The Stepper Library is designed to be able to support wide range of motor driver across all three interfaces: STEP, PWM and Phase Enable interface. The library follows an architecture which allows configuring settings from TI SysConfig, which makes managing the hardware settings quite easy for the user.

The Stepper Library consists of three modules:

1. HAL Module

HAL Module is an abstraction layer that provides APIs to configure different pins and peripherals. The goal of using HAL is to abstract all device specific configuration which simplifies porting of the library to various hardware by minimizing the updates needed to other components.

2. Stepper Library Module

The stepper library contains the generic algorithms for stepper motor control. This layer helps to reduce the code size when using multiple motor driver modules as all the different motor drivers can use the same generic algorithms in this layer.

3. Motor Driver Module

Motor Driver Module abstracts all the motor driving tasks into simple APIs like start motor, stop motor, set speed etc. The idea of this layer is to be independent of the hardware and use the HAL APIs to perform the hardware tasks.