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
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Updated
Nov 8, 2026 - C