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[/] [canny_edge_detector/] [trunk/] [vhdl_src/] [filterV.vhd] - Blame information for rev 2

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library IEEE;
use IEEE.STD_LOGIC_1164.ALL;
use IEEE.std_logic_arith.all;
use IEEE.STD_LOGIC_UNSIGNED.ALL;
use IEEE.math_real."log2";
 
entity filterV is
  generic (
        DATA_WIDTH : integer := 8;
        GRAD_WIDTH : integer := 16
        );
  port (
        clk      : in std_logic;
        fsync    : in std_logic;
        --
        pData1x  : in STD_LOGIC_VECTOR(DATA_WIDTH-1 downto 0);
        pData2x  : in STD_LOGIC_VECTOR(DATA_WIDTH-1 downto 0);
        pData3x  : in STD_LOGIC_VECTOR(DATA_WIDTH-1 downto 0);
        pData4x  : in STD_LOGIC_VECTOR(DATA_WIDTH-1 downto 0);
        pData5x  : in STD_LOGIC_VECTOR(DATA_WIDTH-1 downto 0);
        pData6x  : in STD_LOGIC_VECTOR(DATA_WIDTH-1 downto 0);
        pData7x  : in STD_LOGIC_VECTOR(DATA_WIDTH-1 downto 0);
        pData8x  : in STD_LOGIC_VECTOR(DATA_WIDTH-1 downto 0);
        pData9x  : in STD_LOGIC_VECTOR(DATA_WIDTH-1 downto 0);
        --
        pData1y  : in STD_LOGIC_VECTOR(DATA_WIDTH-1 downto 0);
        pData2y  : in STD_LOGIC_VECTOR(DATA_WIDTH-1 downto 0);
        pData3y  : in STD_LOGIC_VECTOR(DATA_WIDTH-1 downto 0);
        pData4y  : in STD_LOGIC_VECTOR(DATA_WIDTH-1 downto 0);
        pData5y  : in STD_LOGIC_VECTOR(DATA_WIDTH-1 downto 0);
        pData6y  : in STD_LOGIC_VECTOR(DATA_WIDTH-1 downto 0);
        pData7y  : in STD_LOGIC_VECTOR(DATA_WIDTH-1 downto 0);
        pData8y  : in STD_LOGIC_VECTOR(DATA_WIDTH-1 downto 0);
        pData9y  : in STD_LOGIC_VECTOR(DATA_WIDTH-1 downto 0);
        --
        Mdata_o : out STD_LOGIC_VECTOR(GRAD_WIDTH-1-16 downto 0); -- X gradient
        Ddata_o : out STD_LOGIC_VECTOR(1 downto 0) -- Y gradient
        );
  end entity filterV;
 
 
architecture Behavioral of filterV is
 
signal p1x,p2x,p3x,p4x,p5x,p6x,p7x,p8x,p9x : STD_LOGIC_VECTOR(GRAD_WIDTH-1 downto 0);
signal p1xa,p2xa,p3xa,p4xa,p5xa,p6xa,p7xa,p8xa,p9xa : STD_LOGIC_VECTOR(GRAD_WIDTH-1 downto 0);
signal p1xb,p2xb,p3xb,p4xb,p5xb,p6xb,p7xb,p8xb,p9xb : STD_LOGIC_VECTOR(GRAD_WIDTH-1 downto 0);
 
signal p1y,p2y,p3y,p4y,p5y,p6y,p7y,p8y,p9y : STD_LOGIC_VECTOR(GRAD_WIDTH-1 downto 0);
signal p1ya,p2ya,p3ya,p4ya,p5ya,p6ya,p7ya,p8ya,p9ya : STD_LOGIC_VECTOR(GRAD_WIDTH-1 downto 0);
signal p1yb,p2yb,p3yb,p4yb,p5yb,p6yb,p7yb,p8yb,p9yb : STD_LOGIC_VECTOR(GRAD_WIDTH-1 downto 0);
 
signal sY1,sY2,sX1,sX2                     : STD_LOGIC_VECTOR(GRAD_WIDTH-1 downto 0);
signal sX1a,sX1b,sX2a,sX2b                 : STD_LOGIC_VECTOR(GRAD_WIDTH-1 downto 0);
signal sY1a,sY1b,sY2a,sY2b                 : STD_LOGIC_VECTOR(GRAD_WIDTH-1 downto 0);
signal sY1c,sY2c,sXc                       : STD_LOGIC_VECTOR(GRAD_WIDTH-1 downto 0);
signal Xgrad,Ygrad,XgradM,YgradM           : STD_LOGIC_VECTOR(GRAD_WIDTH-1-16 downto 0);
signal XgradS,YgradS                       : STD_LOGIC;
 
begin
 
--1----------------------------------------
  prod1 : process (clk) -- for the frame sync signal
  begin
        if rising_edge(clk) then
    if fsync ='1' then
 
-------------------------------------------------------------------GRAD_Y_hardwired multipliers
 
          p1ya <=(pData1y(GRAD_WIDTH-1) & pData1y(GRAD_WIDTH-2-7 downto 0) & (7-1 downto 0 => '0')) +
                     (pData1y(GRAD_WIDTH-1) & pData1y(GRAD_WIDTH-2-4 downto 0) & (4-1 downto 0 => '0'));
          p1yb <=(pData1y(GRAD_WIDTH-1) & pData1y(GRAD_WIDTH-2 downto 0));
 
          p2ya <=(pData2y(GRAD_WIDTH-1) & pData2y(GRAD_WIDTH-2-8 downto 0) & (8-1 downto 0 => '0')) +
                     (pData2y(GRAD_WIDTH-1) & pData2y(GRAD_WIDTH-2-7 downto 0) & (7-1 downto 0 => '0'));
          p2yb <=(pData2y(GRAD_WIDTH-1) & pData2y(GRAD_WIDTH-2-5 downto 0) & (5-1 downto 0 => '0')) +
                         (pData2y(GRAD_WIDTH-1) & pData2y(GRAD_WIDTH-2-4 downto 0) & (4-1 downto 0 => '0')) +
                         (pData2y(GRAD_WIDTH-1) & pData2y(GRAD_WIDTH-2-2 downto 0) & (2-1 downto 0 => '0'));
 
          p3ya <=(pData3y(GRAD_WIDTH-1) & pData3y(GRAD_WIDTH-2-9 downto 0) & (9-1 downto 0 => '0')) +
                     (pData3y(GRAD_WIDTH-1) & pData3y(GRAD_WIDTH-2-7 downto 0) & (7-1 downto 0 => '0'));
          p3yb <=(pData3y(GRAD_WIDTH-1) & pData3y(GRAD_WIDTH-2-5 downto 0) & (5-1 downto 0 => '0')) +
                         (pData3y(GRAD_WIDTH-1) & pData3y(GRAD_WIDTH-2-3 downto 0) & (3-1 downto 0 => '0')) +
                         (pData3y(GRAD_WIDTH-1) & pData3y(GRAD_WIDTH-2-1 downto 0) & (1-1 downto 0 => '0'));
 
          p4ya <=(pData4y(GRAD_WIDTH-1) & pData4y(GRAD_WIDTH-2-8 downto 0) & (8-1 downto 0 => '0')) +
                     (pData4y(GRAD_WIDTH-1) & pData4y(GRAD_WIDTH-2-6 downto 0) & (6-1 downto 0 => '0'));
          p4yb <=(pData4y(GRAD_WIDTH-1) & pData4y(GRAD_WIDTH-2-5 downto 0) & (5-1 downto 0 => '0')) +
                         (pData4y(GRAD_WIDTH-1) & pData4y(GRAD_WIDTH-2-4 downto 0) & (4-1 downto 0 => '0'));
 
          p5ya <= (others => '0');
          p5yb <= (others => '0');
          --p5ya <= pData5x;--------DEBUG-------------
 
          p6ya <=(pData6y(GRAD_WIDTH-1) & pData6y(GRAD_WIDTH-2-8 downto 0) & (8-1 downto 0 => '0')) +
                     (pData6y(GRAD_WIDTH-1) & pData6y(GRAD_WIDTH-2-6 downto 0) & (6-1 downto 0 => '0'));
          p6yb <=(pData6y(GRAD_WIDTH-1) & pData6y(GRAD_WIDTH-2-5 downto 0) & (5-1 downto 0 => '0')) +
                         (pData6y(GRAD_WIDTH-1) & pData6y(GRAD_WIDTH-2-4 downto 0) & (4-1 downto 0 => '0'));
 
          p7ya <=(pData7y(GRAD_WIDTH-1) & pData7y(GRAD_WIDTH-2-9 downto 0) & (9-1 downto 0 => '0')) +
                     (pData7y(GRAD_WIDTH-1) & pData7y(GRAD_WIDTH-2-7 downto 0) & (7-1 downto 0 => '0'));
          p7yb <=(pData7y(GRAD_WIDTH-1) & pData7y(GRAD_WIDTH-2-5 downto 0) & (5-1 downto 0 => '0')) +
                         (pData7y(GRAD_WIDTH-1) & pData7y(GRAD_WIDTH-2-3 downto 0) & (3-1 downto 0 => '0')) +
                         (pData7y(GRAD_WIDTH-1) & pData7y(GRAD_WIDTH-2-1 downto 0) & (1-1 downto 0 => '0'));
 
          p8ya <=(pData8y(GRAD_WIDTH-1) & pData8y(GRAD_WIDTH-2-8 downto 0) & (8-1 downto 0 => '0')) +
                     (pData8y(GRAD_WIDTH-1) & pData8y(GRAD_WIDTH-2-7 downto 0) & (7-1 downto 0 => '0'));
          p8yb <=(pData8y(GRAD_WIDTH-1) & pData8y(GRAD_WIDTH-2-5 downto 0) & (5-1 downto 0 => '0')) +
                         (pData8y(GRAD_WIDTH-1) & pData8y(GRAD_WIDTH-2-4 downto 0) & (4-1 downto 0 => '0')) +
                         (pData8y(GRAD_WIDTH-1) & pData8y(GRAD_WIDTH-2-2 downto 0) & (2-1 downto 0 => '0'));
 
          p9ya <=(pData9y(GRAD_WIDTH-1) & pData9y(GRAD_WIDTH-2-7 downto 0) & (7-1 downto 0 => '0')) +
                     (pData9y(GRAD_WIDTH-1) & pData9y(GRAD_WIDTH-2-4 downto 0) & (4-1 downto 0 => '0'));
          p9yb <=(pData9y(GRAD_WIDTH-1) & pData9y(GRAD_WIDTH-2 downto 0));
 
-------------------------------------------------------------------GRAD_X_hardwired multipliers
 
          p1xa <=(pData1x(GRAD_WIDTH-1) & pData1x(GRAD_WIDTH-2-4 downto 0) & (4-1 downto 0 => '0'));
          p1xb <=(others=>'0');
 
          p2xa <=(pData2x(GRAD_WIDTH-1) & pData2x(GRAD_WIDTH-2-6 downto 0) & (6-1 downto 0 => '0')) +
                 (pData2x(GRAD_WIDTH-1) & pData2x(GRAD_WIDTH-2-4 downto 0) & (4-1 downto 0 => '0'));
          p2xb <=(pData2x(GRAD_WIDTH-1) & pData2x(GRAD_WIDTH-2-2 downto 0) & (2-1 downto 0 => '0'));
 
          p3xa <=(pData3x(GRAD_WIDTH-1) & pData3x(GRAD_WIDTH-2-8 downto 0) & (8-1 downto 0 => '0')) +
                 (pData3x(GRAD_WIDTH-1) & pData3x(GRAD_WIDTH-2-5 downto 0) & (5-1 downto 0 => '0'));
          p3xb <=(pData3x(GRAD_WIDTH-1) & pData3x(GRAD_WIDTH-2-3 downto 0) & (3-1 downto 0 => '0'));
 
          p4xa <=(pData4x(GRAD_WIDTH-1) & pData4x(GRAD_WIDTH-2-9 downto 0) & (9-1 downto 0 => '0')) +
                 (pData4x(GRAD_WIDTH-1) & pData4x(GRAD_WIDTH-2-6 downto 0) & (6-1 downto 0 => '0'));
          p4xb <=(pData4x(GRAD_WIDTH-1) & pData4x(GRAD_WIDTH-2-5 downto 0) & (5-1 downto 0 => '0')) +
                         (pData4x(GRAD_WIDTH-1) & pData4x(GRAD_WIDTH-2-4 downto 0) & (4-1 downto 0 => '0')) +
                         (pData4x(GRAD_WIDTH-1) & pData4x(GRAD_WIDTH-2-1 downto 0) & (1-1 downto 0 => '0'));
 
          p5xa <=(pData5x(GRAD_WIDTH-1) & pData5x(GRAD_WIDTH-2-9 downto 0) & (9-1 downto 0 => '0')) +
                 (pData5x(GRAD_WIDTH-1) & pData5x(GRAD_WIDTH-2-8 downto 0) & (8-1 downto 0 => '0'));
          p5xb <=(pData5x(GRAD_WIDTH-1) & pData5x(GRAD_WIDTH-2-5 downto 0) & (5-1 downto 0 => '0')) +
                         (pData5x(GRAD_WIDTH-1) & pData5x(GRAD_WIDTH-2-2 downto 0) & (2-1 downto 0 => '0'));
 
          p6xa <=(pData6x(GRAD_WIDTH-1) & pData6x(GRAD_WIDTH-2-9 downto 0) & (9-1 downto 0 => '0')) +
                 (pData6x(GRAD_WIDTH-1) & pData6x(GRAD_WIDTH-2-6 downto 0) & (6-1 downto 0 => '0'));
          p6xb <=(pData6x(GRAD_WIDTH-1) & pData6x(GRAD_WIDTH-2-5 downto 0) & (5-1 downto 0 => '0')) +
                         (pData6x(GRAD_WIDTH-1) & pData6x(GRAD_WIDTH-2-4 downto 0) & (4-1 downto 0 => '0')) +
                         (pData6x(GRAD_WIDTH-1) & pData6x(GRAD_WIDTH-2-1 downto 0) & (1-1 downto 0 => '0'));
 
          p7xa <=(pData7x(GRAD_WIDTH-1) & pData7x(GRAD_WIDTH-2-8 downto 0) & (8-1 downto 0 => '0')) +
                     (pData7x(GRAD_WIDTH-1) & pData7x(GRAD_WIDTH-2-5 downto 0) & (5-1 downto 0 => '0'));
          p7xb <=(pData7x(GRAD_WIDTH-1) & pData7x(GRAD_WIDTH-2-3 downto 0) & (3-1 downto 0 => '0'));
 
          p8xa <=(pData8x(GRAD_WIDTH-1) & pData8x(GRAD_WIDTH-2-6 downto 0) & (6-1 downto 0 => '0')) +
                     (pData8x(GRAD_WIDTH-1) & pData8x(GRAD_WIDTH-2-4 downto 0) & (4-1 downto 0 => '0'));
          p8xb <=(pData8x(GRAD_WIDTH-1) & pData8x(GRAD_WIDTH-2-2 downto 0) & (2-1 downto 0 => '0'));
 
          p9xa <= (pData9x(GRAD_WIDTH-1) & pData9x(GRAD_WIDTH-2-4 downto 0) & (4-1 downto 0 => '0'));
          p9xb <=(others=>'0');
 
        end if;
        end if;
  end process prod1;
 
--2----------------------------------------  
  prod2 : process (clk) -- for the frame sync signal
  begin
        if rising_edge(clk) then
    if fsync ='1' then
          p1x <= p1xa + p1xb;
          p2x <= p2xa + p2xb;
          p3x <= p3xa + p3xb;
          p4x <= p4xa + p4xb;
          p5x <= p5xa + p5xb;
          p6x <= p6xa + p6xb;
          p7x <= p7xa + p7xb;
          p8x <= p8xa + p8xb;
          p9x <= p9xa + p9xb;
          --
          p1y <= p1ya + p1yb;
          p2y <= p2ya + p2yb;
          p3y <= p3ya + p3yb;
          p4y <= p4ya + p4yb;
          p5y <= p5ya + p5yb;
          p6y <= p6ya + p6yb;
          p7y <= p7ya + p7yb;
          p8y <= p8ya + p8yb;
          p9y <= p9ya + p9yb;
        end if;
        end if;
  end process prod2;
 
--3---------------------------------------- 
  sum1 : process (clk)
  begin
        if rising_edge(clk) then
    if fsync ='1' then
          --sY1a <= p5y; ----DEBUG-----------
          sY1a <= p1y+p2y;
          SY1b <= p3y+p4y;
          sY2a <= p6y+p7y;
          sY2b <= p8y+p9y;
          sX1a <= p1x+p2x;
          sX1b <= p3x+p4x;
          sX2a <= p5x+p6x;
      sX2b <= p7x+p8x+p9x;
        end if;
        end if;
  end process sum1;
 
--4---------------------------------------- 
  sum2 : process (clk)
  begin
        if rising_edge(clk) then
    if fsync ='1' then
          --sY1 <= sY1a; ----DEBUG-----------
          sY1 <= sY1a+sY1b;
          sY2 <= sY2a+sY2b;
          sX1 <= sX1a+sX1b;
          sX2 <= sX2a+sX2b;
        end if;
        end if;
  end process sum2;
 
--5---------------------------------------- 
  sum3 : process (clk) -- for the frame sync signal
  begin
        if rising_edge(clk) then
    if fsync ='1' then
            sY2c <= (not sY2) + 1;
            sY1c <= Sy1;
            sXc  <= sX1+sX2;
        end if;
        end if;
  end process sum3;
 
--6---------------------------------------- 
  outp : process (clk)
  begin
        if rising_edge(clk) then
    if fsync ='1' then
                --Ygrad <= sY1c(15 downto 0); -------DEBUG-------
            Ygrad <= sY1c(GRAD_WIDTH-1 downto 16)+sY2c(GRAD_WIDTH-1 downto 16);
                Xgrad <= (not sXc(GRAD_WIDTH-1 downto 16)) + 1;
        end if;
        end if;
  end process outp;
 
--7---------------------------------------- 
  mag : process (clk)
  begin
        if rising_edge(clk) then
    if fsync ='1' then
          if Ygrad(GRAD_WIDTH-1-16)='1' then
                YgradM <= (not Ygrad) + 1;
          else
            YgradM <= Ygrad;
          end if;
          if Xgrad(GRAD_WIDTH-1-16)='1' then
                XgradM <= (not Xgrad) + 1;
          else
            XgradM <= Xgrad;
          end if;
          XgradS <= Xgrad(GRAD_WIDTH-1-16);
          YgradS <= Ygrad(GRAD_WIDTH-1-16);
        end if;
        end if;
  end process ;
 
--8---------------------------------------- 
  outMag : process (clk)
  begin
        if rising_edge(clk) then
    if fsync ='1' then
          Mdata_o <= XgradM + YgradM;
          --Mdata_o <= YgradM; ----------------DEBUG-------------
        end if;
        end if;
  end process ;
 
-------------------------------------------------------------------------------------------------------
-- If we want to get get rid of the atan2() we can just use tan(Gy/Gx): 
-- basically the tangent of the angle T defined by Gx and Gy is Gy/Gx: tan(T) = Gy/Gx.
-- So we just have to compare Gy/Gx against the tangent of the reference angle,
-- which are the following constants:
-- tan( p/8) = v2 - 1 ~ 1/2
-- tan(3p/8) = v2 + 1 ~ 2
-- And to avoid the division of Gy/Gx, we can simply compare Gy against Gx multiplied by these constants
-------------------------------------------------------------------------------------------------------
 
--8 
------------------------------------------------------------
  edge_sobel_getdir2: process (clk)
  begin
        if rising_edge(clk) then
    if fsync ='1' then
      if    YgradM(GRAD_WIDTH-1-16 downto 0) < ('0' & XgradM(GRAD_WIDTH-1-16 downto 1)) then Ddata_o <= "01"; --DIRECTION_HORIZONTAL
      elsif ('0' & YgradM(GRAD_WIDTH-1-16 downto 1)) > XgradM(GRAD_WIDTH-1-16 downto 0) then Ddata_o <= "00"; -- DIRECTION_VERTICAL
      else
            if XgradS = YgradS then Ddata_o <= "10"; -- DIRECTION_45R
                else Ddata_o <= "11"; -- DIRECTION_45F
        end if;
          end if;
          --Ddata_o <= Ygrada(1 downto 0); ---------DEBUG-------------
        end if;
        end if;
  end process edge_sobel_getdir2;
 
 
 
end Behavioral;

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Subversion Repositories canny_edge_detector

[/] [canny_edge_detector/] [trunk/] [vhdl_src/] [filterV.vhd] - Blame information for rev 2

Line No.	Rev	Author	Line
1	2	angelobacc	`library IEEE;`
2			`use IEEE.STD_LOGIC_1164.ALL;`
3			`use IEEE.std_logic_arith.all;`
4			`use IEEE.STD_LOGIC_UNSIGNED.ALL;`
5			`use IEEE.math_real."log2";`
6
7			`entity filterV is`
8			`generic (`
9			`DATA_WIDTH : integer := 8;`
10			`GRAD_WIDTH : integer := 16`
11			`);`
12			`port (`
13			`clk : in std_logic;`
14			`fsync : in std_logic;`
15			`--`
16			`pData1x : in STD_LOGIC_VECTOR(DATA_WIDTH-1 downto 0);`
17			`pData2x : in STD_LOGIC_VECTOR(DATA_WIDTH-1 downto 0);`
18			`pData3x : in STD_LOGIC_VECTOR(DATA_WIDTH-1 downto 0);`
19			`pData4x : in STD_LOGIC_VECTOR(DATA_WIDTH-1 downto 0);`
20			`pData5x : in STD_LOGIC_VECTOR(DATA_WIDTH-1 downto 0);`
21			`pData6x : in STD_LOGIC_VECTOR(DATA_WIDTH-1 downto 0);`
22			`pData7x : in STD_LOGIC_VECTOR(DATA_WIDTH-1 downto 0);`
23			`pData8x : in STD_LOGIC_VECTOR(DATA_WIDTH-1 downto 0);`
24			`pData9x : in STD_LOGIC_VECTOR(DATA_WIDTH-1 downto 0);`
25			`--`
26			`pData1y : in STD_LOGIC_VECTOR(DATA_WIDTH-1 downto 0);`
27			`pData2y : in STD_LOGIC_VECTOR(DATA_WIDTH-1 downto 0);`
28			`pData3y : in STD_LOGIC_VECTOR(DATA_WIDTH-1 downto 0);`
29			`pData4y : in STD_LOGIC_VECTOR(DATA_WIDTH-1 downto 0);`
30			`pData5y : in STD_LOGIC_VECTOR(DATA_WIDTH-1 downto 0);`
31			`pData6y : in STD_LOGIC_VECTOR(DATA_WIDTH-1 downto 0);`
32			`pData7y : in STD_LOGIC_VECTOR(DATA_WIDTH-1 downto 0);`
33			`pData8y : in STD_LOGIC_VECTOR(DATA_WIDTH-1 downto 0);`
34			`pData9y : in STD_LOGIC_VECTOR(DATA_WIDTH-1 downto 0);`
35			`--`
36			`Mdata_o : out STD_LOGIC_VECTOR(GRAD_WIDTH-1-16 downto 0); -- X gradient`
37			`Ddata_o : out STD_LOGIC_VECTOR(1 downto 0) -- Y gradient`
38			`);`
39			`end entity filterV;`
40
41
42			`architecture Behavioral of filterV is`
43
44			`signal p1x,p2x,p3x,p4x,p5x,p6x,p7x,p8x,p9x : STD_LOGIC_VECTOR(GRAD_WIDTH-1 downto 0);`
45			`signal p1xa,p2xa,p3xa,p4xa,p5xa,p6xa,p7xa,p8xa,p9xa : STD_LOGIC_VECTOR(GRAD_WIDTH-1 downto 0);`
46			`signal p1xb,p2xb,p3xb,p4xb,p5xb,p6xb,p7xb,p8xb,p9xb : STD_LOGIC_VECTOR(GRAD_WIDTH-1 downto 0);`
47
48			`signal p1y,p2y,p3y,p4y,p5y,p6y,p7y,p8y,p9y : STD_LOGIC_VECTOR(GRAD_WIDTH-1 downto 0);`
49			`signal p1ya,p2ya,p3ya,p4ya,p5ya,p6ya,p7ya,p8ya,p9ya : STD_LOGIC_VECTOR(GRAD_WIDTH-1 downto 0);`
50			`signal p1yb,p2yb,p3yb,p4yb,p5yb,p6yb,p7yb,p8yb,p9yb : STD_LOGIC_VECTOR(GRAD_WIDTH-1 downto 0);`
51
52			`signal sY1,sY2,sX1,sX2 : STD_LOGIC_VECTOR(GRAD_WIDTH-1 downto 0);`
53			`signal sX1a,sX1b,sX2a,sX2b : STD_LOGIC_VECTOR(GRAD_WIDTH-1 downto 0);`
54			`signal sY1a,sY1b,sY2a,sY2b : STD_LOGIC_VECTOR(GRAD_WIDTH-1 downto 0);`
55			`signal sY1c,sY2c,sXc : STD_LOGIC_VECTOR(GRAD_WIDTH-1 downto 0);`
56			`signal Xgrad,Ygrad,XgradM,YgradM : STD_LOGIC_VECTOR(GRAD_WIDTH-1-16 downto 0);`
57			`signal XgradS,YgradS : STD_LOGIC;`
58
59			`begin`
60
61			`--1----------------------------------------`
62			`prod1 : process (clk) -- for the frame sync signal`
63			`begin`
64			`if rising_edge(clk) then`
65			`if fsync ='1' then`
66
67			`-------------------------------------------------------------------GRAD_Y_hardwired multipliers`
68
69			`p1ya <=(pData1y(GRAD_WIDTH-1) & pData1y(GRAD_WIDTH-2-7 downto 0) & (7-1 downto 0 => '0')) +`
70			`(pData1y(GRAD_WIDTH-1) & pData1y(GRAD_WIDTH-2-4 downto 0) & (4-1 downto 0 => '0'));`
71			`p1yb <=(pData1y(GRAD_WIDTH-1) & pData1y(GRAD_WIDTH-2 downto 0));`
72
73			`p2ya <=(pData2y(GRAD_WIDTH-1) & pData2y(GRAD_WIDTH-2-8 downto 0) & (8-1 downto 0 => '0')) +`
74			`(pData2y(GRAD_WIDTH-1) & pData2y(GRAD_WIDTH-2-7 downto 0) & (7-1 downto 0 => '0'));`
75			`p2yb <=(pData2y(GRAD_WIDTH-1) & pData2y(GRAD_WIDTH-2-5 downto 0) & (5-1 downto 0 => '0')) +`
76			`(pData2y(GRAD_WIDTH-1) & pData2y(GRAD_WIDTH-2-4 downto 0) & (4-1 downto 0 => '0')) +`
77			`(pData2y(GRAD_WIDTH-1) & pData2y(GRAD_WIDTH-2-2 downto 0) & (2-1 downto 0 => '0'));`
78
79			`p3ya <=(pData3y(GRAD_WIDTH-1) & pData3y(GRAD_WIDTH-2-9 downto 0) & (9-1 downto 0 => '0')) +`
80			`(pData3y(GRAD_WIDTH-1) & pData3y(GRAD_WIDTH-2-7 downto 0) & (7-1 downto 0 => '0'));`
81			`p3yb <=(pData3y(GRAD_WIDTH-1) & pData3y(GRAD_WIDTH-2-5 downto 0) & (5-1 downto 0 => '0')) +`
82			`(pData3y(GRAD_WIDTH-1) & pData3y(GRAD_WIDTH-2-3 downto 0) & (3-1 downto 0 => '0')) +`
83			`(pData3y(GRAD_WIDTH-1) & pData3y(GRAD_WIDTH-2-1 downto 0) & (1-1 downto 0 => '0'));`
84
85			`p4ya <=(pData4y(GRAD_WIDTH-1) & pData4y(GRAD_WIDTH-2-8 downto 0) & (8-1 downto 0 => '0')) +`
86			`(pData4y(GRAD_WIDTH-1) & pData4y(GRAD_WIDTH-2-6 downto 0) & (6-1 downto 0 => '0'));`
87			`p4yb <=(pData4y(GRAD_WIDTH-1) & pData4y(GRAD_WIDTH-2-5 downto 0) & (5-1 downto 0 => '0')) +`
88			`(pData4y(GRAD_WIDTH-1) & pData4y(GRAD_WIDTH-2-4 downto 0) & (4-1 downto 0 => '0'));`
89
90			`p5ya <= (others => '0');`
91			`p5yb <= (others => '0');`
92			`--p5ya <= pData5x;--------DEBUG-------------`
93
94			`p6ya <=(pData6y(GRAD_WIDTH-1) & pData6y(GRAD_WIDTH-2-8 downto 0) & (8-1 downto 0 => '0')) +`
95			`(pData6y(GRAD_WIDTH-1) & pData6y(GRAD_WIDTH-2-6 downto 0) & (6-1 downto 0 => '0'));`
96			`p6yb <=(pData6y(GRAD_WIDTH-1) & pData6y(GRAD_WIDTH-2-5 downto 0) & (5-1 downto 0 => '0')) +`
97			`(pData6y(GRAD_WIDTH-1) & pData6y(GRAD_WIDTH-2-4 downto 0) & (4-1 downto 0 => '0'));`
98
99			`p7ya <=(pData7y(GRAD_WIDTH-1) & pData7y(GRAD_WIDTH-2-9 downto 0) & (9-1 downto 0 => '0')) +`
100			`(pData7y(GRAD_WIDTH-1) & pData7y(GRAD_WIDTH-2-7 downto 0) & (7-1 downto 0 => '0'));`
101			`p7yb <=(pData7y(GRAD_WIDTH-1) & pData7y(GRAD_WIDTH-2-5 downto 0) & (5-1 downto 0 => '0')) +`
102			`(pData7y(GRAD_WIDTH-1) & pData7y(GRAD_WIDTH-2-3 downto 0) & (3-1 downto 0 => '0')) +`
103			`(pData7y(GRAD_WIDTH-1) & pData7y(GRAD_WIDTH-2-1 downto 0) & (1-1 downto 0 => '0'));`
104
105			`p8ya <=(pData8y(GRAD_WIDTH-1) & pData8y(GRAD_WIDTH-2-8 downto 0) & (8-1 downto 0 => '0')) +`
106			`(pData8y(GRAD_WIDTH-1) & pData8y(GRAD_WIDTH-2-7 downto 0) & (7-1 downto 0 => '0'));`
107			`p8yb <=(pData8y(GRAD_WIDTH-1) & pData8y(GRAD_WIDTH-2-5 downto 0) & (5-1 downto 0 => '0')) +`
108			`(pData8y(GRAD_WIDTH-1) & pData8y(GRAD_WIDTH-2-4 downto 0) & (4-1 downto 0 => '0')) +`
109			`(pData8y(GRAD_WIDTH-1) & pData8y(GRAD_WIDTH-2-2 downto 0) & (2-1 downto 0 => '0'));`
110
111			`p9ya <=(pData9y(GRAD_WIDTH-1) & pData9y(GRAD_WIDTH-2-7 downto 0) & (7-1 downto 0 => '0')) +`
112			`(pData9y(GRAD_WIDTH-1) & pData9y(GRAD_WIDTH-2-4 downto 0) & (4-1 downto 0 => '0'));`
113			`p9yb <=(pData9y(GRAD_WIDTH-1) & pData9y(GRAD_WIDTH-2 downto 0));`
114
115			`-------------------------------------------------------------------GRAD_X_hardwired multipliers`
116
117			`p1xa <=(pData1x(GRAD_WIDTH-1) & pData1x(GRAD_WIDTH-2-4 downto 0) & (4-1 downto 0 => '0'));`
118			`p1xb <=(others=>'0');`
119
120			`p2xa <=(pData2x(GRAD_WIDTH-1) & pData2x(GRAD_WIDTH-2-6 downto 0) & (6-1 downto 0 => '0')) +`
121			`(pData2x(GRAD_WIDTH-1) & pData2x(GRAD_WIDTH-2-4 downto 0) & (4-1 downto 0 => '0'));`
122			`p2xb <=(pData2x(GRAD_WIDTH-1) & pData2x(GRAD_WIDTH-2-2 downto 0) & (2-1 downto 0 => '0'));`
123
124			`p3xa <=(pData3x(GRAD_WIDTH-1) & pData3x(GRAD_WIDTH-2-8 downto 0) & (8-1 downto 0 => '0')) +`
125			`(pData3x(GRAD_WIDTH-1) & pData3x(GRAD_WIDTH-2-5 downto 0) & (5-1 downto 0 => '0'));`
126			`p3xb <=(pData3x(GRAD_WIDTH-1) & pData3x(GRAD_WIDTH-2-3 downto 0) & (3-1 downto 0 => '0'));`
127
128			`p4xa <=(pData4x(GRAD_WIDTH-1) & pData4x(GRAD_WIDTH-2-9 downto 0) & (9-1 downto 0 => '0')) +`
129			`(pData4x(GRAD_WIDTH-1) & pData4x(GRAD_WIDTH-2-6 downto 0) & (6-1 downto 0 => '0'));`
130			`p4xb <=(pData4x(GRAD_WIDTH-1) & pData4x(GRAD_WIDTH-2-5 downto 0) & (5-1 downto 0 => '0')) +`
131			`(pData4x(GRAD_WIDTH-1) & pData4x(GRAD_WIDTH-2-4 downto 0) & (4-1 downto 0 => '0')) +`
132			`(pData4x(GRAD_WIDTH-1) & pData4x(GRAD_WIDTH-2-1 downto 0) & (1-1 downto 0 => '0'));`
133
134			`p5xa <=(pData5x(GRAD_WIDTH-1) & pData5x(GRAD_WIDTH-2-9 downto 0) & (9-1 downto 0 => '0')) +`
135			`(pData5x(GRAD_WIDTH-1) & pData5x(GRAD_WIDTH-2-8 downto 0) & (8-1 downto 0 => '0'));`
136			`p5xb <=(pData5x(GRAD_WIDTH-1) & pData5x(GRAD_WIDTH-2-5 downto 0) & (5-1 downto 0 => '0')) +`
137			`(pData5x(GRAD_WIDTH-1) & pData5x(GRAD_WIDTH-2-2 downto 0) & (2-1 downto 0 => '0'));`
138
139			`p6xa <=(pData6x(GRAD_WIDTH-1) & pData6x(GRAD_WIDTH-2-9 downto 0) & (9-1 downto 0 => '0')) +`
140			`(pData6x(GRAD_WIDTH-1) & pData6x(GRAD_WIDTH-2-6 downto 0) & (6-1 downto 0 => '0'));`
141			`p6xb <=(pData6x(GRAD_WIDTH-1) & pData6x(GRAD_WIDTH-2-5 downto 0) & (5-1 downto 0 => '0')) +`
142			`(pData6x(GRAD_WIDTH-1) & pData6x(GRAD_WIDTH-2-4 downto 0) & (4-1 downto 0 => '0')) +`
143			`(pData6x(GRAD_WIDTH-1) & pData6x(GRAD_WIDTH-2-1 downto 0) & (1-1 downto 0 => '0'));`
144
145			`p7xa <=(pData7x(GRAD_WIDTH-1) & pData7x(GRAD_WIDTH-2-8 downto 0) & (8-1 downto 0 => '0')) +`
146			`(pData7x(GRAD_WIDTH-1) & pData7x(GRAD_WIDTH-2-5 downto 0) & (5-1 downto 0 => '0'));`
147			`p7xb <=(pData7x(GRAD_WIDTH-1) & pData7x(GRAD_WIDTH-2-3 downto 0) & (3-1 downto 0 => '0'));`
148
149			`p8xa <=(pData8x(GRAD_WIDTH-1) & pData8x(GRAD_WIDTH-2-6 downto 0) & (6-1 downto 0 => '0')) +`
150			`(pData8x(GRAD_WIDTH-1) & pData8x(GRAD_WIDTH-2-4 downto 0) & (4-1 downto 0 => '0'));`
151			`p8xb <=(pData8x(GRAD_WIDTH-1) & pData8x(GRAD_WIDTH-2-2 downto 0) & (2-1 downto 0 => '0'));`
152
153			`p9xa <= (pData9x(GRAD_WIDTH-1) & pData9x(GRAD_WIDTH-2-4 downto 0) & (4-1 downto 0 => '0'));`
154			`p9xb <=(others=>'0');`
155
156			`end if;`
157			`end if;`
158			`end process prod1;`
159
160			`--2----------------------------------------`
161			`prod2 : process (clk) -- for the frame sync signal`
162			`begin`
163			`if rising_edge(clk) then`
164			`if fsync ='1' then`
165			`p1x <= p1xa + p1xb;`
166			`p2x <= p2xa + p2xb;`
167			`p3x <= p3xa + p3xb;`
168			`p4x <= p4xa + p4xb;`
169			`p5x <= p5xa + p5xb;`
170			`p6x <= p6xa + p6xb;`
171			`p7x <= p7xa + p7xb;`
172			`p8x <= p8xa + p8xb;`
173			`p9x <= p9xa + p9xb;`
174			`--`
175			`p1y <= p1ya + p1yb;`
176			`p2y <= p2ya + p2yb;`
177			`p3y <= p3ya + p3yb;`
178			`p4y <= p4ya + p4yb;`
179			`p5y <= p5ya + p5yb;`
180			`p6y <= p6ya + p6yb;`
181			`p7y <= p7ya + p7yb;`
182			`p8y <= p8ya + p8yb;`
183			`p9y <= p9ya + p9yb;`
184			`end if;`
185			`end if;`
186			`end process prod2;`
187
188			`--3----------------------------------------`
189			`sum1 : process (clk)`
190			`begin`
191			`if rising_edge(clk) then`
192			`if fsync ='1' then`
193			`--sY1a <= p5y; ----DEBUG-----------`
194			`sY1a <= p1y+p2y;`
195			`SY1b <= p3y+p4y;`
196			`sY2a <= p6y+p7y;`
197			`sY2b <= p8y+p9y;`
198			`sX1a <= p1x+p2x;`
199			`sX1b <= p3x+p4x;`
200			`sX2a <= p5x+p6x;`
201			`sX2b <= p7x+p8x+p9x;`
202			`end if;`
203			`end if;`
204			`end process sum1;`
205
206			`--4----------------------------------------`
207			`sum2 : process (clk)`
208			`begin`
209			`if rising_edge(clk) then`
210			`if fsync ='1' then`
211			`--sY1 <= sY1a; ----DEBUG-----------`
212			`sY1 <= sY1a+sY1b;`
213			`sY2 <= sY2a+sY2b;`
214			`sX1 <= sX1a+sX1b;`
215			`sX2 <= sX2a+sX2b;`
216			`end if;`
217			`end if;`
218			`end process sum2;`
219
220			`--5----------------------------------------`
221			`sum3 : process (clk) -- for the frame sync signal`
222			`begin`
223			`if rising_edge(clk) then`
224			`if fsync ='1' then`
225			`sY2c <= (not sY2) + 1;`
226			`sY1c <= Sy1;`
227			`sXc <= sX1+sX2;`
228			`end if;`
229			`end if;`
230			`end process sum3;`
231
232			`--6----------------------------------------`
233			`outp : process (clk)`
234			`begin`
235			`if rising_edge(clk) then`
236			`if fsync ='1' then`
237			`--Ygrad <= sY1c(15 downto 0); -------DEBUG-------`
238			`Ygrad <= sY1c(GRAD_WIDTH-1 downto 16)+sY2c(GRAD_WIDTH-1 downto 16);`
239			`Xgrad <= (not sXc(GRAD_WIDTH-1 downto 16)) + 1;`
240			`end if;`
241			`end if;`
242			`end process outp;`
243
244			`--7----------------------------------------`
245			`mag : process (clk)`
246			`begin`
247			`if rising_edge(clk) then`
248			`if fsync ='1' then`
249			`if Ygrad(GRAD_WIDTH-1-16)='1' then`
250			`YgradM <= (not Ygrad) + 1;`
251			`else`
252			`YgradM <= Ygrad;`
253			`end if;`
254			`if Xgrad(GRAD_WIDTH-1-16)='1' then`
255			`XgradM <= (not Xgrad) + 1;`
256			`else`
257			`XgradM <= Xgrad;`
258			`end if;`
259			`XgradS <= Xgrad(GRAD_WIDTH-1-16);`
260			`YgradS <= Ygrad(GRAD_WIDTH-1-16);`
261			`end if;`
262			`end if;`
263			`end process ;`
264
265			`--8----------------------------------------`
266			`outMag : process (clk)`
267			`begin`
268			`if rising_edge(clk) then`
269			`if fsync ='1' then`
270			`Mdata_o <= XgradM + YgradM;`
271			`--Mdata_o <= YgradM; ----------------DEBUG-------------`
272			`end if;`
273			`end if;`
274			`end process ;`
275
276			`-------------------------------------------------------------------------------------------------------`
277			`-- If we want to get get rid of the atan2() we can just use tan(Gy/Gx):`
278			`-- basically the tangent of the angle T defined by Gx and Gy is Gy/Gx: tan(T) = Gy/Gx.`
279			`-- So we just have to compare Gy/Gx against the tangent of the reference angle,`
280			`-- which are the following constants:`
281			`-- tan( p/8) = v2 - 1 ~ 1/2`
282			`-- tan(3p/8) = v2 + 1 ~ 2`
283			`-- And to avoid the division of Gy/Gx, we can simply compare Gy against Gx multiplied by these constants`
284			`-------------------------------------------------------------------------------------------------------`
285
286			`--8`
287			`------------------------------------------------------------`
288			`edge_sobel_getdir2: process (clk)`
289			`begin`
290			`if rising_edge(clk) then`
291			`if fsync ='1' then`
292			`if YgradM(GRAD_WIDTH-1-16 downto 0) < ('0' & XgradM(GRAD_WIDTH-1-16 downto 1)) then Ddata_o <= "01"; --DIRECTION_HORIZONTAL`
293			`elsif ('0' & YgradM(GRAD_WIDTH-1-16 downto 1)) > XgradM(GRAD_WIDTH-1-16 downto 0) then Ddata_o <= "00"; -- DIRECTION_VERTICAL`
294			`else`
295			`if XgradS = YgradS then Ddata_o <= "10"; -- DIRECTION_45R`
296			`else Ddata_o <= "11"; -- DIRECTION_45F`
297			`end if;`
298			`end if;`
299			`--Ddata_o <= Ygrada(1 downto 0); ---------DEBUG-------------`
300			`end if;`
301			`end if;`
302			`end process edge_sobel_getdir2;`
303
304
305
306			`end Behavioral;`