embedded-pro · gabrielfrasantos · Aug 25, 2026 · Aug 25, 2026 · Aug 25, 2026
diff --git a/.mega-linter.yml b/.mega-linter.yml
@@ -26,4 +26,3 @@ SARIF_REPORTER: true
 SHOW_SKIPPED_LINTERS: false
 JSON_JSONLINT_ARGUMENTS: --mode cjson
 CPP_CPPCHECK_ARGUMENTS: --suppress=normalCheckLevelMaxBranches --library=qt
-CPP_CPPCHECK_FILTER_REGEX_EXCLUDE: platform/qemu
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -38,7 +38,7 @@ if (NUMERICAL_TOOLBOX_STANDALONE)
     FetchContent_Declare(
         emil
         GIT_REPOSITORY https://github.com/embedded-pro/embedded-infra-lib.git
-        GIT_TAG        2848dbf163a6ebf159e29f7f4f73b96f7773d20d # Unreleased
+        GIT_TAG        b1056e80ab5376d7e4ee821c5b3c5680bc01f751 # Unreleased
     )
 
     set(EMIL_INCLUDE_MBEDTLS Off CACHE BOOL "" FORCE)
@@ -47,16 +47,7 @@ if (NUMERICAL_TOOLBOX_STANDALONE)
     set(EMIL_BUILD_ECHO_COMPILERS Off CACHE BOOL "" FORCE)
     set(EMIL_ENABLE_DOCKER_TOOLS Off CACHE BOOL "" FORCE)
 
-    if(DEFINED QEMU_MACHINE)
-        set(gtest_disable_pthreads ON CACHE BOOL "" FORCE)
-    endif()
-
     FetchContent_MakeAvailable(emil)
-
-    if(DEFINED QEMU_MACHINE)
-        function(emil_add_test target)
-        endfunction()
-    endif()
 endif()
 
 project(numerical-toolbox LANGUAGES C CXX ASM VERSION 3.1.1) # x-release-please-version
@@ -97,10 +88,6 @@ endif()
 
 include(QemuHelpers)
 
-if(DEFINED QEMU_MACHINE)
-    add_subdirectory(platform/qemu)
-endif()
-
 add_subdirectory(numerical)
 
 if (NUMERICAL_TOOLBOX_BUILD_SIMULATOR)

diff --git a/CMakePresets.json b/CMakePresets.json
@@ -67,7 +67,10 @@
         "CMAKE_CONFIGURATION_TYPES": "RelWithDebInfo",
         "NUMERICAL_TOOLBOX_BUILD_TESTS": "On",
         "NUMERICAL_TOOLBOX_BUILD_SIMULATOR": "Off",
-        "QEMU_MACHINE": "mps2-an386",
+        "EMIL_BUILD_QEMU": "On",
+        "EMIL_BUILD_CORTEX_M": "On",
+        "TARGET_CORTEX": "m4",
+        "CMAKE_CROSSCOMPILING_EMULATOR": "qemu-system-arm;-M;mps2-an386;-nographic;-semihosting-config;enable=on,target=native;-kernel",
         "CMAKE_CXX_FLAGS": "-DGTEST_HAS_STREAM_REDIRECTION=0 -DGTEST_HAS_POSIX_RE=0 -D_POSIX_C_SOURCE=200112L"
       }
     },
@@ -81,7 +84,10 @@
         "CMAKE_CONFIGURATION_TYPES": "RelWithDebInfo",
         "NUMERICAL_TOOLBOX_BUILD_TESTS": "On",
         "NUMERICAL_TOOLBOX_BUILD_SIMULATOR": "Off",
-        "QEMU_MACHINE": "mps2-an500",
+        "EMIL_BUILD_QEMU": "On",
+        "EMIL_BUILD_CORTEX_M": "On",
+        "TARGET_CORTEX": "m7",
+        "CMAKE_CROSSCOMPILING_EMULATOR": "qemu-system-arm;-M;mps2-an500;-nographic;-semihosting-config;enable=on,target=native;-kernel",
         "CMAKE_CXX_FLAGS": "-DGTEST_HAS_STREAM_REDIRECTION=0 -DGTEST_HAS_POSIX_RE=0 -D_POSIX_C_SOURCE=200112L"
       }
     }
@@ -126,6 +132,7 @@
       "configuration": "RelWithDebInfo",
       "configurePreset": "qemu-cortex-m4",
       "targets": [
+        "hal.qemu.test",
         "numerical.analysis_test",
         "numerical.analysis.windowing_test",
         "numerical.control_analysis_test",
@@ -147,6 +154,7 @@
       "configuration": "RelWithDebInfo",
       "configurePreset": "qemu-cortex-m7",
       "targets": [
+        "hal.qemu.test",
         "numerical.analysis_test",
         "numerical.analysis.windowing_test",
         "numerical.control_analysis_test",

diff --git a/cmake/QemuHelpers.cmake b/cmake/QemuHelpers.cmake
@@ -1,16 +1,14 @@
-function(numerical_add_qemu_test target)
-    if(NOT DEFINED QEMU_MACHINE)
+function(numerical_link_qemu_runtime target)
+    if(NOT EMIL_BUILD_QEMU)
         return()
     endif()
-    target_link_libraries(${target} PRIVATE platform_qemu_startup)
-    target_link_libraries(${target} PRIVATE -lrdimon)
-    add_test(
-        NAME qemu.${target}
-        COMMAND qemu-system-arm
-            -machine ${QEMU_MACHINE}
-            -nographic
-            -semihosting-config enable=on,target=native
-            -kernel $<TARGET_FILE:${target}>
+    target_link_libraries(${target} PRIVATE
+        hal.cortex_m
+        hal.cortex_m.runtime
+        hal.qemu.syscalls
+        hal.qemu.default_init
+        hal.qemu.sync
+        hal.qemu.cortex
+        gmock_main
     )
-    set_tests_properties(qemu.${target} PROPERTIES TIMEOUT 120)
 endfunction()
diff --git a/numerical/analysis/test/CMakeLists.txt b/numerical/analysis/test/CMakeLists.txt
@@ -8,7 +8,7 @@ target_link_libraries(numerical.analysis_test PUBLIC
     numerical.math_test_helper
 )
 
-numerical_add_qemu_test(numerical.analysis_test)
+numerical_link_qemu_runtime(numerical.analysis_test)
 
 target_sources(numerical.analysis_test PRIVATE
     TestConvolutionCorrelation.cpp

diff --git a/numerical/analysis/windowing/test/CMakeLists.txt b/numerical/analysis/windowing/test/CMakeLists.txt
@@ -7,7 +7,7 @@ target_link_libraries(numerical.analysis.windowing_test PUBLIC
     numerical.analysis.windowing
 )
 
-numerical_add_qemu_test(numerical.analysis.windowing_test)
+numerical_link_qemu_runtime(numerical.analysis.windowing_test)
 
 target_sources(numerical.analysis.windowing_test PRIVATE
     TestWindowing.cpp

diff --git a/numerical/control_analysis/test/CMakeLists.txt b/numerical/control_analysis/test/CMakeLists.txt
@@ -8,7 +8,7 @@ target_link_libraries(numerical.control_analysis_test PUBLIC
     numerical.math_test_helper
 )
 
-numerical_add_qemu_test(numerical.control_analysis_test)
+numerical_link_qemu_runtime(numerical.control_analysis_test)
 
 target_sources(numerical.control_analysis_test PRIVATE
     TestContinuousToDiscrete.cpp

diff --git a/numerical/controllers/implementations/test/CMakeLists.txt b/numerical/controllers/implementations/test/CMakeLists.txt
@@ -8,7 +8,7 @@ target_link_libraries(numerical.controllers_test PUBLIC
     numerical.math_test_helper
 )
 
-numerical_add_qemu_test(numerical.controllers_test)
+numerical_link_qemu_runtime(numerical.controllers_test)
 
 target_sources(numerical.controllers_test PRIVATE
     TestBangBangHysteresis.cpp

diff --git a/numerical/estimators/offline/test/CMakeLists.txt b/numerical/estimators/offline/test/CMakeLists.txt
@@ -7,7 +7,7 @@ target_link_libraries(numerical.estimators.offline_test PUBLIC
     numerical.estimators.offline
 )
 
-numerical_add_qemu_test(numerical.estimators.offline_test)
+numerical_link_qemu_runtime(numerical.estimators.offline_test)
 
 target_sources(numerical.estimators.offline_test PRIVATE
     TestExpectationMaximization.cpp

diff --git a/numerical/estimators/online/test/CMakeLists.txt b/numerical/estimators/online/test/CMakeLists.txt
@@ -7,7 +7,7 @@ target_link_libraries(numerical.estimators.online_test PUBLIC
     numerical.estimators.online
 )
 
-numerical_add_qemu_test(numerical.estimators.online_test)
+numerical_link_qemu_runtime(numerical.estimators.online_test)
 
 target_sources(numerical.estimators.online_test PRIVATE
     TestRecursiveLeastSquares.cpp

diff --git a/numerical/filters/active/test/CMakeLists.txt b/numerical/filters/active/test/CMakeLists.txt
@@ -8,7 +8,7 @@ target_link_libraries(numerical.filters.active_test PUBLIC
     numerical.math_test_helper
 )
 
-numerical_add_qemu_test(numerical.filters.active_test)
+numerical_link_qemu_runtime(numerical.filters.active_test)
 
 target_sources(numerical.filters.active_test PRIVATE
     TestAhrsMadgwickMahony.cpp

diff --git a/numerical/filters/passive/test/CMakeLists.txt b/numerical/filters/passive/test/CMakeLists.txt
@@ -9,7 +9,7 @@ target_link_libraries(numerical.filters.passive_test PUBLIC
     numerical.controllers_test_helper
 )
 
-numerical_add_qemu_test(numerical.filters.passive_test)
+numerical_link_qemu_runtime(numerical.filters.passive_test)
 
 target_sources(numerical.filters.passive_test PRIVATE
     TestBiquadCascade.cpp

diff --git a/numerical/filters/passive/test/TestBiquadCascade.cpp b/numerical/filters/passive/test/TestBiquadCascade.cpp
@@ -233,7 +233,7 @@ TEST_F(TestBiquadCascade, cascade_equals_serial_sections)
     for (int i = 0; i < 20; ++i)
     {
         const float x{ static_cast<float>(i) * 0.1f };
-        EXPECT_FLOAT_EQ(cascade.Filter(x), s1.Filter(s0.Filter(x)));
+        EXPECT_NEAR(cascade.Filter(x), s1.Filter(s0.Filter(x)), math::Tolerance<float>());
     }
 }
 

diff --git a/numerical/math/test/CMakeLists.txt b/numerical/math/test/CMakeLists.txt
@@ -8,7 +8,7 @@ target_link_libraries(numerical.math_test PUBLIC
     numerical.math_test_helper
 )
 
-numerical_add_qemu_test(numerical.math_test)
+numerical_link_qemu_runtime(numerical.math_test)
 
 target_sources(numerical.math_test PRIVATE
     TestCholeskyDecomposition.cpp

diff --git a/numerical/nonlinear_control/test/CMakeLists.txt b/numerical/nonlinear_control/test/CMakeLists.txt
@@ -7,7 +7,7 @@ target_link_libraries(numerical.nonlinear_control_test PUBLIC
     numerical.nonlinear_control
 )
 
-numerical_add_qemu_test(numerical.nonlinear_control_test)
+numerical_link_qemu_runtime(numerical.nonlinear_control_test)
 
 target_sources(numerical.nonlinear_control_test PRIVATE
     TestBacksteppingControl.cpp

diff --git a/numerical/optimization/test/CMakeLists.txt b/numerical/optimization/test/CMakeLists.txt
@@ -7,7 +7,7 @@ target_link_libraries(numerical.optimization_test PUBLIC
     numerical.optimization
 )
 
-numerical_add_qemu_test(numerical.optimization_test)
+numerical_link_qemu_runtime(numerical.optimization_test)
 
 target_sources(numerical.optimization_test PRIVATE
     TestBayesianOptimization.cpp

diff --git a/numerical/regularization/test/CMakeLists.txt b/numerical/regularization/test/CMakeLists.txt
@@ -7,7 +7,7 @@ target_link_libraries(numerical.regularization_test PUBLIC
     numerical.regularization
 )
 
-numerical_add_qemu_test(numerical.regularization_test)
+numerical_link_qemu_runtime(numerical.regularization_test)
 
 target_sources(numerical.regularization_test PRIVATE
     TestL1.cpp

diff --git a/numerical/robust_control/test/CMakeLists.txt b/numerical/robust_control/test/CMakeLists.txt
@@ -7,7 +7,7 @@ target_link_libraries(numerical.robust_control_test PUBLIC
     numerical.robust_control
 )
 
-numerical_add_qemu_test(numerical.robust_control_test)
+numerical_link_qemu_runtime(numerical.robust_control_test)
 
 target_sources(numerical.robust_control_test PRIVATE
     TestActiveDisturbanceRejection.cpp

diff --git a/numerical/solvers/test/CMakeLists.txt b/numerical/solvers/test/CMakeLists.txt
@@ -7,7 +7,7 @@ target_link_libraries(numerical.solvers_test PUBLIC
     numerical.solver
 )
 
-numerical_add_qemu_test(numerical.solvers_test)
+numerical_link_qemu_runtime(numerical.solvers_test)
 
 target_sources(numerical.solvers_test PRIVATE
     TestConditionNumber.cpp

diff --git a/platform/qemu/CMakeLists.txt b/platform/qemu/CMakeLists.txt
diff --git a/platform/qemu/DefaultInit.cpp b/platform/qemu/DefaultInit.cpp