2 files changed, 89 insertions, 0 deletions
diff --git a/test/klippy/input_shaper.cfg b/test/klippy/input_shaper.cfg
new file mode 100644
index 00000000..fcfc7fd1
--- /dev/null
+++ b/test/klippy/input_shaper.cfg
@@ -0,0 +1,82 @@
+# 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
+
+[resonance_tester]
+probe_points: 20,20,20
+accel_chip: adxl345
diff --git a/test/klippy/input_shaper.test b/test/klippy/input_shaper.test
new file mode 100644
index 00000000..8714ec5e
--- /dev/null
+++ b/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