Simulation Overview
This project uses Renode for functional simulation of the STM32H755 firmware and the JSN-SR04T ultrasonic sensor.
Renode in Action
Simulation allows for rapid testing of the micro-ROS state machine without physical hardware.
📷 Renode Simulation Screenshot — Coming Soon
Above: Renode simulating the CM7 core with Ethernet peripheral activity.
Simulated Components
- STM32H755: Functional model including Cortex-M7 and Cortex-M4.
- Ethernet (MAC): TAP-based networking bridge to the host.
- JSN-SR04T: Custom C# sensor model providing distance data over UART/GPIO.
Running a Simulation
To start the simulation with the TAP interface:
# Terminal 1: Setup TAP
sudo ip tuntap add dev tap0 mode tap
sudo ip link set dev tap0 up
# Terminal 2: Run Renode
renode simulation/stm32h755.resc
Automated Test Harness
The simulation is integrated with a Python-based test runner that verifies:
- Successful Ethernet DHCP/Static IP assignment.
- micro-ROS agent discovery.
- Topic publishing frequency.