MLABlibrarysvnkaklikMLAB_E8magsvn

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YOU OR THIRD PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER
PROGRAMS), EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE
POSSIBILITY OF SUCH DAMAGES.
END OF TERMS AND CONDITIONS
How to Apply These Terms to Your New Programs
If you develop a new program, and you want it to be of the greatest
possible use to the public, the best way to achieve this is to make it
free software which everyone can redistribute and change under these terms.
To do so, attach the following notices to the program. It is safest
to attach them to the start of each source file to most effectively
convey the exclusion of warranty; and each file should have at least
the "copyright" line and a pointer to where the full notice is found.
<one line to give the program's name and a brief idea of what it does.>
Copyright (C) <year> <name of author>
This program is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
Also add information on how to contact you by electronic and paper mail.
If the program is interactive, make it output a short notice like this
when it starts in an interactive mode:
Gnomovision version 69, Copyright (C) year name of author
Gnomovision comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
This is free software, and you are welcome to redistribute it
under certain conditions; type `show c' for details.
The hypothetical commands `show w' and `show c' should show the appropriate
parts of the General Public License. Of course, the commands you use may
be called something other than `show w' and `show c'; they could even be
mouse-clicks or menu items--whatever suits your program.
You should also get your employer (if you work as a programmer) or your
school, if any, to sign a "copyright disclaimer" for the program, if
necessary. Here is a sample; alter the names:
Yoyodyne, Inc., hereby disclaims all copyright interest in the program
`Gnomovision' (which makes passes at compilers) written by James Hacker.
<signature of Ty Coon>, 1 April 1989
Ty Coon, President of Vice
This General Public License does not permit incorporating your program into
proprietary programs. If your program is a subroutine library, you may
consider it more useful to permit linking proprietary applications with the
library. If this is what you want to do, use the GNU Library General
Public License instead of this License.

/programy/C/ix86/echo/SW/sonar/Doxyfile
0,0 → 1,316
# Doxyfile 1.5.6-KDevelop
#---------------------------------------------------------------------------
# Project related configuration options
#---------------------------------------------------------------------------
DOXYFILE_ENCODING = UTF-8
PROJECT_NAME = sonar
PROJECT_NUMBER = $VERSION$
OUTPUT_DIRECTORY =
CREATE_SUBDIRS = NO
OUTPUT_LANGUAGE = English
BRIEF_MEMBER_DESC = YES
REPEAT_BRIEF = YES
ABBREVIATE_BRIEF = "The $name class" \
"The $name widget" \
"The $name file" \
is \
provides \
specifies \
contains \
represents \
a \
an \
the
ALWAYS_DETAILED_SEC = NO
INLINE_INHERITED_MEMB = NO
FULL_PATH_NAMES = YES
STRIP_FROM_PATH = /home/kaklik/
STRIP_FROM_INC_PATH =
SHORT_NAMES = NO
JAVADOC_AUTOBRIEF = NO
QT_AUTOBRIEF = NO
MULTILINE_CPP_IS_BRIEF = NO
DETAILS_AT_TOP = NO
INHERIT_DOCS = YES
SEPARATE_MEMBER_PAGES = NO
TAB_SIZE = 8
ALIASES =
OPTIMIZE_OUTPUT_FOR_C = NO
OPTIMIZE_OUTPUT_JAVA = NO
OPTIMIZE_FOR_FORTRAN = NO
OPTIMIZE_OUTPUT_VHDL = NO
BUILTIN_STL_SUPPORT = NO
CPP_CLI_SUPPORT = NO
SIP_SUPPORT = NO
IDL_PROPERTY_SUPPORT = YES
DISTRIBUTE_GROUP_DOC = NO
SUBGROUPING = YES
TYPEDEF_HIDES_STRUCT = NO
SYMBOL_CACHE_SIZE = 0
#---------------------------------------------------------------------------
# Build related configuration options
#---------------------------------------------------------------------------
EXTRACT_ALL = NO
EXTRACT_PRIVATE = NO
EXTRACT_STATIC = NO
EXTRACT_LOCAL_CLASSES = YES
EXTRACT_LOCAL_METHODS = NO
EXTRACT_ANON_NSPACES = NO
HIDE_UNDOC_MEMBERS = NO
HIDE_UNDOC_CLASSES = NO
HIDE_FRIEND_COMPOUNDS = NO
HIDE_IN_BODY_DOCS = NO
INTERNAL_DOCS = NO
CASE_SENSE_NAMES = YES
HIDE_SCOPE_NAMES = NO
SHOW_INCLUDE_FILES = YES
INLINE_INFO = YES
SORT_MEMBER_DOCS = YES
SORT_BRIEF_DOCS = NO
SORT_GROUP_NAMES = NO
SORT_BY_SCOPE_NAME = NO
GENERATE_TODOLIST = YES
GENERATE_TESTLIST = YES
GENERATE_BUGLIST = YES
GENERATE_DEPRECATEDLIST= YES
ENABLED_SECTIONS =
MAX_INITIALIZER_LINES = 30
SHOW_USED_FILES = YES
SHOW_DIRECTORIES = NO
SHOW_FILES = YES
SHOW_NAMESPACES = YES
FILE_VERSION_FILTER =
#---------------------------------------------------------------------------
# configuration options related to warning and progress messages
#---------------------------------------------------------------------------
QUIET = NO
WARNINGS = YES
WARN_IF_UNDOCUMENTED = YES
WARN_IF_DOC_ERROR = YES
WARN_NO_PARAMDOC = NO
WARN_FORMAT = "$file:$line: $text"
WARN_LOGFILE =
#---------------------------------------------------------------------------
# configuration options related to the input files
#---------------------------------------------------------------------------
INPUT = /home/kaklik/svnkaklik/programy/C/ix86/echo/SW/sonar
INPUT_ENCODING = UTF-8
FILE_PATTERNS = *.c \
*.cc \
*.cxx \
*.cpp \
*.c++ \
*.d \
*.java \
*.ii \
*.ixx \
*.ipp \
*.i++ \
*.inl \
*.h \
*.hh \
*.hxx \
*.hpp \
*.h++ \
*.idl \
*.odl \
*.cs \
*.php \
*.php3 \
*.inc \
*.m \
*.mm \
*.dox \
*.py \
*.f90 \
*.f \
*.vhd \
*.vhdl \
*.C \
*.CC \
*.C++ \
*.II \
*.I++ \
*.H \
*.HH \
*.H++ \
*.CS \
*.PHP \
*.PHP3 \
*.M \
*.MM \
*.PY \
*.F90 \
*.F \
*.VHD \
*.VHDL \
*.C \
*.H \
*.tlh \
*.diff \
*.patch \
*.moc \
*.xpm \
*.dox
RECURSIVE = yes
EXCLUDE =
EXCLUDE_SYMLINKS = NO
EXCLUDE_PATTERNS =
EXCLUDE_SYMBOLS =
EXAMPLE_PATH =
EXAMPLE_PATTERNS = *
EXAMPLE_RECURSIVE = NO
IMAGE_PATH =
INPUT_FILTER =
FILTER_PATTERNS =
FILTER_SOURCE_FILES = NO
#---------------------------------------------------------------------------
# configuration options related to source browsing
#---------------------------------------------------------------------------
SOURCE_BROWSER = NO
INLINE_SOURCES = NO
STRIP_CODE_COMMENTS = YES
REFERENCED_BY_RELATION = YES
REFERENCES_RELATION = YES
REFERENCES_LINK_SOURCE = YES
USE_HTAGS = NO
VERBATIM_HEADERS = YES
#---------------------------------------------------------------------------
# configuration options related to the alphabetical class index
#---------------------------------------------------------------------------
ALPHABETICAL_INDEX = NO
COLS_IN_ALPHA_INDEX = 5
IGNORE_PREFIX =
#---------------------------------------------------------------------------
# configuration options related to the HTML output
#---------------------------------------------------------------------------
GENERATE_HTML = YES
HTML_OUTPUT = html
HTML_FILE_EXTENSION = .html
HTML_HEADER =
HTML_FOOTER =
HTML_STYLESHEET =
HTML_ALIGN_MEMBERS = YES
GENERATE_HTMLHELP = NO
GENERATE_DOCSET = NO
DOCSET_FEEDNAME = "Doxygen generated docs"
DOCSET_BUNDLE_ID = org.doxygen.Project
HTML_DYNAMIC_SECTIONS = NO
CHM_FILE =
HHC_LOCATION =
QTHELP_FILE =
QTHELP_CONFIG =
DOXYGEN2QTHELP_LOC =
GENERATE_CHI = NO
CHM_INDEX_ENCODING =
BINARY_TOC = NO
TOC_EXPAND = NO
DISABLE_INDEX = NO
ENUM_VALUES_PER_LINE = 4
GENERATE_TREEVIEW = NONE
TREEVIEW_WIDTH = 250
FORMULA_FONTSIZE = 10
#---------------------------------------------------------------------------
# configuration options related to the LaTeX output
#---------------------------------------------------------------------------
GENERATE_LATEX = YES
LATEX_OUTPUT = latex
LATEX_CMD_NAME = latex
MAKEINDEX_CMD_NAME = makeindex
COMPACT_LATEX = NO
PAPER_TYPE = a4wide
EXTRA_PACKAGES =
LATEX_HEADER =
PDF_HYPERLINKS = NO
USE_PDFLATEX = NO
LATEX_BATCHMODE = NO
LATEX_HIDE_INDICES = NO
#---------------------------------------------------------------------------
# configuration options related to the RTF output
#---------------------------------------------------------------------------
GENERATE_RTF = NO
RTF_OUTPUT = rtf
COMPACT_RTF = NO
RTF_HYPERLINKS = NO
RTF_STYLESHEET_FILE =
RTF_EXTENSIONS_FILE =
#---------------------------------------------------------------------------
# configuration options related to the man page output
#---------------------------------------------------------------------------
GENERATE_MAN = NO
MAN_OUTPUT = man
MAN_EXTENSION = .3
MAN_LINKS = NO
#---------------------------------------------------------------------------
# configuration options related to the XML output
#---------------------------------------------------------------------------
GENERATE_XML = yes
XML_OUTPUT = xml
XML_SCHEMA =
XML_DTD =
XML_PROGRAMLISTING = YES
#---------------------------------------------------------------------------
# configuration options for the AutoGen Definitions output
#---------------------------------------------------------------------------
GENERATE_AUTOGEN_DEF = NO
#---------------------------------------------------------------------------
# configuration options related to the Perl module output
#---------------------------------------------------------------------------
GENERATE_PERLMOD = NO
PERLMOD_LATEX = NO
PERLMOD_PRETTY = YES
PERLMOD_MAKEVAR_PREFIX =
#---------------------------------------------------------------------------
# Configuration options related to the preprocessor
#---------------------------------------------------------------------------
ENABLE_PREPROCESSING = YES
MACRO_EXPANSION = NO
EXPAND_ONLY_PREDEF = NO
SEARCH_INCLUDES = YES
INCLUDE_PATH =
INCLUDE_FILE_PATTERNS =
PREDEFINED =
EXPAND_AS_DEFINED =
SKIP_FUNCTION_MACROS = YES
#---------------------------------------------------------------------------
# Configuration::additions related to external references
#---------------------------------------------------------------------------
TAGFILES =
GENERATE_TAGFILE = sonar.tag
ALLEXTERNALS = NO
EXTERNAL_GROUPS = YES
PERL_PATH = /usr/bin/perl
#---------------------------------------------------------------------------
# Configuration options related to the dot tool
#---------------------------------------------------------------------------
CLASS_DIAGRAMS = YES
MSCGEN_PATH =
HIDE_UNDOC_RELATIONS = YES
HAVE_DOT = NO
DOT_FONTNAME = FreeSans
DOT_FONTPATH =
CLASS_GRAPH = YES
COLLABORATION_GRAPH = YES
GROUP_GRAPHS = YES
UML_LOOK = NO
TEMPLATE_RELATIONS = NO
INCLUDE_GRAPH = YES
INCLUDED_BY_GRAPH = YES
CALL_GRAPH = NO
CALLER_GRAPH = NO
GRAPHICAL_HIERARCHY = YES
DIRECTORY_GRAPH = YES
DOT_IMAGE_FORMAT = png
DOT_PATH =
DOTFILE_DIRS =
DOT_GRAPH_MAX_NODES = 50
MAX_DOT_GRAPH_DEPTH = 1000
DOT_TRANSPARENT = NO
DOT_MULTI_TARGETS = NO
GENERATE_LEGEND = YES
DOT_CLEANUP = YES
#---------------------------------------------------------------------------
# Configuration::additions related to the search engine
#---------------------------------------------------------------------------
SEARCHENGINE = NO

/programy/C/ix86/echo/SW/sonar/Makefile
0,0 → 1,157
# CMAKE generated file: DO NOT EDIT!
# Generated by "Unix Makefiles" Generator, CMake Version 2.6
# Default target executed when no arguments are given to make.
default_target: all
.PHONY : default_target
#=============================================================================
# Special targets provided by cmake.
# Disable implicit rules so canoncical targets will work.
.SUFFIXES:
# Remove some rules from gmake that .SUFFIXES does not remove.
SUFFIXES =
.SUFFIXES: .hpux_make_needs_suffix_list
# Produce verbose output by default.
VERBOSE = 1
# Suppress display of executed commands.
$(VERBOSE).SILENT:
# A target that is always out of date.
cmake_force:
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#=============================================================================
# Set environment variables for the build.
# The shell in which to execute make rules.
SHELL = /bin/sh
# The CMake executable.
CMAKE_COMMAND = /usr/bin/cmake
# The command to remove a file.
RM = /usr/bin/cmake -E remove -f
# The program to use to edit the cache.
CMAKE_EDIT_COMMAND = /usr/bin/ccmake
# The top-level source directory on which CMake was run.
CMAKE_SOURCE_DIR = /home/kaklik/svnkaklik/programy/C/ix86/echo/SW/sonar
# The top-level build directory on which CMake was run.
CMAKE_BINARY_DIR = /home/kaklik/svnkaklik/programy/C/ix86/echo/SW/sonar
#=============================================================================
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$(MAKE) -f CMakeFiles/Makefile2 all
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@echo "... main.o"
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/programy/C/ix86/echo/SW/sonar/main.c
0,0 → 1,504
///////////////////////////////////////////////////////////////////////////////////
// A small demo of sonar.
// Program allow distance measuring.
// Uses cross-correlation algorithm to find echos
//
// Author: kaklik (kaklik@mlab.cz)
//
///////////////////////////////////////////////////////////////////////////////////
#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>
static char *device = "plughw:0,0"; /* playback device */
static snd_pcm_format_t format = SND_PCM_FORMAT_S16; /* sample format */
static unsigned int rate = 98000; /* stream rate */
static unsigned int buffer_time = 500000; /* ring buffer length in us */
static unsigned int period_time = 100000; /* period time in us */
static int verbose = 0; /* verbose flag */
static int resample = 1; /* enable alsa-lib resampling */
static int period_event = 0; /* produce poll event after each period */
#define SOUND_SPEED 340
#define SIGNAL_SAMPLES 100000
#define CHIRP_OFFSET 0
unsigned int chirp_size;
int period=0;
int cperiod=0;
int chirp[100000];
short signal[1000000]; // record 6s of input samples
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;
/* 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;
/* 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: */
/* (buffer_size / avail_min) * avail_min */
err = snd_pcm_sw_params_set_start_threshold ( handle, swparams, ( buffer_size / period_size ) * period_size );
if ( err < 0 )
{
printf ( "Unable to set start threshold mode for playback: %s\n", snd_strerror ( err ) );
return err;
}
/* allow the transfer when at least period_size samples can be processed */
/* or disable this mechanism when period event is enabled (aka interrupt like style processing) */
err = snd_pcm_sw_params_set_avail_min ( handle, swparams, period_event ? buffer_size : period_size );
if ( err < 0 )
{
printf ( "Unable to set avail min for playback: %s\n", snd_strerror ( err ) );
return err;
}
/* enable period events when requested */
if ( period_event )
{
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;
}
struct async_private_data
{
signed short *samples;
snd_pcm_channel_area_t *areas;
unsigned int period;
};
////// SIGNAL GENERATION STUFF
/*int linear_chirp(int *pole, int delka_pole){ // vygeneruje linearni chirp a vzorky ulozi do pole
static const float f0 = 0.0001;
static const float k = 0.00001;
int t;
// if((spozdeni+delka) < delka_pole)
for(t=0;t < delka_pole;t++) pole[t] = round ( 10000*sin(2*M_PI*(t+faze)*(f0+(k/2)*(t+faze))) );
faze +=t;
// else return 0;
}*/
// vygeneruje linearni chirp a vzorky ulozi do pole
unsigned int linear_windowed_chirp ( unsigned int *pole, unsigned int delka_pole,unsigned int offset )
{
unsigned int maxval = ( 1 << ( snd_pcm_format_width ( format ) - 1 ) ) - 1;
static const float f0 = 1000;
static const float fmax = 7000;
static const float Tw = 0.002;
static float k;
unsigned int n=0;
double t;
unsigned int perioda;
k=2* ( fmax-f0 ) /Tw;
perioda = rate*Tw;
for ( n=0;n<=perioda;n++ )
{
t = ( double ) n/ ( double ) rate;
pole[n+offset] = ( 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 ) ) ) );
}
return ( perioda+offset );
}
// generate sine samples and store
int sine ( unsigned int *pole, unsigned int delka_pole )
{
unsigned int maxval = ( 1 << ( snd_pcm_format_width ( format ) - 1 ) ) - 1;
unsigned int n;
double t;
for ( n=0;n < delka_pole;n++ )
{
t = 440.0 * ( double ) n/ ( double ) rate;
pole[n] = ( short ) floor ( maxval*sin ( 2*M_PI*t ) );
}
}
//// generate simple sine ping
unsigned int sine_ping ( unsigned int *pole, unsigned int delka_pole,unsigned int offset, double frequency )
{
unsigned int maxval = ( 1 << ( snd_pcm_format_width ( format ) - 1 ) ) - 1;
unsigned int n;
double t;
for ( n=0;n < delka_pole;n++ )
{
t = frequency * ( double ) n/ ( double ) rate;
pole[n] = ( short ) floor ( maxval*sin ( 2*M_PI*t ) );
}
}
/////////// CALL BACK STUFF ///////////////////
static void async_playback_callback ( snd_async_handler_t *ahandler )
{
snd_pcm_t *handle = snd_async_handler_get_pcm ( ahandler );
/* struct async_private_data *data = snd_async_handler_get_callback_private(ahandler);
signed short *samples = data->samples;
snd_pcm_channel_area_t *areas = data->areas;*/
snd_pcm_sframes_t avail;
int err;
avail = snd_pcm_avail_update ( handle );
while ( ( avail >= period_size ) && ( ( period*period_size ) < chirp_size ) )
{
err = snd_pcm_writei ( handle, ( chirp+period*period_size ), period_size );
if ( err < 0 )
{
printf ( "Write error: %s\n", snd_strerror ( err ) );
exit ( EXIT_FAILURE );
}
if ( err != period_size )
{
printf ( "Write error: written %i expected %li\n", err, period_size );
exit ( EXIT_FAILURE );
}
avail = snd_pcm_avail_update ( handle );
period++;
}
}
static void async_capture_callback ( snd_async_handler_t *ahandler )
{
snd_pcm_t *handle = snd_async_handler_get_pcm ( ahandler );
/* struct async_private_data *data = snd_async_handler_get_callback_private(ahandler);
signed short *samples = data->samples;
snd_pcm_channel_area_t *areas = data->areas;*/
snd_pcm_sframes_t avail;
int err;
avail = snd_pcm_avail_update ( handle );
while ( ( avail >= period_size ) /*&& ((period*period_size) < (CHIRP_SIZE-100))*/ ) // segmentation fault checking disabled
{
err = snd_pcm_readi ( handle, ( signal+cperiod*period_size ), period_size );
if ( err < 0 )
{
printf ( "Read error: %s\n", snd_strerror ( err ) );
exit ( EXIT_FAILURE );
}
if ( err != period_size )
{
printf ( "Read error: red %i expected %li\n", err, period_size );
exit ( EXIT_FAILURE );
}
avail = snd_pcm_avail_update ( handle );
cperiod++;
}
}
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;
signed short *frame; // pointer to array of samples
unsigned int chn;
snd_pcm_channel_area_t *areas;
struct async_private_data data;
snd_async_handler_t *chandler, *phandler;
int count;
unsigned int i,j,m,n;
unsigned int delay[10]; //store delay of signifed correlation
long int l,r; // store correlation at strict time
long int correlationl[SIGNAL_SAMPLES]; //array to store correlation curve
long int correlationr[SIGNAL_SAMPLES]; //array to store correlation curve
int L_signal[SIGNAL_SAMPLES];
int R_signal[SIGNAL_SAMPLES];
FILE *out;
snd_pcm_hw_params_alloca ( &hwparams );
snd_pcm_sw_params_alloca ( &swparams );
printf ( "Simple PC sonar ver. 000000001 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 );
}
/// generate ping pattern
chirp_size=linear_windowed_chirp ( chirp,1000000, CHIRP_OFFSET );
/// register playback callback
err = snd_async_add_pcm_handler ( &phandler, playback_handle, async_playback_callback, &data ); // fill by dummy &data
if ( err < 0 )
{
printf ( "Unable to register async handler\n" );
exit ( EXIT_FAILURE );
}
for ( period = 0; period < 2; period++ )
{
err = snd_pcm_writei ( playback_handle, ( chirp+period*period_size ), period_size );
if ( err < 0 )
{
printf ( "Initial write error: %s\n", snd_strerror ( err ) );
exit ( EXIT_FAILURE );
}
if ( err != period_size )
{
printf ( "Initial write error: written %i expected %li\n", err, period_size );
exit ( EXIT_FAILURE );
}
}
// register capture callback
err = snd_async_add_pcm_handler ( &chandler, capture_handle, async_capture_callback, &data ); // fill by dummy &data
if ( err < 0 )
{
printf ( "Unable to register async handler\n" );
exit ( EXIT_FAILURE );
}
snd_pcm_link ( capture_handle,playback_handle ); //link capture and playback together
//start sream
if ( ( err = snd_pcm_prepare ( capture_handle ) ) < 0 )
{
fprintf ( stderr, "cannot prepare audio interface for use (%s)\n",
snd_strerror ( err ) );
exit ( 1 );
}
err = snd_pcm_start ( capture_handle );
if ( err < 0 )
{
printf ( "Start error: %s\n", snd_strerror ( err ) );
exit ( EXIT_FAILURE );
}
//wait until all samples aren't transmitted
printf ( "Waiting for transmitt all samples\n" );
while ( cperiod<10 )
{
sleep ( 1 );
printf ( "." );
}
//// stop audio??
j=0;
for ( i=0;i < SIGNAL_SAMPLES;i++ )
{
L_signal[i]=signal[j];
R_signal[i]=signal[j+1];
j+=2;
}
// linear_windowed_chirp(L_signal,1000000, 1000);
printf ( "\nData transmitted... \ncorrelating...\n" );
for ( n=0; n < ( SIGNAL_SAMPLES - chirp_size );n++ )
{
l=0;
r=0;
for ( m=CHIRP_OFFSET;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]=l;
correlationr[n]=r;
}
printf ( "\nSearching echos...\n" );
r=0;
l=0;
for ( n=0; n < ( SIGNAL_SAMPLES - chirp_size );n++ ) //najde nejvetsi korelace
{
if ( l < correlationl[n] )
{
delay[1] = n;
l = correlationl[n];
}
if ( r < correlationr[n] )
{
delay[2] = n;
r = correlationr[n];
}
}
out=fopen ( "./output.txt","w" );
j=0;
for ( i=0;i<=100000;i++ )
{
fprintf ( out,"%6d %6d %6d %6d %9ld %9ld\n",i,chirp[i],L_signal[i],R_signal[i],correlationl[i], correlationr[i] );
j+=2;
}
fclose ( out );
printf ( "\nEcho zacina na: %d vzorku.\n", delay[1] );
printf ( "Casove na: %f s\n", ( ( float ) delay[1]/rate ) );
printf ( "vzdalenost: %f m\n", ( SOUND_SPEED* ( float ) delay[1]/rate ) );
snd_pcm_close ( playback_handle );
snd_pcm_close ( capture_handle );
return 0;
}

/programy/C/ix86/echo/SW/sonar/sonar.kdevelop
0,0 → 1,158
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