Started Implementing UART Register interface

motor-control/firmware/include/tmc2209/tmc2209.hpp

@@ -73,14 +73,53 @@ public:
     bool crc_error_flag = false;
 };
 
+/**
+ * @brief Higher level interface to TMC2209 driver
+ * This class simplifies dealing with the registers of the TMC2209 driver
+ * so you can just set the values
+ */
 class TMC2209_Registers {
 
 private:
     TMC2209_UART uart_driver;
+
+    REG_CHOPCONF chopconfBuffer;
+
 public:
     TMC2209_Registers(TMC2209_UART uart_driver);
 
-    void read_all_state();
+    void set_reg_gconf(
+        bool i_scale_analog,
+        bool internal_rsense,
+        bool en_SpreadCycle,
+        bool shaft,
+        bool index_otpw,
+        bool index_step,
+        bool pdn_disable,
+        bool mstep_reg_select,
+        bool multistep_filt
+    );
 
+    void set_holdCurrent(
+        uint8_t currentHold,
+        uint8_t currentRun,
+        uint8_t holdDelay
+    );
+
+    void set_thresholdPowerdown(uint8_t threshold);
+    void set_thresholdStealthChop(uint32_t threshold);
+    void set_thresholdCoolStep(uint32_t threshold);
+    void set_thresholdStall(uint8_t threshold);
+
+    void set_chopConfig(
+        bool lowsideShortProtection,
+        bool GNDShortProtection,
+        bool doubleEdge,
+        bool interpolation,
+        uint8_t microstepResolution,
+        bool voltageSensatifity,
+        uint8_t hysteresisOffset,
+        uint8_t hysteresisStart
+    );
 
 };