Commit 03044482 authored by Jilay Pandya's avatar Jilay Pandya Committed by Benjamin Cabé
Browse files

drivers: stepper: api: rename stepper_set_target_pos to stepper_move_to 

rename stepper_set_target_position to stepper_move_to in following files:
- doc/hardware/peripherals/stepper.rst
- doc/releases/migration-guide-4.1.rst
- drivers/stepper/adi_tmc/adi_tmc5041_stepper_controller.c
- drivers/stepper/fake_stepper_controller.c
- drivers/stepper/gpio_stepper_controller.c
- drivers/stepper/stepper_shell.c
- include/zephyr/drivers/stepper.h
- include/zephyr/drivers/stepper/stepper_fake.h
- tests/drivers/stepper/shell/src/main.c
- tests/drivers/stepper/stepper_api/src/main.c

Signed-off-by: default avatarJilay Pandya <jilay.pandya@outlook.com>
parent 05e94ed2

doc/hardware/peripherals/stepper.rst

+1 −2
Changes for doc/hardware/peripherals/stepper.rst: 1 added line, 2 removed lines.
Original line number Diff line number Diff line
@@ -19,8 +19,7 @@ Control Stepper 
===============



- **Move by** +/- micro-steps also known as **relative movement** using :c:func:`stepper_move_by`.

- **Move to** a specific position also known as **absolute movement**

  using :c:func:`stepper_set_target_position`.

- **Move to** a specific position also known as **absolute movement** using :c:func:`stepper_move_to`.

- Run continuously with a **constant velocity** in a specific direction until

  a stop is detected using :c:func:`stepper_run`.

- Check if the stepper is **moving** using :c:func:`stepper_is_moving`.

doc/releases/migration-guide-4.1.rst

+1 −0
Changes for doc/releases/migration-guide-4.1.rst: 1 added line, 0 removed lines.
Original line number Diff line number Diff line
@@ -181,6 +181,7 @@ Stepper 
  * Renamed the ``stepper_set_actual_position`` function to :c:func:`stepper_set_reference_position`.

  * Renamed the ``stepper_enable_constant_velocity_mode`` function to :c:func:`stepper_run`.

  * Renamed the ``stepper_move`` function to :c:func:`stepper_move_by`.

  * Renamed the ``stepper_set_target_position`` function to :c:func:`stepper_move_to`.



SPI

===

drivers/stepper/adi_tmc/adi_tmc5041_stepper_controller.c

+4 −4
Changes for drivers/stepper/adi_tmc/adi_tmc5041_stepper_controller.c: 4 added lines, 4 removed lines.
Original line number Diff line number Diff line
@@ -442,9 +442,9 @@ static int tmc5041_stepper_get_actual_position(const struct device *dev, int32_t 
	return 0;

}



static int tmc5041_stepper_set_target_position(const struct device *dev, const int32_t position)

static int tmc5041_stepper_move_to(const struct device *dev, const int32_t micro_steps)

{

	LOG_DBG("Stepper motor controller %s set target position to %d", dev->name, position);

	LOG_DBG("Stepper motor controller %s set target position to %d", dev->name, micro_steps);

	const struct tmc5041_stepper_config *config = dev->config;

	struct tmc5041_stepper_data *data = dev->data;

	int err;
@@ -458,7 +458,7 @@ static int tmc5041_stepper_set_target_position(const struct device *dev, const i 
	if (err != 0) {

		return -EIO;

	}

	err = tmc5041_write(config->controller, TMC5041_XTARGET(config->index), position);

	err = tmc5041_write(config->controller, TMC5041_XTARGET(config->index), micro_steps);

	if (err != 0) {

		return -EIO;

	}
@@ -729,7 +729,7 @@ static int tmc5041_stepper_init(const struct device *dev) 
		.get_micro_step_res = tmc5041_stepper_get_micro_step_res,			\

		.set_reference_position = tmc5041_stepper_set_reference_position,		\

		.get_actual_position = tmc5041_stepper_get_actual_position,			\

		.set_target_position = tmc5041_stepper_set_target_position,			\

		.move_to = tmc5041_stepper_move_to,						\

		.run = tmc5041_stepper_run,							\

		.set_event_callback = tmc5041_stepper_set_event_callback, };

drivers/stepper/fake_stepper_controller.c

+3 −3
Changes for drivers/stepper/fake_stepper_controller.c: 3 added lines, 3 removed lines.
Original line number Diff line number Diff line
@@ -37,7 +37,7 @@ DEFINE_FAKE_VALUE_FUNC(int, fake_stepper_set_reference_position, const struct de 


DEFINE_FAKE_VALUE_FUNC(int, fake_stepper_get_actual_position, const struct device *, int32_t *);



DEFINE_FAKE_VALUE_FUNC(int, fake_stepper_set_target_position, const struct device *, int32_t);

DEFINE_FAKE_VALUE_FUNC(int, fake_stepper_move_to, const struct device *, int32_t);



DEFINE_FAKE_VALUE_FUNC(int, fake_stepper_run, const struct device *, enum stepper_direction,

		       uint32_t);
@@ -97,7 +97,7 @@ static void fake_stepper_reset_rule_before(const struct ztest_unit_test *test, v 
	RESET_FAKE(fake_stepper_get_micro_step_res);

	RESET_FAKE(fake_stepper_set_reference_position);

	RESET_FAKE(fake_stepper_get_actual_position);

	RESET_FAKE(fake_stepper_set_target_position);

	RESET_FAKE(fake_stepper_move_to);

	RESET_FAKE(fake_stepper_run);



	/* Install custom fakes for the setter and getter functions */
@@ -133,7 +133,7 @@ static DEVICE_API(stepper, fake_stepper_driver_api) = { 
	.get_micro_step_res = fake_stepper_get_micro_step_res,

	.set_reference_position = fake_stepper_set_reference_position,

	.get_actual_position = fake_stepper_get_actual_position,

	.set_target_position = fake_stepper_set_target_position,

	.move_to = fake_stepper_move_to,

	.run = fake_stepper_run,

	.set_event_callback = fake_stepper_set_event_callback,

};

drivers/stepper/gpio_stepper_controller.c

+3 −3
Changes for drivers/stepper/gpio_stepper_controller.c: 3 added lines, 3 removed lines.
Original line number Diff line number Diff line
@@ -214,7 +214,7 @@ static int gpio_stepper_get_actual_position(const struct device *dev, int32_t *p 
	return 0;

}



static int gpio_stepper_set_target_position(const struct device *dev, int32_t position)

static int gpio_stepper_move_to(const struct device *dev, int32_t micro_steps)

{

	struct gpio_stepper_data *data = dev->data;
@@ -224,7 +224,7 @@ static int gpio_stepper_set_target_position(const struct device *dev, int32_t po 
	}

	K_SPINLOCK(&data->lock) {

		data->run_mode = STEPPER_RUN_MODE_POSITION;

		data->step_count = position - data->actual_position;

		data->step_count = micro_steps - data->actual_position;

		update_direction_from_step_count(dev);

		(void)k_work_reschedule(&data->stepper_dwork, K_NO_WAIT);

	}
@@ -357,7 +357,7 @@ static DEVICE_API(stepper, gpio_stepper_api) = { 
	.is_moving = gpio_stepper_is_moving,

	.set_reference_position = gpio_stepper_set_reference_position,

	.get_actual_position = gpio_stepper_get_actual_position,

	.set_target_position = gpio_stepper_set_target_position,

	.move_to = gpio_stepper_move_to,

	.set_max_velocity = gpio_stepper_set_max_velocity,

	.run = gpio_stepper_run,

	.set_micro_step_res = gpio_stepper_set_micro_step_res,

CRA Git | Maintained and supported by SUSTech CRA and CCSE