diff --git a/drivers/motor/a4988.c b/drivers/motor/a4988.c
index 471a67eee4..21f96fa631 100644
--- a/drivers/motor/a4988.c
+++ b/drivers/motor/a4988.c
@@ -121,7 +121,7 @@ static int a4988_work(FAR struct stepper_lowerhalf_s *dev,
       stpwarn("Delay is clamped to 1 us\n");
     }
 
-  stpinfo("Delay is %ld us\n", delay);
+  stpinfo("Delay is %d us\n", delay);
 
   /* Set direction */
 
diff --git a/drivers/motor/drv8825.c b/drivers/motor/drv8825.c
index 2aa7e705e1..d1fde92aef 100644
--- a/drivers/motor/drv8825.c
+++ b/drivers/motor/drv8825.c
@@ -127,7 +127,7 @@ static int drv8825_work(FAR struct stepper_lowerhalf_s *dev,
       stpwarn("Delay is clamped to 2 us\n");
     }
 
-  stpinfo("Delay is %ld us\n", delay);
+  stpinfo("Delay is %d us\n", delay);
 
   /* Set direction */
 
diff --git a/drivers/motor/stepper.c b/drivers/motor/stepper.c
index ef6da0b97e..443e0adbb0 100644
--- a/drivers/motor/stepper.c
+++ b/drivers/motor/stepper.c
@@ -266,7 +266,7 @@ static int stepper_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
         {
           lower->status.position = (int32_t)arg;
           ret = 0;
-          stpinfo("STEPIOC_SET_CURRENT_POS: new position is %ld\n",
+          stpinfo("STEPIOC_SET_CURRENT_POS: new position is %" PRId32 "\n",
                   lower->status.position);
         }
         break;