LD2410 Human Presence Sensor

#include <stdio.h>
#include <string.h>
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "driver/uart.h"

// LD2410 on UART2: radar TX -> GPIO16 (RX2), RX -> GPIO17 (TX2), 256000 baud
#define RADAR_UART UART_NUM_2
#define RADAR_RX_PIN 16
#define RADAR_TX_PIN 17

static const uint8_t FRAME_HEAD[4] = {0xF4, 0xF3, 0xF2, 0xF1};

void app_main(void)
{
    uart_config_t config = {
        .baud_rate = 256000,
        .data_bits = UART_DATA_8_BITS,
        .parity = UART_PARITY_DISABLE,
        .stop_bits = UART_STOP_BITS_1,
        .flow_ctrl = UART_HW_FLOWCTRL_DISABLE,
    };
    ESP_ERROR_CHECK(uart_param_config(RADAR_UART, &config));
    ESP_ERROR_CHECK(uart_set_pin(RADAR_UART, RADAR_TX_PIN, RADAR_RX_PIN,
                                 UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE));
    ESP_ERROR_CHECK(uart_driver_install(RADAR_UART, 1024, 0, 0, NULL, 0));

    uint8_t buf[64];
    int matched = 0;

    while (1) {
        uint8_t byte;
        if (uart_read_bytes(RADAR_UART, &byte, 1, pdMS_TO_TICKS(100)) != 1)
            continue;

        // Sync on the F4 F3 F2 F1 data-frame header
        if (matched < 4) {
            matched = (byte == FRAME_HEAD[matched]) ? matched + 1 : (byte == FRAME_HEAD[0]);
            continue;
        }

        // Read length (2 bytes, little-endian), then the payload + 4-byte tail
        uint8_t len_bytes[2];
        len_bytes[0] = byte;
        uart_read_bytes(RADAR_UART, &len_bytes[1], 1, pdMS_TO_TICKS(100));
        int length = len_bytes[0] | (len_bytes[1] << 8);
        matched = 0;
        if (length < 11 || length > (int)sizeof(buf))
            continue; // implausible - resync

        if (uart_read_bytes(RADAR_UART, buf, length + 4, pdMS_TO_TICKS(100)) != length + 4)
            continue;

        // Basic-mode report: [0]=0x02, [1]=0xAA, [2]=state, then little-endian values
        if (buf[0] != 0x02 || buf[1] != 0xAA)
            continue; // engineering-mode or config frame - ignore here

        uint8_t state = buf[2]; // 0 none, 1 moving, 2 still, 3 both
        int moving_cm = buf[3] | (buf[4] << 8);
        int still_cm = buf[6] | (buf[7] << 8);
        int detect_cm = buf[9] | (buf[10] << 8);

        static const char *STATES[] = {"no target", "moving", "still", "moving + still"};
        printf("%s | moving %d cm (energy %d) | still %d cm (energy %d) | detect %d cm\n",
               STATES[state & 0x03], moving_cm, buf[5], still_cm, buf[8], detect_cm);
    }
}

uart:
  id: uart_bus
  tx_pin: GPIO17
  rx_pin: GPIO16
  baud_rate: 256000

ld2410:
  uart_id: uart_bus

binary_sensor:
  - platform: ld2410
    has_target:
      name: "Presence Detected"
    has_moving_target:
      name: "Moving Target Detected"
    has_still_target:
      name: "Still Target Detected"

sensor:
  - platform: ld2410
    moving_distance:
      name: "Moving Distance"
    still_distance:
      name: "Still Distance"
    moving_energy:
      name: "Moving Energy"
    still_energy:
      name: "Still Energy"
    detection_distance:
      name: "Detection Distance"

text_sensor:
  - platform: ld2410
    version:
      name: "LD2410 Firmware Version"
    mac_address:
      name: "LD2410 MAC Address"

[env:esp32dev]
platform = espressif32
board = esp32dev
framework = arduino
monitor_speed = 115200
lib_deps =
    iavorvel/MyLD2410 @ ^1.2.8

#include <Arduino.h>
#if defined(ARDUINO_SAMD_NANO_33_IOT) || defined(ARDUINO_AVR_LEONARDO)
//ARDUINO_SAMD_NANO_33_IOT RX_PIN is D1, TX_PIN is D0
//ARDUINO_AVR_LEONARDO RX_PIN(RXI) is D0, TX_PIN(TXO) is D1
#define sensorSerial Serial1
#elif defined(ARDUINO_XIAO_ESP32C3) || defined(ARDUINO_XIAO_ESP32C6)
//RX_PIN is D7, TX_PIN is D6
#define sensorSerial Serial0
#elif defined(ESP32)
//Other ESP32 device - choose available GPIO pins
#define sensorSerial Serial1
#if defined(ARDUINO_ESP32S3_DEV)
#define RX_PIN 18
#define TX_PIN 17
#else
#define RX_PIN 16
#define TX_PIN 17
#endif
#else
#error "This sketch only works on ESP32, Arduino Nano 33IoT, and Arduino Leonardo (Pro-Micro)"
#endif

// User defines
// #define DEBUG_MODE
#define ENHANCED_MODE
#define SERIAL_BAUD_RATE 115200

//Change the communication baud rate here, if necessary
//#define LD2410_BAUD_RATE 256000
#include "MyLD2410.h"

#ifdef DEBUG_MODE
MyLD2410 sensor(sensorSerial, true);
#else
MyLD2410 sensor(sensorSerial);
#endif

unsigned long nextPrint = 0, printEvery = 1000;  // print every second

void printValue(const byte &val) {
  Serial.print(' ');
  Serial.print(val);
}

void printData() {
  Serial.print(sensor.statusString());
  if (sensor.presenceDetected()) {
    Serial.print(", distance: ");
    Serial.print(sensor.detectedDistance());
    Serial.print("cm");
  }
  Serial.println();
  if (sensor.movingTargetDetected()) {
    Serial.print(" MOVING    = ");
    Serial.print(sensor.movingTargetSignal());
    Serial.print("@");
    Serial.print(sensor.movingTargetDistance());
    Serial.print("cm ");
    if (sensor.inEnhancedMode()) {
      Serial.print("\n signals->[");
      sensor.getMovingSignals().forEach(printValue);
      Serial.print(" ] thresholds:[");
      sensor.getMovingThresholds().forEach(printValue);
      Serial.print(" ]");
    }
    Serial.println();
  }
  if (sensor.stationaryTargetDetected()) {
    Serial.print(" STATIONARY= ");
    Serial.print(sensor.stationaryTargetSignal());
    Serial.print("@");
    Serial.print(sensor.stationaryTargetDistance());
    Serial.print("cm ");
    if (sensor.inEnhancedMode()) {
      Serial.print("\n signals->[");
      sensor.getStationarySignals().forEach(printValue);
      Serial.print(" ] thresholds:[");
      sensor.getStationaryThresholds().forEach(printValue);
      Serial.print(" ]");
    }
    Serial.println();
  }

  if (sensor.inEnhancedMode() && (sensor.getFirmwareMajor() > 1)) {
    Serial.print("Light level: ");
    Serial.println(sensor.getLightLevel());
    Serial.print("Output level: ");
    Serial.println((sensor.getOutLevel()) ? "HIGH" : "LOW");
  }

  Serial.println();
}

void setup() {
  Serial.begin(SERIAL_BAUD_RATE);
#if defined(ARDUINO_XIAO_ESP32C3) || defined(ARDUINO_XIAO_ESP32C6) || defined(ARDUINO_SAMD_NANO_33_IOT) || defined(ARDUINO_AVR_LEONARDO)
  sensorSerial.begin(LD2410_BAUD_RATE);
#else
  sensorSerial.begin(LD2410_BAUD_RATE, SERIAL_8N1, RX_PIN, TX_PIN);
#endif
  delay(2000);
  Serial.println(__FILE__);
  if (!sensor.begin()) {
    Serial.println("Failed to communicate with the sensor.");
    while (true) {}
  }

#ifdef ENHANCED_MODE
  sensor.enhancedMode();
#else
  sensor.enhancedMode(false);
#endif

  delay(nextPrint);
}

void loop() {
  if ((sensor.check() == MyLD2410::Response::DATA) && (millis() > nextPrint)) {
    nextPrint = millis() + printEvery;
    printData();
  }
}

from machine import UART
import time

# Initialize UART2: TX=17, RX=16, baud rate 256000
uart = UART(2, baudrate=256000, tx=17, rx=16)

# Function to read and print data from LD2410
def read_ld2410():
    while True:
        if uart.any():
            data = uart.read()
            if data:
                print(data)
        time.sleep(0.1)

read_ld2410()