LFCollab14: Xen vs Xen Automotive


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The accompanying demo (slide 15) can be found at https://vimeo.com/90534015

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

The audience is anyone interesting in building OSS based IVI systems. Attendees can expect the OSS stack detailed architecture, current status of the project, the challenges seen, road map and much more.

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LFCollab14: Xen vs Xen Automotive

  1. 1. ©2014 GlobalLogic Inc. Xen Automotive
  2. 2. 2 Next Big Thing is coming …
  3. 3. 3 Vehicles are Changing • Car still bring us from point A to point B, but looks different inside • Ford Sync software today contains 10,000,000+ lines of code • Evolving industry • Short time to market • “Cloud” car • 3rd party applications • Cost reduction
  4. 4. 4 Next Steps • Combine different function on single computer • Modern SoCs are powerful to perform different functions • Cluster Display • Central Console Display • GPU • HW MM accelerators • Security – ARM Trust Zone
  5. 5. 5 Requirements 3rd Party Applications Look and Feel customization Connected Car Services Quick development cycle
  6. 6. 6 Open Source for Automotive – Gaps Boot TimeStability & Reliability Security Virtualization
  7. 7. 7 Why Xen? • Type 1 Hypervisor • Flexible Virtualization Mode • Driver disaggregation • ARM support • Open Source • ~ 90k lines of code • Mature since 2003 in general computing
  8. 8. 8 Xen in Embedded − TODO: − RT scheduler − More PV drivers − 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 − Better DT support
  9. 9. 9 Peripherals sharing Sharing of peripherals is implemented using PVHVM model (Paravirtualized devices on the host, running in HVM mode), Zero-buffers 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 tinyALSA − Framebuffer − NEW: kernelspace frontend and userspace backend, deliver 30 FPS on J6, WIP on 60 FPS − TO DO: − GPS − GPU
  10. 10. 10 − 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
  11. 11. 11 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
  12. 12. 12 GL MMU SPT Approach 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
  13. 13. 13 Nautilus on TI J6 – Sample Layout 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 MediaFW gralloc PVR Xen Android Components Miracast Mirro rLink ALSA HWC Automotive Grade Android (Fast Boot) GLSDK Linux Nautilus Qt Launcher CAN HW Driv ers CAMERA
  14. 14. 14 Automotive VMs Layout Xen Hypervisor DomU – Driver Domain HW Drivers PV Backends IPU MMU DomU – Android HMI PV FrontendsHW Drivers SoC Android Components MediaFW Xen Android Components Miracast Mirror Link ALSA HWC Automotive Grade Android(Fast Boot) GLSDK Linux kernel Nautilus Qt Launcher CANUSB HID Disk Network WiFi P2P/WFD Audio FrameBuffer DomU – Automotive Control Application (Boot Animation, RVC) PV FrontendsHW Drivers QNX/AUTOSAR Dom0 – System Control Xen tools Xen Linux Kernel Watchdog service Camera GPU Instrumental Cluster OpenGL
  15. 15. 15 CONFIDENTIAL
  16. 16. 16 − 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
  17. 17. 17 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 whitelist – 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
  18. 18. 18 CONFIDENTIAL Power Management • cpufreq: policy? • cpuidle: policy? • Multi-domain governance? • ACPI? Not really. • Thermal Management?
  19. 19. 19 Future & Features Xen branch for Automotive − “Micro-kernel” approach – DOM0 − PV Drivers packages SoC’s specific reference • TI J6, Renesas R-Car M2, Freescale i.MX 8, A15/A50 SoCs − Guest OSs • Android, QNX, Autosar, Ubuntu, Genivi Linux, Tizen, Yocto
  20. 20. 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
  21. 21. ©2014 GlobalLogic Inc. • Thank you • Alex Agizim • VP, CTO Embedded Systems • alex.agizim@globallogic.com • Alex Mygaiev • AVP, Program Director • Artem.mygaiev@globallogic.com