drivers: stepper: ADI TMC2130 Stepper Driver

boards/shields/mikroe_silent_step_2_click/Kconfig.shield

@@ -0,0 +1,5 @@
+# Copyright (c) 2025 Navimatix GmbH
+# SPDX-License-Identifier: Apache-2.0
+
+config SHIELD_MIKROE_SILENT_STEP_2_CLICK
+	def_bool $(shields_list_contains,mikroe_silent_step_2_click)

boards/shields/mikroe_silent_step_2_click/doc/index.rst

@@ -0,0 +1,43 @@
+.. _mikroe_silent_step_2_click:
+
+MikroElektronika Silent Step 2 Click
+####################################
+
+Overview
+********
+
+The MikroElektronika `Silent Step 2 Click`_ features the `ADI TMC2130`_ stepper driver with step-dir
+control via gpio and configuration via spi. A `NXP PCA9538A`_ gpio expander accessed via i2c offers
+access to additional pins of th stepper driver.
+
+.. figure:: silent_step_2_click.webp
+   :align: center
+   :alt: MikroElektronika Silent Step 2 Click
+
+   MikroElektronika Silent Step 2 Click (Credit: MikroElektronika)
+
+Requirements
+************
+
+This shield can only be used with a board that provides a mikroBUS
+socket and defines a ``mikrobus_i2c`` node label for the mikroBUS I2C
+interface, a ``mikrobus_spi`` node label for the mikroBUS SPI
+interface and a ``mikrobus_header`` node label (see :ref:`shields` for more details).
+
+Programming
+***********
+
+.. zephyr-app-commands::
+   :zephyr-app: samples/drivers/stepper/generic/
+   :board: <board>
+   :shield: mikroe_silent_step_2_click
+   :goals: build
+
+.. _Silent Step 2 Click:
+   https://www.mikroe.com/silent-step-2-click
+
+.. _ADI TMC2130:
+   https://www.analog.com/en/products/tmc2130.html
+
+.. _NXP PCA9538A:
+   https://www.nxp.com/products/interfaces/ic-spi-i3c-interface-devices/general-purpose-i-o-gpio/low-voltage-8-bit-ic-bus-i-o-port-with-interrupt-and-reset:PCA9538A

boards/shields/mikroe_silent_step_2_click/mikroe_silent_step_2_click.overlay

@@ -0,0 +1,42 @@
+/*
+ * Copyright (c) 2025 Navimatix GmbH
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+&mikrobus_i2c {
+	status = "okay";
+	pca9538a_mikroe_silent_step_2_click: pca9538a@70 {
+		status = "okay";
+		compatible = "nxp,pca9538";
+
+		reg = <0x70>;
+
+		gpio-controller;
+		ngpios = <8>;
+		#gpio-cells = <2>;
+
+		gpio-reserved-ranges = <3 1>;
+
+		gpio-line-names =
+			"EN",
+			"FT1",
+			"FT2";
+	};
+};
+
+&mikrobus_spi {
+	cs-gpios = <&mikrobus_header 2 GPIO_ACTIVE_LOW>;
+	status = "okay";
+	tmc2130_mikroe_silent_step_2_click: tmc2130@0 {
+		compatible = "adi,tmc2130";
+		reg = <0>;
+		spi-max-frequency = <DT_FREQ_M(1)>;
+
+		dir-gpios = <&mikrobus_header 0 0>;
+		step-gpios = <&mikrobus_header 6 0>;
+		en-gpios  = <&pca9538a_mikroe_silent_step_2_click 0 GPIO_ACTIVE_LOW>;
+		irun = <20>;
+		ihold = <20>;
+		en-pwm-mode;
+	};
+};

boards/shields/mikroe_silent_step_2_click/shield.yml

@@ -0,0 +1,6 @@
+shield:
+  name: mikroe_silent_step_2_click
+  full_name: Silent Step 2 Click
+  vendor: mikroe
+  supported_features:
+    - stepper

drivers/stepper/adi_tmc/CMakeLists.txt

@@ -4,6 +4,7 @@
 zephyr_library()
 zephyr_library_property(ALLOW_EMPTY TRUE)
 
+zephyr_library_sources_ifdef(CONFIG_STEPPER_ADI_TMC2130 tmc2130.c)
 zephyr_library_sources_ifdef(CONFIG_STEPPER_ADI_TMC2209 tmc22xx.c)
 zephyr_library_sources_ifdef(CONFIG_STEPPER_ADI_TMC50XX tmc50xx.c)
 add_subdirectory_ifdef(CONFIG_STEPPER_ADI_TMC51XX tmc51xx)

drivers/stepper/adi_tmc/Kconfig

@@ -26,6 +26,7 @@ config STEPPER_ADI_TMC_UART
 
 comment "Trinamic Stepper Drivers"
 
+rsource "Kconfig.tmc2130"
 rsource "Kconfig.tmc22xx"
 rsource "Kconfig.tmc50xx"
 rsource "Kconfig.tmc51xx"

drivers/stepper/adi_tmc/Kconfig.tmc2130

@@ -0,0 +1,11 @@
+# SPDX-FileCopyrightText: Copyright (c) 2025 Navimatix GmbH
+# SPDX-License-Identifier: Apache-2.0
+
+config STEPPER_ADI_TMC2130
+	bool "Activate trinamic tmc2209 stepper driver"
+	depends on DT_HAS_ADI_TMC2130_ENABLED
+	select STEP_DIR_STEPPER
+	select STEPPER_ADI_TMC_SPI
+	default y
+	help
+	  Stepper driver for TMC2130, using the step-dir interface with spi configuration.

drivers/stepper/adi_tmc/tmc2130.c

@@ -0,0 +1,243 @@
+/*
+ * SPDX-FileCopyrightText: Copyright (c) 2025 Navimatix GmbH
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#define DT_DRV_COMPAT adi_tmc2130
+
+#include <zephyr/kernel.h>
+#include <zephyr/drivers/gpio.h>
+#include <zephyr/drivers/spi.h>
+#include <zephyr/drivers/stepper.h>
+#include "../step_dir/step_dir_stepper_common.h"
+#include "tmc2130_reg.h"
+#include "adi_tmc_spi.h"
+
+#include <zephyr/logging/log.h>
+LOG_MODULE_REGISTER(tmc2130, CONFIG_STEPPER_LOG_LEVEL);
+
+struct tmc2130_config {
+	struct step_dir_stepper_common_config common;
+	struct gpio_dt_spec en_pin;
+	struct spi_dt_spec spi;
+	bool stealth_chop_enabled;
+	uint32_t tpwmthrs;
+	uint8_t tpowerdown;
+	uint32_t ihold_irun;
+	enum stepper_micro_step_resolution default_ustep_res;
+};
+
+struct tmc2130_data {
+	struct step_dir_stepper_common_data common;
+	struct k_sem sem;
+};
+
+STEP_DIR_STEPPER_STRUCT_CHECK(struct tmc2130_config, struct tmc2130_data);
+
+static int tmc2130_stepper_enable(const struct device *dev)
+{
+	const struct tmc2130_config *config = dev->config;
+	int ret;
+
+	/* Check availability of the enable pin, as it might be hardwired. */
+	if (config->en_pin.port == NULL) {
+		LOG_WRN_ONCE("%s: Enable pin undefined.", dev->name);
+		return 0;
+	}
+
+	ret = gpio_pin_set_dt(&config->en_pin, 1);
+	if (ret != 0) {
+		LOG_ERR("%s: Failed to set en_pin (error: %d)", dev->name, ret);
+	}
+
+	return ret;
+}
+
+static int tmc2130_stepper_disable(const struct device *dev)
+{
+	const struct tmc2130_config *config = dev->config;
+	int ret;
+
+	/* Check availability of the enable pin, as it might be hardwired. */
+	if (config->en_pin.port == NULL) {
+		LOG_WRN_ONCE("%s: Enable pin undefined.", dev->name);
+		return -ENOTSUP;
+	}
+
+	ret = gpio_pin_set_dt(&config->en_pin, 0);
+	if (ret != 0) {
+		LOG_ERR("%s: Failed to set en_pin (error: %d)", dev->name, ret);
+	}
+
+	return ret;
+}
+
+static int tmc2130_stepper_set_micro_step_res(const struct device *dev,
+					      enum stepper_micro_step_resolution micro_step_res)
+{
+	const struct tmc2130_config *config = dev->config;
+	struct tmc2130_data *data = dev->data;
+	int ret;
+	uint32_t reg_value;
+
+	k_sem_take(&data->sem, K_FOREVER);
+
+	ret = tmc_spi_read_register(&config->spi, TMC2130_ADDRESS_MASK, TMC2130_CHOPCONF,
+				    &reg_value);
+	if (ret != 0) {
+		LOG_ERR("%s: Failed to read register 0x%x (error code: %d)", dev->name,
+			TMC2130_CHOPCONF, ret);
+		goto set_micro_step_res_end;
+	}
+	reg_value &= ~TMC2130_CHOPCONF_MRES_MASK;
+	reg_value |= ((MICRO_STEP_RES_INDEX(STEPPER_MICRO_STEP_256) - LOG2(micro_step_res))
+		      << TMC2130_CHOPCONF_MRES_SHIFT);
+
+	ret = tmc_spi_write_register(&config->spi, TMC2130_WRITE_BIT, TMC2130_CHOPCONF, reg_value);
+	if (ret != 0) {
+		LOG_ERR("%s: Failed to write register 0x%x (error code: %d)", dev->name,
+			TMC2130_CHOPCONF, ret);
+	}
+
+set_micro_step_res_end:
+	k_sem_give(&data->sem);
+
+	return ret;
+}
+
+static int tmc2130_stepper_get_micro_step_res(const struct device *dev,
+					      enum stepper_micro_step_resolution *micro_step_res)
+{
+	const struct tmc2130_config *config = dev->config;
+	struct tmc2130_data *data = dev->data;
+	uint32_t reg_value;
+	int err;
+
+	k_sem_take(&data->sem, K_FOREVER);
+
+	err = tmc_spi_read_register(&config->spi, TMC2130_ADDRESS_MASK, TMC2130_CHOPCONF,
+				    &reg_value);
+	if (err != 0) {
+		return -EIO;
+	}
+
+	k_sem_give(&data->sem);
+
+	reg_value &= TMC2130_CHOPCONF_MRES_MASK;
+	reg_value >>= TMC2130_CHOPCONF_MRES_SHIFT;
+	*micro_step_res = (1 << (MICRO_STEP_RES_INDEX(STEPPER_MICRO_STEP_256) - reg_value));
+
+	return 0;
+}
+
+static int tmc2130_stepper_init(const struct device *dev)
+{
+	const struct tmc2130_config *config = dev->config;
+	struct tmc2130_data *data = dev->data;
+	uint32_t gstat_data;
+	int ret;
+
+	uint8_t ustep_res_reg_value =
+		(MICRO_STEP_RES_INDEX(STEPPER_MICRO_STEP_256) - LOG2(config->default_ustep_res));
+
+	/* Read GSTAT register to clear any errors. */
+	if (!spi_is_ready_dt(&config->spi)) {
+		LOG_ERR("SPI bus is not ready");
+		return -ENODEV;
+	}
+	tmc_spi_read_register(&config->spi, TMC2130_ADDRESS_MASK, TMC2130_GSTAT, &gstat_data);
+	LOG_DBG("GSTAT: %x", gstat_data);
+
+	/* Configuration registers and their intended values. */
+	uint32_t reg_combined[][2] = {
+		{TMC2130_CHOPCONF,
+		 TMC2130_CHOPCONF_INIT(ustep_res_reg_value, config->common.dual_edge)},
+		{TMC2130_IHOLD_IRUN, config->ihold_irun},
+		{TMC2130_TPOWERDOWN, TMC2130_TPOWERDOWN_INIT(config->tpowerdown)},
+		{TMC2130_GCONF, TMC2130_GCONF_INIT(config->stealth_chop_enabled)},
+		{TMC2130_TPWMTHRS, TMC2130_TPWMTHRS_INIT(config->tpwmthrs)},
+		{TMC2130_PWMCONF, TMC2130_PWMCONF_INIT}};
+
+	/*Write configuration. */
+	for (int i = 0; i < ARRAY_SIZE(reg_combined); i++) {
+		ret = tmc_spi_write_register(&config->spi, TMC2130_WRITE_BIT, reg_combined[i][0],
+					     reg_combined[i][1]);
+		if (ret != 0) {
+			LOG_ERR("%s: Failed to write register 0x%x (error code: %d)", dev->name,
+				reg_combined[i][0], ret);
+			return ret;
+		}
+	}
+
+	/* Configure enable pin if it is available */
+	if (config->en_pin.port != NULL) {
+		ret = gpio_pin_configure_dt(&config->en_pin, GPIO_OUTPUT_INACTIVE);
+		if (ret != 0) {
+			LOG_ERR("%s: Failed to configure en_pin (error: %d)", dev->name, ret);
+			return ret;
+		}
+	}
+
+	k_sem_init(&data->sem, 1, 1);
+
+	ret = step_dir_stepper_common_init(dev);
+	if (ret != 0) {
+		LOG_ERR("%s: Failed to initialize common step direction stepper (error: %d)",
+			dev->name, ret);
+		return ret;
+	}
+
+	return 0;
+}
+
+static DEVICE_API(stepper, tmc2130_stepper_api) = {
+	.enable = tmc2130_stepper_enable,
+	.disable = tmc2130_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,
+	.set_micro_step_res = tmc2130_stepper_set_micro_step_res,
+	.get_micro_step_res = tmc2130_stepper_get_micro_step_res,
+};
+
+#define TMC2130_CHECK_CONFIGURATION(inst)                                                          \
+	BUILD_ASSERT(DT_INST_PROP(inst, tpwmthrs) <= TMC2130_TPWMTHRS_MAX_VALUE,                   \
+		     "tpwthrs is too large");                                                      \
+	BUILD_ASSERT(DT_INST_PROP(inst, iholddelay) <= TMC2130_IHOLDDELAY_MAX_VALUE,               \
+		     "iholddelay is too large");                                                   \
+	BUILD_ASSERT(DT_INST_PROP(inst, tpowerdown) <= TMC2130_TPOWERDOWN_MAX_VALUE,               \
+		     "tpowerdown is too large");                                                   \
+	BUILD_ASSERT(DT_INST_PROP(inst, ihold) <= TMC2130_IHOLD_MAX_VALUE, "ihold is too large");  \
+	BUILD_ASSERT(DT_INST_PROP(inst, irun) <= TMC2130_IRUN_MAX_VALUE, "irun is too large");
+
+#define TMC2130_STEPPER_DEVICE(inst)                                                               \
+	TMC2130_CHECK_CONFIGURATION(inst);                                                         \
+	static const struct tmc2130_config tmc2130_config_##inst = {                               \
+		.common = STEP_DIR_STEPPER_DT_INST_COMMON_CONFIG_INIT(inst),                       \
+		.en_pin = GPIO_DT_SPEC_INST_GET_OR(inst, en_gpios, {0}),                           \
+		.spi = SPI_DT_SPEC_INST_GET(inst,                                                  \
+					    (SPI_OP_MODE_MASTER | SPI_TRANSFER_MSB |               \
+					     SPI_MODE_CPOL | SPI_MODE_CPHA | SPI_WORD_SET(8)),     \
+					    0),                                                    \
+		.tpwmthrs = DT_INST_PROP(inst, tpwmthrs),                                          \
+		.tpowerdown = DT_INST_PROP(inst, tpowerdown),                                      \
+		.stealth_chop_enabled = DT_INST_PROP(inst, en_pwm_mode),                           \
+		.default_ustep_res = DT_INST_PROP(inst, micro_step_res),                           \
+		.ihold_irun = TMC2130_IHOLD_IRUN_INIT(DT_INST_PROP(inst, iholddelay),              \
+						      DT_INST_PROP(inst, irun),                    \
+						      DT_INST_PROP(inst, ihold)),                  \
+	};                                                                                         \
+	static struct tmc2130_data tmc2130_data_##inst = {                                         \
+		.common = STEP_DIR_STEPPER_DT_INST_COMMON_DATA_INIT(inst),                         \
+	};                                                                                         \
+	DEVICE_DT_INST_DEFINE(inst, tmc2130_stepper_init, NULL, &tmc2130_data_##inst,              \
+			      &tmc2130_config_##inst, POST_KERNEL, CONFIG_STEPPER_INIT_PRIORITY,   \
+			      &tmc2130_stepper_api);
+
+DT_INST_FOREACH_STATUS_OKAY(TMC2130_STEPPER_DEVICE)