| In many embedded applications, it is useful to install both a real time operating system and a non-real operating system onto a single hardware platform and make them work together. This paper describes the design and implementation of RT-Hypervisor which is a real time hypervisor for embedded systems. It is an effective virtualization platform and can be used to install multiple operations system onto simple hardware platform. RT-Hypervisor includes four major components: operating system domain, CPU scheduling, inter operating system domain communication and virtual interrupt controller. After some simple porting works, most of the embedded operating system can run on top of RT-Hypervisor effectively.Hypervisor has many applications in desktops and servers. The most famous one is Xen which comes from open source community. But Xen is very complicated, porting it to real-time embedded systems will have many challenges. So far as I know, before our work there is no Hypervisor solution in the real-time embedded area. This is also the innovation spot and highlight of this paper.The closest project to RT-Hypervisor should be FRTOS2, which is a dual-kernel real-time operating system. it is based on interrupt controller simulation and making uClinux as a lowest priority task in FRTOS. |
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