TMCStepper

https://teemuatlut.github.io/TMCStepper/
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TMCStepper is a C++ library for controlling Trinamic stepper motor drivers (TMC2130, TMC2160,...
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### TMC2130Stepper INIT_REGISTER examples

Source: https://teemuatlut.github.io/TMCStepper/_t_m_c_stepper_8h_source.html

Examples of initializing various registers for the TMC2130Stepper class. These macros set up default values for configuration registers.

```cpp
INIT_REGISTER(GCONF){{.sr=0}}; // 32b
INIT_REGISTER(TCOOLTHRS){.sr=0}; // 32b
INIT_REGISTER(THIGH){.sr=0}; // 32b
INIT_REGISTER(XDIRECT){{.sr=0}}; // 32b
INIT_REGISTER(VDCMIN){.sr=0}; // 32b
INIT_REGISTER(CHOPCONF){{.sr=0}}; // 32b
INIT_REGISTER(COOLCONF){{.sr=0}}; // 32b
INIT_REGISTER(DCCTRL){.sr = 0}}; // 32b
INIT_REGISTER(PWMCONF){{.sr=0}}; // 32b
INIT_REGISTER(ENCM_CTRL){{.sr=0}};// 8b
```

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

### TMC2160Stepper INIT_REGISTER examples

Source: https://teemuatlut.github.io/TMCStepper/_t_m_c_stepper_8h_source.html

Examples of initializing specific registers for the TMC2160Stepper class using INIT_REGISTER and INIT2160_REGISTER macros. These set default values for configuration registers.

```cpp
INIT_REGISTER(SHORT_CONF){{.sr=0}};
INIT_REGISTER(DRV_CONF){{.sr=0}};
INIT_REGISTER(GLOBAL_SCALER){.sr=0};
INIT2160_REGISTER(PWMCONF){{.sr=0}};
```

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

### Register Macros

Source: https://teemuatlut.github.io/TMCStepper/_e_n_c_m_o_d_e_8cpp_source.html

Macros for getting or setting register configurations.

```cpp
#define GET_REG(SETTING)
```

```cpp
#define SET_REG(SETTING)
```

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

### VSTART() Function

Source: https://teemuatlut.github.io/TMCStepper/class_t_m_c5130_stepper.html

Controls the start of the stepper motor's motion profile.

```APIDOC
## VSTART()

### Description
Controls the start of the stepper motor's motion profile. This function has two overloaded versions: one that takes no arguments and one that accepts a uint32_t input.

### Method
- `uint32_t VSTART()`
- `void VSTART(uint32_t _input)`

### Endpoint
N/A (This is a class member function, not a REST endpoint)

### Parameters
#### `uint32_t VSTART()`
No parameters.

#### `void VSTART(uint32_t _input)`
- **_input** (uint32_t) - Required - Input value for starting the motion.

### Request Example
```cpp
// For the version without input
TMC5130Stepper stepper;
stepper.VSTART();

// For the version with input
stepper.VSTART(1000);
```

### Response
#### Success Response (200)
- `uint32_t` (for the version without input): Returns a status code or value related to the start operation.
- `void` (for the version with input): Indicates successful execution.

#### Response Example
```json
// Example for uint32_t return type (actual value depends on implementation)
1
```
```json
// void return type has no response body
```
```

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

### Get Hysteresis Start Value

Source: https://teemuatlut.github.io/TMCStepper/_t_m_c_stepper_8cpp_source.html

Retrieves the hysteresis start value. The internal register value is adjusted by adding 1.

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

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

### begin()

Source: https://teemuatlut.github.io/TMCStepper/class_t_m_c2160_stepper.html

Initializes the TMC2160Stepper.

```APIDOC
## begin()

### Description
Initializes the TMC2160Stepper.

### Method
GET

### Endpoint
N/A (Class method)

### Parameters
None

### Response
#### Success Response (200)
None

#### Response Example
None
```

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

### Set Hysteresis Start Value

Source: https://teemuatlut.github.io/TMCStepper/_t_m_c_stepper_8cpp_source.html

Sets the hysteresis start value. The input `value` is adjusted by subtracting 1 before being set.

```cpp
void TMCStepper::hysteresis_start(uint8_t value) { hstrt(value-1); }
```

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

### TMC2160Stepper begin() and defaults()

Source: https://teemuatlut.github.io/TMCStepper/_t_m_c_stepper_8h_source.html

Initializes the TMC2160Stepper driver and sets default configurations. Call begin() after construction and defaults() for standard settings.

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

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

### TMCStepper Class Members - Functions starting with 'A'

Source: https://teemuatlut.github.io/TMCStepper/functions_func_a.html

Lists functions within the TMCStepper class that start with the letter 'A', along with their respective classes.

```APIDOC
## TMCStepper Class Members - Functions starting with 'A'

### Description
This section details functions within the TMCStepper class that begin with the letter 'A'.

### Method
N/A (Documentation of functions)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

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

#### Response Example
N/A

## Functions

### A1()
  * Class: TMC5130Stepper

### active()
  * Class: SSwitch

### AMAX()
  * Class: TMC5130Stepper
```

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

### TMC5130Stepper begin Method

Source: https://teemuatlut.github.io/TMCStepper/class_t_m_c5130_stepper.html

Initializes the TMC5130 stepper driver hardware.

```APIDOC
## TMC5130Stepper::begin

### Description
Performs the necessary initialization for the TMC5130 stepper driver.
```

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

### TMC2660Stepper begin Function

Source: https://teemuatlut.github.io/TMCStepper/_t_m_c_stepper_8h_source.html

Initializes the TMC2660Stepper driver. This function should be called before using the driver.

```cpp
void begin()
```

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

### TMC2660Stepper::begin

Source: https://teemuatlut.github.io/TMCStepper/_t_m_c2660_stepper_8cpp_source.html

Initializes the TMC2660Stepper object, setting up the Chip Select pin as an output and ensuring it is initially high (deselected).

```APIDOC
## void TMC2660Stepper::begin()

### Description
Initializes the TMC2660Stepper hardware interface. It configures the Chip Select (CS) pin as an output and sets its initial state to HIGH, indicating that the driver is not selected.

### Method
void

### Endpoint
N/A

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

#### Query Parameters
N/A

#### Request Body
N/A

### Request Example
```cpp
TMC2660Stepper stepper(pinCS);
stepper.begin();
```

### Response
N/A
```

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

### TMCStepper Class Members - Functions starting with 'o'

Source: https://teemuatlut.github.io/TMCStepper/functions_func_o.html

This section lists functions within the TMCStepper library that start with the letter 'o', along with the classes they belong to.

```APIDOC
## Functions starting with 'o'

### Description
Lists functions within the TMCStepper library that begin with the letter 'o'.

### Method
N/A (Documentation of library functions)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
#### Success Response (200)
- **Function Name** (string) - The name of the function.
- **Classes** (array of strings) - The classes where the function is defined.

### Response Example
```json
[
  {
    "Function Name": "OFFSET_READ()",
    "Classes": ["TMC2160Stepper"]
  },
  {
    "Function Name": "ola()",
    "Classes": ["TMC2130Stepper", "TMC2208Stepper", "TMC2660Stepper"]
  },
  {
    "Function Name": "olb()",
    "Classes": ["TMC2130Stepper", "TMC2208Stepper", "TMC2660Stepper"]
  },
  {
    "Function Name": "ot()",
    "Classes": ["TMC2130Stepper", "TMC2208Stepper", "TMC2660Stepper"]
  },
  {
    "Function Name": "OTP_PROG()",
    "Classes": ["TMC2208Stepper"]
  },
  {
    "Function Name": "OTP_READ()",
    "Classes": ["TMC2208Stepper"]
  },
  {
    "Function Name": "otpw()",
    "Classes": ["TMC2130Stepper", "TMC2208Stepper", "TMC2660Stepper"]
  },
  {
    "Function Name": "otselect()",
    "Classes": ["TMC2160Stepper"]
  },
  {
    "Function Name": "ottrim()",
    "Classes": ["TMC2208Stepper"]
  }
]
```
```

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

### TMCStepper Class Members - Functions starting with 'r'

Source: https://teemuatlut.github.io/TMCStepper/functions_func_r.html

This section lists functions within the TMCStepper library that start with the letter 'r', along with the classes they belong to.

```APIDOC
## Functions starting with 'r'

### Description
Lists functions within the TMCStepper library that start with the letter 'r'.

### Functions
- **RAMP_STAT()** : TMC5130Stepper
- **RAMPMODE()** : TMC5130Stepper
- **rdsel()** : TMC2660Stepper
- **read()** : TMC2130Stepper, TMC2208Stepper, TMC2660Stepper, TMCStepper
- **recalibrate()** : TMC5160Stepper
- **refl_step()** : TMC2160Stepper, TMC5130Stepper
- **refr_dir()** : TMC2160Stepper, TMC5130Stepper
- **reset()** : TMCStepper
- **rms_current()** : TMC2160Stepper, TMC2660Stepper, TMC5130Stepper, TMC5160Stepper, TMCStepper
- **rndtf()** : TMC2130Stepper, TMC2660Stepper
```

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

### TMC2660Stepper::begin

Source: https://teemuatlut.github.io/TMCStepper/class_t_m_c2660_stepper.html

Initializes the stepper driver communication.

```APIDOC
## void begin()

### Description
Prepares the TMC2660 driver for operation.

### Method
void

### Endpoint
TMC2660Stepper::begin()
```

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

### TMCStepper Initialization and Configuration Methods

Source: https://teemuatlut.github.io/TMCStepper/functions_func_b.html

Overview of common initialization and configuration methods available across various TMCStepper driver classes.

```APIDOC
## Initialization and Configuration Methods

### Description
Methods used to initialize communication and configure timing parameters for TMC stepper drivers.

### Methods
- **begin()**: Initializes the driver communication. Supported by SW_SPIClass, TMC2130Stepper, TMC2160Stepper, TMC2208Stepper, TMC2660Stepper, and TMC5130Stepper.
- **beginSerial()**: Initializes serial communication for TMC2208Stepper.
- **bbmclks()**: Configures break-before-make clocks for TMC2160Stepper.
- **bbmtime()**: Configures break-before-make time for TMC2160Stepper.
- **blank_time()**: Configures blanking time for TMC2660Stepper and TMCStepper.
```

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

### TMC2660Stepper::SGCSCONF()

Source: https://teemuatlut.github.io/TMCStepper/class_t_m_c2660_stepper.html

Sets or gets the StealthChop CoolStep configuration for the stepper motor. This function has two overloads: one to get the current configuration and one to set it.

```APIDOC
## TMC2660Stepper::SGCSCONF()

### Description
Sets or gets the StealthChop CoolStep configuration for the stepper motor.

### Method
GET/SET

### Endpoint
N/A (Class method)

### Parameters
#### Path Parameters
None

#### Query Parameters
None

#### Request Body
- **_data_** (uint32_t) - Optional - The value to set the StealthChop CoolStep configuration to.

### Request Example
```json
{
  "_data_": 16383
}
```

### Response
#### Success Response (200)
- **return_value** (uint32_t) - The current StealthChop CoolStep configuration value if no argument is provided.
- **void** - If an argument is provided, the function returns void after setting the value.

#### Response Example
```json
{
  "return_value": 16383
}
```
```

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

### Initialize and Configure TMC5160Stepper

Source: https://teemuatlut.github.io/TMCStepper/_t_m_c5160_stepper_8cpp_source.html

Constructor and default configuration methods for the TMC5160Stepper driver.

```cpp
1 #include "TMCStepper.h"
2 #include "TMC_MACROS.h"
3
4 TMC5160Stepper::TMC5160Stepper(uint16_t pinCS, float RS, int8_t link) : TMC5130Stepper(pinCS, RS, link)
5 { defaults(); }
6 TMC5160Stepper::TMC5160Stepper(uint16_t pinCS, float RS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link) :
7 TMC5130Stepper(pinCS, RS, pinMOSI, pinMISO, pinSCK, link)
8 { defaults(); }
9 TMC5160Stepper::TMC5160Stepper(uint16_t pinCS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link) :
10 TMC5130Stepper(pinCS, default_RS, pinMOSI, pinMISO, pinSCK, link)
11 { defaults(); }
12
13 void TMC5160Stepper::defaults() {
14 SHORT_CONF_register.s2vs_level = 6;
15 SHORT_CONF_register.s2g_level = 6;
16 SHORT_CONF_register.shortfilter = 0b01;
17 SHORT_CONF_register.shortdelay = 0;
18 DRV_CONF_register.bbmtime = 0;
19 DRV_CONF_register.bbmclks = 4;
20 DRV_CONF_register.otselect = 0b00;
21 DRV_CONF_register.drvstrength = 0b10;
22 DRV_CONF_register.filt_isense = 0b00;
23 TPOWERDOWN_register.sr = 10;
24 VSTOP_register.sr = 1;
25 ENC_CONST_register.sr = 65536;
26 //MSLUT0_register.sr = ???;
27 //MSLUT1_register.sr = ???;
28 //MSLUT2_register.sr = ???;
29 //MSLUT3_register.sr = ???;
30 //MSLUT4_register.sr = ???;
31 //MSLUT5_register.sr = ???;
32 //MSLUT6_register.sr = ???;
33 //MSLUT7_register.sr = ???;
34 //MSLUTSEL_register.sr = ???;
35 //MSLUTSTART_register.start_sin = 0;
36 //MSLUTSTART_register.start_sin90 = 247;
37 CHOPCONF_register.sr = 0x10410150;
38 PWMCONF_register.sr = 0xC40C001E;
39 }
40
41 void TMC5160Stepper::push() {
42 IHOLD_IRUN(IHOLD_IRUN_register.sr);
43 TPOWERDOWN(TPOWERDOWN_register.sr);
44 TPWMTHRS(TPWMTHRS_register.sr);
45 GCONF(GCONF_register.sr);
46 TCOOLTHRS(TCOOLTHRS_register.sr);
47 THIGH(THIGH_register.sr);
48 XDIRECT(XDIRECT_register.sr);
49 VDCMIN(VDCMIN_register.sr);
50 CHOPCONF(CHOPCONF_register.sr);
51 COOLCONF(COOLCONF_register.sr);
52 DCCTRL(DCCTRL_register.sr);
53 PWMCONF(PWMCONF_register.sr);
54 SHORT_CONF(SHORT_CONF_register.sr);
55 DRV_CONF(DRV_CONF_register.sr);
56 GLOBAL_SCALER(GLOBAL_SCALER_register.sr);
57 SLAVECONF(SLAVECONF_register.sr);
58 TMC_OUTPUT(OUTPUT_register.sr);
59 X_COMPARE(X_COMPARE_register.sr);
60 RAMPMODE(RAMPMODE_register.sr);
61 XACTUAL(XACTUAL_register.sr);
62 VSTART(VSTART_register.sr);
63 A1(A1_register.sr);
```

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

### TMC2660Stepper::sfilt()

Source: https://teemuatlut.github.io/TMCStepper/class_t_m_c2660_stepper.html

Sets or gets the stealthChop filter setting for the stepper motor. This function has two overloads: one to get the current value and one to set it.

```APIDOC
## TMC2660Stepper::sfilt()

### Description
Sets or gets the stealthChop filter setting for the stepper motor.

### Method
GET/SET

### Endpoint
N/A (Class method)

### Parameters
#### Path Parameters
None

#### Query Parameters
None

#### Request Body
- **_B_** (bool) - Optional - The value to set the stealthChop filter to (true to enable, false to disable).

### Request Example
```json
{
  "_B_": true
}
```

### Response
#### Success Response (200)
- **return_value** (bool) - The current stealthChop filter setting if no argument is provided.
- **void** - If an argument is provided, the function returns void after setting the value.

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

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

### Set and Get SGTHRS Register - TMC2209Stepper

Source: https://teemuatlut.github.io/TMCStepper/_t_m_c2209_stepper_8cpp_source.html

Sets and gets the SGTHRS (StallGuard Threshold) register for the TMC2209 stepper driver. This register controls the sensitivity of the StallGuard feature.

```cpp
void TMC2209Stepper::SGTHRS(uint8_t input) {
SGTHRS_register.sr = input;
write(SGTHRS_register.address, SGTHRS_register.sr);
}
```

```cpp
uint8_t TMC2209Stepper::SGTHRS() {
return SGTHRS_register.sr;
}
```

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

### TMC2660Stepper Constructor

Source: https://teemuatlut.github.io/TMCStepper/_t_m_c2660_stepper_8cpp_source.html

Initializes a new instance of the TMC2660Stepper driver.

```APIDOC
## Constructor TMC2660Stepper

### Description
Initializes the TMC2660Stepper driver instance.

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

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

### TMCStepper Class Members - Functions starting with 'p'

Source: https://teemuatlut.github.io/TMCStepper/functions_func_p.html

This section lists functions within the TMCStepper library whose names start with the letter 'p', along with the classes they belong to.

```APIDOC
## TMCStepper Class Members - Functions starting with 'p'

### Description
This section lists functions within the TMCStepper library whose names start with the letter 'p', along with the classes they belong to.

### Method
N/A (Documentation of class members)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
N/A

### Class Member Details:
- **pdn_disable()** : TMC2208Stepper
- **pdn_uart()** : TMC2209Stepper, TMC2224Stepper, TMC2208Stepper
- **pha()** : TMC2660Stepper
- **phb()** : TMC2660Stepper
- **pol_a()** : TMC5130Stepper
- **pol_b()** : TMC5130Stepper
- **pol_n()** : TMC5130Stepper
- **pol_stop_l()** : TMC5130Stepper
- **pol_stop_r()** : TMC5130Stepper
- **pos_edge()** : TMC5130Stepper
- **position_reached()** : TMC5130Stepper
- **push()** : TMC2130Stepper, TMC2160Stepper, TMC2208Stepper, TMC2209Stepper, TMC2660Stepper, TMC5130Stepper, TMC5160Stepper
- **pwm_ampl()** : TMC2130Stepper
- **PWM_AUTO()** : TMC2208Stepper, TMC5160Stepper
- **pwm_autograd()** : TMC2160Stepper, TMC2208Stepper
- **pwm_autoscale()** : TMC2130Stepper, TMC2160Stepper, TMC2208Stepper
- **pwm_freq()** : TMC2130Stepper, TMC2160Stepper, TMC2208Stepper
- **pwm_grad()** : TMC2130Stepper, TMC2160Stepper, TMC2208Stepper
- **pwm_grad_auto()** : TMC2208Stepper, TMC5160Stepper
- **pwm_lim()** : TMC2160Stepper, TMC2208Stepper
- **pwm_ofs()** : TMC2160Stepper, TMC2208Stepper
- **pwm_ofs_auto()** : TMC2208Stepper, TMC5160Stepper
- **pwm_reg()** : TMC2160Stepper, TMC2208Stepper
- **PWM_SCALE()** : TMC2130Stepper, TMC2160Stepper, TMC2208Stepper
- **pwm_scale_auto()** : TMC2160Stepper, TMC2208Stepper
- **pwm_scale_sum()** : TMC2160Stepper, TMC2208Stepper
- **pwm_symmetric()** : TMC2130Stepper
- **PWMCONF()** : TMC2130Stepper, TMC2160Stepper, TMC2208Stepper
```

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

### INIT_REGISTER() - SHORT_CONF

Source: https://teemuatlut.github.io/TMCStepper/class_t_m_c2160_stepper.html

Initializes the SHORT_CONF register.

```APIDOC
## INIT_REGISTER(SHORT_CONF)

### Description
Initializes the SHORT_CONF register.

### Method
POST

### Endpoint
/websites/teemuatlut_github_io_tmcstepper/INIT_REGISTER/SHORT_CONF

### Response
#### Success Response (200)
- **Status** (string) - Indicates success.

#### Response Example
```json
{
  "Status": "Success"
}
```
```

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

### Initialization and Configuration

Source: https://teemuatlut.github.io/TMCStepper/_t_m_c2130_stepper_8cpp_source.html

Initializes the driver pins and sets default register values.

```cpp
void TMC2130Stepper::begin() {
	//set pins
	pinMode(_pinCS, OUTPUT);
	switchCSpin(HIGH);

	if (TMC_SW_SPI != nullptr) TMC_SW_SPI->init();

	GCONF(GCONF_register.sr);
	CHOPCONF(CHOPCONF_register.sr);
	COOLCONF(COOLCONF_register.sr);
	PWMCONF(PWMCONF_register.sr);
	IHOLD_IRUN(IHOLD_IRUN_register.sr);

	toff(8); //off_time(8);
	tbl(1); //blank_time(24);
}
```

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

### TMC2660Stepper::slph()

Source: https://teemuatlut.github.io/TMCStepper/class_t_m_c2660_stepper.html

Sets or gets the StealthChop low pass filter setting for the stepper motor. This function has two overloads: one to get the current value and one to set it.

```APIDOC
## TMC2660Stepper::slph()

### Description
Sets or gets the StealthChop low pass filter setting for the stepper motor.

### Method
GET/SET

### Endpoint
N/A (Class method)

### Parameters
#### Path Parameters
None

#### Query Parameters
None

#### Request Body
- **_B_** (uint8_t) - Optional - The value to set the low pass filter to.

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

### Response
#### Success Response (200)
- **return_value** (uint8_t) - The current low pass filter value if no argument is provided.
- **void** - If an argument is provided, the function returns void after setting the value.

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

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

### TMC2130Stepper::begin

Source: https://teemuatlut.github.io/TMCStepper/_t_m_c2130_stepper_8cpp_source.html

Initializes the TMC2130 stepper driver.

```APIDOC
## POST /begin

### Description
Initializes the TMC2130 stepper driver hardware and communication settings.

### Method
POST
```

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

### Get and Set TCOOLTHRS Register - TMC2209Stepper

Source: https://teemuatlut.github.io/TMCStepper/_t_m_c2209_stepper_8cpp_source.html

Gets and sets the TCOOLTHRS (Temperature Cool Threshold) register for the TMC2209 stepper driver. This register defines the temperature threshold for cooling.

```cpp
uint32_t TMC2209Stepper::TCOOLTHRS() { return TCOOLTHRS_register.sr; }
```

```cpp
void TMC2209Stepper::TCOOLTHRS(uint32_t input) {
TCOOLTHRS_register.sr = input;
write(TCOOLTHRS_register.address, TCOOLTHRS_register.sr);
}
```

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

### TMCStepper Class Members - Functions starting with 'd'

Source: https://teemuatlut.github.io/TMCStepper/functions_func_d.html

This section lists functions within the TMCStepper library whose names start with the letter 'd'. It specifies the classes in which these functions are available.

```APIDOC
## Functions starting with 'd'

### Description
Lists functions within the TMCStepper library whose names start with the letter 'd'. It specifies the classes in which these functions are available.

### Method
N/A (Documentation of library functions)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
N/A

## Function Details:

- **D1()** : Available in `TMC5130Stepper`
- **dc_sg()** : Available in `TMC2130Stepper`
- **dc_time()** : Available in `TMC2130Stepper`
- **DCCTRL()** : Available in `TMC2130Stepper`
- **dcen_cfg4()** : Available in `TMC2130Stepper`
- **dcin_cfg5()** : Available in `TMC2130Stepper`
- **dco()** : Available in `TMC2130Stepper`
- **dco_cfg6()** : Available in `TMC2160Stepper`
- **dedge()** : Available in `TMC2130Stepper`, `TMC2208Stepper`, `TMC2660Stepper`
- **defaults()** : Available in `TMC2130Stepper`, `TMC2160Stepper`, `TMC2208Stepper`, `TMC5130Stepper`, `TMC5160Stepper`
- **diag()** : Available in `TMC2208Stepper`, `TMC2209Stepper`
- **diag0_error()** : Available in `TMC2130Stepper`
- **diag0_int_pushpull()** : Available in `TMC2130Stepper`
- **diag0_otpw()** : Available in `TMC2130Stepper`
- **diag0_stall()** : Available in `TMC2130Stepper`
- **diag1_index()** : Available in `TMC2130Stepper`
- **diag1_onstate()** : Available in `TMC2130Stepper`
- **diag1_poscomp_pushpull()** : Available in `TMC5130Stepper`
- **diag1_pushpull()** : Available in `TMC2130Stepper`
- **diag1_stall()** : Available in `TMC2130Stepper`
- **diag1_steps_skipped()** : Available in `TMC2130Stepper`
- **dir()** : Available in `TMC2130Stepper`, `TMC2208Stepper`, `TMC2209Stepper`, `TMC2224Stepper`
- **direct_mode()** : Available in `TMC2130Stepper`
- **disfdcc()** : Available in `TMC2130Stepper`
- **diss2g()** : Available in `TMC2130Stepper`, `TMC2208Stepper`, `TMC2660Stepper`
- **diss2vs()** : Available in `TMC2208Stepper`, `TMC5160Stepper`
- **DMAX()** : Available in `TMC5130Stepper`
- **DRV_CONF()** : Available in `TMC2160Stepper`
- **drv_enn()** : Available in `TMC2160Stepper`, `TMC5160Stepper`
- **drv_enn_cfg6()** : Available in `TMC2130Stepper`, `TMC5130Stepper`
- **drv_err()** : Available in `TMCStepper`
- **DRV_STATUS()** : Available in `TMC2130Stepper`, `TMC2208Stepper`, `TMC2660Stepper`, `TMCStepper`
- **DRVCONF()** : Available in `TMC2660Stepper`
- **DRVCTRL()** : Available in `TMC2660Stepper`
- **DRVSTATUS()** : Available in `TMC2660Stepper`
- **drvstrength()** : Available in `TMC2160Stepper`
```

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

### TMC2660Stepper::slpl()

Source: https://teemuatlut.github.io/TMCStepper/class_t_m_c2660_stepper.html

Sets or gets the StealthChop low pass filter pulse count for the stepper motor. This function has two overloads: one to get the current value and one to set it.

```APIDOC
## TMC2660Stepper::slpl()

### Description
Sets or gets the StealthChop low pass filter pulse count for the stepper motor.

### Method
GET/SET

### Endpoint
N/A (Class method)

### Parameters
#### Path Parameters
None

#### Query Parameters
None

#### Request Body
- **_B_** (uint8_t) - Optional - The value to set the pulse count to.

### Request Example
```json
{
  "_B_": 1
}
```

### Response
#### Success Response (200)
- **return_value** (uint8_t) - The current pulse count value if no argument is provided.
- **void** - If an argument is provided, the function returns void after setting the value.

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

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

### Initialize TMC2660Stepper Pins

Source: https://teemuatlut.github.io/TMCStepper/_t_m_c2660_stepper_8cpp_source.html

Sets up the necessary pins for the TMC2660Stepper, specifically configuring the chip select pin as an output and setting its initial state to HIGH.

```cpp
void TMC2660Stepper::begin() {
//set pins
pinMode(_pinCS, OUTPUT);
switchCSpin(HIGH);

//TODO: Push shadow registers

}

```

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

### Initialize TMC5160Stepper with SPI Pins and Rsense

Source: https://teemuatlut.github.io/TMCStepper/_t_m_c_stepper_8h_source.html

Constructor for TMC5160Stepper specifying all SPI pins and the Rsense value. Includes a link index.

```cpp
TMC5160Stepper(uint16_t pinCS, float RS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link_index = -1);
```

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

### TMC2660Stepper::sgt()

Source: https://teemuatlut.github.io/TMCStepper/class_t_m_c2660_stepper.html

Sets or gets the StealthChop "smart energy" threshold for the stepper motor. This function has two overloads: one to get the current value and one to set it.

```APIDOC
## TMC2660Stepper::sgt()

### Description
Sets or gets the StealthChop "smart energy" threshold for the stepper motor.

### Method
GET/SET

### Endpoint
N/A (Class method)

### Parameters
#### Path Parameters
None

#### Query Parameters
None

#### Request Body
- **_B_** (uint8_t) - Optional - The value to set the threshold to.

### Request Example
```json
{
  "_B_": 5
}
```

### Response
#### Success Response (200)
- **return_value** (uint8_t) - The current threshold value if no argument is provided.
- **void** - If an argument is provided, the function returns void after setting the value.

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

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

### Initialize TMC5160Stepper with Chip Select

Source: https://teemuatlut.github.io/TMCStepper/_t_m_c_stepper_8h_source.html

Constructor for TMC5160Stepper using only the chip select pin. Defaults to a standard Rsense value and link index.

```cpp
TMC5160Stepper(uint16_t pinCS, float RS = default_RS, int8_t link_index = -1);
```

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

### TMC2660Stepper::SMARTEN()

Source: https://teemuatlut.github.io/TMCStepper/class_t_m_c2660_stepper.html

Sets or gets the "smart energy" feature enable setting for the stepper motor. This function has two overloads: one to get the current value and one to set it.

```APIDOC
## TMC2660Stepper::SMARTEN()

### Description
Sets or gets the "smart energy" feature enable setting for the stepper motor.

### Method
GET/SET

### Endpoint
N/A (Class method)

### Parameters
#### Path Parameters
None

#### Query Parameters
None

#### Request Body
- **_data_** (uint32_t) - Optional - The value to set the "smart energy" feature to (typically 0 or 1).

### Request Example
```json
{
  "_data_": 1
}
```

### Response
#### Success Response (200)
- **return_value** (uint32_t) - The current "smart energy" feature setting if no argument is provided.
- **void** - If an argument is provided, the function returns void after setting the value.

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

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

### intpol() Method

Source: https://teemuatlut.github.io/TMCStepper/class_t_m_c2208_stepper.html

Gets the intpol value.

```APIDOC
## intpol()

### Description
Gets the intpol value.

### Method
GET

### Endpoint
/intpol

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

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

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

### SW_SPIClass Initialization and Methods

Source: https://teemuatlut.github.io/TMCStepper/_s_w___s_p_i_8h_source.html

Details for initializing the software SPI interface and performing data transfers.

```APIDOC
## SW_SPIClass

### Description
Provides methods for software-based SPI communication.

### Constructor
- **SW_SPIClass(uint16_t sw_mosi_pin, uint16_t sw_miso_pin, uint16_t sw_sck_pin)** - Initializes the class with specific pins for MOSI, MISO, and SCK.

### Methods
- **void init()** - Initializes the software SPI pins.
- **void begin()** - Placeholder for SPI begin.
- **uint8_t transfer(uint8_t ulVal)** - Transfers a single byte of data.
- **uint16_t transfer16(uint16_t data)** - Transfers a 16-bit word of data.
- **void endTransaction()** - Placeholder for ending an SPI transaction.
```

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

### IFCNT() Method

Source: https://teemuatlut.github.io/TMCStepper/class_t_m_c2208_stepper.html

Gets the IFCNT value.

```APIDOC
## IFCNT()

### Description
Gets the IFCNT value.

### Method
GET

### Endpoint
/IFCNT

### Response
#### Success Response (200)
- **value** (uint8_t) - The current IFCNT value.

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

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

### TMC5130Stepper::INIT_REGISTER(VSTOP)

Source: https://teemuatlut.github.io/TMCStepper/_t_m_c_stepper_8h_source.html

Initializes the VSTOP register.

```APIDOC
## TMC5130Stepper::INIT_REGISTER(VSTOP)

### Description
Initializes the VSTOP register for the TMC5130 stepper driver.

### Method
N/A (Macro or Function definition)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
N/A
```

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

### TMC2660Stepper::sedn

Source: https://teemuatlut.github.io/TMCStepper/_t_m_c_stepper_8h_source.html

Gets the SEDN value for TMC2660Stepper.

```APIDOC
## TMC2660Stepper::sedn

### Description
Gets the SEDN (StealthChop end current) setting.

### Method
`sedn()`

### Endpoint
N/A (Class method)

### Parameters
None

### Request Example
```cpp
// Example usage within TMC2660Stepper class
uint8_t sedn_value = sedn();
```

### Response
#### Success Response (uint8_t)
- **sedn** (uint8_t) - The SEDN value.

#### Response Example
```json
{
  "sedn": 64
}
```
```

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

### TMC2130Stepper Configuration Methods

Source: https://teemuatlut.github.io/TMCStepper/class_t_m_c2130_stepper.html

Methods for getting and setting configuration parameters like hstrt, I_scale_analog, internal_Rsense, intpol, and inv.

```APIDOC
## hstrt()

### Description
Gets or sets the hstrt value.

### Parameters
#### Path Parameters
- **_B_** (uint8_t) - Optional - The value to set (only for setter method).

### Response
- **Return** (uint8_t/void) - Returns the current value or sets the new value.

## I_scale_analog()

### Description
Gets or sets the I_scale_analog configuration.

### Parameters
#### Path Parameters
- **_B_** (bool) - Optional - The boolean value to set (only for setter method).

### Response
- **Return** (bool/void) - Returns the current state or sets the new state.

## internal_Rsense()

### Description
Gets or sets the internal_Rsense configuration.

### Parameters
#### Path Parameters
- **_B_** (bool) - Optional - The boolean value to set (only for setter method).

### Response
- **Return** (bool/void) - Returns the current state or sets the new state.

## intpol()

### Description
Gets or sets the interpolation (intpol) configuration.

### Parameters
#### Path Parameters
- **_B_** (bool) - Optional - The boolean value to set (only for setter method).

### Response
- **Return** (bool/void) - Returns the current state or sets the new state.
```

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

### TMC2660Stepper::semax

Source: https://teemuatlut.github.io/TMCStepper/_t_m_c_stepper_8h_source.html

Gets the SEMAX value for TMC2660Stepper.

```APIDOC
## TMC2660Stepper::semax

### Description
Gets the SEMAX (Maximum current for StealthChop) setting.

### Method
`semax()`

### Endpoint
N/A (Class method)

### Parameters
None

### Request Example
```cpp
// Example usage within TMC2660Stepper class
uint8_t semax_value = semax();
```

### Response
#### Success Response (uint8_t)
- **semax** (uint8_t) - The SEMAX value.

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

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

### TMC2660Stepper Constructors

Source: https://teemuatlut.github.io/TMCStepper/class_t_m_c2660_stepper-members.html

Details on how to instantiate the TMC2660Stepper class.

```APIDOC
## TMC2660Stepper Constructors

### Description
Details on how to instantiate the TMC2660Stepper class with different hardware configurations.

### Constructors

- **TMC2660Stepper(uint16_t pinCS, float RS = default_RS)**
  - Description: Constructor for TMC2660Stepper using Chip Select pin and optional Rsense value.
  - Parameters:
    - **pinCS** (uint16_t) - Required - The digital pin connected to the Chip Select (CS) of the TMC2660 driver.
    - **RS** (float) - Optional - The value of the Rsense resistor in ohms. Defaults to a predefined value if not provided.

- **TMC2660Stepper(uint16_t pinCS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK)**
  - Description: Constructor for TMC2660Stepper using Chip Select, MOSI, MISO, and SCK pins for SPI communication.
  - Parameters:
    - **pinCS** (uint16_t) - Required - The digital pin connected to the Chip Select (CS) of the TMC2660 driver.
    - **pinMOSI** (uint16_t) - Required - The digital pin for Master Out Slave In (MOSI).
    - **pinMISO** (uint16_t) - Required - The digital pin for Master In Slave Out (MISO).
    - **pinSCK** (uint16_t) - Required - The digital pin for the Serial Clock (SCK).

- **TMC2660Stepper(uint16_t pinCS, float RS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK)**
  - Description: Constructor for TMC2660Stepper using Chip Select, Rsense, MOSI, MISO, and SCK pins for SPI communication.
  - Parameters:
    - **pinCS** (uint16_t) - Required - The digital pin connected to the Chip Select (CS) of the TMC2660 driver.
    - **RS** (float) - Required - The value of the Rsense resistor in ohms.
    - **pinMOSI** (uint16_t) - Required - The digital pin for Master Out Slave In (MOSI).
    - **pinMISO** (uint16_t) - Required - The digital pin for Master In Slave Out (MISO).
    - **pinSCK** (uint16_t) - Required - The digital pin for the Serial Clock (SCK).

```

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

### TMC2130Stepper::status_response

Source: https://teemuatlut.github.io/TMCStepper/_t_m_c_stepper_8h_source.html

Gets the status response for TMC2130Stepper.

```APIDOC
## TMC2130Stepper::status_response

### Description
Gets the status response from the driver.

### Method
`status_response` (member variable)

### Endpoint
N/A (Class member)

### Parameters
None

### Request Example
```cpp
// Example usage within TMC2130Stepper class
uint8_t status = status_response;
```

### Response
#### Success Response (uint8_t)
- **status_response** (uint8_t) - The status response value.

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

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

### TMC5160Stepper Initialization

Source: https://teemuatlut.github.io/TMCStepper/class_t_m_c5161_stepper-members.html

Constructors for initializing the TMC5160Stepper driver.

```APIDOC
## TMC5160Stepper Constructor

### Description
Initializes the TMC5160Stepper driver with the specified parameters.

### Method
Constructor

### Parameters
- **pinCS** (uint16_t) - Required - Chip Select pin.
- **RS** (float) - Required - Rsense value.
- **pinMOSI** (uint16_t) - Required - MOSI pin.
- **pinMISO** (uint16_t) - Required - MISO pin.
- **pinSCK** (uint16_t) - Required - SCK pin.
- **link_index** (int8_t) - Optional - Link index, defaults to -1.
```

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

### TMC2660Stepper::sgt

Source: https://teemuatlut.github.io/TMCStepper/_t_m_c_stepper_8h_source.html

Gets the SGT value for TMC2660Stepper.

```APIDOC
## TMC2660Stepper::sgt

### Description
Gets the SGT (StallGuard Threshold) value.

### Method
`sgt()`

### Endpoint
N/A (Class method)

### Parameters
None

### Request Example
```cpp
// Example usage within TMC2660Stepper class
uint8_t sgt_value = sgt();
```

### Response
#### Success Response (uint8_t)
- **sgt** (uint8_t) - The SGT value.

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

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

### TMC2660Stepper Configuration Methods

Source: https://teemuatlut.github.io/TMCStepper/_t_m_c2660_stepper_8cpp_source.html

Methods for retrieving driver configuration settings.

```APIDOC
## GET blank_time

### Description
Retrieves the current blank time setting.

### Response
- **return** (uint8_t) - The blank time value.

## GET cs2rms

### Description
Converts current scale (CS) to RMS current.

### Parameters
#### Query Parameters
- **CS** (uint8_t) - Required - The current scale value.

### Response
- **return** (uint16_t) - The calculated RMS current.

## GET hysteresis_end

### Description
Retrieves the current hysteresis end value.

### Response
- **return** (int8_t) - The hysteresis end value.
```

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

### TMC2160Stepper Constructor

Source: https://teemuatlut.github.io/TMCStepper/class_t_m_c2160_stepper.html

Initializes a new instance of the TMC2160Stepper driver.

```APIDOC
## TMC2160Stepper Constructor

### Description
Initializes the TMC2160Stepper driver with specified pins and configuration.

### Method
Constructor

### Parameters
#### Path Parameters
- **_pinCS** (uint16_t) - Required - Chip Select pin
- **_RS** (float) - Optional - Sense resistor value
- **_link_index** (int8_t) - Optional - Link index
- **_pinMOSI** (uint16_t) - Optional - MOSI pin
- **_pinMISO** (uint16_t) - Optional - MISO pin
- **_pinSCK** (uint16_t) - Optional - SCK pin
```

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

### TMC2130Stepper::sg_current_decrease

Source: https://teemuatlut.github.io/TMCStepper/_t_m_c_stepper_8h_source.html

Gets the SG_CURRENT_DECREASE value for TMC2130Stepper.

```APIDOC
## TMC2130Stepper::sg_current_decrease

### Description
Gets the SG_CURRENT_DECREASE setting, which determines the current reduction when StallGuard detects a stall.

### Method
`sg_current_decrease()`

### Endpoint
N/A (Class method)

### Parameters
None

### Request Example
```cpp
// Example usage within TMC2130Stepper class
uint8_t decrease_value = sg_current_decrease();
```

### Response
#### Success Response (uint8_t)
- **sg_current_decrease** (uint8_t) - The current decrease value.

#### Response Example
```json
{
  "sg_current_decrease": 3
}
```
```
Tokens:
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