Armv8-R AArch64 mixed criticality system

Armv8-R AArch64 mixed criticality system#

This example demonstrates how the L4Re Micro Hypervisor can be used to create mixed-criticality systems on Armv8-R AArch64 systems. The example demonstrates the capabilities of the Cortex-R82AE to run a safety, real time guest next to a general-purpose Linux VM.

package "uvmm Zephyr" as vm1 { [zephyr VM] } package "uvmm Linux" as vm2 { [Linux VM] } [rtc] ..> [io] : map LAN91C111 device vm2 ..> [io] : map PL031 device package "Hardware Interfaces" { interface UART interface PL031 interface LAN91C111 } [cons] --> UART : MMIO [io] --> [cons] : stdout [rtc] --> [cons] : stdout [rtc] --> PL031 : MMIO vm1 --> [cons] : console vm2 --> [cons] : console [Linux VM] --> [rtc] : read [Linux VM] --> LAN91C111 : MMIO

Build#

Follow the initial build introductions. Build the particular example via:

$ bob dev --dev-sandbox examples-arm64-fvp_base_r/examples::linux+zephyr-vm -j
[...]
Build result is in dev/dist/examples/linux+zephyr-vm/1/workspace

Run#

The example runs in the Arm Fixed Virtual Platform emulator. To run it, download the FVP_Base_AEMv8R model of the Arm Architecture FVPs for you host platform. These models are available free of charge:

$ wget https://developer.arm.com/-/cdn-downloads/permalink/FVPs-Architecture/FM-11.28/FVP_Base_AEMv8R_11.28_23_Linux64.tgz
$ tar xf FVP_Base_AEMv8R_11.28_23_Linux64.tgz
$ export PATH="$PWD/AEMv8R_base_pkg-11.28/models/Linux64_GCC-9.3:$PATH"

The example has been tested with the 11.28 release but it should also work with older models. Starting the example assumes that the FVP is availble in $PATH:

$ dev/dist/examples/linux+zephyr-vm/1/workspace/bootstrap.elf.launch

The above command will start the example and should produce output comparable to the example below:

L4 Bootstrapper
  Build: #14 Fri Feb 21 19:17:17 UTC 2025, 13.2.0
  RAM: 0000000000000000 - 000000007fffffff: 2097152kB
  Total RAM: 2048MB
  Scanning fiasco -serial_esc
  Scanning sigma0
  Scanning moe --brk=c000000 rom/ned.lua
[...]
linux   | VMM[main]: Hello out there.
zephyr  | VMM: Hello clock source for vCPU 0
linux   | VMM[ram]: No memory nodes found, setting up default region
zephyr  | VMM: Starting Cpu0 @ 0x2000ff4 in 64Bit mode (handler @ daf83cc, stack: da49b40, task: 41e000, mpidr: 80000000 (orig: 80000000)
zephyr  | *** Booting Zephyr OS build 3.7.1 ***
zephyr  | thread_a: Hello World from cpu 0 on fvp_baser_aemv8r!
zephyr  | thread_b: Hello World from cpu 0 on fvp_baser_aemv8r!
zephyr  | thread_a: Hello World from cpu 0 on fvp_baser_aemv8r!
zephyr  | thread_b: Hello World from cpu 0 on fvp_baser_aemv8r!
linux   | VMM: virtio_net@10000.l4vmm,virtiocap: capability net is invalid.
linux   | VMM[vm]: Device creation for virtual device virtio_net@10000 failed. Disabling device.
linux   | VMM[ram]: Cleaning caches for device tree [1ffff000-1ffff8cf] ([1ffff000])
zephyr  | thread_a: Hello World from cpu 0 on fvp_baser_aemv8r!
io      | new iomem region: p=0000009a000000 v=0000009a000000 s=1000000 (bmb=0xd9c9b60)
linux   | VMM: Hello clock source for vCPU 0
linux   | VMM: Hello clock source for vCPU 1
linux   | VMM: Starting Cpu0 @ 0x10000000 in 64Bit mode (handler @ dccf3cc, stack: dc20b30, task: 420000, mpidr: 80000000 (orig: 80000000)
linux   | VMM: Starting Cpu1 @ 0x1074433c in 64Bit mode (handler @ dccf3cc, stack: e417f30, task: 420000, mpidr: 80000001 (orig: 80000000)
linux   | [    0.000000] Booting Linux on physical CPU 0x0000000000 [0x410fd0f0]
linux   | [    0.000000] Linux version 6.6.17 (nobody@bob) (aarch64-linux-gnu-gcc (GCC) 13.2.0, GNU ld (GNU Binutils) 2.42) #1 SMP Mon Dec 28 22:49:40 CET 2015
linux   | [    0.000000] Machine model: L4 VM
[...]
linux   | [    3.025262] Freeing initrd memory: 5300K
linux   | [    3.031142] Freeing unused kernel memory: 1280K
linux   | [    3.091357] Checked W+X mappings: passed, no W+X pages found
linux   | [    3.095526] Run /init as init process
zephyr  | thread_a: Hello World from cpu 0 on fvp_baser_aemv8r!
linux   | Welcome to Linux!
linux   |
linux   | Please press Enter to activate this console.
zephyr  | thread_b: Hello World from cpu 0 on fvp_baser_aemv8r!
zephyr  | thread_a: Hello World from cpu 0 on fvp_baser_aemv8r!
zephyr  | thread_b: Hello World from cpu 0 on fvp_baser_aemv8r!
zephyr  | thread_a: Hello World from cpu 0 on fvp_baser_aemv8r!

You can stop the example by pressing Ctrl+C.

Detailed description#

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