// Copyright 2016-2017 Espressif Systems (Shanghai) PTE LTD // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. // You may obtain a copy of the License at // // http://www.apache.org/licenses/LICENSE-2.0 // // Unless required by applicable law or agreed to in writing, software // distributed under the License is distributed on an "AS IS" BASIS, // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. // See the License for the specific language governing permissions and // limitations under the License. #include #include #include #include #include "esp_attr.h" #include "esp_err.h" #include "esp_pm.h" #include "esp_log.h" #include "esp_crosscore_int.h" #include "esp_clk.h" #include "soc/rtc.h" #include "freertos/FreeRTOS.h" #include "freertos/task.h" #include "freertos/xtensa_timer.h" #include "xtensa/core-macros.h" #include "pm_impl.h" #include "pm_trace.h" #include "esp_timer_impl.h" #include "esp32/pm.h" /* CCOMPARE update timeout, in CPU cycles. Any value above ~600 cycles will work * for the purpose of detecting a deadlock. */ #define CCOMPARE_UPDATE_TIMEOUT 1000000 /* When changing CCOMPARE, don't allow changes if the difference is less * than this. This is to prevent setting CCOMPARE below CCOUNT. */ #define CCOMPARE_MIN_CYCLES_IN_FUTURE 1000 /* When light sleep is used, wake this number of microseconds earlier than * the next tick. */ #define LIGHT_SLEEP_EARLY_WAKEUP_US 100 /* Minimal divider at which REF_CLK_FREQ can be obtained */ #define REF_CLK_DIV_MIN 10 #define MHZ 1000000 #ifdef CONFIG_PM_PROFILING #define WITH_PROFILING #endif static portMUX_TYPE s_switch_lock = portMUX_INITIALIZER_UNLOCKED; /* The following state variables are protected using s_switch_lock: */ /* Current sleep mode; When switching, contains old mode until switch is complete */ static pm_mode_t s_mode = PM_MODE_CPU_MAX; /* True when switch is in progress */ static volatile bool s_is_switching; /* When switch is in progress, this is the mode we are switching into */ static pm_mode_t s_new_mode = PM_MODE_CPU_MAX; /* Number of times each mode was locked */ static size_t s_mode_lock_counts[PM_MODE_COUNT]; /* Bit mask of locked modes. BIT(i) is set iff s_mode_lock_counts[i] > 0. */ static uint32_t s_mode_mask; /* Divider and multiplier used to adjust (ccompare - ccount) duration. * Only set to non-zero values when switch is in progress. */ static uint32_t s_ccount_div; static uint32_t s_ccount_mul; /* Indicates to the ISR hook that CCOMPARE needs to be updated on the given CPU. * Used in conjunction with cross-core interrupt to update CCOMPARE on the other CPU. */ static volatile bool s_need_update_ccompare[portNUM_PROCESSORS]; /* A flag indicating that Idle hook has run on a given CPU; * Next interrupt on the same CPU will take s_rtos_lock_handle. */ static bool s_core_idle[portNUM_PROCESSORS]; /* When no RTOS tasks are active, these locks are released to allow going into * a lower power mode. Used by ISR hook and idle hook. */ static esp_pm_lock_handle_t s_rtos_lock_handle[portNUM_PROCESSORS]; /* Lookup table of CPU frequency configs to be used in each mode. * Initialized by esp_pm_impl_init and modified by esp_pm_configure. */ rtc_cpu_freq_config_t s_cpu_freq_by_mode[PM_MODE_COUNT]; /* Whether automatic light sleep is enabled */ static bool s_light_sleep_en = false; /* When configuration is changed, current frequency may not match the * newly configured frequency for the current mode. This is an indicator * to the mode switch code to get the actual current frequency instead of * relying on the current mode. */ static bool s_config_changed = false; #ifdef WITH_PROFILING /* Time, in microseconds, spent so far in each mode */ static pm_time_t s_time_in_mode[PM_MODE_COUNT]; /* Timestamp, in microseconds, when the mode switch last happened */ static pm_time_t s_last_mode_change_time; /* User-readable mode names, used by esp_pm_impl_dump_stats */ static const char* s_mode_names[] = { "SLEEP", "APB_MIN", "APB_MAX", "CPU_MAX" }; #endif // WITH_PROFILING static const char* TAG = "pm_esp32"; static void update_ccompare(); static void do_switch(pm_mode_t new_mode); static void leave_idle(); static void on_freq_update(uint32_t old_ticks_per_us, uint32_t ticks_per_us); pm_mode_t esp_pm_impl_get_mode(esp_pm_lock_type_t type, int arg) { (void) arg; if (type == ESP_PM_CPU_FREQ_MAX) { return PM_MODE_CPU_MAX; } else if (type == ESP_PM_APB_FREQ_MAX) { return PM_MODE_APB_MAX; } else if (type == ESP_PM_NO_LIGHT_SLEEP) { return PM_MODE_APB_MIN; } else { // unsupported mode abort(); } } esp_err_t esp_pm_configure(const void* vconfig) { #ifndef CONFIG_PM_ENABLE return ESP_ERR_NOT_SUPPORTED; #endif const esp_pm_config_esp32_t* config = (const esp_pm_config_esp32_t*) vconfig; #ifndef CONFIG_FREERTOS_USE_TICKLESS_IDLE if (config->light_sleep_enable) { return ESP_ERR_NOT_SUPPORTED; } #endif int min_freq_mhz = config->min_freq_mhz; int max_freq_mhz = config->max_freq_mhz; if (min_freq_mhz == 0 && max_freq_mhz == 0) { /* For compatibility, handle deprecated fields, min_cpu_freq and max_cpu_freq. */ #pragma GCC diagnostic push #pragma GCC diagnostic ignored "-Wdeprecated-declarations" min_freq_mhz = rtc_clk_cpu_freq_value(config->min_cpu_freq) / MHZ; max_freq_mhz = rtc_clk_cpu_freq_value(config->max_cpu_freq) / MHZ; #pragma GCC diagnostic pop } if (min_freq_mhz > max_freq_mhz) { return ESP_ERR_INVALID_ARG; } rtc_cpu_freq_config_t freq_config; if (!rtc_clk_cpu_freq_mhz_to_config(min_freq_mhz, &freq_config)) { ESP_LOGW(TAG, "invalid min_freq_mhz value (%d)", min_freq_mhz); return ESP_ERR_INVALID_ARG; } int xtal_freq_mhz = (int) rtc_clk_xtal_freq_get(); if (min_freq_mhz < xtal_freq_mhz && min_freq_mhz * MHZ / REF_CLK_FREQ < REF_CLK_DIV_MIN) { ESP_LOGW(TAG, "min_freq_mhz should be >= %d", REF_CLK_FREQ * REF_CLK_DIV_MIN / MHZ); return ESP_ERR_INVALID_ARG; } if (!rtc_clk_cpu_freq_mhz_to_config(max_freq_mhz, &freq_config)) { ESP_LOGW(TAG, "invalid max_freq_mhz value (%d)", max_freq_mhz); return ESP_ERR_INVALID_ARG; } int apb_max_freq = max_freq_mhz; /* CPU frequency in APB_MAX mode */ if (max_freq_mhz == 240) { /* We can't switch between 240 and 80/160 without disabling PLL, * so use 240MHz CPU frequency when 80MHz APB frequency is requested. */ apb_max_freq = 240; } else if (max_freq_mhz == 160 || max_freq_mhz == 80) { /* Otherwise, can use 80MHz * CPU frequency when 80MHz APB frequency is requested. */ apb_max_freq = 80; } apb_max_freq = MAX(apb_max_freq, min_freq_mhz); ESP_LOGI(TAG, "Frequency switching config: " "CPU_MAX: %d, APB_MAX: %d, APB_MIN: %d, Light sleep: %s", max_freq_mhz, apb_max_freq, min_freq_mhz, config->light_sleep_enable ? "ENABLED" : "DISABLED"); portENTER_CRITICAL(&s_switch_lock); rtc_clk_cpu_freq_mhz_to_config(max_freq_mhz, &s_cpu_freq_by_mode[PM_MODE_CPU_MAX]); rtc_clk_cpu_freq_mhz_to_config(apb_max_freq, &s_cpu_freq_by_mode[PM_MODE_APB_MAX]); rtc_clk_cpu_freq_mhz_to_config(min_freq_mhz, &s_cpu_freq_by_mode[PM_MODE_APB_MIN]); s_cpu_freq_by_mode[PM_MODE_LIGHT_SLEEP] = s_cpu_freq_by_mode[PM_MODE_APB_MIN]; s_light_sleep_en = config->light_sleep_enable; s_config_changed = true; portEXIT_CRITICAL(&s_switch_lock); return ESP_OK; } static pm_mode_t IRAM_ATTR get_lowest_allowed_mode() { /* TODO: optimize using ffs/clz */ if (s_mode_mask >= BIT(PM_MODE_CPU_MAX)) { return PM_MODE_CPU_MAX; } else if (s_mode_mask >= BIT(PM_MODE_APB_MAX)) { return PM_MODE_APB_MAX; } else if (s_mode_mask >= BIT(PM_MODE_APB_MIN) || !s_light_sleep_en) { return PM_MODE_APB_MIN; } else { return PM_MODE_LIGHT_SLEEP; } } void IRAM_ATTR esp_pm_impl_switch_mode(pm_mode_t mode, pm_mode_switch_t lock_or_unlock, pm_time_t now) { bool need_switch = false; uint32_t mode_mask = BIT(mode); portENTER_CRITICAL(&s_switch_lock); uint32_t count; if (lock_or_unlock == MODE_LOCK) { count = ++s_mode_lock_counts[mode]; } else { count = s_mode_lock_counts[mode]--; } if (count == 1) { if (lock_or_unlock == MODE_LOCK) { s_mode_mask |= mode_mask; } else { s_mode_mask &= ~mode_mask; } need_switch = true; } pm_mode_t new_mode = s_mode; if (need_switch) { new_mode = get_lowest_allowed_mode(); #ifdef WITH_PROFILING if (s_last_mode_change_time != 0) { pm_time_t diff = now - s_last_mode_change_time; s_time_in_mode[s_mode] += diff; } s_last_mode_change_time = now; #endif // WITH_PROFILING } portEXIT_CRITICAL(&s_switch_lock); if (need_switch && new_mode != s_mode) { do_switch(new_mode); } } /** * @brief Update clock dividers in esp_timer and FreeRTOS, and adjust CCOMPARE * values on both CPUs. * @param old_ticks_per_us old CPU frequency * @param ticks_per_us new CPU frequency */ static void IRAM_ATTR on_freq_update(uint32_t old_ticks_per_us, uint32_t ticks_per_us) { uint32_t old_apb_ticks_per_us = MIN(old_ticks_per_us, 80); uint32_t apb_ticks_per_us = MIN(ticks_per_us, 80); /* Update APB frequency value used by the timer */ if (old_apb_ticks_per_us != apb_ticks_per_us) { esp_timer_impl_update_apb_freq(apb_ticks_per_us); } /* Calculate new tick divisor */ _xt_tick_divisor = ticks_per_us * MHZ / XT_TICK_PER_SEC; int core_id = xPortGetCoreID(); if (s_rtos_lock_handle[core_id] != NULL) { ESP_PM_TRACE_ENTER(CCOMPARE_UPDATE, core_id); /* ccount_div and ccount_mul are used in esp_pm_impl_update_ccompare * to calculate new CCOMPARE value. */ s_ccount_div = old_ticks_per_us; s_ccount_mul = ticks_per_us; /* Update CCOMPARE value on this CPU */ update_ccompare(); #if portNUM_PROCESSORS == 2 /* Send interrupt to the other CPU to update CCOMPARE value */ int other_core_id = (core_id == 0) ? 1 : 0; s_need_update_ccompare[other_core_id] = true; esp_crosscore_int_send_freq_switch(other_core_id); int timeout = 0; while (s_need_update_ccompare[other_core_id]) { if (++timeout == CCOMPARE_UPDATE_TIMEOUT) { assert(false && "failed to update CCOMPARE, possible deadlock"); } } #endif // portNUM_PROCESSORS == 2 s_ccount_mul = 0; s_ccount_div = 0; ESP_PM_TRACE_EXIT(CCOMPARE_UPDATE, core_id); } } /** * Perform the switch to new power mode. * Currently only changes the CPU frequency and adjusts clock dividers. * No light sleep yet. * @param new_mode mode to switch to */ static void IRAM_ATTR do_switch(pm_mode_t new_mode) { const int core_id = xPortGetCoreID(); do { portENTER_CRITICAL_ISR(&s_switch_lock); if (!s_is_switching) { break; } if (s_new_mode <= new_mode) { portEXIT_CRITICAL_ISR(&s_switch_lock); return; } if (s_need_update_ccompare[core_id]) { s_need_update_ccompare[core_id] = false; } portEXIT_CRITICAL_ISR(&s_switch_lock); } while (true); s_new_mode = new_mode; s_is_switching = true; bool config_changed = s_config_changed; s_config_changed = false; portEXIT_CRITICAL_ISR(&s_switch_lock); rtc_cpu_freq_config_t new_config = s_cpu_freq_by_mode[new_mode]; rtc_cpu_freq_config_t old_config; if (!config_changed) { old_config = s_cpu_freq_by_mode[s_mode]; } else { rtc_clk_cpu_freq_get_config(&old_config); } if (new_config.freq_mhz != old_config.freq_mhz) { uint32_t old_ticks_per_us = old_config.freq_mhz; uint32_t new_ticks_per_us = new_config.freq_mhz; bool switch_down = new_ticks_per_us < old_ticks_per_us; ESP_PM_TRACE_ENTER(FREQ_SWITCH, core_id); if (switch_down) { on_freq_update(old_ticks_per_us, new_ticks_per_us); } rtc_clk_cpu_freq_set_config_fast(&new_config); if (!switch_down) { on_freq_update(old_ticks_per_us, new_ticks_per_us); } ESP_PM_TRACE_EXIT(FREQ_SWITCH, core_id); } portENTER_CRITICAL_ISR(&s_switch_lock); s_mode = new_mode; s_is_switching = false; portEXIT_CRITICAL_ISR(&s_switch_lock); } /** * @brief Calculate new CCOMPARE value based on s_ccount_{mul,div} * * Adjusts CCOMPARE value so that the interrupt happens at the same time as it * would happen without the frequency change. * Assumes that the new_frequency = old_frequency * s_ccount_mul / s_ccount_div. */ static void IRAM_ATTR update_ccompare() { uint32_t ccount = XTHAL_GET_CCOUNT(); uint32_t ccompare = XTHAL_GET_CCOMPARE(XT_TIMER_INDEX); if ((ccompare - CCOMPARE_MIN_CYCLES_IN_FUTURE) - ccount < UINT32_MAX / 2) { uint32_t diff = ccompare - ccount; uint32_t diff_scaled = (diff * s_ccount_mul + s_ccount_div - 1) / s_ccount_div; if (diff_scaled < _xt_tick_divisor) { uint32_t new_ccompare = ccount + diff_scaled; XTHAL_SET_CCOMPARE(XT_TIMER_INDEX, new_ccompare); } } } static void IRAM_ATTR leave_idle() { int core_id = xPortGetCoreID(); if (s_core_idle[core_id]) { // TODO: possible optimization: raise frequency here first esp_pm_lock_acquire(s_rtos_lock_handle[core_id]); s_core_idle[core_id] = false; } } void esp_pm_impl_idle_hook() { int core_id = xPortGetCoreID(); uint32_t state = portENTER_CRITICAL_NESTED(); if (!s_core_idle[core_id]) { esp_pm_lock_release(s_rtos_lock_handle[core_id]); s_core_idle[core_id] = true; } portEXIT_CRITICAL_NESTED(state); ESP_PM_TRACE_ENTER(IDLE, core_id); } void IRAM_ATTR esp_pm_impl_isr_hook() { int core_id = xPortGetCoreID(); ESP_PM_TRACE_ENTER(ISR_HOOK, core_id); #if portNUM_PROCESSORS == 2 if (s_need_update_ccompare[core_id]) { update_ccompare(); s_need_update_ccompare[core_id] = false; } else { leave_idle(); } #else leave_idle(); #endif // portNUM_PROCESSORS == 2 ESP_PM_TRACE_EXIT(ISR_HOOK, core_id); } #if CONFIG_FREERTOS_USE_TICKLESS_IDLE bool IRAM_ATTR vApplicationSleep( TickType_t xExpectedIdleTime ) { bool result = false; portENTER_CRITICAL(&s_switch_lock); if (s_mode == PM_MODE_LIGHT_SLEEP && !s_is_switching) { /* Calculate how much we can sleep */ int64_t next_esp_timer_alarm = esp_timer_get_next_alarm(); int64_t now = esp_timer_get_time(); int64_t time_until_next_alarm = next_esp_timer_alarm - now; int64_t wakeup_delay_us = portTICK_PERIOD_MS * 1000LL * xExpectedIdleTime; int64_t sleep_time_us = MIN(wakeup_delay_us, time_until_next_alarm); if (sleep_time_us >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP * portTICK_PERIOD_MS * 1000LL) { esp_sleep_enable_timer_wakeup(sleep_time_us - LIGHT_SLEEP_EARLY_WAKEUP_US); #ifdef CONFIG_PM_TRACE /* to force tracing GPIOs to keep state */ esp_sleep_pd_config(ESP_PD_DOMAIN_RTC_PERIPH, ESP_PD_OPTION_ON); #endif /* Enter sleep */ int core_id = xPortGetCoreID(); ESP_PM_TRACE_ENTER(SLEEP, core_id); int64_t sleep_start = esp_timer_get_time(); esp_light_sleep_start(); int64_t slept_us = esp_timer_get_time() - sleep_start; ESP_PM_TRACE_EXIT(SLEEP, core_id); uint32_t slept_ticks = slept_us / (portTICK_PERIOD_MS * 1000LL); if (slept_ticks > 0) { /* Adjust RTOS tick count based on the amount of time spent in sleep */ vTaskStepTick(slept_ticks); /* Trigger tick interrupt, since sleep time was longer * than portTICK_PERIOD_MS. Note that setting INTSET does not * work for timer interrupt, and changing CCOMPARE would clear * the interrupt flag. */ XTHAL_SET_CCOUNT(XTHAL_GET_CCOMPARE(XT_TIMER_INDEX) - 16); while (!(XTHAL_GET_INTERRUPT() & BIT(XT_TIMER_INTNUM))) { ; } } result = true; } } portEXIT_CRITICAL(&s_switch_lock); return result; } #endif //CONFIG_FREERTOS_USE_TICKLESS_IDLE #ifdef WITH_PROFILING void esp_pm_impl_dump_stats(FILE* out) { pm_time_t time_in_mode[PM_MODE_COUNT]; portENTER_CRITICAL_ISR(&s_switch_lock); memcpy(time_in_mode, s_time_in_mode, sizeof(time_in_mode)); pm_time_t last_mode_change_time = s_last_mode_change_time; pm_mode_t cur_mode = s_mode; pm_time_t now = pm_get_time(); portEXIT_CRITICAL_ISR(&s_switch_lock); time_in_mode[cur_mode] += now - last_mode_change_time; fprintf(out, "Mode stats:\n"); for (int i = 0; i < PM_MODE_COUNT; ++i) { if (i == PM_MODE_LIGHT_SLEEP && !s_light_sleep_en) { /* don't display light sleep mode if it's not enabled */ continue; } fprintf(out, "%8s %3dM %12lld %2d%%\n", s_mode_names[i], s_cpu_freq_by_mode[i].freq_mhz, time_in_mode[i], (int) (time_in_mode[i] * 100 / now)); } } #endif // WITH_PROFILING void esp_pm_impl_init() { #ifdef CONFIG_PM_TRACE esp_pm_trace_init(); #endif ESP_ERROR_CHECK(esp_pm_lock_create(ESP_PM_CPU_FREQ_MAX, 0, "rtos0", &s_rtos_lock_handle[0])); ESP_ERROR_CHECK(esp_pm_lock_acquire(s_rtos_lock_handle[0])); #if portNUM_PROCESSORS == 2 ESP_ERROR_CHECK(esp_pm_lock_create(ESP_PM_CPU_FREQ_MAX, 0, "rtos1", &s_rtos_lock_handle[1])); ESP_ERROR_CHECK(esp_pm_lock_acquire(s_rtos_lock_handle[1])); #endif // portNUM_PROCESSORS == 2 /* Configure all modes to use the default CPU frequency. * This will be modified later by a call to esp_pm_configure. */ rtc_cpu_freq_config_t default_config; if (!rtc_clk_cpu_freq_mhz_to_config(CONFIG_ESP32_DEFAULT_CPU_FREQ_MHZ, &default_config)) { assert(false && "unsupported frequency"); } for (size_t i = 0; i < PM_MODE_COUNT; ++i) { s_cpu_freq_by_mode[i] = default_config; } }