DFRobot C4004 is a 60GHz 4T4R multi-zone presence mmWave radar for smart space management. It can report not only occupancy, but also real-time counts of static people and moving people in configured areas, with built-in zone logic and 6-way IO linkage for fast automation deployment.
Product Link(www.dfrobot.com)
SKU:SEN0753
- Supports UART communication on Arduino UNO, FireBeetle ESP32 and Raspberry Pi.
- Supports system heartbeat, initialization state query, reset and factory reset.
- Supports product model, product ID, hardware version and firmware version query.
- Supports installation mode, installation height and Z angle configuration.
- Supports human presence detection and motion state query/report.
- Supports target trajectory tracking and target information report.
- Supports tag zone configuration, tag clear, batch tag configuration and tag event report.
- Supports four-side detection boundary and trajectory detection range mode settings.
- Supports people count query/report, report interval, trajectory distance, hold time and no-person delay settings.
There are two methods for using this library:
- Open Arduino IDE, search for
DFRobot_C4004in Tools -> Manage Libraries and install the library. - Download this library, copy it into the Arduino
librariesfolder, then open the examples folder and run the demo.
For Raspberry Pi, use the driver in python/raspberrypi/ and install pyserial if it is not already installed.
pip3 install pyserial /**
* @fn begin
* @brief Initialize the DFRobot C4004 sensor.
* @return true: Initialization succeeded, false: Initialization failed.
*/
bool begin(void);
/**
* @fn isConnected
* @brief Check if the DFRobot C4004 sensor is connected.
* @return true: Connected, false: Not connected.
*/
bool isConnected(void);
/**
* @fn reset
* @brief Reset the DFRobot C4004 sensor.
* @return true: Reset succeeded, false: Reset failed.
*/
bool reset(void);
/**
* @fn factoryReset
* @brief Factory reset the DFRobot C4004 sensor.
* @return true: Reset succeeded, false: Reset failed.
*/
bool factoryReset(void);
/**
* @fn getHeartbeat
* @brief Get the heartbeat status of the DFRobot C4004 sensor.
* @param mode: Data acquisition mode.
* @n eGetDataActive: Actively obtain the latest heartbeat status.
* @n eGetDataReport: Obtain the latest heartbeat status from the last report.
* @return true: Heartbeat detected, false: No heartbeat detected.
*/
bool getHeartbeat(eGetDataMode_t mode = eGetDataActive);
/**
* @fn getReportedInfo
* @brief Get the latest reported event from the DFRobot C4004 sensor.
* @param timeoutMs: Maximum waiting time for the report，in milliseconds，default is 50.
* @return eReportedEvent_t: Reported event type.
* @n eEventNone: No event detected.
* @n eEventTrajectory: Trajectory tracking event detected.
* @n eEventPresence: Presence detection event detected.
* @n eEventMotion: Human motion event detected.
* @n eEventTag: Tag event detected.
* @n eEventHeartbeat: Heartbeat event detected.
* @n eEventInitFinished: Initialization finished event detected.
* @n eEventPeopleCount: People count event detected.
* @n eEventUnknown: Unknown event detected.
* @n eEventError: Error occurred.
*/
eReportedEvent_t getReportedInfo(uint16_t timeoutMs = 50);
/**
* @fn getProductModel
* @brief Get the product model of the DFRobot C4004 sensor.
* @return String: Product model.
*/
String getProductModel(void);
/**
* @fn getProductID
* @brief Get the product ID of the DFRobot C4004 sensor.
* @return uint16_t: Product ID.
*/
uint16_t getProductID(void);
/**
* @fn getHardwareVersion
* @brief Get the hardware version of the DFRobot C4004 sensor.
* @return String: Hardware version.
*/
String getHardwareVersion(void);
/**
* @fn getFirmwareVersion
* @brief Get the firmware version of the DFRobot C4004 sensor.
* @return String: Firmware version.
*/
String getFirmwareVersion(void);
/**
* @fn setInstallInfo
* @brief Set the installation information of the DFRobot C4004 sensor.
* @param info: Installation information.
* @n mode: DFRobot C4004 mounting mode.
* @n heightCm: DFRobot C4004 installation height, in cm.
* @n zAngle: DFRobot C4004 installation z-axis angle, in degrees.
* @return true: Set succeeded, false: Set failed.
*/
bool setInstallInfo(sInstallInfo_t &info);
/**
* @fn getInstallInfo
* @brief Get the installation information of the DFRobot C4004 sensor.
* @param info: Installation information.
* @n mode: DFRobot C4004 mounting mode.
* @n heightCm: DFRobot C4004 installation height, in cm.
* @n zAngle: DFRobot C4004 installation z-axis angle, in degrees.
* @return true: Get succeeded, false: Get failed.
*/
bool getInstallInfo(sInstallInfo_t *info);
/**
* @fn setInstallHigh
* @brief Set the installation height of the DFRobot C4004 sensor.
* @param hight: Installation height, in cm.
* @return true: Set succeeded, false: Set failed.
*/
bool setInstallHigh(int32_t hight);
/**
* @fn getInstallHigh
* @brief Get the installation height of the DFRobot C4004 sensor.
* @param hight: Pointer to receive installation height, in cm.
* @return true: Get succeeded, false: Get failed.
*/
bool getInstallHigh(int *hight);
/**
* @fn setPresenceEnable
* @brief Enable or disable the presence detection function of the sensor.
* @param enable: Enable or disable the presence detection function.
* @n true: Enable, false: Disable.
* @return true: Set succeeded, false: Set failed.
*/
bool setPresenceEnable(bool enable);
/**
* @fn getPresenceEnable
* @brief Get whether the presence detection function is enabled.
* @param enable: Pointer to receive the enable state.
* @n true: Enabled, false: Disabled.
* @return true: Get succeeded, false: Get failed.
*/
bool getPresenceEnable(bool *enable);
/**
* @fn getPresenceState
* @brief Get the current presence detection result.
* @return ePresenceState_t: Presence detection result.
* @n eNoPresence: No presence detected.
* @n ePresence: Presence detected.
* @n ePresenceUnknown: Unknown presence state.
*/
ePresenceState_t getPresenceState(void);
/**
* @fn setMotionEnable
* @brief Enable or disable the human motion detection function of the sensor.
* @param enable: Enable or disable the human motion detection function.
* @n true: Enable, false: Disable.
* @return true: Set succeeded, false: Set failed.
*/
eMotionState_t getMotionState(void);
/**
* @fn setTrajectoryTrackEnable
* @brief Enable or disable the trajectory tracking function of the sensor.
* @param enable: Enable or disable the trajectory tracking function.
* @n true: Enable, false: Disable.
* @return true: Set succeeded, false: Set failed.
*/
bool setTrajectoryTrackEnable(bool enable);
/**
* @fn getTrajectoryTrackEnable
* @brief Query whether the trajectory tracking function is enabled.
* @param enable: Pointer to receive the enable state.
* @n true: Enabled, false: Disabled.
* @return true: Query succeeded, false: Query failed.
*/
bool getTrajectoryTrackEnable(bool *enable);
/**
* @fn setCheckToActiveFrames
* @brief Set the frame count used to confirm transition from check state to active state.
* @param frames: Frame count, valid range: 1-7.
* @return true: Set succeeded, false: Set failed.
*/
bool setCheckToActiveFrames(uint8_t frames);
/**
* @fn getCheckToActiveFrames
* @brief Query the frame count used to confirm transition from check state to active state.
* @param frames: Pointer to receive frame count.
* @return true: Query succeeded, false: Query failed.
*/
bool getCheckToActiveFrames(uint8_t *frames);
/**
* @fn getTargetInfo
* @brief Get the target information of the DFRobot C4004 sensor.
* @param index: Target index.
* @param targetInfo: Pointer to receive the target information.
* @param mode: Data acquisition mode.
* @n eGetDataActive: Query latest target information before reading.
* @n eGetDataReport: Read target information from cached report data.
* @return true: Get succeeded, false: Get failed.
*/
bool getTargetInfo(uint8_t index, sTargetInfo_t *targetInfo, eGetDataMode_t mode = eGetDataActive);
/**
* @fn getTargetList
* @brief Get the list of target information of the DFRobot C4004 sensor.
* @param targetBuf: Pointer to receive the target information list.
* @param maxCount: Maximum number of targets to be read.
* @param mode: Data acquisition mode.
* @n eGetDataActive: Query latest target information before reading.
* @n eGetDataReport: Read target information from cached report data.
* @return uint8_t: Number of targets read.
*/
uint8_t getTargetList(sTargetInfo_t *targetBuf, uint8_t maxCount, eGetDataMode_t mode = eGetDataActive);
/**
* @fn getTargetCount
* @brief Get the number of targets detected by the DFRobot C4004 sensor.
* @return uint8_t: Number of targets.
*/
uint8_t getTargetCount(void);
/**
* @fn setTrajectoryLed
* @brief Enable or disable the LED of the DFRobot C4004 sensor during trajectory tracking.
* @param enable: Enable or disable the tag detection function.
*/
bool setTrajectoryLed(bool enable);
/**
* @fn setMotionLed
* @brief Enable or disable the LED of the DFRobot C4004 sensor during human motion detection.
* @param enable: Enable or disable the tag detection function.
* @return true: Set succeeded, false: Set failed.
*/
bool setMotionLed(bool enable);
/**
* @fn getTrajectoryLed
* @brief Get the LED status of the DFRobot C4004 sensor during trajectory tracking.
* @return true: LED is enabled, false: LED is disabled.
*/
bool getTrajectoryLed(void);
/**
* @fn getMotionLed
* @brief Get the LED status of the DFRobot C4004 sensor during human motion detection.
* @return true: LED is enabled, false: LED is disabled.
*/
bool getMotionLed(void);
/**
* getTags
* @brief Obtain all tag configuration information.
* @param tags: Pointer to receive the tag configuration.
* @param maxTags: Maximum number of tags to be written into tags.
* @param mode: Data acquisition mode kept for compatibility.
* @n eGetDataActive: Query latest tag configuration from the device.
* @n eGetDataReport: Currently behaves the same as eGetDataActive.
* @n ioIndex in each tag: 0 means unused; 2-6 maps to IO2-IO6.
* @return uint8_t: Actual number of tags returned by the device.
*/
uint8_t getTags(sTagConfig_t *tags, uint8_t maxTags, eGetDataMode_t mode = eGetDataActive);
/**
* @fn setTag
* @brief Set one tag using size mode.
* @param tag: Tag configuration.
* @n tagIndex: Tag index.
* @n tagType: Tag type.
* @n scopeType: Tag range type.
* @n ioIndex: IO linkage index. 0 means unused; 2-6 maps to IO2-IO6.
* @n width: Tag width or circle radius, in cm.
* @n height: Tag height, in cm.
* @return eTagSetStatus_t: Tag set status.
* @n eTagSetCommError: Communication failed or response mismatch.
* @n eTagSetSuccess: Tag set succeeded.
* @n eTagSetTrackCountError: Track count is not equal to 1.
* @n eTagSetAlreadyUsed: Tag has been occupied.
* @n eTagSetIndexOutOfRange: Tag index out of range.
* @note centerX/centerY in sTagConfig_t are ignored by this API.
* @note When setting labels using this API, it is necessary to ensure that the number of tracks is 1.
* @note Set up to 32 tags at most.
*/
eTagSetStatus_t setTag(const sTagConfig_t &tag);
/**
* @fn clearTag
* @brief Clear the tag configuration.
* @param tagIndex: Tag index (2-byte index in protocol payload).
* @return true: Clear succeeded, false: Clear failed.
*/
bool clearTag(uint16_t tagIndex);
/**
* @fn clearAllTags
* @brief Clear all tag configurations.
* @return true: Clear succeeded, false: Clear failed.
*/
bool clearAllTags(void);
/**
* @fn setTagsFromConfig
* @brief Set tag configurations from a list in coordinate mode.
* @param tags: Pointer to the tag configuration list.
* @param tagCount: Number of tags in the list.
* @n ioIndex in each tag: 0 means unused; 2-6 maps to IO2-IO6.
* @return true: Set succeeded, false: Set failed.
* @note The labels can be set in the form of coordinates, and there is no need to meet the requirement that the number of tracks is 1
* @note Set up to 32 tags at most.
*/
bool setTagsFromConfig(const sTagConfig_t *tags, uint8_t tagCount);
/**
* @fn getTagInfo
* @brief Get the last tag event decoded from active report packet (CTRL 0x07, CMD 0x1B).
* @param tagInfo: Pointer to receive reported tag event information.
* @return true: Get succeeded, false: No valid reported tag event or invalid parameter.
* @note This API reads report cache only. Call getReportedInfo() first to receive new report data.
* @note Tag event reports include ioIndex.
*/
bool getTagInfo(sTagInfo_t *tagInfo);
/**
* @fn setFourSidedRangeMode
* @brief Set four-side boundary detection range.
* @param range: Boundary range settings.
* @n xPositiveCm: Positive x boundary, in cm.
* @n xNegativeCm: Negative x boundary, in cm.
* @n yPositiveCm: Positive y boundary, in cm.
* @n yNegativeCm: Negative y boundary, in cm.
* @return true: Set succeeded, false: Set failed.
*/
bool setFourSidedRangeMode(sFourSidedRange_t &range);
/**
* @fn getFourSidedRangeMode
* @brief Query and get four-side boundary detection range.
* @param range: Pointer to receive boundary range settings.
* @return true: Get succeeded, false: Get failed.
*/
bool getFourSidedRangeMode(sFourSidedRange_t *range);
/**
* @fn setTrajectoryRangeMode
* @brief Start trajectory-range learning or use the learned trajectory range.
* @param learning: Trajectory-range learning switch.
* @n true: Start learning trajectory range, false: Use trajectory range mode without learning.
* @return true: Set succeeded, false: Set failed.
*/
bool setTrajectoryRangeMode(bool learning);
/**
* @fn getTrajectoryRangeMode
* @brief Query and get range points in trajectory mode (mode 0x05).
* @param points: Pointer to receive trajectory-mode points.
* @param pointCount: Pointer to receive point count.
* @return true: Query succeeded, false: Query failed.
* @note The points buffer must be able to hold at least MAX_POINTS points.
*/
bool getTrajectoryRangeMode(sPoint_t *points, uint16_t *pointCount);
/**
* @fn setConfigFileModePoints
* @brief Set detection range points using config-file mode (mode 0x06).
* @param points: Pointer to the config-file-mode points.
* @param pointCount: Number of points.
* @return true: Set succeeded, false: Set failed.
* @note Point values use sign-bit int16 encoding (bit15: 0=positive, 1=negative).
* @note pointCount is limited to MAX_POINTS.
*/
bool setConfigFileModePoints(const sPoint_t *points, uint16_t pointCount);
/**
* @fn getConfigFileModePoints
* @brief Query and get range points in config-file mode (mode 0x06).
* @param points: Pointer to receive config-file-mode points.
* @param pointCount: Pointer to receive point count.
* @return true: Query succeeded, false: Query failed.
* @note The points buffer must be able to hold at least MAX_POINTS points.
*/
bool getConfigFileModePoints(sPoint_t *points, uint16_t *pointCount);
/**
* @fn getDetectionRangeMode
* @brief Query current detection range mode.
* @return eDetectionRangeMode_t: Current detection range mode.
*/
eDetectionRangeMode_t getDetectionRangeMode(void);
/**
* @fn getPeopleTime
* @brief Get people count.
* @param mode: Data acquisition mode.
* @n eGetDataActive: Query latest data and update cache.
* @n eGetDataReport: Return cached data directly.
* @return uint8_t: People count (maximum count reported by module).
*/
uint8_t getPeopleTime(eGetDataMode_t mode = eGetDataActive);
/**
* @fn setRealTimePeopleTime
* @brief Set people count report interval.
* @param time: Report interval, in seconds.
* @return true: Set succeeded, false: Set failed.
*/
bool setRealTimePeopleTime(uint32_t time);
/**
* @fn getRealTimePeopleTime
* @brief Get people count report interval.
* @param time: Pointer to receive report interval, in seconds.
* @return true: Get succeeded, false: Get failed.
*/
bool getRealTimePeopleTime(uint32_t *time);
/**
* @fn clearPeopleCount
* @brief Clear people count statistics.
* @return true: Clear succeeded, false: Clear failed.
*/
bool clearPeopleCount(void);
/**
* @fn setTrackMeters
* @brief Set trajectory generation distance threshold.
* @param distanceCm: Distance threshold, in cm.
* @return true: Set succeeded, false: Set failed.
*/
bool setTrackMeters(uint32_t distanceCm);
/**
* @fn getTrackMeters
* @brief Get trajectory generation distance threshold.
* @param distanceCm: Pointer to receive distance threshold, in cm.
* @return true: Get succeeded, false: Get failed.
*/
bool getTrackMeters(uint32_t *distanceCm);
/**
* @fn setTrackExistsTime
* @brief Set trajectory hold time.
* @param time: Hold time, in seconds.
* @return true: Set succeeded, false: Set failed.
*/
bool setTrackExistsTime(uint32_t time);
/**
* @fn getTrackExistsTime
* @brief Get trajectory hold time.
* @param time: Pointer to receive hold time, in seconds.
* @return true: Get succeeded, false: Get failed.
*/
bool getTrackExistsTime(uint32_t *time);
/**
* @fn setUnmannedTime
* @brief Set no-person delay time.
* @param delayTime: Delay time, in seconds.
* @return true: Set succeeded, false: Set failed.
*/
bool setUnmannedTime(uint32_t delayTime);
/**
* @fn getUnmannedTime
* @brief Get no-person delay time.
* @param delayTime: Pointer to receive delay time, in seconds.
* @return true: Get succeeded, false: Get failed.
*/
bool getUnmannedTime(uint32_t *delayTime);| MCU | Work Well | Work Wrong | Untested | Remarks |
|---|---|---|---|---|
| Arduino Uno | √ | |||
| Arduino MEGA2560 | √ | |||
| Arduino Leonardo | √ | |||
| FireBeetle-ESP32 | √ | |||
| Micro:bit | √ |
- 2026/05/22 - V1.0.0 version
Written by JiaLi(zhixin.liu@dfrobot.com), 2026. (Welcome to our website)