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drivers: stepper: a4988
Add a4998 2-phase motor controller driver Signed-off-by: Marvin Ouma <[email protected]>
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‎drivers/stepper/CMakeLists.txt‎

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@@ -7,6 +7,7 @@ zephyr_syscall_header(${ZEPHYR_BASE}/include/zephyr/drivers/stepper.h)
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add_subdirectory_ifdef(CONFIG_STEPPER_ADI_TMC adi_tmc)
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add_subdirectory_ifdef(CONFIG_STEPPER_TI ti)
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add_subdirectory_ifdef(CONFIG_STEP_DIR_STEPPER step_dir)
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add_subdirectory_ifdef(CONFIG_STEPPER_ALLEGRO allegro)
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# zephyr-keep-sorted-stop
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zephyr_library()

‎drivers/stepper/Kconfig‎

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@@ -35,6 +35,7 @@ rsource "Kconfig.fake"
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rsource "Kconfig.gpio"
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rsource "adi_tmc/Kconfig"
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rsource "ti/Kconfig"
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rsource "allegro/Kconfig"
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# zephyr-keep-sorted-stop
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endif

‎drivers/stepper/allegro/CMakeLists.txt‎

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# SPDX-FileCopyrightText: Copyright (c) 2025 Marvin Ouma
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# SPDX-License-Identifier: Apache-2.0
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zephyr_library()
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zephyr_library_property(ALLOW_EMPTY TRUE)
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zephyr_library_sources_ifdef(CONFIG_A4988 a4988.c)

‎drivers/stepper/allegro/Kconfig‎

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# SPDX-FileCopyrightText: Copyright (c) 2025 Marvin Ouma
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# SPDX-License-Identifier: Apache-2.0
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config STEPPER_ALLEGRO
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bool
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depends on STEPPER
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rsource "Kconfig.a4988"

‎drivers/stepper/allegro/Kconfig.a4988‎

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# SPDX-FileCopyrightText: Copyright (c) 2025 Marvin Ouma
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# SPDX-License-Identifier: Apache-2.0
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config A4988
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bool "A4988 DMOS Microstepping Driver"
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default y
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depends on DT_HAS_ALLEGRO_A4988_ENABLED
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select STEPPER_ALLEGRO
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select STEP_DIR_STEPPER
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select STEPPER_STEP_DIR_GENERATE_ISR_SAFE_EVENTS
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help
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Enable A4988 DMOS Microstepping Driver.

‎drivers/stepper/allegro/a4988.c‎

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/*
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* SPDX-FileCopyrightText: Copyright (c) 2025 Marvin Ouma
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* SPDX-License-Identifier: Apache-2.0
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*/
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#define DT_DRV_COMPAT allegro_a4988
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#include <zephyr/device.h>
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#include <zephyr/devicetree.h>
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#include <zephyr/drivers/gpio.h>
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#include <zephyr/drivers/stepper.h>
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#include "../step_dir/step_dir_stepper_common.h"
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#include <zephyr/logging/log.h>
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LOG_MODULE_REGISTER(a4988, CONFIG_STEPPER_LOG_LEVEL);
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#define MSX_PIN_COUNT 3
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#define MSX_PIN_STATE_COUNT 5
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static enum stepper_micro_step_resolution a4988_msx_resolutions[MSX_PIN_STATE_COUNT] = {
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STEPPER_MICRO_STEP_1, STEPPER_MICRO_STEP_2, STEPPER_MICRO_STEP_4,
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STEPPER_MICRO_STEP_8, STEPPER_MICRO_STEP_16,
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};
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struct a4988_config {
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struct step_dir_stepper_common_config common;
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struct gpio_dt_spec sleep_pin;
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struct gpio_dt_spec enable_pin;
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struct gpio_dt_spec reset;
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struct gpio_dt_spec *msx_pins;
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enum stepper_micro_step_resolution *msx_resolutions;
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};
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struct a4988_data {
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struct step_dir_stepper_common_data common;
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enum stepper_micro_step_resolution resolution;
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};
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STEP_DIR_STEPPER_STRUCT_CHECK(struct a4988_config, struct a4988_data);
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static int a4988_stepper_enable(const struct device *dev, const bool enable)
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{
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/* enable and sleep pins need to be set logic low to be on */
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const struct a4988_config *config = dev->config;
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int ret;
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if (config->sleep_pin.port != NULL) {
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ret = gpio_pin_set_dt(&config->sleep_pin, enable);
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if (ret < 0) {
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LOG_WRN("Failed to set sleep pin %d", ret);
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}
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}
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LOG_DBG("Stepper motor controller %s %s", dev->name, !enable ? "enabled" : "disabled");
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return gpio_pin_set_dt(&config->enable_pin, !enable);
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}
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/* Set microstepping mode
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*
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*/
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static int a4988_stepper_set_micro_step_res(const struct device *dev,
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enum stepper_micro_step_resolution micro_step_res)
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{
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struct a4988_data *data = dev->data;
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const struct a4988_config *config = dev->config;
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int ret;
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if (!config->msx_pins) {
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LOG_ERR("Microstep resolution pins are not configured");
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return 0; // NOT CONNECTED
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}
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for (uint8_t i = 0; i < MSX_PIN_STATE_COUNT; ++i) {
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if (micro_step_res != config->msx_resolutions[i]) {
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continue;
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}
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ret = gpio_pin_set_dt(&config->msx_pins[0], i & 0x01);
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if (ret < 0) {
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LOG_ERR("Failed to set MS1 pin: %d", ret);
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return ret;
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}
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ret = gpio_pin_set_dt(&config->msx_pins[1], (i & 0x02) >> 1);
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if (ret < 0) {
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LOG_ERR("Failed to set MS2 pin: %d", ret);
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return ret;
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}
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ret = gpio_pin_set_dt(&config->msx_pins[2], (i & 0x04) >> 1);
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if (ret < 0) {
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LOG_ERR("Failed to set MS3 pin: %d", ret);
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return ret;
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}
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data->resolution = micro_step_res;
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return 0;
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}
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LOG_ERR("Unsupported microstep resolution: %d", micro_step_res);
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return -EINVAL;
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}
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static int a4988_stepper_configure_msx_pins(const struct device *dev)
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{
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const struct a4988_config *config = dev->config;
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int ret;
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for (uint8_t i = 0; i < MSX_PIN_COUNT; i++) {
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if (!gpio_is_ready_dt(&config->msx_pins[i])) {
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LOG_ERR("MSX pin %u is not ready", i);
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return -ENODEV;
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}
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ret = gpio_pin_configure_dt(&config->msx_pins[i], GPIO_OUTPUT);
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if (ret < 0) {
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LOG_ERR("Failed to configure msx pin %u", i);
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return ret;
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}
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}
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return 0;
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}
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static int a4988_stepper_get_micro_step_res(const struct device *dev,
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enum stepper_micro_step_resolution *micro_step_res)
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{
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struct a4988_data *data = dev->data;
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*micro_step_res = data->resolution;
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return 0;
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}
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static int a4988_stepper_init(const struct device *dev)
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{
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const struct a4988_config *config = dev->config;
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const struct a4988_data *data = dev->data;
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int ret;
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if (config->sleep_pin.port != NULL) {
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ret = gpio_pin_configure_dt(&config->sleep_pin, GPIO_OUTPUT_ACTIVE);
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if (ret < 0) {
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LOG_ERR("Failed to configure sleep pin: %d", ret);
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return -ENODEV;
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}
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}
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if (!gpio_is_ready_dt(&config->enable_pin)) {
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LOG_ERR("GPIO pins are not ready");
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return -ENODEV;
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}
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ret = gpio_pin_configure_dt(&config->enable_pin, GPIO_OUTPUT);
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if (ret < 0) {
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LOG_ERR("Failed to configure enable pin: %d", ret);
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return ret;
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}
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if (config->msx_pins) {
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ret = a4988_stepper_configure_msx_pins(dev);
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if (ret < 0) {
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LOG_ERR("Failed to configure MSX pins: %d", ret);
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return ret;
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}
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ret = a4988_stepper_set_micro_step_res(dev, data->resolution);
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if (ret < 0) {
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LOG_ERR("Failed to set microstep resolution: %d", ret);
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return ret;
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}
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}
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ret = step_dir_stepper_common_init(dev);
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if (ret < 0) {
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LOG_ERR("Failed to init step dir common stepper: %d", ret);
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return ret;
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}
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return 0;
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}
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static DEVICE_API(stepper, a4988_stepper_api) = {
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.enable = a4988_stepper_enable,
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.move_by = step_dir_stepper_common_move_by,
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.is_moving = step_dir_stepper_common_is_moving,
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.set_reference_position = step_dir_stepper_common_set_reference_position,
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.get_actual_position = step_dir_stepper_common_get_actual_position,
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.move_to = step_dir_stepper_common_move_to,
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.set_microstep_interval = step_dir_stepper_common_set_microstep_interval,
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.run = step_dir_stepper_common_run,
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.set_event_callback = step_dir_stepper_common_set_event_callback,
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.set_micro_step_res = a4988_stepper_set_micro_step_res,
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.get_micro_step_res = a4988_stepper_get_micro_step_res,
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};
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#define A4988_STEPPER_DEFINE(inst, msx_table) \
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IF_ENABLED(DT_INST_NODE_HAS_PROP(inst, msx_gpios), ( \
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static const struct gpio_dt_spec a4988_stepper_msx_pins_##inst[] = { \
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DT_INST_FOREACH_PROP_ELEM_SEP( \
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inst, msx_gpios, GPIO_DT_SPEC_GET_BY_IDX, (,) \
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), \
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}; \
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BUILD_ASSERT( \
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ARRAY_SIZE(a4988_stepper_msx_pins_##inst) == MSX_PIN_COUNT, \
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"Three microstep config pins needed"); \
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)) \
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\
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static const struct a4988_config a4988_config_##inst = { \
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.common = STEP_DIR_STEPPER_DT_INST_COMMON_CONFIG_INIT(inst), \
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.enable_pin = GPIO_DT_SPEC_INST_GET(inst, en_gpios), \
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.msx_resolutions = msx_table, \
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IF_ENABLED(DT_INST_NODE_HAS_PROP(inst, msx_gpios), \
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(.msx_pins = (struct gpio_dt_spec *)a4988_stepper_msx_pins_##inst)) }; \
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static struct a4988_data a4988_data_##inst = { \
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.common = STEP_DIR_STEPPER_DT_INST_COMMON_DATA_INIT(inst), \
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.resolution = DT_INST_PROP(inst, micro_step_res), \
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}; \
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DEVICE_DT_INST_DEFINE(inst, a4988_stepper_init, NULL, &a4988_data_##inst, \
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&a4988_config_##inst, POST_KERNEL, CONFIG_STEPPER_INIT_PRIORITY, \
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&a4988_stepper_api);
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DT_INST_FOREACH_STATUS_OKAY_VARGS(A4988_STEPPER_DEFINE, a4988_msx_resolutions)

‎dts/bindings/stepper/allegro/allegro,a4988.yaml‎

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# SPDX-FileCopyrightText: Copyright (c) 2025 Marvin Ouma
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# SPDX-License-Identifier: Apache-2.0
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description: |
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Allegro A4988 stepper motor driver.
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Example:
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a4988: a4988 {
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status = "okay";
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compatible = "allegro,a4988";
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step-gpios = <&gpio0 15 GPIO_ACTIVE_HIGH>;
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dir-gpios = <&gpio0 2 GPIO_ACTIVE_HIGH>;
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en-gpios = <&gpio0 4 GPIO_ACTIVE_HIGH>;
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msx-gpios = <&gpio0 16 GPIO_ACTIVE_HIGH>,
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<&gpio0 17 GPIO_ACTIVE_HIGH>,
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<&gpio0 5 GPIO_ACTIVE_HIGH>;
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};
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compatible: "allegro,a4988"
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include:
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- name: stepper-controller.yaml
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property-allowlist:
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- micro-step-res
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- step-gpios
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- dir-gpios
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- en-gpios
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properties:
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msx-gpios:
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type: phandle-array
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description: |
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An array of GPIO pins for configuring the microstep resolution of the driver.
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The pins should be listed in the following order:
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- MS1
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- MS2
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- MS3
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sleep-gpios:
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type: phandle-array
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description: Sleep pin
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reset-gpios:
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type: phandle-array
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description: Reset pin

‎samples/drivers/stepper/a4988/CMakeLists.txt‎

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# SPDX-FileCopyrightText: Copyright (c) 2025 Marvin Ouma
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# SPDX-License-Identifier: Apache-2.0
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cmake_minimum_required(VERSION 3.20.0)
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find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
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project(a4988)
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FILE(GLOB app_sources src/*.c)
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target_sources(app PRIVATE ${app_sources})

‎samples/drivers/stepper/a4988/Kconfig‎

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# SPDX-FileCopyrightText: Copyright (c) 2025 Marvin Ouma
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# SPDX-License-Identifier: Apache-2.0
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mainmenu "A4988 sample application"
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config STEPS_PER_REV
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int "Steps per revolution"
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default 200
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source "Kconfig.zephyr"

‎samples/drivers/stepper/a4988/app.overlay‎

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/ {
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aliases {
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stepper = &a4988;
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};
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a4988: a4988 {
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compatible = "allegro,a4988";
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status = "okay";
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step-gpios = <&gpioa 21 GPIO_ACTIVE_HIGH>;
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dir-gpios = <&gpiob 22 GPIO_ACTIVE_HIGH>;
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en-gpios = <&gpioa 14 GPIO_ACTIVE_LOW>;
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sleep-gpios = <&gpiob 19 GPIO_ACTIVE_LOW>;
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reset-gpios = <&gpiob 18 GPIO_ACTIVE_HIGH>;
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msx-gpios = <&gpioa 15 GPIO_ACTIVE_HIGH>,
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<&gpioa 16 GPIO_ACTIVE_HIGH>,
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<&gpioa 17 GPIO_ACTIVE_HIGH>;
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};
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};

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