AS5600 magnetic angle encoder with ESP32

Supply 3.3-5 V Bus I2C I2C address 0x36 Measures angle, rotation

Pins and ESP32 wiring

Pin	Role	ESP32 pin	Notes
VCC	Power	3V3	Use 3V3 so OUT stays under 3.3 V
OUT	Analog output	D34	Angle as analog voltage (or PWM, if configured). Optional. To an ADC pin (prefer ADC1: GPIO 32 to 39)
GND	Ground	GND
DIR	Not wired to the ESP32	—	Direction: GND = angle grows clockwise, VCC = counter-clockwise. Never leave floating
SCL	I2C clock (SCL)	D22
SDA	I2C data (SDA)	D21
GPO	Not wired to the ESP32	—	Programming pin. Leave unconnected

Suggested wiring for the 30-pin ESP32 DevKit, avoiding flash, input-only and strapping pins. BoardPilot checks it for you as you wire.

Starter code (Arduino)

#include <Wire.h>

void setup() {
  Serial.begin(115200);
  Wire.begin(21, 22);  // SDA = GPIO 21, SCL = GPIO 22
  Wire.beginTransmission(0x36);
  bool found = Wire.endTransmission() == 0;
  Serial.println(found ? "AS5600 magnetic angle encoder found at 0x36" : "Not found: check power, GND and SDA/SCL");
}

void loop() {}

Sources

ams AS5600 datasheet, Fixed I2C address 0x36; RAW ANGLE registers 0x0C/0x0D, 12 bit
ams AS5600 datasheet, DIR pin sets the rotation direction and must not float; 3.3 V or 5 V operation

Try it in 3D in BoardPilot

BoardPilot Part data (JSON)

Part data: CC BY 4.0, free to reuse with credit to BoardPilot.

AS5600 magnetic angle encoder with ESP32

Pins and ESP32 wiring

Starter code (Arduino)

Sources

Try it in 3D in BoardPilot

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