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ALSS14: Xen Project Automotive Hypervisor (Demo)

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The presentation will cover Xen Automotive. We will elaborate technical solutions for the identified gaps:
1. ARM architecture - support HW virtualization extensions for embedded systems
2. Stability requirements
3. RT Scheduler
4. Rich virtualized peripheral support (WiFi, Gfx, MM, USB, etc.)
5. Performance benchmarking
6. Security

Publicada em: Indústria automotiva
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ALSS14: Xen Project Automotive Hypervisor (Demo)

  1. 1. ©2014 GlobalLogic Inc. Xen Automotive Hypervisor Automotive Linux Summit 1-2 July, Tokyo
  2. 2. 2 Vehicles are Changing • Vehicle became the “ultimate mobile device” and we, the people, are becoming “connected drivers”
  3. 3. 3 “Connected Driver” Requirements 3rd Party Applications Look and Feel customization Connected Car Services Quick development cycle
  4. 4. 4 “Ultimate mobile device” requirements Boot TimeStability & Reliability Security Virtualization
  5. 5. 5 Why Xen? • Type 1 Hypervisor • Flexible Virtualization Mode • Driver disaggregation • ARM support • Open Source, part of LF • ~ 90k lines of code • Mature since 2003 in general computing
  6. 6. 6 Xen in Embedded − TODO: − RT scheduler improvments − More PV drivers (QNX) − Debug, fix, stabilize… − With ARM support Xen is perfectly fit for embedded applications − Experimental PV ARM support on Nvidia made by Samsung − ARM HW virtualization support from Xen 4.3 − Added: − Interrupts mapping to DomU (for driver domains) − IOMEM mapping to DomU (for driver domains) − MMU SPT protection − PV drivers: HID, Audio, Framebuffer, etc. − Better DT support
  7. 7. 7 Peripherals sharing Sharing of peripherals is implemented using PVHVM model (Paravirtualized devices on the host, running in HVM mode), zero-copy − Filesystem partitions − Standard Xen PV driver − Network − Standard Xen PV driver − USB − Based on old Xen 3.4 PV USB driver with major fixes − HID (touchscreen) − NEW: kernelspace frontend and userspace backend, can be used for any type of events − Audio − NEW: kernelspace frontend and userspace backend, based on ALSA − Framebuffer − NEW: kernelspace frontend and userspace backend, deliver 60 FPS on J6 − GPU – in progress based on OpenGL/ES abstraction (HW independent) − TODO: − GPS, Sensors
  8. 8. 8 − Xen Hypervisor – open source license − Core PV Drivers – open source license − PV Backend HW AL – private source license Ownership unbundling Xen Open Source Kernel space User space Android/QNX/Ubuntu/Tizen/Autosar TI J6 PV BackEnd PV FrontEnd R-Car M2 PV BackEnd PV FrontEnd i.MX8 PV BackEnd PV FrontEnd `` Tegra K1 PV BackEnd PV FrontEnd A15/A50 PV BackEnd PV FrontEnd User space Kernel space Open Source Private Source SoC’s reference design Kernel Space DomU – Driver Domain Kernel Space DomU – Guest OS HW drv PV Frontend User Space User Space PV Backend Backend HW AL Apps Provided by SoC’s vendor OSes
  9. 9. 9 GPU Virtualization Driver DomainDomU2 OpenGL/GL ES library (PV GPU Frontend) GPU pipeline #2 DomU1 OpenGL/GL ES library (PV GPU Frontend) GPU pipeline #1 PV GPU Backend GPU pipeline #1 OpenGL/GL ES library GPU pipeline #2 GPU driver OpenGL App #5 OpenGL App #6 OpenGL App #1 OpenGL App #2 OpenGL App #3 OpenGL App #4 * using ClusterGL or VirtualGL
  10. 10. 10 GL MMU SPT Approach – upstreamed GL MMU SPT Approach − For the peripherals that do not have full SMMU protection but have own MMU it still possible to implement memory access protection and translation with SPT-like approach. Generic implementation is provided to Xen by GL and ready for some coprocessors like GPU, IPU, BB2D, etc. PTBR Kernel- maintained MMU PT Xen- maintained MMU SPT Allocated pages Xen intercepts MMU PTBR access for PT creation/removal intermediate physical Xen intercepts PT access for pages creation/removal kernel
  11. 11. 11 Nautilus on TI J6 – xen support upstreamed Xen Hypervisor Dom0 HW Drivers PV Backends USB HID Disk Network WiFi P2P/WFD Audio FrameBuffer Control Application (Boot Animation, RVC) IPU GPU MMUs DomU PV FrontendsHW Drivers SoC Android Components MediaF W grall oc PVR Xen Android Components Miracast Mirro rLink ALSA HWC Automotive Grade Android (Fast Boot) GLSDK Linux Nautilus Qt Launcher CAN HW Driv ers CAMERA DomU QNX Neutrino PV Frontends Animation Application
  12. 12. 12 − u-boot loads Xen device tree configuration and Dom0 kernel − cold start to Xen start is less than 100ms − domain configuration, memory map, IRQ map passed to Xen trough device tree Boot Time − Xen boot time on J6 is 300ms − all printouts are disabled − RAM wipeout is disabled − Dom0 kernel boots in 800ms
  13. 13. 13 CONFIDENTIAL Hypervisor vs. Monitor Virtualization and TrustZone • TrustZone is also kind of virtualization – Coexists with VMM but of higher priviledge – Separated into 2 worlds only – Secure and non-Secure • Typical tasks for TrustZone SW: – System boot protection – Application signature validation – Firmware integrity check – External peripherals whiltelist – Secured peripherals drivers – Closed crypto algorithms implementation (DRM) • Hypervisor integration notes – Boots before non-secure SW, i.e. before Xen – Xen shall allow domains to perform SMC calls – System control partitioning can be simplified with monitor mode (Power Management, etc.) App App App App Operating System Operating System Hypervisor TrustZone Monitor Operating System App App Non-secure execution environment Secure execution environment
  14. 14. 14 CONFIDENTIAL Power Management • cpufreq: policy? • cpuidle: policy? • Multi-domain governance? • ACPI? Not really. • Thermal Management?
  15. 15. 15 Future & Features Xen SubProject – Embedded & Automotive PV Drivers – GL maintainers − “Micro-kernel” approach – DOM0 − PV Drivers packages SoC’s specific reference • TI J6, Renesas R-Car M2, Freescale i.MX 8, A15/A50 SoCs − ISO 26262 certification − Guest OSs • Android, QNX, ArcCore (AUTOSAR), Tizen (GENIVI)
  16. 16. Alex Agizim CTO of Embedded Systems in GlobalLogic Inc. E-mail: alex.agizim@globallogic.com Skype: alexa1968 Artem Mygaiev Program Director in GlobalLogic-Ukraine E-mail: artem.mygaiev@globallogic.com Skype: rosenkrantzguildenstern
  17. 17. ©2014 GlobalLogic Inc. • Thank you • Alex Agizim • VP, CTO Embedded Systems • alex.agizim@globallogic.com • Alex Mygaiev • AVP, Program Director • Artem.mygaiev@globallogic.com