Implementing rich functionality while preserving high reliability is desired since embedded software is becoming large and complicated. A federated architecture where multiple processors host different functionality degrades a product's cost, area, and power. Therefore, virtualization is widely studied to host multiple software on one physical processor. Especially, ARM TrustZone realizes dual-OS environment which hosts two different OS and is often leveraged on virtualization for application processors; nevertheless, a few research presented methods for microcontrollers. This paper proposes SafeG-M, a virtualization environment for ARMv8-M architecture with TrustZone extension. The proposed method comes with a minor modification to an existing real-time OS. Evaluation experiments showed that SafeG-M induces a little runtime overhead.
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