diff --git a/drivers/stepper/adi_tmc/adi_tmc5041_stepper_controller.c b/drivers/stepper/adi_tmc/adi_tmc5041_stepper_controller.c
index c5433c1a83591..0fa7ab19e6d69 100644
--- a/drivers/stepper/adi_tmc/adi_tmc5041_stepper_controller.c
+++ b/drivers/stepper/adi_tmc/adi_tmc5041_stepper_controller.c
@@ -63,7 +63,7 @@ static int tmc5041_write(const struct device *dev, const uint8_t reg_addr, const
 
 	k_sem_take(&data->sem, K_FOREVER);
 
-	err = tmc_spi_write_register(&bus, TMC5041_WRITE_BIT, reg_addr, reg_val);
+	err = tmc_spi_write_register(&bus, TMC5XXX_WRITE_BIT, reg_addr, reg_val);
 
 	k_sem_give(&data->sem);
 
@@ -83,7 +83,7 @@ static int tmc5041_read(const struct device *dev, const uint8_t reg_addr, uint32
 
 	k_sem_take(&data->sem, K_FOREVER);
 
-	err = tmc_spi_read_register(&bus, TMC5041_ADDRESS_MASK, reg_addr, reg_val);
+	err = tmc_spi_read_register(&bus, TMC5XXX_ADDRESS_MASK, reg_addr, reg_val);
 
 	k_sem_give(&data->sem);
 
@@ -117,7 +117,7 @@ static int stallguard_enable(const struct device *dev, const bool enable)
 	}
 
 	if (enable) {
-		reg_value |= TMC5041_SW_MODE_SG_STOP_ENABLE;
+		reg_value |= TMC5XXX_SW_MODE_SG_STOP_ENABLE;
 
 		int32_t actual_velocity;
 
@@ -136,7 +136,7 @@ static int stallguard_enable(const struct device *dev, const bool enable)
 			return -EAGAIN;
 		}
 	} else {
-		reg_value &= ~TMC5041_SW_MODE_SG_STOP_ENABLE;
+		reg_value &= ~TMC5XXX_SW_MODE_SG_STOP_ENABLE;
 	}
 	err = tmc5041_write(config->controller, TMC5041_SWMODE(config->index), reg_value);
 	if (err) {
@@ -193,11 +193,11 @@ static void rampstat_work_handler(struct k_work *work)
 
 	tmc5041_read(stepper_config->controller, TMC5041_DRVSTATUS(stepper_config->index),
 		     &drv_status);
-	if (FIELD_GET(TMC5041_DRV_STATUS_SG_STATUS_MASK, drv_status) == 1U) {
+	if (FIELD_GET(TMC5XXX_DRV_STATUS_SG_STATUS_MASK, drv_status) == 1U) {
 		LOG_INF("%s: Stall detected", stepper_data->stepper->name);
 		err = tmc5041_write(stepper_config->controller,
 				    TMC5041_RAMPMODE(stepper_config->index),
-				    TMC5041_RAMPMODE_HOLD_MODE);
+				    TMC5XXX_RAMPMODE_HOLD_MODE);
 		if (err != 0) {
 			LOG_ERR("%s: Failed to stop motor", stepper_data->stepper->name);
 			return;
@@ -213,29 +213,29 @@ static void rampstat_work_handler(struct k_work *work)
 		return;
 	}
 
-	const uint8_t ramp_stat_values = FIELD_GET(TMC5041_RAMPSTAT_INT_MASK, rampstat_value);
+	const uint8_t ramp_stat_values = FIELD_GET(TMC5XXX_RAMPSTAT_INT_MASK, rampstat_value);
 
 	if (ramp_stat_values > 0) {
 		switch (ramp_stat_values) {
 
-		case TMC5041_STOP_LEFT_EVENT:
+		case TMC5XXX_STOP_LEFT_EVENT:
 			LOG_DBG("RAMPSTAT %s:Left end-stop detected", stepper_data->stepper->name);
 			execute_callback(stepper_data->stepper,
 					 STEPPER_EVENT_LEFT_END_STOP_DETECTED);
 			break;
 
-		case TMC5041_STOP_RIGHT_EVENT:
+		case TMC5XXX_STOP_RIGHT_EVENT:
 			LOG_DBG("RAMPSTAT %s:Right end-stop detected", stepper_data->stepper->name);
 			execute_callback(stepper_data->stepper,
 					 STEPPER_EVENT_RIGHT_END_STOP_DETECTED);
 			break;
 
-		case TMC5041_POS_REACHED_EVENT:
+		case TMC5XXX_POS_REACHED_EVENT:
 			LOG_DBG("RAMPSTAT %s:Position reached", stepper_data->stepper->name);
 			execute_callback(stepper_data->stepper, STEPPER_EVENT_STEPS_COMPLETED);
 			break;
 
-		case TMC5041_STOP_SG_EVENT:
+		case TMC5XXX_STOP_SG_EVENT:
 			LOG_DBG("RAMPSTAT %s:Stall detected", stepper_data->stepper->name);
 			stallguard_enable(stepper_data->stepper, false);
 			execute_callback(stepper_data->stepper, STEPPER_EVENT_STALL_DETECTED);
@@ -266,9 +266,9 @@ static int tmc5041_stepper_enable(const struct device *dev, const bool enable)
 	}
 
 	if (enable) {
-		reg_value |= TMC5041_CHOPCONF_DRV_ENABLE_MASK;
+		reg_value |= TMC5XXX_CHOPCONF_DRV_ENABLE_MASK;
 	} else {
-		reg_value &= ~TMC5041_CHOPCONF_DRV_ENABLE_MASK;
+		reg_value &= ~TMC5XXX_CHOPCONF_DRV_ENABLE_MASK;
 	}
 
 	err = tmc5041_write(config->controller, TMC5041_CHOPCONF(config->index), reg_value);
@@ -291,7 +291,7 @@ static int tmc5041_stepper_is_moving(const struct device *dev, bool *is_moving)
 		return -EIO;
 	}
 
-	*is_moving = (FIELD_GET(TMC5041_DRV_STATUS_STST_BIT, reg_value) != 1U);
+	*is_moving = (FIELD_GET(TMC5XXX_DRV_STATUS_STST_BIT, reg_value) != 1U);
 	LOG_DBG("Stepper motor controller %s is moving: %d", dev->name, *is_moving);
 	return 0;
 }
@@ -318,7 +318,7 @@ static int tmc5041_stepper_move(const struct device *dev, const int32_t steps)
 	int32_t target_position = position + steps;
 
 	err = tmc5041_write(config->controller, TMC5041_RAMPMODE(config->index),
-			    TMC5041_RAMPMODE_POSITIONING_MODE);
+			    TMC5XXX_RAMPMODE_POSITIONING_MODE);
 	if (err != 0) {
 		return -EIO;
 	}
@@ -373,9 +373,9 @@ static int tmc5041_stepper_set_micro_step_res(const struct device *dev,
 		return -EIO;
 	}
 
-	reg_value &= ~TMC5041_CHOPCONF_MRES_MASK;
+	reg_value &= ~TMC5XXX_CHOPCONF_MRES_MASK;
 	reg_value |= ((MICRO_STEP_RES_INDEX(STEPPER_MICRO_STEP_256) - LOG2(res))
-		      << TMC5041_CHOPCONF_MRES_SHIFT);
+		      << TMC5XXX_CHOPCONF_MRES_SHIFT);
 
 	err = tmc5041_write(config->controller, TMC5041_CHOPCONF(config->index), reg_value);
 	if (err != 0) {
@@ -398,8 +398,8 @@ static int tmc5041_stepper_get_micro_step_res(const struct device *dev,
 	if (err != 0) {
 		return -EIO;
 	}
-	reg_value &= TMC5041_CHOPCONF_MRES_MASK;
-	reg_value >>= TMC5041_CHOPCONF_MRES_SHIFT;
+	reg_value &= TMC5XXX_CHOPCONF_MRES_MASK;
+	reg_value >>= TMC5XXX_CHOPCONF_MRES_SHIFT;
 	*res = (1 << (MICRO_STEP_RES_INDEX(STEPPER_MICRO_STEP_256) - reg_value));
 	LOG_DBG("Stepper motor controller %s get micro step resolution: %d", dev->name, *res);
 	return 0;
@@ -411,7 +411,7 @@ static int tmc5041_stepper_set_actual_position(const struct device *dev, const i
 	int err;
 
 	err = tmc5041_write(config->controller, TMC5041_RAMPMODE(config->index),
-			    TMC5041_RAMPMODE_HOLD_MODE);
+			    TMC5XXX_RAMPMODE_HOLD_MODE);
 	if (err != 0) {
 		return -EIO;
 	}
@@ -449,7 +449,7 @@ static int tmc5041_stepper_set_target_position(const struct device *dev, const i
 	}
 
 	err = tmc5041_write(config->controller, TMC5041_RAMPMODE(config->index),
-			    TMC5041_RAMPMODE_POSITIONING_MODE);
+			    TMC5XXX_RAMPMODE_POSITIONING_MODE);
 	if (err != 0) {
 		return -EIO;
 	}
@@ -493,7 +493,7 @@ static int tmc5041_stepper_enable_constant_velocity_mode(const struct device *de
 	switch (direction) {
 	case STEPPER_DIRECTION_POSITIVE:
 		err = tmc5041_write(config->controller, TMC5041_RAMPMODE(config->index),
-				    TMC5041_RAMPMODE_POSITIVE_VELOCITY_MODE);
+				    TMC5XXX_RAMPMODE_POSITIVE_VELOCITY_MODE);
 		if (err != 0) {
 			return -EIO;
 		}
@@ -505,7 +505,7 @@ static int tmc5041_stepper_enable_constant_velocity_mode(const struct device *de
 
 	case STEPPER_DIRECTION_NEGATIVE:
 		err = tmc5041_write(config->controller, TMC5041_RAMPMODE(config->index),
-				    TMC5041_RAMPMODE_NEGATIVE_VELOCITY_MODE);
+				    TMC5XXX_RAMPMODE_NEGATIVE_VELOCITY_MODE);
 		if (err != 0) {
 			return -EIO;
 		}
@@ -611,7 +611,7 @@ static int tmc5041_init(const struct device *dev)
 
 	/* Init non motor-index specific registers here. */
 	LOG_DBG("GCONF: %d", config->gconf);
-	err = tmc5041_write(dev, TMC5041_GCONF, config->gconf);
+	err = tmc5041_write(dev, TMC5XXX_GCONF, config->gconf);
 	if (err != 0) {
 		return -EIO;
 	}
@@ -619,7 +619,7 @@ static int tmc5041_init(const struct device *dev)
 	/* Read GSTAT register values to clear any errors SPI Datagram. */
 	uint32_t gstat_value;
 
-	err = tmc5041_read(dev, TMC5041_GSTAT, &gstat_value);
+	err = tmc5041_read(dev, TMC5XXX_GSTAT, &gstat_value);
 	if (err != 0) {
 		return -EIO;
 	}
@@ -647,8 +647,8 @@ static int tmc5041_stepper_init(const struct device *dev)
 
 		LOG_DBG("Setting stall guard to %d with delay %d ms", stepper_config->sg_threshold,
 			stepper_config->sg_velocity_check_interval_ms);
-		if (!IN_RANGE(stepper_config->sg_threshold, TMC5041_SG_MIN_VALUE,
-			      TMC5041_SG_MAX_VALUE)) {
+		if (!IN_RANGE(stepper_config->sg_threshold, TMC5XXX_SG_MIN_VALUE,
+			      TMC5XXX_SG_MAX_VALUE)) {
 			LOG_ERR("Stallguard threshold out of range");
 			return -EINVAL;
 		}
@@ -657,7 +657,7 @@ static int tmc5041_stepper_init(const struct device *dev)
 
 		err = tmc5041_write(
 			stepper_config->controller, TMC5041_COOLCONF(stepper_config->index),
-			stall_guard_threshold << TMC5041_COOLCONF_SG2_THRESHOLD_VALUE_SHIFT);
+			stall_guard_threshold << TMC5XXX_COOLCONF_SG2_THRESHOLD_VALUE_SHIFT);
 		if (err != 0) {
 			return -EIO;
 		}
diff --git a/drivers/stepper/adi_tmc/adi_tmc_reg.h b/drivers/stepper/adi_tmc/adi_tmc_reg.h
index ebf0de57ed168..eff9f86cea8d0 100644
--- a/drivers/stepper/adi_tmc/adi_tmc_reg.h
+++ b/drivers/stepper/adi_tmc/adi_tmc_reg.h
@@ -20,7 +20,64 @@ extern "C" {
 /** Common Registers for TMC5041 and TMC51XX */
 #if defined(CONFIG_STEPPER_ADI_TMC5041)
 
-#define TMC5XXX_CLOCK_FREQ_SHIFT 24
+#define TMC5XXX_WRITE_BIT        0x80U
+#define TMC5XXX_ADDRESS_MASK     0x7FU
+
+ #define TMC5XXX_CLOCK_FREQ_SHIFT 24
+
+#define TMC5XXX_GCONF 0x00
+#define TMC5XXX_GSTAT 0x01
+
+#define TMC5XXX_RAMPMODE_POSITIONING_MODE       0
+#define TMC5XXX_RAMPMODE_POSITIVE_VELOCITY_MODE 1
+#define TMC5XXX_RAMPMODE_NEGATIVE_VELOCITY_MODE 2
+#define TMC5XXX_RAMPMODE_HOLD_MODE              3
+
+#define TMC5XXX_SG_MIN_VALUE -64
+#define TMC5XXX_SG_MAX_VALUE 63
+#define TMC5XXX_SW_MODE_SG_STOP_ENABLE BIT(10)
+
+#define TMC5XXX_COOLCONF_SG2_THRESHOLD_VALUE_SHIFT 16
+
+#define TMC5XXX_IHOLD_MASK  GENMASK(4, 0)
+#define TMC5XXX_IHOLD_SHIFT 0
+#define TMC5XXX_IHOLD(n)    (((n) << TMC5XXX_IHOLD_SHIFT) & TMC5XXX_IHOLD_MASK)
+
+#define TMC5XXX_IRUN_MASK  GENMASK(12, 8)
+#define TMC5XXX_IRUN_SHIFT 8
+#define TMC5XXX_IRUN(n)    (((n) << TMC5XXX_IRUN_SHIFT) & TMC5XXX_IRUN_MASK)
+
+#define TMC5XXX_IHOLDDELAY_MASK  GENMASK(19, 16)
+#define TMC5XXX_IHOLDDELAY_SHIFT 16
+#define TMC5XXX_IHOLDDELAY(n)    (((n) << TMC5XXX_IHOLDDELAY_SHIFT) & TMC5XXX_IHOLDDELAY_MASK)
+
+#define TMC5XXX_CHOPCONF_DRV_ENABLE_MASK GENMASK(3, 0)
+#define TMC5XXX_CHOPCONF_MRES_MASK       GENMASK(27, 24)
+#define TMC5XXX_CHOPCONF_MRES_SHIFT      24
+
+#define TMC5XXX_RAMPSTAT_INT_MASK  GENMASK(7, 4)
+#define TMC5XXX_RAMPSTAT_INT_SHIFT 4
+
+#define TMC5XXX_RAMPSTAT_POS_REACHED_EVENT_MASK BIT(7)
+#define TMC5XXX_POS_REACHED_EVENT                                                                  \
+	(TMC5XXX_RAMPSTAT_POS_REACHED_EVENT_MASK >> TMC5XXX_RAMPSTAT_INT_SHIFT)
+
+#define TMC5XXX_RAMPSTAT_STOP_SG_EVENT_MASK BIT(6)
+#define TMC5XXX_STOP_SG_EVENT                                                                      \
+	(TMC5XXX_RAMPSTAT_STOP_SG_EVENT_MASK >> TMC5XXX_RAMPSTAT_INT_SHIFT)
+
+#define TMC5XXX_RAMPSTAT_STOP_RIGHT_EVENT_MASK BIT(5)
+#define TMC5XXX_STOP_RIGHT_EVENT                                                                   \
+	(TMC5XXX_RAMPSTAT_STOP_RIGHT_EVENT_MASK >> TMC5XXX_RAMPSTAT_INT_SHIFT)
+
+#define TMC5XXX_RAMPSTAT_STOP_LEFT_EVENT_MASK BIT(4)
+#define TMC5XXX_STOP_LEFT_EVENT                                                                    \
+	(TMC5XXX_RAMPSTAT_STOP_LEFT_EVENT_MASK >> TMC5XXX_RAMPSTAT_INT_SHIFT)
+
+#define TMC5XXX_DRV_STATUS_STST_BIT        BIT(31)
+#define TMC5XXX_DRV_STATUS_SG_RESULT_MASK  GENMASK(9, 0)
+#define TMC5XXX_DRV_STATUS_SG_STATUS_MASK  BIT(24)
+#define TMC5XXX_DRV_STATUS_SG_STATUS_SHIFT 24
 
 #endif
 
@@ -37,19 +94,11 @@ extern "C" {
  * @{
  */
 
-#define TMC5041_WRITE_BIT    0x80U
-#define TMC5041_ADDRESS_MASK 0x7FU
-
 #define TMC5041_GCONF_POSCMP_ENABLE_SHIFT 3
 #define TMC5041_GCONF_TEST_MODE_SHIFT     7
 #define TMC5041_GCONF_SHAFT_SHIFT(n)      ((n) ? 8 : 9)
 #define TMC5041_LOCK_GCONF_SHIFT          10
 
-#define TMC5041_GCONF     0x00
-#define TMC5041_GSTAT     0x01
-#define TMC5041_INPUT     0x04
-#define TMC5041_X_COMPARE 0x05
-
 #define TMC5041_PWMCONF(motor)    (0x10 | TMC5041_MOTOR_ADDR_PWM(motor))
 #define TMC5041_PWM_STATUS(motor) (0x11 | TMC5041_MOTOR_ADDR_PWM(motor))
 
@@ -89,57 +138,6 @@ extern "C" {
 #define TMC5041_COOLCONF(motor)   (0x6D | TMC5041_MOTOR_ADDR_DRV(motor))
 #define TMC5041_DRVSTATUS(motor)  (0x6F | TMC5041_MOTOR_ADDR_DRV(motor))
 
-#define TMC5041_RAMPMODE_POSITIONING_MODE       0
-#define TMC5041_RAMPMODE_POSITIVE_VELOCITY_MODE 1
-#define TMC5041_RAMPMODE_NEGATIVE_VELOCITY_MODE 2
-#define TMC5041_RAMPMODE_HOLD_MODE              3
-
-#define TMC5041_SW_MODE_SG_STOP_ENABLE BIT(10)
-
-#define TMC5041_RAMPSTAT_INT_MASK  GENMASK(7, 4)
-#define TMC5041_RAMPSTAT_INT_SHIFT 4
-
-#define TMC5041_RAMPSTAT_POS_REACHED_EVENT_MASK BIT(7)
-#define TMC5041_POS_REACHED_EVENT                                                                  \
-	(TMC5041_RAMPSTAT_POS_REACHED_EVENT_MASK >> TMC5041_RAMPSTAT_INT_SHIFT)
-
-#define TMC5041_RAMPSTAT_STOP_SG_EVENT_MASK BIT(6)
-#define TMC5041_STOP_SG_EVENT	(TMC5041_RAMPSTAT_STOP_SG_EVENT_MASK >> TMC5041_RAMPSTAT_INT_SHIFT)
-
-#define TMC5041_RAMPSTAT_STOP_RIGHT_EVENT_MASK BIT(5)
-#define TMC5041_STOP_RIGHT_EVENT                                                                   \
-	(TMC5041_RAMPSTAT_STOP_RIGHT_EVENT_MASK >> TMC5041_RAMPSTAT_INT_SHIFT)
-
-#define TMC5041_RAMPSTAT_STOP_LEFT_EVENT_MASK BIT(4)
-#define TMC5041_STOP_LEFT_EVENT                                                                    \
-	(TMC5041_RAMPSTAT_STOP_LEFT_EVENT_MASK >> TMC5041_RAMPSTAT_INT_SHIFT)
-
-#define TMC5041_DRV_STATUS_STST_BIT        BIT(31)
-#define TMC5041_DRV_STATUS_SG_RESULT_MASK  GENMASK(9, 0)
-#define TMC5041_DRV_STATUS_SG_STATUS_MASK  BIT(24)
-#define TMC5041_DRV_STATUS_SG_STATUS_SHIFT 24
-
-#define TMC5041_SG_MIN_VALUE -64
-#define TMC5041_SG_MAX_VALUE 63
-
-#define TMC5041_COOLCONF_SG2_THRESHOLD_VALUE_SHIFT 16
-
-#define TMC5041_IHOLD_MASK  GENMASK(4, 0)
-#define TMC5041_IHOLD_SHIFT 0
-#define TMC5041_IHOLD(n)    (((n) << TMC5041_IHOLD_SHIFT) & TMC5041_IHOLD_MASK)
-
-#define TMC5041_IRUN_MASK  GENMASK(12, 8)
-#define TMC5041_IRUN_SHIFT 8
-#define TMC5041_IRUN(n)    (((n) << TMC5041_IRUN_SHIFT) & TMC5041_IRUN_MASK)
-
-#define TMC5041_IHOLDDELAY_MASK  GENMASK(19, 16)
-#define TMC5041_IHOLDDELAY_SHIFT 16
-#define TMC5041_IHOLDDELAY(n)    (((n) << TMC5041_IHOLDDELAY_SHIFT) & TMC5041_IHOLDDELAY_MASK)
-
-#define TMC5041_CHOPCONF_DRV_ENABLE_MASK GENMASK(3, 0)
-#define TMC5041_CHOPCONF_MRES_MASK       GENMASK(27, 24)
-#define TMC5041_CHOPCONF_MRES_SHIFT      24
-
 #endif
 
 /**
diff --git a/include/zephyr/drivers/stepper/stepper_trinamic.h b/include/zephyr/drivers/stepper/stepper_trinamic.h
index d36707c14b0b0..6afe8c9292fdb 100644
--- a/include/zephyr/drivers/stepper/stepper_trinamic.h
+++ b/include/zephyr/drivers/stepper/stepper_trinamic.h
@@ -144,9 +144,9 @@ struct tmc_ramp_generator_data {
 		.tzerowait = DT_PROP(node, tzerowait),				\
 		.vcoolthrs = DT_PROP(node, vcoolthrs),				\
 		.vhigh = DT_PROP(node, vhigh),					\
-		.iholdrun = (TMC5041_IRUN(DT_PROP(node, irun)) |		\
-			     TMC5041_IHOLD(DT_PROP(node, ihold)) |		\
-			     TMC5041_IHOLDDELAY(DT_PROP(node, iholddelay))),	\
+		.iholdrun = (TMC5XXX_IRUN(DT_PROP(node, irun)) |		\
+			     TMC5XXX_IHOLD(DT_PROP(node, ihold)) |		\
+			     TMC5XXX_IHOLDDELAY(DT_PROP(node, iholddelay))),	\
 	}
 
 /**