diff --git a/drivers/stepper/step_dir/step_dir_stepper_common.c b/drivers/stepper/step_dir/step_dir_stepper_common.c
index 904d50e86f5..c3b11c1268f 100644
--- a/drivers/stepper/step_dir/step_dir_stepper_common.c
+++ b/drivers/stepper/step_dir/step_dir_stepper_common.c
@@ -53,7 +53,7 @@ static inline int step_dir_stepper_perform_step(const struct device *dev)
 	return 0;
 }
 
-static void stepper_trigger_callback(const struct device *dev, enum stepper_event event)
+void stepper_trigger_callback(const struct device *dev, enum stepper_event event)
 {
 	struct step_dir_stepper_common_data *data = dev->data;
 
diff --git a/drivers/stepper/step_dir/step_dir_stepper_common.h b/drivers/stepper/step_dir/step_dir_stepper_common.h
index d1c937ef65e..b345cf5d68a 100644
--- a/drivers/stepper/step_dir/step_dir_stepper_common.h
+++ b/drivers/stepper/step_dir/step_dir_stepper_common.h
@@ -225,6 +225,13 @@ int step_dir_stepper_common_set_event_callback(const struct device *dev,
  */
 void stepper_handle_timing_signal(const struct device *dev);
 
+/**
+ * @brief Trigger callback function for stepper motor events.
+ * @param dev Pointer to the device structure.
+ * @param event The stepper_event to rigger the callback for.
+ */
+void stepper_trigger_callback(const struct device *dev, enum stepper_event event);
+
 /** @} */
 
 #endif /* ZEPHYR_DRIVER_STEPPER_STEP_DIR_STEPPER_COMMON_H_ */
diff --git a/drivers/stepper/stepper_shell.c b/drivers/stepper/stepper_shell.c
index e18da9acb55..1e96fb20c5f 100644
--- a/drivers/stepper/stepper_shell.c
+++ b/drivers/stepper/stepper_shell.c
@@ -64,6 +64,9 @@ static void print_callback(const struct device *dev, const enum stepper_event ev
 	case STEPPER_EVENT_STOPPED:
 		shell_info(sh, "%s: Stepper stopped.", dev->name);
 		break;
+	case STEPPER_EVENT_FAULT_DETECTED:
+		shell_info(sh, "%s: Fault detected.", dev->name);
+		break;
 	default:
 		shell_info(sh, "%s: Unknown signal received.", dev->name);
 		break;
diff --git a/include/zephyr/drivers/stepper.h b/include/zephyr/drivers/stepper.h
index 42e635279c3..16632e2579f 100644
--- a/include/zephyr/drivers/stepper.h
+++ b/include/zephyr/drivers/stepper.h
@@ -103,7 +103,7 @@ enum stepper_event {
 	/** Stepper has stopped */
 	STEPPER_EVENT_STOPPED = 4,
 	/** Fault with the stepper controller detected */
-	STEPPER_FAULT_EVENT = 5,
+	STEPPER_EVENT_FAULT_DETECTED = 5,
 };
 
 /**