How to adapt this ESP32 + TMC2240 stepper controller design to my project?

Question

I’m trying to build a wireless stepper motor controller using an ESP32 with a TMC2240 driver. I came across this reference design: Wireless Stepper Motor Controller with ESP32 and TMC2240 https://www.pcbway.com/project/shareproject/Wireless_Stepper_Motor_Controller_with_ESP32_and_TMC2240_007de61a.html

, which looks quite close to what I want to achieve.

So far, I’ve managed to:

Get the ESP32 running with basic stepper control using the AccelStepper library (with a simpler driver like A4988).

Interface the ESP32 with SPI successfully (tested with another peripheral).

Power the ESP32 and stepper motor driver from a common supply (with separate regulators for logic and motor voltage).

The reference project uses SPI communication with the TMC2240, but the library support for this chip on Arduino seems very limited. Is there any way to use the TMC2240 with Arduino (ESP32) using an existing library that supports features like stall detection and current control, or do I need to implement SPI communication from scratch?

#include <AccelStepper.h>
// Define stepper motor connections
#define STEP_PIN 18
#define DIR_PIN 19
// Create an instance of AccelStepper
AccelStepper stepper(AccelStepper::DRIVER, STEP_PIN, DIR_PIN);
void setup() {
 Serial.begin(115200);
 
 // Set max speed and acceleration
 stepper.setMaxSpeed(1000); // steps per second
 stepper.setAcceleration(500); // steps per second^2
}
void loop() {
 // Move to a target position
 stepper.moveTo(2000); // move 2000 steps forward
 // Run the motor toward the target
 if (stepper.distanceToGo() != 0) {
 stepper.run();
 }
 // Once reached, move back
 if (stepper.distanceToGo() == 0) {
 stepper.moveTo(-2000); // move back
 }
}