AS5047U ESP32 Examples (ESP32-S3)

This directory contains comprehensive examples demonstrating the AS5047U driver on ESP32-S3 (configured like the PCAL95555 driver examples).

🎯 Overview

The ESP32-S3 examples showcase real-world usage of the AS5047U magnetic encoder with:

  • Hardware-specific HAL implementation for ESP32-S3
  • Multiple example applications covering different use cases
  • Automated build system with configurable app types
  • Comprehensive documentation for each example
  • Production-ready code with proper error handling

🔧 Hardware Requirements

ESP32-S3 Development Board

  • ESP32-S3-DevKitC-1 or compatible
  • USB-C cable for programming and power

AS5047U Connections

AS5047U Pin ESP32 GPIO Function
MISO GPIO13 SPI Data In
MOSI GPIO11 SPI Data Out
SCLK GPIO12 SPI Clock
CS GPIO10 Chip Select
VDD 3.3V Logic Supply
GND GND Ground

Note: The default SPI configuration uses mode 1 (CPOL=0, CPHA=1) at 1MHz. Pin assignments are defined in main/esp32_as5047u_test_config.hpp and can be changed there.

🚀 Quick Start

1. Prerequisites 

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# Install ESP-IDF v5.5
curl -fsSL https://raw.githubusercontent.com/espressif/esp-idf/master/tools/install.sh | bash
source ~/esp/esp-idf/export.sh

# Verify installation
idf.py --version

2. Setup Repository 

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# Clone and setup
git clone --recursive https://github.com/n3b3x/hf-as5047u-driver.git
cd hf-as5047u-driver/examples/esp32

# Initialize build environment
./scripts/setup_repo.sh

3. Build and Flash 

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# Build driver integration test (default)
./scripts/build_app.sh driver_integration_test Release

# Flash to ESP32-S3
./scripts/flash_app.sh driver_integration_test Release

# Monitor output
idf.py monitor

📱 Available Examples

🟢 Test Suite

driver_integration_test

Comprehensive Driver Integration Test Suite

  • Complete driver API validation (30+ tests)
  • Multiple test sections covering all functionality
  • Initialization, angle/velocity reading, diagnostics
  • Frame format testing (16/24/32-bit)
  • Configuration and error handling
  • FreeRTOS task-based test execution
  • GPIO14 progress indicator
  • Automatic pass/fail tracking
  • Hardware required for full SPI validation

Build:

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./scripts/build_app.sh driver_integration_test Release

🟡 Basic Examples

basic_angle_reading

Basic Angle Reading Example

  • Simple angle reading loop
  • Angle in LSB and degrees
  • AGC and magnitude diagnostics
  • Error flag monitoring
  • Real hardware testing

Build:

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./scripts/build_app.sh basic_angle_reading Release

velocity_reading

Velocity Reading Example

  • Velocity reading in multiple units
  • Degrees per second, radians per second, RPM
  • Real hardware testing

Build:

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./scripts/build_app.sh velocity_reading Release

configuration_example

Configuration Example

  • ABI output configuration
  • UVW commutation setup
  • PWM output configuration
  • Zero position and direction setting
  • Real hardware testing

Build:

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./scripts/build_app.sh configuration_example Release

full_features

Comprehensive Example

  • All sensor features enabled
  • Angle, velocity, diagnostics
  • ABI, UVW, PWM configuration
  • DAEC and filter settings
  • OTP programming
  • Real hardware testing

Build:

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./scripts/build_app.sh full_features Release

🔨 Building Examples 

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# List available app types
./scripts/build_app.sh list

# Build specific app
./scripts/build_app.sh <app_type> <build_type>

# Examples:
./scripts/build_app.sh driver_integration_test Release
./scripts/build_app.sh basic_angle_reading Debug

Using ESP-IDF Directly 

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# Set app type and build type
idf.py build -DAPP_TYPE=driver_integration_test -DBUILD_TYPE=Release

# Flash
idf.py flash

# Monitor
idf.py monitor

📊 Test Framework

All test examples use a standardized test framework with:

  • Test result tracking - Automatic pass/fail counting
  • Execution timing - Performance measurement
  • FreeRTOS task execution - Isolated test environments
  • GPIO14 progress indicator - Visual test progression
  • Standardized logging - Consistent output format

Test Framework Features

  • RUN_TEST(test_func) - Run test inline
  • RUN_TEST_IN_TASK(name, func, stack_size, priority) - Run test in FreeRTOS task
  • RUN_TEST_SECTION_IF_ENABLED(enabled, section_name, ...) - Conditional test sections
  • g_test_results - Global test results tracking

🔌 Hardware Configuration

SPI Configuration

The default SPI configuration can be modified in the example files:

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// Default pins from esp32_as5047u_test_config.hpp:
// MISO = GPIO13, MOSI = GPIO11, SCLK = GPIO12, CS = GPIO10
// Frequency = 1MHz, Mode = 1 (CPOL=0, CPHA=1)
auto bus = CreateEsp32As5047uSpiBus();

Pin Configuration

Function Default GPIO Notes
SPI MISO GPIO13 Configured in esp32_as5047u_test_config.hpp
SPI MOSI GPIO11 Configured in esp32_as5047u_test_config.hpp
SPI SCLK GPIO12 Configured in esp32_as5047u_test_config.hpp
SPI CS GPIO10 Configured in esp32_as5047u_test_config.hpp
Test Progress GPIO14 Used by test framework

Frame Formats

The AS5047U supports three SPI frame formats:

  • SPI_16 - 16-bit frames (no CRC, high-throughput mode)
  • SPI_24 - 24-bit frames (includes 8-bit CRC for reliability) - Recommended
  • SPI_32 - 32-bit frames (includes 8-bit CRC and 8-bit pad for daisy-chain)

📚 Documentation

For more detailed documentation, see:

🐛 Troubleshooting

Build Issues

Error: “APP_TYPE not defined”

  • Use the build scripts: ./scripts/build_app.sh <app_type> <build_type>
  • Or set manually: idf.py build -DAPP_TYPE=driver_integration_test -DBUILD_TYPE=Release

Error: “Failed to read valid app types from app_config.yml”

  • Ensure the scripts submodule is initialized: git submodule update --init --recursive
  • Check that scripts/get_app_info.py exists

Runtime Issues

SPI Communication Errors

  • Check wiring connections (MISO, MOSI, SCLK, CS, GND, VDD)
  • Verify SPI mode (default is mode 1: CPOL=0, CPHA=1)
  • Check SPI frequency (default is 4MHz)
  • Verify chip select is properly configured

No Angle Data

  • Ensure encoder is powered (3.3V)
  • Check magnetic field is present (magnitude should be > 0)
  • Verify SPI communication (check error flags)
  • Ensure proper SPI frame format (24-bit recommended)

CRC Errors

  • Use 24-bit or 32-bit frame format (includes CRC)
  • Check SPI signal integrity
  • Verify SPI timing and frequency

Initialization Failures

  • Check SPI bus initialization
  • Verify chip select pin configuration
  • Ensure proper power supply (3.3V)
  • Check for SPI bus conflicts

📝 License

See the main driver LICENSE file.

🤝 Contributing

See the main driver Contributing Guide.

For questions or issues, please open an issue on GitHub.