Crate omnitiles 

OmniTiles Firmware

This crate contains all firmware components for the OmniTiles robotics platform, written in Rust, targeting an STM32F777 MCU.

Crate Structure

Module	Purpose
hw	MCU-level wrappers around USART, SPI, CAN, timers, etc.
drivers	Device-level drivers (e.g., DRV8873, GDZ468)
motors	Actuator-level structures (lift, tilt) built on top of drivers
control	Control algorithms (PID, high-level control)

Getting Started

Build docs:

cargo doc --no-deps --open

Flash the board:

cargo run --release

Hardware Notes

• MCU: STM32F777VI
• Debug UART: USART1 @ 115200 baud
• Lift Motor: FIT0185 with DRV8873 driver over SPI4 and TIM2 32-bit quadrature encoder
• Tilt Motor: GIM6010-48 over CAN2 with built-in GDZ468 encoder

License

Licensed under the MIT License. See the LICENSE file in the repository root for full terms.

© 2025–2026 Christopher Liu

Modules

control

Control Algorithms

drivers

Device-Specific Drivers

hw

Hardware Abstraction Layer (HAL‐level board support)

motors

Actuator Abstractions