ACRN Hypervisor vs IPFW

ACRN Hypervisor is a free, open-source Type 1 hypervisor stack for embedded IoT development. It runs directly on Intel x86 bare-metal hardware and supports Linux, Windows and RTOS guests such as Zephyr; the project also lists VxWorks, Xenomai, Celadon and Android. CPU, I/O and networking virtualization are included, with I/O mediators for sharing graphics and audio across virtual machines. Resource partitioning is designed for safety-critical and non-safety-critical domains to coexist on one system-on-chip. The ACRN Device Model provides virtual device emulation. The project describes a codebase under 40K lines and reports low latency, fast boot times and responsive hardware communication. ACRN uses the BSD 3-Clause license, offers a command-line management interface and supports nested virtualization. Source code is maintained in a public GitHub repository with online documentation. Community help is available through mailing lists, IRC channels and monthly technical meetings.

IPFW has no write-up on Specifiction yet; its figures are above.