ld2450-proto

Zero-allocation protocol parser and command builder for the HLK-LD2450 24 GHz mmWave radar sensor.

Part of the ld2450-rs project.

Features

• Streaming frame parser (state machine, no heap allocation)
• Command frame builder for all sensor configuration commands
• ACK response parser with typed data extraction
• no_std-compatible (uses libm for math)
• Optional std feature for feed_slice() convenience method

Usage

use ld2450_proto::{FrameParser, ParseEvent};

let mut parser = FrameParser::new();

// Feed bytes from UART one at a time or in slices
for &byte in uart_data {
    if let Some(ParseEvent::Frame(frame)) = parser.feed(byte) {
        for target in frame.active_targets() {
            println!(
                "x={:.3}m y={:.3}m speed={:.2}m/s dist={:.3}m",
                target.x_m(),
                target.y_m(),
                target.speed_ms(),
                target.dist_m(),
            );
        }
    }
}

Protocol

Each radar data frame is 30 bytes:

Header:  AA FF 03 00   (4 bytes)
Target1: [8 bytes]     x(2) + y(2) + speed(2) + resolution(2)
Target2: [8 bytes]
Target3: [8 bytes]
Footer:  55 CC         (2 bytes)

Up to 3 targets tracked simultaneously at 10 Hz.

License

Licensed under either of Apache License, Version 2.0 or MIT License at your option.