mr60bha2-proto

Zero-allocation protocol parser for the Seeed MR60BHA2 60 GHz mmWave radar sensor.

Part of the mr60bha2-rs project.

Features

• Streaming frame parser (state machine, no heap allocation)
• Emits typed events for all 9 known frame types
• no_std-compatible (uses libm for math)
• Optional std feature for feed_slice() convenience method

Usage

use mr60bha2_proto::{FrameParser, ParseEvent};

let mut parser = FrameParser::new();

// Feed bytes from UART one at a time
for &byte in uart_data {
    if let Some(event) = parser.feed(byte) {
        match event {
            ParseEvent::PointCloudTargets(frame) => {
                for target in frame.active_targets() {
                    println!(
                        "x={:.2}m y={:.2}m speed={:.2}m/s dist={:.2}m angle={:.1}°",
                        target.x,
                        target.y,
                        target.speed_ms(),
                        target.dist_m(),
                        target.angle_deg(),
                    );
                }
            }
            ParseEvent::HeartRate(bpm) => println!("heart rate: {bpm:.0} bpm"),
            ParseEvent::BreathRate(bpm) => println!("breath rate: {bpm:.0} bpm"),
            ParseEvent::HumanDetected(present) => println!("presence: {present}"),
            _ => {}
        }
    }
}

Events

Protocol

Frames use a binary framing with a 9-byte header:

SOF (1)  │ 0x01
Header   │ ID(2 BE) + LEN(2 BE) + TYPE(2 BE) + HEAD_CKSUM(1) + DATA_CKSUM(1)
Data     │ LEN bytes, little-endian payload

Checksum: ~(XOR of covered bytes) — one's complement of XOR over the covered range.

Up to 3 targets tracked simultaneously at ~8 Hz.

no_std

mr60bha2-proto is no_std by default. Add it to your embedded project:

[dependencies]
mr60bha2-proto = { version = "0.1", default-features = false }

The std feature enables the feed_slice(&[u8]) -> Vec<ParseEvent> helper:

[dependencies]
mr60bha2-proto = { version = "0.1", features = ["std"] }

License

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