tmc5160: Add support for TMC5160 steppers (#1637)

Signed-off-by: Stephan Oelze <stephan.oelze@gmail.com>

config/example-extras.cfg

@@ -1148,6 +1148,85 @@
 #   either 0 or one will lead to layout changes (the first bit of HDEC)
 #   is interpreted as the MSB of HSTRT in this case).
 
+# 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 block is an example with values that may be intersting.
+# If you want to turn further, see trinamics documentation.
+# Following registers are implemented with theyre fields:
+# COOLCONF, CHOPCONF, DRV_STATUS, FACTORY_CONF, GCONF, GSTAT, IHOLD_IRUN, IOIN
+# LOST_STEPS, MSCNT, MSCURACT, OTP_READ, PWM_AUTO, PWMCONF, PWM_SCALE, TPOWERDOWN,
+# TPWMTHRS, TSTEP
+#[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: 0
+#driver_HEND: 2
+#driver_HSTRT: 5
+#driver_tpfd: 4
+#driver_pwm_autoscale: True
+#driver_pwm_autograd: True
+#driver_pwm_freq: 1
+#driver_PWM_GRAD: 0
+#driver_PWM_OFS: 30
+#driver_PWM_REG: 4
+#driver_PWM_LIM: 12
+#driver_SGT: 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.
+#driver_semin: 0
+#driver_seup: 0
+#driver_semax: 0
+#driver_sedn: 0
+#driver_seimin: 0
+#driver_sfilt: 0
+
 # Homing override. One may use this mechanism to run a series of
 # g-code commands in place of a G28 found in the normal g-code input.
 # This may be useful on printers that require a specific procedure to