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Porting FreeRTOS to Xen on 
© 2014 Galois, Inc. All rights reserved. 
ARM 
Jonathan Daugherty (jtd@galois.com) 
Xen Developer Summit | August 19, 2014
© 2014 Galois, Inc. All rights reserved. 
Agenda 
§ Background 
§ Project status 
§ Approach 
§ Challenges 
§ Highlights 
§ Wishlist
Parrot “AR.Drone” 
Quadcopter 
© 2014 Galois, Inc. All rights reserved.
© 2014 Galois, Inc. All rights reserved. 
Inside the Parrot Drone 
Linux FreeRTOS
© 2014 Galois, Inc. All rights reserved. 
Consolidated System 
Linux FreeRTOS
© 2014 Galois, Inc. All rights reserved. 
Benefits of Consolidation 
§ Simpler hardware design 
§ Lower SWAP: Space, 
Weight, and Power 
§ More runtime flexibility 
Linux FreeRTOS
Our Use Case: SMACCMPilot 
http://smaccmpilot.org/ 
© 2014 Galois, Inc. All rights reserved. 
High-level 
implementation 
Generated 
FreeRTOS 
implementation
© 2014 Galois, Inc. All rights reserved. 
Agenda 
§ Background 
§ Project status 
§ Approach 
§ Challenges 
§ Highlights 
§ Wishlist
© 2014 Galois, Inc. All rights reserved. 
What’s Done 
§ Ported FreeRTOS 7.6.0 to Xen 
4.4 
§ Open source release soon! 
§ Used HaLVM’s C library, now 
available at https://github.com/ 
GaloisInc/minlibc
© 2014 Galois, Inc. All rights reserved. 
What’s Left 
§ Investigate just how “real time” FreeRTOS is on 
Xen 
• Try with ARINC 653 scheduler 
§ Test FreeRTOS with Xen 4.5 
§ Explore adoption (FreeRTOS community?)
© 2014 Galois, Inc. All rights reserved. 
Agenda 
§ Background 
§ Project status 
§ Approach 
§ Challenges 
§ Highlights 
§ Wishlist
Phase 1: Port FreeRTOS to virtual 
© 2014 Galois, Inc. All rights reserved. 
ARMv7-A 
§ Developed ARM kernel in a Xen domain 
§ Ignored PV support for this phase 
§ Used HYPERVISOR_console_io for debugging
© 2014 Galois, Inc. All rights reserved. 
Phase 2: Add PV Support 
§ Used Mini-OS for ARM as a starting point 
• Xenbus 
• Event channels 
• Grant tables 
• Xen console 
§ Mini-OS showed how to use hypercalls
© 2014 Galois, Inc. All rights reserved. 
Agenda 
§ Background 
§ Project status 
§ Approach 
§ Challenges 
§ Highlights 
§ Wishlist
New guests reveal virtualization 
© 2014 Galois, Inc. All rights reserved. 
gaps 
§ FreeRTOS wants: 
• ARM interrupt priorities & priority masking 
• ARM interrupt nesting 
§ Linux doesn’t use these HW features 
§ Now Xen supports more ARM features
Guest implementation docs are 
© 2014 Galois, Inc. All rights reserved. 
spread out 
§ Required reading: public/xen.h, 
public/arch-arm.h! 
• Supported hypercalls 
• ABI requirements 
§ Linux sources for guidance on which hypercalls 
apply on ARM
© 2014 Galois, Inc. All rights reserved. 
(Spoiler alert) 
Mini-OS could benefit 
from more testing
XSA-95: malformed kernel 
© 2014 Galois, Inc. All rights reserved. 
binaries crashed ‘xl’
© 2014 Galois, Inc. All rights reserved. 
Agenda 
§ Background 
§ Project status 
§ Approach 
§ Challenges 
§ Highlights 
§ Wishlist
Xen on ARM is a great 
development platform 
© 2014 Galois, Inc. All rights reserved.
ARM port of Mini-OS by Karim 
Allah was a huge help 
© 2014 Galois, Inc. All rights reserved.
Fantastic support from Xen+ARM 
© 2014 Galois, Inc. All rights reserved. 
developers! 
Thanks to: 
Julien Grall, 
Stefano Stabellini, 
Ian Campbell
© 2014 Galois, Inc. All rights reserved. 
Agenda 
§ Background 
§ Project status 
§ Approach 
§ Challenges 
§ Highlights 
§ Wishlist
PV driver “bugfix negotiation” 
© 2014 Galois, Inc. All rights reserved. 
blkback! 
blkfront!
© 2014 Galois, Inc. All rights reserved. 
libXenGuest.a! 
- Hypercalls! 
- Xenbus! 
- Event chans! 
- Grant tables! 
- Console!
© 2014 Galois, Inc. All rights reserved. 
Implementing 
Xen Guests 
Port your favorite 
OS to Xen!
© 2014 Galois, Inc. All rights reserved. 
Summary 
§ FreeRTOS 7.6.0 running on Xen 4.4 on ARM 
§ Open source release on GitHub soon! 
§ Minimal C library at 
https://github.com/GaloisInc 
§ Learn more about SMACCMPilot at 
http://smaccmpilot.org/ 
Get in touch at jtd@galois.com!
All trademarks, service marks, trade names, trade dress, product 
names and logos appearing in these slides are the property of their 
respective owners, including in some instances Galois, Inc. 
All rights are reserved. 
© 2014 Galois, Inc. All rights reserved.

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XPDS14: Porting FreeRTOS to Xen on the ARM Cortex A15 - Jonathan Daugherty, Galois

  • 1. Porting FreeRTOS to Xen on © 2014 Galois, Inc. All rights reserved. ARM Jonathan Daugherty (jtd@galois.com) Xen Developer Summit | August 19, 2014
  • 2. © 2014 Galois, Inc. All rights reserved. Agenda § Background § Project status § Approach § Challenges § Highlights § Wishlist
  • 3. Parrot “AR.Drone” Quadcopter © 2014 Galois, Inc. All rights reserved.
  • 4. © 2014 Galois, Inc. All rights reserved. Inside the Parrot Drone Linux FreeRTOS
  • 5. © 2014 Galois, Inc. All rights reserved. Consolidated System Linux FreeRTOS
  • 6. © 2014 Galois, Inc. All rights reserved. Benefits of Consolidation § Simpler hardware design § Lower SWAP: Space, Weight, and Power § More runtime flexibility Linux FreeRTOS
  • 7. Our Use Case: SMACCMPilot http://smaccmpilot.org/ © 2014 Galois, Inc. All rights reserved. High-level implementation Generated FreeRTOS implementation
  • 8. © 2014 Galois, Inc. All rights reserved. Agenda § Background § Project status § Approach § Challenges § Highlights § Wishlist
  • 9. © 2014 Galois, Inc. All rights reserved. What’s Done § Ported FreeRTOS 7.6.0 to Xen 4.4 § Open source release soon! § Used HaLVM’s C library, now available at https://github.com/ GaloisInc/minlibc
  • 10. © 2014 Galois, Inc. All rights reserved. What’s Left § Investigate just how “real time” FreeRTOS is on Xen • Try with ARINC 653 scheduler § Test FreeRTOS with Xen 4.5 § Explore adoption (FreeRTOS community?)
  • 11. © 2014 Galois, Inc. All rights reserved. Agenda § Background § Project status § Approach § Challenges § Highlights § Wishlist
  • 12. Phase 1: Port FreeRTOS to virtual © 2014 Galois, Inc. All rights reserved. ARMv7-A § Developed ARM kernel in a Xen domain § Ignored PV support for this phase § Used HYPERVISOR_console_io for debugging
  • 13. © 2014 Galois, Inc. All rights reserved. Phase 2: Add PV Support § Used Mini-OS for ARM as a starting point • Xenbus • Event channels • Grant tables • Xen console § Mini-OS showed how to use hypercalls
  • 14. © 2014 Galois, Inc. All rights reserved. Agenda § Background § Project status § Approach § Challenges § Highlights § Wishlist
  • 15. New guests reveal virtualization © 2014 Galois, Inc. All rights reserved. gaps § FreeRTOS wants: • ARM interrupt priorities & priority masking • ARM interrupt nesting § Linux doesn’t use these HW features § Now Xen supports more ARM features
  • 16. Guest implementation docs are © 2014 Galois, Inc. All rights reserved. spread out § Required reading: public/xen.h, public/arch-arm.h! • Supported hypercalls • ABI requirements § Linux sources for guidance on which hypercalls apply on ARM
  • 17. © 2014 Galois, Inc. All rights reserved. (Spoiler alert) Mini-OS could benefit from more testing
  • 18. XSA-95: malformed kernel © 2014 Galois, Inc. All rights reserved. binaries crashed ‘xl’
  • 19. © 2014 Galois, Inc. All rights reserved. Agenda § Background § Project status § Approach § Challenges § Highlights § Wishlist
  • 20. Xen on ARM is a great development platform © 2014 Galois, Inc. All rights reserved.
  • 21. ARM port of Mini-OS by Karim Allah was a huge help © 2014 Galois, Inc. All rights reserved.
  • 22. Fantastic support from Xen+ARM © 2014 Galois, Inc. All rights reserved. developers! Thanks to: Julien Grall, Stefano Stabellini, Ian Campbell
  • 23. © 2014 Galois, Inc. All rights reserved. Agenda § Background § Project status § Approach § Challenges § Highlights § Wishlist
  • 24. PV driver “bugfix negotiation” © 2014 Galois, Inc. All rights reserved. blkback! blkfront!
  • 25. © 2014 Galois, Inc. All rights reserved. libXenGuest.a! - Hypercalls! - Xenbus! - Event chans! - Grant tables! - Console!
  • 26. © 2014 Galois, Inc. All rights reserved. Implementing Xen Guests Port your favorite OS to Xen!
  • 27. © 2014 Galois, Inc. All rights reserved. Summary § FreeRTOS 7.6.0 running on Xen 4.4 on ARM § Open source release on GitHub soon! § Minimal C library at https://github.com/GaloisInc § Learn more about SMACCMPilot at http://smaccmpilot.org/ Get in touch at jtd@galois.com!
  • 28. All trademarks, service marks, trade names, trade dress, product names and logos appearing in these slides are the property of their respective owners, including in some instances Galois, Inc. All rights are reserved. © 2014 Galois, Inc. All rights reserved.