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Rev 563 Rev 564
Line 173... Line 173...
173 
unsigned int linear_windowed_chirp(short *pole)
 173 
unsigned int linear_windowed_chirp(short *pole)
174 
{
 174 
{
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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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 176 
 
177 
    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 = 13000;		//ending frequency
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    static const float fmax = 7500;		//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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 181 
 
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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;
Line 312... Line 312...
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        printf("Start error: %s\n", snd_strerror(err));
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        printf("Start error: %s\n", snd_strerror(err));
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        exit(EXIT_FAILURE);
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        exit(EXIT_FAILURE);
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    }
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    }
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    else printf("Waiting for transmitt all samples\n");
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    else printf("Waiting for transmitt all samples\n");
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//--------------
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//--------------
- 
 
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    while ( snd_pcm_avail_update(capture_handle) < period_size)
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    while ( snd_pcm_avail_update(capture_handle) < period_size)			// wait for one period of data
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    {
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    {
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        usleep(1000);
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        usleep(1000);
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        printf(".");
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        printf(".");
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    }
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    }
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 323 
 
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    err = snd_pcm_drop(playback_handle);
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    err = snd_pcm_drop(playback_handle);		// stop audio stream
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    err = snd_pcm_drain(capture_handle);
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    err = snd_pcm_drain(capture_handle);
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    if (err < 0)
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    if (err < 0)
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    {
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    {
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        printf("Stop error: %s\n", snd_strerror(err));
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        printf("Stop error: %s\n", snd_strerror(err));
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        exit(EXIT_FAILURE);
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        exit(EXIT_FAILURE);
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    }
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    }
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 331 
 
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    err = snd_pcm_readi(capture_handle, signal, period_size);
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    err = snd_pcm_readi(capture_handle, signal, period_size);		//read period from audio buffer
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    if (err < 0)
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    if (err < 0)
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    {
 334 
    {
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        printf("Read error: %s\n", snd_strerror(err));
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        printf("Read error: %s\n", snd_strerror(err));
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        exit(EXIT_FAILURE);
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        exit(EXIT_FAILURE);
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    }
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    }
Line 372... Line 373...
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            delayr[1] = n;
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            delayr[1] = n;
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            r = correlationr[n];
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            r = correlationr[n];
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        }
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        }
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    }
 376 
    }
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 377 
 
- 
 
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    for(i=delayl[1]; i < delayl[1] + chirp_size; i++) inchirp[i-delayl[1]] = L_signal[i];
377
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    fftw_execute(fft_plan_chirp);
- 
 
 380 
    for(i=0; i < frequency_bins; i++) echo_spect[i] = sqrt(outchirp[i][0] * outchirp[i][0] + outchirp[i][1] * outchirp[i][1]);
378 
 
 381 
 
379 
    printf("Writing output file\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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    j=0;
 - 
 
382 
    for (i=0; i <= (period_size - 1); i++)
 384 
    for (i=0; i <= (period_size - 1); i++)
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    {
 385 
    {
384 
        fprintf(out,"%6d %6d %6d %9ld %9ld\n",i,L_signal[i],R_signal[i],correlationl[i], correlationr[i]);
 386 
        fprintf(out,"%6d %6d %6d %9ld %9ld\n",i,L_signal[i],R_signal[i],correlationl[i], correlationr[i]);
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        j+=2;
 - 
 
386 
    }
 387 
    }
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    fclose(out);
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    fclose(out);
388 
 
 389 
 
389 
    out=fopen("/tmp/chirp.txt","w");
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    out=fopen("/tmp/chirp.txt","w");
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    j=0;
 - 
 
391 
    for (i=0; i <= (chirp_size - 1); i++)
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    for (i=0; i <= (chirp_size - 1); i++)
392 
    {
 392 
    {
393 
        fprintf(out,"%6d %6d %f\n", i, chirp[i], chirp_spect[i]);
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        fprintf(out,"%6d %6d\n", i, chirp[i]);
- 
 
 394 
    }
- 
 
 395 
    fclose(out);
- 
 
 396 
 
- 
 
 397 
    out=fopen("/tmp/echo.txt","w");
- 
 
 398 
    for(i=delayl[1]; i < delayl[1] + chirp_size; i++) fprintf(out,"%6d %6d\n", i-delayl[1], L_signal[i]);
394 
        j+=2;
 399 
    fclose(out);
- 
 
 400 
 
- 
 
 401 
    out=fopen("/tmp/spektra.txt","w");
- 
 
 402 
    for (i=0; i < frequency_bins; i++)
- 
 
 403 
    {
- 
 
 404 
        fprintf(out,"%4.3f %4.3f %4.3f\n", (i+0.5) * df, chirp_spect[i], echo_spect[i]);
395 
    }
 405 
    }
396 
    fclose(out);
 406 
    fclose(out);
397 
 
 407 
 
398 
    printf("Echo zacina na: %d vzorku.\n", delayl[1]);
 408 
    printf("Echo zacina na: %d vzorku.\n", delayl[1]);
399 
    printf("Casove na: %f s\n", ((float)delayl[1]/rate));
 409 
    printf("Casove na: %f s\n", ((float)delayl[1]/rate));