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uLipe
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sensors: as5048: add initial support for AS5048 angle sensor
Which is a contactless angle sensor that communicates over SPI. Signed-off-by: Felipe Neves <ryukokki.felipe@gmail.com>
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‎drivers/sensor/ams/CMakeLists.txt‎

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# SPDX-License-Identifier: Apache-2.0
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# zephyr-keep-sorted-start
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add_subdirectory_ifdef(CONFIG_AMS_AS5048 ams_as5048)
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add_subdirectory_ifdef(CONFIG_AMS_AS5600 ams_as5600)
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add_subdirectory_ifdef(CONFIG_AMS_IAQ_CORE ams_iAQcore)
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add_subdirectory_ifdef(CONFIG_CCS811 ccs811)

‎drivers/sensor/ams/Kconfig‎

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# SPDX-License-Identifier: Apache-2.0
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# zephyr-keep-sorted-start
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source "drivers/sensor/ams/ams_as5048/Kconfig"
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source "drivers/sensor/ams/ams_as5600/Kconfig"
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source "drivers/sensor/ams/ams_iAQcore/Kconfig"
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source "drivers/sensor/ams/ccs811/Kconfig"

‎drivers/sensor/ams/ams_as5048/CMakeLists.txt‎

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# SPDX-License-Identifier: Apache-2.0
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zephyr_library()
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zephyr_library_sources(ams_as5048.c)

‎drivers/sensor/ams/ams_as5048/Kconfig‎

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# AS5048 Angular position sensor configuration option
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# Copyright (c) 2025, Felipe Neves.
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# SPDX-License-Identifier: Apache-2.0
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config AMS_AS5048
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bool "AMS AS5048 magnetic angle sensor"
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default y
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depends on DT_HAS_AMS_AS5048_ENABLED
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select SPI
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help
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Enable driver for the AMS AS5048 magnetic rotary encoder. The driver
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supports reading the absolute angle via the SPI interface.

‎drivers/sensor/ams/ams_as5048/ams_as5048.c‎

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/*
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* Copyright (c) 2025, Felipe Neves
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#define DT_DRV_COMPAT ams_as5048
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#include <errno.h>
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#include <zephyr/device.h>
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#include <zephyr/drivers/sensor.h>
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#include <zephyr/drivers/spi.h>
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#include <zephyr/init.h>
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#include <zephyr/logging/log.h>
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#include <zephyr/sys/byteorder.h>
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LOG_MODULE_REGISTER(ams_as5048, CONFIG_SENSOR_LOG_LEVEL);
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#define AS5048_REG_ANGLE 0x3FFF
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#define AS5048_READ_BIT BIT(14)
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#define AS5048_PARITY_BIT BIT(15)
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#define AS5048_DATA_MASK GENMASK(13, 0)
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#define AS5048_ERROR_BIT BIT(14)
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#define AS5048_MAX_STEPS 16384
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#define AS5048_FULL_ANGLE_DEG 360
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#define AS5048_MICRO_DEGREE 1000000
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struct as5048_config {
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struct spi_dt_spec spi;
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};
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struct as5048_data {
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uint16_t angle_raw;
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};
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static uint16_t as5048_build_read_command(uint16_t reg)
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{
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uint16_t cmd = reg & AS5048_DATA_MASK;
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cmd |= AS5048_READ_BIT;
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/* Even parity across bits 0..14 (read bit + address). */
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if (__builtin_parity(cmd)) {
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cmd |= AS5048_PARITY_BIT;
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}
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return cmd;
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}
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static int as5048_sample_fetch(const struct device *dev, enum sensor_channel chan)
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{
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struct as5048_data *data = dev->data;
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const struct as5048_config *cfg = dev->config;
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uint16_t tx_buf[2];
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uint16_t rx_buf[2];
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struct spi_buf tx[] = {
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{
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.buf = &tx_buf[0],
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.len = sizeof(tx_buf[0]),
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},
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{
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.buf = &tx_buf[1],
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.len = sizeof(tx_buf[1]),
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},
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};
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const struct spi_buf_set tx_set = {
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.buffers = tx,
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.count = ARRAY_SIZE(tx),
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};
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struct spi_buf rx[] = {
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{
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.buf = &rx_buf[0],
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.len = sizeof(rx_buf[0]),
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},
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{
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.buf = &rx_buf[1],
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.len = sizeof(rx_buf[1]),
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},
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};
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const struct spi_buf_set rx_set = {
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.buffers = rx,
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.count = ARRAY_SIZE(rx),
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};
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int ret;
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if ((chan != SENSOR_CHAN_ALL) && (chan != SENSOR_CHAN_ROTATION)) {
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return -ENOTSUP;
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}
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tx_buf[0] = sys_cpu_to_be16(as5048_build_read_command(AS5048_REG_ANGLE));
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tx_buf[1] = sys_cpu_to_be16(0x0000);
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ret = spi_transceive_dt(&cfg->spi, &tx_set, &rx_set);
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if (ret < 0) {
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LOG_ERR("spi transceive failed (%d)", ret);
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return ret;
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}
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uint16_t raw = sys_be16_to_cpu(rx_buf[1]);
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if (raw & AS5048_ERROR_BIT) {
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LOG_ERR("AS5048 reported error (0x%04x)", raw);
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return -EIO;
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}
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data->angle_raw = raw & AS5048_DATA_MASK;
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return 0;
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}
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static int as5048_channel_get(const struct device *dev,
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enum sensor_channel chan,
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struct sensor_value *val)
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{
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struct as5048_data *data = dev->data;
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if (chan != SENSOR_CHAN_ROTATION) {
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return -ENOTSUP;
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}
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int32_t scaled = (int32_t)data->angle_raw * AS5048_FULL_ANGLE_DEG;
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val->val1 = scaled / AS5048_MAX_STEPS;
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val->val2 = ((scaled % AS5048_MAX_STEPS) * AS5048_MICRO_DEGREE) / AS5048_MAX_STEPS;
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return 0;
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}
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static int as5048_init(const struct device *dev)
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{
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const struct as5048_config *cfg = dev->config;
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if (!spi_is_ready_dt(&cfg->spi)) {
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LOG_ERR("SPI device not ready");
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return -ENODEV;
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}
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return 0;
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}
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static DEVICE_API(sensor, as5048_api) = {
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.sample_fetch = as5048_sample_fetch,
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.channel_get = as5048_channel_get,
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};
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#define AS5048_INIT(inst) \
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static struct as5048_data as5048_data_##inst; \
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static const struct as5048_config as5048_config_##inst = { \
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.spi = SPI_DT_SPEC_INST_GET(inst, \
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SPI_WORD_SET(16) | SPI_TRANSFER_MSB), \
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}; \
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SENSOR_DEVICE_DT_INST_DEFINE(inst, as5048_init, NULL, \
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&as5048_data_##inst, &as5048_config_##inst, \
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POST_KERNEL, CONFIG_SENSOR_INIT_PRIORITY, \
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&as5048_api);
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DT_INST_FOREACH_STATUS_OKAY(AS5048_INIT)

‎dts/bindings/sensor/ams,as5048.yaml‎

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# SPDX-License-Identifier: Apache-2.0
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description: |
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AMS AS5048 magnetic rotary sensor
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&spi3 {
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status = "okay";
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as5048@0 {
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compatible = "ams,as5048";
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reg = <0>;
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spi-max-frequency = <4000000>;
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};
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};
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compatible: "ams,as5048"
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include: [sensor-device.yaml, spi-device.yaml]
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properties:
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reg:
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required: true
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spi-max-frequency:
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required: true

‎tests/drivers/build_all/sensor/app.overlay‎

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<&test_gpio 0 0>,
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<&test_gpio 0 0>,
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<&test_gpio 0 0>,
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<&test_gpio 0 0>; /* 0x39 */
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<&test_gpio 0 0>,
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<&test_gpio 0 0>; /* 0x3A */
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#include "spi.dtsi"
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};
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‎tests/drivers/build_all/sensor/spi.dtsi‎

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int1-gpios = <&test_gpio 0 0>;
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fifo-watermark = <1>;
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};
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test_spi_as5048: as5048@3b {
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compatible = "ams,as5048";
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reg = <0x3b>;
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spi-max-frequency = <0>;
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};

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