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+++ b/docs/Instruction/tips/stepper_TMC2208.md
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+# Stepper Motor Driver TMC2208
+
+{width=300}
+{width=300}
+[Digikey](https://www.digikey.jp/en/products/detail/trinamic-motion-control-gmbh/TMC2208SILENTSTEPSTICK/6873626)
+
+## About
+ [Datasheet](https://www.trinamic.com/fileadmin/assets/Products/ICs_Documents/TMC220x_TMC2224_datasheet_Rev1.09.pdf)
+ Ref. [youtube](https://www.google.com/search?q=TMC2208+how+to+use&rlz=1C5CHFA_enJP913JP913&oq=TMC2208+how+to+use&aqs=chrome..69i57j0i22i30.12837j0j7&sourceid=chrome&ie=UTF-8#kpvalbx=_Zp0dYqfAI9Pg2roP9bWQSA43)
+
+### Mode
+
+
+- Mode 1: Standalone STEP/DIR Driver (Legacy Mode)
+ - **Replacement for A4988**
+ - Manual Vref/Stepper Current
+
+- Mode 2: Standalone STEP/DIR Driver with OTP pre-configuration
+ - OTP (One Time Programming)
+
+- Mode 3: STEP/DIR Driver with Full Diagnostics and Control
+ - **pin PDN_UART is connected to the CPU UART interface**
+
+## Set up as Mode 1
+
+### Mode select
+
+{width=400}
+
+- Mode 1: no jumber (default)
+
+### Stepper Motor
+
+
+[42SHD4002-24B](https://akizukidenshi.com/catalog/g/gP-14604/)|[datasheet](https://akizukidenshi.com/download/ds/fudeelec/42shd4002-24b.pdf)
+{width=500}
+{width=500}
+
+- Rated voltage: 12V
+- Rated current: 0.55A
+
+### Vref formula
+#### RMS Current
+
+- Root Mean Square ([二乗平å‡å¹³æ–¹æ ¹](https://ja.wikipedia.org/wiki/%E4%BA%8C%E4%B9%97%E5%B9%B3%E5%9D%87%E5%B9%B3%E6%96%B9%E6%A0%B9))
+
+RMS Current = MAX CURRENT / 1.41
+VREF = (RMS Current x 2.5)/1.77)
+
+value |formula |42SHD4002-24B |Safer use 90% of VREF
+-- |--- |-- |--
+RMS Current|MAX Current / 1.41 |0.55[A] / 1.41 = 0.39 | -
+VREF |(RMS Current x 2.5)/1.77 |(0.39 x 2.5)/1.77 = 0.55|0.55 x 0.9 = 0.495[V]
+
+
+{width=300}
+{width=300}
+
+
+### Arduino
+
+#### Library
+
+New: [TMCStepper](https://github.com/teemuatlut/TMCStepper)
+Old: [TMC2208Stepper](https://github.com/teemuatlut/TMC2208Stepper)
+
+Sketch -> Include Library -> Library Manager -> Search "tmc" -> install both libraries
+{width=400}
+
+#### sample Sketch
+
+File -> Examples -> TMC2208Stepper -> TMC2208_Simple
+
+```
+// Author Teemu Mäntykallio, 2017-04-07
+
+// Define pins
+#define EN_PIN 38 // LOW: Driver enabled. HIGH: Driver disabled
+#define STEP_PIN 54 // Step on rising edge
+
+#include <TMC2208Stepper.h> // Include library
+TMC2208Stepper driver = TMC2208Stepper(&Serial1); // Create driver and use
+ // HardwareSerial0 for communication
+
+void setup() {
+ Serial.begin(9600);
+ Serial.println("Start...");
+ Serial1.begin(115200); // Start hardware serial 1
+ driver.push(); // Reset registers
+
+ // Prepare pins
+ pinMode(EN_PIN, OUTPUT);
+ pinMode(STEP_PIN, OUTPUT);
+ digitalWrite(EN_PIN, HIGH); // Disable driver in hardware
+
+ driver.pdn_disable(true); // Use PDN/UART pin for communication
+ driver.I_scale_analog(false); // Use internal voltage reference
+ driver.rms_current(500); // Set driver current 500mA
+ driver.toff(2); // Enable driver in software
+
+ digitalWrite(EN_PIN, LOW); // Enable driver in hardware
+
+ uint32_t data = 0;
+ Serial.print("DRV_STATUS = 0x");
+ driver.DRV_STATUS(&data);
+ Serial.println(data, HEX);
+}
+
+void loop() {
+ digitalWrite(STEP_PIN, !digitalRead(STEP_PIN));
+ delayMicroseconds(100);
+}
+```