/programy/C/ix86/echo/SW/signal.gp |
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1,15 → 1,15 |
!./sonar/src/sonar |
set pm3d map |
#set parametric |
#set terminal monochrome |
set palette gray |
#set size 1,1 |
#set origin 0,0 |
#set xrange [0:5] |
#set yrange [0:2e9] |
#set autoscale y |
#set key on |
set key off |
#set ytics 1e9 |
splot "/tmp/sonar.txt" using 2, "" using 3 |
splot "/tmp/plane_cut.txt" matrix |
pause 1 |
reread |
/programy/C/ix86/echo/SW/sonar/sonar.kdevelop |
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187,8 → 187,8 |
<includestyle>3</includestyle> |
<root>/usr/share/qt3</root> |
<designerintegration>EmbeddedKDevDesigner</designerintegration> |
<qmake>/usr/bin/qmake</qmake> |
<designer>/usr/bin/designer</designer> |
<qmake></qmake> |
<designer></designer> |
<designerpluginpaths/> |
</qt> |
<references/> |
/programy/C/ix86/echo/SW/sonar/src/.deps/sonar.Po |
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1,11 → 1,11 |
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/gnu/stubs-32.h \ |
/usr/lib/gcc/i486-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/lib/gcc/i486-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 \ |
52,9 → 52,9 |
/usr/include/gnu/stubs.h: |
/usr/include/gnu/stubs-64.h: |
/usr/include/gnu/stubs-32.h: |
/usr/lib/gcc/x86_64-linux-gnu/4.4.1/include/stddef.h: |
/usr/lib/gcc/i486-linux-gnu/4.4.1/include/stddef.h: |
/usr/include/bits/types.h: |
66,7 → 66,7 |
/usr/include/wchar.h: |
/usr/lib/gcc/x86_64-linux-gnu/4.4.1/include/stdarg.h: |
/usr/lib/gcc/i486-linux-gnu/4.4.1/include/stdarg.h: |
/usr/include/bits/stdio_lim.h: |
/programy/C/ix86/echo/SW/sonar/src/sonar |
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Cannot display: file marked as a binary type. |
svn:mime-type = application/octet-stream |
/programy/C/ix86/echo/SW/sonar/src/sonar.c |
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23,6 → 23,8 |
#define APERTURE 0.2 // distance between microphones |
#define MAP_SIZE 100 |
#define RESOLUTION 1/100 // resolution in metres per map pixel |
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 */ |
207,6 → 209,7 |
int *L_signal, *R_signal; |
short *chirp, *signal; |
float *chirp_spect, *lecho_spect, *recho_spect; |
float x,y; |
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 |
366,7 → 369,13 |
printf("Building echo map\n"); // compute map from left and right correlation data |
for (i=0;i < MAP_SIZE; i++) |
{ |
for (j=0;j < MAP_SIZE; j++) density_map[i][j]=correlationl[(int)sqrt(i*i + j*j)]*correlationr[(int)sqrt(APERTURE*APERTURE - 2*APERTURE*i + i*i + j*j)]; |
for (j=0;j < MAP_SIZE; j++) |
{ |
x=(float)i*RESOLUTION; y=(float)j*RESOLUTION; //transofm integger index of array to float with appproopirate resolution |
density_map[i][j]=(float)correlationl[(int)sqrt(x*x + y*y)]*correlationr[(int)sqrt(APERTURE*APERTURE - 2*APERTURE*x + x*x + y*y)]; |
} |
} |
406,10 → 415,11 |
} |
fclose(out); |
out=fopen("/tmp/plane_cut.txt","w"); |
out=fopen("/tmp/plane_cut.txt","w"); // writes plane cut - e.g. density map to file |
for (i=0;i < MAP_SIZE; i++) |
{ |
for (j=0;j < MAP_SIZE; j++) fprintf(out,"%6f", density_map); |
for (j=0;j < MAP_SIZE; j++) fprintf(out,"%3.2f ", density_map); |
fprintf(out,"\n"); |
} |
out=fopen("/tmp/chirp.txt","w"); |