Add a stepper generic upperhalf driver

Add a stepper A4988 lowerhalf driver

Kconfig

@@ -2034,6 +2034,39 @@ config DEBUG_MOTOR_INFO
 
 endif # DEBUG_MOTOR
 
+config DEBUG_STEPPER
+	bool "Stepper Motor Debug Features"
+	default n
+	depends on STEPPER
+	---help---
+		Enable motor debug features.
+
+if DEBUG_STEPPER
+
+config DEBUG_STEPPER_ERROR
+	bool "Stepper Motor Error Output"
+	default n
+	depends on DEBUG_ERROR
+	---help---
+		Enable motor error output to SYSLOG.
+
+config DEBUG_STEPPER_WARN
+	bool "Stepper Motor Warnings Output"
+	default n
+	depends on DEBUG_WARN
+	---help---
+		Enable motor warning output to SYSLOG.
+
+config DEBUG_STEPPER_INFO
+	bool "Stepper Motor Informational Output"
+	default n
+	depends on DEBUG_INFO
+	---help---
+		Enable motor informational output to SYSLOG.
+
+endif # DEBUG_STEPPER
+
+
 config DEBUG_VIDEO
 	bool "Video Debug Features"
 	default n

drivers/motor/CMakeLists.txt

@@ -24,3 +24,11 @@ endif()
 if(CONFIG_MOTOR_UPPER)
   target_sources(drivers PRIVATE motor.c)
 endif()
+
+if(CONFIG_STEPPER_UPPER)
+  target_sources(drivers PRIVATE stepper.c)
+endif()
+
+if(CONFIG_STEPPER_A4988)
+  target_sources(drivers PRIVATE a4988.c)
+endif()

drivers/motor/Kconfig

@@ -62,3 +62,23 @@ endif
 source "drivers/motor/foc/Kconfig"
 
 endif # MOTOR
+
+menuconfig STEPPER
+	bool "Stepper control drivers"
+	default n
+
+if STEPPER
+
+config STEPPER_UPPER
+	bool "Stepper Motor Generic upper-half driver"
+	default n
+	---help---
+		Enables building of a stepper generic upper half driver.
+
+config STEPPER_A4988
+	bool "A4988 Stepper Motor Driver"
+	default n
+	---help---
+		Enables A4988 stepper driver.
+
+endif # STEPPER

drivers/motor/Make.defs

@@ -30,6 +30,17 @@ ifeq ($(CONFIG_MOTOR_UPPER),y)
 CSRCS += motor.c
 endif
 
+# Stepper upper half and lower halfs
+
+ifeq ($(CONFIG_STEPPER_UPPER),y)
+CSRCS += stepper.c
+endif
+
+ifeq ($(CONFIG_STEPPER_A4988),y)
+CSRCS += a4988.c
+endif
+
+
 # Include motor drivers in the build
 
 MOTOR_DEPPATH := --dep-path motor