CUDA Programming Introduction

Introduction to CUDA Programming

Andreas Moshovos
Winter 2009
Some slides/material from:
UIUC course by Wen-Mei Hwu and David Kirk
UCSB course by Andrea Di Blas
Universitat Jena by Waqar Saleem
NVIDIA by Simon Green
 Programmer’s view
• GPU as a co-processor

CPU 3GB/s – 8GB.s GPU

141GB/sec

6.4GB/sec – 31.92GB/sec
8B per transfer
GPU Memory
Memory
1GB on our systems
 Target Applications
int a[N]; // N is large
for all elements of a compute
a[i] = a[i] * fade
• Lots of independent computations
– CUDA thread need not be independent
 Programmer’s View of the GPU

• GPU: a compute device that:

– Is a coprocessor to the CPU or host
– Has its own DRAM (device memory)
– Runs many threads in parallel

• Data-parallel portions of an application are

executed on the device as kernels which run in
parallel on many threads
 Why are threads useful?
• Concurrency:
– Do multiple things in parallel
Needs more functional units

– Put more hardware  Get higher performance

 Why are threads useful #2 – Tolerating stalls
• Often a thread stalls, e.g., memory access
Multiplex the same functional unit
Get more performance at a fraction of the cost
 GPU vs. CPU Threads

• GPU threads are extremely lightweight

• Very little creation overhead
• In the order of microseconds

• GPU needs 1000s of threads for full efficiency

• Multi-core CPU needs only a few
Execution Timeline
CPU / Host
1. Copy to GPU mem
GPU / Device

2. Launch GPU Kernel

2’. Synchronize with GPU

3. Copy from GPU mem

time
GBT: Grids of Blocks of Threads

Why? Realities of integrated circuits: need to cluster computation and storage

to achieve high speeds
 Grids of Blocks of Threads: Dimension Limits
• Grid of Blocks 1D or 2D
– Max x: 65535
– Max y: 65535

• Block of Threads: 1D, 2D, or 3D

– Max number of threads: 512
– Max x: 512
– Max y: 512
– Max z: 64

• Limits apply to Compute Capability 1.0, 1.1, 1.2, and 1.3

– GTX280 = 1.3
Block and Thread IDs

Device

• Threads and blocks have IDs Grid 1

– So each thread can decide what Block

(0, 0)
Block
(1, 0)
Block
(2, 0)
data to work on
Block Block Block
– Block ID: 1D or 2D (0, 1) (1, 1) (2, 1)

– Thread ID: 1D, 2D, or 3D

Block (1, 1)

• Simplifies memory Thread Thread Thread Thread Thread

(0, 0) (1, 0) (2, 0) (3, 0) (4, 0)

addressing when processing Thread Thread Thread Thread Thread

(0, 1) (1, 1) (2, 1) (3, 1) (4, 1)
multidimensional data Thread Thread Thread Thread Thread
(0, 2) (1, 2) (2, 2) (3, 2) (4, 2)

• IDs and dimensions are easily accessible through

predefined “variables”, e.g., blockDim.x and threadIdx.x
 Thread Batching
• A kernel is executed as a
grid of thread blocks Host Device

– All threads share data memory Grid 1

space Kernel Block Block Block

1 (0, 0) (1, 0) (2, 0)
• A thread block: threads that
can cooperate with each Block
(0, 1)
Block
(1, 1)
Block
(2, 1)

other by:
Grid 2
– Synchronizing their execution
Kernel
• For hazard-free shared memory 2
accesses
– Efficiently sharing data through Block (1, 1)
a low latency shared memory
Thread Thread Thread Thread Thread
• Two threads from two (0, 0) (1, 0) (2, 0) (3, 0) (4, 0)

different blocks cannot Thread Thread Thread Thread Thread

(0, 1) (1, 1) (2, 1) (3, 1) (4, 1)
cooperate Thread Thread Thread Thread Thread
(0, 2) (1, 2) (2, 2) (3, 2) (4, 2)
 Thread Coordination Overview
• Race-free access to data
Programmer’s view: Memory Model
Programmer’s View: Memory Detail – Thread and Host

• Each thread can:

– R/W per-thread registers
– R/W per-thread local memory
– R/W per-block shared memory
– R/W per-grid global memory
– Read only per-grid constant memory
– Read only per-grid texture memory

• The host can R/W:

• global, constant, and texture memories
Memory Model: Global, Constant, and Texture Memories

• Global memory
– Main means of communicating R/W Data between
host and device
– Contents visible to all threads

• Texture and Constant Memories

– Constants initialized by host
– Contents visible to all threads
 Memory Model Summary

Memory Location Cached Access Scope

Local off-chip No R/W thread
Shared on-chip N/A R/W all threads in a block
Global off-chip No R/W all threads + host
Constant off-chip Yes RO all threads + host

Texture off-chip Yes RO all threads + host

 Execution Model: Ordering

• Execution order is undefined

• Do not assume and use:

• block 0 executes before block 1
• Thread 10 executes before thread 20
• And any other ordering even if you can observe it
 Execution Model Summary
• Grid of blocks of threads
– 1D/2D grid of blocks
– 1D/2D/3D blocks of threads
• All blocks are identical:
– same structure and # of threads
• Block execution order is undefined
• Same block threads:
– can synchronize and share data fast (shared memory)
• Threads from different blocks:
– Cannot cooperate
– Communication through global memory
• Threads and Blocks have IDs
– Simplifies data indexing
– Can be 1D, 2D, or 3D (threads)
• Blocks do not migrate: execute on the same processor
• Several blocks may run over the same processor
CUDA Software Architecture

e.g., fft()

cuda…()

cu…()
 Reasoning about CUDA call ordering
• GPU communication via cuda…() calls and
kernel invocations
– cudaMalloc, cudaMemCpy,
• Asynchronous from the CPU’s perspective
– CPU places a request in a “CUDA” queue
– requests are handled in-order
• Streams allow for multiple queues
– More on this much later one
 CUDA API: Example
int a[N];
for (i =0; i < N; i++)
a[i] = a[i] + x;
1. Allocate CPU Data Structure
2. Initialize Data on CPU
3. Allocate GPU Data Structure
4. Copy Data from CPU to GPU
5. Define Execution Configuration
6. Run Kernel
7. CPU synchronizes with GPU
8. Copy Data from GPU to CPU
9. De-allocate GPU and CPU memory
 1. Allocate CPU Data
float *ha;

main (int argc, char *argv[])

{
int N = atoi (argv[1]);
ha = (float *) malloc (sizeof (float) * N);

...
}

• Pinned memory allocation results in faster CPU to/from GPU

copies
• More on this later
• cudaMallocHost (…)
 2. Initialize CPU Data
float *ha;

int i;

for (i = 0; i < N; i++)

ha[i] = i;
 3. Allocate GPU Data

float *da;

cudaMalloc ((void **) &da, sizeof (float) * N);

• Notice: no assignment side

– NOT: da = cudaMalloc (…)

• Assignment is done internally:

– That why we pass &da

• Allocated space in Global Memory

 GPU Memory Allocation
• The host manages GPU memory allocation:
– cudaMalloc (void **ptr, size_t nbytes)
– Must explicitly cast to (void **)
• cudaMalloc ((void **) &da, sizeof (float) * N);

– cudaFree (void *ptr);

• cudaFree (da);

– cudaMemset (void *ptr, int value, size_t

nbytes);
– cudaMemset (da, 0, N * sizeof (int));

• Check the CUDA Reference Manual

 4. Copy Initialized CPU data to GPU

float *da;
float *ha;

cudaMemCpy ((void *) da, //

DESTINATION
(void *) ha, // SOURCE
sizeof (float) * N, // #bytes
cudaMemcpyHostToDevice); // DIRECTION
 Host/Device Data Transfers
• The host initiates all transfers:
• cudaMemcpy( void *dst, void *src,
size_t nbytes,
enum cudaMemcpyKind direction)
• Asynchronous from the CPU’s perspective
– CPU thread continues
• In-order processing with other CUDA requests

• enum cudaMemcpyKind
– cudaMemcpyHostToDevice
– cudaMemcpyDeviceToHost
– cudaMemcpyDeviceToDevice
 5. Define Execution Configuration
• How many blocks and threads/block

int threads_block = 64;

int blocks = N / threads_block;
if (blocks % N != 0) blocks += 1;

• Alternatively:

blocks = (N + threads_block – 1) /
threads_block;
 6. Launch Kernel & 7. CPU/GPU Synchronization

• Instructs the GPU to launch blocks x thread_blocks

threads:

darradd <<<blocks, threads_block>> (da, 10f, N);

cudaThreadSynchronize ();

• darradd: kernel name

• <<<…>>> execution configuration
– More on this soon
• (da, x, N): arguments
– 256 – 8 byte limit / No variable arguments
 CPU/GPU Synchronization
• CPU does not block on cuda…() calls
– Kernel/requests are queued and processed in-order
– Control returns to CPU immediately

• Good if there is other work to be done

– e.g., preparing for the next kernel invocation

• Eventually, CPU must know when GPU is done

• Then it can safely copy the GPU results

• cudaThreadSynchronize ()
– Block CPU until all preceding cuda…() and kernel requests
have completed
 8. Copy data from GPU to CPU & 9. DeAllocate Memory
float *da;
float *ha;

cudaMemCpy ((void *) ha, //

DESTINATION
(void *) da, // SOURCE
sizeof (float) * N, // #bytes
cudaMemcpyDeviceToHost); // DIRECTION

cudaFree (da);
// display or process results here
free (ha);
 The GPU Kernel
__global__ darradd (float *da, float x, int N)
{
int i = blockIdx.x * blockDim.x + threadIdx.x;

if (i < N) da[i] = da[i] + x;

}

• BlockIdx: Unique Block ID.

– Numerically asceding: 0, 1, …
• ThreadIdx: Unique per Block Index
– 0, 1, …
– Per Block
• BlockDim: Dimensions of Block
– BlockDim.x, BlockDim.y, BlockDim.z
– Unused dimensions default to 0
 Array Index Calculation Example
int i = blockIdx.x * blockDim.x + threadIdx.x;

blockIdx.x 0 blockIdx.x 1 blockIdx.x 2

a[0] a[63] a[64] a[127]a[128] a[255]a[256]

0
63
0

63

63
0

x
x

.x

.x

x.
.x
x.

.x

.x
dx

dx

Id
dx
Id

dx

dx

ad
I

I
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ad

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re
re

re

re
re

re

re

th
th

th

th
th

th

th
i=0 i = 63 i = 64 i = 127 i = 128 i = 255 i = 256

Assuming blockDim.x = 64
 Generic Unique Thread and Block Index Calculations #1

• 1D Grid / 1D Blocks:

UniqueBlockIndex = blockIdx.x;
UniqueThreadIndex = blockIdx.x * blockDim.x +
threadIdx.x;

• 1D Grid / 2D Blocks:

UniqueBlockIndex = blockIdx.x;
UniqueThreadIndex = blockIdx.x * blockDim.x * blockDim.y
+ threadIdx.y * blockDim.x + threadIdx.x;

• 1D Grid / 3D Blocks:

UniqueBockIndex = blockIdx.x;
UniqueThreadIndex = blockIdx.x * blockDim.x * blockDim.y
* blockDim.z + threadIdx.z * blockDim.y * blockDim.x +
threadIdx.y * blockDim.x + threadIdx.x;

• Source: http://forums.nvidia.com/lofiversion/index.php?t82040.html
 Generic Unique Thread and Block Index Calculations #2

• 2D Grid / 1D Blocks:

UniqueBlockIndex = blockIdx.y * gridDim.x + blockIdx.x;

UniqueThreadIndex = UniqueBlockIndex * blockDim.x +
threadIdx.x;

• 2D Grid / 2D Blocks:

UniqueBlockIndex = blockIdx.y * gridDim.x + blockIdx.x;

UniqueThreadIndex =UniqueBlockIndex * blockDim.y * blockDim.x
+ threadIdx.y * blockDim.x + threadIdx.x;

• 2D Grid / 3D Blocks:

UniqueBlockIndex = blockIdx.y * gridDim.x + blockIdx.x;

UniqueThreadIndex = UniqueBlockIndex * blockDim.z * blockDim.y
* blockDim.x + threadIdx.z * blockDim.y * blockDim.z +
threadIdx.y * blockDim.x + threadIdx.x;

• UniqueThreadIndex means unique per grid.

 CUDA Function Declarations
Executed Only callable
on the: from the:

__device__ float DeviceFunc() device device

__global__ void KernelFunc() device host
__host__ float HostFunc() host host

• __global__ defines a kernel function

– Must return void
– Can only call __device__ functions
• __device__ and __host__ can be used together
 __device__ Example
• Add x to a[i] multiple times

__device__ float addmany (float a, float b, int count)

{
while (count--) a += b;
return a;
}

__global__ darradd (float *da, float x, int N)

{
int i = blockIdx.x * blockDim.x + threadIdx.x;

if (i < N) da[i] = addmany (da[i], x, 10);

}
 Kernel and Device Function Restrictions
• __device__ functions cannot have their address taken
– e.g., f = &addmany; *f(…);

• For functions executed on the device:

– No recursion
• darradd (…)
{
darradd (…)
}
– No static variable declarations inside the function
• darradd (…)
{
static int canthavethis;
}

– No variable number of arguments

• e.g., something like printf (…)
 Predefined Vector Datatypes
• Can be used both in host and in device code.
– [u]char[1..4], [u]short[1..4],
[u]int[1..4], [u]long[1..4],
float[1..4]
• Structures accessed with .x, .y, .z, .w
fields
• default constructors, “make_TYPE (…)”:
– float4 f4 = make_float4 (1f, 10f,
1.2f, 0.5f);
• dim3
– type built on uint3
– Used to specify dimensions
– Default value is (1, 1, 1)
 Execution Configuration
• Must specify when calling a __global__ function:
<<< Dg, Db [, Ns [, S]] >>>
• where:
– dim3 Dg: grid dimensions in blocks
– dim3 Db: block dimensions in threads
– size_t Ns: per block additional number of shared
memory bytes to allocate
• optional, defaults to 0
• more on this much later on
– cudaStream_t S: request stream(queue)
• optional, default to 0.
• Compute capability >= 1.1
Built-in Variables
• dim3 gridDim
– Number of blocks per grid, in 2D (.z always 1)

• uint3 blockIdx
– Block ID, in 2D (blockIdx.z = 1 always)

• dim3 blockDim
– Number of threads per block, in 3D

• uint3 threadIdx
– Thread ID in block, in 3D
 Execution Configuration Examples
• 1D grid / 1D blocks
dim3 gd(1024)
dim3 bd(64)
akernel<<<gd, bd>>>(...)
gridDim.x = 1024, gridDim.y = 1,
blockDim.x = 64, blockDim.y = 1, blockDim.z = 1
• 2D grid / 3D blocks
dim3 gd(4, 128)
dim3 bd(64, 16, 4)
akernel<<<gd, bd>>>(...)
gridDim.x = 4, gridDim.y = 128,
blockDim.x = 64, blockDim.y = 16, blockDim.z
= 4
 Error Handling
• Most cuda…() functions return a cudaError_t
– If cudaSuccess: Request completed without a problem

• cudaGetLastError():
– returns the last error to the CPU
– Use with cudaThreadSynchronize():
cudaError_t code;
cudaThreadSynchronize ();
code = cudaGetLastError ();

• char *cudaGetErrorString(cudaError_t code);

– returns a human-readable description of the error code
 Error Handling Utility Function
void
cudaDie (const char *msg)
{
cudaError_t err;
cudaThreadSynchronize ();
err = cudaGetLastError();

if (err == cudaSuccess) return;

fprintf (stderr, "CUDA error: %s: %s.\n",
msg,
cudaGetErrorString (err));
exit(EXIT_FAILURE);
}
• adapted from: http://www.ddj.com/hpc-high-performance-computing/207603131
 Error Handling Macros
• CUDA_SAFE_CALL ( some cuda call )
CUDA_SAFE_CALL (cudaMemcpy (a_h, a_d, arr_size,
cudaMemcpyDeviceToHost) );

• Must define #define _DEBUG

– No code emitted when undefined: Performance
• Use make dbg=1 under NVIDIA_CUDA_SDK
 Measuring Time -- gettimeofday
• Unix-based:
#include <sys/time.h>
#include <time.h>

struct timeval start, end;

gettimeofday (&start, NULL);

WHAT WE ARE INTERESTED IN
gettimeofday (&end, NULL);

timeCpu = (float)(end.tv_sec - start.tv_sec);

if (end.tv_usec < start.tv_usec)
{
timeCpu -= 1.0;
timeCpu += (double)(1000000.0 + end.tv_usec -
start.tv_usec)/1000000.0;
} else
timeCpu += (double)(end.tv_usec - start.tv_usec)/1000000.0;
 Using CUDA clock ()
• clock_t clock ();
• Can be used in device code
• returns per multiprocessor counter which is incremented every clock cycle
• Sample at the beginning and end
• upper bound since threads are time-sliced
• uint start = clock();
... compute (less than 3 sec) ....
uint end = clock();
if (end > start)
time = end - start;
else
time = end + (0xffffffff - start)
• Look at the clock example under projects in SDK
• Using takes some effort
– Every thread measures start and end
– Then must find min start and max end
– Accurate
 Using cutTimer…() library calls
#include <cuda.h>
#include <cutil.h>
unsigned int htimer;

cutCreateTimer (&htimer);
CudaThreadSynchronize ();
cutStartTimer(htimer);
WHAT WE ARE INTERESTED IN
cudaThreadSynchronize ();
cutStopTimer(htimer);
printf (“time: %f\n", cutGetTimerValue(htimer));
Code Overview: Host side
#include <cuda.h>
#include <cutil.h>
unsigned int htimer;
float *ha, *da;
main (int argc, char *argv[]) {
int N = atoi (argv[1]);
ha = (float *) malloc (sizeof (float) * N);
for (int i = 0; i < N; i++) ha[i] = i;
cutCreateTimer (&htimer);
cudaMalloc ((void **) &da, sizeof (float) * N);
cudaMemCpy ((void *) da, (void *) ha, sizeof (float) * N,
cudaMemcpyHostToDevice);
cudaThreadSynchronize ();
cutStartTimer(htimer);
blocks = (N + threads_block – 1) / threads_block;
darradd <<<blocks, threads_block>> (da, 10f, N)
cudaThreadSynchronize ();
cutStopTimer(htimer);
cudaMemCpy ((void *) ha, (void *) da, sizeof (float) * N,
cudaMemcpyDeviceToHost);
cudaFree (da);
free (ha);
printf (“processing time: %f\n", cutGetTimerValue(htimer));
}
 Code Overview: Device Side
__device__ float addmany (float a, float b, int count)
{
while (count--) a += b;
return a;
}

__global__ darradd (float *da, float x, int N)

{
int i = blockIdx.x * blockDim.x + threadIdx.x;

if (i < N) da[i] = addmany (da[i], x, 10);

}
 Variable Declarations – Will revisit next time

• __device__
– stored in device memory (large, high latency, no cache)
– Allocated with cudaMalloc (__device__qualifier implied)
– accessible by all threads
– lifetime: application

• __constant__
– same as __device__, but cached and read-only by GPU
– written by CPU via cudaMemcpyToSymbol(...) call
– lifetime: application

• __shared__
– stored in on-chip shared memory (very low latency)
– accessible by all threads in the same thread block
– lifetime: kernel launch

• Unqualified variables:
– scalars and built-in vector types are stored in registers
– arrays of more than 4 elements or run-time indices stored in device memory
 Measurement Methodology
• You will not get exactly the same time
measurements every time
– Other processes running / external events (e.g., network
activity)
– Cannot control
– “Non-determinism”
• Must take sufficient samples
– say 10 or more
– There is theory on what the number of samples must be
• Measure average
• Will discuss this next time or will provide a handout
online
 Handling Large Input Data Sets – 1D Example
• Recall gridDim.[xy] <= 65535
• Host calls kernel multiple times:
float *dac = da; // starting offset for current kernel

while (n_blocks)
{
int bn = n_blocks;
int elems; // array elements processed in this kernel
if (bn > 65535) bn = 65535;
elems = bn * block_size;
darradd <<<bn, block_size>>> (dac, 10.0f, elems);
n_blocks -= bn;
dac += elems;
}