First attempt at adding TMC Driver support. May need some cleanup.

ArduinoAddons/Arduino_1.x.x/libraries/TMC26XStepper/examples/TMC26XExample/TMC26XExample.ino

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+/*
+ TMC26XExample.ino - - TMC26X Stepper library Example for Wiring/Arduino
+ 
+ Copyright (c) 2011, Interactive Matter, Marcus Nowotny
+ 
+ Permission is hereby granted, free of charge, to any person obtaining a copy
+ of this software and associated documentation files (the "Software"), to deal
+ in the Software without restriction, including without limitation the rights
+ to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
+ 
+ The above copyright notice and this permission notice shall be included in
+ all copies or substantial portions of the Software.
+ 
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ THE SOFTWARE.
+ 
+ */
+#include <SPI.h>
+#include <TMC26XStepper.h>
+
+//we have a stepper motor with 200 steps per rotation, CS pin 2, dir pin 6, step pin 7 and a current of 300mA
+TMC26XStepper tmc26XStepper = TMC26XStepper(200,2,6,7,700);
+int curr_step;
+int speed =  0;
+int speedDirection = 100;
+int maxSpeed = 1000;
+
+void setup() {
+  Serial.begin(9600);
+  Serial.println("==============================");
+  Serial.println("TMC26X Stepper Driver Demo App");
+  Serial.println("==============================");
+  //set this according to you stepper
+  Serial.println("Configuring stepper driver");
+  //char constant_off_time, char blank_time, char hysteresis_start, char hysteresis_end, char hysteresis_decrement
+  tmc26XStepper.setSpreadCycleChopper(2,24,8,6,0);
+  tmc26XStepper.setRandomOffTime(0);
+  
+  tmc26XStepper.setMicrosteps(32);
+  tmc26XStepper.setStallGuardThreshold(4,0);
+  Serial.println("config finished, starting");
+  tmc26XStepper.start();
+  Serial.println("started");
+}
+
+void loop() {
+  if (!tmc26XStepper.isMoving()) {
+    speed+=speedDirection;
+    if (speed>maxSpeed) {
+      speed = maxSpeed;
+      speedDirection = -speedDirection;
+    } else if (speed<0) {
+      speedDirection = -speedDirection;
+      speed=speedDirection;
+    }
+    //setting the speed
+    Serial.print("setting speed to ");
+    Serial.println(speed);
+    tmc26XStepper.setSpeed(speed);
+    //we want some kind of constant running time - so the length is just a product of speed
+    Serial.print("Going ");
+    Serial.print(10*speed);
+    Serial.println(" steps");
+    tmc26XStepper.step(10*speed);
+  } else {
+    //we put out the status every 100 steps
+    if (tmc26XStepper.getStepsLeft()%100==0) {
+      Serial.print("Stall Guard: ");
+      Serial.println(tmc26XStepper.getCurrentStallGuardReading());
+    }    
+  }  
+  tmc26XStepper.move();
+}
+
+