L6470 driver for Linux in Rust

This library can be used to control one or more STMicroelectronics L6470 motor driver over SPI using the Rust programming language.

Prerequisites

You need a Linux Single Board Computer (SBC) with a SPI port enabled and some GPIO

See Linux SPIDEV doc See Linux Sysfs GPIO doc

Installing

A step by step series of examples that tell you how to get a development env running

Say what the step will be

extern crate linux_l6470;

use linux_l6470::L6470;
use linux_l6470::Motors;
use linux_l6470::Direction;

fn main() -> Result<(), std::io::Error> {

    let driver = linux_l6470::L6470Connector::new("/dev/spidev1.0")
        .build()?;




    driver.init();

    driver.send_run(Motors::all(), Direction::CW, 0xFFFFFFFF);
    // driver.send_go_until(Motors::all(), Direction::CW, 0xFFFFFFFF);

    Ok(())
}

Built With

• Rust Spidev - Linux SPI API with Rust

Versioning

We use SemVer for versioning.

Authors

• Dolt.ch (Samuel Dolt) - Initial work - Dolt.ch

License

This project is Licensed under either of

• Apache License, Version 2.0, (LICENSE-APACHE or http://www.apache.org/licenses/LICENSE-2.0)
• MIT license (LICENSE-MIT or http://opensource.org/licenses/MIT)

at your option.

Contribution

Unless you explicitly state otherwise, any contribution intentionally submitted for inclusion in the work by you, as defined in the Apache-2.0 license, shall be dual licensed as above, without any additional terms or conditions.

Bibliography

• ST L6470 - Fully integrated microstepping motor driver with motion engine and SPI
• ST DT0065 - Design Tip: A Guide to understanding L6470, L6480, and powerSTEP01 output voltage levels
• ST AN4241 - Application note: L6470 and L6472: fully integrated stepper motor drivers