Xen in OSS based In-Vehicle
Infotainment Systems
Xen Project Developer Summit
October 25, 2013

©2013 GlobalLogic Inc.
Artem Mygaiev
Leading of Embedded Practice in GlobalLogic-Ukraine
Embedded SW
Linux kernel
Wireless networking

2

CONFIDE...
About GlobalLogic
−
−
−
−

Technology services company
Headquartered in Silicon Valley
Design studios in the US and UK
Eng...
Case Study

4

CONFIDENTIAL
Nautilus Platform Goals
Creating and
maintaining
Automotive-Grade
Android (AGA)
distribution.

Creating a single
platform ...
Why virtualize?

6
“Ford Sync software today contains 10,000,000+ lines of code”
- John Ellis, Ford @ GENIVI All members meeting

New busines...
When my phone software freezes

D’OH, REBOOT!
When my car software freezes
So what is critical, what is not?
Vehicle software

Infotainment software

•

•

•

Powered by highly reliable OS like
QNX...
Virtualization on ARM

11
•
•
•

Guest OS same kernel/user privilege structure
HYP mode higher privilege than OS kernel level
VMM controls wide rang...
Why Xen?

•
•
•
•
•

Type 1 Hypervisor
Flexible Virtualization Modes
Driver disaggregation
ARM support
Open Source
Why TI OMAP5/Jacinto6?

•
•
•
•
•

Dual Cortex A15 SoC
Rich interfaces and peripherals
Mobile-world multimedia capabilitie...
Made in GlobalLogic

15
Xen in Nautilus: Key Principles

Dual-domain
System
(Android + Linux)

HVM with
SMMU-enabled
driver domain

SMC-firewalled...
Infotainment Software

Vehicle Software

UI with TTS and speech recognition
Vehicle Service
Climate Control,
Sensors, etc....
.

−

−

Most of interfaces (UART, I2C) can be
DMAed trough EDMA though
accessible trough SMMU

−

PCI express is accessib...
.

Dom0

DomU

Xen tools

HMI

Vehicle SW

Android FWs

PM/TM logic

Hyp
Peripherals

19

MMU controls

GIC/GT/Mem

TrustZ...
Implementation highlights
.

− Forked hypervisor from Xen 4.3 release
− OMAP5 is taken as a reference
−
−

Dom0 - OMAP LK ...
Further steps
.

− Switch to the latest Xen 4.4-unstable
−
−

SWIOTLB
SMMU (and other MMUs)

− Port to DRA7xx (Jacinto6) o...
Open issues
.

− Continue work on PM/TM making it more “generic”
− Review hypervisor and tools addressing boot time
− Use ...
Nautilus Case Study

23
Boot Timeline
event
display
state

time in
seconds

start

RVC ready

display off

static
image

0.0

0.5

IVI ready

anim...
Roadmap
• Nautilus demo will be shown on CES 2014
running on TI J6
• Upstream Xen changes – until end of 2013
• Invite com...
Bottomline
Thank you

Artem Mygaiev
AVP – Delivery Management
artem.mygaiev@globallogic.com
www.globallogic.com
©2013 GlobalLogic Inc...
XPDS13: Xen in OSS based In–Vehicle Infotainment Systems - Artem Mygaiev, GlobalLogic
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XPDS13: Xen in OSS based In–Vehicle Infotainment Systems - Artem Mygaiev, GlobalLogic

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Xen role, details of implementation and problems in a sample solution based on OSS (Android, Linux and Xen) that addresses Automotive requirements such as ultra-fast RVC boot time, quick IVI system boot time, cloud connectivity and multimedia capabilities, reliability and security through hardware virtualization. Secure CAN/LIN/MOST bus integration handled by Linux on Dom0 while Android runs customizable QML-based HMI in a sandbox of DomU. These case studies will include but not be limited to: computing power requirements, memory requirements, virtualization, stability, boot-time sequence and optimization, video clips showing results of the work done. Case study is built on TexasInstruments OMAP5 SoC.

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XPDS13: Xen in OSS based In–Vehicle Infotainment Systems - Artem Mygaiev, GlobalLogic

  1. 1. Xen in OSS based In-Vehicle Infotainment Systems Xen Project Developer Summit October 25, 2013 ©2013 GlobalLogic Inc.
  2. 2. Artem Mygaiev Leading of Embedded Practice in GlobalLogic-Ukraine Embedded SW Linux kernel Wireless networking 2 CONFIDENTIAL E-mail: artem.mygaiev@globallogic.com Skype: rosenkrantzguildenstern
  3. 3. About GlobalLogic − − − − Technology services company Headquartered in Silicon Valley Design studios in the US and UK Engineering centers in the US, Ukraine, India, Argentina, China − 1000+ product releases − 200 active clients − 6,600 people 3 CONFIDENTIAL www.globallogic.com
  4. 4. Case Study 4 CONFIDENTIAL
  5. 5. Nautilus Platform Goals Creating and maintaining Automotive-Grade Android (AGA) distribution. Creating a single platform that would leverage AGA , GENIVI Linux, and Xen to allow quick implementation of end-to-end IVI products. Xen is key component of the solution
  6. 6. Why virtualize? 6
  7. 7. “Ford Sync software today contains 10,000,000+ lines of code” - John Ellis, Ford @ GENIVI All members meeting New business models: overcome disconnect between mobile and automotive industry • Short time to market cycle • Connected car concept • 3rd party applications • Cost reduction
  8. 8. When my phone software freezes D’OH, REBOOT!
  9. 9. When my car software freezes
  10. 10. So what is critical, what is not? Vehicle software Infotainment software • • • Powered by highly reliable OS like QNX or Autosar (or Automotive Grade Linux?) Mission critical tasks – Interface to the vehicle systems (CAN/MOST) – Climate control, vehicle services, sensors – Diagnostic, calibration, configuration – Emergency services – Driver assistance – Cameras (driver, rear view, front view, etc.) • • May be powered by not so reliable OS like Android or Windows User interface including speech recognition and TTS Connectivity services – – – • • • Phone connection, Bluetooth Wireless display sink (Miracast, AirPlay, MirrorLink) Wireless hotspot Navigation Cloud applications Multimedia services – – – uPnP/DLNA A/V playback Radio (SXM, DAB, FM/AM)
  11. 11. Virtualization on ARM 11
  12. 12. • • • Guest OS same kernel/user privilege structure HYP mode higher privilege than OS kernel level VMM controls wide range of OS accesses • • • • 2 stage VMM Virtual Interrupt Controller System MMU Hardware maintains TZ security (4th privilege) Non-secure State App1 App2 Guest Operating System1 App1 Secure State App2 Guest Operating System2 User Mode (Non-privileged) Secure Apps Supervisor Mode (Privileged) Secure OS Virtual Machine Monitor / Hypervisor Hyp Mode (More Privileged) TrustZone Secure Monitor (Highest Privilege)
  13. 13. Why Xen? • • • • • Type 1 Hypervisor Flexible Virtualization Modes Driver disaggregation ARM support Open Source
  14. 14. Why TI OMAP5/Jacinto6? • • • • • Dual Cortex A15 SoC Rich interfaces and peripherals Mobile-world multimedia capabilities Ability to re-use Android solution from mobile GlobalLogic is a TI Platinum Partner
  15. 15. Made in GlobalLogic 15
  16. 16. Xen in Nautilus: Key Principles Dual-domain System (Android + Linux) HVM with SMMU-enabled driver domain SMC-firewalled SoC controls (MMUs, PM, …)
  17. 17. Infotainment Software Vehicle Software UI with TTS and speech recognition Vehicle Service Climate Control, Sensors, etc. Diagnostics/ Calibration/ Configuration Emergency Services Phone BT NAV Cloud Apps Wireless Display sync System Services System Services IPC IPC Linux Android DOMU DOM0 Xen DLNA Multi media Radio
  18. 18. . − − Most of interfaces (UART, I2C) can be DMAed trough EDMA though accessible trough SMMU − PCI express is accessible trough SMMU − Some interfaces (USB, SATA, etc.) have internal DMAs and must be paravirtualized − 18 Dual M4 cores run SW accelerators (boot animation, camera, AV codecs, etc.) MPU, GFX, BB2D, IPUs, DSPs, EVEs have own MMUs and can be configured to work with driver domain
  19. 19. . Dom0 DomU Xen tools HMI Vehicle SW Android FWs PM/TM logic Hyp Peripherals 19 MMU controls GIC/GT/Mem TrustZone SMC SW
  20. 20. Implementation highlights . − Forked hypervisor from Xen 4.3 release − OMAP5 is taken as a reference − − Dom0 - OMAP LK 3.8 (stable) DomU - OMAP Android LK 3.4 (stable), Xen parameters delivered with custom ATAGs, backported number of Xen support patches − Peripherals are directly-accessed by DomU trough memory mapping, which is completely insecure − OMAP runtime pm disabled − SMP is works for Dom0 − No kernel changes needed on Android side so far − Full system integrated (IPU+Uboot+Xen+Linux+Android) 20
  21. 21. Further steps . − Switch to the latest Xen 4.4-unstable − − SWIOTLB SMMU (and other MMUs) − Port to DRA7xx (Jacinto6) on HW availability − − Switch Dom0 to OMAP LK 3.11 Switch DomU to OMAP Android LK 3.8 (and enable SMP) − Virtualize OMAP runtime pm − Probably move OMAP cpufreq to hypervisor? − Drop 1:1 memory mapping for DomU 21 − − − Fix virtual block device and implement other virtual devices (USB) Configure MMUs from hypervisor Configure SMC firewalls
  22. 22. Open issues . − Continue work on PM/TM making it more “generic” − Review hypervisor and tools addressing boot time − Use hard real-time scheduler (sEDF?) − Test performance impact on Jacinto6 − Upstream… − Certification 22
  23. 23. Nautilus Case Study 23
  24. 24. Boot Timeline event display state time in seconds start RVC ready display off static image 0.0 0.5 IVI ready animation UI transition 1.5 reverse gear Rear View Camera 24 7.0 foward gear main UI view 8.0 selection Apps
  25. 25. Roadmap • Nautilus demo will be shown on CES 2014 running on TI J6 • Upstream Xen changes – until end of 2013 • Invite community to contribute Nautilus plaform – next year
  26. 26. Bottomline
  27. 27. Thank you Artem Mygaiev AVP – Delivery Management artem.mygaiev@globallogic.com www.globallogic.com ©2013 GlobalLogic Inc.
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