Online Mksocfpga enabled configs: https://github.com/machinekit/mksocfpga/blob/master/HW/hm2/config/DExx_Nano_xxx_Cramps/PIN_3x24_cap_enc_bspi.vhd or https://github.com/machinekit/mksocfpga/blob/master/HW/hm2/config/DExx_Nano_xxx_Cramps/PIN_3x24_cap_enc_dbspi.vhd
git clone https://github.com/the-snowwhite/Hm2-soc_FDM.git
cd Hm2-soc_FDM/projects/Trinamic/20-bit_Comp
sudo comp --install trinamic_dbspi.comp
cd ..
mklauncher .
Then run MachinekitClient on PC
Usable Trinamic 26x(x) BOB mounting pcb's https://github.com/the-snowwhite/socfpga-kicad/tree/master/Trinamic