### Get Hysteresis Start Value

Source: https://github.com/teemuatlut/tmcstepper/blob/master/docs/_t_m_c_stepper_8h_source.html

Retrieves the current 'THysteresisStart' setting of the TMC2660Stepper driver.

```cpp
uint8_t hysteresis_start();
```

--------------------------------

### begin()

Source: https://github.com/teemuatlut/tmcstepper/blob/master/docs/class_t_m_c2160_stepper.html

Initializes the TMC2160Stepper.

```APIDOC
## POST /begin

### Description
Initializes the TMC2160Stepper.

### Method
POST

### Endpoint
/begin

### Parameters
None

### Request Example
None

### Response
#### Success Response (200)
- **status** (string) - Indicates success or failure of the initialization.

#### Response Example
```json
{
  "status": "initialized"
}
```
```

--------------------------------

### Homing Start Control

Source: https://github.com/teemuatlut/tmcstepper/blob/master/docs/class_t_m_c2660_stepper.html

Functions to set and get the homing start value.

```APIDOC
## hstrt

### Description
Sets or gets the homing start value.

### Method
- `void hstrt(uint8_t value)`: Sets the homing start.
- `uint8_t hstrt()`: Gets the homing start.

### Parameters
#### Path Parameters
None

#### Query Parameters
None

#### Request Body
None

### Request Example
```json
{
  "value": 2
}
```

### Response
#### Success Response (200)
- `uint8_t`: The current homing start value.

#### Response Example
```json
{
  "start": 2
}
```
```

--------------------------------

### Get Hysteresis Start

Source: https://github.com/teemuatlut/tmcstepper/blob/master/docs/_t_m_c2660_stepper_8cpp_source.html

Returns the hysteresis start value incremented by one.

```cpp
uint8_t TMC2660Stepper::hysteresis_start() { return hstrt()+1; }
```

--------------------------------

### begin()

Source: https://github.com/teemuatlut/tmcstepper/blob/master/docs/class_t_m_c5130_stepper.html

Initializes the stepper driver hardware.

```APIDOC
## begin()

### Description
Performs the necessary initialization for the TMC5130Stepper driver.
```

--------------------------------

### begin()

Source: https://github.com/teemuatlut/tmcstepper/blob/master/docs/class_t_m_c2660_stepper.html

Initializes the TMC2660 stepper driver.

```APIDOC
## void begin()

### Description
Initializes the TMC2660 stepper driver hardware communication.
```

--------------------------------

### Get Hysteresis Start

Source: https://github.com/teemuatlut/tmcstepper/blob/master/docs/_t_m_c_stepper_8h_source.html

Retrieves the current hysteresis start setting of the stepper driver.

```cpp
uint8_t [hysteresis_start](class_t_m_c_stepper.html#ac06189981d4400bf5961719f468c39b1)();
```

--------------------------------

### TMC2130Stepper::begin

Source: https://github.com/teemuatlut/tmcstepper/blob/master/docs/_t_m_c2130_stepper_8cpp_source.html

Initializes the TMC2130Stepper driver.

```APIDOC
## TMC2130Stepper::begin

### Description
Initializes the TMC2130 stepper driver, preparing it for operation.

### Method
```
void begin()
```

### Endpoint
N/A (Class method)

### Parameters
None

### Request Example
None

### Response
None
```

--------------------------------

### TMCStepper::hstrt() (Get)

Source: https://github.com/teemuatlut/tmcstepper/blob/master/docs/class_t_m_c_stepper.html

Retrieves the hysteresis start value.

```APIDOC
## GET /teemuatlut/tmcstepper/hstrt

### Description
Retrieves the hysteresis start value.

### Method
GET

### Endpoint
/teemuatlut/tmcstepper/hstrt

### Parameters
None

### Response
#### Success Response (200)
- **hstrt** (uint8_t) - The hysteresis start value.

#### Response Example
```json
{
  "hstrt": 3
}
```
```

--------------------------------

### Get Hysteresis Start Value

Source: https://github.com/teemuatlut/tmcstepper/blob/master/docs/_t_m_c_stepper_8cpp_source.html

Retrieves the hysteresis start value. The value read from the internal 'hstrt' register is adjusted by +1 to provide the user-facing value.

```cpp
uint8_t TMCStepper::hysteresis_start() { return [hstrt](class_t_m_c_stepper.html#ae40affb96ca05b4380adbdd961b62c7e)()+1; }
```

--------------------------------

### Member Function: begin

Source: https://github.com/teemuatlut/tmcstepper/blob/master/docs/class_t_m_c2208_stepper.html

Initializes the TMC2208Stepper.

```APIDOC
## void begin()

### Description
Initializes the TMC2208Stepper device.

### Method
`void begin`

### Endpoint
N/A (This is a class method, not an API endpoint)

### Parameters
None

### Request Example
```cpp
TMC2208Stepper stepper(Serial, 0.11f, 0b00);
stepper.begin();
```

### Response
#### Success Response (200)
N/A (This method does not return a value indicating success/failure in this format)

#### Response Example
N/A
```

--------------------------------

### Initialize TMCStepper Driver and Basic Setup

Source: https://context7.com/teemuatlut/tmcstepper/llms.txt

Initializes the TMCStepper driver and sets essential parameters. Ensure the driver is enabled (toff > 0), current is set, microsteps are configured, and automatic current scaling is enabled.

```cpp
#include <TMCStepper.h>

#define EN_PIN    38
#define STEP_PIN  54
#define DIR_PIN   55
#define CS_PIN    42
#define R_SENSE   0.11f

TMC2130Stepper driver(CS_PIN, R_SENSE);

void setup() {
  pinMode(EN_PIN, OUTPUT);
  pinMode(STEP_PIN, OUTPUT);
  pinMode(DIR_PIN, OUTPUT);
  digitalWrite(EN_PIN, LOW);  // Enable driver (active LOW)

  SPI.begin();
  driver.begin();             // Initialize driver registers
  driver.toff(5);             // Enable driver (toff > 0 enables output)
  driver.rms_current(600);    // Set motor RMS current to 600mA
  driver.microsteps(16);      // Set microstepping to 1/16
  driver.pwm_autoscale(true); // Enable automatic current scaling
}
```

--------------------------------

### TMCStepper - hysteresis_start

Source: https://github.com/teemuatlut/tmcstepper/blob/master/docs/class_t_m_c2208_stepper-members.html

Sets or gets the hysteresis start value for the TMCStepper driver.

```APIDOC
## POST /hysteresis_start

### Description
Sets the hysteresis start value for the TMCStepper driver.

### Method
POST

### Endpoint
/hysteresis_start

### Parameters
#### Request Body
- **value** (uint8_t) - Required - The hysteresis start value to set.

### Request Example
```json
{
  "value": 10
}
```

### Response
#### Success Response (200)
- **message** (string) - Confirmation message.

#### Response Example
```json
{
  "message": "hysteresis_start set successfully"
}
```

## GET /hysteresis_start

### Description
Gets the current hysteresis start value from the TMCStepper driver.

### Method
GET

### Endpoint
/hysteresis_start

### Response
#### Success Response (200)
- **hysteresis_start_value** (uint8_t) - The current hysteresis start value.

#### Response Example
```json
{
  "hysteresis_start_value": 10
}
```
```

--------------------------------

### TMCStepper - hysteresis_start

Source: https://github.com/teemuatlut/tmcstepper/blob/master/docs/class_t_m_c2224_stepper-members.html

Sets or gets the hysteresis start value for the TMCStepper driver.

```APIDOC
## POST /api/stepper/tmc/hysteresis_start

### Description
Sets or gets the hysteresis start value for the TMC stepper driver.

### Method
POST

### Endpoint
/api/stepper/tmc/hysteresis_start

### Parameters
#### Request Body
- **value** (uint8_t) - Required - The value to set for hysteresis start.

### Request Example
```json
{
  "value": 10
}
```

### Response
#### Success Response (200)
- **status** (string) - Indicates success or failure.

#### Response Example
```json
{
  "status": "success"
}
```
```

--------------------------------

### Begin TMC2660Stepper Operation

Source: https://github.com/teemuatlut/tmcstepper/blob/master/docs/_t_m_c_stepper_8h_source.html

Initializes the TMC2660Stepper driver. Call this after constructing the object and before performing other operations.

```cpp
void begin();
```

--------------------------------

### TMC2160Stepper Initialization and Configuration

Source: https://github.com/teemuatlut/tmcstepper/blob/master/docs/_t_m_c_stepper_8h_source.html

Methods for starting the stepper driver, setting default configurations, and pushing settings.

```APIDOC
## TMC2160Stepper Initialization and Configuration

### Description

Provides methods to initialize the stepper driver, apply default settings, and push configuration changes.

### Method

`begin()`
`defaults()`
`push()`

### Endpoint

N/A

### Parameters

N/A

### Request Example

N/A

### Response

N/A

#### Success Response (200)

N/A

#### Response Example

N/A
```

--------------------------------

### TMC2660Stepper::hysteresis_start

Source: https://github.com/teemuatlut/tmcstepper/blob/master/docs/_t_m_c2660_stepper_8cpp_source.html

Gets the current hysteresis start value. This value is used to determine the starting point for the hysteresis function, which helps in reducing motor noise and vibration.

```APIDOC
## TMC2660Stepper::hysteresis_start

### Description
Gets the current hysteresis start value. This value is used to determine the starting point for the hysteresis function, which helps in reducing motor noise and vibration.

### Method
GET

### Endpoint
/api/stepper/hysteresis_start

### Response
#### Success Response (200)
- **hysteresis_start** (uint8_t) - The current hysteresis start value.

#### Response Example
```json
{
  "hysteresis_start": 5
}
```
```

--------------------------------

### TMC2660Stepper Constructor

Source: https://github.com/teemuatlut/tmcstepper/blob/master/docs/_t_m_c2660_stepper_8cpp_source.html

Initializes a new instance of the TMC2660Stepper driver.

```APIDOC
## TMC2660Stepper Constructor

### Description
Initializes the TMC2660Stepper object with the specified chip select pin and sense resistor value.

### Method
Constructor

### Parameters
- **pinCS** (uint16_t) - Required - The chip select pin number.
- **RS** (float) - Optional - The sense resistor value (defaults to default_RS).
```

--------------------------------

### TMC2160Stepper::begin

Source: https://github.com/teemuatlut/tmcstepper/blob/master/docs/_t_m_c5130_stepper_8cpp_source.html

Initializes the TMC2160 stepper driver.

```APIDOC
## void begin()

### Description
Performs the initialization sequence for the TMC2160 stepper driver.

### Method
void
```

--------------------------------

### TMCStepper Hysteresis Control

Source: https://github.com/teemuatlut/tmcstepper/blob/master/docs/_t_m_c_stepper_8cpp_source.html

Functions for setting and getting the hysteresis start and end values.

```APIDOC
## TMCStepper Hysteresis API

### Description
This API allows for the configuration and retrieval of hysteresis settings for the TMC stepper motor driver. Hysteresis is used to control the motor's behavior under varying load conditions.

### Functions

#### `void hysteresis_end(int8_t value)`

##### Description
Sets the hysteresis end value. The input value is adjusted by adding 3 before being stored internally.

##### Parameters
- **value** (int8_t) - The desired hysteresis end value.

#### `int8_t hysteresis_end()`

##### Description
Retrieves the current hysteresis end value. The internally stored value is adjusted by subtracting 3 before being returned.

##### Returns
- int8_t - The current hysteresis end value.

#### `void hysteresis_start(uint8_t value)`

##### Description
Sets the hysteresis start value. The input value is adjusted by subtracting 1 before being stored internally.

##### Parameters
- **value** (uint8_t) - The desired hysteresis start value.

#### `uint8_t hysteresis_start()`

##### Description
Retrieves the current hysteresis start value. The internally stored value is adjusted by adding 1 before being returned.

##### Returns
- uint8_t - The current hysteresis start value.

### Internal Details

- The `hysteresis_end` function interacts with an internal `hend` value, applying an offset of +3 during setting and -3 during retrieval.
- The `hysteresis_start` function interacts with an internal `hstrt` value, applying an offset of -1 during setting and +1 during retrieval.
```

--------------------------------

### TMC2208Stepper Initialization and Configuration

Source: https://github.com/teemuatlut/tmcstepper/blob/master/docs/class_t_m_c2224_stepper-members.html

Methods for initializing and configuring the TMC2208Stepper driver.

```APIDOC
## TMC2208Stepper Initialization and Configuration

### Description
This section details methods related to the initialization and configuration of the TMC2208Stepper driver.

### Methods

#### INIT_REGISTER(FACTORY_CONF)
*   **Description**: Initializes the driver with factory configuration.
*   **Method**: N/A (Constructor or initialization function)
*   **Endpoint**: N/A

#### internal_Rsense(bool B)
*   **Description**: Sets the internal Rsense value.
*   **Method**: N/A
*   **Endpoint**: N/A

#### internal_Rsense()
*   **Description**: Gets the internal Rsense value.
*   **Method**: N/A
*   **Endpoint**: N/A

#### intpol(bool B)
*   **Description**: Enables or disables interpolation.
*   **Method**: N/A
*   **Endpoint**: N/A

#### intpol()
*   **Description**: Gets the interpolation status.
*   **Method**: N/A
*   **Endpoint**: N/A

#### isEnabled()
*   **Description**: Checks if the driver is enabled.
*   **Method**: N/A
*   **Endpoint**: N/A

#### max_retries
*   **Description**: Property to get or set the maximum number of retries.
*   **Method**: N/A
*   **Endpoint**: N/A

#### mres(uint8_t B)
*   **Description**: Sets the motor resistance.
*   **Method**: N/A
*   **Endpoint**: N/A

#### mres()
*   **Description**: Gets the motor resistance.
*   **Method**: N/A
*   **Endpoint**: N/A

#### mstep_reg_select(bool B)
*   **Description**: Selects the mstep register.
*   **Method**: N/A
*   **Endpoint**: N/A

#### mstep_reg_select()
*   **Description**: Gets the mstep register selection status.
*   **Method**: N/A
*   **Endpoint**: N/A

#### multistep_filt(bool B)
*   **Description**: Enables or disables multistep filter.
*   **Method**: N/A
*   **Endpoint**: N/A

#### multistep_filt()
*   **Description**: Gets the multistep filter status.
*   **Method**: N/A
*   **Endpoint**: N/A

#### ola()
*   **Description**: Gets the OLA status.
*   **Method**: N/A
*   **Endpoint**: N/A

#### olb()
*   **Description**: Gets the OLB status.
*   **Method**: N/A
*   **Endpoint**: N/A

#### ot()
*   **Description**: Gets the OT status.
*   **Method**: N/A
*   **Endpoint**: N/A

#### OTP_PROG(uint16_t input)
*   **Description**: Programs the OTP value.
*   **Method**: N/A
*   **Endpoint**: N/A

#### OTP_READ()
*   **Description**: Reads the OTP value.
*   **Method**: N/A
*   **Endpoint**: N/A

#### otpw()
*   **Description**: Gets the OTPW status.
*   **Method**: N/A
*   **Endpoint**: N/A

#### otttrim(uint8_t B)
*   **Description**: Sets the OTtrim value.
*   **Method**: N/A
*   **Endpoint**: N/A

#### otttrim()
*   **Description**: Gets the OTtrim value.
*   **Method**: N/A
*   **Endpoint**: N/A

#### pdn_disable(bool B)
*   **Description**: Enables or disables power down.
*   **Method**: N/A
*   **Endpoint**: N/A

#### pdn_disable()
*   **Description**: Gets the power down status.
*   **Method**: N/A
*   **Endpoint**: N/A

#### push()
*   **Description**: Pushes configuration to the driver.
*   **Method**: N/A
*   **Endpoint**: N/A

#### PWM_AUTO()
*   **Description**: Enables automatic PWM mode.
*   **Method**: N/A
*   **Endpoint**: N/A

```

--------------------------------

### Get VSTART Register Value

Source: https://github.com/teemuatlut/tmcstepper/blob/master/docs/_t_m_c5130_stepper_8cpp_source.html

Retrieves the current value of the VSTART register. This is typically used to read the start velocity setting.

```cpp
uint32_t TMC5130Stepper::VSTART() { return VSTART_register.sr; }
```

--------------------------------

### TMC5130Stepper begin() Method

Source: https://github.com/teemuatlut/tmcstepper/blob/master/docs/_t_m_c5130_stepper_8cpp_source.html

Initializes the TMC5130Stepper by calling the parent begin() method and setting initial XTARGET and XACTUAL values to 0. This method prepares the stepper driver for operation.

```cpp
void TMC5130Stepper::begin() {
 TMC2160Stepper::begin();

 XTARGET(0);
 XACTUAL(0);
 //while (( RAMP_STAT() & cfg.VZERO_bm) != cfg.VZERO_bm) {}
}
```

--------------------------------

### Read Hysteresis Start Value

Source: https://github.com/teemuatlut/tmcstepper/wiki/API_TMC2130

Reads the current effective hysteresis start value.

```cpp
uint8_t hysteresis_start()

```

--------------------------------

### TMC2130Stepper::pwm_freq() (Get)

Source: https://github.com/teemuatlut/tmcstepper/blob/master/docs/class_t_m_c2130_stepper.html

Gets the PWM frequency setting for the TMC2130 stepper motor driver.

```APIDOC
## uint8_t TMC2130Stepper::pwm_freq()

### Description
Gets the current PWM frequency setting for the TMC2130 stepper motor driver.

### Method
GET

### Endpoint
/api/stepper/tmc2130/pwm_freq

### Parameters
None

### Request Example
None

### Response
#### Success Response (200)
- **pwm_frequency** (uint8_t) - The current PWM frequency value.

#### Response Example
```json
{
  "pwm_frequency": 5
}
```
```

--------------------------------

### Begin TMC2130 Driver Initialization

Source: https://github.com/teemuatlut/tmcstepper/wiki/API_TMC2130

Sets pin modes, initializes software SPI, and pushes default register values for GCONF, CHOPCONF, COOLCONF, PWMCONF, and IHOLD_IRUN. Also sets off time to 8 and blank time to 24.

```cpp
void begin()

```

--------------------------------

### Configure PWM Settings (PWMCONF)

Source: https://github.com/teemuatlut/tmcstepper/blob/master/docs/_t_m_c_stepper_8h_source.html

Sets or gets the overall PWM configuration. Accepts a uint32_t value for setting.

```cpp
void PWMCONF(uint32_t input);
```

```cpp
uint32_t PWMCONF();
```

--------------------------------

### TMC2130Stepper::pwm_autoscale() (Get)

Source: https://github.com/teemuatlut/tmcstepper/blob/master/docs/class_t_m_c2130_stepper.html

Gets the PWM autoscale setting for the TMC2130 stepper motor driver.

```APIDOC
## bool TMC2130Stepper::pwm_autoscale()

### Description
Gets the current PWM autoscale setting for the TMC2130 stepper motor driver.

### Method
GET

### Endpoint
/api/stepper/tmc2130/pwm_autoscale

### Parameters
None

### Request Example
None

### Response
#### Success Response (200)
- **pwm_autoscale** (bool) - True if PWM autoscale is enabled, false otherwise.

#### Response Example
```json
{
  "pwm_autoscale": true
}
```
```

--------------------------------

### TMC2130Stepper::pwm_ampl() (Get)

Source: https://github.com/teemuatlut/tmcstepper/blob/master/docs/class_t_m_c2130_stepper.html

Gets the PWM amplitude setting for the TMC2130 stepper motor driver.

```APIDOC
## uint8_t TMC2130Stepper::pwm_ampl()

### Description
Gets the current PWM amplitude setting for the TMC2130 stepper motor driver.

### Method
GET

### Endpoint
/api/stepper/tmc2130/pwm_ampl

### Parameters
None

### Request Example
None

### Response
#### Success Response (200)
- **pwm_amplitude** (uint8_t) - The current PWM amplitude value.

#### Response Example
```json
{
  "pwm_amplitude": 128
}
```
```

--------------------------------

### TMC2208Stepper::begin

Source: https://github.com/teemuatlut/tmcstepper/blob/master/docs/_t_m_c2208_stepper_8cpp_source.html

Initializes the TMC2208 stepper driver.

```APIDOC
## void begin()

### Description
Initializes the TMC2208 stepper driver instance.

### Method
void

### Endpoint
TMC2208Stepper::begin()
```

--------------------------------

### TMCStepper Initialization

Source: https://github.com/teemuatlut/tmcstepper/blob/master/docs/class_t_m_c5160_stepper-members.html

Methods for initializing TMCStepper with general settings.

```APIDOC
## TMCStepper::INIT_REGISTER

### Description
Initializes the TMCStepper with general settings.

### Method
protected

### Endpoint
N/A (Class method)

### Parameters
#### Path Parameters
None

#### Query Parameters
None

#### Request Body
None

### Request Example
```
TMCStepper::INIT_REGISTER(IHOLD_IRUN)
TMCStepper::INIT_REGISTER(TPOWERDOWN)
TMCStepper::INIT_REGISTER(TPWMTHRS)
```

### Response
#### Success Response (200)
N/A (Method call)

#### Response Example
None
```

--------------------------------

### Set Hysteresis Start Value

Source: https://github.com/teemuatlut/tmcstepper/wiki/API_TMC2130

Sets the effective hysteresis start value. Valid range is [1 to 8].

```cpp
void hysteresis_start(uint8_t)
```

--------------------------------

### Get TMC2660Stepper MRES

Source: https://github.com/teemuatlut/tmcstepper/blob/master/docs/_d_r_v_c_t_r_l_8cpp_source.html

Gets the micro-step resolution setting. Disables the driver if it's currently enabled, then reads the register.

```cpp
uint8_t TMC2660Stepper::mres(){
  if([sdoff](class_t_m_c2660_stepper.html#aa20df51be5967e40cc23132a1d461275)()) [sdoff](class_t_m_c2660_stepper.html#aa20df51be5967e40cc23132a1d461275)(0);
  [GET_REG0](_d_r_v_c_t_r_l_8cpp.html#a2543a2e98c05e6772d620d3c538ef0c4)([mres](class_t_m_c2660_stepper.html#a90c921e4f637bb688c5fadf491ee6f44));
}
```

--------------------------------

### TMC2130Stepper Configuration Methods

Source: https://github.com/teemuatlut/tmcstepper/blob/master/docs/class_t_m_c2130_stepper.html

Methods for getting and setting configuration parameters like vhighchm, vhighfs, and vsense.

```APIDOC
## vhighchm()

### Description
Gets or sets the vhighchm configuration.

### Parameters
- **B** (bool) - Optional - The value to set for vhighchm.

## vhighfs()

### Description
Gets or sets the vhighfs configuration.

### Parameters
- **B** (bool) - Optional - The value to set for vhighfs.

## vsense()

### Description
Gets or sets the vsense configuration.

### Parameters
- **B** (bool) - Optional - The value to set for vsense.
```

--------------------------------

### Set Hysteresis Start

Source: https://github.com/teemuatlut/tmcstepper/blob/master/docs/_t_m_c_stepper_8h_source.html

Sets the hysteresis start value for the stepper driver. This parameter affects the driver's current control.

```cpp
void [hysteresis_start](class_t_m_c_stepper.html#ac06189981d4400bf5961719f468c39b1)(uint8_t value);
```

--------------------------------

### TMC2660Stepper Configuration Methods

Source: https://github.com/teemuatlut/tmcstepper/blob/master/docs/class_t_m_c2660_stepper.html

Methods for getting and setting configuration values for ts2g, tst, and vsense.

```APIDOC
## ts2g()

### Description
Gets or sets the ts2g configuration value.

### Parameters
#### Request Body
- **B** (uint8_t) - Optional - The value to set for ts2g.

### Response
- **Return** (uint8_t) - The current ts2g value.

## tst()

### Description
Gets or sets the tst configuration value.

### Parameters
#### Request Body
- **B** (bool) - Optional - The value to set for tst.

### Response
- **Return** (bool) - The current tst value.

## vsense()

### Description
Gets or sets the vsense configuration value.

### Parameters
#### Request Body
- **B** (bool) - Optional - The value to set for vsense.

### Response
- **Return** (bool) - The current vsense value.
```

--------------------------------

### Get TMC2660Stepper INT POL

Source: https://github.com/teemuatlut/tmcstepper/blob/master/docs/_d_r_v_c_t_r_l_8cpp_source.html

Gets the interpolation mode setting. Disables the driver if it's currently enabled, then reads the register.

```cpp
bool TMC2660Stepper::intpol() {
  if([sdoff](class_t_m_c2660_stepper.html#aa20df51be5967e40cc23132a1d461275)()) [sdoff](class_t_m_c2660_stepper.html#aa20df51be5967e40cc23132a1d461275)(0);
  [GET_REG0](_d_r_v_c_t_r_l_8cpp.html#a2543a2e98c05e6772d620d3c538ef0c4)([intpol](class_t_m_c2660_stepper.html#a75917a3c209b939392c44a2012287820));
}
```

--------------------------------

### Configuration and State Methods

Source: https://github.com/teemuatlut/tmcstepper/blob/master/docs/class_t_m_c5161_stepper-members.html

Methods for configuring driver settings and retrieving state information.

```APIDOC
## Configuration Methods

### Description
Methods to set or get configuration parameters like Rsense, interpolation, and current settings.

### Methods
- internal_Rsense(bool B) / internal_Rsense()
- intpol(bool B) / intpol()
- inv(bool B) / inv()
- IOIN()
- irun(uint8_t B) / irun()
- isEnabled()
- latch_l_active(bool B) / latch_l_active()
- latch_l_inactive(bool B)
```

--------------------------------

### TMC2160Stepper Constructor

Source: https://github.com/teemuatlut/tmcstepper/blob/master/docs/_t_m_c2160_stepper_8cpp_source.html

Initializes a new instance of the TMC2160Stepper driver.

```APIDOC
## TMC2160Stepper::TMC2160Stepper

### Description
Initializes the TMC2160 stepper motor driver instance.

### Parameters
- **pinCS** (uint16_t) - Required - Chip select pin number.
- **RS** (float) - Optional - Sense resistor value (default: default_RS).
- **link_index** (int8_t) - Optional - Link index (default: -1).
```

--------------------------------

### Get seup Register

Source: https://github.com/teemuatlut/tmcstepper/blob/master/docs/_c_o_o_l_c_o_n_f_8cpp_source.html

Gets the 'seup' field of the COOLCONF register. This function is part of the TMC2130Stepper class and uses the GET_REG macro.

```cpp
uint8_t TMC2130Stepper::seup() { GET_REG(seup); }
```

--------------------------------

### Get semin Register

Source: https://github.com/teemuatlut/tmcstepper/blob/master/docs/_c_o_o_l_c_o_n_f_8cpp_source.html

Gets the 'semin' field of the COOLCONF register. This function is part of the TMC2130Stepper class and uses the GET_REG macro.

```cpp
uint8_t TMC2130Stepper::semin() { GET_REG(semin); }
```

--------------------------------

### Status and Configuration Methods

Source: https://github.com/teemuatlut/tmcstepper/blob/master/docs/_t_m_c_stepper_8h_source.html

Methods for checking driver status and configuring PWM parameters.

```cpp
bool olb();
bool stst();
void PWMCONF( uint32_t value);
uint32_t PWMCONF();
void pwm_ampl( uint8_t B);
void pwm_grad( uint8_t B);
void pwm_freq( uint8_t B);
void pwm_autoscale( bool B);
void pwm_symmetric( bool B);
void freewheel( uint8_t B);
uint8_t pwm_ampl();
uint8_t pwm_grad();
uint8_t pwm_freq();
bool pwm_autoscale();
bool pwm_symmetric();
uint8_t freewheel();
uint8_t PWM_SCALE();
```

--------------------------------

### Set Hysteresis Start Value

Source: https://github.com/teemuatlut/tmcstepper/blob/master/docs/_t_m_c_stepper_8cpp_source.html

Sets the hysteresis start value. The input value is adjusted by -1 before being written to the internal 'hstrt' register.

```cpp
void TMCStepper::hysteresis_start(uint8_t value) { [hstrt](class_t_m_c_stepper.html#ae40affb96ca05b4380adbdd961b62c7e)(value-1); }
```

--------------------------------

### TMC5130Stepper Initialization and Control

Source: https://github.com/teemuatlut/tmcstepper/blob/master/docs/_t_m_c_stepper_8h_source.html

Methods for initializing the TMC5130 driver, setting defaults, and pushing configurations to the hardware.

```APIDOC
## TMC5130Stepper::begin

### Description
Initializes the TMC5130 stepper driver.

### Method
void

## TMC5130Stepper::defaults

### Description
Resets the driver configuration to default values.

### Method
void

## TMC5130Stepper::push

### Description
Synchronizes the local configuration with the physical driver registers.

### Method
void
```

--------------------------------

### Get TMC2660Stepper DEDGE

Source: https://github.com/teemuatlut/tmcstepper/blob/master/docs/_d_r_v_c_t_r_l_8cpp_source.html

Gets the "stealthChop" mode setting. Disables the driver if it's currently enabled, then reads the register.

```cpp
bool TMC2660Stepper::dedge() {
  if([sdoff](class_t_m_c2660_stepper.html#aa20df51be5967e40cc23132a1d461275)()) [sdoff](class_t_m_c2660_stepper.html#aa20df51be5967e40cc23132a1d461275)(0);
  [GET_REG0](_d_r_v_c_t_r_l_8cpp.html#a2543a2e98c05e6772d620d3c538ef0c4)([dedge](class_t_m_c2660_stepper.html#a42f53be2a3773280e12cf9499dd02265));
}
```

--------------------------------

### TMC2160Stepper Initialization

Source: https://github.com/teemuatlut/tmcstepper/blob/master/docs/class_t_m_c5160_stepper-members.html

Methods for initializing TMC2160Stepper with different configuration options.

```APIDOC
## TMC2160Stepper::INIT_REGISTER

### Description
Initializes the TMC2160Stepper with a specified configuration.

### Method
protected

### Endpoint
N/A (Class method)

### Parameters
#### Path Parameters
None

#### Query Parameters
None

#### Request Body
None

### Request Example
```
TMC2160Stepper::INIT_REGISTER(SHORT_CONF)
TMC2160Stepper::INIT_REGISTER(DRV_CONF)
TMC2160Stepper::INIT_REGISTER(GLOBAL_SCALER)
```

### Response
#### Success Response (200)
N/A (Method call)

#### Response Example
None
```

--------------------------------

### Set Hysteresis Start Value

Source: https://github.com/teemuatlut/tmcstepper/blob/master/docs/_t_m_c_stepper_8h_source.html

Sets the 'THysteresisStart' value, which defines the start point of the hysteresis window for current control. This parameter influences motor behavior.

```cpp
void hysteresis_start(uint8_t value);
```

--------------------------------

### TMC5161Stepper Constructor

Source: https://github.com/teemuatlut/tmcstepper/blob/master/docs/_t_m_c_stepper_8h_source.html

Initializes a new instance of the TMC5161Stepper driver.

```APIDOC
## TMC5161Stepper(uint16_t pinCS, float RS, int8_t link_index)

### Description
Constructor for the TMC5161Stepper class.

### Parameters
- **pinCS** (uint16_t) - Required - Chip select pin number.
- **RS** (float) - Optional - Sense resistor value (default: default_RS).
- **link_index** (int8_t) - Optional - Link index for daisy chaining (default: -1).
```

--------------------------------

### VACTUAL()

Source: https://github.com/teemuatlut/tmcstepper/blob/master/docs/class_t_m_c5130_stepper.html

Gets the actual velocity.

```APIDOC
## int32_t VACTUAL()

### Description
Gets the actual velocity.

### Method
int32_t

### Endpoint
N/A (Class method)

### Parameters
#### Path Parameters
N/A

#### Query Parameters
N/A

#### Request Body
N/A

### Request Example
N/A

### Response
#### Success Response (200)
- **int32_t**: The actual velocity value.

#### Response Example
N/A
```

--------------------------------

### TMCStepper Initialization and Configuration Methods

Source: https://github.com/teemuatlut/tmcstepper/blob/master/docs/functions_i.html

Common methods used for initializing registers and configuring stepper driver parameters such as current scaling, hold current, and internal sense resistors.

```APIDOC
## Initialization and Configuration

### Description
Methods for initializing driver registers and setting operational parameters.

### Methods
- **INIT_REGISTER()**: Initializes the driver registers for various models (TMC2130, TMC2160, TMC2208, TMC2209, TMC5130, TMC5160).
- **I_scale_analog()**: Configures the analog current scaling.
- **internal_Rsense()**: Configures the internal sense resistor settings.
- **isEnabled()**: Checks if the driver is currently enabled.

### Parameters
- **TMCStepper Classes**: The methods are available across various driver classes including TMC2130Stepper, TMC2208Stepper, and TMC5130Stepper.
```

--------------------------------

### Connection and Configuration Methods

Source: https://github.com/teemuatlut/tmcstepper/blob/master/docs/functions_t.html

Methods for testing driver connections and setting power-related thresholds.

```APIDOC
## test_connection()

### Description
Verifies the communication link with the stepper driver.

### Method
GET

### Endpoint
/test_connection

## TCOOLTHRS(uint32_t)

### Description
Sets the coolStep threshold speed. Below this speed, coolStep is disabled.

### Method
POST

### Endpoint
/TCOOLTHRS

## TPOWERDOWN(uint32_t)

### Description
Sets the delay time after which the driver enters power-down mode.

### Method
POST

### Endpoint
/TPOWERDOWN
```

--------------------------------

### SHORT_CONF()

Source: https://github.com/teemuatlut/tmcstepper/blob/master/docs/class_t_m_c2160_stepper.html

Gets the SHORT_CONF value.

```APIDOC
## uint32_t SHORT_CONF()

### Description
Gets the SHORT_CONF value.

### Method
uint32_t

### Endpoint
N/A

### Parameters
#### Path Parameters
N/A

#### Query Parameters
N/A

#### Request Body
N/A

### Request Example
N/A

### Response
#### Success Response (200)
N/A

#### Response Example
N/A
```

--------------------------------

### s2vs_level()

Source: https://github.com/teemuatlut/tmcstepper/blob/master/docs/class_t_m_c2160_stepper.html

Gets the S2VS level.

```APIDOC
## uint8_t s2vs_level()

### Description
Gets the S2VS level.

### Method
uint8_t

### Endpoint
N/A

### Parameters
#### Path Parameters
N/A

#### Query Parameters
N/A

#### Request Body
N/A

### Request Example
N/A

### Response
#### Success Response (200)
N/A

#### Response Example
N/A
```

--------------------------------

### TMC5160Stepper Constructor

Source: https://github.com/teemuatlut/tmcstepper/blob/master/docs/_t_m_c5160_stepper_8cpp_source.html

Initializes the TMC5160Stepper driver with specified parameters.

```APIDOC
## TMC5160Stepper Constructor

### Description
Initializes the TMC5160Stepper driver. Allows setting the CS pin, reference resistor value, and link index.

### Method
Constructor

### Parameters
#### Path Parameters
- **pinCS** (uint16_t) - Required - The chip select pin for the driver.
- **RS** (float) - Optional - The value of the reference resistor (default is `default_RS`).
- **link_index** (int8_t) - Optional - The index for linking drivers (default is -1).

### Request Example
```cpp
TMC5160Stepper stepper(10);
```

### Response
N/A (Constructor)
```

--------------------------------

### TMCStepper Configuration Methods

Source: https://github.com/teemuatlut/tmcstepper/blob/master/docs/class_t_m_c2160_stepper-members.html

Methods for configuring power, thresholds, and stepper parameters.

```APIDOC
## TPOWERDOWN

### Description
Sets or gets the TPOWERDOWN register value.

### Parameters
#### Request Body
- **input** (uint8_t) - Optional - The value to set for TPOWERDOWN.

---

## TPWMTHRS

### Description
Sets or gets the TPWMTHRS register value.

### Parameters
#### Request Body
- **input** (uint32_t) - Optional - The value to set for TPWMTHRS.
```

--------------------------------

### s2g_level()

Source: https://github.com/teemuatlut/tmcstepper/blob/master/docs/class_t_m_c2160_stepper.html

Gets the S2G level.

```APIDOC
## uint8_t s2g_level()

### Description
Gets the S2G level.

### Method
uint8_t

### Endpoint
N/A

### Parameters
#### Path Parameters
N/A

#### Query Parameters
N/A

#### Request Body
N/A

### Request Example
N/A

### Response
#### Success Response (200)
N/A

#### Response Example
N/A
```

--------------------------------

### version()

Source: https://github.com/teemuatlut/tmcstepper/blob/master/docs/class_t_m_c5130_stepper.html

Gets the version of the stepper driver.

```APIDOC
## uint8_t version()

### Description
Gets the version of the stepper driver.

### Method
uint8_t

### Endpoint
N/A (Class method)

### Parameters
#### Path Parameters
N/A

#### Query Parameters
N/A

#### Request Body
N/A

### Request Example
N/A

### Response
#### Success Response (200)
- **uint8_t**: The version number of the stepper driver.

#### Response Example
N/A
```

--------------------------------

### TMCStepper::hysteresis_start (overload 1)

Source: https://github.com/teemuatlut/tmcstepper/blob/master/docs/class_t_m_c_stepper.html

Initializes hysteresis start for the TMCStepper motor driver.

```APIDOC
## uint8_t hysteresis_start()

### Description
Initializes hysteresis start for the TMCStepper motor driver.

### Method
uint8_t

### Endpoint
N/A

### Parameters
#### Path Parameters
N/A

#### Query Parameters
N/A

#### Request Body
N/A

### Request Example
N/A

### Response
#### Success Response (200)
N/A

#### Response Example
N/A
```

--------------------------------

### shortfilter()

Source: https://github.com/teemuatlut/tmcstepper/blob/master/docs/class_t_m_c2160_stepper.html

Gets the short filter value.

```APIDOC
## uint8_t shortfilter()

### Description
Gets the short filter value.

### Method
uint8_t

### Endpoint
N/A

### Parameters
#### Path Parameters
N/A

#### Query Parameters
N/A

#### Request Body
N/A

### Request Example
N/A

### Response
#### Success Response (200)
N/A

#### Response Example
N/A
```

--------------------------------

### TMC2660Stepper Initialization and Basic Control

Source: https://github.com/teemuatlut/tmcstepper/blob/master/docs/_t_m_c_stepper_8h_source.html

Methods for initializing the stepper driver and performing basic operations like reading, writing, and checking connection status.

```APIDOC
## TMC2660Stepper Initialization and Control

### Description
Methods to initialize the TMC2660 driver and perform low-level SPI communication.

### Methods
- **TMC2660Stepper(uint16_t pinCS, float RS)**: Constructor with CS pin and sense resistor value.
- **void write(uint8_t addressByte, uint32_t config)**: Writes a configuration value to a specific register address.
- **uint32_t read()**: Reads the current register value.
- **void begin()**: Initializes the driver.
- **uint8_t test_connection()**: Verifies communication with the driver.
```

--------------------------------

### ms2()

Source: https://github.com/teemuatlut/tmcstepper/blob/master/docs/class_t_m_c2209_stepper.html

Gets the status of the MS2 input.

```APIDOC
## ms2()

### Description
Gets the status of the MS2 input.

### Method
GET

### Endpoint
N/A

### Parameters
#### Path Parameters
N/A

#### Query Parameters
N/A

#### Request Body
N/A

### Request Example
N/A

### Response
#### Success Response (200)
- **bool**: The status of the MS2 input.

#### Response Example
```json
{
  "ms2_status": false
}
```
```

--------------------------------

### TMC2209Stepper Initialization

Source: https://github.com/teemuatlut/tmcstepper/blob/master/docs/class_t_m_c2209_stepper.html

Initializes the TMC2209Stepper with CHOPCONF or PWMCONF settings.

```APIDOC
## TMC2209Stepper Initialization

### Description
Initializes the TMC2209Stepper with either CHOPCONF or PWMCONF configuration.

### Methods
- `INIT2208_REGISTER(CHOPCONF)`
- `INIT2208_REGISTER(PWMCONF)`

### Parameters
- `CHOPCONF`: Configuration structure for chop mode.
- `PWMCONF`: Configuration structure for PWM mode.
```

--------------------------------

### ms1()

Source: https://github.com/teemuatlut/tmcstepper/blob/master/docs/class_t_m_c2209_stepper.html

Gets the status of the MS1 input.

```APIDOC
## ms1()

### Description
Gets the status of the MS1 input.

### Method
GET

### Endpoint
N/A

### Parameters
#### Path Parameters
N/A

#### Query Parameters
N/A

#### Request Body
N/A

### Request Example
N/A

### Response
#### Success Response (200)
- **bool**: The status of the MS1 input.

#### Response Example
```json
{
  "ms1_status": true
}
```
```

--------------------------------

### PWM Configuration Constructor

Source: https://github.com/teemuatlut/tmcstepper/blob/master/docs/functions_p.html

Details the constructor for PWM configuration.

```APIDOC
## PWM Configuration Constructor

### Description
Constructor for initializing PWM configuration settings.

### Method
- **PWMCONF()**

### Associated Classes
- TMC2130Stepper
- TMC2160Stepper
- TMC2208Stepper
```

--------------------------------

### TMC2660Stepper Methods

Source: https://github.com/teemuatlut/tmcstepper/blob/master/docs/_t_m_c2660_stepper_8cpp_source.html

Core methods for initializing the driver, checking status, and managing motor current.

```APIDOC
## void begin()

### Description
Initializes the TMC2660 stepper driver by setting pin modes and configuring default off-time and blank-time registers.

### Method
void

## bool isEnabled()

### Description
Checks if the driver is enabled by verifying if the off-time (toff) is greater than zero.

### Method
bool

## uint8_t test_connection()

### Description
Tests the connection to the driver by reading the DRVSTATUS register.

### Response
- **Returns** (uint8_t) - 1 if connected, 2 if no response, 0 otherwise.

## uint16_t rms_current()

### Description
Calculates and returns the current RMS value in milliamperes.

### Method
uint16_t

## void rms_current(uint16_t mA)

### Description
Sets the motor current in milliamperes. Automatically adjusts the current scale (CS) and sensitivity (vsense) based on the requested current.

### Parameters
- **mA** (uint16_t) - Required - Target current in milliamperes.

## void push()

### Description
Synchronizes local shadow registers with the physical TMC2660 registers (DRVCTRL, CHOPCONF, SMARTEN, SGCSCONF, DRVCONF).

## void hysteresis_end(int8_t value)

### Description
Sets the hysteresis end value.

### Parameters
- **value** (int8_t) - Required - The hysteresis end value to set.
```

--------------------------------

### TMC2130Stepper::dc_sg

Source: https://github.com/teemuatlut/tmcstepper/blob/master/docs/_t_m_c2130_stepper_8cpp_source.html

Gets the DC_SG setting.

```APIDOC
## TMC2130Stepper::dc_sg

### Description
Retrieves the DC_SG (Stallguard Threshold) setting.

### Method
```
uint8_t dc_sg()
```

### Endpoint
N/A (Class method)

### Parameters
None

### Request Example
None

### Response
#### Success Response (200)
- **return value** (uint8_t) - The value of the DC_SG setting.

#### Response Example
```json
{
  "example": 10
}
```
```

--------------------------------

### TMC2660Stepper Methods

Source: https://github.com/teemuatlut/tmcstepper/blob/master/docs/class_t_m_c2660_stepper.html

A collection of methods for interacting with the TMC2660 stepper driver, including configuration and status retrieval.

```APIDOC
## void phb(bool B)

### Description
Sets the phb configuration parameter.

### Parameters
#### Request Body
- **B** (bool) - Required - The boolean value to set for phb.

---

## void push()

### Description
Pushes the current configuration to the TMC2660 stepper driver.

---

## uint8_t rdsel()

### Description
Reads the current rdsel configuration value.

### Response
- **value** (uint8_t) - The current rdsel value.

---

## void rdsel(uint8_t B)

### Description
Sets the rdsel configuration value.

### Parameters
#### Request Body
- **B** (uint8_t) - Required - The value to set for rdsel.

---

## uint32_t read()

### Description
Reads the current status or register value from the TMC2660.

### Response
- **value** (uint32_t) - The raw register value read from the driver.

---

## uint16_t rms_current()

### Description
Gets the current RMS current setting.

### Response
- **mA** (uint16_t) - The current in milliamperes.

---

## void rms_current(uint16_t mA)

### Description
Sets the RMS current for the stepper motor.

### Parameters
#### Request Body
- **mA** (uint16_t) - Required - The target current in milliamperes.

---

## bool rndtf()

### Description
Gets the current rndtf configuration state.

### Response
- **state** (bool) - The current state of rndtf.

---

## void rndtf(bool B)

### Description
Sets the rndtf configuration state.

### Parameters
#### Request Body
- **B** (bool) - Required - The boolean state to set.

---

## bool s2ga()

### Description
Checks the s2ga status flag.

### Response
- **status** (bool) - True if s2ga is active, false otherwise.

---

## bool s2gb()

### Description
Checks the s2gb status flag.

### Response
- **status** (bool) - True if s2gb is active, false otherwise.
```

--------------------------------

### TMC2130Stepper::sedn

Source: https://github.com/teemuatlut/tmcstepper/blob/master/docs/_t_m_c2130_stepper_8cpp_source.html

Gets the SEDN setting.

```APIDOC
## TMC2130Stepper::sedn

### Description
Retrieves the SEDN (Set Driver Enable) setting.

### Method
```
uint8_t sedn()
```

### Endpoint
N/A (Class method)

### Parameters
None

### Request Example
None

### Response
#### Success Response (200)
- **return value** (uint8_t) - The value of the SEDN setting.

#### Response Example
```json
{
  "example": 1
}
```
```

--------------------------------

### TMCStepper Configuration Methods

Source: https://github.com/teemuatlut/tmcstepper/blob/master/docs/class_t_m_c2130_stepper-members.html

Methods for configuring basic driver parameters like RMS current and device reset.

```APIDOC
## POST /reset

### Description
Resets the TMC stepper driver to its default state.

## POST /rms_current

### Description
Sets the RMS current for the stepper motor.

### Parameters
#### Request Body
- **mA** (uint16_t) - Required - Current in milliamperes
- **mult** (float) - Optional - Multiplier for current calculation
```

--------------------------------

### TMC2130Stepper::maxspeed

Source: https://github.com/teemuatlut/tmcstepper/blob/master/docs/_t_m_c2130_stepper_8cpp_source.html

Gets the MAXSPEED setting.

```APIDOC
## TMC2130Stepper::maxspeed

### Description
Retrieves the MAXSPEED setting, which defines the maximum speed for the driver.

### Method
```
bool maxspeed()
```

### Endpoint
N/A (Class method)

### Parameters
None

### Request Example
None

### Response
#### Success Response (200)
- **return value** (bool) - The status of the MAXSPEED setting.

#### Response Example
```json
{
  "example": true
}
```
```

--------------------------------

### TMC5160Stepper Constructor (pinCS, RS, pinMOSI, pinMISO, pinSCK, link)

Source: https://github.com/teemuatlut/tmcstepper/blob/master/docs/_t_m_c5160_stepper_8cpp_source.html

Initializes the TMC5160Stepper with detailed SPI pins, reference resistor value, and link ID. Calls the defaults() method for initial configuration.

```cpp
TMC5160Stepper::TMC5160Stepper(uint16_t pinCS, float RS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link) :
  TMC5130Stepper(pinCS, RS, pinMOSI, pinMISO, pinSCK, link)
{
  defaults();
}
```