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drivers: stepper: api: rename enable_constant_velocity_mode to run

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rename enable_constant_velocity_mode to run 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>
This commit is contained in:
Jilay Pandya 2024-11-27 17:26:17 +01:00 • committed by Benjamin Cabé
commit af68d97507
9 changed files with 48 additions and 58 deletions
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11
drivers/stepper/gpio_stepper_controller.c
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@ -261,17 +261,16 @@ static int gpio_stepper_set_max_velocity(const struct device *dev, uint32_t velo
return 0;
}
static int gpio_stepper_enable_constant_velocity_mode(const struct device *dev,
const enum stepper_direction direction,
const uint32_t value)
static int gpio_stepper_run(const struct device *dev, const enum stepper_direction direction,
const uint32_t velocity)
{
struct gpio_stepper_data *data = dev->data;
K_SPINLOCK(&data->lock) {
data->run_mode = STEPPER_RUN_MODE_VELOCITY;
data->direction = direction;
if (value != 0) {
data->delay_in_us = USEC_PER_SEC / value;
if (velocity != 0) {
data->delay_in_us = USEC_PER_SEC / velocity;
(void)k_work_reschedule(&data->stepper_dwork, K_NO_WAIT);
} else {
(void)k_work_cancel_delayable(&data->stepper_dwork);
@ -360,7 +359,7 @@ static DEVICE_API(stepper, gpio_stepper_api) = {
.get_actual_position = gpio_stepper_get_actual_position,
.set_target_position = gpio_stepper_set_target_position,
.set_max_velocity = gpio_stepper_set_max_velocity,
.enable_constant_velocity_mode = gpio_stepper_enable_constant_velocity_mode,
.run = gpio_stepper_run,
.set_micro_step_res = gpio_stepper_set_micro_step_res,
.get_micro_step_res = gpio_stepper_get_micro_step_res,
.set_event_callback = gpio_stepper_set_event_callback,