1 ======================= 1 =======================
2 Energy Aware Scheduling 2 Energy Aware Scheduling
3 ======================= 3 =======================
4 4
5 1. Introduction 5 1. Introduction
6 --------------- 6 ---------------
7 7
8 Energy Aware Scheduling (or EAS) gives the sch 8 Energy Aware Scheduling (or EAS) gives the scheduler the ability to predict
9 the impact of its decisions on the energy cons 9 the impact of its decisions on the energy consumed by CPUs. EAS relies on an
10 Energy Model (EM) of the CPUs to select an ene 10 Energy Model (EM) of the CPUs to select an energy efficient CPU for each task,
11 with a minimal impact on throughput. This docu 11 with a minimal impact on throughput. This document aims at providing an
12 introduction on how EAS works, what are the ma 12 introduction on how EAS works, what are the main design decisions behind it, and
13 details what is needed to get it to run. 13 details what is needed to get it to run.
14 14
15 Before going any further, please note that at 15 Before going any further, please note that at the time of writing::
16 16
17 /!\ EAS does not support platforms with sym 17 /!\ EAS does not support platforms with symmetric CPU topologies /!\
18 18
19 EAS operates only on heterogeneous CPU topolog 19 EAS operates only on heterogeneous CPU topologies (such as Arm big.LITTLE)
20 because this is where the potential for saving 20 because this is where the potential for saving energy through scheduling is
21 the highest. 21 the highest.
22 22
23 The actual EM used by EAS is _not_ maintained 23 The actual EM used by EAS is _not_ maintained by the scheduler, but by a
24 dedicated framework. For details about this fr 24 dedicated framework. For details about this framework and what it provides,
25 please refer to its documentation (see Documen 25 please refer to its documentation (see Documentation/power/energy-model.rst).
26 26
27 27
28 2. Background and Terminology 28 2. Background and Terminology
29 ----------------------------- 29 -----------------------------
30 30
31 To make it clear from the start: 31 To make it clear from the start:
32 - energy = [joule] (resource like a battery o 32 - energy = [joule] (resource like a battery on powered devices)
33 - power = energy/time = [joule/second] = [wat 33 - power = energy/time = [joule/second] = [watt]
34 34
35 The goal of EAS is to minimize energy, while s 35 The goal of EAS is to minimize energy, while still getting the job done. That
36 is, we want to maximize:: 36 is, we want to maximize::
37 37
38 performance [inst/s] 38 performance [inst/s]
39 -------------------- 39 --------------------
40 power [W] 40 power [W]
41 41
42 which is equivalent to minimizing:: 42 which is equivalent to minimizing::
43 43
44 energy [J] 44 energy [J]
45 ----------- 45 -----------
46 instruction 46 instruction
47 47
48 while still getting 'good' performance. It is 48 while still getting 'good' performance. It is essentially an alternative
49 optimization objective to the current performa 49 optimization objective to the current performance-only objective for the
50 scheduler. This alternative considers two obje 50 scheduler. This alternative considers two objectives: energy-efficiency and
51 performance. 51 performance.
52 52
53 The idea behind introducing an EM is to allow 53 The idea behind introducing an EM is to allow the scheduler to evaluate the
54 implications of its decisions rather than blin 54 implications of its decisions rather than blindly applying energy-saving
55 techniques that may have positive effects only 55 techniques that may have positive effects only on some platforms. At the same
56 time, the EM must be as simple as possible to 56 time, the EM must be as simple as possible to minimize the scheduler latency
57 impact. 57 impact.
58 58
59 In short, EAS changes the way CFS tasks are as 59 In short, EAS changes the way CFS tasks are assigned to CPUs. When it is time
60 for the scheduler to decide where a task shoul 60 for the scheduler to decide where a task should run (during wake-up), the EM
61 is used to break the tie between several good 61 is used to break the tie between several good CPU candidates and pick the one
62 that is predicted to yield the best energy con 62 that is predicted to yield the best energy consumption without harming the
63 system's throughput. The predictions made by E 63 system's throughput. The predictions made by EAS rely on specific elements of
64 knowledge about the platform's topology, which 64 knowledge about the platform's topology, which include the 'capacity' of CPUs,
65 and their respective energy costs. 65 and their respective energy costs.
66 66
67 67
68 3. Topology information 68 3. Topology information
69 ----------------------- 69 -----------------------
70 70
71 EAS (as well as the rest of the scheduler) use 71 EAS (as well as the rest of the scheduler) uses the notion of 'capacity' to
72 differentiate CPUs with different computing th 72 differentiate CPUs with different computing throughput. The 'capacity' of a CPU
73 represents the amount of work it can absorb wh 73 represents the amount of work it can absorb when running at its highest
74 frequency compared to the most capable CPU of 74 frequency compared to the most capable CPU of the system. Capacity values are
75 normalized in a 1024 range, and are comparable 75 normalized in a 1024 range, and are comparable with the utilization signals of
76 tasks and CPUs computed by the Per-Entity Load 76 tasks and CPUs computed by the Per-Entity Load Tracking (PELT) mechanism. Thanks
77 to capacity and utilization values, EAS is abl 77 to capacity and utilization values, EAS is able to estimate how big/busy a
78 task/CPU is, and to take this into considerati 78 task/CPU is, and to take this into consideration when evaluating performance vs
79 energy trade-offs. The capacity of CPUs is pro 79 energy trade-offs. The capacity of CPUs is provided via arch-specific code
80 through the arch_scale_cpu_capacity() callback 80 through the arch_scale_cpu_capacity() callback.
81 81
82 The rest of platform knowledge used by EAS is 82 The rest of platform knowledge used by EAS is directly read from the Energy
83 Model (EM) framework. The EM of a platform is 83 Model (EM) framework. The EM of a platform is composed of a power cost table
84 per 'performance domain' in the system (see Do 84 per 'performance domain' in the system (see Documentation/power/energy-model.rst
85 for further details about performance domains) !! 85 for futher details about performance domains).
86 86
87 The scheduler manages references to the EM obj 87 The scheduler manages references to the EM objects in the topology code when the
88 scheduling domains are built, or re-built. For 88 scheduling domains are built, or re-built. For each root domain (rd), the
89 scheduler maintains a singly linked list of al 89 scheduler maintains a singly linked list of all performance domains intersecting
90 the current rd->span. Each node in the list co 90 the current rd->span. Each node in the list contains a pointer to a struct
91 em_perf_domain as provided by the EM framework 91 em_perf_domain as provided by the EM framework.
92 92
93 The lists are attached to the root domains in 93 The lists are attached to the root domains in order to cope with exclusive
94 cpuset configurations. Since the boundaries of 94 cpuset configurations. Since the boundaries of exclusive cpusets do not
95 necessarily match those of performance domains 95 necessarily match those of performance domains, the lists of different root
96 domains can contain duplicate elements. 96 domains can contain duplicate elements.
97 97
98 Example 1. 98 Example 1.
99 Let us consider a platform with 12 CPUs, s 99 Let us consider a platform with 12 CPUs, split in 3 performance domains
100 (pd0, pd4 and pd8), organized as follows:: 100 (pd0, pd4 and pd8), organized as follows::
101 101
102 CPUs: 0 1 2 3 4 5 6 7 8 9 102 CPUs: 0 1 2 3 4 5 6 7 8 9 10 11
103 PDs: |--pd0--|--pd4--|---p 103 PDs: |--pd0--|--pd4--|---pd8---|
104 RDs: |----rd1----|-----rd2 104 RDs: |----rd1----|-----rd2-----|
105 105
106 Now, consider that userspace decided to sp 106 Now, consider that userspace decided to split the system with two
107 exclusive cpusets, hence creating two inde 107 exclusive cpusets, hence creating two independent root domains, each
108 containing 6 CPUs. The two root domains ar 108 containing 6 CPUs. The two root domains are denoted rd1 and rd2 in the
109 above figure. Since pd4 intersects with bo 109 above figure. Since pd4 intersects with both rd1 and rd2, it will be
110 present in the linked list '->pd' attached 110 present in the linked list '->pd' attached to each of them:
111 111
112 * rd1->pd: pd0 -> pd4 112 * rd1->pd: pd0 -> pd4
113 * rd2->pd: pd4 -> pd8 113 * rd2->pd: pd4 -> pd8
114 114
115 Please note that the scheduler will create 115 Please note that the scheduler will create two duplicate list nodes for
116 pd4 (one for each list). However, both jus 116 pd4 (one for each list). However, both just hold a pointer to the same
117 shared data structure of the EM framework. 117 shared data structure of the EM framework.
118 118
119 Since the access to these lists can happen con 119 Since the access to these lists can happen concurrently with hotplug and other
120 things, they are protected by RCU, like the re 120 things, they are protected by RCU, like the rest of topology structures
121 manipulated by the scheduler. 121 manipulated by the scheduler.
122 122
123 EAS also maintains a static key (sched_energy_ 123 EAS also maintains a static key (sched_energy_present) which is enabled when at
124 least one root domain meets all conditions for 124 least one root domain meets all conditions for EAS to start. Those conditions
125 are summarized in Section 6. 125 are summarized in Section 6.
126 126
127 127
128 4. Energy-Aware task placement 128 4. Energy-Aware task placement
129 ------------------------------ 129 ------------------------------
130 130
131 EAS overrides the CFS task wake-up balancing c 131 EAS overrides the CFS task wake-up balancing code. It uses the EM of the
132 platform and the PELT signals to choose an ene 132 platform and the PELT signals to choose an energy-efficient target CPU during
133 wake-up balance. When EAS is enabled, select_t 133 wake-up balance. When EAS is enabled, select_task_rq_fair() calls
134 find_energy_efficient_cpu() to do the placemen 134 find_energy_efficient_cpu() to do the placement decision. This function looks
135 for the CPU with the highest spare capacity (C 135 for the CPU with the highest spare capacity (CPU capacity - CPU utilization) in
136 each performance domain since it is the one wh 136 each performance domain since it is the one which will allow us to keep the
137 frequency the lowest. Then, the function check 137 frequency the lowest. Then, the function checks if placing the task there could
138 save energy compared to leaving it on prev_cpu 138 save energy compared to leaving it on prev_cpu, i.e. the CPU where the task ran
139 in its previous activation. 139 in its previous activation.
140 140
141 find_energy_efficient_cpu() uses compute_energ 141 find_energy_efficient_cpu() uses compute_energy() to estimate what will be the
142 energy consumed by the system if the waking ta 142 energy consumed by the system if the waking task was migrated. compute_energy()
143 looks at the current utilization landscape of 143 looks at the current utilization landscape of the CPUs and adjusts it to
144 'simulate' the task migration. The EM framewor 144 'simulate' the task migration. The EM framework provides the em_pd_energy() API
145 which computes the expected energy consumption 145 which computes the expected energy consumption of each performance domain for
146 the given utilization landscape. 146 the given utilization landscape.
147 147
148 An example of energy-optimized task placement 148 An example of energy-optimized task placement decision is detailed below.
149 149
150 Example 2. 150 Example 2.
151 Let us consider a (fake) platform with 2 i 151 Let us consider a (fake) platform with 2 independent performance domains
152 composed of two CPUs each. CPU0 and CPU1 a 152 composed of two CPUs each. CPU0 and CPU1 are little CPUs; CPU2 and CPU3
153 are big. 153 are big.
154 154
155 The scheduler must decide where to place a 155 The scheduler must decide where to place a task P whose util_avg = 200
156 and prev_cpu = 0. 156 and prev_cpu = 0.
157 157
158 The current utilization landscape of the C 158 The current utilization landscape of the CPUs is depicted on the graph
159 below. CPUs 0-3 have a util_avg of 400, 10 159 below. CPUs 0-3 have a util_avg of 400, 100, 600 and 500 respectively
160 Each performance domain has three Operatin 160 Each performance domain has three Operating Performance Points (OPPs).
161 The CPU capacity and power cost associated 161 The CPU capacity and power cost associated with each OPP is listed in
162 the Energy Model table. The util_avg of P 162 the Energy Model table. The util_avg of P is shown on the figures
163 below as 'PP':: 163 below as 'PP'::
164 164
165 CPU util. 165 CPU util.
166 1024 - - - - - - - 166 1024 - - - - - - - Energy Model
167 167 +-----------+-------------+
168 168 | Little | Big |
169 768 ============= 169 768 ============= +-----+-----+------+------+
170 170 | Cap | Pwr | Cap | Pwr |
171 171 +-----+-----+------+------+
172 512 =========== - ##- - - - - 172 512 =========== - ##- - - - - | 170 | 50 | 512 | 400 |
173 ## ## 173 ## ## | 341 | 150 | 768 | 800 |
174 341 -PP - - - - ## ## 174 341 -PP - - - - ## ## | 512 | 300 | 1024 | 1700 |
175 PP ## ## 175 PP ## ## +-----+-----+------+------+
176 170 -## - - - - ## ## 176 170 -## - - - - ## ##
177 ## ## ## ## 177 ## ## ## ##
178 ------------ ------------- 178 ------------ -------------
179 CPU0 CPU1 CPU2 CPU3 179 CPU0 CPU1 CPU2 CPU3
180 180
181 Current OPP: ===== Other OPP: - - 181 Current OPP: ===== Other OPP: - - - util_avg (100 each): ##
182 182
183 183
184 find_energy_efficient_cpu() will first loo 184 find_energy_efficient_cpu() will first look for the CPUs with the
185 maximum spare capacity in the two performa 185 maximum spare capacity in the two performance domains. In this example,
186 CPU1 and CPU3. Then it will estimate the e 186 CPU1 and CPU3. Then it will estimate the energy of the system if P was
187 placed on either of them, and check if tha 187 placed on either of them, and check if that would save some energy
188 compared to leaving P on CPU0. EAS assumes 188 compared to leaving P on CPU0. EAS assumes that OPPs follow utilization
189 (which is coherent with the behaviour of t 189 (which is coherent with the behaviour of the schedutil CPUFreq
190 governor, see Section 6. for more details 190 governor, see Section 6. for more details on this topic).
191 191
192 **Case 1. P is migrated to CPU1**:: 192 **Case 1. P is migrated to CPU1**::
193 193
194 1024 - - - - - - - 194 1024 - - - - - - -
195 195
196 En 196 Energy calculation:
197 768 ============= * 197 768 ============= * CPU0: 200 / 341 * 150 = 88
198 * 198 * CPU1: 300 / 341 * 150 = 131
199 * 199 * CPU2: 600 / 768 * 800 = 625
200 512 - - - - - - - ##- - - - - * 200 512 - - - - - - - ##- - - - - * CPU3: 500 / 768 * 800 = 520
201 ## ## 201 ## ## => total_energy = 1364
202 341 =========== ## ## 202 341 =========== ## ##
203 PP ## ## 203 PP ## ##
204 170 -## - - PP- ## ## 204 170 -## - - PP- ## ##
205 ## ## ## ## 205 ## ## ## ##
206 ------------ ------------- 206 ------------ -------------
207 CPU0 CPU1 CPU2 CPU3 207 CPU0 CPU1 CPU2 CPU3
208 208
209 209
210 **Case 2. P is migrated to CPU3**:: 210 **Case 2. P is migrated to CPU3**::
211 211
212 1024 - - - - - - - 212 1024 - - - - - - -
213 213
214 En 214 Energy calculation:
215 768 ============= * 215 768 ============= * CPU0: 200 / 341 * 150 = 88
216 * 216 * CPU1: 100 / 341 * 150 = 43
217 PP * 217 PP * CPU2: 600 / 768 * 800 = 625
218 512 - - - - - - - ##- - -PP - * 218 512 - - - - - - - ##- - -PP - * CPU3: 700 / 768 * 800 = 729
219 ## ## 219 ## ## => total_energy = 1485
220 341 =========== ## ## 220 341 =========== ## ##
221 ## ## 221 ## ##
222 170 -## - - - - ## ## 222 170 -## - - - - ## ##
223 ## ## ## ## 223 ## ## ## ##
224 ------------ ------------- 224 ------------ -------------
225 CPU0 CPU1 CPU2 CPU3 225 CPU0 CPU1 CPU2 CPU3
226 226
227 227
228 **Case 3. P stays on prev_cpu / CPU 0**:: 228 **Case 3. P stays on prev_cpu / CPU 0**::
229 229
230 1024 - - - - - - - 230 1024 - - - - - - -
231 231
232 En 232 Energy calculation:
233 768 ============= * 233 768 ============= * CPU0: 400 / 512 * 300 = 234
234 * 234 * CPU1: 100 / 512 * 300 = 58
235 * 235 * CPU2: 600 / 768 * 800 = 625
236 512 =========== - ##- - - - - * 236 512 =========== - ##- - - - - * CPU3: 500 / 768 * 800 = 520
237 ## ## 237 ## ## => total_energy = 1437
238 341 -PP - - - - ## ## 238 341 -PP - - - - ## ##
239 PP ## ## 239 PP ## ##
240 170 -## - - - - ## ## 240 170 -## - - - - ## ##
241 ## ## ## ## 241 ## ## ## ##
242 ------------ ------------- 242 ------------ -------------
243 CPU0 CPU1 CPU2 CPU3 243 CPU0 CPU1 CPU2 CPU3
244 244
245 245
246 From these calculations, the Case 1 has th 246 From these calculations, the Case 1 has the lowest total energy. So CPU 1
247 is be the best candidate from an energy-ef 247 is be the best candidate from an energy-efficiency standpoint.
248 248
249 Big CPUs are generally more power hungry than 249 Big CPUs are generally more power hungry than the little ones and are thus used
250 mainly when a task doesn't fit the littles. Ho 250 mainly when a task doesn't fit the littles. However, little CPUs aren't always
251 necessarily more energy-efficient than big CPU 251 necessarily more energy-efficient than big CPUs. For some systems, the high OPPs
252 of the little CPUs can be less energy-efficien 252 of the little CPUs can be less energy-efficient than the lowest OPPs of the
253 bigs, for example. So, if the little CPUs happ 253 bigs, for example. So, if the little CPUs happen to have enough utilization at
254 a specific point in time, a small task waking 254 a specific point in time, a small task waking up at that moment could be better
255 of executing on the big side in order to save 255 of executing on the big side in order to save energy, even though it would fit
256 on the little side. 256 on the little side.
257 257
258 And even in the case where all OPPs of the big 258 And even in the case where all OPPs of the big CPUs are less energy-efficient
259 than those of the little, using the big CPUs f 259 than those of the little, using the big CPUs for a small task might still, under
260 specific conditions, save energy. Indeed, plac 260 specific conditions, save energy. Indeed, placing a task on a little CPU can
261 result in raising the OPP of the entire perfor 261 result in raising the OPP of the entire performance domain, and that will
262 increase the cost of the tasks already running 262 increase the cost of the tasks already running there. If the waking task is
263 placed on a big CPU, its own execution cost mi 263 placed on a big CPU, its own execution cost might be higher than if it was
264 running on a little, but it won't impact the o 264 running on a little, but it won't impact the other tasks of the little CPUs
265 which will keep running at a lower OPP. So, wh 265 which will keep running at a lower OPP. So, when considering the total energy
266 consumed by CPUs, the extra cost of running th 266 consumed by CPUs, the extra cost of running that one task on a big core can be
267 smaller than the cost of raising the OPP on th 267 smaller than the cost of raising the OPP on the little CPUs for all the other
268 tasks. 268 tasks.
269 269
270 The examples above would be nearly impossible 270 The examples above would be nearly impossible to get right in a generic way, and
271 for all platforms, without knowing the cost of 271 for all platforms, without knowing the cost of running at different OPPs on all
272 CPUs of the system. Thanks to its EM-based des 272 CPUs of the system. Thanks to its EM-based design, EAS should cope with them
273 correctly without too many troubles. However, 273 correctly without too many troubles. However, in order to ensure a minimal
274 impact on throughput for high-utilization scen 274 impact on throughput for high-utilization scenarios, EAS also implements another
275 mechanism called 'over-utilization'. 275 mechanism called 'over-utilization'.
276 276
277 277
278 5. Over-utilization 278 5. Over-utilization
279 ------------------- 279 -------------------
280 280
281 From a general standpoint, the use-cases where 281 From a general standpoint, the use-cases where EAS can help the most are those
282 involving a light/medium CPU utilization. When 282 involving a light/medium CPU utilization. Whenever long CPU-bound tasks are
283 being run, they will require all of the availa 283 being run, they will require all of the available CPU capacity, and there isn't
284 much that can be done by the scheduler to save !! 284 much that can be done by the scheduler to save energy without severly harming
285 throughput. In order to avoid hurting performa 285 throughput. In order to avoid hurting performance with EAS, CPUs are flagged as
286 'over-utilized' as soon as they are used at mo 286 'over-utilized' as soon as they are used at more than 80% of their compute
287 capacity. As long as no CPUs are over-utilized 287 capacity. As long as no CPUs are over-utilized in a root domain, load balancing
288 is disabled and EAS overridess the wake-up bal 288 is disabled and EAS overridess the wake-up balancing code. EAS is likely to load
289 the most energy efficient CPUs of the system m 289 the most energy efficient CPUs of the system more than the others if that can be
290 done without harming throughput. So, the load- 290 done without harming throughput. So, the load-balancer is disabled to prevent
291 it from breaking the energy-efficient task pla 291 it from breaking the energy-efficient task placement found by EAS. It is safe to
292 do so when the system isn't overutilized since 292 do so when the system isn't overutilized since being below the 80% tipping point
293 implies that: 293 implies that:
294 294
295 a. there is some idle time on all CPUs, so 295 a. there is some idle time on all CPUs, so the utilization signals used by
296 EAS are likely to accurately represent 296 EAS are likely to accurately represent the 'size' of the various tasks
297 in the system; 297 in the system;
298 b. all tasks should already be provided wi 298 b. all tasks should already be provided with enough CPU capacity,
299 regardless of their nice values; 299 regardless of their nice values;
300 c. since there is spare capacity all tasks 300 c. since there is spare capacity all tasks must be blocking/sleeping
301 regularly and balancing at wake-up is s 301 regularly and balancing at wake-up is sufficient.
302 302
303 As soon as one CPU goes above the 80% tipping 303 As soon as one CPU goes above the 80% tipping point, at least one of the three
304 assumptions above becomes incorrect. In this s 304 assumptions above becomes incorrect. In this scenario, the 'overutilized' flag
305 is raised for the entire root domain, EAS is d 305 is raised for the entire root domain, EAS is disabled, and the load-balancer is
306 re-enabled. By doing so, the scheduler falls b 306 re-enabled. By doing so, the scheduler falls back onto load-based algorithms for
307 wake-up and load balance under CPU-bound condi 307 wake-up and load balance under CPU-bound conditions. This provides a better
308 respect of the nice values of tasks. 308 respect of the nice values of tasks.
309 309
310 Since the notion of overutilization largely re 310 Since the notion of overutilization largely relies on detecting whether or not
311 there is some idle time in the system, the CPU 311 there is some idle time in the system, the CPU capacity 'stolen' by higher
312 (than CFS) scheduling classes (as well as IRQ) 312 (than CFS) scheduling classes (as well as IRQ) must be taken into account. As
313 such, the detection of overutilization account 313 such, the detection of overutilization accounts for the capacity used not only
314 by CFS tasks, but also by the other scheduling 314 by CFS tasks, but also by the other scheduling classes and IRQ.
315 315
316 316
317 6. Dependencies and requirements for EAS 317 6. Dependencies and requirements for EAS
318 ---------------------------------------- 318 ----------------------------------------
319 319
320 Energy Aware Scheduling depends on the CPUs of 320 Energy Aware Scheduling depends on the CPUs of the system having specific
321 hardware properties and on other features of t 321 hardware properties and on other features of the kernel being enabled. This
322 section lists these dependencies and provides 322 section lists these dependencies and provides hints as to how they can be met.
323 323
324 324
325 6.1 - Asymmetric CPU topology 325 6.1 - Asymmetric CPU topology
326 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 326 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
327 327
328 328
329 As mentioned in the introduction, EAS is only 329 As mentioned in the introduction, EAS is only supported on platforms with
330 asymmetric CPU topologies for now. This requir 330 asymmetric CPU topologies for now. This requirement is checked at run-time by
331 looking for the presence of the SD_ASYM_CPUCAP !! 331 looking for the presence of the SD_ASYM_CPUCAPACITY flag when the scheduling
332 domains are built. 332 domains are built.
333 333
334 See Documentation/scheduler/sched-capacity.rst 334 See Documentation/scheduler/sched-capacity.rst for requirements to be met for this
335 flag to be set in the sched_domain hierarchy. 335 flag to be set in the sched_domain hierarchy.
336 336
337 Please note that EAS is not fundamentally inco 337 Please note that EAS is not fundamentally incompatible with SMP, but no
338 significant savings on SMP platforms have been 338 significant savings on SMP platforms have been observed yet. This restriction
339 could be amended in the future if proven other 339 could be amended in the future if proven otherwise.
340 340
341 341
342 6.2 - Energy Model presence 342 6.2 - Energy Model presence
343 ^^^^^^^^^^^^^^^^^^^^^^^^^^^ 343 ^^^^^^^^^^^^^^^^^^^^^^^^^^^
344 344
345 EAS uses the EM of a platform to estimate the 345 EAS uses the EM of a platform to estimate the impact of scheduling decisions on
346 energy. So, your platform must provide power c 346 energy. So, your platform must provide power cost tables to the EM framework in
347 order to make EAS start. To do so, please refe 347 order to make EAS start. To do so, please refer to documentation of the
348 independent EM framework in Documentation/powe 348 independent EM framework in Documentation/power/energy-model.rst.
349 349
350 Please also note that the scheduling domains n 350 Please also note that the scheduling domains need to be re-built after the
351 EM has been registered in order to start EAS. 351 EM has been registered in order to start EAS.
352 352
353 EAS uses the EM to make a forecasting decision 353 EAS uses the EM to make a forecasting decision on energy usage and thus it is
354 more focused on the difference when checking p 354 more focused on the difference when checking possible options for task
355 placement. For EAS it doesn't matter whether t 355 placement. For EAS it doesn't matter whether the EM power values are expressed
356 in milli-Watts or in an 'abstract scale'. 356 in milli-Watts or in an 'abstract scale'.
357 357
358 358
359 6.3 - Energy Model complexity 359 6.3 - Energy Model complexity
360 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 360 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
361 361
362 EAS does not impose any complexity limit on th !! 362 The task wake-up path is very latency-sensitive. When the EM of a platform is
363 restricts the number of CPUs to EM_MAX_NUM_CPU !! 363 too complex (too many CPUs, too many performance domains, too many performance
364 the energy estimation. !! 364 states, ...), the cost of using it in the wake-up path can become prohibitive.
>> 365 The energy-aware wake-up algorithm has a complexity of:
>> 366
>> 367 C = Nd * (Nc + Ns)
>> 368
>> 369 with: Nd the number of performance domains; Nc the number of CPUs; and Ns the
>> 370 total number of OPPs (ex: for two perf. domains with 4 OPPs each, Ns = 8).
>> 371
>> 372 A complexity check is performed at the root domain level, when scheduling
>> 373 domains are built. EAS will not start on a root domain if its C happens to be
>> 374 higher than the completely arbitrary EM_MAX_COMPLEXITY threshold (2048 at the
>> 375 time of writing).
>> 376
>> 377 If you really want to use EAS but the complexity of your platform's Energy
>> 378 Model is too high to be used with a single root domain, you're left with only
>> 379 two possible options:
>> 380
>> 381 1. split your system into separate, smaller, root domains using exclusive
>> 382 cpusets and enable EAS locally on each of them. This option has the
>> 383 benefit to work out of the box but the drawback of preventing load
>> 384 balance between root domains, which can result in an unbalanced system
>> 385 overall;
>> 386 2. submit patches to reduce the complexity of the EAS wake-up algorithm,
>> 387 hence enabling it to cope with larger EMs in reasonable time.
365 388
366 389
367 6.4 - Schedutil governor 390 6.4 - Schedutil governor
368 ^^^^^^^^^^^^^^^^^^^^^^^^ 391 ^^^^^^^^^^^^^^^^^^^^^^^^
369 392
370 EAS tries to predict at which OPP will the CPU 393 EAS tries to predict at which OPP will the CPUs be running in the close future
371 in order to estimate their energy consumption. 394 in order to estimate their energy consumption. To do so, it is assumed that OPPs
372 of CPUs follow their utilization. 395 of CPUs follow their utilization.
373 396
374 Although it is very difficult to provide hard 397 Although it is very difficult to provide hard guarantees regarding the accuracy
375 of this assumption in practice (because the ha 398 of this assumption in practice (because the hardware might not do what it is
376 told to do, for example), schedutil as opposed 399 told to do, for example), schedutil as opposed to other CPUFreq governors at
377 least _requests_ frequencies calculated using 400 least _requests_ frequencies calculated using the utilization signals.
378 Consequently, the only sane governor to use to 401 Consequently, the only sane governor to use together with EAS is schedutil,
379 because it is the only one providing some degr 402 because it is the only one providing some degree of consistency between
380 frequency requests and energy predictions. 403 frequency requests and energy predictions.
381 404
382 Using EAS with any other governor than schedut 405 Using EAS with any other governor than schedutil is not supported.
383 406
384 407
385 6.5 Scale-invariant utilization signals 408 6.5 Scale-invariant utilization signals
386 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 409 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
387 410
388 In order to make accurate prediction across CP 411 In order to make accurate prediction across CPUs and for all performance
389 states, EAS needs frequency-invariant and CPU- 412 states, EAS needs frequency-invariant and CPU-invariant PELT signals. These can
390 be obtained using the architecture-defined arc 413 be obtained using the architecture-defined arch_scale{cpu,freq}_capacity()
391 callbacks. 414 callbacks.
392 415
393 Using EAS on a platform that doesn't implement 416 Using EAS on a platform that doesn't implement these two callbacks is not
394 supported. 417 supported.
395 418
396 419
397 6.6 Multithreading (SMT) 420 6.6 Multithreading (SMT)
398 ^^^^^^^^^^^^^^^^^^^^^^^^ 421 ^^^^^^^^^^^^^^^^^^^^^^^^
399 422
400 EAS in its current form is SMT unaware and is 423 EAS in its current form is SMT unaware and is not able to leverage
401 multithreaded hardware to save energy. EAS con 424 multithreaded hardware to save energy. EAS considers threads as independent
402 CPUs, which can actually be counter-productive 425 CPUs, which can actually be counter-productive for both performance and energy.
403 426
404 EAS on SMT is not supported. 427 EAS on SMT is not supported.
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