1. Design & Implementation VHDL ET062G & ET063G Lecture 7 Najeem Lawal 2012

2. DESIGN & IMPLEMENTATION OUTLINE –Line buffer diagnosis –Creating the 3x3 window –Computing Gx, Gy and edge output Najeem Lawal, 20122 VHDL ET062G & ET063G Lecture 7

3. DESIGN METHODOLOGY Najeem Lawal, 20123 VHDL ET062G & ET063G Lecture 7

4. PROJECT DESIGN Najeem Lawal, 20124 VHDL ET062G & ET063G Lecture 7 Camera Sliding Window Sobel Operator Range Sensor Number Displayer Range sensor Monitor Sobel Wrapper Top Module

5. DESIGN TOP MODULE Najeem Lawal, 20125 VHDL ET062G & ET063G Lecture 7 1.Connect FPGA to Camera, Range Sensor and Monitor through the UCF file 2.Interface modules by following the time diagrams 3.Use extra IO ports for debug purposes

6. SOBEL OPERATOR TOP MODULE Najeem Lawal, 20126 VHDL ET062G & ET063G Lecture 7 1.Self contained image processing module 2.Can be simulated with input and output images 3.Contains sliding window and sobel operator 4.Can be synthesized to extract amount resources used

7. TESTBENCH IMAGES Najeem Lawal, 20127 VHDL ET062G & ET063G Lecture 7

8. SLIDING WINDOW Najeem Lawal, 20128 VHDL ET062G & ET063G Lecture 7 1.Use 2 line buffers 2.Generates 3x3 pixels for the sobel 3.Simulate the linebuffers to investigate the synchronous alignment of the data 640 p1 p2 p3 p4 p5 p6 p7 p8 p9 Linebuffer pdata_in 1 clock delay

9. SOBEL OPERATOR Najeem Lawal, 20129 VHDL ET062G & ET063G Lecture 7 1.Given a set of 9 data calculate Gx, Gy and edge 2.Simulate to verify that the calculations work 3.What out for negative results! p1 p2 p3 p4 p5 p6 p7 p8 p9 G’ = |Gx| + |Gy| G = G’(8 msb) Gx = (p3 – p1) + ((p6 & ‘0’) – (p4 & ‘0’)) + (p9 – p7) Gy = (p7 – p1) + ((p8 & ‘0’) – (p2 & ‘0’)) + (p9 – p3) 9 bits 8 bits?

10. RANGE SENSOR Najeem Lawal, 201210 VHDL ET062G & ET063G Lecture 7 1.Generate a pulse and send it out through the trigger port / pin 2.Use datasheet for duty cycle of the trigger 3.Capture the response, interpret it using a counter

11. RANGE SENSOR Najeem Lawal, 201211 VHDL ET062G & ET063G Lecture 7 1.Output of sobel operator wrapper 2.Output of RS decoder interface (+VGA lab) 3.Select when to print which output based on last lecture 479 0 0 300 301 50 364 400 40 20 64 if (vcount > 300 and vcount < 365) then if ((vcount - 300) >= (64 - pixel_data(7 downto 2))) then red_out <= "111"; green_out<= "111"; blue_out <= "11"; else red_out <= "000"; green_out<= "000"; blue_out <= "00"; end if; else red_out <= red_in; green_out <= green_in; blue_out <= blue_in; end if;

12. RANGE SENSOR Najeem Lawal, 201212 VHDL ET062G & ET063G Lecture 7 SRF05 HTTP://WWW.ROBOTSTOREHK.COM/SENSORS/DOC/SRF05TECH.PDF HTTP://WWW.ROBOTSTOREHK.COM/SENSORS/DOC/SRF05TECH.PDF –10us pulse to the Trigger input –50ms period between each Trigger pulse –Mode 1 recommended

13. SUMMARY Najeem Lawal, 201213 VHDL ET062G & ET063G Lecture 7 SIMULATE TO VERIFY THAT IT WORKS –Include the simulation results in the report –Synthesis to extract the resource usage of each sub module and include the usage in the report –Verify the RS trigger using oscilloscope –Verify the RS value using the LEDs or 7-segment display Take pictures and include them in your report –Group work State which part of the project each member worked on Be familiar with all parts of the project and prepare for questions

14. QUESTIONS Najeem Lawal, 201214 VHDL ET062G & ET063G Lecture 7 ABOUT FPGA / VHDL ABOUT VGA DISPLAY / TIMING ABOUT IMAGE SENSOR TIMING ABOUT RANGE SENSOR ABOUT LINE BUFFERS ABOUT MEMORIES & COUNTERS

15. END OF LECTURE 7 Najeem Lawal, 201215 VHDL ET062G & ET063G Lecture 7 OUTLINE –Line buffer diagnosis –Creating the 3x3 window –Computing Gx, Gy and edge output