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diff --git a/Documentation/driver-api/thermal/power_allocator.rst b/Documentation/driver-api/thermal/power_allocator.rst new file mode 100644 index 000000000..aa5f66552 --- /dev/null +++ b/Documentation/driver-api/thermal/power_allocator.rst @@ -0,0 +1,281 @@ +================================= +Power allocator governor tunables +================================= + +Trip points +----------- + +The governor works optimally with the following two passive trip points: + +1. "switch on" trip point: temperature above which the governor + control loop starts operating. This is the first passive trip + point of the thermal zone. + +2. "desired temperature" trip point: it should be higher than the + "switch on" trip point. This the target temperature the governor + is controlling for. This is the last passive trip point of the + thermal zone. + +PID Controller +-------------- + +The power allocator governor implements a +Proportional-Integral-Derivative controller (PID controller) with +temperature as the control input and power as the controlled output: + + P_max = k_p * e + k_i * err_integral + k_d * diff_err + sustainable_power + +where + - e = desired_temperature - current_temperature + - err_integral is the sum of previous errors + - diff_err = e - previous_error + +It is similar to the one depicted below:: + + k_d + | + current_temp | + | v + | +----------+ +---+ + | +----->| diff_err |-->| X |------+ + | | +----------+ +---+ | + | | | tdp actor + | | k_i | | get_requested_power() + | | | | | | | + | | | | | | | ... + v | v v v v v + +---+ | +-------+ +---+ +---+ +---+ +----------+ + | S |-----+----->| sum e |----->| X |--->| S |-->| S |-->|power | + +---+ | +-------+ +---+ +---+ +---+ |allocation| + ^ | ^ +----------+ + | | | | | + | | +---+ | | | + | +------->| X |-------------------+ v v + | +---+ granted performance + desired_temperature ^ + | + | + k_po/k_pu + +Sustainable power +----------------- + +An estimate of the sustainable dissipatable power (in mW) should be +provided while registering the thermal zone. This estimates the +sustained power that can be dissipated at the desired control +temperature. This is the maximum sustained power for allocation at +the desired maximum temperature. The actual sustained power can vary +for a number of reasons. The closed loop controller will take care of +variations such as environmental conditions, and some factors related +to the speed-grade of the silicon. `sustainable_power` is therefore +simply an estimate, and may be tuned to affect the aggressiveness of +the thermal ramp. For reference, the sustainable power of a 4" phone +is typically 2000mW, while on a 10" tablet is around 4500mW (may vary +depending on screen size). It is possible to have the power value +expressed in an abstract scale. The sustained power should be aligned +to the scale used by the related cooling devices. + +If you are using device tree, do add it as a property of the +thermal-zone. For example:: + + thermal-zones { + soc_thermal { + polling-delay = <1000>; + polling-delay-passive = <100>; + sustainable-power = <2500>; + ... + +Instead, if the thermal zone is registered from the platform code, pass a +`thermal_zone_params` that has a `sustainable_power`. If no +`thermal_zone_params` were being passed, then something like below +will suffice:: + + static const struct thermal_zone_params tz_params = { + .sustainable_power = 3500, + }; + +and then pass `tz_params` as the 5th parameter to +`thermal_zone_device_register()` + +k_po and k_pu +------------- + +The implementation of the PID controller in the power allocator +thermal governor allows the configuration of two proportional term +constants: `k_po` and `k_pu`. `k_po` is the proportional term +constant during temperature overshoot periods (current temperature is +above "desired temperature" trip point). Conversely, `k_pu` is the +proportional term constant during temperature undershoot periods +(current temperature below "desired temperature" trip point). + +These controls are intended as the primary mechanism for configuring +the permitted thermal "ramp" of the system. For instance, a lower +`k_pu` value will provide a slower ramp, at the cost of capping +available capacity at a low temperature. On the other hand, a high +value of `k_pu` will result in the governor granting very high power +while temperature is low, and may lead to temperature overshooting. + +The default value for `k_pu` is:: + + 2 * sustainable_power / (desired_temperature - switch_on_temp) + +This means that at `switch_on_temp` the output of the controller's +proportional term will be 2 * `sustainable_power`. The default value +for `k_po` is:: + + sustainable_power / (desired_temperature - switch_on_temp) + +Focusing on the proportional and feed forward values of the PID +controller equation we have:: + + P_max = k_p * e + sustainable_power + +The proportional term is proportional to the difference between the +desired temperature and the current one. When the current temperature +is the desired one, then the proportional component is zero and +`P_max` = `sustainable_power`. That is, the system should operate in +thermal equilibrium under constant load. `sustainable_power` is only +an estimate, which is the reason for closed-loop control such as this. + +Expanding `k_pu` we get:: + + P_max = 2 * sustainable_power * (T_set - T) / (T_set - T_on) + + sustainable_power + +where: + + - T_set is the desired temperature + - T is the current temperature + - T_on is the switch on temperature + +When the current temperature is the switch_on temperature, the above +formula becomes:: + + P_max = 2 * sustainable_power * (T_set - T_on) / (T_set - T_on) + + sustainable_power = 2 * sustainable_power + sustainable_power = + 3 * sustainable_power + +Therefore, the proportional term alone linearly decreases power from +3 * `sustainable_power` to `sustainable_power` as the temperature +rises from the switch on temperature to the desired temperature. + +k_i and integral_cutoff +----------------------- + +`k_i` configures the PID loop's integral term constant. This term +allows the PID controller to compensate for long term drift and for +the quantized nature of the output control: cooling devices can't set +the exact power that the governor requests. When the temperature +error is below `integral_cutoff`, errors are accumulated in the +integral term. This term is then multiplied by `k_i` and the result +added to the output of the controller. Typically `k_i` is set low (1 +or 2) and `integral_cutoff` is 0. + +k_d +--- + +`k_d` configures the PID loop's derivative term constant. It's +recommended to leave it as the default: 0. + +Cooling device power API +======================== + +Cooling devices controlled by this governor must supply the additional +"power" API in their `cooling_device_ops`. It consists on three ops: + +1. :: + + int get_requested_power(struct thermal_cooling_device *cdev, + struct thermal_zone_device *tz, u32 *power); + + +@cdev: + The `struct thermal_cooling_device` pointer +@tz: + thermal zone in which we are currently operating +@power: + pointer in which to store the calculated power + +`get_requested_power()` calculates the power requested by the device +in milliwatts and stores it in @power . It should return 0 on +success, -E* on failure. This is currently used by the power +allocator governor to calculate how much power to give to each cooling +device. + +2. :: + + int state2power(struct thermal_cooling_device *cdev, struct + thermal_zone_device *tz, unsigned long state, + u32 *power); + +@cdev: + The `struct thermal_cooling_device` pointer +@tz: + thermal zone in which we are currently operating +@state: + A cooling device state +@power: + pointer in which to store the equivalent power + +Convert cooling device state @state into power consumption in +milliwatts and store it in @power. It should return 0 on success, -E* +on failure. This is currently used by thermal core to calculate the +maximum power that an actor can consume. + +3. :: + + int power2state(struct thermal_cooling_device *cdev, u32 power, + unsigned long *state); + +@cdev: + The `struct thermal_cooling_device` pointer +@power: + power in milliwatts +@state: + pointer in which to store the resulting state + +Calculate a cooling device state that would make the device consume at +most @power mW and store it in @state. It should return 0 on success, +-E* on failure. This is currently used by the thermal core to convert +a given power set by the power allocator governor to a state that the +cooling device can set. It is a function because this conversion may +depend on external factors that may change so this function should the +best conversion given "current circumstances". + +Cooling device weights +---------------------- + +Weights are a mechanism to bias the allocation among cooling +devices. They express the relative power efficiency of different +cooling devices. Higher weight can be used to express higher power +efficiency. Weighting is relative such that if each cooling device +has a weight of one they are considered equal. This is particularly +useful in heterogeneous systems where two cooling devices may perform +the same kind of compute, but with different efficiency. For example, +a system with two different types of processors. + +If the thermal zone is registered using +`thermal_zone_device_register()` (i.e., platform code), then weights +are passed as part of the thermal zone's `thermal_bind_parameters`. +If the platform is registered using device tree, then they are passed +as the `contribution` property of each map in the `cooling-maps` node. + +Limitations of the power allocator governor +=========================================== + +The power allocator governor's PID controller works best if there is a +periodic tick. If you have a driver that calls +`thermal_zone_device_update()` (or anything that ends up calling the +governor's `throttle()` function) repetitively, the governor response +won't be very good. Note that this is not particular to this +governor, step-wise will also misbehave if you call its throttle() +faster than the normal thermal framework tick (due to interrupts for +example) as it will overreact. + +Energy Model requirements +========================= + +Another important thing is the consistent scale of the power values +provided by the cooling devices. All of the cooling devices in a single +thermal zone should have power values reported either in milli-Watts +or scaled to the same 'abstract scale'. |