How to connect 2 as5047p with SPI for Odrive 3.6

Hi, How do I connect 2 as5047p with SPI for Odrive 3.6. Apparently, there is only one MOSI and MISO pins. Does not seem to have the CS pin on the Odrive 3.6.

Connect the CS wire to any of the GPIO pins from 1 to 8, and then set encoder.config.abs_spi_cs_gpio_pin to the GPIO number that you used.

1 Like

Thanks, using 2 encoders, should I use SPI communication or A/B communication protocol? Which of the 2 protocols provide information quicker?

There is no difference in the speed, since the SPI encoders are updated at the same rate (8kHz) as the ODrive’s control loop.