diff --git a/drivers/stepper/adi_tmc/adi_tmc50xx_stepper_controller.c b/drivers/stepper/adi_tmc/adi_tmc50xx_stepper_controller.c
index 607fa59a051..dd54db9d139 100644
--- a/drivers/stepper/adi_tmc/adi_tmc50xx_stepper_controller.c
+++ b/drivers/stepper/adi_tmc/adi_tmc50xx_stepper_controller.c
@@ -305,7 +305,7 @@ static int tmc50xx_stepper_is_moving(const struct device *dev, bool *is_moving)
 		return -EIO;
 	}
 
-	*is_moving = (FIELD_GET(TMC5XXX_DRV_STATUS_STST_BIT, reg_value) != 1U);
+	*is_moving = (FIELD_GET(TMC5XXX_DRV_STATUS_STST_BIT, reg_value) == 1U);
 	LOG_DBG("Stepper motor controller %s is moving: %d", dev->name, *is_moving);
 	return 0;
 }
@@ -378,6 +378,11 @@ int tmc50xx_stepper_set_max_velocity(const struct device *dev, uint32_t velocity
 static int tmc50xx_stepper_set_micro_step_res(const struct device *dev,
 					      enum stepper_micro_step_resolution res)
 {
+	if (!VALID_MICRO_STEP_RES(res)) {
+		LOG_ERR("Invalid micro step resolution %d", res);
+		return -ENOTSUP;
+	}
+
 	const struct tmc50xx_stepper_config *config = dev->config;
 	uint32_t reg_value;
 	int err;
diff --git a/include/zephyr/drivers/stepper.h b/include/zephyr/drivers/stepper.h
index 4bfd7e541c6..42e635279c3 100644
--- a/include/zephyr/drivers/stepper.h
+++ b/include/zephyr/drivers/stepper.h
@@ -29,12 +29,6 @@
 extern "C" {
 #endif
 
-/**
- * @brief Macro to calculate the index of the microstep resolution
- * @param res Microstep resolution
- */
-#define MICRO_STEP_RES_INDEX(res) LOG2(res)
-
 /**
  * @brief Stepper Motor micro-step resolution options
  */
@@ -59,6 +53,19 @@ enum stepper_micro_step_resolution {
 	STEPPER_MICRO_STEP_256 = 256,
 };
 
+/**
+ * @brief Macro to calculate the index of the microstep resolution
+ * @param res Microstep resolution
+ */
+#define MICRO_STEP_RES_INDEX(res) LOG2(res)
+
+#define VALID_MICRO_STEP_RES(res)                                                                  \
+	((res) == STEPPER_MICRO_STEP_1 || (res) == STEPPER_MICRO_STEP_2 ||                         \
+	 (res) == STEPPER_MICRO_STEP_4 || (res) == STEPPER_MICRO_STEP_8 ||                         \
+	 (res) == STEPPER_MICRO_STEP_16 || (res) == STEPPER_MICRO_STEP_32 ||                       \
+	 (res) == STEPPER_MICRO_STEP_64 || (res) == STEPPER_MICRO_STEP_128 ||                      \
+	 (res) == STEPPER_MICRO_STEP_256)
+
 /**
  * @brief Stepper Motor direction options
  */
diff --git a/tests/drivers/stepper/stepper_api/src/main.c b/tests/drivers/stepper/stepper_api/src/main.c
index c2a2b69ad95..6d264712cfc 100644
--- a/tests/drivers/stepper/stepper_api/src/main.c
+++ b/tests/drivers/stepper/stepper_api/src/main.c
@@ -106,25 +106,35 @@ ZTEST_F(stepper, test_get_micro_step_res)
 ZTEST_F(stepper, test_set_micro_step_interval_invalid_zero)
 {
 	int err = stepper_set_microstep_interval(fixture->dev, 0);
-
+	if (err == -ENOSYS) {
+		ztest_test_skip();
+	}
 	zassert_equal(err, -EINVAL, "ustep interval cannot be zero");
 }
 
 ZTEST_F(stepper, test_actual_position)
 {
 	int32_t pos = 100u;
+	int ret;
 
-	(void)stepper_set_reference_position(fixture->dev, pos);
-	(void)stepper_get_actual_position(fixture->dev, &pos);
+	ret = stepper_set_reference_position(fixture->dev, pos);
+	zassert_equal(ret, 0, "Failed to set reference position");
+
+	ret = stepper_get_actual_position(fixture->dev, &pos);
+	zassert_equal(ret, 0, "Failed to get actual position");
 	zassert_equal(pos, 100u, "Actual position not set correctly");
 }
 
 ZTEST_F(stepper, test_target_position_w_fixed_step_interval)
 {
 	int32_t pos = 10u;
+	int ret;
 
-	(void)stepper_set_microstep_interval(fixture->dev, 100 * USEC_PER_SEC);
+	ret = stepper_set_microstep_interval(fixture->dev, 100 * USEC_PER_SEC);
 
+	if (ret == -ENOSYS) {
+		ztest_test_skip();
+	}
 	/* Pass the function name as user data */
 	(void)stepper_set_event_callback(fixture->dev, fixture->callback, (void *)fixture->dev);