698 #define TMC5041_SHAFT_CONFIG(child)								\  argument
699 	(DT_PROP(child, invert_direction) << TMC5041_GCONF_SHAFT_SHIFT(DT_REG_ADDR(child))) |
701 #define TMC5041_STEPPER_CONFIG_DEFINE(child)							\  argument
702 	COND_CODE_1(DT_PROP_EXISTS(child, stallguard_threshold_velocity),			\
703 	BUILD_ASSERT(DT_PROP(child, stallguard_threshold_velocity),				\
705 	IF_ENABLED(CONFIG_STEPPER_ADI_TMC5041_RAMP_GEN, (CHECK_RAMP_DT_DATA(child)));		\
706 	static const struct tmc5041_stepper_config tmc5041_stepper_config_##child = {		\
707 		.controller = DEVICE_DT_GET(DT_PARENT(child)),					\
708 		.default_micro_step_res = DT_PROP(child, micro_step_res),			\
709 		.index = DT_REG_ADDR(child),							\
710 		.sg_threshold = DT_PROP(child, stallguard2_threshold),				\
711 		.sg_threshold_velocity = DT_PROP(child, stallguard_threshold_velocity),		\
712 		.sg_velocity_check_interval_ms = DT_PROP(child,					\
714 		.is_sg_enabled = DT_PROP(child, activate_stallguard2),				\
716 		(.default_ramp_config = TMC_RAMP_DT_SPEC_GET(child))) };
718 #define TMC5041_STEPPER_DATA_DEFINE(child)							\  argument
719 	static struct tmc5041_stepper_data tmc5041_stepper_data_##child = {			\
720 		.stepper = DEVICE_DT_GET(child),};
722 #define TMC5041_STEPPER_API_DEFINE(child)							\  argument
723 	static DEVICE_API(stepper, tmc5041_stepper_api_##child) = {				\
736 #define TMC5041_STEPPER_DEFINE(child)								\  argument
737 	DEVICE_DT_DEFINE(child, tmc5041_stepper_init, NULL, &tmc5041_stepper_data_##child,	\
738 			 &tmc5041_stepper_config_##child, POST_KERNEL,				\
739 			 CONFIG_STEPPER_INIT_PRIORITY, &tmc5041_stepper_api_##child);