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NaNet is an FPGA-based PCIe X8 Gen2 NIC supporting 1/10 GbE links and the custom 34 Gbps APElink channel. The design has GPUDirect RDMA capabilities and features a network stack protocol offloading module, making it suitable for building low-latency, real-time GPU-based computing systems. We provide a detailed description of the NaNet hardware modular architecture. Benchmarks for latency and bandwidth for GbE and APElink channels are presented, followed by a performance analysis on the case study of the GPU-based low level trigger for the RICH detector in the NA62 CERN experiment, using either the NaNet GbE and APElink channels. Finally, we give an outline of project future activities.