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#define SOUND_SPEED 340.0 // sound speed in air in metrs per second
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#define SOUND_SPEED 340.0 // sound speed in air in metrs per second
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#define MAX_RANGE 10.0 // maximal working radius in meters
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#define MAX_RANGE 10.0 // maximal working radius in meters
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#define APERTURE 0.2 // distance between microphones
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#define APERTURE 0.2 // distance between microphones
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#define MAP_SIZE 100
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#define MAP_SIZE 100
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#define RESOLUTION 1/100 // resolution in metres per map pixel
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#define RESOLUTION 100 // resolution per map pixel
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static char *device = "plughw:0,0"; /* playback device */
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static char *device = "plughw:0,0"; /* playback device */
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static snd_pcm_format_t format = SND_PCM_FORMAT_S16; /* sample format */
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static snd_pcm_format_t format = SND_PCM_FORMAT_S16; /* sample format */
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static unsigned int rate = 96000; /* stream rate */
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static unsigned int rate = 96000; /* stream rate */
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static unsigned int buffer_time = 2 * (MAX_RANGE / SOUND_SPEED * 1e6); /* ring buffer length in us */
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static unsigned int buffer_time = 2 * (MAX_RANGE / SOUND_SPEED * 1e6); /* ring buffer length in us */
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