In this video you see the TMC2130 driven HP3's first shadow print. You also see (and hear) the how drivers are switching modes.
Whenever they're in stealthChop mode or classic fullstep+constant off time mode their stallGuard2 load values drop to 0.
When the stallGuard2 load value is above ca 100, the motor gets a reduced current, thanks to coolStep.
When the print is paused, the motors go silent, because they drop into stealthChop mode. They do this whenever motors stand still or move slowly.
I've set the drivers' currents to 500 mA in software (no fiddling with tripots, even though it's a simple RAMPS controller board, yey!) and without heatsinks (the A axis has one in the video, but it's not needed).
The motors are Nema17 Wantai 42BYGH610P1 steppers. The exact code used in this video is here: github.com/tobbelobb/hangprinter/tree/8710268d48daa5641ba65da4c187ad32730ae288