IAP09 CUDA@MIT 6.963 - Lecture 03: CUDA Basics #2 (Nicolas Pinto, MIT)

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IAP09 CUDA@MIT / 6.963

Supercomputing on your desktop:Programming the next generation of cheap

and massively parallel hardware using CUDA

Lecture 03

CUDA Basics #2-

Nicolas Pinto (MIT)

Tuesday, January 13, 2009

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During this course,

we’ll try to

and use existing material ;-)

“ ”

adapted for 6.963

Tuesday, January 13, 2009

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Todayyey!!

Tuesday, January 13, 2009

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LanguageCompilation

APIThreading Model

Memory Model

IAP09 CUDA@MIT / 6.963

Tuesday, January 13, 2009

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CUDA Language

IAP09 CUDA@MIT / 6.963

Tuesday, January 13, 2009

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16

Common Runtime Component:

Mathematical Functions• pow, sqrt, cbrt, hypot

• exp, exp2, expm1

• log, log2, log10, log1p

• sin, cos, tan, asin, acos, atan, atan2

• sinh, cosh, tanh, asinh, acosh, atanh

• ceil, floor, trunc, round

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Device Runtime Component:

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– __pow

– __log, __log2, __log10

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Page 39

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Tuesday, January 13, 2009

Page 40

!"#$%&'"(&)*+,-.#./"$0'"120342&"15"678

9):$0$;".<<&0=&>;"/8?8>@"AB3CC;"CDDB

Device Emulation Mode Pitfalls

• Emulated device threads execute sequentially, so simultaneous accesses of the same memorylocation by multiple threads could produce different results.

• Dereferencing device pointers on the host or host pointers on the device can produce correct results in device emulation mode, but will generate an error in device execution mode

Emu

Tuesday, January 13, 2009

Page 41

!"#$%&'"(&)*+,-.#./"$0'"120342&"15"678

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Floating Point

• Results of floating-point computations will slightly

differ because of:

– Different compiler outputs, instruction sets

– Use of extended precision for intermediate results

• There are various options to force strict single precision on

the host

Emu

Tuesday, January 13, 2009

Page 42

3M02: High Performance Computing with CUDA

4 cores

Libraries

!"##$ !"%&'( !")**

CUDA Compiler

+ !"#$#%&

CUDA Tools

'()*++(#,,*-./01-

GPU:card, system

Application SoftwareIndustry Standard C Language

Multicore CPU

CUDA ToolkitToolkit

Tuesday, January 13, 2009

Page 43

5M02: High Performance Computing with CUDA

CUDA Many-core + Multi-core supportCUDA Many-core + Multi-core support

C CUDA Application

Multi-core

CPU C code

Multi-core

gcc and

MSVC

Many-core

PTX code

PTX to Target

Compiler

Many-core

NVCC

--multicoreNVCC

Toolkit

Tuesday, January 13, 2009

Page 44

6M02: High Performance Computing with CUDA

CUDA Compiler: CUDA Compiler: nvccnvcc

Any source file containing CUDA language extensions (.cu)must be compiled with nvcc

NVCC is a compiler driver

Works by invoking all the necessary tools and compilers likecudacc, g++, cl, ...

NVCC can output:

Either C code (CPU Code)That must then be compiled with the rest of the application using another tool

Or PTX or object code directly

An executable with CUDA code requires:

The CUDA core library (cuda)

The CUDA runtime library (cudart)

Toolkit

Tuesday, January 13, 2009

Page 45

7M02: High Performance Computing with CUDA

CUDA Compiler: CUDA Compiler: nvccnvcc

Important flags:

-arch sm_13 Enable double precision ( on

compatible hardware)

-G Enable debug for device code

--ptxas-options=-v Show register and memory usage

--maxrregcount <N> Limit the number of registers

-use_fast_math Use fast math library

Toolkit

Tuesday, January 13, 2009

Page 46

8M02: High Performance Computing with CUDA

Compiling CUDA for Multi-CoreCompiling CUDA for Multi-Core

Using “—multicore” compile

switch with the NVCC

compiler generates C code

for multi-core CPU

Performance scales linearly

with more cores

Control numbers of cores

with environment variable

CUDA_NROF_CORES=n

NVCC --multicore

C/C++ CUDA

Application

Multicore CPU C Code

Multicore Optimized Application

gcc / MSVC

Toolkit

Tuesday, January 13, 2009

Page 47

35M02: High Performance Computing with CUDA

GPU ToolsGPU Tools

ProfilerAvailable now for all supported OSs

Command-line or GUI

Sampling signals on GPU for:

Memory access parameters

Execution (serialization, divergence)

DebuggerRuns on the GPU

Emulation modeCompile and execute in emulation on CPU

Allows CPU-style debugging in GPU source

Toolkit

Tuesday, January 13, 2009

Page 48

CUDA API

IAP09 CUDA@MIT / 6.963

Tuesday, January 13, 2009

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28M02: High Performance Computing with CUDA

Device ManagementDevice Management

CPU can query and select GPU devices

cudaGetDeviceCount( int* count )

cudaSetDevice( int device )

cudaGetDevice( int *current_device )

cudaGetDeviceProperties( cudaDeviceProp* prop,

int device )

cudaChooseDevice( int *device, cudaDeviceProp* prop )

Multi-GPU setup:

device 0 is used by default

one CPU thread can control one GPUmultiple CPU threads can control the same GPU

– calls are serialized by the driver

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Tuesday, January 13, 2009

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Page 73

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API

Tuesday, January 13, 2009

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CUDA Execution and Threading Model

IAP09 CUDA@MIT / 6.963

Tuesday, January 13, 2009

Page 75

© 2008 NVIDIA Corporation.

Execution Model

Software Hardware

Threads are executed by thread processors

Thread

Thread Processor

Thread Block Multiprocessor

Thread blocks are executed on multiprocessors

Thread blocks do not migrate

Several concurrent thread blocks can reside on one multiprocessor - limited by multiprocessor resources (shared memory and register file)

...

Grid Device

A kernel is launched as a grid of thread blocks

Only one kernel can execute on a device at one time

Threading

Tuesday, January 13, 2009

Page 76

9M02: High Performance Computing with CUDA

CUDA Uses Extensive MultithreadingCUDA Uses Extensive Multithreading

• CUDA threads express fine-grained data parallelism– Map threads to GPU threads or CPU vector elements

– Virtualize the processors

– You must rethink your algorithms to be aggressively parallel

• CUDA thread blocks express coarse-grained parallelism– Map blocks to GPU thread arrays or CPU threads

– Scale transparently to any number of processors

• GPUs execute thousands of lightweight threads– One DX10 graphics thread computes one pixel fragment

– One CUDA thread computes one result (or several results)

– Provide hardware multithreading & zero-overhead scheduling

Threading

Tuesday, January 13, 2009

Page 77

4M02: High Performance Computing with CUDA

CUDA Programming ModelCUDA Programming Model

Parallel code (kernel) is launched and executed on a

device by many threads

Threads are grouped into thread blocks

Parallel code is written for a thread

Each thread is free to execute a unique code path

Built-in thread and block ID variables

Threading

Tuesday, January 13, 2009

Page 78

5M02: High Performance Computing with CUDA

Thread HierarchyThread Hierarchy

Threads launched for a parallel section are

partitioned into thread blocks

Grid = all blocks for a given launch

Thread block is a group of threads that can:

Synchronize their execution

Communicate via shared memory

Threading

Tuesday, January 13, 2009

Page 79

6M02: High Performance Computing with CUDA

IDs and DimensionsIDs and Dimensions

Threads:

3D IDs, unique within a block

Blocks:

2D IDs, unique within a grid

Dimensions set at launch time

Can be unique for each section

Built-in variables:

threadIdx, blockIdx

blockDim, gridDim

Device

Grid 1

Block

(0, 0)

Block

(1, 0)

Block

(2, 0)

Block

(0, 1)

Block

(1, 1)

Block

(2, 1)

Block (1, 1)

Thread

(0, 1)

Thread

(1, 1)

Thread

(2, 1)

Thread

(3, 1)

Thread

(4, 1)

Thread

(0, 2)

Thread

(1, 2)

Thread

(2, 2)

Thread

(3, 2)

Thread

(4, 2)

Thread

(0, 0)

Thread

(1, 0)

Thread

(2, 0)

Thread

(3, 0)

Thread

(4, 0)

Threading

Tuesday, January 13, 2009

Page 80

© NVIDIA Corporation 2006 3

Programming Model

A kernel is executed as a grid of thread blocks

A thread block is a batch of threads that can cooperate with each other by:

Sharing data through shared memory

Synchronizing their execution

Threads from different blocks cannot cooperate

Host

Kernel 1

Kernel 2

Device

Grid 1

Block(0, 0)

Block(1, 0)

Block(2, 0)

Block(0, 1)

Block(1, 1)

Block(2, 1)

Grid 2

Block (1, 1)

Thread

(0, 1)

Thread

(1, 1)

Thread

(2, 1)

Thread

(3, 1)

Thread

(4, 1)

Thread

(0, 2)

Thread

(1, 2)

Thread

(2, 2)

Thread

(3, 2)

Thread

(4, 2)

Thread

(0, 0)

Thread

(1, 0)

Thread

(2, 0)

Thread

(3, 0)

Thread

(4, 0)

Threading

Tuesday, January 13, 2009

Page 81

10M02: High Performance Computing with CUDA

Blocks must be independentBlocks must be independent

Any possible interleaving of blocks should be valid

presumed to run to completion without pre-emption

can run in any order

can run concurrently OR sequentially

Blocks may coordinate but not synchronize

shared queue pointer: OK

shared lock: BAD … can easily deadlock

Independence requirement gives scalability

Threading

Tuesday, January 13, 2009

Page 82

39M02: High Performance Computing with CUDA

Hardware MultithreadingHardware Multithreading

Hardware allocates resources to blocks

blocks need: thread slots, registers, shared

memory

blocks don’t run until resources are available

Hardware schedules threads

threads have their own registers

any thread not waiting for something can run

context switching is free – every cycle

Hardware relies on threads to hide latency

i.e., parallelism is necessary for performance

SP

SharedMemory

MT IU

SM

Threading

Tuesday, January 13, 2009

Page 83

40M02: High Performance Computing with CUDA

SIMT Thread ExecutionSIMT Thread Execution

Groups of 32 threads formed into warpsalways executing same instruction

shared instruction fetch/dispatch

some become inactive when code path diverges

hardware automatically handles divergence

Warps are the primitive unit of scheduling

SIMT execution is an implementation choicesharing control logic leaves more space for ALUs

largely invisible to programmer

must understand for performance, not correctness

SP

SharedMemory

MT IU

SM

Threading

Tuesday, January 13, 2009

Page 84

© 2008 NVIDIA Corporation.

Transparent Scalability

Kernel grid

Block 2 Block 3

Block 4 Block 5

Block 6 Block 7

Device Device

Block 0 Block 1 Block 2 Block 3

Block 4 Block 5 Block 6 Block 7

Block 0 Block 1

Block 2 Block 3

Block 4 Block 5

Block 6 Block 7

Block 0 Block 1

Hardware is free to schedule thread blocks on any processor

A kernel scales across parallel multiprocessors

Threading

Tuesday, January 13, 2009

Page 85

10M02: High Performance Computing with CUDA

GPU Sizes Require CUDA ScalabilityGPU Sizes Require CUDA Scalability

GPU

Interconnection Network

SMC

Geometry Controller

SP

SharedM emory

SP

SP SP

SP SP

SP SP

I-Cache

M T Issue

C -Cache

SFU SFU

SP

SharedM emory

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Texture Unit

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SMC

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Tuesday, January 13, 2009

Page 86

CUDA Memory Model

IAP09 CUDA@MIT / 6.963

Tuesday, January 13, 2009

Page 87

© 2008 NVIDIA Corporation.

Kernel Memory Access

Per-thread

Per-block

Per-device

ThreadRegisters

Local Memory

SharedMemory

Block

...Kernel 0

...Kernel 1

GlobalMemory

Time

On-chip

Off-chip, uncached

• On-chip, small

• Fast

• Off-chip, large

• Uncached

• Persistent across kernel launches

• Kernel I/O

Memory

Tuesday, January 13, 2009

Page 88

13M02: High Performance Computing with CUDA

Memory modelMemory model

Thread

Per-threadLocal Memory

Block

Per-blockSharedMemory

Memory

Tuesday, January 13, 2009

Page 89

14M02: High Performance Computing with CUDA

Memory modelMemory model

Kernel 0

. . .Per-device

GlobalMemory

. . .

Kernel 1

Sequential

Kernels

Memory

Tuesday, January 13, 2009

Page 90

15M02: High Performance Computing with CUDA

Memory modelMemory model

Device 0memory

Device 1memory

Host memory cudaMemcpy()

Memory

Tuesday, January 13, 2009

Page 91

© NVIDIA Corporation 2006 6

Programming Model:Memory Spaces

Each thread can:Read/write per-thread registers

Read/write per-thread local memory

Read/write per-block shared memory

Read/write per-grid global memory

Read only per-grid constant memory

Read only per-grid texture memory

Grid

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HostThe host can read/write global, constant, and texture memory (stored in DRAM)

Memory

Tuesday, January 13, 2009

Page 92

19M02: High Performance Computing with CUDA

Variable Qualifiers (GPU code)Variable Qualifiers (GPU code)

__device__stored in global memory (not cached, high latency)

accessible by all threads

lifetime: application

__constant__stored in global memory (cached)

read-only for threads, written by host

Lifetime: application

__shared__stored in shared memory (latency comparable to registers)

accessible by all threads in the same threadblock

lifetime: block lifetime

Unqualified variables:Stored in local memory:

scalars and built-in vector types are stored in registers

arrays are stored in device memory

Memory

Tuesday, January 13, 2009

Page 93

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