diff --git a/src/adccmds.c b/src/adccmds.c
index 49e195ac..81a7fff5 100644
--- a/src/adccmds.c
+++ b/src/adccmds.c
@@ -4,7 +4,7 @@
 //
 // This file may be distributed under the terms of the GNU GPLv3 license.
 
-#include "basecmd.h" // alloc_oid
+#include "basecmd.h" // oid_alloc
 #include "board/gpio.h" // struct gpio_adc
 #include "board/irq.h" // irq_disable
 #include "command.h" // DECL_COMMAND
@@ -50,7 +50,7 @@ analog_in_event(struct timer *timer)
 void
 command_config_analog_in(uint32_t *args)
 {
-    struct analog_in *a = alloc_oid(
+    struct analog_in *a = oid_alloc(
         args[0], command_config_analog_in, sizeof(*a));
     a->timer.func = analog_in_event;
     a->pin = gpio_adc_setup(args[1]);
@@ -61,7 +61,7 @@ DECL_COMMAND(command_config_analog_in, "config_analog_in oid=%c pin=%u");
 void
 command_query_analog_in(uint32_t *args)
 {
-    struct analog_in *a = lookup_oid(args[0], command_config_analog_in);
+    struct analog_in *a = oid_lookup(args[0], command_config_analog_in);
     sched_del_timer(&a->timer);
     gpio_adc_cancel_sample(a->pin);
     a->next_begin_time = args[1];
diff --git a/src/basecmd.c b/src/basecmd.c
index 639add97..1b7bff75 100644
--- a/src/basecmd.c
+++ b/src/basecmd.c
@@ -6,7 +6,7 @@
 
 #include <stdlib.h> // malloc
 #include <string.h> // memset
-#include "basecmd.h" // lookup_oid
+#include "basecmd.h" // oid_lookup
 #include "board/irq.h" // irq_save
 #include "board/misc.h" // alloc_maxsize
 #include "command.h" // DECL_COMMAND
@@ -105,43 +105,43 @@ struct oid_s {
 };
 
 static struct oid_s *oids;
-static uint8_t num_oid;
+static uint8_t oid_count;
 
 void *
-lookup_oid(uint8_t oid, void *type)
+oid_lookup(uint8_t oid, void *type)
 {
-    if (oid >= num_oid || type != oids[oid].type)
+    if (oid >= oid_count || type != oids[oid].type)
         shutdown("Invalid oid type");
     return oids[oid].data;
 }
 
 static void
-assign_oid(uint8_t oid, void *type, void *data)
+oid_assign(uint8_t oid, void *type, void *data)
 {
-    if (oid >= num_oid || oids[oid].type || is_finalized())
+    if (oid >= oid_count || oids[oid].type || is_finalized())
         shutdown("Can't assign oid");
     oids[oid].type = type;
     oids[oid].data = data;
 }
 
 void *
-alloc_oid(uint8_t oid, void *type, uint16_t size)
+oid_alloc(uint8_t oid, void *type, uint16_t size)
 {
     void *data = malloc(size);
     if (!data)
         shutdown("malloc failed");
     memset(data, 0, size);
-    assign_oid(oid, type, data);
+    oid_assign(oid, type, data);
     return data;
 }
 
 void *
-next_oid(uint8_t *i, void *type)
+oid_next(uint8_t *i, void *type)
 {
     uint8_t oid = *i;
     for (;;) {
         oid++;
-        if (oid >= num_oid)
+        if (oid >= oid_count)
             return NULL;
         if (oids[oid].type == type) {
             *i = oid;
@@ -160,7 +160,7 @@ command_allocate_oids(uint32_t *args)
     if (!oids)
         shutdown("malloc failed");
     memset(oids, 0, sizeof(oids[0]) * count);
-    num_oid = count;
+    oid_count = count;
 }
 DECL_COMMAND(command_allocate_oids, "allocate_oids count=%c");
 
diff --git a/src/basecmd.h b/src/basecmd.h
index b795e4db..987d7498 100644
--- a/src/basecmd.h
+++ b/src/basecmd.h
@@ -6,11 +6,11 @@
 void move_free(void *m);
 void *move_alloc(void);
 void move_request_size(int size);
-void *lookup_oid(uint8_t oid, void *type);
-void *alloc_oid(uint8_t oid, void *type, uint16_t size);
-void *next_oid(uint8_t *i, void *type);
+void *oid_lookup(uint8_t oid, void *type);
+void *oid_alloc(uint8_t oid, void *type, uint16_t size);
+void *oid_next(uint8_t *i, void *type);
 
 #define foreach_oid(pos,data,oidtype)                   \
-    for (pos=-1; (data=next_oid(&pos, oidtype)); )
+    for (pos=-1; (data=oid_next(&pos, oidtype)); )
 
 #endif // basecmd.h
diff --git a/src/endstop.c b/src/endstop.c
index fc63f123..ae41656a 100644
--- a/src/endstop.c
+++ b/src/endstop.c
@@ -4,7 +4,7 @@
 //
 // This file may be distributed under the terms of the GNU GPLv3 license.
 
-#include "basecmd.h" // alloc_oid
+#include "basecmd.h" // oid_alloc
 #include "board/gpio.h" // struct gpio
 #include "board/irq.h" // irq_disable
 #include "command.h" // DECL_COMMAND
@@ -40,8 +40,8 @@ end_stop_event(struct timer *t)
 void
 command_config_end_stop(uint32_t *args)
 {
-    struct end_stop *e = alloc_oid(args[0], command_config_end_stop, sizeof(*e));
-    struct stepper *s = lookup_oid(args[3], command_config_stepper);
+    struct end_stop *e = oid_alloc(args[0], command_config_end_stop, sizeof(*e));
+    struct stepper *s = oid_lookup(args[3], command_config_stepper);
     e->time.func = end_stop_event;
     e->stepper = s;
     e->pin = gpio_in_setup(args[1], args[2]);
@@ -53,7 +53,7 @@ DECL_COMMAND(command_config_end_stop,
 void
 command_end_stop_home(uint32_t *args)
 {
-    struct end_stop *e = lookup_oid(args[0], command_config_end_stop);
+    struct end_stop *e = oid_lookup(args[0], command_config_end_stop);
     sched_del_timer(&e->time);
     e->time.waketime = args[1];
     e->rest_time = args[2];
@@ -87,7 +87,7 @@ void
 command_end_stop_query(uint32_t *args)
 {
     uint8_t oid = args[0];
-    struct end_stop *e = lookup_oid(oid, command_config_end_stop);
+    struct end_stop *e = oid_lookup(oid, command_config_end_stop);
     end_stop_report(oid, e);
 }
 DECL_COMMAND(command_end_stop_query, "end_stop_query oid=%c");
diff --git a/src/gpiocmds.c b/src/gpiocmds.c
index a86e12c9..259a7a5f 100644
--- a/src/gpiocmds.c
+++ b/src/gpiocmds.c
@@ -4,7 +4,7 @@
 //
 // This file may be distributed under the terms of the GNU GPLv3 license.
 
-#include "basecmd.h" // alloc_oid
+#include "basecmd.h" // oid_alloc
 #include "board/gpio.h" // struct gpio_out
 #include "board/irq.h" // irq_disable
 #include "command.h" // DECL_COMMAND
@@ -43,7 +43,7 @@ digital_out_event(struct timer *timer)
 void
 command_config_digital_out(uint32_t *args)
 {
-    struct digital_out_s *d = alloc_oid(args[0], command_config_digital_out
+    struct digital_out_s *d = oid_alloc(args[0], command_config_digital_out
                                         , sizeof(*d));
     d->default_value = args[2];
     d->pin = gpio_out_setup(args[1], d->default_value);
@@ -56,7 +56,7 @@ DECL_COMMAND(command_config_digital_out,
 void
 command_schedule_digital_out(uint32_t *args)
 {
-    struct digital_out_s *d = lookup_oid(args[0], command_config_digital_out);
+    struct digital_out_s *d = oid_lookup(args[0], command_config_digital_out);
     sched_del_timer(&d->timer);
     d->timer.func = digital_out_event;
     d->timer.waketime = args[1];
@@ -155,7 +155,7 @@ soft_pwm_load_event(struct timer *timer)
 void
 command_config_soft_pwm_out(uint32_t *args)
 {
-    struct soft_pwm_s *s = alloc_oid(args[0], command_config_soft_pwm_out
+    struct soft_pwm_s *s = oid_alloc(args[0], command_config_soft_pwm_out
                                      , sizeof(*s));
     s->cycle_time = args[2];
     s->pulse_time = s->cycle_time / 255;
@@ -171,7 +171,7 @@ DECL_COMMAND(command_config_soft_pwm_out,
 void
 command_schedule_soft_pwm_out(uint32_t *args)
 {
-    struct soft_pwm_s *s = lookup_oid(args[0], command_config_soft_pwm_out);
+    struct soft_pwm_s *s = oid_lookup(args[0], command_config_soft_pwm_out);
     uint32_t time = args[1];
     uint8_t value = args[2];
     uint8_t next_flags = SPF_CHECK_END | SPF_HAVE_NEXT;
diff --git a/src/pwmcmds.c b/src/pwmcmds.c
index bc9fec03..2865b62a 100644
--- a/src/pwmcmds.c
+++ b/src/pwmcmds.c
@@ -4,7 +4,7 @@
 //
 // This file may be distributed under the terms of the GNU GPLv3 license.
 
-#include "basecmd.h" // alloc_oid
+#include "basecmd.h" // oid_alloc
 #include "board/gpio.h" // struct gpio_pwm
 #include "command.h" // DECL_COMMAND
 #include "sched.h" // sched_timer
@@ -37,7 +37,7 @@ pwm_event(struct timer *timer)
 void
 command_config_pwm_out(uint32_t *args)
 {
-    struct pwm_out_s *p = alloc_oid(args[0], command_config_pwm_out, sizeof(*p));
+    struct pwm_out_s *p = oid_alloc(args[0], command_config_pwm_out, sizeof(*p));
     p->default_value = args[3];
     p->pin = gpio_pwm_setup(args[1], args[2], p->default_value);
     p->max_duration = args[4];
@@ -49,7 +49,7 @@ DECL_COMMAND(command_config_pwm_out,
 void
 command_schedule_pwm_out(uint32_t *args)
 {
-    struct pwm_out_s *p = lookup_oid(args[0], command_config_pwm_out);
+    struct pwm_out_s *p = oid_lookup(args[0], command_config_pwm_out);
     sched_del_timer(&p->timer);
     p->timer.func = pwm_event;
     p->timer.waketime = args[1];
diff --git a/src/stepper.c b/src/stepper.c
index b97a7a69..39fdab54 100644
--- a/src/stepper.c
+++ b/src/stepper.c
@@ -5,7 +5,7 @@
 // This file may be distributed under the terms of the GNU GPLv3 license.
 
 #include "autoconf.h" // CONFIG_*
-#include "basecmd.h" // alloc_oid
+#include "basecmd.h" // oid_alloc
 #include "board/gpio.h" // gpio_out_write
 #include "board/irq.h" // irq_disable
 #include "command.h" // DECL_COMMAND
@@ -145,7 +145,7 @@ reschedule_min:
 void
 command_config_stepper(uint32_t *args)
 {
-    struct stepper *s = alloc_oid(args[0], command_config_stepper, sizeof(*s));
+    struct stepper *s = oid_alloc(args[0], command_config_stepper, sizeof(*s));
     if (!CONFIG_INLINE_STEPPER_HACK)
         s->time.func = stepper_event;
     s->flags = args[4] ? SF_INVERT_STEP : 0;
@@ -163,7 +163,7 @@ DECL_COMMAND(command_config_stepper,
 void
 command_queue_step(uint32_t *args)
 {
-    struct stepper *s = lookup_oid(args[0], command_config_stepper);
+    struct stepper *s = oid_lookup(args[0], command_config_stepper);
     struct stepper_move *m = move_alloc();
     m->interval = args[1];
     m->count = args[2];
@@ -204,7 +204,7 @@ DECL_COMMAND(command_queue_step,
 void
 command_set_next_step_dir(uint32_t *args)
 {
-    struct stepper *s = lookup_oid(args[0], command_config_stepper);
+    struct stepper *s = oid_lookup(args[0], command_config_stepper);
     uint8_t nextdir = args[1] ? SF_NEXT_DIR : 0;
     irq_disable();
     s->flags = (s->flags & ~SF_NEXT_DIR) | nextdir;
@@ -216,7 +216,7 @@ DECL_COMMAND(command_set_next_step_dir, "set_next_step_dir oid=%c dir=%c");
 void
 command_reset_step_clock(uint32_t *args)
 {
-    struct stepper *s = lookup_oid(args[0], command_config_stepper);
+    struct stepper *s = oid_lookup(args[0], command_config_stepper);
     uint32_t waketime = args[1];
     irq_disable();
     if (s->count)