Kernel Features for Reducing Power Consumption on Embedded Devices

Krzysztof Kozlowski
k.kozlowski@samsung.com
Samsung R&D Institute Poland

 Overview and goals
 CPUfreq (with clock down)
 Run-time PM and power domains
 SoC low power states
 CPU idle drivers
 Devfreq
 Summary

 Limit the consumption of energy by mobile device
 Do not hurt performance (at least to some extend)
 The speech will focus on ARM architecture and
Samsung’s Exynos System-on-Chip family, although
ideas are not limited to Exynos
 Target devices: smartphones, tablets, wearables
 Mainline Linux kernel is changing very fast
◦ Some details about specific kernel drivers may become
obsolete soon
◦ Details as for current mainline kernel: 3.16

 All measurements were done on development devices:
◦ Custom kernels
◦ Custom operating systems
 They are not representative for market/end products
 Sometimes measurements on these devices may not
be even close to market products
 Many measurements were done in specific custom
configuration, very different from market product, e.g.:
◦ No CPU idle driver, no CPUfreq driver
◦ Booted to init=/bin/sh

 Measured on:
◦ Trats2, smartphone (Exynos 4412, 4 cores,
freq 200-1400 MHz)
◦ Gear1-like wearable (Exynos 4212, 2 cores, 200-1400 MHz)
◦ Exynos 3250 development board (2 cores, 100-1000 MHz)
 Kernel used:
◦ Exynos 4212 and 4412 : linux-next (next-20140804)
◦ Exynos 3250: internal Linux kernel tree 3.10
 Lack of full support in mainline

 Ondemand governor adjusts the frequency and voltage
to current load
 Specific conditions to embedded world – one
frequency and voltage for whole cluster
◦ On most SoCs: one clock frequency/voltage for all CPUs
◦ Except big.LITTLE (e.g. 2 clusters on quad-core Exynos Octa)
 Dual cluster SoCs have big.LITTLE
CPUfreq driver
Photo by Pauli Rautakorpi

 Separate CPUfreq drivers for each SoC
 Moving toward one generic cpufreq-cpu0 driver
 cpufreq-cpu0 requires:
◦ Clock to operate on (provided by clock driver)
◦ Optionally voltage regulator (provided by regulator driver)
◦ Table of Operating Performance Points from Device Tree
 OPP is a tuple of frequency and voltage
 Clock/regulator/OPP frameworks add necessary
abstraction layer and make cpufreq-cpu0 a generic
solution

 Reduces the frequency upon entering WFI or WFE
instruction (Wait for Interrupt/Event)
◦ All cores must be idle
 Behaves like a hardware ondemand CPUfreq governor
◦ But only for clock frequency (voltages remain untouched)
 Supported by most of Exynos SoCs
◦ As part of clock driver for Exynos 3250, Exynos 4 and Exynos
5250 [1]

 Measurements in idle mode (basic CPU idle – WFI), no load
 No benefits if CPUfreq governor is ondemand which is quite obvious
 ARMCLK cannot get below minimal frequency used in CPUfreq driver
 Ondemand CPUfreq reduces also ARM voltage
Board SoC Frequency
[MHz]
Idle [mA] Idle + clock down
[mA]
Trats2 Exynos 4412
1400 198 170
200 115 114
Gear1-like Exynos 4212
1400 102 82
200 60 59
Dev-board Exynos 3250
1000 36.2 26.7
100 19.2 18.5

0
50
100
150
200
250
current[mA]
ARMCLK clk down: energy consumption
Idle
Idle + clock down

Kernel Features for Reducing Power Consumption on Embedded Devices

 Putting devices into low power states when not used
◦ Optionally: automatically delayed suspends
 Needs support in device drivers
◦ Driver specifies when it is working and idle
 Usage counter (pm_runtime_get()/put())
 Time of last activities (pm_runtime_mark_last_busy())
◦ Driver implements runtime suspend and resume callbacks

 Local power control, powered independently
 Example power domains:
◦ CPU-s
◦ Multi-Format Codec (MFC)
◦ G3D (e.g. Mali)
◦ LCD
◦ Image Signal Processor
◦ Camera
 Linux offers a generic power domain framework [2]
◦ Used by SH-Mobile and Exynos
 Other vendors implement this on their own

 Multiple Linux devices can be attached to a domain
SoC
CPU0
CPU1
MFC
Camera
Camera
JPEG
TV
Mixer
Video
Processor
HDMI
Power Domain Devices

 Integrates with runtime PM
◦ If all attached devices have been suspended, power down
whole domain
 Differences in energy consumption:
Board SoC All domains
enabled
permanently [mA]
Power domain
runtime PM
[mA]
Diff [%]
Trats2 Exynos 4412 124 114 -8%
Dev-board Exynos 3250 24.7 18.5 -25%
 Measurements in idle mode (basic CPU idle - WFI), no load

 When in idle, enter low power state to save energy
◦ Responsible: CPU idle framework and drivers
 Wait for Interrupt (WFI), basic idle state
 Various SoCs support deeper low power states
◦ Msm: retention, standalone power collapse, power collapse
◦ Exynos: ARM Off TOP Running (AFTR), W-AFTR, Low Power
Audio playback (LPA)
 W-AFTR and LPA extends the AFTR low power mode
 Usually they have higher latency for enter and leave
◦ Enter deeper state only if we won’t be awaken right away

 System-level states
◦ Whole system must be prepared
1. CPU[1-n] must be powered off
2. Then CPU0 triggers entering deep low power state
 ARM Off TOP Running (AFTR)
◦ Cortex core is power gated (power supplied but internally
gated)
◦ Most of other modules are powered on (e.g. Audio, MMC,
CoreSight, USB, I2C, UART etc.)

 W-AFTR (on Exynos 3250)
◦ AFTR + power gating everything that can be power gated
◦ Except Dynamic Memory Controller, DDR, RTC
◦ Fast wake-up
 Low Power Audio playback (LPA, on other Exynos SoCs)
◦ AFTR + power gating everything that can be power gated
◦ Contents of L2 cache and TOP modules are preserved
(retention)
◦ Audio related blocks are on

 Sleep
◦ Power not supplied (regulators turned off)
◦ Only ALIVE and RTC blocks are on
◦ Entered with Suspend-to-RAM
Low power state Subsystem Requires additional drivers
WFI Scheduler (idle loop) No, built-in
AFTR, W-AFTR,
LPA
CPU idle
CPU idle driver and support
for board (arch/arm/mach-*)
Sleep Suspend
support for board
(arch/arm/mach-*)

 From CPU idle perspective: states are „coupled”
◦ Entering AFTR/W-AFTR/LPA depends on powering down all
other CPUs[1-n]
◦ If only CPU0 is left on, then CPU idle triggers low power state
 User space may hot unplug idle CPUs[1-n]
◦ echo 0 > /sys/bus/cpu/devices/cpu1/online
◦ E.g. mpdecision daemon for msm
 Kernel may synchronize entering idle states
◦ Coupled CPU idle drivers
 echo mem > /sys/power/state

Sync
Wait for CPU1 to
power down
Power
down
Enter AFTR
or WAFTR
CPU0
awake

Sync
Wait for CPU1 to
power up
Power
down
AFTR or
WAFTR
Woken
up
Woken up
by CPU0
IRQ
Wake
CPU1

 big.LITTLE
◦ Suspend whole cluster
◦ Supported Versatile TC2 (Linux 3.16) and Exynos 5420 (next)
 Exynos AFTR
◦ Currently only for Exynos 4210 and Exynos 5250
◦ Requires manual hot unplug of CPU1 to work
 Coupled CPU idle driver for Exynos (CPU1 off, CPU0
AFTR)
◦ On going work, patch by Daniel Lezcano [3]

 Due to lack of support in mainline all measurements
were done on internal Linux kernel tree 3.10
 Development board with Exynos 3250 (2 cores,
100-1000 MHz)
 The goal of measurements is to show overall
differences between CPU low power states
 Workload: simple computation tasks (work-sleep-
work), mainly used to test scheduler

 Tested configurations:
◦ CPUs enter only WFI (no CPU idle driver)
◦ Power down CPU1 from userspace permanently, CPU0 enters
WFI (no CPU idle driver)
◦ Coupled CPU idle: CPU1 power off, CPU0 AFTR
◦ Coupled CPU idle: CPU1 power off, CPU0 AFTR or W-AFTR
 W-AFTR is entered if certain conditions are met. If no, enter AFTR.
 Conditions:
 Camera, G3D, MFC power domains are off
 Certain bus clocks are gated
 MMC is idle

CPU frequency 2 tasks 3 tasks 4 tasks
WFI (CPU0 + CPU1) 200 MHz 200-600 MHz 200-600 MHz
CPU1 powered off 500 MHz 300-900 MHz 400-1000 MHz
25%
23%
35%35%
44%
46%
0%
5%
10%
15%
20%
25%
30%
35%
40%
45%
50%
2 3 4
TotalCPUload[%]
No. tasks
Total CPU usage, during load
WFI (CPU0 + CPU1)
CPU0 WFI + CPU1 always off

22.6
26
28
23.8
26.4
20
21
22
23
24
25
26
27
28
29
2 3 4
current[mA]
No. tasks
Energy consumption, during load
WFI (CPU0 + CPU1)
CPU0 WFI + CPU1 always off

 What about coupled CPU idle drivers (CPU1 off, CPU0
AFTR or W-AFTR)?
◦ No differences because the load prevented entering deeper
idle states
 But a new driver which powers off CPU1 also when
CPU0 is busy makes sense
◦ Workload consolidation in scheduler could also help
(increased idle time of CPU1)
◦ Already discussed and some works are in progress [4]
 Power-aware scheduling [5]
 Sched packing [6]
 Workload consolidation and CPU ConCurrency [7]

CPU idle driver Idle [mA] Diff against WFI
WFI (CPU0 + CPU1) 18.5
CPU0 WFI + CPU1 always off 18.3 -1.0%
CPU idle, coupled, OFF+AFTR 17.8 -3.8%
CPU idle, coupled, OFF+AFTR/WAFTR 9.8 -47.0%
Suspend-to-RAM 0.46
 No load
 Exynos 3250 CPU @100 MHz

0
2
4
6
8
10
12
14
16
18
20
WFI (CPU0 + CPU1) CPU0 WFI + CPU1
always off
Coupled,
OFF+AFTR
Coupled,
OFF+AFTR/WAFTR
Suspend-to-RAM
current[mA]
CPU idle: energy consumption, idle

 Dynamic Voltage and Frequency Scaling for devices
◦ e.g. Memory bus, MFC, G2D, ISP, SD/MMC
 Governors similar to CPUfreq (ondemand etc.)
◦ Current load may be taken from device performance counters
 Exynos: number of read and write operations in Dynamic Memory
Controller
 Mainline: only drivers for Exynos 4 and Exynos 5250
◦ ... but only for Exynos 5250 is working

 Due to lack of support in mainline all measurements
were done on internal Linux kernel tree 3.10
 Development board with Exynos 3250 (2 cores,
100-1000 MHz)
 The goal of measurements is to show overall difference
that devfreq makes

Possible values for Exynos 3250
development board
Min Max
INT voltage 0.80 V 1.00 V
MIF voltage 0.85 V 1.00 V
DMC clock 50 MHz 400 MHz
LEFT/RIGHT buses clock 50 MHz 133 MHz
 No devfreq means that highest voltages and clock rates
are chosen for:
◦ bus clocks
◦ INT and MIF regulators supplying power to many SoC modules

CPU idle driver No devfreq [mA] With devfreq [mA] Diff [%]
WFI (CPU0 + CPU1) 28.9 18.5 -36%
CPU0 WFI + CPU1
always off
28.6 18.3 -36%
CPU idle, coupled,
OFF+AFTR
27.9 17.8 -36%
CPU idle, coupled,
OFF+AFTR/WAFTR
16.3 9.8 -40%
 No load
 Exynos 3250 CPU @100 MHz

0
5
10
15
20
25
30
35
WFI (CPU0 + CPU1) CPU0 WFI + CPU1
always off
Coupled,
OFF+AFTR
Coupled,
OFF+AFTR/WAFTR
current[mA]
Devfreq: energy consumption, idle
devfreq
no devfreq

 Linux kernel has a number of features for reducing
energy usage
◦ Unfortunately many drivers are not yet present in mainline
 Most benefits come with:
◦ Frequency and voltage scaling (CPUfreq, devfreq)
◦ Entering low power CPU states (CPU idle)
◦ Developing good drivers
 For external resources use abstraction provided by the kernel (e.g.
Common Clock Framework, regulators)
 Runtime PM (if it is applicable)

 Still a lot of work to do
◦ Drivers: CPU idle, devfreq
◦ Integration between scheduler, CPUfreq and CPU idle
◦ Mobile devices are somehow different
 Energy consumption is an important factor (How often do you
have to charge your phone?)
 Mobile device is mostly idle (more opportunities to sleep)
 Consolidating workload makes sense (to some extend)

 [1] Common Clock Framework drivers for Exynos 4, 3250 and
5250
drivers/clk/samsung/clk-exynos*.c
 [2] Generic Device Power Domains
include/linux/om_domain.h
 [3] Coupled cpuidle driver for Exynos
Exynos4: cpuidle: support dual CPUs with AFTR state
http://thread.gmane.org/gmane.linux.power-
management.general/44248
 [4] Toward a more power-efficient scheduler, Jonathan Corbet
http://lwn.net/Articles/546664/

 [5] Morten Rasmussen
 Power-aware scheduling v2
https://lkml.org/lkml/2013/10/11/547
 sched: Energy cost model for energy-aware scheduling
 [6] Sched: packing tasks (and newer works), Vincent Guittot
 [7] A new CPU load metric for power-efficient scheduler: CPU
ConCurrency, Yuyang Du

Kernel Features for Reducing Power Consumption on Embedded Devices

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