Renode

Renode emulates processors, peripherals, sensors and communication interfaces, so you can run the original firmware unmodified and before the hardware exists. It supports more than 1,200 boards and ARM Cortex-M and A, RISC-V, x86, Xtensa and other architectures, and also emulates several devices communicating with each other. It is used to run automated tests in CI with Robot Framework, to debug with execution tracing and to save and restore the simulation state. Limitation: peripheral models do not cover every part, and for a new board you sometimes have to write a platform description yourself.