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TenonOS: A LibOS-on-LibOS framework for time-critical embedded operating systems
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DOI：10.1016/j.sysarc.2026.103894.png)
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Abstract
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Consolidating mixed time-critical workloads on modern embedded systems requires a delicate balance of strong isolation and strict real-time predictability. However, conventional virtualization stacks often introduce cross-layer semantic gaps, layered scheduling, and elongated interrupt paths that compromise determinism. To address these challenges, we present TenonOS, a lightweight LibOS-on-LibOS framework that structurally unifies the conventional OS–hypervisor boundary into a unified pool of reusable micro-libraries. At its core, TenonOS integrates Mortise, a micro-hypervisor providing hardware-enforced isolation, with Tenon, a preemptive real-time LibOS. By bridging the cross-layer coordination gap, TenonOS leverages Stage-2 mapped shared memory and hardware-assisted interrupt passthrough to enable direct execution paths. Furthermore, it introduces vCPU delegation and an EL2-based two-stage Flat Scheduler to structurally mitigate “double-scheduler” redundancies. Extensive evaluations of our ARM64 prototype demonstrate that TenonOS is highly compact (361 KiB) and boots in just 35.2 ms. Even under heavy Linux-based mixed-workload interference, it preserves near bare-metal predictability, while achieving an IVC throughput of 251.83 MB/s and reducing L1D cache misses by 43.1%.
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