Section 'tmc2130 stepper_a' is not a valid config section

# This file serves as documentation for config parameters of delta
# style printers. One may copy and edit this file to configure a new
# delta printer. Only parameters unique to delta printers are
# described here - see the "example.cfg" file for description of
# common config parameters.

# DO NOT COPY THIS FILE WITHOUT CAREFULLY READING AND UPDATING IT
# FIRST. Incorrectly configured parameters may cause damage.

#  Z height probe. One may define this section to enable Z height
#  probing hardware. When this section is enabled, PROBE and
#  QUERY_PROBE extended g-code commands become available. The probe
#  section also creates a virtual probe:z_virtual_endstop pin. One may
#  set the stepper_z endstop_pin to this virtual pin on cartesian style
#  printers that use the probe in place of a z endstop.
#[probe]
#pin: ar18
#   Probe detection pin. This parameter must be provided.
#speed: 10.0
#   Speed (in mm/s) of the Z axis when probing. The default is 5mm/s.
#z_position: 0
#   The Z position to command the head to move to during a PROBE
#   command. The default is 0.

#  The stepper_a section describes the stepper controlling the front
#  left tower (at 210 degrees). This section also controls the homing
#  parameters (homing_speed, homing_retract_dist) for all towers.
[stepper_a]
step_pin: ar54
dir_pin: !ar55
enable_pin: !ar38
step_distance: .0125
endstop_pin: ^ar2
homing_speed: 100
position_endstop: 293.096845
angle: 209.894175
#   Distance (in mm) between the nozzle and the bed when the nozzle is
#   in the center of the build area and the endstop triggers. This
#   parameter must be provided for stepper_a; for stepper_b and
#   stepper_c this parameter defaults to the value specified for
#   stepper_a.
arm_length: 266.7
#   Length (in mm) of the diagonal rod that connects this tower to the
#   print head. This parameter must be provided for stepper_a; for
#   stepper_b and stepper_c this parameter defaults to the value
#   specified for stepper_a.

#  The stepper_b section describes the stepper controlling the front
#  right tower (at 330 degrees).

[tmc2130 stepper_a]
cs_pin: ar4
#   The pin corresponding to the TMC2130 chip select line. This pin
#   will be set to low at the start of SPI messages and raised to high
#   after the message completes. This parameter must be provided.
microsteps: 16
#   The number of microsteps to configure the driver to use. Valid
#   values are 1, 2, 4, 8, 16, 32, 64, 128, 256. This parameter must
#   be provided.
interpolate: True
#   If true, enable TMC2130 step interpolation (the driver will
#   interally step at a rate of 256 micro-steps). The default is True.
run_current: 0.8
#   The amount of current (in amps) to configure the driver to use
#   during stepper movement. This parameter must be provided.
#hold_current:
#   The amount of current (in amps) to configure the driver to use
#   when the stepper is not moving. The default is to use the same
#   value as run_current.
sense_resistor: 0.110
#   The resistance (in ohms) of the motor sense resistor. The default
#   is 0.110 ohms.
stealthchop: true
#   Enable "stealthChop" mode. The default is False.
#driver_IHOLDDELAY: 8
#driver_TPOWERDOWN: 0
#driver_BLANK_TIME_SELECT: 1
#driver_TOFF: 1
#driver_HEND: 7
#driver_HSTRT: 0
#   Set the given register during the configuration of the TMC2130
#   chip. This may be used to set custom motor parameters. The
#   defaults for each parameter are next to the parameter name in the
#   above list.

[stepper_b]
step_pin: ar60
dir_pin: !ar61
enable_pin: !ar56
step_distance: .0125
endstop_pin: ^ar15
position_endstop: 295.092488
angle: 330.070696

[tmc2130 stepper_b]
cs_pin: ar5
microsteps: 16
interpolate: True
run_current: 0.8
sense_resistor: 0.110
stealthchop: true


#  The stepper_c section describes the stepper controlling the rear
#  tower (at 90 degrees).
[stepper_c]
step_pin: ar46
dir_pin: !ar48
enable_pin: !ar62
step_distance: .0125
endstop_pin: ^ar19
position_endstop: 294.01332
angle: 90.000000

[tmc2130 stepper_c]
cs_pin: ar6
microsteps: 16
interpolate: True
run_current: 0.8
sense_resistor: 0.110
stealthchop: true

[extruder]
step_pin: ar26
dir_pin: ar28
enable_pin: !ar24
step_distance: 0.000323
nozzle_diameter: 0.400
filament_diameter: 1.750
heater_pin: ar10
sensor_type: ATC Semitec 104GT-2
sensor_pin: analog13
control: pid
pid_Kp: 20.043
pid_Ki: 1.095
pid_Kd: 91.696
min_temp: 0
max_temp: 250
# pressure_advance: 0.1
# pressure_advance_lookahead_time: 0.010
#   do not use pressure advance until you read about it and tune for it
#  this is for 100mm/s or higher printer settings.

[tmc2130 extruder]
cs_pin: ar11
microsteps: 16
interpolate: True
run_current: 0.8
sense_resistor: 0.110
stealthchop: false


[heater_fan extruder_fan]
pin: ar44

[heater_bed]
heater_pin: ar8
sensor_type: EPCOS 100K B57560G104F
sensor_pin: analog14
control: pid
#  to add pid setting replace watermark term with PID and input settings below
#   check extruder setup for example
pid_Kp: 68.394
pid_Ki: 1.232
pid_Kd: 948.961

min_temp: 0
max_temp: 130

# Print cooling fan (omit section if fan not present).
[fan]
pin: ar9

# MCU fan
[heater_fan mcu_fan]
pin: ar7
fan_speed: 1.0
hardware_pwm: true
heater_temp: 120
heater: extruder

[mcu]
#  serial may need to be changed depending on initial setup
serial: /dev/serial/by-id/usb-Silicon_Labs_CP2102_USB_to_UART_Bridge_Controller_0001-if00-port0
pin_map: arduino

# Reprap "2004" display
[display]
lcd_type: hd44780
rs_pin: ar16
e_pin: ar17
d4_pin: ar23
d5_pin: ar25
d6_pin: ar27
d7_pin: ar29

[printer]
kinematics: delta
#   This option must be "delta" for linear delta printers.
max_velocity: 300
#   Maximum velocity (in mm/s) of the toolhead relative to the
#   print. This parameter must be specified.
max_accel: 3000
#   Maximum acceleration (in mm/s^2) of the toolhead relative to the
#   print. This parameter must be specified.
max_z_velocity: 200
#   For delta printers this limits the maximum velocity (in mm/s) of
#   moves with z axis movement. This setting can be used to reduce the
#   maximum speed of up/down moves (which require a higher step rate than
#   other moves on a delta printer). The default is to use max_velocity for
#   max_z_velocity.
minimum_z_position: 0.0
#   The minimum Z position that the user may command the head to move
#   to.  The default is 0.
delta_radius: 132.241928
#   Radius (in mm) of the horizontal circle formed by the three linear
#   axis towers. This parameter may also be calculated as:
#    delta_radius = smooth_rod_offset - effector_offset - carriage_offset
#   This parameter must be provided.

# The delta_calibrate section enables a DELTA_CALIBRATE extended
# g-code command that can calibrate the tower endstop positions and
# angles.

[probe]
pin: ^ar18
# Probe detection pin. This parameter must be provided.
z_offset: 19
speed: 5.0

[delta_calibrate]
radius: 115
#   Radius (in mm) of the area that may be probed. This is typically
#   the size of the printer bed. This parameter must be provided.
speed: 50

#   The speed (in mm/s) of non-probing moves during the
#   calibration. The default is 50.
horizontal_move_z: 25
#   The height (in mm) that the head should be commanded to move to
#   just prior to starting a probe operation. The default is 5.

manual_probe: false
#   If true, then DELTA_CALIBRATE will perform manual probing. If
#   false, then a PROBE command will be run at each probe
#   point. Manual probing is accomplished by manually jogging the Z
#   position of the print head at each probe point and then issuing a
#   NEXT extended g-code command to record the position at that
#   point. The default is false if a [probe] config section is present
#   and true otherwise.