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evisor

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Light-weight Bare Metal Hypervisor (Type 1) written in C++

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# eVisor
![Build](https://github.com/HidenoriMatsubayashi/evisor/workflows/Build/badge.svg)

`eVisor` is a light-weight Bare Metal Hypervisor (Type 1) written in C++. This project is intended for use in embedded systems (ARM64 devices) and for educational purposes.

[eVisor demo video @ Youtube - NuttX runs on Raspberry Pi4](https://www.youtube.com/watch?v=A7E2ucZHLO0)

[![eVisor demo](https://user-images.githubusercontent.com/62131389/236593400-03de6bf3-6b06-41fe-b855-702fefc4a87d.png)](https://www.youtube.com/watch?v=A7E2ucZHLO0)

## Book (Japanese)

Please feel free to read [ゼロからのハイパーバイザ自作入門](https://zenn.dev/hidenori3/books/55ce98070299db) as well if you're interested. It’s a Japanese book about creating your own hypervisor.

## Supported devices

- Raspberry Pi 4 Model B (BCM2711 / aarch64 only)
- QEMU (ARM64)

## TODOs

- Support multi CPU cores
- Fix temporary implementation of memory management APIs like kmm_malloc
- Add Hypervisor system call APIs like KVM
- Full support for vCPU interrupts
- Support GIC version 3 and 4
- Improve scheduling algorithm
- Improve mmc device driver (SD data transfer speed)
- Support Linux OS
- Restructuring / refactoring source code

## System requrements

### Operating Systems

It is recommended to use Ubuntu 22.04 with Clang 14. Currently, this software may not be buildable on Ubuntu 24 or higher.

### Build tools

```shell
sudo apt install cmake clang llvm
```

#### libstdc++-12-dev installation

This software does not use C++ standart libraries (libstdc++), but if you hit a following cmake build error, try to install `libstdc++-12-dev`.

```shell
/usr/bin/ld: cannot find -lstdc++: No such file or directory
```

## How to build

### Cross-building for ARM64 on x86_64

```shell
mkdir build && cd build
cmake .. -DCMAKE_TOOLCHAIN_FILE=../cmake/cross-toolchain-clang-aarch64.cmake \
      -DCMAKE_BUILD_TYPE={Debug|Release} \
      -DBOARD={raspi4|qemu} \
      -DTEST_GUEST={serial|test_app|nuttx|linux}
```

### Self-building for ARM64 on ARM64

```shell
mkdir build && cd build
cmake .. -DCMAKE_BUILD_TYPE={Debug|Release} \
      -DBOARD={raspi4|qemu} \
      -DTEST_GUEST={serial|test_app|nuttx|linux}
```

## Examples

### Raspberry Pi4 + NuttX (Guest OS)

#### Building

```shell
mkdir build && cd build
cmake .. -DCMAKE_TOOLCHAIN_FILE=../cmake/cross-toolchain-clang-aarch64.cmake \
         -DCMAKE_BUILD_TYPE=Release -DBOARD=raspi4 -DTEST_GUEST=nuttx
cmake --build .
```

#### Running

Setup SD card for Rasberry Pi4 (See config/raspi4/config.txt for the detail settings):
```shell
cp config/raspi4/config.txt <path_to_sdcard>/boot
```

Copy NuttX image file to the SD card:
```shell
cp examples/nuttx/nuttx.bin <path_to_sdcard>/boot
```

Copy eVisor image file to the SD card:
```shell
cp build/kernel.bin <path_to_sdcard>/boot/kernel.bin
```

#### Serial console / UART logs

The serial console and output logs are assigned to UART0 (GPIO 14, GPIO 15), with a baud rate of 115200bps.

```
sudo minicom -D /dev/ttyUSB0

```

### QEMU + NuttX (Guest OS)

#### Install QEMU

```shell
sudo apt install qemu-system-arm 
```

Note that QEMU 9.0 or higher is necessary to run this software. Please see [Download QEMU](https://www.qemu.org/download/).

#### Building

```shell
mkdir build && cd build
cmake .. -DCMAKE_TOOLCHAIN_FILE=../cmake/cross-toolchain-clang-aarch64.cmake \
         -DCMAKE_BUILD_TYPE=Release -DBOARD=qemu -DTEST_GUEST=nuttx
cmake --build .
```

#### Running

```shell
qemu-system-aarch64 \
  -machine virt,virtualization=on,gic-version=2 \
  -cpu cortex-a72 -smp 4 \
  -m 4G \
  -nographic -net none \
  -chardev stdio,id=con,mux=on -serial chardev:con -mon chardev=con,mode=readline \
  -kernel ./kernel.elf \
  -drive file=../examples/nuttx/nuttx.bin,format=raw,id=drive0,if=none \
  -device virtio-blk-device,drive=drive0,bus=virtio-mmio-bus.0
```

#### How to debug on QEMU

## Special thanks!

Special thanks the followings since I particularly referred to them in the early stage of development.

- [raspvisor](https://github.com/matsud224/raspvisor)
- [LLD](https://github.com/rockytriton/LLD)
- [Raspberry Pi 4 interrupt sample](https://github.com/tnishinaga/baremetal_pi4_irq_sample)

evisor

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