| /programy/C/ix86/echo/SW/signal.gp |
|---|
| 1,15 → 1,15 |
| !./sonar/src/sonar |
| set pm3d map |
| #set parametric |
| #set terminal monochrome |
| set palette gray |
| #set size 1,1 |
| #set origin 0,0 |
| #set xrange [0:5] |
| #set yrange [0:2e9] |
| #set autoscale y |
| #set key on |
| set key off |
| #set ytics 1e9 |
| splot "/tmp/sonar.txt" using 2, "" using 3 |
| splot "/tmp/plane_cut.txt" matrix |
| pause 1 |
| reread |
| /programy/C/ix86/echo/SW/sonar/sonar.kdevelop |
|---|
| 187,8 → 187,8 |
| <includestyle>3</includestyle> |
| <root>/usr/share/qt3</root> |
| <designerintegration>EmbeddedKDevDesigner</designerintegration> |
| <qmake>/usr/bin/qmake</qmake> |
| <designer>/usr/bin/designer</designer> |
| <qmake></qmake> |
| <designer></designer> |
| <designerpluginpaths/> |
| </qt> |
| <references/> |
| /programy/C/ix86/echo/SW/sonar/src/.deps/sonar.Po |
|---|
| 1,11 → 1,11 |
| sonar.o: sonar.c /usr/include/stdio.h /usr/include/features.h \ |
| /usr/include/bits/predefs.h /usr/include/sys/cdefs.h \ |
| /usr/include/bits/wordsize.h /usr/include/gnu/stubs.h \ |
| /usr/include/gnu/stubs-64.h \ |
| /usr/lib/gcc/x86_64-linux-gnu/4.4.1/include/stddef.h \ |
| /usr/include/gnu/stubs-32.h \ |
| /usr/lib/gcc/i486-linux-gnu/4.4.1/include/stddef.h \ |
| /usr/include/bits/types.h /usr/include/bits/typesizes.h \ |
| /usr/include/libio.h /usr/include/_G_config.h /usr/include/wchar.h \ |
| /usr/lib/gcc/x86_64-linux-gnu/4.4.1/include/stdarg.h \ |
| /usr/lib/gcc/i486-linux-gnu/4.4.1/include/stdarg.h \ |
| /usr/include/bits/stdio_lim.h /usr/include/bits/sys_errlist.h \ |
| /usr/include/bits/stdio.h /usr/include/bits/stdio2.h \ |
| /usr/include/stdlib.h /usr/include/sys/types.h /usr/include/time.h \ |
| 52,9 → 52,9 |
| /usr/include/gnu/stubs.h: |
| /usr/include/gnu/stubs-64.h: |
| /usr/include/gnu/stubs-32.h: |
| /usr/lib/gcc/x86_64-linux-gnu/4.4.1/include/stddef.h: |
| /usr/lib/gcc/i486-linux-gnu/4.4.1/include/stddef.h: |
| /usr/include/bits/types.h: |
| 66,7 → 66,7 |
| /usr/include/wchar.h: |
| /usr/lib/gcc/x86_64-linux-gnu/4.4.1/include/stdarg.h: |
| /usr/lib/gcc/i486-linux-gnu/4.4.1/include/stdarg.h: |
| /usr/include/bits/stdio_lim.h: |
| /programy/C/ix86/echo/SW/sonar/src/sonar |
|---|
| Cannot display: file marked as a binary type. |
| svn:mime-type = application/octet-stream |
| /programy/C/ix86/echo/SW/sonar/src/sonar.c |
|---|
| 23,6 → 23,8 |
| #define APERTURE 0.2 // distance between microphones |
| #define MAP_SIZE 100 |
| #define RESOLUTION 1/100 // resolution in metres per map pixel |
| static char *device = "plughw:0,0"; /* playback device */ |
| static snd_pcm_format_t format = SND_PCM_FORMAT_S16; /* sample format */ |
| static unsigned int rate = 96000; /* stream rate */ |
| 207,6 → 209,7 |
| int *L_signal, *R_signal; |
| short *chirp, *signal; |
| float *chirp_spect, *lecho_spect, *recho_spect; |
| float x,y; |
| unsigned int i,j,m,n; |
| unsigned int delayl[10],delayr[10]; //store delay of signifed correlation |
| long int l,r; // store correlation at strict time |
| 366,7 → 369,13 |
| printf("Building echo map\n"); // compute map from left and right correlation data |
| for (i=0;i < MAP_SIZE; i++) |
| { |
| for (j=0;j < MAP_SIZE; j++) density_map[i][j]=correlationl[(int)sqrt(i*i + j*j)]*correlationr[(int)sqrt(APERTURE*APERTURE - 2*APERTURE*i + i*i + j*j)]; |
| for (j=0;j < MAP_SIZE; j++) |
| { |
| x=(float)i*RESOLUTION; y=(float)j*RESOLUTION; //transofm integger index of array to float with appproopirate resolution |
| density_map[i][j]=(float)correlationl[(int)sqrt(x*x + y*y)]*correlationr[(int)sqrt(APERTURE*APERTURE - 2*APERTURE*x + x*x + y*y)]; |
| } |
| } |
| 406,10 → 415,11 |
| } |
| fclose(out); |
| out=fopen("/tmp/plane_cut.txt","w"); |
| out=fopen("/tmp/plane_cut.txt","w"); // writes plane cut - e.g. density map to file |
| for (i=0;i < MAP_SIZE; i++) |
| { |
| for (j=0;j < MAP_SIZE; j++) fprintf(out,"%6f", density_map); |
| for (j=0;j < MAP_SIZE; j++) fprintf(out,"%3.2f ", density_map); |
| fprintf(out,"\n"); |
| } |
| out=fopen("/tmp/chirp.txt","w"); |