TMCM-090 SPI communication

[carlknut]

Hi!

I am going to control three TMCM-090 drivers with my own microcontroller. I am familar to SPI and saw that these drivers have a SPI interface.
Which commands are available and what do they look like for the SPI protocol?
The only info available of the SPI interface I have seen in the datasheet of the TMCM-090 is the pin layout and nothing about the actual commands.

Thanks,

Carl

[carlknut]

For example, what do I send over SPI to take a step and set direction?

[TRINAMIC_BD]

Hello,
the TMCM-090 either uses a step and dirction input, or you can use the SPI interface to set the DAC voltages. The SPI interface is very simple and allows only 6 bits for voltage setting for two phases, the other two phases use the complement. This is for compatibility with TMCM-301 modules supporting two phase motors with 64 microsteps. Therefore, we recommend using the Step and Dir interface, if you have your own microcontroller for controlling it.