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Smoothieboard and Smoothieware, see also http://reprap.org/wiki/Smoothieboard and http://reprap.org/wiki/SmoothieBoard#Smoothieboard.
Re: TMC2130 SPI Stepper Driver and Smoothie - 6 years ago
tiagojbalmeida is currently working on TMC2130 support for smoothieware. He made a pull-request and it's about to be integraded into smoothieware. It needs a bit of testing:by HaselnuesseTo - Smoothie