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TMC2209 DATASHEET and stall guard Detection setup required

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moth4017
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TMC2209 DATASHEET and stall guard Detection setup required

Is there away of creating a setup procedure ( eg a Macro )as describe on page 56 of the PDF below so that the stalled detection can be set?

https://www.trinamic.com/fileadmin/assets/Products/ICs_Documents/TMC2209_Datasheet_V103.pdf
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