Virtualizing Embedded Systems Why Bother? Gernot Heiser NICTA and University of New South Wales Sydney, Australia
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1 Virtualizing Embedded Systems Why Bother? Gernot Heiser NICTA and University of New South Wales Sydney, Australia
2 Types of Virtualization Process Process Operating System Processor VM VM VM VM OS Process Process OS VM VM Process Process Process Process Process Java Program OS OS Hypervisor Virtualiz. Layer Java VM Hypervisor Operating System Operating System Operating System Processor Processor Processor Processor Platform VM Type-1 Platform VM Type-2 OS-level VM Process VM 2
3 Traditional System Virtualization Uses Server consolidation Hardware & energy savings with QoS isolation Migration, checkpointing, debugging Concurrent use of multiple OSes (or OS versions) Security Partitioning to limit scope of compromises Sandboxing untrusted apps So, what does it do for embedded systems? 3
4 Mobile Phones Baseband Software RTOS Processor Dumb phone Heterogenous Operating Systems! Rich OS (Linux) Hypervisor Processor RTOS Rich OS (Linux) Baseband Software RTOS Processor Core Core Processor Baseband Software Smartphone Consolidated phone 4
5 Consolidated Phone: Motorola Evoke Linux+BREW OS Linux+BREW apps Seamless UI integration Released April 2009 Linux BREW OS RTOS+BB OKL4 Hypervisor 200MHz ARM926 DAC'11 Gernot Heiser, NICTA
6 Dual-Persona Smartphone Phones increasingly used to access business data Companies lock down phones, no arbitrary apps Employees end up carrying two phones Integrate two virtual phones into one physical Locked-down business phone Open personal phone Personal Open OS Hypervisor Processor Business Trusted OS Will reach market soon 6
7 Secure Communication on COTS Phone Secure phones are expensive (small product runs) Strong push for COTS devices in defence etc Virtualization provides secure comms on standard smartphone Encrypt voice, data and tunnel through open OS Hypervisor guarantees isolation Personal Open OS Hypervisor Small trusted computing base Processor Secure VoIP etc Minimal RTOS Shared Driver Presently under evaluation by various agencies 7
8 Beyond CE: Critical Next To Untrusted General trends across industry verticals: Growing functionality growing complexity Tight integration of critical functionality with complex communication / UI / entertainment software growing security/safety threats Examples: medical devices, transport 8
9 Wearable/Implanted Medical Devices Remotely monitored eg pace makers Patient-operated eg insulin pumps Complex software stacks User interfaces Network drivers and protocol stacks Significant safety risks: eg Pacemaker hack [2008] Remote control of a pacemaker 9
10 Needed: Strong Protection Huge (100s kloc), Commodity, Exposed, Impossible to assure GUI Networking Monitoring Strong Isolation Life Support Small, Critical, Protected Highly QAed Controlled communication 10
11 Needed: Strong Protection Physical separation Strong isolation GUI Serial communication Networking Cost: Monitoring Life Support BOM Space Low Bandwidth Processor Memory Processor Memory Serial interface 11
12 Needed: Strong Protection Physical separation on multicore GUI Strong isolation if separated memory Networking Cost: Monitoring Life Support BOM Space Medium Bandwidth Core Memory Core Memory Serial interface 12
13 Needed: Strong Protection Multicore w/o physical separation High-bandwidth shared-memory communication GUI Networking Monitoring Life Support No isolation! Core Memory Core 13
14 Needed: Strong Protection Single- or Multicore with virtualization Strong isolation High-bandwidth shared-memory communication Fine-grained control by hypervisor GUI Networking Monitoring Hypervisor Core Memory Life Support Core Controlled communication Min space, BOM 14
15 Automotive Electronics Multiple domains Powertrain and vehicle dynamics Connectivity Passenger cabin / comfort Infotainment/Multimedia Driver assistance Consumer Electronic Standards Short life cycle Car-industry controlled, Long life cycle 15
16 Integration Across Domains Connectivity Powertrain and vehicle dynamics Weather, Road conditions Vehicle behaviour adjusted to external conditions Change vehicle dynamics Driver assistance 16
17 Integration Across Domains Information presentation Connectivity Phone call Powertrain and vehicle dynamics Stability program activated Infotainment/Multimedia Music Lane control Tyre pressure Passenger cabin / comfort Driver assistance 17
18 Electronic Control Units (ECUs) BOM cost: $10s $100s Dominated by balance-of-system CPU is 10 20% of cost Expensive packaging Heat resistant Grease resistant Acid resistant Vibration resistant Multiple communications interfaces Co-locating functionality saves $$, weight, space 18
19 Functionality & Cost Integration Likely to be deployed next year Eg Linux, Windows Connectivity, Infortainment Consumer Electronics OS Hypervisor Core Memory Automotive Control/ Convenience Automotive RTOS Core Separation for safety & incompatible standards Eg AUTOSAR Virtual Bus Single- or multicore processor 19
20 Virtualization Overheads Example: netperf networking benchmark on Linux Type Benchmark Native Virtualized Overhead TCP Throughput 651 [Mib/s] 630 [Mib/s] 3 % CPU load 99 [%] 99 0 % Cost 12.5 [µ/kib] 12.9 [µs/kib] 3 % UDP Throughput 537 [Mib/s] 516 [Mib/s] 4 % CPU load % Cost [µs/kib] 4 % OKL4 Microvisor on Beagle Board (500 MHz Cortex A8 ARMv7) 20
21 Coming Up: Hardware Support ARMv7 virtualization extensions announced Q3/2010 Anticipate Si samples in 2011, products in 2012 New hyp mode, various acceleration mechanisms Non-Secure world User mode Kernel modes Hyp mode Secure world User mode Kernel modes Monitor mode 21
22 Future of Hypervisors: sel4 Microkernel Q: Can you trust separation by the hypervisor? A: Yes: we have! Refinement proof spec enforces integrity Integrity requirements 1,000 lines Abstract kernel spec 4,800 lines Refinement proof implementation correct Kernel implementation 8,700 lines C By implication implementation enforces integrity 22
23 Summary Virtualization in embedded systems is real Drivers: Hardware utilization / multiplexing Isolation for security Isolation for safety Opportunity: small size enables correctness proofs unprecedented trustworthiness 23
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