Stepper pinout is incorrect

[BenChung]

The pinout on the current diagram indicates that the motor header pinning is 2B-1B-1A-2A. Mapping it through the schematic we find that the pin mapping connecting to the TMC2209 is then:

• 2B -> OA2
• 1B -> OB2
• 1A -> OB1
• 2A -> OA1

Then, based on the TMC2209 datasheet, page 11, in a standard application the stepper is connected with one phase from OA1 to OA2 and the other on OB1 to OB2. Therefore, based on the provided documentation, the stepper motors should be connected so that one phase spans pins 1 and 4 of the JST-XH connector and the other phase spans pins 2 and 3.

However, based on my Pico, the actual pinning is for one phase over pins 1 and 2 and the other phase over pins 3 and 4. I have not established the complete mapping back to the TMC2209's outputs, though can do so on request. The actual pinning of each motor header appears to be approximately 1A-1B-2A-2B, mapping to OA1-OA1-OB1-OB2 (or OB1-OB2-OA1-OA2, can't determine which) on the TMC2209 for the channel.