ESPHome package for DFRobot SEN0610 (12m) mmwave radar using UART

dfrobot-sen0610.yaml

esphome:
  on_boot:
    priority: 600
    then:
      - delay: 3s
      - uart.write: "setUartOutput 1 1"

external_components:
  - source:
      type: git
      url: https://github.com/ssieb/custom_components
    components: [serial]

uart:
  id: uart_bus
  tx_pin: ${uart_tx_pin}
  rx_pin: ${uart_rx_pin}
  baud_rate: 9600

text_sensor:
  - platform: serial
    uart_id: uart_bus
    name: UART Text
    id: UART_Text
    icon: "mdi:format-text"
    internal: true
    on_value:
      lambda: |-
        if (id(UART_Text).state.substr(0,6) == "$DFHPD") {
          if (id(UART_Text).state.substr(7,1) == "1") {
            if (id(uart_presence).state == false) {
              id(uart_presence).publish_state(true);
            }
          }
          if (id(UART_Text).state.substr(7,1) == "0") {
            if (id(uart_presence).state == true) {
              id(uart_presence).publish_state(false);
            }
          }
        }

binary_sensor:
  - platform: template
    name: "Presence"
    id: uart_presence
    device_class: occupancy

switch:
  - platform: template
    name: mmWave sensor
    id: mmwave_sensor
    disabled_by_default: True
    entity_category: config
    optimistic: true
    internal: true
    restore_mode: RESTORE_DEFAULT_ON
    turn_on_action:
      - uart.write: "sensorStart"
      - delay: 1s
    turn_off_action:
      - uart.write: "sensorStop"
      - delay: 1s

number:
  - platform: template
    id: range_minimum
    name: Range (Min)
    icon: mdi:arrow-collapse-left
    entity_category: config
    min_value: 0.6
    max_value: 12
    initial_value: 0.6
    optimistic: true
    step: 0.1
    restore_value: true
    unit_of_measurement: m
    mode: slider

  - platform: template
    id: range_maximum
    name: Range (Max)
    icon: mdi:arrow-collapse-right
    entity_category: config
    min_value: 0.6
    max_value: 12
    initial_value: 6
    optimistic: true
    step: 0.1
    restore_value: true
    unit_of_measurement: m
    mode: slider

  - platform: template
    id: range_trigger
    name: Range (Trigger)
    icon: mdi:arrow-collapse-right
    entity_category: config
    min_value: 0
    max_value: 12
    initial_value: 6
    optimistic: true
    step: 0.1
    restore_value: true
    unit_of_measurement: m
    mode: slider

  - platform: template
    name: Delay (Clearance)
    icon: mdi:clock-end
    entity_category: config
    id: mmwave_off_latency
    min_value: 0
    max_value: 60
    initial_value: 15
    optimistic: true
    step: 5
    restore_value: true
    unit_of_measurement: seconds
    mode: slider

  - platform: template
    name: Delay (Detection)
    icon: mdi:clock-start
    id: mmwave_on_latency
    entity_category: config
    min_value: 0
    max_value: 2
    initial_value: 0.050
    optimistic: true
    step: 0.05
    restore_value: true
    unit_of_measurement: seconds
    mode: slider

  - platform: template
    name: Sensitivity (Occupancy)
    icon: mdi:target-variant
    id: sensitivity_occupancy
    entity_category: config
    min_value: 0
    max_value: 9
    initial_value: 7
    optimistic: true
    step: 1
    restore_value: true

  - platform: template
    name: Sensitivity (Movement)
    icon: mdi:target-variant
    id: sensitivity_movement
    entity_category: config
    min_value: 0
    max_value: 9
    initial_value: 5
    optimistic: true
    step: 1
    restore_value: true

button:
  - platform: template
    name: "Apply config"
    id: apply_config
    entity_category: config
    on_press:
      - switch.turn_off: mmwave_sensor
      - delay: 1s
      - uart.write: !lambda |-
          std::string mss = "setLatency " + to_string(id(mmwave_on_latency).state) + " " + to_string(id(mmwave_off_latency).state);
          return std::vector<unsigned char>(mss.begin(), mss.end());
      - delay: 0.1s
      - uart.write: !lambda |-
          std::string ms = "setRange " + to_string(id(range_minimum).state) + " " + to_string(id(range_maximum).state);
          return std::vector<unsigned char>(ms.begin(), ms.end());
      - delay: 0.1s
      - uart.write: !lambda |-
          std::string ms = "setTrigRange " + to_string(id(range_trigger).state);
          return std::vector<unsigned char>(ms.begin(), ms.end());
      - delay: 0.1s
      - uart.write: !lambda |-
          std::string mss = "setSensitivity " + to_string(id(sensitivity_occupancy).state) + " " + to_string(id(sensitivity_movement).state);
          return std::vector<unsigned char>(mss.begin(), mss.end());
      - delay: 0.1s
      - uart.write: "saveConfig"
      - delay: 1s
      - switch.turn_on: mmwave_sensor

  - platform: template
    name: Restart mmWave Sensor
    id: restart_mmwave
    entity_category: config
    internal: true
    on_press:
      - uart.write: "resetSystem"

  - platform: template
    name: Factory Reset mmWave
    icon: mdi:cog-counterclockwise
    id: factory_reset_mmwave
    disabled_by_default: false
    entity_category: diagnostic
    on_press:
      - switch.turn_off: mmwave_sensor
      - delay: 1s
      - uart.write: "resetCfg"
      - delay: 3s
      - switch.turn_on: mmwave_sensor

  - platform: template
    name: Query config
    icon: mdi:cog
    id: query_config
    disabled_by_default: false
    entity_category: diagnostic
    on_press:
      - uart.write: "getLatency"
      - delay: 0.1s
      - uart.write: "getRange"
      - delay: 0.1s
      - uart.write: "getTrigRange"
      - delay: 0.1s
      - uart.write: "getSensitivity"

This yaml can be used as a esphome package, can be used in your own device yaml with:

packages:
  radar: !include
    file: packages/dfrobot-sen0610.yaml
    vars:
      uart_tx_pin: GPIO4
      uart_rx_pin: GPIO5

The query config does not work for me. here are the logs:

[21:52:04][D][text_sensor:069]: 'UART Text': Sending state '$DFDMD,1,1,0.631,-0.210,2754, , *'
[21:52:04][D][button:010]: 'Query config' Pressed.
[21:52:04][D][text_sensor:069]: 'UART Text': Sending state 'getLatency'
[21:52:04][D][text_sensor:069]: 'UART Text': Sending state 'Error'
[21:52:04][D][text_sensor:069]: 'UART Text': Sending state 'DFRobot:/>$DFDMD,1,1,0.613,-0.179,75490, , *'
[21:52:04][D][text_sensor:069]: 'UART Text': Sending state 'getRange'
[21:52:04][D][text_sensor:069]: 'UART Text': Sending state 'Response 0.000 13.000'
[21:52:04][D][text_sensor:069]: 'UART Text': Sending state 'Done'
[21:52:04][D][text_sensor:069]: 'UART Text': Sending state 'DFRobot:/>$DFDMD,1,1,0.597,-0.152,43681, , *'
[21:52:04][D][text_sensor:069]: 'UART Text': Sending state 'getTrigRange'
[21:52:04][D][text_sensor:069]: 'UART Text': Sending state 'Error'
[21:52:04][D][text_sensor:069]: 'UART Text': Sending state 'DFRobot:/>$DFDMD,1,1,0.583,-0.130,61200, , *'
[21:52:04][D][text_sensor:069]: 'UART Text': Sending state '$DFDMD,1,1,0.572,-0.111,100009, , *'
[21:52:04][D][text_sensor:069]: 'UART Text': Sending state 'getSensitivity'
[21:52:04][D][text_sensor:069]: 'UART Text': Sending state 'Error'
[21:52:04][D][text_sensor:069]: 'UART Text': Sending state 'DFRobot:/>$DFDMD,1,1,0.562,-0.094,83620, , *'
[21:52:04][D][text_sensor:069]: 'UART Text': Sending state '$DFDMD,1,1,0.553,-0.080,253205, , *'

The same happens with applying the config

[22:39:59][D][button:010]: 'Apply config' Pressed.
[22:39:59][D][switch:016]: 'mmWave sensor' Turning OFF.
[22:39:59][D][switch:055]: 'mmWave sensor': Sending state OFF
[22:39:59][D][text_sensor:069]: 'UART Text': Sending state 'sensorStop'
[22:39:59][D][text_sensor:069]: 'UART Text': Sending state 'sensor stopped already'
[22:39:59][D][text_sensor:069]: 'UART Text': Sending state 'Done'
[22:40:00][D][text_sensor:069]: 'UART Text': Sending state 'DFRobot:/>setLatency 2.000000 60.000000'
[22:40:00][D][text_sensor:069]: 'UART Text': Sending state 'Error'
[22:40:00][D][text_sensor:069]: 'UART Text': Sending state 'DFRobot:/>setRange 0.600000 6.000000'
[22:40:00][D][text_sensor:069]: 'UART Text': Sending state 'Done'
[22:40:00][D][text_sensor:069]: 'UART Text': Sending state 'DFRobot:/>setTrigRange 6.000000'
[22:40:00][D][text_sensor:069]: 'UART Text': Sending state 'Error'
[22:40:00][D][text_sensor:069]: 'UART Text': Sending state 'DFRobot:/>setSensitivity 7.000000 5.000000'
[22:40:00][D][text_sensor:069]: 'UART Text': Sending state 'Error'
[22:40:00][D][text_sensor:069]: 'UART Text': Sending state 'DFRobot:/>saveConfig'
[22:40:00][D][text_sensor:069]: 'UART Text': Sending state 'Done'
[22:40:01][D][switch:012]: 'mmWave sensor' Turning ON.
[22:40:01][D][switch:055]: 'mmWave sensor': Sending state ON
[22:40:01][D][text_sensor:069]: 'UART Text': Sending state 'DFRobot:/>sensorStart'
[22:40:01][D][text_sensor:069]: 'UART Text': Sending state 'sensor started already'
[22:40:01][D][text_sensor:069]: 'UART Text': Sending state 'Done'

Hi, the code is working in my case and output white led is also turning on when presence is detected, But same is not getting updated on homeassistant.