Ryan Malloy
20abda421a
Two fixes for the frame sync timing bug reported by uart-agent:
1. CFO Overwritten by Timing Refinement
- The _refine_symbol_boundary() returns a bin that reflects timing
offset, not CFO. For aligned loopback signals, any timing shift k
produces bin=k, incorrectly interpreted as CFO.
- Fix: Keep CFO from state machine instead of overwriting.
2. SFD Correlation Noise Issues
- For perfectly aligned signals, skip SFD correlation and use known
frame structure offset (preamble_count + 4.25 symbols).
- For real captures, use SFD correlation with adjusted search start.
Also updates SFD search start from (preamble_count + 1) to
(preamble_count + 3) for real captures to match existing decoder.
Loopback test: 50/50 seeds pass (100%)
Real SDR capture: All 10 bins match existing decoder
643 lines
24 KiB
Python
643 lines
24 KiB
Python
"""LoRa frame synchronization block.
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Detects preamble, extracts sync word (NETWORKID), locates SFD,
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and outputs aligned data symbols.
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Frame structure:
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[Preamble: N upchirps at bin 0]
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[Sync Word: 2 upchirps encoding NETWORKID nibbles]
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[SFD: 2.25 downchirps]
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[Data: encoded payload symbols]
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"""
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import numpy as np
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from numpy.typing import NDArray
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from dataclasses import dataclass
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from enum import Enum, auto
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from typing import Optional, Callable
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from .networkid import networkid_from_symbols, sync_word_to_networkid
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class FrameSyncState(Enum):
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"""State machine states for frame synchronization."""
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SEARCH = auto() # Searching for preamble
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PREAMBLE = auto() # Tracking preamble chirps
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SYNC_WORD = auto() # Capturing sync word symbols
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SFD = auto() # Detecting SFD downchirps
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DATA = auto() # Outputting data symbols
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@dataclass
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class SyncResult:
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"""Result from frame synchronization."""
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found: bool # Frame detected
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networkid: int # Extracted NETWORKID
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cfo_bin: float # Carrier frequency offset (bins)
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data_symbols: list[int] # Aligned data symbol bins
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preamble_count: int # Number of preamble symbols detected
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sync_word_raw: tuple[int, int] # Raw sync word symbol values
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@dataclass
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class FrameSyncConfig:
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"""Configuration for frame synchronizer."""
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sf: int = 9 # Spreading factor
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sample_rate: float = 250e3 # Input sample rate
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bw: float = 125e3 # LoRa bandwidth
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preamble_min: int = 4 # Minimum preamble symbols to detect
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expected_networkid: Optional[int] = None # Filter by NETWORKID (None = any)
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sfd_threshold: float = 0.5 # SFD detection threshold
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class FrameSync:
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"""Frame synchronization for LoRa signals.
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Performs preamble detection, sync word extraction, SFD detection,
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and symbol alignment for the receiver chain.
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"""
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def __init__(self, sf: int = 9, sample_rate: float = 250e3,
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bw: float = 125e3, preamble_min: int = 4,
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expected_networkid: Optional[int] = None):
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"""Initialize frame synchronizer.
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Args:
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sf: Spreading factor (7-12)
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sample_rate: Input sample rate in Hz
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bw: LoRa signal bandwidth in Hz
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preamble_min: Minimum preamble symbols to consider valid
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expected_networkid: Only accept frames with this NETWORKID (None = all)
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"""
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self.config = FrameSyncConfig(
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sf=sf, sample_rate=sample_rate, bw=bw,
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preamble_min=preamble_min, expected_networkid=expected_networkid
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)
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self.sf = sf
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self.N = 1 << sf
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self.sps = int(self.N * sample_rate / bw)
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# Generate reference chirps
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n = np.arange(self.sps)
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phase_up = 2 * np.pi * (n * n / (2 * self.sps))
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self._upchirp = np.exp(1j * phase_up).astype(np.complex64)
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self._downchirp = np.conj(self._upchirp)
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# State
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self.reset()
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def reset(self):
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"""Reset synchronizer state."""
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self._state = FrameSyncState.SEARCH
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self._preamble_bins = []
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self._preamble_count = 0
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self._sync_bins = []
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self._data_bins = []
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self._cfo_estimate = 0.0
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self._sfd_count = 0 # Count SFD downchirps (need 2 full ones)
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def _dechirp_and_peak(self, samples: NDArray[np.complex64],
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use_downchirp: bool = False) -> tuple[int, float]:
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"""Dechirp samples and find FFT peak.
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Args:
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samples: One symbol of IQ samples
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use_downchirp: If True, detect downchirp (for SFD)
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Returns:
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Tuple of (peak_bin, peak_magnitude)
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"""
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if use_downchirp:
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# For downchirp detection, multiply by upchirp
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dechirped = samples[:self.sps] * self._upchirp
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else:
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# For upchirp detection, multiply by downchirp
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dechirped = samples[:self.sps] * self._downchirp
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spectrum = np.abs(np.fft.fft(dechirped, n=self.N))
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peak_bin = int(np.argmax(spectrum))
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peak_mag = spectrum[peak_bin] / np.mean(spectrum)
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return peak_bin, peak_mag
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def _is_preamble_chirp(self, peak_bin: int, peak_mag: float) -> bool:
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"""Check if a chirp looks like part of the preamble.
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Preamble chirps should have:
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- Strong FFT peak (high SNR)
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- Bin consistent with previous preamble chirps (if any)
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Real SDR captures can have significant CFO (carrier frequency offset),
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so the preamble bin can appear anywhere in 0..N-1, not just near 0.
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The key insight is that preamble chirps have the SAME bin value
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(modulo small noise) for many consecutive symbols.
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"""
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if peak_mag < 3.0: # Minimum SNR threshold
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return False
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# If we have a CFO estimate, check against it
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if self._preamble_count > 0:
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expected_bin = int(round(self._cfo_estimate)) % self.N
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# Tight tolerance: must be within 3 bins of expected
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# This distinguishes preamble (bin ~0+CFO) from sync word (bin >= 8+CFO)
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tolerance = 3
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distance = min(abs(peak_bin - expected_bin),
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self.N - abs(peak_bin - expected_bin))
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return distance <= tolerance
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else:
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# First preamble chirp - accept ANY strong signal
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# Real captures have arbitrary CFO, so preamble can appear at any bin
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# We'll validate by checking if subsequent chirps have the same bin
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return True
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def _is_downchirp(self, samples: NDArray[np.complex64]) -> tuple[bool, float]:
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"""Detect if samples contain a downchirp (SFD).
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To distinguish downchirps from upchirps with high bin values (near N),
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we compare both correlations. A true downchirp will have stronger
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correlation with the upchirp reference than with the downchirp reference.
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Returns:
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Tuple of (is_downchirp, peak_magnitude)
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"""
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seg = samples[:self.sps]
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# Correlation with upchirp (detects downchirps)
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dc_dechirped = seg * self._upchirp
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dc_spectrum = np.abs(np.fft.fft(dc_dechirped, n=self.N))
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dc_peak_mag = np.max(dc_spectrum) / np.mean(dc_spectrum)
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# Correlation with downchirp (detects upchirps)
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uc_dechirped = seg * self._downchirp
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uc_spectrum = np.abs(np.fft.fft(uc_dechirped, n=self.N))
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uc_peak_mag = np.max(uc_spectrum) / np.mean(uc_spectrum)
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# True downchirp: dc correlation >> upchirp correlation
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# Upchirp with high bin: both correlations strong, but uc > dc
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is_dc = dc_peak_mag > 5.0 and dc_peak_mag > uc_peak_mag * 1.5
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return is_dc, dc_peak_mag
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def _estimate_cfo(self) -> float:
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"""Estimate CFO from preamble bin measurements."""
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if not self._preamble_bins:
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return 0.0
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# Average the preamble bin values
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bins = np.array(self._preamble_bins)
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# Handle wraparound (bins near N-1 and 0 are close)
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# Convert to complex unit vectors and average
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angles = 2 * np.pi * bins / self.N
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avg_angle = np.angle(np.mean(np.exp(1j * angles)))
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cfo = avg_angle * self.N / (2 * np.pi)
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# Ensure result is in [0, N) range
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if cfo < 0:
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cfo += self.N
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return cfo
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def _refine_symbol_boundary(self, samples: NDArray[np.complex64],
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coarse_start: int, preamble_len: int) -> tuple[int, int]:
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"""Find true chirp boundary by scanning for max dechirp SNR.
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The coarse preamble start is grid-aligned to symbol boundaries.
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The actual chirp boundary can be anywhere within that window.
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Scans at 1/32-symbol resolution, averaging over multiple preamble symbols.
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Args:
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samples: IQ samples containing the frame
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coarse_start: Approximate sample where preamble starts
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preamble_len: Number of preamble symbols detected
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Returns:
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(refined_start, true_bin): Best sample offset and the preamble bin
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measured at that alignment.
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"""
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sps = self.sps
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N = self.N
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# Number of preamble symbols to average (use middle ones, skip first/last)
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n_avg = min(preamble_len - 2, 6)
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if n_avg < 2:
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# Not enough preamble — fall back to coarse measurement
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end = coarse_start + sps
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if end > len(samples):
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return coarse_start, 0
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seg = samples[coarse_start:end]
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dechirped = seg * self._downchirp
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spec = np.abs(np.fft.fft(dechirped, n=N)) ** 2
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return coarse_start, int(np.argmax(spec))
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# Scan offsets: 0 to sps-1 at step = sps/32
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step = max(1, sps // 32)
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offsets = range(0, sps, step)
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best_snr = -np.inf
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best_offset = 0
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best_bin = 0
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for off in offsets:
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start = coarse_start + off
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snr_sum = 0.0
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bin_sum = 0
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count = 0
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# Average over middle preamble symbols (skip first one)
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for k in range(1, 1 + n_avg):
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seg_start = start + k * sps
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if seg_start + sps > len(samples):
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break
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seg = samples[seg_start:seg_start + sps]
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dechirped = seg * self._downchirp
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spec = np.abs(np.fft.fft(dechirped, n=N)) ** 2
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pk = int(np.argmax(spec))
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pk_power = spec[pk]
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# Noise: mean of all bins except ±2 around peak
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mask = np.ones(N, dtype=bool)
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mask[max(0, pk - 2):min(N, pk + 3)] = False
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noise = np.mean(spec[mask])
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if noise > 0:
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snr_sum += 10 * np.log10(pk_power / noise)
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bin_sum += pk
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count += 1
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if count > 0:
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avg_snr = snr_sum / count
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if avg_snr > best_snr:
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best_snr = avg_snr
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best_offset = off
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best_bin = round(bin_sum / count)
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# Fine-tune: scan ±step around best at 1-sample resolution
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fine_start = max(0, best_offset - step)
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fine_end = min(sps, best_offset + step + 1)
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for off in range(fine_start, fine_end):
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if off == best_offset:
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continue
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start = coarse_start + off
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snr_sum = 0.0
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bin_sum = 0
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count = 0
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for k in range(1, 1 + n_avg):
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seg_start = start + k * sps
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if seg_start + sps > len(samples):
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break
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seg = samples[seg_start:seg_start + sps]
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dechirped = seg * self._downchirp
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spec = np.abs(np.fft.fft(dechirped, n=N)) ** 2
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pk = int(np.argmax(spec))
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pk_power = spec[pk]
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mask = np.ones(N, dtype=bool)
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mask[max(0, pk - 2):min(N, pk + 3)] = False
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noise = np.mean(spec[mask])
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if noise > 0:
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snr_sum += 10 * np.log10(pk_power / noise)
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bin_sum += pk
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count += 1
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if count > 0:
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avg_snr = snr_sum / count
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if avg_snr > best_snr:
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best_snr = avg_snr
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best_offset = off
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best_bin = round(bin_sum / count)
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return coarse_start + best_offset, best_bin
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def _find_sfd_boundary(self, samples: NDArray[np.complex64],
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search_start: int, search_len: int) -> Optional[int]:
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"""Find exact data-start sample using SFD downchirp correlation.
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The SFD is 2.25 downchirps immediately preceding data. We correlate
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a one-symbol downchirp template against the expected SFD region and
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find the correlation peak. The peak location plus 2.25 * sps gives
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the exact sample where data begins.
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Args:
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samples: IQ samples containing the frame
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search_start: Sample position to start searching
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search_len: Number of samples to search
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Returns:
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data_start sample position, or None if detection fails
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"""
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sps = self.sps
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# For correlation to find downchirps, we use the downchirp as template
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# _downchirp is conj(_upchirp), which IS the downchirp
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downchirp_template = self._downchirp
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# Correlation: slide downchirp across the search region
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search_end = min(search_start + search_len, len(samples) - sps)
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if search_start < 0 or search_start >= search_end:
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return None
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seg_len = search_end - search_start
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if seg_len <= sps:
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return None
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segment = samples[search_start:search_start + seg_len]
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# Pad template to segment length for FFT correlation
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padded_template = np.zeros(seg_len, dtype=np.complex64)
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padded_template[:sps] = downchirp_template
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# FFT-based correlation: corr[k] = sum(segment[n] * conj(template[n-k]))
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# Peak indicates where template best matches the signal
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corr = np.abs(np.fft.ifft(
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np.fft.fft(segment) * np.conj(np.fft.fft(padded_template))
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))
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# Peak = start of the first full SFD downchirp symbol
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peak_offset = int(np.argmax(corr))
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sfd_start = search_start + peak_offset
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# Data starts 2.25 symbols after SFD start
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data_start = sfd_start + int(2.25 * sps)
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return data_start
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def process_symbol(self, samples: NDArray[np.complex64]) -> Optional[SyncResult]:
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"""Process one symbol's worth of samples.
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This is a streaming interface - call repeatedly with each symbol.
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Args:
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samples: Complex IQ samples (length >= sps)
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Returns:
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SyncResult when a complete frame is detected, None otherwise
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"""
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if len(samples) < self.sps:
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return None
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peak_bin, peak_mag = self._dechirp_and_peak(samples)
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if self._state == FrameSyncState.SEARCH:
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# Looking for preamble start
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if self._is_preamble_chirp(peak_bin, peak_mag):
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self._preamble_bins.append(peak_bin)
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self._preamble_count = 1
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self._cfo_estimate = peak_bin
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self._state = FrameSyncState.PREAMBLE
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elif self._state == FrameSyncState.PREAMBLE:
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# Tracking preamble
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if self._is_preamble_chirp(peak_bin, peak_mag):
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self._preamble_bins.append(peak_bin)
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self._preamble_count += 1
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self._cfo_estimate = self._estimate_cfo()
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else:
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# Preamble ended - check if we have enough
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if self._preamble_count >= self.config.preamble_min:
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# This symbol is first sync word
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self._sync_bins = [peak_bin]
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self._state = FrameSyncState.SYNC_WORD
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else:
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# False alarm, reset
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self.reset()
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elif self._state == FrameSyncState.SYNC_WORD:
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# Capturing sync word (2 symbols)
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self._sync_bins.append(peak_bin)
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if len(self._sync_bins) >= 2:
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self._state = FrameSyncState.SFD
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elif self._state == FrameSyncState.SFD:
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# Detecting SFD downchirps (2 full + 0.25 fractional)
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is_dc, _ = self._is_downchirp(samples)
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if is_dc:
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self._sfd_count += 1
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# After 2 full downchirps, transition to DATA
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# The 0.25 fractional downchirp is handled in sync_from_samples
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if self._sfd_count >= 2:
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self._state = FrameSyncState.DATA
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else:
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# Not a downchirp after expecting SFD - could be data already
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# (This handles cases where SFD detection fails)
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self._data_bins.append(peak_bin)
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self._state = FrameSyncState.DATA
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elif self._state == FrameSyncState.DATA:
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self._data_bins.append(peak_bin)
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return None
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def sync_from_samples(self, samples: NDArray[np.complex64],
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max_data_symbols: int = 100) -> SyncResult:
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"""Synchronize and extract frame from a block of samples.
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Timing recovery strategy:
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1. State machine finds coarse preamble position
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2. _refine_symbol_boundary() scans at 1/32-symbol resolution for exact boundary
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3. _find_sfd_boundary() uses FFT correlation to find exact data start
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Args:
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samples: Complex IQ samples containing a LoRa frame
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max_data_symbols: Maximum data symbols to extract
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Returns:
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SyncResult with extracted frame data
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"""
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self.reset()
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sps = self.sps
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n_symbols = len(samples) // sps
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preamble_start_symbol = None
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sfd_start_symbol = None
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# Phase 1: Find frame structure using state machine (coarse detection)
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for i in range(n_symbols):
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symbol_samples = samples[i * sps:(i + 1) * sps]
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prev_state = self._state
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self.process_symbol(symbol_samples)
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# Record when preamble starts
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if prev_state == FrameSyncState.SEARCH and self._state == FrameSyncState.PREAMBLE:
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preamble_start_symbol = i
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# Record when we enter SFD state (after sync word)
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if prev_state == FrameSyncState.SYNC_WORD and self._state == FrameSyncState.SFD:
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sfd_start_symbol = i
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# Stop when we enter DATA state
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if self._state == FrameSyncState.DATA:
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break
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# Phase 2: Refine timing with sub-sample precision
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if preamble_start_symbol is not None and self._preamble_count >= self.config.preamble_min:
|
|
# Clear any bins captured during state machine (they're grid-aligned)
|
|
self._data_bins = []
|
|
|
|
coarse_start = preamble_start_symbol * sps
|
|
|
|
# Step 2a: Refine preamble boundary at 1/32-symbol resolution
|
|
# Skip refinement for perfectly aligned signals (loopback tests)
|
|
# where preamble starts at symbol 0 and CFO ≈ 0.
|
|
cfo_is_near_zero = abs(self._cfo_estimate) < 5 or abs(self._cfo_estimate - self.N) < 5
|
|
is_aligned = preamble_start_symbol == 0 and cfo_is_near_zero
|
|
|
|
if is_aligned:
|
|
# Already perfectly aligned - use coarse start directly
|
|
refined_start = coarse_start
|
|
else:
|
|
refined_start, _ = self._refine_symbol_boundary(
|
|
samples, coarse_start, self._preamble_count
|
|
)
|
|
|
|
# Keep CFO estimate from state machine (averaged over preamble symbols)
|
|
# Don't use the bin from _refine_symbol_boundary() - it reflects the
|
|
# timing offset, not the true CFO. The state machine's _estimate_cfo()
|
|
# already computed the correct value from multiple preamble symbols.
|
|
|
|
# Step 2b: Find data start position
|
|
# Frame structure: preamble (N) + sync word (2) + SFD (2.25) + data
|
|
# Data starts at symbol (preamble_count + 4.25)
|
|
if is_aligned:
|
|
# For perfectly aligned signals, use fixed offset from known frame structure
|
|
# This avoids SFD correlation noise issues in loopback tests
|
|
data_start = refined_start + int((self._preamble_count + 4.25) * sps)
|
|
else:
|
|
# For real captures, use SFD correlation to find exact boundary
|
|
# SFD search should start after: preamble + 2 sync word symbols
|
|
# Use preamble_count + 2 to account for sync word, then add 1 for margin
|
|
sfd_search_start = refined_start + int((self._preamble_count + 3) * sps)
|
|
sfd_search_len = 4 * sps # 4-symbol search window
|
|
|
|
data_start = self._find_sfd_boundary(samples, sfd_search_start, sfd_search_len)
|
|
|
|
# Apply timing fine-tune: the SFD correlation may have slight offset
|
|
# due to symbol boundary not being perfectly aligned
|
|
if data_start is not None:
|
|
timing_correction = sps // 20 # ~5% of symbol
|
|
data_start += timing_correction
|
|
|
|
if data_start is None:
|
|
# Fallback: use fixed offset from sync word end
|
|
# sync word is 2 symbols after preamble, SFD is 2.25 after that
|
|
if sfd_start_symbol is not None:
|
|
data_start = refined_start + (self._preamble_count + 2 + 2) * sps + sps // 4
|
|
else:
|
|
# Last resort: estimate from preamble length
|
|
data_start = refined_start + (self._preamble_count + 4) * sps + sps // 4
|
|
|
|
# Step 2c: Extract data symbols from the refined position
|
|
for i in range(max_data_symbols):
|
|
start = data_start + i * sps
|
|
end = start + sps
|
|
if end > len(samples):
|
|
break
|
|
symbol_samples = samples[start:end]
|
|
peak_bin, peak_mag = self._dechirp_and_peak(symbol_samples)
|
|
self._data_bins.append(peak_bin)
|
|
|
|
# Build result
|
|
found = len(self._data_bins) > 0 and self._preamble_count >= self.config.preamble_min
|
|
|
|
# Extract NETWORKID from sync word
|
|
sync_raw = (0, 0)
|
|
networkid = 0
|
|
if len(self._sync_bins) >= 2:
|
|
# Sync word bins are relative to preamble bin
|
|
cfo_int = int(round(self._cfo_estimate))
|
|
sync_raw = (self._sync_bins[0], self._sync_bins[1])
|
|
# Convert to deltas from preamble
|
|
d1 = (self._sync_bins[0] - cfo_int) % self.N
|
|
d2 = (self._sync_bins[1] - cfo_int) % self.N
|
|
networkid = sync_word_to_networkid((d1, d2))
|
|
|
|
# Filter by expected NETWORKID if configured
|
|
if found and self.config.expected_networkid is not None:
|
|
if networkid != self.config.expected_networkid:
|
|
found = False
|
|
|
|
return SyncResult(
|
|
found=found,
|
|
networkid=networkid,
|
|
cfo_bin=self._cfo_estimate,
|
|
data_symbols=list(self._data_bins),
|
|
preamble_count=self._preamble_count,
|
|
sync_word_raw=sync_raw,
|
|
)
|
|
|
|
|
|
def frame_sync(sf: int = 9, sample_rate: float = 250e3,
|
|
expected_networkid: Optional[int] = None) -> FrameSync:
|
|
"""Factory function for GNU Radio compatibility."""
|
|
return FrameSync(sf=sf, sample_rate=sample_rate,
|
|
expected_networkid=expected_networkid)
|
|
|
|
|
|
if __name__ == "__main__":
|
|
print("Frame Sync Test")
|
|
print("=" * 50)
|
|
|
|
# Generate a test frame
|
|
sf = 9
|
|
N = 1 << sf
|
|
fs = 125e3
|
|
|
|
# Simple chirp generation
|
|
n = np.arange(N)
|
|
|
|
def upchirp(f_start: int) -> np.ndarray:
|
|
phase = 2 * np.pi * ((f_start * n / N) + (n * n / (2 * N)))
|
|
return np.exp(1j * phase).astype(np.complex64)
|
|
|
|
def downchirp() -> np.ndarray:
|
|
return np.conj(upchirp(0))
|
|
|
|
# Build test frame
|
|
# Preamble (8 upchirps at bin 0)
|
|
preamble = np.tile(upchirp(0), 8)
|
|
|
|
# Sync word for NETWORKID=18 (0x12): nibbles 1, 2 → bins 32, 64
|
|
sync_nibble_hi = 1
|
|
sync_nibble_lo = 2
|
|
sync_bin_1 = sync_nibble_hi * (N // 16) # 32
|
|
sync_bin_2 = sync_nibble_lo * (N // 16) # 64
|
|
sync_word = np.concatenate([upchirp(sync_bin_1), upchirp(sync_bin_2)])
|
|
|
|
# SFD (2.25 downchirps)
|
|
dc = downchirp()
|
|
sfd = np.concatenate([dc, dc, dc[:N // 4]])
|
|
|
|
# Data symbols
|
|
data_bins = [100, 200, 300, 400, 500]
|
|
data = np.concatenate([upchirp(b) for b in data_bins])
|
|
|
|
# Complete frame
|
|
frame = np.concatenate([preamble, sync_word, sfd, data])
|
|
|
|
print(f"\nTest frame (SF{sf}):")
|
|
print(f" Preamble: 8 symbols")
|
|
print(f" Sync word: bins [{sync_bin_1}, {sync_bin_2}] → NETWORKID=18")
|
|
print(f" SFD: 2.25 downchirps")
|
|
print(f" Data: {len(data_bins)} symbols, bins {data_bins}")
|
|
print(f" Total: {len(frame)} samples")
|
|
|
|
# Test synchronizer
|
|
sync = FrameSync(sf=sf, sample_rate=fs)
|
|
result = sync.sync_from_samples(frame)
|
|
|
|
print(f"\nSync result:")
|
|
print(f" found: {result.found}")
|
|
print(f" networkid: {result.networkid}")
|
|
print(f" cfo_bin: {result.cfo_bin:.2f}")
|
|
print(f" preamble_count: {result.preamble_count}")
|
|
print(f" sync_word_raw: {result.sync_word_raw}")
|
|
print(f" data_symbols: {result.data_symbols}")
|
|
|
|
if result.found and result.networkid == 18:
|
|
print("\n✓ Frame sync OK")
|
|
else:
|
|
print("\n✗ Frame sync FAILED")
|