doc: stepper: Add Stepper motor controller documentation

Added stepper motor controller documentation entry to peripherals.
ZEISS · Aug 7, 2024 · 23665e2 · 23665e2
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diff --git a/doc/hardware/peripherals/index.rst b/doc/hardware/peripherals/index.rst
@@ -53,6 +53,7 @@ Peripherals
    sdhc.rst
    sensor.rst
    spi.rst
+   stepper.rst
    smbus.rst
    uart.rst
    usbc_vbus.rst

diff --git a/doc/hardware/peripherals/stepper.rst b/doc/hardware/peripherals/stepper.rst
@@ -0,0 +1,23 @@
+.. stepper_api:
+
+Stepper Motor Controller API
+############################
+
+Overview
+********
+The Stepper Motor Controller API provides a set of functions for controlling
+and configuring stepper motors in hardware. It supports a variety of 
+operations, including enabling/disabling the controller, setting movement
+parameters, and querying the motor state.
+
+Configuration Options
+*********************
+
+Related configuration options:
+
+* :kconfig:option:`CONFIG_STEPPER_INIT_PRIORITY`
+
+API Reference
+*************
+
+.. doxygengroup:: stepper_interface