as5145

AS5145 SimpleFOC driver

SSI protocol driver for the AMS AS5145 magnetic encoder. Any of the A, B or H variants should work. AS5045 encoders should also be supported.

Only angle reading is supported, might get to the status bits at a later time. The SSI protocol is "emulated" using the SPI peripheral.

Tested with AS5145A on STM32G491 so far.

Hardware setup

Wire the sensor's data (DO) line to the MISO (CIPO) pin, nCS, SCK as normal. Leave the MOSI pin unconnected.

Software setup

#include <Arduino.h>
#include <SimpleFOC.h>
#include <SimpleFOCDrivers.h>
#include "encoders/as5145/MagneticSensorAS5145.h"

MagneticSensorAS5145 sensor;
SPIClass spi_ssi(PB15, PB14, PB13, PB12);

long ts;

void setup() {
  Serial.begin(115200);
  while (!Serial) ;
  delay(2000);

  Serial.println("Initializing sensor...");

  spi_ssi.begin();
  sensor.init(&spi_ssi);

  Serial.println("Sensor initialized.");

  ts = millis();
}

void loop() {
  sensor.update();
  if (millis() - ts > 1000) {
    Serial.println(sensor.getAngle(), 3);
    ts = millis();
  }
  delay(1);
}