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esp32-s3-ld2453.ino

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+// =====================================================================
+// ESP32_LD2453.ino
+//
+// 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 ***
+// See the comment block at the top of LD2453Parser.h for why, and
+// the README for how to help confirm the real protocol. Everything
+// else in this sketch (Wi-Fi, REST API, WebSocket, zones, diagnostic
+// printing) is fully functional today.
+//
+// Copy config.example.h to config.h and edit it before building.
+// =====================================================================
+#include <Arduino.h>
+#include "config.h"
+#include "LD2453Parser.h"
+#include "ZoneManager.h"
+
+#if !DIAGNOSTIC_MODE
+#include "WebServerManager.h"
+#endif
+
+// ---------------------------------------------------------------
+// Pick the HardwareSerial instance for the radar based on
+// RADAR_UART_PORT in config.h. Serial0/USB is left free for the
+// Serial Monitor.
+// ---------------------------------------------------------------
+#if RADAR_UART_PORT == 1
+HardwareSerial &RadarSerial = Serial1;
+#else
+HardwareSerial &RadarSerial = Serial2;
+#endif
+
+LD2453Parser radar;
+ZoneManager zoneManager;
+
+#if !DIAGNOSTIC_MODE
+WebServerManager webServer(zoneManager);
+#endif
+
+void printDiagnostics(const RadarFrame &frame, const LD2453Stats &stats) {
+    Serial.println();
+    Serial.println(F("LD2453 connected"));
+    Serial.print(F("UART: "));
+    Serial.println(RADAR_BAUD_RATE);
+    Serial.print(F("Frame length (last): "));
+    Serial.println(stats.lastFrameLength);
+    Serial.print(F("Parse errors: "));
+    Serial.println(stats.parseErrors);
+    Serial.print(F("Packets/sec: "));
+    Serial.println(stats.packetsPerSecond, 1);
+    Serial.print(F("Target count: "));
+    Serial.println(frame.targetCount);
+
+    for (uint8_t i = 0; i < 3; i++) {
+        Serial.println();
+        Serial.print(F("Target "));
+        Serial.print(i + 1);
+        Serial.println(':');
+
+        const RadarTarget &t = frame.targets[i];
+        if (!t.valid) {
+            Serial.println(F("INVALID"));
+            continue;
+        }
+        Serial.print(F("X: "));
+        Serial.print(t.x_mm);
+        Serial.println(F(" mm"));
+        Serial.print(F("Y: "));
+        Serial.print(t.y_mm);
+        Serial.println(F(" mm"));
+        Serial.print(F("Speed: "));
+        Serial.println(t.speed);
+    }
+}
+
+void setup() {
+    Serial.begin(115200);
+    delay(1500); // lets the Serial Monitor catch up without blocking the app loop later
+
+    Serial.println(F("=== ESP32_LD2453 booting ==="));
+    Serial.print(F("Node ID: "));
+    Serial.println(NODE_ID);
+
+    radar.begin(RadarSerial, RADAR_RX_PIN, RADAR_TX_PIN, RADAR_BAUD_RATE,
+                NODE_ID, DEBUG_RADAR_RAW);
+
+#if !DIAGNOSTIC_MODE
+    webServer.begin(WIFI_SSID, WIFI_PASSWORD);
+#else
+    Serial.println(F("DIAGNOSTIC_MODE=1: Wi-Fi/web server disabled. Serial-only output."));
+#endif
+}
+
+void loop() {
+    // Radar acquisition/parsing is non-blocking and runs every
+    // iteration regardless of mode, independent of Wi-Fi state.
+    bool gotFrame = radar.update();
+
+    if (gotFrame) {
+        const RadarFrame &frame = radar.getLastFrame();
+        zoneManager.update(frame);
+
+#if DIAGNOSTIC_MODE
+        printDiagnostics(frame, radar.getStats());
+#else
+        webServer.broadcastFrame(frame);
+#endif
+    }
+
+#if !DIAGNOSTIC_MODE
+    webServer.loop();
+#endif
+}