I want to use the benefits of the klipper3d software.
I’m using a Manta m8p board with TMC2209.
I do not have a 3D printer, so there is no extruder or heating.

There is a CB1 on the PCB (like a Raspberry). It communicates with a serial bus with an ARM on the main printer PCB. This receives the move commands and sends them to the stepper drivers.

What I understood so far:

• I create a kinematic for my own “printer” logic
• Klipper creates a toolhead object. If I am right, the toolhead class uses the g_codes from a file input made by a slicer.

Now these g_codes are send to the gcode class to dispatch them into bits, that will be send to the MCU.

OK; now I have a UDP data input from a network client.

From this data input, I want to move steppers independently.
How do I start, what do I need to change in the existing Klipper code?
I don’t like to implement the whole SPI connection with the right implementation for TMC2209 UART communication.
I like to keep the main Klipper parts for these cases because I haven’t really figured out how Klipper decides how to communicate with the MCU for UART commands or else.

I wrote a class that handles the incoming UDP data.
set up the logic to create commands for different steppers.
The class has position, speed and acceleration logic.
From here, I need to create the move commands. First, I thought I have to create g_code but g code is xyz e and I don’t have axis like a printer. My steppers should run to a position with a speed for every single stepper.

Or is there an easier way, for example write a new firmware?