This is a modification of the E3 Code of @lg2dc to get it working with ESPHome and the Hörmann Supramatic E3. It is a work in progress but it is in a working state. Feel free to modify and complete it! :)
The "garage-door-includes" folder has to be put in the ESPHome folder so it can be accessed and used when compiling (in my Home Assistant folder structure, its "/config/esphome/garage-door-includes/garage_door_component.h" when accessing the internal file browser).