API Reference

Complete reference documentation for all public methods and types in the AS5047U driver.

Source Code

Main Header: inc/as5047u.hpp
SPI Interface: inc/as5047u_spi_interface.hpp
Implementation: src/as5047u.cpp
Registers: inc/as5047u_registers.hpp

Core Class

`AS5047U<SpiType>`

Main driver class for interfacing with the AS5047U magnetic encoder.

Template Parameter: SpiType - Type implementing as5047u::SpiInterface<SpiType>

Location: inc/as5047u.hpp#L78

Constructor:

explicit AS5047U(SpiType& bus, FrameFormat format = AS5047U_CFG::DEFAULT_FRAME_FORMAT) noexcept;

Location: inc/as5047u.hpp#L91

Methods

Frame Format

Method	Signature	Location
`SetFrameFormat()`	`void SetFrameFormat(FrameFormat format) noexcept`	`src/as5047u.cpp#L16`

Angle Reading

Method	Signature	Location
`GetAngle()`	`uint16_t GetAngle(uint8_t retries = AS5047U_CFG::CRC_RETRIES) const`	`src/as5047u.cpp#L33`
`GetRawAngle()`	`uint16_t GetRawAngle(uint8_t retries = AS5047U_CFG::CRC_RETRIES) const`	`src/as5047u.cpp#L48`

Velocity Reading

Method	Signature	Location
`GetVelocity()`	`int16_t GetVelocity(uint8_t retries = AS5047U_CFG::CRC_RETRIES) const`	`src/as5047u.cpp#L63`
`GetVelocityDegPerSec()`	`float GetVelocityDegPerSec(uint8_t retries = AS5047U_CFG::CRC_RETRIES) const`	`src/as5047u.cpp#L79`
`GetVelocityRadPerSec()`	`float GetVelocityRadPerSec(uint8_t retries = AS5047U_CFG::CRC_RETRIES) const`	`src/as5047u.cpp#L84`
`GetVelocityRPM()`	`float GetVelocityRPM(uint8_t retries = AS5047U_CFG::CRC_RETRIES) const`	`src/as5047u.cpp#L89`

Diagnostics

Method	Signature	Location
`GetAGC()`	`uint8_t GetAGC(uint8_t retries = AS5047U_CFG::CRC_RETRIES) const`	`src/as5047u.cpp#L94`
`GetMagnitude()`	`uint16_t GetMagnitude(uint8_t retries = AS5047U_CFG::CRC_RETRIES) const`	`src/as5047u.cpp#L109`
`GetErrorFlags()`	`uint16_t GetErrorFlags(uint8_t retries = AS5047U_CFG::CRC_RETRIES) const`	`src/as5047u.cpp#L124`
`GetStickyErrorFlags()`	`AS5047U_Error GetStickyErrorFlags() const`	`inc/as5047u.hpp#L384`
`DumpStatus()`	`void DumpStatus() const`	`src/as5047u.cpp#L597`
`GetDiagnostics()`	`AS5047U_REG::DIA GetDiagnostics() const`	`src/as5047u.cpp#L393`

Configuration

Method	Signature	Location
`GetZeroPosition()`	`uint16_t GetZeroPosition(uint8_t retries = AS5047U_CFG::CRC_RETRIES) const`	`src/as5047u.cpp#L135`
`SetZeroPosition()`	`bool SetZeroPosition(uint16_t angle_lsb, uint8_t retries = AS5047U_CFG::CRC_RETRIES)`	`src/as5047u.cpp#L162`
`SetDirection()`	`bool SetDirection(bool clockwise, uint8_t retries = AS5047U_CFG::CRC_RETRIES)`	`inc/as5047u.hpp#L214`
`SetABIResolution()`	`bool SetABIResolution(uint8_t resolution_bits, uint8_t retries = AS5047U_CFG::CRC_RETRIES)`	`src/as5047u.cpp#L171`
`SetUVWPolePairs()`	`bool SetUVWPolePairs(uint8_t pairs, uint8_t retries = AS5047U_CFG::CRC_RETRIES)`	`src/as5047u.cpp#L179`
`SetIndexPulseLength()`	`bool SetIndexPulseLength(uint8_t lsb_len, uint8_t retries = AS5047U_CFG::CRC_RETRIES)`	`src/as5047u.cpp#L187`
`ConfigureInterface()`	`bool ConfigureInterface(bool abi, bool uvw, bool pwm, uint8_t retries = AS5047U_CFG::CRC_RETRIES)`	`src/as5047u.cpp#L205`
`SetDynamicAngleCompensation()`	`bool SetDynamicAngleCompensation(bool enable, uint8_t retries = AS5047U_CFG::CRC_RETRIES)`	`src/as5047u.cpp#L225`
`SetAdaptiveFilter()`	`bool SetAdaptiveFilter(bool enable, uint8_t retries = AS5047U_CFG::CRC_RETRIES)`	`src/as5047u.cpp#L232`
`SetFilterParameters()`	`bool SetFilterParameters(uint8_t k_min, uint8_t k_max, uint8_t retries = AS5047U_CFG::CRC_RETRIES)`	`src/as5047u.cpp#L239`
`Set150CTemperatureMode()`	`bool Set150CTemperatureMode(bool enable, uint8_t retries = AS5047U_CFG::CRC_RETRIES)`	`src/as5047u.cpp#L250`
`SetHysteresis()`	`bool SetHysteresis(AS5047U_REG::SETTINGS3::Hysteresis hysteresis, uint8_t retries = AS5047U_CFG::CRC_RETRIES)`	`src/as5047u.cpp#L315`
`GetHysteresis()`	`AS5047U_REG::SETTINGS3::Hysteresis GetHysteresis() const`	`src/as5047u.cpp#L322`
`SetAngleOutputSource()`	`bool SetAngleOutputSource(AS5047U_REG::SETTINGS2::AngleOutputSource source, uint8_t retries = AS5047U_CFG::CRC_RETRIES)`	`src/as5047u.cpp#L333`
`GetAngleOutputSource()`	`AS5047U_REG::SETTINGS2::AngleOutputSource GetAngleOutputSource() const`	`src/as5047u.cpp#L340`

OTP Programming

Method	Signature	Location
`ProgramOTP()`	`bool ProgramOTP()`	`src/as5047u.cpp#L257`

Utility

Method	Signature	Location
`SetPad()`	`void SetPad(uint8_t pad) noexcept`	`src/as5047u.cpp#L302`
`ComputeCRC8()`	`static constexpr uint8_t ComputeCRC8(uint16_t data16)`	`inc/as5047u.hpp#L96`
`ReadReg()`	`template<typename RegT> RegT ReadReg() const`	`inc/as5047u.hpp#L360`
`WriteReg()`	`template<typename RegT> bool WriteReg(const RegT& reg, uint8_t retries = AS5047U_CFG::CRC_RETRIES)`	`inc/as5047u.hpp#L376`

Types

Enumerations

Type	Values	Location
`FrameFormat`	`SPI_16`, `SPI_24`, `SPI_32`	`inc/as5047u_types.hpp#L15`
`AS5047U_Error`	`None`, `AgcWarning`, `MagHalf`, `CrcError`, `FramingError`, `CommandError`, `WatchdogError`, `OffCompError`, `CordicOverflow`	`inc/as5047u.hpp#L32`

Structures

Type	Description	Location
`AS5047U_REG::DIA`	Diagnostic register structure	`inc/as5047u_registers.hpp`
`AS5047U_REG::SETTINGS2::AngleOutputSource`	Angle output source enumeration	`inc/as5047u_registers.hpp`
`AS5047U_REG::SETTINGS3::Hysteresis`	Hysteresis enumeration	`inc/as5047u_registers.hpp`

Navigation ⬅️ Configuration | Next: Examples ➡️ | Back to Index