3 files changed, 107 insertions, 1 deletions
diff --git a/test/klippy/commands.test b/test/klippy/commands.test
index 50e71ab3..33c59961 100644
--- a/test/klippy/commands.test
+++ b/test/klippy/commands.test
@@ -40,7 +40,7 @@ SET_VELOCITY_LIMIT ACCEL=100 VELOCITY=20 SQUARE_CORNER_VELOCITY=1 ACCEL_TO_DECEL
 M204 S500
 
 SET_PRESSURE_ADVANCE EXTRUDER=extruder ADVANCE=.001
-SET_PRESSURE_ADVANCE ADVANCE=.002 ADVANCE_LOOKAHEAD_TIME=.001
+SET_PRESSURE_ADVANCE ADVANCE=.002 SMOOTH_TIME=.001
 
 # Restart command (must be last in test)
 RESTART
diff --git a/test/klippy/pressure_advance.cfg b/test/klippy/pressure_advance.cfg
new file mode 100644
index 00000000..d7123d08
--- /dev/null
+++ b/test/klippy/pressure_advance.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
diff --git a/test/klippy/pressure_advance.test b/test/klippy/pressure_advance.test
new file mode 100644
index 00000000..c1ef052a
--- /dev/null
+++ b/test/klippy/pressure_advance.test
@@ -0,0 +1,38 @@
+# Extruder tests
+DICTIONARY atmega2560.dict
+CONFIG pressure_advance.cfg
+
+SET_PRESSURE_ADVANCE ADVANCE=0.1
+# Home and extrusion moves
+G28
+G1 X20 Y20 Z1 F6000
+G1 E7
+G1 X25 Y25 E7.5
+
+# Update pressure advance for my_extra_stepper
+SET_PRESSURE_ADVANCE EXTRUDER=my_extra_stepper ADVANCE=0.02
+G1 X30 Y30 E8.0
+
+# Unsync my_extra_stepper from extruder
+SYNC_EXTRUDER_MOTION EXTRUDER=my_extra_stepper MOTION_QUEUE=
+
+# Update pressure advance for primary extruder
+SET_PRESSURE_ADVANCE ADVANCE=0.01
+G1 X35 Y35 E8.5
+
+# Update pressure advance both extruders
+SET_PRESSURE_ADVANCE EXTRUDER=my_extra_stepper ADVANCE=0.05
+SET_PRESSURE_ADVANCE ADVANCE=0.05
+# Sync my_extra_stepper to extruder
+SYNC_EXTRUDER_MOTION EXTRUDER=my_extra_stepper MOTION_QUEUE=extruder
+G1 X40 Y40 E9.0
+
+# Update smooth_time
+SET_PRESSURE_ADVANCE SMOOTH_TIME=0.02
+SET_PRESSURE_ADVANCE EXTRUDER=my_extra_stepper SMOOTH_TIME=0.02
+G1 X45 Y45 E9.5
+
+# Updating both smooth_time and pressure advance
+SET_PRESSURE_ADVANCE SMOOTH_TIME=0.03 ADVANCE=0.1
+SET_PRESSURE_ADVANCE EXTRUDER=my_extra_stepper SMOOTH_TIME=0.03 ADVANCE=0.1
+G1 X50 Y50 E10.0