diff --git a/drivers/stepper/CMakeLists.txt b/drivers/stepper/CMakeLists.txt
index 1cda468fac4..bd367750070 100644
--- a/drivers/stepper/CMakeLists.txt
+++ b/drivers/stepper/CMakeLists.txt
@@ -14,5 +14,5 @@ zephyr_library()
 zephyr_library_property(ALLOW_EMPTY TRUE)
 
 zephyr_library_sources_ifdef(CONFIG_FAKE_STEPPER fake_stepper_controller.c)
-zephyr_library_sources_ifdef(CONFIG_GPIO_STEPPER gpio_stepper_controller.c)
+zephyr_library_sources_ifdef(CONFIG_H_BRIDGE_STEPPER h_bridge_stepper.c)
 zephyr_library_sources_ifdef(CONFIG_STEPPER_SHELL stepper_shell.c)
diff --git a/drivers/stepper/Kconfig b/drivers/stepper/Kconfig
index 075c9130e33..f35ec8f8d36 100644
--- a/drivers/stepper/Kconfig
+++ b/drivers/stepper/Kconfig
@@ -32,7 +32,7 @@ comment "Stepper Drivers"
 
 # zephyr-keep-sorted-start
 rsource "Kconfig.fake"
-rsource "Kconfig.gpio"
+rsource "Kconfig.h_bridge"
 rsource "adi_tmc/Kconfig"
 rsource "allegro/Kconfig"
 rsource "ti/Kconfig"
diff --git a/drivers/stepper/Kconfig.gpio b/drivers/stepper/Kconfig.h_bridge
similarity index 75%
rename from drivers/stepper/Kconfig.gpio
rename to drivers/stepper/Kconfig.h_bridge
index 4b43140cd28..cff552908c5 100644
--- a/drivers/stepper/Kconfig.gpio
+++ b/drivers/stepper/Kconfig.h_bridge
@@ -2,7 +2,7 @@
 # SPDX-FileCopyrightText: Copyright (c) 2024 Jilay Sandeep Pandya
 # SPDX-License-Identifier: Apache-2.0
 
-config GPIO_STEPPER
+config H_BRIDGE_STEPPER
 	bool "Activate driver for gpio stepper control"
-	depends on DT_HAS_ZEPHYR_GPIO_STEPPER_ENABLED
+	depends on DT_HAS_ZEPHYR_H_BRIDGE_STEPPER_ENABLED
 	default y
diff --git a/drivers/stepper/gpio_stepper_controller.c b/drivers/stepper/h_bridge_stepper.c
similarity index 51%
rename from drivers/stepper/gpio_stepper_controller.c
rename to drivers/stepper/h_bridge_stepper.c
index 560b8cd54be..6cd86631785 100644
--- a/drivers/stepper/gpio_stepper_controller.c
+++ b/drivers/stepper/h_bridge_stepper.c
@@ -4,16 +4,15 @@
  * SPDX-License-Identifier: Apache-2.0
  */
 
-#define DT_DRV_COMPAT zephyr_gpio_stepper
+#define DT_DRV_COMPAT zephyr_h_bridge_stepper
 
 #include <zephyr/drivers/gpio.h>
 #include <zephyr/kernel.h>
 #include <zephyr/sys_clock.h>
 #include <zephyr/drivers/stepper.h>
-#include <zephyr/sys/__assert.h>
 
 #include <zephyr/logging/log.h>
-LOG_MODULE_REGISTER(gpio_stepper_motor_controller, CONFIG_STEPPER_LOG_LEVEL);
+LOG_MODULE_REGISTER(h_bridge_stepper, CONFIG_STEPPER_LOG_LEVEL);
 
 #define MAX_MICRO_STEP_RES STEPPER_MICRO_STEP_2
 #define NUM_CONTROL_PINS   4
@@ -23,13 +22,13 @@ static const uint8_t
 		{1u, 1u, 0u, 0u}, {0u, 1u, 0u, 0u}, {0u, 1u, 1u, 0u}, {0u, 0u, 1u, 0u},
 		{0u, 0u, 1u, 1u}, {0u, 0u, 0u, 1u}, {1u, 0u, 0u, 1u}, {1u, 0u, 0u, 0u}};
 
-struct gpio_stepper_config {
+struct h_bridge_stepper_config {
 	const struct gpio_dt_spec en_pin;
 	const struct gpio_dt_spec *control_pins;
 	bool invert_direction;
 };
 
-struct gpio_stepper_data {
+struct h_bridge_stepper_data {
 	const struct device *dev;
 	struct k_spinlock lock;
 	enum stepper_direction direction;
@@ -46,19 +45,25 @@ struct gpio_stepper_data {
 
 static int stepper_motor_set_coil_charge(const struct device *dev)
 {
-	struct gpio_stepper_data *data = dev->data;
-	const struct gpio_stepper_config *config = dev->config;
+	struct h_bridge_stepper_data *data = dev->data;
+	const struct h_bridge_stepper_config *config = dev->config;
+	int ret;
 
 	for (int i = 0; i < NUM_CONTROL_PINS; i++) {
-		(void)gpio_pin_set_dt(&config->control_pins[i],
+		ret = gpio_pin_set_dt(&config->control_pins[i],
 				      half_step_lookup_table[data->coil_charge][i]);
+		if (ret < 0) {
+			LOG_ERR("Failed to set control pin %d: %d", i, ret);
+			return ret;
+		}
 	}
+
 	return 0;
 }
 
 static void increment_coil_charge(const struct device *dev)
 {
-	struct gpio_stepper_data *data = dev->data;
+	struct h_bridge_stepper_data *data = dev->data;
 
 	if (data->coil_charge == NUM_CONTROL_PINS * MAX_MICRO_STEP_RES - data->step_gap) {
 		data->coil_charge = 0;
@@ -69,7 +74,7 @@ static void increment_coil_charge(const struct device *dev)
 
 static void decrement_coil_charge(const struct device *dev)
 {
-	struct gpio_stepper_data *data = dev->data;
+	struct h_bridge_stepper_data *data = dev->data;
 
 	if (data->coil_charge == 0) {
 		data->coil_charge = NUM_CONTROL_PINS * MAX_MICRO_STEP_RES - data->step_gap;
@@ -78,25 +83,10 @@ static void decrement_coil_charge(const struct device *dev)
 	}
 }
 
-static int energize_coils(const struct device *dev, const bool energized)
-{
-	const struct gpio_stepper_config *config = dev->config;
-
-	for (int i = 0; i < NUM_CONTROL_PINS; i++) {
-		const int err = gpio_pin_set_dt(&config->control_pins[i], energized);
-
-		if (err != 0) {
-			LOG_ERR("Failed to power down coil %d", i);
-			return err;
-		}
-	}
-	return 0;
-}
-
 static void update_coil_charge(const struct device *dev)
 {
-	const struct gpio_stepper_config *config = dev->config;
-	struct gpio_stepper_data *data = dev->data;
+	const struct h_bridge_stepper_config *config = dev->config;
+	struct h_bridge_stepper_data *data = dev->data;
 
 	if (data->direction == STEPPER_DIRECTION_POSITIVE) {
 		config->invert_direction ? decrement_coil_charge(dev) : increment_coil_charge(dev);
@@ -109,7 +99,7 @@ static void update_coil_charge(const struct device *dev)
 
 static void update_remaining_steps(const struct device *dev)
 {
-	struct gpio_stepper_data *data = dev->data;
+	struct h_bridge_stepper_data *data = dev->data;
 
 	if (data->step_count > 0) {
 		data->step_count--;
@@ -120,7 +110,7 @@ static void update_remaining_steps(const struct device *dev)
 
 static void update_direction_from_step_count(const struct device *dev)
 {
-	struct gpio_stepper_data *data = dev->data;
+	struct h_bridge_stepper_data *data = dev->data;
 
 	if (data->step_count > 0) {
 		data->direction = STEPPER_DIRECTION_POSITIVE;
@@ -133,10 +123,16 @@ static void update_direction_from_step_count(const struct device *dev)
 
 static void position_mode_task(const struct device *dev)
 {
-	struct gpio_stepper_data *data = dev->data;
+	struct h_bridge_stepper_data *data = dev->data;
+	int ret;
 
 	update_remaining_steps(dev);
-	(void)stepper_motor_set_coil_charge(dev);
+	ret = stepper_motor_set_coil_charge(dev);
+	if (ret < 0) {
+		LOG_ERR("Failed to set coil charge: %d", ret);
+		return;
+	}
+
 	update_coil_charge(dev);
 	if (data->step_count) {
 		(void)k_work_reschedule(&data->stepper_dwork, K_NSEC(data->delay_in_ns));
@@ -151,9 +147,15 @@ static void position_mode_task(const struct device *dev)
 
 static void velocity_mode_task(const struct device *dev)
 {
-	struct gpio_stepper_data *data = dev->data;
+	struct h_bridge_stepper_data *data = dev->data;
+	int ret;
+
+	ret = stepper_motor_set_coil_charge(dev);
+	if (ret < 0) {
+		LOG_ERR("Failed to set coil charge: %d", ret);
+		return;
+	}
 
-	(void)stepper_motor_set_coil_charge(dev);
 	update_coil_charge(dev);
 	(void)k_work_reschedule(&data->stepper_dwork, K_NSEC(data->delay_in_ns));
 }
@@ -161,8 +163,8 @@ static void velocity_mode_task(const struct device *dev)
 static void stepper_work_step_handler(struct k_work *work)
 {
 	struct k_work_delayable *dwork = k_work_delayable_from_work(work);
-	struct gpio_stepper_data *data =
-		CONTAINER_OF(dwork, struct gpio_stepper_data, stepper_dwork);
+	struct h_bridge_stepper_data *data =
+		CONTAINER_OF(dwork, struct h_bridge_stepper_data, stepper_dwork);
 
 	K_SPINLOCK(&data->lock) {
 		switch (data->run_mode) {
@@ -179,9 +181,9 @@ static void stepper_work_step_handler(struct k_work *work)
 	}
 }
 
-static int gpio_stepper_move_by(const struct device *dev, int32_t micro_steps)
+static int h_bridge_stepper_move_by(const struct device *dev, int32_t micro_steps)
 {
-	struct gpio_stepper_data *data = dev->data;
+	struct h_bridge_stepper_data *data = dev->data;
 
 	if (data->delay_in_ns == 0) {
 		LOG_ERR("Step interval not set or invalid step interval set");
@@ -196,9 +198,9 @@ static int gpio_stepper_move_by(const struct device *dev, int32_t micro_steps)
 	return 0;
 }
 
-static int gpio_stepper_set_reference_position(const struct device *dev, int32_t position)
+static int h_bridge_stepper_set_reference_position(const struct device *dev, int32_t position)
 {
-	struct gpio_stepper_data *data = dev->data;
+	struct h_bridge_stepper_data *data = dev->data;
 
 	K_SPINLOCK(&data->lock) {
 		data->actual_position = position;
@@ -206,9 +208,9 @@ static int gpio_stepper_set_reference_position(const struct device *dev, int32_t
 	return 0;
 }
 
-static int gpio_stepper_get_actual_position(const struct device *dev, int32_t *position)
+static int h_bridge_stepper_get_actual_position(const struct device *dev, int32_t *position)
 {
-	struct gpio_stepper_data *data = dev->data;
+	struct h_bridge_stepper_data *data = dev->data;
 
 	K_SPINLOCK(&data->lock) {
 		*position = data->actual_position;
@@ -216,30 +218,30 @@ static int gpio_stepper_get_actual_position(const struct device *dev, int32_t *p
 	return 0;
 }
 
-static int gpio_stepper_move_to(const struct device *dev, int32_t micro_steps)
+static int h_bridge_stepper_move_to(const struct device *dev, int32_t micro_steps)
 {
-	struct gpio_stepper_data *data = dev->data;
+	struct h_bridge_stepper_data *data = dev->data;
 	int32_t steps_to_move;
 
 	K_SPINLOCK(&data->lock) {
 		steps_to_move = micro_steps - data->actual_position;
 	}
-	return gpio_stepper_move_by(dev, steps_to_move);
+	return h_bridge_stepper_move_by(dev, steps_to_move);
 }
 
-static int gpio_stepper_is_moving(const struct device *dev, bool *is_moving)
+static int h_bridge_stepper_is_moving(const struct device *dev, bool *is_moving)
 {
-	struct gpio_stepper_data *data = dev->data;
+	struct h_bridge_stepper_data *data = dev->data;
 
 	*is_moving = k_work_delayable_is_pending(&data->stepper_dwork);
 	LOG_DBG("Motor is %s moving", *is_moving ? "" : "not");
 	return 0;
 }
 
-static int gpio_stepper_set_microstep_interval(const struct device *dev,
-					       uint64_t microstep_interval_ns)
+static int h_bridge_stepper_set_microstep_interval(const struct device *dev,
+						   uint64_t microstep_interval_ns)
 {
-	struct gpio_stepper_data *data = dev->data;
+	struct h_bridge_stepper_data *data = dev->data;
 
 	if (microstep_interval_ns == 0) {
 		LOG_ERR("Step interval is invalid.");
@@ -253,9 +255,9 @@ static int gpio_stepper_set_microstep_interval(const struct device *dev,
 	return 0;
 }
 
-static int gpio_stepper_run(const struct device *dev, const enum stepper_direction direction)
+static int h_bridge_stepper_run(const struct device *dev, const enum stepper_direction direction)
 {
-	struct gpio_stepper_data *data = dev->data;
+	struct h_bridge_stepper_data *data = dev->data;
 
 	K_SPINLOCK(&data->lock) {
 		data->run_mode = STEPPER_RUN_MODE_VELOCITY;
@@ -265,10 +267,10 @@ static int gpio_stepper_run(const struct device *dev, const enum stepper_directi
 	return 0;
 }
 
-static int gpio_stepper_set_micro_step_res(const struct device *dev,
-					   enum stepper_micro_step_resolution micro_step_res)
+static int h_bridge_stepper_set_micro_step_res(const struct device *dev,
+					       enum stepper_micro_step_resolution micro_step_res)
 {
-	struct gpio_stepper_data *data = dev->data;
+	struct h_bridge_stepper_data *data = dev->data;
 	int err = 0;
 
 	K_SPINLOCK(&data->lock) {
@@ -285,30 +287,30 @@ static int gpio_stepper_set_micro_step_res(const struct device *dev,
 	return err;
 }
 
-static int gpio_stepper_get_micro_step_res(const struct device *dev,
-					   enum stepper_micro_step_resolution *micro_step_res)
+static int h_bridge_stepper_get_micro_step_res(const struct device *dev,
+					       enum stepper_micro_step_resolution *micro_step_res)
 {
-	struct gpio_stepper_data *data = dev->data;
+	struct h_bridge_stepper_data *data = dev->data;
 	*micro_step_res = MAX_MICRO_STEP_RES >> (data->step_gap - 1);
 	return 0;
 }
 
-static int gpio_stepper_set_event_callback(const struct device *dev,
-					   stepper_event_callback_t callback, void *user_data)
+static int h_bridge_stepper_set_event_callback(const struct device *dev,
+					       stepper_event_callback_t callback, void *user_data)
 {
-	struct gpio_stepper_data *data = dev->data;
+	struct h_bridge_stepper_data *data = dev->data;
 
 	K_SPINLOCK(&data->lock) {
 		data->callback = callback;
+		data->event_cb_user_data = user_data;
 	}
-	data->event_cb_user_data = user_data;
 	return 0;
 }
 
-static int gpio_stepper_enable(const struct device *dev)
+static int h_bridge_stepper_enable(const struct device *dev)
 {
-	const struct gpio_stepper_config *config = dev->config;
-	struct gpio_stepper_data *data = dev->data;
+	const struct h_bridge_stepper_config *config = dev->config;
+	struct h_bridge_stepper_data *data = dev->data;
 	int err;
 
 	K_SPINLOCK(&data->lock) {
@@ -322,14 +324,13 @@ static int gpio_stepper_enable(const struct device *dev)
 	return err;
 }
 
-static int gpio_stepper_disable(const struct device *dev)
+static int h_bridge_stepper_disable(const struct device *dev)
 {
-	const struct gpio_stepper_config *config = dev->config;
-	struct gpio_stepper_data *data = dev->data;
+	const struct h_bridge_stepper_config *config = dev->config;
+	struct h_bridge_stepper_data *data = dev->data;
 	int err;
 
 	K_SPINLOCK(&data->lock) {
-		(void)energize_coils(dev, false);
 		if (config->en_pin.port != NULL) {
 			err = gpio_pin_set_dt(&config->en_pin, 0);
 		} else {
@@ -341,14 +342,13 @@ static int gpio_stepper_disable(const struct device *dev)
 	return err;
 }
 
-static int gpio_stepper_stop(const struct device *dev)
+static int h_bridge_stepper_stop(const struct device *dev)
 {
-	struct gpio_stepper_data *data = dev->data;
+	struct h_bridge_stepper_data *data = dev->data;
 	int err;
 
 	K_SPINLOCK(&data->lock) {
-		(void)k_work_cancel_delayable(&data->stepper_dwork);
-		err = energize_coils(dev, true);
+		err = k_work_cancel_delayable(&data->stepper_dwork);
 
 		if (data->callback && !err) {
 			data->callback(data->dev, STEPPER_EVENT_STOPPED, data->event_cb_user_data);
@@ -357,52 +357,68 @@ static int gpio_stepper_stop(const struct device *dev)
 	return err;
 }
 
-static int gpio_stepper_init(const struct device *dev)
+static int h_bridge_stepper_init(const struct device *dev)
 {
-	struct gpio_stepper_data *data = dev->data;
-	const struct gpio_stepper_config *config = dev->config;
+	struct h_bridge_stepper_data *data = dev->data;
+	const struct h_bridge_stepper_config *config = dev->config;
+	int err;
 
 	data->dev = dev;
-	LOG_DBG("Initializing %s gpio_stepper with %d pin", dev->name, NUM_CONTROL_PINS);
+	LOG_DBG("Initializing %s h_bridge_stepper with %d pin", dev->name, NUM_CONTROL_PINS);
 	for (uint8_t n_pin = 0; n_pin < NUM_CONTROL_PINS; n_pin++) {
 		(void)gpio_pin_configure_dt(&config->control_pins[n_pin], GPIO_OUTPUT_INACTIVE);
 	}
+
+	if (config->en_pin.port != NULL) {
+		if (!gpio_is_ready_dt(&config->en_pin)) {
+			LOG_ERR("Enable Pin is not ready");
+			return -ENODEV;
+		}
+
+		err = gpio_pin_configure_dt(&config->en_pin, GPIO_OUTPUT_INACTIVE);
+		if (err != 0) {
+			LOG_ERR("%s: Failed to configure en_pin (error: %d)", dev->name, err);
+			return err;
+		}
+	}
+
 	k_work_init_delayable(&data->stepper_dwork, stepper_work_step_handler);
 	return 0;
 }
 
-static DEVICE_API(stepper, gpio_stepper_api) = {
-	.enable = gpio_stepper_enable,
-	.disable = gpio_stepper_disable,
-	.set_micro_step_res = gpio_stepper_set_micro_step_res,
-	.get_micro_step_res = gpio_stepper_get_micro_step_res,
-	.set_reference_position = gpio_stepper_set_reference_position,
-	.get_actual_position = gpio_stepper_get_actual_position,
-	.set_event_callback = gpio_stepper_set_event_callback,
-	.set_microstep_interval = gpio_stepper_set_microstep_interval,
-	.move_by = gpio_stepper_move_by,
-	.move_to = gpio_stepper_move_to,
-	.run = gpio_stepper_run,
-	.stop = gpio_stepper_stop,
-	.is_moving = gpio_stepper_is_moving,
+static DEVICE_API(stepper, h_bridge_stepper_api) = {
+	.enable = h_bridge_stepper_enable,
+	.disable = h_bridge_stepper_disable,
+	.set_micro_step_res = h_bridge_stepper_set_micro_step_res,
+	.get_micro_step_res = h_bridge_stepper_get_micro_step_res,
+	.set_reference_position = h_bridge_stepper_set_reference_position,
+	.get_actual_position = h_bridge_stepper_get_actual_position,
+	.set_event_callback = h_bridge_stepper_set_event_callback,
+	.set_microstep_interval = h_bridge_stepper_set_microstep_interval,
+	.move_by = h_bridge_stepper_move_by,
+	.move_to = h_bridge_stepper_move_to,
+	.run = h_bridge_stepper_run,
+	.stop = h_bridge_stepper_stop,
+	.is_moving = h_bridge_stepper_is_moving,
 };
 
-#define GPIO_STEPPER_DEFINE(inst)								\
-	static const struct gpio_dt_spec gpio_stepper_motor_control_pins_##inst[] = {		\
-		DT_INST_FOREACH_PROP_ELEM_SEP(inst, gpios, GPIO_DT_SPEC_GET_BY_IDX, (,)),	\
-	};											\
-	BUILD_ASSERT(ARRAY_SIZE(gpio_stepper_motor_control_pins_##inst) == 4,			\
-		"gpio_stepper_controller driver currently supports only 4 wire configuration");	\
-	static const struct gpio_stepper_config gpio_stepper_config_##inst = {			\
-		.invert_direction = DT_INST_PROP(inst, invert_direction),			\
-		.control_pins = gpio_stepper_motor_control_pins_##inst};			\
-	static struct gpio_stepper_data gpio_stepper_data_##inst = {				\
-		.step_gap = MAX_MICRO_STEP_RES >> (DT_INST_PROP(inst, micro_step_res) - 1),	\
-	};											\
-	BUILD_ASSERT(DT_INST_PROP(inst, micro_step_res) <= STEPPER_MICRO_STEP_2,		\
-		     "gpio_stepper_controller driver supports up to 2 micro steps");		\
-	DEVICE_DT_INST_DEFINE(inst, gpio_stepper_init, NULL, &gpio_stepper_data_##inst,		\
-			      &gpio_stepper_config_##inst, POST_KERNEL,				\
-			      CONFIG_STEPPER_INIT_PRIORITY, &gpio_stepper_api);
+#define H_BRIDGE_STEPPER_DEFINE(inst)                                                              \
+	static const struct gpio_dt_spec h_bridge_stepper_motor_control_pins_##inst[] = {          \
+		DT_INST_FOREACH_PROP_ELEM_SEP(inst, gpios, GPIO_DT_SPEC_GET_BY_IDX, (,)),          \
+	};                                                                                         \
+	BUILD_ASSERT(ARRAY_SIZE(h_bridge_stepper_motor_control_pins_##inst) == 4,                  \
+		     "h_bridge stepper driver currently supports only 4 wire configuration");      \
+	static const struct h_bridge_stepper_config h_bridge_stepper_config_##inst = {             \
+		.en_pin = GPIO_DT_SPEC_INST_GET_OR(inst, en_gpios, {0}),                           \
+		.invert_direction = DT_INST_PROP(inst, invert_direction),                          \
+		.control_pins = h_bridge_stepper_motor_control_pins_##inst};                       \
+	static struct h_bridge_stepper_data h_bridge_stepper_data_##inst = {                       \
+		.step_gap = MAX_MICRO_STEP_RES >> (DT_INST_PROP(inst, micro_step_res) - 1),        \
+	};                                                                                         \
+	BUILD_ASSERT(DT_INST_PROP(inst, micro_step_res) <= STEPPER_MICRO_STEP_2,                   \
+		     "h_bridge stepper driver supports up to 2 micro steps");                      \
+	DEVICE_DT_INST_DEFINE(inst, h_bridge_stepper_init, NULL, &h_bridge_stepper_data_##inst,    \
+			      &h_bridge_stepper_config_##inst, POST_KERNEL,                        \
+			      CONFIG_STEPPER_INIT_PRIORITY, &h_bridge_stepper_api);
 
-DT_INST_FOREACH_STATUS_OKAY(GPIO_STEPPER_DEFINE)
+DT_INST_FOREACH_STATUS_OKAY(H_BRIDGE_STEPPER_DEFINE)
diff --git a/dts/bindings/stepper/zephyr,gpio-stepper.yaml b/dts/bindings/stepper/zephyr,h-bridge-stepper.yaml
similarity index 85%
rename from dts/bindings/stepper/zephyr,gpio-stepper.yaml
rename to dts/bindings/stepper/zephyr,h-bridge-stepper.yaml
index 95477d21399..b243a8d9293 100644
--- a/dts/bindings/stepper/zephyr,gpio-stepper.yaml
+++ b/dts/bindings/stepper/zephyr,h-bridge-stepper.yaml
@@ -8,14 +8,15 @@ description: |
   Example:
     /* Lead A is connected Lead C and Lead B is connected to Lead D*/
     stepper: stepper {
-        compatible = "zephyr,gpio-stepper";
+        compatible = "zephyr,h-bridge-stepper";
+        en-gpios = <&gpioa 6 GPIO_ACTIVE_HIGH>;
         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 */
     };
 
-compatible: "zephyr,gpio-stepper"
+compatible: "zephyr,h-bridge-stepper"
 
 include: stepper-controller.yaml
 
diff --git a/include/zephyr/drivers/stepper.h b/include/zephyr/drivers/stepper.h
index 64cf23c94e9..3440cc2e084 100644
--- a/include/zephyr/drivers/stepper.h
+++ b/include/zephyr/drivers/stepper.h
@@ -503,7 +503,7 @@ static inline int z_impl_stepper_run(const struct device *dev,
 
 /**
  * @brief Stop the stepper
- * @details Cancel all active movements, however keep the coils energized.
+ * @details Cancel all active movements.
  *
  * @param dev pointer to the stepper driver instance
  *
diff --git a/samples/drivers/stepper/generic/boards/nucleo_g071rb.overlay b/samples/drivers/stepper/generic/boards/nucleo_g071rb.overlay
index e392a028cb3..9533bbb982e 100644
--- a/samples/drivers/stepper/generic/boards/nucleo_g071rb.overlay
+++ b/samples/drivers/stepper/generic/boards/nucleo_g071rb.overlay
@@ -1,14 +1,15 @@
 / {
 	aliases {
-		stepper = &gpio_stepper;
+		stepper = &h_bridge_stepper;
 	};
 };
 
 / {
-	gpio_stepper: gpio_stepper {
-		compatible = "zephyr,gpio-stepper";
+	h_bridge_stepper: h_bridge_stepper {
+		compatible = "zephyr,h-bridge-stepper";
 		status = "okay";
 		micro-step-res = <2>;
+		en-gpios = <&gpioa 6 GPIO_ACTIVE_HIGH>; /* D12 */
 		gpios = <&gpioa 9 GPIO_ACTIVE_HIGH>,	/* D8 */
 			<&gpioc 7 GPIO_ACTIVE_HIGH>,	/* D9 */
 			<&gpiob 0 GPIO_ACTIVE_HIGH>,	/* D10 */
diff --git a/tests/drivers/build_all/stepper/gpio.dtsi b/tests/drivers/build_all/stepper/gpio.dtsi
index b5151a3149c..6fe38b0ca30 100644
--- a/tests/drivers/build_all/stepper/gpio.dtsi
+++ b/tests/drivers/build_all/stepper/gpio.dtsi
@@ -45,10 +45,11 @@ ti_drv84xx: ti_drv84xx {
 	counter = <&counter0>;
 };
 
-zephyr_gpio_stepper: zephyr_gpio_stepper {
-	compatible = "zephyr,gpio-stepper";
+zephyr_h_bridge_stepper: zephyr_h_bridge_stepper {
+	compatible = "zephyr,h-bridge-stepper";
 	status = "okay";
 	micro-step-res = <1>;
+	en-gpios = <&test_gpio 0 0>;
 	gpios = <&test_gpio 0 0>,
 		<&test_gpio 0 0>,
 		<&test_gpio 0 0>,
diff --git a/tests/drivers/stepper/stepper_api/boards/native_sim_zephyr_gpio_stepper.overlay b/tests/drivers/stepper/stepper_api/boards/native_sim_zephyr_h_bridge_stepper.overlay
similarity index 51%
rename from tests/drivers/stepper/stepper_api/boards/native_sim_zephyr_gpio_stepper.overlay
rename to tests/drivers/stepper/stepper_api/boards/native_sim_zephyr_h_bridge_stepper.overlay
index 3df8e647466..8782f68e961 100644
--- a/tests/drivers/stepper/stepper_api/boards/native_sim_zephyr_gpio_stepper.overlay
+++ b/tests/drivers/stepper/stepper_api/boards/native_sim_zephyr_h_bridge_stepper.overlay
@@ -7,18 +7,19 @@
 
 / {
 	aliases {
-		stepper =  &zephyr_gpio_stepper;
+		stepper =  &zephyr_h_bridge_stepper;
 	};
 };
 
 / {
-	zephyr_gpio_stepper: zephyr_gpio_stepper {
-		compatible = "zephyr,gpio-stepper";
+	zephyr_h_bridge_stepper: zephyr_h_bridge_stepper {
+		compatible = "zephyr,h-bridge-stepper";
 		status = "okay";
 		micro-step-res = <1>;
+		en-gpios = <&gpio1 0 0>;
 		gpios = <&gpio1 0 0>,
-				<&gpio2 0 0>,
-				<&gpio3 0 0>,
-				<&gpio4 0 0>;
+			<&gpio2 0 0>,
+			<&gpio3 0 0>,
+			<&gpio4 0 0>;
 	};
 };
diff --git a/tests/drivers/stepper/stepper_api/boards/qemu_x86_64_zephyr_gpio_stepper.overlay b/tests/drivers/stepper/stepper_api/boards/qemu_x86_64_zephyr_h_bridge_stepper.overlay
similarity index 79%
rename from tests/drivers/stepper/stepper_api/boards/qemu_x86_64_zephyr_gpio_stepper.overlay
rename to tests/drivers/stepper/stepper_api/boards/qemu_x86_64_zephyr_h_bridge_stepper.overlay
index bfc3161e3b1..a5ca16772ba 100644
--- a/tests/drivers/stepper/stepper_api/boards/qemu_x86_64_zephyr_gpio_stepper.overlay
+++ b/tests/drivers/stepper/stepper_api/boards/qemu_x86_64_zephyr_h_bridge_stepper.overlay
@@ -7,7 +7,7 @@
 
 / {
 	aliases {
-		stepper =  &zephyr_gpio_stepper;
+		stepper =  &zephyr_h_bridge_stepper;
 	};
 };
 
@@ -42,13 +42,13 @@
 };
 
 / {
-	zephyr_gpio_stepper: zephyr_gpio_stepper {
-		compatible = "zephyr,gpio-stepper";
+	zephyr_h_bridge_stepper: zephyr_h_bridge_stepper {
+		compatible = "zephyr,h-bridge-stepper";
 		status = "okay";
 		micro-step-res = <2>;
 		gpios = <&gpio1 0 0>,
-				<&gpio2 0 0>,
-				<&gpio3 0 0>,
-				<&gpio4 0 0>;
+			<&gpio2 0 0>,
+			<&gpio3 0 0>,
+			<&gpio4 0 0>;
 	};
 };
diff --git a/tests/drivers/stepper/stepper_api/testcase.yaml b/tests/drivers/stepper/stepper_api/testcase.yaml
index bf07964f074..3298af729fd 100644
--- a/tests/drivers/stepper/stepper_api/testcase.yaml
+++ b/tests/drivers/stepper/stepper_api/testcase.yaml
@@ -63,8 +63,8 @@ tests:
       - native_sim/native/64
   drivers.stepper.stepper_api.zephyr_gpio_stepper:
     extra_args:
-      - platform:native_sim/native/64:DTC_OVERLAY_FILE="boards/native_sim_zephyr_gpio_stepper.overlay"
-      - platform:qemu_x86_64/atom:DTC_OVERLAY_FILE="boards/qemu_x86_64_zephyr_gpio_stepper.overlay"
+      - platform:native_sim/native/64:DTC_OVERLAY_FILE="boards/native_sim_zephyr_h_bridge_stepper.overlay"
+      - platform:qemu_x86_64/atom:DTC_OVERLAY_FILE="boards/qemu_x86_64_zephyr_h_bridge_stepper.overlay"
     extra_configs:
       - CONFIG_GPIO=y
     platform_allow: