1/ {
2	aliases {
3		stepper = &tmc_stepper;
4	};
5};
6
7&spi1 {
8	pinctrl-0 = <&spi1_sck_pa5 &spi1_miso_pa6 &spi1_mosi_pa7>;
9	pinctrl-names = "default";
10	cs-gpios = <&gpiob 0 GPIO_ACTIVE_LOW>;
11	status = "okay";
12	tmc50xx: tmc50xx@0 {
13		compatible = "adi,tmc50xx";
14		reg = <0>;
15		spi-max-frequency = <DT_FREQ_M(1)>; /* Maximum SPI bus frequency */
16
17		#address-cells = <1>;
18		#size-cells = <0>;
19
20		clock-frequency = <DT_FREQ_M(10)>; /* Internal/External Clock frequency */
21
22		tmc_stepper: tmc_stepper@0 {
23			status = "okay";
24			reg = <0>;
25
26			/* common stepper controller settings */
27			micro-step-res = <256>;
28
29			/* ADI TMC stallguard settings specific to TMC50XX */
30			activate-stallguard2;
31			stallguard-velocity-check-interval-ms=<1000>;
32			stallguard2-threshold=<30>;
33			stallguard-threshold-velocity=<200000>;
34
35			/* ADI TMC ramp generator as well as current settings */
36			vstart = <1000>;
37			vstop = <10>;
38			a1 = <10000>;
39			v1 = <50000>;
40			d1 = <14000>;
41			vmax = <900000>;
42			amax = <50000>;
43			dmax = <7000>;
44			tzerowait = <100>;
45			vhigh = <900000>;
46			vcoolthrs = <900000>;
47			ihold = <1>;
48			irun = <10>;
49			iholddelay = <1>;
50		};
51	};
52};
53