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Normally on a 4 layer card you do not need top or bottom fills
unless for heat sinking or shielding. You do need to be a bit careful 
about the 3.3V/1.2V plane cut/bypass capacitors/supply inductance,
and some under FPGA filling of the VCC plane can help here.

The SPI clock will be the fussiest signal so if you are routing it
a long distance, it may need parallel termination at the end of the trace
(series termination does not work with two endpoints)

thanks i will give this a try tonight.
i did not know ther was a "qtvcp copy" tool
i duplacated the directory and replaced the ui fie and renamed one ot two others.
that obiously did not work.
thanks for your help.

All modern step motor drives have flyback diodes, what they typically do not have is an overvoltage clamp.
This means you must never switch the DC power to the drives anywhere between the power supplies output
capacitor and the drive itself. This means no switches/relays/fuses/circuits breakers in the DC circuit. The
fuse in the  drive itself is just for fire protection, if it blows, the drive was already dead.

Hi all,

I worked on the sensorless homing this week-end and it seems to work, at least on a single axis. I uploaded this video where you can see it in action. The code is a mess so I didn't upload it on github yet, and will first try it on a gantry system before publishing it. I also tried to connect a ABN magnetic encoder (AS5047P) directly on the TMC5160; I can read the encoder position through the X_ENC register and use it as feedback for LinuxCNC, as expected.

I'm not sure what next step will be; probably clean up the code a little and publish a "main" branch. I'd also like to try a Pi Zero 2 version without a GUI, actually without X-Server at all if that's possible, to see if this could be an option for OpenPNP users as a cheap yet powerfull motion controller.