#radar #embedded-hal-async #hardware-abstraction #a121

sys no-std a121-rs

Rust driver for the Acconeer A121 radar sensor

3 releases

0.1.2 Mar 11, 2024
0.1.1 Mar 11, 2024
0.1.0 Mar 11, 2024

#424 in Embedded development

MIT license



docs.rs crates.io crates.io

a121-rs is a Rust library providing bindings and a high-level abstraction for interfacing with the Acconeer A121 V-Band radar sensor. Designed for use in embedded systems, it offers asynchronous operation through embedded-hal traits, making it a perfect fit for no_std environments.

a121-rs aims to simplify the development process for applications requiring accurate distance measurements and presence detection, leveraging the unique capabilities of the A121 radar sensor.


a121-rs comes with a host of features designed to make working with the A121 sensor as straightforward as possible:

  • No Standard Library Dependencies: Fully compatible with no_std for embedded systems use.
  • Embedded-HAL Async: Utilizes asynchronous traits from embedded-hal for non-blocking sensor operation.
  • Configurable: Provides a flexible API to configure the radar sensor for various measurement modes and parameters.
  • Examples Provided: Includes examples for popular hardware platforms like ESP32 and STM32.

Supported Operating Modes

  • Distance Measurement: Configure the radar for precise distance measurements to objects.
  • Presence Detection: Detect the presence of objects or people in a configured detection zone. (Soon)


The following dependencies are required to use a121-rs:

  • Acconeer A121 Static Library (and detector libraries for distance and presence detection if the feature is enabled)
  • 'arm-none-eabi-gcc' to build the C wrapper (for stm32 examples)
# Ubuntu
sudo apt-get install gcc-arm-none-eabi

The esp example relies on the espup toolchain. Refer to the esp-rs project for configuration instructions.

Supported Targets

Supported platforms depend on the availability of the Acconeer A121 Static Library. Currently, the following targets are supported:

  • arm-none-eabihf (gcc, armcc, armclang)
  • esp xtensa

Getting Started

To include a121-rs in your project, add the following to your Cargo.toml:

a121-rs = "0.1"

The static library expects implementations of math functions like sqrt and sin to be available. If you are using a platform that does not provide these functions, you can enable the libm feature to use the libm crate for floating point operations

See the documentation for detailed usage instructions and examples.

Feature flags

feature description
distance Enable distance measurement module
presence Enable presence detection module (coming soon)
libm Use libm crate for floating point operations
nightly-logger If the C wrapper for logging does not compile with stable rust, enable this feature to use nightly rust with a custom logger


Check out the examples/ directory for demonstrations on how to use a121-rs with various microcontroller units. These examples cover basic setups and common use cases to help you get started quickly.

Development and Contribution

Contributions to a121-rs are welcome! Whether it's adding new features, fixing bugs, or improving documentation, feel free to open issues and submit pull requests.


a121-rs is distributed under the MIT License. See LICENSE for more information.


~103K SLoC