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→TrustZone-based approach
http://www.wiki.xilinx.com/Multi-OS+Support+%28AMP+%26+Hypervisor%29#Asymmetric%20Multi%20Processing%20%28AMP%29%20Configurations-Open%20Source%20or%20Freely%20Available%20Solutions-TOPPERS%20SafeG%20%28Nagoya%20University%29</ref>.
[[File:Safeg-arch-english.png|thumb|center|400px|Nagoya University TOPPERS SafeG architecture]]
As shown in the picture, the monitor can be viewed as a software layer that lies between W1/W2 - called Trust and nonand underlying hardware. The monitor is responsible for:* enabling and initializing TrustZone in order to protect memory regions that must not be accessible by Non-secure world* TBD
About operating systems, linux has been chosen for Non-trust world, while FreeRTOS has been selected for the Trust world.
About the multi-processing scheme, AMP has been used{{efn|The monitor can support either AMP or SMP configurations.}}.
These choices lead to the configuration depicted in the following picture.
[[File:Safeg-arch-english.png|thumb|center|400px|DAVE Embedded Systems]]
====Inter-o.s. communication====