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<H2>A Color Vision System for Embedded Robotics Applications</H2></CENTER>
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<H4>FPGA Verilog Code, "Video Ranging"</H4></CENTER>
<P><PRE>////////////////////////////////////////////////////////////////////
//
// Laser Range Finding Function
//
////////////////////////////////////////////////////////////////////
// Copyright (C), Kenneth Y Maxon Sept, 2004.
module video_ranging(
input sys_clock,
input [8:0] pixel_count,
input [7:0] line_count,
input video_store_strobe,
input laser_valid,
input video_capture_running,
input [8:0] range_read_address,
output [7:0] range_data_out
);
wire [8:0] muxed_addr;
wire range_store_strobe;
assign #1 muxed_addr[8:0] = video_capture_running ?
pixel_count[8:0] : range_read_address[8:0];
assign #1 range_store_strobe = ((video_store_strobe && (line_count[7:0] == 8'h00))
|| (video_store_strobe && laser_valid));
////////////////////////////////////////////////////////////////////
//
// this launches out a 512x8 block RAM
//
RAMB4_S8 my_ranging_mem (
.WE(range_store_strobe),
.EN(1'b1),
.RST(1'b0),
.CLK(sys_clock),
.ADDR(muxed_addr[8:0]),
.DI(line_count[7:0]),
.DO(range_data_out[7:0])
);
endmodule
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