====== lamaPLC: AS5600 Magnetic Induction Angle Measurement Sensor Module ======
{{ :sensor:as_5600.png?160|AS5600}}

The AS5600 is a straightforward magnetic rotary position sensor featuring a high-resolution 12-bit analog or PWM output. It measures the absolute angle of a diametrically magnetized on-axis magnet without contact. Designed for contactless potentiometer applications, its durable build prevents interference from external homogeneous magnetic fields. 

The industry-standard [[com:basic_i2c|I²C]] interface allows easy programming of non-volatile parameters without a dedicated programmer. By default, the output covers 0 to 360 degrees, but a smaller output range can be set by programming a start (zero) and stop (maximum) angle. 

Additionally, the AS5600 includes a smart low-power mode to automatically lower power consumption. An input pin (DIR) determines the output polarity based on rotation direction: connecting DIR to ground causes the output to increase clockwise, while connecting it to VDD causes it to increase counterclockwise.

{{ :sensor:as_5600_3.png |AS5600}}

**Key Features**

  * **Resolution:** 12-bit digital output, providing 4,096 positions per full 360° rotation (approximately 0.087° per step).
  * **Multiple Output Modes:** Supports I²C digital interface, PWM, and ratiometric Analog voltage output.
  * **Programmable Range:** While the default is 0° to 360°, users can program a custom maximum angle from 18° to 360° to apply full resolution to a smaller range.
  * **Direction Control:** A dedicated DIR pin allows you to set whether the output value increases with clockwise or counterclockwise rotation.
  * **Low Power:** Features smart low-power modes that automatically reduce consumption, making it suitable for battery-powered devices.

=== Technical Specifications ===

  * **Operating Voltage:** 3.3V to 5V
  * **Interface:** I²C (fixed address **0x36**)
  * **Temperature Range:** -40°C to +125°C
  * **Magnet Distance:** Best performance within 0.5 mm to 3 mm air gap


{{ :sensor:as_5600_2.png |AS-5600}}
=== AS5600 Pinout === 

|< 100%>|
^Pin Name^Function^Description|
^VCC|Power Supply|Connect to 3.3V or 5V.|
^GND|Ground|Connect to establish common ground with your circuit.|
^SCL|I²C Clock|Serial clock line used for digital communication (0x36 fixed) address).|
^SDA|I²C Data|Serial data line for angle readings and configuration.|
^DIR|Direction|GND clockwise increases value; VCC = Counter-clockwise increases.|
^OUT|Output|Can provide an analog voltage or PWM signal proportional to the angle.|
^PGO|Program Option|Used for programming the sensor's non-volatile memory (OTP), which is usually left disconnected for standard applications' use.|

**Critical Usage Notes**

  * **Operating Voltage:** When powering with 5V, make sure the module's onboard voltage regulator (if available) is used properly. For the raw chip, Pin 1 (VDD5V) and Pin 2 (VDD3V3) have specific wiring needs for 3.3V versus 5V operation.
  * **Pull-up Resistors:** The I²C lines (SDA/SCL) need pull-up resistors (typically 4.7kΩ) to VCC if they are not already present on your specific module.
  * **DIR Pin Stability:** It is strongly advised not to leave the DIR pin floating. Connect it to GND or VCC to avoid erratic position readings.
  * **PGO Pin:** Some modules include a resistor between PGO and GND that may disable the OUT pin. If the analog/PWM output isn't working, check this connection.

=== AS5600 Wiring ===
{{ :sensor:as_5600_4.png |AS5600 Wiring}}

=== AS5600 Arduino Wiring (I²C Mode) ===

|< 100%>|
^AS5600 Pin^Arduino Pin (Uno/Nano)^Arduino Pin (Mega)|
^VCC|5V (or 3.3V)|5V (or 3.3V)|
^GND|GND|GND|
^SDA|A4|Pin 20|
^SCL|A5|Pin 21|
^DIR|GND (for clockwise)|GND (for clockwise)|

=== AS5600 Arduino example code ===
To read angle data from the AS5600 using an Arduino, the most reliable approach is to use the I²C interface. You can use a library like the **Adafruit AS5600 Library** or the **Rob Tillaart AS5600 Library** for simplified functions.

This code initializes the sensor and prints the angle in both raw units (0–4095) and degrees (0–360°) to the Serial Monitor.

<code c>
#include "AS5600.h"
#include "Wire.h"

AS5600 as5600;

void setup() {
  Serial.begin(115200);
  Wire.begin();

  if (!as5600.begin()) {
    Serial.println("Error: AS5600 not detected. Check wiring!");
    while (1);
  }
  
  // Set clockwise as the increasing direction
  as5600.setDirection(AS5600_CLOCK_WISE); 
  Serial.println("AS5600 Initialized.");
}

void loop() {
  // Read raw 12-bit value (0-4095)
  uint16_t rawAngle = as5600.readAngle();
  
  // Convert to degrees (360.0 / 4096.0)
  float degrees = rawAngle * (360.0 / 4096.0);

  Serial.print("Raw: ");
  Serial.print(rawAngle);
  Serial.print(" | Angle: ");
  Serial.print(degrees, 2);
  Serial.println("°");

  delay(100); // Read every 100ms
}
</code>

**Key Functions**

  * **as5600.readAngle():** Returns the current 12-bit filtered angle.
  * **as5600.getMagnetStatus():** Returns a status byte (//0x20 = Magnet detected; 0x10 = Too weak; 0x08 = Too strong//).
  * **as5600.setDirection():** Allows you to flip the rotation direction in software if the DIR pin is left floating or controlled by an I/O pin.

**Troubleshooting**

  * **Magnet Detection:** If the serial monitor displays constant values, verify the magnet distance (0.5-3mm).
  * **Address:** The I²C address is fixed at 0x36 and cannot be modified.
  * **Pull-up Resistors:** Make sure your module has pull-up resistors on SDA/SCL, or add 4.7kΩ resistors to VCC if the I²C scan fails.

===== I²C topics on lamaPLC =====
{{topic>i2c}}

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