feat(hal): add RK3588 (Radxa CM5) HAL with sysfs fan control (#155)

Co-authored-by: Claude Opus 4.5 <noreply@anthropic.com> Co-authored-by: Cedric Specht <cedric@specht-labs.de>
2026-04-16 07:25:41 +02:00 · 2026-03-04 04:30:45 -10:00
parent ed39f8320b
commit 03541febb2
4 changed files with 300 additions and 1 deletions
--- a/.gitignore
+++ b/.gitignore
@@ -186,4 +186,8 @@ Temporary Items
 .history
 .ionide

-# End of https://www.toptal.com/developers/gitignore/api/go,visualstudiocode,goland+all,macos,linux
+# End of https://www.toptal.com/developers/gitignore/api/go,visualstudiocode,goland+all,macos,linux
+# Build artifacts
+agent
+bladectl
+compute-blade-agent
--- a/pkg/hal/hal_rk3588.go
+++ b/pkg/hal/hal_rk3588.go
@@ -0,0 +1,178 @@
+//go:build linux && !tinygo
+
+package hal
+
+import (
+	"context"
+	"fmt"
+	"io"
+	"os"
+	"path/filepath"
+	"strconv"
+	"strings"
+
+	"github.com/compute-blade-community/compute-blade-agent/pkg/hal/led"
+	"github.com/compute-blade-community/compute-blade-agent/pkg/log"
+	"go.uber.org/zap"
+)
+
+const (
+	rk3588ThermalZonePath = "/sys/class/thermal/thermal_zone0/temp"
+	rk3588PwmFanHwmonName = "pwmfan"
+)
+
+// rk3588 implements the ComputeBladeHal interface for the Rockchip RK3588 (Radxa CM5).
+// Fan control uses the kernel's pwmfan driver via sysfs. GPIO-dependent features
+// (button, stealth hardware, PoE detection, LEDs, tachometer) are stubbed until the
+// Rockchip-to-B2B-connector pin mapping is determined.
+type rk3588 struct {
+	opts          ComputeBladeHalOpts
+	pwmPath       string // e.g. /sys/class/hwmon/hwmon8/pwm1
+	pwmEnablePath string // e.g. /sys/class/hwmon/hwmon8/pwm1_enable
+	stealthMode   bool
+}
+
+// Compile-time interface check
+var _ ComputeBladeHal = &rk3588{}
+
+func newRk3588Hal(ctx context.Context, opts ComputeBladeHalOpts) (*rk3588, error) {
+	logger := log.FromContext(ctx)
+
+	pwmPath, err := findHwmonPwm(rk3588PwmFanHwmonName)
+	if err != nil {
+		return nil, fmt.Errorf("failed to find pwmfan hwmon device: %w", err)
+	}
+
+	enablePath := pwmPath + "_enable"
+
+	// Set manual control mode (1 = manual PWM control)
+	if err := os.WriteFile(enablePath, []byte("1"), 0644); err != nil {
+		return nil, fmt.Errorf("failed to set pwm1_enable to manual mode: %w", err)
+	}
+
+	computeModule.WithLabelValues("radxa-cm5").Set(1)
+
+	logger.Info("starting hal setup", zap.String("hal", "rk3588"))
+	logger.Warn("GPIO pin mapping unknown for RK3588 B2B connector — button, stealth hardware, PoE detection, LEDs, and tachometer are stubbed")
+
+	return &rk3588{
+		opts:          opts,
+		pwmPath:       pwmPath,
+		pwmEnablePath: enablePath,
+	}, nil
+}
+
+func (rk *rk3588) Run(ctx context.Context) error {
+	fanUnit.WithLabelValues("sysfs").Set(1)
+	<-ctx.Done()
+	return ctx.Err()
+}
+
+func (rk *rk3588) Close() error {
+	return nil
+}
+
+// SetFanSpeed sets the fan speed via sysfs pwm1 (0-100% mapped to 0-255).
+func (rk *rk3588) SetFanSpeed(speed uint8) error {
+	fanTargetPercent.Set(float64(speed))
+
+	var pwmVal uint8
+	if speed == 0 {
+		pwmVal = 0
+	} else if speed >= 100 {
+		pwmVal = 255
+	} else {
+		pwmVal = uint8(float64(speed) * 255.0 / 100.0)
+	}
+
+	return os.WriteFile(rk.pwmPath, []byte(strconv.Itoa(int(pwmVal))), 0644)
+}
+
+// GetFanRPM returns 0 — no tachometer GPIO is mapped on the RK3588.
+func (rk *rk3588) GetFanRPM() (float64, error) {
+	return 0, nil
+}
+
+// GetTemperature returns the SoC temperature in degrees Celsius.
+func (rk *rk3588) GetTemperature() (float64, error) {
+	f, err := os.Open(rk3588ThermalZonePath)
+	if err != nil {
+		return -1, err
+	}
+	defer func() { _ = f.Close() }()
+
+	raw, err := io.ReadAll(f)
+	if err != nil {
+		return -1, err
+	}
+
+	cpuTemp, err := strconv.Atoi(strings.TrimSpace(string(raw)))
+	if err != nil {
+		return -1, err
+	}
+
+	temp := float64(cpuTemp) / 1000.0
+	socTemperature.Set(temp)
+
+	return temp, nil
+}
+
+// SetStealthMode tracks stealth mode in software only (no GPIO mapped).
+func (rk *rk3588) SetStealthMode(enabled bool) error {
+	rk.stealthMode = enabled
+	if enabled {
+		stealthModeEnabled.Set(1)
+	} else {
+		stealthModeEnabled.Set(0)
+	}
+	return nil
+}
+
+func (rk *rk3588) StealthModeActive() bool {
+	return rk.stealthMode
+}
+
+// SetLed is a no-op — WS281x LED GPIO pin mapping is unknown on RK3588.
+func (rk *rk3588) SetLed(idx LedIndex, color led.Color) error {
+	ledColorChangeEventCount.Inc()
+	return nil
+}
+
+// GetPowerStatus returns PowerPoeOrUsbC as a safe default (no PoE detection GPIO mapped).
+func (rk *rk3588) GetPowerStatus() (PowerStatus, error) {
+	powerStatus.WithLabelValues(fmt.Sprint(PowerPoe802at)).Set(0)
+	powerStatus.WithLabelValues(fmt.Sprint(PowerPoeOrUsbC)).Set(1)
+	return PowerPoeOrUsbC, nil
+}
+
+// WaitForEdgeButtonPress blocks until context cancellation (no button GPIO mapped).
+func (rk *rk3588) WaitForEdgeButtonPress(ctx context.Context) error {
+	<-ctx.Done()
+	return ctx.Err()
+}
+
+// findHwmonPwm scans /sys/class/hwmon/hwmon*/name for a device matching the given name
+// and returns the path to its pwm1 file.
+func findHwmonPwm(name string) (string, error) {
+	matches, err := filepath.Glob("/sys/class/hwmon/hwmon*/name")
+	if err != nil {
+		return "", fmt.Errorf("failed to glob hwmon devices: %w", err)
+	}
+
+	for _, namePath := range matches {
+		raw, err := os.ReadFile(namePath)
+		if err != nil {
+			continue
+		}
+		if strings.TrimSpace(string(raw)) == name {
+			dir := filepath.Dir(namePath)
+			pwmPath := filepath.Join(dir, "pwm1")
+			if _, err := os.Stat(pwmPath); err != nil {
+				return "", fmt.Errorf("found %s hwmon at %s but pwm1 does not exist: %w", name, dir, err)
+			}
+			return pwmPath, nil
+		}
+	}
+
+	return "", fmt.Errorf("no hwmon device found with name %q", name)
+}
--- a/pkg/hal/platform_linux.go
+++ b/pkg/hal/platform_linux.go
@@ -31,6 +31,8 @@ func NewHal(ctx context.Context, opts ComputeBladeHalOpts) (ComputeBladeHal, err
 		return newBcm2712Hal(ctx, opts)
 	case strings.Contains(compatStr, "bcm2711"):
 		return newBcm2711Hal(ctx, opts)
+	case strings.Contains(compatStr, "rockchip,rk3588"):
+		return newRk3588Hal(ctx, opts)
 	default:
 		return nil, fmt.Errorf("unsupported platform: %s", strings.ReplaceAll(compatStr, "\x00", ", "))
 	}
--- a/scripts/find-tach-gpio.sh
+++ b/scripts/find-tach-gpio.sh
@@ -0,0 +1,115 @@
+#!/bin/bash
+# find-tach-gpio.sh - Safely probe GPIOs to find fan tachometer signal
+# Run on Radxa node with fan at 100%: sudo ./find-tach-gpio.sh
+#
+# The tachometer generates 2 pulses per revolution. At 5000 RPM:
+#   5000 RPM / 60 = 83.33 RPS * 2 pulses = ~167 Hz
+# At 3000 RPM: ~100 Hz
+# We look for any GPIO showing periodic edge events.
+
+set -e
+
+PROBE_DURATION=1       # seconds to monitor each GPIO
+MIN_EVENTS=10          # minimum events to consider "active" (10 events in 1s = 600 RPM minimum)
+DELAY_BETWEEN=0.5      # seconds between probes to let system settle
+
+# Colors for output
+RED='\033[0;31m'
+GREEN='\033[0;32m'
+YELLOW='\033[1;33m'
+NC='\033[0m' # No Color
+
+echo "=== Fan Tachometer GPIO Finder ==="
+echo ""
+
+# Check if running as root (needed for gpiomon)
+if [ "$EUID" -ne 0 ]; then
+    echo -e "${RED}Please run as root (sudo)${NC}"
+    exit 1
+fi
+
+# Check fan speed
+FAN_PWM=$(cat /sys/class/hwmon/hwmon8/pwm1 2>/dev/null || echo "unknown")
+echo "Current fan PWM: $FAN_PWM (should be 255 for best detection)"
+if [ "$FAN_PWM" != "255" ]; then
+    echo -e "${YELLOW}Setting fan to 100% for detection...${NC}"
+    echo 255 > /sys/class/hwmon/hwmon8/pwm1
+    sleep 2  # Let fan spin up
+fi
+echo ""
+
+# Get list of gpiochips
+CHIPS=$(ls /dev/gpiochip* | sed 's|/dev/||')
+
+echo "Scanning GPIO chips: $CHIPS"
+echo "Probe duration: ${PROBE_DURATION}s per line, minimum ${MIN_EVENTS} events to flag"
+echo ""
+
+FOUND_CANDIDATES=""
+
+for chip in $CHIPS; do
+    # Get number of lines for this chip
+    NUM_LINES=$(gpioinfo $chip 2>/dev/null | wc -l)
+    NUM_LINES=$((NUM_LINES - 1))  # Subtract header line
+
+    if [ "$NUM_LINES" -le 0 ]; then
+        continue
+    fi
+
+    echo -e "${YELLOW}=== Scanning $chip ($NUM_LINES lines) ===${NC}"
+
+    for line in $(seq 0 $((NUM_LINES - 1))); do
+        # Check if line is already in use
+        LINE_INFO=$(gpioinfo $chip 2>/dev/null | grep "line *$line:" || true)
+        if echo "$LINE_INFO" | grep -q "\[used\]"; then
+            # Skip lines that are in use
+            continue
+        fi
+
+        # Probe the line
+        printf "  Line %2d: " "$line"
+
+        # Run gpiomon with timeout, count events
+        EVENTS=$(timeout ${PROBE_DURATION}s gpiomon --num-events=100 $chip $line 2>&1 | wc -l || echo "0")
+
+        if [ "$EVENTS" -ge "$MIN_EVENTS" ]; then
+            # Calculate approximate frequency
+            FREQ=$((EVENTS / PROBE_DURATION))
+            RPM_ESTIMATE=$((FREQ * 60 / 2))  # 2 pulses per revolution
+            echo -e "${GREEN}ACTIVE! $EVENTS events (~${FREQ} Hz, ~${RPM_ESTIMATE} RPM)${NC}"
+            FOUND_CANDIDATES="$FOUND_CANDIDATES\n  $chip line $line: $EVENTS events (~${RPM_ESTIMATE} RPM)"
+        elif [ "$EVENTS" -gt 0 ]; then
+            echo "$EVENTS events (noise?)"
+        else
+            echo "no events"
+        fi
+
+        # Small delay to let system settle
+        sleep $DELAY_BETWEEN
+    done
+    echo ""
+done
+
+echo "=== Scan Complete ==="
+if [ -n "$FOUND_CANDIDATES" ]; then
+    echo -e "${GREEN}Candidate tachometer GPIOs found:${NC}"
+    echo -e "$FOUND_CANDIDATES"
+    echo ""
+    echo "To verify, try monitoring the candidate with varying fan speeds:"
+    echo "  gpiomon --num-events=50 <chip> <line>"
+    echo ""
+    echo "Then add to device tree or HAL configuration."
+else
+    echo -e "${YELLOW}No active GPIOs found.${NC}"
+    echo "Possible reasons:"
+    echo "  - Fan tachometer not connected on this carrier board"
+    echo "  - Tachometer uses a different interface (I2C, ADC, etc.)"
+    echo "  - Fan doesn't have tachometer wire connected"
+fi
+
+# Restore fan to auto if we changed it
+if [ "$FAN_PWM" != "255" ] && [ "$FAN_PWM" != "unknown" ]; then
+    echo ""
+    echo "Restoring fan PWM to $FAN_PWM"
+    echo "$FAN_PWM" > /sys/class/hwmon/hwmon8/pwm1
+fi