Shenzhen Hi-Link Electronic Co., Ltd.

HLK-LD2410
Human presence sensing module
Serial communication protocol

Version: V1.02 Revised date: 2022-7-1 Copyright by @ Hi-Link Electronic Co., Ltd.

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Content
1 Introduction to Communication Interfaces ....................................................................................................... 3

1.1 Pin Definitions ......................................................................................................................................4

1.2 Use and Configuration ..........................................................................................................................4

1.2.1 Typical Application Circuit ...................................................................................................... 4

1.2.2 The Role of Configuration Parameters .....................................................................................5

1.2.3 Visual Configuration Tool Description .....................................................................................6

2 Letter of Agreement .......................................................................................................................................... 7

2.1 Protocol Format .................................................................................................................................... 7

2.1.1 Protocol data format ................................................................................................................. 7

2.2 Send command word & ACK ............................................................................................................... 8

2.2.1 Enable configuration command ................................................................................................8

2.2.2 End configuration command .................................................................................................... 8

2.2.3 Maximum distance gate and unmanned duration parameter configuration command ............ 9

2.2.4 Read parameter command ...................................................................................................... 10

2.2.5 Enable Engineering Mode Command .................................................................................... 10

2.2.6 Close engineering mode command ........................................................................................ 11

2.2.7 Range Gate Sensitivity Configuration Commands .................................................................11

2.2.8 Read Firmware Version Command ........................................................................................ 12

2.2.9 Set serial port baud rate .......................................................................................................... 13

2.2.10 Factory reset ......................................................................................................................... 14

2.2.11 Restart the module ................................................................................................................15

2.3 radar data output protocol ...................................................................................................................16

2.3.1Reporting data frame format ................................................................................................... 16

2.3.2 Target data composition ......................................................................................................... 17

2.4 Radar command configuration mode ..................................................................................................18

2.4.1 radar command configuration steps ....................................................................................... 18

3 Version history ................................................................................................................................................ 20

4 Technical support and contact .........................................................................................................................20

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Index chart

Table 1 Pin definition table ......................................................................................................4

Table 2 Send command protocol frame format ....................................................................... 7

Table 3 Transmit frame data format ........................................................................................ 7

Table 4 ACK command protocol frame format .......................................................................8

Table 5 ACK frame data format .............................................................................................. 8

Table 6 serial port baud rate selection ................................................................................... 13

Table 7 factory default value ................................................................................................. 14

Table 8 report data frame format ........................................................................................... 16

Table 9 data frame format ......................................................................................................16

Table 10 data type description ............................................................................................... 16

Table 11 target data frame composition .................................................................................17

Table 12 target state value description .................................................................................. 17

Table 13 target data (engineering mode) frame composition ................................................18

Figure 1 Module pin definition diagram ................................................................................. 4

Figure 2 radar command configuration flow .........................................................................19

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1 Introduction to Communication Interfaces
1.1 Pin Definitions

Figure 1 Module pin definition diagram

Pin Symbol Name Function

1 Out Target status output Human presence

detected:output high level

2 UART_Tx Serial Tx Serial port Tx pin

3 UART_Tx Serial Tx Serial port Tx pin

4 GND GND GND

5 VCC Power input Power input 5V

Table 1 Pin definition table

1.2 Use and Configuration

1.2.1 Typical Application Circuit

The LD2410 module directly outputs the detected target state (high level for someone, low

level for no one) directly through an I0 pin, and can also output the detection result data through

the serial port according to the specified protocol. The serial port output data includes: Target

status and distance auxiliary information, etc, users can use flexibly according to specific

application scenarios.

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The power supply voltage of the module is 5V, and the power supply capacity of the input

power supply is required to be greater than 200mA.

The module I0 output level is 3.3V. The default baud rate of the serial port is 256000, 1 stop

bit, and no parity bit.

1.2.2 The Role of Configuration Parameters

Users can modify the configuration parameters of the module through the serial port of LD24

10 to adapt to different application requirements.

The configurable radar detection parameters include the following:

 Farthest detection distance

 Set the farthest detectable distance, only human targets that appear within this farthest distanc

e will be detected and output the result.

 Set in units of distance gates, and each distance gate is 0.75m.

 Including the farthest door for motion detection and the farthest door for static detection, the

setting range is 1 to 8. For example, if the farthest door is set to 2, only if there is a human

body within 1.5m will it effectively detect and output the result.

 Sensitivity
 Only when the detected target energy value (range 0~ 100) is greater than the sensitivity

value will it be determined that the target exists, other wise it will be ignored.

 The sensitivity value can be set from 0 to 100. The sensitivity of each range gate can be

independently set, so that the detection in different distance ranges can be precisely adjusted,

local accurate detection or filtering of interference sources in specific areas.

 In addition, if the sensitivity of a certain distance gate is set to 100, the effect of not

recognizing the target under the distance gate can be achieved. For example, if the sensitivity

of distance gate 3 and distance gate 4 is set to 20, and the sensitivity of other distance gates is

set to 100, it is possible to detect only the human body within the range of 2.25-3.75m from

the distance module.

 No-one duration
 When the radar outputs the result from man to no man, it will report man for a period of time.

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If there is no man in the radar test range during this time period, the radar will report no man;

if the radar detects man during this time period, it will be refreshed again. This time, in

seconds. It is equivalent to the unmanned delay time. After the person leaves, the output state

will be unmanned only after the person has left the system for more than this duration.

1.2.3 Visual Configuration Tool Description

In order to facilitate the user to test and configure the module quickly and efficiently, a PC

configuration tool is provided. The user can use this tool software to connect the serial port of the

module, read and configure the parameters of the module, and receive the detection results

reported by the. module. Data, and real-time visual display, which greatly facilitates .the use of

users.

How to use the host computer tool:

1. Use the USB to serial port tool to connect the module serial port correctly

2. Select the corresponding serial port number in the host computer tool, set the baud rate

to 256000, select the engineering mode, and click to connect the device

3. After the corresponding is successful, click the start button, the right graphical interface

will display the test results and data

4. After connecting, if the start button is not clicked, or click stop after starting,the mode

parameter information can be read or set

Note:The parameters cannot be read and configured after clicking start, and configuration
can only be performed after stopping.

The interface and common functions of the host computer tool are as follows:

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The ball is the target state output indication: red means that there is a moving target, and

purple means that there is a stationary target:,Green means no one

2 Letter of Agreement
This communication protocol is mainly used by users who need to do secondary development

without visual tools.LD2410 communicates with the outside world through the serial port(TTL

level). The data output and parameter configuration commands of the radar are all carried out

under this protocol. The default baud rate of the serial port is 256000, 1 stop bit, and no parity bit.

2.1 Protocol Format

2.1.1 Protocol Data Format

The format of the radar configuration command and ACK command defined by the

protocol is shown in Table 1 to Table 4.

Table 2 Send command protocol frame format

Frame header Frame data length frame data MFR

FD FC FB FA 2bytes See table 3 04 03 02 01

Table 3 Transmit frame data format

Command word(2 bytes) Command value(N bytes)

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Table 4 ACK command protocol frame format

Frame header Frame data length Frame data MFR

FD FC FB FA 2 bytes See table 5 04 03 02 01

Table 5 ACK frame data format

Send command word& 0x0100(2bytes) Return value (N bytes)

2.2 Send Command Word & ACK

2.2.1 Enable Configuration Command

And other command issued to the radar must be executed after this command is issued,

otherwise it will be invalid.

Command word:0x00FF

Command value:0x0001

Return value:2 bytes status (0 success, 1 failure)+2 bytes protocol version(0x0001)+2 bytes buffer

size(0x0040)

Send data:

FD FC FB FA 0400 FF00 0100 04 03 02 01

RADAR ACK(success):

FD FC FB FA 08 00 FF01 00 00 01 00 40 00 04 03 02 01

2.2.2 End Configuration Command

End the configuration command, and the radar will return to working mode after execution. If

you need to issue other commands again, you need to send the enable configuration command

first.

Command word:0x00FE

Command value:none

Return value:2 bytes ACK status(0 success, 1 failure)

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Send data:

FD FC FB FA 02 00 FE 00 04 03 02 01

Radar ACK(success):

FD FC FB FA 04 00 FE 01 00 00 04 03 02 01

2.2.3 Maximum Distance Gate and Unmanned Duration Parameter

Configuration Command
The command sets the radar’s maximum detection range gate(moving &

stationary)(configuration range 2~8), and the parameter of unmanned duration(configuration range

0~65535 seconds). For specific parameter words, please words, please refer to table5-5. This

configuration value is not lost when power off.

Command word:0x0060

Command value:2 bytes maximum moving distance door word+4 bytes maximum moving

distance door parameter+2 bytes maximum static distance door word+4bytes maximum static

distance door parameter+2 bytes no-person duration word + 4 words Section unattended duration

parameter.

Return value:2 bytes ACK status(0 success, 1 failure )

0x0060 Protocol parameter word:

Parameter name Parameter word

Maximum moving distance gate 0x0000

Maximum resting distance door 0x0001

No-one duration 0x0002

Sending data:maximum distance gate8(movement& stillness), unmanned duration 5 seconds

FD FC 1400 60 00 00 00 08 00 01 00 08 00 02 00 05 00 04 03

FB FA 00 00 00 00 00 00 02 01

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Radar ACK(success):

FD FC FB FA 04 00 60 01 00 00 04 03 02 01

2.2.4 Read Parameter Command

This command can read the current configuration parameters of the radar.

Command word:0x0061

Command value:none

Return value:2 bytes ACK status(0 success, 1 failure)+ header(0xAA)+maximum distance gate

N(0x08)+configure maximum moving distance gate+ configure maximum static gate + distance

gate 0 motion sensitivity(1 byte)+...+Distance Gate N Motion Sensitivity(1 byte)+ Distance Gate

0 Rest sensitivity 1 Byte) +..+ Distance Gate N Rest Sensitivity(1 byte)+ No Time Duration(2

Bytes).

Send data:

FD FC FB FA 61 00 04 03 02 01

Radar ACK:(success, max range gate 8, configure moving range gate 8, static range gate 8, 0~8

motion sensitivity 20, 0~8 static sensitivity 25, unmanned duration 5 seconds)
Byte1~4 Byte Byte Byte Byte Byte Byte Byte Byte Byte Byte Byte18
5.6 7.8 9.10 11 12 13 14 15 16 17
FD FC FB FA 18 61 00 AA 08 08 08 14 14 14 14
00 01 00
Byte Byte20 Byte Byte Byte Byte Byte Byte Byte Byte Byte Byte 30
19 21 22 23 24 25 26 27 28 29
14 14 14 14 14 19 19 19 19 19 19 19
Byte Byte
31 32
19 19

2.2.5 Enable Engineering Mode Command

This command turns on radar engineering mode. After the engineering mode is turned on, the

energy value of each range gate will be added to the date reported by the radar. For the detailed

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format, please refer to 2.3.2 target data composition. After the module is powered on, the

engineering mode is disabled by default, and this configuration value is lost when the power is

turned off.

Command word:0x0062

Command value:none

Return value:2bytes ACK status(0 success, 1 failure)

Send data:

FD FC FB FA 02 00 62 00 04 03 02 01

Radar ACK(success):

FD FC FB FA 04 00 62 01 00 00 04 03 02 01

2.2.6 Close Engineering Mode Command

This command turns off radar engineering mode. After closing, please refer to 2.3.2 target

data composition for the data format reported by radar.

Command word:0x0063

Command value:none

Return value:2 bytes ACK status(0 success, 1 failure)

Send data:

FD FC FB FA 02 00 63 00 04 03 02 01

Radar ACK(success):

FD FC FB FA 04 00 63 01 00 00 04 03 02 01

2.2.7 Range Gate Sensitivity Configuration Commands

This command configures the sensitivity of the distance gate, and the configuration value will

not be lost after power failure. Its supports not only the individual configuration of each distance

gate, but also the simultaneous configuration of all distance gates to a unified value. If you set the

sensitivity of all distance gates to the same value at the same time, you need to set the distance

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gate value to 0xFFFF.

Command word:0x0064

Command value:2bytes distance gate word + 4 bytes distance gate value + 2 bytes motion

sensitivity word + 4 bytes motion sensitivity value + 2 bytes static sensitivity word + 4 bytes static

sensitivity value.

Return value:2 bytes ACK status(0 success, 1 failure)

0x0064 Protocol parameter word

Parameter name Parameter word

Distance gate 0x0000

Motion sensitivity 0x0001

Static sensitivity word 0x0002

Send data:configure the motion sensitivity of distance gate 3 to 40, and the static sensitivity of 40

FD FC FB FA 04 00 00 00 04 03 02 01

Radar ACK(success):

FD FC FB FA 14 00 64 00 00 00 FF FF 00 00 01 00 28 00 00 00 02 00 28 00 00 00 04 03 02 01

Send data: configure the motion sensitivity of all distance gates to 40, and the static sensitivity to

40.

FD FC FB FA 14 00 64 00 00 00 FF FF 00 00 01 00 28 00 00 00 02 00 28 00 00 00 04 03 02 01

Radar ACK (success):

FD FC FB FA 04 00 64 01 00 00 04 03 02 01

2.2.8 Read Firmware Version Command

This command reads radar firmware version information

Command word:0x00A0

Command value:none

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Return value: 2 bytes ACK status(0 success, 1 failure) + 2 bytes firmware type (0x0000) + 2 bytes

major version number + 4 bytes minor version number.

Send data:

FD FC FB FA 02 00 A0 00 04 03 02 01

Radar ACK(success):

FD FC FB FA 0B 00 A0 01 00 00 00 00 02 01 16 24 06 22 04 03 02 01

The corresponding version number is V1.02.22062416

2.2.9 Set Serial Port Baud Rate

This command is used to set the baud rate of the serial port of the module. The configuration
value will not be lost after power failure. The configuration value will take effect after restarting
the module.
Command word:0x00A1
Command value:2 bytes ACK status(0 success,1 failure)
Return value:2 bytes ACK status (0 success,1 failure)

Table 6 serial port baud rate selection

Baud rate selection index value Baud rate

0x0001 9600

0x0002 19200

0x0003 38400

0x0004 57600

0x0005 115200

0x0006 230400

0x0007 256000

0x0008 460800

The factory default value is 0x0007, which is 256000

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Send data:

FD FC FB FA 04 00 A1 00 07 00 04 03 02 01

Radar ACK(success):

FD FC FB FA 04 00 A1 01 00 00 04 03 02 01

2.2.10 Factory Reset

This command is used to restore all configuration values to their original values, and the

configuration values will take effect after restarting the module.

Command word:0x00A2

Command value:none

Return value:2 bytes ACK status (0 success, 1 failure)

Send data:

FD FC FB FA 02 00 A2 00 04 03 02 01

Radar ACK(success):

FD FC FB FA 04 00 A2 01 00 00 04 03 02 01

The factory default configuration values are as follows:

Table 7 factory default value

Configuration item defaults

Maximum moving distance gate 8

Maximum resting distance door 8

No-one duration 5

Serial port baud rate 256000

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Configuration item defaults Configuration item defaults

Rest sensitivity for

Motion sensitivity for distance gate 0 50 (cannot be set)
distance gate 0

Rest sensitivity for

Motion sensitivity for distance gate 1 50 (cannot be set)
distance gate 1

Rest sensitivity for

Motion sensitivity for distance gate 2 40 40
distance gate 2

Rest sensitivity for

Motion sensitivity for distance gate 3 30 40
distance gate 3

Rest sensitivity for

Motion sensitivity for distance gate 4 20 30
distance gate 4

Rest sensitivity for

Motion sensitivity for distance gate 5 15 30
distance gate 5

Rest sensitivity for

Motion sensitivity for distance gate 6 15 20
distance gate 6

Rest sensitivity for

Motion sensitivity for distance gate 7 15 20
distance gate 7

Rest sensitivity for

Motion sensitivity for distance gate 8 15 20
distance gate 8

2.2.11 Restart the Module

When the module receives this command, it will automatically restart after the response is sent.

Command word:0x00A3

Command value:none

Return value:2 bytes ACK status (0 success, 1 failure)

Send data:

FD FC FB FA 02 00 A3 00 04 03 02 01

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Radar ACK(success):

FD FC FB FA 04 00 A3 01 00 00 04 03 02 01

2.3 Radar Data Output Protocol

The LD2410 outputs the radar detection results through the serial port, and outputs the basic

information of the target by default, including the target state, motion energy value, static energy

value, motion distance, static distance and other information. If the radar is configured in

engineering mode, the radar will additionally output the energy value of each range gate(moving

& stationary). Radar data is output in the specified frame format.

2.3.1 Reporting Data Frame Format

The format of the radar report message frame defined by the protocol is shown in table and

table 9. In normal working mode and engineering mode, the definition of the reported data type

value is shown in table 10.

Table 8 report data frame format

Frame header Frame data length Frame data MFR

F4 F3 F2 F1 2 bytes See table9 F8 F7 F6 F5

Table 9 data frame format

Type of data Head Target data Tail Check

1 byte 0xAA See table11,table 13 0x55 0x00

Table 10 data type description

Data type value illustrate

0x01 Engineering mode data

0x02 Target data composition

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2.3.2 Target Data Composition

The content of the target data reported by the radar will change according to the working

mode of the radar. In the normal working mode, the radar outputs the basic information data of the

target by default; when configured in the engineering mode, the radar will add the energy value

information of each range gate after the basic information data of the target. Therefore, the basic

information of the target will always be output in the data reported by the radar, and the energy

value information of the range gate will only be output after the command is enabled.

In normal working mode, the composition of the target data reported by the radar is shown in

Table 11, and the definition of the target state value is shown in Table 12. The composition of the

target data frame in the engineering mode is shown in Table 13, and some data are added based on

the data reported in the normal working mode.

Table 11 target data frame composition

Movement target Stationary Stationary Detection

Exercise target
Target state distance target distance target distance distance
energy value
(cm) (cm) (cm) (cm)

1 byte
2 bytes 1 byte 1 byte 1 byte 1 byte
(see table 12)

Table 12 target state value description

Target state value illustrate

0x00 No target

0x01 Sports target

0x02 Stationary target

0x03 Stationary & stationary targets

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Table 13 target data (engineering mode) frame composition

Movement Static Static

Maximum Movement
Maximum distance distance distance Retain data,
Detection static distance gate
... moving distance ... gate N gate 0 ... gate N store additional
distance(cm) distance 0 energy
gate N energy energy energy information
gate N value
value value value

... 2 bytes 1 byte 1 byte 1 byte .. 1 byte 1 byte ... 1 byte M bytes

Data data:

Report data in normal working mode:

Frame header Frame data Frame data MFR

F4 F3 F2 F1 0D 00 02 AA 02 51 00 00 00 00 3B 00 00 55 00 F8 F7 F6 F5

Report data in engineering mode:

Frame header Frame data length Frame data MFR

F4 F3 F2 F1 23 00 01 AA 03 1E 00 3C 00 00 39 F8 F7 F6 F5

00 00 08 08 3C 22 05 03 03 04

03 06 05 00 00 39 10 13 06 06

08 04 03 05 55 00

2.4 Radar Command Configuration Mode

2.4.1 Radar Command Configuration Steps

The process of the LD2410 radar executing a configuration command indudes two links: the

host computer “send command” and the radar “reply command ACK”. If the radar has no ACK

reply or fails to reply ACK., it means that the radar fails to execute the configuration command.

As mentioned before, sending any other commands to the radar, the developer needs to send

the “enable configuration” command first, and then send the configuration command within the

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specified time. After the command configuration is completed, send the “end configuration”

command to inform the radar configuration has ended.

For example, if you want to read the radar configuration parameters, first the host computer

sends the “enable configuration” command, after receiving the radar ACK successfully, it sends

the “read parameters” command; after receiving the radar ACK successfully, it finally sends the

“end” command. “configure” command; after the radar ACK is successful, it indicates that the

complete reading of parameters is over.

The radar command configuration process is shown in the figure below

Figure 2 radar command configuration flow

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3 Version History
Date Version Modify the content

2022-6-24 1.01 Initial version

2022-7-1 1.02 Fixed some error descriptions and added restart commands

4 Technical Support and Contact

Shenzhen Hi-Link Electronics Co., Ltd.

Address:Room 301, Building 1, 1970 Science and Technology
Park, Minzhi Community, Minzhi Street, Longhua District,
Shenzhen
Tel:0755-23 152658/83575155
Website: www.hlktech.net.
Mailbox: sales@hlktech.com

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