Added: Getting steps remaining on stop

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

@@ -35,6 +35,9 @@ private:
     bool done_flag0_arm;
     bool done_flag1_arm;
 
+    uint remaining_step_count0;
+    uint remaining_step_count1;
+
 protected:
     void init_pio();
     void init_gpio();
@@ -65,6 +68,9 @@ public:
 
     bool wait0(int timeout_ms);
     bool wait1(int timeout_ms);
+
+    uint get_remaining_steps0();
+    uint get_remaining_steps1();
 };
 
 extern TMC2209_step_dual * g_step_driver_instance;