diff --git a/drivers/stepper/adi_tmc/adi_tmc5041_stepper_controller.c b/drivers/stepper/adi_tmc/adi_tmc5041_stepper_controller.c
index bd9857b95cf1a..c5433c1a83591 100644
--- a/drivers/stepper/adi_tmc/adi_tmc5041_stepper_controller.c
+++ b/drivers/stepper/adi_tmc/adi_tmc5041_stepper_controller.c
@@ -1,5 +1,6 @@
 /*
  * SPDX-FileCopyrightText: Copyright (c) 2024 Carl Zeiss Meditec AG
+ * SPDX-FileCopyrightText: Copyright (c) 2024 Jilay Sandeep Pandya
  * SPDX-License-Identifier: Apache-2.0
  */
 
@@ -10,8 +11,8 @@
 #include <zephyr/drivers/stepper.h>
 #include <zephyr/drivers/stepper/stepper_trinamic.h>
 
-#include "adi_tmc_reg.h"
 #include "adi_tmc_spi.h"
+#include "adi_tmc5xxx_common.h"
 
 #include <zephyr/logging/log.h>
 
@@ -93,17 +94,6 @@ static int tmc5041_read(const struct device *dev, const uint8_t reg_addr, uint32
 	return 0;
 }
 
-static void calculate_velocity_from_hz_to_fclk(const struct device *dev, const uint32_t velocity_hz,
-					       uint32_t *const velocity_fclk)
-{
-	const struct tmc5041_config *config = dev->config;
-
-	*velocity_fclk =
-		((uint64_t)(velocity_hz) << TMC5041_CLOCK_FREQ_SHIFT) / config->clock_frequency;
-	LOG_DBG("Stepper motor controller %s velocity: %d Hz, velocity_fclk: %d", dev->name,
-		velocity_hz, *velocity_fclk);
-}
-
 static int tmc5041_stepper_set_event_callback(const struct device *dev,
 					      stepper_event_callback_t callback, void *user_data)
 {
@@ -356,10 +346,13 @@ static int tmc5041_stepper_move(const struct device *dev, const int32_t steps)
 static int tmc5041_stepper_set_max_velocity(const struct device *dev, uint32_t velocity)
 {
 	const struct tmc5041_stepper_config *config = dev->config;
+	const struct tmc5041_config *tmc5041_config = config->controller->config;
+	const uint32_t clock_frequency = tmc5041_config->clock_frequency;
 	uint32_t velocity_fclk;
 	int err;
 
-	calculate_velocity_from_hz_to_fclk(config->controller, velocity, &velocity_fclk);
+	velocity_fclk = tmc5xxx_calculate_velocity_from_hz_to_fclk(velocity, clock_frequency);
+
 	err = tmc5041_write(config->controller, TMC5041_VMAX(config->index), velocity_fclk);
 	if (err != 0) {
 		LOG_ERR("%s: Failed to set max velocity", dev->name);
@@ -482,11 +475,13 @@ static int tmc5041_stepper_enable_constant_velocity_mode(const struct device *de
 {
 	LOG_DBG("Stepper motor controller %s enable constant velocity mode", dev->name);
 	const struct tmc5041_stepper_config *config = dev->config;
+	const struct tmc5041_config *tmc5041_config = config->controller->config;
 	struct tmc5041_stepper_data *data = dev->data;
+	const uint32_t clock_frequency = tmc5041_config->clock_frequency;
 	uint32_t velocity_fclk;
 	int err;
 
-	calculate_velocity_from_hz_to_fclk(config->controller, velocity, &velocity_fclk);
+	velocity_fclk = tmc5xxx_calculate_velocity_from_hz_to_fclk(velocity, clock_frequency);
 
 	if (config->is_sg_enabled) {
 		err = stallguard_enable(dev, false);
diff --git a/drivers/stepper/adi_tmc/adi_tmc5xxx_common.h b/drivers/stepper/adi_tmc/adi_tmc5xxx_common.h
new file mode 100644
index 0000000000000..7eafe62326eb8
--- /dev/null
+++ b/drivers/stepper/adi_tmc/adi_tmc5xxx_common.h
@@ -0,0 +1,51 @@
+/**
+ * @file drivers/stepper/adi_tmc/adi_tmc5xxx_common.h
+ *
+ * @brief Common TMC5xxx stepper controller driver definitions
+ */
+
+/**
+ * SPDX-FileCopyrightText: Copyright (c) 2024 Jilay Sandeep Pandya
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#ifndef ZEPHYR_DRIVERS_STEPPER_ADI_TMC_ADI_TMC5XXX_COMMON_H_
+#define ZEPHYR_DRIVERS_STEPPER_ADI_TMC_ADI_TMC5XXX_COMMON_H_
+
+#include "adi_tmc_reg.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @name TMC5xxx module functions
+ * @anchor TMC5XXX_FUNCTIONS
+ *
+ * @{
+ */
+
+/**
+ * @brief Calculate the velocity in full clock cycles from the velocity in Hz
+ *
+ * @param velocity_hz Velocity in Hz
+ * @param clock_frequency Clock frequency in Hz
+ *
+ * @return Calculated velocity in full clock cycles
+ */
+static inline uint32_t tmc5xxx_calculate_velocity_from_hz_to_fclk(uint64_t velocity_hz,
+								  uint32_t clock_frequency)
+{
+	__ASSERT_NO_MSG(clock_frequency);
+	return (velocity_hz << TMC5XXX_CLOCK_FREQ_SHIFT) / clock_frequency;
+}
+
+/**
+ * @}
+ */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* ZEPHYR_DRIVERS_STEPPER_ADI_TMC_ADI_TMC5XXX_COMMON_H_ */
diff --git a/drivers/stepper/adi_tmc/adi_tmc_reg.h b/drivers/stepper/adi_tmc/adi_tmc_reg.h
index 1c88020c352a4..ebf0de57ed168 100644
--- a/drivers/stepper/adi_tmc/adi_tmc_reg.h
+++ b/drivers/stepper/adi_tmc/adi_tmc_reg.h
@@ -17,6 +17,13 @@
 extern "C" {
 #endif
 
+/** Common Registers for TMC5041 and TMC51XX */
+#if defined(CONFIG_STEPPER_ADI_TMC5041)
+
+#define TMC5XXX_CLOCK_FREQ_SHIFT 24
+
+#endif
+
 #ifdef CONFIG_STEPPER_ADI_TMC5041
 
 #define TMC5041_MOTOR_ADDR(m)     (0x20 << (m))
@@ -133,8 +140,6 @@ extern "C" {
 #define TMC5041_CHOPCONF_MRES_MASK       GENMASK(27, 24)
 #define TMC5041_CHOPCONF_MRES_SHIFT      24
 
-#define TMC5041_CLOCK_FREQ_SHIFT 24
-
 #endif
 
 /**