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Regard whitespace Rev 561 → Rev 562

/programy/C/ix86/echo/plot.gn
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/programy/C/ix86/echo/sonar
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-*
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/programy/C/ix86/echo/sonar.c
File deleted
/programy/C/ix86/echo/SW/plot.gn
5,15 → 5,15
 
set size 1,0.2
set origin 0,0.8
set xrange [0:1000]
set xrange [0:400]
plot "/tmp/sonar.txt" using 1:($2/2) with lines title 'chirp'
set size 1,0.4
set origin 0,0.4
set xrange [0:10000]
plot "" using 1:($3*5-1000) with lines title 'L echo', "" using 1:($4*5+1000) with lines title 'R echo'
set xrange [0:3000]
plot "" using 1:($3) with lines title 'L echo', "" using 1:($4) with lines title 'R echo'
set size 1,0.4
set origin 0,0.0
set xrange [0:10000]
set xrange [0:3000]
#set yrange [-200000:200000]
set autoscale y
plot "" using 1:($5/1000) with lines title 'L correlation', "" using 1:($6/1000) with lines title 'R correlation'
/programy/C/ix86/echo/SW/sonar/sonar.kdevelop
14,8 → 14,8
<projectname>sonar</projectname>
<projectdirectory>.</projectdirectory>
<absoluteprojectpath>false</absoluteprojectpath>
<description></description>
<defaultencoding></defaultencoding>
<description/>
<defaultencoding/>
<versioncontrol>kdevsubversion</versioncontrol>
</general>
<kdevautoproject>
216,7 → 216,7
<includePaths>.;</includePaths>
</codecompletion>
<creategettersetter>
<prefixGet></prefixGet>
<prefixGet/>
<prefixSet>set</prefixSet>
<prefixVariable>m_,_</prefixVariable>
<parameterName>theValue</parameterName>
237,11 → 237,11
</cppsupportpart>
<kdevdebugger>
<general>
<gdbpath></gdbpath>
<gdbpath/>
<dbgshell>libtool</dbgshell>
<configGdbScript></configGdbScript>
<runShellScript></runShellScript>
<runGdbScript></runGdbScript>
<configGdbScript/>
<runShellScript/>
<runGdbScript/>
<breakonloadinglibs>true</breakonloadinglibs>
<separatetty>false</separatetty>
<floatingtoolbar>false</floatingtoolbar>
/programy/C/ix86/echo/SW/sonar/src/sonar
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/programy/C/ix86/echo/SW/sonar/src/sonar.c
23,19 → 23,12
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 = MAX_RANGE / SOUND_SPEED * 1e6; /* ring buffer length in us */
static unsigned int period_time = MAX_RANGE / SOUND_SPEED * 1e5; /* period time in us */
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 */
 
#define SIGNAL_SAMPLES 100000
 
unsigned int chirp_size;
 
int period=0;
int cperiod=0;
short *chirp;
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;
175,22 → 168,14
return 0;
}
 
struct async_private_data
{
signed short *samples;
snd_pcm_channel_area_t *areas;
unsigned int period;
};
 
 
////// SIGNAL GENERATION STUFF
unsigned int linear_windowed_chirp(short *pole)
{
unsigned int maxval = (1 << (snd_pcm_format_width(format) - 1)) - 1;
 
static const float f0 = 1000; //starting frequency
static const float fmax = 7000; //ending frequency
static const float Tw = 0.002;
static const float f0 = 5000; //starting frequency
static const float fmax = 13000; //ending frequency
static const float Tw = 0.0015;
static float k;
 
unsigned int n=0;
208,60 → 193,6
return (chirp_samples);
}
 
/////////// CALL BACK STUFF ///////////////////
static void async_playback_callback(snd_async_handler_t *ahandler)
{
snd_pcm_t *handle = snd_async_handler_get_pcm(ahandler);
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);
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;
268,20 → 199,13
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;
long int *correlationl, *correlationr;
int *L_signal, *R_signal;
short *chirp, *signal;
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;
 
326,20 → 250,23
exit(EXIT_FAILURE);
}
 
// generate ping pattern
chirp = malloc(2*period_size * sizeof(short));
chirp_size = linear_windowed_chirp(chirp);
 
// register playback callback
/* err = snd_async_add_pcm_handler(&phandler, playback_handle, async_playback_callback, &data); // fill by dummy &data
/* err = snd_pcm_link( capture_handle, playback_handle); //link capture and playback together
if (err < 0)
{
printf("Unable to register async handler\n");
printf("Device linking error: %s\n", snd_strerror(err));
exit(EXIT_FAILURE);
}*/
 
// for (period = 0; period < 2; period++)
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));
 
// generate ping pattern
chirp_size = linear_windowed_chirp(chirp);
 
err = snd_pcm_writei(playback_handle, chirp, period_size);
if (err < 0)
{
346,32 → 273,16
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
//start sream
err = snd_pcm_start(playback_handle);
if (err < 0)
{
printf("Unable to register async handler\n");
printf("Start error: %s\n", snd_strerror(err));
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);
}
else printf("Capture device prepared...\n");*/
 
err = snd_pcm_start(playback_handle);
err = snd_pcm_start(capture_handle);
if (err < 0)
{
printf("Start error: %s\n", snd_strerror(err));
378,14 → 289,16
exit(EXIT_FAILURE);
}
else printf("Waiting for transmitt all samples\n");
//--------------
 
while ( snd_pcm_avail(capture_handle) < period_size )
while ( snd_pcm_avail_update(capture_handle) < period_size)
{
usleep(1000);
printf(".");
}
 
err = snd_pcm_drop(capture_handle);
err = snd_pcm_drop(playback_handle);
err = snd_pcm_drain(capture_handle);
if (err < 0)
{
printf("Stop error: %s\n", snd_strerror(err));
392,9 → 305,15
exit(EXIT_FAILURE);
}
 
err = snd_pcm_readi(capture_handle, signal, period_size);
if (err < 0)
{
printf("Read error: %s\n", snd_strerror(err));
exit(EXIT_FAILURE);
}
 
j=0;
for (i=0;i < SIGNAL_SAMPLES;i++)
for (i=0;i < period_size;i++) // separe inretleaved samples to two arrays
{
L_signal[i]=signal[j];
R_signal[i]=signal[j+1];
401,8 → 320,8
j+=2;
}
 
printf("Data transmitted... \ncorrelating...\n");
for (n=0; n < (SIGNAL_SAMPLES - chirp_size);n++)
printf("\nData transmitted \ncorrelating\n");
for (n=0; n < (period_size - chirp_size - 1); n++)
{
l=0;
r=0;
415,10 → 334,10
correlationr[n]=r;
}
 
printf("Searching echos...\n");
printf("Searching echos\n");
r=0;
l=0;
for (n=0; n < (SIGNAL_SAMPLES - chirp_size);n++) //najde nejvetsi korelace
for (n=0; n < period_size;n++) //najde nejvetsi korelace
{
if (l < correlationl[n])
{
432,10 → 351,10
}
}
 
printf("\nWriting output file...\n");
printf("Writing output file\n");
out=fopen("/tmp/sonar.txt","w");
j=0;
for (i=0;i<=period_size;i++)
for (i=0; i <= (period_size -1); 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;
442,7 → 361,7
}
fclose(out);
 
printf("\nEcho zacina na: %d vzorku.\n", delay[1]);
printf("Echo 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));