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ld2410.cpp
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ld2410.cpp
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#include "ld2410.h"
#define highbyte(val) (uint8_t)((val) >> 8)
#define lowbyte(val) (uint8_t)((val) &0xff)
namespace esphome {
namespace ld2410 {
static const char *const TAG = "ld2410";
void LD2410Component::dump_config() {
ESP_LOGCONFIG(TAG, "LD2410:");
#ifdef USE_BINARY_SENSOR
LOG_BINARY_SENSOR(" ", "HasTargetSensor", this->target_binary_sensor_);
LOG_BINARY_SENSOR(" ", "MovingSensor", this->moving_binary_sensor_);
LOG_BINARY_SENSOR(" ", "StillSensor", this->still_binary_sensor_);
#endif
#ifdef USE_SENSOR
LOG_SENSOR(" ", "Moving Distance", this->moving_target_distance_sensor_);
LOG_SENSOR(" ", "Still Distance", this->still_target_distance_sensor_);
LOG_SENSOR(" ", "Moving Energy", this->moving_target_energy_sensor_);
LOG_SENSOR(" ", "Still Energy", this->still_target_energy_sensor_);
LOG_SENSOR(" ", "Detection Distance", this->detection_distance_sensor_);
#endif
this->set_config_mode_(true);
this->get_version_();
this->set_config_mode_(false);
ESP_LOGCONFIG(TAG, " Firmware Version : %u.%u.%u%u%u%u", this->version_[0], this->version_[1], this->version_[2],
this->version_[3], this->version_[4], this->version_[5]);
}
void LD2410Component::setup() {
ESP_LOGCONFIG(TAG, "Setting up LD2410...");
this->set_config_mode_(true);
this->set_max_distances_timeout_(this->max_move_distance_, this->max_still_distance_, this->timeout_);
// Configure Gates sensitivity
this->set_gate_threshold_(0, this->rg0_move_threshold_, this->rg0_still_threshold_);
this->set_gate_threshold_(1, this->rg1_move_threshold_, this->rg1_still_threshold_);
this->set_gate_threshold_(2, this->rg2_move_threshold_, this->rg2_still_threshold_);
this->set_gate_threshold_(3, this->rg3_move_threshold_, this->rg3_still_threshold_);
this->set_gate_threshold_(4, this->rg4_move_threshold_, this->rg4_still_threshold_);
this->set_gate_threshold_(5, this->rg5_move_threshold_, this->rg5_still_threshold_);
this->set_gate_threshold_(6, this->rg6_move_threshold_, this->rg6_still_threshold_);
this->set_gate_threshold_(7, this->rg7_move_threshold_, this->rg7_still_threshold_);
this->set_gate_threshold_(8, this->rg8_move_threshold_, this->rg8_still_threshold_);
this->get_version_();
this->set_config_mode_(false);
ESP_LOGCONFIG(TAG, "Firmware Version : %u.%u.%u%u%u%u", this->version_[0], this->version_[1], this->version_[2],
this->version_[3], this->version_[4], this->version_[5]);
ESP_LOGCONFIG(TAG, "LD2410 setup complete.");
}
void LD2410Component::loop() {
const int max_line_length = 80;
static uint8_t buffer[max_line_length];
while (available()) {
this->readline_(read(), buffer, max_line_length);
}
}
void LD2410Component::send_command_(uint8_t command, uint8_t *command_value, int command_value_len) {
// lastCommandSuccess->publish_state(false);
// frame start bytes
this->write_array(CMD_FRAME_HEADER, 4);
// length bytes
int len = 2;
if (command_value != nullptr)
len += command_value_len;
this->write_byte(lowbyte(len));
this->write_byte(highbyte(len));
// command
this->write_byte(lowbyte(command));
this->write_byte(highbyte(command));
// command value bytes
if (command_value != nullptr) {
for (int i = 0; i < command_value_len; i++) {
this->write_byte(command_value[i]);
}
}
// frame end bytes
this->write_array(CMD_FRAME_END, 4);
// FIXME to remove
delay(50); // NOLINT
}
void LD2410Component::handle_periodic_data_(uint8_t *buffer, int len) {
if (len < 12)
return; // 4 frame start bytes + 2 length bytes + 1 data end byte + 1 crc byte + 4 frame end bytes
if (buffer[0] != 0xF4 || buffer[1] != 0xF3 || buffer[2] != 0xF2 || buffer[3] != 0xF1) // check 4 frame start bytes
return;
if (buffer[7] != HEAD || buffer[len - 6] != END || buffer[len - 5] != CHECK) // Check constant values
return; // data head=0xAA, data end=0x55, crc=0x00
/*
Data Type: 6th
0x01: Engineering mode
0x02: Normal mode
*/
// char data_type = buffer[DATA_TYPES];
/*
Target states: 9th
0x00 = No target
0x01 = Moving targets
0x02 = Still targets
0x03 = Moving+Still targets
*/
#ifdef USE_BINARY_SENSOR
char target_state = buffer[TARGET_STATES];
if (this->target_binary_sensor_ != nullptr) {
this->target_binary_sensor_->publish_state(target_state != 0x00);
}
#endif
/*
Reduce data update rate to prevent home assistant database size grow fast
*/
int32_t current_millis = millis();
if (current_millis - last_periodic_millis < 1000)
return;
last_periodic_millis = current_millis;
#ifdef USE_BINARY_SENSOR
if (this->moving_binary_sensor_ != nullptr) {
this->moving_binary_sensor_->publish_state(CHECK_BIT(target_state, 0));
}
if (this->still_binary_sensor_ != nullptr) {
this->still_binary_sensor_->publish_state(CHECK_BIT(target_state, 1));
}
#endif
/*
Moving target distance: 10~11th bytes
Moving target energy: 12th byte
Still target distance: 13~14th bytes
Still target energy: 15th byte
Detect distance: 16~17th bytes
*/
#ifdef USE_SENSOR
if (this->moving_target_distance_sensor_ != nullptr) {
int new_moving_target_distance = this->two_byte_to_int_(buffer[MOVING_TARGET_LOW], buffer[MOVING_TARGET_HIGH]);
if (this->moving_target_distance_sensor_->get_state() != new_moving_target_distance)
this->moving_target_distance_sensor_->publish_state(new_moving_target_distance);
}
if (this->moving_target_energy_sensor_ != nullptr) {
int new_moving_target_energy = buffer[MOVING_ENERGY];
if (this->moving_target_energy_sensor_->get_state() != new_moving_target_energy)
this->moving_target_energy_sensor_->publish_state(new_moving_target_energy);
}
if (this->still_target_distance_sensor_ != nullptr) {
int new_still_target_distance = this->two_byte_to_int_(buffer[STILL_TARGET_LOW], buffer[STILL_TARGET_HIGH]);
if (this->still_target_distance_sensor_->get_state() != new_still_target_distance)
this->still_target_distance_sensor_->publish_state(new_still_target_distance);
}
if (this->still_target_energy_sensor_ != nullptr) {
int new_still_target_energy = buffer[STILL_ENERGY];
if (this->still_target_energy_sensor_->get_state() != new_still_target_energy)
this->still_target_energy_sensor_->publish_state(new_still_target_energy);
}
if (this->detection_distance_sensor_ != nullptr) {
int new_detect_distance = this->two_byte_to_int_(buffer[DETECT_DISTANCE_LOW], buffer[DETECT_DISTANCE_HIGH]);
if (this->detection_distance_sensor_->get_state() != new_detect_distance)
this->detection_distance_sensor_->publish_state(new_detect_distance);
}
#endif
}
void LD2410Component::handle_ack_data_(uint8_t *buffer, int len) {
ESP_LOGV(TAG, "Handling ACK DATA for COMMAND");
if (len < 10) {
ESP_LOGE(TAG, "Error with last command : incorrect length");
return;
}
if (buffer[0] != 0xFD || buffer[1] != 0xFC || buffer[2] != 0xFB || buffer[3] != 0xFA) { // check 4 frame start bytes
ESP_LOGE(TAG, "Error with last command : incorrect Header");
return;
}
if (buffer[COMMAND_STATUS] != 0x01) {
ESP_LOGE(TAG, "Error with last command : status != 0x01");
return;
}
if (this->two_byte_to_int_(buffer[8], buffer[9]) != 0x00) {
ESP_LOGE(TAG, "Error with last command , last buffer was: %u , %u", buffer[8], buffer[9]);
return;
}
switch (buffer[COMMAND]) {
case lowbyte(CMD_ENABLE_CONF):
ESP_LOGV(TAG, "Handled Enable conf command");
break;
case lowbyte(CMD_DISABLE_CONF):
ESP_LOGV(TAG, "Handled Disabled conf command");
break;
case lowbyte(CMD_VERSION):
ESP_LOGV(TAG, "FW Version is: %u.%u.%u%u%u%u", buffer[13], buffer[12], buffer[17], buffer[16], buffer[15],
buffer[14]);
this->version_[0] = buffer[13];
this->version_[1] = buffer[12];
this->version_[2] = buffer[17];
this->version_[3] = buffer[16];
this->version_[4] = buffer[15];
this->version_[5] = buffer[14];
break;
case lowbyte(CMD_GATE_SENS):
ESP_LOGV(TAG, "Handled sensitivity command");
break;
case lowbyte(CMD_QUERY): // Query parameters response
{
if (buffer[10] != 0xAA)
return; // value head=0xAA
/*
Moving distance range: 13th byte
Still distance range: 14th byte
*/
// TODO
// maxMovingDistanceRange->publish_state(buffer[12]);
// maxStillDistanceRange->publish_state(buffer[13]);
/*
Moving Sensitivities: 15~23th bytes
Still Sensitivities: 24~32th bytes
*/
for (int i = 0; i < 9; i++) {
moving_sensitivities[i] = buffer[14 + i];
}
for (int i = 0; i < 9; i++) {
still_sensitivities[i] = buffer[23 + i];
}
/*
None Duration: 33~34th bytes
*/
// noneDuration->publish_state(this->two_byte_to_int_(buffer[32], buffer[33]));
} break;
default:
break;
}
}
void LD2410Component::readline_(int readch, uint8_t *buffer, int len) {
static int pos = 0;
if (readch >= 0) {
if (pos < len - 1) {
buffer[pos++] = readch;
buffer[pos] = 0;
} else {
pos = 0;
}
if (pos >= 4) {
if (buffer[pos - 4] == 0xF8 && buffer[pos - 3] == 0xF7 && buffer[pos - 2] == 0xF6 && buffer[pos - 1] == 0xF5) {
ESP_LOGV(TAG, "Will handle Periodic Data");
this->handle_periodic_data_(buffer, pos);
pos = 0; // Reset position index ready for next time
} else if (buffer[pos - 4] == 0x04 && buffer[pos - 3] == 0x03 && buffer[pos - 2] == 0x02 &&
buffer[pos - 1] == 0x01) {
ESP_LOGV(TAG, "Will handle ACK Data");
this->handle_ack_data_(buffer, pos);
pos = 0; // Reset position index ready for next time
}
}
}
}
void LD2410Component::set_config_mode_(bool enable) {
uint8_t cmd = enable ? CMD_ENABLE_CONF : CMD_DISABLE_CONF;
uint8_t cmd_value[2] = {0x01, 0x00};
this->send_command_(cmd, enable ? cmd_value : nullptr, 2);
}
void LD2410Component::query_parameters_() { this->send_command_(CMD_QUERY, nullptr, 0); }
void LD2410Component::get_version_() { this->send_command_(CMD_VERSION, nullptr, 0); }
void LD2410Component::set_max_distances_timeout_(uint8_t max_moving_distance_range, uint8_t max_still_distance_range,
uint16_t timeout) {
uint8_t value[18] = {0x00,
0x00,
lowbyte(max_moving_distance_range),
highbyte(max_moving_distance_range),
0x00,
0x00,
0x01,
0x00,
lowbyte(max_still_distance_range),
highbyte(max_still_distance_range),
0x00,
0x00,
0x02,
0x00,
lowbyte(timeout),
highbyte(timeout),
0x00,
0x00};
this->send_command_(CMD_MAXDIST_DURATION, value, 18);
this->query_parameters_();
}
void LD2410Component::set_gate_threshold_(uint8_t gate, uint8_t motionsens, uint8_t stillsens) {
// reference
// https://drive.google.com/drive/folders/1p4dhbEJA3YubyIjIIC7wwVsSo8x29Fq-?spm=a2g0o.detail.1000023.17.93465697yFwVxH
// Send data: configure the motion sensitivity of distance gate 3 to 40, and the static sensitivity of 40
// 00 00 (gate)
// 03 00 00 00 (gate number)
// 01 00 (motion sensitivity)
// 28 00 00 00 (value)
// 02 00 (still sensitivtiy)
// 28 00 00 00 (value)
uint8_t value[18] = {0x00, 0x00, lowbyte(gate), highbyte(gate), 0x00, 0x00,
0x01, 0x00, lowbyte(motionsens), highbyte(motionsens), 0x00, 0x00,
0x02, 0x00, lowbyte(stillsens), highbyte(stillsens), 0x00, 0x00};
this->send_command_(CMD_GATE_SENS, value, 18);
}
} // namespace ld2410
} // namespace esphome