AS5047U magnetic rotary sensor driver class. More...

#include <as5047u.hpp>

Classes
struct	Angle
	Angle conversion helpers. More...

struct	Velocity
	Helper constants and methods for velocity unit conversions. More...

Public Member Functions
	AS5047U (SpiType &bus, FrameFormat format=AS5047U_CFG::DEFAULT_FRAME_FORMAT) noexcept
	Construct a new AS5047U encoder driver.

	~AS5047U ()=default

void	SetFrameFormat (FrameFormat format) noexcept
	Set the SPI frame format (16, 24, or 32-bit).

uint16_t	GetAngle (uint8_t retries=AS5047U_CFG::CRC_RETRIES) const
	Read the 14-bit absolute angle with dynamic compensation (DAEC active).

float	GetAngle (AngleUnit unit, uint8_t retries=AS5047U_CFG::CRC_RETRIES) const
	Read absolute angle in caller-selected unit.

float	GetAngleDegrees (uint8_t retries=AS5047U_CFG::CRC_RETRIES) const
	Read absolute angle in degrees.

float	GetAngleRadians (uint8_t retries=AS5047U_CFG::CRC_RETRIES) const
	Read absolute angle in radians.

uint16_t	GetRawAngle (uint8_t retries=AS5047U_CFG::CRC_RETRIES) const
	Read the 14-bit absolute angle without dynamic compensation (raw angle).

int16_t	GetVelocity (uint8_t retries=AS5047U_CFG::CRC_RETRIES) const
	Read the current rotational velocity (signed 14-bit).

float	GetVelocity (VelocityUnit unit, uint8_t retries=AS5047U_CFG::CRC_RETRIES) const
	Read rotational velocity in caller-selected unit.

float	GetVelocityDegPerSec (uint8_t retries=AS5047U_CFG::CRC_RETRIES) const
	Get rotational velocity in degrees per second.

float	GetVelocityRadPerSec (uint8_t retries=AS5047U_CFG::CRC_RETRIES) const
	Get rotational velocity in radians per second.

float	GetVelocityRPM (uint8_t retries=AS5047U_CFG::CRC_RETRIES) const
	Get rotational velocity in revolutions per minute.

uint8_t	GetAGC (uint8_t retries=AS5047U_CFG::CRC_RETRIES) const
	Read the current Automatic Gain Control (AGC) value (0-255).

uint16_t	GetMagnitude (uint8_t retries=AS5047U_CFG::CRC_RETRIES) const
	Read the current magnetic field magnitude (14-bit value).

uint16_t	GetErrorFlags (uint8_t retries=AS5047U_CFG::CRC_RETRIES) const
	Read the ERRFL register (0x0001) from the chip.

void	DumpStatus () const
	Dump formatted status and diagnostics using printf.

uint16_t	GetZeroPosition (uint8_t retries=AS5047U_CFG::CRC_RETRIES) const
	Get the currently configured soft zero position offset (14-bit).

bool	SetZeroPosition (uint16_t angle_lsb, uint8_t retries=AS5047U_CFG::CRC_RETRIES)
	Set a new zero reference position (soft offset).

bool	SetDirection (bool clockwise, uint8_t retries=AS5047U_CFG::CRC_RETRIES)
	Define the rotation direction for increasing angle.

bool	SetABIResolution (uint8_t resolution_bits, uint8_t retries=AS5047U_CFG::CRC_RETRIES)
	Set the ABI (incremental encoder) resolution.

bool	SetUVWPolePairs (uint8_t pairs, uint8_t retries=AS5047U_CFG::CRC_RETRIES)
	Set the number of pole pairs for UVW commutation outputs.

bool	SetIndexPulseLength (uint8_t lsb_len, uint8_t retries=AS5047U_CFG::CRC_RETRIES)
	Set the index pulse width for ABI output.

bool	ConfigureInterface (bool abi, bool uvw, bool pwm, uint8_t retries=AS5047U_CFG::CRC_RETRIES)
	Configure interface outputs (ABI, UVW) and PWM output.

bool	SetDynamicAngleCompensation (bool enable, uint8_t retries=AS5047U_CFG::CRC_RETRIES)
	Enable/disable Dynamic Angle Error Compensation (DAEC).

bool	SetAdaptiveFilter (bool enable, uint8_t retries=AS5047U_CFG::CRC_RETRIES)
	Enable/disable the adaptive filter (Dynamic Filter System).

bool	SetFilterPreset (FilterPreset preset, uint8_t retries=AS5047U_CFG::CRC_RETRIES)
	Set adaptive filter from a preset (easiest way to configure filter).

bool	SetFilterParameters (uint8_t k_min, uint8_t k_max, uint8_t retries=AS5047U_CFG::CRC_RETRIES)
	Set adaptive filter parameters (K_min and K_max as 3-bit register codes).

bool	GetAdaptiveFilterEnabled (uint8_t retries=AS5047U_CFG::CRC_RETRIES) const
	Read whether the adaptive filter is enabled.

std::pair< uint8_t, uint8_t >	GetFilterParameters (uint8_t retries=AS5047U_CFG::CRC_RETRIES) const
	Read current K_min and K_max register codes (0–7 each).

bool	Set150CTemperatureMode (bool enable, uint8_t retries=AS5047U_CFG::CRC_RETRIES)
	Set temperature mode for 150°C operation (NOISESET bit).

bool	ProgramOTP (OtpResult *result=nullptr)
	Permanently program the current settings into OTP memory.

bool	VerifyOTP (const std::array< uint16_t, kOtpRegisterCount > &burned, uint8_t retries=AS5047U_CFG::CRC_RETRIES) const
	Steps 21 and 22 of the OTP procedure: after the power-on cycle (step 20), read DISABLE..ECC (0x0015..0x001B) and compare them with the image ProgramOTP() burned.

void	SetPad (uint8_t pad) noexcept
	Set the daisy-chain pad byte for 32-bit SPI frames.

bool	SetHysteresis (AS5047U_REG::SETTINGS3::Hysteresis hysteresis, uint8_t retries=AS5047U_CFG::CRC_RETRIES)
	Set incremental output hysteresis level.

AS5047U_REG::SETTINGS3::Hysteresis	GetHysteresis () const
	Get current incremental output hysteresis setting.

bool	SetAngleOutputSource (AS5047U_REG::SETTINGS2::AngleOutputSource source, uint8_t retries=AS5047U_CFG::CRC_RETRIES)
	Select which angle register (0x3FFF) is returned on reads.

AS5047U_REG::SETTINGS2::AngleOutputSource	GetAngleOutputSource () const
	Get currently selected angle output source for 0x3FFF reads.

AS5047U_REG::DIA	GetDiagnostics () const
	Read the full diagnostic register (DIA).

template<typename RegT >
RegT	ReadReg () const
	Reads data from a specified register in the AS5047U sensor.

template<typename RegT >
bool	ReadReg (RegT &reg, uint8_t retries=AS5047U_CFG::CRC_RETRIES) const
	Read a register and report whether the read succeeded.

template<typename RegT >
bool	WriteReg (const RegT &reg, uint8_t retries=AS5047U_CFG::CRC_RETRIES)
	Writes data to a specified register in the AS5047U sensor.

AS5047U_Error	GetStickyErrorFlags () const noexcept
	Error flags accumulated since the last ClearStickyErrorFlags().

AS5047U_Error	ClearStickyErrorFlags () noexcept
	Clear the sticky error flags.

Static Public Member Functions
static constexpr uint8_t	ComputeCRC8 (uint16_t data16)

static constexpr const char *	GetDriverVersion () noexcept
	Get the compiled driver version string.

static constexpr uint8_t	GetDriverVersionMajor () noexcept
	Get the compiled driver major version number.

static constexpr uint8_t	GetDriverVersionMinor () noexcept
	Get the compiled driver minor version number.

static constexpr uint8_t	GetDriverVersionPatch () noexcept
	Get the compiled driver patch version number.

Detailed Description

template<typename SpiType>
class as5047u::AS5047U< SpiType >

AS5047U magnetic rotary sensor driver class.

Provides high-level access to sensor features: reading angle (with or without DAEC compensation), reading rotation velocity, retrieving AGC and magnitude diagnostics, configuring outputs (ABI, UVW, PWM), handling error flags, and performing OTP programming for permanent configuration storage.

Template Parameters

SpiType The SPI bus type (must inherit from as5047u::SpiInterface<SpiType>)

Note: The driver uses CRTP-based SPI interface for zero virtual call overhead. SPI implementations should inherit from as5047u::SpiInterface<DerivedType>; C++17 CTAD allows automatic type deduction: AS5047U encoder(bus, format); // Type deduced automatically

Constructor & Destructor Documentation

◆ AS5047U()

template<typename SpiType >

as5047u::AS5047U< SpiType >::AS5047U	(	SpiType &	bus,
		FrameFormat	format = `AS5047U_CFG::DEFAULT_FRAME_FORMAT`
	)

explicitnoexcept

Construct a new AS5047U encoder driver.

Parameters

bus	Reference to an SPI interface implementation.
format	SPI frame format to use (16-bit, 24-bit, or 32-bit). Default is 16-bit frames.

◆ ~AS5047U()

template<typename SpiType >

as5047u::AS5047U< SpiType >::~AS5047U ( )

default

Member Function Documentation

◆ ClearStickyErrorFlags()

template<typename SpiType >

AS5047U_Error as5047u::AS5047U< SpiType >::ClearStickyErrorFlags ( )

noexcept

Clear the sticky error flags.

Returns: The flags that were set, read and cleared in one atomic step.

◆ ComputeCRC8()

template<typename SpiType >

static constexpr uint8_t as5047u::AS5047U< SpiType >::ComputeCRC8 ( uint16_t data16 )

inlinestaticconstexpr

Compute the CRC8 value used by AS5047U SPI frames.

◆ ConfigureInterface()

template<typename SpiType >

bool as5047u::AS5047U< SpiType >::ConfigureInterface	(	bool	abi,
		bool	uvw,
		bool	pwm,
		uint8_t	retries = `AS5047U_CFG::CRC_RETRIES`
	)

Configure interface outputs (ABI, UVW) and PWM output.

Enables/disables ABI and UVW outputs and configures PWM on the available pin:

If abi is true and uvw false, ABI outputs are enabled and PWM (if enabled) is on W pin.
If uvw is true and abi false, UVW outputs are enabled and PWM (if enabled) is on I pin.
If both abi and uvw are true, both interfaces are active (PWM not available in this mode).
If both are false, all interfaces are disabled (PWM can still be enabled on W by default).

Parameters

abi	Enable ABI (A, B, I) outputs.
uvw	Enable UVW commutation outputs.
pwm	Enable PWM output on the appropriate pin (W if UVW disabled, I if ABI disabled).

◆ DumpStatus()

template<typename SpiType >

void as5047u::AS5047U< SpiType >::DumpStatus ( ) const

Dump formatted status and diagnostics using printf.

◆ GetAdaptiveFilterEnabled()

template<typename SpiType >

bool as5047u::AS5047U< SpiType >::GetAdaptiveFilterEnabled ( uint8_t retries = AS5047U_CFG::CRC_RETRIES ) const

Read whether the adaptive filter is enabled.

◆ GetAGC()

template<typename SpiType >

uint8_t as5047u::AS5047U< SpiType >::GetAGC ( uint8_t retries = AS5047U_CFG::CRC_RETRIES ) const

Read the current Automatic Gain Control (AGC) value (0-255).

Parameters

retries Number of retries on CRC/framing error (default 0 = no retry).

Returns: The current AGC value.

◆ GetAngle() [1/2]

template<typename SpiType >

float as5047u::AS5047U< SpiType >::GetAngle	(	AngleUnit	unit,
		uint8_t	retries = `AS5047U_CFG::CRC_RETRIES`
	)		const

Read absolute angle in caller-selected unit.

Parameters

unit	Output unit (LSB / degrees / radians).
retries	Number of retries on CRC/framing error (default 0 = no retry).

Returns: Angle value in the requested unit.

◆ GetAngle() [2/2]

template<typename SpiType >

uint16_t as5047u::AS5047U< SpiType >::GetAngle ( uint8_t retries = AS5047U_CFG::CRC_RETRIES ) const

Read the 14-bit absolute angle with dynamic compensation (DAEC active).

Parameters

retries Number of retries on CRC/framing error (default 0 = no retry).

Returns: The current angle in LSB (0-16383).

◆ GetAngleDegrees()

template<typename SpiType >

float as5047u::AS5047U< SpiType >::GetAngleDegrees ( uint8_t retries = AS5047U_CFG::CRC_RETRIES ) const

Read absolute angle in degrees.

Parameters

retries Number of retries on CRC/framing error (default 0 = no retry).

Returns: Angle in degrees in the range [0, 360).

◆ GetAngleOutputSource()

template<typename SpiType >

AS5047U_REG::SETTINGS2::AngleOutputSource as5047u::AS5047U< SpiType >::GetAngleOutputSource ( ) const

Get currently selected angle output source for 0x3FFF reads.

Returns: AngleOutputSource enum indicating ANGLECOM or ANGLEUNC.

◆ GetAngleRadians()

template<typename SpiType >

float as5047u::AS5047U< SpiType >::GetAngleRadians ( uint8_t retries = AS5047U_CFG::CRC_RETRIES ) const

Read absolute angle in radians.

Parameters

retries Number of retries on CRC/framing error (default 0 = no retry).

Returns: Angle in radians in the range [0, 2π).

◆ GetDiagnostics()

template<typename SpiType >

AS5047U_REG::DIA as5047u::AS5047U< SpiType >::GetDiagnostics ( ) const

Read the full diagnostic register (DIA).

Returns: DIA register struct containing per-bit calibration and status flags.

◆ GetDriverVersion()

template<typename SpiType >

static constexpr const char * as5047u::AS5047U< SpiType >::GetDriverVersion ( )

inlinestaticconstexprnoexcept

Get the compiled driver version string.

Returns: Null-terminated version string, e.g. "1.0.0".

◆ GetDriverVersionMajor()

template<typename SpiType >

static constexpr uint8_t as5047u::AS5047U< SpiType >::GetDriverVersionMajor ( )

inlinestaticconstexprnoexcept

Get the compiled driver major version number.

◆ GetDriverVersionMinor()

template<typename SpiType >

static constexpr uint8_t as5047u::AS5047U< SpiType >::GetDriverVersionMinor ( )

inlinestaticconstexprnoexcept

Get the compiled driver minor version number.

◆ GetDriverVersionPatch()

template<typename SpiType >

static constexpr uint8_t as5047u::AS5047U< SpiType >::GetDriverVersionPatch ( )

inlinestaticconstexprnoexcept

Get the compiled driver patch version number.

◆ GetErrorFlags()

template<typename SpiType >

uint16_t as5047u::AS5047U< SpiType >::GetErrorFlags ( uint8_t retries = AS5047U_CFG::CRC_RETRIES ) const

Read the ERRFL register (0x0001) from the chip.

The chip clears ERRFL when it is read (datasheet Figure 33), so the value covers only what happened since the driver's previous read of ERRFL. Every ERRFL value the driver reads, including this one, is also ORed into the sticky flags (GetStickyErrorFlags()), so nothing read here is lost.

Parameters

retries Number of retries on a failed read (default 0 = no retry).

Returns: 16-bit error flag register (ERRFL).

◆ GetFilterParameters()

template<typename SpiType >

std::pair< uint8_t, uint8_t > as5047u::AS5047U< SpiType >::GetFilterParameters ( uint8_t retries = AS5047U_CFG::CRC_RETRIES ) const

Read current K_min and K_max register codes (0–7 each).

◆ GetHysteresis()

template<typename SpiType >

AS5047U_REG::SETTINGS3::Hysteresis as5047u::AS5047U< SpiType >::GetHysteresis ( ) const

Get current incremental output hysteresis setting.

Returns: Current Hysteresis enum value (0b00–0b11).

◆ GetMagnitude()

template<typename SpiType >

uint16_t as5047u::AS5047U< SpiType >::GetMagnitude ( uint8_t retries = AS5047U_CFG::CRC_RETRIES ) const

Read the current magnetic field magnitude (14-bit value).

Parameters

retries Number of retries on CRC/framing error (default 0 = no retry).

Returns: The current magnetic field magnitude in LSB (0-16383).

◆ GetRawAngle()

template<typename SpiType >

uint16_t as5047u::AS5047U< SpiType >::GetRawAngle ( uint8_t retries = AS5047U_CFG::CRC_RETRIES ) const

Read the 14-bit absolute angle without dynamic compensation (raw angle).

Parameters

retries Number of retries on CRC/framing error (default 0 = no retry).

Returns: The current raw angle in LSB (0-16383).

◆ GetStickyErrorFlags()

template<typename SpiType >

AS5047U_Error as5047u::AS5047U< SpiType >::GetStickyErrorFlags ( ) const

noexcept

Error flags accumulated since the last ClearStickyErrorFlags().

ERRFL (0x0001) clears on the chip when it is read (datasheet Figure 33), and the driver reads it after every register access. Every ERRFL value the driver reads is ORed into this cache, which only ClearStickyErrorFlags() clears: reading it, and the driver's own retry decisions, leave it intact.

Returns: Bitwise OR of AS5047U_Error flags.

◆ GetVelocity() [1/2]

template<typename SpiType >

int16_t as5047u::AS5047U< SpiType >::GetVelocity ( uint8_t retries = AS5047U_CFG::CRC_RETRIES ) const

Read the current rotational velocity (signed 14-bit).

Parameters

retries Number of retries on CRC/framing error (default 0 = no retry).

Returns: The current velocity in LSB (signed 14-bit).

◆ GetVelocity() [2/2]

template<typename SpiType >

float as5047u::AS5047U< SpiType >::GetVelocity	(	VelocityUnit	unit,
		uint8_t	retries = `AS5047U_CFG::CRC_RETRIES`
	)		const

Read rotational velocity in caller-selected unit.

Parameters

unit	Output unit (LSB / deg/s / rad/s / RPM).
retries	Number of retries on CRC/framing error (default 0 = no retry).

Returns: Velocity in the requested unit.

◆ GetVelocityDegPerSec()

template<typename SpiType >

float as5047u::AS5047U< SpiType >::GetVelocityDegPerSec ( uint8_t retries = AS5047U_CFG::CRC_RETRIES ) const

Get rotational velocity in degrees per second.

Parameters

retries Number of retries on CRC/framing error (default 0 = no retry).

◆ GetVelocityRadPerSec()

template<typename SpiType >

float as5047u::AS5047U< SpiType >::GetVelocityRadPerSec ( uint8_t retries = AS5047U_CFG::CRC_RETRIES ) const

Get rotational velocity in radians per second.

Parameters

retries Number of retries on CRC/framing error (default 0 = no retry).

◆ GetVelocityRPM()

template<typename SpiType >

float as5047u::AS5047U< SpiType >::GetVelocityRPM ( uint8_t retries = AS5047U_CFG::CRC_RETRIES ) const

Get rotational velocity in revolutions per minute.

Parameters

retries Number of retries on CRC/framing error (default 0 = no retry).

◆ GetZeroPosition()

template<typename SpiType >

uint16_t as5047u::AS5047U< SpiType >::GetZeroPosition ( uint8_t retries = AS5047U_CFG::CRC_RETRIES ) const

Get the currently configured soft zero position offset (14-bit).

Parameters

retries Number of retries on CRC/framing error (default 0 = no retry).

Returns: The current zero position in LSB (0-16383).

◆ ProgramOTP()

template<typename SpiType >

bool as5047u::AS5047U< SpiType >::ProgramOTP ( OtpResult * result = nullptr )

Permanently program the current settings into OTP memory.

Runs steps 4 to 19 of the datasheet's "Step-by-Step Procedure to Permanently Program the Non-Volatile Memory (OTP)" (DS000637 v1-01, page 41-42, flowchart Figure 60), checking the result of every step and stopping at the first that fails:

read ANGLECOM; 5. write it into ZPOSL[5:0] and ZPOSM[7:0];
read DISABLE..ECC (0x0015..0x001B); 7. ECC = 0x80 (ECC_en);
read ECC_s (0x3FD0); 9. ECC = 0x80 | ECC_s;

read 0x0015..0x001B; 11. compare with what was written;

PROG = 0x01 (PROGEN); 13. PROG = 0x08 (PROGOTP, starts the burn);
poll PROG until it reads 0x0001;
write 0x0000 into 0x0015..0x001B (clear the volatile copy);
PROG = 0x40 (PROGVER, guard band); 17. PROG = 0x04 (OTPREF, reload from OTP); 18. read 0x0015..0x001B; 19. compare with step 10.

Steps 1 to 3 (power-on cycle, write the settings, magnet at the zero position) come before the call; steps 20 to 22 (power-on cycle, read back, compare) after it, with VerifyOTP() and the image in result. 16-bit frames are replaced by 24-bit frames for the duration.

Parameters

result Optional: the step that failed, whether the burn was started, and the register image that was burned.

Returns: true if every step succeeded and the guard-band comparison (step 19) matched.

Warning: OTP can be programmed only once, and a part that fails step 19 must not be used (datasheet: "Reprogramming is not allowed!"). VDD 4.5 to 5.5 V (5 V mode) or 3.3 to 3.5 V (3.3 V mode), 5 to 45 degC (Figure 59).

◆ ReadReg() [1/2]

template<typename SpiType >

template<typename RegT >

RegT as5047u::AS5047U< SpiType >::ReadReg ( ) const

inline

Reads data from a specified register in the AS5047U sensor.

Template Parameters

RegT	The register type which must have an ADDRESS static member and be decodable

Returns: RegT The register object populated with the data read from the sensor

This method reads the raw value from the specified register address and decodes it into a strongly-typed register object.

◆ ReadReg() [2/2]

template<typename SpiType >

template<typename RegT >

bool as5047u::AS5047U< SpiType >::ReadReg	(	RegT &	reg,
		uint8_t	retries = `AS5047U_CFG::CRC_RETRIES`
	)		const

inline

Read a register and report whether the read succeeded.

Template Parameters

RegT	The register type (has a static ADDRESS)

Parameters

reg	Receives the register content (value 0 when the read failed)
retries	Number of retries on a failed read (default 0 = no retry)

Returns: true if the read went through and the chip reported no CRC or framing error for it; false on a bus error or such a chip error. The reason is in the sticky flags (GetStickyErrorFlags()).

◆ Set150CTemperatureMode()

template<typename SpiType >

bool as5047u::AS5047U< SpiType >::Set150CTemperatureMode	(	bool	enable,
		uint8_t	retries = `AS5047U_CFG::CRC_RETRIES`
	)

Set temperature mode for 150°C operation (NOISESET bit).

When enabled, the sensor supports full 150°C range (NOISESET=1), but with increased noise. When disabled, lower noise but max 125°C.

Parameters

enable True for 150°C mode (NOISESET=1), false for low-noise (NOISESET=0).

◆ SetABIResolution()

template<typename SpiType >

bool as5047u::AS5047U< SpiType >::SetABIResolution	(	uint8_t	resolution_bits,
		uint8_t	retries = `AS5047U_CFG::CRC_RETRIES`
	)

Set the ABI (incremental encoder) resolution.

Parameters

resolution_bits Resolution in bits (10 to 14 bits).

◆ SetAdaptiveFilter()

template<typename SpiType >

bool as5047u::AS5047U< SpiType >::SetAdaptiveFilter	(	bool	enable,
		uint8_t	retries = `AS5047U_CFG::CRC_RETRIES`
	)

Enable/disable the adaptive filter (Dynamic Filter System).

◆ SetAngleOutputSource()

template<typename SpiType >

bool as5047u::AS5047U< SpiType >::SetAngleOutputSource	(	AS5047U_REG::SETTINGS2::AngleOutputSource	source,
		uint8_t	retries = `AS5047U_CFG::CRC_RETRIES`
	)

Select which angle register (0x3FFF) is returned on reads.

Controls the Data_select bit in SETTINGS2.

Parameters

source

Angle output source:

SETTINGS2::AngleOutputSource::UseANGLECOM: read compensated angle (ANGLECOM)
SETTINGS2::AngleOutputSource::UseANGLEUNC: read raw angle (ANGLEUNC)

◆ SetDirection()

template<typename SpiType >

bool as5047u::AS5047U< SpiType >::SetDirection	(	bool	clockwise,
		uint8_t	retries = `AS5047U_CFG::CRC_RETRIES`
	)

inline

Define the rotation direction for increasing angle.

Writes SETTINGS2 (0x0019) bit 2 (DIR) per datasheet Fig.47: 0 = CW default, 1 = invert direction.

Parameters

clockwise	If true, clockwise yields increasing angle (DIR=0). If false, invert direction (DIR=1).
retries	Number of retries on CRC/framing error (default 0 = no retry).

Returns: true if register write succeeded.

◆ SetDynamicAngleCompensation()

template<typename SpiType >

bool as5047u::AS5047U< SpiType >::SetDynamicAngleCompensation	(	bool	enable,
		uint8_t	retries = `AS5047U_CFG::CRC_RETRIES`
	)

Enable/disable Dynamic Angle Error Compensation (DAEC).

◆ SetFilterParameters()

template<typename SpiType >

bool as5047u::AS5047U< SpiType >::SetFilterParameters	(	uint8_t	k_min,
		uint8_t	k_max,
		uint8_t	retries = `AS5047U_CFG::CRC_RETRIES`
	)

Set adaptive filter parameters (K_min and K_max as 3-bit register codes).

Both arguments are 0–7 (register codes). See SETTINGS1::AdaptiveFilterKmin and AdaptiveFilterKmax for mapping to effective K (datasheet Figure 17). For a single effective K, use SetFilterPreset() instead.

◆ SetFilterPreset()

template<typename SpiType >

bool as5047u::AS5047U< SpiType >::SetFilterPreset	(	FilterPreset	preset,
		uint8_t	retries = `AS5047U_CFG::CRC_RETRIES`
	)

Set adaptive filter from a preset (easiest way to configure filter).

Enables the filter and sets K_min/K_max to match the preset. See FilterPreset and datasheet Figure 17 (velocity RMS noise vs K).

◆ SetFrameFormat()

template<typename SpiType >

void as5047u::AS5047U< SpiType >::SetFrameFormat ( FrameFormat format )

noexcept

Set the SPI frame format (16, 24, or 32-bit).

Parameters

format The desired SPI frame format.

◆ SetHysteresis()

template<typename SpiType >

bool as5047u::AS5047U< SpiType >::SetHysteresis	(	AS5047U_REG::SETTINGS3::Hysteresis	hysteresis,
		uint8_t	retries = `AS5047U_CFG::CRC_RETRIES`
	)

Set incremental output hysteresis level.

Controls the HYS field in SETTINGS3 to add output deadband and reduce chatter.

Parameters

hysteresis

Hysteresis level:

SETTINGS3::Hysteresis::LSB_1 (0b00): 1 LSB deadband (~0.17°, default)
SETTINGS3::Hysteresis::LSB_2 (0b01): 2 LSB deadband (~0.35°)
SETTINGS3::Hysteresis::LSB_3 (0b10): 3 LSB deadband (~0.52°)
SETTINGS3::Hysteresis::NONE (0b11): No hysteresis

◆ SetIndexPulseLength()

template<typename SpiType >

bool as5047u::AS5047U< SpiType >::SetIndexPulseLength	(	uint8_t	lsb_len,
		uint8_t	retries = `AS5047U_CFG::CRC_RETRIES`
	)

Set the index pulse width for ABI output.

Parameters

lsb_len Index pulse length in LSB periods (3 or 1).

◆ SetPad()

template<typename SpiType >

void as5047u::AS5047U< SpiType >::SetPad ( uint8_t pad )

noexcept

Set the daisy-chain pad byte for 32-bit SPI frames.

In 32-bit frame mode, the first byte is used as a pad to allow multiple devices on the same bus.

Parameters

pad	Pad byte value (0x00–0xFF) to send as the MSB of each 32-bit transfer.

◆ SetUVWPolePairs()

template<typename SpiType >

bool as5047u::AS5047U< SpiType >::SetUVWPolePairs	(	uint8_t	pairs,
		uint8_t	retries = `AS5047U_CFG::CRC_RETRIES`
	)

Set the number of pole pairs for UVW commutation outputs.

Parameters

pairs Number of pole pairs (1-7).

◆ SetZeroPosition()

template<typename SpiType >

bool as5047u::AS5047U< SpiType >::SetZeroPosition	(	uint16_t	angle_lsb,
		uint8_t	retries = `AS5047U_CFG::CRC_RETRIES`
	)

Set a new zero reference position (soft offset).

Parameters

angle_lsb 14-bit angle value that should be treated as 0°.

◆ VerifyOTP()

template<typename SpiType >

bool as5047u::AS5047U< SpiType >::VerifyOTP	(	const std::array< uint16_t, kOtpRegisterCount > &	burned,
		uint8_t	retries = `AS5047U_CFG::CRC_RETRIES`
	)		const

Steps 21 and 22 of the OTP procedure: after the power-on cycle (step 20), read DISABLE..ECC (0x0015..0x001B) and compare them with the image ProgramOTP() burned.

Parameters

burned	OtpResult::written from ProgramOTP().
retries	Number of retries of each read (default 0 = no retry).

Returns: true if every register reads as burned; false on a difference (the part must not be used) or a failed read.

◆ WriteReg()

template<typename SpiType >

template<typename RegT >

bool as5047u::AS5047U< SpiType >::WriteReg	(	const RegT &	reg,
		uint8_t	retries = `AS5047U_CFG::CRC_RETRIES`
	)

inline

Writes data to a specified register in the AS5047U sensor.

Template Parameters

RegT	The register type which must have an ADDRESS static member and be encodable

Parameters

reg	The register object containing the data to be written
retries	Number of retries on CRC/framing error (default 0 = no retry)

Returns: true if the value read back as written; false if it did not, or if the port's transfer() reported a bus error

The documentation for this class was generated from the following files:

Classes

Public Member Functions

Static Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ AS5047U()

◆ ~AS5047U()

Member Function Documentation

◆ ClearStickyErrorFlags()

◆ ComputeCRC8()

◆ ConfigureInterface()

◆ DumpStatus()

◆ GetAdaptiveFilterEnabled()

◆ GetAGC()

◆ GetAngle() [1/2]

◆ GetAngle() [2/2]

◆ GetAngleDegrees()

◆ GetAngleOutputSource()

◆ GetAngleRadians()

◆ GetDiagnostics()

◆ GetDriverVersion()

◆ GetDriverVersionMajor()

◆ GetDriverVersionMinor()

◆ GetDriverVersionPatch()

◆ GetErrorFlags()

◆ GetFilterParameters()

◆ GetHysteresis()

◆ GetMagnitude()

◆ GetRawAngle()

◆ GetStickyErrorFlags()

◆ GetVelocity() [1/2]

◆ GetVelocity() [2/2]

◆ GetVelocityDegPerSec()

◆ GetVelocityRadPerSec()

◆ GetVelocityRPM()

◆ GetZeroPosition()

◆ ProgramOTP()

◆ ReadReg() [1/2]

◆ ReadReg() [2/2]

◆ Set150CTemperatureMode()

◆ SetABIResolution()

◆ SetAdaptiveFilter()

◆ SetAngleOutputSource()

◆ SetDirection()

◆ SetDynamicAngleCompensation()

◆ SetFilterParameters()

◆ SetFilterPreset()

◆ SetFrameFormat()

◆ SetHysteresis()

◆ SetIndexPulseLength()

◆ SetPad()

◆ SetUVWPolePairs()

◆ SetZeroPosition()

◆ VerifyOTP()

◆ WriteReg()