/ {
    aliases {
        led0 = &red_led_1;
        led1 = &yellow_led_1;
        led2 = &green_led_1;

        rotenc0 = &as5600;
        stepper0 = &stepper0;
        servo0 = &pwm_servo0;
    };

    pwmleds: pwmleds {
		compatible = "pwm-leds";
		status = "okay";

		pwm_servo0: pwm_servo0 {
			pwms = <&pwm4 3 PWM_MSEC(20) PWM_POLARITY_NORMAL>;
			label = "servo 0";
		};
	};

    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 {
    status = "okay";
    current-speed = <460800>;
    pinctrl-0 = <&uart4_tx_pa0 &uart4_rx_pd0>;
    pinctrl-names = "default";
};

&usb {
    status = "okay";
    cdc_acm_uart0: cdc_acm_uart0 {
        compatible = "zephyr,cdc-acm-uart";
        label = "CDC_ACM_0";
    };
};

&usart3 {
    status = "okay";
};

&timers6 {
    status = "okay";
    st,prescaler = <25>;

    counter6: counter {
        status = "okay";
    };
};

&timers5 {
    status = "okay";
    st,prescaler = <7>;

    counter5: counter {
        status = "okay";
    };
};

&timers4 {
    status = "okay";
    st,prescaler = <119>;

    pwm4: pwm {
        status = "okay";
        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";
    };
};