From 1b0c98cd0e82abf79027377a76e1e0a69c1c9c0e Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Christian=20K=C3=B6hlke?= <christian@koehlke.de>
Date: Sat, 18 May 2024 11:07:25 +0100
Subject: [PATCH 01/17] TMC_gpio class - added TMC_gpio class - moved GPIO code
 into TMC_gpio class - added GPIO enums - switched BOARD global var to enum

---
 demo/debug_script_01_uart_connection.py |  6 +-
 demo/demo_script_01_uart_connection.py  |  6 +-
 demo/demo_script_02_pin_connection.py   |  6 +-
 demo/demo_script_03_basic_movement.py   |  6 +-
 demo/demo_script_04_stallguard.py       |  4 +-
 demo/demo_script_05_vactual.py          |  6 +-
 demo/demo_script_06_multiple_drivers.py |  6 +-
 demo/demo_script_07_threads.py          |  6 +-
 demo/demo_script_08_log_to_file.py      |  6 +-
 src/TMC_2209/TMC_2209_StepperDriver.py  | 38 +++++-----
 src/TMC_2209/_TMC_2209_GPIO_board.py    | 92 +++++++++++++++++++++++--
 src/TMC_2209/_TMC_2209_move.py          |  8 +--
 src/TMC_2209/_TMC_2209_test.py          | 24 +++----
 13 files changed, 156 insertions(+), 58 deletions(-)

diff --git a/demo/debug_script_01_uart_connection.py b/demo/debug_script_01_uart_connection.py
index 9a767d3..4a285f8 100644
--- a/demo/debug_script_01_uart_connection.py
+++ b/demo/debug_script_01_uart_connection.py
@@ -9,8 +9,10 @@
 import time
 try:
     from src.TMC_2209.TMC_2209_StepperDriver import *
+    from src.TMC_2209._TMC_2209_GPIO_board import Board
 except ModuleNotFoundError:
     from TMC_2209.TMC_2209_StepperDriver import *
+    from TMC_2209._TMC_2209_GPIO_board import Board
 
 
 print("---")
@@ -25,9 +27,9 @@
 # initiate the TMC_2209 class
 # use your pins for pin_en, pin_step, pin_dir here
 #-----------------------------------------------------------------------
-if BOARD == "RASPBERRY_PI":
+if BOARD == Board.RASPBERRY_PI:
     tmc = TMC_2209(21, 16, 20, skip_uart_init=True)
-elif BOARD == "NVIDIA_JETSON":
+if BOARD == Board.NVIDIA_JETSON:
     tmc = TMC_2209(13, 6, 5, serialport="/dev/ttyTHS1", skip_uart_init=True)
 else:
     # just in case
diff --git a/demo/demo_script_01_uart_connection.py b/demo/demo_script_01_uart_connection.py
index 1d48b0a..7788fec 100644
--- a/demo/demo_script_01_uart_connection.py
+++ b/demo/demo_script_01_uart_connection.py
@@ -9,8 +9,10 @@
 import time
 try:
     from src.TMC_2209.TMC_2209_StepperDriver import *
+    from src.TMC_2209._TMC_2209_GPIO_board import Board
 except ModuleNotFoundError:
     from TMC_2209.TMC_2209_StepperDriver import *
+    from TMC_2209._TMC_2209_GPIO_board import Board
 
 
 print("---")
@@ -25,9 +27,9 @@
 # initiate the TMC_2209 class
 # use your pins for pin_en, pin_step, pin_dir here
 #-----------------------------------------------------------------------
-if BOARD == "RASPBERRY_PI":
+if BOARD == Board.RASPBERRY_PI:
     tmc = TMC_2209(21, 16, 20)
-elif BOARD == "NVIDIA_JETSON":
+if BOARD == Board.NVIDIA_JETSON:
     tmc = TMC_2209(13, 6, 5, serialport="/dev/ttyTHS1")
 else:
     # just in case
diff --git a/demo/demo_script_02_pin_connection.py b/demo/demo_script_02_pin_connection.py
index 238c0c1..2ef5cbb 100644
--- a/demo/demo_script_02_pin_connection.py
+++ b/demo/demo_script_02_pin_connection.py
@@ -9,8 +9,10 @@
 import time
 try:
     from src.TMC_2209.TMC_2209_StepperDriver import *
+    from src.TMC_2209._TMC_2209_GPIO_board import Board
 except ModuleNotFoundError:
     from TMC_2209.TMC_2209_StepperDriver import *
+    from TMC_2209._TMC_2209_GPIO_board import Board
 
 
 print("---")
@@ -25,9 +27,9 @@
 # initiate the TMC_2209 class
 # use your pins for pin_en, pin_step, pin_dir here
 #-----------------------------------------------------------------------
-if BOARD == "RASPBERRY_PI":
+if BOARD == Board.RASPBERRY_PI:
     tmc = TMC_2209(21, 16, 20)
-elif BOARD == "NVIDIA_JETSON":
+if BOARD == Board.NVIDIA_JETSON:
     tmc = TMC_2209(13, 6, 5, serialport="/dev/ttyTHS1")
 else:
     # just in case
diff --git a/demo/demo_script_03_basic_movement.py b/demo/demo_script_03_basic_movement.py
index 92fdcf7..3615b5d 100644
--- a/demo/demo_script_03_basic_movement.py
+++ b/demo/demo_script_03_basic_movement.py
@@ -9,8 +9,10 @@
 import time
 try:
     from src.TMC_2209.TMC_2209_StepperDriver import *
+    from src.TMC_2209._TMC_2209_GPIO_board import Board
 except ModuleNotFoundError:
     from TMC_2209.TMC_2209_StepperDriver import *
+    from TMC_2209._TMC_2209_GPIO_board import Board
 
 
 print("---")
@@ -25,9 +27,9 @@
 # initiate the TMC_2209 class
 # use your pins for pin_en, pin_step, pin_dir here
 #-----------------------------------------------------------------------
-if BOARD == "RASPBERRY_PI":
+if BOARD == Board.RASPBERRY_PI:
     tmc = TMC_2209(21, 16, 20, loglevel=Loglevel.DEBUG)
-elif BOARD == "NVIDIA_JETSON":
+if BOARD == Board.NVIDIA_JETSON:
     tmc = TMC_2209(13, 6, 5, serialport="/dev/ttyTHS1", loglevel=Loglevel.DEBUG)
 else:
     # just in case
diff --git a/demo/demo_script_04_stallguard.py b/demo/demo_script_04_stallguard.py
index 679a0e9..5b7e2aa 100644
--- a/demo/demo_script_04_stallguard.py
+++ b/demo/demo_script_04_stallguard.py
@@ -9,8 +9,10 @@
 import time
 try:
     from src.TMC_2209.TMC_2209_StepperDriver import *
+    from src.TMC_2209._TMC_2209_GPIO_board import Board
 except ModuleNotFoundError:
     from TMC_2209.TMC_2209_StepperDriver import *
+    from TMC_2209._TMC_2209_GPIO_board import Board
 
 
 print("---")
@@ -30,7 +32,7 @@
 Not implemented. Needs refinement.\nNvidia Jetson has nuances with the parameter pull_up_down for pin_stallguard:
 https://github.com/NVIDIA/jetson-gpio/issues/5''')
 
-if BOARD == "RASPBERRY_PI":
+if BOARD == Board.RASPBERRY_PI:
     tmc = TMC_2209(21, 16, 20)
 else:
     # just in case
diff --git a/demo/demo_script_05_vactual.py b/demo/demo_script_05_vactual.py
index dfedb41..57c01ad 100644
--- a/demo/demo_script_05_vactual.py
+++ b/demo/demo_script_05_vactual.py
@@ -9,8 +9,10 @@
 import time
 try:
     from src.TMC_2209.TMC_2209_StepperDriver import *
+    from src.TMC_2209._TMC_2209_GPIO_board import Board
 except ModuleNotFoundError:
     from TMC_2209.TMC_2209_StepperDriver import *
+    from TMC_2209._TMC_2209_GPIO_board import Board
 
 
 print("---")
@@ -25,9 +27,9 @@
 # initiate the TMC_2209 class
 # use your pin for pin_en here
 #-----------------------------------------------------------------------
-if BOARD == "RASPBERRY_PI":
+if BOARD == Board.RASPBERRY_PI:
     tmc = TMC_2209(21, 16, 20)
-elif BOARD == "NVIDIA_JETSON":
+if BOARD == Board.NVIDIA_JETSON:
     tmc = TMC_2209(13, 6, 5, serialport="/dev/ttyTHS1")
 else:
     # just in case
diff --git a/demo/demo_script_06_multiple_drivers.py b/demo/demo_script_06_multiple_drivers.py
index b8ac508..da0f253 100644
--- a/demo/demo_script_06_multiple_drivers.py
+++ b/demo/demo_script_06_multiple_drivers.py
@@ -10,8 +10,10 @@
 import time
 try:
     from src.TMC_2209.TMC_2209_StepperDriver import *
+    from src.TMC_2209._TMC_2209_GPIO_board import Board
 except ModuleNotFoundError:
     from TMC_2209.TMC_2209_StepperDriver import *
+    from TMC_2209._TMC_2209_GPIO_board import Board
 
 
 print("---")
@@ -27,10 +29,10 @@
 # use your pins for pin_en, pin_step, pin_dir here
 #-----------------------------------------------------------------------
 # Multiple driver not tested
-if BOARD == "RASPBERRY_PI":
+if BOARD == Board.RASPBERRY_PI:
     tmc1 = TMC_2209(21, 16, 20, driver_address=0)
     tmc2 = TMC_2209(26, 13, 19, driver_address=1)
-elif BOARD == "NVIDIA_JETSON":
+if BOARD == Board.NVIDIA_JETSON:
     # tmc1 = TMC_2209(13, 6, 5, serialport="/dev/ttyTHS1", driver_address=0)
     raise Exception("Not tested for Nvidia Jetson, use with caution")
 else:
diff --git a/demo/demo_script_07_threads.py b/demo/demo_script_07_threads.py
index 38bd599..a8d3ee8 100644
--- a/demo/demo_script_07_threads.py
+++ b/demo/demo_script_07_threads.py
@@ -9,8 +9,10 @@
 import time
 try:
     from src.TMC_2209.TMC_2209_StepperDriver import *
+    from src.TMC_2209._TMC_2209_GPIO_board import Board
 except ModuleNotFoundError:
     from TMC_2209.TMC_2209_StepperDriver import *
+    from TMC_2209._TMC_2209_GPIO_board import Board
 
 print("---")
 print("SCRIPT START")
@@ -23,9 +25,9 @@
 # initiate the TMC_2209 class
 # use your pins for pin_en, pin_step, pin_dir here
 #-----------------------------------------------------------------------
-if BOARD == "RASPBERRY_PI":
+if BOARD == Board.RASPBERRY_PI:
     tmc1 = TMC_2209(21, 16, 20)
-elif BOARD == "NVIDIA_JETSON":
+if BOARD == Board.NVIDIA_JETSON:
     tmc1 = TMC_2209(13, 6, 5, serialport="/dev/ttyTHS1")
 else:
     # just in case
diff --git a/demo/demo_script_08_log_to_file.py b/demo/demo_script_08_log_to_file.py
index 8eff813..f6b607a 100644
--- a/demo/demo_script_08_log_to_file.py
+++ b/demo/demo_script_08_log_to_file.py
@@ -9,8 +9,10 @@
 import logging
 try:
     from src.TMC_2209.TMC_2209_StepperDriver import *
+    from src.TMC_2209._TMC_2209_GPIO_board import Board
 except ModuleNotFoundError:
     from TMC_2209.TMC_2209_StepperDriver import *
+    from TMC_2209._TMC_2209_GPIO_board import Board
 
 
 
@@ -36,10 +38,10 @@
 # initiate the TMC_2209 class
 # use your pins for pin_en, pin_step, pin_dir here
 #-----------------------------------------------------------------------
-if BOARD == "RASPBERRY_PI":
+if BOARD == Board.RASPBERRY_PI:
     tmc = TMC_2209(21, 16, 20, skip_uart_init=True,
                    loglevel=loglevel, log_handlers=[logging_handler], log_formatter=logformatter)
-elif BOARD == "NVIDIA_JETSON":
+if BOARD == Board.NVIDIA_JETSON:
     tmc = TMC_2209(13, 6, 5, serialport="/dev/ttyTHS1", skip_uart_init=True,
                    loglevel=loglevel, log_handlers=[logging_handler], log_formatter=logformatter)
 else:
diff --git a/src/TMC_2209/TMC_2209_StepperDriver.py b/src/TMC_2209/TMC_2209_StepperDriver.py
index e452ecc..3fff45d 100644
--- a/src/TMC_2209/TMC_2209_StepperDriver.py
+++ b/src/TMC_2209/TMC_2209_StepperDriver.py
@@ -16,7 +16,7 @@
 import time
 import statistics
 import logging
-from ._TMC_2209_GPIO_board import GPIO, BOARD
+from ._TMC_2209_GPIO_board import TMC_gpio, Gpio, GpioMode, GpioPUD, BOARD
 from ._TMC_2209_uart import TMC_UART as tmc_uart
 from ._TMC_2209_logger import TMC_logger, Loglevel
 from ._TMC_2209_move import MovementAbsRel, MovementPhase, StopMode
@@ -101,7 +101,7 @@ class TMC_2209:
 
 
     def __init__(self, pin_en, pin_step=-1, pin_dir=-1, baudrate=115200, serialport="/dev/serial0",
-                 driver_address=0, gpio_mode=GPIO.BCM, loglevel=None, logprefix=None,
+                 driver_address=0, gpio_mode=None, loglevel=None, logprefix=None,
                  log_handlers: list = None, log_formatter : logging.Formatter = None,
                  skip_uart_init: bool = False):
         """constructor
@@ -113,7 +113,7 @@ def __init__(self, pin_en, pin_step=-1, pin_dir=-1, baudrate=115200, serialport=
             baudrate (int, optional): baudrate. Defaults to 115200.
             serialport (str, optional): serialport path. Defaults to "/dev/serial0".
             driver_address (int, optional): driver address [0-3]. Defaults to 0.
-            gpio_mode (enum, optional): gpio mode. Defaults to GPIO.BCM.
+            gpio_mode (enum, optional): gpio mode. Defaults to None.
             loglevel (enum, optional): loglevel. Defaults to None.
             logprefix (str, optional): log prefix (name of the logger).
                 Defaults to None (standard TMC prefix).
@@ -131,22 +131,21 @@ def __init__(self, pin_en, pin_step=-1, pin_dir=-1, baudrate=115200, serialport=
 
 
         self.tmc_logger.log("Init", Loglevel.INFO)
-        GPIO.setwarnings(False)
-        GPIO.setmode(gpio_mode)
+        TMC_gpio.init(gpio_mode)
 
         self.tmc_logger.log(f"EN Pin: {pin_en}", Loglevel.DEBUG)
         self._pin_en = pin_en
-        GPIO.setup(self._pin_en, GPIO.OUT, initial=GPIO.HIGH)
+        TMC_gpio.gpio_setup(self._pin_en, GpioMode.OUT, initial=Gpio.HIGH)
 
         self.tmc_logger.log(f"STEP Pin: {pin_step}", Loglevel.DEBUG)
         if pin_step != -1:
             self._pin_step = pin_step
-            GPIO.setup(self._pin_step, GPIO.OUT, initial=GPIO.LOW)
+            TMC_gpio.gpio_setup(self._pin_step, GpioMode.OUT, initial=Gpio.LOW)
 
         self.tmc_logger.log(f"DIR Pin: {pin_dir}", Loglevel.DEBUG)
         if pin_dir != -1:
             self._pin_dir = pin_dir
-            GPIO.setup(self._pin_dir, GPIO.OUT, initial=self._direction)
+            TMC_gpio.gpio_setup(self._pin_dir, GpioMode.OUT, initial=self._direction)
 
         self.tmc_logger.log("GPIO Init finished", Loglevel.INFO)
 
@@ -171,14 +170,14 @@ def __del__(self):
 
             self.tmc_logger.log("GPIO cleanup", Loglevel.INFO)
             if self._pin_step != -1:
-                GPIO.cleanup(self._pin_step)
+                TMC_gpio.gpio_cleanup(self._pin_step)
             if self._pin_dir != -1:
-                GPIO.cleanup(self._pin_dir)
+                TMC_gpio.gpio_cleanup(self._pin_dir)
             if self._pin_en != -1:
-                GPIO.cleanup(self._pin_en)
+                TMC_gpio.gpio_cleanup(self._pin_en)
             if self._pin_stallguard != -1:
-                GPIO.remove_event_detect(self._pin_stallguard)
-                GPIO.cleanup(self._pin_stallguard)
+                TMC_gpio.gpio_remove_event_detect(self._pin_stallguard)
+                TMC_gpio.gpio_cleanup(self._pin_stallguard)
 
             self.tmc_logger.log("Deinit finished", Loglevel.INFO)
             self._deinit_finished= True
@@ -201,7 +200,7 @@ def set_motor_enabled(self, en):
         Args:
             en (bool): whether the motor current output should be enabled
         """
-        GPIO.output(self._pin_en, not en)
+        TMC_gpio.gpio_output(self._pin_en, not en)
         self.tmc_logger.log(f"Motor output active: {en}", Loglevel.INFO)
 
 
@@ -316,7 +315,7 @@ def do_homing2(self, revolutions, threshold=None):
     def reverse_direction_pin(self):
         """reverses the motor shaft direction"""
         self._direction = not self._direction
-        GPIO.output(self._pin_dir, self._direction)
+        TMC_gpio.gpio_output(self._pin_dir, self._direction)
 
 
 
@@ -327,7 +326,7 @@ def set_direction_pin(self, direction):
             direction (bool): motor shaft direction: False = CCW; True = CW
         """
         self._direction = direction
-        GPIO.output(self._pin_dir, direction)
+        TMC_gpio.gpio_output(self._pin_dir, direction)
 
 
 
@@ -487,11 +486,10 @@ def set_stallguard_callback(self, pin_stallguard, threshold, callback,
         self._sg_callback = callback
         self._pin_stallguard = pin_stallguard
 
-        GPIO.setup(self._pin_stallguard, GPIO.IN, pull_up_down=GPIO.PUD_DOWN)
+        TMC_gpio.gpio_setup(self._pin_stallguard, GpioMode.IN, pull_up_down=GpioPUD.PUD_DOWN)
         # first remove existing events
-        GPIO.remove_event_detect(self._pin_stallguard)
-        GPIO.add_event_detect(self._pin_stallguard, GPIO.RISING, callback=self.stallguard_callback,
-                              bouncetime=300)
+        TMC_gpio.gpio_remove_event_detect(self._pin_stallguard)
+        TMC_gpio.gpio_add_event_detect(self._pin_stallguard, self.stallguard_callback)
 
 
 
diff --git a/src/TMC_2209/_TMC_2209_GPIO_board.py b/src/TMC_2209/_TMC_2209_GPIO_board.py
index a268c2e..ebd7116 100644
--- a/src/TMC_2209/_TMC_2209_GPIO_board.py
+++ b/src/TMC_2209/_TMC_2209_GPIO_board.py
@@ -11,9 +11,37 @@
 """
 
 from os.path import exists
+from enum import Enum, IntEnum
 from ._TMC_2209_logger import TMC_logger, Loglevel
 
-BOARD = "UNKNOWN"
+class Board(Enum):
+    """board"""
+    UNKNOWN = 0
+    RASPBERRY_PI = 1 # all except Pi 5
+    RASPBERRY_PI5 = 2
+    NVIDIA_JETSON = 3
+
+class Gpio(IntEnum):
+    """GPIO value"""
+    LOW = 0
+    HIGH = 1
+
+class GpioMode(IntEnum):
+    """GPIO mode"""
+    OUT = 0
+    IN = 1
+
+class GpioPUD(IntEnum):
+    """Pull up Down"""
+    PUD_OFF = 20
+    PUD_UP = 22
+    PUD_DOWN = 21
+
+
+    
+
+
+BOARD = Board.UNKNOWN
 dependencies_logger = TMC_logger(Loglevel.DEBUG, "DEPENDENCIES")
 
 if not exists('/proc/device-tree/model'):
@@ -21,10 +49,32 @@
 else:
     with open('/proc/device-tree/model', encoding="utf-8") as f:
         model = f.readline().lower()
-        if "raspberry" in model:
+        if "raspberry pi 5" in model:
+            try:
+                from RPi import GPIO # TODO use gpiozero or a different lib for Pi5
+                BOARD = Board.RASPBERRY_PI5
+            except ModuleNotFoundError as err:
+                dependencies_logger.log(
+                    (f"ModuleNotFoundError: {err}\n" # TODO change text
+                    "Board is Raspberry PI 5 but module RPi.GPIO isn`t installed.\n"
+                    "Follow the installation instructions in the link below to resolve the issue:\n"
+                    "https://sourceforge.net/p/raspberry-gpio-python/wiki/install/\n"
+                    "Exiting..."),
+                Loglevel.ERROR)
+                raise
+            except ImportError as err:
+                dependencies_logger.log(
+                    (f"ImportError: {err}\n"
+                    "Board is Raspberry PI 5 but module RPi.GPIO isn`t installed.\n" # TODO change text
+                    "Follow the installation instructions in the link below to resolve the issue:\n"
+                    "https://sourceforge.net/p/raspberry-gpio-python/wiki/install/\n"
+                    "Exiting..."),
+                Loglevel.ERROR)
+                raise
+        elif "raspberry" in model:
             try:
                 from RPi import GPIO
-                BOARD = "RASPBERRY_PI"
+                BOARD = Board.RASPBERRY_PI
             except ModuleNotFoundError as err:
                 dependencies_logger.log(
                     (f"ModuleNotFoundError: {err}\n"
@@ -46,7 +96,7 @@
         elif "nvidia jetson" in model:
             try:
                 from Jetson import GPIO
-                BOARD = "NVIDIA_JETSON"
+                BOARD = Board.NVIDIA_JETSON
             except ModuleNotFoundError as err:
                 dependencies_logger.log(
                     (f"ModuleNotFoundError: {err}\n"
@@ -70,8 +120,40 @@
             dependencies_logger.log(
                 "The board is not recognized. Trying import default RPi.GPIO module...",
                 Loglevel.INFO)
-            BOARD = "UNKNOWN"
+            BOARD = Board.UNKNOWN
             try:
                 from RPi import GPIO
             except ImportError:
                 from Mock import GPIO
+
+class TMC_gpio: 
+
+    def init(gpio_mode=GPIO.BCM):
+        GPIO.setwarnings(False)
+        if gpio_mode == None:
+            gpio_mode = GPIO.BCM
+        GPIO.setmode(gpio_mode)
+
+    def deinit():
+        pass
+
+    def gpio_setup(pin, mode, initial = Gpio.LOW, pull_up_down = GpioPUD.PUD_OFF):
+        GPIO.setup(pin, int(mode), initial=int(initial), pull_up_down=int(pull_up_down))
+
+    def gpio_cleanup(pin):
+        GPIO.cleanup(pin)
+
+    def gpio_input(pin):
+        return 0
+
+    def gpio_output(pin, value):
+        """function to switch a gpio output
+        """
+        GPIO.output(pin, value)
+
+    def gpio_remove_event_detect(pin):
+        GPIO.remove_event_detect(pin)
+
+    def gpio_add_event_detect(pin, callback):
+        GPIO.add_event_detect(pin, GPIO.RISING, callback=callback,
+                              bouncetime=300)
diff --git a/src/TMC_2209/_TMC_2209_move.py b/src/TMC_2209/_TMC_2209_move.py
index fc596b7..82e5140 100644
--- a/src/TMC_2209/_TMC_2209_move.py
+++ b/src/TMC_2209/_TMC_2209_move.py
@@ -12,7 +12,7 @@
 from enum import Enum
 import math
 import threading
-from ._TMC_2209_GPIO_board import GPIO
+from ._TMC_2209_GPIO_board import TMC_gpio, Gpio
 from ._TMC_2209_logger import Loglevel
 
 
@@ -350,7 +350,7 @@ def compute_new_speed(self):
     if self._n == 0:
         # First step from stopped
         self._cn = self._c0
-        GPIO.output(self._pin_step, GPIO.LOW)
+        TMC_gpio.gpio_output(self._pin_step, Gpio.LOW)
         if distance_to > 0:
             self.set_direction_pin(1)
             self.tmc_logger.log("going CW", Loglevel.MOVEMENT)
@@ -399,9 +399,9 @@ def make_a_step(self):
 
     for the TMC2209 there needs to be a signal duration of minimum 100 ns
     """
-    GPIO.output(self._pin_step, GPIO.HIGH)
+    TMC_gpio.gpio_output(self._pin_step, Gpio.HIGH)
     time.sleep(1/1000/1000)
-    GPIO.output(self._pin_step, GPIO.LOW)
+    TMC_gpio.gpio_output(self._pin_step, Gpio.LOW)
     time.sleep(1/1000/1000)
 
     self.tmc_logger.log("one step", Loglevel.MOVEMENT)
diff --git a/src/TMC_2209/_TMC_2209_test.py b/src/TMC_2209/_TMC_2209_test.py
index 745a9f4..8c89105 100644
--- a/src/TMC_2209/_TMC_2209_test.py
+++ b/src/TMC_2209/_TMC_2209_test.py
@@ -9,7 +9,7 @@
 """
 
 import time
-from ._TMC_2209_GPIO_board import GPIO
+from ._TMC_2209_GPIO_board import TMC_gpio, Gpio
 from ._TMC_2209_logger import Loglevel
 from ._TMC_2209_move import MovementAbsRel, MovementPhase
 from . import _TMC_2209_reg as tmc_reg
@@ -24,9 +24,9 @@ def test_dir_step_en(self):
     """
     pin_dir_ok = pin_step_ok = pin_en_ok = True
 
-    GPIO.output(self._pin_step, GPIO.HIGH)
-    GPIO.output(self._pin_dir, GPIO.HIGH)
-    GPIO.output(self._pin_en, GPIO.HIGH)
+    TMC_gpio.gpio_output(self._pin_step, Gpio.HIGH)
+    TMC_gpio.gpio_output(self._pin_dir, Gpio.HIGH)
+    TMC_gpio.gpio_output(self._pin_en, Gpio.HIGH)
     time.sleep(0.1)
     ioin = self.read_ioin()
     if not ioin & tmc_reg.io_dir:
@@ -36,9 +36,9 @@ def test_dir_step_en(self):
     if not ioin & tmc_reg.io_enn:
         pin_en_ok = False
 
-    GPIO.output(self._pin_step, GPIO.LOW)
-    GPIO.output(self._pin_dir, GPIO.LOW)
-    GPIO.output(self._pin_en, GPIO.LOW)
+    TMC_gpio.gpio_output(self._pin_step, Gpio.LOW)
+    TMC_gpio.gpio_output(self._pin_dir, Gpio.LOW)
+    TMC_gpio.gpio_output(self._pin_en, Gpio.LOW)
     time.sleep(0.1)
     ioin = self.read_ioin()
     if ioin & tmc_reg.io_dir:
@@ -48,9 +48,9 @@ def test_dir_step_en(self):
     if ioin & tmc_reg.io_enn:
         pin_en_ok = False
 
-    GPIO.output(self._pin_step, GPIO.HIGH)
-    GPIO.output(self._pin_dir, GPIO.HIGH)
-    GPIO.output(self._pin_en, GPIO.HIGH)
+    TMC_gpio.gpio_output(self._pin_step, Gpio.HIGH)
+    TMC_gpio.gpio_output(self._pin_dir, Gpio.HIGH)
+    TMC_gpio.gpio_output(self._pin_en, Gpio.HIGH)
     time.sleep(0.1)
     ioin = self.read_ioin()
     if not ioin & tmc_reg.io_dir:
@@ -85,9 +85,9 @@ def test_step(self):
 
     for _ in range(100):
         self._current_pos += 1
-        GPIO.output(self._pin_step, GPIO.HIGH)
+        TMC_gpio.gpio_output(self._pin_step, Gpio.HIGH)
         time.sleep(0.001)
-        GPIO.output(self._pin_step, GPIO.LOW)
+        TMC_gpio.gpio_output(self._pin_step, Gpio.LOW)
         time.sleep(0.01)
 
 

From 6cd08e30eb97aaa6c0ab48e36faa66c6a03a180f Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Christian=20K=C3=B6hlke?= <christian@koehlke.de>
Date: Sat, 18 May 2024 12:23:04 +0100
Subject: [PATCH 02/17] fix for pylint

---
 .github/workflows/pylint.yml            |  2 +-
 demo/debug_script_01_uart_connection.py |  2 +-
 demo/demo_script_01_uart_connection.py  |  2 +-
 demo/demo_script_02_pin_connection.py   |  2 +-
 demo/demo_script_03_basic_movement.py   |  2 +-
 demo/demo_script_05_vactual.py          |  2 +-
 demo/demo_script_06_multiple_drivers.py |  3 +-
 demo/demo_script_07_threads.py          |  2 +-
 demo/demo_script_08_log_to_file.py      |  2 +-
 src/TMC_2209/TMC_2209_StepperDriver.py  |  1 +
 src/TMC_2209/_TMC_2209_GPIO_board.py    | 43 +++++++++++++++++++------
 11 files changed, 45 insertions(+), 18 deletions(-)

diff --git a/.github/workflows/pylint.yml b/.github/workflows/pylint.yml
index bc7ee3b..718ec94 100644
--- a/.github/workflows/pylint.yml
+++ b/.github/workflows/pylint.yml
@@ -24,4 +24,4 @@ jobs:
         pip install pyserial
     - name: Analysing the code with pylint
       run: |
-        pylint $(git ls-files '*.py') --disable=C0103 --extension-pkg-whitelist=RPi
+        pylint $(git ls-files '*.py') --disable=C0103 --disable=W0511 --extension-pkg-whitelist=RPi
diff --git a/demo/debug_script_01_uart_connection.py b/demo/debug_script_01_uart_connection.py
index 4a285f8..d1ec128 100644
--- a/demo/debug_script_01_uart_connection.py
+++ b/demo/debug_script_01_uart_connection.py
@@ -29,7 +29,7 @@
 #-----------------------------------------------------------------------
 if BOARD == Board.RASPBERRY_PI:
     tmc = TMC_2209(21, 16, 20, skip_uart_init=True)
-if BOARD == Board.NVIDIA_JETSON:
+elif BOARD == Board.NVIDIA_JETSON:
     tmc = TMC_2209(13, 6, 5, serialport="/dev/ttyTHS1", skip_uart_init=True)
 else:
     # just in case
diff --git a/demo/demo_script_01_uart_connection.py b/demo/demo_script_01_uart_connection.py
index 7788fec..2643953 100644
--- a/demo/demo_script_01_uart_connection.py
+++ b/demo/demo_script_01_uart_connection.py
@@ -29,7 +29,7 @@
 #-----------------------------------------------------------------------
 if BOARD == Board.RASPBERRY_PI:
     tmc = TMC_2209(21, 16, 20)
-if BOARD == Board.NVIDIA_JETSON:
+elif BOARD == Board.NVIDIA_JETSON:
     tmc = TMC_2209(13, 6, 5, serialport="/dev/ttyTHS1")
 else:
     # just in case
diff --git a/demo/demo_script_02_pin_connection.py b/demo/demo_script_02_pin_connection.py
index 2ef5cbb..e098123 100644
--- a/demo/demo_script_02_pin_connection.py
+++ b/demo/demo_script_02_pin_connection.py
@@ -29,7 +29,7 @@
 #-----------------------------------------------------------------------
 if BOARD == Board.RASPBERRY_PI:
     tmc = TMC_2209(21, 16, 20)
-if BOARD == Board.NVIDIA_JETSON:
+elif BOARD == Board.NVIDIA_JETSON:
     tmc = TMC_2209(13, 6, 5, serialport="/dev/ttyTHS1")
 else:
     # just in case
diff --git a/demo/demo_script_03_basic_movement.py b/demo/demo_script_03_basic_movement.py
index 3615b5d..08517af 100644
--- a/demo/demo_script_03_basic_movement.py
+++ b/demo/demo_script_03_basic_movement.py
@@ -29,7 +29,7 @@
 #-----------------------------------------------------------------------
 if BOARD == Board.RASPBERRY_PI:
     tmc = TMC_2209(21, 16, 20, loglevel=Loglevel.DEBUG)
-if BOARD == Board.NVIDIA_JETSON:
+elif BOARD == Board.NVIDIA_JETSON:
     tmc = TMC_2209(13, 6, 5, serialport="/dev/ttyTHS1", loglevel=Loglevel.DEBUG)
 else:
     # just in case
diff --git a/demo/demo_script_05_vactual.py b/demo/demo_script_05_vactual.py
index 57c01ad..f3ad93a 100644
--- a/demo/demo_script_05_vactual.py
+++ b/demo/demo_script_05_vactual.py
@@ -29,7 +29,7 @@
 #-----------------------------------------------------------------------
 if BOARD == Board.RASPBERRY_PI:
     tmc = TMC_2209(21, 16, 20)
-if BOARD == Board.NVIDIA_JETSON:
+elif BOARD == Board.NVIDIA_JETSON:
     tmc = TMC_2209(13, 6, 5, serialport="/dev/ttyTHS1")
 else:
     # just in case
diff --git a/demo/demo_script_06_multiple_drivers.py b/demo/demo_script_06_multiple_drivers.py
index da0f253..5bd704e 100644
--- a/demo/demo_script_06_multiple_drivers.py
+++ b/demo/demo_script_06_multiple_drivers.py
@@ -3,6 +3,7 @@
 #pylint: disable=unused-import
 #pylint: disable=duplicate-code
 #pylint: disable=broad-exception-raised
+#pylint: disable=no-else-raise
 """
 test file for testing multiple drivers via one UART connection
 """
@@ -32,7 +33,7 @@
 if BOARD == Board.RASPBERRY_PI:
     tmc1 = TMC_2209(21, 16, 20, driver_address=0)
     tmc2 = TMC_2209(26, 13, 19, driver_address=1)
-if BOARD == Board.NVIDIA_JETSON:
+elif BOARD == Board.NVIDIA_JETSON:
     # tmc1 = TMC_2209(13, 6, 5, serialport="/dev/ttyTHS1", driver_address=0)
     raise Exception("Not tested for Nvidia Jetson, use with caution")
 else:
diff --git a/demo/demo_script_07_threads.py b/demo/demo_script_07_threads.py
index a8d3ee8..71a8a58 100644
--- a/demo/demo_script_07_threads.py
+++ b/demo/demo_script_07_threads.py
@@ -27,7 +27,7 @@
 #-----------------------------------------------------------------------
 if BOARD == Board.RASPBERRY_PI:
     tmc1 = TMC_2209(21, 16, 20)
-if BOARD == Board.NVIDIA_JETSON:
+elif BOARD == Board.NVIDIA_JETSON:
     tmc1 = TMC_2209(13, 6, 5, serialport="/dev/ttyTHS1")
 else:
     # just in case
diff --git a/demo/demo_script_08_log_to_file.py b/demo/demo_script_08_log_to_file.py
index f6b607a..911aafb 100644
--- a/demo/demo_script_08_log_to_file.py
+++ b/demo/demo_script_08_log_to_file.py
@@ -41,7 +41,7 @@
 if BOARD == Board.RASPBERRY_PI:
     tmc = TMC_2209(21, 16, 20, skip_uart_init=True,
                    loglevel=loglevel, log_handlers=[logging_handler], log_formatter=logformatter)
-if BOARD == Board.NVIDIA_JETSON:
+elif BOARD == Board.NVIDIA_JETSON:
     tmc = TMC_2209(13, 6, 5, serialport="/dev/ttyTHS1", skip_uart_init=True,
                    loglevel=loglevel, log_handlers=[logging_handler], log_formatter=logformatter)
 else:
diff --git a/src/TMC_2209/TMC_2209_StepperDriver.py b/src/TMC_2209/TMC_2209_StepperDriver.py
index 3fff45d..d805f0e 100644
--- a/src/TMC_2209/TMC_2209_StepperDriver.py
+++ b/src/TMC_2209/TMC_2209_StepperDriver.py
@@ -374,6 +374,7 @@ def set_vactual_dur(self, vactual, duration=0, acceleration=0,
         self._stop = StopMode.NO
         current_vactual = 0
         sleeptime = 0.05
+        time_to_stop = 0
         if vactual<0:
             acceleration = -acceleration
 
diff --git a/src/TMC_2209/_TMC_2209_GPIO_board.py b/src/TMC_2209/_TMC_2209_GPIO_board.py
index ebd7116..0a0fde1 100644
--- a/src/TMC_2209/_TMC_2209_GPIO_board.py
+++ b/src/TMC_2209/_TMC_2209_GPIO_board.py
@@ -1,5 +1,7 @@
 #pylint: disable=unused-import
 #pylint: disable=ungrouped-imports
+#pylint: disable=unknown-option-value
+#pylint: disable=possibly-used-before-assignment
 """
 Many boards have RaspberryPI-compatible PinOut,
 but require to import special GPIO module instead RPI.GPIO
@@ -38,7 +40,7 @@ class GpioPUD(IntEnum):
     PUD_DOWN = 21
 
 
-    
+
 
 
 BOARD = Board.UNKNOWN
@@ -64,8 +66,8 @@ class GpioPUD(IntEnum):
                 raise
             except ImportError as err:
                 dependencies_logger.log(
-                    (f"ImportError: {err}\n"
-                    "Board is Raspberry PI 5 but module RPi.GPIO isn`t installed.\n" # TODO change text
+                    (f"ImportError: {err}\n" # TODO change text
+                    "Board is Raspberry PI 5 but module RPi.GPIO isn`t installed.\n"
                     "Follow the installation instructions in the link below to resolve the issue:\n"
                     "https://sourceforge.net/p/raspberry-gpio-python/wiki/install/\n"
                     "Exiting..."),
@@ -126,34 +128,57 @@ class GpioPUD(IntEnum):
             except ImportError:
                 from Mock import GPIO
 
-class TMC_gpio: 
 
+
+class TMC_gpio:
+    """TMC_gpio class"""
+
+    @staticmethod
     def init(gpio_mode=GPIO.BCM):
+        """init"""
         GPIO.setwarnings(False)
-        if gpio_mode == None:
+        if gpio_mode is None:
             gpio_mode = GPIO.BCM
         GPIO.setmode(gpio_mode)
 
+    @staticmethod
     def deinit():
-        pass
+        """deinit"""
 
+    @staticmethod
     def gpio_setup(pin, mode, initial = Gpio.LOW, pull_up_down = GpioPUD.PUD_OFF):
-        GPIO.setup(pin, int(mode), initial=int(initial), pull_up_down=int(pull_up_down))
+        """setup gpio pin"""
+        print("TEST")
+        initial = int(initial)
+        pull_up_down = int(pull_up_down)
+        mode = int(mode)
+
+        GPIO.setup(pin, mode, initial=initial, pull_up_down=pull_up_down)
 
+    @staticmethod
     def gpio_cleanup(pin):
+        """cleanup gpio pin"""
+        print("TEST")
         GPIO.cleanup(pin)
 
+    @staticmethod
     def gpio_input(pin):
+        """get input value of gpio pin"""
+        del pin
         return 0
 
+    @staticmethod
     def gpio_output(pin, value):
-        """function to switch a gpio output
-        """
+        """set output value of gpio pin"""
         GPIO.output(pin, value)
 
+    @staticmethod
     def gpio_remove_event_detect(pin):
+        """remove event dectect"""
         GPIO.remove_event_detect(pin)
 
+    @staticmethod
     def gpio_add_event_detect(pin, callback):
+        """add event detect"""
         GPIO.add_event_detect(pin, GPIO.RISING, callback=callback,
                               bouncetime=300)

From 3479247de5799c15bee3136da6fe9dab7fbc8627 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Christian=20K=C3=B6hlke?= <christian@koehlke.de>
Date: Sat, 18 May 2024 13:21:06 +0100
Subject: [PATCH 03/17] first implementation of gpiozero for RPi5

---
 src/TMC_2209/_TMC_2209_GPIO_board.py | 73 ++++++++++++++++++----------
 1 file changed, 48 insertions(+), 25 deletions(-)

diff --git a/src/TMC_2209/_TMC_2209_GPIO_board.py b/src/TMC_2209/_TMC_2209_GPIO_board.py
index 0a0fde1..d56ac8e 100644
--- a/src/TMC_2209/_TMC_2209_GPIO_board.py
+++ b/src/TMC_2209/_TMC_2209_GPIO_board.py
@@ -53,23 +53,23 @@ class GpioPUD(IntEnum):
         model = f.readline().lower()
         if "raspberry pi 5" in model:
             try:
-                from RPi import GPIO # TODO use gpiozero or a different lib for Pi5
+                from gpiozero import LED, Button
                 BOARD = Board.RASPBERRY_PI5
             except ModuleNotFoundError as err:
                 dependencies_logger.log(
-                    (f"ModuleNotFoundError: {err}\n" # TODO change text
-                    "Board is Raspberry PI 5 but module RPi.GPIO isn`t installed.\n"
+                    (f"ModuleNotFoundError: {err}\n"
+                    "Board is Raspberry PI 5 but module gpiozero isn`t installed.\n"
                     "Follow the installation instructions in the link below to resolve the issue:\n"
-                    "https://sourceforge.net/p/raspberry-gpio-python/wiki/install/\n"
+                    "https://gpiozero.readthedocs.io/en/stable/installing.html\n"
                     "Exiting..."),
                 Loglevel.ERROR)
                 raise
             except ImportError as err:
                 dependencies_logger.log(
-                    (f"ImportError: {err}\n" # TODO change text
-                    "Board is Raspberry PI 5 but module RPi.GPIO isn`t installed.\n"
+                    (f"ImportError: {err}\n"
+                    "Board is Raspberry PI 5 but module gpiozero isn`t installed.\n"
                     "Follow the installation instructions in the link below to resolve the issue:\n"
-                    "https://sourceforge.net/p/raspberry-gpio-python/wiki/install/\n"
+                    "https://gpiozero.readthedocs.io/en/stable/installing.html\n"
                     "Exiting..."),
                 Loglevel.ERROR)
                 raise
@@ -82,7 +82,7 @@ class GpioPUD(IntEnum):
                     (f"ModuleNotFoundError: {err}\n"
                     "Board is Raspberry PI but module RPi.GPIO isn`t installed.\n"
                     "Follow the installation instructions in the link below to resolve the issue:\n"
-                    "https://sourceforge.net/p/raspberry-gpio-python/wiki/install/\n"
+                    "https://sourceforge.net/p/raspberry-gpio-python/wiki/install\n"
                     "Exiting..."),
                 Loglevel.ERROR)
                 raise
@@ -91,7 +91,7 @@ class GpioPUD(IntEnum):
                     (f"ImportError: {err}\n"
                     "Board is Raspberry PI but module RPi.GPIO isn`t installed.\n"
                     "Follow the installation instructions in the link below to resolve the issue:\n"
-                    "https://sourceforge.net/p/raspberry-gpio-python/wiki/install/\n"
+                    "https://sourceforge.net/p/raspberry-gpio-python/wiki/install\n"
                     "Exiting..."),
                 Loglevel.ERROR)
                 raise
@@ -133,33 +133,47 @@ class GpioPUD(IntEnum):
 class TMC_gpio:
     """TMC_gpio class"""
 
+    _gpiozero_leds = [None] * 40
+    _gpiozero_buttons = [None] * 40
+
     @staticmethod
-    def init(gpio_mode=GPIO.BCM):
+    def init(gpio_mode=None):
         """init"""
-        GPIO.setwarnings(False)
-        if gpio_mode is None:
-            gpio_mode = GPIO.BCM
-        GPIO.setmode(gpio_mode)
+        if BOARD == Board.RASPBERRY_PI5:
+            pass
+        else:
+            GPIO.setwarnings(False)
+            if gpio_mode is None:
+                gpio_mode = GPIO.BCM
+            GPIO.setmode(gpio_mode)
 
     @staticmethod
     def deinit():
         """deinit"""
+        if BOARD == Board.RASPBERRY_PI5:
+            pass
+        else:
+            pass
 
     @staticmethod
     def gpio_setup(pin, mode, initial = Gpio.LOW, pull_up_down = GpioPUD.PUD_OFF):
         """setup gpio pin"""
-        print("TEST")
-        initial = int(initial)
-        pull_up_down = int(pull_up_down)
-        mode = int(mode)
+        if BOARD == Board.RASPBERRY_PI5:
+            TMC_gpio._gpiozero_leds[pin] = LED(pin)
+        else:
+            initial = int(initial)
+            pull_up_down = int(pull_up_down)
+            mode = int(mode)
 
-        GPIO.setup(pin, mode, initial=initial, pull_up_down=pull_up_down)
+            GPIO.setup(pin, mode, initial=initial, pull_up_down=pull_up_down)
 
     @staticmethod
     def gpio_cleanup(pin):
         """cleanup gpio pin"""
-        print("TEST")
-        GPIO.cleanup(pin)
+        if BOARD == Board.RASPBERRY_PI5:
+            pass
+        else:
+            GPIO.cleanup(pin)
 
     @staticmethod
     def gpio_input(pin):
@@ -170,15 +184,24 @@ def gpio_input(pin):
     @staticmethod
     def gpio_output(pin, value):
         """set output value of gpio pin"""
-        GPIO.output(pin, value)
+        if BOARD == Board.RASPBERRY_PI5:
+            TMC_gpio._gpiozero_leds[pin].value = value
+        else:
+            GPIO.output(pin, value)
 
     @staticmethod
     def gpio_remove_event_detect(pin):
         """remove event dectect"""
-        GPIO.remove_event_detect(pin)
+        if BOARD == Board.RASPBERRY_PI5:
+            pass
+        else:
+            GPIO.remove_event_detect(pin)
 
     @staticmethod
     def gpio_add_event_detect(pin, callback):
         """add event detect"""
-        GPIO.add_event_detect(pin, GPIO.RISING, callback=callback,
-                              bouncetime=300)
+        if BOARD == Board.RASPBERRY_PI5:
+            pass
+        else:
+            GPIO.add_event_detect(pin, GPIO.RISING, callback=callback,
+                                bouncetime=300)

From d9d594ea07cb31260e46e857f4e12f82a966ae08 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Christian=20K=C3=B6hlke?= <christian@koehlke.de>
Date: Sat, 18 May 2024 13:23:36 +0100
Subject: [PATCH 04/17] added gpiozero to workflows

---
 .github/workflows/pylint.yml   | 1 +
 .github/workflows/unittest.yml | 1 +
 2 files changed, 2 insertions(+)

diff --git a/.github/workflows/pylint.yml b/.github/workflows/pylint.yml
index 718ec94..96e7eb3 100644
--- a/.github/workflows/pylint.yml
+++ b/.github/workflows/pylint.yml
@@ -18,6 +18,7 @@ jobs:
       run: |
         python -m pip install --upgrade pip
         pip install pylint
+        pip install gpiozero
         pip install RPi.GPIO
         pip install Mock.GPIO
         pip install mock
diff --git a/.github/workflows/unittest.yml b/.github/workflows/unittest.yml
index aa0cdd2..6a058dd 100644
--- a/.github/workflows/unittest.yml
+++ b/.github/workflows/unittest.yml
@@ -17,6 +17,7 @@ jobs:
     - name: Install dependencies
       run: |
         python -m pip install --upgrade pip
+        pip install gpiozero
         pip install RPi.GPIO
         pip install Mock.GPIO
         pip install pyserial

From 9f43c083e6bfadeffe13fea8a569ddea4d1fcd24 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Christian=20K=C3=B6hlke?= <christian@koehlke.de>
Date: Sat, 18 May 2024 13:25:40 +0100
Subject: [PATCH 05/17] fix for pylint

---
 src/TMC_2209/_TMC_2209_GPIO_board.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/TMC_2209/_TMC_2209_GPIO_board.py b/src/TMC_2209/_TMC_2209_GPIO_board.py
index d56ac8e..1b9242f 100644
--- a/src/TMC_2209/_TMC_2209_GPIO_board.py
+++ b/src/TMC_2209/_TMC_2209_GPIO_board.py
@@ -2,6 +2,7 @@
 #pylint: disable=ungrouped-imports
 #pylint: disable=unknown-option-value
 #pylint: disable=possibly-used-before-assignment
+#pylint: disable=used-before-assignment
 """
 Many boards have RaspberryPI-compatible PinOut,
 but require to import special GPIO module instead RPI.GPIO

From 58f7c7c813e4235b11859dd4c2939129ae4faa7c Mon Sep 17 00:00:00 2001
From: SiboVG <sibo.vangool@hotmail.com>
Date: Sun, 19 May 2024 16:41:33 +0200
Subject: [PATCH 06/17] Change serial port for RPi 5

---
 demo/debug_script_01_uart_connection.py | 2 ++
 demo/demo_script_01_uart_connection.py  | 2 ++
 demo/demo_script_02_pin_connection.py   | 2 ++
 demo/demo_script_03_basic_movement.py   | 2 ++
 demo/demo_script_04_stallguard.py       | 2 ++
 demo/demo_script_05_vactual.py          | 2 ++
 demo/demo_script_06_multiple_drivers.py | 3 +++
 demo/demo_script_07_threads.py          | 2 ++
 demo/demo_script_08_log_to_file.py      | 3 +++
 9 files changed, 20 insertions(+)

diff --git a/demo/debug_script_01_uart_connection.py b/demo/debug_script_01_uart_connection.py
index d1ec128..dd9e185 100644
--- a/demo/debug_script_01_uart_connection.py
+++ b/demo/debug_script_01_uart_connection.py
@@ -29,6 +29,8 @@
 #-----------------------------------------------------------------------
 if BOARD == Board.RASPBERRY_PI:
     tmc = TMC_2209(21, 16, 20, skip_uart_init=True)
+elif BOARD == Board.RASPBERRY_PI5:
+    tmc = TMC_2209(21, 16, 20, serialport="/dev/ttyAMA0", skip_uart_init=True)
 elif BOARD == Board.NVIDIA_JETSON:
     tmc = TMC_2209(13, 6, 5, serialport="/dev/ttyTHS1", skip_uart_init=True)
 else:
diff --git a/demo/demo_script_01_uart_connection.py b/demo/demo_script_01_uart_connection.py
index 2643953..03a73b4 100644
--- a/demo/demo_script_01_uart_connection.py
+++ b/demo/demo_script_01_uart_connection.py
@@ -29,6 +29,8 @@
 #-----------------------------------------------------------------------
 if BOARD == Board.RASPBERRY_PI:
     tmc = TMC_2209(21, 16, 20)
+elif BOARD == Board.RASPBERRY_PI5:
+    tmc = TMC_2209(21, 16, 20, serialport="/dev/ttyAMA0")
 elif BOARD == Board.NVIDIA_JETSON:
     tmc = TMC_2209(13, 6, 5, serialport="/dev/ttyTHS1")
 else:
diff --git a/demo/demo_script_02_pin_connection.py b/demo/demo_script_02_pin_connection.py
index e098123..2cfeb0a 100644
--- a/demo/demo_script_02_pin_connection.py
+++ b/demo/demo_script_02_pin_connection.py
@@ -29,6 +29,8 @@
 #-----------------------------------------------------------------------
 if BOARD == Board.RASPBERRY_PI:
     tmc = TMC_2209(21, 16, 20)
+elif BOARD == Board.RASPBERRY_PI5:
+    tmc = TMC_2209(21, 16, 20, serialport="/dev/ttyAMA0")
 elif BOARD == Board.NVIDIA_JETSON:
     tmc = TMC_2209(13, 6, 5, serialport="/dev/ttyTHS1")
 else:
diff --git a/demo/demo_script_03_basic_movement.py b/demo/demo_script_03_basic_movement.py
index 08517af..c9a75a7 100644
--- a/demo/demo_script_03_basic_movement.py
+++ b/demo/demo_script_03_basic_movement.py
@@ -29,6 +29,8 @@
 #-----------------------------------------------------------------------
 if BOARD == Board.RASPBERRY_PI:
     tmc = TMC_2209(21, 16, 20, loglevel=Loglevel.DEBUG)
+elif BOARD == Board.RASPBERRY_PI5:
+    tmc = TMC_2209(21, 16, 20, serialport="/dev/ttyAMA0", loglevel=Loglevel.DEBUG)
 elif BOARD == Board.NVIDIA_JETSON:
     tmc = TMC_2209(13, 6, 5, serialport="/dev/ttyTHS1", loglevel=Loglevel.DEBUG)
 else:
diff --git a/demo/demo_script_04_stallguard.py b/demo/demo_script_04_stallguard.py
index 5b7e2aa..9ad479f 100644
--- a/demo/demo_script_04_stallguard.py
+++ b/demo/demo_script_04_stallguard.py
@@ -34,6 +34,8 @@
 
 if BOARD == Board.RASPBERRY_PI:
     tmc = TMC_2209(21, 16, 20)
+elif BOARD == Board.RASPBERRY_PI5:
+    tmc = TMC_2209(21, 16, 20, serialport="/dev/ttyAMA0")
 else:
     # just in case
     tmc = TMC_2209(21, 16, 20)
diff --git a/demo/demo_script_05_vactual.py b/demo/demo_script_05_vactual.py
index f3ad93a..19fc980 100644
--- a/demo/demo_script_05_vactual.py
+++ b/demo/demo_script_05_vactual.py
@@ -29,6 +29,8 @@
 #-----------------------------------------------------------------------
 if BOARD == Board.RASPBERRY_PI:
     tmc = TMC_2209(21, 16, 20)
+elif BOARD == Board.RASPBERRY_PI5:
+    tmc = TMC_2209(21, 16, 20, serialport="/dev/ttyAMA0")
 elif BOARD == Board.NVIDIA_JETSON:
     tmc = TMC_2209(13, 6, 5, serialport="/dev/ttyTHS1")
 else:
diff --git a/demo/demo_script_06_multiple_drivers.py b/demo/demo_script_06_multiple_drivers.py
index 5bd704e..bf781dd 100644
--- a/demo/demo_script_06_multiple_drivers.py
+++ b/demo/demo_script_06_multiple_drivers.py
@@ -33,6 +33,9 @@
 if BOARD == Board.RASPBERRY_PI:
     tmc1 = TMC_2209(21, 16, 20, driver_address=0)
     tmc2 = TMC_2209(26, 13, 19, driver_address=1)
+elif BOARD == Board.RASPBERRY_PI5:
+    tmc1 = TMC_2209(21, 16, 20, serialport="/dev/ttyAMA0", driver_address=0)
+    tmc2 = TMC_2209(26, 13, 19, serialport="/dev/ttyAMA0", driver_address=1)
 elif BOARD == Board.NVIDIA_JETSON:
     # tmc1 = TMC_2209(13, 6, 5, serialport="/dev/ttyTHS1", driver_address=0)
     raise Exception("Not tested for Nvidia Jetson, use with caution")
diff --git a/demo/demo_script_07_threads.py b/demo/demo_script_07_threads.py
index 71a8a58..1b38158 100644
--- a/demo/demo_script_07_threads.py
+++ b/demo/demo_script_07_threads.py
@@ -27,6 +27,8 @@
 #-----------------------------------------------------------------------
 if BOARD == Board.RASPBERRY_PI:
     tmc1 = TMC_2209(21, 16, 20)
+elif BOARD == Board.RASPBERRY_PI5:
+    tmc1 = TMC_2209(21, 16, 20, serialport="/dev/ttyAMA0")
 elif BOARD == Board.NVIDIA_JETSON:
     tmc1 = TMC_2209(13, 6, 5, serialport="/dev/ttyTHS1")
 else:
diff --git a/demo/demo_script_08_log_to_file.py b/demo/demo_script_08_log_to_file.py
index 911aafb..42cb80b 100644
--- a/demo/demo_script_08_log_to_file.py
+++ b/demo/demo_script_08_log_to_file.py
@@ -41,6 +41,9 @@
 if BOARD == Board.RASPBERRY_PI:
     tmc = TMC_2209(21, 16, 20, skip_uart_init=True,
                    loglevel=loglevel, log_handlers=[logging_handler], log_formatter=logformatter)
+elif BOARD == Board.RASPBERRY_PI5:
+    tmc = TMC_2209(21, 16, 20, serialport="/dev/ttyAMA0", skip_uart_init=True,
+                   loglevel=loglevel, log_handlers=[logging_handler], log_formatter=logformatter)
 elif BOARD == Board.NVIDIA_JETSON:
     tmc = TMC_2209(13, 6, 5, serialport="/dev/ttyTHS1", skip_uart_init=True,
                    loglevel=loglevel, log_handlers=[logging_handler], log_formatter=logformatter)

From e0be16b799f149146e0742f5673b852579c08006 Mon Sep 17 00:00:00 2001
From: SiboVG <sibo.vangool@hotmail.com>
Date: Sun, 19 May 2024 16:44:58 +0200
Subject: [PATCH 07/17] Use more generic DigitalOutputDevice instead of LED

---
 src/TMC_2209/_TMC_2209_GPIO_board.py | 9 ++++-----
 1 file changed, 4 insertions(+), 5 deletions(-)

diff --git a/src/TMC_2209/_TMC_2209_GPIO_board.py b/src/TMC_2209/_TMC_2209_GPIO_board.py
index 1b9242f..ea17e65 100644
--- a/src/TMC_2209/_TMC_2209_GPIO_board.py
+++ b/src/TMC_2209/_TMC_2209_GPIO_board.py
@@ -54,7 +54,7 @@ class GpioPUD(IntEnum):
         model = f.readline().lower()
         if "raspberry pi 5" in model:
             try:
-                from gpiozero import LED, Button
+                from gpiozero import DigitalOutputDevice
                 BOARD = Board.RASPBERRY_PI5
             except ModuleNotFoundError as err:
                 dependencies_logger.log(
@@ -134,8 +134,7 @@ class GpioPUD(IntEnum):
 class TMC_gpio:
     """TMC_gpio class"""
 
-    _gpiozero_leds = [None] * 40
-    _gpiozero_buttons = [None] * 40
+    _gpiozero_dos = [None] * 40
 
     @staticmethod
     def init(gpio_mode=None):
@@ -160,7 +159,7 @@ def deinit():
     def gpio_setup(pin, mode, initial = Gpio.LOW, pull_up_down = GpioPUD.PUD_OFF):
         """setup gpio pin"""
         if BOARD == Board.RASPBERRY_PI5:
-            TMC_gpio._gpiozero_leds[pin] = LED(pin)
+            TMC_gpio._gpiozero_dos[pin] = DigitalOutputDevice(pin)
         else:
             initial = int(initial)
             pull_up_down = int(pull_up_down)
@@ -186,7 +185,7 @@ def gpio_input(pin):
     def gpio_output(pin, value):
         """set output value of gpio pin"""
         if BOARD == Board.RASPBERRY_PI5:
-            TMC_gpio._gpiozero_leds[pin].value = value
+            TMC_gpio._gpiozero_dos[pin].value = value
         else:
             GPIO.output(pin, value)
 

From 5e54ce3d39192617a678b7ac694134225ddc43a1 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Christian=20K=C3=B6hlke?= <christian@koehlke.de>
Date: Tue, 21 May 2024 18:16:18 +0100
Subject: [PATCH 08/17] initial support for the luckfox pico resolves #66

---
 src/TMC_2209/_TMC_2209_GPIO_board.py | 50 ++++++++++++++++++++++++----
 1 file changed, 43 insertions(+), 7 deletions(-)

diff --git a/src/TMC_2209/_TMC_2209_GPIO_board.py b/src/TMC_2209/_TMC_2209_GPIO_board.py
index ea17e65..2abd68b 100644
--- a/src/TMC_2209/_TMC_2209_GPIO_board.py
+++ b/src/TMC_2209/_TMC_2209_GPIO_board.py
@@ -23,6 +23,7 @@ class Board(Enum):
     RASPBERRY_PI = 1 # all except Pi 5
     RASPBERRY_PI5 = 2
     NVIDIA_JETSON = 3
+    LUCKFOX_PICO = 4
 
 class Gpio(IntEnum):
     """GPIO value"""
@@ -118,6 +119,28 @@ class GpioPUD(IntEnum):
                     "Exiting..."),
                 Loglevel.ERROR)
                 raise
+        elif "luckfox pico" in model:
+            try:
+                from periphery import GPIO
+                BOARD = Board.LUCKFOX_PICO
+            except ModuleNotFoundError as err:
+                dependencies_logger.log(
+                    (f"ModuleNotFoundError: {err}\n"
+                    "Board is Luckfox Pico but module periphery isn`t installed.\n"
+                    "Follow the installation instructions in the link below to resolve the issue:\n"
+                    "https://github.com/vsergeev/python-periphery\n"
+                    "Exiting..."),
+                Loglevel.ERROR)
+                raise
+            except ImportError as err:
+                dependencies_logger.log(
+                    (f"ImportError: {err}\n"
+                    "Board is Luckfox Pico but module periphery isn`t installed.\n"
+                    "Follow the installation instructions in the link below to resolve the issue:\n"
+                    "https://github.com/vsergeev/python-periphery\n"
+                    "Exiting..."),
+                Loglevel.ERROR)
+                raise
         else:
             # just in case
             dependencies_logger.log(
@@ -134,13 +157,15 @@ class GpioPUD(IntEnum):
 class TMC_gpio:
     """TMC_gpio class"""
 
-    _gpiozero_dos = [None] * 40
+    _gpios = [None] * 40
 
     @staticmethod
     def init(gpio_mode=None):
         """init"""
         if BOARD == Board.RASPBERRY_PI5:
             pass
+        elif BOARD == Board.LUCKFOX_PICO:
+            pass
         else:
             GPIO.setwarnings(False)
             if gpio_mode is None:
@@ -159,7 +184,10 @@ def deinit():
     def gpio_setup(pin, mode, initial = Gpio.LOW, pull_up_down = GpioPUD.PUD_OFF):
         """setup gpio pin"""
         if BOARD == Board.RASPBERRY_PI5:
-            TMC_gpio._gpiozero_dos[pin] = DigitalOutputDevice(pin)
+            TMC_gpio._gpios[pin] = DigitalOutputDevice(pin)
+        elif BOARD == Board.LUCKFOX_PICO:
+            mode = 'out' if (mode == GpioMode.OUT) else 'in'
+            TMC_gpio._gpios[pin] = GPIO(pin, mode)
         else:
             initial = int(initial)
             pull_up_down = int(pull_up_down)
@@ -171,7 +199,9 @@ def gpio_setup(pin, mode, initial = Gpio.LOW, pull_up_down = GpioPUD.PUD_OFF):
     def gpio_cleanup(pin):
         """cleanup gpio pin"""
         if BOARD == Board.RASPBERRY_PI5:
-            pass
+            TMC_gpio._gpios[pin].close()
+        elif BOARD == Board.LUCKFOX_PICO:
+            TMC_gpio._gpios[pin].close()
         else:
             GPIO.cleanup(pin)
 
@@ -179,13 +209,15 @@ def gpio_cleanup(pin):
     def gpio_input(pin):
         """get input value of gpio pin"""
         del pin
-        return 0
+        return 0 # TODO: implement
 
     @staticmethod
     def gpio_output(pin, value):
         """set output value of gpio pin"""
         if BOARD == Board.RASPBERRY_PI5:
-            TMC_gpio._gpiozero_dos[pin].value = value
+            TMC_gpio._gpios[pin].value = value
+        elif BOARD == Board.LUCKFOX_PICO:
+            TMC_gpio._gpios[pin].write(bool(value))
         else:
             GPIO.output(pin, value)
 
@@ -193,7 +225,9 @@ def gpio_output(pin, value):
     def gpio_remove_event_detect(pin):
         """remove event dectect"""
         if BOARD == Board.RASPBERRY_PI5:
-            pass
+            pass # TODO: implement for stallguard
+        elif BOARD == Board.LUCKFOX_PICO:
+            pass # TODO: implement for stallguard
         else:
             GPIO.remove_event_detect(pin)
 
@@ -201,7 +235,9 @@ def gpio_remove_event_detect(pin):
     def gpio_add_event_detect(pin, callback):
         """add event detect"""
         if BOARD == Board.RASPBERRY_PI5:
-            pass
+            pass # TODO: implement for stallguard
+        elif BOARD == Board.LUCKFOX_PICO:
+            pass # TODO: implement for stallguard
         else:
             GPIO.add_event_detect(pin, GPIO.RISING, callback=callback,
                                 bouncetime=300)

From 86dbdc501af7e74d1f25b9fbebafc0449843d475 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Christian=20K=C3=B6hlke?= <christian@koehlke.de>
Date: Tue, 21 May 2024 21:41:42 +0100
Subject: [PATCH 09/17] implemented StallGuard (Interrupt Callback) for
 Raspberry Pi5

---
 demo/demo_script_04_stallguard.py    | 10 +++++-----
 src/TMC_2209/_TMC_2209_GPIO_board.py | 30 ++++++++++++++++------------
 2 files changed, 22 insertions(+), 18 deletions(-)

diff --git a/demo/demo_script_04_stallguard.py b/demo/demo_script_04_stallguard.py
index 9ad479f..475c900 100644
--- a/demo/demo_script_04_stallguard.py
+++ b/demo/demo_script_04_stallguard.py
@@ -27,12 +27,12 @@
 # initiate the TMC_2209 class
 # use your pins for pin_en, pin_step, pin_dir here
 #-----------------------------------------------------------------------
-if BOARD == "NVIDIA_JETSON":
+if BOARD == Board.NVIDIA_JETSON:
     raise NotImplementedError('''
-Not implemented. Needs refinement.\nNvidia Jetson has nuances with the parameter pull_up_down for pin_stallguard:
-https://github.com/NVIDIA/jetson-gpio/issues/5''')
-
-if BOARD == Board.RASPBERRY_PI:
+        Not implemented. Needs refinement.\n
+        Nvidia Jetson has nuances with the parameter pull_up_down for pin_stallguard:
+        https://github.com/NVIDIA/jetson-gpio/issues/5''')
+elif BOARD == Board.RASPBERRY_PI:
     tmc = TMC_2209(21, 16, 20)
 elif BOARD == Board.RASPBERRY_PI5:
     tmc = TMC_2209(21, 16, 20, serialport="/dev/ttyAMA0")
diff --git a/src/TMC_2209/_TMC_2209_GPIO_board.py b/src/TMC_2209/_TMC_2209_GPIO_board.py
index 2abd68b..08d388d 100644
--- a/src/TMC_2209/_TMC_2209_GPIO_board.py
+++ b/src/TMC_2209/_TMC_2209_GPIO_board.py
@@ -55,7 +55,7 @@ class GpioPUD(IntEnum):
         model = f.readline().lower()
         if "raspberry pi 5" in model:
             try:
-                from gpiozero import DigitalOutputDevice
+                from gpiozero import DigitalOutputDevice, DigitalInputDevice
                 BOARD = Board.RASPBERRY_PI5
             except ModuleNotFoundError as err:
                 dependencies_logger.log(
@@ -183,8 +183,12 @@ def deinit():
     @staticmethod
     def gpio_setup(pin, mode, initial = Gpio.LOW, pull_up_down = GpioPUD.PUD_OFF):
         """setup gpio pin"""
+        #print(f"{BOARD}, {pin}, {mode}")
         if BOARD == Board.RASPBERRY_PI5:
-            TMC_gpio._gpios[pin] = DigitalOutputDevice(pin)
+            if mode == GpioMode.OUT:
+                TMC_gpio._gpios[pin] = DigitalOutputDevice(pin)
+            else:
+                TMC_gpio._gpios[pin] = DigitalInputDevice(pin)
         elif BOARD == Board.LUCKFOX_PICO:
             mode = 'out' if (mode == GpioMode.OUT) else 'in'
             TMC_gpio._gpios[pin] = GPIO(pin, mode)
@@ -192,7 +196,6 @@ def gpio_setup(pin, mode, initial = Gpio.LOW, pull_up_down = GpioPUD.PUD_OFF):
             initial = int(initial)
             pull_up_down = int(pull_up_down)
             mode = int(mode)
-
             GPIO.setup(pin, mode, initial=initial, pull_up_down=pull_up_down)
 
     @staticmethod
@@ -222,22 +225,23 @@ def gpio_output(pin, value):
             GPIO.output(pin, value)
 
     @staticmethod
-    def gpio_remove_event_detect(pin):
-        """remove event dectect"""
+    def gpio_add_event_detect(pin, callback):
+        """add event detect"""
         if BOARD == Board.RASPBERRY_PI5:
-            pass # TODO: implement for stallguard
+            TMC_gpio._gpios[pin].when_activated = callback
         elif BOARD == Board.LUCKFOX_PICO:
             pass # TODO: implement for stallguard
         else:
-            GPIO.remove_event_detect(pin)
-
+            GPIO.add_event_detect(pin, GPIO.RISING, callback=callback,
+                                bouncetime=300)
+            
     @staticmethod
-    def gpio_add_event_detect(pin, callback):
-        """add event detect"""
+    def gpio_remove_event_detect(pin):
+        """remove event dectect"""
         if BOARD == Board.RASPBERRY_PI5:
-            pass # TODO: implement for stallguard
+            if TMC_gpio._gpios[pin].when_activated is not None:
+                TMC_gpio._gpios[pin].when_activated = None
         elif BOARD == Board.LUCKFOX_PICO:
             pass # TODO: implement for stallguard
         else:
-            GPIO.add_event_detect(pin, GPIO.RISING, callback=callback,
-                                bouncetime=300)
+            GPIO.remove_event_detect(pin)

From a9d480ac67fd2097f848690892af4dad0461f065 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Christian=20K=C3=B6hlke?= <christian@koehlke.de>
Date: Tue, 21 May 2024 21:45:16 +0100
Subject: [PATCH 10/17] small fix for when using StallGuard with RPi.GPIO

---
 src/TMC_2209/_TMC_2209_GPIO_board.py | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/src/TMC_2209/_TMC_2209_GPIO_board.py b/src/TMC_2209/_TMC_2209_GPIO_board.py
index 08d388d..e092f85 100644
--- a/src/TMC_2209/_TMC_2209_GPIO_board.py
+++ b/src/TMC_2209/_TMC_2209_GPIO_board.py
@@ -196,7 +196,10 @@ def gpio_setup(pin, mode, initial = Gpio.LOW, pull_up_down = GpioPUD.PUD_OFF):
             initial = int(initial)
             pull_up_down = int(pull_up_down)
             mode = int(mode)
-            GPIO.setup(pin, mode, initial=initial, pull_up_down=pull_up_down)
+            if mode == GpioMode.OUT:
+                GPIO.setup(pin, mode, initial=initial)
+            else:
+                GPIO.setup(pin, mode, pull_up_down=pull_up_down)
 
     @staticmethod
     def gpio_cleanup(pin):

From de845f58333c029497e48d6af901b0be23f45243 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Christian=20K=C3=B6hlke?= <christian@koehlke.de>
Date: Tue, 21 May 2024 21:47:52 +0100
Subject: [PATCH 11/17] small fix for when using StallGuard with RPi.GPIO

---
 demo/demo_script_04_stallguard.py    | 2 +-
 src/TMC_2209/_TMC_2209_GPIO_board.py | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/demo/demo_script_04_stallguard.py b/demo/demo_script_04_stallguard.py
index 475c900..71b1ef3 100644
--- a/demo/demo_script_04_stallguard.py
+++ b/demo/demo_script_04_stallguard.py
@@ -32,7 +32,7 @@
         Not implemented. Needs refinement.\n
         Nvidia Jetson has nuances with the parameter pull_up_down for pin_stallguard:
         https://github.com/NVIDIA/jetson-gpio/issues/5''')
-elif BOARD == Board.RASPBERRY_PI:
+if BOARD == Board.RASPBERRY_PI:
     tmc = TMC_2209(21, 16, 20)
 elif BOARD == Board.RASPBERRY_PI5:
     tmc = TMC_2209(21, 16, 20, serialport="/dev/ttyAMA0")
diff --git a/src/TMC_2209/_TMC_2209_GPIO_board.py b/src/TMC_2209/_TMC_2209_GPIO_board.py
index e092f85..5bd2870 100644
--- a/src/TMC_2209/_TMC_2209_GPIO_board.py
+++ b/src/TMC_2209/_TMC_2209_GPIO_board.py
@@ -237,7 +237,7 @@ def gpio_add_event_detect(pin, callback):
         else:
             GPIO.add_event_detect(pin, GPIO.RISING, callback=callback,
                                 bouncetime=300)
-            
+
     @staticmethod
     def gpio_remove_event_detect(pin):
         """remove event dectect"""

From 015ac1f3d7f817a27917eff2f3c181763dbce9b5 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Christian=20K=C3=B6hlke?= <christian@koehlke.de>
Date: Tue, 21 May 2024 21:54:38 +0100
Subject: [PATCH 12/17] added new board request issue template

---
 .github/ISSUE_TEMPLATE/new_board_request.md | 18 ++++++++++++++++++
 1 file changed, 18 insertions(+)
 create mode 100644 .github/ISSUE_TEMPLATE/new_board_request.md

diff --git a/.github/ISSUE_TEMPLATE/new_board_request.md b/.github/ISSUE_TEMPLATE/new_board_request.md
new file mode 100644
index 0000000..7d080fd
--- /dev/null
+++ b/.github/ISSUE_TEMPLATE/new_board_request.md
@@ -0,0 +1,18 @@
+---
+name: New Board Request
+about: Create a Request if you want a new board supported
+title: ''
+labels: ''
+assignees: ''
+
+---
+
+**Info about your board**
+
+- the name and a link to you board
+- a library that can be used to control the gpios of your board
+- a info to the serial port of your board
+
+**Board Identification**
+A method to recognize the new board programmatically. ideally with the output of
+`cat /proc/device-tree/model`

From 2cac84d399ddd9fea8f912b1a4c63def6da44569 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Christian=20K=C3=B6hlke?= <christian@koehlke.de>
Date: Wed, 22 May 2024 18:22:06 +0100
Subject: [PATCH 13/17] doc

---
 src/TMC_2209/_TMC_2209_GPIO_board.py | 15 ++++++++++++---
 1 file changed, 12 insertions(+), 3 deletions(-)

diff --git a/src/TMC_2209/_TMC_2209_GPIO_board.py b/src/TMC_2209/_TMC_2209_GPIO_board.py
index 5bd2870..139c73c 100644
--- a/src/TMC_2209/_TMC_2209_GPIO_board.py
+++ b/src/TMC_2209/_TMC_2209_GPIO_board.py
@@ -17,6 +17,15 @@
 from enum import Enum, IntEnum
 from ._TMC_2209_logger import TMC_logger, Loglevel
 
+# ------------------------------
+# LIB           | BOARD
+# ------------------------------
+# RPi.GPIO      | Pi4, Pi3 etc.
+# Jetson.GPIO   | Nvidia Jetson
+# gpiozero      | Pi5
+# pheriphery    | Luckfox Pico
+# ------------------------------
+
 class Board(Enum):
     """board"""
     UNKNOWN = 0
@@ -161,7 +170,7 @@ class TMC_gpio:
 
     @staticmethod
     def init(gpio_mode=None):
-        """init"""
+        """init gpio library"""
         if BOARD == Board.RASPBERRY_PI5:
             pass
         elif BOARD == Board.LUCKFOX_PICO:
@@ -174,7 +183,7 @@ def init(gpio_mode=None):
 
     @staticmethod
     def deinit():
-        """deinit"""
+        """deinit gpio library"""
         if BOARD == Board.RASPBERRY_PI5:
             pass
         else:
@@ -196,7 +205,7 @@ def gpio_setup(pin, mode, initial = Gpio.LOW, pull_up_down = GpioPUD.PUD_OFF):
             initial = int(initial)
             pull_up_down = int(pull_up_down)
             mode = int(mode)
-            if mode == GpioMode.OUT:
+            if mode == GpioMode.OUT: # TODO: better way to pass different params
                 GPIO.setup(pin, mode, initial=initial)
             else:
                 GPIO.setup(pin, mode, pull_up_down=pull_up_down)

From bf59d50d340855b213b20e4c2ad2dbbd19641544 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Christian=20K=C3=B6hlke?= <christian@koehlke.de>
Date: Thu, 23 May 2024 18:18:40 +0100
Subject: [PATCH 14/17] change amount of GPIO pins to 200 luckfox pico pin
 numbering is weird and spans from 4 until 145

---
 src/TMC_2209/_TMC_2209_GPIO_board.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/TMC_2209/_TMC_2209_GPIO_board.py b/src/TMC_2209/_TMC_2209_GPIO_board.py
index 139c73c..f8d081e 100644
--- a/src/TMC_2209/_TMC_2209_GPIO_board.py
+++ b/src/TMC_2209/_TMC_2209_GPIO_board.py
@@ -166,7 +166,7 @@ class GpioPUD(IntEnum):
 class TMC_gpio:
     """TMC_gpio class"""
 
-    _gpios = [None] * 40
+    _gpios = [None] * 200
 
     @staticmethod
     def init(gpio_mode=None):

From aa5bdc127c956ff97fdfba51de8132e8260fe895 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Christian=20K=C3=B6hlke?= <christian@koehlke.de>
Date: Thu, 23 May 2024 18:37:53 +0100
Subject: [PATCH 15/17] removed RPi.GPIO as required dependency - added
 RPi.GPIO as optional dependency - added gpiozero as optional dependency -
 added Jetson.GPIO as optional dependency - added python-periphery as optional
 dependency

---
 setup.cfg                            | 13 +++++++++++--
 src/TMC_2209/_TMC_2209_GPIO_board.py | 16 ++++++++--------
 2 files changed, 19 insertions(+), 10 deletions(-)

diff --git a/setup.cfg b/setup.cfg
index d8eab63..ab15713 100644
--- a/setup.cfg
+++ b/setup.cfg
@@ -24,8 +24,17 @@ package_dir =
 packages = find:
 python_requires = >=3.7
 install_requires =
-    RPi.GPIO
     pyserial
 
 [options.packages.find]
-where = src
\ No newline at end of file
+where = src
+
+[options.extras_require]
+RASPBERRY_PI =
+    RPi.GPIO
+RASPBERRY_PI5 =
+    gpiozero
+NVIDIA_JETSON =
+    Jetson.GPIO
+LUCKFOX_PICO =
+    python-periphery
\ No newline at end of file
diff --git a/src/TMC_2209/_TMC_2209_GPIO_board.py b/src/TMC_2209/_TMC_2209_GPIO_board.py
index f8d081e..1e6a20e 100644
--- a/src/TMC_2209/_TMC_2209_GPIO_board.py
+++ b/src/TMC_2209/_TMC_2209_GPIO_board.py
@@ -69,7 +69,7 @@ class GpioPUD(IntEnum):
             except ModuleNotFoundError as err:
                 dependencies_logger.log(
                     (f"ModuleNotFoundError: {err}\n"
-                    "Board is Raspberry PI 5 but module gpiozero isn`t installed.\n"
+                    "Board is Raspberry PI 5 but module gpiozero isn't installed.\n"
                     "Follow the installation instructions in the link below to resolve the issue:\n"
                     "https://gpiozero.readthedocs.io/en/stable/installing.html\n"
                     "Exiting..."),
@@ -78,7 +78,7 @@ class GpioPUD(IntEnum):
             except ImportError as err:
                 dependencies_logger.log(
                     (f"ImportError: {err}\n"
-                    "Board is Raspberry PI 5 but module gpiozero isn`t installed.\n"
+                    "Board is Raspberry PI 5 but module gpiozero isn't installed.\n"
                     "Follow the installation instructions in the link below to resolve the issue:\n"
                     "https://gpiozero.readthedocs.io/en/stable/installing.html\n"
                     "Exiting..."),
@@ -91,7 +91,7 @@ class GpioPUD(IntEnum):
             except ModuleNotFoundError as err:
                 dependencies_logger.log(
                     (f"ModuleNotFoundError: {err}\n"
-                    "Board is Raspberry PI but module RPi.GPIO isn`t installed.\n"
+                    "Board is Raspberry PI but module RPi.GPIO isn't installed.\n"
                     "Follow the installation instructions in the link below to resolve the issue:\n"
                     "https://sourceforge.net/p/raspberry-gpio-python/wiki/install\n"
                     "Exiting..."),
@@ -100,7 +100,7 @@ class GpioPUD(IntEnum):
             except ImportError as err:
                 dependencies_logger.log(
                     (f"ImportError: {err}\n"
-                    "Board is Raspberry PI but module RPi.GPIO isn`t installed.\n"
+                    "Board is Raspberry PI but module RPi.GPIO isn't installed.\n"
                     "Follow the installation instructions in the link below to resolve the issue:\n"
                     "https://sourceforge.net/p/raspberry-gpio-python/wiki/install\n"
                     "Exiting..."),
@@ -113,7 +113,7 @@ class GpioPUD(IntEnum):
             except ModuleNotFoundError as err:
                 dependencies_logger.log(
                     (f"ModuleNotFoundError: {err}\n"
-                    "Board is Nvidia Jetson but module jetson-gpio isn`t installed.\n"
+                    "Board is Nvidia Jetson but module jetson-gpio isn't installed.\n"
                     "Follow the installation instructions in the link below to resolve the issue:\n"
                     "https://github.com/NVIDIA/jetson-gpio\n"
                     "Exiting..."),
@@ -122,7 +122,7 @@ class GpioPUD(IntEnum):
             except ImportError as err:
                 dependencies_logger.log(
                     (f"ImportError: {err}\n"
-                    "Board is Nvidia Jetson but module jetson-gpio isn`t installed.\n"
+                    "Board is Nvidia Jetson but module jetson-gpio isn't installed.\n"
                     "Follow the installation instructions in the link below to resolve the issue:\n"
                     "https://github.com/NVIDIA/jetson-gpio\n"
                     "Exiting..."),
@@ -135,7 +135,7 @@ class GpioPUD(IntEnum):
             except ModuleNotFoundError as err:
                 dependencies_logger.log(
                     (f"ModuleNotFoundError: {err}\n"
-                    "Board is Luckfox Pico but module periphery isn`t installed.\n"
+                    "Board is Luckfox Pico but module periphery isn't installed.\n"
                     "Follow the installation instructions in the link below to resolve the issue:\n"
                     "https://github.com/vsergeev/python-periphery\n"
                     "Exiting..."),
@@ -144,7 +144,7 @@ class GpioPUD(IntEnum):
             except ImportError as err:
                 dependencies_logger.log(
                     (f"ImportError: {err}\n"
-                    "Board is Luckfox Pico but module periphery isn`t installed.\n"
+                    "Board is Luckfox Pico but module periphery isn't installed.\n"
                     "Follow the installation instructions in the link below to resolve the issue:\n"
                     "https://github.com/vsergeev/python-periphery\n"
                     "Exiting..."),

From f56ccffb8db794aac906fdc496e2db3797fbc9b7 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Christian=20K=C3=B6hlke?= <christian@koehlke.de>
Date: Thu, 23 May 2024 19:00:02 +0100
Subject: [PATCH 16/17] added Board Support information to README

---
 README.md | 18 ++++++++++++++++++
 1 file changed, 18 insertions(+)

diff --git a/README.md b/README.md
index c4ab2f4..baf2f72 100644
--- a/README.md
+++ b/README.md
@@ -56,6 +56,24 @@ pip3 install TMC-2209-Raspberry-Pi
     sudo raspi-config
     ```
 
+### Board Support
+
+The following table shows the supported boards and which libraries for GPIO access is beeing used for that board.
+
+Library | Installation Parameter | Boards
+-- | -- | --
+RPi.GPIO | RASPBERRY_PI | Pi4, Pi3 etc.
+gpiozero | RASPBERRY_PI5 | Pi5
+Jetson.GPIO | NVIDIA_JETSON | Nvidia Jetson
+pheriphery | LUCKFOX_PICO | Luckfox Pico
+
+Those libraries are needed for this library to work. You can either install the correct library yourself.
+You can also install the needed GPIO library by specifing the Installation Parameter while installing this library:
+
+```shell
+pip3 install TMC-2209-Raspberry-Pi[RASPBERRY_PI]
+```
+
 ## Wiring
 
 Pin TMC2209 | connect to | Function

From f1a9bf6a506791eaa1db0227db7f04d8f67a9a90 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Christian=20K=C3=B6hlke?= <christian@koehlke.de>
Date: Sun, 26 May 2024 11:21:57 +0100
Subject: [PATCH 17/17] changed version to 0.5

---
 CHANGELOG.md | 6 ++++++
 setup.cfg    | 2 +-
 2 files changed, 7 insertions(+), 1 deletion(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 297c7c6..85940e6 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,5 +1,11 @@
 # Changelog
 
+## version 0.5
+
+- decoupled gpio access from gpio library
+- added support for Raspberry Pi5 (gpiozero)
+- added support for Luckfox Pico (python-periphery)
+
 ## version 0.4.5
 
 - enhancement of logging module
diff --git a/setup.cfg b/setup.cfg
index ab15713..833213a 100644
--- a/setup.cfg
+++ b/setup.cfg
@@ -1,6 +1,6 @@
 [metadata]
 name = TMC_2209_Raspberry_Pi
-version = 0.4.5
+version = 0.5
 author = Christian Köhlke
 author_email = christian@koehlke.de
 description = this is a Python libary to drive a stepper motor with a Trinamic TMC2209 stepper driver and a Raspberry Pi