# SPDX-FileCopyrightText: Copyright (c) 2024 Navimatix GmbH
# SPDX-License-Identifier: Apache-2.0

description: |
  TI DRV8424 stepper motor driver.
  SAFETY:
  The counter needs to support both set_top_value functionalities: Setting a new top value and
  attaching an ISR to the turnaround.
  SAFETY:
  The step gpio pin needs to be connected directly to the SOC GPIO controller, connecting the
  pin to a controller connected via a bus such as i2c or others will lead to undefined behaviour.

  Example:
  drv8424: drv8424 {
    status = "okay";
    compatible = "ti,drv8424";

    dir-gpios = <&arduino_header 18 0>;
    step-gpios = <&arduino_header 19 0>;
    sleep-gpios = <&arduino_header 15 GPIO_ACTIVE_LOW>;
    en-gpios  = <&arduino_header 14 0>;
    m0-gpios = <&mikroe_stepper_gpios 0 0>;
    m1-gpios = <&mikroe_stepper_gpios 1 0>;
    counter = <&counter2>;
  };


compatible: "ti,drv8424"

include:
  - name: stepper-controller.yaml
    property-allowlist:
      - micro-step-res
      - step-gpios
      - dir-gpios
      - en-gpios
      - counter

properties:
  fault-gpios:
    type: phandle-array
    description: Fault pin.

  sleep-gpios:
    type: phandle-array
    description: Sleep pin (active low).

  m0-gpios:
    required: true
    type: phandle-array
    description: Microstep configuration pin 0.

  m1-gpios:
    required: true
    type: phandle-array
    description: Microstep configuration pin 1.