tools/thermal: Introduce tmon, a tool for thermal subsystem

Increasingly, Linux is running on thermally constrained devices. The simple
thermal relationship between processor and fan has become past for modern
computers.

As hardware vendors cope with the thermal constraints on their products,
more sensors are added, new cooling capabilities are introduced. The
complexity of the thermal relationship can grow exponentially among cooling
devices, zones, sensors, and trip points. They can also change dynamically.

To expose such relationship to the userspace, Linux generic thermal layer
introduced sysfs entry at /sys/class/thermal with a matrix of symbolic
links, trip point bindings, and device instances. To traverse such
matrix by hand is not a trivial task. Testing is also difficult in that
thermal conditions are often exception cases that hard to reach in
normal operations.

TMON is conceived as a tool to help visualize, tune, and test the
complex thermal subsystem.

Signed-off-by: Jacob Pan <[email protected]>
Signed-off-by: Zhang Rui <[email protected]>

tools/Makefile

@@ -15,6 +15,7 @@ help:
 	@echo '  net        - misc networking tools'
 	@echo '  vm         - misc vm tools'
 	@echo '  x86_energy_perf_policy - Intel energy policy tool'
+	@echo '  tmon       - thermal monitoring and tuning tool'
 	@echo ''
 	@echo 'You can do:'
 	@echo ' $$ make -C tools/ <tool>_install'
@@ -50,6 +51,9 @@ selftests: FORCE
 turbostat x86_energy_perf_policy: FORCE
 	$(call descend,power/x86/$@)
 
+tmon: FORCE
+	$(call descend,thermal/$@)
+
 cpupower_install:
 	$(call descend,power/$(@:_install=),install)
 
@@ -62,9 +66,13 @@ selftests_install:
 turbostat_install x86_energy_perf_policy_install:
 	$(call descend,power/x86/$(@:_install=),install)
 
+tmon_install:
+	$(call descend,thermal/$(@:_install=),install)
+
 install: cgroup_install cpupower_install firewire_install lguest_install \
 		perf_install selftests_install turbostat_install usb_install \
-		virtio_install vm_install net_install x86_energy_perf_policy_install
+		virtio_install vm_install net_install x86_energy_perf_policy_install \
+	tmon
 
 cpupower_clean:
 	$(call descend,power/cpupower,clean)
@@ -84,8 +92,11 @@ selftests_clean:
 turbostat_clean x86_energy_perf_policy_clean:
 	$(call descend,power/x86/$(@:_clean=),clean)
 
+tmon_clean:
+	$(call descend,thermal/tmon,clean)
+
 clean: cgroup_clean cpupower_clean firewire_clean lguest_clean perf_clean \
 		selftests_clean turbostat_clean usb_clean virtio_clean \
-		vm_clean net_clean x86_energy_perf_policy_clean
+		vm_clean net_clean x86_energy_perf_policy_clean tmon_clean
 
 .PHONY: FORCE

tools/thermal/tmon/Makefile

@@ -0,0 +1,47 @@
+VERSION = 1.0
+
+BINDIR=usr/bin
+WARNFLAGS=-Wall -Wshadow -W -Wformat -Wimplicit-function-declaration -Wimplicit-int
+CFLAGS= -O1 ${WARNFLAGS} -fstack-protector
+CC=gcc
+
+CFLAGS+=-D VERSION=\"$(VERSION)\"
+LDFLAGS+=
+TARGET=tmon
+
+INSTALL_PROGRAM=install -m 755 -p
+DEL_FILE=rm -f
+
+INSTALL_CONFIGFILE=install -m 644 -p
+CONFIG_FILE=
+CONFIG_PATH=
+
+
+OBJS = tmon.o tui.o sysfs.o pid.o
+OBJS +=
+
+tmon: $(OBJS) Makefile tmon.h
+	$(CC) ${CFLAGS} $(LDFLAGS) $(OBJS)  -o $(TARGET) -lm -lpanel -lncursesw  -lpthread
+
+valgrind: tmon
+	 sudo valgrind -v --track-origins=yes --tool=memcheck --leak-check=yes --show-reachable=yes --num-callers=20 --track-fds=yes ./$(TARGET)  1> /dev/null
+
+install:
+	- mkdir -p $(INSTALL_ROOT)/$(BINDIR)
+	- $(INSTALL_PROGRAM) "$(TARGET)" "$(INSTALL_ROOT)/$(BINDIR)/$(TARGET)"
+	- mkdir -p $(INSTALL_ROOT)/$(CONFIG_PATH)
+	- $(INSTALL_CONFIGFILE) "$(CONFIG_FILE)" "$(INSTALL_ROOT)/$(CONFIG_PATH)"
+
+uninstall:
+	$(DEL_FILE) "$(INSTALL_ROOT)/$(BINDIR)/$(TARGET)"
+	$(CONFIG_FILE) "$(CONFIG_PATH)"
+
+
+clean:
+	find . -name "*.o" | xargs $(DEL_FILE)
+	rm -f $(TARGET)
+
+dist:
+	git tag v$(VERSION)
+	git archive --format=tar --prefix="$(TARGET)-$(VERSION)/" v$(VERSION) | \
+		gzip > $(TARGET)-$(VERSION).tar.gz

tools/thermal/tmon/README

@@ -0,0 +1,50 @@
+TMON - A Monitoring and Testing Tool for Linux kernel thermal subsystem
+
+Why TMON?
+==========
+Increasingly, Linux is running on thermally constrained devices. The simple
+thermal relationship between processor and fan has become past for modern
+computers.
+
+As hardware vendors cope with the thermal constraints on their products, more
+and more sensors are added, new cooling capabilities are introduced. The
+complexity of the thermal relationship can grow exponentially among cooling
+devices, zones, sensors, and trip points. They can also change dynamically.
+
+To expose such relationship to the userspace, Linux generic thermal layer
+introduced sysfs entry at /sys/class/thermal with a matrix of symbolic
+links, trip point bindings, and device instances. To traverse such
+matrix by hand is not a trivial task. Testing is also difficult in that
+thermal conditions are often exception cases that hard to reach in
+normal operations.
+
+TMON is conceived as a tool to help visualize, tune, and test the
+complex thermal subsystem.
+
+Files
+=====
+	tmon.c : main function for set up and configurations.
+	tui.c : handles ncurses based user interface
+	sysfs.c : access to the generic thermal sysfs
+	pid.c : a proportional-integral-derivative (PID) controller
+	that can be used for thermal relationship training.
+
+Requirements
+============
+Depends on ncurses
+
+Build
+=========
+$ make
+$ sudo ./tmon -h
+Usage: tmon [OPTION...]
+  -c, --control         cooling device in control
+  -d, --daemon          run as daemon, no TUI
+  -l, --log             log data to /var/tmp/tmon.log
+  -h, --help            show this help message
+  -t, --time-interval   set time interval for sampling
+  -v, --version         show version
+  -g, --debug           debug message in syslog
+
+1. For monitoring only:
+$ sudo ./tmon

tools/thermal/tmon/pid.c

@@ -0,0 +1,131 @@
+/*
+ * pid.c PID controller for testing cooling devices
+ *
+ *
+ *
+ * Copyright (C) 2012 Intel Corporation. All rights reserved.
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License version
+ * 2 or later as published by the Free Software Foundation.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * Author Name Jacob Pan <[email protected]>
+ *
+ */
+
+#include <unistd.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <stdint.h>
+#include <sys/types.h>
+#include <dirent.h>
+#include <libintl.h>
+#include <ctype.h>
+#include <assert.h>
+#include <time.h>
+#include <limits.h>
+#include <math.h>
+#include <sys/stat.h>
+#include <syslog.h>
+
+#include "tmon.h"
+
+/**************************************************************************
+ * PID (Proportional-Integral-Derivative) controller is commonly used in
+ * linear control system, consider the the process.
+ * G(s) = U(s)/E(s)
+ * kp = proportional gain
+ * ki = integral gain
+ * kd = derivative gain
+ * Ts
+ * We use type C Alan Bradley equation which takes set point off the
+ * output dependency in P and D term.
+ *
+ *   y[k] = y[k-1] - kp*(x[k] - x[k-1]) + Ki*Ts*e[k] - Kd*(x[k]
+ *          - 2*x[k-1]+x[k-2])/Ts
+ *
+ *
+ ***********************************************************************/
+struct pid_params p_param;
+/* cached data from previous loop */
+static double xk_1, xk_2; /* input temperature x[k-#] */
+
+/*
+ * TODO: make PID parameters tuned automatically,
+ * 1. use CPU burn to produce open loop unit step response
+ * 2. calculate PID based on Ziegler-Nichols rule
+ *
+ * add a flag for tuning PID
+ */
+int init_thermal_controller(void)
+{
+	int ret = 0;
+
+	/* init pid params */
+	p_param.ts = ticktime;
+	/* TODO: get it from TUI tuning tab */
+	p_param.kp = .36;
+	p_param.ki = 5.0;
+	p_param.kd = 0.19;
+
+	p_param.t_target = target_temp_user;
+
+	return ret;
+}
+
+void controller_reset(void)
+{
+	/* TODO: relax control data when not over thermal limit */
+	syslog(LOG_DEBUG, "TC inactive, relax p-state\n");
+	p_param.y_k = 0.0;
+	xk_1 = 0.0;
+	xk_2 = 0.0;
+	set_ctrl_state(0);
+}
+
+/* To be called at time interval Ts. Type C PID controller.
+ *    y[k] = y[k-1] - kp*(x[k] - x[k-1]) + Ki*Ts*e[k] - Kd*(x[k]
+ *          - 2*x[k-1]+x[k-2])/Ts
+ * TODO: add low pass filter for D term
+ */
+#define GUARD_BAND (2)
+void controller_handler(const double xk, double *yk)
+{
+	double ek;
+	double p_term, i_term, d_term;
+
+	ek = p_param.t_target - xk; /* error */
+	if (ek >= 3.0) {
+		syslog(LOG_DEBUG, "PID: %3.1f Below set point %3.1f, stop\n",
+			xk, p_param.t_target);
+		controller_reset();
+		*yk = 0.0;
+		return;
+	}
+	/* compute intermediate PID terms */
+	p_term = -p_param.kp * (xk - xk_1);
+	i_term = p_param.kp * p_param.ki * p_param.ts * ek;
+	d_term = -p_param.kp * p_param.kd * (xk - 2 * xk_1 + xk_2) / p_param.ts;
+	/* compute output */
+	*yk += p_term + i_term + d_term;
+	/* update sample data */
+	xk_1 = xk;
+	xk_2 = xk_1;
+
+	/* clamp output adjustment range */
+	if (*yk < -LIMIT_HIGH)
+		*yk = -LIMIT_HIGH;
+	else if (*yk > -LIMIT_LOW)
+		*yk = -LIMIT_LOW;
+
+	p_param.y_k = *yk;
+
+	set_ctrl_state(lround(fabs(p_param.y_k)));
+
+}