Linux/RTOS Hybrid Operating Environment on Gandalf Virtual Machine Monitor

  • Shuichi Oikawa
  • Megumi Ito
  • Tatsuo Nakajima
Part of the Lecture Notes in Computer Science book series (LNCS, volume 4096)


This paper presents our Linux/RTOS hybrid operating environment constructed upon Gandalf VMM. Gandalf can host multiple RTOSes along with Linux, and RTOSes and Linux execute within their own isolated protection domains; thus, they can be spatially and temporally protected from each other. We design Gandalf from scratch as a simple and efficient VMM in order to minimize overheads incurred by virtualization. The simplicity and efficiency are achieved by the hybrid of para- and nearly full-virtualization approaches. The implementation of the presented hybrid operating environment is on the PC/AT compatible platform with the Intel IA-32 processor with μITRON as an RTOS. From the measurement results, we make clear that the benefits of using a VMM to construct a hybrid environment exceed shortcomings by showing the impact on performance is limited.


Physical Memory Virtual Memory Virtual Machine Monitor Virtual Address Runtime Cost 
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Copyright information

© Springer-Verlag Berlin Heidelberg 2006

Authors and Affiliations

  • Shuichi Oikawa
    • 1
  • Megumi Ito
    • 1
  • Tatsuo Nakajima
    • 2
  1. 1.Department of Computer ScienceUniversity of TsukubaTsukuba, IbarakiJapan
  2. 2.Department of Computer ScienceWaseda UniversityTokyoJapan

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