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HARPOON (RTOS on Cortex-A)

HARPOON

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Harpoon is a base enablement software which provides an isolated real-time domain running on high performance 64-bit Arm® Cortex®-A core(s). The Jailhouse hypervisor is used for hardware resource partitioning, allowing the real-time domain RTOS to run in parallel with a feature rich Linux distribution and with minimal impact on the RTOS real-time performance.

Harpoon supports FreeRTOS and Zephyr as the Jailhouse guest operating systems. This offers customers a choice to develop real-time applications on higher performance Cortex-A cores (Armv8-A) compared to the Cortex-M cores.

Harpoon is supported on NXP applications processors—i.MX 8M Mini, i.MX 8M Nano, i.MX 8M Plus and i.MX 93. Harpoon provides reference real-time audio and industrial applications, plus a real-time latency measurement application for quick customer evaluation.

Diagram

Harpoon Software Architecture

Harpoon Software Architecture
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Features

  • Jailhouse hypervisor partitions physical hardware to create dedicated resources for each domain
  • Support for multiple open-source real-time operating systems (FreeRTOS and Zephyr RTOS) as guest OS
  • Support of MCUXpresso development environment to ease porting of customer applications
  • Standard IPC mechanisms (RPMsg, VirtIO) to communicate between Linux and guest OS
  • Pre-integrated real-time reference applications for quick evaluation of the unique software architecture
  • Support of AVB Talker and Listener streaming through NXP GenAVB/TSN Middleware stack
  • Yocto support for Linux development

Supported Devices

  • i.MX8MMINI: i.MX 8M Mini - Arm® Cortex®-A53, Cortex-M4, Audio, Voice, Video
  • i.MX8MNANO: i.MX 8M Nano Family - Arm® Cortex®-A53, Cortex-M7
  • IMX8MPLUS: i.MX 8M Plus – Arm® Cortex®-A53, Machine Learning, Vision, Multimedia and Industrial IoT
  • i.MX93: i.MX 93 Applications Processor Family – Arm® Cortex®-A55, ML Acceleration, Power Efficient MPU
  • i.MX95: i.MX 95 Applications Processor Family: High-Performance, Safety Enabled Platform with eIQ® Neutron NPU

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Y true 0 SSPHARPOONen 8 User Guide User Guide t792 8 en_US en_US en User Guide User Guide 8 1 3.3 English This document presents the Harpoon release 3.3 for i.MX 8M and i.MX 9 device family, using the Arm Cortex-A53/A55 processor (Armv8-A architecture). 1624983472636708340369 SSP 3.6 MB None None documents None 1624983472636708340369 /docs/en/user-guide/Harpoon_USERS_GUIDE.pdf 3607405 /docs/en/user-guide/Harpoon_USERS_GUIDE.pdf Harpoon_USERS_GUIDE documents N N 2021-06-29 Harpoon User's Guide /docs/en/user-guide/Harpoon_USERS_GUIDE.pdf /docs/en/user-guide/Harpoon_USERS_GUIDE.pdf User Guide N 132339537837198660 2025-03-26 pdf N en Mar 26, 2025 updated 132339537837198660 User Guide Y N Harpoon User's Guide 2 3.2 English This document presents the Harpoon release 3.3 for i.MX 8M and i.MX 9 device family, using the Arm Cortex-A53/A55 processor (Armv8-A architecture). 1743010756460693135629 SSP 3.6 MB None None documents None 1743010756460693135629 /docs/en/user-guide/HRPNUG_3.2.pdf 3598647 /docs/en/user-guide/HRPNUG_3.2.pdf HRPNUG_3.2 documents N N 2025-03-26 Harpoon User's Guide 3.2 /docs/en/user-guide/HRPNUG_3.2.pdf /docs/en/user-guide/HRPNUG_3.2.pdf User Guide N 132339537837198660 2025-03-26 pdf N en Dec 18, 2024 132339537837198660 User Guide Y N Harpoon User's Guide 3.2 3 3.1 English Harpoon User's Guide 1734471031111729318631 SSP 3.6 MB None None documents None 1734471031111729318631 /docs/en/user-guide/HRPNUG_3.1.pdf 3577049 /docs/en/user-guide/HRPNUG_3.1.pdf HRPNUG_3.1 documents N N 2024-12-17 Harpoon User's Guide /docs/en/user-guide/HRPNUG_3.1.pdf /docs/en/user-guide/HRPNUG_3.1.pdf User Guide N 132339537837198660 2025-03-08 pdf N en Dec 10, 2024 132339537837198660 User Guide Y N Harpoon User's Guide 4 2.5 English Harpoon User's Guide 2.5 1711741590639720869110 SSP 2.5 MB None None documents None 1711741590639720869110 /docs/en/user-guide/HRPNUG_rev2.5.pdf 2459898 /docs/en/user-guide/HRPNUG_rev2.5.pdf HRPNUG_rev2.5 documents N N 2024-03-29 Harpoon User's Guide 2.5 /docs/en/user-guide/HRPNUG_rev2.5.pdf /docs/en/user-guide/HRPNUG_rev2.5.pdf User Guide N 132339537837198660 2024-03-29 pdf N en Mar 29, 2024 132339537837198660 User Guide Y N Harpoon User's Guide 2.5 5 2.4 English This document presents the Harpoon release 2.4 for i.MX 8M and i.MX 93 device family, using the Arm Cortex-A53/A55 processor (Armv8-A architecture). 1648681571876687351232 SSP 2.8 MB None None documents None 1648681571876687351232 /docs/en/user-guide/HRPNUG_rev2.4.pdf 2801216 /docs/en/user-guide/HRPNUG_rev2.4.pdf HRPNUG_rev2.4 documents N N 2022-03-30 Harpoon User's Guide 2.4 /docs/en/user-guide/HRPNUG_rev2.4.pdf /docs/en/user-guide/HRPNUG_rev2.4.pdf User Guide N 132339537837198660 2023-08-09 pdf N en Jul 28, 2023 132339537837198660 User Guide Y N Harpoon User's Guide 2.4 6 2.3 English This document presents the Harpoon release 2.3 for i.MX 8M and i.MX 93 device family, using the Arm Cortex-A53/A55 processor (Armv8-A architecture). 1691616963956714576239 SSP 2.3 MB None None documents 1691616963956714576239 /docs/en/user-guide/HRPNUG_rev2.3.pdf 2290650 /docs/en/user-guide/HRPNUG_rev2.3.pdf HRPNUG_rev2.3 documents N N 2023-08-09 Harpoon User's Guide 2.3 /docs/en/user-guide/HRPNUG_rev2.3.pdf /docs/en/user-guide/HRPNUG_rev2.3.pdf User Guide N 132339537837198660 2023-08-09 pdf N en Mar 28, 2023 132339537837198660 User Guide Y N Harpoon User's Guide 2.3 7 2.2 English Harpoon provides an environment for developing real-time demanding applications on an RTOS running on the Arm Cortex-A cores in parallel of a Linux distribution. 1691616963580706674883 SSP 1.0 MB None None documents None 1691616963580706674883 /docs/en/user-guide/HRPNUG_rev2.2.pdf 1028439 /docs/en/user-guide/HRPNUG_rev2.2.pdf HRPNUG_rev2.2 documents N N 2023-08-09 Harpoon User's Guide 2.2 /docs/en/user-guide/HRPNUG_rev2.2.pdf /docs/en/user-guide/HRPNUG_rev2.2.pdf User Guide N 132339537837198660 2023-08-09 pdf N en Dec 17, 2022 132339537837198660 User Guide Y N Harpoon User's Guide 2.2 8 2.1.0 English This document presents the Harpoon release (EAR) 2.1 for i.MX 8M device family, using the Arm Cortex-A53 processor (Armv8-A architecture). 1691616962735729090247 SSP 1.9 MB None None documents None 1691616962735729090247 /docs/en/user-guide/HRPNUG_rev2.1.0.pdf 1933426 /docs/en/user-guide/HRPNUG_rev2.1.0.pdf HRPNUG_rev2.1.0 documents N N 2023-08-09 Harpoon User's Guide 2.1.0 /docs/en/user-guide/HRPNUG_rev2.1.0.pdf /docs/en/user-guide/HRPNUG_rev2.1.0.pdf User Guide N 132339537837198660 2023-08-09 pdf N en Jul 28, 2022 132339537837198660 User Guide Y N Harpoon User's Guide 2.1.0 false 0 HARPOON downloads en true 1 Y SSP User Guide 8 /docs/en/user-guide/Harpoon_USERS_GUIDE.pdf 2021-06-29 1624983472636708340369 SSP 1 Mar 26, 2025 User Guide This document presents the Harpoon release 3.3 for i.MX 8M and i.MX 9 device family, using the Arm Cortex-A53/A55 processor (Armv8-A architecture). None /docs/en/user-guide/Harpoon_USERS_GUIDE.pdf English documents 3607405 None 132339537837198660 2025-03-26 N /docs/en/user-guide/Harpoon_USERS_GUIDE.pdf Harpoon User's Guide /docs/en/user-guide/Harpoon_USERS_GUIDE.pdf documents 132339537837198660 User Guide N updated en None Y pdf 3.3 N N Harpoon User's Guide 3.6 MB Harpoon_USERS_GUIDE N 1624983472636708340369 /docs/en/user-guide/HRPNUG_3.2.pdf 2025-03-26 1743010756460693135629 SSP 2 Dec 18, 2024 User Guide This document presents the Harpoon release 3.3 for i.MX 8M and i.MX 9 device family, using the Arm Cortex-A53/A55 processor (Armv8-A architecture). None /docs/en/user-guide/HRPNUG_3.2.pdf English documents 3598647 None 132339537837198660 2025-03-26 N /docs/en/user-guide/HRPNUG_3.2.pdf Harpoon User's Guide 3.2 /docs/en/user-guide/HRPNUG_3.2.pdf documents 132339537837198660 User Guide N en None Y pdf 3.2 N N Harpoon User's Guide 3.2 3.6 MB HRPNUG_3.2 N 1743010756460693135629 /docs/en/user-guide/HRPNUG_3.1.pdf 2024-12-17 1734471031111729318631 SSP 3 Dec 10, 2024 User Guide Harpoon User's Guide None /docs/en/user-guide/HRPNUG_3.1.pdf English documents 3577049 None 132339537837198660 2025-03-08 N /docs/en/user-guide/HRPNUG_3.1.pdf Harpoon User's Guide /docs/en/user-guide/HRPNUG_3.1.pdf documents 132339537837198660 User Guide N en None Y pdf 3.1 N N Harpoon User's Guide 3.6 MB HRPNUG_3.1 N 1734471031111729318631 /docs/en/user-guide/HRPNUG_rev2.5.pdf 2024-03-29 1711741590639720869110 SSP 4 Mar 29, 2024 User Guide Harpoon User's Guide 2.5 None /docs/en/user-guide/HRPNUG_rev2.5.pdf English documents 2459898 None 132339537837198660 2024-03-29 N /docs/en/user-guide/HRPNUG_rev2.5.pdf Harpoon User's Guide 2.5 /docs/en/user-guide/HRPNUG_rev2.5.pdf documents 132339537837198660 User Guide N en None Y pdf 2.5 N N Harpoon User's Guide 2.5 2.5 MB HRPNUG_rev2.5 N 1711741590639720869110 /docs/en/user-guide/HRPNUG_rev2.4.pdf 2022-03-30 1648681571876687351232 SSP 5 Jul 28, 2023 User Guide This document presents the Harpoon release 2.4 for i.MX 8M and i.MX 93 device family, using the Arm Cortex-A53/A55 processor (Armv8-A architecture). None /docs/en/user-guide/HRPNUG_rev2.4.pdf English documents 2801216 None 132339537837198660 2023-08-09 N /docs/en/user-guide/HRPNUG_rev2.4.pdf Harpoon User's Guide 2.4 /docs/en/user-guide/HRPNUG_rev2.4.pdf documents 132339537837198660 User Guide N en None Y pdf 2.4 N N Harpoon User's Guide 2.4 2.8 MB HRPNUG_rev2.4 N 1648681571876687351232 /docs/en/user-guide/HRPNUG_rev2.3.pdf 2023-08-09 1691616963956714576239 SSP 6 Mar 28, 2023 User Guide This document presents the Harpoon release 2.3 for i.MX 8M and i.MX 93 device family, using the Arm Cortex-A53/A55 processor (Armv8-A architecture). None /docs/en/user-guide/HRPNUG_rev2.3.pdf English documents 2290650 None 132339537837198660 2023-08-09 N /docs/en/user-guide/HRPNUG_rev2.3.pdf Harpoon User's Guide 2.3 /docs/en/user-guide/HRPNUG_rev2.3.pdf documents 132339537837198660 User Guide N en Y pdf 2.3 N N Harpoon User's Guide 2.3 2.3 MB HRPNUG_rev2.3 N 1691616963956714576239 /docs/en/user-guide/HRPNUG_rev2.2.pdf 2023-08-09 1691616963580706674883 SSP 7 Dec 17, 2022 User Guide Harpoon provides an environment for developing real-time demanding applications on an RTOS running on the Arm Cortex-A cores in parallel of a Linux distribution. None /docs/en/user-guide/HRPNUG_rev2.2.pdf English documents 1028439 None 132339537837198660 2023-08-09 N /docs/en/user-guide/HRPNUG_rev2.2.pdf Harpoon User's Guide 2.2 /docs/en/user-guide/HRPNUG_rev2.2.pdf documents 132339537837198660 User Guide N en None Y pdf 2.2 N N Harpoon User's Guide 2.2 1.0 MB HRPNUG_rev2.2 N 1691616963580706674883 /docs/en/user-guide/HRPNUG_rev2.1.0.pdf 2023-08-09 1691616962735729090247 SSP 8 Jul 28, 2022 User Guide This document presents the Harpoon release (EAR) 2.1 for i.MX 8M device family, using the Arm Cortex-A53 processor (Armv8-A architecture). None /docs/en/user-guide/HRPNUG_rev2.1.0.pdf English documents 1933426 None 132339537837198660 2023-08-09 N /docs/en/user-guide/HRPNUG_rev2.1.0.pdf Harpoon User's Guide 2.1.0 /docs/en/user-guide/HRPNUG_rev2.1.0.pdf documents 132339537837198660 User Guide N en None Y pdf 2.1.0 N N Harpoon User's Guide 2.1.0 1.9 MB HRPNUG_rev2.1.0 N 1691616962735729090247 true Y Softwares

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