wip: stepper

boards/nucleo_h563zi.overlay

@@ -4,6 +4,8 @@
         led1 = &yellow_led_1;
         led2 = &green_led_1;
 
+        rotenc0 = &as5600;
+        stepper0 = &stepper0;
         servo0 = &pwm_servo0;
     };
 
@@ -17,6 +19,19 @@
 		};
 	};
 
+    stepper0: tmc2209_motor {
+        compatible = "adi,tmc2209";
+
+        en-gpios = <&gpioe 4 GPIO_ACTIVE_LOW>;
+        msx-gpios = <&gpiod 0 GPIO_ACTIVE_HIGH>,
+                    <&gpiod 1 GPIO_ACTIVE_HIGH>;
+        step-gpios = <&gpioe 6 GPIO_ACTIVE_HIGH>;
+        dir-gpios = <&gpioe 5 GPIO_ACTIVE_HIGH>;
+        //dual-edge-step;
+        micro-step-res = <64>;
+        counter = <&counter6>;
+        status = "okay";
+    };
 };
 
 &uart4 {
@@ -38,6 +53,15 @@
     status = "okay";
 };
 
+&timers6 {
+    status = "okay";
+    st,prescaler = <25>;
+
+    counter6: counter {
+        status = "okay";
+    };
+};
+
 &timers5 {
     status = "okay";
     st,prescaler = <7>;
@@ -56,4 +80,16 @@
         pinctrl-0 = <&tim4_ch3_pb8>;
         pinctrl-names = "default";
     };
-};
+};
+
+&i2c2 {
+    status = "okay";
+    pinctrl-0 = <&i2c2_scl_pf1 &i2c2_sda_pf0>;
+	pinctrl-names = "default";
+
+    as5600: as5600@36 {
+        compatible = "ams,as5600";
+        reg = <0x36>;   // I2C address of AS5600
+        label = "AS5600";
+    };
+};