Refactor/stepper api motion control driver

drivers/CMakeLists.txt

@@ -85,6 +85,7 @@ add_subdirectory_ifdef(CONFIG_SERIAL serial)
 add_subdirectory_ifdef(CONFIG_SMBUS smbus)
 add_subdirectory_ifdef(CONFIG_SPI spi)
 add_subdirectory_ifdef(CONFIG_STEPPER stepper)
+add_subdirectory_ifdef(CONFIG_STEPPER_CONTROL stepper_control)
 add_subdirectory_ifdef(CONFIG_SYSCON syscon)
 add_subdirectory_ifdef(CONFIG_SYS_CLOCK_EXISTS timer)
 add_subdirectory_ifdef(CONFIG_TEE tee)

drivers/Kconfig

@@ -83,6 +83,7 @@ source "drivers/sip_svc/Kconfig"
 source "drivers/smbus/Kconfig"
 source "drivers/spi/Kconfig"
 source "drivers/stepper/Kconfig"
+source "drivers/stepper_control/Kconfig"
 source "drivers/syscon/Kconfig"
 source "drivers/timer/Kconfig"
 source "drivers/usb/Kconfig"

drivers/stepper/CMakeLists.txt

@@ -14,5 +14,5 @@ zephyr_library()
 zephyr_library_property(ALLOW_EMPTY TRUE)
 
 zephyr_library_sources_ifdef(CONFIG_FAKE_STEPPER fake_stepper_controller.c)
-zephyr_library_sources_ifdef(CONFIG_GPIO_STEPPER gpio_stepper_controller.c)
+zephyr_library_sources_ifdef(CONFIG_GPIO_STEPPER gpio_stepper_driver.c)
 zephyr_library_sources_ifdef(CONFIG_STEPPER_SHELL stepper_shell.c)

drivers/stepper/Kconfig

@@ -2,9 +2,9 @@
 # SPDX-License-Identifier: Apache-2.0
 
 menuconfig STEPPER
-	bool "Stepper Controller"
+	bool "Stepper Driver"
 	help
-	  Enable stepper controller
+	  Enable stepper driver
 
 if STEPPER
 

drivers/stepper/adi_tmc/CMakeLists.txt

@@ -4,7 +4,6 @@
 zephyr_library()
 zephyr_library_property(ALLOW_EMPTY TRUE)
 
-zephyr_library_sources_ifdef(CONFIG_STEPPER_ADI_TMC_SPI adi_tmc_spi.c)
 zephyr_library_sources_ifdef(CONFIG_STEPPER_ADI_TMC2209 tmc22xx.c)
-zephyr_library_sources_ifdef(CONFIG_STEPPER_ADI_TMC50XX tmc50xx.c)
+zephyr_library_sources_ifdef(CONFIG_ADI_TMC5XXX_STEPPER_DRIVER tmc5xxx_stepper_driver.c)
 zephyr_library_sources_ifdef(CONFIG_STEPPER_ADI_TMC51XX tmc51xx.c)

drivers/stepper/adi_tmc/Kconfig

@@ -15,12 +15,11 @@ config STEPPER_ADI_TMC_SPI
 	depends on STEPPER_ADI_TMC
 	select SPI
 	help
-	  A Trinamic Stepper Controller with SPI is enabled
+	  A Trinamic Stepper Driver with SPI is enabled
 
 comment "Trinamic Stepper Drivers"
 
 rsource "Kconfig.tmc22xx"
-rsource "Kconfig.tmc50xx"
-rsource "Kconfig.tmc51xx"
+rsource "Kconfig.tmc5xxx"
 
 endif # STEPPER_ADI_TMC

drivers/stepper/adi_tmc/Kconfig.tmc5xxx

@@ -0,0 +1,8 @@
+# SPDX-FileCopyrightText: Copyright (c) 2025 Jilay Sandeep Pandya
+# SPDX-License-Identifier: Apache-2.0
+
+config ADI_TMC5XXX_STEPPER_DRIVER
+	bool "Activate trinamic tmc5xxx stepper driver"
+	depends on DT_HAS_ADI_TMC5XXX_STEPPER_DRIVER_ENABLED
+	select STEPPER_ADI_TMC_SPI
+	default y

drivers/stepper/adi_tmc/tmc22xx.c

@@ -19,26 +19,25 @@ struct tmc22xx_config {
 };
 
 struct tmc22xx_data {
-	struct step_dir_stepper_common_data common;
 	enum stepper_micro_step_resolution resolution;
 };
 
-STEP_DIR_STEPPER_STRUCT_CHECK(struct tmc22xx_config, struct tmc22xx_data);
+STEP_DIR_STEPPER_STRUCT_CHECK(struct tmc22xx_config);
 
 static int tmc22xx_stepper_enable(const struct device *dev)
 {
 	const struct tmc22xx_config *config = dev->config;
 
 	LOG_DBG("Enabling Stepper motor controller %s", dev->name);
-	return gpio_pin_set_dt(&config->enable_pin, 1);
+	return gpio_pin_set_dt(&config->enable_pin, 0);
 }
 
 static int tmc22xx_stepper_disable(const struct device *dev)
 {
 	const struct tmc22xx_config *config = dev->config;
 
 	LOG_DBG("Disabling Stepper motor controller %s", dev->name);
-	return gpio_pin_set_dt(&config->enable_pin, 0);
+	return gpio_pin_set_dt(&config->enable_pin, 1);
 }
 
 static int tmc22xx_stepper_set_micro_step_res(const struct device *dev,
@@ -150,15 +149,8 @@ static int tmc22xx_stepper_init(const struct device *dev)
 static DEVICE_API(stepper, tmc22xx_stepper_api) = {
 	.enable = tmc22xx_stepper_enable,
 	.disable = tmc22xx_stepper_disable,
-	.move_by = step_dir_stepper_common_move_by,
-	.is_moving = step_dir_stepper_common_is_moving,
-	.set_reference_position = step_dir_stepper_common_set_reference_position,
-	.get_actual_position = step_dir_stepper_common_get_actual_position,
-	.move_to = step_dir_stepper_common_move_to,
-	.set_microstep_interval = step_dir_stepper_common_set_microstep_interval,
-	.run = step_dir_stepper_common_run,
-	.stop = step_dir_stepper_common_stop,
-	.set_event_callback = step_dir_stepper_common_set_event_callback,
+	.step = step_dir_stepper_common_step,
+	.set_direction = step_dir_stepper_common_set_direction,
 	.set_micro_step_res = tmc22xx_stepper_set_micro_step_res,
 	.get_micro_step_res = tmc22xx_stepper_get_micro_step_res,
 };
@@ -183,7 +175,6 @@ static DEVICE_API(stepper, tmc22xx_stepper_api) = {
 		(.msx_pins = tmc22xx_stepper_msx_pins_##inst))					   \
 	};                                                                                         \
 	static struct tmc22xx_data tmc22xx_data_##inst = {                                         \
-		.common = STEP_DIR_STEPPER_DT_INST_COMMON_DATA_INIT(inst),                         \
 		.resolution = DT_INST_PROP(inst, micro_step_res),                                  \
 	};                                                                                         \
 	DEVICE_DT_INST_DEFINE(inst, tmc22xx_stepper_init, NULL, &tmc22xx_data_##inst,              \