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TB6612FNG Motor Driver Using Rust on NUCLEO-F401RE ARM32 Board

This example showcases how the tb6612fng crate for the SparkFun Motor Driver - Dual TB6612FNG (1A) can be used on an STM32F4 chip. It uses RTIC (Real-Time Interrupt-driven Concurrency) underneath.

The example logs messages using defmt.

The example has been tested on a ST Nucleo-F401RE development board but should work on any STM32F4xx family microcontroller as long as the controller is connected on the following pins (or the code adapted accordingly):

  • AI1 on PB5
  • AI2 on PB4
  • PWMA on PB10

Don't forget to pull the STBY pin high, otherwise nothing will happen!

Furthermore, the example uses a button connected on PC13 which is e.g. present on the mentioned board.

The example continuously cycles through all speeds from full backwards to full forward (in 1% steps) and the button can be used to stop (coast, first press), actively brake (second press) and drive again (third press).

Prerequisites

  1. Optional: ensure that the rust toolchain is up-to-date: rustup update
  2. Install probe-rs: cargo install probe-rs --features cli
  3. Install flip-link: cargo install flip-link
    • Note: flip-link is not strictly necessary for this example (it doesn't need stack protection), however it can be considered best practices to include it.
  4. Install the cross-compile target: rustup target add thumbv7em-none-eabihf
  5. Optional: install the LLVM tools: rustup component add llvm-tools-preview
  6. Install the STLink drivers

Build & Download to Board

  1. Connect the board via USB
  2. Run cargo run (the correct chip & target is already defined in Cargo.toml and .cargo/config)
  3. Enjoy your running program :)