| 20,7 → 20,8 |
|---|
| |
| #define SOUND_SPEED 340.0 // sound speed in air in metrs per second |
| #define MAX_RANGE 10.0 // maximal working radius in meters |
| #define APERTURE 0.2 // distance between microphones |
| #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 */ |
| 278,7 → 279,8 |
|---|
| 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; |
| k = SOUND_SPEED/rate; // normalising constant |
| |
| // generate ping pattern |
| chirp_size = linear_windowed_chirp(chirp); |
| |
| 374,8 → 376,8 |
|---|
| for(j=0;j < period_size; j+=10) |
| { |
| 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]=(-a*a+b*b+Xl*Xl+Xr*Xr)/(2*Xl-2*Xr); |
| echo_map[m+1]=sqrt((a-b-Xl-Xr)*(a+b+Xl+Xr)*(a-b-Xl+Xr)*(a-b-Xl+Xr)*(a+b-Xl+Xr))/(-2*(Xl-Xr)); |
| echo_map[m+2]=correlationl[i]*correlationr[j]; |
| m+=3; |
| } |
| 418,7 → 420,7 |
|---|
| |
| j=0; |
| out=fopen("/tmp/plane_cut.txt","w"); // writes plane cut - e.g. density map to file |
| for (i=0;i < period_size*period_size; i++) |
| for (i=0;i < period_size*period_size/100; i++) |
| { |
| fprintf(out,"%3.3f %3.3f %3.3f\n", echo_map[j], echo_map[j+1], echo_map[j+2]); |
| j+=3; |