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unsigned int linear_windowed_chirp(short *pole)
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unsigned int linear_windowed_chirp(short *pole)
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{
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{
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    unsigned int maxval = (1 << (snd_pcm_format_width(format) - 1)) - 1;
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    unsigned int maxval = (1 << (snd_pcm_format_width(format) - 1)) - 1;
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    static const float f0 = 5000;		//starting frequency
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    static const float f0 = 5000;		//starting frequency
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    static const float fmax = 7500;		//ending frequency
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    static const float fmax = 10000;		//ending frequency
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    static const float Tw = 0.0015;
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    static const float Tw = 0.0015;
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    static float k;
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    static float k;
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    unsigned int n=0;
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    unsigned int n=0;
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    double t;
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    double t;
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    printf("Writing output files\n");
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    printf("Writing output files\n");
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    out=fopen("/tmp/sonar.txt","w");
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    out=fopen("/tmp/sonar.txt","w");
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    for (i=0; i <= (period_size - 1); i++)
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    for (i=0; i <= (period_size - 1); i++)
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    {
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    {
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        fprintf(out,"%6d %6d %6d %9ld %9ld\n",i,L_signal[i],R_signal[i],correlationl[i], correlationr[i]);
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        fprintf(out,"%2.3f %6d %6d %9ld %9ld\n",SOUND_SPEED * (float) i / rate,L_signal[i],R_signal[i],correlationl[i], correlationr[i]);
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    }
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    }
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    fclose(out);
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    fclose(out);
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    out=fopen("/tmp/chirp.txt","w");
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    out=fopen("/tmp/chirp.txt","w");
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    for (i=0; i <= (chirp_size - 1); i++)
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    for (i=0; i <= (chirp_size - 1); i++)