[deliverable/linux.git] / drivers / thermal / power_allocator.c

/*
 * A power allocator to manage temperature
 *
 * Copyright (C) 2014 ARM Ltd.
 *
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * This program is distributed "as is" WITHOUT ANY WARRANTY of any
 * kind, whether express or implied; without even the implied warranty
 * of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 */

#define pr_fmt(fmt) "Power allocator: " fmt

#include <linux/rculist.h>
#include <linux/slab.h>
#include <linux/thermal.h>

#define CREATE_TRACE_POINTS
#include <trace/events/thermal_power_allocator.h>

#include "thermal_core.h"

#define FRAC_BITS 10
#define int_to_frac(x) ((x) << FRAC_BITS)
#define frac_to_int(x) ((x) >> FRAC_BITS)

/**
 * mul_frac() - multiply two fixed-point numbers
 * @x:  first multiplicand
 * @y:  second multiplicand
 *
 * Return: the result of multiplying two fixed-point numbers.  The
 * result is also a fixed-point number.
 */
static inline s64 mul_frac(s64 x, s64 y)
{
        return (x * y) >> FRAC_BITS;
}

/**
 * div_frac() - divide two fixed-point numbers
 * @x:  the dividend
 * @y:  the divisor
 *
 * Return: the result of dividing two fixed-point numbers.  The
 * result is also a fixed-point number.
 */
static inline s64 div_frac(s64 x, s64 y)
{
        return div_s64(x << FRAC_BITS, y);
}

/**
 * struct power_allocator_params - parameters for the power allocator governor
 * @err_integral:       accumulated error in the PID controller.
 * @prev_err:   error in the previous iteration of the PID controller.
 *              Used to calculate the derivative term.
 * @trip_switch_on:     first passive trip point of the thermal zone.  The
 *                      governor switches on when this trip point is crossed.
 * @trip_max_desired_temperature:       last passive trip point of the thermal
 *                                      zone.  The temperature we are
 *                                      controlling for.
 */
struct power_allocator_params {
        s64 err_integral;
        s32 prev_err;
        int trip_switch_on;
        int trip_max_desired_temperature;
};

/**
 * estimate_sustainable_power() - Estimate the sustainable power of a thermal zone
 * @tz: thermal zone we are operating in
 *
 * For thermal zones that don't provide a sustainable_power in their
 * thermal_zone_params, estimate one.  Calculate it using the minimum
 * power of all the cooling devices as that gives a valid value that
 * can give some degree of functionality.  For optimal performance of
 * this governor, provide a sustainable_power in the thermal zone's
 * thermal_zone_params.
 */
static u32 estimate_sustainable_power(struct thermal_zone_device *tz)
{
        u32 sustainable_power = 0;
        struct thermal_instance *instance;
        struct power_allocator_params *params = tz->governor_data;

        list_for_each_entry(instance, &tz->thermal_instances, tz_node) {
                struct thermal_cooling_device *cdev = instance->cdev;
                u32 min_power;

                if (instance->trip != params->trip_max_desired_temperature)
                        continue;

                if (power_actor_get_min_power(cdev, tz, &min_power))
                        continue;

                sustainable_power += min_power;
        }

        return sustainable_power;
}

/**
 * estimate_pid_constants() - Estimate the constants for the PID controller
 * @tz:         thermal zone for which to estimate the constants
 * @sustainable_power:  sustainable power for the thermal zone
 * @trip_switch_on:     trip point number for the switch on temperature
 * @control_temp:       target temperature for the power allocator governor
 * @force:      whether to force the update of the constants
 *
 * This function is used to update the estimation of the PID
 * controller constants in struct thermal_zone_parameters.
 * Sustainable power is provided in case it was estimated.  The
 * estimated sustainable_power should not be stored in the
 * thermal_zone_parameters so it has to be passed explicitly to this
 * function.
 *
 * If @force is not set, the values in the thermal zone's parameters
 * are preserved if they are not zero.  If @force is set, the values
 * in thermal zone's parameters are overwritten.
 */
static void estimate_pid_constants(struct thermal_zone_device *tz,
                                   u32 sustainable_power, int trip_switch_on,
                                   int control_temp, bool force)
{
        int ret;
        int switch_on_temp;
        u32 temperature_threshold;

        ret = tz->ops->get_trip_temp(tz, trip_switch_on, &switch_on_temp);
        if (ret)
                switch_on_temp = 0;

        temperature_threshold = control_temp - switch_on_temp;

        if (!tz->tzp->k_po || force)
                tz->tzp->k_po = int_to_frac(sustainable_power) /
                        temperature_threshold;

        if (!tz->tzp->k_pu || force)
                tz->tzp->k_pu = int_to_frac(2 * sustainable_power) /
                        temperature_threshold;

        if (!tz->tzp->k_i || force)
                tz->tzp->k_i = int_to_frac(10) / 1000;
        /*
         * The default for k_d and integral_cutoff is 0, so we can
         * leave them as they are.
         */
}

/**
 * pid_controller() - PID controller
 * @tz: thermal zone we are operating in
 * @current_temp:       the current temperature in millicelsius
 * @control_temp:       the target temperature in millicelsius
 * @max_allocatable_power:      maximum allocatable power for this thermal zone
 *
 * This PID controller increases the available power budget so that the
 * temperature of the thermal zone gets as close as possible to
 * @control_temp and limits the power if it exceeds it.  k_po is the
 * proportional term when we are overshooting, k_pu is the
 * proportional term when we are undershooting.  integral_cutoff is a
 * threshold below which we stop accumulating the error.  The
 * accumulated error is only valid if the requested power will make
 * the system warmer.  If the system is mostly idle, there's no point
 * in accumulating positive error.
 *
 * Return: The power budget for the next period.
 */
static u32 pid_controller(struct thermal_zone_device *tz,
                          int current_temp,
                          int control_temp,
                          u32 max_allocatable_power)
{
        s64 p, i, d, power_range;
        s32 err, max_power_frac;
        u32 sustainable_power;
        struct power_allocator_params *params = tz->governor_data;

        max_power_frac = int_to_frac(max_allocatable_power);

        if (tz->tzp->sustainable_power) {
                sustainable_power = tz->tzp->sustainable_power;
        } else {
                sustainable_power = estimate_sustainable_power(tz);
                estimate_pid_constants(tz, sustainable_power,
                                       params->trip_switch_on, control_temp,
                                       true);
        }

        err = control_temp - current_temp;
        err = int_to_frac(err);

        /* Calculate the proportional term */
        p = mul_frac(err < 0 ? tz->tzp->k_po : tz->tzp->k_pu, err);

        /*
         * Calculate the integral term
         *
         * if the error is less than cut off allow integration (but
         * the integral is limited to max power)
         */
        i = mul_frac(tz->tzp->k_i, params->err_integral);

        if (err < int_to_frac(tz->tzp->integral_cutoff)) {
                s64 i_next = i + mul_frac(tz->tzp->k_i, err);

                if (abs64(i_next) < max_power_frac) {
                        i = i_next;
                        params->err_integral += err;
                }
        }

        /*
         * Calculate the derivative term
         *
         * We do err - prev_err, so with a positive k_d, a decreasing
         * error (i.e. driving closer to the line) results in less
         * power being applied, slowing down the controller)
         */
        d = mul_frac(tz->tzp->k_d, err - params->prev_err);
        d = div_frac(d, tz->passive_delay);
        params->prev_err = err;

        power_range = p + i + d;

        /* feed-forward the known sustainable dissipatable power */
        power_range = sustainable_power + frac_to_int(power_range);

        power_range = clamp(power_range, (s64)0, (s64)max_allocatable_power);

        trace_thermal_power_allocator_pid(tz, frac_to_int(err),
                                          frac_to_int(params->err_integral),
                                          frac_to_int(p), frac_to_int(i),
                                          frac_to_int(d), power_range);

        return power_range;
}

/**
 * divvy_up_power() - divvy the allocated power between the actors
 * @req_power:  each actor's requested power
 * @max_power:  each actor's maximum available power
 * @num_actors: size of the @req_power, @max_power and @granted_power's array
 * @total_req_power: sum of @req_power
 * @power_range:        total allocated power
 * @granted_power:      output array: each actor's granted power
 * @extra_actor_power:  an appropriately sized array to be used in the
 *                      function as temporary storage of the extra power given
 *                      to the actors
 *
 * This function divides the total allocated power (@power_range)
 * fairly between the actors.  It first tries to give each actor a
 * share of the @power_range according to how much power it requested
 * compared to the rest of the actors.  For example, if only one actor
 * requests power, then it receives all the @power_range.  If
 * three actors each requests 1mW, each receives a third of the
 * @power_range.
 *
 * If any actor received more than their maximum power, then that
 * surplus is re-divvied among the actors based on how far they are
 * from their respective maximums.
 *
 * Granted power for each actor is written to @granted_power, which
 * should've been allocated by the calling function.
 */
static void divvy_up_power(u32 *req_power, u32 *max_power, int num_actors,
                           u32 total_req_power, u32 power_range,
                           u32 *granted_power, u32 *extra_actor_power)
{
        u32 extra_power, capped_extra_power;
        int i;

        /*
         * Prevent division by 0 if none of the actors request power.
         */
        if (!total_req_power)
                total_req_power = 1;

        capped_extra_power = 0;
        extra_power = 0;
        for (i = 0; i < num_actors; i++) {
                u64 req_range = req_power[i] * power_range;

                granted_power[i] = DIV_ROUND_CLOSEST_ULL(req_range,
                                                         total_req_power);

                if (granted_power[i] > max_power[i]) {
                        extra_power += granted_power[i] - max_power[i];
                        granted_power[i] = max_power[i];
                }

                extra_actor_power[i] = max_power[i] - granted_power[i];
                capped_extra_power += extra_actor_power[i];
        }

        if (!extra_power)
                return;

        /*
         * Re-divvy the reclaimed extra among actors based on
         * how far they are from the max
         */
        extra_power = min(extra_power, capped_extra_power);
        if (capped_extra_power > 0)
                for (i = 0; i < num_actors; i++)
                        granted_power[i] += (extra_actor_power[i] *
                                        extra_power) / capped_extra_power;
}

static int allocate_power(struct thermal_zone_device *tz,
                          int current_temp,
                          int control_temp)
{
        struct thermal_instance *instance;
        struct power_allocator_params *params = tz->governor_data;
        u32 *req_power, *max_power, *granted_power, *extra_actor_power;
        u32 *weighted_req_power;
        u32 total_req_power, max_allocatable_power, total_weighted_req_power;
        u32 total_granted_power, power_range;
        int i, num_actors, total_weight, ret = 0;
        int trip_max_desired_temperature = params->trip_max_desired_temperature;

        mutex_lock(&tz->lock);

        num_actors = 0;
        total_weight = 0;
        list_for_each_entry(instance, &tz->thermal_instances, tz_node) {
                if ((instance->trip == trip_max_desired_temperature) &&
                    cdev_is_power_actor(instance->cdev)) {
                        num_actors++;
                        total_weight += instance->weight;
                }
        }

        /*
         * We need to allocate five arrays of the same size:
         * req_power, max_power, granted_power, extra_actor_power and
         * weighted_req_power.  They are going to be needed until this
         * function returns.  Allocate them all in one go to simplify
         * the allocation and deallocation logic.
         */
        BUILD_BUG_ON(sizeof(*req_power) != sizeof(*max_power));
        BUILD_BUG_ON(sizeof(*req_power) != sizeof(*granted_power));
        BUILD_BUG_ON(sizeof(*req_power) != sizeof(*extra_actor_power));
        BUILD_BUG_ON(sizeof(*req_power) != sizeof(*weighted_req_power));
        req_power = kcalloc(num_actors * 5, sizeof(*req_power), GFP_KERNEL);
        if (!req_power) {
                ret = -ENOMEM;
                goto unlock;
        }

        max_power = &req_power[num_actors];
        granted_power = &req_power[2 * num_actors];
        extra_actor_power = &req_power[3 * num_actors];
        weighted_req_power = &req_power[4 * num_actors];

        i = 0;
        total_weighted_req_power = 0;
        total_req_power = 0;
        max_allocatable_power = 0;

        list_for_each_entry(instance, &tz->thermal_instances, tz_node) {
                int weight;
                struct thermal_cooling_device *cdev = instance->cdev;

                if (instance->trip != trip_max_desired_temperature)
                        continue;

                if (!cdev_is_power_actor(cdev))
                        continue;

                if (cdev->ops->get_requested_power(cdev, tz, &req_power[i]))
                        continue;

                if (!total_weight)
                        weight = 1 << FRAC_BITS;
                else
                        weight = instance->weight;

                weighted_req_power[i] = frac_to_int(weight * req_power[i]);

                if (power_actor_get_max_power(cdev, tz, &max_power[i]))
                        continue;

                total_req_power += req_power[i];
                max_allocatable_power += max_power[i];
                total_weighted_req_power += weighted_req_power[i];

                i++;
        }

        power_range = pid_controller(tz, current_temp, control_temp,
                                     max_allocatable_power);

        divvy_up_power(weighted_req_power, max_power, num_actors,
                       total_weighted_req_power, power_range, granted_power,
                       extra_actor_power);

        total_granted_power = 0;
        i = 0;
        list_for_each_entry(instance, &tz->thermal_instances, tz_node) {
                if (instance->trip != trip_max_desired_temperature)
                        continue;

                if (!cdev_is_power_actor(instance->cdev))
                        continue;

                power_actor_set_power(instance->cdev, instance,
                                      granted_power[i]);
                total_granted_power += granted_power[i];

                i++;
        }

        trace_thermal_power_allocator(tz, req_power, total_req_power,
                                      granted_power, total_granted_power,
                                      num_actors, power_range,
                                      max_allocatable_power, current_temp,
                                      control_temp - current_temp);

        kfree(req_power);
unlock:
        mutex_unlock(&tz->lock);

        return ret;
}

static int get_governor_trips(struct thermal_zone_device *tz,
                              struct power_allocator_params *params)
{
        int i, ret, last_passive;
        bool found_first_passive;

        found_first_passive = false;
        last_passive = -1;
        ret = -EINVAL;

        for (i = 0; i < tz->trips; i++) {
                enum thermal_trip_type type;

                ret = tz->ops->get_trip_type(tz, i, &type);
                if (ret)
                        return ret;

                if (!found_first_passive) {
                        if (type == THERMAL_TRIP_PASSIVE) {
                                params->trip_switch_on = i;
                                found_first_passive = true;
                        }
                } else if (type == THERMAL_TRIP_PASSIVE) {
                        last_passive = i;
                } else {
                        break;
                }
        }

        if (last_passive != -1) {
                params->trip_max_desired_temperature = last_passive;
                ret = 0;
        } else {
                ret = -EINVAL;
        }

        return ret;
}

static void reset_pid_controller(struct power_allocator_params *params)
{
        params->err_integral = 0;
        params->prev_err = 0;
}

static void allow_maximum_power(struct thermal_zone_device *tz)
{
        struct thermal_instance *instance;
        struct power_allocator_params *params = tz->governor_data;

        list_for_each_entry(instance, &tz->thermal_instances, tz_node) {
                if ((instance->trip != params->trip_max_desired_temperature) ||
                    (!cdev_is_power_actor(instance->cdev)))
                        continue;

                instance->target = 0;
                instance->cdev->updated = false;
                thermal_cdev_update(instance->cdev);
        }
}

/**
 * power_allocator_bind() - bind the power_allocator governor to a thermal zone
 * @tz: thermal zone to bind it to
 *
 * Check that the thermal zone is valid for this governor, that is, it
 * has two thermal trips.  If so, initialize the PID controller
 * parameters and bind it to the thermal zone.
 *
 * Return: 0 on success, -EINVAL if the trips were invalid or -ENOMEM
 * if we ran out of memory.
 */
static int power_allocator_bind(struct thermal_zone_device *tz)
{
        int ret;
        struct power_allocator_params *params;
        int control_temp;

        if (!tz->tzp)
                return -EINVAL;

        params = kzalloc(sizeof(*params), GFP_KERNEL);
        if (!params)
                return -ENOMEM;

        if (!tz->tzp->sustainable_power)
                dev_warn(&tz->device, "power_allocator: sustainable_power will be estimated\n");

        ret = get_governor_trips(tz, params);
        if (ret) {
                dev_err(&tz->device,
                        "thermal zone %s has wrong trip setup for power allocator\n",
                        tz->type);
                goto free;
        }

        ret = tz->ops->get_trip_temp(tz, params->trip_max_desired_temperature,
                                     &control_temp);
        if (ret)
                goto free;

        estimate_pid_constants(tz, tz->tzp->sustainable_power,
                               params->trip_switch_on, control_temp, false);
        reset_pid_controller(params);

        tz->governor_data = params;

        return 0;

free:
        kfree(params);
        return ret;
}

static void power_allocator_unbind(struct thermal_zone_device *tz)
{
        dev_dbg(&tz->device, "Unbinding from thermal zone %d\n", tz->id);
        kfree(tz->governor_data);
        tz->governor_data = NULL;
}

static int power_allocator_throttle(struct thermal_zone_device *tz, int trip)
{
        int ret;
        int switch_on_temp, control_temp, current_temp;
        struct power_allocator_params *params = tz->governor_data;

        /*
         * We get called for every trip point but we only need to do
         * our calculations once
         */
        if (trip != params->trip_max_desired_temperature)
                return 0;

        ret = thermal_zone_get_temp(tz, &current_temp);
        if (ret) {
                dev_warn(&tz->device, "Failed to get temperature: %d\n", ret);
                return ret;
        }

        ret = tz->ops->get_trip_temp(tz, params->trip_switch_on,
                                     &switch_on_temp);
        if (ret) {
                dev_warn(&tz->device,
                         "Failed to get switch on temperature: %d\n", ret);
                return ret;
        }

        if (current_temp < switch_on_temp) {
                tz->passive = 0;
                reset_pid_controller(params);
                allow_maximum_power(tz);
                return 0;
        }

        tz->passive = 1;

        ret = tz->ops->get_trip_temp(tz, params->trip_max_desired_temperature,
                                &control_temp);
        if (ret) {
                dev_warn(&tz->device,
                         "Failed to get the maximum desired temperature: %d\n",
                         ret);
                return ret;
        }

        return allocate_power(tz, current_temp, control_temp);
}

static struct thermal_governor thermal_gov_power_allocator = {
        .name           = "power_allocator",
        .bind_to_tz     = power_allocator_bind,
        .unbind_from_tz = power_allocator_unbind,
        .throttle       = power_allocator_throttle,
};

int thermal_gov_power_allocator_register(void)
{
        return thermal_register_governor(&thermal_gov_power_allocator);
}

void thermal_gov_power_allocator_unregister(void)
{
        thermal_unregister_governor(&thermal_gov_power_allocator);
}