| 207,11 → 207,12 |
|---|
| int *L_signal, *R_signal; |
| short *chirp, *signal; |
| float *chirp_spect, *lecho_spect, *recho_spect; |
| float x,y; |
| float a,b; |
| unsigned int i,j,m,n; |
| 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; |
| 274,8 → 275,10 |
|---|
| R_signal = malloc(period_size * sizeof(int)); |
| chirp = calloc(2*period_size, sizeof(short)); |
| signal = malloc(2*period_size * sizeof(short)); |
| echo_map = malloc(3*period_size * sizeof(float)); // Array to store two dimensional image of echos |
| echo_map = malloc(3*period_size*period_size * sizeof(float)); // Array to store two dimensional image of echos |
| if (echo_map == NULL) printf("Can't allocate enought memory"); |
| |
| k = SOUND_SPEED/rate; |
| // generate ping pattern |
| chirp_size = linear_windowed_chirp(chirp); |
| |
| 365,18 → 368,18 |
|---|
| |
| m=0; |
| printf("Building echo map\n"); // compute map from left and right correlation data |
| for (i=0;i < period_size; i++) |
| for (i=0;i < period_size; i+=10) |
| { |
| for(j=0;j < period_size; j++) |
| a=k*i; |
| for(j=0;j < period_size; j+=10) |
| { |
| echo_map[m]=(i*i-j*j+APERTURE*APERTURE)/(2*APERTURE); |
| echo_map[m+1]=sqrt(-(i-j-APERTURE)*(i+j-APERTURE)*(i-j+APERTURE)*(i+j+APERTURE))/(2*r); |
| b=k*j; |
| echo_map[m]=(a*a-b*b+APERTURE*APERTURE)/(2*APERTURE); |
| echo_map[m+1]=sqrt((a-b-APERTURE)*(a+b-APERTURE)*(a-b+APERTURE)*(a+b+APERTURE))/(2*r); |
| echo_map[m+2]=correlationl[i]*correlationr[j]; |
| m+=3; |
| } |
| } |
| |
| |
| printf("Searching echos\n"); |
| r=0; |
| l=0; |
| 409,17 → 412,18 |
|---|
| out=fopen("/tmp/sonar.txt","w"); |
| for (i=0; i <= (period_size - 1); i++) |
| { |
| fprintf(out,"%2.3f %6d %6d %9ld %9ld\n",SOUND_SPEED * (float) i / rate,L_signal[i],R_signal[i],correlationl[i], correlationr[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; |
| out=fopen("/tmp/plane_cut.txt","w"); // writes plane cut - e.g. density map to file |
| for (i=0;i < period_size; i++) |
| for (i=0;i < period_size*period_size; i++) |
| { |
| fprintf(out,"%3.2f %3.2f %3.2f\n", echo_map[j], echo_map[j+1], echo_map[j+2]); |
| fprintf(out,"%3.3f %3.3f %3.3f\n", echo_map[j], echo_map[j+1], echo_map[j+2]); |
| j+=3; |
| } |
| fclose(out); |
| |
| out=fopen("/tmp/chirp.txt","w"); |
| for (i=0; i <= (chirp_size - 1); i++) |