[Have not found the source code to this; if you do, please put the URL in a Comment to this blog post. Thanks.]
In this work, we present AFLtar, a coverage-guided fuzzer for embedded firmware. AFLtar leverages avatar 2 , an orchestration framework for dynamic analysis, along with the American Fuzzy Lop coverage-guided fuzzer and the AFL-Unicorn CPU emulator. The goal of AFLtar is to reduce the cost of embedded fuzzing by providing a platform that can be used to quickly setup a firmware fuzzing job, while reaping the benefits of modern, feedback-driven fuzzing strategies.
Firmware Security 
https://github.com/avatartwo/avatar2
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