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diff --git a/Documentation/driver-api/pm/cpuidle.rst b/Documentation/driver-api/pm/cpuidle.rst new file mode 100644 index 000000000000..5842ab621a58 --- /dev/null +++ b/Documentation/driver-api/pm/cpuidle.rst @@ -0,0 +1,282 @@ +.. |struct cpuidle_governor| replace:: :c:type:`struct cpuidle_governor <cpuidle_governor>` +.. |struct cpuidle_device| replace:: :c:type:`struct cpuidle_device <cpuidle_device>` +.. |struct cpuidle_driver| replace:: :c:type:`struct cpuidle_driver <cpuidle_driver>` +.. |struct cpuidle_state| replace:: :c:type:`struct cpuidle_state <cpuidle_state>` + +======================== +CPU Idle Time Management +======================== + +:: + + Copyright (c) 2019 Intel Corp., Rafael J. Wysocki <rafael.j.wysocki@intel.com> + + +CPU Idle Time Management Subsystem +================================== + +Every time one of the logical CPUs in the system (the entities that appear to +fetch and execute instructions: hardware threads, if present, or processor +cores) is idle after an interrupt or equivalent wakeup event, which means that +there are no tasks to run on it except for the special "idle" task associated +with it, there is an opportunity to save energy for the processor that it +belongs to. That can be done by making the idle logical CPU stop fetching +instructions from memory and putting some of the processor's functional units +depended on by it into an idle state in which they will draw less power. + +However, there may be multiple different idle states that can be used in such a +situation in principle, so it may be necessary to find the most suitable one +(from the kernel perspective) and ask the processor to use (or "enter") that +particular idle state. That is the role of the CPU idle time management +subsystem in the kernel, called ``CPUIdle``. + +The design of ``CPUIdle`` is modular and based on the code duplication avoidance +principle, so the generic code that in principle need not depend on the hardware +or platform design details in it is separate from the code that interacts with +the hardware. It generally is divided into three categories of functional +units: *governors* responsible for selecting idle states to ask the processor +to enter, *drivers* that pass the governors' decisions on to the hardware and +the *core* providing a common framework for them. + + +CPU Idle Time Governors +======================= + +A CPU idle time (``CPUIdle``) governor is a bundle of policy code invoked when +one of the logical CPUs in the system turns out to be idle. Its role is to +select an idle state to ask the processor to enter in order to save some energy. + +``CPUIdle`` governors are generic and each of them can be used on any hardware +platform that the Linux kernel can run on. For this reason, data structures +operated on by them cannot depend on any hardware architecture or platform +design details as well. + +The governor itself is represented by a |struct cpuidle_governor| object +containing four callback pointers, :c:member:`enable`, :c:member:`disable`, +:c:member:`select`, :c:member:`reflect`, a :c:member:`rating` field described +below, and a name (string) used for identifying it. + +For the governor to be available at all, that object needs to be registered +with the ``CPUIdle`` core by calling :c:func:`cpuidle_register_governor()` with +a pointer to it passed as the argument. If successful, that causes the core to +add the governor to the global list of available governors and, if it is the +only one in the list (that is, the list was empty before) or the value of its +:c:member:`rating` field is greater than the value of that field for the +governor currently in use, or the name of the new governor was passed to the +kernel as the value of the ``cpuidle.governor=`` command line parameter, the new +governor will be used from that point on (there can be only one ``CPUIdle`` +governor in use at a time). Also, if ``cpuidle_sysfs_switch`` is passed to the +kernel in the command line, user space can choose the ``CPUIdle`` governor to +use at run time via ``sysfs``. + +Once registered, ``CPUIdle`` governors cannot be unregistered, so it is not +practical to put them into loadable kernel modules. + +The interface between ``CPUIdle`` governors and the core consists of four +callbacks: + +:c:member:`enable` + :: + + int (*enable) (struct cpuidle_driver *drv, struct cpuidle_device *dev); + + The role of this callback is to prepare the governor for handling the + (logical) CPU represented by the |struct cpuidle_device| object pointed + to by the ``dev`` argument. The |struct cpuidle_driver| object pointed + to by the ``drv`` argument represents the ``CPUIdle`` driver to be used + with that CPU (among other things, it should contain the list of + |struct cpuidle_state| objects representing idle states that the + processor holding the given CPU can be asked to enter). + + It may fail, in which case it is expected to return a negative error + code, and that causes the kernel to run the architecture-specific + default code for idle CPUs on the CPU in question instead of ``CPUIdle`` + until the ``->enable()`` governor callback is invoked for that CPU + again. + +:c:member:`disable` + :: + + void (*disable) (struct cpuidle_driver *drv, struct cpuidle_device *dev); + + Called to make the governor stop handling the (logical) CPU represented + by the |struct cpuidle_device| object pointed to by the ``dev`` + argument. + + It is expected to reverse any changes made by the ``->enable()`` + callback when it was last invoked for the target CPU, free all memory + allocated by that callback and so on. + +:c:member:`select` + :: + + int (*select) (struct cpuidle_driver *drv, struct cpuidle_device *dev, + bool *stop_tick); + + Called to select an idle state for the processor holding the (logical) + CPU represented by the |struct cpuidle_device| object pointed to by the + ``dev`` argument. + + The list of idle states to take into consideration is represented by the + :c:member:`states` array of |struct cpuidle_state| objects held by the + |struct cpuidle_driver| object pointed to by the ``drv`` argument (which + represents the ``CPUIdle`` driver to be used with the CPU at hand). The + value returned by this callback is interpreted as an index into that + array (unless it is a negative error code). + + The ``stop_tick`` argument is used to indicate whether or not to stop + the scheduler tick before asking the processor to enter the selected + idle state. When the ``bool`` variable pointed to by it (which is set + to ``true`` before invoking this callback) is cleared to ``false``, the + processor will be asked to enter the selected idle state without + stopping the scheduler tick on the given CPU (if the tick has been + stopped on that CPU already, however, it will not be restarted before + asking the processor to enter the idle state). + + This callback is mandatory (i.e. the :c:member:`select` callback pointer + in |struct cpuidle_governor| must not be ``NULL`` for the registration + of the governor to succeed). + +:c:member:`reflect` + :: + + void (*reflect) (struct cpuidle_device *dev, int index); + + Called to allow the governor to evaluate the accuracy of the idle state + selection made by the ``->select()`` callback (when it was invoked last + time) and possibly use the result of that to improve the accuracy of + idle state selections in the future. + +In addition, ``CPUIdle`` governors are required to take power management +quality of service (PM QoS) constraints on the processor wakeup latency into +account when selecting idle states. In order to obtain the current effective +PM QoS wakeup latency constraint for a given CPU, a ``CPUIdle`` governor is +expected to pass the number of the CPU to +:c:func:`cpuidle_governor_latency_req()`. Then, the governor's ``->select()`` +callback must not return the index of an indle state whose +:c:member:`exit_latency` value is greater than the number returned by that +function. + + +CPU Idle Time Management Drivers +================================ + +CPU idle time management (``CPUIdle``) drivers provide an interface between the +other parts of ``CPUIdle`` and the hardware. + +First of all, a ``CPUIdle`` driver has to populate the :c:member:`states` array +of |struct cpuidle_state| objects included in the |struct cpuidle_driver| object +representing it. Going forward this array will represent the list of available +idle states that the processor hardware can be asked to enter shared by all of +the logical CPUs handled by the given driver. + +The entries in the :c:member:`states` array are expected to be sorted by the +value of the :c:member:`target_residency` field in |struct cpuidle_state| in +the ascending order (that is, index 0 should correspond to the idle state with +the minimum value of :c:member:`target_residency`). [Since the +:c:member:`target_residency` value is expected to reflect the "depth" of the +idle state represented by the |struct cpuidle_state| object holding it, this +sorting order should be the same as the ascending sorting order by the idle +state "depth".] + +Three fields in |struct cpuidle_state| are used by the existing ``CPUIdle`` +governors for computations related to idle state selection: + +:c:member:`target_residency` + Minimum time to spend in this idle state including the time needed to + enter it (which may be substantial) to save more energy than could + be saved by staying in a shallower idle state for the same amount of + time, in microseconds. + +:c:member:`exit_latency` + Maximum time it will take a CPU asking the processor to enter this idle + state to start executing the first instruction after a wakeup from it, + in microseconds. + +:c:member:`flags` + Flags representing idle state properties. Currently, governors only use + the ``CPUIDLE_FLAG_POLLING`` flag which is set if the given object + does not represent a real idle state, but an interface to a software + "loop" that can be used in order to avoid asking the processor to enter + any idle state at all. [There are other flags used by the ``CPUIdle`` + core in special situations.] + +The :c:member:`enter` callback pointer in |struct cpuidle_state|, which must not +be ``NULL``, points to the routine to execute in order to ask the processor to +enter this particular idle state: + +:: + + void (*enter) (struct cpuidle_device *dev, struct cpuidle_driver *drv, + int index); + +The first two arguments of it point to the |struct cpuidle_device| object +representing the logical CPU running this callback and the +|struct cpuidle_driver| object representing the driver itself, respectively, +and the last one is an index of the |struct cpuidle_state| entry in the driver's +:c:member:`states` array representing the idle state to ask the processor to +enter. + +The analogous ``->enter_s2idle()`` callback in |struct cpuidle_state| is used +only for implementing the suspend-to-idle system-wide power management feature. +The difference between in and ``->enter()`` is that it must not re-enable +interrupts at any point (even temporarily) or attempt to change the states of +clock event devices, which the ``->enter()`` callback may do sometimes. + +Once the :c:member:`states` array has been populated, the number of valid +entries in it has to be stored in the :c:member:`state_count` field of the +|struct cpuidle_driver| object representing the driver. Moreover, if any +entries in the :c:member:`states` array represent "coupled" idle states (that +is, idle states that can only be asked for if multiple related logical CPUs are +idle), the :c:member:`safe_state_index` field in |struct cpuidle_driver| needs +to be the index of an idle state that is not "coupled" (that is, one that can be +asked for if only one logical CPU is idle). + +In addition to that, if the given ``CPUIdle`` driver is only going to handle a +subset of logical CPUs in the system, the :c:member:`cpumask` field in its +|struct cpuidle_driver| object must point to the set (mask) of CPUs that will be +handled by it. + +A ``CPUIdle`` driver can only be used after it has been registered. If there +are no "coupled" idle state entries in the driver's :c:member:`states` array, +that can be accomplished by passing the driver's |struct cpuidle_driver| object +to :c:func:`cpuidle_register_driver()`. Otherwise, :c:func:`cpuidle_register()` +should be used for this purpose. + +However, it also is necessary to register |struct cpuidle_device| objects for +all of the logical CPUs to be handled by the given ``CPUIdle`` driver with the +help of :c:func:`cpuidle_register_device()` after the driver has been registered +and :c:func:`cpuidle_register_driver()`, unlike :c:func:`cpuidle_register()`, +does not do that automatically. For this reason, the drivers that use +:c:func:`cpuidle_register_driver()` to register themselves must also take care +of registering the |struct cpuidle_device| objects as needed, so it is generally +recommended to use :c:func:`cpuidle_register()` for ``CPUIdle`` driver +registration in all cases. + +The registration of a |struct cpuidle_device| object causes the ``CPUIdle`` +``sysfs`` interface to be created and the governor's ``->enable()`` callback to +be invoked for the logical CPU represented by it, so it must take place after +registering the driver that will handle the CPU in question. + +``CPUIdle`` drivers and |struct cpuidle_device| objects can be unregistered +when they are not necessary any more which allows some resources associated with +them to be released. Due to dependencies between them, all of the +|struct cpuidle_device| objects representing CPUs handled by the given +``CPUIdle`` driver must be unregistered, with the help of +:c:func:`cpuidle_unregister_device()`, before calling +:c:func:`cpuidle_unregister_driver()` to unregister the driver. Alternatively, +:c:func:`cpuidle_unregister()` can be called to unregister a ``CPUIdle`` driver +along with all of the |struct cpuidle_device| objects representing CPUs handled +by it. + +``CPUIdle`` drivers can respond to runtime system configuration changes that +lead to modifications of the list of available processor idle states (which can +happen, for example, when the system's power source is switched from AC to +battery or the other way around). Upon a notification of such a change, +a ``CPUIdle`` driver is expected to call :c:func:`cpuidle_pause_and_lock()` to +turn ``CPUIdle`` off temporarily and then :c:func:`cpuidle_disable_device()` for +all of the |struct cpuidle_device| objects representing CPUs affected by that +change. Next, it can update its :c:member:`states` array in accordance with +the new configuration of the system, call :c:func:`cpuidle_enable_device()` for +all of the relevant |struct cpuidle_device| objects and invoke +:c:func:`cpuidle_resume_and_unlock()` to allow ``CPUIdle`` to be used again. |