Hardware isolation running RTOS concurrently with AGL on Renesas R-Car

Julien Massot

( AGL AMM March-2021)Hw isolation RTOS and AGL on Renesas R-Car 2

➢ 28 engineers dedicated to Embedded Linux➢ Our goal is to deploy AGL in cars, boats...

● https://iot.bzh/en/● https://redpesk.bzh/● https://github.com/iotbzh

LORIENT

About us

( AGL AMM March-2021)Hw isolation RTOS and AGL on Renesas R-Car 3

redpesk®: from sensor to cloud

GoogleOVH

Social identity

µBinder

TLS REST/WebSocket

Linux Embedded Target

CynagoraACLs-DB

High level APIs

Wifi Storage

Audio Network

GraphicsHID

Secure-Gateway

ACL hooks

Session Mngt.

Permission Agent

Federated Identity

Config.json

IdentityStore

Micro-service Framework

Second FactorAuth.

RTOS

Cloud publication

binding

Redis

MQTT

CoAP

Ap

plic

atio

n F

ram

ew

ork

SQL Binding

Redis Binding

LXD container

Cloud infrastructure

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Agenda

● What is hardware isolation ?● What is a co-processor ?● Introducing Zephyr in AGL environment● Communicating between Zephyr and AGL framework● Manage your co-processor from Linux● Next steps

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Hardware isolation vs hypervisor

++Sharing-- Privileges

Hypervisor

XEN L4RE

KVM VmWare

Hardware isolationCo-processor RTOS

Zephyr FreeRTOS

Mbed OS Nuttx

OS Containers

Docker LXC

nspawn

Desktop Containers

Flatpak Snap

AppImage

may share RAM area

share hardware

share Kernel

share runtime

++Isolation++Privileges

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Isolating your safety task

● Dedicate hardware ressources: CPU, peripherals, memory● Make your safety tasks more predictable● Reduce attacks surface of your software● Two (or more) OS running on the same SoC● Only certify a small code base● Communicate with your Linux AGL applications

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What is a Co-processor ?

● A physical computing unit● May not run the same OS, or even bare metal● May not share the same architecture (ISA)● Armv7, DSP..● May not be binary compatible● Can handle specific tasks● Radio, video, audio, neural network, safety

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R-CAR H3 SoC

Cortex-A57

Cortex-A57 Cortex-A57

Cortex-A57 Cortex-A53

Cortex-A53 Cortex-A53

Cortex-A53

Cortex-R7

Flash LPDDR4

video codec processor 3D graphics processor

DisplayVideo signalprocessor

Audio DSP Sound routing

UART CAN I2C GPIO

USB 3 SATA PCI-E Ethernet

Architecture of Renesas R-CAR H3 SoC

Cortex-R7 ?

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Cortex-R7

● General purpose microcontroller● Not already affected to audio processing or video compression● Can access any memory mapped devices (CAN, I2C, ..)● Armv7 800MHz● Dual core lockstep, suitable for safety● GIC interrupt controller● Enough to run complex tasks, sounds cool !

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Pickup an RTOS

● If possible free and Open Source● With a comprehensible documentation● And a dynamic community● That fill the gap between Linux and µController world● With Posix compatibility● Go for the Zephyr project !

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The Zephyr project

● Started from Wind River’s Rocket OS● Linux Foundation project● Small kernel● Many protocol stacks (IPv4, IPv6, BLE, CAN)● Auditable code base developed with a goal of safety certifications (IEC 61508)● Long term support (LTS) with security updates● Apache 2.0 open source license● Many sponsors and contributors

Facebook, Google, Intel, Nordic Semiconductor, NXP, Linaro

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Run your application onZephyr

● Dedicate hardware devices and resources to Zephyr● Port your platform, if not already supported● Write your board dts● Write or reuse your required driver serial, CAN, I2C● Re-use stack an OS services IPv6 BLE, CANOpen,

MQTT● Port your application

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Here we arebut too much isolated !

Linux Cortex A57/A53CANGPIOUART

I2CSPI

Renesas Gen3 SoC

App Framework

Sig

nal

Co

mpo

ser

Bin

din

g

Ap

plic

atio

nC

usto

m L

ogi

c

console

PWM

Critical application

Cortex R7

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Let’s addcommunication

Cortex R7 Linux Cortex A57/A53

Shared Memory

MailboxInterprocessor Interrupts

CANGPIOUART

I2CSPI

OpenAMPlibmetal

Mailbox

Remoteproc

interrupts

rpmsg

Renesas Gen3 SoC

App Framework

Sig

na

l Co

mpo

ser

Bin

din

g

App

lica

tion

Cus

tom

Lo

gic

console

Realtime & Secure Area

PWM

Critical application

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OpenAMP details

SharedMemory

MFISinterrupts

RX VRing

TX VRing

Vring buffers

Zephyr Cortex R7 Device

Resource table

ipm_rcar

Service

OpenAMPLibrary

Open sourcecomponent

Open SourcePlatform

component

Application

hardware

Linux Cortex A5x Host

Client application

RPMsg

Virtio

rcar_rprocremoteproc

rcar_mfismailbox

ipm

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use AGL Binder on OpenAMP

Could be more convenient to access API and not buffer.

OpenAMP is just a transport, that can send or receive datas.

Use OpenAMP as a transport for AGL Binder as of TCP or websocket (In progress)

BINDER

Applicationgeolocation

BINDER

GPS

µBINDER

WS /TCPRPMSGOpenAMP

Co-ProcessorRTOS

Main processorLinux AGL

R-CarSoC

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Co-processor life cycle management

● Linux Remoteproc framework allows to:● Let Linux handle the co-processor LCM● Load a specific firmware for the filesystem● So that you can update the firmware over the air● Start stop a remote processor / Attach to a running processor● initiate shared memory for communication● Get debug trace from the debugfs

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Playing with remoteproc

● Specify a firmware to boot

$ echo -n "renesas/zephyr.elf" > /sys/class/remoteproc/remoteproc0/firmware● Start stop a remote processor

$ echo start > /sys/class/remoteproc/remoteproc0/state

remoteproc remoteproc0: powering up cr7

remoteproc remoteproc0: Booting fw image renesas/zephyr.elf, size 413184

remoteproc remoteproc0: remote processor cr7 is now up

$ echo stop > /sys/class/remoteproc/remoteproc0/state

remoteproc remoteproc0: stopped remote processor cr7● Get the debug output

$ cat /sys/kernel/debug/remoteproc/remoteproc0/trace0

*** Booting Zephyr OS build zephyr-v2.5.0 ***

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What you can currently do with Zephyr forRenesas R-Car Gen3

● Send and receive CAN frames● Read and write to an I2C device● Use GPIO● Start firmware from Linux● Communicate with Linux AGL● Fetch and compile:

$ west init -m git@github.com:iotbzh/zephyr.git --mr renesas

$ west sync

$ west build -b rcar_ulcb_cr7 zephyr/samples/basic/blinky --build-dir ulcb-blinky

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Current work

● Goal is to go for Zephyr mainline● Already added support for Cortex-R7● H3ULCB support is pull requested● Integration with AGL application framework● With end to end security from RTOS to Linux and Cloud

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Q&A

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Links

● IoT.bzh:– Website: https://iot.bzh/– Publications: https://iot.bzh/en/publications– Github: https://github.com/iotbzh– Renesas Zephyr: https://github.com/iotbzh/zephyr/tree/renesas

● Zephyr:

- Getting Started https://docs.zephyrproject.org/latest/getting_started/index.html● AGL:

– Website: https://www.automotivelinux.org/– Documentation: http://docs.automotivelinux.org/– Sources: https://git.automotivelinux.org/