klipper update

test/configs/at90usb1286.config

@@ -0,0 +1,4 @@
+# Base config file for atmega at90usb1286
+CONFIG_MACH_AVR=y
+CONFIG_MACH_at90usb1286=y
+CONFIG_CLOCK_FREQ=16000000

test/configs/atmega1280.config

@@ -0,0 +1,4 @@
+# Base config file for atmega1280
+CONFIG_MACH_AVR=y
+CONFIG_MACH_atmega1280=y
+CONFIG_CLOCK_FREQ=16000000

test/configs/atmega1284p.config

@@ -0,0 +1,4 @@
+# Base config file for atmega1284p
+CONFIG_MACH_AVR=y
+CONFIG_MACH_atmega1284p=y
+CONFIG_CLOCK_FREQ=16000000

test/configs/atmega2560.config

@@ -0,0 +1,4 @@
+# Base config file for atmega2560
+CONFIG_MACH_AVR=y
+CONFIG_MACH_atmega2560=y
+CONFIG_CLOCK_FREQ=16000000

test/configs/atmega328.config

@@ -0,0 +1,4 @@
+# Base config file for atmega328
+CONFIG_MACH_AVR=y
+CONFIG_MACH_atmega328=y
+CONFIG_CLOCK_FREQ=16000000

test/configs/atmega644p.config

@@ -0,0 +1,4 @@
+# Base config file for atmega644p
+CONFIG_MACH_AVR=y
+CONFIG_MACH_atmega644p=y
+CONFIG_CLOCK_FREQ=16000000

test/configs/hostsimulator.config

@@ -0,0 +1,2 @@
+# Base config file for host simulator
+CONFIG_MACH_SIMU=y

test/configs/linuxprocess.config

@@ -0,0 +1,2 @@
+# Base config file for linux process
+CONFIG_MACH_LINUX=y

test/configs/lpc176x.config

@@ -0,0 +1,2 @@
+# Base config file for LPC176x boards
+CONFIG_MACH_LPC176X=y

test/configs/pru.config

@@ -0,0 +1,2 @@
+# Base config file for the Beaglebone PRU
+CONFIG_MACH_PRU=y

test/configs/rp2040.config

@@ -0,0 +1,2 @@
+# Base config file for rp2040 boards
+CONFIG_MACH_RP2040=y

test/configs/sam3x8c.config

@@ -0,0 +1,3 @@
+# Base config file for Atmel SAM3x8e ARM processor
+CONFIG_MACH_ATSAM=y
+CONFIG_MACH_SAM3X8C=y

test/configs/sam3x8e.config

@@ -0,0 +1,3 @@
+# Base config file for Atmel SAM3x8e ARM processor
+CONFIG_MACH_ATSAM=y
+CONFIG_MACH_SAM3X8E=y

test/configs/sam4e8e.config

@@ -0,0 +1,3 @@
+# Base config file for Atmel SAM4E8E ARM processor
+CONFIG_MACH_ATSAM=y
+CONFIG_MACH_SAM4E8E=y

test/configs/sam4s8c.config

@@ -0,0 +1,3 @@
+# Base config file for Atmel SAM4S8C ARM processor
+CONFIG_MACH_ATSAM=y
+CONFIG_MACH_SAM4S8C=y

test/configs/samd21g18.config

@@ -0,0 +1,3 @@
+# Base config file for SAMD21 boards
+CONFIG_MACH_ATSAMD=y
+CONFIG_MACH_SAMD21G18=y

test/configs/samd51p20.config

@@ -0,0 +1,4 @@
+# Base config file for Atmel SAMD51P20 ARM processor
+CONFIG_MACH_ATSAMD=y
+CONFIG_MACH_SAMD51P20=y
+CONFIG_CLOCK_REF_X25M=y

test/configs/same70q20b.config

@@ -0,0 +1,3 @@
+# Base config file for Atmel SAME70Q20B ARM processor
+CONFIG_MACH_ATSAM=y
+CONFIG_MACH_SAME70Q20B=y

test/configs/stm32f031.config

@@ -0,0 +1,3 @@
+# Base config file for STM32F031 boards
+CONFIG_MACH_STM32=y
+CONFIG_MACH_STM32F031=y

test/configs/stm32f070.config

@@ -0,0 +1,3 @@
+# Base config file for STM32F070 ARM processor
+CONFIG_MACH_STM32=y
+CONFIG_MACH_STM32F070=y

test/configs/stm32f103-serial.config

@@ -0,0 +1,4 @@
+# Base config file for STM32F1 ARM processor using serial communication
+CONFIG_MACH_STM32=y
+CONFIG_MACH_STM32F103=y
+CONFIG_STM32_SERIAL_USART1=y

test/configs/stm32f103.config

@@ -0,0 +1,3 @@
+# Base config file for STM32F1 ARM processor
+CONFIG_MACH_STM32=y
+CONFIG_MACH_STM32F103=y

test/configs/stm32f405.config

@@ -0,0 +1,3 @@
+# Base config file for STM32F405 ARM processor
+CONFIG_MACH_STM32=y
+CONFIG_MACH_STM32F405=y

test/configs/stm32f407.config

@@ -0,0 +1,3 @@
+# Base config file for STM32F407 ARM processor
+CONFIG_MACH_STM32=y
+CONFIG_MACH_STM32F407=y

test/configs/stm32f429.config

@@ -0,0 +1,3 @@
+# Base config file for STM32F429 ARM processor
+CONFIG_MACH_STM32=y
+CONFIG_MACH_STM32F429=y

test/configs/stm32f446.config

@@ -0,0 +1,3 @@
+# Base config file for STM32F446 ARM processor
+CONFIG_MACH_STM32=y
+CONFIG_MACH_STM32F446=y

test/configs/stm32g0b1.config

@@ -0,0 +1,3 @@
+# Base config file for STM32G0B1 ARM processor
+CONFIG_MACH_STM32=y
+CONFIG_MACH_STM32G0B1=y

test/configs/stm32h743.config

@@ -0,0 +1,3 @@
+# Base config file for STM32H743 ARM processor
+CONFIG_MACH_STM32=y
+CONFIG_MACH_STM32H743=y

test/klippy/bed_screws.cfg

@@ -0,0 +1,52 @@
+# Test config for bed screws tool
+[stepper_x]
+step_pin: PF0
+dir_pin: PF1
+enable_pin: !PD7
+rotation_distance: 40
+microsteps: 16
+endstop_pin: ^PE5
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+
+[stepper_y]
+step_pin: PF6
+dir_pin: !PF7
+enable_pin: !PF2
+rotation_distance: 40
+microsteps: 16
+endstop_pin: ^PJ1
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+
+[stepper_z]
+step_pin: PL3
+dir_pin: PL1
+enable_pin: !PK0
+rotation_distance: 8
+microsteps: 16
+endstop_pin: ^PD3
+position_endstop: 0.5
+position_max: 200
+
+[bed_screws]
+screw1: 100,50
+screw1_name: Front right
+screw1_fine_adjust: 200,50
+screw2: 75,75
+screw2_fine_adjust: 200,75
+screw3: 75,75
+screw3_name: Last
+screw3_fine_adjust: 75,90
+
+[mcu]
+serial: /dev/ttyACM0
+
+[printer]
+kinematics: cartesian
+max_velocity: 300
+max_accel: 3000
+max_z_velocity: 5
+max_z_accel: 100

test/klippy/bed_screws.test

@@ -0,0 +1,49 @@
+# Test case for bed screws helper tool
+CONFIG bed_screws.cfg
+DICTIONARY atmega2560.dict
+
+# Start helper script and then abort it
+G28
+BED_SCREWS_ADJUST
+
+ACCEPT
+ACCEPT
+ABORT
+
+# Start helper script and run until success
+BED_SCREWS_ADJUST
+
+ACCEPT
+ACCEPT
+ACCEPT
+
+ACCEPT
+ACCEPT
+ACCEPT
+
+# Start helper script and run with two readjusts
+BED_SCREWS_ADJUST
+
+ACCEPT
+ADJUSTED
+ACCEPT
+
+ACCEPT
+ACCEPT
+ACCEPT
+
+ADJUSTED
+ACCEPT
+ACCEPT
+
+ACCEPT
+ACCEPT
+ACCEPT
+
+ACCEPT
+ACCEPT
+ACCEPT
+
+# Start helper script and run with two readjusts
+BED_SCREWS_ADJUST
+ABORT

test/klippy/bltouch.cfg

@@ -0,0 +1,76 @@
+# Test config for bltouch
+[stepper_x]
+step_pin: PF0
+dir_pin: PF1
+enable_pin: !PD7
+microsteps: 16
+rotation_distance: 40
+endstop_pin: ^PE5
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+
+[stepper_y]
+step_pin: PF6
+dir_pin: !PF7
+enable_pin: !PF2
+microsteps: 16
+rotation_distance: 40
+endstop_pin: ^PJ1
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+
+[stepper_z]
+step_pin: PL3
+dir_pin: PL1
+enable_pin: !PK0
+microsteps: 16
+rotation_distance: 8
+endstop_pin: probe:z_virtual_endstop
+position_max: 200
+
+[extruder]
+step_pin: PA4
+dir_pin: PA6
+enable_pin: !PA2
+microsteps: 16
+rotation_distance: 33.5
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: PB4
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PK5
+control: pid
+pid_Kp: 22.2
+pid_Ki: 1.08
+pid_Kd: 114
+min_temp: 0
+max_temp: 250
+
+[heater_bed]
+heater_pin: PH5
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PK6
+control: watermark
+min_temp: 0
+max_temp: 130
+
+[bltouch]
+sensor_pin: PC7
+control_pin: PC5
+z_offset: 1.15
+
+[bed_mesh]
+mesh_min: 10,10
+mesh_max: 180,180
+
+[mcu]
+serial: /dev/ttyACM0
+
+[printer]
+kinematics: cartesian
+max_velocity: 300
+max_accel: 3000
+max_z_velocity: 5
+max_z_accel: 100

test/klippy/bltouch.test

@@ -0,0 +1,29 @@
+# Test case for bltouch support
+CONFIG bltouch.cfg
+DICTIONARY atmega2560.dict
+
+# Start by homing the printer.
+G28
+G1 F6000
+
+# Z / X / Y moves
+G1 Z1
+G1 X1
+G1 Y1
+
+# Run BLTOUCH_DEBUG
+BLTOUCH_DEBUG
+BLTOUCH_DEBUG COMMAND=reset
+
+# Run bed_mesh_calibrate
+BED_MESH_CALIBRATE
+
+# Move again
+G1 Z5 X0 Y0
+
+# Do regular probe
+PROBE
+QUERY_PROBE
+
+# Move again
+G1 Z9

test/klippy/commands.test

@@ -0,0 +1,46 @@
+# Tests for miscellaneous g-code commands
+DICTIONARY atmega2560.dict
+CONFIG ../../config/example-cartesian.cfg
+
+# Simple status commands
+GET_POSITION
+M114
+
+STATUS
+
+HELP
+
+QUERY_ENDSTOPS
+
+M115
+
+M18
+
+# G-code state commands
+G28
+SAVE_GCODE_STATE
+G92 Z-5
+G92 E5
+SAVE_GCODE_STATE NAME=test
+G1 Z-5
+G91
+G1 Z0
+RESTORE_GCODE_STATE NAME=test
+G1 Z-5
+RESTORE_GCODE_STATE
+G1 Z0 E0
+RESTORE_GCODE_STATE MOVE=1
+
+# Update commands
+SET_GCODE_OFFSET Z=.1
+M206 Z-.2
+SET_GCODE_OFFSET Z_ADJUST=-.1
+
+SET_VELOCITY_LIMIT ACCEL=100 VELOCITY=20 SQUARE_CORNER_VELOCITY=1 ACCEL_TO_DECEL=200
+M204 S500
+
+SET_PRESSURE_ADVANCE EXTRUDER=extruder ADVANCE=.001
+SET_PRESSURE_ADVANCE ADVANCE=.002 ADVANCE_LOOKAHEAD_TIME=.001
+
+# Restart command (must be last in test)
+RESTART

test/klippy/delta.test

@@ -0,0 +1,47 @@
+# Test case for basic movement on delta printers
+CONFIG ../../config/example-delta.cfg
+DICTIONARY atmega2560.dict
+
+# Start by homing the printer.  Also tests Z moves.
+G28
+
+# Perform an XY+Z move with infintesimal XY component
+G1 x0 y0 z15
+
+# Perform an XY move along Y axis (aligned with rear tower)
+G1 x0 y5 z15
+
+# Perform an XY+Z move along Y axis
+G1 x0 y-5 z10
+
+# Perform a Z move
+G1 x0 y-5 z15
+
+# Perform an XY move across all three towers
+G1 x2 y2 z10
+
+# Perform an XY+Z move with tiny Z movement
+G1 x2 y-10 z10.1
+
+# Move to far away position
+G1 x140 y0
+
+# Move to extreme position
+G1 x145 y0
+
+# Move to another extreme position
+G1 x145 y5
+
+# Test delta_calibrate command
+DELTA_CALIBRATE
+
+# Dummy move
+G1 Z5 X0 Y0
+
+# Verify stepper_buzz
+STEPPER_BUZZ STEPPER=stepper_a
+STEPPER_BUZZ STEPPER=stepper_b
+STEPPER_BUZZ STEPPER=stepper_c
+
+# Dummy move
+G1 Z3 X2 Y3

test/klippy/delta_calibrate.cfg

@@ -0,0 +1,76 @@
+# Test config for the DELTA_CALIBRATE command (on linear delta robots)
+[stepper_a]
+step_pin: PF0
+dir_pin: PF1
+enable_pin: !PD7
+microsteps: 16
+rotation_distance: 0.32
+endstop_pin: ^PE4
+homing_speed: 50
+#position_endstop: 297.05
+#arm_length: 333.0
+
+[stepper_b]
+step_pin: PF6
+dir_pin: PF7
+enable_pin: !PF2
+microsteps: 16
+rotation_distance: 0.32
+endstop_pin: ^PJ0
+
+[stepper_c]
+step_pin: PL3
+dir_pin: PL1
+enable_pin: !PK0
+microsteps: 16
+rotation_distance: 0.32
+endstop_pin: ^PD2
+
+[mcu]
+serial: /dev/ttyACM0
+
+[printer]
+kinematics: delta
+max_velocity: 300
+max_accel: 3000
+#delta_radius: 174.75
+
+[delta_calibrate]
+radius: 50
+
+#*# <---------------------- SAVE_CONFIG ---------------------->
+#*# DO NOT EDIT THIS BLOCK OR BELOW. The contents are auto-generated.
+#*#
+#*# [printer]
+#*# delta_radius = 174.750004
+#*#
+#*# [stepper_a]
+#*# angle = 210.000032
+#*# arm_length = 333.000032
+#*# position_endstop = 297.049970
+#*#
+#*# [stepper_b]
+#*# angle = 329.999997
+#*# arm_length = 332.999811
+#*# position_endstop = 297.050132
+#*#
+#*# [stepper_c]
+#*# angle = 90.000000
+#*# arm_length = 333.000181
+#*# position_endstop = 297.049900
+#*#
+#*# [delta_calibrate]
+#*# height0 = 0.0
+#*# height0_pos = 2970499.999,2970499.999,2970499.999
+#*# height1 = 0.0
+#*# height1_pos = 3163266.999,3163266.999,2727853.999
+#*# height2 = 0.0
+#*# height2_pos = 2869315.999,3303154.999,2869315.999
+#*# height3 = 0.0
+#*# height3_pos = 2749008.999,3138330.999,3138330.999
+#*# height4 = 0.0
+#*# height4_pos = 2885497.999,2885497.999,3218746.999
+#*# height5 = 0.0
+#*# height5_pos = 3114555.999,2771134.999,3114555.999
+#*# height6 = 0.0
+#*# height6_pos = 3260109.999,2876968.999,2876968.999

test/klippy/delta_calibrate.test

@@ -0,0 +1,31 @@
+# Test case for basic movement on delta printers
+CONFIG delta_calibrate.cfg
+DICTIONARY atmega2560.dict
+
+# Start by homing the printer.
+G28
+
+# Run basic delta calibration (in manual mode)
+DELTA_CALIBRATE METHOD=manual
+G1 Z0.1
+ACCEPT
+G1 Z0.1
+ACCEPT
+G1 Z0.1
+ACCEPT
+G1 Z0.1
+ACCEPT
+G1 Z0.1
+ACCEPT
+G1 Z0.1
+ACCEPT
+G1 Z0.1
+ACCEPT
+
+# Run extended delta calibration
+DELTA_ANALYZE CENTER_DISTS=74,74,74,74,74,74
+DELTA_ANALYZE OUTER_DISTS=74,74,74,74,74,74
+DELTA_ANALYZE CENTER_PILLAR_WIDTHS=9,9,9
+DELTA_ANALYZE OUTER_PILLAR_WIDTHS=9,9,9,9,9,9
+DELTA_ANALYZE SCALE=1
+DELTA_ANALYZE CALIBRATE=extended

test/klippy/dual_carriage.cfg

@@ -0,0 +1,125 @@
+# Test config with dual carriage and multiple extruders
+[stepper_x]
+step_pin: PF0
+dir_pin: PF1
+enable_pin: !PD7
+microsteps: 16
+rotation_distance: 40
+endstop_pin: ^PE5
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+
+[dual_carriage]
+axis: x
+step_pin: PH1
+dir_pin: PH0
+enable_pin: !PA1
+microsteps: 16
+rotation_distance: 40
+endstop_pin: ^PE4
+position_endstop: 200
+position_max: 200
+homing_speed: 50
+
+[stepper_y]
+step_pin: PF6
+dir_pin: !PF7
+enable_pin: !PF2
+microsteps: 16
+rotation_distance: 40
+endstop_pin: ^PJ1
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+
+[stepper_z]
+step_pin: PL3
+dir_pin: PL1
+enable_pin: !PK0
+microsteps: 16
+rotation_distance: 8
+endstop_pin: ^PD3
+position_endstop: 0.5
+position_max: 200
+
+[extruder]
+step_pin: PA4
+dir_pin: PA6
+enable_pin: !PA2
+microsteps: 16
+rotation_distance: 33.5
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: PB4
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PK5
+control: pid
+pid_Kp: 22.2
+pid_Ki: 1.08
+pid_Kd: 114
+min_temp: 0
+max_temp: 250
+
+[gcode_macro PARK_extruder0]
+gcode:
+    G90
+    G1 X0
+
+[gcode_macro T0]
+gcode:
+    PARK_{printer.toolhead.extruder}
+    ACTIVATE_EXTRUDER EXTRUDER=extruder
+    SET_DUAL_CARRIAGE CARRIAGE=0
+
+[extruder1]
+step_pin: PC1
+dir_pin: PC3
+enable_pin: !PC7
+microsteps: 16
+rotation_distance: 33.5
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: PB5
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PK7
+control: pid
+pid_Kp: 22.2
+pid_Ki: 1.08
+pid_Kd: 114
+min_temp: 0
+max_temp: 250
+
+[gcode_macro PARK_extruder1]
+gcode:
+    SET_SERVO SERVO=my_servo angle=100
+    G90
+    G1 X200
+
+[gcode_macro T1]
+gcode:
+    PARK_{printer.toolhead.extruder}
+    SET_SERVO SERVO=my_servo angle=50
+    ACTIVATE_EXTRUDER EXTRUDER=extruder1
+    SET_DUAL_CARRIAGE CARRIAGE=1
+
+[servo my_servo]
+pin: PH4
+
+[heater_bed]
+heater_pin: PH5
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PK6
+control: watermark
+min_temp: 0
+max_temp: 130
+
+[mcu]
+serial: /dev/ttyACM0
+
+[printer]
+kinematics: cartesian
+max_velocity: 300
+max_accel: 3000
+max_z_velocity: 5
+max_z_accel: 100

test/klippy/dual_carriage.test

@@ -0,0 +1,39 @@
+# Test cases on printers with dual carriage and multiple extruders
+CONFIG dual_carriage.cfg
+DICTIONARY atmega2560.dict
+
+# First home the printer
+G90
+G28
+
+# Perform a dummy move
+G1 X10 F6000
+
+# Activate alternate carriage
+SET_DUAL_CARRIAGE CARRIAGE=1
+G1 X190 F6000
+
+# Go back to main carriage
+SET_DUAL_CARRIAGE CARRIAGE=0
+G1 X20 F6000
+
+# Test changing extruders
+G1 X5
+T1
+G91
+G1 X-10 E.2
+T0
+G91
+G1 X20 E.2
+G90
+
+QUERY_ENDSTOPS
+
+# Servo tests
+SET_SERVO servo=my_servo angle=160
+SET_SERVO servo=my_servo angle=130
+
+# Verify STEPPER_BUZZ
+STEPPER_BUZZ STEPPER=dual_carriage
+STEPPER_BUZZ STEPPER=extruder
+STEPPER_BUZZ STEPPER=extruder1

test/klippy/exclude_object.cfg

@@ -0,0 +1,117 @@
+[stepper_x]
+step_pin: PF0
+dir_pin: PF1
+enable_pin: !PD7
+microsteps: 16
+rotation_distance: 40
+endstop_pin: ^PE5
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+
+[stepper_y]
+step_pin: PF6
+dir_pin: !PF7
+enable_pin: !PF2
+microsteps: 16
+rotation_distance: 40
+endstop_pin: ^PJ1
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+
+[stepper_z]
+step_pin: PL3
+dir_pin: PL1
+enable_pin: !PK0
+microsteps: 16
+rotation_distance: 8
+endstop_pin: ^PD3
+position_endstop: 0.5
+position_max: 200
+
+[extruder]
+step_pin: PA4
+dir_pin: PA6
+enable_pin: !PA2
+microsteps: 16
+rotation_distance: 33.5
+nozzle_diameter: 0.500
+filament_diameter: 3.500
+heater_pin: PB4
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PK5
+control: pid
+pid_Kp: 22.2
+pid_Ki: 1.08
+pid_Kd: 114
+min_temp: 0
+max_temp: 210
+
+[heater_bed]
+heater_pin: PH5
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PK6
+control: watermark
+min_temp: 0
+max_temp: 110
+
+[mcu]
+serial: /dev/ttyACM0
+
+[printer]
+kinematics: cartesian
+max_velocity: 300
+max_accel: 3000
+max_z_velocity: 5
+max_z_accel: 100
+
+# Test config for exclude_object
+[exclude_object]
+
+[gcode_macro M486]
+gcode:
+  # Parameters known to M486 are as follows:
+  #   [C<flag>] Cancel the current object
+  #   [P<index>] Cancel the object with the given index
+  #   [S<index>] Set the index of the current object.
+  #       If the object with the given index has been canceled, this will cause
+  #       the firmware to skip to the next object. The value -1 is used to
+  #       indicate something that isn’t an object and shouldn’t be skipped.
+  #   [T<count>] Reset the state and set the number of objects
+  #   [U<index>] Un-cancel the object with the given index. This command will be
+  #       ignored if the object has already been skipped
+
+  {% if 'exclude_object' not in printer %}
+    {action_raise_error("[exclude_object] is not enabled")}
+  {% endif %}
+
+  {% if 'T' in params %}
+    EXCLUDE_OBJECT RESET=1
+
+    {% for i in range(params.T | int) %}
+      EXCLUDE_OBJECT_DEFINE NAME={i}
+    {% endfor %}
+  {% endif %}
+
+  {% if 'C' in params %}
+    EXCLUDE_OBJECT CURRENT=1
+  {% endif %}
+
+  {% if 'P' in params %}
+    EXCLUDE_OBJECT NAME={params.P}
+  {% endif %}
+
+  {% if 'S' in params %}
+    {% if params.S == '-1' %}
+      {% if printer.exclude_object.current_object %}
+        EXCLUDE_OBJECT_END NAME={printer.exclude_object.current_object}
+      {% endif %}
+    {% else %}
+      EXCLUDE_OBJECT_START NAME={params.S}
+    {% endif %}
+  {% endif %}
+
+  {% if 'U' in params %}
+    EXCLUDE_OBJECT RESET=1 NAME={params.U}
+  {% endif %}

test/klippy/exclude_object.test

@@ -0,0 +1,126 @@
+DICTIONARY atmega2560.dict
+CONFIG exclude_object.cfg
+
+
+G28
+M83
+
+M486 T3
+
+M486 S0
+  G0 X10
+
+M486 S-1
+  G0 X0
+
+M486 S1
+  G0 X11
+M486 C
+
+# "Prime" the transform
+G1 X140 E0.5
+G1 X160 E0.5
+G1 X140 E0.5
+G1 X160 E0.5
+G1 X140 E0.5
+G1 X160 E0.5
+G1 X140 E0.5
+
+M486 S-1
+  G0 X0
+
+M486 S2
+  G0 X13
+
+M486 S0
+  G0 X10
+
+M486 S-1
+  G0 X0
+
+M486 S1
+  G0 X-11
+
+M486 S-1
+  G0 X0
+
+M486 S2
+  G0 X13
+
+M486 P2
+EXCLUDE_OBJECT
+
+M486 S0
+  G0 X10
+
+M486 S-1
+  G0 X0
+
+M486 S1
+  G0 X-11
+
+M486 S-1
+  G0 X0
+
+M486 S2
+  G0 X-13
+
+M486 U2
+EXCLUDE_OBJECT
+
+M486 S0
+  G0 X10
+
+M486 S-1
+  G0 X0
+
+M486 S1
+  G0 X-11
+
+M486 S-1
+  G0 X0
+
+M486 S2
+  G0 X13
+
+M486 P0
+M486 P1
+M486 P2
+EXCLUDE_OBJECT
+
+M486 S0
+  G0 X-10
+
+M486 S-1
+  G0 X0
+
+M486 S1
+  G0 X-11
+
+M486 S-1
+  G0 X0
+
+M486 S2
+  G0 X-13
+
+
+M486 S66
+  G0 X66
+
+M486 S-1
+  G0 X0
+  M486 P66
+
+M486 S66
+  G0 X-66
+
+M486 T3
+
+M486 S0
+  G0 X10
+
+M486 S1
+  G0 X11
+
+M486 S2
+  G0 X13

test/klippy/extruders.cfg

@@ -0,0 +1,68 @@
+# Config for extruder testing
+[stepper_x]
+step_pin: PF0
+dir_pin: PF1
+enable_pin: !PD7
+microsteps: 16
+rotation_distance: 40
+endstop_pin: ^PE5
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+
+[stepper_y]
+step_pin: PF6
+dir_pin: !PF7
+enable_pin: !PF2
+microsteps: 16
+rotation_distance: 40
+endstop_pin: ^PJ1
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+
+[stepper_z]
+step_pin: PL3
+dir_pin: PL1
+enable_pin: !PK0
+microsteps: 16
+rotation_distance: 8
+endstop_pin: ^PD3
+position_endstop: 0.5
+position_max: 200
+
+[extruder]
+step_pin: PA4
+dir_pin: PA6
+enable_pin: !PA2
+microsteps: 16
+rotation_distance: 33.5
+nozzle_diameter: 0.500
+filament_diameter: 3.500
+heater_pin: PB4
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PK5
+control: pid
+pid_Kp: 22.2
+pid_Ki: 1.08
+pid_Kd: 114
+min_temp: 0
+max_temp: 210
+
+[extruder_stepper my_extra_stepper]
+extruder: extruder
+step_pin: PH5
+dir_pin: PH6
+enable_pin: !PB5
+microsteps: 16
+rotation_distance: 28.2
+
+[mcu]
+serial: /dev/ttyACM0
+
+[printer]
+kinematics: cartesian
+max_velocity: 300
+max_accel: 3000
+max_z_velocity: 5
+max_z_accel: 100

test/klippy/extruders.test

@@ -0,0 +1,50 @@
+# Extruder tests
+DICTIONARY atmega2560.dict
+CONFIG extruders.cfg
+
+# Extrude only
+G1 E5
+G1 E-2
+G1 E7
+
+# Home and extrusion moves
+G28
+G1 X20 Y20 Z1
+G1 X25 Y25 E7.5
+
+# Update step_distance
+SET_EXTRUDER_ROTATION_DISTANCE EXTRUDER=extruder DISTANCE=33.2
+G1 X30 Y30 E8.0
+
+# Reverse step_distance
+SET_EXTRUDER_ROTATION_DISTANCE EXTRUDER=extruder DISTANCE=-33.1
+G1 X30 Y30 E8.2
+
+# Disable extruder stepper motor
+SYNC_EXTRUDER_MOTION EXTRUDER=extruder MOTION_QUEUE=
+G1 X35 Y35 E8.5
+
+# Disable my_extra_stepper stepper motor
+SYNC_EXTRUDER_MOTION EXTRUDER=my_extra_stepper MOTION_QUEUE=
+G1 X40 Y40 E9.0
+
+# Enable extruder stepper motor
+SYNC_EXTRUDER_MOTION EXTRUDER=extruder MOTION_QUEUE=extruder
+G1 X45 Y45 E9.5
+
+# Switch to just my_extra_stepper stepper motor
+SYNC_EXTRUDER_MOTION EXTRUDER=extruder MOTION_QUEUE=
+SYNC_EXTRUDER_MOTION EXTRUDER=my_extra_stepper MOTION_QUEUE=extruder
+G1 X50 Y50 E10.0
+
+# Test pressure advance move
+SET_PRESSURE_ADVANCE EXTRUDER=my_extra_stepper ADVANCE=0.020
+G1 X55 Y55 E0
+G1 X55 Y55 E0.5
+G1 X60 Y60 E1.1
+G1 X50 Y50
+SET_PRESSURE_ADVANCE EXTRUDER=extruder ADVANCE=0.025
+G1 X55 Y55 E1.5
+G1 X50 Y50
+G1 X55 Y55 E2.0
+G1 X50 Y50

test/klippy/gcode_arcs.cfg

@@ -0,0 +1,70 @@
+# Test config for arcs
+[gcode_arcs]
+
+[stepper_x]
+step_pin: PF0
+dir_pin: PF1
+enable_pin: !PD7
+microsteps: 16
+rotation_distance: 40
+endstop_pin: ^PE5
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+
+[stepper_y]
+step_pin: PF6
+dir_pin: !PF7
+enable_pin: !PF2
+microsteps: 16
+rotation_distance: 40
+endstop_pin: ^PJ1
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+
+[stepper_z]
+step_pin: PL3
+dir_pin: PL1
+enable_pin: !PK0
+microsteps: 16
+rotation_distance: 8
+endstop_pin: ^PD3
+position_endstop: 0.5
+position_max: 200
+
+[extruder]
+step_pin: PA4
+dir_pin: PA6
+enable_pin: !PA2
+microsteps: 16
+rotation_distance: 33.5
+nozzle_diameter: 0.500
+filament_diameter: 3.500
+heater_pin: PB4
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PK5
+control: pid
+pid_Kp: 22.2
+pid_Ki: 1.08
+pid_Kd: 114
+min_temp: 0
+max_temp: 210
+
+[heater_bed]
+heater_pin: PH5
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PK6
+control: watermark
+min_temp: 0
+max_temp: 110
+
+[mcu]
+serial: /dev/ttyACM0
+
+[printer]
+kinematics: cartesian
+max_velocity: 300
+max_accel: 3000
+max_z_velocity: 5
+max_z_accel: 100

test/klippy/gcode_arcs.test

@@ -0,0 +1,11 @@
+# Tests for g-code G2/G3 arc commands
+DICTIONARY atmega2560.dict
+CONFIG gcode_arcs.cfg
+
+# Home and move in arcs
+G28
+G1 X20 Y20 Z20
+G2 X125 Y32 Z20 E1 I10.5 J10.5
+
+# XY+Z arc move
+G2 X20 Y20 Z10 E1 I10.5 J10.5

test/klippy/input_shaper.cfg

@@ -0,0 +1,85 @@
+# Test config for input_shaper
+[stepper_x]
+step_pin: PF0
+dir_pin: PF1
+enable_pin: !PD7
+microsteps: 16
+rotation_distance: 40
+endstop_pin: ^PE5
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+
+[stepper_y]
+step_pin: PF6
+dir_pin: !PF7
+enable_pin: !PF2
+microsteps: 16
+rotation_distance: 40
+endstop_pin: ^PJ1
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+
+[stepper_z]
+step_pin: PL3
+dir_pin: PL1
+enable_pin: !PK0
+microsteps: 16
+rotation_distance: 8
+endstop_pin: ^PD3
+position_endstop: 0.5
+position_max: 200
+
+[extruder]
+step_pin: PA4
+dir_pin: PA6
+enable_pin: !PA2
+microsteps: 16
+rotation_distance: 33.5
+nozzle_diameter: 0.500
+filament_diameter: 3.500
+heater_pin: PB4
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PK5
+control: pid
+pid_Kp: 22.2
+pid_Ki: 1.08
+pid_Kd: 114
+min_temp: 0
+max_temp: 210
+
+[heater_bed]
+heater_pin: PH5
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PK6
+control: watermark
+min_temp: 0
+max_temp: 110
+
+[mcu]
+serial: /dev/ttyACM0
+
+[printer]
+kinematics: cartesian
+max_velocity: 300
+max_accel: 3000
+max_z_velocity: 5
+max_z_accel: 100
+
+[input_shaper]
+shaper_type_x: mzv
+shaper_freq_x: 33.2
+shaper_type_x: ei
+shaper_freq_x: 39.3
+
+[adxl345]
+cs_pin: PK7
+axes_map: -x,-y,z
+
+[mpu9250 my_mpu]
+
+[resonance_tester]
+probe_points: 20,20,20
+accel_chip_x: adxl345
+accel_chip_y: mpu9250 my_mpu

test/klippy/input_shaper.test

@@ -0,0 +1,7 @@
+# Test case for input_stepper
+CONFIG input_shaper.cfg
+DICTIONARY atmega2560.dict
+
+# Simple command test
+SET_INPUT_SHAPER SHAPER_FREQ_X=22.2 DAMPING_RATIO_X=.1 SHAPER_TYPE_X=zv
+SET_INPUT_SHAPER SHAPER_FREQ_Y=33.3 DAMPING_RATIO_X=.11 SHAPER_TYPE_X=2hump_ei

test/klippy/led.cfg

@@ -0,0 +1,44 @@
+# Test case for LED config sections
+
+[led lled]
+red_pin: PA2
+initial_RED: 0.2
+
+[neopixel nled]
+pin: PA3
+chain_count: 4
+initial_RED: 0.2
+initial_GREEN: 0.3
+initial_BLUE: 0.4
+
+[dotstar dled]
+data_pin: PA4
+clock_pin: PA5
+chain_count: 2
+initial_RED: 0.2
+initial_GREEN: 0.3
+initial_BLUE: 0.4
+
+[pca9533 p5led]
+initial_RED: 0.1
+initial_GREEN: 0.2
+initial_BLUE: 0.3
+
+[pca9632 p6led]
+scl_pin: PB1
+sda_pin: PB2
+initial_RED: 0.4
+initial_GREEN: 0.5
+initial_BLUE: 0.6
+
+[display_template dtest]
+param_myvar: 1.2
+text: { param_myvar }, { param_myvar / 2.0 }, 0.0, 2.0
+
+[mcu]
+serial: /dev/ttyACM0
+
+[printer]
+kinematics: none
+max_velocity: 300
+max_accel: 3000

test/klippy/led.test

@@ -0,0 +1,58 @@
+# Test case for LEDs
+CONFIG led.cfg
+DICTIONARY atmega2560.dict
+
+# SET_LED tests
+SET_LED LED=lled RED=0.2
+SET_LED LED=lled RED=0.3 TRANSMIT=0
+SET_LED LED=lled RED=0.4
+SET_LED LED=lled RED=0.5 SYNC=0
+
+SET_LED LED=nled RED=0.2
+SET_LED LED=nled RED=0.3 TRANSMIT=0
+SET_LED LED=nled RED=0.4
+SET_LED LED=nled RED=0.5 SYNC=0
+
+SET_LED LED=dled RED=0.2
+SET_LED LED=dled RED=0.3 TRANSMIT=0
+SET_LED LED=dled RED=0.4
+SET_LED LED=dled RED=0.5 SYNC=0
+
+SET_LED LED=p5led RED=0.2
+SET_LED LED=p5led RED=0.3 TRANSMIT=0
+SET_LED LED=p5led RED=0.4
+SET_LED LED=p5led RED=0.5 SYNC=0
+
+SET_LED LED=p6led RED=0.2
+SET_LED LED=p6led RED=0.3 TRANSMIT=0
+SET_LED LED=p6led RED=0.4
+SET_LED LED=p6led RED=0.5 SYNC=0
+
+# SET_LED chain tests
+SET_LED LED=nled INDEX=2 RED=0.2
+SET_LED LED=nled INDEX=1 RED=0.3 TRANSMIT=0
+SET_LED LED=nled INDEX=2 RED=0.4
+SET_LED LED=nled INDEX=1 RED=0.5 SYNC=0
+
+SET_LED LED=dled INDEX=2 RED=0.2
+SET_LED LED=dled INDEX=1 RED=0.3 TRANSMIT=0
+SET_LED LED=dled INDEX=2 RED=0.4
+SET_LED LED=dled INDEX=1 RED=0.5 SYNC=0
+
+# SET_LED_TEMPLATE tests
+SET_LED_TEMPLATE LED=lled TEMPLATE=dtest
+SET_LED_TEMPLATE LED=lled TEMPLATE=
+
+SET_LED_TEMPLATE LED=nled TEMPLATE=dtest
+SET_LED_TEMPLATE LED=nled TEMPLATE=
+SET_LED_TEMPLATE LED=nled INDEX=2 TEMPLATE=dtest
+SET_LED_TEMPLATE LED=nled TEMPLATE=
+
+SET_LED_TEMPLATE LED=dled TEMPLATE=dtest
+SET_LED_TEMPLATE LED=dled TEMPLATE=
+SET_LED_TEMPLATE LED=dled INDEX=2 TEMPLATE=dtest
+SET_LED_TEMPLATE LED=dled TEMPLATE=
+
+SET_LED_TEMPLATE LED=p5led TEMPLATE=dtest
+
+SET_LED_TEMPLATE LED=p6led TEMPLATE=dtest

test/klippy/linuxtest.cfg

@@ -0,0 +1,15 @@
+# Test config for linux process specific hardware
+[mcu]
+serial: /tmp/klipper_host_mcu
+
+[printer]
+kinematics: none
+max_velocity: 300
+max_accel: 3000
+
+[temperature_sensor my_ds18b20]
+min_temp: 0
+max_temp: 100
+serial_no: 12345678
+sensor_mcu: mcu
+sensor_type: DS18B20

test/klippy/linuxtest.test

@@ -0,0 +1,5 @@
+# Tests for various temperature sensors
+DICTIONARY linuxprocess.dict
+CONFIG linuxtest.cfg
+
+G4 P1000

test/klippy/macros.cfg

@@ -0,0 +1,132 @@
+# Test config with macros
+[stepper_x]
+step_pin: PF0
+dir_pin: PF1
+enable_pin: !PD7
+microsteps: 16
+rotation_distance: 40
+endstop_pin: ^PE5
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+
+[stepper_y]
+step_pin: PF6
+dir_pin: !PF7
+enable_pin: !PF2
+microsteps: 16
+rotation_distance: 40
+endstop_pin: ^PJ1
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+
+[stepper_z]
+step_pin: PL3
+dir_pin: PL1
+enable_pin: !PK0
+microsteps: 16
+rotation_distance: 8
+endstop_pin: ^PD3
+position_endstop: 0.5
+position_max: 200
+
+[extruder]
+step_pin: PA4
+dir_pin: PA6
+enable_pin: !PA2
+microsteps: 16
+rotation_distance: 33.5
+nozzle_diameter: 0.500
+filament_diameter: 3.500
+heater_pin: PB4
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PK5
+control: pid
+pid_Kp: 22.2
+pid_Ki: 1.08
+pid_Kd: 114
+min_temp: 0
+max_temp: 210
+
+[heater_bed]
+heater_pin: PH5
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PK6
+control: watermark
+min_temp: 0
+max_temp: 110
+
+[mcu]
+serial: /dev/ttyACM0
+
+[printer]
+kinematics: cartesian
+max_velocity: 300
+max_accel: 3000
+max_z_velocity: 5
+max_z_accel: 100
+
+[gcode_macro TEST_SAVE_RESTORE]
+gcode:
+  SAVE_GCODE_STATE NAME=TESTIT1
+  G92 Z10
+  RESTORE_GCODE_STATE NAME=TESTIT1
+  G92 Z0
+
+[gcode_macro TEST_expression]
+gcode:
+  {% if printer.gcode_move.gcode_position.x != 0.0 %}
+    M112
+  {% else %}
+    { action_respond_info("TEST_expression") }
+  {% endif %}
+
+[gcode_macro TEST_variable]
+variable_t: 12.0
+gcode:
+  { action_respond_info("TEST_variable") }
+  {% if t - 12.0 != printer.toolhead.position.y %}
+    M112
+  {% endif %}
+  {% if printer["gcode_macro TEST_variable"].t - 12.0 != 0.0 %}
+    M112
+  {% endif %}
+  SET_GCODE_VARIABLE MACRO=TEST_variable VARIABLE=t VALUE=17
+  TEST_variable_part2
+
+[gcode_macro TEST_variable_part2]
+gcode:
+  { action_respond_info("TEST_variable_part2") }
+  {% if printer["gcode_macro TEST_variable"].t != 17.0 %}
+    M112
+  {% endif %}
+
+[gcode_macro TEST_param]
+gcode:
+  { action_respond_info("TEST_param") }
+  {% if params.T != "123" %}
+    M112
+  {% endif %}
+
+[gcode_macro TEST_in]
+gcode:
+  {% if "abc" in printer or "toolhead" not in printer %}
+    M112
+  {% endif %}
+
+# A utf8 test (with utf8 characters such as ° )
+[gcode_macro TEST_unicode]  ; Also test end-of-line comments ( ° )
+variable_ABC: 25            # Another end-of-line comment test ( ° )
+description: A unicode test °
+gcode: G28
+
+# Main test start point
+[gcode_macro TESTIT]
+gcode:
+  TEST_SAVE_RESTORE
+  TEST_expression
+  TEST_variable
+  TEST_param T=123
+  TEST_unicode
+  TEST_in

test/klippy/macros.test

@@ -0,0 +1,6 @@
+# Tests for miscellaneous g-code commands
+DICTIONARY atmega2560.dict
+CONFIG macros.cfg
+
+# Run TESTIT macro
+TESTIT

test/klippy/manual_stepper.cfg

@@ -0,0 +1,25 @@
+# Test config for manual_stepper
+[manual_stepper basic_stepper]
+step_pin: PF0
+dir_pin: PF1
+enable_pin: !PD7
+microsteps: 16
+rotation_distance: 40
+velocity: 7
+accel: 500
+
+[manual_stepper homing_stepper]
+step_pin: PF6
+dir_pin: !PF7
+enable_pin: !PF2
+microsteps: 16
+rotation_distance: 40
+endstop_pin: ^PJ1
+
+[mcu]
+serial: /dev/ttyACM0
+
+[printer]
+kinematics: none
+max_velocity: 300
+max_accel: 3000

test/klippy/manual_stepper.test

@@ -0,0 +1,24 @@
+# Test case for manual_stepper
+CONFIG manual_stepper.cfg
+DICTIONARY atmega2560.dict
+
+# Test basic moves
+MANUAL_STEPPER STEPPER=basic_stepper ENABLE=1
+MANUAL_STEPPER STEPPER=basic_stepper SET_POSITION=0
+MANUAL_STEPPER STEPPER=basic_stepper MOVE=10 SPEED=10
+MANUAL_STEPPER STEPPER=basic_stepper MOVE=5
+MANUAL_STEPPER STEPPER=basic_stepper MOVE=12 SPEED=12 ACCEL=9000.2
+MANUAL_STEPPER STEPPER=basic_stepper ENABLE=0
+
+# Test homing move
+MANUAL_STEPPER STEPPER=homing_stepper ENABLE=1
+MANUAL_STEPPER STEPPER=homing_stepper SET_POSITION=0
+MANUAL_STEPPER STEPPER=homing_stepper MOVE=10 SPEED=100 ACCEL=1
+MANUAL_STEPPER STEPPER=homing_stepper ENABLE=0
+
+# Test motor off
+M84
+
+# Verify stepper_buzz
+STEPPER_BUZZ STEPPER="manual_stepper basic_stepper"
+STEPPER_BUZZ STEPPER="manual_stepper homing_stepper"

test/klippy/move.gcode

@@ -0,0 +1,46 @@
+; Simple movement tests
+
+; Start by homing the printer.
+G28
+G90
+G1 F6000
+
+; Z / X / Y moves
+G1 Z1
+G1 X1
+G1 Y1
+
+; Delayed moves
+G1 Y2
+G4 P100
+G1 Y1.5
+M400
+G1 Y1
+
+; diagonal moves
+G1 X0 Y0
+G1 X1 Z2
+G1 X0 Y1 Z1
+
+; extrude only moves
+G1 E1
+G1 E0
+
+; Verify GET_POSITION works
+GET_POSITION
+
+; regular extrude move
+G1 X0 Y0 E.01
+
+; fan speeds
+M106 S50
+M106
+M106 S90
+M106 S0
+M107
+
+; coordinate manipulation
+G92 Y-3
+G1 Y-2
+G91
+G1 Y-1

test/klippy/multi_z.cfg

@@ -0,0 +1,105 @@
+# Test config with multiple z steppers
+[stepper_x]
+step_pin: PF0
+dir_pin: PF1
+enable_pin: !PD7
+microsteps: 16
+rotation_distance: 40
+endstop_pin: ^PE5
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+
+[stepper_y]
+step_pin: PF6
+dir_pin: !PF7
+enable_pin: !PF2
+microsteps: 16
+rotation_distance: 40
+endstop_pin: ^PJ1
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+
+[stepper_z]
+step_pin: PL3
+dir_pin: PL1
+enable_pin: !PK0
+microsteps: 16
+rotation_distance: 8
+endstop_pin: ^PD3
+position_endstop: 0.5
+position_max: 200
+
+[stepper_z1]
+step_pin: PC1
+dir_pin: PC3
+enable_pin: !PC7
+microsteps: 16
+rotation_distance: 8
+endstop_pin: ^PD2
+
+[stepper_z2]
+step_pin: PH1
+dir_pin: PH0
+enable_pin: !PA1
+microsteps: 16
+rotation_distance: 8
+
+[z_tilt]
+z_positions:
+    -56,-17
+    -56,322
+    311,322
+points:
+    50,50
+    50,195
+    195,195
+    195,50
+
+[bed_tilt]
+points:
+    50,50
+    50,195
+    195,195
+    195,50
+
+[extruder]
+step_pin: PA4
+dir_pin: PA6
+enable_pin: !PA2
+microsteps: 16
+rotation_distance: 33.5
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: PB4
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PK5
+control: pid
+pid_Kp: 22.2
+pid_Ki: 1.08
+pid_Kd: 114
+min_temp: 0
+max_temp: 250
+
+[heater_bed]
+heater_pin: PH5
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PK6
+control: watermark
+min_temp: 0
+max_temp: 130
+
+[probe]
+pin: PH6
+z_offset: 1.15
+
+[mcu]
+serial: /dev/ttyACM0
+
+[printer]
+kinematics: cartesian
+max_velocity: 300
+max_accel: 3000
+max_z_velocity: 5
+max_z_accel: 100

test/klippy/multi_z.test

@@ -0,0 +1,60 @@
+# Test case with multiple z stepper motors
+CONFIG multi_z.cfg
+DICTIONARY atmega2560.dict
+
+# Start by homing the printer.
+G28
+G1 F6000
+
+# Z / X / Y moves
+G1 Z1
+G1 X1
+G1 Y1
+
+# Run bed_tilt_calibrate
+BED_TILT_CALIBRATE
+
+# Move again
+G1 Z5 X0 Y0
+
+# Run Z_TILT_ADJUST
+Z_TILT_ADJUST
+
+# Move again
+G1 Z2 X2 Y3
+
+# Do regular probe
+PROBE
+QUERY_PROBE
+
+# Test manual probe commands
+PROBE_CALIBRATE
+ABORT
+PROBE_CALIBRATE SPEED=7.3
+TESTZ Z=-.2
+TESTZ Z=-.3
+TESTZ Z=+.1
+TESTZ Z=++
+TESTZ Z=--
+TESTZ Z=+
+TESTZ Z=-
+ACCEPT
+Z_ENDSTOP_CALIBRATE
+TESTZ Z=-.1
+TESTZ Z=+.2
+ACCEPT
+MANUAL_PROBE
+TESTZ Z=--
+ABORT
+
+# Do regular probe
+PROBE
+QUERY_PROBE
+
+# Verify stepper_buzz
+STEPPER_BUZZ STEPPER=stepper_z
+STEPPER_BUZZ STEPPER=stepper_z1
+STEPPER_BUZZ STEPPER=stepper_z2
+
+# Move again
+G1 Z9

test/klippy/out_of_bounds.test

@@ -0,0 +1,8 @@
+# Test that basic bounds checks work
+CONFIG ../../config/example-cartesian.cfg
+DICTIONARY atmega2560.dict
+SHOULD_FAIL
+
+# Home the printer, and then attempt to move to an obviously bad location
+G28
+G1 Y9999

test/klippy/polar.test

@@ -0,0 +1,74 @@
+# Test case for basic movement on polar printers
+CONFIG ../../config/example-polar.cfg
+DICTIONARY atmega2560.dict
+
+; Start by homing the printer.
+G28
+G90
+G1 F6000
+
+; Z / X / Y moves
+G1 Z1
+G1 X1
+G1 Y1
+
+; Delayed moves
+G1 Y2
+G4 P100
+G1 Y1.5
+M400
+G1 Y1
+
+; diagonal moves
+G1 X10 Y0
+G1 X1 Z2
+G1 X0 Y1 Z1
+
+; extrude only moves
+G1 E1
+G1 E0
+
+; regular extrude move
+G1 X10 Y0 E.01
+
+; Multiple rotations
+g1 X10 Y10
+g1 X-10 Y10
+g1 X-10 Y-10
+g1 X10 Y-10
+
+g1 X10 Y15
+g1 X-10 Y15
+g1 X-10 Y-15
+g1 X10 Y-15
+
+g1 X10 Y20
+g1 X-10 Y20
+g1 X-10 Y-20
+g1 X10 Y-20
+
+g1 X10 Y25
+g1 X-10 Y25
+g1 X-10 Y-25
+g1 X10 Y-25
+
+; Multiple rotations in reverse direction
+g1 X-15 Y-25
+g1 X-15 Y25
+g1 X15 Y25
+g1 X15 Y-25
+
+g1 X-20 Y-25
+g1 X-20 Y25
+g1 X20 Y25
+g1 X20 Y-25
+
+g1 X-25 Y-25
+g1 X-25 Y25
+g1 X25 Y25
+g1 X25 Y-25
+
+g1 X-30 Y-25
+g1 X-30 Y25
+g1 X30 Y25
+g1 X30 Y-25

test/klippy/printers.test

@@ -0,0 +1,232 @@
+# Basic sanity checks on the example printer config files
+GCODE move.gcode
+
+# Example kinematic files
+DICTIONARY atmega2560.dict
+CONFIG ../../config/example-cartesian.cfg
+CONFIG ../../config/example-corexy.cfg
+CONFIG ../../config/example-corexz.cfg
+CONFIG ../../config/example-hybrid-corexy.cfg
+CONFIG ../../config/example-hybrid-corexz.cfg
+CONFIG ../../config/example-delta.cfg
+CONFIG ../../config/example-rotary-delta.cfg
+CONFIG ../../config/example-winch.cfg
+
+# Printers using the atmega2560
+DICTIONARY atmega2560.dict
+CONFIG ../../config/generic-einsy-rambo.cfg
+CONFIG ../../config/generic-fysetc-f6.cfg
+CONFIG ../../config/generic-gt2560.cfg
+CONFIG ../../config/generic-mini-rambo.cfg
+CONFIG ../../config/generic-rambo.cfg
+CONFIG ../../config/generic-ramps.cfg
+CONFIG ../../config/generic-rumba.cfg
+CONFIG ../../config/generic-ultimaker-ultimainboard-v2.cfg
+CONFIG ../../config/kit-zav3d-2019.cfg
+CONFIG ../../config/printer-adimlab-2018.cfg
+CONFIG ../../config/printer-anycubic-4max-2018.cfg
+CONFIG ../../config/printer-anycubic-4maxpro-2.0-2021.cfg
+CONFIG ../../config/printer-anycubic-i3-mega-2017.cfg
+CONFIG ../../config/printer-anycubic-kossel-2016.cfg
+CONFIG ../../config/printer-anycubic-kossel-plus-2017.cfg
+CONFIG ../../config/printer-creality-cr10-v3-2020.cfg
+CONFIG ../../config/printer-creality-cr10s-2017.cfg
+CONFIG ../../config/printer-creality-cr20-2018.cfg
+CONFIG ../../config/printer-creality-cr20-pro-2019.cfg
+CONFIG ../../config/printer-creality-ender5plus-2019.cfg
+CONFIG ../../config/printer-eryone-thinker-series-v2-2020.cfg
+CONFIG ../../config/printer-flashforge-creator-pro-2018.cfg
+CONFIG ../../config/printer-hiprecy-leo-2019.cfg
+CONFIG ../../config/printer-longer-lk4-pro-2019.cfg
+CONFIG ../../config/printer-lulzbot-mini1-2016.cfg
+CONFIG ../../config/printer-lulzbot-taz6-2017.cfg
+CONFIG ../../config/printer-lulzbot-taz6-dual-v3-2017.cfg
+CONFIG ../../config/printer-makergear-m2-2012.cfg
+CONFIG ../../config/printer-makergear-m2-2016.cfg
+CONFIG ../../config/printer-micromake-d1-2016.cfg
+CONFIG ../../config/printer-mtw-create-2015.cfg
+CONFIG ../../config/printer-robo3d-r2-2017.cfg
+CONFIG ../../config/printer-seemecnc-rostock-max-v2-2015.cfg
+CONFIG ../../config/printer-sovol-sv01-2020.cfg
+CONFIG ../../config/printer-sunlu-s8-2020.cfg
+CONFIG ../../config/printer-tevo-flash-2018.cfg
+CONFIG ../../config/printer-tevo-tarantula-pro-2020.cfg
+CONFIG ../../config/printer-velleman-k8200-2013.cfg
+CONFIG ../../config/printer-velleman-k8800-2017.cfg
+CONFIG ../../config/printer-wanhao-duplicator-i3-mini-2017.cfg
+CONFIG ../../config/printer-wanhao-duplicator-i3-plus-2017.cfg
+CONFIG ../../config/printer-wanhao-duplicator-i3-plus-mark2-2019.cfg
+CONFIG ../../config/printer-wanhao-duplicator-6-2016.cfg
+CONFIG ../../config/printer-wanhao-duplicator-9-2018.cfg
+
+# Printers using the atmega1280
+DICTIONARY atmega1280.dict
+CONFIG ../../config/generic-mightyboard.cfg
+CONFIG ../../config/generic-minitronics1.cfg
+
+# Printers using the atmega1284p
+DICTIONARY atmega1284p.dict
+CONFIG ../../config/generic-melzi.cfg
+CONFIG ../../config/printer-anet-a4-2018.cfg
+CONFIG ../../config/printer-anet-a8-2017.cfg
+CONFIG ../../config/printer-anet-e10-2018.cfg
+CONFIG ../../config/printer-anet-e16-2019.cfg
+CONFIG ../../config/printer-creality-cr10-2017.cfg
+CONFIG ../../config/printer-creality-cr10mini-2017.cfg
+CONFIG ../../config/printer-creality-ender2-2017.cfg
+CONFIG ../../config/printer-creality-ender3-2018.cfg
+CONFIG ../../config/printer-creality-ender5-2019.cfg
+CONFIG ../../config/printer-tronxy-p802e-2020.cfg
+CONFIG ../../config/printer-tronxy-p802m-2020.cfg
+CONFIG ../../config/printer-tronxy-x5s-2018.cfg
+CONFIG ../../config/printer-tronxy-x8-2018.cfg
+CONFIG ../../config/printer-wanhao-duplicator-i3-v2.1-2017.cfg
+
+# Printers using the atmega644
+DICTIONARY atmega644p.dict
+CONFIG ../../config/generic-simulavr.cfg
+
+# Printers using the at90usb1286
+DICTIONARY at90usb1286.dict
+CONFIG ../../config/generic-printrboard.cfg
+
+# Printers using the sam3x8c
+DICTIONARY sam3x8c.dict
+CONFIG ../../config/generic-printrboard-g2.cfg
+
+# Printers using the sam3x8e
+DICTIONARY sam3x8e.dict
+CONFIG ../../config/generic-alligator-r2.cfg
+CONFIG ../../config/generic-alligator-r3.cfg
+CONFIG ../../config/generic-archim2.cfg
+CONFIG ../../config/generic-radds.cfg
+CONFIG ../../config/generic-ruramps-v1.3.cfg
+
+# Printers using the sam4s8c
+DICTIONARY sam4s8c.dict
+CONFIG ../../config/generic-duet2-maestro.cfg
+
+# Printers using the sam4e8e
+DICTIONARY sam4e8e.dict
+CONFIG ../../config/generic-duet2.cfg
+CONFIG ../../config/generic-duet2-duex.cfg
+CONFIG ../../config/printer-modix-big60-2020.cfg
+
+# Printers using the samd51
+DICTIONARY samd51p20.dict
+CONFIG ../../config/generic-duet3-mini.cfg
+
+# Printers using the lpc176x
+DICTIONARY lpc176x.dict
+CONFIG ../../config/generic-azteeg-x5-mini-v3.cfg
+CONFIG ../../config/generic-bigtreetech-skr-e3-turbo.cfg
+CONFIG ../../config/generic-bigtreetech-skr-v1.1.cfg
+CONFIG ../../config/generic-bigtreetech-skr-v1.3.cfg
+CONFIG ../../config/generic-bigtreetech-skr-v1.4.cfg
+CONFIG ../../config/generic-mks-sgenl.cfg
+CONFIG ../../config/generic-re-arm.cfg
+CONFIG ../../config/generic-smoothieboard.cfg
+CONFIG ../../config/generic-th3d-ezboard-lite-v1.2.cfg
+
+# Printers using the stm32f070
+DICTIONARY stm32f070.dict
+CONFIG ../../config/printer-monoprice-mini-delta-2017.cfg
+CONFIG ../../config/printer-monoprice-select-mini-v2-2018.cfg
+
+# Printers using the stm32f103
+DICTIONARY stm32f103.dict
+CONFIG ../../config/generic-bigtreetech-skr-cr6-v1.0.cfg
+CONFIG ../../config/generic-bigtreetech-skr-e3-dip.cfg
+CONFIG ../../config/generic-bigtreetech-skr-mini.cfg
+CONFIG ../../config/generic-bigtreetech-skr-mini-e3-v1.0.cfg
+CONFIG ../../config/generic-bigtreetech-skr-mini-e3-v1.2.cfg
+CONFIG ../../config/generic-bigtreetech-skr-mini-e3-v2.0.cfg
+CONFIG ../../config/generic-bigtreetech-skr-mini-mz.cfg
+CONFIG ../../config/printer-anycubic-vyper-2021.cfg
+CONFIG ../../config/printer-monoprice-select-mini-v1-2016.cfg
+
+# Printers using the stm32f103 via serial
+DICTIONARY stm32f103-serial.dict
+CONFIG ../../config/generic-creality-v4.2.7.cfg
+CONFIG ../../config/generic-creality-v4.2.10.cfg
+CONFIG ../../config/generic-fysetc-cheetah-v1.1.cfg
+CONFIG ../../config/generic-fysetc-cheetah-v1.2.cfg
+CONFIG ../../config/generic-mks-robin-e3.cfg
+CONFIG ../../config/generic-mks-robin-nano-v1.cfg
+CONFIG ../../config/generic-mks-robin-nano-v2.cfg
+CONFIG ../../config/printer-alfawise-u30-2018.cfg
+CONFIG ../../config/printer-creality-cr10-smart-pro-2022.cfg
+CONFIG ../../config/printer-creality-cr30-2021.cfg
+CONFIG ../../config/printer-creality-cr6se-2020.cfg
+CONFIG ../../config/printer-creality-cr6se-2021.cfg
+CONFIG ../../config/printer-creality-ender2pro-2021.cfg
+CONFIG ../../config/printer-creality-ender3-s1-2021.cfg
+CONFIG ../../config/printer-creality-ender3-v2-2020.cfg
+CONFIG ../../config/printer-creality-ender3max-2021.cfg
+CONFIG ../../config/printer-creality-ender3pro-2020.cfg
+CONFIG ../../config/printer-creality-ender5pro-2020.cfg
+CONFIG ../../config/printer-creality-ender6-2020.cfg
+CONFIG ../../config/printer-creality-sermoonD1-2021.cfg
+CONFIG ../../config/printer-creality-sermoonV1-2022.cfg
+CONFIG ../../config/printer-elegoo-neptune2-2021.cfg
+CONFIG ../../config/printer-eryone-er20-2021.cfg
+CONFIG ../../config/printer-flsun-q5-2020.cfg
+CONFIG ../../config/printer-flsun-qqs-2020.cfg
+CONFIG ../../config/printer-fokoos-odin5-f3-2021.cfg
+CONFIG ../../config/printer-tronxy-x5sa-v6-2019.cfg
+CONFIG ../../config/printer-tronxy-x5sa-pro-2020.cfg
+CONFIG ../../config/printer-tronxy-xy-2-Pro-2020.cfg
+CONFIG ../../config/printer-twotrees-sapphire-plus-sp-5-v1-2020.cfg
+CONFIG ../../config/printer-twotrees-sapphire-plus-sp-5-v1.1-2021.cfg
+CONFIG ../../config/printer-twotrees-sapphire-pro-sp-3-2020.cfg
+
+# Printers using the stm32f405
+DICTIONARY stm32f405.dict
+CONFIG ../../config/generic-mellow-fly-gemini-v1.cfg
+CONFIG ../../config/generic-mellow-fly-gemini-v2.cfg
+
+# Printers using the stm32f407
+DICTIONARY stm32f407.dict
+CONFIG ../../config/generic-bigtreetech-e3-rrf-v1.1.cfg
+CONFIG ../../config/generic-bigtreetech-gtr.cfg
+CONFIG ../../config/generic-bigtreetech-skr-pro.cfg
+CONFIG ../../config/generic-bigtreetech-skr-2.cfg
+CONFIG ../../config/generic-flyboard.cfg
+CONFIG ../../config/generic-mellow-fly-cdy-v3.cfg
+CONFIG ../../config/generic-mellow-super-infinty-hv.cfg
+CONFIG ../../config/generic-mks-robin-nano-v3.cfg
+CONFIG ../../config/generic-prusa-buddy.cfg
+CONFIG ../../config/generic-th3d-ezboard-lite-v2.0.cfg
+CONFIG ../../config/printer-biqu-b1-se-plus-2022.cfg
+CONFIG ../../config/printer-prusa-mini-plus-2020.cfg
+
+# Printers using the stm32f446
+DICTIONARY stm32f446.dict
+CONFIG ../../config/generic-bigtreetech-octopus.cfg
+CONFIG ../../config/generic-fysetc-s6.cfg
+CONFIG ../../config/generic-fysetc-s6-v2.cfg
+CONFIG ../../config/generic-fysetc-spider.cfg
+CONFIG ../../config/generic-mks-rumba32-v1.0.cfg
+
+# Printers using the stm32h743
+DICTIONARY stm32h743.dict
+CONFIG ../../config/printer-biqu-bx-2021.cfg
+
+# Printers using the stm32g0b1
+DICTIONARY stm32g0b1.dict
+CONFIG ../../config/generic-bigtreetech-skr-mini-e3-v3.0.cfg
+
+# Printers using the rp2040
+DICTIONARY rp2040.dict
+CONFIG ../../config/generic-bigtreetech-skr-pico-v1.0.cfg
+
+# Printers using the PRU
+DICTIONARY pru.dict host=linuxprocess.dict
+CONFIG ../../config/generic-cramps.cfg
+CONFIG ../../config/generic-replicape.cfg
+
+# Tests with multiple mcus
+DICTIONARY atmega2560.dict zboard=atmega2560.dict auxboard=atmega2560.dict
+CONFIG ../../config/sample-multi-mcu.cfg
+DICTIONARY atmega2560.dict z=atmega2560.dict
+CONFIG ../../config/kit-voron2-250mm.cfg

test/klippy/pwm.cfg

@@ -0,0 +1,22 @@
+[output_pin soft_pwm_pin]
+pin: PH5
+pwm: True
+value: 0
+shutdown_value: 0
+cycle_time: 0.01
+
+[output_pin hard_pwm_pin]
+pin: PH6
+pwm: True
+hardware_pwm: True
+value: 0
+shutdown_value: 0
+cycle_time: 0.01
+
+[mcu]
+serial: /dev/ttyACM0
+
+[printer]
+kinematics: none
+max_velocity: 300
+max_accel: 3000

test/klippy/pwm.test

@@ -0,0 +1,30 @@
+# Test case for pwm
+CONFIG pwm.cfg
+DICTIONARY atmega2560.dict
+
+# Hard PWM
+# Basic test
+SET_PIN PIN=hard_pwm_pin VALUE=0
+SET_PIN PIN=hard_pwm_pin VALUE=0.5
+SET_PIN PIN=hard_pwm_pin VALUE=0.5
+SET_PIN PIN=hard_pwm_pin VALUE=0.25
+SET_PIN PIN=hard_pwm_pin VALUE=1
+
+# Soft PWM
+# Test basic on off
+SET_PIN PIN=soft_pwm_pin VALUE=0
+SET_PIN PIN=soft_pwm_pin VALUE=0.5
+SET_PIN PIN=soft_pwm_pin VALUE=1
+
+# Test cycle time
+SET_PIN PIN=soft_pwm_pin VALUE=0 CYCLE_TIME=0.1
+SET_PIN PIN=soft_pwm_pin VALUE=1 CYCLE_TIME=0.5
+SET_PIN PIN=soft_pwm_pin VALUE=0.5 CYCLE_TIME=0.001
+SET_PIN PIN=soft_pwm_pin VALUE=0.75 CYCLE_TIME=0.01
+SET_PIN PIN=soft_pwm_pin VALUE=0.5 CYCLE_TIME=1
+
+# Test duplicate values
+SET_PIN PIN=soft_pwm_pin VALUE=0.5 CYCLE_TIME=0.5
+SET_PIN PIN=soft_pwm_pin VALUE=0.5 CYCLE_TIME=0.5
+SET_PIN PIN=soft_pwm_pin VALUE=0.75 CYCLE_TIME=0.5
+SET_PIN PIN=soft_pwm_pin VALUE=0.75 CYCLE_TIME=0.75

test/klippy/quad_gantry_level.test

@@ -0,0 +1,28 @@
+# Test case for z_tilt and quad_gantry_level
+CONFIG z_tilt.cfg
+DICTIONARY atmega2560.dict
+
+# Start by homing the printer.
+G28
+G1 Z5 X10 Y10 F6000
+M400
+GET_POSITION
+
+# Run QUAD_GANTRY_LEVEL in manual mode
+QUAD_GANTRY_LEVEL METHOD=MANUAL
+G1 Z2.909972
+ACCEPT
+G1 Z2.924972
+ACCEPT
+G1 Z2.959972
+ACCEPT
+G1 Z2.924972
+ACCEPT
+
+# Report position
+G1 Z5 X10 Y10 F6000
+M400
+GET_POSITION
+
+# Run again in automatic mode
+QUAD_GANTRY_LEVEL

test/klippy/rotary_delta_calibrate.cfg

@@ -0,0 +1,80 @@
+# Test config for the DELTA_CALIBRATE command (on rotary delta robots)
+[stepper_a]
+step_pin: PF0
+dir_pin: PF1
+enable_pin: !PD7
+microsteps: 16
+gear_ratio: 107.000:16, 60:16
+endstop_pin: ^PE4
+homing_speed: 50
+#position_endstop: 252
+upper_arm_length: 170.000
+lower_arm_length: 320.000
+
+[stepper_b]
+step_pin: PF6
+dir_pin: PF7
+enable_pin: !PF2
+microsteps: 16
+gear_ratio: 107.000:16, 60:16
+endstop_pin: ^PJ0
+
+[stepper_c]
+step_pin: PL3
+dir_pin: PL1
+enable_pin: !PK0
+microsteps: 16
+gear_ratio: 107.000:16, 60:16
+endstop_pin: ^PD2
+
+[mcu]
+serial: /dev/ttyACM0
+
+[printer]
+kinematics: rotary_delta
+max_velocity: 300
+max_accel: 3000
+max_z_velocity: 50
+#shoulder_radius: 33.900
+#shoulder_height: 412.900
+
+[delta_calibrate]
+radius: 50
+
+#*# <---------------------- SAVE_CONFIG ---------------------->
+#*# DO NOT EDIT THIS BLOCK OR BELOW. The contents are auto-generated.
+#*#
+#*# [printer]
+#*# shoulder_radius = 33.900000
+#*# shoulder_height = 412.900000
+#*#
+#*# [stepper_a]
+#*# angle = 30.000000
+#*# lower_arm = 320.000011
+#*# position_endstop = 251.999999
+#*#
+#*# [stepper_b]
+#*# angle = 150.000000
+#*# lower_arm = 320.000000
+#*# position_endstop = 251.999973
+#*#
+#*# [stepper_c]
+#*# angle = 270.000000
+#*# lower_arm = 319.999985
+#*# position_endstop = 251.999902
+#*#
+#*# [delta_calibrate]
+#*# height0 = 0.0
+#*# height0_pos = 162606.000,162606.000,162605.000
+#*# height1 = 0.0
+#*# height1_pos = 157814.000,157814.000,177775.000
+#*# height2 = 0.0
+#*# height2_pos = 170956.000,151002.000,170956.000
+#*# height3 = 0.0
+#*# height3_pos = 176042.000,158122.000,158122.000
+#*# height4 = 0.0
+#*# height4_pos = 168774.000,168774.000,153337.000
+#*# height5 = 0.0
+#*# height5_pos = 158477.000,174341.000,158477.000
+#*# height6 = 0.0
+#*# height6_pos = 152152.000,169841.000,169841.000

test/klippy/rotary_delta_calibrate.test

@@ -0,0 +1,32 @@
+# Test case for basic movement on delta printers
+CONFIG rotary_delta_calibrate.cfg
+DICTIONARY atmega2560.dict
+
+# Start by homing the printer.
+G28
+
+# Run basic delta calibration (in manual mode)
+DELTA_ANALYZE MANUAL_HEIGHT=252
+DELTA_CALIBRATE METHOD=manual
+G1 Z0.1
+ACCEPT
+G1 Z0.1
+ACCEPT
+G1 Z0.1
+ACCEPT
+G1 Z0.1
+ACCEPT
+G1 Z0.1
+ACCEPT
+G1 Z0.1
+ACCEPT
+G1 Z0.1
+ACCEPT
+
+# Run extended delta calibration
+DELTA_ANALYZE CENTER_DISTS=74,74,74,74,74,74
+DELTA_ANALYZE OUTER_DISTS=74,74,74,74,74,74
+DELTA_ANALYZE CENTER_PILLAR_WIDTHS=9,9,9
+DELTA_ANALYZE OUTER_PILLAR_WIDTHS=9,9,9,9,9,9
+DELTA_ANALYZE SCALE=1
+DELTA_ANALYZE CALIBRATE=extended

test/klippy/screws_tilt_adjust.cfg

@@ -0,0 +1,92 @@
+                   # Test config for bed screws tool with bltouch
+[stepper_x]
+step_pin: PF0
+dir_pin: PF1
+enable_pin: !PD7
+microsteps: 16
+rotation_distance: 40
+endstop_pin: ^PE5
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+
+[stepper_y]
+step_pin: PF6
+dir_pin: !PF7
+enable_pin: !PF2
+microsteps: 16
+rotation_distance: 40
+endstop_pin: ^PJ1
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+
+[stepper_z]
+step_pin: PL3
+dir_pin: PL1
+enable_pin: !PK0
+microsteps: 16
+rotation_distance: 8
+endstop_pin: probe:z_virtual_endstop
+position_max: 200
+
+[extruder]
+step_pin: PA4
+dir_pin: PA6
+enable_pin: !PA2
+microsteps: 16
+rotation_distance: 33.5
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: PB4
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PK5
+control: pid
+pid_Kp: 22.2
+pid_Ki: 1.08
+pid_Kd: 114
+min_temp: 0
+max_temp: 250
+
+[heater_bed]
+heater_pin: PH5
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PK6
+control: watermark
+min_temp: 0
+max_temp: 130
+
+[bltouch]
+sensor_pin: PC7
+control_pin: PC5
+z_offset: 1.15
+samples: 3
+sample_retract_dist: 2.
+samples_result: median
+
+[bed_mesh]
+mesh_min: 10,10
+mesh_max: 180,180
+
+[mcu]
+serial: /dev/ttyACM0
+
+[printer]
+kinematics: cartesian
+max_velocity: 300
+max_accel: 3000
+max_z_velocity: 5
+max_z_accel: 100
+
+[screws_tilt_adjust]
+screw1: 10,30
+screw1_name: front left screw
+screw2: 155,30
+screw2_name: front right screw
+screw3: 155,190
+screw3_name: rear right screw
+screw4: 10,190
+screw4_name: read left screw
+horizontal_move_z: 10.
+speed: 50.
+screw_thread: CW-M3

test/klippy/screws_tilt_adjust.test

@@ -0,0 +1,8 @@
+# Test case for bed screws tilt helper tool
+CONFIG screws_tilt_adjust.cfg
+DICTIONARY atmega2560.dict
+
+# Simple script to test
+G28
+SCREWS_TILT_CALCULATE
+SCREWS_TILT_CALCULATE MAX_DEVIATION=0.01

test/klippy/sdcard_loop.cfg

@@ -0,0 +1,92 @@
+# Test config for sdcard_loop
+[virtual_sdcard]
+path: test/klippy/sdcard_loop
+
+[display_status]
+
+# Override to support unlimited belt size
+# (homing Z simply resets its virtual position to 0.0)
+[homing_override]
+axes: xyz
+set_position_x: 0
+set_position_y: 0
+set_position_z: 0
+gcode:
+  G92 X0 Y0 Z0
+
+
+[stepper_x]
+step_pin: PF0
+dir_pin: PF1
+enable_pin: !PD7
+microsteps: 16
+rotation_distance: 40
+endstop_pin: ^PE5
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+
+[stepper_y]
+step_pin: PF6
+dir_pin: !PF7
+enable_pin: !PF2
+microsteps: 16
+rotation_distance: 40
+endstop_pin: ^PJ1
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+
+[stepper_z]
+step_pin: PL3
+dir_pin: PL1
+enable_pin: !PK0
+microsteps: 16
+rotation_distance: 8
+endstop_pin: ^PD3
+position_endstop: 0.5
+position_max: 200000000
+
+[extruder]
+step_pin: PA4
+dir_pin: PA6
+enable_pin: !PA2
+microsteps: 16
+rotation_distance: 33.5
+nozzle_diameter: 0.500
+filament_diameter: 3.500
+heater_pin: PB4
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PK5
+control: pid
+pid_Kp: 22.2
+pid_Ki: 1.08
+pid_Kd: 114
+min_temp: 0
+max_temp: 210
+
+[heater_bed]
+heater_pin: PH5
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PK6
+control: watermark
+min_temp: 0
+max_temp: 110
+
+[mcu]
+serial: /dev/ttyACM0
+
+[printer]
+kinematics: cartesian
+max_velocity: 300
+max_accel: 3000
+max_z_velocity: 5
+max_z_accel: 100
+
+[sdcard_loop]
+
+[gcode_macro M808]
+gcode:
+    {% if params.K is not defined and params.L is defined %}SDCARD_LOOP_BEGIN COUNT={params.L|int}{% endif %}
+    {% if params.K is not defined and params.L is not defined %}SDCARD_LOOP_END{% endif %}
+    {% if params.K is defined and params.L is not defined %}SDCARD_LOOP_DESIST{% endif %}

test/klippy/sdcard_loop.test

@@ -0,0 +1,9 @@
+; Virtual SD card unit tests
+
+DICTIONARY atmega2560.dict
+CONFIG sdcard_loop.cfg
+
+G28
+SDCARD_LOOP_DESIST
+; Verify long-name functions
+SDCARD_PRINT_FILE FILENAME=big.gcode

test/klippy/sdcard_loop/big.gcode

@@ -0,0 +1,350 @@
+; Large example, to test M808 looping with `partial_data`
+M808 L20
+; Looping
+G92 E0
+G91
+G1 E1 ; This is line 0
+G1 E1 ; This is line 1
+G1 E1 ; This is line 2
+G1 E1 ; This is line 3
+G1 E1 ; This is line 4
+G1 E1 ; This is line 5
+G1 E1 ; This is line 6
+G1 E1 ; This is line 7
+G1 E1 ; This is line 8
+G1 E1 ; This is line 9
+G1 E1 ; This is line 10
+G1 E1 ; This is line 11
+G1 E1 ; This is line 12
+G1 E1 ; This is line 13
+G1 E1 ; This is line 14
+G1 E1 ; This is line 15
+G1 E1 ; This is line 16
+G1 E1 ; This is line 17
+G1 E1 ; This is line 18
+G1 E1 ; This is line 19
+G1 E1 ; This is line 20
+G1 E1 ; This is line 21
+G1 E1 ; This is line 22
+G1 E1 ; This is line 23
+G1 E1 ; This is line 24
+G1 E1 ; This is line 25
+G1 E1 ; This is line 26
+G1 E1 ; This is line 27
+G1 E1 ; This is line 28
+G1 E1 ; This is line 29
+G1 E1 ; This is line 30
+G1 E1 ; This is line 31
+G1 E1 ; This is line 32
+G1 E1 ; This is line 33
+G1 E1 ; This is line 34
+G1 E1 ; This is line 35
+G1 E1 ; This is line 36
+G1 E1 ; This is line 37
+G1 E1 ; This is line 38
+G1 E1 ; This is line 39
+G1 E1 ; This is line 40
+G1 E1 ; This is line 41
+G1 E1 ; This is line 42
+G1 E1 ; This is line 43
+G1 E1 ; This is line 44
+G1 E1 ; This is line 45
+G1 E1 ; This is line 46
+G1 E1 ; This is line 47
+G1 E1 ; This is line 48
+G1 E1 ; This is line 49
+G1 E1 ; This is line 50
+G1 E1 ; This is line 51
+G1 E1 ; This is line 52
+G1 E1 ; This is line 53
+G1 E1 ; This is line 54
+G1 E1 ; This is line 55
+G1 E1 ; This is line 56
+G1 E1 ; This is line 57
+G1 E1 ; This is line 58
+G1 E1 ; This is line 59
+G1 E1 ; This is line 60
+G1 E1 ; This is line 61
+G1 E1 ; This is line 62
+G1 E1 ; This is line 63
+G1 E1 ; This is line 64
+G1 E1 ; This is line 65
+G1 E1 ; This is line 66
+G1 E1 ; This is line 67
+G1 E1 ; This is line 68
+G1 E1 ; This is line 69
+G1 E1 ; This is line 70
+G1 E1 ; This is line 71
+G1 E1 ; This is line 72
+G1 E1 ; This is line 73
+G1 E1 ; This is line 74
+G1 E1 ; This is line 75
+G1 E1 ; This is line 76
+G1 E1 ; This is line 77
+G1 E1 ; This is line 78
+G1 E1 ; This is line 79
+G1 E1 ; This is line 80
+G1 E1 ; This is line 81
+G1 E1 ; This is line 82
+G1 E1 ; This is line 83
+G1 E1 ; This is line 84
+G1 E1 ; This is line 85
+G1 E1 ; This is line 86
+G1 E1 ; This is line 87
+G1 E1 ; This is line 88
+G1 E1 ; This is line 89
+G1 E1 ; This is line 90
+G1 E1 ; This is line 91
+G1 E1 ; This is line 92
+G1 E1 ; This is line 93
+G1 E1 ; This is line 94
+G1 E1 ; This is line 95
+G1 E1 ; This is line 96
+G1 E1 ; This is line 97
+G1 E1 ; This is line 98
+G1 E1 ; This is line 99
+G1 E1 ; This is line 100
+G1 E1 ; This is line 101
+G1 E1 ; This is line 102
+G1 E1 ; This is line 103
+G1 E1 ; This is line 104
+G1 E1 ; This is line 105
+G1 E1 ; This is line 106
+G1 E1 ; This is line 107
+G1 E1 ; This is line 108
+G1 E1 ; This is line 109
+G1 E1 ; This is line 110
+G1 E1 ; This is line 111
+G1 E1 ; This is line 112
+G1 E1 ; This is line 113
+G1 E1 ; This is line 114
+G1 E1 ; This is line 115
+G1 E1 ; This is line 116
+G1 E1 ; This is line 117
+G1 E1 ; This is line 118
+G1 E1 ; This is line 119
+G1 E1 ; This is line 120
+G1 E1 ; This is line 121
+G1 E1 ; This is line 122
+G1 E1 ; This is line 123
+G1 E1 ; This is line 124
+G1 E1 ; This is line 125
+G1 E1 ; This is line 126
+G1 E1 ; This is line 127
+G1 E1 ; This is line 128
+G1 E1 ; This is line 129
+G1 E1 ; This is line 130
+G1 E1 ; This is line 131
+G1 E1 ; This is line 132
+G1 E1 ; This is line 133
+G1 E1 ; This is line 134
+G1 E1 ; This is line 135
+G1 E1 ; This is line 136
+G1 E1 ; This is line 137
+G1 E1 ; This is line 138
+G1 E1 ; This is line 139
+G1 E1 ; This is line 140
+G1 E1 ; This is line 141
+G1 E1 ; This is line 142
+G1 E1 ; This is line 143
+G1 E1 ; This is line 144
+G1 E1 ; This is line 145
+G1 E1 ; This is line 146
+G1 E1 ; This is line 147
+G1 E1 ; This is line 148
+G1 E1 ; This is line 149
+G1 E1 ; This is line 150
+G1 E1 ; This is line 151
+G1 E1 ; This is line 152
+G1 E1 ; This is line 153
+G1 E1 ; This is line 154
+G1 E1 ; This is line 155
+G1 E1 ; This is line 156
+G1 E1 ; This is line 157
+G1 E1 ; This is line 158
+G1 E1 ; This is line 159
+G1 E1 ; This is line 160
+G1 E1 ; This is line 161
+G1 E1 ; This is line 162
+G1 E1 ; This is line 163
+G1 E1 ; This is line 164
+G1 E1 ; This is line 165
+G1 E1 ; This is line 166
+G1 E1 ; This is line 167
+G1 E1 ; This is line 168
+G1 E1 ; This is line 169
+G1 E1 ; This is line 170
+G1 E1 ; This is line 171
+G1 E1 ; This is line 172
+G1 E1 ; This is line 173
+G1 E1 ; This is line 174
+G1 E1 ; This is line 175
+G1 E1 ; This is line 176
+G1 E1 ; This is line 177
+G1 E1 ; This is line 178
+G1 E1 ; This is line 179
+G1 E1 ; This is line 180
+G1 E1 ; This is line 181
+G1 E1 ; This is line 182
+G1 E1 ; This is line 183
+G1 E1 ; This is line 184
+G1 E1 ; This is line 185
+G1 E1 ; This is line 186
+G1 E1 ; This is line 187
+G1 E1 ; This is line 188
+G1 E1 ; This is line 189
+G1 E1 ; This is line 190
+G1 E1 ; This is line 191
+G1 E1 ; This is line 192
+G1 E1 ; This is line 193
+G1 E1 ; This is line 194
+G1 E1 ; This is line 195
+G1 E1 ; This is line 196
+G1 E1 ; This is line 197
+G1 E1 ; This is line 198
+G1 E1 ; This is line 199
+G1 E1 ; This is line 200
+G1 E1 ; This is line 201
+G1 E1 ; This is line 202
+G1 E1 ; This is line 203
+G1 E1 ; This is line 204
+G1 E1 ; This is line 205
+G1 E1 ; This is line 206
+G1 E1 ; This is line 207
+G1 E1 ; This is line 208
+G1 E1 ; This is line 209
+G1 E1 ; This is line 210
+G1 E1 ; This is line 211
+G1 E1 ; This is line 212
+G1 E1 ; This is line 213
+G1 E1 ; This is line 214
+G1 E1 ; This is line 215
+G1 E1 ; This is line 216
+G1 E1 ; This is line 217
+G1 E1 ; This is line 218
+G1 E1 ; This is line 219
+G1 E1 ; This is line 220
+G1 E1 ; This is line 221
+G1 E1 ; This is line 222
+G1 E1 ; This is line 223
+G1 E1 ; This is line 224
+G1 E1 ; This is line 225
+G1 E1 ; This is line 226
+G1 E1 ; This is line 227
+G1 E1 ; This is line 228
+G1 E1 ; This is line 229
+G1 E1 ; This is line 230
+G1 E1 ; This is line 231
+G1 E1 ; This is line 232
+G1 E1 ; This is line 233
+G1 E1 ; This is line 234
+G1 E1 ; This is line 235
+G1 E1 ; This is line 236
+G1 E1 ; This is line 237
+G1 E1 ; This is line 238
+G1 E1 ; This is line 239
+G1 E1 ; This is line 240
+G1 E1 ; This is line 241
+G1 E1 ; This is line 242
+G1 E1 ; This is line 243
+G1 E1 ; This is line 244
+G1 E1 ; This is line 245
+G1 E1 ; This is line 246
+G1 E1 ; This is line 247
+G1 E1 ; This is line 248
+G1 E1 ; This is line 249
+G1 E1 ; This is line 250
+G1 E1 ; This is line 251
+G1 E1 ; This is line 252
+G1 E1 ; This is line 253
+G1 E1 ; This is line 254
+G1 E1 ; This is line 255
+G1 E1 ; This is line 256
+G1 E1 ; This is line 257
+G1 E1 ; This is line 258
+G1 E1 ; This is line 259
+G1 E1 ; This is line 260
+G1 E1 ; This is line 261
+G1 E1 ; This is line 262
+G1 E1 ; This is line 263
+G1 E1 ; This is line 264
+G1 E1 ; This is line 265
+G1 E1 ; This is line 266
+G1 E1 ; This is line 267
+G1 E1 ; This is line 268
+G1 E1 ; This is line 269
+G1 E1 ; This is line 270
+G1 E1 ; This is line 271
+G1 E1 ; This is line 272
+G1 E1 ; This is line 273
+G1 E1 ; This is line 274
+G1 E1 ; This is line 275
+G1 E1 ; This is line 276
+G1 E1 ; This is line 277
+G1 E1 ; This is line 278
+G1 E1 ; This is line 279
+G1 E1 ; This is line 280
+G1 E1 ; This is line 281
+G1 E1 ; This is line 282
+G1 E1 ; This is line 283
+G1 E1 ; This is line 284
+G1 E1 ; This is line 285
+G1 E1 ; This is line 286
+G1 E1 ; This is line 287
+G1 E1 ; This is line 288
+G1 E1 ; This is line 289
+G1 E1 ; This is line 290
+G1 E1 ; This is line 291
+G1 E1 ; This is line 292
+G1 E1 ; This is line 293
+G1 E1 ; This is line 294
+G1 E1 ; This is line 295
+G1 E1 ; This is line 296
+G1 E1 ; This is line 297
+G1 E1 ; This is line 298
+G1 E1 ; This is line 299
+G1 E1 ; This is line 300
+G1 E1 ; This is line 301
+G1 E1 ; This is line 302
+G1 E1 ; This is line 303
+G1 E1 ; This is line 304
+G1 E1 ; This is line 305
+G1 E1 ; This is line 306
+G1 E1 ; This is line 307
+G1 E1 ; This is line 308
+G1 E1 ; This is line 309
+G1 E1 ; This is line 310
+G1 E1 ; This is line 311
+G1 E1 ; This is line 312
+G1 E1 ; This is line 313
+G1 E1 ; This is line 314
+G1 E1 ; This is line 315
+G1 E1 ; This is line 316
+G1 E1 ; This is line 317
+G1 E1 ; This is line 318
+G1 E1 ; This is line 319
+G1 E1 ; This is line 320
+G1 E1 ; This is line 321
+G1 E1 ; This is line 322
+G1 E1 ; This is line 323
+G1 E1 ; This is line 324
+G1 E1 ; This is line 325
+G1 E1 ; This is line 326
+G1 E1 ; This is line 327
+G1 E1 ; This is line 328
+G1 E1 ; This is line 329
+G1 E1 ; This one breaks
+G90
+M808
+G1 E330 ; Should pass
+SDCARD_LOOP_BEGIN COUNT=5
+; Sub-loop
+G1 X100 Y100
+G91
+M808 L3
+; Inner-loop
+G1 Z1
+M808
+G90
+SDCARD_LOOP_END
+; Done

test/klippy/temperature.cfg

@@ -0,0 +1,151 @@
+# Test config with many different types of temperature sensors
+[stepper_x]
+step_pin: PF0
+dir_pin: PF1
+enable_pin: !PD7
+microsteps: 16
+rotation_distance: 40
+endstop_pin: ^PE5
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+
+[stepper_y]
+step_pin: PF6
+dir_pin: !PF7
+enable_pin: !PF2
+microsteps: 16
+rotation_distance: 40
+endstop_pin: ^PJ1
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+
+[stepper_z]
+step_pin: PL3
+dir_pin: PL1
+enable_pin: !PK0
+microsteps: 16
+rotation_distance: 8
+endstop_pin: ^PD3
+position_endstop: 0.5
+position_max: 200
+
+[extruder]
+step_pin: PA4
+dir_pin: PA6
+enable_pin: !PA2
+microsteps: 16
+rotation_distance: 33.5
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: PB4
+sensor_type: AD595
+sensor_pin: PK5
+control: pid
+pid_Kp: 22.2
+pid_Ki: 1.08
+pid_Kd: 114
+min_temp: 0
+max_temp: 250
+
+[heater_bed]
+heater_pin: PH5
+sensor_type: PT100 INA826
+sensor_pin: PK6
+control: watermark
+min_temp: 0
+max_temp: 130
+
+[temperature_fan test_max6675]
+pin: PH6
+min_temp: 0
+max_temp: 100
+control: watermark
+sensor_type: MAX6675
+sensor_pin: PE4
+
+[temperature_fan test_max31855]
+pin: PG5
+min_temp: 0
+max_temp: 100
+control: watermark
+sensor_type: MAX31855
+sensor_pin: PE3
+
+[temperature_fan test_max31856]
+pin: PH3
+min_temp: 0
+max_temp: 100
+control: watermark
+sensor_type: MAX31856
+sensor_pin: PH4
+
+[temperature_fan test_max31865]
+pin: PB6
+min_temp: 0
+max_temp: 100
+control: watermark
+sensor_type: MAX31865
+sensor_pin: PB7
+
+[thermistor my_custom_thermistor]
+temperature1: 25
+resistance1: 100000
+temperature2: 100
+resistance2: 1500
+temperature3: 250
+resistance3: 100
+
+[temperature_fan test_custom_thermistor]
+pin: PJ0
+min_temp: 0
+max_temp: 100
+control: watermark
+sensor_type: my_custom_thermistor
+sensor_pin: PF3
+
+[adc_temperature my_custom_adc]
+temperature1: 25
+voltage1: 1
+temperature2: 100
+voltage2: 2
+temperature3: 250
+voltage3: 3
+
+[temperature_fan test_custom_adc]
+pin: PH1
+min_temp: 0
+max_temp: 100
+control: watermark
+sensor_type: my_custom_adc
+sensor_pin: PF4
+
+[adc_temperature my_custom_resistance_adc]
+temperature1: 25
+resistance1: 1000
+temperature2: 100
+resistance2: 2000
+temperature3: 250
+resistance3: 3000
+
+[temperature_sensor test_custom_resistance_adc]
+sensor_type: my_custom_resistance_adc
+sensor_pin: PF5
+
+[temperature_sensor test_PT1000]
+sensor_type: PT1000
+sensor_pin: PK1
+
+[controller_fan test_controller_fan]
+pin: PH0
+
+[mcu]
+serial: /dev/ttyACM0
+
+[printer]
+kinematics: cartesian
+max_velocity: 300
+max_accel: 3000
+max_z_velocity: 5
+max_z_accel: 100

test/klippy/temperature.test

@@ -0,0 +1,17 @@
+# Tests for various temperature sensors
+DICTIONARY atmega2560.dict
+CONFIG temperature.cfg
+
+# Set various temperatures
+M104 S100
+M105
+
+M140 S60
+M105
+
+M140 S0
+
+# Test "wait for temp" g-code
+M109 S100
+M109 S60
+M105

test/klippy/tmc.cfg

@@ -0,0 +1,97 @@
+# Test config for tmc drivers
+
+[stepper_x]
+step_pin: PC0
+dir_pin: PL0
+enable_pin: !PA7
+microsteps: 16
+rotation_distance: 40
+endstop_pin: tmc2130_stepper_x:virtual_endstop
+position_endstop: 0
+position_max: 250
+
+[tmc2130 stepper_x]
+cs_pin: PG0
+run_current: .5
+sense_resistor: 0.220
+diag1_pin: !PK2
+
+[stepper_x1]
+step_pin: PC3
+dir_pin: PL6
+microsteps: 16
+rotation_distance: 40
+endstop_pin: ^PB6
+
+[tmc2130 stepper_x1]
+cs_pin: PG1
+run_current: .5
+sense_resistor: 0.220
+diag1_pin: !PK2
+
+[stepper_y]
+step_pin: PC1
+dir_pin: !PL1
+microsteps: 16
+rotation_distance: 40
+endstop_pin: tmc5160_stepper_y:virtual_endstop
+position_endstop: 0
+position_max: 210
+
+[tmc5160 stepper_y]
+cs_pin: PG2
+run_current: .5
+sense_resistor: 0.220
+diag1_pin: !PK7
+
+[stepper_y1]
+step_pin: PA4
+dir_pin: PA6
+microsteps: 16
+rotation_distance: 40
+endstop_pin: tmc2209_stepper_y1:virtual_endstop
+
+[tmc2209 stepper_y1]
+uart_pin: PA5
+diag_pin: PH6
+run_current: .5
+sense_resistor: 0.075
+
+[stepper_z]
+step_pin: PC2
+dir_pin: PL2
+microsteps: 16
+rotation_distance: 8
+endstop_pin: ^PB4
+position_endstop: 0.5
+position_max: 200
+
+[tmc2208 stepper_z]
+uart_pin: PK5
+run_current: .5
+sense_resistor: 0.220
+
+[stepper_z1]
+step_pin: PB5
+dir_pin: PK6
+enable_pin: !PH5
+microsteps: 16
+rotation_distance: 8
+endstop_pin: ^PH3
+
+[tmc2660 stepper_z1]
+cs_pin: PK1
+run_current: .5
+sense_resistor: 0.220
+
+[mcu]
+serial: /dev/ttyACM0
+
+[printer]
+kinematics: cartesian
+max_velocity: 300
+max_accel: 3000
+max_z_velocity: 5
+max_z_accel: 100
+
+[endstop_phase]

test/klippy/tmc.test

@@ -0,0 +1,45 @@
+# Tests for the tmc drivers
+CONFIG tmc.cfg
+DICTIONARY atmega2560.dict
+
+; Start by homing the printer.
+G28
+G90
+G1 F6000
+
+; Z / X / Y moves
+G1 Z1
+G1 X1
+G1 Y1
+
+; Test DUMP_TMC commands
+DUMP_TMC STEPPER=stepper_x
+DUMP_TMC STEPPER=stepper_x1
+DUMP_TMC STEPPER=stepper_y
+DUMP_TMC STEPPER=stepper_y1
+DUMP_TMC STEPPER=stepper_z
+DUMP_TMC STEPPER=stepper_z1
+
+; Test INIT_TMC commands
+INIT_TMC STEPPER=stepper_x
+INIT_TMC STEPPER=stepper_x1
+INIT_TMC STEPPER=stepper_y
+INIT_TMC STEPPER=stepper_y1
+INIT_TMC STEPPER=stepper_z
+INIT_TMC STEPPER=stepper_z1
+
+; Test SET_TMC_CURRENT commands
+SET_TMC_CURRENT STEPPER=stepper_x CURRENT=.7
+SET_TMC_CURRENT STEPPER=stepper_x1 CURRENT=.7
+SET_TMC_CURRENT STEPPER=stepper_y CURRENT=.7
+SET_TMC_CURRENT STEPPER=stepper_y1 CURRENT=.7
+SET_TMC_CURRENT STEPPER=stepper_z CURRENT=.7
+SET_TMC_CURRENT STEPPER=stepper_z1 CURRENT=.7
+
+; Test SET_TMC_FIELD commands
+SET_TMC_FIELD STEPPER=stepper_x FIELD=intpol VALUE=0
+SET_TMC_FIELD STEPPER=stepper_x1 FIELD=intpol VALUE=0
+SET_TMC_FIELD STEPPER=stepper_y FIELD=intpol VALUE=0
+SET_TMC_FIELD STEPPER=stepper_y1 FIELD=intpol VALUE=0
+SET_TMC_FIELD STEPPER=stepper_z FIELD=intpol VALUE=0
+SET_TMC_FIELD STEPPER=stepper_z1 FIELD=intpol VALUE=0

test/klippy/z_tilt.cfg

@@ -0,0 +1,122 @@
+# Test config for z_tilt and quad_gantry_level
+[stepper_x]
+step_pin: PF0
+dir_pin: PF1
+enable_pin: !PD7
+microsteps: 16
+rotation_distance: 40
+endstop_pin: ^PE5
+position_endstop: 0
+position_max: 250
+homing_speed: 50
+
+[stepper_y]
+step_pin: PF6
+dir_pin: !PF7
+enable_pin: !PF2
+microsteps: 16
+rotation_distance: 40
+endstop_pin: ^PJ1
+position_endstop: 0
+position_max: 250
+homing_speed: 50
+
+[stepper_z]
+step_pin: PL3
+dir_pin: PL1
+enable_pin: !PK0
+microsteps: 16
+rotation_distance: 8
+endstop_pin: ^PD3
+position_endstop: 0.5
+position_max: 250
+
+[stepper_z1]
+step_pin: PC1
+dir_pin: PC3
+enable_pin: !PC7
+microsteps: 16
+rotation_distance: 8
+endstop_pin: ^PD2
+
+[stepper_z2]
+step_pin: PH1
+dir_pin: PH0
+enable_pin: !PA1
+microsteps: 16
+rotation_distance: 8
+
+[stepper_z3]
+step_pin: PE3
+dir_pin: PG5
+microsteps: 16
+rotation_distance: 8
+
+[quad_gantry_level]
+gantry_corners:
+    -55,-7
+    305, 320
+points:
+    25,0
+    25,200
+    225,200
+    225,0
+
+[z_tilt]
+z_positions:
+    -55,-7
+    -55,320
+    305,-7
+    305,320
+points:
+    50,50
+    50,195
+    195,195
+    195,50
+
+[bed_tilt]
+points:
+    50,50
+    50,195
+    195,195
+    195,50
+
+[extruder]
+step_pin: PA4
+dir_pin: PA6
+enable_pin: !PA2
+microsteps: 16
+rotation_distance: 33.5
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: PB4
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PK5
+control: pid
+pid_Kp: 22.2
+pid_Ki: 1.08
+pid_Kd: 114
+min_temp: 0
+max_temp: 250
+
+[heater_bed]
+heater_pin: PH5
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PK6
+control: watermark
+min_temp: 0
+max_temp: 130
+
+[probe]
+pin: PH6
+z_offset: 1.15
+
+[mcu]
+serial: /dev/ttyACM0
+
+[printer]
+kinematics: cartesian
+max_velocity: 300
+max_accel: 3000
+max_z_velocity: 5
+max_z_accel: 100

test/klippy/z_tilt.test

@@ -0,0 +1,28 @@
+# Test case for z_tilt and quad_gantry_level
+CONFIG z_tilt.cfg
+DICTIONARY atmega2560.dict
+
+# Start by homing the printer.
+G28
+G1 Z5 X10 Y10 F6000
+M400
+GET_POSITION
+
+# Run Z_TILT_ADJUST in manual mode
+Z_TILT_ADJUST METHOD=MANUAL
+G1 Z2.909972
+ACCEPT
+G1 Z2.924972
+ACCEPT
+G1 Z2.959972
+ACCEPT
+G1 Z2.924972
+ACCEPT
+
+# Report position
+G1 Z5 X10 Y10 F6000
+M400
+GET_POSITION
+
+# Run again in automatic mode
+Z_TILT_ADJUST

test/klippy/z_virtual_endstop.cfg

@@ -0,0 +1,75 @@
+# Test config for probe:z_virtual_endstop
+[stepper_x]
+step_pin: PF0
+dir_pin: PF1
+enable_pin: !PD7
+microsteps: 16
+rotation_distance: 40
+endstop_pin: ^PE5
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+
+[stepper_y]
+step_pin: PF6
+dir_pin: !PF7
+enable_pin: !PF2
+microsteps: 16
+rotation_distance: 40
+endstop_pin: ^PJ1
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+
+[stepper_z]
+step_pin: PL3
+dir_pin: PL1
+enable_pin: !PK0
+microsteps: 16
+rotation_distance: 8
+endstop_pin: probe:z_virtual_endstop
+position_max: 200
+
+[extruder]
+step_pin: PA4
+dir_pin: PA6
+enable_pin: !PA2
+microsteps: 16
+rotation_distance: 33.5
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: PB4
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PK5
+control: pid
+pid_Kp: 22.2
+pid_Ki: 1.08
+pid_Kd: 114
+min_temp: 0
+max_temp: 250
+
+[heater_bed]
+heater_pin: PH5
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PK6
+control: watermark
+min_temp: 0
+max_temp: 130
+
+[probe]
+pin: PH6
+z_offset: 1.15
+
+[bed_mesh]
+mesh_min: 10,10
+mesh_max: 180,180
+
+[mcu]
+serial: /dev/ttyACM0
+
+[printer]
+kinematics: cartesian
+max_velocity: 300
+max_accel: 3000
+max_z_velocity: 5
+max_z_accel: 100

test/klippy/z_virtual_endstop.test

@@ -0,0 +1,38 @@
+# Test case for probe:z_virtual_endstop support
+CONFIG z_virtual_endstop.cfg
+DICTIONARY atmega2560.dict
+
+# Start by homing the printer.
+G28
+G1 F6000
+
+# Z / X / Y moves
+G1 Z1
+G1 X1
+G1 Y1
+
+# Run bed_mesh_calibrate
+BED_MESH_CALIBRATE
+
+# Move again
+G1 Z5 X0 Y0
+
+# Do regular probe
+PROBE
+QUERY_PROBE
+
+# Test PROBE_CALIBRATE
+PROBE_CALIBRATE
+ABORT
+PROBE_CALIBRATE SPEED=7.3
+TESTZ Z=-.2
+TESTZ Z=-.3
+TESTZ Z=+.1
+TESTZ Z=++
+TESTZ Z=--
+TESTZ Z=+
+TESTZ Z=-
+ACCEPT
+
+# Move again
+G1 Z9