library ieee;
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library ieee;
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use ieee.std_logic_1164.all;
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use ieee.std_logic_1164.all;
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-- c2003 Franks Development, LLC
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-- c2003 Franks Development, LLC
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-- http://www.franks-development.com
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-- http://www.franks-development.com
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-- !This source is distributed under the terms & conditions specified at opencores.org
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-- !This source is distributed under the terms & conditions specified at opencores.org
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--How we 'talk' to the outside world:
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--How we 'talk' to the outside world:
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entity QuadratureDecoderPorts is
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entity QuadratureDecoderPorts is
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port (
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port (
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clock : in std_logic;
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clock : in std_logic;
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QuadA : in std_logic;
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QuadA : in std_logic;
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QuadB : in std_logic;
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QuadB : in std_logic;
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Direction : out std_logic;
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Direction : out std_logic;
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CountEnable : out std_logic
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CountEnable : out std_logic
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);
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);
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end QuadratureDecoderPorts;
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end QuadratureDecoderPorts;
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--What we 'do':
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--What we 'do':
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architecture QuadratureDecoder of QuadratureDecoderPorts is
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architecture QuadratureDecoder of QuadratureDecoderPorts is
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--local 'variables' or 'registers'
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--local 'variables' or 'registers'
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--this runs our state machine: where are we in the decoding process?
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--this runs our state machine: where are we in the decoding process?
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--the following constants describe each state
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--the following constants describe each state
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--note that every possible state is not listed. the unused states
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--note that every possible state is not listed. the unused states
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--are physically unreachable in a functioning quadratre device, given that the
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--are physically unreachable in a functioning quadratre device, given that the
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--clock is fast enough to 'catch' each transition on the quadrature inputs
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--clock is fast enough to 'catch' each transition on the quadrature inputs
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--LR means left-right, RL = left-right. Of course the two are reversed
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--LR means left-right, RL = left-right. Of course the two are reversed
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--if the two quadratre inputs are switched.
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--if the two quadratre inputs are switched.
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signal state : std_logic_vector(3 downto 0);
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signal state : std_logic_vector(3 downto 0);
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constant Wait0 : std_logic_vector(3 downto 0) := "0000";
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constant Wait0 : std_logic_vector(3 downto 0) := "0000";
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constant Wait1 : std_logic_vector(3 downto 0) := "0001";
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constant Wait1 : std_logic_vector(3 downto 0) := "0001";
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constant Count0 : std_logic_vector(3 downto 0) := "0010";
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constant Count0 : std_logic_vector(3 downto 0) := "0010";
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constant Count1 : std_logic_vector(3 downto 0) := "0011";
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constant Count1 : std_logic_vector(3 downto 0) := "0011";
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constant LR1 : std_logic_vector(3 downto 0) := "1001";
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constant LR1 : std_logic_vector(3 downto 0) := "1001";
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constant LR2 : std_logic_vector(3 downto 0) := "1101";
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constant LR2 : std_logic_vector(3 downto 0) := "1101";
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constant LR3 : std_logic_vector(3 downto 0) := "0101";
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constant LR3 : std_logic_vector(3 downto 0) := "0101";
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constant RL1 : std_logic_vector(3 downto 0) := "0100";
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constant RL1 : std_logic_vector(3 downto 0) := "0100";
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constant RL2 : std_logic_vector(3 downto 0) := "1100";
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constant RL2 : std_logic_vector(3 downto 0) := "1100";
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constant RL3 : std_logic_vector(3 downto 0) := "1000";
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constant RL3 : std_logic_vector(3 downto 0) := "1000";
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--this is a temp where the two quadrature inputs are stored
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--this is a temp where the two quadrature inputs are stored
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signal Quad : std_logic_vector(1 downto 0);
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signal Quad : std_logic_vector(1 downto 0);
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--as a single quadrature count is made up of several states, and the decoder
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--as a single quadrature count is made up of several states, and the decoder
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--can remain in a given state indefinately (if the quadrature input
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--can remain in a given state indefinately (if the quadrature input
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--device is not 'moving'), so we need these 'gate-ing' variables
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--device is not 'moving'), so we need these 'gate-ing' variables
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--to keep us from counting on every clock when we sit idle in the
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--to keep us from counting on every clock when we sit idle in the
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--'count' state; thusly, we just count on the first clock
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--'count' state; thusly, we just count on the first clock
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--upon entering a 'count' state.
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--upon entering a 'count' state.
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signal counted : std_logic;
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signal counted : std_logic;
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signal counting : std_logic;
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signal counting : std_logic;
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begin --architecture QuadratureDecoder
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begin --architecture QuadratureDecoder
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process (clock)
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process (clock)
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begin --(clock)
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begin --(clock)
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if ( (clock'event) and (clock = '1') ) then --every rising edge
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if ( (clock'event) and (clock = '1') ) then --every rising edge
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--convert inputs from asynch to synch by assigning once on each rising edge of clock
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--convert inputs from asynch to synch by assigning once on each rising edge of clock
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Quad(0) <= QuadA;
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Quad(0) <= QuadA;
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Quad(1) <= QuadB;
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Quad(1) <= QuadB;
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--we are not going to be counting on this clock by default
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--we are not going to be counting on this clock by default
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CountEnable <= '0';
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CountEnable <= '0';
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--we are not in a 'count' state
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--we are not in a 'count' state
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if (Counting = '0') then
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if (Counting = '0') then
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Counted <= '0'; --haven't counted when not in count state
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Counted <= '0'; --haven't counted when not in count state
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CountEnable <= '0'; --are not outputing a count either
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CountEnable <= '0'; --are not outputing a count either
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end if;
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end if;
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--we are in a count state
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--we are in a count state
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if (Counting = '1') then
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if (Counting = '1') then
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if (Counted = '1') then --note that this is covered by default, but is included for clarity.
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if (Counted = '1') then --note that this is covered by default, but is included for clarity.
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CountEnable <= '0'; --already counted this one, don't output a count
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CountEnable <= '0'; --already counted this one, don't output a count
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end if;
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end if;
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if (Counted = '0') then --we haven't counted it already
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if (Counted = '0') then --we haven't counted it already
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Counted <= '1'; --make sure we dont count it again on next clock
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Counted <= '1'; --make sure we dont count it again on next clock
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CountEnable <= '1'; --output a count!
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CountEnable <= '1'; --output a count!
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end if;
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end if;
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end if;
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end if;
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-- run our state machine
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-- run our state machine
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-- the state transitions are governed by the nature of reality -
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-- the state transitions are governed by the nature of reality -
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-- vis-a-vis this is what quadratre is.
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-- vis-a-vis this is what quadratre is.
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-- the '--?' are the physically un-reachable states.
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-- the '--?' are the physically un-reachable states.
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-- note that it is imperative that the clock be at least (4 I recal)
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-- note that it is imperative that the clock be at least (4 I recal)
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-- times faster than the maximum transition rate on each quadratre
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-- times faster than the maximum transition rate on each quadratre
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-- input, or else transitions will occur in between clocks, corrupting
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-- input, or else transitions will occur in between clocks, corrupting
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-- the state of the decoder. Put differently, the quadratre device must
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-- the state of the decoder. Put differently, the quadratre device must
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-- physically remain in each state for at least a single clock
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-- physically remain in each state for at least a single clock
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-- or state changes will not be 'captured' and decoder output will be bogus.
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-- or state changes will not be 'captured' and decoder output will be bogus.
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-- which is substancially the case with any clock-based logic.
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-- which is substancially the case with any clock-based logic.
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-- the difference is that a normal glitch is any change in input which
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-- the difference is that a normal glitch is any change in input which
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-- has duration less than a single clock, but in quadrature, as single
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-- has duration less than a single clock, but in quadrature, as single
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-- transition of the actual device cases 4 transitions in the state,
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-- transition of the actual device cases 4 transitions in the state,
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-- by design of the quadrature encoding process.
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-- by design of the quadrature encoding process.
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case state is
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case state is
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when Wait0 =>
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when Wait0 =>
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if (Quad = "00") then state <= Wait0; end if;
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if (Quad = "00") then state <= Wait0; end if;
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if (Quad = "01") then state <= RL1; end if;
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if (Quad = "01") then state <= RL1; end if;
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if (Quad = "10") then state <= LR1; end if;
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if (Quad = "10") then state <= LR1; end if;
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if (Quad = "11") then state <= Wait0; end if; --?
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if (Quad = "11") then state <= Wait0; end if; --?
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Counting <= '0';
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Counting <= '0';
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when Wait1 =>
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when Wait1 =>
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if (Quad = "00") then state <= Wait0; end if;
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if (Quad = "00") then state <= Wait0; end if;
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if (Quad = "01") then state <= RL1; end if;
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if (Quad = "01") then state <= RL1; end if;
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if (Quad = "10") then state <= LR1; end if;
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if (Quad = "10") then state <= LR1; end if;
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if (Quad = "11") then state <= Wait0; end if; --?
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if (Quad = "11") then state <= Wait0; end if; --?
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Counting <= '0';
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Counting <= '0';
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when Count0 =>
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when Count0 =>
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if (Quad = "00") then state <= Wait0; end if;
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if (Quad = "00") then state <= Wait0; end if;
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if (Quad = "01") then state <= RL1; end if;
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if (Quad = "01") then state <= RL1; end if;
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if (Quad = "10") then state <= LR1; end if;
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if (Quad = "10") then state <= LR1; end if;
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if (Quad = "11") then state <= Count0; end if; --?
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if (Quad = "11") then state <= Count0; end if; --?
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Counting <= '1';
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Counting <= '1';
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when Count1 =>
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when Count1 =>
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if (Quad = "00") then state <= Wait0; end if;
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if (Quad = "00") then state <= Wait0; end if;
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if (Quad = "01") then state <= RL1; end if;
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if (Quad = "01") then state <= RL1; end if;
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if (Quad = "10") then state <= LR1; end if;
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if (Quad = "10") then state <= LR1; end if;
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if (Quad = "11") then state <= Count0; end if; --?
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if (Quad = "11") then state <= Count0; end if; --?
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Counting <= '1';
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Counting <= '1';
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when LR1 =>
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when LR1 =>
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if (Quad = "00") then state <= Wait0; end if;
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if (Quad = "00") then state <= Wait0; end if;
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if (Quad = "01") then state <= LR1; end if; --?
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if (Quad = "01") then state <= LR1; end if; --?
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if (Quad = "10") then state <= LR1; end if;
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if (Quad = "10") then state <= LR1; end if;
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if (Quad = "11") then state <= LR2; end if;
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if (Quad = "11") then state <= LR2; end if;
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Direction <= '0';
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Direction <= '0';
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Counting <= '0';
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Counting <= '0';
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when LR2 =>
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when LR2 =>
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if (Quad = "00") then state <= LR2; end if; --?
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if (Quad = "00") then state <= LR2; end if; --?
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if (Quad = "01") then state <= LR3; end if;
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if (Quad = "01") then state <= LR3; end if;
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if (Quad = "10") then state <= LR1; end if;
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if (Quad = "10") then state <= LR1; end if;
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if (Quad = "11") then state <= LR2; end if; --?
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if (Quad = "11") then state <= LR2; end if; --?
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Direction <= '0';
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Direction <= '0';
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Counting <= '0';
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Counting <= '0';
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when LR3 =>
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when LR3 =>
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if (Quad = "00") then state <= Count0; end if;
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if (Quad = "00") then state <= Count0; end if;
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if (Quad = "01") then state <= LR3; end if;
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if (Quad = "01") then state <= LR3; end if;
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if (Quad = "10") then state <= LR3; end if; --?
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if (Quad = "10") then state <= LR3; end if; --?
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if (Quad = "11") then state <= LR2; end if;
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if (Quad = "11") then state <= LR2; end if;
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Direction <= '0';
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Direction <= '0';
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Counting <= '0';
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Counting <= '0';
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when RL1 =>
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when RL1 =>
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if (Quad = "00") then state <= Wait0; end if;
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if (Quad = "00") then state <= Wait0; end if;
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if (Quad = "01") then state <= RL1; end if;
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if (Quad = "01") then state <= RL1; end if;
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if (Quad = "10") then state <= RL1; end if; --?
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if (Quad = "10") then state <= RL1; end if; --?
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if (Quad = "11") then state <= RL2; end if;
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if (Quad = "11") then state <= RL2; end if;
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Direction <= '1';
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Direction <= '1';
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Counting <= '0';
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Counting <= '0';
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when RL2 =>
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when RL2 =>
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if (Quad = "00") then state <= RL2; end if; --?
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if (Quad = "00") then state <= RL2; end if; --?
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if (Quad = "01") then state <= RL1; end if;
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if (Quad = "01") then state <= RL1; end if;
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if (Quad = "10") then state <= RL3; end if;
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if (Quad = "10") then state <= RL3; end if;
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if (Quad = "11") then state <= RL2; end if; --?
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if (Quad = "11") then state <= RL2; end if; --?
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Direction <= '1';
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Direction <= '1';
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Counting <= '0';
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Counting <= '0';
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when RL3 =>
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when RL3 =>
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if (Quad = "00") then state <= Count0; end if;
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if (Quad = "00") then state <= Count0; end if;
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if (Quad = "01") then state <= RL3; end if; --?
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if (Quad = "01") then state <= RL3; end if; --?
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if (Quad = "10") then state <= RL3; end if;
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if (Quad = "10") then state <= RL3; end if;
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if (Quad = "11") then state <= RL2; end if;
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if (Quad = "11") then state <= RL2; end if;
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Direction <= '1';
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Direction <= '1';
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Counting <= '0';
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Counting <= '0';
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when others => state <= Wait0; -- undefined state; just go back to wait so we don't get stuck here...
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when others => state <= Wait0; -- undefined state; just go back to wait so we don't get stuck here...
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end case; --state
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end case; --state
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end if; --clock'event
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end if; --clock'event
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end process; --(clock)
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end process; --(clock)
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end QuadratureDecoder;
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end QuadratureDecoder;
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