This is a 24Ghz millimeter-wave distance radar sensor with a side-mounted motion detection range of 11m and a static detection range of 11m (top-mounted motion detection range with a diameter of 11m and a static detection range of 11m). It also features proximity and distance detection functions, regional zoning detection functions, environmental noise collection functions, and an on-board light detection sensor. This sensor is suitable for smart home application scenarios.
Product Link（www.dfrobot.com）
SKU：SEN0691
- Supports a detection range of 0-11m
- Supports 5V main controller
- Supports serial communication
- Supports OUT pin output for detection results
- Supports OUT pin output mode setting
- Supports environmental noise collection
- Supports light intensity detection
- Supports distance threshold enable and threshold value setting
- Supports reporting cycle setting
- Supports environmental light threshold setting
- Supports 80cm and 20cm resolution setting
- Supports obtaining target status and related data
There are two methods for using this library：
- Open Arduino IDE, search for "DFRobot_C4002" on the status bar in Tools ->Manager Libraries and install the library.
- Download the library file before use, paste it into \Arduino\libraries directory, then open the examples folder and run the demo in the folder.
/**
* @fn begin
* @brief Initialize the serial port and set the output pin
* @param outPin: The output pin, default is 255, which means no output pin is used.
* @return true: Initialization succeeded, false: Initialization failed.
*/
bool begin(uint8_t outPin = 255);
/**
* @fn setRunLedState
* @brief Set the operation led of runing status
* @param switching
* eLedOff: Turn off the operation LED.
* eLedOn : Turn on the operation LED.
* @return true: Operation LED succeeded, false: Operation LED failed.
*/
bool setRunLedState(eLedMode_t switching);
/**
* @fn setOutLedState
* @brief Set the output led
* @param switching
* @n eLedOff: Turn off the output LED.
* @n eLedOn : Turn on the output LED.
* @return true: Output LED succeeded, false: Output LED failed.
*/
bool setOutLedState(eLedMode_t switching);
/**
* @fn setOutPinMode
* @brief Set the output pin mode
* @param outMode
* @n eOutpinMode1: Only when motion is detected will a high level be output.
* @n eOutpinMode2: A high level is output only when its presence is detected.
* @n eOutpinMode3: A high level only appears when motion or presence is detected.
* @return true: Set output pin mode succeeded, false: Set output pin mode failed.
*/
bool setOutPinMode(eOutpinMode_t outMode);
/**
* @fn startEnvCalibration
* @brief Start environment calibration
* @param delayTime: Delay the time when the calibration starts to be executed, unit: s
* @param contTime : The calibration time, unit: s
* @return true: Start calibration succeeded, false: Start calibration failed.
*/
void startEnvCalibration(uint16_t delayTime ,uint16_t contTime);
/**
* @fn setDetectRange
* @brief Set the detection distance range,range: 0-1100cm
* @param closest : The closest distance to detect, unit: cm
* @param farthest: The farthest distance to detect, unit: cm
* @return true: Set detection range succeeded, false: Set detection range failed.
*/
bool setDetectRange(uint16_t closest,uint16_t farthest);
/**
* @fn configureGate
* @brief Configure the distance gate function
* @param gateType
* @n eMotionDistGate : Use this parameter when the motion gate parameter is enabled
* @n ePresenceDistGate : Use this parameter when the presence gate parameter is enabled
* @param gateData: An array of type uint8 t is needed, with parameters 0 and 1 representing disabling and enabling respectively
* @return true: Configure gate succeeded, false: Configure gate failed.
*/
bool configureGate(eDistanceGateType_t gateType, uint8_t *gateData);
/**
* @fn factoryReset
* @brief Factory reset the device
* @return true: Factory reset succeeded, false: Factory reset failed.
*/
bool factoryReset(void);
/**
* @fn setResolutionMode
* @brief Set the detection distance range,range: 0-1100cm
* @param mode : The resolution mode, eResolution80Cm: 80cm, eResolution20Cm: 20cm
* @return true: Set resolution mode succeeded, false: Set resolution mode failed.
*/
bool setResolutionMode(eResolutionMode_t mode);
/**
* @fn setReportPeriod
* @brief Set the report period
* @param period : The report period, range: 0-255, unit: 0.1s
* @return true: Set report period succeeded, false: Set report period failed.
*/
bool setReportPeriod(uint8_t period);
/**
* @fn setLightThresh
* @brief Set the light threshold
* @param threshold : The light threshold, range: 0-50, unit: lux
* @n Note: When the valve group is set to 0, the target detection function will be triggered regardless of the light intensity.
* @n When the threshold is not 0, the target inspection function will only be activated when the light intensity is lower than the threshold; otherwise, it will not be activated
* @return true: Set light threshold succeeded, false: Set light threshold failed.
*/
bool setLightThresh(float threshold);
/**
* @fn setGateThresh
* @brief Set the gate threshold
* @param gateType
* @n eMotionDistGate : Use this parameter when the motion gate parameter is enabled
* @n ePresenceDistGate: Use this parameter when the presence gate parameter is enabled
* @param thresh : An array of type uint8 t is needed, with parameters 0-99 representing the threshold value of the gate
* @return true: Set gate threshold succeeded, false: Set gate threshold failed.
*/
bool setGateThresh(eDistanceGateType_t gateType,uint8_t * thresh);
/**
* @fn setBaudrate
* @brief Set the baudrate of the serial port
* @param baud : The baud rate type, eBaudrate_t
* @n eBaud57600 : 57600 bps
* @n eBaud115200 : 115200 bps
* @n eBaud230400 : 230400 bps
* @n eBaud460800 : 460800 bps
* @n eBaud500000 : 500000 bps
* @n eBaud921600 : 921600 bps
* @n eBaud1000000 : 1000000 bps
* @n Note: The baud rate should not be too high; otherwise, it will lead to data loss
* @n It takes effect after a successful restart
* @return true: Set baudrate succeeded, false: Set baudrate failed.
*/
bool setBaudrate(eBaudrate_t baud);
/**
* @fn getNoteInfo
* @brief Get the detection result and environment calibration information
* @return sRetResult_t
* @n noteType : The type of the notification message.
* @n eResult: detection result notification message.
* @n eCalibration: environment calibration notification message.
* @n calibCountdown: The remaining time of the environment calibration, unit: s.
*/
sRetResult_t getNoteInfo(void);
/**
* @fn getTargetState
* @brief Get the current state of the target
* @return eTargetState_t
* @n eNoTarget : No target is detected.
* @n ePresence : The target is detected.
* @n eMotion : The target is motion.
*/
eTargetState_t getTargetState(void);
/**
* @fn getLightIntensity
* @brief Get the current light intensity
* @return The current light intensity, unit: lux.
*/
float getLightIntensity(void);
/**
* @fn getPresenceGateIndex
* @brief Get the index of the detected target
* @n Note: When the resolution mode is 80cm, 0 to 15 bits may be set to 1 to represent the presence of the target.
* @n When the resolution mode is 20cm, 0 to 25 bits may be set to 1 to represent the presence of the target.
* @return The index of the detected target, range: 0-0xFFFFFFFF.
*/
uint32_t getPresenceGateIndex(void);
/**
* @fn getPresenceTargetInfo
* @brief Get the information of the detected target
* @return sPresenceTarget_t
* @n distance: The distance of the detected target, unit: m.
* @n energy : The energy of the detected target, range:0-99.
*/
sPresenceTarget_t getPresenceTargetInfo(void);
/**
* @fn getMotionTargetInfo
* @brief Get the information of the detected target
* @return sMotionTarget_t
* @n distance : The distance of the detected target, unit: m.
* @n speed : The speed of the detected target, unit: m/s.
* @n energy : The energy of the detected target, range:0-99.
* @n direction: The direction of the detected target, eMotionDirection_t.
*/
sMotionTarget_t getMotionTargetInfo(void);
/**
* @fn getOutTargetState
* @brief Get the current state of the output target
* @return eTargetState_t
* @n eNoTarget : No output target is detected.
* @n ePresence : The output target is detected.
* @n eMotion : The output target is motion.
* @n eMotionOrPresence : The output target is motion or detected.
* @n eMotionOrNoTarget : The output target is motion or no output target is detected.
* @n ePresenceOrNoTarget : The output target is detected or no output target is detected.
* @n ePinError : The pin error occurred.
*/
eTargetState_t getOutTargetState(void);
/**
* @fn setLockTime
* @brief Set the lock time. When changing from occupied to unoccupied, the detection function
* @n is locked for 1 second (default, adjustable). During the lock time, the sensor does not
* @n detect targets. Detection is allowed again after the lock time expires.
* @param lockTime : The lock time, unit: s range:0.2-10s accuracy:0.1s
* @return true: Set lock time succeeded, false: Set lock time failed.
*/
bool setLockTime(float lockTime);
/**
* @fn setTargetDisappearDelay
* @brief Set the delay time for the target to disappear after it is no longer detected
* @param delayTime : The delay time, unit: s (0-65535s)
* @return true: Set target disappear delay succeeded, false: Set target disappear delay failed.
*/
bool setTargetDisappearDelay(uint16_t delayTime);
/**
* @fn setSensitivity
* @brief Set the sensitivity of the detection
* @param gateType
* @n eMotionDistGate : Use this parameter when the motion gate parameter is enabled
* @n ePresenceDistGate: Use this parameter when the presence gate parameter is enabled
* @param sensitivity : The sensitivity
* @n eLowThreshGroup : Low sensitivity
* @n eMidThreshGroup : Medium sensitivity
* @n eHighThreshGroup : High sensitivity
* @n eCustomThreshGroup: Custom sensitivity
* @return true: Set sensitivity succeeded, false: Set sensitivity failed.
*/
bool setSensitivity(eDistanceGateType_t gateType,eThreshGroup_t sensitivity);
/**
* @fn getLightThresh
* @brief Get the light threshold
* @return The light threshold, unit: lux.
*/
float getLightThresh(void);
/**
* @fn getDetectRange
* @brief Get the distance gate threshold
* @return sDetectRange_t
* @n closest : The closest distance to detect, unit: cm,range: 0-1100cm.
* @n farthest: The farthest distance to detect, unit: cm,range: 0-1100cm.
*/
sDetectRange_t getDetectRange(void);
/**
* @fngetTargetDisappearDelay
* @brief Get the delay time for the target to disappear after it is no longer detected
* @return The delay time, unit: s.
*/
uint16_t getTargetDisappearDelay(void);
/**
* @fn getOutPinMode
* @brief Get the output pin mode
* @return eOutpinMode_t
* @n eOutpinMode1: Only when motion is detected will a high level be output.
* @n eOutpinMode2: A high level is output only when its presence is detected.
* @n eOutpinMode3: A high level only appears when motion or presence is detected.
*/
eOutpinMode_t getOutPinMode(void);
/**
* @fn getResolutionMode
* @brief Get the resolution mode
* @return eResolutionMode_t
* @n eResolution80Cm: 80cm
* @n eResolution20Cm: 20cm
*/
eResolutionMode_t getResolutionMode(void);
/**
* @fn getSensitivity
* @brief Get the sensitivity of the detection
* @param gateType
* @n eMotionDistGate : Use this parameter when the motion gate parameter is enabled
* @n ePresenceDistGate: Use this parameter when the presence gate parameter is enabled
* @return eThreshGroup_t
*/
eThreshGroup_t getSensitivity(eDistanceGateType_t gateType);
/**
* @fn getAllConfigParams
* @brief Get all the configuration parameters of the device
* @return sConfigParams_t
* @n curLightThreshold : The light threshold, unit: lux.
* @n curDetectRange : The detection distance range, unit: cm, range: 0-1100cm.
* @n curOutMode : The output mode, eOutpinMode_t.
* @n curResolutionMode : The resolution mode, eResolutionMode_t.
* @n curMotionSensitivity : The sensitivity of the motion detection, eThreshGroup_t.
* @n curPresenceSensitivity : The sensitivity of the presence detection, eThreshGroup_t.
* @n curTargetDisappearDelay : The delay time for the target to disappear after it is no longer detected, unit: s.
* @n curLedStatus : The led status, eLedMode_t.
*/
sConfigParams_t getAllConfigParams(void);
/**
* @fn getPresenceCountDown
* @brief Get the remaining time after target disappears, state changes from presence to no target
* @return The remaining time, unit: s.
*/
uint16_t getPresenceCountDown(void);
/**
* @fn getDistanceGateThresh
* @brief Get the distance gate threshold
* @param gateType
* @n eMotionDistGate : Use this parameter when the motion gate parameter is enabled
* @n ePresenceDistGate: Use this parameter when the presence gate parameter is enabled
* @param gateData: An array of type uint8 t is needed, with parameters 0-99 representing the threshold value of the distance gate
* @return true: Get distance gate threshold succeeded, false: Get distance gate threshold failed.
*/
bool getDistanceGateThresh(eDistanceGateType_t gateType,uint8_t *gateData);| MCU | Work Well | Work Wrong | Untested | Remarks |
|---|---|---|---|---|
| Arduino Uno | √ | |||
| Arduino MEGA2560 | √ | |||
| Arduino Leonardo | √ | |||
| FireBeetle-ESP32 | √ | |||
| Micro:bit | √ |
- 2025/11/04 - V1.0.0 version
Written by JiaLi(zhixin.liu@dfrobot.com), 2025. (Welcome to our website)