Intel® FPGA SDK for OpenCL™ Pro Edition: Best Practices Guide

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Date 3/28/2022
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Document Table of Contents
Document Table of Contents x
1. Introduction to Intel® FPGA SDK for OpenCL™ Pro Edition Best Practices Guide 2. Reviewing Your Kernel's report.html File 3. OpenCL Kernel Design Concepts 4. OpenCL Kernel Design Best Practices 5. Profiling Your Kernel to Identify Performance Bottlenecks 6. Strategies for Improving Single Work-Item Kernel Performance 7. Strategies for Improving NDRange Kernel Data Processing Efficiency 8. Strategies for Improving Memory Access Efficiency 9. Strategies for Optimizing FPGA Area Usage 10. Strategies for Optimizing Intel® Stratix® 10 OpenCL Designs 11. Strategies for Improving Performance in Your Host Application 12. Intel® FPGA SDK for OpenCL™ Pro Edition Best Practices Guide Archives A. Document Revision History for the Intel® FPGA SDK for OpenCL™ Pro Edition Best Practices Guide
1. Introduction to Intel® FPGA SDK for OpenCL™ Pro Edition Best Practices Guide x
1.1. FPGA Overview 1.2. Pipelines 1.3. Single Work-Item Kernel versus NDRange Kernel
2. Reviewing Your Kernel's report.html File x
2.1. High-Level Design Report Layout 2.2. Reviewing the Summary Report 2.3. Viewing Throughput Bottlenecks in the Design 2.4. Using Views 2.5. Analyzing Throughput 2.6. Reviewing Area Information 2.7. Optimizing an OpenCL Design Example Based on Information in the HTML Report 2.8. Accessing HLD FPGA Reports in JSON Format
2.4. Using Views x
2.4.1. Features of the System Viewer 2.4.2. Features of the Kernel Memory Viewer 2.4.3. Features of the Schedule Viewer
2.4.1. Features of the System Viewer x
2.4.1.1. Reviewing System Information 2.4.1.2. Reviewing Global Memory Information 2.4.1.3. Reviewing Block Information 2.4.1.4. Reviewing Cluster Information
2.5. Analyzing Throughput x
2.5.1. Reviewing Loop Information
2.6. Reviewing Area Information x
2.6.1. Area Report Message for Board Interface 2.6.2. Area Report Message for Function Overhead 2.6.3. Area Report Message for State 2.6.4. Area Report Message for Feedback 2.6.5. Area Report Messages for Private Variable Storage
2.6.5. Area Report Messages for Private Variable Storage x
2.6.5.1. Area Report Message for Constant Memory
3. OpenCL Kernel Design Concepts x
3.1. Kernels 3.2. Global Memory Interconnect 3.3. Local Memory 3.4. Loops in a Single Work-Item Kernel 3.5. Channels 3.6. Load-Store Units
3.3. Local Memory x
3.3.1. Changing the Memory Access Pattern Example
3.4. Loops in a Single Work-Item Kernel x
3.4.1. Trade-Off Between Initiation Interval and Maximum Frequency 3.4.2. Loop-Carried Dependencies that Affect the Initiation Interval of a Loop 3.4.3. Nested Loops 3.4.4. Loop Speculation 3.4.5. Loop Fusion 3.4.6. Loop Bottlenecks
3.4.3. Nested Loops x
3.4.3.1. Reducing the Area Consumed by Nested Loops Using loop_coalesce
3.6. Load-Store Units x
3.6.1. Load-Store Unit Types 3.6.2. Load-Store Unit Modifiers 3.6.3. Controlling the Load-Store Units 3.6.4. When to Use Each LSU
4. OpenCL Kernel Design Best Practices x
4.1. Transferring Data Via Intel® FPGA SDK for OpenCL™ Channels or OpenCL Pipes 4.2. Unrolling Loops 4.3. Optimizing Floating-Point Operations 4.4. Allocating Aligned Memory 4.5. Aligning a Struct with or without Padding 4.6. Maintaining Similar Structures for Vector Type Elements 4.7. Avoiding Pointer Aliasing 4.8. Avoid Expensive Functions 4.9. Avoiding Work-Item ID-Dependent Backward Branching
4.1. Transferring Data Via Intel® FPGA SDK for OpenCL™ Channels or OpenCL Pipes x
4.1.1. Characteristics of Channels and Pipes 4.1.2. Execution Order for Channels and Pipes 4.1.3. Optimizing Buffer Inference for Channels or Pipes 4.1.4. Best Practices for Channels and Pipes
4.3. Optimizing Floating-Point Operations x
4.3.1. Floating-Point versus Fixed-Point Representations
5. Profiling Your Kernel to Identify Performance Bottlenecks x
5.1. Best Practices for Profiling Your Kernel 5.2. Instrumenting the Kernel Pipeline with Performance Counters (-profile) 5.3. Obtaining Profiling Data During Runtime 5.4. Reducing Area Resource Use While Profiling 5.5. Temporal Performance Collection 5.6. Performance Data Types 5.7. Interpreting the Profiling Information 5.8. Profiler Analyses of Example OpenCL Design Scenarios 5.9. Intel® FPGA Dynamic Profiler for OpenCL™ Limitations
5.3. Obtaining Profiling Data During Runtime x
5.3.1. Invoking the Profiler Runtime Wrapper 5.3.2. Viewing Profiling Data Using Intel® VTune™ Profiler
5.3.1. Invoking the Profiler Runtime Wrapper x
5.3.1.1. Splitting Execution and Data Post Processing
5.5. Temporal Performance Collection x
5.5.1. Profiling Autorun Kernels
5.7. Interpreting the Profiling Information x
5.7.1. Stall, Occupancy, Bandwidth 5.7.2. Stalling Channels 5.7.3. Channel Depths
5.8. Profiler Analyses of Example OpenCL Design Scenarios x
5.8.1. High Stall Percentage 5.8.2. Low Occupancy Percentage 5.8.3. High Stall and High Occupancy Percentages 5.8.4. No Stalls, Low Occupancy Percentage, and Low Bandwidth 5.8.5. No Stalls, High Occupancy Percentage, and Low Bandwidth 5.8.6. High Stall and Low Occupancy Percentages
6. Strategies for Improving Single Work-Item Kernel Performance x
6.1. Addressing Single Work-Item Kernel Dependencies Based on Optimization Report Feedback 6.2. Good Design Practices for Single Work-Item Kernel
6.1. Addressing Single Work-Item Kernel Dependencies Based on Optimization Report Feedback x
6.1.1. Removing Loop-Carried Dependency 6.1.2. Relaxing Loop-Carried Dependency 6.1.3. Transferring Loop-Carried Dependency to Local Memory 6.1.4. Relaxing Loop-Carried Dependency by Inferring Shift Registers 6.1.5. Removing Loop-Carried Dependencies Caused by Accesses to Memory Arrays
7. Strategies for Improving NDRange Kernel Data Processing Efficiency x
7.1. Specifying a Maximum Work-group Size or a Required Work-Group Size 7.2. Kernel Vectorization 7.3. Multiple Compute Units 7.4. Combination of Compute Unit Replication and Kernel SIMD Vectorization 7.5. Reviewing Kernel Properties and Loop Unroll Status in the HTML Report
7.3. Multiple Compute Units x
7.3.1. Compute Unit Replication versus Kernel SIMD Vectorization
8. Strategies for Improving Memory Access Efficiency x
8.1. General Guidelines on Optimizing Memory Accesses 8.2. Optimize Global Memory Accesses 8.3. Performing Kernel Computations Using Constant, Local or Private Memory 8.4. Improving Kernel Performance by Banking the Local Memory 8.5. Optimizing Accesses to Local Memory by Controlling the Memory Replication Factor 8.6. Minimizing the Memory Dependencies for Loop Pipelining 8.7. Static Memory Coalescing
8.2. Optimize Global Memory Accesses x
8.2.1. Contiguous Memory Accesses 8.2.2. Manual Partitioning of Global Memory 8.2.3. Optimizing for Two or More Banks of Global Memory
8.2.2. Manual Partitioning of Global Memory x
8.2.2.1. Heterogeneous Memory Buffers
8.3. Performing Kernel Computations Using Constant, Local or Private Memory x
8.3.1. Constant Cache Memory 8.3.2. Preloading Data to Local Memory 8.3.3. Storing Variables and Arrays in Private Memory
8.4. Improving Kernel Performance by Banking the Local Memory x
8.4.1. Optimizing the Geometric Configuration of Local Memory Banks Based on Array Index
9. Strategies for Optimizing FPGA Area Usage x
9.1. Compilation Considerations 9.2. Board Variant Selection Considerations 9.3. Memory Access Considerations 9.4. Arithmetic Operation Considerations 9.5. Data Type Selection Considerations
10. Strategies for Optimizing Intel® Stratix® 10 OpenCL Designs x
10.1. Reducing Channel Overhead 10.2. Optimizing Loop Control 10.3. Simplifying Memory Access to Local Memories 10.4. On-Chip Storage of Reused Data 10.5. Optimizing Data Path Control 10.6. Creating RTL Modules
10.1. Reducing Channel Overhead x
10.1.1. Reducing the Number of Kernels 10.1.2. Using a Single Kernel to Describe Systolic Arrays 10.1.3. Using Non-Blocking Channels
10.2. Optimizing Loop Control x
10.2.1. Simplifying Loop-Carried Dependencies in Intel® Stratix® 10 OpenCL Designs
10.6. Creating RTL Modules x
10.6.1. Reset Recommendations
11. Strategies for Improving Performance in Your Host Application x
11.1. Multi-Threaded Host Application 11.2. Utilizing Hardware Kernel Invocation Queue
11.2. Utilizing Hardware Kernel Invocation Queue x
11.2.1. Double Buffered Host Application Utilizing Kernel Invocation Queue
1. Introduction to Intel® FPGA SDK for OpenCL™ Pro Edition Best Practices Guide
2. Reviewing Your Kernel's report.html File
3. OpenCL Kernel Design Concepts
4. OpenCL Kernel Design Best Practices
5. Profiling Your Kernel to Identify Performance Bottlenecks
6. Strategies for Improving Single Work-Item Kernel Performance
7. Strategies for Improving NDRange Kernel Data Processing Efficiency
8. Strategies for Improving Memory Access Efficiency
9. Strategies for Optimizing FPGA Area Usage
10. Strategies for Optimizing Intel® Stratix® 10 OpenCL Designs
11. Strategies for Improving Performance in Your Host Application
12. Intel® FPGA SDK for OpenCL™ Pro Edition Best Practices Guide Archives
A. Document Revision History for the Intel® FPGA SDK for OpenCL™ Pro Edition Best Practices Guide

1.3. Single Work-Item Kernel versus NDRange Kernel

Intel® recommends that you structure your OpenCL kernel as a single work-item, if possible. However, if your kernel program benefits from explicitly describing multiple concurrent threads, you can structure your application as an NDRange kernel because the kernel can execute multiple work-items concurrently.

When a kernel describes a single work item, the Intel® FPGA SDK for OpenCL™ host can execute the kernel as a single work-item, which is equivalent to launching a kernel with an NDRange size of (1, 1, 1). The compiler tries to accelerate the single work item for best performance.

The OpenCL Specification version 1.0 describes this mode of operation as task parallel programming. A task refers to a kernel executed with one work-group that contains one work-item.

Generally, the host launches multiple work-items in parallel. However, this data parallel programming model is not suitable for situations where fine-grained data must be shared among parallel work-items. In these cases, you can maximize throughput by expressing your kernel as a single work-item. Unlike NDRange kernels, single work-item kernels follow a natural sequential model similar to C programming. Particularly, you do not have to partition the data across work-items.

To ensure high-throughput single work-item-based kernel execution on the FPGA, the Intel® FPGA SDK for OpenCL™ Offline Compiler must process multiple pipeline stages in parallel at any given time. This parallelism is realized by pipelining the iterations of loops.

Consider the following simple example code that shows accumulating with a single-work item: 

1 kernel void accum_swg (global int* a, 
                         global int* c, 
                         int size, 
                         int k_size) {
2     int sum[1024];
3     for (int k = 0; k < k_size; ++k) {
4        for (int i = 0; i < size; ++i) {
5            int j = k * size + i;
6            sum[k] += __prefetching_load(&a[j]);
7        }
8     }
9     for (int k = 0; k < k_size; ++k) {
10       c[k] = sum[k];
11    }
12 }
During each loop iteration, data values from the global memory a is accumulated to sum[k]. In this example, the inner loop on line 4 has an initiation interval value of 1 with a latency of 11. The outer loop also has an initiation interval value greater than or equal to 1 with a latency of 8.
Note: The launch frequency of a new loop iteration is called the initiation interval (II). II refers to the number of hardware clock cycles for which the pipeline must wait before it can process the next loop iteration. An optimally unrolled loop has an II value of 1 because one loop iteration is processed every clock cycle.
Figure 7. System View of Single-Work Item Kernel

The following figure illustrates how each iteration of i enters into the block:

Figure 8. Inner Loop accum_swg.B2 Execution

When you observe the outer loop, having an II value of 1 also means that each iteration of the thread can enter at every clock cycle. In the example, k_size of 20 and size of 4 is considered. This is true for the first eight clock cycles as outer loop iterations 0 to 7 can enter without any downstream stalling it. Once thread 0 enters into the inner loop, it takes four iterations to finish. Threads 1 to 8 cannot enter into the inner loop and they are stalled for four cycles by thread 0. Thread 1 enters into the inner loop after thread 0's iterations are completed. As a result, thread 9 enters into the outer loop on clock cycle 13. Threads 9 to 20 enters into the loop at every four clock cycles, which is the value of size. Through this example, you can observe that the dynamic initiation interval of the outer loop is greater than the statically predicted initiation interval of 1 and it is a function of the trip count of the inner loop.

Figure 9. Single Work-Item Execution
Important:
  • Using any of the following functions causes your kernel to be interpreted as an NDRange:
    • get_local_id()
    • get_global_id()
    • get_group_id()
    • get_local_linear_id()
    • barrier
  • If the reqd_work_group_size attribute is specified to be anything other than (1, 1, 1), your kernel is interpreted as an NDRange. Otherwise, your kernel is interpreted as a single-work-item kernel.

Consider the same accumulate example written in NDRange: 

kernel void accum_ndr (global int* a, 
                       global int* c, 
                       int size) {
   int k = get_global_id(0);

   int sum[1024];
   for (int i = 0; i < size; ++i) {
     int j = k * size + i;
     sum[k] += a[j];
   }
   c[k] = sum[k];
}
Figure 11. System View of the NDRange Kernel

Limitations

The OpenCL task parallel programming model does not support the notion of a barrier in single-work-item execution. Replace barriers (barrier) with memory fences (mem_fence) in your kernel.

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