Examples

This guide provides complete, working examples demonstrating various use cases for the AS5047U driver.

Example 1: Basic Angle Reading

This example shows the minimal setup required to read angle values.

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#include "as5047u.hpp"
#include "esp32_as5047u_bus.hpp"  // Your SPI implementation

void app_main() {
    // 1. Configure SPI bus
    Esp32As5047uBus::SPIConfig config;
    config.miso_pin = GPIO_NUM_2;
    config.mosi_pin = GPIO_NUM_7;
    config.sclk_pin = GPIO_NUM_6;
    config.cs_pin = GPIO_NUM_10;
    config.frequency = 4000000;
    config.mode = 1;
    
    auto bus = std::make_unique<Esp32As5047uBus>(config);
    bus->initialize();
    
    // 2. Create encoder instance
    as5047u::AS5047U encoder(*bus, FrameFormat::SPI_24);
    
    // 3. Read angle in a loop
    while (true) {
        uint16_t angle = encoder.GetAngle();
        float angle_deg = angle * 360.0f / 16384.0f;
        printf("Angle: %u (%.2f°)\n", angle, angle_deg);
        
        vTaskDelay(pdMS_TO_TICKS(100));
    }
}

Explanation

  1. SPI Configuration: Configure the SPI bus with appropriate pins and settings
  2. Encoder Creation: Create the encoder instance with SPI bus and frame format
  3. Angle Reading: Read angle values in a loop and convert to degrees

Expected Output 

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Angle: 8192 (180.00°)
Angle: 8200 (180.18°)
Angle: 8208 (180.35°)

Example 2: Velocity Measurement

This example demonstrates reading velocity in different units.

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#include "as5047u.hpp"

void app_main() {
    // ... SPI setup (same as Example 1)
    
    as5047u::AS5047U encoder(*bus, FrameFormat::SPI_24);
    
    while (true) {
        // Read velocity in different units
        int16_t vel_lsb = encoder.GetVelocity();
        float vel_dps = encoder.GetVelocityDegPerSec();
        float vel_rpm = encoder.GetVelocityRPM();
        
        printf("Velocity: %d LSB, %.2f deg/s, %.2f RPM\n", 
               vel_lsb, vel_dps, vel_rpm);
        
        vTaskDelay(pdMS_TO_TICKS(100));
    }
}

Explanation

The driver provides multiple velocity unit conversions:

  • GetVelocity() - Returns signed 14-bit LSB units
  • GetVelocityDegPerSec() - Returns degrees per second
  • GetVelocityRPM() - Returns revolutions per minute

Example 3: Diagnostics and Error Handling

This example shows proper error handling and diagnostic reading.

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#include "as5047u.hpp"

void app_main() {
    // ... SPI setup
    
    as5047u::AS5047U encoder(*bus, FrameFormat::SPI_24);
    
    while (true) {
        // Read angle with retry on CRC errors
        uint16_t angle = encoder.GetAngle(3);  // 3 retries
        
        // Read diagnostics
        uint8_t agc = encoder.GetAGC();
        uint16_t mag = encoder.GetMagnitude();
        
        // Check for errors
        AS5047U_Error errors = encoder.GetStickyErrorFlags();
        if (errors != AS5047U_Error::None) {
            printf("Error detected: 0x%04X\n", static_cast<uint16_t>(errors));
            
            // Check specific errors
            if (errors & static_cast<uint16_t>(AS5047U_Error::AgcWarning)) {
                printf("Warning: AGC at limit - check magnet placement\n");
            }
            if (errors & static_cast<uint16_t>(AS5047U_Error::CrcError)) {
                printf("Warning: CRC error detected\n");
            }
        }
        
        printf("Angle: %u, AGC: %u, Mag: %u\n", angle, agc, mag);
        
        vTaskDelay(pdMS_TO_TICKS(100));
    }
}

Explanation

  1. CRC Retry: Pass retry count to GetAngle() for automatic retry on CRC errors
  2. Diagnostics: Read AGC and magnitude for health monitoring
  3. Error Checking: Check error flags and handle specific error conditions

Example 4: ABI Incremental Output Configuration

This example configures the AS5047U to output incremental encoder signals (A, B, I).

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#include "as5047u.hpp"

void app_main() {
    // ... SPI setup
    
    as5047u::AS5047U encoder(*bus, FrameFormat::SPI_24);
    
    // Configure ABI output
    encoder.SetABIResolution(12);  // 12-bit = 4096 PPR
    encoder.SetIndexPulseLength(1); // Index pulse length
    encoder.ConfigureInterface(true, false, false);  // Enable ABI, disable UVW and PWM
    
    printf("ABI output configured: 12-bit (4096 PPR)\n");
    printf("Connect A, B, I pins to your motor controller\n");
    
    // Continue reading angle via SPI
    while (true) {
        uint16_t angle = encoder.GetAngle();
        printf("Angle: %u\n", angle);
        vTaskDelay(pdMS_TO_TICKS(100));
    }
}

Explanation

  1. Resolution: Set ABI resolution (10-14 bits)
  2. Index Pulse: Configure index pulse width
  3. Interface: Enable ABI output via ConfigureInterface()

Example 5: UVW Commutation Output Configuration

This example configures the AS5047U to output 3-phase commutation signals (U, V, W).

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#include "as5047u.hpp"

void app_main() {
    // ... SPI setup
    
    as5047u::AS5047U encoder(*bus, FrameFormat::SPI_24);
    
    // Configure UVW output
    encoder.SetUVWPolePairs(5);  // 5 pole pairs
    encoder.ConfigureInterface(false, true, false);  // Disable ABI, enable UVW, disable PWM
    
    printf("UVW output configured: 5 pole pairs\n");
    printf("Connect U, V, W pins to your motor controller\n");
    
    // Continue reading angle via SPI
    while (true) {
        uint16_t angle = encoder.GetAngle();
        printf("Angle: %u\n", angle);
        vTaskDelay(pdMS_TO_TICKS(100));
    }
}

Explanation

  1. Pole Pairs: Set number of pole pairs (1-7) for your motor
  2. Interface: Enable UVW output via ConfigureInterface()

Example 6: Advanced Features (DAEC and Filtering)

This example demonstrates enabling DAEC and adaptive filtering for high-performance applications.

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#include "as5047u.hpp"

void app_main() {
    // ... SPI setup
    
    as5047u::AS5047U encoder(*bus, FrameFormat::SPI_24);
    
    // Enable advanced features
    encoder.SetDynamicAngleCompensation(true);  // Enable DAEC
    encoder.SetAdaptiveFilter(true);            // Enable DFS
    encoder.SetFilterParameters(2, 3);         // Set filter parameters
    
    printf("DAEC and adaptive filter enabled\n");
    
    while (true) {
        // Read compensated angle (with DAEC)
        uint16_t angle = encoder.GetAngle();
        
        // Read raw angle (without DAEC) for comparison
        uint16_t raw_angle = encoder.GetRawAngle();
        
        printf("Compensated: %u, Raw: %u\n", angle, raw_angle);
        
        vTaskDelay(pdMS_TO_TICKS(100));
    }
}

Explanation

  1. DAEC: Dynamic Angle Error Compensation for low-latency angle correction
  2. Adaptive Filter: Dynamic Filter System for noise reduction
  3. Filter Parameters: Set K_min and K_max for filter strength

Example 7: Zero Position Calibration

This example shows how to set a zero reference position.

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#include "as5047u.hpp"

void app_main() {
    // ... SPI setup
    
    as5047u::AS5047U encoder(*bus, FrameFormat::SPI_24);
    
    // Wait for sensor to stabilize
    vTaskDelay(pdMS_TO_TICKS(100));
    
    // Read current angle
    uint16_t current_angle = encoder.GetAngle();
    
    // Set it as zero reference
    if (encoder.SetZeroPosition(current_angle)) {
        printf("Zero position set to: %u\n", current_angle);
    } else {
        printf("Failed to set zero position\n");
    }
    
    // Now angle readings will be relative to this position
    while (true) {
        uint16_t angle = encoder.GetAngle();
        printf("Angle: %u\n", angle);
        vTaskDelay(pdMS_TO_TICKS(100));
    }
}

Explanation

  1. Stabilize: Wait for sensor to stabilize after power-on
  2. Read Current: Read the current angle position
  3. Set Zero: Set the current position as zero reference

Example 8: Full Feature Configuration

This example demonstrates configuring all features together.

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#include "as5047u.hpp"

void app_main() {
    // ... SPI setup
    
    as5047u::AS5047U encoder(*bus, FrameFormat::SPI_24);
    
    // Configure all features
    encoder.SetZeroPosition(0);
    encoder.SetDirection(true);  // Clockwise = positive
    encoder.SetDynamicAngleCompensation(true);
    encoder.SetAdaptiveFilter(true);
    encoder.SetFilterParameters(2, 3);
    encoder.SetABIResolution(12);
    encoder.SetUVWPolePairs(5);
    encoder.ConfigureInterface(true, true, false);  // ABI + UVW
    
    printf("Full configuration applied\n");
    
    // Dump status for verification
    encoder.DumpStatus();
    
    // Main loop
    while (true) {
        uint16_t angle = encoder.GetAngle();
        float vel_dps = encoder.GetVelocityDegPerSec();
        uint8_t agc = encoder.GetAGC();
        
        printf("Angle: %u, Vel: %.2f deg/s, AGC: %u\n", angle, vel_dps, agc);
        
        vTaskDelay(pdMS_TO_TICKS(100));
    }
}

Explanation

This example shows a complete configuration with all major features enabled.

Running the Examples

ESP32 

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cd examples/esp32
idf.py build flash monitor

Other Platforms

For other platforms, implement the SPI interface and compile with C++20 support:

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g++ -std=c++20 -I inc/ your_code.cpp src/as5047u.cpp

Next Steps

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