51 	const struct device *controller;  member
113 	err = tmc5041_read(config->controller, TMC5041_SWMODE(config->index), &reg_value);  in stallguard_enable()
124 		err = tmc5041_read(config->controller, TMC5041_VACTUAL(config->index),  in stallguard_enable()
141 	err = tmc5041_write(config->controller, TMC5041_SWMODE(config->index), reg_value);  in stallguard_enable()
189 	__ASSERT_NO_MSG(stepper_config->controller != NULL);  in rampstat_work_handler()
194 	err = tmc5041_read(stepper_config->controller, TMC5041_DRVSTATUS(stepper_config->index),  in rampstat_work_handler()
203 		err = tmc5041_write(stepper_config->controller,  in rampstat_work_handler()
214 	err = tmc5041_read(stepper_config->controller, TMC5041_RAMPSTAT(stepper_config->index),  in rampstat_work_handler()
268 	err = tmc5041_read(config->controller, TMC5041_CHOPCONF(config->index), &reg_value);  in tmc5041_stepper_enable()
279 	err = tmc5041_write(config->controller, TMC5041_CHOPCONF(config->index), reg_value);  in tmc5041_stepper_enable()
292 	err = tmc5041_read(config->controller, TMC5041_DRVSTATUS(config->index), &reg_value);  in tmc5041_stepper_is_moving()
325 	err = tmc5041_write(config->controller, TMC5041_RAMPMODE(config->index),  in tmc5041_stepper_move_by()
332 	err = tmc5041_write(config->controller, TMC5041_XTARGET(config->index), target_position);  in tmc5041_stepper_move_by()
354 	const struct tmc5041_config *tmc5041_config = config->controller->config;  in tmc5041_stepper_set_max_velocity()
361 	err = tmc5041_write(config->controller, TMC5041_VMAX(config->index), velocity_fclk);  in tmc5041_stepper_set_max_velocity()
376 	err = tmc5041_read(config->controller, TMC5041_CHOPCONF(config->index), &reg_value);  in tmc5041_stepper_set_micro_step_res()
385 	err = tmc5041_write(config->controller, TMC5041_CHOPCONF(config->index), reg_value);  in tmc5041_stepper_set_micro_step_res()
402 	err = tmc5041_read(config->controller, TMC5041_CHOPCONF(config->index), &reg_value);  in tmc5041_stepper_get_micro_step_res()
418 	err = tmc5041_write(config->controller, TMC5041_RAMPMODE(config->index),  in tmc5041_stepper_set_reference_position()
424 	err = tmc5041_write(config->controller, TMC5041_XACTUAL(config->index), position);  in tmc5041_stepper_set_reference_position()
437 	err = tmc5041_read(config->controller, TMC5041_XACTUAL(config->index), position);  in tmc5041_stepper_get_actual_position()
456 	err = tmc5041_write(config->controller, TMC5041_RAMPMODE(config->index),  in tmc5041_stepper_move_to()
461 	err = tmc5041_write(config->controller, TMC5041_XTARGET(config->index), micro_steps);  in tmc5041_stepper_move_to()
485 	const struct tmc5041_config *tmc5041_config = config->controller->config;  in tmc5041_stepper_run()
502 		err = tmc5041_write(config->controller, TMC5041_RAMPMODE(config->index),  in tmc5041_stepper_run()
507 		err = tmc5041_write(config->controller, TMC5041_VMAX(config->index), velocity_fclk);  in tmc5041_stepper_run()
514 		err = tmc5041_write(config->controller, TMC5041_RAMPMODE(config->index),  in tmc5041_stepper_run()
519 		err = tmc5041_write(config->controller, TMC5041_VMAX(config->index), velocity_fclk);  in tmc5041_stepper_run()
549 	err = tmc5041_write(config->controller, TMC5041_VSTART(config->index), ramp_data->vstart);  in tmc5041_stepper_set_ramp()
553 	err = tmc5041_write(config->controller, TMC5041_A1(config->index), ramp_data->a1);  in tmc5041_stepper_set_ramp()
557 	err = tmc5041_write(config->controller, TMC5041_AMAX(config->index), ramp_data->amax);  in tmc5041_stepper_set_ramp()
561 	err = tmc5041_write(config->controller, TMC5041_D1(config->index), ramp_data->d1);  in tmc5041_stepper_set_ramp()
565 	err = tmc5041_write(config->controller, TMC5041_DMAX(config->index), ramp_data->dmax);  in tmc5041_stepper_set_ramp()
569 	err = tmc5041_write(config->controller, TMC5041_V1(config->index), ramp_data->v1);  in tmc5041_stepper_set_ramp()
573 	err = tmc5041_write(config->controller, TMC5041_VMAX(config->index), ramp_data->vmax);  in tmc5041_stepper_set_ramp()
577 	err = tmc5041_write(config->controller, TMC5041_VSTOP(config->index), ramp_data->vstop);  in tmc5041_stepper_set_ramp()
581 	err = tmc5041_write(config->controller, TMC5041_TZEROWAIT(config->index),  in tmc5041_stepper_set_ramp()
586 	err = tmc5041_write(config->controller, TMC5041_VHIGH(config->index), ramp_data->vhigh);  in tmc5041_stepper_set_ramp()
590 	err = tmc5041_write(config->controller, TMC5041_VCOOLTHRS(config->index),  in tmc5041_stepper_set_ramp()
595 	err = tmc5041_write(config->controller, TMC5041_IHOLD_IRUN(config->index),  in tmc5041_stepper_set_ramp()
644 	LOG_DBG("Controller: %s, Stepper: %s", stepper_config->controller->name, dev->name);  in tmc5041_stepper_init()
649 		err = tmc5041_write(stepper_config->controller,  in tmc5041_stepper_init()
666 			stepper_config->controller, TMC5041_COOLCONF(stepper_config->index),  in tmc5041_stepper_init()
707 		.controller = DEVICE_DT_GET(DT_PARENT(child)),					\