Porting Embedded Real-Time Hypervisor And Application Development

The computer technology keeps on being developed along with the Virtualization. From earlier virtual memory, to system level virtualization and then to hardware assisted virtualization, the concept of virtualization provides significant basis of extending the usage of hardware. Especially, the emergence of mobile systems and devices leads that the virtualization on embedded system is becoming development focus. The embedded system uses to be applied in professional environment, and requires stability and real-time strictly. Although these solutions have strong real-time and safety capability, they are developed according to specific hardware and applying environment. On the other hand, general systems usually lack of real-time capability.In order to reduce the conflict between generalization and profession, XtratuM nano-kernel is proposed by Universidad Politecnica de Valencia in2001, acting as a real time Hypervisor. However, the original XtratuM still runs on Linux Kernel2.6.17. It can not adapt the recent Kernel whereas the Kernel is updated frequently. In addition, for Hypervisor like XtratuM, improve its generalization relaying on application development on it. It becomes vitally important to decrease the application development costs.Based on analyzing interrupt handling of old and new Linux Kernel, the thesis adjusts the relationship between virtual interrupt and real interrupt, implements the taking over of interrupt, system call, timer, domain scheduler and memory management in Linux Kernel3.4.16. XtratuM is ported from Linux Kernel2.6to Linux Kernel3.x. The porting is the cornerstone of real time application development. The thesis analyzes the procedures of loading and execution of applications in Linux, summarizes the application model and development method in XtratuM under the help of ARINC653standard. At last, the implementation of digital lathes controller based on XtratuM is illustrated.Tests on XtratuM show that XtratuM has the a great improvement in real time ability than Linux, and perform simpler to RT-Preempt. Meanwhile, the application model of XtratuM satisfies for controlling generic industry procedures.