RuView mmWave / FMCW Radar

The radio side-channel: 60 GHz and 24 GHz FMCW radar, standalone and fused with WiFi CSI.

Hardware

Device	Port	Band	Provides	~Cost
ESP32-C6 + Seeed MR60BHA2	COM4 (typical)	60 GHz FMCW	Heart rate, breathing rate, presence	~$15
HLK-LD2410	—	24 GHz FMCW	Presence + distance (gated zones)	~$3

The C6 is RISC-V and can run the radar pipeline; it is not a WiFi-CSI node (use an ESP32-S3 for CSI). LD2410 is a UART module wired to a host or to the C6.

1. Firmware with mmWave fusion (v0.5.0+)

The ESP32 firmware auto-detects an attached MR60BHA2 or LD2410 and emits 48-byte fused vitals records (CSI-derived + radar-derived, reconciled). Binary is ~12 KB larger than the CSI-only build. Build/flash as in ruview-hardware-setup (Windows: Python-subprocess; ESP-IDF v5.4 ≠ Git Bash). Recommended stable firmware tag: v0.5.0-esp32 or later — see docs/user-guide.md release table.

# Provision the radar/fusion node (same provision.py; the firmware probes for the radar on boot)
python firmware/esp32-csi-node/provision.py --port COM8 --ssid "WiFi" --password "secret" --target-ip 192.168.1.20
# Confirm: serial monitor should report which radar was detected and start emitting fused vitals

2. mmWave ↔ WiFi-CSI fusion bridge (host side)

python scripts/mmwave_fusion_bridge.py            # bridges radar HR/BR + CSI → unified spatial model
node scripts/passive-radar.js                     # passive-radar style processing for exploration

The 3D point-cloud demo fuses camera depth (MiDaS) + WiFi CSI + mmWave radar → unified spatial model (~22 ms pipeline, 19K+ pts/frame; ADR-094). Drive it with scripts/mmwave_fusion_bridge.py plus the point-cloud front-end.

3. Standalone radar use

MR60BHA2 (60 GHz) — best for contactless vitals on a (near-)stationary subject: blood pressure proxy, heart rate, breathing rate; $15 hardware, no wearable. See examples/medical/README.md.
LD2410 (24 GHz) — best for cheap presence + coarse distance / gated zones; complements CSI presence (PIR-style fusion) for higher confidence.

4. When to use mmWave vs. WiFi CSI

Situation	Prefer
Contactless vitals, subject stationary, line of sight	MR60BHA2 (cleaner HR/BR than CSI alone)
Cheap, robust presence / occupancy in a defined zone	LD2410 (or LD2410 + CSI)
Through-wall presence / activity, no line of sight	WiFi CSI (mmWave doesn't penetrate walls)
Pose / skeletons	WiFi CSI (WiFlow) — mmWave doesn't do this here
Highest-confidence vitals	Fusion — 48-byte fused vitals reconcile CSI + radar
Volumetric 3D	Fusion — camera depth + CSI + mmWave point cloud

Reference

Hardware tables: README.md, docs/user-guide.md (release table — v0.5.0 mmWave fusion notes, binary sizes)
scripts/mmwave_fusion_bridge.py, scripts/passive-radar.js
examples/medical/README.md (60 GHz mmWave vitals)
ADR-094 (point-cloud GitHub Pages deployment)
Validate firmware changes with the QEMU helpers and ruview-verify

ruview-mmwave