Subversion Repositories svnkaklik

Rev

Rev 662 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log

Rev 662 Rev 663
Line 187... Line 187...
187 
    chirp_samples = ceil(rate*Tw);	// compute size of ping sinal in samples
 187 
    chirp_samples = ceil(rate*Tw);	// compute size of ping sinal in samples
188 
 
 188 
 
189 
    for (n=0;n<=chirp_samples;n++)
 189 
    for (n=0;n<=chirp_samples;n++)
190 
    {
 190 
    {
191 
        t = (double) n / (double)rate;
 191 
        t = (double) n / (double)rate;
192 
        pole[n] = (short) floor( (0.35875 - 0.48829*cos(2*M_PI*t*1/Tw) + 0.14128*cos(2*M_PI*2*t*1/Tw) - 0.01168*cos(2*M_PI*3*t*1/Tw))*maxval*sin(2*M_PI*(t)*(f0+(k/2)*(t))) ); // signal generation formula
 192 
        pole[n] = (short) floor( (0.35875 - 0.48829*cos(2*M_PI*t*1/Tw) + 0.14128*cos(2*M_PI*2*t*1/Tw) - 0.01168*cos(2*M_PI*3*t*1/Tw))*maxval*sin(2*M_PI*(t)*(f0+(k/2)*(t))) ); // ping signal generation formula
193 
    }
 193 
    }
194 
    return (chirp_samples);	// return count of samples in ping
 194 
    return (chirp_samples);	// return count of samples in ping
195 
}
 195 
}
196 
 
 196 
 
197 
int main(int argc, char *argv[])
 197 
int main(int argc, char *argv[])
198 
{
 198 
{
199 
    snd_pcm_t *playback_handle, *capture_handle;
 199 
    snd_pcm_t *playback_handle, *capture_handle;		//variables for driver handlers
200 
    int err;
 200 
    int err;
201 
    snd_pcm_hw_params_t *hwparams;
 201 
    snd_pcm_hw_params_t *hwparams;		// hardware and software parameters arrays
202 
    snd_pcm_sw_params_t *swparams;
 202 
    snd_pcm_sw_params_t *swparams;
203 
 
 203 
 
204 
    long int *correlationl, *correlationr;
 204 
    long int *correlationl, *correlationr;	// pointers to arrays where correlation will be stored
205 
    float k;
 205 
    float k;
206 
    int *L_signal, *R_signal;
 206 
    int *L_signal, *R_signal;	// array of captured data from left and right channel
207 
    short *chirp, *signal;
 207 
    short *chirp, *signal;	// chirp and soundcard buffer output data
208 
    unsigned int i,j,m,n;
 208 
    unsigned int i,j,m,n;
209 
    unsigned int map_size; //number of points in echo map.
 209 
    unsigned int map_size; //number of points in echo map.
210 
    long int l,r;  // store correlation at strict time
 210 
    long int l,r;  // store correlation at strict time
211 
 
 211 
 
212 
    FILE *out;		// dummy variable for file data output
 212 
    FILE *out;		// dummy variable for file data output
Line 294... Line 294...
294 
        exit(EXIT_FAILURE);
 294 
        exit(EXIT_FAILURE);
295 
    }
 295 
    }
296 
    else printf("Transmitting all samples of chirp\n");
 296 
    else printf("Transmitting all samples of chirp\n");
297 
//--------------
 297 
//--------------
298 
 
 298 
 
299 
    while ( snd_pcm_avail_update(capture_handle) < period_size)			// wait for one period of data
 299 
    while ( snd_pcm_avail_update(capture_handle) < period_size)			// wait until one period of data is transmitted
300 
    {
 300 
    {
301 
        usleep(1000);
 301 
        usleep(1000);
302 
        printf(".");
 302 
        printf(".");
303 
    }
 303 
    }
304 
 
 304 
 
Line 338... Line 338...
338 
        correlationl[n]=abs(l);
 338 
        correlationl[n]=abs(l);
339 
        correlationr[n]=abs(r);
 339 
        correlationr[n]=abs(r);
340 
    }
 340 
    }
341 
 
 341 
 
342 
    printf("Writing output files\n");
 342 
    printf("Writing output files\n");
343 
    out=fopen("/tmp/sonar.txt","w");
 343 
    out=fopen("/tmp/sonar.txt","w");		// save captured and computed correlation data for both channels
344 
    for (i=0; i <= (period_size - 1); i++)
 344 
    for (i=0; i <= (period_size - 1); i++)
345 
    {
 345 
    {
346 
        fprintf(out,"%2.3f %6d %6d %9ld %9ld\n",i*k, L_signal[i], R_signal[i], correlationl[i], correlationr[i]);
 346 
        fprintf(out,"%2.3f %6d %6d %9ld %9ld\n",i*k, L_signal[i], R_signal[i], correlationl[i], correlationr[i]);
347 
    }
 347 
    }
348 
    fclose(out);
 348 
    fclose(out);
349 
 
 349 
 
350 
    out=fopen("/tmp/chirp.txt","w");
 350 
    out=fopen("/tmp/chirp.txt","w");		// save chirp data to someone who want it
351 
    for (i=0; i <= (chirp_size - 1); i++)
 351 
    for (i=0; i <= (chirp_size - 1); i++)
352 
    {
 352 
    {
353 
        fprintf(out,"%6d %6d\n", i, chirp[i]);
 353 
        fprintf(out,"%6d %6d\n", i, chirp[i]);
354 
    }
 354 
    }
355 
    fclose(out);
 355 
    fclose(out);
356 
 
 356 
 
357 
    printf("Job done.\n");
 357 
    printf("Job done.\n");
358 
 
 358 
 
- 
 
 359 
				//free all arrays
359 
    free(correlationl);
 360 
    free(correlationl);
360 
    free(correlationr);
 361 
    free(correlationr);
361 
    free(L_signal);
 362 
    free(L_signal);
362 
    free(R_signal);
 363 
    free(R_signal);
363 
    free(chirp);
 364 
    free(chirp);
364 
    free(signal);
 365 
    free(signal);
365 
 
 366 
 
366 
    snd_pcm_close(playback_handle);
 367 
    snd_pcm_close(playback_handle);	// free driver handlers
367 
    snd_pcm_close(capture_handle);
 368 
    snd_pcm_close(capture_handle);
368 
    return 0;
 369 
    return 0;
369 
}
 370 
}
370 
 
 371