526 lines
23 KiB
Plaintext
526 lines
23 KiB
Plaintext
Power Management for USB
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Alan Stern <stern@rowland.harvard.edu>
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October 5, 2007
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What is Power Management?
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-------------------------
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Power Management (PM) is the practice of saving energy by suspending
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parts of a computer system when they aren't being used. While a
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component is "suspended" it is in a nonfunctional low-power state; it
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might even be turned off completely. A suspended component can be
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"resumed" (returned to a functional full-power state) when the kernel
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needs to use it. (There also are forms of PM in which components are
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placed in a less functional but still usable state instead of being
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suspended; an example would be reducing the CPU's clock rate. This
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document will not discuss those other forms.)
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When the parts being suspended include the CPU and most of the rest of
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the system, we speak of it as a "system suspend". When a particular
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device is turned off while the system as a whole remains running, we
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call it a "dynamic suspend" (also known as a "runtime suspend" or
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"selective suspend"). This document concentrates mostly on how
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dynamic PM is implemented in the USB subsystem, although system PM is
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covered to some extent (see Documentation/power/*.txt for more
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information about system PM).
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Note: Dynamic PM support for USB is present only if the kernel was
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built with CONFIG_USB_SUSPEND enabled. System PM support is present
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only if the kernel was built with CONFIG_SUSPEND or CONFIG_HIBERNATION
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enabled.
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What is Remote Wakeup?
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----------------------
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When a device has been suspended, it generally doesn't resume until
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the computer tells it to. Likewise, if the entire computer has been
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suspended, it generally doesn't resume until the user tells it to, say
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by pressing a power button or opening the cover.
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However some devices have the capability of resuming by themselves, or
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asking the kernel to resume them, or even telling the entire computer
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to resume. This capability goes by several names such as "Wake On
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LAN"; we will refer to it generically as "remote wakeup". When a
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device is enabled for remote wakeup and it is suspended, it may resume
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itself (or send a request to be resumed) in response to some external
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event. Examples include a suspended keyboard resuming when a key is
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pressed, or a suspended USB hub resuming when a device is plugged in.
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When is a USB device idle?
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--------------------------
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A device is idle whenever the kernel thinks it's not busy doing
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anything important and thus is a candidate for being suspended. The
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exact definition depends on the device's driver; drivers are allowed
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to declare that a device isn't idle even when there's no actual
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communication taking place. (For example, a hub isn't considered idle
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unless all the devices plugged into that hub are already suspended.)
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In addition, a device isn't considered idle so long as a program keeps
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its usbfs file open, whether or not any I/O is going on.
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If a USB device has no driver, its usbfs file isn't open, and it isn't
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being accessed through sysfs, then it definitely is idle.
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Forms of dynamic PM
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-------------------
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Dynamic suspends can occur in two ways: manual and automatic.
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"Manual" means that the user has told the kernel to suspend a device,
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whereas "automatic" means that the kernel has decided all by itself to
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suspend a device. Automatic suspend is called "autosuspend" for
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short. In general, a device won't be autosuspended unless it has been
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idle for some minimum period of time, the so-called idle-delay time.
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Of course, nothing the kernel does on its own initiative should
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prevent the computer or its devices from working properly. If a
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device has been autosuspended and a program tries to use it, the
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kernel will automatically resume the device (autoresume). For the
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same reason, an autosuspended device will usually have remote wakeup
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enabled, if the device supports remote wakeup.
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It is worth mentioning that many USB drivers don't support
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autosuspend. In fact, at the time of this writing (Linux 2.6.23) the
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only drivers which do support it are the hub driver, kaweth, asix,
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usblp, usblcd, and usb-skeleton (which doesn't count). If a
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non-supporting driver is bound to a device, the device won't be
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autosuspended. In effect, the kernel pretends the device is never
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idle.
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We can categorize power management events in two broad classes:
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external and internal. External events are those triggered by some
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agent outside the USB stack: system suspend/resume (triggered by
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userspace), manual dynamic suspend/resume (also triggered by
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userspace), and remote wakeup (triggered by the device). Internal
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events are those triggered within the USB stack: autosuspend and
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autoresume.
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The user interface for dynamic PM
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---------------------------------
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The user interface for controlling dynamic PM is located in the power/
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subdirectory of each USB device's sysfs directory, that is, in
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/sys/bus/usb/devices/.../power/ where "..." is the device's ID. The
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relevant attribute files are: wakeup, level, and autosuspend.
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power/wakeup
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This file is empty if the device does not support
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remote wakeup. Otherwise the file contains either the
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word "enabled" or the word "disabled", and you can
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write those words to the file. The setting determines
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whether or not remote wakeup will be enabled when the
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device is next suspended. (If the setting is changed
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while the device is suspended, the change won't take
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effect until the following suspend.)
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power/level
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This file contains one of three words: "on", "auto",
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or "suspend". You can write those words to the file
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to change the device's setting.
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"on" means that the device should be resumed and
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autosuspend is not allowed. (Of course, system
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suspends are still allowed.)
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"auto" is the normal state in which the kernel is
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allowed to autosuspend and autoresume the device.
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"suspend" means that the device should remain
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suspended, and autoresume is not allowed. (But remote
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wakeup may still be allowed, since it is controlled
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separately by the power/wakeup attribute.)
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power/autosuspend
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This file contains an integer value, which is the
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number of seconds the device should remain idle before
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the kernel will autosuspend it (the idle-delay time).
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The default is 2. 0 means to autosuspend as soon as
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the device becomes idle, and -1 means never to
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autosuspend. You can write a number to the file to
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change the autosuspend idle-delay time.
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Writing "-1" to power/autosuspend and writing "on" to power/level do
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essentially the same thing -- they both prevent the device from being
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autosuspended. Yes, this is a redundancy in the API.
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(In 2.6.21 writing "0" to power/autosuspend would prevent the device
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from being autosuspended; the behavior was changed in 2.6.22. The
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power/autosuspend attribute did not exist prior to 2.6.21, and the
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power/level attribute did not exist prior to 2.6.22.)
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Changing the default idle-delay time
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------------------------------------
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The default autosuspend idle-delay time is controlled by a module
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parameter in usbcore. You can specify the value when usbcore is
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loaded. For example, to set it to 5 seconds instead of 2 you would
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do:
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modprobe usbcore autosuspend=5
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Equivalently, you could add to /etc/modprobe.conf a line saying:
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options usbcore autosuspend=5
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Some distributions load the usbcore module very early during the boot
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process, by means of a program or script running from an initramfs
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image. To alter the parameter value you would have to rebuild that
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image.
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If usbcore is compiled into the kernel rather than built as a loadable
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module, you can add
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usbcore.autosuspend=5
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to the kernel's boot command line.
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Finally, the parameter value can be changed while the system is
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running. If you do:
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echo 5 >/sys/module/usbcore/parameters/autosuspend
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then each new USB device will have its autosuspend idle-delay
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initialized to 5. (The idle-delay values for already existing devices
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will not be affected.)
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Setting the initial default idle-delay to -1 will prevent any
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autosuspend of any USB device. This is a simple alternative to
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disabling CONFIG_USB_SUSPEND and rebuilding the kernel, and it has the
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added benefit of allowing you to enable autosuspend for selected
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devices.
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Warnings
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--------
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The USB specification states that all USB devices must support power
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management. Nevertheless, the sad fact is that many devices do not
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support it very well. You can suspend them all right, but when you
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try to resume them they disconnect themselves from the USB bus or
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they stop working entirely. This seems to be especially prevalent
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among printers and scanners, but plenty of other types of device have
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the same deficiency.
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For this reason, by default the kernel disables autosuspend (the
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power/level attribute is initialized to "on") for all devices other
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than hubs. Hubs, at least, appear to be reasonably well-behaved in
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this regard.
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(In 2.6.21 and 2.6.22 this wasn't the case. Autosuspend was enabled
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by default for almost all USB devices. A number of people experienced
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problems as a result.)
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This means that non-hub devices won't be autosuspended unless the user
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or a program explicitly enables it. As of this writing there aren't
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any widespread programs which will do this; we hope that in the near
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future device managers such as HAL will take on this added
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responsibility. In the meantime you can always carry out the
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necessary operations by hand or add them to a udev script. You can
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also change the idle-delay time; 2 seconds is not the best choice for
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every device.
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Sometimes it turns out that even when a device does work okay with
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autosuspend there are still problems. For example, there are
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experimental patches adding autosuspend support to the usbhid driver,
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which manages keyboards and mice, among other things. Tests with a
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number of keyboards showed that typing on a suspended keyboard, while
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causing the keyboard to do a remote wakeup all right, would
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nonetheless frequently result in lost keystrokes. Tests with mice
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showed that some of them would issue a remote-wakeup request in
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response to button presses but not to motion, and some in response to
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neither.
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The kernel will not prevent you from enabling autosuspend on devices
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that can't handle it. It is even possible in theory to damage a
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device by suspending it at the wrong time -- for example, suspending a
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USB hard disk might cause it to spin down without parking the heads.
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(Highly unlikely, but possible.) Take care.
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The driver interface for Power Management
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-----------------------------------------
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The requirements for a USB driver to support external power management
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are pretty modest; the driver need only define
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.suspend
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.resume
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.reset_resume
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methods in its usb_driver structure, and the reset_resume method is
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optional. The methods' jobs are quite simple:
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The suspend method is called to warn the driver that the
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device is going to be suspended. If the driver returns a
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negative error code, the suspend will be aborted. Normally
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the driver will return 0, in which case it must cancel all
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outstanding URBs (usb_kill_urb()) and not submit any more.
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The resume method is called to tell the driver that the
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device has been resumed and the driver can return to normal
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operation. URBs may once more be submitted.
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The reset_resume method is called to tell the driver that
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the device has been resumed and it also has been reset.
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The driver should redo any necessary device initialization,
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since the device has probably lost most or all of its state
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(although the interfaces will be in the same altsettings as
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before the suspend).
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If the device is disconnected or powered down while it is suspended,
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the disconnect method will be called instead of the resume or
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reset_resume method. This is also quite likely to happen when
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waking up from hibernation, as many systems do not maintain suspend
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current to the USB host controllers during hibernation. (It's
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possible to work around the hibernation-forces-disconnect problem by
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using the USB Persist facility.)
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The reset_resume method is used by the USB Persist facility (see
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Documentation/usb/persist.txt) and it can also be used under certain
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circumstances when CONFIG_USB_PERSIST is not enabled. Currently, if a
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device is reset during a resume and the driver does not have a
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reset_resume method, the driver won't receive any notification about
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the resume. Later kernels will call the driver's disconnect method;
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2.6.23 doesn't do this.
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USB drivers are bound to interfaces, so their suspend and resume
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methods get called when the interfaces are suspended or resumed. In
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principle one might want to suspend some interfaces on a device (i.e.,
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force the drivers for those interface to stop all activity) without
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suspending the other interfaces. The USB core doesn't allow this; all
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interfaces are suspended when the device itself is suspended and all
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interfaces are resumed when the device is resumed. It isn't possible
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to suspend or resume some but not all of a device's interfaces. The
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closest you can come is to unbind the interfaces' drivers.
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The driver interface for autosuspend and autoresume
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---------------------------------------------------
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To support autosuspend and autoresume, a driver should implement all
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three of the methods listed above. In addition, a driver indicates
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that it supports autosuspend by setting the .supports_autosuspend flag
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in its usb_driver structure. It is then responsible for informing the
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USB core whenever one of its interfaces becomes busy or idle. The
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driver does so by calling these three functions:
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int usb_autopm_get_interface(struct usb_interface *intf);
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void usb_autopm_put_interface(struct usb_interface *intf);
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int usb_autopm_set_interface(struct usb_interface *intf);
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The functions work by maintaining a counter in the usb_interface
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structure. When intf->pm_usage_count is > 0 then the interface is
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deemed to be busy, and the kernel will not autosuspend the interface's
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device. When intf->pm_usage_count is <= 0 then the interface is
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considered to be idle, and the kernel may autosuspend the device.
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(There is a similar pm_usage_count field in struct usb_device,
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associated with the device itself rather than any of its interfaces.
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This field is used only by the USB core.)
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The driver owns intf->pm_usage_count; it can modify the value however
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and whenever it likes. A nice aspect of the usb_autopm_* routines is
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that the changes they make are protected by the usb_device structure's
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PM mutex (udev->pm_mutex); however drivers may change pm_usage_count
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without holding the mutex.
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usb_autopm_get_interface() increments pm_usage_count and
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attempts an autoresume if the new value is > 0 and the
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device is suspended.
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usb_autopm_put_interface() decrements pm_usage_count and
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attempts an autosuspend if the new value is <= 0 and the
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device isn't suspended.
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usb_autopm_set_interface() leaves pm_usage_count alone.
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It attempts an autoresume if the value is > 0 and the device
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is suspended, and it attempts an autosuspend if the value is
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<= 0 and the device isn't suspended.
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There also are a couple of utility routines drivers can use:
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usb_autopm_enable() sets pm_usage_cnt to 1 and then calls
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usb_autopm_set_interface(), which will attempt an autoresume.
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usb_autopm_disable() sets pm_usage_cnt to 0 and then calls
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usb_autopm_set_interface(), which will attempt an autosuspend.
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The conventional usage pattern is that a driver calls
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usb_autopm_get_interface() in its open routine and
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usb_autopm_put_interface() in its close or release routine. But
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other patterns are possible.
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The autosuspend attempts mentioned above will often fail for one
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reason or another. For example, the power/level attribute might be
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set to "on", or another interface in the same device might not be
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idle. This is perfectly normal. If the reason for failure was that
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the device hasn't been idle for long enough, a delayed workqueue
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routine is automatically set up to carry out the operation when the
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autosuspend idle-delay has expired.
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Autoresume attempts also can fail. This will happen if power/level is
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set to "suspend" or if the device doesn't manage to resume properly.
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Unlike autosuspend, there's no delay for an autoresume.
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Other parts of the driver interface
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-----------------------------------
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Sometimes a driver needs to make sure that remote wakeup is enabled
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during autosuspend. For example, there's not much point
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autosuspending a keyboard if the user can't cause the keyboard to do a
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remote wakeup by typing on it. If the driver sets
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intf->needs_remote_wakeup to 1, the kernel won't autosuspend the
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device if remote wakeup isn't available or has been disabled through
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the power/wakeup attribute. (If the device is already autosuspended,
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though, setting this flag won't cause the kernel to autoresume it.
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Normally a driver would set this flag in its probe method, at which
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time the device is guaranteed not to be autosuspended.)
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The usb_autopm_* routines have to run in a sleepable process context;
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they must not be called from an interrupt handler or while holding a
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spinlock. In fact, the entire autosuspend mechanism is not well geared
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toward interrupt-driven operation. However there is one thing a
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driver can do in an interrupt handler:
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usb_mark_last_busy(struct usb_device *udev);
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This sets udev->last_busy to the current time. udev->last_busy is the
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field used for idle-delay calculations; updating it will cause any
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pending autosuspend to be moved back. The usb_autopm_* routines will
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also set the last_busy field to the current time.
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Calling urb_mark_last_busy() from within an URB completion handler is
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subject to races: The kernel may have just finished deciding the
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device has been idle for long enough but not yet gotten around to
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calling the driver's suspend method. The driver would have to be
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responsible for synchronizing its suspend method with its URB
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completion handler and causing the autosuspend to fail with -EBUSY if
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an URB had completed too recently.
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External suspend calls should never be allowed to fail in this way,
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only autosuspend calls. The driver can tell them apart by checking
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udev->auto_pm; this flag will be set to 1 for internal PM events
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(autosuspend or autoresume) and 0 for external PM events.
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Many of the ingredients in the autosuspend framework are oriented
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towards interfaces: The usb_interface structure contains the
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pm_usage_cnt field, and the usb_autopm_* routines take an interface
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pointer as their argument. But somewhat confusingly, a few of the
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pieces (usb_mark_last_busy() and udev->auto_pm) use the usb_device
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structure instead. Drivers need to keep this straight; they can call
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interface_to_usbdev() to find the device structure for a given
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interface.
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Locking requirements
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--------------------
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All three suspend/resume methods are always called while holding the
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usb_device's PM mutex. For external events -- but not necessarily for
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autosuspend or autoresume -- the device semaphore (udev->dev.sem) will
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also be held. This implies that external suspend/resume events are
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mutually exclusive with calls to probe, disconnect, pre_reset, and
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post_reset; the USB core guarantees that this is true of internal
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suspend/resume events as well.
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If a driver wants to block all suspend/resume calls during some
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critical section, it can simply acquire udev->pm_mutex.
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Alternatively, if the critical section might call some of the
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usb_autopm_* routines, the driver can avoid deadlock by doing:
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down(&udev->dev.sem);
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rc = usb_autopm_get_interface(intf);
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and at the end of the critical section:
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if (!rc)
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usb_autopm_put_interface(intf);
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up(&udev->dev.sem);
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Holding the device semaphore will block all external PM calls, and the
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usb_autopm_get_interface() will prevent any internal PM calls, even if
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it fails. (Exercise: Why?)
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The rules for locking order are:
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Never acquire any device semaphore while holding any PM mutex.
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Never acquire udev->pm_mutex while holding the PM mutex for
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a device that isn't a descendant of udev.
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In other words, PM mutexes should only be acquired going up the device
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tree, and they should be acquired only after locking all the device
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semaphores you need to hold. These rules don't matter to drivers very
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much; they usually affect just the USB core.
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Still, drivers do need to be careful. For example, many drivers use a
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private mutex to synchronize their normal I/O activities with their
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disconnect method. Now if the driver supports autosuspend then it
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must call usb_autopm_put_interface() from somewhere -- maybe from its
|
|
close method. It should make the call while holding the private mutex,
|
|
since a driver shouldn't call any of the usb_autopm_* functions for an
|
|
interface from which it has been unbound.
|
|
|
|
But the usb_autpm_* routines always acquire the device's PM mutex, and
|
|
consequently the locking order has to be: private mutex first, PM
|
|
mutex second. Since the suspend method is always called with the PM
|
|
mutex held, it mustn't try to acquire the private mutex. It has to
|
|
synchronize with the driver's I/O activities in some other way.
|
|
|
|
|
|
Interaction between dynamic PM and system PM
|
|
--------------------------------------------
|
|
|
|
Dynamic power management and system power management can interact in
|
|
a couple of ways.
|
|
|
|
Firstly, a device may already be manually suspended or autosuspended
|
|
when a system suspend occurs. Since system suspends are supposed to
|
|
be as transparent as possible, the device should remain suspended
|
|
following the system resume. The 2.6.23 kernel obeys this principle
|
|
for manually suspended devices but not for autosuspended devices; they
|
|
do get resumed when the system wakes up. (Presumably they will be
|
|
autosuspended again after their idle-delay time expires.) In later
|
|
kernels this behavior will be fixed.
|
|
|
|
(There is an exception. If a device would undergo a reset-resume
|
|
instead of a normal resume, and the device is enabled for remote
|
|
wakeup, then the reset-resume takes place even if the device was
|
|
already suspended when the system suspend began. The justification is
|
|
that a reset-resume is a kind of remote-wakeup event. Or to put it
|
|
another way, a device which needs a reset won't be able to generate
|
|
normal remote-wakeup signals, so it ought to be resumed immediately.)
|
|
|
|
Secondly, a dynamic power-management event may occur as a system
|
|
suspend is underway. The window for this is short, since system
|
|
suspends don't take long (a few seconds usually), but it can happen.
|
|
For example, a suspended device may send a remote-wakeup signal while
|
|
the system is suspending. The remote wakeup may succeed, which would
|
|
cause the system suspend to abort. If the remote wakeup doesn't
|
|
succeed, it may still remain active and thus cause the system to
|
|
resume as soon as the system suspend is complete. Or the remote
|
|
wakeup may fail and get lost. Which outcome occurs depends on timing
|
|
and on the hardware and firmware design.
|
|
|
|
More interestingly, a device might undergo a manual resume or
|
|
autoresume during system suspend. With current kernels this shouldn't
|
|
happen, because manual resumes must be initiated by userspace and
|
|
autoresumes happen in response to I/O requests, but all user processes
|
|
and I/O should be quiescent during a system suspend -- thanks to the
|
|
freezer. However there are plans to do away with the freezer, which
|
|
would mean these things would become possible. If and when this comes
|
|
about, the USB core will carefully arrange matters so that either type
|
|
of resume will block until the entire system has resumed.
|