Added TMC2209 support (#727)

TMC2209: Added TMC2209 support

tmc2209/tmc2209.go

@@ -0,0 +1,56 @@
+//go:build tinygo
+
+package tmc2209
+
+import (
+	"log"
+)
+
+// TMC2209 represents a single TMC2209 stepper motor driver on the communication line.
+type TMC2209 struct {
+	comm    RegisterComm
+	address uint8
+}
+
+// NewTMC2209 creates a new instance of the TMC2209 driver for a specific address.
+func NewTMC2209(comm RegisterComm, address uint8) *TMC2209 {
+	return &TMC2209{
+		comm:    comm,
+		address: address,
+	}
+}
+
+// Setup initializes the communication interface with the TMC2209.
+func (driver *TMC2209) Setup() error {
+	// Check if comm is of type *UARTComm
+	if uartComm, ok := driver.comm.(*UARTComm); ok {
+		// Call Setup only if comm is a *UARTComm
+		err := uartComm.Setup()
+		if err != nil {
+			return CustomError("Failed to setup UART communication: " + err.Error())
+		}
+	} else {
+		// If it's not a UARTComm, log that it's using a different communication method
+		log.Println("Using a non-UART communication method")
+	}
+
+	return nil
+}
+
+// WriteRegister sends a register write command to the TMC2209.
+func (driver *TMC2209) WriteRegister(reg uint8, value uint32) error {
+	if driver.comm == nil {
+		return CustomError("communication interface not set")
+	}
+	// Use the communication interface (RegisterComm) to write the register
+	return driver.comm.WriteRegister(reg, value, driver.address)
+}
+
+// ReadRegister sends a register read command to the TMC2209 and returns the read value.
+func (driver *TMC2209) ReadRegister(reg uint8) (uint32, error) {
+	if driver.comm == nil {
+		return 0, CustomError("communication interface not set")
+	}
+	// Use the communication interface (RegisterComm) to read the register
+	return driver.comm.ReadRegister(reg, driver.address)
+}