https://github.com/jonas-merkle/as5047p
An Arduino library for the AS5047P high-resolution rotary position sensor. Supporting also the following sensor types: AS5047D, AS5147, AS5147P, AS5247
https://github.com/jonas-merkle/as5047p
abi angle arduino-library as5047d as5047p as5147 as5147p as5247 as5x47 encoder high-resolution rotary-encoder rotary-position-sensor rotaty sensor spi uvw
Last synced: 5 months ago
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An Arduino library for the AS5047P high-resolution rotary position sensor. Supporting also the following sensor types: AS5047D, AS5147, AS5147P, AS5247
- Host: GitHub
- URL: https://github.com/jonas-merkle/as5047p
- Owner: jonas-merkle
- License: gpl-3.0
- Created: 2020-12-30T20:28:10.000Z (over 5 years ago)
- Default Branch: master
- Last Pushed: 2025-10-07T16:26:51.000Z (8 months ago)
- Last Synced: 2025-10-07T18:20:01.637Z (8 months ago)
- Topics: abi, angle, arduino-library, as5047d, as5047p, as5147, as5147p, as5247, as5x47, encoder, high-resolution, rotary-encoder, rotary-position-sensor, rotaty, sensor, spi, uvw
- Language: C++
- Homepage: https://github.com/jonas-merkle/AS5047P
- Size: 1.34 MB
- Stars: 33
- Watchers: 2
- Forks: 14
- Open Issues: 8
-
Metadata Files:
- Readme: README.md
- Funding: .github/FUNDING.yml
- License: LICENSE
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README
# AS5047P – Arduino Library
High-level, type-safe SPI driver for **ams/TA** **AS5047P** (and compatible AS5x47 parts).
Read 14-bit angles, magnitude, and diagnostics with concise APIs—works on classic Arduino, Feather, Teensy, and other SPI-capable boards.
---
## Table of Contents
- [AS5047P – Arduino Library](#as5047p--arduino-library)
- [Table of Contents](#table-of-contents)
- [Features](#features)
- [Supported Sensors](#supported-sensors)
- [Installation](#installation)
- [Arduino Library Manager](#arduino-library-manager)
- [Manual](#manual)
- [PlatformIO](#platformio)
- [Hardware Setup](#hardware-setup)
- [SPI Pins \& Power Notes](#spi-pins--power-notes)
- [Quick Wiring Tables](#quick-wiring-tables)
- [Arduino Uno](#arduino-uno)
- [Adafruit Feather M0 (3.3 V logic)](#adafruit-feather-m0-33-v-logic)
- [Quick Start](#quick-start)
- [Advanced Usage](#advanced-usage)
- [Error \& Diagnostic Handling](#error--diagnostic-handling)
- [Low-level Register Access](#low-level-register-access)
- [Documentation](#documentation)
- [Troubleshooting](#troubleshooting)
- [Project Status](#project-status)
- [License](#license)
- [Acknowledgements](#acknowledgements)
---
## Features
- ✅ 14-bit **angle** readout (raw or DAE-compensated)
- ✅ **Magnitude (CMAG)** & **diagnostics** (AGC, CORDIC overflow, field strength)
- ✅ Clean **C++ types** for all registers and SPI frames (with parity helpers)
- ✅ **Even parity** verification over 15 LSBs (MSB parity bit handled for you)
- ✅ Arduino-style, minimal API + detailed status strings
- ✅ Examples for quick bring-up
---
## Supported Sensors
This library targets [**AS5047P**](https://look.ams-osram.com/m/d05ee39221f9857/original/AS5047P-DS000324.pdf) and is compatible with several AS5x47 variants that share the same SPI framing:
- **AS5047P**, **AS5047D**, **AS5147**, **AS5147P**, **AS5247**
Not supported: **AS5047U**, **AS5147U**, **AS5247U** (different protocol/regs).
---
## Installation
### Arduino Library Manager
1. **Sketch → Include Library → Manage Libraries…**
2. Search **`AS5047P`**, then **Install**.
> You’ll need Arduino IDE ≥ 1.6.2 for Library Manager.
### Manual
1. Download the latest **Release** ZIP.
2. Extract to your Arduino `libraries/` folder.
3. Restart the IDE.
### PlatformIO
```sh
pio lib install "jonas-merkle/AS5047P"
```
Or add to `platformio.ini`:
```ini
lib_deps = jonas-merkle/AS5047P
```
---
## Hardware Setup
### SPI Pins & Power Notes
- **SPI mode**: `MODE1` (CPOL=0, CPHA=1), **MSB first**
- **Voltage**:
- Many dev boards (Feather M0, Teensy 3.x/4.x) are **3.3 V only** → power sensor @ **3.3 V**
- Classic Arduino Uno/Mega can power at **5 V**, but confirm **logic levels** and your breakout’s level shifting.
- **CS pin** defaults to **D9**, configurable in the constructor.
### Quick Wiring Tables
#### Arduino Uno
| AS5047P | Uno | Notes |
| ------: | :-: | -------------------------- |
| GND | GND | Ground |
| VDD | 5V | Sensor Vcc |
| VDD3V | NC | — |
| MOSI | 11 | SPI MOSI |
| MISO | 12 | SPI MISO |
| CLK | 13 | SPI SCK |
| CSn | 9 | Chip Select (configurable) |
#### Adafruit Feather M0 (3.3 V logic)
| AS5047P | Feather M0 | Notes |
| ------: | :--------: | --------------------------------- |
| GND | GND | Ground |
| VDD | 3V | **3.3 V only** |
| VDD3V | 3V | Tie to 3.3 V if required by board |
| MOSI | MOSI | SPI MOSI |
| MISO | MISO | SPI MISO |
| CLK | SCK | SPI SCK |
| CSn | 9 | Chip Select (configurable) |
> ⚠️ **3.3 V ONLY** on Feather/Teensy. Do **not** feed 5 V.
Teensy 3.5/3.6/4.0/4.1 use their standard SPI pins (MOSI/MISO/SCK) and a free GPIO for CS (e.g., 10). Power @ **3.3 V**.
---
## Quick Start
```cpp
#include
#include
// CS pin 9, SPI speed default from library header (can pass a custom speed)
AS5047P as5047p(9);
void setup() {
Serial.begin(115200);
// Initialize SPI via library and verify connectivity
if (!as5047p.initSPI()) {
Serial.println("AS5047P init failed. Check wiring and power.");
while (true) { delay(1000); }
}
}
void loop() {
// Read 14-bit angle (degrees) with DAE compensation
float deg = as5047p.readAngleDegree(true);
Serial.print("Angle (deg): ");
Serial.println(deg, 3);
// Read magnitude
uint16_t mag = as5047p.readMagnitude();
Serial.print("Magnitude: ");
Serial.println(mag);
delay(500);
}
```
---
## Advanced Usage
### Error & Diagnostic Handling
You can request parity verification and collect communication/sensor diagnostics on each read:
```cpp
AS5047P_Types::ERROR_t err;
float deg = as5047p.readAngleDegree(
/*withDAEC*/ true,
/*errorOut*/ &err,
/*verifyParity*/ true,
/*checkForComError*/ true,
/*checkForSensorError*/ true
);
if (!err.noError()) {
Serial.println(err.toArduinoString()); // nicely formatted error report
}
```
You can also dump a combined status block:
```cpp
Serial.println(as5047p.readStatusAsArduinoString());
```
### Low-level Register Access
Typed wrappers let you work with registers directly:
```cpp
// Read DIAAGC (AGC, LF, COF, MAGH/L)
AS5047P_Types::DIAAGC_t dia = as5047p.read_DIAAGC(/*errorOut*/ nullptr, /*verifyParity*/ true);
// Write to SETTINGS1 (example: toggle DAE compensation disable bit)
AS5047P_Types::SETTINGS1_t s1 = as5047p.read_SETTINGS1();
s1.data.values.DAECDIS = 1; // disable DAE
AS5047P_Types::ERROR_t err;
bool ok = as5047p.write_SETTINGS1(&s1, &err, /*checkForComError*/ true, /*verifyWittenReg*/ true);
if (!ok) Serial.println(err.toArduinoString());
```
> Parity for frames is handled internally by the SPI layer; you can also use `AS5047P_Util::parityCheck()` if you construct frames yourself.
---
## Documentation
- **Master**: [https://jonas-merkle.github.io/AS5047P/docs/master/html/index.html](https://jonas-merkle.github.io/AS5047P/docs/master/html/index.html)
- **Develop**: [https://jonas-merkle.github.io/AS5047P/docs/develop/html/index.html](https://jonas-merkle.github.io/AS5047P/docs/develop/html/index.html)
Doxygen is generated from the extensively commented headers and sources.
---
## Troubleshooting
- **`initSPI()` fails**
- Check **power** (3.3 V vs 5 V board), **common ground**, and **CS pin** number.
- Verify **SPI mode 1** (the library sets this), and that no other library reconfigures SPI mid-flight.
- If multiple SPI users exist, consider enabling `AS5047P_SPI_ARDUINO_INIT_ON_COM_ENAB` in `util/AS5047P_Settings.h`.
- **Random read errors**
- Try disabling the ~100 ns NOP delay (`AS5047P_SPI_ARDUINO_USE_100NS_NOP_DELAY`) or vice versa depending on your MCU clock.
- Shorten wires; keep SPI lines tight and add GND reference near sensor.
- **Angles look noisy**
- Check **magnet distance/centering** (MAGH/MAGL flags, AGC value in `DIAAGC`).
- Consider using **DAE-compensated** angle (`readAngleDegree(true)`).
---
## Project Status
- ✅ Read/write APIs for all relevant registers
- ✅ Parity checking & formatted error/status strings
- ✅ CI, Doxygen docs, Arduino & PlatformIO registry
- 🚧 Broader write-path testing across MCUs/clock rates
- 🚧 More examples (DAE tuning, ABI/U VW config)
- ❌ STM32 HAL backend (PRs welcome)
---
## License
Licensed under **GNU GPLv3**. See [LICENSE](./LICENSE).
---
### Acknowledgements
Thanks to contributors and users testing across different boards. Issues and PRs are welcome!