drivers: stepper: unify msx-gpios

currently there are two different ways how microstepping gpios are handled
in step/dir drivers. This PR aims to unify the two different approaches.

Signed-off-by: Jilay Pandya <[email protected]>

Author: jilaypandya

drivers/stepper/allegro/a4979.c

@@ -17,8 +17,7 @@ struct a4979_config {
 	const struct step_dir_stepper_common_config common;
 	const struct gpio_dt_spec en_pin;
 	const struct gpio_dt_spec reset_pin;
-	const struct gpio_dt_spec m0_pin;
-	const struct gpio_dt_spec m1_pin;
+	const struct gpio_dt_spec *msx_pins;
 };
 
 struct a4979_data {
@@ -130,11 +129,11 @@ static int a4979_stepper_set_micro_step_res(const struct device *dev,
 		return -ENOTSUP;
 	}
 
-	ret = a4979_set_microstep_pin(dev, &config->m0_pin, m0_value);
+	ret = a4979_set_microstep_pin(dev, &config->msx_pins[0], m0_value);
 	if (ret != 0) {
 		return ret;
 	}
-	ret = a4979_set_microstep_pin(dev, &config->m1_pin, m1_value);
+	ret = a4979_set_microstep_pin(dev, &config->msx_pins[1], m1_value);
 	if (ret != 0) {
 		return ret;
 	}
@@ -228,22 +227,22 @@ static int a4979_init(const struct device *dev)
 	}
 
 	/* Configure microstep pin 0 */
-	if (!gpio_is_ready_dt(&config->m0_pin)) {
+	if (!gpio_is_ready_dt(&config->msx_pins[0])) {
 		LOG_ERR("m0 Pin is not ready");
 		return -ENODEV;
 	}
-	ret = gpio_pin_configure_dt(&config->m0_pin, GPIO_OUTPUT_INACTIVE);
+	ret = gpio_pin_configure_dt(&config->msx_pins[0], GPIO_OUTPUT_INACTIVE);
 	if (ret != 0) {
 		LOG_ERR("%s: Failed to configure m0_pin (error: %d)", dev->name, ret);
 		return ret;
 	}
 
 	/* Configure microstep pin 1 */
-	if (!gpio_is_ready_dt(&config->m1_pin)) {
+	if (!gpio_is_ready_dt(&config->msx_pins[1])) {
 		LOG_ERR("m1 Pin is not ready");
 		return -ENODEV;
 	}
-	ret = gpio_pin_configure_dt(&config->m1_pin, GPIO_OUTPUT_INACTIVE);
+	ret = gpio_pin_configure_dt(&config->msx_pins[1], GPIO_OUTPUT_INACTIVE);
 	if (ret != 0) {
 		LOG_ERR("%s: Failed to configure m1_pin (error: %d)", dev->name, ret);
 		return ret;
@@ -282,13 +281,18 @@ static DEVICE_API(stepper, a4979_stepper_api) = {
 };
 
 #define A4979_DEVICE(inst)                                                                         \
-                                                                                                   \
+	IF_ENABLED(DT_INST_NODE_HAS_PROP(inst, msx_gpios), (                                       \
+	static const struct gpio_dt_spec a4979_stepper_msx_pins_##inst[] = {			   \
+		DT_INST_FOREACH_PROP_ELEM_SEP(                                                     \
+			inst, msx_gpios, GPIO_DT_SPEC_GET_BY_IDX, (,)                              \
+		),                                                                                 \
+	};                                                                                         \
 	static const struct a4979_config a4979_config_##inst = {                                   \
 		.common = STEP_DIR_STEPPER_DT_INST_COMMON_CONFIG_INIT(inst),                       \
 		.en_pin = GPIO_DT_SPEC_INST_GET_OR(inst, en_gpios, {0}),                           \
 		.reset_pin = GPIO_DT_SPEC_INST_GET_OR(inst, reset_gpios, {0}),                     \
-		.m0_pin = GPIO_DT_SPEC_INST_GET(inst, m0_gpios),                                   \
-		.m1_pin = GPIO_DT_SPEC_INST_GET(inst, m1_gpios),                                   \
+		IF_ENABLED(DT_INST_NODE_HAS_PROP(inst, msx_gpios),				   \
+		(.msx_pins = a4979_stepper_msx_pins_##inst))					   \
 	};                                                                                         \
                                                                                                    \
 	static struct a4979_data a4979_data_##inst = {                                             \

dts/bindings/stepper/adi/adi,tmc2209.yaml

@@ -21,14 +21,6 @@ include:
   - name: stepper-controller.yaml
 
 properties:
-  msx-gpios:
-    type: phandle-array
-    description: |
-      An array of GPIO pins for configuring the microstep resolution of the driver.
-      The pins should be listed in the following order:
-      - MS1
-      - MS2
-
   dual-edge-step:
     type: boolean
     description: |

dts/bindings/stepper/allegro/allegro,a4979.yml

@@ -16,8 +16,8 @@ description: |
       dir-gpios = <&gpiod 14 GPIO_ACTIVE_HIGH>;
       step-gpios = <&gpiod 15 GPIO_ACTIVE_HIGH>;
       en-gpios = <&gpiod 11 GPIO_ACTIVE_HIGH>;
-      m0-gpios = <&gpiod 13 0>;
-      m1-gpios = <&gpiod 12 0>;
+      msx-gpios = <&gpiod 13 0>,
+                  <&gpiod 12 0>;
       counter = <&counter5>;
   };
 
@@ -27,16 +27,6 @@ include:
   - name: stepper-controller.yaml
 
 properties:
-  m0-gpios:
-    required: true
-    type: phandle-array
-    description: Microstep configuration pin 0.
-
-  m1-gpios:
-    required: true
-    type: phandle-array
-    description: Microstep configuration pin 1.
-
   reset-gpios:
     type: phandle-array
     required: true

dts/bindings/stepper/stepper-controller.yaml

@@ -41,6 +41,15 @@ properties:
       The GPIO pins used to send direction signals to the stepper motor.
       Pin will be driven high for forward direction and low for reverse direction.
 
+  msx-gpios:
+    type: phandle-array
+    description: |
+      An array of GPIO pins for configuring the microstep resolution of the driver.
+      The pins should be listed in the following order:
+      - MS1
+      - MS2
+      - MS3
+
   counter:
     type: phandle
     description: Counter used for generating step-accurate pulse signals.

tests/drivers/build_all/stepper/gpio.dtsi

@@ -27,8 +27,8 @@ allegro_a4979: allegro_a4979 {
 	dir-gpios = <&test_gpio 0 0>;
 	step-gpios = <&test_gpio 0 0>;
 	en-gpios = <&test_gpio 0 0>;
-	m0-gpios = <&test_gpio 0 0>;
-	m1-gpios = <&test_gpio 0 0>;
+	msx-gpios = <&test_gpio 0 0>,
+				<&test_gpio 0 0>;
 	counter = <&counter0>;
 };