Reconfigurable Sparse Matrix-Vector Multiplication on FPGAs
Contents
1. In Section VI we detail the implementation algorithm for SMVM on multiple boards In our approach operands operators and memory addresses that include board address information are organized into packets to distribute computations between FPGAs A system of FIFOs is used to implement a streaming paradigm on these packets where data is fetched from DRAM memory if FIFOs are non empty Data values stored in a FIFO is subsequently processed Based on a fetch or write memory address data packets are routed to a destination FPGA by a router sub system The implementation algorithm is exactly the same for a gather or a scatter operation and hence the efficiency of either operation remains the same The size of a matrix is limited by the size of the external memory For bigger matrices this architecture can be scaled by using more FPGAs or bigger memory modules Section VII contains the results and some conclusions for this work A single board implementation performs at 12 MFlops A two board implementation performs at 24 MFlops indicating that our system is scalable Section VIII highlights planned future work Il MOTIVATION Simulations allow scientists to quantitatively predict results of real life phenomena for a range of input conditions and with a programmable degree of accuracy In many cases simulations are preferred to physical experiments because they are often cheaper faster and less dangerous than these types of experiment2. Board CEU Board Board CRU 11k 34k 11 5 5 8 11 82 23 44 128k 383k 125 65 12 26 23 56 237k 710k 228 118 15 12 45 24 06 190 The run times on a single board two boards and for a CPU implementation for the three matrix sizes are indicated in Table 3 It was found that the FPGA system run times increased linearly with increases in matrix sizes but the floating point performance remained constant The run time for a two board implementation was approximately half that of a single board implementation indicating little routing overhead Up to four reads writes were buffered at a time by the DDR controller The DDR interface was busy for 90 of the run time including time spent waiting for the read data to appear on the data bus A total of 88 of the time was spent doing random reads 10 of the time was spent doing random writes and only 2 of the time was spent doing sequential reads A total of 70 of the 384 hardware multipliers were used 18 to perform DPFP multiplication and 0 5MB of on chip memory was used of the available 0 68 MB 76 Out of the 0 5 MB block memory utilized in the design 0 25MB was used to load the matrices into the DRAM through a USB Byte Blaster and the remaining memory was used by various FIFOs implemented in the design The CPU was found to be 8 times faster than the two board implementation for the largest matrix size Each board operates at a frequency of 133 MHz a
3. for each source address These packets are stored in a FIFO called PACKET Each packet contains a multiplier a destination address and the source address Both the source and destination addresses contain the board identifiers of the target FPGAs The board containing the source address is referred to as the source FPGA and the board containing the destination address is referred to as the destination FPGA Step 4 Each packet is examined by the router to determine if it needs to be routed to the source address on a different board or if it can remain on the same board Accordingly it places the packets in FIFOs called NOROUTEO for packets that stay on the same FPGA and ROUTE for packets that need to be routed The router subsystem routes the packets from ROUTE to the NOROUTEO FIFO on the source FPGA For a gather operation this routing is required because the nodes are randomly distributed between the FPGAs For this example assume that the packet is routed to FPGA 2 Step 5 On the source board the source value x E2N i e is then fetched from the FPGA read memory bank and replaces the source address in the data packet which is now stored in a FIFO called SOURCE All memory reads are directed through a single FIFO called RAND If multiple memory reads are requested through the single interface at the same time priority can be given to packets from the same FIFO This approach improves DDR controller efficiency by preventing th
4. not need to be routed in Step 4 because the memory bank with the source value is attached to the same FPGA as the one with the multiplier values The packet goes through the router sub system in any case to maintain a common architecture for the gather and scatter operations Whether an operation is a gather or a scatter is indicated by the presence of a slide switch on the board When the switch is in the ON position the operation is a gather and when the switch is in the OFF position the operation is a scatter The location of the source and the destination addresses in the packets in Step 3 is the only information determined by the position of the switch After this location is determined it is not necessary to differentiate between a scatter and gather operation The Router Subsystem Each FPGA in the system has a board identifier hard coded into its RTL core The FPGAs are connected to each other over a 128 bit bi directional High Speed Terasic Connector HSTC channel Since there is a single 128 bit channel present to route the packets from any FPGA to any other FPGA in the system a bus arbitration mechanism is required For this purpose a single board is designated as the bus controller and the other board is designated as a slave A single slide switch indicates whether a board is a master or a slave If the slide switch is in the ON position the board is the master There can be only one master board in the system
5. Memory Operations for Interface 3 a m Non Memory Operations ZE Z a STEP 2 STEP 8 Read Pa ui Sequential Read from Destination ox STEP 3 STEP 9 2 or Packet Creation Accumulate wi Ss STEP 4 a Route a STEP 5 Read gt uw from Source Oo og STEP 6 a pa Multiply ZE STEP 7 Route Figure 6 Potential Parallelization Realistically it would be possible to perform random reads from all three interfaces interleaving random reads and writes in Interface 1 Since the random read memory access latency is the largest dividing the random reads between three interfaces would decrease the computation time to about 33 of the time taken with a single interface VII RESULTS FPGA based experiments were conducted for three matrix sizes 1 11k nodes and 34k edges 2 128k nodes and 383k edges 3 237k nodes and 710k edges The experiments were performed on a single FPGA board two FPGA boards and a 2 8 GHz CPU based workstation For both the CPU and the FPGAs the matrices were pre loaded into the DRAM either a gather or a scatter operation was performed and the time taken to perform the operations was recorded Finally the results were read back from the DRAM on the FPGA board and checked for correctness with results obtained using the microprocessor TABLE 3 PERFORMANCE RESULTS Floating Point Matrix Size Calculation Pimed msec Performance MFlops 1 2 1 2 Nodes Edges Board
6. Reconfigurable Sparse Matrix Vector Multiplication on FPGAs Salma Mirza and Russell Tessier Dept of Electrical and Computer Engineering University of Massachusetts Amherst MA 01003 Abstract Cache based general purpose CPUs perform at a small fraction of their maximum floating point performance when executing memory intensive simulations such as those required for sparse matrix vector multiplication This effect is due to the memory bottleneck that is encountered with large arrays that must be stored in dynamic RAM An FPGA core designed for a target performance that does not unnecessarily exceed the memory imposed bottleneck can be distributed along with multiple memory interfaces into a scalable architecture that overcomes the bandwidth limitation of a single interface Interconnected cores can work together to solve a computing problem and exploit a bandwidth that is the sum of the bandwidth available from all of their connected memory interfaces This work demonstrates this concept of scalability with two memory interfaces through the use of an available FPGA prototyping platform It is shown that our reconfigurable approach is scalable as performance roughly doubles when two FPGAs are used for computation instead of one Index Terms FPGA Sparse matrix vector multiply I INTRODUCTION parse matrix vector multiply SMVM computations perform poorly on cache based CPUs because they are highly memory intensive have large siz
7. The master board receives and processes all routing requests according to a rotating priority mechanism On each board the router sorts and routes packets over the HSTC interface that connects all the boards in the system The router compares the board address present in the source or the destination address of each packet with the board identifier of the board the where the packet is present If the packet is already present on the correct board it is not routed but is instead written to the appropriate FIFO for random access to the memory module attached to the board If the comparison fails the packet needs to be routed to a different board and the routing operation is initiated Each packet is assigned a single bit header that indicates whether it is being routed to the source address or the destination address Once the packet reaches the destination board this information is used to determine whether the requested data is from the source or the destination address of the packet The interface between the master and the slave consists of the following signals 1 A 114 bit bi directional data bus packet size 2 A Busy signal driven by the master 3 Dedicated bus request signals between the master and each slave 1 in this case 4 Dedicated bus grant signals between the master and each slave 1 in this case If the board that requires a route is a slave the following set of events takes place 1 The slave request
8. ach is not scalable In our approach the data is stored explicitly in on board memory and accessed by the FPGA at DDR2 data rates This data is stored in multiple memory banks and the FPGA s capability of accessing multiple memory banks is used to overcome the memory wall In this scheme our algorithm is closer to that of El kurdi Gross and Giannocopolos which also focuses on very large vectors that cannot reside in FPGA embedded memory 7 The algorithm implemented by DuBois et al can work on very long vectors but still assumes an explicit matrix is present in a prescribed format 8 Matrix data is stored in external DRAM memory TABLE I MEMORY MANAGEMENT Data Notation Operation Edge to node matrix E2N 1 2 e Gather Scatter Temperature gradient along edge yle Gather Length of edge Lile Gather Conductivity along edge k e Scatter Temperature at each node x E2N i e Gather Scatter Sum of fluxes at each node z E2N i e Scatter TABLE 2 PACKET STRUCTURE Data contained in each packet Gather Scatter Multiplier value Life k e Source address E2N 1 2 e amp z e Store Destination address amp y e E2N 1 2 e Sign value Source board information Included in source address Store Destination board information Included in destination address V IMPLEMENTATION PLATFORM The main criteria used to choose a board for experimentation was the presence of off chip memory the presence of on chip hardware multipliers and an inte
9. ch is hence not scalable to larger problem sizes This design was also optimized for repeated multiplication by the same matrix Inter FPGA communication is coordinated at compile time and hard coded into FPGA hardware Although efficient this approach requires recompilation for every matrix Recompilation is unsuitable for dynamic problems where matrices are continually changing Zhuo and Prasanna also developed a SMVM approach based on FPGAs which uses a matrix represented in compressed row format 5 For this implementation the entire source value vector is again placed in each FPGA This restriction is a limiting factor on problem size and scalability A faster implementation was developed by Sun Peterson and Storaasli 6 They designed an FPGA approach which uses a non conventional data format and takes advantage of a specialized accumulator This approach is again limited to small matrices and uses a prescribed but slightly nonstandard matrix format as well as the assumption of an explicitly built matrix Our algorithm differs considerably from these prior designs by focusing on improving the memory bandwidth rather than improving the performance of the FPGA implementation Previous works have bypassed the memory bottleneck by placing matrix data in FPGA memory blocks This approach is convenient for small problems that can conveniently fit in the memory blocks However for problems with larger data sizes this architectural appro
10. e controller from swapping between writes and reads to different rows forcing a row to be opened and closed on every transaction Step 6 The compute element in the source value FPGA multiplies L e and x E2N i e replaces Lfe discards x E2N i e and stores the packet in a FIFO called MULT Step 7 The router decides if the packet should be routed to another FPGA puts packet in ROUTE FIFO or will remain on the same FPGA puts packet in NOROUTE FIFO The result L e x E2N i e is routed to the destination FPGA s NOROUTEI FIFO In this example the packet is routed back to FPGA 1 Step 8 The destination value y e is fetched from the memory through RAND and the packet is stored in DEST FIFO Step 9 The product from Step 6 is added to or subtracted from the destination value y e using the adder on the destination FPGA The destination data is discarded and the packet is stored in ACCUM FIFO Depending on the matrix based application this operation could also be a subtract max or min function However the specified operation is the same for all packets traveling through the system Step 10 The accumulated value is written to the appropriate memory bank on the FPGA using the destination address The scatter operation operates in exactly the same way as the gather except that the locations of the source and the destination addresses are interchanged while constructing the packets in Step 3 Accordingly the packet does
11. es and require frequent data updates As an example we consider sparse matrices that arise from the finite element analysis used in several disciplines to find approximate solutions to boundary value problems Sparse matrix vector multiplication involves iteratively multiplying a sparse matrix with a dense vector that changes on every iteration This is a stream based computation that lacks temporal locality and restricts the performance advantage that a cache based CPU would have as a result of repetitive data use As cache hits in SMVM are rare the speed of the algorithm is entirely dictated by the sequential and random memory access bandwidth This memory bottleneck causes processors to run at a small fraction of their peak floating point rate for scientific computations resulting in a performance of MFlops as opposed to GFlops The floating point performance is observed to drop down to as low as 2 7 of the peak value of the CPU An approach to overcome this memory wall by using a system of FPGAs with external memory banks as a math co processor is implemented The FPGA based system is demonstrated to be scalable the memory bandwidth of the FPGAs and hence the floating point performance of the J Blair Perot Dept of Mechanical and Industrial Engineering University of Massachusetts Amherst MA 01003 FPGA based implementation can be linearly increased by increasing the number of FPGAs or the memory interfaces per board Secti
12. matrix Every row of G contains exactly two non zero items For simplicity we refer to non zero values as items In relation to the problem at hand the number of columns in the matrix depends on the number of nodes and the number of rows depends on the total number of edges The location of items in a row indicates the nodes connected to each edge The value of the item represents the length of each edge The values in a row are repeated except for a minus sign For example in row 1 the items are located in column 1 and column 2 indicating that edge 1 is between nodes x and x2 and has length LZ Each row has two items which are identical except for the sign even when the number of unknowns is huge e g 100 000 so the matrix remains extremely sparse as it increases in size As a result it is best if this matrix is not constructed to include all or most of the points Matrix G can be efficiently stored in a compressed row format given its sparsity pattern To solve for y without generating an explicit sparse matrix for the gradient operation we construct the Edge to Node E2N data structure which holds the connectivity information for the mesh The 2N structure contains the pointer information specifying which two nodes define each edge In this sense the E2N data structure is equivalent to a compressed row sparse matrix because both hold the same connectivity information The E2N data structure for the problem under considerati
13. nd the AMD Phenom X4 processor operates about 21 times faster at a frequency of 2 8 GHz If four memory interfaces were available on each board then the performance of the FPGA system would be twice as slow as the microprocessor If four boards with four memory interfaces were present the performance of the FPGA would be on par with the microprocessor assuming that the routing overhead remains constant Larger FPGA systems would lead to a performance benefit especially if the DRAM interfaces were optimized for the application VHI FUTURE WORK Future work includes performing similar experiments on more boards with more DRAM interfaces The design could also use an SRAM based cache that is implemented on the hardware resources not being used by FIFOs and floating point units Further optimization of the DRAM interface controller would also be desirable REFERENCES 1 R Murphy On the Effects of Memory Latency and Bandwidth on Supercomputer Application Performance IEEE International Symposium on Workload Characterization pp 35 43 2007 2 E A Lee The Problem with Threads Computer vol 39 no 5 pp 33 42 May 2006 3 Y Saad Iterative Methods for Sparse Linear Systems Society for Industrial and Applied Mathematics 2003 4 M deLorimier and A DeHon Floating point Sparse Matrix vector Multiply for FPGAs ACM SIGDA International Symposium on Field Programmable Gate Arrays pp 75 85 2005 5 L Zho
14. on II explains the motivation for implementing the SMVM problem on a system of FPGAs The floating point performance for scientific computations is non contingent on the clock frequency 1 The use of multiple cores is complicated because concurrent techniques other than multi threading must be used by the programmer 2 Increases in processor clock speed and in the number of cores per processor are current microprocessor industry trends For Sparse matrix vector multiply these improvements are unhelpful because they do not address the memory bottleneck Section III gives an overview of the SMVM problem that arises in an iterative simulation of two dimensional heat transfer The differences between the sparsity patterns of the sparse matrix for this problem are highlighted and an alternate data structure that can store a sparse row and a sparse column matrix with equal efficiency is explained Section IV looks into previous work for similar problems that use approaches that are different than ours Matrices undergoing computation are stored in formats that are either efficient for a sparse row format or a sparse column format but not both The problem size constraints which arise due to limited on chip memory storage of sparse matrices and dense vectors are explained Section V details our choice of FPGA board for this implementation Candidate boards are required to have dense off chip memory modules and inter board communication abilities
15. on is given by X1 X2 Xi X3 X1 E2N X2 X3 X3 X4 X4 Then in pseudo code the gradient operation can be implemented with a single line and without generating an explicit matrix as Equation 1 for e 0 e lt num edges e y e 1 Life x E2N 1 e y e 1 Life x E2N 2 e In the above operation indirect memory reads gather of the type x afi of the node temperatures are performed from the dense vectors that hold this information to calculate the gradient at each edge Henceforth we refer to the gradient operation as the gather operation The second step multiplies the gradient on each edge y as obtained in the first step by the conductivity along the edge k to obtain the flux along each edge The fluxes associated with each edge attached to a node are the summed up to obtain temperature unknowns as shown in Figure 3 y ky 3 k3 5 ks Figure 3 The Divergence Operation Scatter This represents the discrete divergence operation and in matrix form it is given by z Dy E Y1 z4 k 0 Ky 0 ke i Zo k ky 0 0 o0 2 3 Za O k k ky 0 Zz 0 0 0 k k 74 4 k5 Ve Matrix D like matrix G is sparse Every column of D contains exactly two items Matrix D is best stored in the compressed column format given its sparsity pattern or it can be directly implemented using the E2N data structure discussed earlier In this case the E2N data
16. r board communication ability The DE3 boards available from Terasic provided these capabilities 9 Each board contains a Stratix III EP3SL150 FPGA with 142 000 logic elements LEs and 384 18x18 bit multiplier blocks Each board has a single DDR2 SO DIMM socket with a maximum capacity of up to 4GB Inter board communication is through a 128 pin low voltage differential signaling LVDS connector VI IMPLEMENTATION ALGORITHM In this SMVM implementation both scatter and gather operations can be performed using the same architecture with the same efficiency and without logic reconfiguration The gather and the scatter operations discussed in Section II require the arrays shown in Table 1 be stored in external memory The packet structure for scatter and gather operations is shown in Table 2 The compute platform can be reconfigured for new SMVM operations simply by loading new sparse matrix and vector information into the memory banks These matrices are stored in four banks of the off chip memory The term banks does not imply the presence of multiple memory interfaces in this case These banks cannot be accessed in parallel Only one bank can be accessed at a time through the single memory interface However we continue to use the bank structure to organize data as if multiple interfaces were available to us The motivation in using this approach is that if multiple memory interfaces were indeed available this data could be acces
17. s For a reasonably good mathematical model the accuracy of the simulations is given by how closely a simulation setup can imitate a physical experimental setup To increase accuracy the problem must be made larger This translates to an increase in the number of computations which in turn is constrained by the available computing resources and their efficiency Low cost commodity computers are most often used in clusters for scientific simulations Commodity computers utilize a cache based architecture which is ill suited for streaming applications SMVM performs poorly on cache based CPUs because of the vast and constantly changing data associated with iterative simulations The data set is usually too large to fit in the CPU cache and exhibits little temporal locality making cache hits rare The speed of computation is limited by memory access times that typically are at least ten times slower than the time taken to perform an operation on the CPU This problem is particularly apparent in the DAXPY double precision y ax y operation X1 Ly X2 Lo The construction and storage of a sparse matrix prior to computation is difficult expensive and unnecessary If constructed at all the sparse matrix should be stored in an alternate representation either a compressed row or compressed column representation whichever may be more appropriate for the matrix at hand 3 Computer codes that actually build matrices slow down the simula
18. s the master to release the bus using the dedicated bus request line between them 2 If the bus is not busy the master does the following Stops driving the data bus e Drives the dedicated bus grant signal high e Drives the busy signal high e When the slave receives the bus grant signal it starts driving the data bus to transfer packets 3 If the bus is busy the master waits for the current transfer to complete and then assigns the bus to the slave If there are other requests present the master uses a rotating priority scheme to assign the bus The slave now drives the data bus sending packet information across the bus along with the destination board ID The slave will maintain the bus request signal high for as long as it requires data transfer This data is sent to all the boards in the system but only the board with the correct board ID processes this information Once the slave has transferred all the packets it releases the data bus and drives the bus request signal low The master takes control of the bus drives the busy signal low and processes the next request if any If the board requiring a route is the master the following set of events takes place If the busy signal is driven low and no other bus requests are available the master drives the busy signal high and broadcasts the destination board ID and the packet information e If the busy signal is driven high a transfer in progress is indicated The mas
19. sed in parallel without making any major changes to the core Stratifying the data into banks is also helpful in developing estimates of how the presence of multiple banks would improve the performance of the design For a multiple board implementation the matrix is approximately evenly divided between the external memories of the two boards The gather operation takes place in a series of ten steps as discussed below and demonstrated in Figure 4 X DDR2 CONTROLLER YY recat A PERE rrr I E2N 1 e RAND 1 0ti C SCO MULT Q yle L e x E2N 1 e Li t i MULTIPLIER A ft y J SOURCE F x E2N 1 e L e NOROUTEO y e E2N 1 e L e ie Q C I a N aal PACKET G y e E2N 1 e L e NOROUTE1 y e L e x E2N 1 e Figure 4 The Gather Operation Step 1 The floating point multiplier values L e are sequentially fetched from the memory and stored in a FIFO called SEQO Because it is a gather operation the destination addresses for y e are internally generated by the FPGA and stored in a FIFO called ADDR given the fact that y e is laid out exactly like Z e since they are the same size Step 2 The two integer destination address values E2N 1 e and E2N 2 e are fetched sequentially from the memory and stored in a FIFO called SEQ1 Step 3 From the data present in SEQ0 SEQ and ADDR packets are generated
20. structure can be considered equivalent to the compressed column format In pseudo code the discrete divergence operation can be implemented without generating an explicit matrix as Equation 2 z 0 for e 0 e lt num_edges e Z E2N 1 e y e k e z E2N 2 e yle k e In the above operation indirect memory writes of the type a i x are performed in which the value at each edge is scattered to the nodes that contain it Henceforth we refer to the discrete divergence operation as the scatter operation Forcing column sparse matrices into a compressed row format or row sparse matrices in the compressed column format is unnatural and inefficient Using the E2N data structure it is possible to store both matrices efficiently For this implementation of SMVM the sparse matrices are stored using the 2N data structure IV PREVIOUS WORK Several previous research projects have implemented SMVM algorithms using FPGAs de Lormier and DeHon developed a multi FPGA approach which uses matrices available in compressed row format 4 As discussed some sparse matrices are best represented in compressed row format while others are best represented in compressed column format Forceful representation of a matrix in a compressed row format might not be efficient The limited size of the source and destination vectors about 10 000 values allows them to be stored inside FPGA embedded memory This approa
21. ter will send the packets across once that transfer is complete STEP 1 Memory Operations Sequential Read Non Memory Operations STEP 2 Sequential Read STEP 3 Packet Creation STEP 4 Route STEP 5 Read from Source STEP 6 Multiply STEP 7 Route MEMORY INTERFACE 1 STEP 8 Read from Destination STEP 9 Accumulate STEP 10 Write to Destination Figure 5 Existing Parallelization Note on Parallelization The sequential read operations in Steps 1 and 2 are performed by the DDR controller for only 2 of total time that the DDR is busy Similarly the write operation in Step 10 occupies only 10 of the DDR time while 88 of the time is spent doing the random reads from the source and the destination addresses The operations that require memory access are constrained by the presence of a single memory interface per FPGA They must be performed sequentially as demonstrated in Figure 5 If three memory interfaces were present then it would be possible to parallelize the steps as summarized in Figure 6 In this figure for simplicity of representation the random read operations are performed using Interface 2 and Interface 3 only STEP 1 STEP 10 Write to Memory Operations for Interface 1 z ut Sequential Read Destination Memory Operations for Interface 2 O ff
22. tions because of the memory access times involved This issue ultimately restricts the accuracy at which the simulations can be performed in a constrained time period HI BACKGROUND Consider the problem of two dimensional heat transfer on an unstructured mesh as shown in Figure 1 To discretize the partial differential equations associated with this problem the mesh is divided into smaller domains In practice the mesh may consist of 100 000 sub domains for a 2 D problem and a million tetrahedras for a 3 D problem Dividing the mesh into smaller sub domains results in a more accurate solution but also involves more data and intensified computation For the purpose of simplification we consider a triangle that is a part of a larger mesh as shown in Figure 1 The temperature unknowns are located at the four vertices and are calculated iteratively in two steps The temperature gradient along the edges is calculated as the first step Roughly this value is the difference in temperature at the vertices that connect an edge divided by the length of the edge as shown in Figure 2 x4 X2 L4 X4 Figure 2 The Gradient Operation Gather This is a gradient operation and in matrix form it is represented by y Gx X4 Figure 1 Discretization of a PDE over a triangular mesh L4 X3 C E L L Bee neal aa 4 Lz L 1 Y2 i o 4 x2 Y3 Ls 3 X3 Y4 o o0 a5 E X4 Ly La i o o al Lbs Ls The matrix G is a sparse
23. u and V Prasanna Sparse Matrix Vector Multiplication on FPGAs ACM SIGDA International Symposium on Field Programmable Gate Arrays pp 63 74 2005 6 J Sun G Peterson and O Storaasli Sparse Matrix Vector Multiplication Design on FPGAs IEEE International Symposium on Field Programmable Custom Computing Machines pp 349 352 2007 7 Y El Kurdi D Fernandez E Souleimanov D Giannacopoulos W J Gross FPGA architecture and implementation of sparse matrix vector multiplication for the finite element method Computer Physics Communications vol 178 no 8 pp 558 570 2008 8 D Dubois A Dubois C Connor S Poole Sparse Matrix Vector Multiplication on a Reconfigurable Supercomputer IEEE Symposium on Field Programmable Custom Computing Machines pp 349 357 2008 9 Altera DE3 Board User s Manual Altera Corporation 2009
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