doc: add ROScube GSG

Adding a new GSG contributed by ADLINK for installing an ACRN Industry
Scenario on their ROScube-I system.

Signed-off-by: ChenYing Kuo <chenying.kuo@adlinktech.com>
Signed-off-by: David B. Kinder <david.b.kinder@intel.com>

doc/getting-started/roscube/roscube-gsg.rst

@@ -0,0 +1,707 @@
+Getting Started Guide for ACRN Industry Scenario with ROScube-I
+###############################################################
+
+.. contents::
+   :local:
+   :depth: 1
+
+Verified version
+****************
+
+- Ubuntu version: **18.04**
+- GCC version: **7.5.0**
+- ACRN-hypervisor branch: **v2.1**
+- ACRN-Kernel (Service VM kernel): **v2.1**
+- RT kernel for Ubuntu User VM OS: **Linux kernel 4.19.59 with Xenomai 3.1**
+- HW: `ROScube-I`_
+
+  ADLINK `ROScube-I`_ is a real-time `ROS 2`_-enabled robotic controller based
+  on Intel® Xeon® 9th Gen Intel® Core™ i7/i3 and 8th Gen Intel® Core™ i5
+  processors. It features comprehensive I/O connectivity supporting a wide
+  variety of sensors and actuators for unlimited robotic applications.
+
+.. _ROScube-I:
+   https://www.adlinktech.com/Products/ROS2_Solution/ROS2_Controller/ROScube-I?lang=en
+
+.. _ROS 2:
+   https://index.ros.org/doc/ros2/
+
+Architecture
+************
+
+This tutorial will show you how to install the ACRN Industry Scenario on ROScube-I.
+The scenario is shown here:
+
+.. figure:: images/rqi-acrn-architecture.png
+
+* Service VM: Used to launch the User VM and real-time VM.
+* User VM: Run `ROS 2`_ application in this VM, such as for SLAM or navigation.
+* Real-time VM: Run critical tasks in this VM, such as the base driver.
+
+Prerequisites
+*************
+
+* Connect the ROScube-I as shown here:
+
+  - HDMI for monitor.
+  - Network on Ethernet port 1.
+  - Keyboard and mouse on USB.
+
+  .. figure:: images/rqi-acrn-hw-connection.jpg
+     :width: 600px
+
+* Install Ubuntu 18.04 on ROScube-I.
+
+* Modify the following BIOS settings.
+
+  .. csv-table::
+     :widths: 15, 30, 10
+
+     "Hyper-threading", "Advanced -> CPU Configuration", "Disabled"
+     "Intel (VMX) Virtualization", "Advanced -> CPU Configuration", "Enabled"
+     "Intel(R) SpeedStep(tm)", "Advanced -> CPU Configuration", "Disabled"
+     "Intel(R) Speed Shift Technology", "Advanced -> CPU configuration", "Disabled"
+     "Turbo Mode", "Advanced -> CPU configuration", "Disabled"
+     "C States", "Advanced -> CPU configuration", "Disabled"
+     "VT-d", "Chipset -> System Agent (SA) Configuration", "Enabled"
+     "DVMT-Pre Allocated", "Chipset -> System Agent (SA) Configuration -> Graphics Configuration", "64M"
+
+.. rst-class:: numbered-step
+
+Install ACRN hypervisor
+***********************
+
+Set up Environment
+==================
+
+#. Open ``/etc/default/grub/`` and add ``idle=nomwait intel_pstate=disable``
+   to the end of ``GRUB_CMDLINE_LINUX_DEFAULT``.
+
+   .. figure:: images/rqi-acrn-grub.png
+
+#. Update GRUB and then reboot.
+
+   .. code-block:: bash
+
+     sudo update-grub
+     sudo reboot
+
+#. Install the necessary libraries:
+
+   .. code-block:: bash
+
+     sudo apt update
+     sudo apt install -y gcc git make gnu-efi libssl-dev libpciaccess-dev \
+       uuid-dev libsystemd-dev libevent-dev libxml2-dev \
+       libusb-1.0-0-dev python3 python3-pip libblkid-dev \
+       e2fslibs-dev pkg-config libnuma-dev liblz4-tool flex bison
+     sudo pip3 install kconfiglib
+
+#. Get code from GitHub.
+
+   .. code-block:: bash
+
+     mkdir ~/acrn && cd ~/acrn
+     git clone https://github.com/projectacrn/acrn-hypervisor -b release_2.1
+     cd acrn-hypervisor
+
+Configure Hypervisor
+====================
+
+#. Parse system information.
+
+   .. code-block:: bash
+
+     sudo apt install -y cpuid msr-tools
+     cd ~/acrn/acrn-hypervisor/misc/acrn-config/target/
+     sudo python3 board_parser.py ros-cube-cfl
+     cp ~/acrn/acrn-hypervisor/misc/acrn-config/target/out/ros-cube-cfl.xml \
+       ~/acrn/acrn-hypervisor/misc/acrn-config/xmls/board-xmls/
+
+#. Run ACRN configuration app and it will open a browser page.
+
+   .. code-block:: bash
+
+     cd ~/acrn/acrn-hypervisor/misc/acrn-config/config_app
+     sudo pip3 install -r requirements
+     python3 app.py
+
+   .. figure:: images/rqi-acrn-config-web.png
+
+#. Select "Import Board info".
+
+   .. figure:: images/rqi-acrn-config-import-board.png
+
+#. Select target board name.
+
+   .. figure:: images/rqi-acrn-config-select-board.png
+
+#. Select "Scenario Setting" and choose "Load a default scenario".
+
+   .. figure:: images/rqi-acrn-config-scenario-settings.png
+
+#. Settings "HV": You can ignore this if your RAM is <= 16GB.
+
+   .. figure:: images/rqi-acrn-config-hv-settings.png
+
+#. Settings "VM0": Select the hard disk currently used.
+
+   .. figure:: images/rqi-acrn-config-vm0-settings.png
+
+#. Settings "VM1": Enable all the cpu_affinity.
+   You can press :kbd:`+` to increase CPU ID.
+   This doesn't mean to attach all CPUs to the VM. The CPU number can be
+   adjusted later.
+
+   .. figure:: images/rqi-acrn-config-vm1-settings.png
+
+#. Settings "VM2": Set up RT flags and enable all the cpu_affinity.
+
+   .. figure:: images/rqi-acrn-config-vm2-settings1.png
+
+   .. figure:: images/rqi-acrn-config-vm2-settings2.png
+
+#. Export XML.
+
+   .. figure:: images/rqi-acrn-config-export-xml.png
+
+   .. figure:: images/rqi-acrn-config-export-xml-submit.png
+
+#. Generate configuration files.
+
+   .. figure:: images/rqi-acrn-config-generate-config.png
+
+   .. figure:: images/rqi-acrn-config-generate-config-submit.png
+
+#. Close the browser and stop the process (Ctrl+C).
+
+#. Optional: Patch the hypervisor if you want to passthrough GPIO to VM.
+
+   .. code-block:: bash
+
+     cd ~/acrn/acrn-hypervisor
+     wget https://raw.githubusercontent.com/Adlink-ROS/ROScube_ACRN_guide/v2.1/patch/0001-Fix-ROScube-I-gpio-pin-assignment-table.patch
+     git apply 0001-Fix-ROScube-I-gpio-pin-assignment-table.patch
+
+#. Build hypervisor
+
+   .. code-block:: bash
+
+     cd ~/acrn/acrn-hypervisor
+     make all \
+        BOARD_FILE=misc/acrn-config/xmls/board-xmls/ros-cube-cfl.xml \
+        SCENARIO_FILE=misc/acrn-config/xmls/config-xmls/ros-cube-cfl/user_defined/industry_ROS2SystemOS.xml \
+        RELEASE=0
+
+#. Install hypervisor
+
+   .. code-block:: bash
+
+     sudo make install
+     sudo mkdir /boot/acrn
+     sudo cp ~/acrn/acrn-hypervisor/build/hypervisor/acrn.bin /boot/acrn/
+
+.. rst-class:: numbered-step
+
+Install Service VM kernel
+*************************
+
+Build Service VM kernel
+=======================
+
+#. Get code from GitHub
+
+   .. code-block:: bash
+
+     cd ~/acrn
+     git clone https://github.com/projectacrn/acrn-kernel -b release_2.1
+     cd acrn-kernel
+
+#. Restore default ACRN configuration.
+
+   .. code-block:: bash
+
+     cp kernel_config_uefi_sos .config
+     make olddefconfig
+     sed -ri '/CONFIG_LOCALVERSION=/s/=.+/="-ROS2SystemSOS"/g' .config
+     sed -i '/CONFIG_PINCTRL_CANNONLAKE/c\CONFIG_PINCTRL_CANNONLAKE=m' .config
+
+#. Build Service VM kernel. It will take some time.
+
+   .. code-block:: bash
+
+     make all
+
+#. Install kernel and module.
+
+   .. code-block:: bash
+
+     sudo make modules_install
+     sudo cp arch/x86/boot/bzImage /boot/acrn-ROS2SystemSOS
+
+Update Grub
+===========
+
+#. Get the UUID and PARTUUID.
+
+   .. code-block:: bash
+
+     sudo blkid /dev/sda*
+
+   .. note:: The UUID and PARTUUID we need should be ``/dev/sda2``, which is ``TYPE="ext4"``,
+             as shown in the following graph:
+
+   .. figure:: images/rqi-acrn-blkid.png
+
+#. Update ``/etc/grub.d/40_custom`` as below. Remember to edit
+   ``<UUID>`` and ``<PARTUUID>`` to your system's values.
+
+   .. code-block:: bash
+
+     menuentry "ACRN Multiboot Ubuntu Service VM" --id ubuntu-service-vm {
+       load_video
+       insmod gzio
+       insmod part_gpt
+       insmod ext2
+
+       search --no-floppy --fs-uuid --set <UUID>
+       echo 'loading ACRN Service VM...'
+       multiboot2 /boot/acrn/acrn.bin  root=PARTUUID="<PARTUUID>"
+       module2 /boot/acrn-ROS2SystemSOS Linux_bzImage
+     }
+
+   .. figure:: images/rqi-acrn-grun-40_custom.png
+
+#. Update ``/etc/default/grub`` to make GRUB menu visible and load Service VM as default.
+
+   .. code-block:: bash
+
+     GRUB_DEFAULT=ubuntu-service-vm
+     #GRUB_TIMEOUT_STYLE=hidden
+     GRUB_TIMEOUT=5
+
+#. Then update GRUB and reboot.
+
+   .. code-block:: bash
+
+     sudo update-grub
+     sudo reboot
+
+#. ``ACRN Multiboot Ubuntu Service VM`` entry will be shown in the GRUB
+   menu. Choose it to load ACRN.  You can check that the installation is
+   successful by using ``dmesg``.
+
+   .. code-block:: bash
+
+     sudo dmesg | grep ACRN
+
+   .. figure:: images/rqi-acrn-dmesg.png
+
+.. rst-class:: numbered-step
+
+Install User VM
+***************
+
+Before create User VM
+=====================
+
+#. Download Ubuntu image (Here we use `Ubuntu 18.04 LTS
+   <https://releases.ubuntu.com/18.04/>`_ for example):
+
+#. Install necessary packages.
+
+   .. code-block:: bash
+
+     sudo apt install qemu-kvm libvirt-clients libvirt-daemon-system \
+       bridge-utils virt-manager ovmf sudo reboot
+
+Create User VM image
+====================
+
+.. note:: Reboot into the **native Linux kernel** (not the ACRN kernel)
+   and create User VM image.
+
+#. Start virtual machine manager application.
+
+   .. code-block:: bash
+
+     sudo virt-manager
+
+#. Create a new virtual machine.
+
+   .. figure:: images/rqi-acrn-kvm-new-vm.png
+
+#. Select your ISO image path.
+
+   .. figure:: images/rqi-acrn-kvm-choose-iso.png
+
+#. Select CPU and RAM for the VM.  You can modify as high as you can to
+   accelerate the installation time.  The settings here are not related to
+   the resource of the User VM on ACRN, which can be decided later.
+
+   .. figure:: images/rqi-acrn-kvm-cpu-ram.png
+
+#. Select disk size you want. **Note that this can't be modified after creating image!**
+
+   .. figure:: images/rqi-acrn-kvm-storage.png
+
+#. Edit image name and select "Customize configuration before install".
+
+   .. figure:: images/rqi-acrn-kvm-name.png
+
+#. Select correct Firmware, apply it, and Begin Installation.
+
+   .. figure:: images/rqi-acrn-kvm-firmware.png
+
+#. Now you'll see the installation page of Ubuntu.
+   After installing Ubuntu, you can also install some necessary
+   packages, such as ssh, vim, and ROS 2.
+   We'll clone the image for real-time VM to save time.
+
+#. To install ROS 2, refer to `Installing ROS 2 via Debian Packages
+   <https://index.ros.org/doc/ros2/Installation/Dashing/Linux-Install-Debians/>`_
+
+#. Optional: Use ACRN kernel if you want to passthrough GPIO to User VM.
+
+   .. code-block:: bash
+
+     sudo apt install git build-essential bison flex libelf-dev libssl-dev liblz4-tool
+
+     # Clone code
+     git clone -b release_2.1 https://github.com/projectacrn/acrn-kernel
+     cd acrn-kernel
+
+     # Set up kernel config
+     cp kernel_config_uos .config
+     make olddefconfig
+     export ACRN_KERNEL_UOS=`make kernelversion`
+     export UOS="ROS2SystemUOS"
+     export BOOT_DEFAULT="${ACRN_KERNEL_UOS}-${UOS}"
+     sed -ri "/CONFIG_LOCALVERSION=/s/=.+/=\"-${UOS}\"/g" .config
+
+     # Build and install kernel and modules
+     make all
+     sudo make modules_install
+     sudo make install
+
+     # Update Grub
+     sudo sed -ri \
+       "/GRUB_DEFAULT/s/=.+/=\"Advanced options for Ubuntu>Ubuntu, with Linux ${BOOT_DEFAULT}\"/g" \
+       /etc/default/grub
+     sudo update-grub
+
+#. When that completes, poweroff the VM.
+
+   .. code-block:: bash
+
+     sudo poweroff
+
+Run User VM
+===========
+
+Now back to the native machine to set up the environment for launching
+the User VM.
+
+#. Manually fetch and install the ``iasl`` binary to ``/usr/bin`` (where
+   ACRN expects it) with a newer version of the
+   than what's included with Ubuntu 18.04:
+
+   .. code-block:: bash
+
+     cd /tmp
+     wget https://acpica.org/sites/acpica/files/acpica-unix-20191018.tar.gz
+     tar zxvf acpica-unix-20191018.tar.gz
+     cd acpica-unix-20191018
+     make clean && make iasl
+     sudo cp ./generate/unix/bin/iasl /usr/sbin/
+
+#. Convert KVM image file format.
+
+   .. code-block:: bash
+
+     mkdir -p ~/acrn/uosVM
+     cd ~/acrn/uosVM
+     sudo qemu-img convert -f qcow2 -O raw /var/lib/libvirt/images/ROS2SystemUOS.qcow2 ./ROS2SystemUOS.img
+
+#. Prepare a Launch Script File.
+
+   .. code-block:: bash
+
+     wget https://raw.githubusercontent.com/Adlink-ROS/ROScube_ACRN_guide/v2.1/scripts/launch_ubuntu_uos.sh
+     chmod +x ./launch_ubuntu_uos.sh
+
+#. Set up network and reboot to take effect.
+
+   .. code-block:: bash
+
+     mkdir -p ~/acrn/tools/
+     wget https://raw.githubusercontent.com/Adlink-ROS/ROScube_ACRN_guide/v2.1/scripts/acrn_bridge.sh
+     chmod +x ./acrn_bridge.sh
+     ./acrn_bridge.sh
+     sudo reboot
+
+#. **Reboot to ACRN kernel** and now you can launch the VM.
+
+   .. code-block:: bash
+
+     cd ~/acrn/uosVM
+     sudo ./launch_ubuntu_uos.sh
+
+.. rst-class:: numbered-step
+
+Install real-time VM
+********************
+
+Copy real-time VM image
+=======================
+
+.. note:: Reboot into the **native Linux kernel** (not the ACRN kernel)
+   and create User VM image.
+
+#. Clone real-time VM from User VM. (Right-click User VM and then clone)
+
+   .. figure:: images/rqi-acrn-rtos-clone.png
+
+#. You'll see the real-time VM is ready.
+
+   .. figure:: images/rqi-acrn-rtos-ready.png
+
+Set up real-time VM
+===================
+
+.. note:: The section will show you how to install Xenomai on ROScube-I.
+   If help is needed, `contact ADLINK
+   <https://go.adlinktech.com/ROS-Inquiry_LP.html>`_ for more
+   information, or ask a question on the `ACRN users mailing list
+   <https://lists.projectacrn.org/g/acrn-users>`_
+
+#. Run the VM and modify your VM hostname.
+
+   .. code-block:: bash
+
+     hostnamectl set-hostname ros-RTOS
+
+#. Install Xenomai kernel.
+
+   .. code-block:: bash
+
+     # Install necessary packages
+     sudo apt install git build-essential bison flex kernel-package libelf-dev libssl-dev haveged
+
+     # Clone code from GitHub
+     git clone -b F/4.19.59/base/ipipe/xenomai_3.1 https://github.com/intel/linux-stable-xenomai
+
+     # Build
+     cd linux-stable-xenomai
+     cp arch/x86/configs/xenomai_test_defconfig .config
+     make olddefconfig
+     sed -i '/CONFIG_GPIO_VIRTIO/c\CONFIG_GPIO_VIRTIO=m' .config
+     CONCURRENCY_LEVEL=$(nproc) make-kpkg --rootcmd fakeroot --initrd kernel_image kernel_headers
+
+     # Install
+     sudo dpkg -i ../linux-headers-4.19.59-xenomai+_4.19.59-xenomai+-10.00.Custom_amd64.deb \
+       ../linux-image-4.19.59-xenomai+_4.19.59-xenomai+-10.00.Custom_amd64.deb
+
+#. Install Xenomai library and tools.  For more details, refer to
+   `Xenomai Official Documentation
+   <https://gitlab.denx.de/Xenomai/xenomai/-/wikis/Installing_Xenomai_3#library-install>`_.
+
+   .. code-block:: bash
+
+     cd ~
+     wget https://xenomai.org/downloads/xenomai/stable/xenomai-3.1.tar.bz2
+     tar xf xenomai-3.1.tar.bz2
+     cd xenomai-3.1
+     ./configure --with-core=cobalt --enable-smp --enable-pshared
+     make -j`nproc`
+     sudo make install
+
+#. Allow non-root user to run Xenomai.
+
+   .. code-block:: bash
+
+     sudo addgroup xenomai --gid 1234
+     sudo addgroup root xenomai
+     sudo usermod -a -G xenomai $USER
+
+#. Update ``/etc/default/grub``.
+
+   .. code-block:: bash
+
+     GRUB_DEFAULT="Advanced options for Ubuntu>Ubuntu, with Linux 4.19.59-xenomai+"
+     #GRUB_TIMEOUT_STYLE=hidden
+     GRUB_TIMEOUT=5
+     ...
+     GRUB_CMDLINE_LINUX="xenomai.allowed_group=1234"
+
+#. Update GRUB.
+
+   .. code-block:: bash
+
+     sudo update-grub
+
+#. Poweroff the VM.
+
+   .. code-block:: bash
+
+     sudo poweroff
+
+Run real-time VM
+================
+
+Now back to the native machine and we'll set up the environment for
+launching the real-time VM.
+
+#. Convert KVM image file format.
+
+   .. code-block:: bash
+
+     mkdir -p ~/acrn/rtosVM
+     cd ~/acrn/rtosVM
+     sudo qemu-img convert -f qcow2 \
+       -O raw /var/lib/libvirt/images/ROS2SystemRTOS.qcow2 \
+       ./ROS2SystemRTOS.img
+
+#. Create a new launch file
+
+   .. code-block:: bash
+
+     wget https://raw.githubusercontent.com/Adlink-ROS/ROScube_ACRN_guide/v2.1/scripts/launch_ubuntu_rtos.sh
+     chmod +x ./launch_ubuntu_rtos.sh
+
+#. **Reboot to ACRN kernel** and now you can launch the VM.
+
+   .. code-block:: bash
+
+     cd ~/acrn/rtosVM
+     sudo ./launch_ubuntu_rtos.sh
+
+.. note:: Use ``poweroff`` instead of ``reboot`` in the real-time VM.
+   In ACRN design, rebooting the real-time VM will also reboot the whole
+   system.
+
+Customizing the launch file
+***************************
+
+The launch file in this tutorial has the following hardware resource allocation.
+
+.. csv-table::
+   :header: "Resource", "Service VM", "User VM", "Real-time VM"
+   :widths: 15, 15, 15, 15
+
+   "CPU", "0", "1,2,3", "4,5"
+   "Memory", "Remaining", "8 GB", "2 GB"
+   "Ethernet", "Ethernet 1 & 2", "Ethernet 3", "Ethernet 4"
+   "USB", "Remaining", "1-2", "1-1"
+
+You can modify the launch file for your own hardware resource allocation.
+We'll provide some modification methods below.
+For more detail, see :ref:`acrn-dm_parameters`.
+
+CPU
+===
+
+Modify the ``--cpu-affinity`` value in the command ``acrn-dm`` command.
+The number should be between 0 and max CPU ID.
+For example, if you want to run VM with core 1 and 2, use ``--cpu-affinity 1,2``.
+
+Memory
+======
+
+Modify the ``mem_size`` in launch file. This variable will be passed to
+``acrn-dm``.  The possible values are 1024M, 2048M, 4096M, and 8192M.
+
+Ethernet
+========
+
+Run ``lspci -Dnn | grep "Ethernet controller"`` to get the ID of Ethernet port.
+
+.. figure:: images/rqi-acrn-ethernet-lspci.png
+
+You'll see 4 IDs, one for each Ethernet port.
+Assign the ID of the port you want to passthrough in the launch file.
+For example, if we want to passthrough Ethernet 3 to the VM:
+
+.. code-block:: bash
+
+  passthru_vpid=(
+  ["ethernet"]="8086 1539"
+  )
+  passthru_bdf=(
+  ["ethernet"]="0000:04:00.0"
+  )
+
+  # Passthrough ETHERNET
+  echo ${passthru_vpid["ethernet"]} > /sys/bus/pci/drivers/pci-stub/new_id
+  echo ${passthru_bdf["ethernet"]} > /sys/bus/pci/devices/${passthru_bdf["ethernet"]}/driver/unbind
+  echo ${passthru_bdf["ethernet"]} > /sys/bus/pci/drivers/pci-stub/bind
+
+  acrn-dm
+  ⋮
+  -s 4,passthru,04/00/0 \
+  ⋮
+
+USB
+===
+
+To passthrough USB to VM, we need to know the ID for each USB first.
+
+.. figure:: images/rqi-acrn-usb-port.png
+
+Then modify the launch file and add the USB ID.
+For example, if you want to passthrough USB 1-2 and 1-4.
+
+.. code-block:: bash
+
+  acrn-dm
+  ⋮
+  -s 8,xhci,1-2,1-4 \
+  ⋮
+
+GPIO
+====
+
+This is the PIN definition of ROScube-I.
+
+.. figure:: images/rqi-pin-definition.png
+
+To pass GPIO to VM, you need to add the following section.
+
+.. code-block:: bash
+
+  acrn-dm
+  ⋮
+  -s X,virtio-gpio,@gpiochip0{<offset>=<alias_name>:<offset>=<alias_name>: ... :} \
+  ⋮
+
+The offset and pin mapping is as shown here:
+
+.. csv-table::
+   :widths: 5, 10, 15
+
+   "Fn", "GPIO Pin", "In Chip Offset"
+   "DI0", "GPIO220", "72"
+   "DI1", "GPIO221", "73"
+   "DI2", "GPIO222", "74"
+   "DI3", "GPIO223", "75"
+   "DI4", "GPIO224", "76"
+   "DI5", "GPIO225", "77"
+   "DI6", "GPIO226", "78"
+   "DI7", "GPIO227", "79"
+   "DO0", "GPIO253", "105"
+   "DO1", "GPIO254", "106"
+   "DO2", "GPIO255", "107"
+   "DO3", "GPIO256", "108"
+   "DO4", "GPIO257", "109"
+   "DO5", "GPIO258", "110"
+   "DO6", "GPIO259", "111"
+   "DO7", "GPIO260", "112"
+
+For example, if you want to pass DI0 and DO0 to VM:
+
+.. code-block:: bash
+
+  acrn-dm
+  ⋮
+  -s X,virtio-gpio,@gpiochip0{72=gpi0:105=gpo0} \
+  ⋮

doc/try.rst

@@ -19,5 +19,6 @@ Follow these getting started guides to give ACRN a try:
    reference/hardware
    getting-started/building-from-source
    getting-started/rt_industry_ubuntu
+   getting-started/roscube/roscube-gsg
    tutorials/using_hybrid_mode_on_nuc
    tutorials/using_partition_mode_on_nuc