drivers: stepper: introduce stepper_drv api to facilitate implementing motion controllers as device drivers

drivers/stepper/CMakeLists.txt

@@ -7,12 +7,18 @@ zephyr_syscall_header(${ZEPHYR_BASE}/include/zephyr/drivers/stepper.h)
 add_subdirectory_ifdef(CONFIG_STEPPER_ADI_TMC adi_tmc)
 add_subdirectory_ifdef(CONFIG_STEPPER_ALLEGRO allegro)
 add_subdirectory_ifdef(CONFIG_STEPPER_TI ti)
+# zephyr-keep-sorted-stop
+
+# zephyr-keep-sorted-start
+add_subdirectory_ifdef(CONFIG_STEPPER_TIMING_SOURCES stepper_timing_sources)
 add_subdirectory_ifdef(CONFIG_STEP_DIR_STEPPER step_dir)
 # zephyr-keep-sorted-stop
 
 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_FAKE_STEPPER fake_stepper_drv.c)
+zephyr_library_sources_ifdef(CONFIG_FAKE_STEPPER_CONTROLLER fake_stepper_controller.c)
+zephyr_library_sources_ifdef(CONFIG_H_BRIDGE_STEPPER h_bridge_stepper_driver.c)
 zephyr_library_sources_ifdef(CONFIG_STEPPER_SHELL stepper_shell.c)
+zephyr_library_sources_ifdef(CONFIG_ZEPHYR_STEPPER_MOTION_CONTROL zephyr_stepper_motion_controller.c)

drivers/stepper/Kconfig

@@ -27,12 +27,17 @@ config STEPPER_SHELL
 comment "Stepper Driver Common"
 
 rsource "step_dir/Kconfig"
+rsource "stepper_timing_sources/Kconfig"
 
 comment "Stepper Drivers"
 
 # zephyr-keep-sorted-start
 rsource "Kconfig.fake"
-rsource "Kconfig.gpio"
+rsource "Kconfig.h_bridge"
+rsource "Kconfig.zephyr_stepper_motion_controller"
+# zephyr-keep-sorted-stop
+
+# zephyr-keep-sorted-start
 rsource "adi_tmc/Kconfig"
 rsource "allegro/Kconfig"
 rsource "ti/Kconfig"

drivers/stepper/Kconfig.fake

@@ -9,3 +9,10 @@ config FAKE_STEPPER
 	depends on DT_HAS_ZEPHYR_FAKE_STEPPER_ENABLED
 	help
 	  Enable support for the FFF-based fake stepper driver.
+
+config FAKE_STEPPER_CONTROLLER
+	bool "Fake stepper controller driver"
+	default y
+	depends on DT_HAS_ZEPHYR_FAKE_STEPPER_CONTROLLER_ENABLED
+	help
+	  Enable support for the FFF-based fake stepper controller driver.

drivers/stepper/Kconfig.gpio → drivers/stepper/Kconfig.h_bridge

@@ -2,7 +2,7 @@
 # SPDX-FileCopyrightText: Copyright (c) 2024 Jilay Sandeep Pandya
 # SPDX-License-Identifier: Apache-2.0
 
-config GPIO_STEPPER
+config H_BRIDGE_STEPPER
 	bool "Activate driver for gpio stepper control"
-	depends on DT_HAS_ZEPHYR_GPIO_STEPPER_ENABLED
+	depends on DT_HAS_ZEPHYR_H_BRIDGE_STEPPER_ENABLED
 	default y

drivers/stepper/Kconfig.zephyr_stepper_motion_controller

@@ -0,0 +1,24 @@
+# SPDX-FileCopyrightText: Copyright (c) 2025 Jilay Sandeep Pandya
+# SPDX-License-Identifier: Apache-2.0
+
+config ZEPHYR_STEPPER_MOTION_CONTROL
+	bool "Zephyr CPU based Stepper motion control"
+	depends on DT_HAS_ZEPHYR_STEPPER_MOTION_CONTROL_ENABLED
+	select STEPPER_TIMING_SOURCES
+	default y
+
+config ZEPHYR_STEPPER_MOTION_CONTROL_GENERATE_ISR_SAFE_EVENTS
+	bool "Guarantee non ISR callbacks upon stepper events"
+	help
+	  Enable the dispatch of stepper generated events via
+	  a message queue to guarantee that the event handler
+	  code is not run inside of an ISR. Can be disabled, but
+	  then registered stepper event callback must be ISR safe.
+
+config ZEPHYR_STEPPER_MOTION_CONTROL_EVENT_QUEUE_LEN
+	int "Maximum number of pending stepper events"
+	default 4
+	depends on ZEPHYR_STEPPER_MOTION_CONTROL_GENERATE_ISR_SAFE_EVENTS
+	help
+	  The maximum number of stepper events that can be pending before new events
+	  are dropped.

drivers/stepper/adi_tmc/Kconfig.tmc_rampgen_template

@@ -3,7 +3,6 @@
 
 config STEPPER_ADI_$(module)_RAMPSTAT_POLL_INTERVAL_IN_MSEC
 	int "$(module-str) poll ramp status interval in ms"
-	depends on !$(dt_compat_any_has_prop,$(DT_COMPAT_ADI_$(module)),diag0-gpios)
 	default 100
 	help
 	  When DIAG0 pin is not available, the driver automatically falls back to

drivers/stepper/adi_tmc/tmc22xx.c

@@ -19,11 +19,10 @@ 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)
 {
@@ -147,18 +146,11 @@ static int tmc22xx_stepper_init(const struct device *dev)
 	return 0;
 }
 
-static DEVICE_API(stepper, tmc22xx_stepper_api) = {
+static DEVICE_API(stepper_drv, 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,              \