mr60fda2-proto

A no_std, zero-allocation Rust parser and command builder for the Seeed Studio MR60FDA2 60 GHz mmWave fall-detection radar's UART protocol.

Verified against real hardware: see Verified on hardware below.

Why this exists

Seeed doesn't publish a Rust driver for the MR60FDA2 (or any of their 60 GHz mmWave radar family). The reference implementation is a C++ ESPHome external component. This crate is an independent Rust implementation of the same wire protocol, written for use in bare-metal no_std firmware (originally: an esp-hal/embassy-based ESP32-C6 firmware).

Seeed's whole MR60 60 GHz radar family — this sensor (fall detection) and the sibling MR60BHA2 (vitals/presence) — shares one wire format: same SOF byte, same big-endian LEN/TYPE header, same ~XOR checksum algorithm. That's confirmed by comparing this crate against mr60bha2-proto, an independent parser for the BHA2: the frame state machine here is modeled closely on that crate's, and both decode frame type 0x0F09 identically as a human-presence boolean. Only the FDA2-specific type codes and payload layouts (fall detection, install height, height threshold, sensitivity, live target height) are new.

What's included

• FrameParser — a byte-at-a-time streaming state machine that validates both header and data checksums and emits a ParseEvent per complete frame. No heap allocation, fixed-size internal buffers.
• Command builders for every documented outgoing frame: get_parameters, factory_reset, enable_height_upload, set_install_height, set_height_threshold, set_sensitivity.

Not included: the UART peripheral driver itself (that's necessarily platform-specific — see examples/ for the shape of an embedded-io-async integration).

Frame format

[SOF:1] [ID:2] [LEN:2] [TYPE:2] [HEAD_CKSUM:1] [DATA:LEN] [DATA_CKSUM:1]

LEN and TYPE are big-endian. Data-section fields (floats, u32s) are little-endian. Checksum: ~(XOR of covered bytes) & 0xFF.

Usage

use mr60fda2_proto::{FrameParser, ParseEvent, get_parameters};

let mut parser = FrameParser::new();

// Send `get_parameters()` over your UART, then feed received bytes in:
for byte in received_bytes {
    if let Some(event) = parser.feed(byte) {
        match event {
            ParseEvent::Fall(detected) => { /* ... */ }
            ParseEvent::PeopleExist(present) => { /* ... */ }
            ParseEvent::TargetHeight(metres) => { /* ... */ }
            ParseEvent::Parameters { install_height_m, height_threshold_m, sensitivity } => { /* ... */ }
            _ => {}
        }
    }
}

no_std by default; enable the std feature (on by default when used as a dev-dependency) if you want it for host-side tooling.

Verified on hardware

Round-tripped against a real MR60FDA2 (Seeed fall-detection kit, XIAO ESP32-C6) over UART: get_parameters() sent, sensor replied with a real ParseEvent::Parameters frame; continuous Fall/PeopleExist frames received and parsed with zero unrecognized frame types.

Contributing

Contributions are welcome — see CONTRIBUTING.md for development setup, the checks CI runs, and what evidence is needed for changes to the wire-format parsing.

License

Licensed under either of

• Apache License, Version 2.0 (LICENSE-APACHE)
• MIT license (LICENSE-MIT)

at your option.