Stepper API: Rename motion control related functions

[jilaypandya]

Introduction

Problem description

Stepper API in current state comprises of following functions for motion control:

1. stepper_move for triggering relative motion.
2. stepper_set_target_position for triggering absolute position from reference position.
3. stepper_set_actual_position for setting reference position.
4. stepper_enable_constant_velocity_mode for triggering continuous motion in a given direction with a given velocity.

Proposed change

These function names could become more intuitive if renamed as following:

1. stepper_move -> stepper_move_by for the number of relative steps to move.
2. stepper_set_target_position -> stepper_move_to for the absolute position to be reached.
3. stepper_set_actual_position -> stepper_set_reference_position for the the reference position from which the steps are to be counted.
4. stepper_enable_constant_velocity_mode -> stepper_run for the brevity of the actual function.

Detailed RFC

Proposed change (Detailed)

Following files will have to be refactored:

API:

• stepper_api
• move_to, move_by and run shall be non-blocking operations

Drivers:

• tmc5041_stepper
• fake_stepper
• gpio_stepper
• stepper_shell

Docs:

• stepper.rst

Tests:

• stepper_api
• stepper_shell

Entry in migration guide:

• migration_guide_4_1

Dependencies

None

Concerns and Unresolved Questions

Alternatives

Tasks

Beta Give feedback

1. drivers: stepper: refactor set_actual_position to set_reference_position #81835
   Enhancement RFC Release Notes area: Stepper +4
   

[rruuaanng]

I think it's great and I like the new names, but I don't know what other people think of it.