[FR] Add more "Human-readable" helper functions

[wolfgangmauer]

I like to use your library in other languages, such as .netcore, it would be nice to have some more "Human-readable" funtions and not just have "register-name" funktions e.g. toff/MSCNT/TPWMTHRS/uv_cp/........ ;-)

[teemuatlut]

This is what I did with the old TMC2130Stepper library, but in the end I didn't use them much and looking at the TMCStepper header file, there are hundreds of methods. There's also a concern for the compile size that should not be affected.