A platform independent library for ams AS5047P rotary position sensor/magnetic encoder.
There are 3 ways to install:
-
Go to VS Code > PIO Home > Libraries and search "as5047-driver", press the "Add to Project" button.
-
Add
lib_deps = ziteh/as5047-driver@^2.0.0inplatformio.inifile, for example:
[env:nucleo_f446re]
platform = ststm32
board = nucleo_f446re
framework = stm32cube
lib_deps = ziteh/as5047-driver@^2.0.0- PIO CLI:
pio pkg install --library "ziteh/as5047-driver@^2.0.0".
Include
#include <as5047p.h>The following functions that must be implemented in the user file (e.g. main.c), function names are free:
void as5047p_spi_send(uint16_t data);
uint16_t as5047p_spi_read(void);
void as5047p_spi_select(void);
void as5047p_spi_deselect(void);
void as5047p_delay(void)Take STM32 HAL for example:
void as5047p_spi_send(uint16_t data)
{
HAL_SPI_Transmit(&hspi1, (uint8_t *)&data, 1, HAL_MAX_DELAY);
}
uint16_t as5047p_spi_read(void)
{
uint16_t data = 0;
HAL_SPI_Receive(&hspi1, (uint8_t *)&data, 1, HAL_MAX_DELAY);
return data;
}
void as5047p_spi_select(void)
{
HAL_GPIO_WritePin(AS5047P_SS_GPIO_Port, AS5047P_SS_Pin, GPIO_PIN_RESET);
}
void as5047p_spi_deselect(void)
{
HAL_GPIO_WritePin(AS5047P_SS_GPIO_Port, AS5047P_SS_Pin, GPIO_PIN_SET);
}
// For 't_CSn': High time of CSn between two transmissions, >350 ns.
void as5047p_delay(void)
{
HAL_Delay(1);
}Make handle and init:
as5047p_handle_t as5047p;
as5047p_make_handle(&as5047p_spi_send,
&as5047p_spi_read,
&as5047p_spi_select,
&as5047p_spi_deselect,
&as5047p_delay,
&as5047p);
// Configure SETTINGS1 and SETTINGS2.
as5047p_config(&as5047p, 0b00100101, 0b00000000);
// Set specify position as zero.
as5047p_set_zero(&as5047p, 0);Read angle in degree:
float angle_deg;
int8_t error = as5047p_get_angle(&as5047p, without_daec, &angle_deg);
if (error == 0)
{
printf("Angle: %f\r\n", angle_deg);
}Read raw position:
uint16_t position;
int8_t error = as5047p_get_position(&as5047p, without_daec, &position);
if (error == 0)
{
printf("Raw: %5i\r\n", position);
}- STM32 HAL:
examples/stm32_hal/src/main.c - STM32 LibOpenCM3:
examples/stm32_libopencm3/src/main.c
My blog (Chinese) has more detailed descriptions.
- SPI Mode = 1.
- CPOL = 0: Clock is low when idle.
- CPHA = 1: Data is sampled on the second edge (i.e. falling edge).
- CS (chip select) pin active low.
- Data size (data frame format) is 16-bit.
- Bit order is MSB first.
- Max clock rates up to 10 MHz.
- Only supports slave operation mode.
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