Jumpstart: Fast Critical Service Resumption for a Partitioning Hypervisor in Embedded Systems
Jumpstart: Fast Critical Service Resumption for a Partitioning Hypervisor in Embedded Systems
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DOI：
10.1109/rtas54340.2022.00013
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发表时间：
2022-05
期刊：
影响因子：
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通讯作者：
Ahmad Golchin;R. West
中科院分区：
文献类型：
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作者：
Ahmad Golchin;R. West
复杂的嵌入式系统现在支持多个操作系统共存，以管理曾经分配给单独的嵌入式微控制器的服务。例如，汽车系统现在使用多个操作系统在集中式嵌入式计算平台上整合电子控制单元（ECU）功能。这种平台具有工业嵌入式PC的复杂性，具有多核和硬件虚拟化功能。这使得分区管理程序能够在空间上和时间上与单独的来宾操作系统共享物理机器，这些操作系统管理不同临界级别的服务。然而，pc级硬件在引导操作系统和相关的应用程序级服务时产生了很大的延迟。固件BIOS执行开机自检，然后将操作系统映像从可引导的存储设备加载到内存中。这种延迟在时间紧迫的嵌入式系统中是不可接受的，因为重要的服务必须在启动系统的几毫秒内即可运行。在本文中，我们介绍了Jumpstart，这是一种pc级电源管理方法，可最大限度地减少用于嵌入式系统的分区管理程序的唤醒延迟。我们展示了Jumpstart如何在大约600毫秒内从低功耗挂起状态恢复关键的操作系统服务和任务，并将整个系统启动延迟减少了23倍。此外，与需要从先前的断电状态启动系统的方法相比，Jumpstart消耗的功率最小。相比之下，另一种固件优化的引导加载程序Slim将引导延迟减少了1.8倍。
Complex embedded systems are now supporting the co-existence of multiple OSes to manage services once assigned to separate embedded microcontrollers. Automotive systems, for example, now use multiple OSes to consolidate electronic control unit (ECU) functions on a centralized embedded computing platform. Such platforms have the complexity of an industrial embedded PC, with multiple cores and hardware virtualization capabilities. This enables a partitioning hypervisor to spatially and temporally share the physical machine with separate guest OSes, which manage services of different criticality levels. However, PC-class hardware incurs a large latency to bootstrap an OS and associated application-level services. A firmware BIOS performs a power-on-self-test, and then loads OS images into memory from a bootable storage device. This latency is unacceptable in time-critical embedded systems, where important services must be operational within milliseconds of starting the system. In this paper, we present Jumpstart, a PC-class power management approach that minimizes the wakeup delay of a partitioning hypervisor for use in embedded systems. We show how Jumpstart resumes critical OS services and tasks from a low power suspended state in approximately 600 milliseconds, and reduces full system startup delay by a factor of 23. Additionally, Jumpstart consumes minimal power compared to approaches requiring a system boot from a previously powered-off state. By comparison, an alternative firmware-optimized bootloader, called Slim, reduces boot latency by a factor of 1.8.