A StateoftheArt Survey on RealTime Issues in （最先进的实时调查问题）.pdf

Journal of Software Engineering and Applications, 2012, 5, 277-290 277 /10.4236/jsea.2012.54033 Published Online April 2012 (http://www.SciRP.org/journal/jsea) A State-of-the-Art Survey on Real-Time Issues in Embedded Systems Virtualization Zonghua Gu, Qingling Zhao College of Computer Science, Zhejiang University, Hangzhou, China. Email: {zgu, ada_zhao}@ Received January 1st, 2012; revised February 5th, 2012; accepted March 10th, 2012 ABSTRACT Virtualization has gained great acceptance in the server and cloud computing arena. In recent years, it has also been widely applied to real-time embedded systems with stringent timing constraints. We present a comprehensive survey on real-time issues in virtualization for embedded systems, covering popular virtualization systems including KVM, Xen, L4 and others. Keywords: Virtualization; Embedded Systems; Real-Time Scheduling 1. Introduction on L4Ka::Pistachio microkernel; in turn, unmodified guest OS can run on top of QEMU; Schild et al. [2] used Platform virtualization refers to the creation of Virtual Intel VT-d HW extensions to run unmodified guest OS Machines ( VMs), also called domains, guest OSes, or on L4. There are also Type-2, para-virtualization solu- partitions , running on the physical machine managed by tions, e.g., VMWare MVP (Mobile Virtualization Plat- a Virtual Machine Monitor (VMM), also called a hyper-