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DFRobot SEN0609 mmWave Radar

The dfrobot_sen0609 component lets you use the DFRobot SEN0609 and SEN0610 24GHz mmWave radars (C4001 family) with ESPHome. The radar reports human presence and, in speed and distance mode, the distance, speed and signal energy of a moving target. The SEN0609 has a detection range of up to 25 m and the SEN0610 up to 12 m.

The component talks to the module’s text command line over UART, so set the module’s communication switch to UART. A UART is required, with both tx_pin and rx_pin, baud_rate set to 9600, parity set to NONE and stop_bits set to 1.

uart:
  tx_pin: GPIOXX
  rx_pin: GPIOXX
  baud_rate: 9600


dfrobot_sen0609:


binary_sensor:
  - platform: dfrobot_sen0609
    has_target:
      name: Presence

Hub Component

Section titled “Hub Component”

At every boot the hub stops the sensor, writes the run mode, the UART output settings and the LED switches, reads the versions when text sensors are configured, reads the settings that have an entity configured, and starts the sensor again. The run mode, the UART output and the LEDs are applied each time instead of being saved on the module.

The module ignores commands that arrive too quickly, so the hub sends one command at a time and retries a command that is rejected or not answered, up to three times. When the module does not answer at all, the component shows a warning status and tries again after 30 seconds.

Configuration Variables

Section titled “Configuration Variables”

  • id (Optional, ID): Manually specify the ID for this component. Necessary if you want to define multiple instances of this component.

  • uart_id (Optional, ID): The ID of the UART to use. Required if you have multiple UARTs configured.

  • model (Optional, string): The radar model, which sets the largest value of the range numbers. Defaults to SEN0609.

    • SEN0609: Detection range up to 25 m.
    • SEN0610: Detection range up to 12 m.

  • mode (Optional, string): The run mode of the radar. Defaults to presence.

    • presence: The radar reports whether a person is present.
    • speed_and_distance: The radar reports the distance, speed and energy of a moving target. Needed for the sensors.

Binary Sensor

Section titled “Binary Sensor”
binary_sensor:
  - platform: dfrobot_sen0609
    has_target:
      name: Presence

Configuration Variables

Section titled “Configuration Variables”
  • dfrobot_sen0609_id (Optional, ID): The ID of the hub component. Required if you have multiple hubs configured.
  • has_target (Optional): true when the radar detects a target. In presence mode this is a person being present; in speed_and_distance mode it is a moving target. All options from Binary Sensor.

Sensor

Section titled “Sensor”

The sensors need the hub mode to be speed_and_distance; configuration validation fails otherwise. When no target is detected, the sensors report an unknown state.

dfrobot_sen0609:
  mode: speed_and_distance


sensor:
  - platform: dfrobot_sen0609
    target_distance:
      name: Target Distance
    target_speed:
      name: Target Speed

Configuration Variables

Section titled “Configuration Variables”
  • dfrobot_sen0609_id (Optional, ID): The ID of the hub component. Required if you have multiple hubs configured.
  • target_distance (Optional): The distance to the target in metres. All options from Sensor.
  • target_speed (Optional): The speed of the target in metres per second. All options from Sensor.
  • target_energy (Optional): The signal energy reflected by the target, without a unit. All options from Sensor.

Text Sensor

Section titled “Text Sensor”

The versions are read from the module at boot.

text_sensor:
  - platform: dfrobot_sen0609
    version:
      name: Software Version
    hardware_version:
      name: Hardware Version

Configuration Variables

Section titled “Configuration Variables”
  • dfrobot_sen0609_id (Optional, ID): The ID of the hub component. Required if you have multiple hubs configured.
  • version (Optional): The software version of the module. All options from Text Sensor.
  • hardware_version (Optional): The hardware version of the module. All options from Text Sensor.

Settings

Section titled “Settings”

The number, switch and select entities change the settings of the module. The hub reads their values from the module at boot, so the entities show what the module holds. The query_params button reads them again.

Changing a setting stops the radar for a moment: the hub stops the sensor, writes the change, saves it to the module’s flash and starts the sensor again. Changes made within a second of each other are saved together. If the module does not accept a change, a warning is logged and the entity shows the module’s value again.

The run_led and out_led switches are the exception: the module forgets them at power off, so they are not read from the module or saved to its flash. The hub writes them at boot from the switch’s restored state. Changing an LED also stops and starts the sensor.

Some settings are written in pairs with one command: min_range with max_range, hold_sensitivity with trigger_sensitivity, and on_latency with off_latency. When only one of a pair has an entity, the other value is read from the module and written back unchanged.

Number

Section titled “Number”
number:
  - platform: dfrobot_sen0609
    max_range:
      name: Maximum Range
    off_latency:
      name: Off Latency

Configuration Variables

Section titled “Configuration Variables”
  • dfrobot_sen0609_id (Optional, ID): The ID of the hub component. Required if you have multiple hubs configured.
  • min_range (Optional): The shortest distance at which a target is detected, from 0.6 m to the longest range of the model. All options from Number.
  • max_range (Optional): The longest distance at which a target is detected, from 0.6 m to the longest range of the model. All options from Number.
  • trigger_range (Optional): The distance within which a target must come to trigger presence, from 0.6 m to the longest range of the model. Once triggered, presence is held up to max_range. Only in presence mode. All options from Number.
  • hold_sensitivity (Optional): The sensitivity, from 0 to 9, used to hold presence once it is triggered. Only in presence mode. All options from Number.
  • trigger_sensitivity (Optional): The sensitivity, from 0 to 9, used to trigger presence. Only in presence mode. All options from Number.
  • on_latency (Optional): The delay before presence is reported, from 0 to 2 seconds. Only in presence mode. All options from Number.
  • off_latency (Optional): How long presence is held after the target is gone, from 2 to 1500 seconds. Only in presence mode. All options from Number.
  • inhibit_time (Optional): How long detection is suppressed after presence ends, from 0.1 to 60 seconds. Only in presence mode. All options from Number.
  • threshold_factor (Optional): The detection threshold, from 0 to 65535. Higher values need a stronger reflection to detect a target. Only in speed_and_distance mode. All options from Number.

Configuration validation fails when a number is used in a hub mode it does not support.

Switch

Section titled “Switch”
switch:
  - platform: dfrobot_sen0609
    run_led:
      name: Run LED

The module forgets the LED states at power off, so the hub writes them at every boot. The LED switches default to a restore_mode of RESTORE_DEFAULT_ON.

Configuration Variables

Section titled “Configuration Variables”
  • dfrobot_sen0609_id (Optional, ID): The ID of the hub component. Required if you have multiple hubs configured.
  • micro_motion (Optional): Detection of small movements. Only in speed_and_distance mode; configuration validation fails otherwise. All options from Switch.
  • run_led (Optional): The module’s run LED. All options from Switch.
  • out_led (Optional): The module’s LED that lights while a target is detected. All options from Switch.

Select

Section titled “Select”
select:
  - platform: dfrobot_sen0609
    out_pin_level:
      name: Out Pin Level

Configuration Variables

Section titled “Configuration Variables”
  • dfrobot_sen0609_id (Optional, ID): The ID of the hub component. Required if you have multiple hubs configured.
  • out_pin_level (Optional): The level of the module’s OUT pin while a target is detected, low or high. All options from Select.

Button

Section titled “Button”
button:
  - platform: dfrobot_sen0609
    restart:
      name: Restart

Configuration Variables

Section titled “Configuration Variables”
  • dfrobot_sen0609_id (Optional, ID): The ID of the hub component. Required if you have multiple hubs configured.
  • restart (Optional): Reboots the module. The module does not answer this command, so the hub waits for it to boot, then writes the run mode, the UART output settings and the LEDs and reads the settings again, as it does at boot. All options from Button.
  • factory_reset (Optional): Restores the module’s factory settings, then writes the run mode, the UART output settings and the LEDs and reads the settings again, so the settings entities show the factory values. All options from Button.
  • query_params (Optional): Reads the versions and the settings that have an entity configured from the module again. Like a change, this stops the radar for a moment. All options from Button.

See Also

Section titled “See Also”