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.. dtcompatible:: zephyr,gpio-step-dir-stepper
.. _dtbinding_zephyr_gpio_step_dir_stepper:

zephyr,gpio-step-dir-stepper
############################

.. sidebar:: Overview

   :Name: ``zephyr,gpio-step-dir-stepper``
   :Vendor: :ref:`The Zephyr Project <dt_vendor_zephyr>`
   :Used in: :zephyr:board-catalog:`List of boards <#compatibles=zephyr,gpio-step-dir-stepper>` using
               this compatible
   :Driver: :zephyr_file:`drivers/stepper/gpio_stepper/gpio_step_dir.c`

Description
***********



.. code-block:: none

   CPU based Stepper Motion Controller for controlling stepper motors using GPIO pins.
   It is used to generate step and direction signals for a stepper motor driver.
   Example:
   step_dir_motion_control: step_dir_motion_control {
       compatible = "zephyr,gpio-step-dir-stepper";
       step-gpios = <&gpio0 10 GPIO_ACTIVE_HIGH>;
       dir-gpios = <&gpio0 11 GPIO_ACTIVE_HIGH>;
       invert-direction;
       counter = <&counter1>;
       stepper-drv = <&tmc2209>; /* Optional stepper-drv driver reference */
   };

Properties
**********

.. tabs::

   .. group-tab:: Node specific properties

      Properties not inherited from the base binding file.

      .. list-table::
         :widths: 1 1 4
         :header-rows: 1

         * - Name
           - Type
           - Details

         * - ``invert-direction``
           - ``boolean``
           - .. code-block:: none

                Invert motor direction.



         * - ``step-gpios``
           - ``phandle-array``
           - .. code-block:: none

                The GPIO pins used to send step signals to the stepper motor.



         * - ``dir-gpios``
           - ``phandle-array``
           - .. code-block:: none

                The GPIO pins used to send direction signals to the stepper motor.
                Pin will be driven high for forward direction and low for reverse direction.



         * - ``counter``
           - ``phandle``
           - .. code-block:: none

                Counter used for generating step-accurate pulse signals.
                This should be a reference to a counter node in the device tree.
                When this property is present, the stepper motion controller will use
                the counter as a timing source instead of the default work queue timing.
                This enables more precise step timing control.

                Note: The counter needs to support both set_top_value functionalities:
                      - Setting a new top value
                      - Attaching an ISR to the turnaround



         * - ``stepper-drv``
           - ``phandle``
           - .. code-block:: none

                Reference to the stepper driver device.
                This property, if provided, will result in configuring the driver with the
                step-width-ns and dual-edge-step properties from the stepper driver node.





   .. group-tab:: Deprecated node specific properties

      Deprecated properties not inherited from the base binding file.

      (None)

   .. group-tab:: Base properties

      Properties inherited from the base binding file, which defines
      common properties that may be set on many nodes. Not all of these
      may apply to the "zephyr,gpio-step-dir-stepper" compatible.

      (None)