thermal: introduce the Power Allocator governor

The power allocator governor is a thermal governor that controls system
and device power allocation to control temperature.  Conceptually, the
implementation divides the sustainable power of a thermal zone among
all the heat sources in that zone.

This governor relies on "power actors", entities that represent heat
sources.  They can report current and maximum power consumption and
can set a given maximum power consumption, usually via a cooling
device.

The governor uses a Proportional Integral Derivative (PID) controller
driven by the temperature of the thermal zone.  The output of the
controller is a power budget that is then allocated to each power
actor that can have bearing on the temperature we are trying to
control.  It decides how much power to give each cooling device based
on the performance they are requesting.  The PID controller ensures
that the total power budget does not exceed the control temperature.

Cc: Zhang Rui <rui.zhang@intel.com>
Cc: Eduardo Valentin <edubezval@gmail.com>
Signed-off-by: Punit Agrawal <punit.agrawal@arm.com>
Signed-off-by: Javi Merino <javi.merino@arm.com>
Signed-off-by: Eduardo Valentin <edubezval@gmail.com>

5 files changed, 551 insertions, 2 deletions

diff --git a/drivers/thermal/Kconfig b/drivers/thermal/Kconfig
index 30aee81e9f5b..a1b43eab0a70 100644
--- a/drivers/thermal/Kconfig
+++ b/drivers/thermal/Kconfig
@@ -71,6 +71,14 @@ config THERMAL_DEFAULT_GOV_USER_SPACE
 	  Select this if you want to let the user space manage the
 	  platform thermals.
 
+config THERMAL_DEFAULT_GOV_POWER_ALLOCATOR
+	bool "power_allocator"
+	select THERMAL_GOV_POWER_ALLOCATOR
+	help
+	  Select this if you want to control temperature based on
+	  system and device power allocation. This governor can only
+	  operate on cooling devices that implement the power API.
+
 endchoice
 
 config THERMAL_GOV_FAIR_SHARE
@@ -99,6 +107,13 @@ config THERMAL_GOV_USER_SPACE
 	help
 	  Enable this to let the user space manage the platform thermals.
 
+config THERMAL_GOV_POWER_ALLOCATOR
+	bool "Power allocator thermal governor"
+	select THERMAL_POWER_ACTOR
+	help
+	  Enable this to manage platform thermals by dynamically
+	  allocating and limiting power to devices.
+
 config CPU_THERMAL
 	bool "generic cpu cooling support"
 	depends on CPU_FREQ
diff --git a/drivers/thermal/Makefile b/drivers/thermal/Makefile
index 1fe86652cfb6..b1783cf37ed2 100644
--- a/drivers/thermal/Makefile
+++ b/drivers/thermal/Makefile
@@ -14,6 +14,7 @@ thermal_sys-$(CONFIG_THERMAL_GOV_FAIR_SHARE)	+= fair_share.o
 thermal_sys-$(CONFIG_THERMAL_GOV_BANG_BANG)	+= gov_bang_bang.o
 thermal_sys-$(CONFIG_THERMAL_GOV_STEP_WISE)	+= step_wise.o
 thermal_sys-$(CONFIG_THERMAL_GOV_USER_SPACE)	+= user_space.o
+thermal_sys-$(CONFIG_THERMAL_GOV_POWER_ALLOCATOR)	+= power_allocator.o
 
 # cpufreq cooling
 thermal_sys-$(CONFIG_CPU_THERMAL)	+= cpu_cooling.o
diff --git a/drivers/thermal/power_allocator.c b/drivers/thermal/power_allocator.c
new file mode 100644
index 000000000000..67982d79b76c
--- /dev/null
+++ b/drivers/thermal/power_allocator.c
@@ -0,0 +1,520 @@
+/*
+ * 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>
+
+#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;
+};
+
+/**
+ * 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,
+			  unsigned long current_temp,
+			  unsigned long control_temp,
+			  u32 max_allocatable_power)
+{
+	s64 p, i, d, power_range;
+	s32 err, max_power_frac;
+	struct power_allocator_params *params = tz->governor_data;
+
+	max_power_frac = int_to_frac(max_allocatable_power);
+
+	err = ((s32)control_temp - (s32)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 = tz->tzp->sustainable_power + frac_to_int(power_range);
+
+	return clamp(power_range, (s64)0, (s64)max_allocatable_power);
+}
+
+/**
+ * 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_u64(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,
+			  unsigned long current_temp,
+			  unsigned long 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 total_req_power, max_allocatable_power;
+	u32 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 three arrays of the same size:
+	 * req_power, max_power and granted_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));
+	req_power = devm_kcalloc(&tz->device, num_actors * 4,
+				 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];
+
+	i = 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;
+
+		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];
+
+		i++;
+	}
+
+	power_range = pid_controller(tz, current_temp, control_temp,
+				     max_allocatable_power);
+
+	divvy_up_power(req_power, max_power, num_actors, total_req_power,
+		       power_range, granted_power, extra_actor_power);
+
+	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]);
+
+		i++;
+	}
+
+	devm_kfree(&tz->device, 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;
+	unsigned long switch_on_temp, control_temp;
+	u32 temperature_threshold;
+
+	if (!tz->tzp || !tz->tzp->sustainable_power) {
+		dev_err(&tz->device,
+			"power_allocator: missing sustainable_power\n");
+		return -EINVAL;
+	}
+
+	params = devm_kzalloc(&tz->device, sizeof(*params), GFP_KERNEL);
+	if (!params)
+		return -ENOMEM;
+
+	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_switch_on,
+				     &switch_on_temp);
+	if (ret)
+		goto free;
+
+	ret = tz->ops->get_trip_temp(tz, params->trip_max_desired_temperature,
+				     &control_temp);
+	if (ret)
+		goto free;
+
+	temperature_threshold = control_temp - switch_on_temp;
+
+	tz->tzp->k_po = tz->tzp->k_po ?:
+		int_to_frac(tz->tzp->sustainable_power) / temperature_threshold;
+	tz->tzp->k_pu = tz->tzp->k_pu ?:
+		int_to_frac(2 * tz->tzp->sustainable_power) /
+		temperature_threshold;
+	tz->tzp->k_i = 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.
+	 */
+
+	reset_pid_controller(params);
+
+	tz->governor_data = params;
+
+	return 0;
+
+free:
+	devm_kfree(&tz->device, 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);
+	devm_kfree(&tz->device, tz->governor_data);
+	tz->governor_data = NULL;
+}
+
+static int power_allocator_throttle(struct thermal_zone_device *tz, int trip)
+{
+	int ret;
+	unsigned long 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);
+}
diff --git a/drivers/thermal/thermal_core.c b/drivers/thermal/thermal_core.c
index 263628b0e862..b389bc2ec0fa 100644
--- a/drivers/thermal/thermal_core.c
+++ b/drivers/thermal/thermal_core.c
@@ -1616,7 +1616,7 @@ static void remove_trip_attrs(struct thermal_zone_device *tz)
 struct thermal_zone_device *thermal_zone_device_register(const char *type,
 	int trips, int mask, void *devdata,
 	struct thermal_zone_device_ops *ops,
-	const struct thermal_zone_params *tzp,
+	struct thermal_zone_params *tzp,
 	int passive_delay, int polling_delay)
 {
 	struct thermal_zone_device *tz;
@@ -1968,7 +1968,11 @@ static int __init thermal_register_governors(void)
 	if (result)
 		return result;
 
-	return thermal_gov_user_space_register();
+	result = thermal_gov_user_space_register();
+	if (result)
+		return result;
+
+	return thermal_gov_power_allocator_register();
 }
 
 static void thermal_unregister_governors(void)
@@ -1977,6 +1981,7 @@ static void thermal_unregister_governors(void)
 	thermal_gov_fair_share_unregister();
 	thermal_gov_bang_bang_unregister();
 	thermal_gov_user_space_unregister();
+	thermal_gov_power_allocator_unregister();
 }
 
 static int __init thermal_init(void)
diff --git a/drivers/thermal/thermal_core.h b/drivers/thermal/thermal_core.h
index faebe881f062..8a6624488cc5 100644
--- a/drivers/thermal/thermal_core.h
+++ b/drivers/thermal/thermal_core.h
@@ -88,6 +88,14 @@ static inline int thermal_gov_user_space_register(void) { return 0; }
 static inline void thermal_gov_user_space_unregister(void) {}
 #endif /* CONFIG_THERMAL_GOV_USER_SPACE */
 
+#ifdef CONFIG_THERMAL_GOV_POWER_ALLOCATOR
+int thermal_gov_power_allocator_register(void);
+void thermal_gov_power_allocator_unregister(void);
+#else
+static inline int thermal_gov_power_allocator_register(void) { return 0; }
+static inline void thermal_gov_power_allocator_unregister(void) {}
+#endif /* CONFIG_THERMAL_GOV_POWER_ALLOCATOR */
+
 /* device tree support */
 #ifdef CONFIG_THERMAL_OF
 int of_parse_thermal_zones(void);