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

1. ©2014 GlobalLogic Inc.
Xen Automotive Hypervisor
Automotive Linux Summit
1-2 July, Tokyo

2. 2
Vehicles are Changing
• Vehicle became the “ultimate mobile device”
and we, the people, are becoming
“connected drivers”

3. 3
“Connected Driver” Requirements
3rd Party
Applications
Look and Feel
customization
Connected
Car Services
Quick
development
cycle

4. 4
“Ultimate mobile device” requirements
Boot TimeStability &
Reliability
Security
Virtualization

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
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
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
− 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
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
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
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
− 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 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 CONFIDENTIAL
Power Management
• cpufreq: policy?
• cpuidle: policy?
• Multi-domain governance?
• ACPI? Not really.
• Thermal Management?

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. 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. ©2014 GlobalLogic Inc.
• Thank you
• Alex Agizim
• VP, CTO Embedded Systems
• alex.agizim@globallogic.com
• Alex Mygaiev
• AVP, Program Director
• Artem.mygaiev@globallogic.com