test: Add test cases for tmc drivers

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

5 files changed, 132 insertions, 0 deletions

diff --git a/klippy/extras/tmc2130.py b/klippy/extras/tmc2130.py
index d5130cbf..cc4c8e12 100644
--- a/klippy/extras/tmc2130.py
+++ b/klippy/extras/tmc2130.py
@@ -279,6 +279,8 @@ class TMC2130:
     def get_register(self, reg_name):
         reg = Registers[reg_name]
         self.spi.spi_send([reg, 0x00, 0x00, 0x00, 0x00])
+        if self.printer.get_start_args().get('debugoutput') is not None:
+            return 0
         params = self.spi.spi_transfer([reg, 0x00, 0x00, 0x00, 0x00])
         pr = bytearray(params['response'])
         return (pr[1] << 24) | (pr[2] << 16) | (pr[3] << 8) | pr[4]
diff --git a/klippy/extras/tmc2660.py b/klippy/extras/tmc2660.py
index 7f0c95d1..ae2b4ba8 100644
--- a/klippy/extras/tmc2660.py
+++ b/klippy/extras/tmc2660.py
@@ -225,6 +225,8 @@ class TMC2660:
     def get_response(self):
         reg = Registers["DRVCTRL"]
         val = self.regs["DRVCTRL"]
+        if self.printer.get_start_args().get('debugoutput') is not None:
+            return 0
         params = self.spi.spi_transfer([((val >> 16) | reg) & 0xff,
                             (val >> 8) & 0xff, val & 0xff])
         pr = bytearray(params['response'])
diff --git a/klippy/extras/tmc5160.py b/klippy/extras/tmc5160.py
index 70736f2e..a2438dda 100644
--- a/klippy/extras/tmc5160.py
+++ b/klippy/extras/tmc5160.py
@@ -350,6 +350,8 @@ class TMC5160:
     def get_register(self, reg_name):
         reg = registers[reg_name]
         self.spi.spi_send([reg, 0x00, 0x00, 0x00, 0x00])
+        if self.printer.get_start_args().get('debugoutput') is not None:
+            return 0
         params = self.spi.spi_transfer([reg, 0x00, 0x00, 0x00, 0x00])
         pr = bytearray(params['response'])
         return (pr[1] << 24) | (pr[2] << 16) | (pr[3] << 8) | pr[4]
diff --git a/test/klippy/tmc.cfg b/test/klippy/tmc.cfg
new file mode 100644
index 00000000..2a73ae58
--- /dev/null
+++ b/test/klippy/tmc.cfg
@@ -0,0 +1,85 @@
+# Test config for tmc drivers
+
+[stepper_x]
+step_pin: PC0
+dir_pin: PL0
+enable_pin: !PA7
+step_distance: .005
+endstop_pin: tmc2130_stepper_x:virtual_endstop
+position_endstop: 0
+position_max: 250
+
+[tmc2130 stepper_x]
+cs_pin: PG0
+microsteps: 16
+run_current: .5
+sense_resistor: 0.220
+diag1_pin: !PK2
+
+[stepper_x1]
+step_pin: PC3
+dir_pin: PL6
+enable_pin: !PA4
+step_distance: .005
+endstop_pin: ^PB6
+
+[tmc2130 stepper_x1]
+cs_pin: PG1
+microsteps: 16
+run_current: .5
+sense_resistor: 0.220
+diag1_pin: !PK2
+
+[stepper_y]
+step_pin: PC1
+dir_pin: !PL1
+enable_pin: !PA6
+step_distance: .005
+endstop_pin: tmc5160_stepper_y:virtual_endstop
+position_endstop: 0
+position_max: 210
+
+[tmc5160 stepper_y]
+cs_pin: PG2
+microsteps: 16
+run_current: .5
+sense_resistor: 0.220
+diag1_pin: !PK7
+
+[stepper_z]
+step_pin: PC2
+dir_pin: PL2
+enable_pin: !PA5
+step_distance: .0025
+endstop_pin: ^PB4
+position_endstop: 0.5
+position_max: 200
+
+[tmc2208 stepper_z]
+uart_pin: PK5
+microsteps: 16
+run_current: .5
+sense_resistor: 0.220
+
+[stepper_z1]
+step_pin: PB5
+dir_pin: PK6
+enable_pin: !PH5
+step_distance: .0025
+endstop_pin: ^PH3
+
+[tmc2660 stepper_z1]
+cs_pin: PK1
+microsteps: 16
+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
diff --git a/test/klippy/tmc.test b/test/klippy/tmc.test
new file mode 100644
index 00000000..0cd1de17
--- /dev/null
+++ b/test/klippy/tmc.test
@@ -0,0 +1,41 @@
+# 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_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_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_z CURRENT=.7
+SET_TMC_CURRENT STEPPER=stepper_z1 CURRENT=.7
+
+; Test SET_TMC_FIELD commands
+SET_TMC_CURRENT STEPPER=stepper_x FIELD=intpol VALUE=0
+SET_TMC_CURRENT STEPPER=stepper_x1 FIELD=intpol VALUE=0
+SET_TMC_CURRENT STEPPER=stepper_y FIELD=intpol VALUE=0
+SET_TMC_CURRENT STEPPER=stepper_z FIELD=intpol VALUE=0
+SET_TMC_CURRENT STEPPER=stepper_z1 FIELD=intpol VALUE=0