[FCR] Integrate the Trinamic Motion Control (TMC) API

[rexut]

Is your feature request related to a problem? Please describe.

I as an firmware developer wants to see any kind of integration of the TMC-API as Zephyr module with a common accessible Zephyr API based on Zephyr system calls, similar to the Sensor API. I think we can start with the name Actuator API.

Describe the solution you'd like

Drive stepper motors by Trinamic Chips connected over UART, SPI or a simple Step/Direction (S/D) interface.

Describe alternatives you've considered

No alternatives. Zephyr doesn't know anything about FOC or stepper motors, servo motors only. Maybe that the servo motors can also supported by the upcoming Actuator API.

Additional context

This will implement two different things:

1. Driver support for Trinamic chips, beginning with TMC2130 (simple driver) over S/D and SPI. That also integrates the TMC-API as Zephyr module.
2. Integration of the new Actuator API, beginning on downstream in Bridle, later contribute to upstream Zephyr.

[rexut]

https://github.com/tiacsys/bridle/tree/devel/trinamic