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.. _hld-overview:
ACRN high-level design overview
###############################
ACRN is an open source reference hypervisor (HV) that runs on top of Intel
platforms (APL, KBL, etc) for heterogeneous scenarios such as the Software Defined
Cockpit (SDC), or the In-Vehicle Experience (IVE) for automotive, or HMI & Real-Time OS for industry. ACRN provides embedded hypervisor vendors with a reference
I/O mediation solution with a permissive license and provides auto makers and
industry users a reference software stack for corresponding use.
ACRN Supported Use Cases
************************
Software Defined Cockpit
========================
The SDC system consists of multiple systems: the instrument cluster (IC)
system, the In-vehicle Infotainment (IVI) system, and one or more rear
seat entertainment (RSE) systems. Each system runs as a VM for better
isolation.
The Instrument Control (IC) system manages graphic displays of
- driving speed, engine RPM, temperature, fuel level, odometer, trip mile, etc.
- alerts of low fuel or tire pressure
- rear-view camera (RVC) and surround-camera view for driving assistance
In-Vehicle Infotainment
=======================
A typical In-Vehicle Infotainment (IVI) system supports:
- Navigation systems
- Radios, audio and video playback
- Mobile devices connection for calls, music, and applications via voice
recognition and/or gesture Recognition / Touch
- Rear-seat RSE services such as:
- entertainment system
- virtual office
- connection to IVI front system and mobile devices (cloud
connectivity)
ACRN supports guest OSes of Clear Linux OS and Android. OEMs can use the ACRN
hypervisor and the Linux or Android guest OS reference code to implement their own
VMs for a customized IC/IVI/RSE.
Industry Usage
==============
A typical industry usage would include one windows HMI + one RT VM:
- windows HMI as a guest OS with display to provide Human Machine Interface
- RT VM which running specific RTOS on it to provide capability of handling
real-time workloads like PLC control
ACRN supports guest OS of Windows; ACRN has also added/is adding a
series features to enhance its real-time performance then meet hard-RT KPI
for its RT VM:
- CAT (Cache Allocation Technology)
- MBA (Memory Bandwidth Allocation)
- LAPIC pass-thru
- Polling mode driver
- ART (always running timer)
- other TCC features like split lock detection, Pseudo locking for cache
Hardware Requirements
*********************
Mandatory IA CPU features are support for:
- Long mode
- MTRR
- TSC deadline timer
- NX, SMAP, SMEP
- Intel-VT including VMX, EPT, VT-d, APICv, VPID, invept and invvpid
Recommended Memory: 4GB, 8GB preferred.
ACRN Architecture
*****************
ACRN is a type-I hypervisor that runs on top of bare metal. It supports
Intel APL & KBL platforms and can be easily extended to support future
platforms. ACRN implements a hybrid VMM architecture, using a privileged
service VM to manage I/O devices and
provide I/O mediation. Multiple user VMs can be supported, running Clear
Linux OS or Android OS as the User VM.
ACRN 1.0
========
ACRN 1.0 is designed mainly for auto use cases such as SDC & IVI.
Instrument cluster applications are critical in the Software Defined
Cockpit (SDC) use case, and may require functional safety certification
in the future. Running the IC system in a separate VM can isolate it from
other VMs and their applications, thereby reducing the attack surface
and minimizing potential interference. However, running the IC system in
a separate VM introduces additional latency for the IC applications.
Some country regulations requires an IVE system to show a rear-view
camera (RVC) within 2 seconds, which is difficult to achieve if a
separate instrument cluster VM is started after the User VM is booted.
:numref:`overview-arch1.0` shows the architecture of ACRN 1.0 together with
the IC VM and Service VM. As shown, the Service VM owns most of platform devices and
provides I/O mediation to VMs. Some of the PCIe devices function as a
pass-through mode to User VMs according to VM configuration. In addition,
the Service VM could run the IC applications and HV helper applications such
as the Device Model, VM manager, etc. where the VM manager is responsible
for VM start/stop/pause, virtual CPU pause/resume, etc.
.. figure:: images/over-image34.png
:align: center
:name: overview-arch1.0
ACRN 1.0 Architecture
ACRN 2.0
========
ACRN 2.0 is extending ACRN to support pre-launched VM (mainly for safety VM)
and Real-Time (RT) VM.
:numref:`overview-arch2.0` shows the architecture of ACRN 2.0; the main difference
compared to ACRN 1.0 is that:
- a pre-launched VM is supported in ACRN 2.0, with isolated resources, including
CPU, memory, and HW devices, etc
- ACRN 2.0 adds a few necessary device emulations in hypervisor like vPCI and vUART to avoid
interference between different VMs
- ACRN 2.0 supports RT VM for a post-launched User VM, with assistant features like LAPIC
pass-thru and PMD virtio driver
ACRN 2.0 is still WIP, and some of its features are already merged in the master.
.. figure:: images/over-image35.png
:align: center
:name: overview-arch2.0
ACRN 2.0 Architecture
.. _intro-io-emulation:
Device Emulation
================
ACRN adopts various approaches for emulating devices for the User VM:
- **Emulated device**: A virtual device using this approach is emulated in
the Service VM by trapping accesses to the device in the User VM. Two sub-categories
exist for emulated device:
- fully emulated, allowing native drivers to be used
unmodified in the User VM, and
- para-virtualized, requiring front-end drivers in
the User VM to function.
- **Pass-through device**: A device passed through to the User VM is fully
accessible to the User VM without interception. However, interrupts
are first handled by the hypervisor before
being injected to the User VM.
- **Mediated pass-through device**: A mediated pass-through device is a
hybrid of the previous two approaches. Performance-critical
resources (mostly data-plane related) are passed-through to the User VMs and
others (mostly control-plane related) are emulated.
I/O Emulation
-------------
The device model (DM) is a place for managing User VM devices: it allocates
memory for the User VMs, configures and initializes the devices shared by the
guest, loads the virtual BIOS and initializes the virtual CPU state, and
invokes the hypervisor service to execute the guest instructions.
The following diagram illustrates the control flow of emulating a port
I/O read from the User VM.
.. figure:: images/over-image29.png
:align: center
:name: overview-io-emu-path
I/O (PIO/MMIO) Emulation Path
:numref:`overview-io-emu-path` shows an example I/O emulation flow path.
When a guest executes an I/O instruction (port I/O or MMIO), an VM exit
happens. The HV takes control and executes the request based on the VM exit
reason ``VMX_EXIT_REASON_IO_INSTRUCTION`` for port I/O access, for
example. The HV will then fetch the additional guest instructions, if any,
and processes the port I/O instructions at a pre-configured port address
(in ``AL, 20h`` for example), and place the decoded information such as
the port I/O address, size of access, read/write, and target register
into the I/O request in the I/O request buffer (shown in
:numref:`overview-io-emu-path`) and then notify/interrupt the Service VM to process.
The virtio and HV service module (VHM) in the Service VM intercepts HV interrupts,
and accesses the I/O request buffer for the port I/O instructions. It will
then check to see if any kernel device claims ownership of the
I/O port. The owning device, if any, executes the requested APIs from a
VM. Otherwise, the VHM module leaves the I/O request in the request buffer
and wakes up the DM thread for processing.
DM follows the same mechanism as VHM. The I/O processing thread of the
DM queries the I/O request buffer to get the PIO instruction details and
checks to see if any (guest) device emulation modules claim ownership of
the I/O port. If yes, the owning module is invoked to execute requested
APIs.
When the DM completes the emulation (port IO 20h access in this example)
of a device such as uDev1, uDev1 will put the result into the request
buffer (register AL). The DM will then return the control to HV
indicating completion of an IO instruction emulation, typically thru
VHM/hypercall. The HV then stores the result to the guest register
context, advances the guest IP to indicate the completion of instruction
execution, and resumes the guest.
MMIO access path is similar except for a VM exit reason of *EPT
violation*.
DMA Emulation
-------------
Currently the only fully virtualized devices to the User VM are USB xHCI, UART,
and Automotive I/O controller. None of these require emulating
DMA transactions. ACRN does not currently support virtual DMA.
Hypervisor
**********
ACRN takes advantage of Intel Virtualization Technology (Intel VT).
The ACRN HV runs in Virtual Machine Extension (VMX) root operation,
host mode, or VMM mode, while the Service and User VM guests run
in VMX non-root operation, or guest mode. (We'll use "root mode"
and "non-root mode" for simplicity).
The VMM mode has 4 rings. ACRN
runs HV in ring 0 privilege only, and leaves ring 1-3 unused. A guest
running in non-root mode has its own full rings (ring 0 to 3). The
guest kernel runs in ring 0 in guest mode, while the guest user land
applications run in ring 3 of guest mode (ring 1 and 2 are usually not
used by commercial OS).
.. figure:: images/over-image11.png
:align: center
:name: overview-arch-hv
Architecture of ACRN hypervisor
:numref:`overview-arch-hv` shows an overview of the ACRN hypervisor architecture.
- A platform initialization layer provides an entry
point, checking hardware capabilities and initializing the
processors, memory, and interrupts. Relocation of the hypervisor
image, derivation of encryption seeds are also supported by this
component.
- A hardware management and utilities layer provides services for
managing physical resources at runtime. Examples include handling
physical interrupts and low power state changes.
- A layer sitting on top of hardware management enables virtual
CPUs (or vCPUs), leveraging Intel VT. A vCPU loop runs a vCPU in
non-root mode and handles VM exit events triggered by the vCPU.
This layer handles CPU and memory-related VM
exits and provides a way to inject exceptions or interrupts to a
vCPU.
- On top of vCPUs are three components for device emulation: one for
emulation inside the hypervisor, another for communicating with
the Service VM for mediation, and the third for managing pass-through
devices.
- The highest layer is a VM management module providing
VM lifecycle and power operations.
- A library component provides basic utilities for the rest of the
hypervisor, including encryption algorithms, mutual-exclusion
primitives, etc.
There are three ways that the hypervisor interacts with the Service VM:
the VM exits (including hypercalls), upcalls, and through the I/O request buffer.
Interaction between the hypervisor and the User VM is more restricted, including
only VM exits and hypercalls related to trusty.
Service VM
**********
The Service VM is an important guest OS in the ACRN architecture. It
runs in non-root mode, and contains many critical components, including the VM
manager, the device model (DM), ACRN services, kernel mediation, and virtio
and hypercall modules (VHM). The DM manages the User VM and
provides device emulation for it. The User VMS also provides services
for system power lifecycle management through the ACRN service and VM manager,
and services for system debugging through ACRN log/trace tools.
DM
==
DM (Device Model) is a user-level QEMU-like application in the Service VM
responsible for creating the User VM and then performing devices emulation
based on command line configurations.
Based on a VHM kernel module, DM interacts with VM manager to create the User
VM. It then emulates devices through full virtualization on the DM user
level, or para-virtualized based on kernel mediator (such as virtio,
GVT), or pass-through based on kernel VHM APIs.
Refer to :ref:`hld-devicemodel` for more details.
VM Manager
==========
VM Manager is a user-level service in the Service VM handling User VM creation and
VM state management, according to the application requirements or system
power operations.
VM Manager creates the User VM based on DM application, and does User VM state
management by interacting with lifecycle service in ACRN service.
Please refer to VM management chapter for more details.
ACRN Service
============
ACRN service provides
system lifecycle management based on IOC polling. It communicates with the
VM manager to handle the User VM state, such as S3 and power-off.
VHM
===
The VHM (virtio & hypercall module) kernel module is the Service VM kernel driver
supporting User VM management and device emulation. Device Model follows
the standard Linux char device API (ioctl) to access VHM
functionalities. VHM communicates with the ACRN hypervisor through
hypercall or upcall interrupts.
Refer to the VHM chapter for more details.
Kernel Mediators
================
Kernel mediators are kernel modules providing a para-virtualization method
for the User VMs, for example, an i915 gvt driver.
Log/Trace Tools
===============
ACRN Log/Trace tools are user-level applications used to
capture ACRN hypervisor log and trace data. The VHM kernel module provides a
middle layer to support these tools.
Refer to :ref:`hld-trace-log` for more details.
User VM
*******
Currently, ACRN can boot Linux and Android guest OSes. For Android guest OS, ACRN
provides a VM environment with two worlds: normal world and trusty
world. The Android OS runs in the normal world. The trusty OS and
security sensitive applications run in the trusty world. The trusty
world can see the memory of normal world, but normal world cannot see
trusty world.
Guest Physical Memory Layout - User VM E820
===========================================
DM will create E820 table for a User VM based on these simple rules:
- If requested VM memory size < low memory limitation (currently 2 GB,
defined in DM), then low memory range = [0, requested VM memory
size]
- If requested VM memory size > low memory limitation, then low
memory range = [0, 2G], and high memory range =
[4G, 4G + requested VM memory size - 2G]
.. figure:: images/over-image13.png
:align: center
User VM Physical Memory Layout
User VM Memory Allocation
=========================
The DM does User VM memory allocation based on the hugetlb mechanism by default.
The real memory mapping may be scattered in the Service VM physical
memory space, as shown in :numref:`overview-mem-layout`:
.. figure:: images/over-image15.png
:align: center
:name: overview-mem-layout
User VM Physical Memory Layout Based on Hugetlb
The User VM's memory is allocated by Service OS DM application; it may come
from different huge pages in Service OS as shown in
:numref:`overview-mem-layout`.
As the Service VM has full knowledge of these huge pages size,
GPA\ :sup:`SOS` and GPA\ :sup:`UOS`, it works with the hypervisor
to complete the User VM's host-to-guest mapping using this pseudo code:
.. code-block: none
for x in allocated huge pages do
x.hpa = gpa2hpa_for_sos(x.sos_gpa)
host2guest_map_for_uos(x.hpa, x.uos_gpa, x.size)
end
Virtual Slim bootloader
=======================
The Virtual Slim bootloader (vSBL) is the virtual bootloader that supports
booting the User VM on the ACRN hypervisor platform. The vSBL design is
derived from Slim Bootloader. It follows a staged design approach that
provides hardware initialization and payload launching that provides the
boot logic. As shown in :numref:`overview-sbl`, the virtual SBL has an
initialization unit to initialize virtual hardware, and a payload unit
to boot Linux or Android guest OS.
.. figure:: images/over-image110.png
:align: center
:name: overview-sbl
vSBL System Context Diagram
The vSBL image is released as a part of the Service OS root
filesystem (rootfs). The vSBL is copied to the User VM memory by the VM manager
in the Service VM while creating the User VM virtual BSP of the User VM. The Service VM passes the
start of vSBL and related information to HV. HV sets the guest RIP of the User VM's
virtual BSP as the start of vSBL and related guest registers, and
launches the User VM virtual BSP. The vSBL starts running in the virtual
real mode within the User VM. Conceptually, vSBL is part of the User VM runtime.
In the current design, the vSBL supports booting Android guest OS or
Linux guest OS using the same vSBL image.
For an Android VM, the vSBL will load and verify trusty OS first, and
trusty OS will then load and verify Android OS according to the Android
OS verification mechanism.
OVMF bootloader
=======================
Open Virtual Machine Firmware (OVMF) is the virtual bootloader that supports
the EFI boot of the User VM on the ACRN hypervisor platform.
The OVMF is copied to the User VM memory by the VM manager in the Service VM while creating
the User VM virtual BSP of the User VM. The Service VM passes the start of OVMF and related
information to HV. HV sets guest RIP of the User VM virtual BSP as the start of OVMF
and related guest registers, and launches the User VM virtual BSP. The OVMF starts
running in the virtual real mode within the User VM. Conceptually, OVMF is part of the User VM runtime.
Freedom From Interference
*************************
The hypervisor is critical for preventing inter-VM interference, using
the following mechanisms:
- Each physical CPU is dedicated to one vCPU.
CPU sharing is in the TODO list, but talking about inter-VM interference,
sharing a physical CPU among multiple vCPUs gives rise to multiple
sources of interference such as the vCPU of one VM flushing the
L1 & L2 cache for another, or tremendous interrupts for one VM
delaying the execution of another. It also requires vCPU
scheduling in the hypervisor to consider more complexities such as
scheduling latency and vCPU priority, exposing more opportunities
for one VM to interfere another.
To prevent such interference, ACRN hypervisor could adopts static
core partitioning by dedicating each physical CPU to one vCPU. The
physical CPU loops in idle when the vCPU is paused by I/O
emulation. This makes the vCPU scheduling deterministic and physical
resource sharing is minimized.
- Hardware mechanisms including EPT, VT-d, SMAP and SMEP are leveraged
to prevent unintended memory accesses.
Memory corruption can be a common failure mode. ACRN hypervisor properly
sets up the memory-related hardware mechanisms to ensure that:
1. The Service VM cannot access the memory of the hypervisor, unless explicitly
allowed
2. The User VM cannot access the memory of the Service VM and the hypervisor
3. The hypervisor does not unintendedly access the memory of the Service or User VM.
- Destination of external interrupts are set to be the physical core
where the VM that handles them is running.
External interrupts are always handled by the hypervisor in ACRN.
Excessive interrupts to one VM (say VM A) could slow down another
VM (VM B) if they are handled by the physical core running VM B
instead of VM A. Two mechanisms are designed to mitigate such
interference.
1. The destination of an external interrupt is set to the physical core
that runs the vCPU where virtual interrupts will be injected.
2. The hypervisor maintains statistics on the total number of received
interrupts to the Service VM via a hypercall, and has a delay mechanism to
temporarily block certain virtual interrupts from being injected.
This allows the Service VM to detect the occurrence of an interrupt storm and
control the interrupt injection rate when necessary.
- Mitigation of DMA storm.
(To be documented later.)
Boot Flow
*********
.. figure:: images/over-image85.png
:align: center
.. figure:: images/over-image134.png
:align: center
ACRN Boot Flow
Power Management
****************
CPU P-state & C-state
=====================
In ACRN, CPU P-state and C-state (Px/Cx) are controlled by the guest OS.
The corresponding governors are managed in the Service/User VM for best power
efficiency and simplicity.
Guests should be able to process the ACPI P/C-state request from OSPM.
The needed ACPI objects for P/C-state management should be ready in
ACPI table.
Hypervisor can restrict guest's P/C-state request (per customer
requirement). MSR accesses of P-state requests could be intercepted by
the hypervisor and forwarded to the host directly if the requested
P-state is valid. Guest MWAIT/Port IO accesses of C-state control could
be passed through to host with no hypervisor interception to minimize
performance impacts.
This diagram shows CPU P/C-state management blocks:
.. figure:: images/over-image4.png
:align: center
CPU P/C-state management block diagram
System power state
==================
ACRN supports ACPI standard defined power state: S3 and S5 in system
level. For each guest, ACRN assume guest implements OSPM and controls its
own power state accordingly. ACRN doesn't involve guest OSPM. Instead,
it traps the power state transition request from guest and emulates it.
.. figure:: images/over-image21.png
:align: center
:name: overview-pm-block
ACRN Power Management Diagram Block
:numref:`overview-pm-block` shows the basic diagram block for ACRN PM.
The OSPM in each guest manages the guest power state transition. The
Device Model running in the Service VM traps and emulates the power state
transition of the User VM (Linux VM or Android VM in
:numref:`overview-pm-block`). VM Manager knows all User VM power states and
notifies the OSPM of the Service VM (Service OS in :numref:`overview-pm-block`) once
active the User VM is in the required power state.
Then the OSPM of the Service VM starts the power state transition of the Service VM which is
trapped to "Sx Agency" in ACRN, and it will start the power state
transition.
Some details about the ACPI table for the User and Service VMs:
- The ACPI table in the User VM is emulated by the Device Model. The Device Model
knows which register the User VM writes to trigger power state
transitions. Device Model must register an I/O handler for it.
- The ACPI table in the Service VM is passthru. There is no ACPI parser
in ACRN HV. The power management related ACPI table is
generated offline and hardcoded in ACRN HV.
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