2 files changed, 126 insertions, 0 deletions
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