Trinamics tmc5160

Hi.
Tmc5160....
Anyone know if this could be implemented in a cnc milling machine using mode 3 full Motion control. Ie not using step and direction.
That’s the easy one cos I think it’s a yes. But is there cam software out there that will o/p the commands trinamics motion control understands ?
Or is there a Gcode interpreter To trinamics motion control.
Anyone know if there’s a project or application notes to do this. Remember with motion control not step and direction, and cnc.
Hope that’s understandable, I’ve looked most places I can think of.
Cheers
Mike