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doc: migration-guide-4.1: Add section about step interval based API

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Adds a two bullet points explaining the change of the velocity based API
towards an step interval one.

Signed-off-by: Fabian Blatz <fabianblatz@gmail.com>
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Fabian Blatz 2025-01-09 09:03:34 +01:00 committed by Benjamin Cabé
parent dfaca867ca
commit 7537a142be
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doc/releases/migration-guide-4.1.rst
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@ -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
===