1 ========= 1 =========
2 Schedutil 2 Schedutil
3 ========= 3 =========
4 4
5 .. note:: 5 .. note::
6 6
7 All this assumes a linear relation between 7 All this assumes a linear relation between frequency and work capacity,
8 we know this is flawed, but it is the best 8 we know this is flawed, but it is the best workable approximation.
9 9
10 10
11 PELT (Per Entity Load Tracking) 11 PELT (Per Entity Load Tracking)
12 =============================== 12 ===============================
13 13
14 With PELT we track some metrics across the var 14 With PELT we track some metrics across the various scheduler entities, from
15 individual tasks to task-group slices to CPU r 15 individual tasks to task-group slices to CPU runqueues. As the basis for this
16 we use an Exponentially Weighted Moving Averag 16 we use an Exponentially Weighted Moving Average (EWMA), each period (1024us)
17 is decayed such that y^32 = 0.5. That is, the 17 is decayed such that y^32 = 0.5. That is, the most recent 32ms contribute
18 half, while the rest of history contribute the 18 half, while the rest of history contribute the other half.
19 19
20 Specifically: 20 Specifically:
21 21
22 ewma_sum(u) := u_0 + u_1*y + u_2*y^2 + ... 22 ewma_sum(u) := u_0 + u_1*y + u_2*y^2 + ...
23 23
24 ewma(u) = ewma_sum(u) / ewma_sum(1) 24 ewma(u) = ewma_sum(u) / ewma_sum(1)
25 25
26 Since this is essentially a progression of an 26 Since this is essentially a progression of an infinite geometric series, the
27 results are composable, that is ewma(A) + ewma 27 results are composable, that is ewma(A) + ewma(B) = ewma(A+B). This property
28 is key, since it gives the ability to recompos 28 is key, since it gives the ability to recompose the averages when tasks move
29 around. 29 around.
30 30
31 Note that blocked tasks still contribute to th 31 Note that blocked tasks still contribute to the aggregates (task-group slices
32 and CPU runqueues), which reflects their expec 32 and CPU runqueues), which reflects their expected contribution when they
33 resume running. 33 resume running.
34 34
35 Using this we track 2 key metrics: 'running' a 35 Using this we track 2 key metrics: 'running' and 'runnable'. 'Running'
36 reflects the time an entity spends on the CPU, 36 reflects the time an entity spends on the CPU, while 'runnable' reflects the
37 time an entity spends on the runqueue. When th 37 time an entity spends on the runqueue. When there is only a single task these
38 two metrics are the same, but once there is co 38 two metrics are the same, but once there is contention for the CPU 'running'
39 will decrease to reflect the fraction of time 39 will decrease to reflect the fraction of time each task spends on the CPU
40 while 'runnable' will increase to reflect the 40 while 'runnable' will increase to reflect the amount of contention.
41 41
42 For more detail see: kernel/sched/pelt.c 42 For more detail see: kernel/sched/pelt.c
43 43
44 44
45 Frequency / CPU Invariance 45 Frequency / CPU Invariance
46 ========================== 46 ==========================
47 47
48 Because consuming the CPU for 50% at 1GHz is n 48 Because consuming the CPU for 50% at 1GHz is not the same as consuming the CPU
49 for 50% at 2GHz, nor is running 50% on a LITTL 49 for 50% at 2GHz, nor is running 50% on a LITTLE CPU the same as running 50% on
50 a big CPU, we allow architectures to scale the 50 a big CPU, we allow architectures to scale the time delta with two ratios, one
51 Dynamic Voltage and Frequency Scaling (DVFS) r 51 Dynamic Voltage and Frequency Scaling (DVFS) ratio and one microarch ratio.
52 52
53 For simple DVFS architectures (where software 53 For simple DVFS architectures (where software is in full control) we trivially
54 compute the ratio as:: 54 compute the ratio as::
55 55
56 f_cur 56 f_cur
57 r_dvfs := ----- 57 r_dvfs := -----
58 f_max 58 f_max
59 59
60 For more dynamic systems where the hardware is 60 For more dynamic systems where the hardware is in control of DVFS we use
61 hardware counters (Intel APERF/MPERF, ARMv8.4- 61 hardware counters (Intel APERF/MPERF, ARMv8.4-AMU) to provide us this ratio.
62 For Intel specifically, we use:: 62 For Intel specifically, we use::
63 63
64 APERF 64 APERF
65 f_cur := ----- * P0 65 f_cur := ----- * P0
66 MPERF 66 MPERF
67 67
68 4C-turbo; if available and turbo 68 4C-turbo; if available and turbo enabled
69 f_max := { 1C-turbo; if turbo enabled 69 f_max := { 1C-turbo; if turbo enabled
70 P0; otherwise 70 P0; otherwise
71 71
72 f_cur 72 f_cur
73 r_dvfs := min( 1, ----- ) 73 r_dvfs := min( 1, ----- )
74 f_max 74 f_max
75 75
76 We pick 4C turbo over 1C turbo to make it slig 76 We pick 4C turbo over 1C turbo to make it slightly more sustainable.
77 77
78 r_cpu is determined as the ratio of highest pe 78 r_cpu is determined as the ratio of highest performance level of the current
79 CPU vs the highest performance level of any ot 79 CPU vs the highest performance level of any other CPU in the system.
80 80
81 r_tot = r_dvfs * r_cpu 81 r_tot = r_dvfs * r_cpu
82 82
83 The result is that the above 'running' and 'ru 83 The result is that the above 'running' and 'runnable' metrics become invariant
84 of DVFS and CPU type. IOW. we can transfer and 84 of DVFS and CPU type. IOW. we can transfer and compare them between CPUs.
85 85
86 For more detail see: 86 For more detail see:
87 87
88 - kernel/sched/pelt.h:update_rq_clock_pelt() 88 - kernel/sched/pelt.h:update_rq_clock_pelt()
89 - arch/x86/kernel/smpboot.c:"APERF/MPERF freq 89 - arch/x86/kernel/smpboot.c:"APERF/MPERF frequency ratio computation."
90 - Documentation/scheduler/sched-capacity.rst: 90 - Documentation/scheduler/sched-capacity.rst:"1. CPU Capacity + 2. Task utilization"
91 91
92 92
93 UTIL_EST !! 93 UTIL_EST / UTIL_EST_FASTUP
94 ======== !! 94 ==========================
95 95
96 Because periodic tasks have their averages dec 96 Because periodic tasks have their averages decayed while they sleep, even
97 though when running their expected utilization 97 though when running their expected utilization will be the same, they suffer a
98 (DVFS) ramp-up after they are running again. 98 (DVFS) ramp-up after they are running again.
99 99
100 To alleviate this (a default enabled option) U 100 To alleviate this (a default enabled option) UTIL_EST drives an Infinite
101 Impulse Response (IIR) EWMA with the 'running' 101 Impulse Response (IIR) EWMA with the 'running' value on dequeue -- when it is
102 highest. UTIL_EST filters to instantly increas !! 102 highest. A further default enabled option UTIL_EST_FASTUP modifies the IIR
>> 103 filter to instantly increase and only decay on decrease.
103 104
104 A further runqueue wide sum (of runnable tasks 105 A further runqueue wide sum (of runnable tasks) is maintained of:
105 106
106 util_est := \Sum_t max( t_running, t_util_es 107 util_est := \Sum_t max( t_running, t_util_est_ewma )
107 108
108 For more detail see: kernel/sched/fair.c:util_ 109 For more detail see: kernel/sched/fair.c:util_est_dequeue()
109 110
110 111
111 UCLAMP 112 UCLAMP
112 ====== 113 ======
113 114
114 It is possible to set effective u_min and u_ma 115 It is possible to set effective u_min and u_max clamps on each CFS or RT task;
115 the runqueue keeps an max aggregate of these c 116 the runqueue keeps an max aggregate of these clamps for all running tasks.
116 117
117 For more detail see: include/uapi/linux/sched/ 118 For more detail see: include/uapi/linux/sched/types.h
118 119
119 120
120 Schedutil / DVFS 121 Schedutil / DVFS
121 ================ 122 ================
122 123
123 Every time the scheduler load tracking is upda 124 Every time the scheduler load tracking is updated (task wakeup, task
124 migration, time progression) we call out to sc 125 migration, time progression) we call out to schedutil to update the hardware
125 DVFS state. 126 DVFS state.
126 127
127 The basis is the CPU runqueue's 'running' metr 128 The basis is the CPU runqueue's 'running' metric, which per the above it is
128 the frequency invariant utilization estimate o 129 the frequency invariant utilization estimate of the CPU. From this we compute
129 a desired frequency like:: 130 a desired frequency like::
130 131
131 max( running, util_est ); if UTI 132 max( running, util_est ); if UTIL_EST
132 u_cfs := { running; otherw 133 u_cfs := { running; otherwise
133 134
134 clamp( u_cfs + u_rt , u_min, u_ 135 clamp( u_cfs + u_rt , u_min, u_max ); if UCLAMP_TASK
135 u_clamp := { u_cfs + u_rt; 136 u_clamp := { u_cfs + u_rt; otherwise
136 137
137 u := u_clamp + u_irq + u_dl; [appro 138 u := u_clamp + u_irq + u_dl; [approx. see source for more detail]
138 139
139 f_des := min( f_max, 1.25 u * f_max ) 140 f_des := min( f_max, 1.25 u * f_max )
140 141
141 XXX IO-wait: when the update is due to a task 142 XXX IO-wait: when the update is due to a task wakeup from IO-completion we
142 boost 'u' above. 143 boost 'u' above.
143 144
144 This frequency is then used to select a P-stat 145 This frequency is then used to select a P-state/OPP or directly munged into a
145 CPPC style request to the hardware. 146 CPPC style request to the hardware.
146 147
147 XXX: deadline tasks (Sporadic Task Model) allo 148 XXX: deadline tasks (Sporadic Task Model) allows us to calculate a hard f_min
148 required to satisfy the workload. 149 required to satisfy the workload.
149 150
150 Because these callbacks are directly from the 151 Because these callbacks are directly from the scheduler, the DVFS hardware
151 interaction should be 'fast' and non-blocking. 152 interaction should be 'fast' and non-blocking. Schedutil supports
152 rate-limiting DVFS requests for when hardware 153 rate-limiting DVFS requests for when hardware interaction is slow and
153 expensive, this reduces effectiveness. 154 expensive, this reduces effectiveness.
154 155
155 For more information see: kernel/sched/cpufreq 156 For more information see: kernel/sched/cpufreq_schedutil.c
156 157
157 158
158 NOTES 159 NOTES
159 ===== 160 =====
160 161
161 - On low-load scenarios, where DVFS is most r 162 - On low-load scenarios, where DVFS is most relevant, the 'running' numbers
162 will closely reflect utilization. 163 will closely reflect utilization.
163 164
164 - In saturated scenarios task movement will c 165 - In saturated scenarios task movement will cause some transient dips,
165 suppose we have a CPU saturated with 4 task 166 suppose we have a CPU saturated with 4 tasks, then when we migrate a task
166 to an idle CPU, the old CPU will have a 'ru 167 to an idle CPU, the old CPU will have a 'running' value of 0.75 while the
167 new CPU will gain 0.25. This is inevitable 168 new CPU will gain 0.25. This is inevitable and time progression will
168 correct this. XXX do we still guarantee f_m 169 correct this. XXX do we still guarantee f_max due to no idle-time?
169 170
170 - Much of the above is about avoiding DVFS di 171 - Much of the above is about avoiding DVFS dips, and independent DVFS domains
171 having to re-learn / ramp-up when load shif 172 having to re-learn / ramp-up when load shifts.
172 173
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