Hi,
I assume that the example SPI write access on page 21 of the TMC2160 datasheet (rev 1.10 / 2023-Mar-01) is so obviously wrong that no one bothers asking about it or fixing it?
action data sent to TMC2160 data received from TMC2160
read TSTEP 0x1200000000 0xSS & unused data
read TSTEP 0x1200000000 0xSS & TSTEP
write IHOLD_IRUN:= 0x00011F10 0x9000ABCDEF 0xSS & TSTEP
write IHOLD_IRUN:= 0x00021807 0x9000123456 0xSS00011F10