/ {
    aliases {
        led0 = &led0;
        rotenc0 = &as5600;
        stepper0 = &stepper0;
    };

	chosen {
		uros,uart = &uart20;
		pid,counter = &timer00;

		zephyr,console = &uart21;
		zephyr,shell-uart = &uart21;
		nordic,rpc-uart = &uart21;
	};

    stepper0: tmc2209_motor {
        compatible = "adi,tmc2209";

        en-gpios = <&gpio1 4 GPIO_ACTIVE_LOW>;
        msx-gpios = <&gpio1 5 GPIO_ACTIVE_HIGH>,
                    <&gpio1 6 GPIO_ACTIVE_HIGH>;
        step-gpios = <&gpio2 1 GPIO_ACTIVE_HIGH>;
        dir-gpios = <&gpio2 4 GPIO_ACTIVE_HIGH>;
        //dual-edge-step;
        micro-step-res = <64>;
        counter = <&timer10>;
        status = "okay";
    };
};

&timer00 {
	status = "okay";
};

&timer10 {
	status = "okay";
};

&uart20 {
	status = "okay";
    current-speed = <921600>;
};

&uart21 {
	status = "okay";
    current-speed = <115200>;
};

&i2c30 {
    status = "okay";
    clock-frequency = <I2C_BITRATE_FAST>;

    as5600: as5600@36 {
        compatible = "ams,as5600";
        reg = <0x36>;   // I2C address of AS5600
        label = "AS5600";
		status = "okay";
    };
};