Embedded Real-Time Hypervisor: XtratuM

This thesis is the summary by the author for the study and research of XtratuM Hypervisor.It covers all work contributed by the author to XtratuM Hypervisor, porting the interrupt management,hypercall,task management,virtual memory to kinds of linux kernels,designing and implementing inter-domain communication tools,device driver model,building a case study based on XtratuM Hypervisor: RRTCS(Redundant Real-Time Control System),as well as benchmarking main system components.In the thesis,FIFO and SHM(SHare Memory) are built for XtratuM Hypervisor. FIFO and SHM are the effective inter-domain communication tools,playing important roles in data transmission and task synchronization.The hypercall, lock-free and memory mapping technologies are adopted to implement the FIFO and SHM.A device driver model is designed for XtratuM in the thesis.In order to make XtratuM support more real-time device drivers,XMDEV(XtratuM DEVice Driver Model) is designed and built.Based on XMDEV,the thesis interprets how to implement UART device driver.Moreover,to make XtratuM run on more and more Linux kernel,the interrupt management,hypercall,domain management modules are refined or updated.Meanwhile,in order to evaluate the system,the thesis did many benchmaarks and analysis,including interrupt latency,scheduler latency,hypercall latency,translation speed of FIFO and UART driver.RRTCS(Redundant Real-Time Control System) based on XtratuM Hypervisor is designed and implemented in the thesis to introduce the usage area for XtratuM Hypervisor system.