# Configure a TMC5160 stepper motor driver via SPI bus. To use this
# feature, define a config section with a "tmc5160" prefix followed by
# the name of the corresponding stepper config section (for example,
# "[tmc5160 stepper_x]"). This also creates a
# "tmc5160_stepper_x:virtual_enable" virtual pin which may be used as
# the stepper's enable_pin (for enabling the driver via an SPI
# message).
#[tmc5160 stepper_x]
#cs_pin:
#   The pin corresponding to the TMC5160 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.
#spi_bus:
#spi_speed:
#spi_software_sclk_pin:
#spi_software_mosi_pin:
#spi_software_miso_pin:
#   These optional parameters allow one to customize the SPI settings
#   used to communicate with the chip.
#microsteps:
#   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 step interpolation (the driver will internally
#   step at a rate of 256 micro-steps). The default is True.
#run_current:
#   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: 0.075
#   The resistance (in ohms) of the motor sense resistor. The default
#   is 0.075 ohms.
#stealthchop_threshold: 0
#   The velocity (in mm/s) to set the "stealthChop" threshold to. When
#   set, "stealthChop" mode will be enabled if the stepper motor
#   velocity is below this value. The default is 0, which disables
#   "stealthChop" mode. Try to reexperience this with tmc5160.
#   Values can be much higher than other tmcs.
#driver_IHOLDDELAY: 6
#driver_TPOWERDOWN: 10
#driver_TBL: 2
#driver_TOFF: 3
#driver_HEND: 2
#driver_HSTRT: 5
#driver_FD3: 0
#driver_TPFD: 4
#driver_CHM: 0
#driver_VHIGHFS: 0
#driver_VHIGHCHM: 0
#driver_DISS2G: 0
#driver_DISS2VS: 0
#driver_PWM_AUTOSCALE: True
#driver_PWM_AUTOGRAD: True
#driver_PWM_FREQ: 1
#driver_FREEWHEEL: 0
#driver_PWM_GRAD: 0
#driver_PWM_OFS: 30
#driver_PWM_REG: 4
#driver_PWM_LIM: 12
#driver_SGT: 0
#driver_SEMIN: 0
#driver_SEUP: 0
#driver_SEMAX: 0
#driver_SEDN: 0
#driver_SEIMIN: 0
#driver_SFILT: 0
#   Set the given register during the configuration of the TMC5160
#   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.
#diag1_pin:
#   The micro-controller pin attached to the DIAG1 line of the TMC5160
#   chip. Setting this creates a "tmc5160_stepper_x:virtual_endstop"
#   virtual pin which may be used as the stepper's endstop_pin. Doing
#   this enables "sensorless homing". (Be sure to also set driver_SGT
#   to an appropriate sensitivity value.) The default is to not enable
#   sensorless homing. See docs/Sensorless_Homing.md for details on how
#   to configure this.