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"

I got the below error:

INFO ESPHome 2025.6.0
INFO Reading configuration /config/esphome/presence-sensor-c4001.yaml...
Failed config

esphome: [source /config/esphome/presence-sensor-c4001.yaml:2]

'name' is a required option for [esphome].
on_boot:
priority: 600
then:
- delay: 3s
- uart.write: setUartOutput 1 1

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'