diff --git a/.gitmodules b/.gitmodules
index 210dcc78..fd93c807 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1100,3 +1100,6 @@
 [submodule "libraries/helpers/color_terminal"]
 	path = libraries/helpers/color_terminal
 	url = https://github.com/adafruit/Adafruit_CircuitPython_Color_Terminal.git
+[submodule "libraries/drivers/as5600"]
+	path = libraries/drivers/as5600
+	url = https://github.com/adafruit/Adafruit_CircuitPython_AS5600.git
diff --git a/docs/drivers.rst b/docs/drivers.rst
index 652e9056..1ae917d9 100644
--- a/docs/drivers.rst
+++ b/docs/drivers.rst
@@ -355,6 +355,7 @@ Motion relating sensing including ``acceleration``, ``magnetic``, ``gyro``, and
 
     ADXL34x 3 Axis Accelerometer (adafruit_adxl34x) <https://docs.circuitpython.org/projects/adxl34x/en/latest/>
     ADXL37x 3 Axis Accelerometer (adafruit_adxl37x) <https://docs.circuitpython.org/projects/adxl37x/en/latest/>
+    AS5600 Magnetic Angle Sensor (adafruit_as5600) <https://docs.circuitpython.org/projects/as5600/en/latest/>
     BNO055 Accelerometer, Magnetometer, Gyroscope and Absolution Orientation (adafruit_bno055) <https://docs.circuitpython.org/projects/bno055/en/latest/>
     BNO08X  9 Axis Sensor Fusion IMU (adafruit_bno08x) <https://docs.circuitpython.org/projects/bno08x/en/latest/>
     BNO08X_RVC Simple UART Heading Library (adafruit_bno08x_rvc) <https://docs.circuitpython.org/projects/bno08x_rvc/en/latest/>
diff --git a/libraries/drivers/as5600 b/libraries/drivers/as5600
new file mode 160000
index 00000000..39b43cc3
--- /dev/null
+++ b/libraries/drivers/as5600
@@ -0,0 +1 @@
+Subproject commit 39b43cc319c9702964575225a58f6df1048e5934