62,11 @@ jobs:
   c-tests:
     uses: lf-lang/lingua-franca/.github/workflows/c-tests.yml@master
     needs: cancel
+  
+  # Run the C Zephyr integration tests.
+  c-tests:
+    uses: lf-lang/lingua-franca/.github/workflows/c-zephyr-tests.yml@master
+    needs: cancel
 
   # Run the CCpp integration tests.
   ccpp-tests:
diff --git a/org.lflang.tests/src/org/lflang/tests/runtime/CTest.java b/org.lflang.tests/src/org/lflang/tests/runtime/CTest.java
index 8817c87a63..52ed73fb00 100644
--- a/org.lflang.tests/src/org/lflang/tests/runtime/CTest.java
+++ b/org.lflang.tests/src/org/lflang/tests/runtime/CTest.java
@@ -101,14 +101,6 @@ public void runWithThreadingOff() {
     }
 
 
-    @Test
-    public void runZephyrTests() {
-        Assumptions.assumeTrue(isLinux(), "Zephyr tests only run on Linux");
-        super.runTestsFor(List.of(Target.C),
-            Message.DESC_ZEPHYR,
-            TestCategory.ZEPHYR::equals, Configurators::makeZephyrCompatible,
-            false);
-    }
     @Test
     @Disabled("TODO only 27/96 tests pass")
     @Override
diff --git a/org.lflang.tests/src/org/lflang/tests/runtime/CZephyrTest.java b/org.lflang.tests/src/org/lflang/tests/runtime/CZephyrTest.java
new file mode 100644
index 0000000000..68e84d58f6
--- /dev/null
+++ b/org.lflang.tests/src/org/lflang/tests/runtime/CZephyrTest.java
@@ -0,0 +1,65 @@
+/*************
+Copyright (c) 2023, 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.
+***************/
+package org.lflang.tests.runtime;
+
+import java.util.List;
+
+import org.junit.jupiter.api.Assumptions;
+import org.junit.jupiter.api.Disabled;
+import org.junit.jupiter.api.Test;
+
+import org.lflang.Target;
+import org.lflang.tests.Configurators;
+import org.lflang.tests.RuntimeTest;
+import org.lflang.tests.TestRegistry.TestCategory;
+
+/**
+ * Collection of Zephyr tests for the C target.
+ *
+ * @author Erling Rennemo Jellum <erling.r.jellum@ntnu.no>
+ */
+public class CZephyrTest extends RuntimeTest {
+
+    public CZephyrTest() {
+        super(Target.C);
+    }
+
+    @Test
+    public void runZephyrTests() {
+        Assumptions.assumeTrue(isLinux(), "Zephyr tests only run on Linux");
+        super.runTestsFor(List.of(Target.C),
+            Message.DESC_ZEPHYR,
+            TestCategory.ZEPHYR::equals, Configurators::makeZephyrCompatible,
+            false);
+    }
+    @Test
+    public void runGenericTests() {
+        Assumptions.assumeTrue(isLinux(), "Zephyr tests only run on Linux");
+        super.runTestsFor(List.of(Target.C),
+            Message.DESC_GENERIC,
+            TestCategory.GENERIC::equals, Configurators::makeZephyrCompatible,
+            false);
+    }
+}

From cfcf8ed5e0e4c8949e32b078200b7a535916414e Mon Sep 17 00:00:00 2001
From: Erling Rennemo Jellum <erling.r.jellum@ntnu.no>
Date: Tue, 10 Jan 2023 17:39:49 -0800
Subject: [PATCH 21/63] Fix CI

---
 .github/workflows/ci.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index c2c15f8b4a..9e888af960 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -64,7 +64,7 @@ jobs:
     needs: cancel
   
   # Run the C Zephyr integration tests.
-  c-tests:
+  c-zephyr-tests:
     uses: lf-lang/lingua-franca/.github/workflows/c-zephyr-tests.yml@master
     needs: cancel
 

From b79b2408fa2ca10d466a5a4ea3dabc05778f9848 Mon Sep 17 00:00:00 2001
From: Erling Rennemo Jellum <erling.r.jellum@ntnu.no>
Date: Tue, 10 Jan 2023 17:42:27 -0800
Subject: [PATCH 22/63] Try to fix CI again...

---
 .github/workflows/ci.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 9e888af960..b86d1f6f5b 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -65,7 +65,7 @@ jobs:
   
   # Run the C Zephyr integration tests.
   c-zephyr-tests:
-    uses: lf-lang/lingua-franca/.github/workflows/c-zephyr-tests.yml@master
+    uses: lf-lang/lingua-franca/.github/workflows/c-zephyr-tests.yml
     needs: cancel
 
   # Run the CCpp integration tests.

From 5f3526a3922f7fca9fd9eee615869617c8a8cc3e Mon Sep 17 00:00:00 2001
From: Erling Rennemo Jellum <erling.r.jellum@ntnu.no>
Date: Tue, 10 Jan 2023 17:45:08 -0800
Subject: [PATCH 23/63] CI

---
 .github/workflows/ci.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index b86d1f6f5b..3ab25a330c 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -65,7 +65,7 @@ jobs:
   
   # Run the C Zephyr integration tests.
   c-zephyr-tests:
-    uses: lf-lang/lingua-franca/.github/workflows/c-zephyr-tests.yml
+    uses: lf-lang/lingua-franca/.github/workflows/c-zephyr-tests.yml@c-zephyr-support
     needs: cancel
 
   # Run the CCpp integration tests.

From 9fd2de9b81260a2ccf1d84baac058fb09089090f Mon Sep 17 00:00:00 2001
From: Erling Rennemo Jellum <erling.r.jellum@ntnu.no>
Date: Tue, 10 Jan 2023 18:06:05 -0800
Subject: [PATCH 24/63] Exclude Zephyr tests from CCpp tests

---
 org.lflang.tests/src/org/lflang/tests/runtime/CCppTest.java | 1 +
 1 file changed, 1 insertion(+)

diff --git a/org.lflang.tests/src/org/lflang/tests/runtime/CCppTest.java b/org.lflang.tests/src/org/lflang/tests/runtime/CCppTest.java
index b584b7646e..98dbd1b37e 100644
--- a/org.lflang.tests/src/org/lflang/tests/runtime/CCppTest.java
+++ b/org.lflang.tests/src/org/lflang/tests/runtime/CCppTest.java
@@ -43,6 +43,7 @@ private static boolean isExcludedFromCCpp(TestCategory category) {
         boolean excluded = category == TestCategory.SERIALIZATION;
         excluded |= isWindows() && (category == TestCategory.DOCKER_FEDERATED || category == TestCategory.ARDUINO) ;
         excluded |= isMac() && (category == TestCategory.DOCKER_FEDERATED || category == TestCategory.DOCKER);
+        excluded |= category == TestCategory.ZEPHYR;
         return !excluded;
     }
 }

From 5ea849aca48005583b49012b1bcff0d51714454b Mon Sep 17 00:00:00 2001
From: Erling Rennemo Jellum <erling.r.jellum@ntnu.no>
Date: Tue, 10 Jan 2023 20:55:37 -0800
Subject: [PATCH 25/63] Fix formatting and delete unneeded stuff

---
 org.lflang/src/lib/c/reactor-c                |  2 +-
 test/C/src/zephyr/Blinky2.lf                  |  6 +--
 test/C/src/zephyr/HelloZephyr.lf              | 12 +++---
 test/C/src/zephyr/Timer.lf                    | 10 ++---
 test/C/src/zephyr/scripts/zephyr_build.sh     | 42 -------------------
 test/C/src/zephyr/scripts/zephyr_flash_nrf.sh |  9 ----
 6 files changed, 13 insertions(+), 68 deletions(-)
 delete mode 100644 test/C/src/zephyr/scripts/zephyr_build.sh
 delete mode 100644 test/C/src/zephyr/scripts/zephyr_flash_nrf.sh

diff --git a/org.lflang/src/lib/c/reactor-c b/org.lflang/src/lib/c/reactor-c
index b1200a6425..ad95c07efe 160000
--- a/org.lflang/src/lib/c/reactor-c
+++ b/org.lflang/src/lib/c/reactor-c
@@ -1 +1 @@
-Subproject commit b1200a6425d8bdf04de6e12009d980cfafaf9227
+Subproject commit ad95c07efe2fe5c68d8d597904aef6d81fb37f61
diff --git a/test/C/src/zephyr/Blinky2.lf b/test/C/src/zephyr/Blinky2.lf
index 5a28caa464..9fbaa42ebf 100644
--- a/test/C/src/zephyr/Blinky2.lf
+++ b/test/C/src/zephyr/Blinky2.lf
@@ -2,13 +2,13 @@ target C {
     platform: {
         name: "Zephyr",
         board: nrf52dk_nrf52832,
-        flash: true,
+        flash: true
     },
-    threading: false,
+    threading: false
 }
 
 import NrfLeds from "lib/Led.lf"
 
 main reactor {
     led0 = new NrfLeds()
-}
\ No newline at end of file
+}
diff --git a/test/C/src/zephyr/HelloZephyr.lf b/test/C/src/zephyr/HelloZephyr.lf
index 7c765aa7a6..0e858d02e0 100644
--- a/test/C/src/zephyr/HelloZephyr.lf
+++ b/test/C/src/zephyr/HelloZephyr.lf
@@ -3,12 +3,10 @@ target C {
     platform: {
         name: Zephyr,
         board: nrf52dk_nrf52832,
-        flash: true,
-    },
-} 
+        flash: true
+    }
+}
 
 main reactor {
-    reaction(startup) {=
-        printf("Hello World!\n");
-    =}
-}
\ No newline at end of file
+    reaction(startup) {= printf("Hello World!\n"); =}
+}
diff --git a/test/C/src/zephyr/Timer.lf b/test/C/src/zephyr/Timer.lf
index ab40abd40d..1a389d03dc 100644
--- a/test/C/src/zephyr/Timer.lf
+++ b/test/C/src/zephyr/Timer.lf
@@ -1,12 +1,10 @@
-
 target C {
     platform: "Zephyr",
-    threading: false,
+    threading: false
 }
 
 main reactor {
     timer t(0, 1 sec)
-    reaction(t) {=
-        printf("Hello\n");
-    =}
-}
\ No newline at end of file
+
+    reaction(t) {= printf("Hello\n"); =}
+}
diff --git a/test/C/src/zephyr/scripts/zephyr_build.sh b/test/C/src/zephyr/scripts/zephyr_build.sh
deleted file mode 100644
index 0255417c07..0000000000
--- a/test/C/src/zephyr/scripts/zephyr_build.sh
+++ /dev/null
@@ -1,42 +0,0 @@
-#!/usr/bin/bash
-echo "Building Zephyr application"
-SCRIPT_DIR=$(dirname $0)
-
-
-
-set -e # Return on first error
-
-# Verify command line arguments
-if [ $# -lt 1 ]; then
-    echo "ERROR: Please pass the board to zephyr_build.sh. e.g. ./zephyr_build.sh qemu_cortex_m3 flash"
-    exit 1
-fi
-
-# Set some global variables
-export BOARD=$1
-export LF_SRC_DIRECTORY=$(pwd)
-
-cd $LF_SOURCE_GEN_DIRECTORY
-
-# Build project
-west build -b $BOARD -- $COMPILE_DEFS
-
-if [[ "$2" == "flash" ]]; then
-
-if [[ "$BOARD" == "nrf"* ]]; then
-    echo "--- Flashing to NRF board"
-    # Flash application
-    bash $LF_SRC_DIRECTORY/$SCRIPT_DIR/zephyr_flash_nrf.sh .
-
-    # Debug application
-    # FIXME: Fix the issues here. Why isnt gdb working when invoked from this script?
-    # $LF_SRC_DIRECTORY/../scripts/zephyr_debug_nrf.sh
-elif [[ "$BOARD" == "qemu"* ]]; then 
-    echo "--- Executing on QEMU emulation"
-    west build -t run
-else
-    echo "Unrecognized board $BOARD" 
-    exit 1
-fi
-
-fi
\ No newline at end of file
diff --git a/test/C/src/zephyr/scripts/zephyr_flash_nrf.sh b/test/C/src/zephyr/scripts/zephyr_flash_nrf.sh
deleted file mode 100644
index 7659051d43..0000000000
--- a/test/C/src/zephyr/scripts/zephyr_flash_nrf.sh
+++ /dev/null
@@ -1,9 +0,0 @@
-# Erase and flash application onto NRF52
-# Takes the path to the build folder as an argument
-SRC_GEN_PATH=$1
-
-NRFJPROG=nrfjprog.exe
-echo "--- Executing zephyr_flash_nrf.sh"
-eval $NRFJPROG -e
-eval $NRFJPROG --program $SRC_GEN_PATH/build/zephyr/zephyr.hex --sectorerase --verify
-eval $NRFJPROG --hardreset

From 50adea8fd58c9576eeafaa24209906192899b380 Mon Sep 17 00:00:00 2001
From: erling <erling.jellum@gmail.com>
Date: Tue, 10 Jan 2023 21:06:26 -0800
Subject: [PATCH 26/63] Apply suggestions from code review

---
 .github/workflows/c-zephyr-tests.yml                           | 2 +-
 org.lflang.tests/src/org/lflang/tests/runtime/CTest.java       | 1 -
 org.lflang.tests/src/org/lflang/tests/runtime/CZephyrTest.java | 1 +
 org.lflang/src/lib/platform/zephyr/Kconfig                     | 2 +-
 org.lflang/src/org/lflang/TargetConfig.java                    | 3 +++
 org.lflang/src/org/lflang/TargetProperty.java                  | 2 +-
 6 files changed, 7 insertions(+), 4 deletions(-)

diff --git a/.github/workflows/c-zephyr-tests.yml b/.github/workflows/c-zephyr-tests.yml
index 3e82f68d85..bc8349aca7 100644
--- a/.github/workflows/c-zephyr-tests.yml
+++ b/.github/workflows/c-zephyr-tests.yml
@@ -44,4 +44,4 @@ jobs:
         if: ${{ inputs.runtime-ref }}
       - name: Perform Zephyr tests for C target with default scheduler
         run: |
-          ./gradlew test --tests org.lflang.tests.runtime.CZephyrTests.*
\ No newline at end of file
+          ./gradlew test --tests org.lflang.tests.runtime.CZephyrTests.*
diff --git a/org.lflang.tests/src/org/lflang/tests/runtime/CTest.java b/org.lflang.tests/src/org/lflang/tests/runtime/CTest.java
index fac7298008..82225471a8 100644
--- a/org.lflang.tests/src/org/lflang/tests/runtime/CTest.java
+++ b/org.lflang.tests/src/org/lflang/tests/runtime/CTest.java
@@ -100,7 +100,6 @@ public void runWithThreadingOff() {
         super.runWithThreadingOff();
     }
 
-
     @Test
     @Disabled("TODO only 27/96 tests pass")
     @Override
diff --git a/org.lflang.tests/src/org/lflang/tests/runtime/CZephyrTest.java b/org.lflang.tests/src/org/lflang/tests/runtime/CZephyrTest.java
index 68e84d58f6..8898343b43 100644
--- a/org.lflang.tests/src/org/lflang/tests/runtime/CZephyrTest.java
+++ b/org.lflang.tests/src/org/lflang/tests/runtime/CZephyrTest.java
@@ -63,3 +63,4 @@ public void runGenericTests() {
             false);
     }
 }
+
diff --git a/org.lflang/src/lib/platform/zephyr/Kconfig b/org.lflang/src/lib/platform/zephyr/Kconfig
index 0ffe175530..5ba198ca54 100644
--- a/org.lflang/src/lib/platform/zephyr/Kconfig
+++ b/org.lflang/src/lib/platform/zephyr/Kconfig
@@ -1 +1 @@
-source "Kconfig.zephyr"
\ No newline at end of file
+source "Kconfig.zephyr"
diff --git a/org.lflang/src/org/lflang/TargetConfig.java b/org.lflang/src/org/lflang/TargetConfig.java
index 46c6c6cfb3..d3566eb5b3 100644
--- a/org.lflang/src/org/lflang/TargetConfig.java
+++ b/org.lflang/src/org/lflang/TargetConfig.java
@@ -425,6 +425,9 @@ public static class PlatformOptions {
          */
         public int baudRate = 9600;
 
+/**
+ * Should LFC invoke external tools to flash the resulting binary onto the target board
+ */
         public boolean flash = false;
     }   
 
diff --git a/org.lflang/src/org/lflang/TargetProperty.java b/org.lflang/src/org/lflang/TargetProperty.java
index 3e6616f383..3099aed2cc 100644
--- a/org.lflang/src/org/lflang/TargetProperty.java
+++ b/org.lflang/src/org/lflang/TargetProperty.java
@@ -330,7 +330,7 @@ public enum TargetProperty {
                                 config.platformOptions.board = ASTUtils.elementToSingleString(entry.getValue());
                                 break;
                             case FLASH:
-                                config.platformOptions.flash = ASTUtils.toBoolean(entry.getValue())    ;
+                                config.platformOptions.flash = ASTUtils.toBoolean(entry.getValue());
                                 break;
                             default:
                                 break;

From dc41379a1b2c9048dbbab077551b84e1b3cb702e Mon Sep 17 00:00:00 2001
From: Peter Donovan <peterdonovan@berkeley.edu>
Date: Tue, 10 Jan 2023 21:54:20 -0800
Subject: [PATCH 27/63] Fix CMakeGenerator.java.

---
 .../src/org/lflang/generator/c/CCmakeGenerator.java  | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/org.lflang/src/org/lflang/generator/c/CCmakeGenerator.java b/org.lflang/src/org/lflang/generator/c/CCmakeGenerator.java
index 5dcc862e60..8ecb18e8a5 100644
--- a/org.lflang/src/org/lflang/generator/c/CCmakeGenerator.java
+++ b/org.lflang/src/org/lflang/generator/c/CCmakeGenerator.java
@@ -118,7 +118,7 @@ CodeBuilder generateCMakeCode(
         cMakeCode.newLine();
 
         cMakeCode.pr("cmake_minimum_required(VERSION " + MIN_CMAKE_VERSION + ")");
-        
+
         if (targetConfig.platformOptions.platform == Platform.ZEPHYR) {
             cMakeCode.pr("# Set default configuration file. To add custom configurations");
             cMakeCode.pr("# Pass -- -DOVERLAY_CONFIG=my_config.prj to either cmake or west");
@@ -134,10 +134,10 @@ CodeBuilder generateCMakeCode(
             cMakeCode.pr("find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE} EXACT 3.2.0)");
             cMakeCode.newLine();
         }
-        
+
         cMakeCode.pr("project("+executableName+" LANGUAGES C)");
         cMakeCode.newLine();
-        
+
         // The Test build type is the Debug type plus coverage generation
         cMakeCode.pr("if(CMAKE_BUILD_TYPE STREQUAL \"Test\")");
         cMakeCode.pr("  set(CMAKE_BUILD_TYPE \"Debug\")");
@@ -194,7 +194,7 @@ CodeBuilder generateCMakeCode(
         if (targetConfig.platformOptions.platform != Platform.AUTO) {
             cMakeCode.pr("set(CMAKE_SYSTEM_NAME "+targetConfig.platformOptions.platform.getcMakeName()+")");
         }
-        
+
         cMakeCode.pr("# Target definitions\n");
         targetConfig.compileDefinitions.forEach((key, value) -> cMakeCode.pr(
             "add_compile_definitions("+key+"="+value+")\n"
@@ -208,7 +208,7 @@ CodeBuilder generateCMakeCode(
                 Stream.concat(additionalSources.stream(), sources.stream())
             ));
         } else {
-            cMakeCode.pr(setUpMainTarget(
+            cMakeCode.pr(setUpMainTarget.getCmakeCode(
                 hasMain,
                 executableName,
                 Stream.concat(additionalSources.stream(), sources.stream())
@@ -253,7 +253,7 @@ CodeBuilder generateCMakeCode(
             cMakeCode.pr("target_compile_definitions(${LF_MAIN_TARGET} PUBLIC NUMBER_OF_WORKERS="+targetConfig.workers+")");
             cMakeCode.newLine();
         }
-        
+
         // Add additional flags so runtime can distinguish between multi-threaded and single-threaded mode
         if (targetConfig.threading) {
             cMakeCode.pr("# Set flag to indicate a multi-threaded runtime");

From 9363366f09b6c00740b85180357f804085c154a3 Mon Sep 17 00:00:00 2001
From: Erling Rennemo Jellum <erling.r.jellum@ntnu.no>
Date: Tue, 10 Jan 2023 22:45:06 -0800
Subject: [PATCH 28/63] Setup zepyrrtos  ci container with java and maven

---
 .github/workflows/c-zephyr-tests.yml | 9 +++++++++
 1 file changed, 9 insertions(+)

diff --git a/.github/workflows/c-zephyr-tests.yml b/.github/workflows/c-zephyr-tests.yml
index bc8349aca7..ccca8d9ac4 100644
--- a/.github/workflows/c-zephyr-tests.yml
+++ b/.github/workflows/c-zephyr-tests.yml
@@ -33,6 +33,15 @@ jobs:
           submodules: true
           ref: ${{ inputs.compiler-ref }}
           fetch-depth: 0
+      - name: Install java and others
+        run : |
+        apt update
+        wget https://download.oracle.com/java/17/archive/jdk-17.0.5_linux-x64_bin.tar.gz
+        tar xvzf jdk-17.0.5_linux-x64_bin.tar.gz -C /opt
+        export JAVA_HOME=/opt/jdk-17.0.5
+        export PATH=$PATH:$JAVA_HOME/bin
+        apt install maven -y
+
       - name: Prepare build environment
         uses: ./.github/actions/prepare-build-env
       - name: Check out specific ref of reactor-c

From 100caf661623292cf21d9ce25db3bd4572d556ed Mon Sep 17 00:00:00 2001
From: Erling Rennemo Jellum <erling.r.jellum@sentisystems.com>
Date: Tue, 10 Jan 2023 22:57:55 -0800
Subject: [PATCH 29/63] Dont run Zephyr tests with runWithThreadingOff

---
 org.lflang.tests/src/org/lflang/tests/Configurators.java | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/org.lflang.tests/src/org/lflang/tests/Configurators.java b/org.lflang.tests/src/org/lflang/tests/Configurators.java
index 97e328d23d..c13f072c77 100644
--- a/org.lflang.tests/src/org/lflang/tests/Configurators.java
+++ b/org.lflang.tests/src/org/lflang/tests/Configurators.java
@@ -95,7 +95,8 @@ public static boolean compatibleWithThreadingOff(TestCategory category) {
             || category == TestCategory.SERIALIZATION
             || category == TestCategory.FEDERATED
             || category == TestCategory.DOCKER_FEDERATED
-            || category == TestCategory.DOCKER;
+            || category == TestCategory.DOCKER
+            || category == TestCategory.ZEPHYR;
 
         // SERIALIZATION, TARGET, and ARDUINO tests are excluded on Windows.
         excluded |= TestBase.isWindows() && (category == TestCategory.TARGET || category == TestCategory.ARDUINO);

From a84b7e2afaef73252b15d01af35681c595c0a488 Mon Sep 17 00:00:00 2001
From: Erling Rennemo Jellum <erling.r.jellum@ntnu.no>
Date: Tue, 10 Jan 2023 22:58:36 -0800
Subject: [PATCH 30/63] Update Zephyr CI

---
 .github/workflows/c-zephyr-tests.yml | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/.github/workflows/c-zephyr-tests.yml b/.github/workflows/c-zephyr-tests.yml
index ccca8d9ac4..02951b7963 100644
--- a/.github/workflows/c-zephyr-tests.yml
+++ b/.github/workflows/c-zephyr-tests.yml
@@ -35,12 +35,12 @@ jobs:
           fetch-depth: 0
       - name: Install java and others
         run : |
-        apt update
-        wget https://download.oracle.com/java/17/archive/jdk-17.0.5_linux-x64_bin.tar.gz
-        tar xvzf jdk-17.0.5_linux-x64_bin.tar.gz -C /opt
-        export JAVA_HOME=/opt/jdk-17.0.5
-        export PATH=$PATH:$JAVA_HOME/bin
-        apt install maven -y
+          apt update
+          wget https://download.oracle.com/java/17/archive/jdk-17.0.5_linux-x64_bin.tar.gz
+          tar xvzf jdk-17.0.5_linux-x64_bin.tar.gz -C /opt
+          export JAVA_HOME=/opt/jdk-17.0.5
+          export PATH=$PATH:$JAVA_HOME/bin
+          apt install maven -y
 
       - name: Prepare build environment
         uses: ./.github/actions/prepare-build-env

From bb69449ada0f39a110a8ece4e49896640f0442f8 Mon Sep 17 00:00:00 2001
From: Erling Rennemo Jellum <erling.r.jellum@ntnu.no>
Date: Tue, 10 Jan 2023 23:23:36 -0800
Subject: [PATCH 31/63] Install gradle to zephyr ci container

---
 .github/workflows/c-zephyr-tests.yml | 15 ++++++++++++---
 1 file changed, 12 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/c-zephyr-tests.yml b/.github/workflows/c-zephyr-tests.yml
index 02951b7963..09b74ba054 100644
--- a/.github/workflows/c-zephyr-tests.yml
+++ b/.github/workflows/c-zephyr-tests.yml
@@ -36,11 +36,20 @@ jobs:
       - name: Install java and others
         run : |
           apt update
-          wget https://download.oracle.com/java/17/archive/jdk-17.0.5_linux-x64_bin.tar.gz
-          tar xvzf jdk-17.0.5_linux-x64_bin.tar.gz -C /opt
-          export JAVA_HOME=/opt/jdk-17.0.5
+          JAVA_VERSION=17.0.5.
+          wget https://download.oracle.com/java/17/archive/jdk-${JAVA_VERSION}_linux-x64_bin.tar.gz
+          tar xvzf jdk-${JAVA_VERSION}_linux-x64_bin.tar.gz -C /opt
+          export JAVA_HOME=/opt/jdk-${JAVA_VERSION}
           export PATH=$PATH:$JAVA_HOME/bin
           apt install maven -y
+          GRADLE_VERSION=6.5.1
+          wget
+          https://services.gradle.org/distributions/gradle-${VERSION}-bin.zip -P
+          /tmp
+          sudo unzip -d /opt/gradle /tmp/gradle-${VERSION}-bin.zip
+          sudo ln -s /opt/gradle/gradle-${VERSION} /opt/gradle/latest
+          export GRADLE_HOME=/opt/gradle/latest
+          export PATH=${GRADLE_HOME}/bin:${PATH}
 
       - name: Prepare build environment
         uses: ./.github/actions/prepare-build-env

From 63e8eb2d00ba9e0fd730c2c18e86f4ee5803abb5 Mon Sep 17 00:00:00 2001
From: Erling Rennemo Jellum <erling.r.jellum@ntnu.no>
Date: Tue, 10 Jan 2023 23:50:50 -0800
Subject: [PATCH 32/63] Download and install zephyr in CI

---
 .github/workflows/c-zephyr-tests.yml | 39 ++++++++++++++++++++++++----
 1 file changed, 34 insertions(+), 5 deletions(-)

diff --git a/.github/workflows/c-zephyr-tests.yml b/.github/workflows/c-zephyr-tests.yml
index 09b74ba054..650eeee0c3 100644
--- a/.github/workflows/c-zephyr-tests.yml
+++ b/.github/workflows/c-zephyr-tests.yml
@@ -20,12 +20,41 @@ on:
 jobs:
   run:
     runs-on: ubuntu-latest
-    # FIXME: Can we specify the Zephyr version? We are currently hardcoding a 
-    #   requirement on exactly v3.2.0
-    container: zephyrprojectrtos/ci:latest
-    env:
-      CMAKE_PREFIX_PATH: /opt/toolchains
     steps:
+      - name: Install zephyr and west
+      run : |
+        apt update && apt upgrade -y
+        wget https://apt.kitware.com/kitware-archive.sh
+        bash kitware-archive.sh
+        apt install --no-install-recommends git cmake ninja-build gperf \
+        ccache dfu-util device-tree-compiler wget \
+        python3-dev python3-pip python3-setuptools python3-tk python3-wheel xz-utils file \
+        make gcc gcc-multilib g++-multilib libsdl2-dev libmagic1
+        sudo apt install python3-venv
+        python3 -m venv ~/zephyrproject/.venv
+        source ~/zephyrproject/.venv/bin/activate
+        pip install west
+        ZEPHYR_VERSION=v3.2.0
+        west init --mr ${ZEPHYR_VERSION} ~/zephyrproject
+        cd ~/zephyrproject
+        west update
+        west zephyr-export
+        pip install -r ~/zephyrproject/zephyr/scripts/requirements.txt
+
+        SDK_VERSION=0.15.2
+        cd ~
+        wget https://github.com/zephyrproject-rtos/sdk-ng/releases/download/v${SDK_VERSION}/zephyr-sdk-${SDK_VERSION}?linux-x86_64.tar.gz
+        wget -O -
+        https://github.com/zephyrproject-rtos/sdk-ng/releases/download/v${SDK_VERSION}/sha256.sum
+        | shasum --check --ignore-missing
+
+        tar xvf zephyr-sdk-${SDK_VERSION}_linux-x86_64.tar.gz /opt
+        cd /opt/zephyr-sdk-${SDK_VERSION}
+        ./setup.sh
+
+        sudo cp ~/zephyr-sdk-${SDK_VERSION}/sysroots/x86_64-pokysdk-linux/usr/share/openocd/contrib/60-openocd.rules /etc/udev/rules.d
+        sudo udevadm control --reload
+
       - name: Check out lingua-franca repository
         uses: actions/checkout@v3
         with:

From ab7024d6a353fc79d82c06ea0d1e5be7c7b5563c Mon Sep 17 00:00:00 2001
From: Erling Rennemo Jellum <erling.r.jellum@ntnu.no>
Date: Wed, 11 Jan 2023 00:10:24 -0800
Subject: [PATCH 33/63] CI

---
 .github/workflows/c-zephyr-tests.yml | 60 ++++++++++++++--------------
 1 file changed, 31 insertions(+), 29 deletions(-)

diff --git a/.github/workflows/c-zephyr-tests.yml b/.github/workflows/c-zephyr-tests.yml
index 650eeee0c3..90019ea0fc 100644
--- a/.github/workflows/c-zephyr-tests.yml
+++ b/.github/workflows/c-zephyr-tests.yml
@@ -21,39 +21,41 @@ jobs:
   run:
     runs-on: ubuntu-latest
     steps:
+      #FIXME: The ZEPHYR_VERSION and SDK_VERSION should not be hard-coded here.
+      # But I dont know where... 
       - name: Install zephyr and west
-      run : |
-        apt update && apt upgrade -y
-        wget https://apt.kitware.com/kitware-archive.sh
-        bash kitware-archive.sh
-        apt install --no-install-recommends git cmake ninja-build gperf \
-        ccache dfu-util device-tree-compiler wget \
-        python3-dev python3-pip python3-setuptools python3-tk python3-wheel xz-utils file \
-        make gcc gcc-multilib g++-multilib libsdl2-dev libmagic1
-        sudo apt install python3-venv
-        python3 -m venv ~/zephyrproject/.venv
-        source ~/zephyrproject/.venv/bin/activate
-        pip install west
-        ZEPHYR_VERSION=v3.2.0
-        west init --mr ${ZEPHYR_VERSION} ~/zephyrproject
-        cd ~/zephyrproject
-        west update
-        west zephyr-export
-        pip install -r ~/zephyrproject/zephyr/scripts/requirements.txt
+        run : |
+          apt update && apt upgrade -y
+          wget https://apt.kitware.com/kitware-archive.sh
+          bash kitware-archive.sh
+          apt install --no-install-recommends git cmake ninja-build gperf \
+          ccache dfu-util device-tree-compiler wget \
+          python3-dev python3-pip python3-setuptools python3-tk python3-wheel xz-utils file \
+          make gcc gcc-multilib g++-multilib libsdl2-dev libmagic1
+          sudo apt install python3-venv
+          python3 -m venv ~/zephyrproject/.venv
+          source ~/zephyrproject/.venv/bin/activate
+          pip install west
+          ZEPHYR_VERSION=v3.2.0
+          west init --mr ${ZEPHYR_VERSION} ~/zephyrproject
+          cd ~/zephyrproject
+          west update
+          west zephyr-export
+          pip install -r ~/zephyrproject/zephyr/scripts/requirements.txt
 
-        SDK_VERSION=0.15.2
-        cd ~
-        wget https://github.com/zephyrproject-rtos/sdk-ng/releases/download/v${SDK_VERSION}/zephyr-sdk-${SDK_VERSION}?linux-x86_64.tar.gz
-        wget -O -
-        https://github.com/zephyrproject-rtos/sdk-ng/releases/download/v${SDK_VERSION}/sha256.sum
-        | shasum --check --ignore-missing
+          SDK_VERSION=0.15.2
+          cd ~
+          wget https://github.com/zephyrproject-rtos/sdk-ng/releases/download/v${SDK_VERSION}/zephyr-sdk-${SDK_VERSION}?linux-x86_64.tar.gz
+          wget -O -
+          https://github.com/zephyrproject-rtos/sdk-ng/releases/download/v${SDK_VERSION}/sha256.sum
+          | shasum --check --ignore-missing
 
-        tar xvf zephyr-sdk-${SDK_VERSION}_linux-x86_64.tar.gz /opt
-        cd /opt/zephyr-sdk-${SDK_VERSION}
-        ./setup.sh
+          tar xvf zephyr-sdk-${SDK_VERSION}_linux-x86_64.tar.gz /opt
+          cd /opt/zephyr-sdk-${SDK_VERSION}
+          ./setup.sh
 
-        sudo cp ~/zephyr-sdk-${SDK_VERSION}/sysroots/x86_64-pokysdk-linux/usr/share/openocd/contrib/60-openocd.rules /etc/udev/rules.d
-        sudo udevadm control --reload
+          sudo cp ~/zephyr-sdk-${SDK_VERSION}/sysroots/x86_64-pokysdk-linux/usr/share/openocd/contrib/60-openocd.rules /etc/udev/rules.d
+          sudo udevadm control --reload
 
       - name: Check out lingua-franca repository
         uses: actions/checkout@v3

From cba6968b6819f35fadc5da9c3f0e13a6ed93b184 Mon Sep 17 00:00:00 2001
From: Erling Rennemo Jellum <erling.r.jellum@ntnu.no>
Date: Wed, 11 Jan 2023 08:08:50 -0800
Subject: [PATCH 34/63] CI

---
 .github/workflows/c-zephyr-tests.yml | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/c-zephyr-tests.yml b/.github/workflows/c-zephyr-tests.yml
index 90019ea0fc..8f5b4aec90 100644
--- a/.github/workflows/c-zephyr-tests.yml
+++ b/.github/workflows/c-zephyr-tests.yml
@@ -25,10 +25,10 @@ jobs:
       # But I dont know where... 
       - name: Install zephyr and west
         run : |
-          apt update && apt upgrade -y
+          sudo apt update && sudo apt upgrade -y
           wget https://apt.kitware.com/kitware-archive.sh
-          bash kitware-archive.sh
-          apt install --no-install-recommends git cmake ninja-build gperf \
+          sudo bash kitware-archive.sh
+          sudo apt install --no-install-recommends git cmake ninja-build gperf \
           ccache dfu-util device-tree-compiler wget \
           python3-dev python3-pip python3-setuptools python3-tk python3-wheel xz-utils file \
           make gcc gcc-multilib g++-multilib libsdl2-dev libmagic1

From 1e6afe951a52f739decbcc8081d9e4f461c42559 Mon Sep 17 00:00:00 2001
From: Erling Rennemo Jellum <erling.r.jellum@ntnu.no>
Date: Wed, 11 Jan 2023 08:19:00 -0800
Subject: [PATCH 35/63] CI

---
 .github/workflows/c-zephyr-tests.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/c-zephyr-tests.yml b/.github/workflows/c-zephyr-tests.yml
index 8f5b4aec90..062a064456 100644
--- a/.github/workflows/c-zephyr-tests.yml
+++ b/.github/workflows/c-zephyr-tests.yml
@@ -45,7 +45,7 @@ jobs:
 
           SDK_VERSION=0.15.2
           cd ~
-          wget https://github.com/zephyrproject-rtos/sdk-ng/releases/download/v${SDK_VERSION}/zephyr-sdk-${SDK_VERSION}?linux-x86_64.tar.gz
+          wget https://github.com/zephyrproject-rtos/sdk-ng/releases/download/v${SDK_VERSION}/zephyr-sdk-${SDK_VERSION}_linux-x86_64.tar.gz
           wget -O -
           https://github.com/zephyrproject-rtos/sdk-ng/releases/download/v${SDK_VERSION}/sha256.sum
           | shasum --check --ignore-missing

From 70bbb2d7a38a19ab9cfc87106909a4de638bf04b Mon Sep 17 00:00:00 2001
From: Erling Rennemo Jellum <erling.r.jellum@ntnu.no>
Date: Wed, 11 Jan 2023 09:05:03 -0800
Subject: [PATCH 36/63] CI

---
 .github/workflows/c-zephyr-tests.yml | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/.github/workflows/c-zephyr-tests.yml b/.github/workflows/c-zephyr-tests.yml
index 062a064456..cb9702034d 100644
--- a/.github/workflows/c-zephyr-tests.yml
+++ b/.github/workflows/c-zephyr-tests.yml
@@ -46,9 +46,7 @@ jobs:
           SDK_VERSION=0.15.2
           cd ~
           wget https://github.com/zephyrproject-rtos/sdk-ng/releases/download/v${SDK_VERSION}/zephyr-sdk-${SDK_VERSION}_linux-x86_64.tar.gz
-          wget -O -
-          https://github.com/zephyrproject-rtos/sdk-ng/releases/download/v${SDK_VERSION}/sha256.sum
-          | shasum --check --ignore-missing
+          wget -O - https://github.com/zephyrproject-rtos/sdk-ng/releases/download/v${SDK_VERSION}/sha256.sum | shasum --check --ignore-missing
 
           tar xvf zephyr-sdk-${SDK_VERSION}_linux-x86_64.tar.gz /opt
           cd /opt/zephyr-sdk-${SDK_VERSION}

From bcb2c8cb2e80e174d3da0f01a06c4ab7f9698a92 Mon Sep 17 00:00:00 2001
From: Erling Rennemo Jellum <erling.r.jellum@ntnu.no>
Date: Wed, 11 Jan 2023 09:33:49 -0800
Subject: [PATCH 37/63] CI

---
 .github/workflows/c-zephyr-tests.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/c-zephyr-tests.yml b/.github/workflows/c-zephyr-tests.yml
index cb9702034d..68c714731e 100644
--- a/.github/workflows/c-zephyr-tests.yml
+++ b/.github/workflows/c-zephyr-tests.yml
@@ -48,7 +48,7 @@ jobs:
           wget https://github.com/zephyrproject-rtos/sdk-ng/releases/download/v${SDK_VERSION}/zephyr-sdk-${SDK_VERSION}_linux-x86_64.tar.gz
           wget -O - https://github.com/zephyrproject-rtos/sdk-ng/releases/download/v${SDK_VERSION}/sha256.sum | shasum --check --ignore-missing
 
-          tar xvf zephyr-sdk-${SDK_VERSION}_linux-x86_64.tar.gz /opt
+          tar xvf zephyr-sdk-${SDK_VERSION}_linux-x86_64.tar.gz --directory /opt
           cd /opt/zephyr-sdk-${SDK_VERSION}
           ./setup.sh
 

From ea7ce7ce50604b73f8903b15748aa337c3a59c52 Mon Sep 17 00:00:00 2001
From: Erling Rennemo Jellum <erling.r.jellum@ntnu.no>
Date: Thu, 12 Jan 2023 01:01:56 -0800
Subject: [PATCH 38/63] Remove zephyr tests from CI

---
 .github/workflows/ci.yml | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 3ab25a330c..0eb8b54aa6 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -63,10 +63,11 @@ jobs:
     uses: lf-lang/lingua-franca/.github/workflows/c-tests.yml@master
     needs: cancel
   
+  # FIXME: Find a way to efficiently install zephyr in CI. Maybe pull-down a docker container?
   # Run the C Zephyr integration tests.
-  c-zephyr-tests:
-    uses: lf-lang/lingua-franca/.github/workflows/c-zephyr-tests.yml@c-zephyr-support
-    needs: cancel
+  # c-zephyr-tests:
+  #   uses: lf-lang/lingua-franca/.github/workflows/c-zephyr-tests.yml@c-zephyr-support
+  #   needs: cancel
 
   # Run the CCpp integration tests.
   ccpp-tests:

From 539a4719a6936cea3b8f43e8e891a1f669134f45 Mon Sep 17 00:00:00 2001
From: Erling Rennemo Jellum <erling.r.jellum@ntnu.no>
Date: Thu, 12 Jan 2023 01:20:39 -0800
Subject: [PATCH 39/63] Try docker container for zephyr build

---
 .github/workflows/c-zephyr-tests.yml | 36 ++--------------------------
 .github/workflows/ci.yml             |  8 +++----
 2 files changed, 6 insertions(+), 38 deletions(-)

diff --git a/.github/workflows/c-zephyr-tests.yml b/.github/workflows/c-zephyr-tests.yml
index 68c714731e..bebeb7b28d 100644
--- a/.github/workflows/c-zephyr-tests.yml
+++ b/.github/workflows/c-zephyr-tests.yml
@@ -20,41 +20,9 @@ on:
 jobs:
   run:
     runs-on: ubuntu-latest
+    container:
+      image: zephyrprojectrtos/zephyr-build:latest
     steps:
-      #FIXME: The ZEPHYR_VERSION and SDK_VERSION should not be hard-coded here.
-      # But I dont know where... 
-      - name: Install zephyr and west
-        run : |
-          sudo apt update && sudo apt upgrade -y
-          wget https://apt.kitware.com/kitware-archive.sh
-          sudo bash kitware-archive.sh
-          sudo apt install --no-install-recommends git cmake ninja-build gperf \
-          ccache dfu-util device-tree-compiler wget \
-          python3-dev python3-pip python3-setuptools python3-tk python3-wheel xz-utils file \
-          make gcc gcc-multilib g++-multilib libsdl2-dev libmagic1
-          sudo apt install python3-venv
-          python3 -m venv ~/zephyrproject/.venv
-          source ~/zephyrproject/.venv/bin/activate
-          pip install west
-          ZEPHYR_VERSION=v3.2.0
-          west init --mr ${ZEPHYR_VERSION} ~/zephyrproject
-          cd ~/zephyrproject
-          west update
-          west zephyr-export
-          pip install -r ~/zephyrproject/zephyr/scripts/requirements.txt
-
-          SDK_VERSION=0.15.2
-          cd ~
-          wget https://github.com/zephyrproject-rtos/sdk-ng/releases/download/v${SDK_VERSION}/zephyr-sdk-${SDK_VERSION}_linux-x86_64.tar.gz
-          wget -O - https://github.com/zephyrproject-rtos/sdk-ng/releases/download/v${SDK_VERSION}/sha256.sum | shasum --check --ignore-missing
-
-          tar xvf zephyr-sdk-${SDK_VERSION}_linux-x86_64.tar.gz --directory /opt
-          cd /opt/zephyr-sdk-${SDK_VERSION}
-          ./setup.sh
-
-          sudo cp ~/zephyr-sdk-${SDK_VERSION}/sysroots/x86_64-pokysdk-linux/usr/share/openocd/contrib/60-openocd.rules /etc/udev/rules.d
-          sudo udevadm control --reload
-
       - name: Check out lingua-franca repository
         uses: actions/checkout@v3
         with:
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 0eb8b54aa6..4bd836337f 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -64,10 +64,10 @@ jobs:
     needs: cancel
   
   # FIXME: Find a way to efficiently install zephyr in CI. Maybe pull-down a docker container?
-  # Run the C Zephyr integration tests.
-  # c-zephyr-tests:
-  #   uses: lf-lang/lingua-franca/.github/workflows/c-zephyr-tests.yml@c-zephyr-support
-  #   needs: cancel
+  Run the C Zephyr integration tests.
+  c-zephyr-tests:
+    uses: lf-lang/lingua-franca/.github/workflows/c-zephyr-tests.yml@c-zephyr-support
+    needs: cancel
 
   # Run the CCpp integration tests.
   ccpp-tests:

From 0e13a555551337a422c9790a08f82ca1a5c675aa Mon Sep 17 00:00:00 2001
From: Erling Rennemo Jellum <erling.r.jellum@ntnu.no>
Date: Thu, 12 Jan 2023 01:22:02 -0800
Subject: [PATCH 40/63] Fix mistake

---
 .github/workflows/ci.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 4bd836337f..e178cb0626 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -64,7 +64,7 @@ jobs:
     needs: cancel
   
   # FIXME: Find a way to efficiently install zephyr in CI. Maybe pull-down a docker container?
-  Run the C Zephyr integration tests.
+  # Run the C Zephyr integration tests.
   c-zephyr-tests:
     uses: lf-lang/lingua-franca/.github/workflows/c-zephyr-tests.yml@c-zephyr-support
     needs: cancel

From f83b51d740069e72e68f2450b03ec6015dda396a Mon Sep 17 00:00:00 2001
From: Erling Rennemo Jellum <erling.r.jellum@ntnu.no>
Date: Thu, 12 Jan 2023 01:39:54 -0800
Subject: [PATCH 41/63] CI Zephyr

---
 .github/workflows/c-zephyr-tests.yml | 21 +--------------------
 1 file changed, 1 insertion(+), 20 deletions(-)

diff --git a/.github/workflows/c-zephyr-tests.yml b/.github/workflows/c-zephyr-tests.yml
index bebeb7b28d..7a88faf449 100644
--- a/.github/workflows/c-zephyr-tests.yml
+++ b/.github/workflows/c-zephyr-tests.yml
@@ -20,8 +20,6 @@ on:
 jobs:
   run:
     runs-on: ubuntu-latest
-    container:
-      image: zephyrprojectrtos/zephyr-build:latest
     steps:
       - name: Check out lingua-franca repository
         uses: actions/checkout@v3
@@ -30,24 +28,6 @@ jobs:
           submodules: true
           ref: ${{ inputs.compiler-ref }}
           fetch-depth: 0
-      - name: Install java and others
-        run : |
-          apt update
-          JAVA_VERSION=17.0.5.
-          wget https://download.oracle.com/java/17/archive/jdk-${JAVA_VERSION}_linux-x64_bin.tar.gz
-          tar xvzf jdk-${JAVA_VERSION}_linux-x64_bin.tar.gz -C /opt
-          export JAVA_HOME=/opt/jdk-${JAVA_VERSION}
-          export PATH=$PATH:$JAVA_HOME/bin
-          apt install maven -y
-          GRADLE_VERSION=6.5.1
-          wget
-          https://services.gradle.org/distributions/gradle-${VERSION}-bin.zip -P
-          /tmp
-          sudo unzip -d /opt/gradle /tmp/gradle-${VERSION}-bin.zip
-          sudo ln -s /opt/gradle/gradle-${VERSION} /opt/gradle/latest
-          export GRADLE_HOME=/opt/gradle/latest
-          export PATH=${GRADLE_HOME}/bin:${PATH}
-
       - name: Prepare build environment
         uses: ./.github/actions/prepare-build-env
       - name: Check out specific ref of reactor-c
@@ -60,3 +40,4 @@ jobs:
       - name: Perform Zephyr tests for C target with default scheduler
         run: |
           ./gradlew test --tests org.lflang.tests.runtime.CZephyrTests.*
+        uses: docker://zephyrprojectrtos/zephyr-build:latest

From d55d45aeeec393f7a822d9e27c04c7ffba4bdbc0 Mon Sep 17 00:00:00 2001
From: Erling Rennemo Jellum <erling.r.jellum@ntnu.no>
Date: Thu, 12 Jan 2023 01:40:53 -0800
Subject: [PATCH 42/63] Zephyr CI

---
 .github/workflows/c-zephyr-tests.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/c-zephyr-tests.yml b/.github/workflows/c-zephyr-tests.yml
index 7a88faf449..87a94f9693 100644
--- a/.github/workflows/c-zephyr-tests.yml
+++ b/.github/workflows/c-zephyr-tests.yml
@@ -38,6 +38,6 @@ jobs:
           ref: ${{ inputs.runtime-ref }}
         if: ${{ inputs.runtime-ref }}
       - name: Perform Zephyr tests for C target with default scheduler
+        uses: docker://zephyrprojectrtos/zephyr-build:latest
         run: |
           ./gradlew test --tests org.lflang.tests.runtime.CZephyrTests.*
-        uses: docker://zephyrprojectrtos/zephyr-build:latest

From f40c664b084cc8cc7acd9c141fb896e6c4a99426 Mon Sep 17 00:00:00 2001
From: Erling Rennemo Jellum <erling.r.jellum@ntnu.no>
Date: Thu, 12 Jan 2023 01:45:23 -0800
Subject: [PATCH 43/63] CI Zephyr

---
 .github/workflows/c-zephyr-tests.yml | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/c-zephyr-tests.yml b/.github/workflows/c-zephyr-tests.yml
index 87a94f9693..a9d5b735f1 100644
--- a/.github/workflows/c-zephyr-tests.yml
+++ b/.github/workflows/c-zephyr-tests.yml
@@ -38,6 +38,7 @@ jobs:
           ref: ${{ inputs.runtime-ref }}
         if: ${{ inputs.runtime-ref }}
       - name: Perform Zephyr tests for C target with default scheduler
-        uses: docker://zephyrprojectrtos/zephyr-build:latest
+        container:
+          image: zephyrprojectrtos/zephyr-build:latest
         run: |
           ./gradlew test --tests org.lflang.tests.runtime.CZephyrTests.*

From 97338958b5dae0356aaf084e0bef399970c05419 Mon Sep 17 00:00:00 2001
From: Erling Rennemo Jellum <erling.r.jellum@ntnu.no>
Date: Thu, 12 Jan 2023 01:50:14 -0800
Subject: [PATCH 44/63] Uses checkout@v2 for zephyr CI

---
 .github/workflows/c-zephyr-tests.yml | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/c-zephyr-tests.yml b/.github/workflows/c-zephyr-tests.yml
index a9d5b735f1..6c53aa0e51 100644
--- a/.github/workflows/c-zephyr-tests.yml
+++ b/.github/workflows/c-zephyr-tests.yml
@@ -20,9 +20,11 @@ on:
 jobs:
   run:
     runs-on: ubuntu-latest
+    container:
+      image: zephyrprojectrtos/zephyr-build:latest
     steps:
       - name: Check out lingua-franca repository
-        uses: actions/checkout@v3
+        uses: actions/checkout@v2
         with:
           repository: lf-lang/lingua-franca
           submodules: true
@@ -38,7 +40,5 @@ jobs:
           ref: ${{ inputs.runtime-ref }}
         if: ${{ inputs.runtime-ref }}
       - name: Perform Zephyr tests for C target with default scheduler
-        container:
-          image: zephyrprojectrtos/zephyr-build:latest
         run: |
           ./gradlew test --tests org.lflang.tests.runtime.CZephyrTests.*

From 641ff081f6c6721bbb67473139faf2f489fc3aeb Mon Sep 17 00:00:00 2001
From: Erling Rennemo Jellum <erling.r.jellum@ntnu.no>
Date: Thu, 12 Jan 2023 01:56:32 -0800
Subject: [PATCH 45/63] Use v2 for all checkouts

---
 .github/workflows/c-zephyr-tests.yml | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/c-zephyr-tests.yml b/.github/workflows/c-zephyr-tests.yml
index 6c53aa0e51..a98917eb88 100644
--- a/.github/workflows/c-zephyr-tests.yml
+++ b/.github/workflows/c-zephyr-tests.yml
@@ -22,6 +22,7 @@ jobs:
     runs-on: ubuntu-latest
     container:
       image: zephyrprojectrtos/zephyr-build:latest
+      options: -u root --entrypoint /bin/sh 
     steps:
       - name: Check out lingua-franca repository
         uses: actions/checkout@v2
@@ -33,7 +34,7 @@ jobs:
       - name: Prepare build environment
         uses: ./.github/actions/prepare-build-env
       - name: Check out specific ref of reactor-c
-        uses: actions/checkout@v3
+        uses: actions/checkout@v2
         with:
           repository: lf-lang/reactor-c
           path: org.lflang/src/lib/c/reactor-c

From 653fdc7639dcd70d08f95afcb78d7e4d7e047efb Mon Sep 17 00:00:00 2001
From: Erling Rennemo Jellum <erling.r.jellum@ntnu.no>
Date: Thu, 12 Jan 2023 09:45:03 -0800
Subject: [PATCH 46/63] Ci zephyr

---
 .github/workflows/c-zephyr-tests.yml | 19 +++++++++++++++++--
 1 file changed, 17 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/c-zephyr-tests.yml b/.github/workflows/c-zephyr-tests.yml
index a98917eb88..b5c60f7b10 100644
--- a/.github/workflows/c-zephyr-tests.yml
+++ b/.github/workflows/c-zephyr-tests.yml
@@ -24,8 +24,23 @@ jobs:
       image: zephyrprojectrtos/zephyr-build:latest
       options: -u root --entrypoint /bin/sh 
     steps:
+      - name: Install Java 17, Maven and set JAVA_HOME
+        run: |
+          sudo apt-get update
+          sudo apt-get install -y openjdk-17-jdk
+          sudo apt-get install -y maven
+          echo "export JAVA_HOME=/usr/lib/jvm/java-17-openjdk-amd64" | sudo tee -a /etc/environment
+          source /etc/environment
+    steps:
+      - name: Initialize zephyr
+        run: |
+          ZEPHYR_INSTALL=/workdir/zephyrproject
+          west init $ZEPHYR_INSTALL --mr v3.2.0
+          cd $ZEPHYR_INSTALL 
+          west update
+          export ZEPHYR_BASE $ZEPHYR_INSTALL/zephyr
       - name: Check out lingua-franca repository
-        uses: actions/checkout@v2
+        uses: actions/checkout@v3
         with:
           repository: lf-lang/lingua-franca
           submodules: true
@@ -34,7 +49,7 @@ jobs:
       - name: Prepare build environment
         uses: ./.github/actions/prepare-build-env
       - name: Check out specific ref of reactor-c
-        uses: actions/checkout@v2
+        uses: actions/checkout@v3
         with:
           repository: lf-lang/reactor-c
           path: org.lflang/src/lib/c/reactor-c

From 5f6a9c47c79bbcc954f56ec4ceac5d786db37d44 Mon Sep 17 00:00:00 2001
From: Erling Rennemo Jellum <erling.r.jellum@ntnu.no>
Date: Thu, 12 Jan 2023 09:46:57 -0800
Subject: [PATCH 47/63] CI

---
 .github/workflows/c-zephyr-tests.yml | 1 -
 1 file changed, 1 deletion(-)

diff --git a/.github/workflows/c-zephyr-tests.yml b/.github/workflows/c-zephyr-tests.yml
index b5c60f7b10..261eb713e3 100644
--- a/.github/workflows/c-zephyr-tests.yml
+++ b/.github/workflows/c-zephyr-tests.yml
@@ -31,7 +31,6 @@ jobs:
           sudo apt-get install -y maven
           echo "export JAVA_HOME=/usr/lib/jvm/java-17-openjdk-amd64" | sudo tee -a /etc/environment
           source /etc/environment
-    steps:
       - name: Initialize zephyr
         run: |
           ZEPHYR_INSTALL=/workdir/zephyrproject

From 49c67846473f4d75decdad8a32671334bac4ba66 Mon Sep 17 00:00:00 2001
From: Erling Rennemo Jellum <erling.r.jellum@ntnu.no>
Date: Thu, 12 Jan 2023 09:56:36 -0800
Subject: [PATCH 48/63] CI

---
 .github/workflows/c-zephyr-tests.yml               |  5 ++---
 .../src/org/lflang/tests/runtime/CZephyrTest.java  | 14 +++++++-------
 2 files changed, 9 insertions(+), 10 deletions(-)

diff --git a/.github/workflows/c-zephyr-tests.yml b/.github/workflows/c-zephyr-tests.yml
index 261eb713e3..915e3e6f58 100644
--- a/.github/workflows/c-zephyr-tests.yml
+++ b/.github/workflows/c-zephyr-tests.yml
@@ -29,8 +29,7 @@ jobs:
           sudo apt-get update
           sudo apt-get install -y openjdk-17-jdk
           sudo apt-get install -y maven
-          echo "export JAVA_HOME=/usr/lib/jvm/java-17-openjdk-amd64" | sudo tee -a /etc/environment
-          source /etc/environment
+          export JAVA_HOME=/usr/lib/jvm/java-17-openjdk-amd64
       - name: Initialize zephyr
         run: |
           ZEPHYR_INSTALL=/workdir/zephyrproject
@@ -56,4 +55,4 @@ jobs:
         if: ${{ inputs.runtime-ref }}
       - name: Perform Zephyr tests for C target with default scheduler
         run: |
-          ./gradlew test --tests org.lflang.tests.runtime.CZephyrTests.*
+          ./gradlew test --tests org.lflang.tests.runtime.CZephyrTest.*
diff --git a/org.lflang.tests/src/org/lflang/tests/runtime/CZephyrTest.java b/org.lflang.tests/src/org/lflang/tests/runtime/CZephyrTest.java
index 8898343b43..3d9eed40c9 100644
--- a/org.lflang.tests/src/org/lflang/tests/runtime/CZephyrTest.java
+++ b/org.lflang.tests/src/org/lflang/tests/runtime/CZephyrTest.java
@@ -55,12 +55,12 @@ public void runZephyrTests() {
             false);
     }
     @Test
-    public void runGenericTests() {
-        Assumptions.assumeTrue(isLinux(), "Zephyr tests only run on Linux");
-        super.runTestsFor(List.of(Target.C),
-            Message.DESC_GENERIC,
-            TestCategory.GENERIC::equals, Configurators::makeZephyrCompatible,
-            false);
-    }
+    // public void runGenericTests() {
+    //     Assumptions.assumeTrue(isLinux(), "Zephyr tests only run on Linux");
+    //     super.runTestsFor(List.of(Target.C),
+    //         Message.DESC_GENERIC,
+    //         TestCategory.GENERIC::equals, Configurators::makeZephyrCompatible,
+    //         false);
+    // }
 }
 

From 1d0d3696842b2ac5cf4a28604a926fc587e87dd8 Mon Sep 17 00:00:00 2001
From: Erling Rennemo Jellum <erling.r.jellum@ntnu.no>
Date: Thu, 12 Jan 2023 10:28:51 -0800
Subject: [PATCH 49/63] CI

---
 .github/workflows/c-zephyr-tests.yml | 7 +++----
 1 file changed, 3 insertions(+), 4 deletions(-)

diff --git a/.github/workflows/c-zephyr-tests.yml b/.github/workflows/c-zephyr-tests.yml
index 915e3e6f58..a9b18f5ccb 100644
--- a/.github/workflows/c-zephyr-tests.yml
+++ b/.github/workflows/c-zephyr-tests.yml
@@ -32,11 +32,10 @@ jobs:
           export JAVA_HOME=/usr/lib/jvm/java-17-openjdk-amd64
       - name: Initialize zephyr
         run: |
-          ZEPHYR_INSTALL=/workdir/zephyrproject
-          west init $ZEPHYR_INSTALL --mr v3.2.0
-          cd $ZEPHYR_INSTALL 
+          west init /workdir/zephyrproject --mr v3.2.0
+          cd /workdir/zephyrproject
           west update
-          export ZEPHYR_BASE $ZEPHYR_INSTALL/zephyr
+          export ZEPHYR_BASE=/workdir/zephyrproject/zephyr
       - name: Check out lingua-franca repository
         uses: actions/checkout@v3
         with:

From 435683d8d168a2564889b8d4ad66f11842a33bb0 Mon Sep 17 00:00:00 2001
From: Erling Rennemo Jellum <erling.r.jellum@ntnu.no>
Date: Thu, 12 Jan 2023 10:29:27 -0800
Subject: [PATCH 50/63] Fix test file

---
 org.lflang.tests/src/org/lflang/tests/runtime/CZephyrTest.java | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/org.lflang.tests/src/org/lflang/tests/runtime/CZephyrTest.java b/org.lflang.tests/src/org/lflang/tests/runtime/CZephyrTest.java
index 3d9eed40c9..335aba4125 100644
--- a/org.lflang.tests/src/org/lflang/tests/runtime/CZephyrTest.java
+++ b/org.lflang.tests/src/org/lflang/tests/runtime/CZephyrTest.java
@@ -54,7 +54,7 @@ public void runZephyrTests() {
             TestCategory.ZEPHYR::equals, Configurators::makeZephyrCompatible,
             false);
     }
-    @Test
+    // @Test
     // public void runGenericTests() {
     //     Assumptions.assumeTrue(isLinux(), "Zephyr tests only run on Linux");
     //     super.runTestsFor(List.of(Target.C),

From 76da87ca46bd5d5773d64abc04fea56e539e483c Mon Sep 17 00:00:00 2001
From: Erling Rennemo Jellum <erling.r.jellum@ntnu.no>
Date: Thu, 12 Jan 2023 11:22:48 -0800
Subject: [PATCH 51/63] JAVA_HOME issues

---
 .github/workflows/c-zephyr-tests.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/c-zephyr-tests.yml b/.github/workflows/c-zephyr-tests.yml
index a9b18f5ccb..7ce7285434 100644
--- a/.github/workflows/c-zephyr-tests.yml
+++ b/.github/workflows/c-zephyr-tests.yml
@@ -29,7 +29,7 @@ jobs:
           sudo apt-get update
           sudo apt-get install -y openjdk-17-jdk
           sudo apt-get install -y maven
-          export JAVA_HOME=/usr/lib/jvm/java-17-openjdk-amd64
+          export JAVA_HOME_17_X64=/usr/lib/jvm/java-17-openjdk-amd64
       - name: Initialize zephyr
         run: |
           west init /workdir/zephyrproject --mr v3.2.0

From d21a4bc5ac083de01a2d314c2a56726a416c1908 Mon Sep 17 00:00:00 2001
From: Erling Rennemo Jellum <erling.r.jellum@ntnu.no>
Date: Thu, 12 Jan 2023 11:50:25 -0800
Subject: [PATCH 52/63] CI: Set environment variables properly

---
 .github/workflows/c-zephyr-tests.yml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/c-zephyr-tests.yml b/.github/workflows/c-zephyr-tests.yml
index 7ce7285434..5962e26c03 100644
--- a/.github/workflows/c-zephyr-tests.yml
+++ b/.github/workflows/c-zephyr-tests.yml
@@ -29,13 +29,13 @@ jobs:
           sudo apt-get update
           sudo apt-get install -y openjdk-17-jdk
           sudo apt-get install -y maven
-          export JAVA_HOME_17_X64=/usr/lib/jvm/java-17-openjdk-amd64
+          echo "JAVA_HOME_17_X64=/usr/lib/jvm/java-17-openjdk-amd64" >> $GITHUB_ENV
       - name: Initialize zephyr
         run: |
           west init /workdir/zephyrproject --mr v3.2.0
           cd /workdir/zephyrproject
           west update
-          export ZEPHYR_BASE=/workdir/zephyrproject/zephyr
+          echo "ZEPHYR_BASE=/workdir/zephyrproject/zephyr" >> $GITHUB_ENV
       - name: Check out lingua-franca repository
         uses: actions/checkout@v3
         with:

From c472b1d0b1c16fb58a54c91f35d118b21c5b8ee5 Mon Sep 17 00:00:00 2001
From: Erling Rennemo Jellum <erling.r.jellum@ntnu.no>
Date: Thu, 12 Jan 2023 14:03:04 -0800
Subject: [PATCH 53/63] Git safe issue

---
 .github/workflows/c-zephyr-tests.yml | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/.github/workflows/c-zephyr-tests.yml b/.github/workflows/c-zephyr-tests.yml
index 5962e26c03..ea3c8259af 100644
--- a/.github/workflows/c-zephyr-tests.yml
+++ b/.github/workflows/c-zephyr-tests.yml
@@ -52,6 +52,9 @@ jobs:
           path: org.lflang/src/lib/c/reactor-c
           ref: ${{ inputs.runtime-ref }}
         if: ${{ inputs.runtime-ref }}
+      - name: Fix git safe issue
+        run: |
+          git config --add safe.directory *  --global
       - name: Perform Zephyr tests for C target with default scheduler
         run: |
           ./gradlew test --tests org.lflang.tests.runtime.CZephyrTest.*

From f884466faeea1cc93bdd3434e35fa827c102dd73 Mon Sep 17 00:00:00 2001
From: Erling Rennemo Jellum <erling.r.jellum@ntnu.no>
Date: Thu, 12 Jan 2023 14:21:39 -0800
Subject: [PATCH 54/63] git safe

---
 .github/workflows/c-zephyr-tests.yml | 9 ++++-----
 1 file changed, 4 insertions(+), 5 deletions(-)

diff --git a/.github/workflows/c-zephyr-tests.yml b/.github/workflows/c-zephyr-tests.yml
index ea3c8259af..dbf1346740 100644
--- a/.github/workflows/c-zephyr-tests.yml
+++ b/.github/workflows/c-zephyr-tests.yml
@@ -52,9 +52,8 @@ jobs:
           path: org.lflang/src/lib/c/reactor-c
           ref: ${{ inputs.runtime-ref }}
         if: ${{ inputs.runtime-ref }}
-      - name: Fix git safe issue
-        run: |
-          git config --add safe.directory *  --global
+      - name: Try to get around git safe issues
+        run: chown root:root .
+
       - name: Perform Zephyr tests for C target with default scheduler
-        run: |
-          ./gradlew test --tests org.lflang.tests.runtime.CZephyrTest.*
+        run: ./gradlew test --tests org.lflang.tests.runtime.CZephyrTest.*

From 3f6c7f6147d33a7eb761dad27cb7ac32f13f4017 Mon Sep 17 00:00:00 2001
From: Erling Rennemo Jellum <erling.r.jellum@ntnu.no>
Date: Thu, 12 Jan 2023 15:19:57 -0800
Subject: [PATCH 55/63] Try to fix zephyr SDK include error

---
 .github/workflows/c-zephyr-tests.yml | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/c-zephyr-tests.yml b/.github/workflows/c-zephyr-tests.yml
index dbf1346740..8ad846c999 100644
--- a/.github/workflows/c-zephyr-tests.yml
+++ b/.github/workflows/c-zephyr-tests.yml
@@ -36,6 +36,7 @@ jobs:
           cd /workdir/zephyrproject
           west update
           echo "ZEPHYR_BASE=/workdir/zephyrproject/zephyr" >> $GITHUB_ENV
+          echo "ZEPHYR_SDK_INSTALL_DIR=/opt/toolchains/zephyr-sdk-0.15.2/" >> $GITHUB_ENV
       - name: Check out lingua-franca repository
         uses: actions/checkout@v3
         with:
@@ -56,4 +57,4 @@ jobs:
         run: chown root:root .
 
       - name: Perform Zephyr tests for C target with default scheduler
-        run: ./gradlew test --tests org.lflang.tests.runtime.CZephyrTest.*
+        run: ./gradlew test --tests org.lflang.tests.runtime.CZephyrTest.runZephyrTests

From e5e67931698cc199d22deceed3812bbd10a60e2f Mon Sep 17 00:00:00 2001
From: Erling Rennemo Jellum <erling.r.jellum@ntnu.no>
Date: Thu, 12 Jan 2023 15:54:34 -0800
Subject: [PATCH 56/63] Set target properties of Zepyr tests such that flashing
 is disabled.

---
 .../src/org/lflang/tests/Configurators.java      | 16 ++++++++--------
 .../org/lflang/tests/runtime/CZephyrTest.java    |  2 +-
 test/C/src/zephyr/Blinky2.lf                     |  3 +--
 test/C/src/zephyr/HelloZephyr.lf                 |  3 +--
 test/C/src/zephyr/Timer.lf                       |  5 ++++-
 5 files changed, 15 insertions(+), 14 deletions(-)

diff --git a/org.lflang.tests/src/org/lflang/tests/Configurators.java b/org.lflang.tests/src/org/lflang/tests/Configurators.java
index c13f072c77..36ec20aba5 100644
--- a/org.lflang.tests/src/org/lflang/tests/Configurators.java
+++ b/org.lflang.tests/src/org/lflang/tests/Configurators.java
@@ -63,15 +63,15 @@ public static boolean disableThreading(LFTest test) {
     }
 
 
-    public static boolean makeZephyrCompatible(LFTest test) {
+    // TODO: In the future we want to execute to the test with QEMU
+    //  but it requires parsing QEMU output until either:
+    //  1) A timeout
+    //  2) "exit" is printed to stdout. Then look if there is a FATAL ERROR printed somewhere
+    // So it would requre continously parsing the stdout and waiting for exit keyword
+    public static boolean platformZephyrQemuNoFlash(LFTest test) {
         test.getContext().getArgs().setProperty("threading", "false");
-        test.getContext().getArgs().setProperty("platform.name", "Zephyr");
-        test.getContext().getArgs().setProperty("platform.board", "qemu_cortex_m3");
-        // TODO: In the future we want to execute to the test with QEMU
-        //  but it requires parsing QEMU output until either:
-        //  1) A timeout
-        //  2) "exit" is printed to stdout. Then look if there is a FATAL ERROR printed somewhere
-        test.getContext().getArgs().setProperty("platform.flash", "false");
+        // TODO: How can I set platform as a dictionary (platform.board platform.flash etc)
+        // test.getContext().getArgs().setProperty("platform", "Zephyr");
         return true;
     }
     /**
diff --git a/org.lflang.tests/src/org/lflang/tests/runtime/CZephyrTest.java b/org.lflang.tests/src/org/lflang/tests/runtime/CZephyrTest.java
index 335aba4125..d2d2876658 100644
--- a/org.lflang.tests/src/org/lflang/tests/runtime/CZephyrTest.java
+++ b/org.lflang.tests/src/org/lflang/tests/runtime/CZephyrTest.java
@@ -51,7 +51,7 @@ public void runZephyrTests() {
         Assumptions.assumeTrue(isLinux(), "Zephyr tests only run on Linux");
         super.runTestsFor(List.of(Target.C),
             Message.DESC_ZEPHYR,
-            TestCategory.ZEPHYR::equals, Configurators::makeZephyrCompatible,
+            TestCategory.ZEPHYR::equals, Configurators::platformZephyrQemuNoFlash,
             false);
     }
     // @Test
diff --git a/test/C/src/zephyr/Blinky2.lf b/test/C/src/zephyr/Blinky2.lf
index 9fbaa42ebf..5fb6d6a53b 100644
--- a/test/C/src/zephyr/Blinky2.lf
+++ b/test/C/src/zephyr/Blinky2.lf
@@ -1,8 +1,7 @@
 target C {
     platform: {
-        name: "Zephyr",
+        name: Zephyr,
         board: nrf52dk_nrf52832,
-        flash: true
     },
     threading: false
 }
diff --git a/test/C/src/zephyr/HelloZephyr.lf b/test/C/src/zephyr/HelloZephyr.lf
index 0e858d02e0..2d55119ee2 100644
--- a/test/C/src/zephyr/HelloZephyr.lf
+++ b/test/C/src/zephyr/HelloZephyr.lf
@@ -2,8 +2,7 @@ target C {
     threading: false,
     platform: {
         name: Zephyr,
-        board: nrf52dk_nrf52832,
-        flash: true
+        board: qemu_cortex_m3,
     }
 }
 
diff --git a/test/C/src/zephyr/Timer.lf b/test/C/src/zephyr/Timer.lf
index 1a389d03dc..950fef04d5 100644
--- a/test/C/src/zephyr/Timer.lf
+++ b/test/C/src/zephyr/Timer.lf
@@ -1,5 +1,8 @@
 target C {
-    platform: "Zephyr",
+    platform: {
+        name: Zephyr,
+        board: qemu_cortex_m3,
+    },
     threading: false
 }
 

From e3029a6d06bb1f9cadc8b78904ae6c27ec11729c Mon Sep 17 00:00:00 2001
From: Erling Rennemo Jellum <erling.r.jellum@ntnu.no>
Date: Thu, 12 Jan 2023 18:23:30 -0800
Subject: [PATCH 57/63] Run formatter

---
 test/C/src/zephyr/Blinky2.lf     | 2 +-
 test/C/src/zephyr/HelloZephyr.lf | 2 +-
 test/C/src/zephyr/Timer.lf       | 2 +-
 test/C/src/zephyr/lib/Led.lf     | 3 +--
 4 files changed, 4 insertions(+), 5 deletions(-)

diff --git a/test/C/src/zephyr/Blinky2.lf b/test/C/src/zephyr/Blinky2.lf
index 5fb6d6a53b..039bb0172e 100644
--- a/test/C/src/zephyr/Blinky2.lf
+++ b/test/C/src/zephyr/Blinky2.lf
@@ -1,7 +1,7 @@
 target C {
     platform: {
         name: Zephyr,
-        board: nrf52dk_nrf52832,
+        board: nrf52dk_nrf52832
     },
     threading: false
 }
diff --git a/test/C/src/zephyr/HelloZephyr.lf b/test/C/src/zephyr/HelloZephyr.lf
index 2d55119ee2..2c4a98890f 100644
--- a/test/C/src/zephyr/HelloZephyr.lf
+++ b/test/C/src/zephyr/HelloZephyr.lf
@@ -2,7 +2,7 @@ target C {
     threading: false,
     platform: {
         name: Zephyr,
-        board: qemu_cortex_m3,
+        board: qemu_cortex_m3
     }
 }
 
diff --git a/test/C/src/zephyr/Timer.lf b/test/C/src/zephyr/Timer.lf
index 950fef04d5..cac30ae9b1 100644
--- a/test/C/src/zephyr/Timer.lf
+++ b/test/C/src/zephyr/Timer.lf
@@ -1,7 +1,7 @@
 target C {
     platform: {
         name: Zephyr,
-        board: qemu_cortex_m3,
+        board: qemu_cortex_m3
     },
     threading: false
 }
diff --git a/test/C/src/zephyr/lib/Led.lf b/test/C/src/zephyr/lib/Led.lf
index 53293362c9..04999cf14b 100644
--- a/test/C/src/zephyr/lib/Led.lf
+++ b/test/C/src/zephyr/lib/Led.lf
@@ -1,5 +1,4 @@
-target C;
-    
+target C
 
 reactor NrfLeds {
     preamble {=

From 0fe9742689924fde371dcce6af659412eb4a042b Mon Sep 17 00:00:00 2001
From: erling <erling.jellum@gmail.com>
Date: Fri, 13 Jan 2023 16:41:29 -0800
Subject: [PATCH 58/63] Apply suggestions from code review

Co-authored-by: Peter Donovan <33707478+petervdonovan@users.noreply.github.com>
---
 org.lflang/src/org/lflang/generator/c/CCmakeGenerator.java | 4 ++--
 org.lflang/src/org/lflang/generator/c/CGenerator.java      | 1 -
 2 files changed, 2 insertions(+), 3 deletions(-)

diff --git a/org.lflang/src/org/lflang/generator/c/CCmakeGenerator.java b/org.lflang/src/org/lflang/generator/c/CCmakeGenerator.java
index 8ecb18e8a5..35a4a8e3ad 100644
--- a/org.lflang/src/org/lflang/generator/c/CCmakeGenerator.java
+++ b/org.lflang/src/org/lflang/generator/c/CCmakeGenerator.java
@@ -120,8 +120,8 @@ CodeBuilder generateCMakeCode(
         cMakeCode.pr("cmake_minimum_required(VERSION " + MIN_CMAKE_VERSION + ")");
 
         if (targetConfig.platformOptions.platform == Platform.ZEPHYR) {
-            cMakeCode.pr("# Set default configuration file. To add custom configurations");
-            cMakeCode.pr("# Pass -- -DOVERLAY_CONFIG=my_config.prj to either cmake or west");
+            cMakeCode.pr("# Set default configuration file. To add custom configurations,");
+            cMakeCode.pr("# pass -- -DOVERLAY_CONFIG=my_config.prj to either cmake or west");
             cMakeCode.pr("set(CONF_FILE prj_lf.conf)");
             if (targetConfig.platformOptions.board != null) {
                 cMakeCode.pr("# Selecting board specified in target property");
diff --git a/org.lflang/src/org/lflang/generator/c/CGenerator.java b/org.lflang/src/org/lflang/generator/c/CGenerator.java
index fd787e315c..ebf5789b83 100644
--- a/org.lflang/src/org/lflang/generator/c/CGenerator.java
+++ b/org.lflang/src/org/lflang/generator/c/CGenerator.java
@@ -590,7 +590,6 @@ public void doGenerate(Resource resource, LFGeneratorContext context) {
 
                     StringBuilder s = new StringBuilder();
                     s.append("set(ARDUINO_BOARD \"");
-//                    s.append(targetConfig.platformOptions.board.getBoardName());
                     s.append("\")");
                     FileUtil.writeToFile(s.toString(),
                         fileConfig.getSrcGenPath().resolve("toolchain/BoardOptions.cmake"));

From ebff551f4451c8003e8ab4f22fefd9662bc72764 Mon Sep 17 00:00:00 2001
From: erling <erling.jellum@gmail.com>
Date: Fri, 13 Jan 2023 16:42:28 -0800
Subject: [PATCH 59/63] Apply suggestions from code review

---
 .github/workflows/ci.yml                                  | 1 -
 org.lflang.tests/src/org/lflang/tests/Configurators.java  | 1 -
 .../src/org/lflang/tests/runtime/CZephyrTest.java         | 8 --------
 3 files changed, 10 deletions(-)

diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index e178cb0626..3ab25a330c 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -63,7 +63,6 @@ jobs:
     uses: lf-lang/lingua-franca/.github/workflows/c-tests.yml@master
     needs: cancel
   
-  # FIXME: Find a way to efficiently install zephyr in CI. Maybe pull-down a docker container?
   # Run the C Zephyr integration tests.
   c-zephyr-tests:
     uses: lf-lang/lingua-franca/.github/workflows/c-zephyr-tests.yml@c-zephyr-support
diff --git a/org.lflang.tests/src/org/lflang/tests/Configurators.java b/org.lflang.tests/src/org/lflang/tests/Configurators.java
index 36ec20aba5..81e015dfbf 100644
--- a/org.lflang.tests/src/org/lflang/tests/Configurators.java
+++ b/org.lflang.tests/src/org/lflang/tests/Configurators.java
@@ -62,7 +62,6 @@ public static boolean disableThreading(LFTest test) {
         return true;
     }
 
-
     // TODO: In the future we want to execute to the test with QEMU
     //  but it requires parsing QEMU output until either:
     //  1) A timeout
diff --git a/org.lflang.tests/src/org/lflang/tests/runtime/CZephyrTest.java b/org.lflang.tests/src/org/lflang/tests/runtime/CZephyrTest.java
index d2d2876658..b63765c0f0 100644
--- a/org.lflang.tests/src/org/lflang/tests/runtime/CZephyrTest.java
+++ b/org.lflang.tests/src/org/lflang/tests/runtime/CZephyrTest.java
@@ -54,13 +54,5 @@ public void runZephyrTests() {
             TestCategory.ZEPHYR::equals, Configurators::platformZephyrQemuNoFlash,
             false);
     }
-    // @Test
-    // public void runGenericTests() {
-    //     Assumptions.assumeTrue(isLinux(), "Zephyr tests only run on Linux");
-    //     super.runTestsFor(List.of(Target.C),
-    //         Message.DESC_GENERIC,
-    //         TestCategory.GENERIC::equals, Configurators::makeZephyrCompatible,
-    //         false);
-    // }
 }
 

From bfcca38742058a3b7d4850e3348b284bcb95db06 Mon Sep 17 00:00:00 2001
From: Erling Rennemo Jellum <erling.r.jellum@ntnu.no>
Date: Sat, 14 Jan 2023 20:56:19 +0100
Subject: [PATCH 60/63] Code generate call to exit() instead of return in main
 for zephyr

---
 org.lflang/src/lib/c/reactor-c                |  2 +-
 .../generator/c/CMainFunctionGenerator.java   | 21 +++++++++++++------
 2 files changed, 16 insertions(+), 7 deletions(-)

diff --git a/org.lflang/src/lib/c/reactor-c b/org.lflang/src/lib/c/reactor-c
index ad95c07efe..26aefadf9e 160000
--- a/org.lflang/src/lib/c/reactor-c
+++ b/org.lflang/src/lib/c/reactor-c
@@ -1 +1 @@
-Subproject commit ad95c07efe2fe5c68d8d597904aef6d81fb37f61
+Subproject commit 26aefadf9ec001785c8f6cfb16198d75f55c7e02
diff --git a/org.lflang/src/org/lflang/generator/c/CMainFunctionGenerator.java b/org.lflang/src/org/lflang/generator/c/CMainFunctionGenerator.java
index 7b05a52923..f7ef30869b 100644
--- a/org.lflang/src/org/lflang/generator/c/CMainFunctionGenerator.java
+++ b/org.lflang/src/org/lflang/generator/c/CMainFunctionGenerator.java
@@ -51,13 +51,22 @@ private String generateMainFunction() {
             "}",
             "void loop() {}"
             );
+        } else if (targetConfig.platformOptions.platform == Platform.ZEPHYR) {
+            // The Zephyr "runtime" does not terminate when main returns.
+            //  Rather, `exit` should be called explicitly.
+            return String.join("\n",
+                "void main(void) {",
+                "   int res = lf_reactor_c_main(0, NULL);",
+                "   exit(res);"
+                "}"
+                );
+        } else {
+            return String.join("\n",
+                "int main(int argc, const char* argv[]) {",
+                "    return lf_reactor_c_main(argc, argv);",
+                "}"
+            );
         }
-        return String.join("\n",
-            "int main(int argc, const char* argv[]) {",
-            "    return lf_reactor_c_main(argc, argv);",
-            "}"
-        );
-    }
 
     /**
      * Generate code that is used to override the

From ea2dfc8051ce1a424512e27d89622f6693b53c7d Mon Sep 17 00:00:00 2001
From: Erling Rennemo Jellum <erling.r.jellum@ntnu.no>
Date: Sat, 14 Jan 2023 21:01:31 +0100
Subject: [PATCH 61/63] Typo

---
 .../src/org/lflang/generator/c/CMainFunctionGenerator.java      | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/org.lflang/src/org/lflang/generator/c/CMainFunctionGenerator.java b/org.lflang/src/org/lflang/generator/c/CMainFunctionGenerator.java
index f7ef30869b..07dbcab5d1 100644
--- a/org.lflang/src/org/lflang/generator/c/CMainFunctionGenerator.java
+++ b/org.lflang/src/org/lflang/generator/c/CMainFunctionGenerator.java
@@ -57,7 +57,7 @@ private String generateMainFunction() {
             return String.join("\n",
                 "void main(void) {",
                 "   int res = lf_reactor_c_main(0, NULL);",
-                "   exit(res);"
+                "   exit(res);",
                 "}"
                 );
         } else {

From e95aedf149fa409ca65eb439b92e499705480882 Mon Sep 17 00:00:00 2001
From: Erling Rennemo Jellum <erling.r.jellum@ntnu.no>
Date: Sat, 14 Jan 2023 21:11:33 +0100
Subject: [PATCH 62/63] Typo

---
 .../src/org/lflang/generator/c/CMainFunctionGenerator.java       | 1 +
 1 file changed, 1 insertion(+)

diff --git a/org.lflang/src/org/lflang/generator/c/CMainFunctionGenerator.java b/org.lflang/src/org/lflang/generator/c/CMainFunctionGenerator.java
index 07dbcab5d1..f34f46345c 100644
--- a/org.lflang/src/org/lflang/generator/c/CMainFunctionGenerator.java
+++ b/org.lflang/src/org/lflang/generator/c/CMainFunctionGenerator.java
@@ -67,6 +67,7 @@ private String generateMainFunction() {
                 "}"
             );
         }
+    }
 
     /**
      * Generate code that is used to override the

From b7df70d3354079050d71fb1e655913a274761d81 Mon Sep 17 00:00:00 2001
From: Erling Rennemo Jellum <erling.r.jellum@ntnu.no>
Date: Sat, 14 Jan 2023 23:53:01 +0100
Subject: [PATCH 63/63] update reactor-c ref

---
 org.lflang/src/lib/c/reactor-c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/org.lflang/src/lib/c/reactor-c b/org.lflang/src/lib/c/reactor-c
index 26aefadf9e..d42631aa69 160000
--- a/org.lflang/src/lib/c/reactor-c
+++ b/org.lflang/src/lib/c/reactor-c
@@ -1 +1 @@
-Subproject commit 26aefadf9ec001785c8f6cfb16198d75f55c7e02
+Subproject commit d42631aa6902e98f0808a55bf6cef72b50bb7619