samples: stepper: add tmc50xx sample

Add a minimal tmc50xx sample with spi interface

Signed-off-by: Jilay Pandya <jilay.pandya@outlook.com>

samples/drivers/stepper/index.rst

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+.. zephyr:code-sample-category:: stepper
+   :name: Stepper
+   :show-listing:
+
+   These samples demonstrate how to use the :ref:`stepper <stepper_api>` driver API.

samples/drivers/stepper/tmc50xx/CMakeLists.txt

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+ # SPDX-FileCopyrightText: Copyright (c) 2025 Jilay Sandeep Pandya
+ # SPDX-License-Identifier: Apache-2.0
+
+cmake_minimum_required(VERSION 3.20.0)
+
+find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
+project(tmc50xx)
+
+FILE(GLOB app_sources src/*.c)
+target_sources(app PRIVATE ${app_sources})

samples/drivers/stepper/tmc50xx/Kconfig

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+# SPDX-FileCopyrightText: Copyright (c) 2025 Jilay Sandeep Pandya
+# SPDX-License-Identifier: Apache-2.0
+
+mainmenu "TMC50XX sample application"
+
+config STEPS_PER_REV
+	int "Steps per revolution"
+	default 200
+
+config PING_PONG_N_REV
+	int "Change direction every N revolutions"
+	default 1
+
+config MAX_VELOCITY_MULTIPLIER
+	int "Max velocity multiplier"
+	default 1
+
+source "Kconfig.zephyr"

samples/drivers/stepper/tmc50xx/README.rst

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+.. zephyr:code-sample:: tmc50xx
+   :name: TMC50XX stepper
+   :relevant-api: stepper_interface
+
+
+   Rotate a TMC50XX stepper motor and change velocity at runtime.
+
+Description
+***********
+
+This sample application periodically spins the stepper clockwise and counterclockwise depending on
+the :kconfig:option:`CONFIG_PING_PONG_N_REV` configuration.
+
+References
+**********
+
+ - TMC5041: https://www.analog.com/media/en/technical-documentation/data-sheets/TMC5041_datasheet_rev1.16.pdf
+ - TMC5072: https://www.analog.com/media/en/technical-documentation/data-sheets/TMC5072_datasheet_rev1.26.pdf
+
+Wiring
+*******
+
+This sample uses the TMC5072 BOB controlled using the SPI interface. The board's Devicetree must define
+a ``stepper`` alias for the stepper motor node.
+
+Building and Running
+********************
+
+This project spins the stepper and outputs the events to the console. It requires an TMC50XX stepper
+driver. It should work with any platform featuring a SPI peripheral interface.
+It does not work on QEMU.
+
+.. zephyr-app-commands::
+   :zephyr-app: samples/drivers/stepper/tmc50xx
+   :board: nucleo_g071rb
+   :goals: build flash
+
+Sample Output
+=============
+
+.. code-block:: console
+
+   Starting tmc50xx stepper sample
+   stepper is 0x8007240, name is tmc_stepper@0
+   stepper_callback steps completed changing direction
+   stepper_callback steps completed changing direction
+   stepper_callback steps completed changing direction
+
+<repeats endlessly>

samples/drivers/stepper/tmc50xx/boards/nucleo_g071rb.overlay

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+/ {
+	aliases {
+		stepper = &tmc_stepper;
+	};
+};
+
+&spi1 {
+	pinctrl-0 = <&spi1_sck_pa5 &spi1_miso_pa6 &spi1_mosi_pa7>;
+	pinctrl-names = "default";
+	cs-gpios = <&gpiob 0 GPIO_ACTIVE_LOW>;
+	status = "okay";
+	tmc50xx: tmc50xx@0 {
+		compatible = "adi,tmc50xx";
+		reg = <0>;
+		spi-max-frequency = <DT_FREQ_M(1)>; /* Maximum SPI bus frequency */
+
+		#address-cells = <1>;
+		#size-cells = <0>;
+
+		clock-frequency = <DT_FREQ_M(10)>; /* Internal/External Clock frequency */
+
+		tmc_stepper: tmc_stepper@0 {
+			status = "okay";
+			reg = <0>;
+
+			/* common stepper controller settings */
+			micro-step-res = <256>;
+
+			/* ADI TMC stallguard settings specific to TMC50XX */
+			activate-stallguard2;
+			stallguard-velocity-check-interval-ms=<1000>;
+			stallguard2-threshold=<30>;
+			stallguard-threshold-velocity=<200000>;
+
+			/* ADI TMC ramp generator as well as current settings */
+			vstart = <1000>;
+			vstop = <10>;
+			a1 = <10000>;
+			v1 = <50000>;
+			d1 = <14000>;
+			vmax = <900000>;
+			amax = <50000>;
+			dmax = <7000>;
+			tzerowait = <100>;
+			vhigh = <900000>;
+			vcoolthrs = <900000>;
+			ihold = <1>;
+			irun = <10>;
+			iholddelay = <1>;
+		};
+	};
+};

samples/drivers/stepper/tmc50xx/prj.conf

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+CONFIG_STEPPER=y
+CONFIG_LOG=y

samples/drivers/stepper/tmc50xx/sample.yaml

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+sample:
+  name: TMC50XX Stepper Sample
+tests:
+  sample.stepper.tmc50xx:
+    harness: stepper
+    tags: stepper
+    platform_allow: nucleo_g071rb
+    depends_on: spi

samples/drivers/stepper/tmc50xx/src/main.c

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+/*
+ * SPDX-FileCopyrightText: Copyright (c) 2025 Jilay Sandeep Pandya.
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include <zephyr/device.h>
+#include <zephyr/drivers/gpio.h>
+#include <zephyr/drivers/stepper.h>
+#include <zephyr/kernel.h>
+#include <zephyr/drivers/stepper/stepper_trinamic.h>
+
+const struct device *stepper = DEVICE_DT_GET(DT_ALIAS(stepper));
+
+int32_t ping_pong_target_position = CONFIG_STEPS_PER_REV * CONFIG_PING_PONG_N_REV *
+				    DT_PROP(DT_ALIAS(stepper), micro_step_res);
+
+K_SEM_DEFINE(steps_completed_sem, 0, 1);
+
+void stepper_callback(const struct device *dev, const enum stepper_event event, void *user_data)
+{
+	switch (event) {
+	case STEPPER_EVENT_STEPS_COMPLETED:
+		k_sem_give(&steps_completed_sem);
+		break;
+	default:
+		break;
+	}
+}
+
+int main(void)
+{
+	printf("Starting tmc50xx stepper sample\n");
+	if (!device_is_ready(stepper)) {
+		printf("Device %s is not ready\n", stepper->name);
+		return -ENODEV;
+	}
+	printf("stepper is %p, name is %s\n", stepper, stepper->name);
+
+	stepper_set_event_callback(stepper, stepper_callback, NULL);
+	stepper_enable(stepper, true);
+	stepper_set_reference_position(stepper, 0);
+	stepper_move_by(stepper, ping_pong_target_position);
+
+	/* Change Max Velocity during runtime */
+	int32_t tmc_velocity = DT_PROP(DT_ALIAS(stepper), vmax) * CONFIG_MAX_VELOCITY_MULTIPLIER;
+	(void)tmc50xx_stepper_set_max_velocity(stepper, tmc_velocity);
+
+	for (;;) {
+		if (k_sem_take(&steps_completed_sem, K_FOREVER) == 0) {
+			ping_pong_target_position *= -1;
+			stepper_move_by(stepper, ping_pong_target_position);
+		}
+	}
+	return 0;
+}