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Recently, embedded systems have not only requirements for hard real-timebehavior and reliability, but also diversified functional demands, such asnetwork functions. To satisfy these requirements, virtualization usinghypervisors is promising for embedded systems. However, as most of existinghypervisors are designed for general-purpose information processing systems,they rely on large system stacks, so that they are not suitable for mixedcriticality embedded real-time systems. Even in hypervisors designed forembedded systems, their schedulers do not consider the diversity of real-timerequirements and rapid change in scheduling theory.  We present the design and implementation of T-Visor, a hypervisor specializedfor mixed criticality embedded real-time systems. T-Visor supports ARMarchitecture and realizes full virtualization using ARM VirtualizationExtensions. To guarantee real-time behavior, T-Visor provides a flexiblescheduling framework so that developers can select the most suitable schedulingalgorithm for their systems. Our evaluation showed that it performed bettercompared to Xen/ARM. From these results, we conclude that our design andimplementation are more suitable for embedded real-time systems than theexisting hypervisors.

T-Visor: A Hypervisor for Mixed Criticality Embedded Real-time System with Hardware Virtualization Support