library IEEE;
use IEEE.STD_LOGIC_1164.ALL;
use IEEE.STD_LOGIC_ARITH.ALL;
use IEEE.STD_LOGIC_UNSIGNED.ALL;

use work.CamControl;
use work.EdgeDet;
use work.MemPack;

entity Kamera is
	Port ( 
		-- fpga clock
		clk : in std_logic;
			
		-- serial port
		rs232RX : in  std_logic;
		rs232TX : out  std_logic;
	
		-- camera pins
		XCLK : out std_logic; -- system clock
		RSTB : out std_logic := '0'; -- reset (active low)
		PWDN : out std_logic; -- power down (power down = high)
			
		SCL : out std_logic; -- I2C clock
		SDA1 : inout std_ulogic; -- I2C i/o
		SDA2 : inout std_ulogic; -- I2C i/o
		
		PCLK1 : in std_logic; -- pixel clock cam1
		PCLK2 : in std_logic; -- pixel clock cam2
		HREF1 : in std_logic;
		HREF2 : in std_logic;
		camVSYNC1 : in std_logic;
		camVSYNC2 : in std_logic;
		D : in std_logic_vector (1 downto 0); -- wo gesetzt!?
		D1 : in std_logic_vector(9 downto 0); -- pic data cam1
		D2 : in std_logic_vector(9 downto 0); -- pic data cam2
		
		-- IrLEDs
		irLed : out std_logic_vector (1 downto 0);
		
		-- monitor pins
		r : out std_logic_vector(7 downto 0);
		g : out std_logic_vector(7 downto 0);
		b : out std_logic_vector(7 downto 0);
		m1 : out std_logic;
		m2 : out std_logic;
		mclk : out std_logic;
		syncT : out std_logic;
		nsync : out std_logic;
		nblank : out std_logic;
		mVSYNC : out std_logic;
		mHSYNC : out std_logic;
		
		-- sram
		sr1ce : out std_logic; -- chip enable
		sr1ub : out std_logic; -- upper byte
		sr1lb : out std_logic; -- lower byte
		sr2ce : out std_logic;
		sr2ub : out std_logic;
		sr2lb : out std_logic;
		sr12we : out std_logic := '1';
		sr12oe : out std_logic;
		sraddr : out std_logic_vector(17 downto 0);
		srio : inout std_logic_vector(31 downto 0);
		
		-- debug
		led : out std_logic_vector(7 downto 0);
		sw : in std_logic_vector(7 downto 0);
		btn : in std_logic_vector(3 downto 0);
		
		sigled : out std_logic_vector(3 downto 0);
		
		seg7 : out std_logic_vector(7 downto 0);
		seg7de : out std_logic_vector(3 downto 0)

	);
end Kamera;


architecture Behavioral of Kamera is

	-- VGA output registers
	signal curPixelPosX: std_logic_vector(15 downto 0) := x"0000";
	signal curPixelPosY: std_logic_vector(15 downto 0) := x"0000";
	
	signal h_Sync: std_logic;
	signal v_Sync: std_logic;
	
	signal hCounter: integer range 0 to 799:=0;
	signal vCounter: integer range 0 to 520:=0;
	signal hBlack: std_logic:='1';
	signal vBlack: std_logic:='1';

	type tVGAState is (VGA_Output, Capture1, Capture2, Capture3);
	signal VGAState : tVGAState := VGA_Output;

	-- clock
	signal dcmLocked : std_logic;
	signal clk05x : std_logic;
	signal clk1x : std_logic;
	signal clk2x : std_logic;
--1
--	signal Q : std_logic_vector(31 downto 0) := x"00000000";
	signal clk25: std_logic;
	signal clkXclk: std_logic;
	signal clk2: std_logic_vector(31 downto 0);
	signal clk_controlReg: std_logic;
--2
	-- SRAM address pointers
	constant SramInpDir : std_logic_vector(31 downto 0) := "ZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZ";

	signal rPos : std_logic_vector(17 downto 0) := "000000000000000000";
	signal rPosTmp : std_logic_vector(17 downto 0) := "000000000000000000";
	
	signal wPos : std_logic_vector(17 downto 0) := "000000000000000000";
	signal wDiffPos : std_logic_vector(17 downto 0) := "000000000000000000";
	
	-- camera input sampling
	signal dinBuf : std_logic_vector(7 downto 0);
	signal dinBufPrev : std_logic_vector(7 downto 0);
	signal hrefBuf : EdgeDet.tBuffer := EdgeDet.tBuffer_InitLow;
	signal vsyncBuf : EdgeDet.tBuffer := EdgeDet.tBuffer_InitHigh;
	signal pclkBuf : EdgeDet.tBuffer := EdgeDet.tBuffer_InitHigh;
	signal SDABuf : std_logic;
	
	signal isFrame : boolean := False;
	
	-- debug
	signal btnBuf : EdgeDet.tBuffer := EdgeDet.tBuffer_InitLow;
	signal ledBuf : std_logic_vector(7 downto 0);
	signal sigledBuf : std_logic_vector(3 downto 0);
	
	signal captureReset : std_logic;
	
	-- SRAM <-> Camera sample synchronization
	signal packPos : integer range 0 to 3 := 0;
	signal writeRequest : boolean := false;
	signal writeDiffRequest : boolean := false;
	signal writeData : std_logic_vector(31 downto 0);
	signal writeDiffData : std_logic_vector(31 downto 0);
	
	signal writeDataLastFrame : std_logic_vector(31 downto 0);
	
	signal readRequest : boolean := false;
	signal readLastRequest : boolean := false;
	
	-- diff image helper function
	subtype Byte is std_logic_vector(7 downto 0);
	subtype Word is std_logic_vector(15 downto 0);
	
	function twoscompToAbs ( val : Byte ) return Byte is
	begin
		if val(7)='0' then
			return val;
		else
			return x"ff" - val;
		end if;
	end twoscompToAbs;
	
	function twoscompToAbs16 ( val : Word ) return Word is
	begin
		if val(15)='0' then
			return val;
		else
			return x"ffff" - val;
		end if;
	end twoscompToAbs16;
	
	-- blinking led phase config
	signal pictCnt : std_logic_vector(31 downto 0);
	signal pictRef : std_logic_vector(31 downto 0) := x"00000000";
	signal btnSampleClk : std_logic;
	signal seg7data : std_logic_vector(15 downto 0);
	
	-- camera point detection
	signal curCamPixelPosX: std_logic_vector(15 downto 0) := x"0000";
	signal curCamPixelPosY: std_logic_vector(15 downto 0) := x"0000";

	signal curCamDetPPX: std_logic_vector(15 downto 0) := x"0000";
	signal curCamDetPPY: std_logic_vector(15 downto 0) := x"0000";
	signal curCamDetPPX2: std_logic_vector(15 downto 0) := x"0000";
	signal curCamDetPPY2: std_logic_vector(15 downto 0) := x"0000";
	signal curCamDetPPX_tmp: std_logic_vector(15 downto 0) := x"0000";
	signal curCamDetPPY_tmp: std_logic_vector(15 downto 0) := x"0000";
	signal curCamDetStrength : std_logic_vector(7 downto 0) := x"00";
	signal curIsSig : boolean := False;
--1
	signal detectIconX: integer range 10 downto 0 := 0;
	signal iconPosX: std_logic_vector(15 downto 0) := x"0000";
	signal iconPosY: std_logic_vector(15 downto 0) := x"0000";
	signal icon2PosX: std_logic_vector(15 downto 0) := x"0000";
	signal icon2PosY: std_logic_vector(15 downto 0) := x"0000";
	signal blinking: std_logic := '0'; -- Signal blinkendes Icon an/aus
	signal switchLed1: std_logic:= '0';	-- Signal blinkende IrLed1 an/aus
	signal switchLed2: std_logic:= '0';	-- Signal blinkende IrLed2 an/aus
	signal controlReg1: std_logic_vector(7 downto 0):="00000000"; -- Kontrollregister, enthaelt Soll-Blinkfrequenz von IrLed1
	signal controlReg2: std_logic_vector(7 downto 0):="00000000"; -- Kontrollregister, enthaelt Soll-Blinkfrequenz von IrLed2
	signal controlReg1Buf: EdgeDet.tBuffer := EdgeDet.tBuffer_InitLow; -- Buffer fuer Kontroll-Register 1
	signal controlReg2Buf: EdgeDet.tBuffer := EdgeDet.tBuffer_InitLow; -- Buffer fuer Kontroll-Register 2
	signal lastPicIrPixelLed1: integer range 0 to 840000 := 0; -- Raum, in dem sich letzter Ir-Pixel von Led1 befindet
	signal lastPicIrPixelLed2: integer range 0 to 840000 := 0; -- Raum, in dem sich letzter Ir-Pixel von Led2 befindet
	signal hitLed1: std_logic := '0';
	signal hitLed2: std_logic := '0';
	signal led1AreaX: std_logic_vector(7 downto 0) := x"1e";
	signal led2AreaX: std_logic_vector(7 downto 0) := x"1e";
	signal led1AreaY: std_logic_vector(7 downto 0) := x"1e";
	signal led2AreaY: std_logic_vector(7 downto 0) := x"1e";
	signal detectedLeds: std_logic_vector (1 downto 0):= "00";
	signal detectedLeds2: std_logic := '0';
	signal lastLineWasPixel1: integer range 5000 downto 0 := 0;
	signal lastLineWasPixel2: integer range 5000 downto 0 := 0;
	signal detectedLed1X: std_logic_vector(15 downto 0) := x"0000";
	signal detectedLed1Y: std_logic_vector(15 downto 0) := x"0000";
	signal detectedLed2X: std_logic_vector(15 downto 0) := x"0000";
	signal detectedLed2Y: std_logic_vector(15 downto 0) := x"0000";
	signal led2inLineTest: std_logic_vector(15 downto 0) := x"0280"; -- Startwert 640 dezimal
	signal curCamPixelPosXLed1: std_logic_vector(15 downto 0) := x"0000"; -- Positionsmerker Led1 falls Led2 auf gleicher Hoehe X-Richtung
	signal curCamPixelPosYLed1: std_logic_vector(15 downto 0) := x"0000"; -- Positionsmerker Led1 falls Led2 auf gleicher Hoehe Y-Richtung
	signal curCamPixelPosXLed2: std_logic_vector(15 downto 0) := x"0000"; -- Positionsmerker Led2 falls Led1 auf gleicher Hoehe X-Richtung
	signal curCamPixelPosYLed2: std_logic_vector(15 downto 0) := x"0000"; -- Positionsmerker Led1 falls Led2 auf gleicher Hoehe Y-Richtung
	signal areaPixelPosXLed1: std_logic_vector(15 downto 0) := x"0000";
	signal areaPixelPosYLed1: std_logic_vector(15 downto 0) := x"0000";
	signal areaPixelPosXLed2: std_logic_vector(15 downto 0) := x"0000";
	signal areaPixelPosYLed2: std_logic_vector(15 downto 0) := x"0000";
	signal actionArea1: std_logic := '0';
	signal actionArea2: std_logic := '0';
	signal startDetection: std_logic_vector(1 downto 0) := "00"; -- Schieberegister fuer zwei Pixel nebeneinander gefunden
	signal area1LifeTime: integer range 0 to 100 := 100; -- Counter fuer Detektionszonenlebenszeit
	signal area2LifeTime: integer range 0 to 100 := 100; -- Counter fuer Detektionszonenlebenszeit
--2
	
	signal pipeRequest : boolean := False;
	signal pipePos : integer range 0 to 4 := 0;
	
	type tPipeData is record
		req : boolean;
		inpVal : std_logic_vector(7 downto 0);
		posX : std_logic_vector(15 downto 0);
		posY : std_logic_vector(15 downto 0);
		posDiffX : std_logic_vector(15 downto 0);
		posDiffY : std_logic_vector(15 downto 0);
	end record;
	
	constant tPipeData_Init : tPipeData := (
		req => false,
		inpVal => x"00",
		posX => x"0000",
		posY => x"0000",
		posDiffX => x"0000",
		posDiffY => x"0000"
	);
	
	signal pipeInp : tPipeData := tPipeData_Init;
	signal pipeInt1 : tPipeData := tPipeData_Init;
	signal pipeInt2 : tPipeData := tPipeData_Init;
	
	
--1		
	-- test
	signal testres : std_logic_vector (4 downto 0) := "00000";
	signal testa : std_logic_vector (1 downto 0) := "11";
--2
begin

	-- fixed outputs

	led <= ledBuf;
	ledBuf <= controlReg2;
	
--	IrLed(0) <= '1';
--	IrLed(1) <= '1';
	
	sr1ce <= '0'; sr2ce <= '0';
	sr1ub <= '0'; sr2ub <= '0';
	sr1lb <= '0'; sr2lb <= '0';
	sr12oe <= '0';
	
	sigled <= sigledBuf;

	-- clocks

	clk2x_dcm_inst : entity clk2x_dcm(BEHAVIORAL) port map (
		CLKIN_IN => clk,
		RST_IN => '0',
		CLKDV_OUT => clk05x, -- unbenutzt
		CLKIN_IBUFG_OUT => open,
		CLK0_OUT => clk1x, -- 50 MHz
		CLK2X_OUT => clk2x, -- 100 MHz
		LOCKED_OUT => dcmLocked
	);
	
	-- seg7 display
	seg7_inst : entity Seg7Display(Behavioral) port map (
		Clk => clk1x,
		Seg7 => seg7,
		Seg7DE => seg7de,
		Data => seg7data
	);
	
	--seg7data <= curCamDetPPX(7 downto 0) & curCamDetPPY(7 downto 0); -- prev: pictRef(23 downto 8)
	
	process(clk1x)
			variable Q : std_logic_vector(31 downto 0) := x"00000000";
	begin
		if clk1x'event and clk1x='1' then
			btnSampleClk <= Q(16);
--1		
			blinking <= Q(25); -- Signal fuer blinkendes "POS"-Icon
			switchLed1 <= Q(23); -- Blinkfrequenz ca 3 Hz an Led1
			switchLed2 <= Q(24); -- Blinkfrequenz ca 1,5 Hz an Led2
			clk_controlReg <= Q(22); -- Takt fuer Kontrollregister-Inkrementierung
			clk25 <= Q(0); -- VGA Takt 25 MHz
			clkXclk <= Q(2); -- eigener Takt fuer XCLK (6,25 MHz)
			
			-- IrLed an/aus
			irLed(0) <= switchLed1;
			irLed(1) <= switchLed2;
--2
			Q := Q + 1;

			mclk <= clk25;
			XCLK <= clkXclk;

		end if;
	end process;
	
	
	process(btnSampleClk)
	begin
		if btnSampleClk'event and btnSampleClk='1' then
			if btn(0)='1' then
				pictRef <= pictRef + x"100";
			elsif btn(1)='1' then
				pictRef <= pictRef - x"100";
			end if;
		end if;
	end process;

	-- ###########################################
	-- ### monitor output
	-- ###########################################

	-- VGA DAC control
	m1 <= '0';
	m2 <= '0';
	nblank <= '1';
	nsync <= '1';
	syncT <= '0';
	mVSYNC <= v_Sync;
	mHSYNC <= h_Sync;

--!mclk <= not clk05x; -- TODO: synchronize

	process(clk2x)
			variable newline : boolean;
			
			variable tmpByte : std_logic_vector(7 downto 0);
			
			variable isLine : boolean := False;
			variable writeDataTmp : std_logic_vector(31 downto 0);
			variable readDataTmp : std_logic_vector(31 downto 0);

			variable detected : boolean := False;
			variable detected2 : boolean := False;
			
			variable detectedLed1 : boolean := False;
			variable detectedLed2 : boolean := False;
			
			variable foundLedFrequency1InReg1 : boolean := False;
			variable foundLedFrequency2InReg1 : boolean := False;
			variable foundLedFrequency1InReg2 : boolean := False;
			variable foundLedFrequency2InReg2 : boolean := False;

	begin
		if clk2x'event and clk2x='1' and dcmLocked='1' then

			-- ### VGA output ### (alle vier Takte)
			
			case VGAState is
			
				when VGA_Output =>
				
					-- horizontal control
					hCounter<=hCounter +1;
					
					if lastPicIrPixelLed1 > 0 then
						lastPicIrPixelLed1 <= lastPicIrPixelLed1 - 1;
					end if;
					
					if lastPicIrPixelLed2 > 0 then
						lastPicIrPixelLed2 <= lastPicIrPixelLed2 - 1;
					end if;
					
					newline:=False;
					case hCounter is
						when  95 => h_Sync<='0';  -- Zeilen-Sync aus
										curPixelPosX <= x"0000";
						when 143 => hBlack<='0'; -- schwarzer Rand aus
						when 783 => hBlack<='1'; -- schwarzer Rand ein
						when 799 => hCounter<=0; -- newline
								 newline:=True;
								 h_Sync<='1';  -- Zeilen-Sync ein
								 rPos <= curPixelPosY * conv_std_logic_vector(160, 18);
								 
								 -- 640 / 4 = 160 : Werte je 8 Bit, Leseposition springt in Y-Richtung immer
								 -- um 160 Adressen weiter. Vier Datenblöcke werden immer zusammen  unter
								 -- einer Adresse gespeichert.
								 
						when others => null;
					end case;
				
					-- vertical control
					if newline then
						vCounter<=vCounter+1;
						curPixelPosY <= curPixelPosY + x"0001";
						case	vCounter is
							when   0 => v_Sync<='1';
							when   2 => v_Sync<='0';
							when  33 => vBlack<='0'; -- was: 30 (!!!)
											curPixelPosY <= x"0000";
											rPos <= "000000000000000000";
							when 510 => vBlack<='1'; -- was: 511 (!!!)
							when 520 => vCounter<=0;
--1/2											-- ledBuf(5) <= not ledBuf(5);
							when others => null;
						end case;
					end if;

					-- Neue Daten einlesen, ansonsten letztes Bild anzeigen
					if readRequest then
						readDataTmp := srio;
						readRequest <= false;
					elsif readLastRequest then
						writeDataLastFrame <= srio;
						readLastRequest <= false;
					end if;

					-- draw contents
					
					r <= x"00";
					g <= x"00";
					b <= x"00";
--1
--					end if;
--2
					if hBlack='0' and vBlack='0' then

						curPixelPosX <= curPixelPosX + x"0001";
						
						-- Bayer-Pattern:
						
						-- wenn:						|	00		01		10		11
						--								------------------------
						-- wenn PosY=0, dann:	|	G		R		G		R
						-- sonst:					|	B		G		B		G

						case curPixelPosX(1 downto 0) is
							when "00" =>
								tmpByte := readDataTmp(7 downto 0);
								if curPixelPosY(0) = '0' then -- even line
									g <= '0' & tmpByte(7 downto 1);
									-- Gruen-Wert um 1 Bit nach rechts verschoben,
									-- Gruenstich im Bild zu beseitigen
								else -- odd line
									b <= tmpByte;
								end if;
							when "01" =>
								tmpByte := readDataTmp(15 downto 8);
								if curPixelPosY(0) = '0' then
									r <= tmpByte;
								else
									g <= '0' & tmpByte(7 downto 1);
								end if;
							when "10" =>
								tmpByte := readDataTmp(23 downto 16);
								if curPixelPosY(0) = '0' then
									g <= '0' & tmpByte(7 downto 1);
								else
									b <= tmpByte;
								end if;
							when "11" =>
								tmpByte := readDataTmp(31 downto 24);
								if curPixelPosY(0) = '0' then
									r <= tmpByte;
								else
									g <= '0' & tmpByte(7 downto 1);
								end if;
								rPos <= rPos + 1;
								readRequest <= true;	-- neue Daten einlesen
							when others => null;
						end case;
						

--1						-- draw a small red rectangle in the upper left corner
						if (curPixelPosX < x"000a" and curPixelPosY < x"000a")  -- or detected 
						then
							r <= x"ff";
							g <= x"00";
							b <= x"00";
						end if;
						
						-- zeichne Icon (gruenes Quadrat 10x10) fuer Infrarotpunkt-Detektion: Start
						---------------------------------------------------
						-- Quadrat
						----------
						if sw(1) = '1' then --and (foundLedFrequency1InReg1 or foundLedFrequency1InReg2) then
						-- zeichne Positions-Icon nur, wenn korrekte Blinkfrequenz erkannt und Schalter 1 an ist
						
							if detected then
								iconPosX <= curPixelPosX;
								iconPosY <= curPixelPosY;
								g <= x"ff";
							end if;

							-- linke aeussere Kante
							if curPixelPosX = iconPosX then
								if (curPixelPosY > iconPosY) and (curPixelPosY < (iconPosY + 10)) then
									g <= x"ff";
								end if;
							end if;
							
							-- Kante oben und unten
							if (curPixelPosX > iconPosX) and (curPixelPosX < iconPosX + 10) then
								if (curPixelPosY = iconPosY) or (curPixelPosY = (iconPosY + 9)) then
									g <= x"ff";
								end if;
							end if;
							
							-- rechte aeussere Kante
							if curPixelPosX = (iconPosX + 9) then
								if (curPixelPosY > (iconPosY)) and (curPixelPosY < (iconPosY + 10)) then
									g <= x"ff";
								end if;
							end if;
							
							--------------------------
							-- zeichne "POS", blinkend
							--------------------------
							if blinking = '1' then
							
								-- zeichne links senkrecht von "P"
								if curPixelPosX = (iconPosX + 16) then
									if (curPixelPosY > iconPosY) and (curPixelPosY < (iconPosY + 11)) then
										g <= x"ff";
									end if;
								end if;
								
								-- zeichne rechts senkrecht von "P"
								if curPixelPosX = (iconPosX + 22) then
									if (curPixelPosY > iconPosY) and (curPixelPosY < (iconPosY + 6)) then
										g <= x"ff";
									end if;
								end if;
								
								-- zeichne links senkrecht von "O"
								if curPixelPosX = (iconPosX + 25) then
									if (curPixelPosY > iconPosY) and (curPixelPosY < (iconPosY + 10)) then
										g <= x"ff";
									end if;
								end if;
								
								-- zeichne rechts seknrecht von "O"
								if curPixelPosX = (iconPosX + 31) then
									if (curPixelPosY > iconPosY) and (curPixelPosY < (iconPosY + 10)) then
										g <= x"ff";
									end if;
								end if;
								
								-- zeichne links senkrecht von "S"
								if curPixelPosX = (iconPosX + 36) then
									if (curPixelPosY > iconPosY) and (curPixelPosY < (iconPosY + 6)) then
										g <= x"ff";
									end if;
								end if;
								
								-- zeichne rechts senkrecht von "S"
								
								if curPixelPosX = (iconPosX + 41) then
									if (curPixelPosY > (iconPosY + 5)) and (curPixelPosY < (iconPosY + 10)) then
										g <= x"ff";
									end if;
								end if;
								
								-- zeichne oben waagerecht von "POS"
								if (curPixelPosX > (iconPosX + 15)) and (curPixelPosX < (iconPosX + 23)) then
									if curPixelPosY = iconPosY then
										g <= x"ff";
									end if;
								elsif (curPixelPosX > (iconPosX + 24)) and (curPixelPosX < (iconPosX + 32)) then
									if curPixelPosY = iconPosY then
										g <= x"ff";
									end if;
								elsif (curPixelPosX > (iconPosX + 35)) and (curPixelPosX < (iconPosX + 42)) then
									if curPixelPosY = iconPosY then
										g <= x"ff";
									end if;
								end if;
								
								-- zeichne mittig waagerecht von "POS"
								if (curPixelPosX > (iconPosX + 16)) and (curPixelPosX < (iconPosX + 22)) then
									if curPixelPosY = (iconPosY + 5) then
										g <= x"ff";
									end if;
								elsif (curPixelPosX > (iconPosX + 36)) and (curPixelPosX < (iconPosX + 42)) then
									if curPixelPosY = (iconPosY + 5) then
										g <= x"ff";
									end if;
								end if;
								
								-- zeichne unten waagerecht von "POS"
								if (curPixelPosX > (iconPosX + 24)) and (curPixelPosX < (iconPosX + 32)) then
									if curPixelPosY = (iconPosY + 10) then
										g <= x"ff";
									end if;
								elsif (curPixelPosX > (iconPosX + 35)) and (curPixelPosX < (iconPosX + 42)) then
									if curPixelPosY = (iconPosY + 10) then
										g <= x"ff";
									end if;
								end if;
							end if;
						end if;
						
						-- zeichne Icon fuer Infrarotpunkt-Detektion: Ende
						--------------------------------------------------
--2
						-- * Originial: "...(curCamDetPPX - 10)..." bzw. "...(curCamDetPPX - 10)...", Punkt sonst neben Infrarot-LED
						if (curPixelPosX = (detectedLed1X)) and (curPixelPosY = (detectedLed1Y)) then
							detected := True;
						else
							detected := False;
						end if;
						
						
					-- Test-Icon Led2
					-----------------
					
						if (curPixelPosX = (detectedLed2X)) and (curPixelPosY = (detectedLed2Y)) then
							detected2 := True;
						else
							detected2 := False;
						end if;
						
						if sw(1) = '1' then --and (foundLedFrequency2InReg1 or foundLedFrequency2InReg2) then
						
							if detected2 then
								icon2PosX <= curPixelPosX;
								icon2PosY <= curPixelPosY;
								b <= x"ff";
							end if;
							
							-- linke aeussere Kante
							if curPixelPosX = icon2PosX then
								if (curPixelPosY > icon2PosY) and (curPixelPosY < (icon2PosY + 10)) then
									b <= x"ff";
								end if;
							end if;
							
							-- Kante oben und unten
							if (curPixelPosX > icon2PosX) and (curPixelPosX < icon2PosX + 10) then
								if (curPixelPosY = icon2PosY) or (curPixelPosY = (icon2PosY + 9)) then
									b <= x"ff";
								end if;
							end if;
							
							-- rechte aeussere Kante
							if curPixelPosX = (icon2PosX + 9) then
								if (curPixelPosY > (icon2PosY)) and (curPixelPosY < (icon2PosY + 10)) then
									b <= x"ff";
								end if;
							end if;
							
							--------------------------
							-- zeichne "POS", blinkend
							--------------------------
							if blinking = '1' then
							
								-- zeichne links senkrecht von "P"
								if curPixelPosX = (icon2PosX + 16) then
									if (curPixelPosY > icon2PosY) and (curPixelPosY < (icon2PosY + 11)) then
										b <= x"ff";
									end if;
								end if;
								
								-- zeichne rechts senkrecht von "P"
								if curPixelPosX = (icon2PosX + 22) then
									if (curPixelPosY > icon2PosY) and (curPixelPosY < (icon2PosY + 6)) then
										b <= x"ff";
									end if;
								end if;
								
								-- zeichne links senkrecht von "O"
								if curPixelPosX = (icon2PosX + 25) then
									if (curPixelPosY > icon2PosY) and (curPixelPosY < (icon2PosY + 10)) then
										b <= x"ff";
									end if;
								end if;
								
								-- zeichne rechts seknrecht von "O"
								if curPixelPosX = (icon2PosX + 31) then
									if (curPixelPosY > icon2PosY) and (curPixelPosY < (icon2PosY + 10)) then
										b <= x"ff";
									end if;
								end if;
								
								-- zeichne links senkrecht von "S"
								if curPixelPosX = (icon2PosX + 36) then
									if (curPixelPosY > icon2PosY) and (curPixelPosY < (icon2PosY + 6)) then
										b <= x"ff";
									end if;
								end if;
								
								-- zeichne rechts senkrecht von "S"
								
								if curPixelPosX = (icon2PosX + 41) then
									if (curPixelPosY > (icon2PosY + 5)) and (curPixelPosY < (icon2PosY + 10)) then
										b <= x"ff";
									end if;
								end if;
								
								-- zeichne oben waagerecht von "POS"
								if (curPixelPosX > (icon2PosX + 15)) and (curPixelPosX < (icon2PosX + 23)) then
									if curPixelPosY = icon2PosY then
										b <= x"ff";
									end if;
								elsif (curPixelPosX > (icon2PosX + 24)) and (curPixelPosX < (icon2PosX + 32)) then
									if curPixelPosY = icon2PosY then
										b <= x"ff";
									end if;
								elsif (curPixelPosX > (icon2PosX + 35)) and (curPixelPosX < (icon2PosX + 42)) then
									if curPixelPosY = icon2PosY then
										b <= x"ff";
									end if;
								end if;
								
								-- zeichne mittig waagerecht von "POS"
								if (curPixelPosX > (icon2PosX + 16)) and (curPixelPosX < (icon2PosX + 22)) then
									if curPixelPosY = (icon2PosY + 5) then
										b <= x"ff";
									end if;
								elsif (curPixelPosX > (icon2PosX + 36)) and (curPixelPosX < (icon2PosX + 42)) then
									if curPixelPosY = (icon2PosY + 5) then
										b <= x"ff";
									end if;
								end if;
								
								-- zeichne unten waagerecht von "POS"
								if (curPixelPosX > (icon2PosX + 24)) and (curPixelPosX < (icon2PosX + 32)) then
									if curPixelPosY = (icon2PosY + 10) then
										b <= x"ff";
									end if;
								elsif (curPixelPosX > (icon2PosX + 35)) and (curPixelPosX < (icon2PosX + 42)) then
									if curPixelPosY = (icon2PosY + 10) then
										b <= x"ff";
									end if;
								end if;
							end if;
							
						end if;
						
						-- senkrecht
--						if curPixelPosX = icon2PosX then
--							if (curPixelPosY > icon2PosY) and (curPixelPosY < (icon2PosY + 10)) then
--								r <= x"ff";
--							end if;
--						end if;
--						
--						-- waagerecht
--						if (curPixelPosX > icon2PosX) and (curPixelPosX < icon2PosX + 10) then
--							if (curPixelPosY = icon2PosY) then
--								r <= x"ff";
--							end if;
--						end if;
						
					-- Test Icon 2 Ende
					-------------------
					
					end if;
					
					-- set address to write
					if writeRequest then
						sraddr <= wPos;
					elsif writeDiffRequest then
						sraddr <= wDiffPos;
					end if;
					
					VGAState <= Capture1;
				
				when Capture1 =>
					
					EdgeDet.setNext(btnBuf, sw(0));
-- 1
					-- ledBuf(6) <= '0'; -- 1 when waiting for line
					-- ledBuf(7) <= '0'; -- 1 when waiting for frame
-- 2					
					-- write to SRAM ? Bild oder Differenzbild
					if writeRequest then
						srio <= writeData; -- set data
						sr12we <= '0'; -- enable write
						wPos <= wPos + 1; -- increment write pos for next write
						wDiffPos <= wPos + conv_std_logic_vector(640*480/4+1, 18);
						writeRequest <= false;
						--readLastRequest <= true;
						writeDiffRequest <= true;
					elsif writeDiffRequest then
						srio <= writeDiffData;
						sr12we <= '0';
						writeDiffRequest <= false;
					end if;
	
					-- sw(0) zur Auswahl Normalbild oder Differenzbild
					if sw(0)='0' then
						rPosTmp <= rPos;
					else
					-- Differenzbild nach Normalbild im Speicher
						rPosTmp <= rPos + conv_std_logic_vector(640*480/4+1, 18);
					end if;
	
					
					VGAState <= Capture2;
				
				when Capture2 =>
					-- disable write
					sr12we <= '1';

					if readRequest then
						-- output address to read for VGA output:
						-- 10 bit for column, 8 bit for line
						sraddr <= rPosTmp;
						-- i/o input direction
						srio <= SramInpDir;
					elsif readLastRequest then
						sraddr <= wPos;
						srio <= SramInpDir;
					end if;
					
					VGAState <= Capture3;
				
				when Capture3 =>
				
					VGAState <= VGA_Output;
					
			end case;
			
			-- ************************************************************************************
			
			-- buffer signal controlregister
			
			EdgeDet.setNext(controlReg1Buf, clk_controlReg);
			EdgeDet.setNext(controlReg2Buf, clk_controlReg);
			
			-- Kontrollregister enthaelt Muster fuer Blinkfrequenz
			-- mit 1 inkrementieren, wenn LED1 leuchtet, mit 0 inkrementieren, wenn LED1 aus (im letzten Bild IrPixel)
			if (EdgeDet.risingEdge(controlReg1Buf)) and (lastPicIrPixelLed1 > 0) then
				controlReg1 <= controlReg1 (6 downto 0) & '1';
			elsif (EdgeDet.risingEdge(controlReg1Buf)) then
				controlReg1 <= controlReg1 (6 downto 0) & '0';
			end if;
			
			-- Kontrollregister enthaelt Muster fuer Blinkfrequenz
			-- mit 1 inkrementieren, wenn LED2 leuchtet, mit 0 inkrementieren, wenn LED2 aus (im letzten Bild IrPixel)
			if (EdgeDet.risingEdge(controlReg2Buf)) and (lastPicIrPixelLed2 > 0) then
				controlReg2 <= controlReg2 (6 downto 0) & '1';
			elsif (EdgeDet.risingEdge(controlReg1Buf)) then
				controlReg2 <= controlReg2 (6 downto 0) & '0';
			end if;
			
			-- Abfrage, ob Blinkfrequenz LED1 mit bekanntem Muster uebereinstimmt
			-- liefere True, wenn Uebereinstimmung
			-- liefere False, wenn Frequenz nicht erkannt
			
			-- Festlegen, welche Led und deren Blinkmuster zuerst gefunden wird - entsprechende Reaktion im Positionsautomaten
--			case controlReg1 is
--			-- Blinkmuster von Led1 in Register1
--				when "01010101" =>
--					--detectedLed1 := True;
--					foundLedFrequency1InReg1 := True;
--					foundLedFrequency2InReg1 := False;
--				when "10101010" =>
--					--detectedLed1 := True;
--					foundLedFrequency1InReg1 := True;
--					foundLedFrequency2InReg1 := False;
--			-- Blinkmuster von Led2 in Register1
--				when "11001100" =>
--					--detectedLed2 := True;
--					foundLedFrequency1InReg1 := False;
--					foundLedFrequency2InReg1 := True;
--				when "10011001" =>
--					--detectedLed2 := True;
--					foundLedFrequency1InReg1 := False;
--					foundLedFrequency2InReg1 := True;
--				when "00110011" =>
--					--detectedLed2 := True;
--					foundLedFrequency1InReg1 := False;
--					foundLedFrequency2InReg1 := True;
--				when "01100110" =>
--					--detectedLed2 := True;
--					foundLedFrequency1InReg1 := False;
--					foundLedFrequency2InReg1 := True;
--				when others =>
--					foundLedFrequency1InReg1 := False;
--					foundLedFrequency2InReg1 := False;
----					if (foundLedFrequency1InReg1 = False) and (foundLedFrequency1InReg2 = False) then
----						detectedLed1 := False;
----					end if;
----					if (foundLedFrequency2InReg1 = False) and (foundLedFrequency2InReg2 = False) then
----						detectedLed2 := False;
----					end if;
--			end case;
----			
--			case controlReg2 is
--			-- Blinkmuster von Led1 in Register2
--				when "01010101" =>
--					--detectedLed1 := True;
--					foundLedFrequency1InReg2 := True;
--					foundLedFrequency2InReg2 := False;
--				when "10101010" =>
--					--detectedLed1 := True;
--					foundLedFrequency1InReg2 := True;
--					foundLedFrequency2InReg2 := False;
--			-- Blinkmuster von Led2 in Register2
--				when "11001100" =>
--					--detectedLed2 := True;
--					foundLedFrequency1InReg2 := False;
--					foundLedFrequency2InReg2 := True;
--				when "10011001" =>
--					--detectedLed2 := True;
--					foundLedFrequency1InReg2 := False;
--					foundLedFrequency2InReg2 := True;
--				when "00110011" =>
--					--detectedLed2 := True;
--					foundLedFrequency1InReg2 := False;
--					foundLedFrequency2InReg2 := True;
--				when "01100110" =>
--					--detectedLed2 := True;
--					foundLedFrequency1InReg2 := False;
--					foundLedFrequency2InReg2 := True;
--				when others =>
--					foundLedFrequency1InReg2 := False;
--					foundLedFrequency2InReg2 := False;
--			end case;
			
--			if (foundLedFrequency1InReg1 = False) and (foundLedFrequency1InReg2 = False) then
--				detectedLed1 := False;
--			else
--				detectedLed1 := True;
--			end if;
--			if (foundLedFrequency2InReg1 = False) and (foundLedFrequency2InReg2 = False) then
--				detectedLed2 := False;
--			end if;
			
			pictCnt <= pictCnt + 1;
			
			-- frame start/end ?
			-- Neues Bild, Schreibposition zu Beginn immer auf 0
			if EdgeDet.risingEdge(vsyncBuf) then
				isFrame <= False;
				wPos <= "000000000000000000";
				
				-- Reset Led-Stati
				--detectedLeds <= "00";
				hitLed1 <= '0';
				hitLed2 <= '0';
				
				-- Reset Detektionszonen-Stati fuer Leds
				actionArea1 <= '0';
				actionArea2 <= '0';
				
				-- Counter fuer Detektionszone 1 Lebenszeit dekrementieren
				if area1LifeTime > 0 then
					area1LifeTime <= area1LifeTime - 1;
				end if;
				
				-- Counter fuer Detektionszone 2 Lebenszeit dekrementieren
				if area2LifeTime > 0 then
					area2LifeTime <= area2LifeTime - 1;
				end if;
				
--				detectedLeds1 <= '0';
--				curCamDetPPX <= curCamDetPPX_tmp;
--				curCamDetPPY <= curCamDetPPY_tmp;

--				curCamDetPPX2 <= curCamDetPPX_tmp;
--				curCamDetPPY2 <= curCamDetPPY_tmp;
		
--				if (curCamPixelPosX > (curCamDetPPX + 30)) and (curCamPixelPosY > (curCamDetPPY + 30)) then 
--					hit <= '1';
--				else
--					hit <= '0';
--				end if;

			-- VSYNC aus, Bild beginnt
			elsif EdgeDet.fallingEdge(vsyncBuf) then
				isFrame <= True;
				curIsSig <= False;
				curCamPixelPosY <= x"0000";  -- Reset Pixelposition Y-Richtung
				
				pictCnt <= x"00000000";
			end if;
			
			if isFrame then
				
				-- line start/end ?
				-- wenn Spalten fertig gelesen, Zeilenzaehler inkrementieren,
				-- Spaltenzaehler auf Startposition
				if EdgeDet.risingEdge(hrefBuf) then
					isLine := True;
				elsif EdgeDet.fallingEdge(hrefBuf) then
					isLine := False;
					curCamPixelPosY <= curCamPixelPosY + 1;
					curCamPixelPosX <= x"0000";
				end if;
				
				-- store data
				if isLine and EdgeDet.risingEdge(pclkBuf) then
				
					case packPos is
						when 0 =>
							writeDataTmp(7 downto 0) := dinBufPrev;
						when 1 =>
							writeDataTmp(15 downto 8) := dinBufPrev;
						when 2 =>
							writeDataTmp(23 downto 16) := dinBufPrev;
						when 3 =>
							writeDataTmp(31 downto 24) := dinBufPrev;
							
							writeData <= writeDataTmp;
							
							-- Differnezbild
							writeDiffData <= 
								twoscompToAbs(writeDataTmp(31 downto 24) - writeDataLastFrame(31 downto 24)) &
								twoscompToAbs(writeDataTmp(23 downto 16) - writeDataLastFrame(23 downto 16)) &
								twoscompToAbs(writeDataTmp(15 downto 8) - writeDataLastFrame(15 downto 8)) &
								twoscompToAbs(writeDataTmp(7 downto 0) - writeDataLastFrame(7 downto 0));
							
							writeRequest <= True;
							
						when others => null;
					end case;
					packPos <= packPos + 1;
					
					if lastLineWasPixel1 > 0 then
						lastLineWasPixel1 <= lastLineWasPixel1 - 1;
					end if;
					
--					-- Counter fuer Detektionszone 1 Lebenszeit dekrementieren
--					if area1LifeTime > 0 then
--						area1LifeTime <= area1LifeTime - 1;
--					end if;
--					
--					-- Counter fuer Detektionszone 2 Lebenszeit dekrementieren
--					if area2LifeTime > 0 then
--						area2LifeTime <= area2LifeTime - 1;
--					end if;
					
					if dinBufPrev < x"bc" then -- wenn schwarz (keine Ledposition)
					
						-- Schieberegister fuer gefundenen Pixel bei nicht gefunden dekrementieren
						startDetection <= startDetection(0)& '0';
					
						-- wenn Led1 erwartet und gefunden, Startwert fuer Counter fuer Led2 setzen
						if (detectedLeds = "00") and (hitLed1 = '1') then 
							led2inLineTest <= curCamPixelPosX;
						end if;
					
						-- wenn laenger keine Led gefunden
					--	if lastLineWasPixel1 = 0 then
						
							-- wenn Led1 bereits gefunden, Detektionsautomat in Zustand zwei (Led2 setzen)
					--		if (detectedLeds = "00") and (hitLed1 = '1') then 
							--	detectedLeds <= "01"; -- Led 2 erwarten
					--		end if;
							
					--	end if;
						
						-- Detektierungsautomat beenden, wenn zweite Led gefunden
					--	if (detectedLeds = "01") and (hitLed2 = '1') then
						--	detectedLeds <= "11"; 
					--	end if;
						
--					-- Counter fuer Detektionszone 1 Lebenszeit dekrementieren
--					if area1LifeTime > 0 then
--						area1LifeTime <= area1LifeTime - 1;
--					end if;
--					
--					-- Counter fuer Detektionszone 2 Lebenszeit dekrementieren
--					if area2LifeTime > 0 then
--						area2LifeTime <= area1LifeTime - 1;
--					end if;
						
						-- bis Zeilenende inkrementieren
						if led2inLineTest < 640 then 
							led2inLineTest <= Led2inLineTest + 1;
						end if;
					
					end if;
						
					-- detect Led1
					
					if dinBufPrev > x"bb" then -- origianl: "a0", ab welchem Wert detektiert wird
						
						startDetection <= startDetection(0)& '1';
						
						-- Detektion nur starten, wenn zwei Pixel nebeneinander gefunden wurden
						if startDetection = "11" then
						
							-- Reset, wenn in letzter Zeile ein Pixel gefunden
							lastLineWasPixel1 <= 1300;
							
							-- pruefen, ob Led2 auf gleicher Hoehe mit Led1 ist
							--if (hitLed1 = '1') and ((curCamPixelPosX > curCamPixelPosXLed1 + 10) or (curCamPixelPosX < curCamPixelPosXLed1 - 10)) then 
								--detectedLeds <= "01"; -- zweite Led gefunden
							--end if;
							
	--						-- ueberpruefen, ob Led2 gefunden wurde, wenn sich der erste gefundene Pixel im neuen Bild nicht in naher Umgebung von der letzten Position von Led1 befunden hat
	--						if ((hitLed1 = '0') and (actionArea1 = '1') and (((curCamPixelPosX < areaPixelPosXLed1 - 10) or (curCamPixelPosX > areaPixelPosXLed1 + 10)) and ((curCamPixelPosY < areaPixelPosYLed1 - 10) or (curCamPixelPosY > areaPixelPosYLed1 + 10)))) then
	--							detectedleds <= "01"; -- dann in den zweiten Zustand des Detektionsautomaten (Led2) wechseln. Led1 uebersprungen.
	--						end if;
							
							case detectedLeds is
							
								when "00" => -- keine Led gefunden, Led1 erwartet
								
									-- Reset Detektionszone um Led1 bei einem Lag
									if (actionArea1 = '0') and (area1LifeTime = 0) and (hitLed1 = '0') then
										areaPixelPosXLed1 <= curCamPixelPosX; -- Position X zwischenspeichern
										areaPixelPosYLed1 <= curCamPixelPosY; -- Position Y zwischenspeichern
										area1LifeTime <= 100;
									end if;

									-- Detektionsautomaten in den Startzustand zurueckversetzen, wenn eine der beiden Leds nicht mehr gefunden
						
									-- Led1 zuruecksetzen
									if (area1LifeTime = 0) then
										curCamPixelPosXLed1 <= x"0000";
										curCamPixelPosYLed1 <= x"0000";
										area1LifeTime <= 100;
									end if;
							
									if (hitLed1 = '0') and (curCamPixelPosXLed1 = x"0000") and (curCamPixelPosYLed1 = x"0000") then
										--if (foundLedFrequency1InReg1) then --and (foundLedFrequency1InReg2 = False) then
											detectedLed1X <= curCamPixelPosX; -- Position X Icondarstellung
											detectedLed1Y <= curCamPixelPosY; -- Position Y Icondarstellung
										--end if;
										--if (foundLedFrequency2InReg1) then --and (foundLedFrequency2InReg2 = False) then
										--	detectedLed2X <= curCamPixelPosX; -- Position X Icondarstellung
										--	detectedLed2Y <= curCamPixelPosY; -- Position Y Icondarstellung
										--end if;

										curCamPixelPosXLed1 <= curCamPixelPosX; -- Position X zwischenspeichern
										curCamPixelPosYLed1 <= curCamPixelPosY; -- Position Y zwischenspeichern
										hitLed1 <= '1'; -- Led1 gefunden
										areaPixelPosXLed1 <= curCamPixelPosX; -- Position X zwischenspeichern
										areaPixelPosYLed1 <= curCamPixelPosY; -- Position X zwischenspeichern
										lastPicIrPixelLed1 <= 840000; -- 800*520 = 416000 (hcounter * vcounter) und im naechsten Bild, also *2
										actionArea1 <= '1';
										area1LifeTime <= 100;
										--detectedLeds <= "01";
										
										-- Led1 nur in bestimmter Umgebung akzeptieren (20 x 20) Pixel
									elsif (hitLed1 = '0') and (((curCamPixelPosX > (areaPixelPosXLed1 - 10)) and (curCamPixelPosX < (areaPixelPosXLed1 + 10))) and ((curCamPixelPosY > (areaPixelPosYLed1 - 10)) and (curCamPixelPosY < (areaPixelPosYLed1 + 10))))then
--										if (foundLedFrequency1InReg1 = True) and (foundLedFrequency1InReg2 = False) then
											detectedLed1X <= curCamPixelPosX; -- Position X Icondarstellung
											detectedLed1Y <= curCamPixelPosY; -- Position Y Icondarstellung
--										elsif (foundLedFrequency2InReg1 = True) and (foundLedFrequency2InReg2 = False)then
--											detectedLed2X <= curCamPixelPosX; -- Position X Icondarstellung
--											detectedLed2Y <= curCamPixelPosY; -- Position Y Icondarstellung
--										end if;
										curCamPixelPosXLed1 <= curCamPixelPosX; -- Position X zwischenspeichern
										curCamPixelPosYLed1 <= curCamPixelPosY; -- Position Y zwischenspeichern
										hitLed1 <= '1'; -- Led1 gefunden
										areaPixelPosXLed1 <= curCamPixelPosX; -- Position X zwischenspeichern
										areaPixelPosYLed1 <= curCamPixelPosY; -- Position X zwischenspeichern
										lastPicIrPixelLed1 <= 840000; -- 800*520 = 416000 (hcounter * vcounter) und im naechsten Bild, also *2
										actionArea1 <= '1';
										area1LifeTime <= 100;
										--detectedLeds <= "01";
									--else
										--detectedLeds <= "01";
									end if;
									detectedLeds <= "01";
									
								when "01" => -- Led2 noch nicht gefunden, Led2 erwartet, naechsten Pixel ausserhalb des Bereichs von Led1 finden 
								
									-- Reset Detektionszone um Led2 bei einem Lag
--									if (actionArea2 = '0') and (area2LifeTime = 0) and (hitLed1 = '1') and (hitLed2 = '0') and ((curCamPixelPosX > curCamPixelPosXLed1 + 10) or (curCamPixelPosX < curCamPixelPosXLed1 - 10) or (curCamPixelPosY > curCamPixelPosYLed1 + 10) or (curCamPixelPosY < curCamPixelPosYLed1 - 10)) then
--										areaPixelPosXLed2 <= curCamPixelPosX; -- Position X zwischenspeichern
--										areaPixelPosYLed2 <= curCamPixelPosY; -- Position Y zwischenspeichern
--										area2LifeTime <= 1000000;
--									end if;

									-- Led2 zuruecksetzen
									if (area2LifeTime = 0) then
										curCamPixelPosXLed2 <= x"0000";
										curCamPixelPosYLed2 <= x"0000";
										area2LifeTime <= 100;
									end if;
									
									if (hitLed2 = '0') and (curCamPixelPosXLed2 = x"0000") and (curCamPixelPosYLed2 = x"0000") and  ((curCamPixelPosX > curCamPixelPosXLed1 + 10) or (curCamPixelPosX < curCamPixelPosXLed1 - 10) or (curCamPixelPosY > curCamPixelPosYLed1 + 10) or (curCamPixelPosY < curCamPixelPosYLed1 - 10))then 
--										if (foundLedFrequency1InReg2 = True) and (foundLedFrequency1InReg1 = False) then
--											detectedLed1X <= curCamPixelPosX; -- Position X Icondarstellung
--											detectedLed1Y <= curCamPixelPosY; -- Position Y Icondarstellung
--										elsif (foundLedFrequency2InReg2 = True) and (foundLedFrequency2InReg1 = False) then
											detectedLed2X <= curCamPixelPosX; -- Position X Icondarstellung
											detectedLed2Y <= curCamPixelPosY; -- Position Y Icondarstellung
--										end if;
										curCamPixelPosXLed2 <= curCamPixelPosX; -- Position X zwischenspeichern
										curCamPixelPosYLed2 <= curCamPixelPosY; -- Position X zwischenspeichern
										hitLed2 <= '1'; -- Led2 gefunden
										areaPixelPosXLed2 <= curCamPixelPosX; -- Position X zwischenspeichern
										areaPixelPosYLed2 <= curCamPixelPosY; -- Position X zwischenspeichern
										actionArea2 <= '1';
										area2LifeTime <= 100;
										--detectedLeds <= "11"; -- alle Leds gefunden, Automat beenden
										lastPicIrPixelLed2 <= 840000; -- 800*520 = 416000 (hcounter * vcounter) und im naechsten Bild, also *2
										
										-- Led2 nur in bestimmter Umgebung akzeptieren (20 x 20) Pixel
									elsif (hitLed2 = '0') and  ((curCamPixelPosX > curCamPixelPosXLed1 + 10) or (curCamPixelPosX < curCamPixelPosXLed1 - 10) or (curCamPixelPosY > curCamPixelPosYLed1 + 10) or (curCamPixelPosY < curCamPixelPosYLed1 - 10)) and (((curCamPixelPosX > (areaPixelPosXLed2 - 10)) and (curCamPixelPosX < (areaPixelPosXLed2 + 10))) and ((curCamPixelPosY > (areaPixelPosYLed2 - 10)) and (curCamPixelPosY < (areaPixelPosYLed2 + 10))))then 
--										if (foundLedFrequency1InReg2 = True) and (foundLedFrequency1InReg1 = False) then
--											detectedLed1X <= curCamPixelPosX; -- Position X Icondarstellung
--											detectedLed1Y <= curCamPixelPosY; -- Position Y Icondarstellung
--										elsif (foundLedFrequency2InReg2 = True) and (foundLedFrequency2InReg1 = False) then
											detectedLed2X <= curCamPixelPosX; -- Position X Icondarstellung
											detectedLed2Y <= curCamPixelPosY; -- Position Y Icondarstellung
--										end if;
										curCamPixelPosXLed2 <= curCamPixelPosX; -- Position X zwischenspeichern
										curCamPixelPosYLed2 <= curCamPixelPosY; -- Position Y zwischenspeichern
										hitLed2 <= '1'; -- Led2 gefunden
										areaPixelPosXLed2 <= curCamPixelPosX; -- Position X zwischenspeichern
										areaPixelPosYLed2 <= curCamPixelPosY; -- Position Y zwischenspeichern
										actionArea2 <= '1';
										area2LifeTime <= 100;
										--detectedLeds <= "11"; -- alle Leds gefunden, Automat beenden
										lastPicIrPixelLed2 <= 840000; -- 800*520 = 416000 (hcounter * vcounter) und im naechsten Bild, also *2
									end if;
									detectedLeds <= "11";

								when others =>
										--if (hitLed1 = '0') then
											detectedLeds <= "00";
										--end if;
									
							end case;
														
							--pipeInp.req <= true;
							--pipeInp.inpVal <= dinBufPrev;
							--pipeInp.posX <= curCamPixelPosX;
							--pipeInp.posY <= curCamPixelPosY;
							
							-- Ueberpruefen, ob im letzten Bild ein Ir-Pixel entdeckt wurde:
							-- Bildbereich in Hex: 640 = 0x280, 480 = 0x1e0
							
						else
							--seg7data <= x"00" & curCamDetPPX(7 downto 0); -- & curCamDetPPY(7 downto 0);
						end if;
					end if;
					
					curCamPixelPosX <= curCamPixelPosX + 1;
					
				end if;
			end if;
			
			-- buffer signals cam1 or cam2
			dinBufPrev <= dinBuf;
			case sw(7) is
				when '0' =>
					dinBuf <= D1(9 downto 2);
					EdgeDet.setNext(pclkBuf, PCLK1);
					EdgeDet.setNext(hrefBuf, HREF1);
					EdgeDet.setNext(vsyncBuf, camVSYNC1);
				when others =>
					dinBuf <= D2(9 downto 2);
					EdgeDet.setNext(pclkBuf, PCLK2);
					EdgeDet.setNext(hrefBuf, HREF2);
					EdgeDet.setNext(vsyncBuf, camVSYNC2);
			end case;
			
			-- ************************************************************************************+
			
			if pipeInt2.req then
				if curCamDetStrength < x"03" then --03
					curCamDetPPX_tmp <= pipeInt2.posX;
					curCamDetPPY_tmp <= pipeInt2.posY;
					curCamDetStrength <= x"01"; --01
				end if;
			
				pipeInt2.req <= false;
			end if;

			if pipeInt1.req then
				--if ((pipeInt1.posX - curCamDetPPX) < x"0010") and ((pipeInt1.posY - curCamDetPPY) < x"0010") then
				if (pipeInt1.posDiffX < x"000a") and (pipeInt1.posDiffY < x"000a") then
					curCamDetStrength <= curCamDetStrength + 1;
				else
					pipeInt2 <= pipeInt1;
				end if;
			
				pipeInt1.req <= false;
			end if;

			if pipeInp.req then
				if not curIsSig then
					curCamDetPPX_tmp <= pipeInp.posX;
					curCamDetPPY_tmp <= pipeInp.posY;
					curIsSig <= true;
					curCamDetStrength <= x"01";--01
				else
					pipeInt1 <= (pipeInp.req, pipeInp.InpVal, pipeInp.posX, pipeInp.posY,
						twoscompToAbs16(pipeInp.posX - curCamDetPPX_tmp), twoscompToAbs16(pipeInp.posY - curCamDetPPY_tmp)); -- next pipeline step
				end if;
			
				pipeInp.req <= false;
			end if;


			-- ************************************************************************************+
			
			if pictCnt = pictRef then
				sigledBuf <= not sigledBuf;
			end if;
			
			
		end if;
	end process;



	-- ###########################################
	-- ### SCCB bus / camera control
	-- ###########################################
	
	CamControl_Inst : entity CamControl(arch) port map (
		clk => clk1x,
		rs232RX => rs232RX,
		rs232TX => rs232TX,
		RSTB => RSTB,
		PWDN => PWDN,
		SCL => SCL,
		SDA => SDABuf,
		reset => captureReset
	);
	
--	XCLK <= clk05x;
--	XCLK <= clkXclk; -- Takt fuer Kamera-Chip erzeugt (3,125MHz, soll aber 6,25MHZ!)
	
	-- sende RS232-daten an beide Kameras
	SDA1 <= SDABuf;
	SDA2 <= SDABuf;
	
end Behavioral;