Add Zephyr native_sim tests #10795

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Merged

dhalbert merged 15 commits into adafruit:main from tannewt:zephyr_native_sim

Feb 4, 2026

.github/actions/deps/ports/zephyr-cp/action.yml

-Original file line number
+Diff line change
@@ Expand Up / @@ -3,11 +3,11 @@ name: Fetch Zephyr port deps @@
     runs:
       using: composite
       steps:
-        - name: Get libusb
+        - name: Get libusb and mtools
           if: runner.os == 'Linux'
           run: |
             sudo apt-get update
-            sudo apt-get install -y libusb-1.0-0-dev libudev-dev
+            sudo apt-get install -y libusb-1.0-0-dev libudev-dev mtools
           shell: bash
         - name: Setup Zephyr project
           uses: zephyrproject-rtos/action-zephyr-setup@v1
@@ Expand Down @@

.github/workflows/run-tests.yml

-Original file line number
+Diff line change
@@ Expand Up / @@ -86,7 +86,14 @@ jobs: @@
               python-version: 3.13
           - name: Set up Zephyr
             uses: ./.github/actions/deps/ports/zephyr-cp
+          - name: Set up submodules
+            id: set-up-submodules
+            uses: ./.github/actions/deps/submodules
+            with:
+              target: zephyr-cp
           - name: Set up external
             uses: ./.github/actions/deps/external
-          - name: Run Zephyr build tests
+          - name: Build native sim target
+            run: make -C ports/zephyr-cp -j2 BOARD=native_native_sim
+          - name: Run Zephyr tests
             run: make -C ports/zephyr-cp test

main.c

-Original file line number
+Diff line change
@@ Expand Up / @@ -21,6 +21,7 @@ @@
     #include "py/stackctrl.h"
     #include "shared/readline/readline.h"
+    #include "shared/runtime/gchelper.h"
     #include "shared/runtime/pyexec.h"
     #include "background.h"
@@ Expand All / @@ -30,7 +31,6 @@ @@
     #include "supervisor/cpu.h"
     #include "supervisor/filesystem.h"
     #include "supervisor/port.h"
-    #include "supervisor/shared/cpu_regs.h"
     #include "supervisor/shared/reload.h"
     #include "supervisor/shared/safe_mode.h"
     #include "supervisor/shared/serial.h"
@@ Expand Down Expand Up / @@ -1161,13 +1161,7 @@ int __attribute__((used)) main(void) { @@
     void gc_collect(void) {
         gc_collect_start();
-        // Load register values onto the stack. They get collected below with the rest of the stack.
-        size_t regs[SAVED_REGISTER_COUNT];
-        mp_uint_t sp = cpu_get_regs_and_sp(regs);
-        // This naively collects all object references from an approximate stack
-        // range.
-        gc_collect_root((void **)sp, ((mp_uint_t)port_stack_get_top() - sp) / sizeof(mp_uint_t));
+        gc_helper_collect_regs_and_stack();
         // This collects root pointers from the VFS mount table. Some of them may
         // have lost their references in the VM even though they are mounted.
@@ Expand Down @@

ports/analog/Makefile

-Original file line number
+Diff line change
@@ Expand Up / @@ -154,8 +154,10 @@ LINKERFILE = linking/$(MCU_VARIANT_LOWER)_cktpy.ld @@
     LDFLAGS += -nostartfiles -specs=nano.specs
     endif
-    SRC_S_UPPER = supervisor/shared/cpu_regs.S
     SRC_S += $(STARTUPFILE)
+    SRC_S += shared/runtime/gchelper_thumb2.s
+    SRC_C += shared/runtime/gchelper_native.c
     # Needed to compile some MAX32 headers
     CFLAGS += 	-D$(MCU_VARIANT_UPPER) \
@@ Expand Down Expand Up / @@ -252,7 +254,6 @@ OBJ += $(addprefix $(BUILD)/, $(SRC_LIBM:.c=.o)) @@
     endif
     OBJ += $(addprefix $(BUILD)/, $(SRC_CIRCUITPY_COMMON:.c=.o))
     OBJ += $(addprefix $(BUILD)/, $(SRC_S:.s=.o))
-    OBJ += $(addprefix $(BUILD)/, $(SRC_S_UPPER:.S=.o))
     OBJ += $(addprefix $(BUILD)/, $(SRC_MOD:.c=.o))
     # List of sources for qstr extraction
@@ Expand Down @@

ports/atmel-samd/Makefile

-Original file line number
+Diff line change
@@ Expand Up / @@ -284,6 +284,7 @@ SRC_C += \ @@
     	lib/tinyusb/src/portable/microchip/samd/dcd_samd.c \
     	mphalport.c \
     	reset.c \
+    	shared/runtime/gchelper_native.c \
     	timer_handler.c \
     	$(SRC_PERIPHERALS) \
@@ Expand All / @@ -308,7 +309,11 @@ ifeq ($(CIRCUITPY_AUDIOBUSIO),1) @@
     SRC_C += peripherals/samd/i2s.c peripherals/samd/$(PERIPHERALS_CHIP_FAMILY)/i2s.c
     endif
-    SRC_S_UPPER = supervisor/shared/cpu_regs.S
+    ifeq ($(CHIP_FAMILY), samd21)
+    SRC_S += shared/runtime/gchelper_thumb1.s
+    else
+    SRC_S += shared/runtime/gchelper_thumb2.s
+    endif
     OBJ = $(PY_O) $(SUPERVISOR_O) $(addprefix $(BUILD)/, $(SRC_C:.c=.o))
     OBJ += $(addprefix $(BUILD)/, $(SRC_ASF:.c=.o))
@@ Expand All / @@ -317,7 +322,7 @@ ifeq ($(INTERNAL_LIBM),1) @@
     OBJ += $(addprefix $(BUILD)/, $(SRC_LIBM:.c=.o))
     endif
     OBJ += $(addprefix $(BUILD)/, $(SRC_CIRCUITPY_COMMON:.c=.o))
-    OBJ += $(addprefix $(BUILD)/, $(SRC_S_UPPER:.S=.o))
+    OBJ += $(addprefix $(BUILD)/, $(SRC_S:.s=.o))
     OBJ += $(addprefix $(BUILD)/, $(SRC_MOD:.c=.o))
     QSTR_GLOBAL_REQUIREMENTS += $(HEADER_BUILD)/sdiodata.h
@@ Expand Down @@

ports/broadcom/Makefile

-Original file line number
+Diff line change
@@ Expand Up / @@ -59,6 +59,8 @@ SRC_C += bindings/videocore/__init__.c \ @@
     SRC_S = peripherals/broadcom/boot$(SUFFIX).s
+    SRC_C += shared/runtime/gchelper_generic.c
     OBJ = $(PY_O) $(SUPERVISOR_O) $(addprefix $(BUILD)/, $(SRC_C:.c=.o))
     OBJ += $(addprefix $(BUILD)/, $(SRC_COMMON_HAL_SHARED_MODULE_EXPANDED:.c=.o))
     	ifeq ($(INTERNAL_LIBM),1)
@@ Expand Down @@

ports/cxd56/Makefile

-Original file line number
+Diff line change
@@ Expand Up / @@ -110,7 +110,9 @@ LDFLAGS = \ @@
     CFLAGS += -DCFG_TUSB_MCU=OPT_MCU_CXD56 -DCFG_TUD_MIDI_RX_BUFSIZE=512 -DCFG_TUD_CDC_RX_BUFSIZE=1024 -DCFG_TUD_MIDI_TX_BUFSIZE=512 -DCFG_TUD_CDC_TX_BUFSIZE=1024 -DCFG_TUD_MSC_BUFSIZE=512 $(CFLAGS_MOD)
-    SRC_S_UPPER = supervisor/shared/cpu_regs.S
+    SRC_S = shared/runtime/gchelper_thumb2.s
+    SRC_C += shared/runtime/gchelper_native.c
     SRC_C += \
     	background.c \
@@ Expand All / @@ -120,7 +122,7 @@ SRC_C += \ @@
     	lib/tinyusb/src/portable/sony/cxd56/dcd_cxd56.c \
     OBJ = $(PY_O) $(SUPERVISOR_O) $(addprefix $(BUILD)/, $(SRC_C:.c=.o))
-    OBJ += $(addprefix $(BUILD)/, $(SRC_S_UPPER:.S=.o))
+    OBJ += $(addprefix $(BUILD)/, $(SRC_S:.s=.o))
     OBJ += $(addprefix $(BUILD)/, $(SRC_COMMON_HAL_SHARED_MODULE_EXPANDED:.c=.o))
     ifeq ($(INTERNAL_LIBM),1)
     OBJ += $(addprefix $(BUILD)/, $(SRC_LIBM:.c=.o))
@@ Expand Down @@

ports/espressif/Makefile

-Original file line number
+Diff line change
@@ Expand Up / @@ -216,9 +216,12 @@ ifeq ($(IDF_TARGET_ARCH),xtensa) @@
     # `#include "xtensa/xtensa_api.h"`.
     	CFLAGS += -mlongcalls -isystem esp-idf/components/xtensa/deprecated_include/ -Wno-error=cpp
+    	CFLAGS += -DMICROPY_GCREGS_SETJMP=1
     # Wrap longjmp with a patched version that protects register window update with a critical section
     	LDFLAGS += -Wl,--wrap=longjmp
+    	SRC_C += shared/runtime/gchelper_generic.c
     else ifeq ($(IDF_TARGET_ARCH),riscv)
     	ifeq ($(IDF_TARGET),esp32p4)
@@ Expand All / @@ -230,6 +233,9 @@ else ifeq ($(IDF_TARGET_ARCH),riscv) @@
     	LDFLAGS += \
     		-Lesp-idf/components/riscv/ld \
     		-Trom.api.ld
+    	SRC_C += shared/runtime/gchelper_native.c
+    	SRC_S = shared/runtime/gchelper_rv32i.s
     endif
@@ Expand Down Expand Up @@
     FROZEN_MPY_MPY_FILES := $(addprefix $(BUILD)/,$(FROZEN_MPY_PY_FILES:.py=.mpy))
     endif
-    SRC_S_UPPER = supervisor/shared/cpu_regs.S
     OBJ += $(PY_O) $(SUPERVISOR_O) $(addprefix $(BUILD)/, $(SRC_C:.c=.o))
     OBJ += $(addprefix $(BUILD)/, $(SRC_COMMON_HAL_SHARED_MODULE_EXPANDED:.c=.o))
     ifeq ($(INTERNAL_LIBM),1)
     OBJ += $(addprefix $(BUILD)/, $(SRC_LIBM:.c=.o))
     endif
     OBJ += $(addprefix $(BUILD)/, $(SRC_CIRCUITPY_COMMON:.c=.o))
     OBJ += $(addprefix $(BUILD)/, $(SRC_MOD:.c=.o))
-    OBJ += $(addprefix $(BUILD)/, $(SRC_S_UPPER:.S=.o))
+    OBJ += $(addprefix $(BUILD)/, $(SRC_S:.s=.o))
     $(BUILD)/$(FATFS_DIR)/ff.o: COPT += -Os
     $(filter $(PY_BUILD)/../extmod/vfs_fat_%.o, $(PY_O)): COPT += -Os
@@ Expand Down @@

ports/espressif/boards/m5stack_cores3_se/board.c

            
                      Original file line number
                      Diff line number
                      Diff line change
                  
    @@ -46,8 +46,8 @@ static bool display_init(void) {
  
        common_hal_fourwire_fourwire_construct(

            bus,

            spi,

            &pin_GPIO35,    // DC

            &pin_GPIO3,     // CS

            MP_OBJ_FROM_PTR(&pin_GPIO35),    // DC

            MP_OBJ_FROM_PTR(&pin_GPIO3),     // CS

            NULL,           // RST

            40000000,       // baudrate

            0,              // polarity

ports/litex/Makefile

-Original file line number
+Diff line change
@@ Expand Up @@
     endif
     SRC_S_UPPER = \
-    	crt0-vexriscv.S \
-    	supervisor/shared/cpu_regs.S
+    	crt0-vexriscv.S
+    SRC_S = shared/runtime/gchelper_rv32i.s
+    SRC_C += shared/runtime/gchelper_native.c
     $(BUILD)/lib/tlsf/tlsf.o: CFLAGS += -Wno-cast-align
@@ Expand All / @@ -94,6 +97,7 @@ ifeq ($(INTERNAL_LIBM),1) @@
     OBJ += $(addprefix $(BUILD)/, $(SRC_LIBM:.c=.o))
     endif
     OBJ += $(addprefix $(BUILD)/, $(SRC_CIRCUITPY_COMMON:.c=.o))
+    OBJ += $(addprefix $(BUILD)/, $(SRC_S:.s=.o))
     OBJ += $(addprefix $(BUILD)/, $(SRC_S_UPPER:.S=.o))
     OBJ += $(addprefix $(BUILD)/, $(SRC_MOD:.c=.o))
@@ Expand Down @@

ports/mimxrt10xx/Makefile

-Original file line number
+Diff line change
@@ Expand Up / @@ -162,8 +162,11 @@ SRC_C += \ @@
     endif
     SRC_S_UPPER = \
-        sdk/devices/$(CHIP_FAMILY)/gcc/startup_$(CHIP_CORE).S \
-        supervisor/shared/cpu_regs.S
+        sdk/devices/$(CHIP_FAMILY)/gcc/startup_$(CHIP_CORE).S
+    SRC_S = shared/runtime/gchelper_thumb2.s
+    SRC_C += shared/runtime/gchelper_native.c
     OBJ = $(PY_O) $(SUPERVISOR_O) $(addprefix $(BUILD)/, $(SRC_C:.c=.o))
     OBJ += $(addprefix $(BUILD)/, $(SRC_SDK:.c=.o))
@@ Expand All / @@ -172,7 +175,7 @@ ifeq ($(INTERNAL_LIBM),1) @@
     OBJ += $(addprefix $(BUILD)/, $(SRC_LIBM:.c=.o))
     endif
     OBJ += $(addprefix $(BUILD)/, $(SRC_CIRCUITPY_COMMON:.c=.o))
-    OBJ += $(addprefix $(BUILD)/, $(SRC_S:.S=.o))
+    OBJ += $(addprefix $(BUILD)/, $(SRC_S:.s=.o))
     OBJ += $(addprefix $(BUILD)/, $(SRC_S_UPPER:.S=.o))
     OBJ += $(addprefix $(BUILD)/, $(SRC_MOD:.c=.o))
@@ Expand Down @@

ports/nordic/Makefile

-Original file line number
+Diff line change
@@ Expand Up / @@ -146,7 +146,9 @@ SRC_C += $(SRC_DCD) @@
     $(patsubst %.c,$(BUILD)/%.o,$(SRC_DCD)): CFLAGS += -Wno-missing-prototypes
     endif # CIRCUITPY_USB_DEVICE
-    SRC_S_UPPER = supervisor/shared/cpu_regs.S
+    SRC_S = shared/runtime/gchelper_thumb2.s
+    SRC_C += shared/runtime/gchelper_native.c
     OBJ += $(PY_O) $(SUPERVISOR_O) $(addprefix $(BUILD)/, $(SRC_C:.c=.o))
     OBJ += $(addprefix $(BUILD)/, $(SRC_NRFX:.c=.o))
@@ Expand All / @@ -155,7 +157,7 @@ ifeq ($(INTERNAL_LIBM),1) @@
     OBJ += $(addprefix $(BUILD)/, $(SRC_LIBM:.c=.o))
     endif
     OBJ += $(addprefix $(BUILD)/, $(SRC_CIRCUITPY_COMMON:.c=.o))
-    OBJ += $(addprefix $(BUILD)/, $(SRC_S_UPPER:.S=.o))
+    OBJ += $(addprefix $(BUILD)/, $(SRC_S:.s=.o))
     OBJ += $(addprefix $(BUILD)/, $(SRC_MOD:.c=.o))
     # nrfx uses undefined preprocessor variables quite casually, so we can't do
@@ Expand Down @@

ports/raspberrypi/Makefile

-Original file line number
+Diff line change
@@ Expand Up / @@ -396,6 +396,8 @@ OTHER_PICO_FLAGS := \ @@
     	-Wl,--wrap=__aeabi_uidivmod \
     	-Wl,--wrap=__aeabi_uldivmod
+    SRC_S = shared/runtime/gchelper_thumb1.s
     ifeq ($(CHIP_VARIANT),RP2040)
     CFLAGS += \
     	-march=armv6-m \
@@ Expand Down Expand Up / @@ -434,12 +436,12 @@ UF2_ID = 0xE48BFF56 @@
     DOUBLE_EABI = rp2040
     endif
     ifeq ($(CHIP_VARIANT),RP2350)
-    CFLAGS += \
-    	-march=armv8-m.main+fp+dsp \
+    AFLAGS = -march=armv8-m.main+fp+dsp \
     	-mthumb \
-    	-mabi=aapcs-linux \
     	-mcpu=cortex-m33 \
     	-mfloat-abi=softfp
+    CFLAGS += $(AFLAGS) \
+    	-mabi=aapcs-linux
     # ARM Secure family id
     UF2_ID = 0xe48bff59
@@ Expand Down Expand Up / @@ -473,6 +475,7 @@ endif @@
     endif
+    SRC_C += shared/runtime/gchelper_native.c
     SRC_SDK := \
     	src/common/hardware_claim/claim.c \
@@ Expand Down Expand Up @@
                   sdk/src/rp2_common/pico_double/double_aeabi_$(DOUBLE_EABI).S \
                   sdk/src/rp2_common/pico_int64_ops/pico_int64_ops_aeabi.S \
                   sdk/src/rp2_common/pico_crt0/crt0.S \
-                  supervisor/shared/cpu_regs.S \
                   $(SRC_S_UPPER_CHIP_VARIANT)
     ifeq ($(CIRCUITPY_PICODVI),1)
@@ Expand Down @@

ports/renode/Makefile

-Original file line number
+Diff line change
@@ Expand Up / @@ -45,7 +45,9 @@ SRC_C += \ @@
     	background.c \
     	mphalport.c \
-    SRC_S_UPPER = supervisor/shared/cpu_regs.S
+    SRC_S = shared/runtime/gchelper_thumb1.s
+    SRC_C += shared/runtime/gchelper_native.c
     OBJ = $(PY_O) $(SUPERVISOR_O) $(addprefix $(BUILD)/, $(SRC_C:.c=.o))
     OBJ += $(addprefix $(BUILD)/, $(SRC_COMMON_HAL_SHARED_MODULE_EXPANDED:.c=.o))
@@ Expand All / @@ -54,7 +56,6 @@ OBJ += $(addprefix $(BUILD)/, $(SRC_LIBM:.c=.o)) @@
     endif
     OBJ += $(addprefix $(BUILD)/, $(SRC_CIRCUITPY_COMMON:.c=.o))
     OBJ += $(addprefix $(BUILD)/, $(SRC_S:.s=.o))
-    OBJ += $(addprefix $(BUILD)/, $(SRC_S_UPPER:.S=.o))
     OBJ += $(addprefix $(BUILD)/, $(SRC_MOD:.c=.o))
     $(BUILD)/%.o: $(BUILD)/%.S
@@ Expand Down @@

ports/silabs/Makefile

-Original file line number
+Diff line change
@@ Expand Up / @@ -90,7 +90,10 @@ ifneq (,$(wildcard boards/$(BOARD)/sensor.c)) @@
     SRC_C += boards/$(BOARD)/sensor.c
     endif
-    SRC_S = boards/mp_efr32xg24_gchelper.s
+    AFLAGS = -mcpu=cortex-m33 -mthumb -mfpu=fpv5-sp-d16 -mfloat-abi=hard
+    SRC_S = shared/runtime/gchelper_thumb1.s
+    SRC_C += shared/runtime/gchelper_native.c
     OBJ += $(PY_O) $(SUPERVISOR_O) $(addprefix $(BUILD)/, $(SRC_C:.c=.o))
     OBJ += $(addprefix $(BUILD)/, $(SRC_COMMON_HAL_SHARED_MODULE_EXPANDED:.c=.o))
@@ Expand Down @@

ports/stm/Makefile

-Original file line number
+Diff line change
@@ Expand Up / @@ -212,10 +212,12 @@ ifneq ($(CIRCUITPY_USB),0) @@
     	endif
     endif
-    SRC_S_UPPER = supervisor/shared/cpu_regs.S
     SRC_S = \
+    	shared/runtime/gchelper_thumb1.s \
     	st_driver/cmsis_device_$(MCU_SERIES_LOWER)/Source/Templates/gcc/startup_$(MCU_VARIANT_LOWER).s
+    SRC_C += shared/runtime/gchelper_native.c
     ifneq ($(FROZEN_MPY_DIR),)
     FROZEN_MPY_PY_FILES := $(shell find -L $(FROZEN_MPY_DIR) -type f -name '*.py')
     FROZEN_MPY_MPY_FILES := $(addprefix $(BUILD)/,$(FROZEN_MPY_PY_FILES:.py=.mpy))
@@ Expand All / @@ -229,7 +231,6 @@ OBJ += $(addprefix $(BUILD)/, $(SRC_LIBM:.c=.o)) @@
     endif
     OBJ += $(addprefix $(BUILD)/, $(SRC_CIRCUITPY_COMMON:.c=.o))
     OBJ += $(addprefix $(BUILD)/, $(SRC_S:.s=.o))
-    OBJ += $(addprefix $(BUILD)/, $(SRC_S_UPPER:.S=.o))
     OBJ += $(addprefix $(BUILD)/, $(SRC_MOD:.c=.o))
     $(BUILD)/$(FATFS_DIR)/ff.o: COPT += -Os
@@ Expand Down @@

ports/stm/boards/meowbit_v121/mpconfigboard.mk

-Original file line number
+Diff line change
@@ Expand Up / @@ -23,13 +23,15 @@ LD_FILE = boards/STM32F401xe_boot.ld @@
     # LD_FILE = boards/STM32F401xe_fs.ld
     CIRCUITPY_AESIO = 0
+    CIRCUITPY_CODEOP = 0
     CIRCUITPY_BITMAPFILTER = 0
     CIRCUITPY_BITMAPTOOLS = 0
     CIRCUITPY_BLEIO_HCI = 0
     CIRCUITPY_EPAPERDISPLAY = 0
     CIRCUITPY_FRAMEBUFFERIO = 0
     CIRCUITPY_I2CDISPLAYBUS = 0
     CIRCUITPY_KEYPAD_DEMUX = 0
+    CIRCUITPY_PIXELMAP = 0
     CIRCUITPY_SHARPDISPLAY = 0
     CIRCUITPY_TILEPALETTEMAPPER = 0
     CIRCUITPY_ULAB = 0
@@ Expand Down @@

ports/zephyr-cp/CMakeLists.txt

-Original file line number
+Diff line change
@@ Expand Up / @@ -5,6 +5,11 @@ project(circuitpython) @@
     target_sources(app PRIVATE zephyr_main.c)
+    # Add I2C emulator control for native_sim testing
+    if(CONFIG_BOARD_NATIVE_SIM)
+        target_sources(app PRIVATE native_sim_i2c_emul_control.c)
+    endif()
     # From: https://github.com/zephyrproject-rtos/zephyr/blob/main/samples/application_development/external_lib/CMakeLists.txt
     # The external static library that we are linking with does not know
     # how to build for this platform so we export all the flags used in
@@ Expand Down @@

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