esphome/esphome/components/ld2410/ld2410.cpp

#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