diff --git a/lib/pbio/drv/ioport/ioport_lpf2.c b/lib/pbio/drv/ioport/ioport_lpf2.c
index 9a0340f60..1fb07c2f7 100644
--- a/lib/pbio/drv/ioport/ioport_lpf2.c
+++ b/lib/pbio/drv/ioport/ioport_lpf2.c
@@ -517,9 +517,9 @@ PROCESS_THREAD(pbdrv_ioport_lpf2_process, ev, data) {
                         iodev->info = info;
 
                         const lump_mode_flags_t *flags = &info->mode_info[0].flags;
-                        iodev->motor_flags = PBIO_IODEV_MOTOR_FLAG_NONE;
+                        iodev->capability_flags = PBIO_IODEV_CAPABILITY_FLAG_NONE;
                         if (flags->flags0 & LUMP_MODE_FLAGS0_MOTOR_POWER) {
-                            iodev->motor_flags |= PBIO_IODEV_MOTOR_FLAG_IS_MOTOR;
+                            iodev->capability_flags |= PBIO_IODEV_CAPABILITY_FLAG_IS_MOTOR;
                         }
                         ioport->iodev = iodev;
                     }
diff --git a/lib/pbio/include/pbio/iodev.h b/lib/pbio/include/pbio/iodev.h
index 06ae89a97..d93c9d68c 100644
--- a/lib/pbio/include/pbio/iodev.h
+++ b/lib/pbio/include/pbio/iodev.h
@@ -187,38 +187,38 @@ typedef enum {
     /**
      * Convience value for no flags set.
      */
-    PBIO_IODEV_MOTOR_FLAG_NONE = 0,
+    PBIO_IODEV_CAPABILITY_FLAG_NONE = 0,
     /**
-     * Indicates that this device is motor.
+     * Indicates that this device is a motor.
      */
-    PBIO_IODEV_MOTOR_FLAG_IS_MOTOR = 1 << 0,
+    PBIO_IODEV_CAPABILITY_FLAG_IS_MOTOR = 1 << 0,
     /**
      * Indicates that the motor provides speed feedback.
      */
-    PBIO_IODEV_MOTOR_FLAG_HAS_SPEED = 1 << 1,
+    PBIO_IODEV_CAPABILITY_FLAG_HAS_MOTOR_SPEED = 1 << 1,
     /**
      * Indicates that the motor provides relative position feedback.
      */
-    PBIO_IODEV_MOTOR_FLAG_HAS_REL_POS = 1 << 2,
+    PBIO_IODEV_CAPABILITY_FLAG_HAS_MOTOR_REL_POS = 1 << 2,
     /**
      * Indicates that the motor provides absolute position feedback.
      */
-    PBIO_IODEV_MOTOR_FLAG_HAS_ABS_POS = 1 << 3,
-} pbio_iodev_motor_flags_t;
+    PBIO_IODEV_CAPABILITY_FLAG_HAS_MOTOR_ABS_POS = 1 << 3,
+} pbio_iodev_capability_flags_t;
 
 /**
  * Macro for testing if I/O device is a motor.
  *
  * @param [in] d    Pointer to pbio_iodev_t.
  */
-#define PBIO_IODEV_IS_MOTOR(d) ((d)->motor_flags & PBIO_IODEV_MOTOR_FLAG_IS_MOTOR)
+#define PBIO_IODEV_IS_MOTOR(d) ((d)->capability_flags & PBIO_IODEV_CAPABILITY_FLAG_IS_MOTOR)
 
 /**
  * Macro for testing if I/O device is a motor with speed/position feedback.
  *
  * @param [in] d    Pointer to pbio_iodev_t.
  */
-#define PBIO_IODEV_IS_FEEDBACK_MOTOR(d) ((d)->motor_flags > PBIO_IODEV_MOTOR_FLAG_IS_MOTOR)
+#define PBIO_IODEV_IS_FEEDBACK_MOTOR(d) ((d)->capability_flags > PBIO_IODEV_CAPABILITY_FLAG_IS_MOTOR)
 
 /**
  * Mapping flags that describe the input and output values of an I/O device.
@@ -377,9 +377,9 @@ struct _pbio_iodev_t {
      */
     uint8_t mode;
     /**
-     * Motor capability flags.
+     * Device capability flags.
      */
-    pbio_iodev_motor_flags_t motor_flags;
+    pbio_iodev_capability_flags_t capability_flags;
     /**
      * Most recent binary data read from the device. How to interpret this data
      * is determined by the ::pbio_iodev_mode_t info associated with the current
diff --git a/lib/pbio/src/uartdev.c b/lib/pbio/src/uartdev.c
index cb9e5355b..c57c6f7c5 100644
--- a/lib/pbio/src/uartdev.c
+++ b/lib/pbio/src/uartdev.c
@@ -483,16 +483,16 @@ static void pbio_uartdev_parse_msg(uartdev_port_data_t *data) {
                     }
 
                     if (flags->flags0 & LUMP_MODE_FLAGS0_MOTOR_POWER) {
-                        data->iodev.motor_flags |= PBIO_IODEV_MOTOR_FLAG_IS_MOTOR;
+                        data->iodev.capability_flags |= PBIO_IODEV_CAPABILITY_FLAG_IS_MOTOR;
                     }
                     if (flags->flags0 & LUMP_MODE_FLAGS0_MOTOR_SPEED) {
-                        data->iodev.motor_flags |= PBIO_IODEV_MOTOR_FLAG_HAS_SPEED;
+                        data->iodev.capability_flags |= PBIO_IODEV_CAPABILITY_FLAG_HAS_MOTOR_SPEED;
                     }
                     if (flags->flags0 & LUMP_MODE_FLAGS0_MOTOR_REL_POS) {
-                        data->iodev.motor_flags |= PBIO_IODEV_MOTOR_FLAG_HAS_REL_POS;
+                        data->iodev.capability_flags |= PBIO_IODEV_CAPABILITY_FLAG_HAS_MOTOR_REL_POS;
                     }
                     if (flags->flags0 & LUMP_MODE_FLAGS0_MOTOR_ABS_POS) {
-                        data->iodev.motor_flags |= PBIO_IODEV_MOTOR_FLAG_HAS_ABS_POS;
+                        data->iodev.capability_flags |= PBIO_IODEV_CAPABILITY_FLAG_HAS_MOTOR_ABS_POS;
                     }
 
                     debug_pr("new_mode: %d\n", data->new_mode);
@@ -680,7 +680,7 @@ static void pbio_uartdev_parse_msg(uartdev_port_data_t *data) {
                 // The counter driver must return the corrected count
                 data->tacho_count = tacho_count_msg - data->tacho_offset;
 
-                if (data->iodev.motor_flags & PBIO_IODEV_MOTOR_FLAG_HAS_ABS_POS) {
+                if (data->iodev.capability_flags & PBIO_IODEV_CAPABILITY_FLAG_HAS_MOTOR_ABS_POS) {
                     data->abs_pos = data->rx_msg[7] << 8 | data->rx_msg[6];
                 }
             } else {
@@ -827,7 +827,7 @@ static PT_THREAD(pbio_uartdev_update(uartdev_port_data_t * data)) {
 
     // reset state for new device
     data->info->type_id = PBIO_IODEV_TYPE_ID_NONE;
-    data->iodev.motor_flags = PBIO_IODEV_MOTOR_FLAG_NONE;
+    data->iodev.capability_flags = PBIO_IODEV_CAPABILITY_FLAG_NONE;
     data->ext_mode = 0;
     data->status = PBIO_UARTDEV_STATUS_SYNCING;
     // default max tacho rate for BOOST external motor since it is the only
@@ -1244,7 +1244,7 @@ static pbio_error_t pbio_uartdev_get_abs_count(pbdrv_counter_dev_t *dev, int32_t
         return PBIO_ERROR_NO_DEV;
     }
 
-    if (!(port_data->iodev.motor_flags & PBIO_IODEV_MOTOR_FLAG_HAS_ABS_POS)) {
+    if (!(port_data->iodev.capability_flags & PBIO_IODEV_CAPABILITY_FLAG_HAS_MOTOR_ABS_POS)) {
         return PBIO_ERROR_NOT_SUPPORTED;
     }
 
diff --git a/lib/pbio/test/src/uartdev.c b/lib/pbio/test/src/uartdev.c
index 601d1be58..56d65e8b9 100644
--- a/lib/pbio/test/src/uartdev.c
+++ b/lib/pbio/test/src/uartdev.c
@@ -353,7 +353,7 @@ PT_THREAD(test_boost_color_distance_sensor(struct pt *pt)) {
     tt_want_uint_op(iodev->info->num_view_modes, ==, 8);
     // TODO: verify fw/hw versions
     tt_want_uint_op(iodev->info->mode_combos, ==, 1 << 6 | 1 << 3 | 1 << 2 | 1 << 1 | 1 << 0);
-    tt_want_uint_op(iodev->motor_flags, ==, PBIO_IODEV_MOTOR_FLAG_NONE);
+    tt_want_uint_op(iodev->capability_flags, ==, PBIO_IODEV_CAPABILITY_FLAG_NONE);
     tt_want_uint_op(iodev->mode, ==, 0);
 
     tt_want_str_op(iodev->info->mode_info[0].name, ==, "COLOR");
@@ -777,8 +777,8 @@ PT_THREAD(test_boost_interactive_motor(struct pt *pt)) {
     tt_want_uint_op(iodev->info->num_view_modes, ==, 3);
     // TODO: verify fw/hw versions
     tt_want_uint_op(iodev->info->mode_combos, ==, 1 << 2 | 1 << 1);
-    tt_want_uint_op(iodev->motor_flags, ==, PBIO_IODEV_MOTOR_FLAG_IS_MOTOR |
-        PBIO_IODEV_MOTOR_FLAG_HAS_SPEED | PBIO_IODEV_MOTOR_FLAG_HAS_REL_POS);
+    tt_want_uint_op(iodev->capability_flags, ==, PBIO_IODEV_CAPABILITY_FLAG_IS_MOTOR |
+        PBIO_IODEV_CAPABILITY_FLAG_HAS_MOTOR_SPEED | PBIO_IODEV_CAPABILITY_FLAG_HAS_MOTOR_REL_POS);
     tt_want_uint_op(iodev->mode, ==, 0);
 
     tt_want_str_op(iodev->info->mode_info[0].name, ==, "POWER");
@@ -1048,8 +1048,8 @@ PT_THREAD(test_technic_large_motor(struct pt *pt)) {
     tt_want_uint_op(iodev->info->num_view_modes, ==, 4);
     // TODO: verify fw/hw versions
     tt_want_uint_op(iodev->info->mode_combos, ==, 1 << 3 | 1 << 2 | 1 << 1);
-    tt_want_uint_op(iodev->motor_flags, ==, PBIO_IODEV_MOTOR_FLAG_IS_MOTOR | PBIO_IODEV_MOTOR_FLAG_HAS_SPEED
-        | PBIO_IODEV_MOTOR_FLAG_HAS_REL_POS | PBIO_IODEV_MOTOR_FLAG_HAS_ABS_POS);
+    tt_want_uint_op(iodev->capability_flags, ==, PBIO_IODEV_CAPABILITY_FLAG_IS_MOTOR | PBIO_IODEV_CAPABILITY_FLAG_HAS_MOTOR_SPEED
+        | PBIO_IODEV_CAPABILITY_FLAG_HAS_MOTOR_REL_POS | PBIO_IODEV_CAPABILITY_FLAG_HAS_MOTOR_ABS_POS);
     tt_want_uint_op(iodev->mode, ==, 0);
 
     tt_want_str_op(iodev->info->mode_info[0].name, ==, "POWER");
@@ -1371,8 +1371,8 @@ PT_THREAD(test_technic_xl_motor(struct pt *pt)) {
     tt_want_uint_op(iodev->info->num_view_modes, ==, 4);
     // TODO: verify fw/hw versions
     tt_want_uint_op(iodev->info->mode_combos, ==, 1 << 3 | 1 << 2 | 1 << 1);
-    tt_want_uint_op(iodev->motor_flags, ==, PBIO_IODEV_MOTOR_FLAG_IS_MOTOR | PBIO_IODEV_MOTOR_FLAG_HAS_SPEED
-        | PBIO_IODEV_MOTOR_FLAG_HAS_REL_POS | PBIO_IODEV_MOTOR_FLAG_HAS_ABS_POS);
+    tt_want_uint_op(iodev->capability_flags, ==, PBIO_IODEV_CAPABILITY_FLAG_IS_MOTOR | PBIO_IODEV_CAPABILITY_FLAG_HAS_MOTOR_SPEED
+        | PBIO_IODEV_CAPABILITY_FLAG_HAS_MOTOR_REL_POS | PBIO_IODEV_CAPABILITY_FLAG_HAS_MOTOR_ABS_POS);
     tt_want_uint_op(iodev->mode, ==, 0);
 
     tt_want_str_op(iodev->info->mode_info[0].name, ==, "POWER");