DheerajSingh1107 opened a new pull request, #18802:
URL: https://github.com/apache/nuttx/pull/18802
## Summary
This PR adds a new SPI-based magnetic encoder driver for the AMS AS5047D.
The AS5047D is a 14-bit on-axis magnetic rotary encoder that communicates
over SPI and is commonly used in motor control and robotics applications
requiring precise angular position feedback.
This driver provides:
* 14-bit angular position readout (0–16383)
* SPI communication interface compatible with NuttX SPI framework
* Basic error detection using status bits from the device
The implementation follows existing NuttX sensor driver patterns and is
designed to be reusable across supported boards.
---
## Impact
* **New Feature**: Adds support for AS5047D encoder
* **No breaking changes**: Existing drivers and subsystems are unaffected
* **Hardware**: Requires an SPI interface (tested on STM32F4 SPI3)
* **Build**: Adds a new driver option (must be enabled via config)
* **Use case**: Motor control, robotics, FOC systems requiring precise angle
feedback
No impact on existing APIs or backward compatibility.
---
## Testing
Tested on:
* **Board**: STM32F446re (SPI3)
* **Setup**: AS5047D connected via SPI with proper CS handling
### Test Procedure:
1. Initialized SPI bus and driver in NuttX
2. Performed continuous angle reads
3. Verified:
* Stable 14-bit output range (0–16383)
* No constant or stuck values
* Correct response to shaft rotation
4. Checked error flags in returned data
Observations:
* Angle values update correctly with rotation
* No communication faults observed under normal operation
* Timing adjustments were required for stable SPI reads
Logs (example):
<img width="191" height="704" alt="image"
src="https://github.com/user-attachments/assets/06d2fbc1-3c11-4f20-8f18-fe1560859122";
/>
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