I want to control a stepper motor (SY42STH38- 1684A) with a raspberry pi using the motor driver TMC2130. It has 3 operating mode and i’m chosing the step/dir one. This should be easy, i have soldered the SPI_mode to GND to disable it as per the datasheet and connected the two pins STEP/DIR to the 27 and 22 gpios of the raspberry pi. Here is the code i would like to use, a very simple one but i don’t have the correct output.

#include <iostream>
#include <unistd.h>
#include <pigpio.h>

using namespace std;

const uint8_t DIR_PIN = 27;
const uint8_t STEP_PIN = 22;


void init()
{
    gpioSetMode(DIR_PIN, PI_OUTPUT);
    gpioSetMode(STEP_PIN, PI_OUTPUT);
   
    
}

void StepMotor()
{
    for (int i = 0; i < 100; ++i)
    {
        
        gpioWrite(STEP_PIN, 1);
        usleep(5000); // 1ms delay
        gpioWrite(STEP_PIN, 0);
        usleep(5000); // 1ms delay
    }
    sleep(3);
}

int main()
{
    if (gpioInitialise() < 0)
    {
        cerr << "pigpio initialization failed." << endl;
        return -1;
    }
    init();
    sleep (0.1);
    while (true)
    {
        gpioWrite(DIR_PIN, 0);
        cout << "Clockwise rotation" << endl;
        StepMotor();
        //sleep(3); // 3 seconds pause

        gpioWrite(DIR_PIN, 1);
        cout << "Counter-clockwise rotation" << endl;
        StepMotor();
        //sleep(3); // 3 seconds pause
    }

    gpioTerminate();
    return 0;
}

I am powering my motor with 6V and have calculated the Vref to be approximately 1.7A (ajutsed with the driver potentiometer). I also have connected the SCK and SDI pin to GND so i have fullSteps.

I have trie changing the delay between when the step pin is HIGH and LOW, the value of the tension send to the motor. I was expecting to have the motor do a full rotation one way then the other but I only feel and hear the motor vibrating. Sometimes it moves a bit but not as much as I would expect.