Tmc-2209-raspberry-pi

- removed dependency enum34
- removed dependency bitstring
- changed min python version to 3.6
- changed docstring format to google

- split code into different files
- added logger class
- moved demo scripts into demo folder
- added unittest
- switched all string to f-strings

- fixed do_homing()
- added minspeed to do_homing()
- added TMC_2209_math.py

- added correct StallGuard min_speed calculation

- add pylint github action
- fixed code to pass pylint check