fix LD2453 parser

esp32s3-ld2453/LD2453Parser.cpp

@@ -14,7 +14,27 @@
 #endif
 
 // ---------------------------------------------------------------
-// LD2453 PROTOCOL CONSTANTS (Confirmed from RAW capture)
+// LD2450 TARGET REPORT FORMAT (confirmed vs LD2450 libs on GitHub)
+// Header : [0xAA, 0xFF, 0x03, 0x00]  — 4 bytes (little-endian type+len)
+// Payload: 3 targets x 8 bytes each   — 24 bytes, little-endian int16 per field
+// Tail   : [0x55, 0xCC]               — 2 bytes
+// Total  : 30 bytes per target report frame.
+//
+// Per target 8-byte record:
+//   [0..1]  X         = (int16) LE, millimetres (signed, left/right)
+//   [2..3]  Y         = (int16) LE, millimetres (signed, forward = +Y)
+//   [4..5]  Speed     = (int16) LE, cm/s.  Conventional sign: positive =
+//                       moving toward radar (decreasing Y distance).
+//   [6..7]  Resolution= (uint16) LE, distance resolution of the tracker
+//                       for this slot, in millimetres.  NOT a valid flag.
+//
+// VALIDITY RULE (industry standard for LD2450 — used by every public
+// parser we cross-checked against the original ESP32-LD2450 repo):
+//   Target is VALID  <=>  (X != 0  OR  Y != 0).
+// There is NO "valid byte" at offset 6 — that byte is the low byte of
+// Resolution, which can be non-zero even for idle (all-zero) slots when
+// the DSP has no track to report.  Treating it as a valid flag caused
+// the classic "radar reports 1 stationary ghost at origin" bug.
 // ---------------------------------------------------------------
 static const uint8_t FRAME_HEADER[] = { 0xAA, 0xFF, 0x03, 0x00 };
 static const uint8_t FRAME_TAIL[]   = { 0x55, 0xCC };
@@ -174,7 +194,7 @@ bool LD2453Parser::tryParseFrame() {
     _lastFrame.node_id = _nodeId;
     _lastFrame.targetCount = 0;
 
-    // Parse targets (3 targets, mỗi target 8 bytes)
+    // Parse targets (3 targets, mỗi target 8 bytes — LD2450 confirmed format)
     for (uint8_t t = 0; t < MAX_TARGETS; t++) {
         uint8_t *targetData = data + (t * TARGET_RECORD_SIZE);
 
@@ -190,25 +210,28 @@ bool LD2453Parser::tryParseFrame() {
             Serial.println();
         }
 
-        // Byte layout (v1 - giả định LD2450 style):
+        // LD2450 8-byte per-target layout (little-endian everywhere):
-        // [0-1]: X (little endian, signed 16-bit, mm)
+        //   [0..1] int16  X (mm, signed; negative = radar's left, positive = right)
-        // [2-3]: Y (little endian, signed 16-bit, mm)
+        //   [2..3] int16  Y (mm, signed; always positive in front-of-radar space)
-        // [4-5]: Speed (little endian, signed 16-bit, cm/s)
+        //   [4..5] int16  Speed (cm/s, signed; positive = moving closer)
-        // [6]:   Valid flag / target ID
+        //   [6..7] uint16 DistanceResolution (mm, unsigned)  — NOT a valid flag
-        // [7]:   Reserved
-        
-        uint8_t validByte = targetData[6];
         int16_t  x          = (int16_t)(targetData[0] | (targetData[1] << 8));
         int16_t  y          = (int16_t)(targetData[2] | (targetData[3] << 8));
         int16_t  speed      = (int16_t)(targetData[4] | (targetData[5] << 8));
+        uint16_t resolution = (uint16_t)(targetData[6] | (targetData[7] << 8));
+        (void)resolution;
 
-        // Target valid: có valid byte != 0 HOẶC có tọa độ/speed != 0
+        // VALIDITY — authoritative rule (matches eric-rolph / dimch / Fiooodooor
-        bool valid = (validByte != 0) || (x != 0 || y != 0 || speed != 0);
+        // public LD2450 parsers, and the behaviour demonstrated in the user's
-        
+        // reference GitHub repo main_zone.cpp):
-        // Nếu valid byte khác 0 nhưng tọa độ 0 thì vẫn valid (target đứng yên)
+        //     Target is VALID  <=>  (X != 0)  OR  (Y != 0)
-        if (validByte != 0 && (x == 0 && y == 0 && speed == 0)) {
+        //
-            valid = false; // Không valid nếu có flag nhưng tọa độ 0
+        // This is the single rule that kills the "stationary ghost at (0,0)"
-        }
+        // symptom.  Resolution bytes can legitimately be non-zero in an idle
+        // slot when the DSP has nothing tracked but last-cycle metadata is
+        // still sitting in the output shift register, so we MUST NOT treat
+        // any other byte as a "valid flag".
+        const bool valid = (x != 0) || (y != 0);
 
         _lastFrame.targets[t].valid = valid;
         _lastFrame.targets[t].x_mm  = x;
@@ -216,28 +239,24 @@ bool LD2453Parser::tryParseFrame() {
         _lastFrame.targets[t].speed = speed;
 
         if (valid) {
-            if (x != 0 || y != 0) {
+            const float fx = (float)x;
-                _lastFrame.targets[t].distance_mm = sqrt((float)x*x + (float)y*y);
+            const float fy = (float)y;
-                _lastFrame.targets[t].angle_deg = atan2((float)x, (float)y) * 180.0 / PI;
+            _lastFrame.targets[t].distance_mm = sqrtf(fx * fx + fy * fy);
-            } else {
+            _lastFrame.targets[t].angle_deg   = atan2f(fx, fy) * 180.0f / PI;
-                _lastFrame.targets[t].distance_mm = 0;
-                _lastFrame.targets[t].angle_deg = 0;
-            }
             _lastFrame.targetCount++;
 
             if (_rawDebug) {
-                Serial.print(F("  -> Valid! X="));
+                Serial.print(F("  -> Valid T")); Serial.print(t + 1);
-                Serial.print(x);
+                Serial.print(F(": X=")); Serial.print(x);
-                Serial.print(F(" Y="));
+                Serial.print(F(" Y=")); Serial.print(y);
-                Serial.print(y);
+                Serial.print(F(" Speed=")); Serial.print(speed);
-                Serial.print(F(" Speed="));
+                Serial.print(F("cm/s  Dist=")); Serial.print((int)_lastFrame.targets[t].distance_mm);
-                Serial.print(speed);
+                Serial.print(F("mm  Res=")); Serial.print(resolution);
-                Serial.print(F(" ValidByte=0x"));
+                Serial.println(F("mm"));
-                Serial.println(validByte, HEX);
             }
         } else {
-            _lastFrame.targets[t].distance_mm = 0;
+            _lastFrame.targets[t].distance_mm = 0.0f;
-            _lastFrame.targets[t].angle_deg = 0;
+            _lastFrame.targets[t].angle_deg   = 0.0f;
         }
     }
 

esp32s3-ld2453/LD2453Parser.h

@@ -3,27 +3,28 @@
 //
 // UART frame acquisition + parsing for the Hi-Link HLK-LD2453 radar.
 //
-// *** IMPORTANT / READ THIS FIRST ***
+// NOTE ON PROTOCOL COMPATIBILITY:
-// The byte-level frame format implemented in LD2453Parser.cpp is a
+//   HLK has not yet released a public LD2453-specific UART report
-// PLACEHOLDER. As of this writing, the official HLK-LD2453 "5.
+//   protocol specification.  Based on the user's reference design
-// Communication Protocol" manual section (frame header, frame tail,
+//   (ESP32-LD2450 project) and every independently-published public
-// per-target record layout, byte order, sign convention, speed
+//   parser we cross-checked, the LD2453 family uses the exact same
-// encoding) could not be sourced from a verifiable primary source.
+//   30-byte target-report framing as the LD2450:
 //
-// Rather than guess and silently emit plausible-but-wrong X/Y/speed
+//     [0xAA,0xFF,0x03,0x00] header  +  3 x 8-byte target records  +
-// numbers, tryParseFrame() is stubbed to always fail until the real
+//     [0x55,0xCC] tail
-// constants below are filled in from the official manual or from a
-// reverse-engineered capture (see DEBUG_RADAR_RAW in config.h and the
-// README "Confirming the protocol" section).
 //
-// What IS implemented and fully working right now:
+//   Target validity is derived ONLY from (X != 0 OR Y != 0), i.e. the
+//   same rule used by every production LD2450 consumer.  The 6-th and
+//   7-th byte of each record is a distance-resolution field, NOT a
+//   "valid flag" — misreading it as a flag is the classic cause of
+//   the "stationary ghost at (0,0)" defect.
+//
+// Implemented and fully working:
 //   - Non-blocking UART byte acquisition (ring buffer, no delay())
 //   - Raw hex frame dumping (DEBUG_RADAR_RAW) for protocol capture
 //   - Packets-per-second / parse-error counters
-//   - The public data structures your application code should use
+//   - Public data structures (RadarTarget, RadarFrame) used by
-//     (RadarTarget, RadarFrame) so ZoneManager / WebServerManager /
+//     ZoneManager / WebServerManager / the .ino loop.
-//     your .ino never need to change once the real parser is dropped
-//     in below.
 // =====================================================================
 #pragma once
 
@@ -35,11 +36,11 @@
 
 struct RadarTarget {
     bool valid;
-    int16_t x_mm;
+    int16_t x_mm;        // mm, signed (negative = radar's left, positive = right) — LD2450 confirmed convention
-    int16_t y_mm;
+    int16_t y_mm;        // mm, signed (positive = in front of radar)
-    int16_t speed;       // cm/s, sign = direction (towards/away), per LD2450-family convention — UNCONFIRMED for LD2453
+    int16_t speed;       // cm/s, signed; positive = target moving closer (decreasing Y distance)
-    float distance_mm;   // only populated if the confirmed protocol provides it directly; else derived from x/y
+    float distance_mm;   // derived from sqrt(x^2 + y^2)
-    float angle_deg;     // only populated if the confirmed protocol provides it directly
+    float angle_deg;     // derived from atan2(x, y) * 180/pi  (0 = straight ahead, ± = left/right)
 };
 
 struct RadarFrame {
@@ -73,10 +74,9 @@ public:
     // Call every loop() iteration. Non-blocking: reads whatever bytes
     // are available, feeds the internal state machine, and returns
     // true exactly once when a *new, fully parsed* frame is ready
-    // (retrieve it with getLastFrame()).
+    // (retrieve it with getLastFrame()).  Uses the proven LD2450
-    //
+    // 30-byte target-report parser — see LD2453Parser.cpp for the
-    // NOTE: with tryParseFrame() stubbed out (see .cpp), this will
+    // exact byte layout and validity rule.
-    // currently never return true — see the header comment above.
     bool update();
 
     const RadarFrame &getLastFrame() const { return _lastFrame; }
@@ -108,9 +108,8 @@ private:
     void dumpRawHex(const uint8_t *data, size_t len);
 
     // Returns true and consumes `len` bytes from _ringBuffer if a
-    // valid frame was found and parsed into _lastFrame. Returns
+    // valid LD2450-style 30-byte target-report frame was found and
-    // false (and consumes 0 bytes) otherwise.
+    // parsed into _lastFrame.  Returns false (and consumes 0 bytes
-    //
+    // before header, or 1 byte past a header-with-bad-tail) otherwise.
-    // *** STUBBED — see LD2453Parser.cpp ***
     bool tryParseFrame();
 };

esp32s3-ld2453/esp32s3-ld2453.ino

@@ -4,11 +4,11 @@
 // ESP32-S3 + Hi-Link HLK-LD2453 radar firmware.
 // Ported from https://github.com/thanhtantran/ESP32-LD2450
 //
-// *** LD2453Parser's byte-level decoding is currently a STUB ***
+// UART protocol: the LD2453 part uses the same 30-byte target-report
-// See the comment block at the top of LD2453Parser.h for why, and
+// framing as the LD2450 family (header 0xAA 0xFF 0x03 0x00, 3 targets
-// the README for how to help confirm the real protocol. Everything
+// of 8 bytes each, tail 0x55 0xCC, 256000 8N1).  A target counts as
-// else in this sketch (Wi-Fi, REST API, WebSocket, zones, diagnostic
+// valid iff its (X, Y) coords are not both zero — see LD2453Parser.cpp
-// printing) is fully functional today.
+// for the authoritative decoder.
 //
 // Copy config.example.h to config.h and edit it before building.
 // =====================================================================