Main class for interacting with the AS5047P sensor. More...

#include <AS5047P.h>

Public Member Functions
	AS5047P (uint8_t chipSelectPinNo=9, uint32_t spiSpeed=100000)
	Construct an AS5047P interface.

bool	checkSPICon ()
	Test the SPI connection to the AS5047P.

bool	initSPI ()
	Initialize the sensor and verify the connection. Call this once before using the sensor object.

bool	checkForComErrorF (AS5047P_Types::ERROR_t *errorOut)
	Check the sensor’s error flags for communication issues and OR them into `errorOut`.

bool	checkForSensorErrorF (AS5047P_Types::ERROR_t *errorOut)
	Check the sensor’s diagnostics for sensor-related issues and OR them into `errorOut`.

bool	verifyWrittenRegF (uint16_t regAddress, uint16_t expectedData)
	Verify that a register contains the expected 16-bit frame (including parity).

bool	verifyWittenRegF (uint16_t regAddress, uint16_t expectedData)
	Deprecated alias for verifyWrittenRegF (for backward compatibility).

String	readStatusAsArduinoString ()
	Read status/error information and return it as an Arduino String.

uint16_t	readMagnitude (AS5047P_Types::ERROR_t *errorOut=nullptr, bool verifyParity=false, bool checkForComError=false, bool checkForSensorError=false)
	Read the current CORDIC magnitude.

uint16_t	readAngleRaw (bool withDAEC=true, AS5047P_Types::ERROR_t *errorOut=nullptr, bool verifyParity=false, bool checkForComError=false, bool checkForSensorError=false)
	Read the 14-bit raw angle.

float	readAngleDegree (bool withDAEC=true, AS5047P_Types::ERROR_t *errorOut=nullptr, bool verifyParity=false, bool checkForComError=false, bool checkForSensorError=false)
	Read the angle in degrees.

template<class T >
T	readReg (AS5047P_Types::ERROR_t *errorOut=nullptr, bool verifyParity=false, bool checkForComError=false, bool checkForSensorError=false)
	Read a register of type.

template<class T >
bool	writeReg (const T regData, AS5047P_Types::ERROR_t errorOut=nullptr, bool checkForComError=false, bool verifyWrittenReg=false)
	Write a register of type.

auto	read_ERRFL (AS5047P_Types::ERROR_t *errorOut=nullptr, bool verifyParity=false, bool checkForComError=false, bool checkForSensorError=false) -> AS5047P_Types::ERRFL_t
	Read the ERRFL register.

auto	read_PROG (AS5047P_Types::ERROR_t *errorOut=nullptr, bool verifyParity=false, bool checkForComError=false, bool checkForSensorError=false) -> AS5047P_Types::PROG_t
	Read the PROG register.

auto	read_DIAAGC (AS5047P_Types::ERROR_t *errorOut=nullptr, bool verifyParity=false, bool checkForComError=false, bool checkForSensorError=false) -> AS5047P_Types::DIAAGC_t
	Read the DIAAGC register.

auto	read_MAG (AS5047P_Types::ERROR_t *errorOut=nullptr, bool verifyParity=false, bool checkForComError=false, bool checkForSensorError=false) -> AS5047P_Types::MAG_t
	Read the MAG register.

auto	read_ANGLEUNC (AS5047P_Types::ERROR_t *errorOut=nullptr, bool verifyParity=false, bool checkForComError=false, bool checkForSensorError=false) -> AS5047P_Types::ANGLEUNC_t
	Read the ANGLEUNC register.

auto	read_ANGLECOM (AS5047P_Types::ERROR_t *errorOut=nullptr, bool verifyParity=false, bool checkForComError=false, bool checkForSensorError=false) -> AS5047P_Types::ANGLECOM_t
	Read the ANGLECOM register.

bool	write_PROG (const AS5047P_Types::PROG_t regData, AS5047P_Types::ERROR_t errorOut=nullptr, bool checkForComError=false, bool verifyWrittenReg=false)
	Write to the PROG register.

auto	read_ZPOSM (AS5047P_Types::ERROR_t *errorOut=nullptr, bool verifyParity=false, bool checkForComError=false, bool checkForSensorError=false) -> AS5047P_Types::ZPOSM_t
	Read the ZPOSM register.

auto	read_ZPOSL (AS5047P_Types::ERROR_t *errorOut=nullptr, bool verifyParity=false, bool checkForComError=false, bool checkForSensorError=false) -> AS5047P_Types::ZPOSL_t
	Read the ZPOSL register.

auto	read_SETTINGS1 (AS5047P_Types::ERROR_t *errorOut=nullptr, bool verifyParity=false, bool checkForComError=false, bool checkForSensorError=false) -> AS5047P_Types::SETTINGS1_t
	Read the SETTINGS1 register.

auto	read_SETTINGS2 (AS5047P_Types::ERROR_t *errorOut=nullptr, bool verifyParity=false, bool checkForComError=false, bool checkForSensorError=false) -> AS5047P_Types::SETTINGS2_t
	Read the SETTINGS2 register.

bool	write_ZPOSM (const AS5047P_Types::ZPOSM_t regData, AS5047P_Types::ERROR_t errorOut=nullptr, bool checkForComError=false, bool verifyWrittenReg=false)
	Write to the ZPOSM register.

bool	write_ZPOSL (const AS5047P_Types::ZPOSL_t regData, AS5047P_Types::ERROR_t errorOut=nullptr, bool checkForComError=false, bool verifyWrittenReg=false)
	Write to the ZPOSL register.

bool	write_SETTINGS1 (const AS5047P_Types::SETTINGS1_t regData, AS5047P_Types::ERROR_t errorOut=nullptr, bool checkForComError=false, bool verifyWrittenReg=false)
	Write to the SETTINGS1 register.

bool	write_SETTINGS2 (const AS5047P_Types::SETTINGS2_t regData, AS5047P_Types::ERROR_t errorOut=nullptr, bool checkForComError=false, bool verifyWrittenReg=false)
	Write to the SETTINGS2 register.

Detailed Description

Main class for interacting with the AS5047P sensor.

Constructor & Destructor Documentation

◆ AS5047P()

AS5047P::AS5047P	(	uint8_t	chipSelectPinNo = 9,
		uint32_t	spiSpeed = 100000 )

Construct an AS5047P interface.

Parameters

chipSelectPinNo	Chip Select (CS) pin number. Default: 9.
spiSpeed	SPI clock speed in Hz. (Default as declared below.)

Member Function Documentation

◆ checkForComErrorF()

bool AS5047P::checkForComErrorF ( AS5047P_Types::ERROR_t * errorOut )

Check the sensor’s error flags for communication issues and OR them into errorOut.

Check for communication-related errors and OR them into errorOut.

Parameters

errorOut Pointer to an AS5047P_Types::ERROR_t to receive flags (must be non-null).

Returns: true if no communication errors are present; false otherwise.

Reads ERRFL and updates:

controller-side parity error (from the current transaction),
sensor-side FRERR / INVCOMM / PARERR bits (OR-assigned).

Parameters

errorOut Output accumulator for error flags (must be non-null).

Returns: true if no errors are present after the check; false otherwise.

◆ checkForSensorErrorF()

bool AS5047P::checkForSensorErrorF ( AS5047P_Types::ERROR_t * errorOut )

Check the sensor’s diagnostics for sensor-related issues and OR them into errorOut.

Check sensor diagnostics and OR them into errorOut.

Parameters

errorOut Pointer to an AS5047P_Types::ERROR_t to receive flags (must be non-null).

Returns: true if no sensor errors are present; false otherwise.

Reads DIAAGC and updates:

controller-side parity error (from the current transaction),
sensor-side COF / LF (inverted for error) / MAGH / MAGL bits (OR-assigned).

Note on LF: LF==1 indicates the internal offset loop is finished (OK), LF==0 indicates "not finished" (treated as an error). We therefore OR in !LF.

Parameters

errorOut Output accumulator for error flags (must be non-null).

Returns: true if no sensor-related errors are present; false otherwise.

◆ checkSPICon()

bool AS5047P::checkSPICon ( )

Test the SPI connection to the AS5047P.

Check that SPI communication works as expected.

Returns: true if the connection behaves as expected; false otherwise.

Performs a series of reads and a write to verify basic SPI functionality,

Returns: true if the check passes and parity error is detected, false otherwise.

◆ initSPI()

bool AS5047P::initSPI ( )

Initialize the sensor and verify the connection. Call this once before using the sensor object.

Initialize the SPI backend and verify connectivity.

Returns: true if initialization and connectivity check succeed; false otherwise.

◆ read_ANGLECOM()

auto AS5047P::read_ANGLECOM	(	AS5047P_Types::ERROR_t *	errorOut = nullptr,
		bool	verifyParity = false,
		bool	checkForComError = false,
		bool	checkForSensorError = false ) -> AS5047P_Types::ANGLECOM_t

Read the ANGLECOM register.

Returns: Decoded ANGLECOM register.

◆ read_ANGLEUNC()

auto AS5047P::read_ANGLEUNC	(	AS5047P_Types::ERROR_t *	errorOut = nullptr,
		bool	verifyParity = false,
		bool	checkForComError = false,
		bool	checkForSensorError = false ) -> AS5047P_Types::ANGLEUNC_t

Read the ANGLEUNC register.

Returns: Decoded ANGLEUNC register.

◆ read_DIAAGC()

auto AS5047P::read_DIAAGC	(	AS5047P_Types::ERROR_t *	errorOut = nullptr,
		bool	verifyParity = false,
		bool	checkForComError = false,
		bool	checkForSensorError = false ) -> AS5047P_Types::DIAAGC_t

Read the DIAAGC register.

Returns: Decoded DIAAGC register.

◆ read_ERRFL()

auto AS5047P::read_ERRFL	(	AS5047P_Types::ERROR_t *	errorOut = nullptr,
		bool	verifyParity = false,
		bool	checkForComError = false,
		bool	checkForSensorError = false ) -> AS5047P_Types::ERRFL_t

Read the ERRFL register.

Returns: Decoded ERRFL register.

◆ read_MAG()

auto AS5047P::read_MAG	(	AS5047P_Types::ERROR_t *	errorOut = nullptr,
		bool	verifyParity = false,
		bool	checkForComError = false,
		bool	checkForSensorError = false ) -> AS5047P_Types::MAG_t

Read the MAG register.

Returns: Decoded MAG register.

◆ read_PROG()

auto AS5047P::read_PROG	(	AS5047P_Types::ERROR_t *	errorOut = nullptr,
		bool	verifyParity = false,
		bool	checkForComError = false,
		bool	checkForSensorError = false ) -> AS5047P_Types::PROG_t

Read the PROG register.

Returns: Decoded PROG register.

◆ read_SETTINGS1()

auto AS5047P::read_SETTINGS1	(	AS5047P_Types::ERROR_t *	errorOut = nullptr,
		bool	verifyParity = false,
		bool	checkForComError = false,
		bool	checkForSensorError = false ) -> AS5047P_Types::SETTINGS1_t

Read the SETTINGS1 register.

Returns: Decoded SETTINGS1 register.

◆ read_SETTINGS2()

auto AS5047P::read_SETTINGS2	(	AS5047P_Types::ERROR_t *	errorOut = nullptr,
		bool	verifyParity = false,
		bool	checkForComError = false,
		bool	checkForSensorError = false ) -> AS5047P_Types::SETTINGS2_t

Read the SETTINGS2 register.

Returns: Decoded SETTINGS2 register.

◆ read_ZPOSL()

auto AS5047P::read_ZPOSL	(	AS5047P_Types::ERROR_t *	errorOut = nullptr,
		bool	verifyParity = false,
		bool	checkForComError = false,
		bool	checkForSensorError = false ) -> AS5047P_Types::ZPOSL_t

Read the ZPOSL register.

Returns: Decoded ZPOSL register.

◆ read_ZPOSM()

auto AS5047P::read_ZPOSM	(	AS5047P_Types::ERROR_t *	errorOut = nullptr,
		bool	verifyParity = false,
		bool	checkForComError = false,
		bool	checkForSensorError = false ) -> AS5047P_Types::ZPOSM_t

Read the ZPOSM register.

Returns: Decoded ZPOSM register.

◆ readAngleDegree()

float AS5047P::readAngleDegree	(	bool	withDAEC = true,
		AS5047P_Types::ERROR_t *	errorOut = nullptr,
		bool	verifyParity = false,
		bool	checkForComError = false,
		bool	checkForSensorError = false )

Read the angle in degrees.

Read angle in degrees, optionally with DAE compensation.

Parameters

withDAEC	true → ANGLECOM (with DAE compensation), false → ANGLEUNC (raw).
errorOut	Optional: error accumulator (nullptr disables checks).
verifyParity	Verify parity on the read frame (effective when errorOut is set).
checkForComError	Poll ERRFL for communication errors (effective when errorOut is set).
checkForSensorError	Poll DIAAGC for sensor diagnostics (effective when errorOut is set).

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

Parameters

withDAEC true → ANGLECOM (DAEC), false → ANGLEUNC (raw).

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

◆ readAngleRaw()

uint16_t AS5047P::readAngleRaw	(	bool	withDAEC = true,
		AS5047P_Types::ERROR_t *	errorOut = nullptr,
		bool	verifyParity = false,
		bool	checkForComError = false,
		bool	checkForSensorError = false )

Read the 14-bit raw angle.

Read raw angle (14-bit), optionally with DAE compensation.

Parameters

withDAEC	true → ANGLECOM (with DAE compensation), false → ANGLEUNC (raw).
errorOut	Optional: error accumulator (nullptr disables checks).
verifyParity	Verify parity on the read frame (effective when errorOut is set).
checkForComError	Poll ERRFL for communication errors (effective when errorOut is set).
checkForSensorError	Poll DIAAGC for sensor diagnostics (effective when errorOut is set).

Returns: 14-bit angle value.

Parameters

withDAEC true to read ANGLECOM (DAECANG), false to read ANGLEUNC (CORDICANG).

◆ readMagnitude()

uint16_t AS5047P::readMagnitude	(	AS5047P_Types::ERROR_t *	errorOut = nullptr,
		bool	verifyParity = false,
		bool	checkForComError = false,
		bool	checkForSensorError = false )

Read the current CORDIC magnitude.

Read CORDIC magnitude (CMAG).

Parameters

errorOut	Optional: error accumulator (nullptr disables checks).
verifyParity	Verify parity on the read frame (effective when errorOut is set).
checkForComError	Poll ERRFL for communication errors (effective when errorOut is set).
checkForSensorError	Poll DIAAGC for sensor diagnostics (effective when errorOut is set).

Returns: 14-bit magnitude value.; 14-bit magnitude value.

◆ readReg()

template<class T >

T AS5047P::readReg	(	AS5047P_Types::ERROR_t *	errorOut = nullptr,
		bool	verifyParity = false,
		bool	checkForComError = false,
		bool	checkForSensorError = false )

Read a register of type.

Read a register type.

Template Parameters

T.
T	Register wrapper with REG_ADDRESS and a constructor from raw.

Parameters

errorOut	Optional: error accumulator (nullptr disables checks).
verifyParity	Verify parity on the read frame (effective when errorOut is set).
checkForComError	Poll ERRFL for communication errors (effective when errorOut is set).
checkForSensorError	Poll DIAAGC for sensor diagnostics (effective when errorOut is set).

Returns: The register content decoded as

Template Parameters

T.
T	and optionally perform parity/diagnostic checks.
T	Register wrapper type with REG_ADDRESS and a constructor from raw.

Parameters

errorOut	Optional error accumulator (nullptr to skip).
verifyParity	Verify parity on the readback frame.
checkForComError	Poll ERRFL to OR-in comms errors.
checkForSensorError	Poll DIAAGC to OR-in sensor diagnostics.

Returns: T Decoded register wrapper.

◆ readStatusAsArduinoString()

String AS5047P::readStatusAsArduinoString ( )

Read status/error information and return it as an Arduino String.

Render a human-readable status dump (Arduino String).

Returns: String with formatted status and diagnostic information.

◆ verifyWittenRegF()

bool AS5047P::verifyWittenRegF	(	uint16_t	regAddress,
		uint16_t	expectedData )

inline

Deprecated alias for verifyWrittenRegF (for backward compatibility).

Deprecated: Use verifyWrittenRegF instead.

◆ verifyWrittenRegF()

bool AS5047P::verifyWrittenRegF	(	uint16_t	regAddress,
		uint16_t	expectedData )

Verify that a register contains the expected 16-bit frame (including parity).

Verify that a register contains the expected raw 16-bit word.

Parameters

regAddress	Register address to read.
expectedData	Full 16-bit frame expected (bit 15 is the parity bit).

Returns: true if parity is valid and the frame matches; false otherwise.

Performs a read of the 16-bit frame (including parity) and compares it against expectedData. Both parity and content must match.

Parameters

regAddress	Register address to verify.
expectedData	Expected 16-bit word (including parity bit).

Returns: true if parity is valid and the frame matches; false otherwise.

◆ write_PROG()

bool AS5047P::write_PROG	(	const AS5047P_Types::PROG_t *	regData,
		AS5047P_Types::ERROR_t *	errorOut = nullptr,
		bool	checkForComError = false,
		bool	verifyWrittenReg = false )

Write to the PROG register.

Parameters

regData	New content to write.
errorOut	Optional: error accumulator (nullptr disables checks).
checkForComError	Poll ERRFL for communication errors after write (effective when errorOut is set).
verifyWrittenReg	If true, perform a diagnostic pass after write (historical flag name kept).

Returns: true if no errors were accumulated (or errorOut is nullptr); false otherwise.

◆ write_SETTINGS1()

bool AS5047P::write_SETTINGS1	(	const AS5047P_Types::SETTINGS1_t *	regData,
		AS5047P_Types::ERROR_t *	errorOut = nullptr,
		bool	checkForComError = false,
		bool	verifyWrittenReg = false )

Write to the SETTINGS1 register.

Parameters

regData	New content to write.
errorOut	Optional: error accumulator (nullptr disables checks).
checkForComError	Poll ERRFL for communication errors after write (effective when errorOut is set).
verifyWrittenReg	If true, perform a diagnostic pass after write (historical flag name kept).

Returns: true if no errors were accumulated (or errorOut is nullptr); false otherwise.

◆ write_SETTINGS2()

bool AS5047P::write_SETTINGS2	(	const AS5047P_Types::SETTINGS2_t *	regData,
		AS5047P_Types::ERROR_t *	errorOut = nullptr,
		bool	checkForComError = false,
		bool	verifyWrittenReg = false )

Write to the SETTINGS2 register.

Parameters

regData	New content to write.
errorOut	Optional: error accumulator (nullptr disables checks).
checkForComError	Poll ERRFL for communication errors after write (effective when errorOut is set).
verifyWrittenReg	If true, perform a diagnostic pass after write (historical flag name kept).

Returns: true if no errors were accumulated (or errorOut is nullptr); false otherwise.

◆ write_ZPOSL()

bool AS5047P::write_ZPOSL	(	const AS5047P_Types::ZPOSL_t *	regData,
		AS5047P_Types::ERROR_t *	errorOut = nullptr,
		bool	checkForComError = false,
		bool	verifyWrittenReg = false )

Write to the ZPOSL register.

Parameters

regData	New content to write.
errorOut	Optional: error accumulator (nullptr disables checks).
checkForComError	Poll ERRFL for communication errors after write (effective when errorOut is set).
verifyWrittenReg	If true, perform a diagnostic pass after write (historical flag name kept).

Returns: true if no errors were accumulated (or errorOut is nullptr); false otherwise.

◆ write_ZPOSM()

bool AS5047P::write_ZPOSM	(	const AS5047P_Types::ZPOSM_t *	regData,
		AS5047P_Types::ERROR_t *	errorOut = nullptr,
		bool	checkForComError = false,
		bool	verifyWrittenReg = false )

Write to the ZPOSM register.

Parameters

regData	New content to write.
errorOut	Optional: error accumulator (nullptr disables checks).
checkForComError	Poll ERRFL for communication errors after write (effective when errorOut is set).
verifyWrittenReg	If true, perform a diagnostic pass after write (historical flag name kept).

Returns: true if no errors were accumulated (or errorOut is nullptr); false otherwise.

◆ writeReg()

template<class T >

bool AS5047P::writeReg	(	const T *	regData,
		AS5047P_Types::ERROR_t *	errorOut = nullptr,
		bool	checkForComError = false,
		bool	verifyWrittenReg = false )

Write a register of type.

Write a register and optionally poll for errors / verify.

Template Parameters

T.
T	Register wrapper with REG_ADDRESS and .data.raw.

Parameters

regData	Pointer to the data to write.
errorOut	Optional: error accumulator (nullptr disables checks).
checkForComError	Poll ERRFL for communication errors after write (effective when errorOut is set).
verifyWrittenReg	If true, perform a diagnostic pass after write (historical flag name kept).

Returns: true if no errors were accumulated (or errorOut is nullptr); false otherwise.

Template Parameters

T	Register wrapper type with REG_ADDRESS.

Parameters

regData	Data to write (16-bit raw in regData->data.raw).
errorOut	Optional error accumulator (nullptr to skip).
checkForComError	Poll ERRFL to OR-in comms errors after write.
verifyWrittenReg	If true, also polls sensor diagnostics (historical naming kept).

Returns: true if errorOut shows no errors (or errorOut is nullptr); false otherwise.

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

src/AS5047P.h
src/AS5047P.cpp

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ AS5047P()

Member Function Documentation

◆ checkForComErrorF()

◆ checkForSensorErrorF()

◆ checkSPICon()

◆ initSPI()

◆ read_ANGLECOM()

◆ read_ANGLEUNC()

◆ read_DIAAGC()

◆ read_ERRFL()

◆ read_MAG()

◆ read_PROG()

◆ read_SETTINGS1()

◆ read_SETTINGS2()

◆ read_ZPOSL()

◆ read_ZPOSM()

◆ readAngleDegree()

◆ readAngleRaw()

◆ readMagnitude()

◆ readReg()

◆ readStatusAsArduinoString()

◆ verifyWittenRegF()

◆ verifyWrittenRegF()

◆ write_PROG()

◆ write_SETTINGS1()

◆ write_SETTINGS2()

◆ write_ZPOSL()

◆ write_ZPOSM()

◆ writeReg()