processor-in-the-loop

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toppers / athrill

Athrill 3: a CPU emulator on a virtual clock for running and debugging embedded firmware, with V850, RH850, RISC-V and Arm Cortex-M targets. Runs the unmodified PX4 Pixhawk 4 firmware; runs repeat bit for bit; co-simulates with Hakoniwa.

emulator arm embedded cortex-m firmware px4 deterministic hakoniwa risc-v cpu-emulator toppers co-simulation v850 virtual-platform athrill rh850 processor-in-the-loop

Updated Nov 10, 2026
C

hakoniwalab / athrill-target-stm32

Star

Run the unmodified PX4 Pixhawk 4 (px4_fmu-v5) firmware on a virtual STM32F765: NuttX, interrupts, DMA and all, flown from QGroundControl, with bit-identical replays. An Athrill target.

emulator stm32 px4 pixhawk cortex-m7 nuttx processor-in-the-loop

Updated Nov 10, 2026
Assembly

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