How to connect with SPI encoder AS5048A

I try to connect the odrive v3.6-56v with SPI encoder, but i can’t

This is a code what i set up in cmd

odrv0.axis0.motor.config.current_lim = 10
odrv0.config.brake_resistance = 2
odrv0.axis0.motor.config.pole_pairs = 14
odrv0.axis0.motor.config.motor_type = MOTOR_TYPE_GIMBAL
odrv0.axis0.encoder.config.abs_spi_cs_gpio_pin = 8
odrv0.axis0.encoder.config.mode = ENCODER_MODE_SPI_ABS_AMS
odrv0.axis0.encoder.config.cpr = 2**14              
odrv0.axis0.requested_state = AXIS_STATE_FULL_CALIBRATION_SEQUENCE

And i get it

In [15]: dump_errors(odrv0)
system: not found
  axis: Error(s):
    UNKNOWN ERROR: 0x00000100
  motor: no error
  sensorless_estimator: no error
  encoder: Error(s):
  controller: no error
  axis: no error
  motor: no error
  sensorless_estimator: no error
  encoder: no error
  controller: no error

I try to get the value of AS5048A in ardunio, and I did.

Help me ! how to connect

But in your picture, it looks like it is plugged in to GPIO 8.

oh, i try gpio 3 and gpio 8, but i can’t

It could be the issues seen in this thread:

Try adding some series resistors (e.g. 50 Ohm) to the MOSI, MISO and SCK wires.

What happens if you do a dump_errors(odrv0) right after save_configuration() and reboot(), without even attempting the calibration sequence?
I’ve run into the same issue with the same encoder, but with hoverboard motors, and I always got ENCODER_ERROR_ABS_SPI_COM_FAIL already after saving configuration and rebooting.

Anyway, the solution turned out to be a pull-up resistor on the encoder’s CS pin; for details see my WIP patch at: docs/ recommend a pull-up resistor on CS pin for AMS enco… · szeder/ODrive@66e4856 · GitHub.
Could you try a pull-up and please report back whether it worked for you as well? (Assuming your wiring is otherwise OK; we had to go all out with LVDS over twisted pairs…)


Hello! I faced the same problem. Just soldered 4.3K resistor between 4 pin and AVDD. Still have ENCODER_ERROR_ABS_SPI_COM_FAIL error after reboot. If i disconnect CS pin from the working device and connect it again encoder(AS5048A) starts working, but during full calibration it goes offline again :frowning:

I don’t know the role of the AVDD pin; I see that it is around 3.3V, but I don’t know what it does after the ODrive (re)starts.

Anyway, I wired the pull-up resistor to one of the 3.3V pins.