Runtime Power Management on SuperH Mobile
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1 Runtime Power Management on SuperH Mobile Upstream Implementation and Status Magnus Damm Renesas Technology April 2009 Magnus Damm Runtime Power Management on SuperH Mobile April / 48
2 Outline Hardware Overview Introduction SuperH Mobile Hardware Linux Kernel Power Management Clock Framework Device Drivers Sleep Modes Hibernation and Suspend Timers Idle loop Performance and Upstream Status Performance Upstream Status and Future Work Magnus Damm Runtime Power Management on SuperH Mobile April / 48
3 Hardware Overview Outline Hardware Overview Introduction SuperH Mobile Hardware Linux Kernel Power Management Clock Framework Device Drivers Sleep Modes Hibernation and Suspend Timers Idle loop Performance and Upstream Status Performance Upstream Status and Future Work Magnus Damm Runtime Power Management on SuperH Mobile April / 48
4 Hardware Overview Introduction Outline Hardware Overview Introduction SuperH Mobile Hardware Linux Kernel Power Management Clock Framework Device Drivers Sleep Modes Hibernation and Suspend Timers Idle loop Performance and Upstream Status Performance Upstream Status and Future Work Magnus Damm Runtime Power Management on SuperH Mobile April / 48
5 Hardware Overview Introduction Hardware - Introduction VCC A CLK GND Magnus Damm (damm@igel.co.jp) Runtime Power Management on SuperH Mobile April / 48
6 Hardware Overview Introduction Hardware - Introduction SuperH Mobile Migo-R board with Aglient 34401A multimeter Magnus Damm (damm@igel.co.jp) Runtime Power Management on SuperH Mobile April / 48
7 Hardware Overview SuperH Mobile Hardware Outline Hardware Overview Introduction SuperH Mobile Hardware Linux Kernel Power Management Clock Framework Device Drivers Sleep Modes Hibernation and Suspend Timers Idle loop Performance and Upstream Status Performance Upstream Status and Future Work Magnus Damm Runtime Power Management on SuperH Mobile April / 48
8 Hardware Overview SuperH Mobile Hardware SuperH Mobile Hardware - SH7723 Magnus Damm (damm@igel.co.jp) Runtime Power Management on SuperH Mobile April / 48
9 Hardware Overview SuperH Mobile Hardware SuperH Mobile Hardware - Simplified Version RCLK RTC CMT KEYSC KEY PAD CLK CPG CPU MEM SYSTEM MEMORY RS-232 SCIF TMU LCDC LCD PANEL Simplified version of SH7343, SH7722, SH7366, SH7723 Magnus Damm (damm@igel.co.jp) Runtime Power Management on SuperH Mobile April / 48
10 Hardware Overview SuperH Mobile Hardware SuperH Mobile Hardware - Sleep modes The sleep instruction controls system standby modes: Sleep Mode (CPU Core clock disabled only) Software Standby Mode (All system clocks off except RCLK) R-Standby Mode (Core power off) U-Standby Mode (Core power off, resume from reset vector) Some processors support R-Standby only, some U-Standby only. Magnus Damm (damm@igel.co.jp) Runtime Power Management on SuperH Mobile April / 48
11 Hardware Overview SuperH Mobile Hardware SuperH Mobile Hardware - CPG RCLK RTC CMT KEYSC KEY PAD CPG CLK CPG CPU MEM SYSTEM MEMORY CLK PLL DIV MSTP RS-232 SCIF TMU LCDC LCD PANEL Clock Pulse Generator: Simplified Version: 5 Clocks, 7 Module Stop Bits SH7723: 12 Clocks, 48 Module Stop Bits Magnus Damm (damm@igel.co.jp) Runtime Power Management on SuperH Mobile April / 48
12 Outline Hardware Overview Introduction SuperH Mobile Hardware Linux Kernel Power Management Clock Framework Device Drivers Sleep Modes Hibernation and Suspend Timers Idle loop Performance and Upstream Status Performance Upstream Status and Future Work Magnus Damm Runtime Power Management on SuperH Mobile April / 48
13 Clock Framework Outline Hardware Overview Introduction SuperH Mobile Hardware Linux Kernel Power Management Clock Framework Device Drivers Sleep Modes Hibernation and Suspend Timers Idle loop Performance and Upstream Status Performance Upstream Status and Future Work Magnus Damm Runtime Power Management on SuperH Mobile April / 48
14 Clock Framework Clock Framework - API The architecture independent Clock Framework API: From include/linux/clk.h: clk = clk_get(device, string); clk_enable(clk); clk_get_rate(clk); clk_disable(clk); clk_put(clk); Note: clk_get_rate() only valid after clk_enable()! Magnus Damm (damm@igel.co.jp) Runtime Power Management on SuperH Mobile April / 48
15 Clock Framework Clock Framework - SuperH Mobile RCLK RTC CMT KEYSC KEY PAD CPG CLK CPG CPU MEM SYSTEM MEMORY CLK PLL DIV MSTP RS-232 SCIF TMU LCDC LCD PANEL From include/linux/clk.h: clk_enable(clk); clk_disable(clk); Magnus Damm (damm@igel.co.jp) Runtime Power Management on SuperH Mobile April / 48
16 Device Drivers Outline Hardware Overview Introduction SuperH Mobile Hardware Linux Kernel Power Management Clock Framework Device Drivers Sleep Modes Hibernation and Suspend Timers Idle loop Performance and Upstream Status Performance Upstream Status and Future Work Magnus Damm Runtime Power Management on SuperH Mobile April / 48
17 Device Drivers Device Drivers - Overview SuperH Mobile Device Driver Examples: i2c-sh_mobile.c - Clock enabled during I2C transfer sh_mobile_ceu_camera.c - Clock enabled during Camera capture sh_mobile_lcdcfb.c - Use deferred io with SYS panels sh_sci.c - Serial port receive needs clock enabled uio_pdrv_genirq.c - UIO device needs clock framework feature! Magnus Damm (damm@igel.co.jp) Runtime Power Management on SuperH Mobile April / 48
18 Device Drivers Device Drivers - PM Suggestions For Energy Efficient Device Drivers... Use clock framework for System Clocks / Module Stop Bits Disable clocks when hardware is unused Avoid software polling Magnus Damm (damm@igel.co.jp) Runtime Power Management on SuperH Mobile April / 48
19 Sleep Modes Outline Hardware Overview Introduction SuperH Mobile Hardware Linux Kernel Power Management Clock Framework Device Drivers Sleep Modes Hibernation and Suspend Timers Idle loop Performance and Upstream Status Performance Upstream Status and Future Work Magnus Damm Runtime Power Management on SuperH Mobile April / 48
20 Sleep Modes Sleep Modes - Overview Architecture independent overview: Light: Low latency - Few dependencies - Basic Power Savings Deep: High latency - Many dependencies - Good Power Savings Theory: For best power savings, enter as deep mode as possible! Magnus Damm (damm@igel.co.jp) Runtime Power Management on SuperH Mobile April / 48
21 Sleep Modes Sleep Modes - Self-Refresh Limitations Self-Refresh... is a must when System RAM clocks are stopped means System RAM may not be accessed requires Sleep code in cache or on-chip RAM SuperH Mobile Sleep code is... Implemented in relocatable assembly code Relocated to on-chip RAM and executed there In the future sleep code may use a simple in-kernel code generator Magnus Damm (damm@igel.co.jp) Runtime Power Management on SuperH Mobile April / 48
22 Sleep Modes Sleep Modes - SuperH Mobile Software RCLK RTC CMT KEYSC KEY PAD CLK CPG CPU MEM SYSTEM MEMORY RS-232 SCIF TMU LCDC LCD PANEL SuperH Mobile Software Sleep Modes: Sleep Mode Sleep Mode + System RAM in Self-Refresh Software Standby Mode + System RAM in Self-Refresh U/R-Standby Mode + System RAM in Self-Refresh Magnus Damm (damm@igel.co.jp) Runtime Power Management on SuperH Mobile April / 48
23 Sleep Modes Sleep Modes - Sleep Mode RCLK RTC CMT KEYSC KEY PAD CLK CPG CPU MEM SYSTEM MEMORY RS-232 SCIF TMU LCDC LCD PANEL SuperH Mobile Sleep Mode properties: Stops CPU Core clock Wakeup from interrupt or reset Low latency, few hardware dependencies Basic power savings Magnus Damm (damm@igel.co.jp) Runtime Power Management on SuperH Mobile April / 48
24 Sleep Modes Sleep Modes - Sleep Mode RCLK RTC CMT KEYSC KEY PAD CLK CPG CPU MEM SYSTEM MEMORY RS-232 SCIF TMU LCDC LCD PANEL Sleep Mode may be combined with System RAM Self-Refresh: Special Linux-only software sleep mode Saves System RAM power May only be used if System RAM is inactive Must check bus master activity Magnus Damm (damm@igel.co.jp) Runtime Power Management on SuperH Mobile April / 48
25 Sleep Modes Sleep Modes - Software Standby Mode RCLK RTC CMT KEYSC KEY PAD CLK CPG CPU MEM SYSTEM MEMORY RS-232 SCIF TMU LCDC LCD PANEL SuperH Mobile Software Standby Mode properties: Stops all system clocks except RCLK System RAM must be put in Self-Refresh mode Wakeup from interrupt or reset Around 2 ms latency, many hardware dependencies Magnus Damm (damm@igel.co.jp) Runtime Power Management on SuperH Mobile April / 48
26 Sleep Modes Sleep Modes - U/R-Standby Mode RCLK RTC CMT KEYSC KEY PAD CLK CPG CPU MEM SYSTEM MEMORY RS-232 SCIF TMU LCDC LCD PANEL SuperH Mobile U/R-Standby Mode properties: Powers down SoC Core area Wakeup from interrupt or reset U-Standby Mode resumes from reset vector Most hardware blocks need re-init on resume Magnus Damm (damm@igel.co.jp) Runtime Power Management on SuperH Mobile April / 48
27 Sleep Modes Sleep Modes - Upstream Status Queued for : Sleep Mode Sleep Mode + System RAM in Self-Refresh Software Standby Mode + System RAM in Self-Refresh Future work: U/R-Standby Mode + System RAM in Self-Refresh Magnus Damm (damm@igel.co.jp) Runtime Power Management on SuperH Mobile April / 48
28 Hibernation and Suspend Outline Hardware Overview Introduction SuperH Mobile Hardware Linux Kernel Power Management Clock Framework Device Drivers Sleep Modes Hibernation and Suspend Timers Idle loop Performance and Upstream Status Performance Upstream Status and Future Work Magnus Damm Runtime Power Management on SuperH Mobile April / 48
29 Hibernation and Suspend Hibernation and Suspend - Overview Easy theory: Suspend System Wait for Wakeup Event Resume System But in practice: Suspend and Hibernation are quite different Per-device struct dev_pm_ops contains 14 callbacks Few in-tree architecture implementations Magnus Damm (damm@igel.co.jp) Runtime Power Management on SuperH Mobile April / 48
30 Hibernation and Suspend Hibernation and Suspend - Hibernation Suspend-to-Disk (CONFIG_HIBERNATION): Freezes system activity, suspends drivers Saves image to swap, turns power off Power on, boots kernel, loads image from swap Resumes drivers, continues system activity Generic SuperH implementation, tested on a sh7785lcr board Magnus Damm (damm@igel.co.jp) Runtime Power Management on SuperH Mobile April / 48
31 Hibernation and Suspend Hibernation and Suspend - Suspend Suspend-to-Ram (CONFIG_SUSPEND): Freezes system activity, suspends drivers Enters Sleep mode, waits for wakeup event Resumes drivers, continues system activity On SuperH Mobile.. Sleep mode translates to Software Standby Mode RTC and KEYSC drivers support device_may_wakeup() CONFIG_PM_TEST_SUSPEND is known to be working Magnus Damm (damm@igel.co.jp) Runtime Power Management on SuperH Mobile April / 48
32 Hibernation and Suspend Hibernation and Suspend - CONFIG_KEXEC_JUMP CONFIG_KEXEC_JUMP: Hybrid approach using kexec Suspends and resumes drivers like CONFIG_HIBERNATION Enters secondary kernel Can be used for suspend to disk or sleep mode. Magnus Damm (damm@igel.co.jp) Runtime Power Management on SuperH Mobile April / 48
33 Hibernation and Suspend Hibernation and Suspend - Upstream Status Hibernation and Standby are queued for upstream Kexec Jump is queued for upstream as well Latest kexec-tools git has SuperH kexec jump support U/R-Standby and wakeup dependencies need more work Magnus Damm (damm@igel.co.jp) Runtime Power Management on SuperH Mobile April / 48
34 Timers Outline Hardware Overview Introduction SuperH Mobile Hardware Linux Kernel Power Management Clock Framework Device Drivers Sleep Modes Hibernation and Suspend Timers Idle loop Performance and Upstream Status Performance Upstream Status and Future Work Magnus Damm Runtime Power Management on SuperH Mobile April / 48
35 Timers Timers - Overview The Linux kernel manages time using: Clockevents (Schedules next timer event) Clocksources (Keeps track of elapsed time) Available SuperH Mobile Timers: CMT (Driven by RCLK, can be used to wake up from deep sleep) TMU (High resolution, stopped in Software Standby Mode ) Magnus Damm (damm@igel.co.jp) Runtime Power Management on SuperH Mobile April / 48
36 Timers Timers - Tickless Classic jiffy-based system: (CONFIG_NO_HZ=n) Clockevent: CLOCK_EVT_MODE_PERIODIC mode Clocksource: Optional Tickless system: (CONFIG_NO_HZ=y) Clockevent: CLOCK_EVT_MODE_ONESHOT mode. Clocksource: Required (!) Check wakeup with CONFIG_TIMER_STATS + /proc/timer_stats Magnus Damm (damm@igel.co.jp) Runtime Power Management on SuperH Mobile April / 48
37 Timers Timers - SuperH CMT Problem: Only one CMT Timer available in deep sleep Solution: SuperH CMT driver... Clockevent and Clocksource with a single timer channel Timer hardware counting up, wraps to 0 on match Match register reprogrammed, software accumulates time Provides a low resolution clocksource Supports CLOCK_EVT_MODE_ONESHOT clockevent mode. Allows tickless operation with a single timer! Magnus Damm (damm@igel.co.jp) Runtime Power Management on SuperH Mobile April / 48
38 Timers Timers - Tickless SuperH CMT Number of SuperH CMT Interrupts (HZ=100, Tickless ON/OFF) 3000 CONFIG_NO_HZ=n CONFIG_NO_HZ=y Number of Timer Interrupts (Accumulated) Time (4096 ticks/s, total 30s) Magnus Damm (damm@igel.co.jp) Runtime Power Management on SuperH Mobile April / 48
39 Timers Timers - Upstream Status Timer changes queued for : SuperH CMT driver (clockevent only) Clockevent set_mode() delta patch setup_irq() and remove_irq() patches Timer changes submitted upstream: Clocksource patches (power management, callback args) Early Platform Driver patches SuperH CMT driver updates (clocksource/early platform) SuperH CMT early platform data Magnus Damm (damm@igel.co.jp) Runtime Power Management on SuperH Mobile April / 48
40 Idle loop Outline Hardware Overview Introduction SuperH Mobile Hardware Linux Kernel Power Management Clock Framework Device Drivers Sleep Modes Hibernation and Suspend Timers Idle loop Performance and Upstream Status Performance Upstream Status and Future Work Magnus Damm Runtime Power Management on SuperH Mobile April / 48
41 Idle loop Idle loop - CPU Core Power Management CPU Core power is managed by the idle loop: Works well with light sleep However, deep sleep comes with latency costs Cpuidle.. Keeps track of sleep modes and their latency Makes use of SuperH Mobile Software Sleep Modes Tries to enter as deep sleep mode as possible Magnus Damm (damm@igel.co.jp) Runtime Power Management on SuperH Mobile April / 48
42 Idle loop Idle loop - Upstream Status status: Regular SuperH idle loop is using Sleep Mode already Cpuidle status: Prototype supports Software Standby Mode Needs clock framework for dependencies Tickless timers needed for good performance Magnus Damm (damm@igel.co.jp) Runtime Power Management on SuperH Mobile April / 48
43 Performance and Upstream Status Outline Hardware Overview Introduction SuperH Mobile Hardware Linux Kernel Power Management Clock Framework Device Drivers Sleep Modes Hibernation and Suspend Timers Idle loop Performance and Upstream Status Performance Upstream Status and Future Work Magnus Damm Runtime Power Management on SuperH Mobile April / 48
44 Performance and Upstream Status Performance Outline Hardware Overview Introduction SuperH Mobile Hardware Linux Kernel Power Management Clock Framework Device Drivers Sleep Modes Hibernation and Suspend Timers Idle loop Performance and Upstream Status Performance Upstream Status and Future Work Magnus Damm Runtime Power Management on SuperH Mobile April / 48
45 Performance and Upstream Status Performance Performance Typical Processor Power Consumption 266/66/133 MHz]: No Power Management: ~0.6W Sleep Mode : ~0.2W Software Standby Mode : ~0.01W Migo-R System Power Consumption (Without LCD board): Loaded CPU or nohlt idle: ~0.6W Sleep Mode when idle: ~0.4W Software Standby Mode when idle: ~0.2W External Ethernet chip consumes ~0.6W (!) Magnus Damm (damm@igel.co.jp) Runtime Power Management on SuperH Mobile April / 48
46 Performance and Upstream Status Upstream Status and Future Work Outline Hardware Overview Introduction SuperH Mobile Hardware Linux Kernel Power Management Clock Framework Device Drivers Sleep Modes Hibernation and Suspend Timers Idle loop Performance and Upstream Status Performance Upstream Status and Future Work Magnus Damm Runtime Power Management on SuperH Mobile April / 48
47 Performance and Upstream Status Upstream Status and Future Work Upstream Status : Timer patches Sleep Mode and Software Standby Mode System RAM in Self-Refresh Suspend-to-Disk (CONFIG_HIBERNATION) Kexec Jump Suspend-to-Ram (CONFIG_SUSPEND) Driver wakeup updates (RTC/KEYSC/Touchscreen) Magnus Damm Runtime Power Management on SuperH Mobile April / 48
48 Performance and Upstream Status Upstream Status and Future Work Future Work Future Work: Improved clock framework support Cpuidle integration Frequency scaling R-Standby support Driver updates UIO Clock framework support Magnus Damm Runtime Power Management on SuperH Mobile April / 48
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