The Zynq UltraScale+ MPSoCs include a hardware virtualization extension on the Arm Cortex-A53 processors, interrupt controller, and Arm System MMU (SMMU) that provides flexibility to combine various operating system combinations, including SMP and AMP, within the APU.
The following diagram shows an example of an SMP-capable OS, like Linux working along with Real-Time Operating System (RTOS) as well as a bare metal application using a single hypervisor.
This enables independent development of applications in their respective mode of operation.
Although the hardware virtualization included within Zynq UltraScale+ MPSoC and its hypervisors allow the standard operating systems and their applications to function with low to moderate effort, the addition of a hypervisor does bring design complexity to low-level system functions such as power management, FPGA bitstream management,
OpenAMP software stack, and security accelerator access which must use additional underlying layers of system firmware. Hence, Xilinx recommends that the developers must initiate early effort into these aspects of system architecture and implementation.
For more details on using Hypervisor like the Xen Hypervisor, see the MPSoC Xen Hypervisor website.