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Line 187... Line 187...
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    chirp_samples = ceil(rate*Tw);	// compute size of ping sinal in samples
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    chirp_samples = ceil(rate*Tw);	// compute size of ping sinal in samples
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    for (n=0;n<=chirp_samples;n++)
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    for (n=0;n<=chirp_samples;n++)
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    {
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    {
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        t = (double) n / (double)rate;
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        t = (double) n / (double)rate;
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        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
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        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
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    }
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    }
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    return (chirp_samples);	// return count of samples in ping
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    return (chirp_samples);	// return count of samples in ping
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}
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}
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int main(int argc, char *argv[])
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int main(int argc, char *argv[])
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{
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{
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    snd_pcm_t *playback_handle, *capture_handle;
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    snd_pcm_t *playback_handle, *capture_handle;		//variables for driver handlers
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    int err;
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    int err;
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    snd_pcm_hw_params_t *hwparams;
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    snd_pcm_hw_params_t *hwparams;		// hardware and software parameters arrays
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    snd_pcm_sw_params_t *swparams;
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    snd_pcm_sw_params_t *swparams;
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    long int *correlationl, *correlationr;
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    long int *correlationl, *correlationr;	// pointers to arrays where correlation will be stored
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    float k;
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    float k;
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    int *L_signal, *R_signal;
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    int *L_signal, *R_signal;	// array of captured data from left and right channel
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    short *chirp, *signal;
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    short *chirp, *signal;	// chirp and soundcard buffer output data
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    unsigned int i,j,m,n;
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    unsigned int i,j,m,n;
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    unsigned int map_size; //number of points in echo map.
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    unsigned int map_size; //number of points in echo map.
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    long int l,r;  // store correlation at strict time
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    long int l,r;  // store correlation at strict time
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    FILE *out;		// dummy variable for file data output
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    FILE *out;		// dummy variable for file data output
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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("Transmitting all samples of chirp\n");
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    else printf("Transmitting all samples of chirp\n");
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//--------------
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//--------------
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    while ( snd_pcm_avail_update(capture_handle) < period_size)			// wait for one period of data
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    while ( snd_pcm_avail_update(capture_handle) < period_size)			// wait until one period of data is transmitted
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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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        correlationl[n]=abs(l);
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        correlationl[n]=abs(l);
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        correlationr[n]=abs(r);
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        correlationr[n]=abs(r);
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    }
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    }
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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");		// save captured and computed correlation data for both channels
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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,"%2.3f %6d %6d %9ld %9ld\n",i*k, L_signal[i], R_signal[i], correlationl[i], correlationr[i]);
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        fprintf(out,"%2.3f %6d %6d %9ld %9ld\n",i*k, 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");		// save chirp data to someone who want it
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    for (i=0; i <= (chirp_size - 1); i++)
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    for (i=0; i <= (chirp_size - 1); i++)
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    {
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    {
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        fprintf(out,"%6d %6d\n", i, chirp[i]);
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        fprintf(out,"%6d %6d\n", i, chirp[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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    printf("Job done.\n");
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    printf("Job done.\n");
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- 
 
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				//free all arrays
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    free(correlationl);
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    free(correlationl);
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    free(correlationr);
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    free(correlationr);
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    free(L_signal);
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    free(L_signal);
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    free(R_signal);
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    free(R_signal);
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    free(chirp);
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    free(chirp);
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    free(signal);
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    free(signal);
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    snd_pcm_close(playback_handle);
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    snd_pcm_close(playback_handle);	// free driver handlers
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    snd_pcm_close(capture_handle);
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    snd_pcm_close(capture_handle);
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    return 0;
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    return 0;
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}
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}
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