:orphan:

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.. dtcompatible:: zephyr,h-bridge-stepper-ctrl
.. _dtbinding_zephyr_h_bridge_stepper_ctrl:

zephyr,h-bridge-stepper-ctrl
############################

.. sidebar:: Overview

   :Name: ``zephyr,h-bridge-stepper-ctrl``
   :Vendor: :ref:`Zephyr Project <dt_vendor_zephyr>`
   :Used in: :zephyr:board-catalog:`List of boards <#compatibles=zephyr,h-bridge-stepper-ctrl>` using
               this compatible
   :Driver: :zephyr_file:`drivers/stepper/gpio_stepper/h_bridge_stepper_ctrl.c`

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



.. code-block:: none

   GPIO Stepper Controller for darlington transistor arrays or dual H-bridge

Examples
********

.. code-block:: dts

   /* Lead A is connected Lead C and Lead B is connected to Lead D*/
   h_bridge_stepper: motion-controller {
       compatible = "zephyr,h-bridge-stepper-ctrl";
       gpios = <&gpioa 9 GPIO_ACTIVE_HIGH>,  /* Lead A1/A */
               <&gpioc 7 GPIO_ACTIVE_HIGH>,  /* Lead B1/B */
               <&gpiob 0 GPIO_ACTIVE_HIGH>,  /* Lead A2/C */
               <&gpioa 7 GPIO_ACTIVE_HIGH>;  /* Lead B2/D */
   };


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.



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

                The gpio pin array on which the stepper inputs are to be connected



             This property is **required**.

         * - ``lut-step-gap``
           - ``int``
           - .. code-block:: none

                Step mode selection.
                1 - Half step mode
                2 - Full step mode



             Default value: ``1``

             Legal values: ``1``, ``2``

         * - ``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





   .. 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,h-bridge-stepper-ctrl" compatible.

      (None)