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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

CONFIDENTIAL

E-mail: artem.mygaiev@globallogic.com
Skype: rosenkrantzguildenstern
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
Case Study

4

CONFIDENTIAL
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
Why virtualize?

6
“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
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 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)
Virtualization on ARM

11
•
•
•

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)
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 capabilities
Ability to re-use Android solution from mobile
GlobalLogic is a TI Platinum Partner
Made in GlobalLogic

15
Xen in Nautilus: Key Principles

Dual-domain
System
(Android + Linux)

HVM with
SMMU-enabled
driver domain

SMC-firewalled
SoC controls
(MMUs, PM, …)
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
.

−

−

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
.

Dom0

DomU

Xen tools

HMI

Vehicle SW

Android FWs

PM/TM logic

Hyp
Peripherals

19

MMU controls

GIC/GT/Mem

TrustZone
SMC SW
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
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
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
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

animation

UI
transition

1.5

reverse gear

Rear View Camera
24

7.0

foward gear

main UI view

8.0

selection

Apps
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
Bottomline
Thank you

Artem Mygaiev
AVP – Delivery Management
artem.mygaiev@globallogic.com
www.globallogic.com
©2013 GlobalLogic Inc.

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

  • 1. Xen in OSS based In-Vehicle Infotainment Systems Xen Project Developer Summit October 25, 2013 ©2013 GlobalLogic Inc.
  • 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. 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
  • 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
  • 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. When my phone software freezes D’OH, REBOOT!
  • 9. When my car software freezes
  • 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)
  • 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. Why Xen? • • • • • Type 1 Hypervisor Flexible Virtualization Modes Driver disaggregation ARM support Open Source
  • 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
  • 16. Xen in Nautilus: Key Principles Dual-domain System (Android + Linux) HVM with SMMU-enabled driver domain SMC-firewalled SoC controls (MMUs, PM, …)
  • 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. . − − 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. . Dom0 DomU Xen tools HMI Vehicle SW Android FWs PM/TM logic Hyp Peripherals 19 MMU controls GIC/GT/Mem TrustZone SMC SW
  • 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. 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. 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
  • 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.
  • 26. 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
  • 28. Thank you Artem Mygaiev AVP – Delivery Management artem.mygaiev@globallogic.com www.globallogic.com ©2013 GlobalLogic Inc.