| /Designs/Measuring_instruments/Echo01A/SW/sonar/src/.deps/sonar.Po |
|---|
| 0,0 → 1,211 |
| sonar.o: sonar.c /usr/include/stdio.h /usr/include/features.h \ |
| /usr/include/bits/predefs.h /usr/include/sys/cdefs.h \ |
| /usr/include/bits/wordsize.h /usr/include/gnu/stubs.h \ |
| /usr/include/gnu/stubs-64.h \ |
| /usr/lib/gcc/x86_64-linux-gnu/4.4.1/include/stddef.h \ |
| /usr/include/bits/types.h /usr/include/bits/typesizes.h \ |
| /usr/include/libio.h /usr/include/_G_config.h /usr/include/wchar.h \ |
| /usr/lib/gcc/x86_64-linux-gnu/4.4.1/include/stdarg.h \ |
| /usr/include/bits/stdio_lim.h /usr/include/bits/sys_errlist.h \ |
| /usr/include/bits/stdio.h /usr/include/bits/stdio2.h \ |
| /usr/include/stdlib.h /usr/include/sys/types.h /usr/include/time.h \ |
| /usr/include/endian.h /usr/include/bits/endian.h \ |
| /usr/include/bits/byteswap.h /usr/include/sys/select.h \ |
| /usr/include/bits/select.h /usr/include/bits/sigset.h \ |
| /usr/include/bits/time.h /usr/include/sys/sysmacros.h \ |
| /usr/include/bits/pthreadtypes.h /usr/include/alloca.h \ |
| /usr/include/bits/stdlib.h /usr/include/string.h /usr/include/xlocale.h \ |
| /usr/include/bits/string.h /usr/include/bits/string2.h \ |
| /usr/include/bits/string3.h /usr/include/sched.h \ |
| /usr/include/bits/sched.h /usr/include/errno.h /usr/include/bits/errno.h \ |
| /usr/include/linux/errno.h /usr/include/asm/errno.h \ |
| /usr/include/asm-generic/errno.h /usr/include/asm-generic/errno-base.h \ |
| /usr/include/getopt.h /usr/include/alsa/asoundlib.h \ |
| /usr/include/unistd.h /usr/include/bits/posix_opt.h \ |
| /usr/include/bits/confname.h /usr/include/bits/unistd.h \ |
| /usr/include/fcntl.h /usr/include/bits/fcntl.h \ |
| /usr/include/bits/fcntl2.h /usr/include/assert.h /usr/include/sys/poll.h \ |
| /usr/include/bits/poll.h /usr/include/alsa/asoundef.h \ |
| /usr/include/alsa/version.h /usr/include/alsa/global.h \ |
| /usr/include/alsa/input.h /usr/include/alsa/output.h \ |
| /usr/include/alsa/error.h /usr/include/alsa/conf.h \ |
| /usr/include/alsa/pcm.h /usr/include/alsa/rawmidi.h \ |
| /usr/include/alsa/timer.h /usr/include/alsa/hwdep.h \ |
| /usr/include/alsa/control.h /usr/include/alsa/mixer.h \ |
| /usr/include/alsa/seq_event.h /usr/include/alsa/seq.h \ |
| /usr/include/alsa/seqmid.h /usr/include/alsa/seq_midi_event.h \ |
| /usr/include/sys/time.h /usr/include/math.h /usr/include/bits/huge_val.h \ |
| /usr/include/bits/huge_valf.h /usr/include/bits/huge_vall.h \ |
| /usr/include/bits/inf.h /usr/include/bits/nan.h \ |
| /usr/include/bits/mathdef.h /usr/include/bits/mathcalls.h \ |
| /usr/include/bits/mathinline.h /usr/include/fftw3.h |
| /usr/include/stdio.h: |
| /usr/include/features.h: |
| /usr/include/bits/predefs.h: |
| /usr/include/sys/cdefs.h: |
| /usr/include/bits/wordsize.h: |
| /usr/include/gnu/stubs.h: |
| /usr/include/gnu/stubs-64.h: |
| /usr/lib/gcc/x86_64-linux-gnu/4.4.1/include/stddef.h: |
| /usr/include/bits/types.h: |
| /usr/include/bits/typesizes.h: |
| /usr/include/libio.h: |
| /usr/include/_G_config.h: |
| /usr/include/wchar.h: |
| /usr/lib/gcc/x86_64-linux-gnu/4.4.1/include/stdarg.h: |
| /usr/include/bits/stdio_lim.h: |
| /usr/include/bits/sys_errlist.h: |
| /usr/include/bits/stdio.h: |
| /usr/include/bits/stdio2.h: |
| /usr/include/stdlib.h: |
| /usr/include/sys/types.h: |
| /usr/include/time.h: |
| /usr/include/endian.h: |
| /usr/include/bits/endian.h: |
| /usr/include/bits/byteswap.h: |
| /usr/include/sys/select.h: |
| /usr/include/bits/select.h: |
| /usr/include/bits/sigset.h: |
| /usr/include/bits/time.h: |
| /usr/include/sys/sysmacros.h: |
| /usr/include/bits/pthreadtypes.h: |
| /usr/include/alloca.h: |
| /usr/include/bits/stdlib.h: |
| /usr/include/string.h: |
| /usr/include/xlocale.h: |
| /usr/include/bits/string.h: |
| /usr/include/bits/string2.h: |
| /usr/include/bits/string3.h: |
| /usr/include/sched.h: |
| /usr/include/bits/sched.h: |
| /usr/include/errno.h: |
| /usr/include/bits/errno.h: |
| /usr/include/linux/errno.h: |
| /usr/include/asm/errno.h: |
| /usr/include/asm-generic/errno.h: |
| /usr/include/asm-generic/errno-base.h: |
| /usr/include/getopt.h: |
| /usr/include/alsa/asoundlib.h: |
| /usr/include/unistd.h: |
| /usr/include/bits/posix_opt.h: |
| /usr/include/bits/confname.h: |
| /usr/include/bits/unistd.h: |
| /usr/include/fcntl.h: |
| /usr/include/bits/fcntl.h: |
| /usr/include/bits/fcntl2.h: |
| /usr/include/assert.h: |
| /usr/include/sys/poll.h: |
| /usr/include/bits/poll.h: |
| /usr/include/alsa/asoundef.h: |
| /usr/include/alsa/version.h: |
| /usr/include/alsa/global.h: |
| /usr/include/alsa/input.h: |
| /usr/include/alsa/output.h: |
| /usr/include/alsa/error.h: |
| /usr/include/alsa/conf.h: |
| /usr/include/alsa/pcm.h: |
| /usr/include/alsa/rawmidi.h: |
| /usr/include/alsa/timer.h: |
| /usr/include/alsa/hwdep.h: |
| /usr/include/alsa/control.h: |
| /usr/include/alsa/mixer.h: |
| /usr/include/alsa/seq_event.h: |
| /usr/include/alsa/seq.h: |
| /usr/include/alsa/seqmid.h: |
| /usr/include/alsa/seq_midi_event.h: |
| /usr/include/sys/time.h: |
| /usr/include/math.h: |
| /usr/include/bits/huge_val.h: |
| /usr/include/bits/huge_valf.h: |
| /usr/include/bits/huge_vall.h: |
| /usr/include/bits/inf.h: |
| /usr/include/bits/nan.h: |
| /usr/include/bits/mathdef.h: |
| /usr/include/bits/mathcalls.h: |
| /usr/include/bits/mathinline.h: |
| /usr/include/fftw3.h: |
| /Designs/Measuring_instruments/Echo01A/SW/sonar/src/Makefile |
|---|
| 0,0 → 1,511 |
| # Makefile.in generated by automake 1.11 from Makefile.am. |
| # src/Makefile. Generated from Makefile.in by configure. |
| # Copyright (C) 1994, 1995, 1996, 1997, 1998, 1999, 2000, 2001, 2002, |
| # 2003, 2004, 2005, 2006, 2007, 2008, 2009 Free Software Foundation, |
| # Inc. |
| # This Makefile.in is free software; the Free Software Foundation |
| # gives unlimited permission to copy and/or distribute it, |
| # with or without modifications, as long as this notice is preserved. |
| # This program is distributed in the hope that it will be useful, |
| # but WITHOUT ANY WARRANTY, to the extent permitted by law; without |
| # even the implied warranty of MERCHANTABILITY or FITNESS FOR A |
| # PARTICULAR PURPOSE. |
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| topsrcdirstrip=`echo "$(top_srcdir)" | sed 's/[].[^$$\\*]/\\\\&/g'`; \ |
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| if test -d "$(distdir)/$$file"; then \ |
| find "$(distdir)/$$file" -type d ! -perm -700 -exec chmod u+rwx {} \;; \ |
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| else \ |
| test -f "$(distdir)/$$file" \ |
| || cp -p $$d/$$file "$(distdir)/$$file" \ |
| || exit 1; \ |
| fi; \ |
| done |
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| # Tell versions [3.59,3.63) of GNU make to not export all variables. |
| # Otherwise a system limit (for SysV at least) may be exceeded. |
| .NOEXPORT: |
| /Designs/Measuring_instruments/Echo01A/SW/sonar/src/sonar.c |
|---|
| 0,0 → 1,501 |
| /////////////////////////////////////////////////////////////////////////////////// |
| // A small demo of sonar. |
| // Program allow distance measuring. |
| // Uses cross-correlation algorithm to find echos |
| // |
| // Author: kaklik (kaklik@mlab.cz) |
| //$Id:$ |
| /////////////////////////////////////////////////////////////////////////////////// |
| #include <stdio.h> |
| #include <stdlib.h> |
| #include <string.h> |
| #include <sched.h> |
| #include <errno.h> |
| #include <getopt.h> |
| #include <alsa/asoundlib.h> |
| #include <sys/time.h> |
| #include <math.h> |
| #include <fftw3.h> |
| #define SOUND_SPEED 340.0 // sound speed in air in metrs per second |
| #define MAX_RANGE 5.0 // maximal working radius in meters |
| #define Xl -0.1 // microphones position |
| #define Xr 0.1 |
| static char *device = "plughw:0,0"; /* playback device */ |
| static snd_pcm_format_t format = SND_PCM_FORMAT_S16; /* sample format */ |
| static unsigned int rate = 96000; /* stream rate */ |
| static unsigned int buffer_time = 2 * (MAX_RANGE / SOUND_SPEED * 1e6); /* ring buffer length in us */ |
| static unsigned int period_time = MAX_RANGE / SOUND_SPEED * 1e6; /* period time in us */ |
| static int resample = 1; /* enable alsa-lib resampling */ |
| unsigned int chirp_size; |
| static snd_pcm_sframes_t buffer_size; // size of buffer at sound card |
| static snd_pcm_sframes_t period_size; //samples per frame |
| static snd_output_t *output = NULL; |
| static int set_hwparams(snd_pcm_t *handle, snd_pcm_hw_params_t *params, unsigned int channels) |
| { |
| unsigned int rrate; |
| snd_pcm_uframes_t size; |
| int err, dir; |
| /* choose all parameters */ |
| err = snd_pcm_hw_params_any(handle, params); |
| if (err < 0) |
| { |
| printf("Broken configuration for playback: no configurations available: %s\n", snd_strerror(err)); |
| return err; |
| } |
| /* set hardware resampling */ |
| err = snd_pcm_hw_params_set_rate_resample(handle, params, resample); |
| if (err < 0) |
| { |
| printf("Resampling setup failed for playback: %s\n", snd_strerror(err)); |
| return err; |
| } |
| /* set the interleaved read/write format */ |
| err = snd_pcm_hw_params_set_access(handle, params, SND_PCM_ACCESS_RW_INTERLEAVED); |
| if (err < 0) |
| { |
| printf("Access type not available for playback: %s\n", snd_strerror(err)); |
| return err; |
| } |
| /* set the sample format */ |
| err = snd_pcm_hw_params_set_format(handle, params, format); |
| if (err < 0) |
| { |
| printf("Sample format not available for playback: %s\n", snd_strerror(err)); |
| return err; |
| } |
| /* set the count of channels */ |
| err = snd_pcm_hw_params_set_channels(handle, params, channels); |
| if (err < 0) |
| { |
| printf("Channels count (%i) not available for playbacks: %s\n", channels, snd_strerror(err)); |
| return err; |
| } |
| /* set the stream rate */ |
| rrate = rate; |
| err = snd_pcm_hw_params_set_rate_near(handle, params, &rrate, 0); |
| if (err < 0) |
| { |
| printf("Rate %iHz not available for playback: %s\n", rate, snd_strerror(err)); |
| return err; |
| } |
| if (rrate != rate) |
| { |
| printf("Rate doesn't match (requested %iHz, get %iHz)\n", rate, err); |
| return -EINVAL; |
| } |
| else printf("Rate set to %i Hz\n", rate, err); |
| /* set the buffer time */ |
| err = snd_pcm_hw_params_set_buffer_time_near(handle, params, &buffer_time, &dir); |
| if (err < 0) |
| { |
| printf("Unable to set buffer time %i for playback: %s\n", buffer_time, snd_strerror(err)); |
| return err; |
| } |
| err = snd_pcm_hw_params_get_buffer_size(params, &size); |
| if (err < 0) |
| { |
| printf("Unable to get buffer size for playback: %s\n", snd_strerror(err)); |
| return err; |
| } |
| buffer_size = size; |
| printf("Bufffer size set to: %d Requested buffer time: %ld \n", (int) buffer_size, (long) buffer_time); |
| // set the period time |
| err = snd_pcm_hw_params_set_period_time_near(handle, params, &period_time, &dir); |
| if (err < 0) |
| { |
| printf("Unable to set period time %i for playback: %s\n", period_time, snd_strerror(err)); |
| return err; |
| } |
| err = snd_pcm_hw_params_get_period_size(params, &size, &dir); |
| if (err < 0) |
| { |
| printf("Unable to get period size for playback: %s\n", snd_strerror(err)); |
| return err; |
| } |
| period_size = size; |
| printf("Period size set to: %d Requested period time: %ld \n", (int) period_size, (long) period_time); |
| /* write the parameters to device */ |
| err = snd_pcm_hw_params(handle, params); |
| if (err < 0) |
| { |
| printf("Unable to set hw params for playback: %s\n", snd_strerror(err)); |
| return err; |
| } |
| return 0; |
| } |
| static int set_swparams(snd_pcm_t *handle, snd_pcm_sw_params_t *swparams) |
| { |
| int err; |
| /* get the current swparams */ |
| err = snd_pcm_sw_params_current(handle, swparams); |
| if (err < 0) |
| { |
| printf("Unable to determine current swparams for playback: %s\n", snd_strerror(err)); |
| return err; |
| } |
| // start the transfer when the buffer is almost full: never fou our case |
| err = snd_pcm_sw_params_set_start_threshold(handle, swparams, 2 * buffer_size); |
| if (err < 0) |
| { |
| printf("Unable to set start threshold mode for playback: %s\n", snd_strerror(err)); |
| return err; |
| } |
| err = snd_pcm_sw_params_set_period_event(handle, swparams, 1); |
| if (err < 0) |
| { |
| printf("Unable to set period event: %s\n", snd_strerror(err)); |
| return err; |
| } |
| /* write the parameters to the playback device */ |
| err = snd_pcm_sw_params(handle, swparams); |
| if (err < 0) |
| { |
| printf("Unable to set sw params for playback: %s\n", snd_strerror(err)); |
| return err; |
| } |
| return 0; |
| } |
| ////// SIGNAL GENERATION STUFF |
| unsigned int linear_windowed_chirp(short *pole) // generate the ping signal |
| { |
| unsigned int maxval = (1 << (snd_pcm_format_width(format) - 1)) - 1; |
| static const float f0 = 5000; //starting frequency |
| static const float fmax = 10000; //ending frequency |
| static const float Tw = 0.0015; // time width of ping in seconds |
| static float k; |
| unsigned int n=0; |
| double t; |
| unsigned int chirp_samples; // number of samples per period |
| k=2*(fmax-f0)/Tw; |
| chirp_samples = ceil(rate*Tw); // compute size of ping sinal in samples |
| for (n=0;n<=chirp_samples;n++) |
| { |
| t = (double) n / (double)rate; |
| pole[n] = (short) floor( (0.35875 - 0.48829*cos(2*M_PI*t*1/Tw) + 0.14128*cos(2*M_PI*2*t*1/Tw) - 0.01168*cos(2*M_PI*3*t*1/Tw))*maxval*sin(2*M_PI*(t)*(f0+(k/2)*(t))) ); // signal generation formula |
| } |
| return (chirp_samples); // return count of samples in ping |
| } |
| int main(int argc, char *argv[]) |
| { |
| snd_pcm_t *playback_handle, *capture_handle; |
| int err; |
| snd_pcm_hw_params_t *hwparams; |
| snd_pcm_sw_params_t *swparams; |
| long int *correlationl, *correlationr; |
| float *echo_map; |
| int *L_signal, *R_signal; |
| short *chirp, *signal; |
| float *chirp_spect, *lecho_spect, *recho_spect; |
| float a,b; // sides of trilateration triangle. |
| float f,g; //measured lenght path of signal |
| unsigned int i,j,m,n; |
| unsigned int map_size; //number of points in echo map. |
| unsigned int delayl[10],delayr[10]; //store delay of signifed correlation |
| long int l,r; // store correlation at strict time |
| double df; //frequency resolution |
| double k; // sample numbers to distance normalising constant |
| unsigned int frequency_bins; // number of output frequency bins |
| double *inchirp; // Fourier transform variables |
| fftw_complex *outchirp; |
| fftw_plan fft_plan_chirp; |
| FILE *out; // dummy variable for file data output |
| snd_pcm_hw_params_alloca(&hwparams); // allocation of soundcard parameters registers |
| snd_pcm_sw_params_alloca(&swparams); |
| printf("Simple PC sonar $Rev:$ starting work.. \n"); |
| //open and set playback device |
| if ((err = snd_pcm_open(&playback_handle, device, SND_PCM_STREAM_PLAYBACK, 0)) < 0) |
| { |
| printf("Playback open error: %s\n", snd_strerror(err)); |
| return 0; |
| } |
| if ((err = set_hwparams(playback_handle, hwparams, 1)) < 0) |
| { |
| printf("Setting of hwparams failed: %s\n", snd_strerror(err)); |
| exit(EXIT_FAILURE); |
| } |
| if ((err = set_swparams(playback_handle, swparams)) < 0) |
| { |
| printf("Setting of swparams failed: %s\n", snd_strerror(err)); |
| exit(EXIT_FAILURE); |
| } |
| //open and set capture device |
| if ((err = snd_pcm_open(&capture_handle, device, SND_PCM_STREAM_CAPTURE, 0)) < 0) |
| { |
| printf("Playback open error: %s\n", snd_strerror(err)); |
| return 0; |
| } |
| if ((err = set_hwparams(capture_handle, hwparams, 2)) < 0) |
| { |
| printf("Setting of hwparams failed: %s\n", snd_strerror(err)); |
| exit(EXIT_FAILURE); |
| } |
| if ((err = set_swparams(capture_handle, swparams)) < 0) |
| { |
| printf("Setting of swparams failed: %s\n", snd_strerror(err)); |
| exit(EXIT_FAILURE); |
| } |
| /* err = snd_pcm_link( capture_handle, playback_handle); //link capture and playback together |
| if (err < 0) |
| { |
| printf("Device linking error: %s\n", snd_strerror(err)); |
| exit(EXIT_FAILURE); |
| }*/ |
| k = SOUND_SPEED/rate; // normalising constant - normalise sample number to distance |
| correlationl = malloc(period_size * sizeof(long int)); //array to store correlation curve |
| correlationr = malloc(period_size * sizeof(long int)); //array to store correlation curve |
| L_signal = malloc(period_size * sizeof(int)); |
| R_signal = malloc(period_size * sizeof(int)); |
| chirp = calloc(2*period_size, sizeof(short)); |
| signal = malloc(2*period_size * sizeof(short)); |
| map_size=0; |
| for (i=0;i < period_size; i++) // brute force function for compute number of points in echo map. |
| { |
| a=k*i; |
| for(j=0;j < period_size; j++) |
| { |
| b=k*j; |
| if( (Xl <= a) && (Xr <= b) ) map_size++; |
| } |
| } |
| echo_map = malloc((3*map_size) * sizeof(float)); // Array to store 2D image of echos |
| if (echo_map == NULL) printf("Can't allocate enought memory"); |
| // generate ping pattern |
| chirp_size = linear_windowed_chirp(chirp); |
| frequency_bins = chirp_size / 2 + 1; |
| df = (double) rate / (double) chirp_size; |
| chirp_spect = malloc(frequency_bins * sizeof(float)); |
| lecho_spect = malloc(frequency_bins * sizeof(float)); |
| recho_spect = malloc(frequency_bins * sizeof(float)); |
| inchirp = fftw_malloc(sizeof(double) * chirp_size); // allocate input array for FFT |
| outchirp = fftw_malloc(sizeof(fftw_complex) * frequency_bins); |
| fft_plan_chirp = fftw_plan_dft_r2c_1d(chirp_size, inchirp, outchirp, FFTW_ESTIMATE); |
| printf("compute chirp spectrum\n"); |
| for(i=0; i < chirp_size; i++) inchirp[i] = chirp[i]; |
| fftw_execute(fft_plan_chirp); |
| for(i=0; i < frequency_bins; i++) chirp_spect[i] = sqrt( outchirp[i][0] * outchirp[i][0] + outchirp[i][1] * outchirp[i][1] ); |
| // write chirp data to souncard buffer |
| err = snd_pcm_writei(playback_handle, chirp, period_size); |
| if (err < 0) |
| { |
| printf("Initial write error: %s\n", snd_strerror(err)); |
| exit(EXIT_FAILURE); |
| } |
| //start sream |
| err = snd_pcm_start(playback_handle); |
| if (err < 0) |
| { |
| printf("Start error: %s\n", snd_strerror(err)); |
| exit(EXIT_FAILURE); |
| } |
| err = snd_pcm_start(capture_handle); |
| if (err < 0) |
| { |
| printf("Start error: %s\n", snd_strerror(err)); |
| exit(EXIT_FAILURE); |
| } |
| else printf("Transmitting all samples of chirp\n"); |
| //-------------- |
| while ( snd_pcm_avail_update(capture_handle) < period_size) // wait for one period of data |
| { |
| usleep(1000); |
| printf("."); |
| } |
| err = snd_pcm_drop(playback_handle); // stop audio stream |
| err = snd_pcm_drain(capture_handle); |
| if (err < 0) |
| { |
| printf("Stop error: %s\n", snd_strerror(err)); |
| exit(EXIT_FAILURE); |
| } |
| err = snd_pcm_readi(capture_handle, signal, period_size); //read period from audio buffer |
| if (err < 0) |
| { |
| printf("Read error: %s\n", snd_strerror(err)); |
| exit(EXIT_FAILURE); |
| } |
| j=0; |
| for (i=0;i < period_size;i++) // separe inretleaved samples to two arrays |
| { |
| L_signal[i]=signal[j]; |
| R_signal[i]=signal[j+1]; |
| j+=2; |
| } |
| printf("\nChirp transmitted \ncorrelating\n"); |
| for (n=0; n < (period_size - chirp_size - 1); n++) |
| { |
| l=0; |
| r=0; |
| for ( m = 0; m < chirp_size;m++) |
| { |
| l += chirp[m]*L_signal[m+n]; // correlate with left channel |
| r += chirp[m]*R_signal[m+n]; // correlate with right channel |
| } |
| correlationl[n]=abs(l); |
| correlationr[n]=abs(r); |
| } |
| m=0; |
| printf("Building echo map\n"); // compute map from left and right correlation data |
| for (i=0; i < period_size; i++) |
| { |
| f=k*i; // transform number of sample to distance (divide by 2 becouse path of signal is aproximmately 2times longer than distance) |
| for(j=0; j < period_size; j++) |
| { |
| g=k*j; |
| a=(2*f*g*Xl+f*f*Xr+Xl*(g*g+(Xl-Xr)*Xr))/(2*g*Xl+2*f*Xr); |
| b=(g*g*Xl-2*f*g*Xr+Xr*(f*f+Xl*(-Xl+Xr)))/(2*g*Xl-2*f*Xr); |
| if( ((Xr-Xl) <= a+b) && (b <= a+(Xr-Xl)) && (a <= b+(Xr-Xl)) ) // kontrola trojuhelnikove nerovnosti |
| { |
| printf("%f %f\n",a,b); |
| echo_map[m]=(f*((f-g)*g + Xl*Xl)-g*Xr*Xr)/(2*f*Xl-2*g*Xr); |
| echo_map[m+1]=sqrt( ((-g*g+Xl*Xl)*(f-Xr)*(f-g+Xl-Xr)*(f+Xr)*(f-g-Xl+Xr))/(4*(f*Xl-g*Xr)*(f*Xl-g*Xr)) ); |
| echo_map[m+2]=(correlationl[i]+correlationr[j])/2; |
| m+=3; |
| } |
| } |
| } |
| printf("Searching echos\n"); |
| r=0; |
| l=0; |
| for (n=0; n < period_size;n++) //najde nejvetsi korelace |
| { |
| if (l < correlationl[n]) |
| { |
| delayl[1] = n; |
| l = correlationl[n]; |
| } |
| if (r < correlationr[n]) |
| { |
| delayr[1] = n; |
| r = correlationr[n]; |
| } |
| } |
| //spocitej frekvencni spektrum pro levy kanal |
| for(i=delayl[1]; i < delayl[1] + chirp_size; i++) inchirp[i-delayl[1]] = L_signal[i]; |
| fftw_execute(fft_plan_chirp); |
| for(i=0; i < frequency_bins; i++) lecho_spect[i] = sqrt(outchirp[i][0] * outchirp[i][0] + outchirp[i][1] * outchirp[i][1]); |
| // napln pole daty z praveho kanalu a spocitej frekvencni spektrum |
| for(i=delayr[1]; i < delayr[1] + chirp_size; i++) inchirp[i-delayr[1]] = R_signal[i]; |
| fftw_execute(fft_plan_chirp); |
| for(i=0; i < frequency_bins; i++) recho_spect[i] = sqrt(outchirp[i][0] * outchirp[i][0] + outchirp[i][1] * outchirp[i][1]); |
| printf("Writing output files\n"); |
| out=fopen("/tmp/sonar.txt","w"); |
| for (i=0; i <= (period_size - 1); i++) |
| { |
| fprintf(out,"%2.3f %6d %6d %9ld %9ld\n", (float)i*k, L_signal[i], R_signal[i], correlationl[i], correlationr[i]); |
| } |
| fclose(out); |
| j=0; |
| m=0; |
| out=fopen("/tmp/plane_cut.txt","w"); // writes echo_map - e.g. density map to file |
| for (i=0;i < map_size; i++) |
| { |
| fprintf(out,"% 2.5f %2.5f %8.2f\n", echo_map[j], echo_map[j+1], echo_map[j+2]); |
| j+=3; |
| //m++; |
| //if (m > 1){ fprintf(out,"\n"); m=0;} //make isoline for gnuplot. |
| } |
| /* for (i=0; i < period_size; i++) |
| { |
| a=k*i; |
| for(j=0; j < period_size; j++) |
| { |
| b=k*j; |
| if( ((b+a) >= (Xr-Xl)) && (b <= ((Xr-Xl)+a)) && (a <= ((Xr-Xl)+b)) ) // kontrola trojuhelnikove nerovnosti |
| { |
| fprintf(out,"% 4.3f %4.3f %8.2f\n",(a*((a-b)*b + Xl*Xl)-b*Xr*Xr)/(2*a*Xl-2*b*Xr),sqrt( ((-b*b+Xl*Xl)*(a-Xr)*(a-b+Xl-Xr)*(a+Xr)*(a-b-Xl+Xr))/(4*(a*Xl-b*Xr)*(a*Xl-b*Xr)) ),(correlationl[i]+correlationr[j])/2); |
| } |
| } |
| fprintf(out, "\n"); |
| }*/ |
| fclose(out); |
| out=fopen("/tmp/chirp.txt","w"); |
| for (i=0; i <= (chirp_size - 1); i++) |
| { |
| fprintf(out,"%6d %6d\n", i, chirp[i]); |
| } |
| fclose(out); |
| out=fopen("/tmp/echo.txt","w"); |
| for(i=0; i < chirp_size; i++) fprintf(out,"%6d %6d %6d\n", i, L_signal[i + delayl[1]], R_signal[i + delayr[1]]); |
| fclose(out); |
| out=fopen("/tmp/spektra.txt","w"); |
| for (i=0; i < frequency_bins; i++) |
| { |
| fprintf(out,"%4.3f %4.3f %4.3f %4.3f\n", (i+0.5) * df, chirp_spect[i], lecho_spect[i], recho_spect[i]); |
| } |
| fclose(out); |
| printf("Job done.\n"); |
| free(correlationl); |
| free(correlationr); |
| free(L_signal); |
| free(R_signal); |
| free(chirp); |
| free(signal); |
| free(echo_map); |
| snd_pcm_close(playback_handle); |
| snd_pcm_close(capture_handle); |
| return 0; |
| } |