drivers: stepper: api: rename stepper_move to stepper_move_by

rename stepper_move to stepper_move_by in following files:
- include/zephyr/drivers/stepper.h
- include/zephyr/drivers/stepper/stepper_fake.h
- 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
- tests/drivers/stepper/shell/src/main.c

Signed-off-by: Jilay Pandya <jilay.pandya@outlook.com>

doc/hardware/peripherals/stepper.rst

@@ -18,7 +18,7 @@ Configure Stepper Driver
 Control Stepper
 ===============
 
-- **Move by** +/- micro-steps also known as **relative movement** using :c:func:`stepper_move`.
+- **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`.
 - Run continuously with a **constant velocity** in a specific direction until

doc/releases/migration-guide-4.1.rst

@@ -180,6 +180,7 @@ Stepper
   * Renamed the ``compatible`` from ``zephyr,gpio-steppers`` to :dtcompatible:`zephyr,gpio-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`.
 
 SPI
 ===

drivers/stepper/adi_tmc/adi_tmc5041_stepper_controller.c

@@ -301,7 +301,7 @@ static int tmc5041_stepper_is_moving(const struct device *dev, bool *is_moving)
 	return 0;
 }
 
-static int tmc5041_stepper_move(const struct device *dev, const int32_t steps)
+static int tmc5041_stepper_move_by(const struct device *dev, const int32_t micro_steps)
 {
 	const struct tmc5041_stepper_config *config = dev->config;
 	struct tmc5041_stepper_data *data = dev->data;
@@ -320,7 +320,7 @@ static int tmc5041_stepper_move(const struct device *dev, const int32_t steps)
 	if (err != 0) {
 		return -EIO;
 	}
-	int32_t target_position = position + steps;
+	int32_t target_position = position + micro_steps;
 
 	err = tmc5041_write(config->controller, TMC5041_RAMPMODE(config->index),
 			    TMC5XXX_RAMPMODE_POSITIONING_MODE);
@@ -328,7 +328,7 @@ static int tmc5041_stepper_move(const struct device *dev, const int32_t steps)
 		return -EIO;
 	}
 	LOG_DBG("Stepper motor controller %s moved to %d by steps: %d", dev->name, target_position,
-		steps);
+		micro_steps);
 	err = tmc5041_write(config->controller, TMC5041_XTARGET(config->index), target_position);
 	if (err != 0) {
 		return -EIO;
@@ -723,7 +723,7 @@ static int tmc5041_stepper_init(const struct device *dev)
 	static DEVICE_API(stepper, tmc5041_stepper_api_##child) = {				\
 		.enable = tmc5041_stepper_enable,						\
 		.is_moving = tmc5041_stepper_is_moving,						\
-		.move = tmc5041_stepper_move,							\
+		.move_by = tmc5041_stepper_move_by,						\
 		.set_max_velocity = tmc5041_stepper_set_max_velocity,				\
 		.set_micro_step_res = tmc5041_stepper_set_micro_step_res,			\
 		.get_micro_step_res = tmc5041_stepper_get_micro_step_res,			\

drivers/stepper/fake_stepper_controller.c

@@ -23,7 +23,7 @@ DEFINE_FAKE_VALUE_FUNC(int, fake_stepper_enable, const struct device *, bool);
 
 DEFINE_FAKE_VALUE_FUNC(int, fake_stepper_is_moving, const struct device *, bool *);
 
-DEFINE_FAKE_VALUE_FUNC(int, fake_stepper_move, const struct device *, int32_t);
+DEFINE_FAKE_VALUE_FUNC(int, fake_stepper_move_by, const struct device *, int32_t);
 
 DEFINE_FAKE_VALUE_FUNC(int, fake_stepper_set_max_velocity, const struct device *, uint32_t);
 
@@ -90,7 +90,7 @@ static void fake_stepper_reset_rule_before(const struct ztest_unit_test *test, v
 	ARG_UNUSED(fixture);
 
 	RESET_FAKE(fake_stepper_enable);
-	RESET_FAKE(fake_stepper_move);
+	RESET_FAKE(fake_stepper_move_by);
 	RESET_FAKE(fake_stepper_is_moving);
 	RESET_FAKE(fake_stepper_set_max_velocity);
 	RESET_FAKE(fake_stepper_set_micro_step_res);
@@ -126,7 +126,7 @@ static int fake_stepper_init(const struct device *dev)
 
 static DEVICE_API(stepper, fake_stepper_driver_api) = {
 	.enable = fake_stepper_enable,
-	.move = fake_stepper_move,
+	.move_by = fake_stepper_move_by,
 	.is_moving = fake_stepper_is_moving,
 	.set_max_velocity = fake_stepper_set_max_velocity,
 	.set_micro_step_res = fake_stepper_set_micro_step_res,

drivers/stepper/gpio_stepper_controller.c

@@ -177,7 +177,7 @@ static void stepper_work_step_handler(struct k_work *work)
 	}
 }
 
-static int gpio_stepper_move(const struct device *dev, int32_t micro_steps)
+static int gpio_stepper_move_by(const struct device *dev, int32_t micro_steps)
 {
 	struct gpio_stepper_data *data = dev->data;
 
@@ -353,7 +353,7 @@ static int gpio_stepper_init(const struct device *dev)
 
 static DEVICE_API(stepper, gpio_stepper_api) = {
 	.enable = gpio_stepper_enable,
-	.move = gpio_stepper_move,
+	.move_by = gpio_stepper_move_by,
 	.is_moving = gpio_stepper_is_moving,
 	.set_reference_position = gpio_stepper_set_reference_position,
 	.get_actual_position = gpio_stepper_get_actual_position,

drivers/stepper/stepper_shell.c

@@ -190,7 +190,7 @@ static int cmd_stepper_enable(const struct shell *sh, size_t argc, char **argv)
 	return err;
 }
 
-static int cmd_stepper_move(const struct shell *sh, size_t argc, char **argv)
+static int cmd_stepper_move_by(const struct shell *sh, size_t argc, char **argv)
 {
 	const struct device *dev;
 	int err = 0;
@@ -211,7 +211,7 @@ static int cmd_stepper_move(const struct shell *sh, size_t argc, char **argv)
 		shell_error(sh, "Failed to set callback: %d", err);
 	}
 
-	err = stepper_move(dev, micro_steps);
+	err = stepper_move_by(dev, micro_steps);
 	if (err) {
 		shell_error(sh, "Error: %d", err);
 	}
@@ -453,8 +453,8 @@ SHELL_STATIC_SUBCMD_SET_CREATE(
 	stepper_cmds,
 	SHELL_CMD_ARG(enable, &dsub_pos_stepper_motor_name, "<device> <on/off>", cmd_stepper_enable,
 		      3, 0),
-	SHELL_CMD_ARG(move, &dsub_pos_stepper_motor_name, "<device> <micro_steps>",
-		      cmd_stepper_move, 3, 0),
+	SHELL_CMD_ARG(move_by, &dsub_pos_stepper_motor_name, "<device> <micro_steps>",
+		      cmd_stepper_move_by, 3, 0),
 	SHELL_CMD_ARG(set_max_velocity, &dsub_pos_stepper_motor_name, "<device> <velocity>",
 		      cmd_stepper_set_max_velocity, 3, 0),
 	SHELL_CMD_ARG(set_micro_step_res, &dsub_pos_stepper_motor_name_microstep,

include/zephyr/drivers/stepper.h

@@ -106,11 +106,11 @@ enum stepper_event {
 typedef int (*stepper_enable_t)(const struct device *dev, const bool enable);
 
 /**
- * @brief Move the stepper motor by a given number of micro_steps.
+ * @brief Move the stepper motor relatively by a given number of micro_steps.
  *
- * @see stepper_move() for details.
+ * @see stepper_move_by() for details.
  */
-typedef int (*stepper_move_t)(const struct device *dev, const int32_t micro_steps);
+typedef int (*stepper_move_by_t)(const struct device *dev, const int32_t micro_steps);
 
 /**
  * @brief Set the max velocity in micro_steps per seconds.
@@ -190,7 +190,7 @@ typedef int (*stepper_set_event_callback_t)(const struct device *dev,
  */
 __subsystem struct stepper_driver_api {
 	stepper_enable_t enable;
-	stepper_move_t move;
+	stepper_move_by_t move_by;
 	stepper_set_max_velocity_t set_max_velocity;
 	stepper_set_micro_step_res_t set_micro_step_res;
 	stepper_get_micro_step_res_t get_micro_step_res;
@@ -227,19 +227,22 @@ static inline int z_impl_stepper_enable(const struct device *dev, const bool ena
 /**
  * @brief Set the micro_steps to be moved from the current position i.e. relative movement
  *
+ * @details The motor will move by the given number of micro_steps from the current position.
+ * This function is non-blocking.
+ *
  * @param dev pointer to the stepper motor controller instance
  * @param micro_steps target micro_steps to be moved from the current position
  *
  * @retval -EIO General input / output error
  * @retval	0 Success
  */
-__syscall int stepper_move(const struct device *dev, int32_t micro_steps);
+__syscall int stepper_move_by(const struct device *dev, int32_t micro_steps);
 
-static inline int z_impl_stepper_move(const struct device *dev, const int32_t micro_steps)
+static inline int z_impl_stepper_move_by(const struct device *dev, const int32_t micro_steps)
 {
 	const struct stepper_driver_api *api = (const struct stepper_driver_api *)dev->api;
 
-	return api->move(dev, micro_steps);
+	return api->move_by(dev, micro_steps);
 }
 
 /**
@@ -411,6 +414,7 @@ static inline int z_impl_stepper_is_moving(const struct device *dev, bool *is_mo
  *
  * @details If velocity > 0, motor shall be set into motion and run incessantly until and unless
  * stalled or stopped using some other command, for instance, motor_enable(false).
+ * This function is non-blocking.
  *
  * @param dev pointer to the stepper motor controller instance
  * @param direction The direction to set

include/zephyr/drivers/stepper/stepper_fake.h

@@ -16,7 +16,7 @@ extern "C" {
 
 DECLARE_FAKE_VALUE_FUNC(int, fake_stepper_enable, const struct device *, bool);
 
-DECLARE_FAKE_VALUE_FUNC(int, fake_stepper_move, const struct device *, int32_t);
+DECLARE_FAKE_VALUE_FUNC(int, fake_stepper_move_by, const struct device *, int32_t);
 
 DECLARE_FAKE_VALUE_FUNC(int, fake_stepper_set_max_velocity, const struct device *, uint32_t);
 

tests/drivers/stepper/shell/src/main.c

@@ -55,13 +55,13 @@ ZTEST(stepper_shell, test_stepper_enable)
 	zassert_equal(fake_stepper_enable_fake.arg1_val, false, "wrong enable value");
 }
 
-ZTEST(stepper_shell, test_stepper_move)
+ZTEST(stepper_shell, test_stepper_move_by)
 {
 	const struct shell *sh = shell_backend_dummy_get_ptr();
-	int err = shell_execute_cmd(sh, "stepper move " FAKE_STEPPER_NAME " 1000");
+	int err = shell_execute_cmd(sh, "stepper move_by " FAKE_STEPPER_NAME " 1000");
 
-	ASSERT_STEPPER_FUNC_CALLED(fake_stepper_move_fake, err);
-	zassert_equal(fake_stepper_move_fake.arg1_val, 1000, "wrong microsteps value");
+	ASSERT_STEPPER_FUNC_CALLED(fake_stepper_move_by_fake, err);
+	zassert_equal(fake_stepper_move_by_fake.arg1_val, 1000, "wrong microsteps value");
 }
 
 ZTEST(stepper_shell, test_stepper_set_max_velocity)