Added TMC2209 support (#727)

TMC2209: Added TMC2209 support

tmc2209/utils.go

@@ -0,0 +1,73 @@
+package tmc2209
+
+import "log"
+
+func CalculateCRC(data []byte) uint8 {
+	crc := uint8(0)
+	for _, byte := range data {
+		for i := 0; i < 8; i++ {
+			if (crc>>7)^(byte&0x01) == 1 {
+				crc = (crc << 1) ^ 0x07
+			} else {
+				crc = crc << 1
+			}
+			byte >>= 1
+		}
+	}
+	return crc
+}
+
+// VerifyCommunication checks the communication with the TMC2209 by reading the version register (IOIN).
+// It returns true if the communication is successful (i.e., the version matches the expected version).
+// VerifyCommunication verifies the communication with the TMC2209 by reading the version register (IOIN).
+// It explicitly resets the struct and de-references it after the check to ensure memory is managed manually.
+func VerifyCommunication(comm RegisterComm, driverIndex uint8) bool {
+	var io *Ioin
+	if io == nil {
+		io = NewIoin() // Initialize the struct if not already initialized
+	} else {
+		*io = Ioin{}
+	}
+	_, err := ReadRegister(comm, driverIndex, io.GetAddress())
+	if err != nil {
+		return false
+	}
+	if io.Version == expectedVersion {
+		io = nil
+		return true
+	}
+	io = nil
+	return false
+}
+
+// CheckErrorStatus verifies the communication and checks for error flags in the TMC2209 driver status.
+// It explicitly resets the struct and de-references it when done to ensure memory is managed manually.
+func CheckErrorStatus(comm RegisterComm, driverIndex uint8) bool {
+	var d *DrvStatus
+	if d == nil {
+		d = NewDrvStatus()
+	} else {
+		*d = DrvStatus{}
+	}
+	_, err := d.Read(comm, driverIndex)
+	if err != nil {
+		return false
+	}
+	errorFlags := d.Ola | d.S2vsa | d.S2vsb | d.Ot | d.S2ga | d.S2gb | d.Olb
+	if errorFlags != 0 {
+		log.Printf("TMC2209 Error Detected: %X", errorFlags)
+		return false
+	}
+	d = nil
+	return true
+}
+
+// GetInterfaceTransmissionCount reads the IFCNT register to check for UART transmission status
+func GetInterfaceTransmissionCount(comm RegisterComm, driverIndex uint8) (uint32, error) {
+	ifcnt := NewIfcnt()
+	_, err := ReadRegister(comm, driverIndex, ifcnt.GetAddress())
+	if err != nil {
+		return 0, err
+	}
+	return ifcnt.Bytes, nil
+}