Virtualization for Hard Real-Time Applications Partition where you can Virtualize where you have to

Virtualization for Hard Real-Time Applications

Partition where you can – Virtualize where you have to

Hanspeter Vogel

Triadem Solutions AG

Experts for Real-Time and Embedded Systems

Real-Time Systems GmbH Gartenstrasse 33

D-88212 Ravensburg Germany

Trends

Hypervisor and

Market Trend

Processor Development

Multi-core CPU enables exponential performance improvement

§ Anticipating multi-core adoption to double within the next two years according to recent VDC report

Traditional Solution

Embedded Ctrl.

ARM / PPC …

Real-Time OS e.g.PLC or Controller.

Fieldbus or RT Ethernet

Machine IPC

x86 CPU User Interface HMI / SCADA

Windows XP

TCP / IP (LAN)

Modern Cost Saving Solution

ATOM or DualCore HW

(Logical) CPU 1

TCP/IP

(Logical) CPU 2

User Interface HMI / SCADA

PLC or Controller

Etc.

Windows XP

Real-Time OS

Fieldbus / RT Ethernet

Machine

Benefits of Virtualization

§Consolidate multiple systems onto a single system

§ Reduce hardware costs (Eliminate separate Controllers)

§ Increase MTBF (Reliability) by reducing Hardware Components

§ Reduce Space, Weight and Power Requirements

§ Reduce Cables and Connectors

§Reuse existing software

§ With VM, existing applications run under each OS machine without re-porting

Virtualization

Why can´t you just use regular virtualization like VMWare, Hyper-V, XEN, KVM, etc.?

Traditional Virtualization

• Host OS always has to boot first

• Guest OS depends on Host OS

• Host OS/VM schedules processing

• No Hardware access for Guest OS

• Only Virtual Devices Accessible

• Host OS provides Drivers

Emulated or Virtualized Hardware

Loss of Real-Time!

„Type 2“ Hypervisor (Host based)

“Real-Time” Virtualization

§ Virtualization adds latencies

§ Virtualizing MMU, Interrupt Controller etc. affect

determinism

§ Debugging more difficult due to additional component (Virtual Machine)

„Type 1“ Hypervisor („Bare Metal Hypervisor“)

RTS Real-Time Hypervisor

Partition where you can, virtualize where you have to

RTS Hypervisor

Partitioning instead of Virtualization

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Example of a Core 2 Duo Processor

Example Configuration

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to replace DSPs

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Possible Architecture e.g.

Interrupt Handling

The RTS Hypervisor configures the system so all Interrupts are handled directly in hardware.

Unlike traditional Hypervisors this adds no latencies.

RTS Hypervisor:

No Software Layers added (example for Dual Core)

Privileged vs. Virtualized

Providing Direct Hardware Access

§A GPOS like Windows opens up the system to the end user.

§Applications and even drivers can be added to the system.

I.e. these systems are much more prone to failure in the field.

§RTOS Code is tested thoroughly

§Modifications are not possible for the end user.

RTOS can therefore be regarded “Trusted” and deployed in “PRIVILEGED” Mode.

Granting direct hardware access comes with great responsibility Privileged access should only be given to RTOS, not e.g. Windows.

Direct Hardware Access

„Partition where you can. Virtualize where you have to“

The RTS Real-Time Hypervisor virtualizes only hardware used by a General Purpose Operating System (e.g. Windows), elements that play no role in real- time system performance.

Optionally, an RTOS could also be deployed using “Full Virtualization”.

For real-time applications it is

recommended to grant direct hardware access to minimize latencies => Privileged

Communication

Shared Memory

The RTS Hypervisor allows for one or multiple shared memory areas to be configured. The size of the shared memory is only limited by the amount of memory available in the system.

A simple API provides access to the shared memory from within each Operating System providing for Lock mechanisms and simple communication.

Virtual Network (using Inter Processor Interrupts – IPI)

§ The hypervisor provides network drivers for each operating system that reside directly on shared memory.

§ Each Processor core can have its own IP address and MAC address.

§ Regular protocols, like TCP-IP, OPC, CORBA etc. can be used for communication between cores

100% Separation – How do Systems Communicate?

Portfolio

RTS Real-Time Hypervisor “The NEURTAL Hypervisor”

Ø Simultaneously Run Multiple OS’es independently Ø Currently supporting

Wind River VxWorks Microware OS-9 QNX Neutrino On Time RTOS-32 Microsoft Windows Windows Embedded CE

RTEMS T-Kernel / Itron

Linux PreEmptive Linux (OSADL)

Proprietary RTOS Android

MeeGo free standing C-Code

…others upon request

Ø All systems independent and safely separated Ø Hard Real-Time execution is assured

Example: HOMAG Germany

Homag AG: No. 1 Worldwide for Woodworking Machines

§ Shipping Thousands of Machines in over 100 countries

CNC Machining Center For Furniture Manufacturing

Example: HOMAG Germany

PC Based Control realizing very challenging requirements:

§ Typically a 20 Year Machine Live Span!

§ High-end over 40 CNC Axis, distributed over up to 20 CNC channels (Dual Core Windows / Linux 22 CNC Axis)

§ Motion Control – CNC and PLC functionality

§ Real-Time Ethernet (ProfiNet IRT)

PLUS

§ Windows CAD Programming Tools

§ Windows 3-D Simulation

§ Online collision detection (detect all possible collisions based on mathematical machine model to stop machine if needed)

Triadem Solutions AG Güterstrasse 13

CH-2502 Biel

Sales and Marketing

[email protected] Phone: +41 (0)32 327 36 32 Fax: +41 (0)32 327 36 37

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