From 7537a142be54d2a6de4d32f63c4bb9c944ea37c4 Mon Sep 17 00:00:00 2001 From: Fabian Blatz Date: Thu, 9 Jan 2025 09:03:34 +0100 Subject: [PATCH] doc: migration-guide-4.1: Add section about step interval based API Adds a two bullet points explaining the change of the velocity based API towards an step interval one. Signed-off-by: Fabian Blatz --- doc/releases/migration-guide-4.1.rst | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/doc/releases/migration-guide-4.1.rst b/doc/releases/migration-guide-4.1.rst index c56021fee705dc..d7b538d33b29d2 100644 --- a/doc/releases/migration-guide-4.1.rst +++ b/doc/releases/migration-guide-4.1.rst @@ -263,10 +263,17 @@ 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`. + The function does not take a velocity parameter anymore. Set the desired speed using the + :c:func:`stepper_set_microstep_interval` function beforehand. * Renamed the ``stepper_move`` function to :c:func:`stepper_move_by`. * Renamed the ``stepper_set_target_position`` function to :c:func:`stepper_move_to`. + * Renamed the ``stepper_set_max_velocity`` function to :c:func:`stepper_set_microstep_interval`. + The function now takes the step interval in nanoseconds. This allows for a more precise control. + * Deprecating setting max velocity via :c:func:`stepper_run`. * The :kconfig:option:`STEPPER_ADI_TMC_RAMP_GEN` is now deprecated and is replaced with the new :kconfig:option:`STEPPER_ADI_TMC5041_RAMP_GEN` option. + * To control the velocity for :dtcompatible:`adi,tmc5041` stepper driver, use + :c:func:`tmc5041_stepper_set_max_velocity` or :c:func:`tmc5041_stepper_set_ramp`. SPI ===