Add dfrobot_sen0395 mmwave radar component (#4203)

Co-authored-by: Jesse Hills <3060199+jesserockz@users.noreply.github.com>

CODEOWNERS

@@ -77,6 +77,7 @@ esphome/components/dashboard_import/* @esphome/core
 esphome/components/debug/* @OttoWinter
 esphome/components/delonghi/* @grob6000
 esphome/components/dfplayer/* @glmnet
+esphome/components/dfrobot_sen0395/* @niklasweber
 esphome/components/dht/* @OttoWinter
 esphome/components/display_menu_base/* @numo68
 esphome/components/dps310/* @kbx81

esphome/components/dfrobot_sen0395/__init__.py

@@ -0,0 +1,208 @@
+import esphome.codegen as cg
+import esphome.config_validation as cv
+from esphome import automation
+from esphome import core
+from esphome.automation import maybe_simple_id
+from esphome.const import CONF_ID
+from esphome.components import uart
+
+CODEOWNERS = ["@niklasweber"]
+DEPENDENCIES = ["uart"]
+MULTI_CONF = True
+
+dfrobot_sen0395_ns = cg.esphome_ns.namespace("dfrobot_sen0395")
+DfrobotSen0395Component = dfrobot_sen0395_ns.class_(
+    "DfrobotSen0395Component", cg.Component
+)
+
+# Actions
+DfrobotSen0395ResetAction = dfrobot_sen0395_ns.class_(
+    "DfrobotSen0395ResetAction", automation.Action
+)
+DfrobotSen0395SettingsAction = dfrobot_sen0395_ns.class_(
+    "DfrobotSen0395SettingsAction", automation.Action
+)
+
+CONF_DFROBOT_SEN0395_ID = "dfrobot_sen0395_id"
+
+CONF_DELAY_AFTER_DETECT = "delay_after_detect"
+CONF_DELAY_AFTER_DISAPPEAR = "delay_after_disappear"
+CONF_DETECTION_SEGMENTS = "detection_segments"
+CONF_OUTPUT_LATENCY = "output_latency"
+CONF_FACTORY_RESET = "factory_reset"
+CONF_SENSITIVITY = "sensitivity"
+
+CONFIG_SCHEMA = cv.All(
+    cv.Schema(
+        {
+            cv.GenerateID(): cv.declare_id(DfrobotSen0395Component),
+        }
+    ).extend(uart.UART_DEVICE_SCHEMA)
+)
+
+
+async def to_code(config):
+    var = cg.new_Pvariable(config[CONF_ID])
+    await cg.register_component(var, config)
+    await uart.register_uart_device(var, config)
+
+
+@automation.register_action(
+    "dfrobot_sen0395.reset",
+    DfrobotSen0395ResetAction,
+    maybe_simple_id(
+        {
+            cv.GenerateID(): cv.use_id(DfrobotSen0395Component),
+        }
+    ),
+)
+async def dfrobot_sen0395_reset_to_code(config, action_id, template_arg, args):
+    var = cg.new_Pvariable(action_id, template_arg)
+    await cg.register_parented(var, config[CONF_ID])
+
+    return var
+
+
+def range_segment_list(input):
+    """Validate input is a list of ranges which can be used to configure the dfrobot mmwave radar
+
+    A list of segments should be provided. A minimum of one segment is required and a maximum of
+    four segments is allowed. A segment describes a range of distances. E.g. from 0mm to 1m.
+    The distances need to be defined in an ascending order and they cannot contain / intersect
+    each other.
+    """
+
+    # Flatten input to one dimensional list
+    flat_list = []
+    if isinstance(input, list):
+        for list_item in input:
+            if isinstance(list_item, list):
+                for item in list_item:
+                    flat_list.append(item)
+            else:
+                flat_list.append(list_item)
+    else:
+        flat_list.append(input)
+
+    input = flat_list
+
+    if len(input) < 2:
+        raise cv.Invalid(
+            "At least two values need to be specified (start + stop distances)"
+        )
+    if len(input) % 2 != 0:
+        raise cv.Invalid(
+            "An even number of arguments must be specified (pairs of min + max)"
+        )
+    if len(input) > 8:
+        raise cv.Invalid(
+            "Maximum four segments can be specified (8 values: 4 * min + max)"
+        )
+
+    largest_distance = -1
+    for distance in input:
+        if isinstance(distance, core.Lambda):
+            continue
+        m = cv.distance(distance)
+        if m > 9:
+            raise cv.Invalid("Maximum distance is 9m")
+        if m < 0:
+            raise cv.Invalid("Minimum distance is 0m")
+        if m <= largest_distance:
+            raise cv.Invalid(
+                "Distances must be delared from small to large "
+                "and they cannot contain each other"
+            )
+        largest_distance = m
+        # Replace distance object with meters float
+        input[input.index(distance)] = m
+
+    return input
+
+
+MMWAVE_SETTINGS_SCHEMA = cv.Schema(
+    {
+        cv.GenerateID(): cv.use_id(DfrobotSen0395Component),
+        cv.Optional(CONF_FACTORY_RESET): cv.templatable(cv.boolean),
+        cv.Optional(CONF_DETECTION_SEGMENTS): range_segment_list,
+        cv.Optional(CONF_OUTPUT_LATENCY): {
+            cv.Required(CONF_DELAY_AFTER_DETECT): cv.templatable(
+                cv.All(
+                    cv.positive_time_period,
+                    cv.Range(max=core.TimePeriod(seconds=1638.375)),
+                )
+            ),
+            cv.Required(CONF_DELAY_AFTER_DISAPPEAR): cv.templatable(
+                cv.All(
+                    cv.positive_time_period,
+                    cv.Range(max=core.TimePeriod(seconds=1638.375)),
+                )
+            ),
+        },
+        cv.Optional(CONF_SENSITIVITY): cv.templatable(cv.int_range(min=0, max=9)),
+    }
+).add_extra(
+    cv.has_at_least_one_key(
+        CONF_FACTORY_RESET,
+        CONF_DETECTION_SEGMENTS,
+        CONF_OUTPUT_LATENCY,
+        CONF_SENSITIVITY,
+    )
+)
+
+
+@automation.register_action(
+    "dfrobot_sen0395.settings",
+    DfrobotSen0395SettingsAction,
+    MMWAVE_SETTINGS_SCHEMA,
+)
+async def dfrobot_sen0395_settings_to_code(config, action_id, template_arg, args):
+    var = cg.new_Pvariable(action_id, template_arg)
+    await cg.register_parented(var, config[CONF_ID])
+
+    if factory_reset_config := config.get(CONF_FACTORY_RESET):
+        template_ = await cg.templatable(factory_reset_config, args, int)
+        cg.add(var.set_factory_reset(template_))
+
+    if CONF_DETECTION_SEGMENTS in config:
+        segments = config[CONF_DETECTION_SEGMENTS]
+
+        if len(segments) >= 2:
+            template_ = await cg.templatable(segments[0], args, float)
+            cg.add(var.set_det_min1(template_))
+            template_ = await cg.templatable(segments[1], args, float)
+            cg.add(var.set_det_max1(template_))
+        if len(segments) >= 4:
+            template_ = await cg.templatable(segments[2], args, float)
+            cg.add(var.set_det_min2(template_))
+            template_ = await cg.templatable(segments[3], args, float)
+            cg.add(var.set_det_max2(template_))
+        if len(segments) >= 6:
+            template_ = await cg.templatable(segments[4], args, float)
+            cg.add(var.set_det_min3(template_))
+            template_ = await cg.templatable(segments[5], args, float)
+            cg.add(var.set_det_max3(template_))
+        if len(segments) >= 8:
+            template_ = await cg.templatable(segments[6], args, float)
+            cg.add(var.set_det_min4(template_))
+            template_ = await cg.templatable(segments[7], args, float)
+            cg.add(var.set_det_max4(template_))
+    if CONF_OUTPUT_LATENCY in config:
+        template_ = await cg.templatable(
+            config[CONF_OUTPUT_LATENCY][CONF_DELAY_AFTER_DETECT], args, float
+        )
+        if isinstance(template_, cv.TimePeriod):
+            template_ = template_.total_milliseconds / 1000
+        cg.add(var.set_delay_after_detect(template_))
+
+        template_ = await cg.templatable(
+            config[CONF_OUTPUT_LATENCY][CONF_DELAY_AFTER_DISAPPEAR], args, float
+        )
+        if isinstance(template_, cv.TimePeriod):
+            template_ = template_.total_milliseconds / 1000
+        cg.add(var.set_delay_after_disappear(template_))
+    if CONF_SENSITIVITY in config:
+        template_ = await cg.templatable(config[CONF_SENSITIVITY], args, int)
+        cg.add(var.set_sensitivity(template_))
+
+    return var

esphome/components/dfrobot_sen0395/automation.h

@@ -0,0 +1,89 @@
+#pragma once
+
+#include "esphome/core/automation.h"
+#include "esphome/core/helpers.h"
+
+#include "dfrobot_sen0395.h"
+
+namespace esphome {
+namespace dfrobot_sen0395 {
+
+template<typename... Ts>
+class DfrobotSen0395ResetAction : public Action<Ts...>, public Parented<DfrobotSen0395Component> {
+ public:
+  void play(Ts... x) { this->parent_->enqueue(make_unique<ResetSystemCommand>()); }
+};
+
+template<typename... Ts>
+class DfrobotSen0395SettingsAction : public Action<Ts...>, public Parented<DfrobotSen0395Component> {
+ public:
+  TEMPLATABLE_VALUE(int8_t, factory_reset)
+  TEMPLATABLE_VALUE(int8_t, start_after_power_on)
+  TEMPLATABLE_VALUE(int8_t, turn_on_led)
+  TEMPLATABLE_VALUE(int8_t, presence_via_uart)
+  TEMPLATABLE_VALUE(int8_t, sensitivity)
+  TEMPLATABLE_VALUE(float, delay_after_detect)
+  TEMPLATABLE_VALUE(float, delay_after_disappear)
+  TEMPLATABLE_VALUE(float, det_min1)
+  TEMPLATABLE_VALUE(float, det_max1)
+  TEMPLATABLE_VALUE(float, det_min2)
+  TEMPLATABLE_VALUE(float, det_max2)
+  TEMPLATABLE_VALUE(float, det_min3)
+  TEMPLATABLE_VALUE(float, det_max3)
+  TEMPLATABLE_VALUE(float, det_min4)
+  TEMPLATABLE_VALUE(float, det_max4)
+
+  void play(Ts... x) {
+    this->parent_->enqueue(make_unique<PowerCommand>(0));
+    if (this->factory_reset_.has_value() && this->factory_reset_.value(x...) == true) {
+      this->parent_->enqueue(make_unique<FactoryResetCommand>());
+    }
+    if (this->det_min1_.has_value() && this->det_max1_.has_value()) {
+      if (this->det_min1_.value() >= 0 && this->det_max1_.value() >= 0) {
+        this->parent_->enqueue(make_unique<DetRangeCfgCommand>(
+            this->det_min1_.value_or(-1), this->det_max1_.value_or(-1), this->det_min2_.value_or(-1),
+            this->det_max2_.value_or(-1), this->det_min3_.value_or(-1), this->det_max3_.value_or(-1),
+            this->det_min4_.value_or(-1), this->det_max4_.value_or(-1)));
+      }
+    }
+    if (this->delay_after_detect_.has_value() && this->delay_after_disappear_.has_value()) {
+      float detect = this->delay_after_detect_.value(x...);
+      float disappear = this->delay_after_disappear_.value(x...);
+      if (detect >= 0 && disappear >= 0) {
+        this->parent_->enqueue(make_unique<OutputLatencyCommand>(detect, disappear));
+      }
+    }
+    if (this->start_after_power_on_.has_value()) {
+      int8_t val = this->start_after_power_on_.value(x...);
+      if (val >= 0) {
+        this->parent_->enqueue(make_unique<SensorCfgStartCommand>(val));
+      }
+    }
+    if (this->turn_on_led_.has_value()) {
+      int8_t val = this->turn_on_led_.value(x...);
+      if (val >= 0) {
+        this->parent_->enqueue(make_unique<LedModeCommand>(val));
+      }
+    }
+    if (this->presence_via_uart_.has_value()) {
+      int8_t val = this->presence_via_uart_.value(x...);
+      if (val >= 0) {
+        this->parent_->enqueue(make_unique<UartOutputCommand>(val));
+      }
+    }
+    if (this->sensitivity_.has_value()) {
+      int8_t val = this->sensitivity_.value(x...);
+      if (val >= 0) {
+        if (val > 9) {
+          val = 9;
+        }
+        this->parent_->enqueue(make_unique<SensitivityCommand>(val));
+      }
+    }
+    this->parent_->enqueue(make_unique<SaveCfgCommand>());
+    this->parent_->enqueue(make_unique<PowerCommand>(1));
+  }
+};
+
+}  // namespace dfrobot_sen0395
+}  // namespace esphome

esphome/components/dfrobot_sen0395/binary_sensor.py

@@ -0,0 +1,22 @@
+import esphome.codegen as cg
+import esphome.config_validation as cv
+from esphome.components import binary_sensor
+from esphome.const import DEVICE_CLASS_MOTION
+from . import CONF_DFROBOT_SEN0395_ID, DfrobotSen0395Component
+
+DEPENDENCIES = ["dfrobot_sen0395"]
+
+CONFIG_SCHEMA = binary_sensor.binary_sensor_schema(
+    device_class=DEVICE_CLASS_MOTION
+).extend(
+    {
+        cv.GenerateID(CONF_DFROBOT_SEN0395_ID): cv.use_id(DfrobotSen0395Component),
+    }
+)
+
+
+async def to_code(config):
+    parent = await cg.get_variable(config[CONF_DFROBOT_SEN0395_ID])
+    binary_sens = await binary_sensor.new_binary_sensor(config)
+
+    cg.add(parent.set_detected_binary_sensor(binary_sens))

esphome/components/dfrobot_sen0395/commands.cpp

@@ -0,0 +1,329 @@
+#include "commands.h"
+
+#include "esphome/core/log.h"
+
+#include "dfrobot_sen0395.h"
+
+namespace esphome {
+namespace dfrobot_sen0395 {
+
+static const char *const TAG = "dfrobot_sen0395.commands";
+
+uint8_t Command::execute(DfrobotSen0395Component *parent) {
+  this->parent_ = parent;
+  if (this->cmd_sent_) {
+    if (this->parent_->read_message_()) {
+      std::string message(this->parent_->read_buffer_);
+      if (message.rfind("is not recognized as a CLI command") != std::string::npos) {
+        ESP_LOGD(TAG, "Command not recognized properly by sensor");
+        if (this->retries_left_ > 0) {
+          this->retries_left_ -= 1;
+          this->cmd_sent_ = false;
+          ESP_LOGD(TAG, "Retrying...");
+          return 0;
+        } else {
+          this->parent_->find_prompt_();
+          return 1;  // Command done
+        }
+      }
+      uint8_t rc = on_message(message);
+      if (rc == 2) {
+        if (this->retries_left_ > 0) {
+          this->retries_left_ -= 1;
+          this->cmd_sent_ = false;
+          ESP_LOGD(TAG, "Retrying...");
+          return 0;
+        } else {
+          this->parent_->find_prompt_();
+          return 1;  // Command done
+        }
+      } else if (rc == 0) {
+        return 0;
+      } else {
+        this->parent_->find_prompt_();
+        return 1;
+      }
+    }
+    if (millis() - this->parent_->ts_last_cmd_sent_ > this->timeout_ms_) {
+      ESP_LOGD(TAG, "Command timeout");
+      if (this->retries_left_ > 0) {
+        this->retries_left_ -= 1;
+        this->cmd_sent_ = false;
+        ESP_LOGD(TAG, "Retrying...");
+      } else {
+        return 1;  // Command done
+      }
+    }
+  } else if (this->parent_->send_cmd_(this->cmd_.c_str(), this->cmd_duration_ms_)) {
+    this->cmd_sent_ = true;
+  }
+  return 0;  // Command not done yet
+}
+
+uint8_t ReadStateCommand::execute(DfrobotSen0395Component *parent) {
+  this->parent_ = parent;
+  if (this->parent_->read_message_()) {
+    std::string message(this->parent_->read_buffer_);
+    if (message.rfind("$JYBSS,0, , , *") != std::string::npos) {
+      this->parent_->set_detected_(false);
+      this->parent_->set_active(true);
+      return 1;  // Command done
+    } else if (message.rfind("$JYBSS,1, , , *") != std::string::npos) {
+      this->parent_->set_detected_(true);
+      this->parent_->set_active(true);
+      return 1;  // Command done
+    }
+  }
+  if (millis() - this->parent_->ts_last_cmd_sent_ > this->timeout_ms_) {
+    return 1;  // Command done, timeout
+  }
+  return 0;  // Command not done yet.
+}
+
+uint8_t ReadStateCommand::on_message(std::string &message) { return 1; }
+
+uint8_t PowerCommand::on_message(std::string &message) {
+  if (message == "sensor stopped already") {
+    this->parent_->set_active(false);
+    ESP_LOGI(TAG, "Stopped sensor (already stopped)");
+    return 1;  // Command done
+  } else if (message == "sensor started already") {
+    this->parent_->set_active(true);
+    ESP_LOGI(TAG, "Started sensor (already started)");
+    return 1;  // Command done
+  } else if (message == "new parameter isn't save, can't startSensor") {
+    this->parent_->set_active(false);
+    ESP_LOGE(TAG, "Can't start sensor! (Use SaveCfgCommand to save config first)");
+    return 1;  // Command done
+  } else if (message == "Done") {
+    this->parent_->set_active(this->power_on_);
+    if (this->power_on_) {
+      ESP_LOGI(TAG, "Started sensor");
+    } else {
+      ESP_LOGI(TAG, "Stopped sensor");
+    }
+    return 1;  // Command done
+  }
+  return 0;  // Command not done yet.
+}
+
+DetRangeCfgCommand::DetRangeCfgCommand(float min1, float max1, float min2, float max2, float min3, float max3,
+                                       float min4, float max4) {
+  // TODO: Print warning when values are rounded
+  if (min1 < 0 || max1 < 0) {
+    this->min1_ = min1 = 0;
+    this->max1_ = max1 = 0;
+    this->min2_ = min2 = this->max2_ = max2 = this->min3_ = min3 = this->max3_ = max3 = this->min4_ = min4 =
+        this->max4_ = max4 = -1;
+
+    ESP_LOGW(TAG, "DetRangeCfgCommand invalid input parameters. Using range config 0 0.");
+
+    this->cmd_ = "detRangeCfg -1 0 0";
+  } else if (min2 < 0 || max2 < 0) {
+    this->min1_ = min1 = round(min1 / 0.15) * 0.15;
+    this->max1_ = max1 = round(max1 / 0.15) * 0.15;
+    this->min2_ = min2 = this->max2_ = max2 = this->min3_ = min3 = this->max3_ = max3 = this->min4_ = min4 =
+        this->max4_ = max4 = -1;
+
+    this->cmd_ = str_sprintf("detRangeCfg -1 %.0f %.0f", min1 / 0.15, max1 / 0.15);
+  } else if (min3 < 0 || max3 < 0) {
+    this->min1_ = min1 = round(min1 / 0.15) * 0.15;
+    this->max1_ = max1 = round(max1 / 0.15) * 0.15;
+    this->min2_ = min2 = round(min2 / 0.15) * 0.15;
+    this->max2_ = max2 = round(max2 / 0.15) * 0.15;
+    this->min3_ = min3 = this->max3_ = max3 = this->min4_ = min4 = this->max4_ = max4 = -1;
+
+    this->cmd_ = str_sprintf("detRangeCfg -1 %.0f %.0f %.0f %.0f", min1 / 0.15, max1 / 0.15, min2 / 0.15, max2 / 0.15);
+  } else if (min4 < 0 || max4 < 0) {
+    this->min1_ = min1 = round(min1 / 0.15) * 0.15;
+    this->max1_ = max1 = round(max1 / 0.15) * 0.15;
+    this->min2_ = min2 = round(min2 / 0.15) * 0.15;
+    this->max2_ = max2 = round(max2 / 0.15) * 0.15;
+    this->min3_ = min3 = round(min3 / 0.15) * 0.15;
+    this->max3_ = max3 = round(max3 / 0.15) * 0.15;
+    this->min4_ = min4 = this->max4_ = max4 = -1;
+
+    this->cmd_ = str_sprintf("detRangeCfg -1 "
+                             "%.0f %.0f %.0f %.0f %.0f %.0f",
+                             min1 / 0.15, max1 / 0.15, min2 / 0.15, max2 / 0.15, min3 / 0.15, max3 / 0.15);
+  } else {
+    this->min1_ = min1 = round(min1 / 0.15) * 0.15;
+    this->max1_ = max1 = round(max1 / 0.15) * 0.15;
+    this->min2_ = min2 = round(min2 / 0.15) * 0.15;
+    this->max2_ = max2 = round(max2 / 0.15) * 0.15;
+    this->min3_ = min3 = round(min3 / 0.15) * 0.15;
+    this->max3_ = max3 = round(max3 / 0.15) * 0.15;
+    this->min4_ = min4 = round(min4 / 0.15) * 0.15;
+    this->max4_ = max4 = round(max4 / 0.15) * 0.15;
+
+    this->cmd_ = str_sprintf("detRangeCfg -1 "
+                             "%.0f %.0f %.0f %.0f %.0f %.0f %.0f %.0f",
+                             min1 / 0.15, max1 / 0.15, min2 / 0.15, max2 / 0.15, min3 / 0.15, max3 / 0.15, min4 / 0.15,
+                             max4 / 0.15);
+  }
+
+  this->min1_ = min1;
+  this->max1_ = max1;
+  this->min2_ = min2;
+  this->max2_ = max2;
+  this->min3_ = min3;
+  this->max3_ = max3;
+  this->min4_ = min4;
+  this->max4_ = max4;
+};
+
+uint8_t DetRangeCfgCommand::on_message(std::string &message) {
+  if (message == "sensor is not stopped") {
+    ESP_LOGE(TAG, "Cannot configure range config. Sensor is not stopped!");
+    return 1;  // Command done
+  } else if (message == "Done") {
+    ESP_LOGI(TAG, "Updated detection area config:");
+    ESP_LOGI(TAG, "Detection area 1 from %.02fm to %.02fm.", this->min1_, this->max1_);
+    if (this->min2_ >= 0 && this->max2_ >= 0) {
+      ESP_LOGI(TAG, "Detection area 2 from %.02fm to %.02fm.", this->min2_, this->max2_);
+    }
+    if (this->min3_ >= 0 && this->max3_ >= 0) {
+      ESP_LOGI(TAG, "Detection area 3 from %.02fm to %.02fm.", this->min3_, this->max3_);
+    }
+    if (this->min4_ >= 0 && this->max4_ >= 0) {
+      ESP_LOGI(TAG, "Detection area 4 from %.02fm to %.02fm.", this->min4_, this->max4_);
+    }
+    ESP_LOGD(TAG, "Used command: %s", this->cmd_.c_str());
+    return 1;  // Command done
+  }
+  return 0;  // Command not done yet.
+}
+
+OutputLatencyCommand::OutputLatencyCommand(float delay_after_detection, float delay_after_disappear) {
+  delay_after_detection = round(delay_after_detection / 0.025) * 0.025;
+  delay_after_disappear = round(delay_after_disappear / 0.025) * 0.025;
+  if (delay_after_detection < 0)
+    delay_after_detection = 0;
+  if (delay_after_detection > 1638.375)
+    delay_after_detection = 1638.375;
+  if (delay_after_disappear < 0)
+    delay_after_disappear = 0;
+  if (delay_after_disappear > 1638.375)
+    delay_after_disappear = 1638.375;
+
+  this->delay_after_detection_ = delay_after_detection;
+  this->delay_after_disappear_ = delay_after_disappear;
+
+  this->cmd_ = str_sprintf("outputLatency -1 %.0f %.0f", delay_after_detection / 0.025, delay_after_disappear / 0.025);
+};
+
+uint8_t OutputLatencyCommand::on_message(std::string &message) {
+  if (message == "sensor is not stopped") {
+    ESP_LOGE(TAG, "Cannot configure output latency. Sensor is not stopped!");
+    return 1;  // Command done
+  } else if (message == "Done") {
+    ESP_LOGI(TAG, "Updated output latency config:");
+    ESP_LOGI(TAG, "Signal that someone was detected is delayed by %.02fs.", this->delay_after_detection_);
+    ESP_LOGI(TAG, "Signal that nobody is detected anymore is delayed by %.02fs.", this->delay_after_disappear_);
+    ESP_LOGD(TAG, "Used command: %s", this->cmd_.c_str());
+    return 1;  // Command done
+  }
+  return 0;  // Command not done yet
+}
+
+uint8_t SensorCfgStartCommand::on_message(std::string &message) {
+  if (message == "sensor is not stopped") {
+    ESP_LOGE(TAG, "Cannot configure sensor startup behavior. Sensor is not stopped!");
+    return 1;  // Command done
+  } else if (message == "Done") {
+    ESP_LOGI(TAG, "Updated sensor startup behavior:");
+    if (startup_mode_) {
+      this->parent_->set_start_after_boot(true);
+      ESP_LOGI(TAG, "Sensor will start automatically after power-on.");
+    } else {
+      this->parent_->set_start_after_boot(false);
+      ESP_LOGI(TAG, "Sensor needs to be started manually after power-on.");
+    }
+    ESP_LOGD(TAG, "Used command: %s", this->cmd_.c_str());
+    return 1;  // Command done
+  }
+  return 0;  // Command not done yet
+}
+
+uint8_t FactoryResetCommand::on_message(std::string &message) {
+  if (message == "sensor is not stopped") {
+    ESP_LOGE(TAG, "Cannot factory reset. Sensor is not stopped!");
+    return 1;  // Command done
+  } else if (message == "Done") {
+    ESP_LOGI(TAG, "Sensor factory reset done.");
+    return 1;  // Command done
+  }
+  return 0;  // Command not done yet
+}
+
+uint8_t ResetSystemCommand::on_message(std::string &message) {
+  if (message == "leapMMW:/>") {
+    ESP_LOGI(TAG, "Restarted sensor.");
+    return 1;  // Command done
+  }
+  return 0;  // Command not done yet
+}
+
+uint8_t SaveCfgCommand::on_message(std::string &message) {
+  if (message == "no parameter has changed") {
+    ESP_LOGI(TAG, "Not saving config (no parameter changed).");
+    return 1;  // Command done
+  } else if (message == "Done") {
+    ESP_LOGI(TAG, "Saved config. Saving a lot may damage the sensor.");
+    return 1;  // Command done
+  }
+  return 0;  // Command not done yet
+}
+
+uint8_t LedModeCommand::on_message(std::string &message) {
+  if (message == "sensor is not stopped") {
+    ESP_LOGE(TAG, "Cannot set led mode. Sensor is not stopped!");
+    return 1;  // Command done
+  } else if (message == "Done") {
+    ESP_LOGI(TAG, "Set led mode done.");
+    if (this->active_) {
+      this->parent_->set_led_active(true);
+      ESP_LOGI(TAG, "Sensor LED will blink.");
+    } else {
+      this->parent_->set_led_active(false);
+      ESP_LOGI(TAG, "Turned off LED.");
+    }
+    ESP_LOGD(TAG, "Used command: %s", this->cmd_.c_str());
+    return 1;  // Command done
+  }
+  return 0;  // Command not done yet
+}
+
+uint8_t UartOutputCommand::on_message(std::string &message) {
+  if (message == "sensor is not stopped") {
+    ESP_LOGE(TAG, "Cannot set uart output mode. Sensor is not stopped!");
+    return 1;  // Command done
+  } else if (message == "Done") {
+    ESP_LOGI(TAG, "Set uart mode done.");
+    if (this->active_) {
+      this->parent_->set_uart_presence_active(true);
+      ESP_LOGI(TAG, "Presence information is sent via UART and GPIO.");
+    } else {
+      this->parent_->set_uart_presence_active(false);
+      ESP_LOGI(TAG, "Presence information is only sent via GPIO.");
+    }
+    ESP_LOGD(TAG, "Used command: %s", this->cmd_.c_str());
+    return 1;  // Command done
+  }
+  return 0;  // Command not done yet
+}
+
+uint8_t SensitivityCommand::on_message(std::string &message) {
+  if (message == "sensor is not stopped") {
+    ESP_LOGE(TAG, "Cannot set sensitivity. Sensor is not stopped!");
+    return 1;  // Command done
+  } else if (message == "Done") {
+    ESP_LOGI(TAG, "Set sensitivity done. Set to value %d.", this->sensitivity_);
+    ESP_LOGD(TAG, "Used command: %s", this->cmd_.c_str());
+    return 1;  // Command done
+  }
+  return 0;  // Command not done yet
+}
+
+}  // namespace dfrobot_sen0395
+}  // namespace esphome

esphome/components/dfrobot_sen0395/commands.h

@@ -0,0 +1,156 @@
+#pragma once
+
+#include <cstdint>
+#include <string>
+
+#include "esphome/core/helpers.h"
+
+namespace esphome {
+namespace dfrobot_sen0395 {
+
+class DfrobotSen0395Component;
+
+// Use command queue and time stamps to avoid blocking.
+// When component has run time, check if minimum time (1s) between
+// commands has passed. After that run a command from the queue.
+class Command {
+ public:
+  virtual ~Command() = default;
+  virtual uint8_t execute(DfrobotSen0395Component *parent);
+  virtual uint8_t on_message(std::string &message) = 0;
+
+ protected:
+  DfrobotSen0395Component *parent_{nullptr};
+  std::string cmd_;
+  bool cmd_sent_{false};
+  int8_t retries_left_{2};
+  uint32_t cmd_duration_ms_{1000};
+  uint32_t timeout_ms_{1500};
+};
+
+class ReadStateCommand : public Command {
+ public:
+  uint8_t execute(DfrobotSen0395Component *parent) override;
+  uint8_t on_message(std::string &message) override;
+
+ protected:
+  uint32_t timeout_ms_{500};
+};
+
+class PowerCommand : public Command {
+ public:
+  PowerCommand(bool power_on) : power_on_(power_on) {
+    if (power_on) {
+      cmd_ = "sensorStart";
+    } else {
+      cmd_ = "sensorStop";
+    }
+  };
+  uint8_t on_message(std::string &message) override;
+
+ protected:
+  bool power_on_;
+};
+
+class DetRangeCfgCommand : public Command {
+ public:
+  DetRangeCfgCommand(float min1, float max1, float min2, float max2, float min3, float max3, float min4, float max4);
+  uint8_t on_message(std::string &message) override;
+
+ protected:
+  float min1_, max1_, min2_, max2_, min3_, max3_, min4_, max4_;
+  // TODO: Set min max values in component, so they can be published as sensor.
+};
+
+class OutputLatencyCommand : public Command {
+ public:
+  OutputLatencyCommand(float delay_after_detection, float delay_after_disappear);
+  uint8_t on_message(std::string &message) override;
+
+ protected:
+  float delay_after_detection_;
+  float delay_after_disappear_;
+};
+
+class SensorCfgStartCommand : public Command {
+ public:
+  SensorCfgStartCommand(bool startup_mode) : startup_mode_(startup_mode) {
+    char tmp_cmd[20] = {0};
+    sprintf(tmp_cmd, "sensorCfgStart %d", startup_mode);
+    cmd_ = std::string(tmp_cmd);
+  }
+  uint8_t on_message(std::string &message) override;
+
+ protected:
+  bool startup_mode_;
+};
+
+class FactoryResetCommand : public Command {
+ public:
+  FactoryResetCommand() { cmd_ = "factoryReset 0x45670123 0xCDEF89AB 0x956128C6 0xDF54AC89"; };
+  uint8_t on_message(std::string &message) override;
+};
+
+class ResetSystemCommand : public Command {
+ public:
+  ResetSystemCommand() { cmd_ = "resetSystem"; }
+  uint8_t on_message(std::string &message) override;
+};
+
+class SaveCfgCommand : public Command {
+ public:
+  SaveCfgCommand() { cmd_ = "saveCfg 0x45670123 0xCDEF89AB 0x956128C6 0xDF54AC89"; }
+  uint8_t on_message(std::string &message) override;
+
+ protected:
+  uint32_t cmd_duration_ms_{3000};
+  uint32_t timeout_ms_{3500};
+};
+
+class LedModeCommand : public Command {
+ public:
+  LedModeCommand(bool active) : active_(active) {
+    if (active) {
+      cmd_ = "setLedMode 1 0";
+    } else {
+      cmd_ = "setLedMode 1 1";
+    }
+  };
+  uint8_t on_message(std::string &message) override;
+
+ protected:
+  bool active_;
+};
+
+class UartOutputCommand : public Command {
+ public:
+  UartOutputCommand(bool active) : active_(active) {
+    if (active) {
+      cmd_ = "setUartOutput 1 1";
+    } else {
+      cmd_ = "setUartOutput 1 0";
+    }
+  };
+  uint8_t on_message(std::string &message) override;
+
+ protected:
+  bool active_;
+};
+
+class SensitivityCommand : public Command {
+ public:
+  SensitivityCommand(uint8_t sensitivity) : sensitivity_(sensitivity) {
+    if (sensitivity > 9)
+      sensitivity_ = sensitivity = 9;
+    char tmp_cmd[20] = {0};
+    sprintf(tmp_cmd, "setSensitivity %d", sensitivity);
+    cmd_ = std::string(tmp_cmd);
+  };
+  uint8_t on_message(std::string &message) override;
+
+ protected:
+  uint8_t sensitivity_;
+};
+
+}  // namespace dfrobot_sen0395
+}  // namespace esphome

esphome/components/dfrobot_sen0395/dfrobot_sen0395.cpp

@@ -0,0 +1,142 @@
+#include "dfrobot_sen0395.h"
+
+#include "esphome/core/helpers.h"
+#include "esphome/core/log.h"
+
+namespace esphome {
+namespace dfrobot_sen0395 {
+
+static const char *const TAG = "dfrobot_sen0395";
+const char ASCII_CR = 0x0D;
+const char ASCII_LF = 0x0A;
+
+void DfrobotSen0395Component::dump_config() {
+  ESP_LOGCONFIG(TAG, "Dfrobot Mmwave Radar:");
+#ifdef USE_BINARY_SENSOR
+  LOG_BINARY_SENSOR("  ", "Registered", this->detected_binary_sensor_);
+#endif
+#ifdef USE_SWITCH
+  LOG_SWITCH("  ", "Sensor Active Switch", this->sensor_active_switch_);
+  LOG_SWITCH("  ", "Turn on LED Switch", this->turn_on_led_switch_);
+  LOG_SWITCH("  ", "Presence via UART Switch", this->presence_via_uart_switch_);
+  LOG_SWITCH("  ", "Start after Boot Switch", this->start_after_boot_switch_);
+#endif
+}
+
+void DfrobotSen0395Component::loop() {
+  if (cmd_queue_.is_empty()) {
+    // Command queue empty. Read sensor state.
+    cmd_queue_.enqueue(make_unique<ReadStateCommand>());
+  }
+
+  // Commands are non-blocking and need to be called repeatedly.
+  if (cmd_queue_.process(this)) {
+    // Dequeue if command is done
+    cmd_queue_.dequeue();
+  }
+}
+
+int8_t DfrobotSen0395Component::enqueue(std::unique_ptr<Command> cmd) {
+  return cmd_queue_.enqueue(std::move(cmd));  // Transfer ownership using std::move
+}
+
+uint8_t DfrobotSen0395Component::read_message_() {
+  while (this->available()) {
+    uint8_t byte;
+    this->read_byte(&byte);
+
+    if (this->read_pos_ == MMWAVE_READ_BUFFER_LENGTH)
+      this->read_pos_ = 0;
+
+    ESP_LOGVV(TAG, "Buffer pos: %u %d", this->read_pos_, byte);
+
+    if (byte == ASCII_CR)
+      continue;
+    if (byte >= 0x7F)
+      byte = '?';  // needs to be valid utf8 string for log functions.
+    this->read_buffer_[this->read_pos_] = byte;
+
+    if (this->read_pos_ == 9 && byte == '>')
+      this->read_buffer_[++this->read_pos_] = ASCII_LF;
+
+    if (this->read_buffer_[this->read_pos_] == ASCII_LF) {
+      this->read_buffer_[this->read_pos_] = 0;
+      this->read_pos_ = 0;
+      ESP_LOGV(TAG, "Message: %s", this->read_buffer_);
+      return 1;  // Full message in buffer
+    } else {
+      this->read_pos_++;
+    }
+  }
+  return 0;  // No full message yet
+}
+
+uint8_t DfrobotSen0395Component::find_prompt_() {
+  if (this->read_message_()) {
+    std::string message(this->read_buffer_);
+    if (message.rfind("leapMMW:/>") != std::string::npos) {
+      return 1;  // Prompt found
+    }
+  }
+  return 0;  // Not found yet
+}
+
+uint8_t DfrobotSen0395Component::send_cmd_(const char *cmd, uint32_t duration) {
+  // The interval between two commands must be larger than the specified duration (in ms).
+  if (millis() - ts_last_cmd_sent_ > duration) {
+    this->write_str(cmd);
+    ts_last_cmd_sent_ = millis();
+    return 1;  // Command sent
+  }
+  // Could not send command yet as command duration did not fully pass yet.
+  return 0;
+}
+
+void DfrobotSen0395Component::set_detected_(bool detected) {
+  this->detected_ = detected;
+#ifdef USE_BINARY_SENSOR
+  if (this->detected_binary_sensor_ != nullptr)
+    this->detected_binary_sensor_->publish_state(detected);
+#endif
+}
+
+int8_t CircularCommandQueue::enqueue(std::unique_ptr<Command> cmd) {
+  if (this->is_full()) {
+    ESP_LOGE(TAG, "Command queue is full");
+    return -1;
+  } else if (this->is_empty())
+    front_++;
+  rear_ = (rear_ + 1) % COMMAND_QUEUE_SIZE;
+  commands_[rear_] = std::move(cmd);  // Transfer ownership using std::move
+  return 1;
+}
+
+std::unique_ptr<Command> CircularCommandQueue::dequeue() {
+  if (this->is_empty())
+    return nullptr;
+  std::unique_ptr<Command> dequeued_cmd = std::move(commands_[front_]);
+  if (front_ == rear_) {
+    front_ = -1;
+    rear_ = -1;
+  } else
+    front_ = (front_ + 1) % COMMAND_QUEUE_SIZE;
+
+  return dequeued_cmd;
+}
+
+bool CircularCommandQueue::is_empty() { return front_ == -1; }
+
+bool CircularCommandQueue::is_full() { return (rear_ + 1) % COMMAND_QUEUE_SIZE == front_; }
+
+// Run execute method of first in line command.
+// Execute is non-blocking and has to be called until it returns 1.
+uint8_t CircularCommandQueue::process(DfrobotSen0395Component *parent) {
+  if (!is_empty()) {
+    return commands_[front_]->execute(parent);
+  } else {
+    return 1;
+  }
+}
+
+}  // namespace dfrobot_sen0395
+}  // namespace esphome

esphome/components/dfrobot_sen0395/dfrobot_sen0395.h

@@ -0,0 +1,125 @@
+#pragma once
+
+#include "esphome/components/uart/uart.h"
+#include "esphome/core/automation.h"
+#include "esphome/core/component.h"
+
+#ifdef USE_BINARY_SENSOR
+#include "esphome/components/binary_sensor/binary_sensor.h"
+#endif
+#ifdef USE_SWITCH
+#include "esphome/components/switch/switch.h"
+#endif
+
+#include "commands.h"
+
+namespace esphome {
+namespace dfrobot_sen0395 {
+
+const uint8_t MMWAVE_READ_BUFFER_LENGTH = 255;
+
+// forward declaration due to circular dependency
+class DfrobotSen0395Component;
+
+static const uint8_t COMMAND_QUEUE_SIZE = 20;
+
+class CircularCommandQueue {
+ public:
+  int8_t enqueue(std::unique_ptr<Command> cmd);
+  std::unique_ptr<Command> dequeue();
+  bool is_empty();
+  bool is_full();
+  uint8_t process(DfrobotSen0395Component *parent);
+
+ protected:
+  int front_{-1};
+  int rear_{-1};
+  std::unique_ptr<Command> commands_[COMMAND_QUEUE_SIZE];
+};
+
+class DfrobotSen0395Component : public uart::UARTDevice, public Component {
+#ifdef USE_SWITCH
+  SUB_SWITCH(sensor_active)
+  SUB_SWITCH(turn_on_led)
+  SUB_SWITCH(presence_via_uart)
+  SUB_SWITCH(start_after_boot)
+#endif
+
+ public:
+  void dump_config() override;
+  void loop() override;
+  void set_active(bool active) {
+    if (active != active_) {
+#ifdef USE_SWITCH
+      if (this->sensor_active_switch_ != nullptr)
+        this->sensor_active_switch_->publish_state(active);
+#endif
+      active_ = active;
+    }
+  }
+  bool is_active() { return active_; }
+
+  void set_led_active(bool active) {
+    if (led_active_ != active) {
+#ifdef USE_SWITCH
+      if (this->turn_on_led_switch_ != nullptr)
+        this->turn_on_led_switch_->publish_state(active);
+#endif
+      led_active_ = active;
+    }
+  }
+  bool is_led_active() { return led_active_; }
+
+  void set_uart_presence_active(bool active) {
+    uart_presence_active_ = active;
+#ifdef USE_SWITCH
+    if (this->presence_via_uart_switch_ != nullptr)
+      this->presence_via_uart_switch_->publish_state(active);
+#endif
+  }
+  bool is_uart_presence_active() { return uart_presence_active_; }
+
+  void set_start_after_boot(bool start) {
+    start_after_boot_ = start;
+#ifdef USE_SWITCH
+    if (this->start_after_boot_switch_ != nullptr)
+      this->start_after_boot_switch_->publish_state(start);
+#endif
+  }
+  bool does_start_after_boot() { return start_after_boot_; }
+
+#ifdef USE_BINARY_SENSOR
+  void set_detected_binary_sensor(binary_sensor::BinarySensor *detected_binary_sensor) {
+    detected_binary_sensor_ = detected_binary_sensor;
+  }
+#endif
+
+  int8_t enqueue(std::unique_ptr<Command> cmd);
+
+ protected:
+#ifdef USE_BINARY_SENSOR
+  binary_sensor::BinarySensor *detected_binary_sensor_{nullptr};
+#endif
+
+  bool detected_{false};
+  bool active_{false};
+  bool led_active_{false};
+  bool uart_presence_active_{false};
+  bool start_after_boot_{false};
+  char read_buffer_[MMWAVE_READ_BUFFER_LENGTH];
+  size_t read_pos_{0};
+  CircularCommandQueue cmd_queue_;
+  uint32_t ts_last_cmd_sent_{0};
+
+  uint8_t read_message_();
+  uint8_t find_prompt_();
+  uint8_t send_cmd_(const char *cmd, uint32_t duration);
+
+  void set_detected_(bool detected);
+
+  friend class Command;
+  friend class ReadStateCommand;
+};
+
+}  // namespace dfrobot_sen0395
+}  // namespace esphome

esphome/components/dfrobot_sen0395/switch/__init__.py

@@ -0,0 +1,65 @@
+import esphome.codegen as cg
+import esphome.config_validation as cv
+from esphome.components import switch
+from esphome.const import ENTITY_CATEGORY_CONFIG, CONF_TYPE
+
+from .. import CONF_DFROBOT_SEN0395_ID, DfrobotSen0395Component
+
+
+DEPENDENCIES = ["dfrobot_sen0395"]
+
+dfrobot_sen0395_ns = cg.esphome_ns.namespace("dfrobot_sen0395")
+DfrobotSen0395Switch = dfrobot_sen0395_ns.class_(
+    "DfrobotSen0395Switch",
+    switch.Switch,
+    cg.Component,
+    cg.Parented.template(DfrobotSen0395Component),
+)
+
+Sen0395PowerSwitch = dfrobot_sen0395_ns.class_(
+    "Sen0395PowerSwitch", DfrobotSen0395Switch
+)
+Sen0395LedSwitch = dfrobot_sen0395_ns.class_("Sen0395LedSwitch", DfrobotSen0395Switch)
+Sen0395UartPresenceSwitch = dfrobot_sen0395_ns.class_(
+    "Sen0395UartPresenceSwitch", DfrobotSen0395Switch
+)
+Sen0395StartAfterBootSwitch = dfrobot_sen0395_ns.class_(
+    "Sen0395StartAfterBootSwitch", DfrobotSen0395Switch
+)
+
+_SWITCH_SCHEMA = (
+    switch.switch_schema(
+        entity_category=ENTITY_CATEGORY_CONFIG,
+    )
+    .extend(
+        {
+            cv.GenerateID(CONF_DFROBOT_SEN0395_ID): cv.use_id(DfrobotSen0395Component),
+        }
+    )
+    .extend(cv.COMPONENT_SCHEMA)
+)
+
+CONFIG_SCHEMA = cv.typed_schema(
+    {
+        "sensor_active": _SWITCH_SCHEMA.extend(
+            {cv.GenerateID(): cv.declare_id(Sen0395PowerSwitch)}
+        ),
+        "turn_on_led": _SWITCH_SCHEMA.extend(
+            {cv.GenerateID(): cv.declare_id(Sen0395LedSwitch)}
+        ),
+        "presence_via_uart": _SWITCH_SCHEMA.extend(
+            {cv.GenerateID(): cv.declare_id(Sen0395UartPresenceSwitch)}
+        ),
+        "start_after_boot": _SWITCH_SCHEMA.extend(
+            {cv.GenerateID(): cv.declare_id(Sen0395StartAfterBootSwitch)}
+        ),
+    }
+)
+
+
+async def to_code(config):
+    parent = await cg.get_variable(config[CONF_DFROBOT_SEN0395_ID])
+    var = await switch.new_switch(config)
+    await cg.register_component(var, config)
+    await cg.register_parented(var, parent)
+    cg.add(getattr(parent, f"set_{config[CONF_TYPE]}_switch")(var))

esphome/components/dfrobot_sen0395/switch/dfrobot_sen0395_switch.cpp

@@ -0,0 +1,48 @@
+#include "dfrobot_sen0395_switch.h"
+
+namespace esphome {
+namespace dfrobot_sen0395 {
+
+void Sen0395PowerSwitch::write_state(bool state) { this->parent_->enqueue(make_unique<PowerCommand>(state)); }
+
+void Sen0395LedSwitch::write_state(bool state) {
+  bool was_active = false;
+  if (this->parent_->is_active()) {
+    was_active = true;
+    this->parent_->enqueue(make_unique<PowerCommand>(false));
+  }
+  this->parent_->enqueue(make_unique<LedModeCommand>(state));
+  this->parent_->enqueue(make_unique<SaveCfgCommand>());
+  if (was_active) {
+    this->parent_->enqueue(make_unique<PowerCommand>(true));
+  }
+}
+
+void Sen0395UartPresenceSwitch::write_state(bool state) {
+  bool was_active = false;
+  if (this->parent_->is_active()) {
+    was_active = true;
+    this->parent_->enqueue(make_unique<PowerCommand>(false));
+  }
+  this->parent_->enqueue(make_unique<UartOutputCommand>(state));
+  this->parent_->enqueue(make_unique<SaveCfgCommand>());
+  if (was_active) {
+    this->parent_->enqueue(make_unique<PowerCommand>(true));
+  }
+}
+
+void Sen0395StartAfterBootSwitch::write_state(bool state) {
+  bool was_active = false;
+  if (this->parent_->is_active()) {
+    was_active = true;
+    this->parent_->enqueue(make_unique<PowerCommand>(false));
+  }
+  this->parent_->enqueue(make_unique<SensorCfgStartCommand>(state));
+  this->parent_->enqueue(make_unique<SaveCfgCommand>());
+  if (was_active) {
+    this->parent_->enqueue(make_unique<PowerCommand>(true));
+  }
+}
+
+}  // namespace dfrobot_sen0395
+}  // namespace esphome

esphome/components/dfrobot_sen0395/switch/dfrobot_sen0395_switch.h

@@ -0,0 +1,34 @@
+#pragma once
+
+#include "esphome/components/switch/switch.h"
+#include "esphome/core/component.h"
+
+#include "../dfrobot_sen0395.h"
+
+namespace esphome {
+namespace dfrobot_sen0395 {
+
+class DfrobotSen0395Switch : public switch_::Switch, public Component, public Parented<DfrobotSen0395Component> {};
+
+class Sen0395PowerSwitch : public DfrobotSen0395Switch {
+ public:
+  void write_state(bool state) override;
+};
+
+class Sen0395LedSwitch : public DfrobotSen0395Switch {
+ public:
+  void write_state(bool state) override;
+};
+
+class Sen0395UartPresenceSwitch : public DfrobotSen0395Switch {
+ public:
+  void write_state(bool state) override;
+};
+
+class Sen0395StartAfterBootSwitch : public DfrobotSen0395Switch {
+ public:
+  void write_state(bool state) override;
+};
+
+}  // namespace dfrobot_sen0395
+}  // namespace esphome

tests/test1.yaml

@@ -220,6 +220,10 @@ uart:
     baud_rate: 256000
     parity: NONE
     stop_bits: 1
+  - id: dfrobot_mmwave_uart
+    tx_pin: 14
+    rx_pin: 27
+    baud_rate: 115200
   - id: gcja5_uart
     rx_pin: GPIO10
     parity: EVEN
@@ -332,6 +336,10 @@ mcp23s17:
     cs_pin: GPIO12
     deviceaddress: 1
 
+dfrobot_sen0395:
+  - id: mmwave
+    uart_id: dfrobot_mmwave_uart
+
 sensor:
   - platform: pmwcs3
     i2c_id: i2c_bus
@@ -1816,6 +1824,9 @@ binary_sensor:
   - platform: qwiic_pir
     i2c_id: i2c_bus
     name: "Qwiic PIR Motion Sensor"
+  - platform: dfrobot_sen0395
+    id: mmwave_detected_uart
+    dfrobot_sen0395_id: mmwave
 
 pca9685:
   frequency: 500
@@ -2548,7 +2559,22 @@ switch:
     name: Haier
     turn_on_action:
       remote_transmitter.transmit_haier:
-        code: [0xA6, 0xDA, 0x00, 0x00, 0x40, 0x40, 0x00, 0x80, 0x00, 0x00, 0x00, 0x00, 0x05]
+        code:
+          [
+            0xA6,
+            0xDA,
+            0x00,
+            0x00,
+            0x40,
+            0x40,
+            0x00,
+            0x80,
+            0x00,
+            0x00,
+            0x00,
+            0x00,
+            0x05,
+          ]
   - platform: template
     name: Living Room Lights
     id: livingroom_lights
@@ -3532,6 +3558,25 @@ button:
     name: Midea Power Inverse
     on_press:
       midea_ac.power_toggle:
+  - platform: template
+    name: Update Mmwave Sensor Settings
+    on_press:
+      - dfrobot_sen0395.settings:
+          id: mmwave
+          factory_reset: true
+          detection_segments:
+            - [0cm, 5m]
+            - 600cm
+            - !lambda |-
+              return 7;
+          output_latency:
+            delay_after_detect: 0s
+            delay_after_disappear: 0s
+          sensitivity: 6
+  - platform: template
+    name: Reset Mmwave Sensor
+    on_press:
+      - dfrobot_sen0395.reset:
   - platform: template
     name: Poller component suspend test
     on_press: