ERROR ID esp32_esp32internalgpiopin_6 is already registered - ESPHome component

Question

I'm trying to create a component for ESPHome.

I'm getting: ERROR ID esp32_esp32internalgpiopin_6 is already registered

With this config:

...
external_components:
  - source:
      type: git
      url: https://github.com/Defozo/esphome
      ref: dev
    components: [ tmc2130 ]
    refresh: 3s

spi:
  clk_pin: 18
  mosi_pin: 23
  miso_pin: 19

stepper:
  - platform: tmc2130
    id: my_stepper
    step_pin: 21
    dir_pin: 16
    cs_pin: 26
    r_sense: 0.11
    microsteps: 16
    rms_current: 1500

stepper.py

import esphome.codegen as cg
import esphome.config_validation as cv
from esphome import pins
from esphome.components import spi
from esphome.const import CONF_ID, CONF_CS_PIN
from esphome.core import coroutine

DEPENDENCIES = ['spi']
AUTO_LOAD = ['sensor']

tmc2130_ns = cg.esphome_ns.namespace('tmc2130')
TMC2130Component = tmc2130_ns.class_('TMC2130Component', cg.Component, spi.SPIDevice)

CONF_TOFF = "toff"
CONF_BLANK_TIME = "blank_time"
CONF_RMS_CURRENT = "rms_current"
CONF_MICROSTEPS = "microsteps"
CONF_TCOOLTHRS = "tcoolthrs"
CONF_THIGH = "thigh"
CONF_SEMIN = "semin"
CONF_SEMAX = "semax"
CONF_SEDN = "sedn"
CONF_SGT = "sgt"
CONF_R_SENSE = "r_sense"
CONF_STEP_PIN = "step_pin"
CONF_DIR_PIN = "dir_pin"

CONFIG_SCHEMA = cv.Schema({
    cv.GenerateID(): cv.declare_id(TMC2130Component),
    cv.Required(CONF_CS_PIN): pins.gpio_output_pin_schema,
    cv.Required(CONF_STEP_PIN): pins.gpio_output_pin_schema,
    cv.Required(CONF_DIR_PIN): pins.gpio_output_pin_schema,
    cv.Required(CONF_RMS_CURRENT): cv.positive_int,
    cv.Required(CONF_R_SENSE): cv.float_,
    cv.Optional(CONF_TOFF, default=4): cv.int_range(min=0, max=15),
    cv.Optional(CONF_BLANK_TIME, default=24): cv.int_range(min=16, max=54),
    cv.Optional(CONF_RMS_CURRENT, default=1500): cv.positive_int,
    cv.Optional(CONF_MICROSTEPS, default=16): cv.int_range(min=0, max=256),
    cv.Optional(CONF_TCOOLTHRS, default=0xFFFFF): cv.hex_int,
    cv.Optional(CONF_THIGH, default=0): cv.hex_int,
    cv.Optional(CONF_SEMIN, default=5): cv.int_range(min=0, max=15),
    cv.Optional(CONF_SEMAX, default=2): cv.int_range(min=0, max=15),
    cv.Optional(CONF_SEDN, default=0b01): cv.int_range(min=0, max=0b11),
    cv.Optional(CONF_SGT, default=7): cv.int_range(min=-64, max=63),
}).extend(cv.COMPONENT_SCHEMA).extend(spi.spi_device_schema())

async def to_code(config):
    cs_pin = await cg.gpio_pin_expression(config[CONF_CS_PIN])
    step_pin = await cg.gpio_pin_expression(config[CONF_STEP_PIN])
    dir_pin = await cg.gpio_pin_expression(config[CONF_DIR_PIN])
    r_sense = config[CONF_R_SENSE]
    var = cg.new_Pvariable(config[CONF_ID], cs_pin, r_sense)
    await cg.register_component(var, config)
    await spi.register_spi_device(var, config)

    cg.add_library('TMCStepper', '0.7.3')
    cg.add(var.set_step_pin(step_pin))
    cg.add(var.set_dir_pin(dir_pin))
    cg.add(var.set_toff(config[CONF_TOFF]))
    cg.add(var.set_blank_time(config[CONF_BLANK_TIME]))
    cg.add(var.set_rms_current(config[CONF_RMS_CURRENT]))
    cg.add(var.set_microsteps(config[CONF_MICROSTEPS]))
    cg.add(var.set_tcoolthrs(config[CONF_TCOOLTHRS]))
    cg.add(var.set_thigh(config[CONF_THIGH]))
    cg.add(var.set_semin(config[CONF_SEMIN]))
    cg.add(var.set_semax(config[CONF_SEMAX]))
    cg.add(var.set_sedn(config[CONF_SEDN]))
    cg.add(var.set_sgt(config[CONF_SGT]))

tmc2130.cpp

#include "tmc2130.h"
#include "esphome/core/log.h"
#include <TMCStepper.h>

namespace esphome {
namespace tmc2130 {

static const char *const TAG = "tmc2130";

TMC2130Component::TMC2130Component(uint8_t cs_pin, float r_sense)
  : driver_(cs_pin, r_sense) {}

void TMC2130Component::setup() {
  ESP_LOGD(TAG, "Setting up TMC2130...");
  pinMode(EN_PIN, OUTPUT);
  pinMode(STEP_PIN, OUTPUT);
  pinMode(DIR_PIN, OUTPUT);
  digitalWrite(EN_PIN, LOW); // Enable driver by default

   this->driver_.begin(); // Initiate SPI
  // Configuration values are now set from the YAML file
  this->driver_.toff(this->toff_);
  this->driver_.blank_time(this->blank_time_);
  this->driver_.rms_current(this->rms_current_); // Set motor RMS current
  this->driver_.microsteps(this->microsteps_);
  this->driver_.TCOOLTHRS(this->tcoolthrs_);
  this->driver_.THIGH(this->thigh_);
  this->driver_.semin(this->semin_);
  this->driver_.semax(this->semax_);
  this->driver_.sedn(this->sedn_);
  this->driver_.sgt(this->sgt_);

  // Setup timer
  this->timer_ = timerBegin(0, 80, true); // Use the first timer
  timerAttachInterrupt(this->timer_, &onTimer, true); // Attach the interrupt function
  timerAlarmWrite(this->timer_, 1000, true); // Set the alarm
  timerAlarmEnable(this->timer_); // Enable the alarm
}

void TMC2130Component::set_toff(uint8_t toff) { this->toff_ = toff; }
void TMC2130Component::set_blank_time(uint8_t blank_time) { this->blank_time_ = blank_time; }
void TMC2130Component::set_rms_current(uint16_t rms_current) { this->rms_current_ = rms_current; }
void TMC2130Component::set_microsteps(int microsteps) { this->microsteps_ = microsteps; }
void TMC2130Component::set_tcoolthrs(uint32_t tcoolthrs) { this->tcoolthrs_ = tcoolthrs; }
void TMC2130Component::set_thigh(uint32_t thigh) { this->thigh_ = thigh; }
void TMC2130Component::set_semin(uint8_t semin) { this->semin_ = semin; }
void TMC2130Component::set_semax(uint8_t semax) { this->semax_ = semax; }
void TMC2130Component::set_sedn(uint8_t sedn) { this->sedn_ = sedn; }
void TMC2130Component::set_sgt(int8_t sgt) { this->sgt_ = sgt; }
void TMC2130Component::set_r_sense(float r_sense) { this->driver_.rsense(r_sense); }


void TMC2130Component::loop() {
  // This method can be used to update the component state in each loop iteration
  // For example, handling dynamic speed adjustments or other runtime tasks
}

void TMC2130Component::dump_config() {
  ESP_LOGCONFIG(TAG, "TMC2130 Component Configuration:");
  ESP_LOGCONFIG(TAG, "  - Toff: %u", this->toff_);
  ESP_LOGCONFIG(TAG, "  - Blank Time: %u", this->blank_time_);
  ESP_LOGCONFIG(TAG, "  - RMS Current: %u", this->rms_current_);
  ESP_LOGCONFIG(TAG, "  - Microsteps: %d", this->microsteps_);
  ESP_LOGCONFIG(TAG, "  - TCOOLTHRS: %u", this->tcoolthrs_);
  ESP_LOGCONFIG(TAG, "  - THIGH: %u", this->thigh_);
  ESP_LOGCONFIG(TAG, "  - SEMIN: %u", this->semin_);
  ESP_LOGCONFIG(TAG, "  - SEMAX: %u", this->semax_);
  ESP_LOGCONFIG(TAG, "  - SEDN: %u", this->sedn_);
  ESP_LOGCONFIG(TAG, "  - SGT: %d", this->sgt_);
}

void TMC2130Component::set_speed(int speed) {
  // Adjust timer alarm based on speed
  if (speed > MAX_SPEED && speed < MIN_SPEED) {
    uint32_t timer_speed = map(speed, 0, 100, MIN_SPEED, MAX_SPEED); // Map speed to timer range
    timerAlarmWrite(this->timer_, timer_speed, true);
  }
}

void TMC2130Component::set_direction_forward(bool forward) {
  motor_direction_ = forward;
  digitalWrite(DIR_PIN, motor_direction_ ? HIGH : LOW); // Set direction
}

void TMC2130Component::enable_motor(bool enable) {
  // Enable or disable motor by controlling EN_PIN
  digitalWrite(EN_PIN, !enable); // LOW to enable, HIGH to disable
}

static void IRAM_ATTR onTimer() {
  digitalWrite(STEP_PIN, !digitalRead(STEP_PIN)); // Toggle the step pin
}

}  // namespace tmc2130
}  // namespace esphome

tmc2130.h

#include "esphome/core/component.h"
#include "esphome/core/hal.h"
#include <TMCStepper.h>

namespace esphome {
namespace tmc2130 {

class TMC2130Component : public Component {
 public:
  void setup() override;
  void dump_config() override;
  void set_toff(uint8_t toff);
  void set_blank_time(uint8_t blank_time);
  void set_rms_current(uint16_t rms_current);
  void set_microsteps(int microsteps);
  void set_tcoolthrs(uint32_t tcoolthrs);
  void set_thigh(uint32_t thigh);
  void set_semin(uint8_t semin);
  void set_semax(uint8_t semax);
  void set_sedn(uint8_t sedn);
  void set_sgt(int8_t sgt);
  void set_direction_forward(bool forward);
  void set_r_sense(float r_sense);

 protected:
  TMC2130Stepper driver_;
  uint8_t toff_;
  uint8_t blank_time_;
  uint16_t rms_current_;
  int microsteps_;
  uint32_t tcoolthrs_;
  uint32_t thigh_;
  uint8_t semin_;
  uint8_t semax_;
  uint8_t sedn_;
  int8_t sgt_;
  bool motor_direction_{true};
  float r_sense_;
};

}  // namespace tmc2130
}  // namespace esphome

I don't understand the error. Where am I defining this esp32_esp32internalgpiopin_6? Can someone help?