The TMC5130 may be used with 3.3 V as well as with 5 V I/Os in order to adapt to the CPU supply voltage, connect a supply voltage to VCC_IO accordingly. For noise filtering, use a 100 nF capacitor to ground. Using the SPI interface is best for on-PCB wiring. The TMC5130A is a complete remote controlled system when working with single wire or single wire differential bus for distances up to several meters. In this case, care must be taken to ensure good GND interconnection and protection of the bus pins from drawing GND current in case GND gets interrupted. The power supply terminals should be filtered with 100 nF capacitors as a good practice. In case VSA uses the same supply voltage as VM, the additional capacitor C4 at the VSA pin may be left off. Sense resistors define the motor current; a variant without sense resistors is possible for space and cost critical applications.