[PATCH v3 0/5] RK3588 and Rock 5B dts additions: thermal, OPP and fan

Thu Mar 7 06:21:33 PST 2024

Hello Alexey,

On 2024-03-07 13:38, Alexey Charkov wrote:
> On Tue, Mar 5, 2024 at 12:06 PM Alexey Charkov <alchark at gmail.com> 
> wrote:
>> 
>> Hi Sebastian!
>> 
>> On Mon, Mar 4, 2024 at 9:51 PM Sebastian Reichel
>> <sebastian.reichel at collabora.com> wrote:
>> >
>> > Hi,
>> >
>> > On Thu, Feb 29, 2024 at 11:26:31PM +0400, Alexey Charkov wrote:
>> > > This enables thermal monitoring and CPU DVFS on RK3588(s), as well as
>> > > active cooling on Radxa Rock 5B via the provided PWM fan.
>> > >
>> > > Some RK3588 boards use separate regulators to supply CPUs and their
>> > > respective memory interfaces, so this is handled by coupling those
>> > > regulators in affected boards' device trees to ensure that their
>> > > voltage is adjusted in step.
>> > >
>> > > In this revision of the series I chose to enable TSADC for all boards
>> > > at .dtsi level, because:
>> > >  - The defaults already in .dtsi should work for all users, given that
>> > >    the CRU based resets don't need any out-of-chip components, and
>> > >    the CRU vs. PMIC reset is pretty much the only thing a board might
>> > >    have to configure / override there
>> > >  - The boards that have TSADC_SHUT signal wired to the PMIC reset line
>> > >    can still choose to override the reset logic in their .dts. Or stay
>> > >    with CRU based resets, as downstream kernels do anyway
>> > >  - The on-by-default approach helps ensure thermal protections are in
>> > >    place (emergency reset and throttling) for any board even with a
>> > >    rudimentary .dts, and thus lets us introduce CPU DVFS with better
>> > >    peace of mind
>> > >
>> > > Fan control on Rock 5B has been split into two intervals: let it spin
>> > > at the minimum cooling state between 55C and 65C, and then accelerate
>> > > if the system crosses the 65C mark - thanks to Dragan for suggesting.
>> > > This lets some cooling setups with beefier heatsinks and/or larger
>> > > fan fins to stay in the quietest non-zero fan state while still
>> > > gaining potential benefits from the airflow it generates, and
>> > > possibly avoiding noisy speeds altogether for some workloads.
>> > >
>> > > OPPs help actually scale CPU frequencies up and down for both cooling
>> > > and performance - tested on Rock 5B under varied loads. I've split
>> > > the patch into two parts: the first containing those OPPs that seem
>> > > to be no-regret with general consensus during v1 review [2], while
>> > > the second contains OPPs that cause frequency reductions without
>> > > accompanying decrease in CPU voltage. There seems to be a slight
>> > > performance gain in some workload scenarios when using these, but
>> > > previous discussion was inconclusive as to whether they should be
>> > > included or not. Having them as separate patches enables easier
>> > > comparison and partial reversion if people want to test it under
>> > > their workloads, and also enables the first 'no-regret' part to be
>> > > merged to -next while the jury is still out on the second one.
>> > >
>> > > [1] https://lore.kernel.org/linux-rockchip/1824717.EqSB1tO5pr@bagend/T/#ma2ab949da2235a8e759eab22155fb2bc397d8aea
>> > > [2] https://lore.kernel.org/linux-rockchip/CABjd4YxqarUCbZ-a2XLe3TWJ-qjphGkyq=wDnctnEhdoSdPPpw@mail.gmail.com/T/#m49d2b94e773f5b532a0bb5d3d7664799ff28cc2c
>> > >
>> > > Signed-off-by: Alexey Charkov <alchark at gmail.com>
>> > > ---
>> > > Changes in v3:
>> > > - Added regulator coupling for EVB1 and QuartzPro64
>> > > - Enabled the TSADC for all boards in .dtsi, not just Rock 5B (thanks ChenYu)
>> > > - Added comments regarding two passive cooling trips in each zone (thanks Dragan)
>> > > - Fixed active cooling map numbering for Radxa Rock 5B (thanks Dragan)
>> > > - Dropped Daniel's Acked-by tag from the Rock 5B fan patch, as there's been quite some
>> > >   churn there since the version he acknowledged
>> > > - Link to v2: https://lore.kernel.org/r/20240130-rk-dts-additions-v2-0-c6222c4c78df@gmail.com
>> > >
>> > > Changes in v2:
>> > > - Dropped the rfkill patch which Heiko has already applied
>> > > - Set higher 'polling-delay-passive' (100 instead of 20)
>> > > - Name all cooling maps starting from map0 in each respective zone
>> > > - Drop 'contribution' properties from passive cooling maps
>> > > - Link to v1: https://lore.kernel.org/r/20240125-rk-dts-additions-v1-0-5879275db36f@gmail.com
>> > >
>> > > ---
>> > > Alexey Charkov (5):
>> > >       arm64: dts: rockchip: enable built-in thermal monitoring on RK3588
>> > >       arm64: dts: rockchip: enable automatic active cooling on Rock 5B
>> > >       arm64: dts: rockchip: Add CPU/memory regulator coupling for RK3588
>> > >       arm64: dts: rockchip: Add OPP data for CPU cores on RK3588
>> > >       arm64: dts: rockchip: Add further granularity in RK3588 CPU OPPs
>> > >
>> > >  arch/arm64/boot/dts/rockchip/rk3588-evb1-v10.dts   |  12 +
>> > >  .../arm64/boot/dts/rockchip/rk3588-quartzpro64.dts |  12 +
>> > >  arch/arm64/boot/dts/rockchip/rk3588-rock-5b.dts    |  30 +-
>> > >  arch/arm64/boot/dts/rockchip/rk3588s.dtsi          | 385 ++++++++++++++++++++-
>> > >  4 files changed, 437 insertions(+), 2 deletions(-)
>> >
>> > I'm too busy to have a detailed review of this series right now, but
>> > I pushed it to our CI and it results in a board reset at boot time:
>> >
>> > https://gitlab.collabora.com/hardware-enablement/rockchip-3588/linux/-/jobs/300950
>> >
>> > I also pushed just the first three patches (i.e. without OPP /
>> > cpufreq) and that boots fine:
>> >
>> > https://gitlab.collabora.com/hardware-enablement/rockchip-3588/linux/-/jobs/300953
>> 
>> Thank you for testing these! I've noticed in the boot log that the CI
>> machine uses some u-boot 2023.07 - is that a downstream one? Any
>> chance to compare it to 2023.11 or 2024.01 from your (Collabora)
>> integration tree?
>> 
>> I use 2023.11 from your integration tree, with a binary bl31, and I'm
>> not getting those resets even under prolonged heavy load (I rebuild
>> Chromium with 8 concurrent compilation jobs as the stress test -
>> that's 14 hours of heavy CPU, memory and IO use). Would be interesting
>> to understand if it's just a 'lucky' SoC specimen on my side, or if
>> there is some dark magic happening differently on my machine vs. your
>> CI machine.
>> 
>> Thinking that maybe if your CI machine uses a downstream u-boot it
>> might be leaving some extra hardware running (PVTM?) which might do
>> weird stuff when TSADC/clocks/voltages get readjusted by the generic
>> cpufreq driver?..
>> 
>> > Note, that OPP / cpufreq works on the same boards in the CI when
>> > using the ugly-and-not-for-upstream cpufreq driver:
>> >
>> > https://gitlab.collabora.com/hardware-enablement/rockchip-3588/linux/-/commit/9c90c5032743a0419bf3fd2f914a24fd53101acd
>> >
>> > My best guess right now is, that this is related to the generic
>> > driver obviously not updating the GRF read margin registers.
>> 
>> If it was about memory read margins I believe I would have been
>> unlikely to get my machine to work reliably under heavy load with the
>> default ones, but who knows...
> 
> Sebastian's report led me to investigate further how all those things
> are organized in the downstream code and in hardware, and what could
> be a pragmatic way forward with upstream enablement. It turned out to
> be quite a rabbit hole frankly, with multiple layers of abstraction
> and intertwined code in different places.
> 
> Here's a quick summary for future reference:
>  - CPU clocks on RK3588 are ultimately managed by the ATF firmware,
> which provides an SCMI service to expose them to the kernel
>  - ATF itself doesn't directly set any clock frequencies. Instead, it
> accepts a target frequency via SCMI and converts it into an oscillator
> ring length setting for the PVPLL hardware block (via a fixed table
> lookup). At least that's how it's done in the recently released TF-A
> bl31 code [1] - perhaps the binary bl31 does something similar
>  - U-boot doesn't seem to mess with CPU clocks, PVTM or PVPLL
>  - PVPLL produces a reference clock to feed to the CPUs, which depends
> on the configured oscillator ring length but also on the supply
> voltage, silicon quality and perhaps temperature too. ATF doesn't know
> anything about voltages or temperatures, so it doesn't guarantee that
> the requested frequency is matched by the hardware
>  - PVPLL frequency generation is bypassed for lower-frequency OPPs, in
> which case the target frequency is directly fed by the ATF to the CRU.
> This happens for both big-core and little-core frequencies below 816
> MHz
>  - Given that requesting a particular frequency via SCMI doesn't
> guarantee that it will be what the CPUs end up running at, the vendor
> kernel also does a runtime voltage calibration for the supply
> regulators, by adjusting the supply voltage in minimum regulator steps
> until the frequency reported by PVPLL gets close to the requested one
> [2]. It then overwrites OPP provided voltage values with the
> calibrated ones
>  - There's also some trickery with preselecting OPP voltage sets using
> the "-Lx" suffix based on silicon quality, as measured by a "leakage"
> value stored in an NVMEM cell and/or the PVTM frequency generated at a
> reference "midpoint" OPP [3]. Better performing silicon gets to run at
> lower default supply voltages, thus saving power
>  - Once the OPPs are selected and calibrated, the only remaining
> trickery is the two supply regulators per each CPU cluster (one for
> the CPUs and the other for the memory interface)
>  - Another catch, as Sebastian points out, is that memory read margins
> must be adjusted whenever the memory interface supply voltage crosses
> certain thresholds [4]. This has little to do with CPUs or
> frequencies, and is only tangentially related to them due to the
> dependency chain between the target CPU frequency -> required CPU
> supply voltage -> matching memory interface supply voltage -> required
> read margins
>  - At reset the ATF switches all clocks to the lowest 408 MHz [6], so
> setting it to anything in kernel code (as the downstream driver does)
> seems redundant
> 
> All in all, it does indeed sound like Collabora's CI machine boot-time
> resets are most likely caused by the missing memory read margin
> settings in my patch series. Voltage values in the OPPs I used are the
> most conservative defaults of what the downstream DT has, and PVPLL
> should be able to generate reasonable clock speeds with those (albeit
> likely suboptimal, due to them not being tuned to the particular
> silicon specimen). And there is little else to differ frankly.
> 
> As for the way forward, it would be great to know the opinions from
> the list. My thinking is as follows:
>  - I can introduce memory read margin updates as the first priority,
> leaving voltage calibration and/or OPP preselection for later (as
> those should not affect system stability at current default values,
> perhaps only power efficiency to a certain extent)
>  - CPUfreq doesn't sound like the right place for those, given that
> they have little to do with either CPU or freq :)
>  - I suggest a custom regulator config helper to plug into the OPP
> layer, as is done for TI OMAP5 [6]. At first, it might be only used
> for looking up and setting the correct memory read margin value
> whenever the cluster supply voltage changes, and later the same code
> can be extended to do voltage calibration. In fact, OMAP code is there
> for a very similar purpose, but in their case optimized voltages are
> pre-programmed in efuses and don't require runtime recalibration
>  - Given that all OPPs in the downstream kernel list identical
> voltages for the memory supply as for the CPU supply, I don't think it
> makes much sense to customize the cpufreq driver per se.
> Single-regulator approach with the generic cpufreq-dt and regulator
> coupling sounds much less invasive and thus lower-maintenance

Thank you very much for a detailed and highly useful summary!

I'll retrace your steps into and, hopefully, out of the rabbit hole. :)
After that, I'll come back with an update.

> [1] 
> https://gitlab.collabora.com/hardware-enablement/rockchip-3588/trusted-firmware-a/-/blob/rk3588/plat/rockchip/rk3588/drivers/scmi/rk3588_clk.c?ref_type=heads#L303
> [2] 
> https://github.com/radxa/kernel/blob/c428536281d69aeb2b3480f65b2b227210b61535/drivers/soc/rockchip/rockchip_opp_select.c#L804
> [3] 
> https://github.com/radxa/kernel/blob/c428536281d69aeb2b3480f65b2b227210b61535/drivers/soc/rockchip/rockchip_opp_select.c#L1575
> [4] 
> https://github.com/radxa/kernel/blob/c428536281d69aeb2b3480f65b2b227210b61535/drivers/cpufreq/rockchip-cpufreq.c#L405
> [5] 
> https://gitlab.collabora.com/hardware-enablement/rockchip-3588/trusted-firmware-a/-/blob/rk3588/plat/rockchip/rk3588/drivers/scmi/rk3588_clk.c?ref_type=heads#L2419
> [6] 
> https://git.kernel.org/pub/scm/linux/kernel/git/torvalds/linux.git/tree/drivers/opp/ti-opp-supply.c#n275