Abstract
Virtualization technology starts becoming more and more widespread in the embedded space. The penalties incurred by standard software-based virtualization is pushing research towards hardware-assisted solutions. Among the existing commercial off-the-shelf technologies for secure virtualization, ARM TrustZone is attracting particular attention. However, it is often seen with some scepticism due to the dual-OS limitation of existing state-of-the-art solutions. This letter presents the implementation of a TrustZone-based hypervisor for real-time embedded systems, which allows multiple RTOS partitions on the same hardware platform. The results demonstrate that virtualization overhead is less than 2 percent for a 10 milliseconds guest-switching rate, and the system remains deterministic. This work goes beyond related work by implementing a TrustZone-assisted solution that allows the execution of an arbitrary number of guest OSes while providing the foundation to drive next generation of secure virtualization solutions for resource-constrained embedded devices.
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