Commit 5c2b7bcb authored by Verena Schweinstetter's avatar Verena Schweinstetter Committed by Benjamin Cabé
Browse files

drivers: stepper: Add stepper driver for allegro a4979 



Adding a stepper driver implementation for allegro a4979
microstepping programmable stepper motor driver.
The implemenation was tested using the drv8424/api testsuite.

Signed-off-by: default avatarVerena Schweinstetter <verena.schweinstetter@zeiss.com>
parent b7f99ffb

drivers/stepper/CMakeLists.txt

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@@ -5,6 +5,7 @@ zephyr_syscall_header(${ZEPHYR_BASE}/include/zephyr/drivers/stepper.h) 


# zephyr-keep-sorted-start

add_subdirectory_ifdef(CONFIG_STEPPER_ADI_TMC adi_tmc)

add_subdirectory_ifdef(CONFIG_STEPPER_ALLEGRO allegro)

add_subdirectory_ifdef(CONFIG_STEPPER_TI ti)

add_subdirectory_ifdef(CONFIG_STEP_DIR_STEPPER step_dir)

# zephyr-keep-sorted-stop

drivers/stepper/Kconfig

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@@ -34,6 +34,7 @@ comment "Stepper Drivers" 
rsource "Kconfig.fake"

rsource "Kconfig.gpio"

rsource "adi_tmc/Kconfig"

rsource "allegro/Kconfig"

rsource "ti/Kconfig"

# zephyr-keep-sorted-stop

drivers/stepper/allegro/CMakeLists.txt

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# SPDX-FileCopyrightText: Copyright (c) 2025 Carl Zeiss Meditec AG

# SPDX-License-Identifier: Apache-2.0



zephyr_library()

zephyr_library_property(ALLOW_EMPTY TRUE)



zephyr_library_sources_ifdef(CONFIG_A4979_STEPPER a4979.c)

drivers/stepper/allegro/Kconfig

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# SPDX-FileCopyrightText: Copyright (c) 2025 Carl Zeiss Meditec AG

# SPDX-License-Identifier: Apache-2.0



menuconfig STEPPER_ALLEGRO

	bool "Allegro Stepper Controller"

	depends on STEPPER

	default y

	help

	  Enable allegro stepper controller



if STEPPER_ALLEGRO



comment "Allegro Stepper Drivers"



# zephyr-keep-sorted-start

rsource "Kconfig.a4979"

# zephyr-keep-sorted-stop



endif # STEPPER_ALLEGRO

drivers/stepper/allegro/Kconfig.a4979

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# SPDX-FileCopyrightText: Copyright (c) 2025 Carl Zeiss Meditec AG

# SPDX-License-Identifier: Apache-2.0



config A4979_STEPPER

	bool "Activate allegro A4979 stepper driver"

	default y

	depends on DT_HAS_ALLEGRO_A4979_ENABLED

	select STEP_DIR_STEPPER

	help

	  Microstepping motor driver for stepper motors.

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