Naja... bei GitHub steht ein Codebeispiel (hier mal auszugsweise)

#include <TMC2130Stepper.h>
TMC2130Stepper TMC2130 = TMC2130Stepper(EN_PIN, DIR_PIN, STEP_PIN, CS_PIN);

void setup() {
Serial.begin(9600);
TMC2130.begin(); // Initiate pins and registeries
TMC2130.SilentStepStick2130(600); // Set Stepper current to 600mA
TMC2130.stealthChop(1); // Enable extremely quiet stepping

digitalWrite(EN_PIN, LOW);
}

void loop() {
digitalWrite(STEP_PIN, HIGH);
delayMicroseconds(10);
digitalWrite(STEP_PIN, LOW);
delayMicroseconds(10);
uint32_t ms = millis();
static uint32_t last_time = 0;
if ((ms - last_time) > 2000) {
if (dir) {
Serial.println("Dir -> 0");
TMC2130.shaft_dir(0);
} else {
Serial.println("Dir -> 1");
TMC2130.shaft_dir(1);
}
dir = !dir;
Serial.println(TMC2130.GCONF(), BIN);
last_time = ms;
}
}
über das delayMicroseconds() brauchen wir uns nicht unterhalten

Der Lange