Re-pick: Backport upstream Klipper patches for resonance testing

overlays/firmware-extended/20-klipper-patches/README.md

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+# This overlay integrates upstream klipper changes
+
+## Upstream commmits:
+
+1. [toolhead: Reduce LOOKAHEAD_FLUSH_TIME to 0.150 seconds](https://github.com/Klipper3d/klipper/commit/16fc46fe5)
+1. [resonance_tester: Fix chips selection, add accel_per_hz selection](https://github.com/Klipper3d/klipper/commit/6d1256ddc)
+1. [resonance_tester: Added a new sweeping_vibrations resonance test method](https://github.com/Klipper3d/klipper/commit/16b4b6b30)
+
+## Formatting of patches
+
+Patches are ordered, they are stripped of config changes, and minimal amount of amendments are done
+to make them as close to upstream as possible.

overlays/firmware-extended/20-klipper-patches/patches/home/lava/klipper/01_16fc46fe5.patch

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+From 16fc46fe5ff0dbbc5188ee6a7829eee5976c1eb9 Mon Sep 17 00:00:00 2001
+From: Kevin O'Connor <kevin@koconnor.net>
+Date: Tue, 30 Sep 2025 19:32:49 -0400
+Subject: [PATCH] toolhead: Reduce LOOKAHEAD_FLUSH_TIME to 0.150 seconds
+
+The current code is likely to perform a lazy flush of the lookahead
+queue around 4 times a second.  Increase that to around 6-7 times a
+second.  This change may slightly improve the responsiveness to user
+requests mid-print (eg, changing extrusion ratio) and may make a
+"print stall" less likely in some corner cases.
+
+Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
+---
+ klippy/toolhead.py | 2 +-
+ 1 file changed, 1 insertion(+), 1 deletion(-)
+
+diff --git a/klippy/toolhead.py b/klippy/toolhead.py
+index 9163e82cc7a8..da297e966be4 100644
+--- a/klippy/toolhead.py
++++ b/klippy/toolhead.py
+@@ -113,7 +113,7 @@ def set_junction(self, start_v2, cruise_v2, end_v2):
+         self.cruise_t = cruise_d / cruise_v
+         self.decel_t = decel_d / ((end_v + cruise_v) * 0.5)
+
+-LOOKAHEAD_FLUSH_TIME = 0.250
++LOOKAHEAD_FLUSH_TIME = 0.150
+
+ # Class to track a list of pending move requests and to facilitate
+ # "look-ahead" across moves to reduce acceleration between moves.

overlays/firmware-extended/20-klipper-patches/patches/home/lava/klipper/02_6d1256ddc.patch

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+From 6d1256ddcc51cc62ab403fdc29d0b2688116a29e Mon Sep 17 00:00:00 2001
+From: MRX8024 <57844100+MRX8024@users.noreply.github.com>
+Date: Wed, 13 Nov 2024 02:55:32 +0200
+Subject: [PATCH] resonance_tester: Fix chips selection, add accel_per_hz
+ selection (#6726)
+
+Corrected issue where accelerometer names were incorrectly prefixed
+with "adxl345", preventing the selection of other chip types when running TEST_RESONANCES.
+
+Implemented support for selecting the `accel_per_hz` parameter when running TEST_RESONANCES.
+
+docs: Update TEST_RESONANCES + SHAPER_CALIBRATE with missing parameters and bracket corrections
+
+Signed-off-by: Maksim Bolgov <maksim8024@gmail.com>
+---
+ docs/Config_Changes.md            |  4 ++++
+ docs/G-Codes.md                   | 18 +++++++++---------
+ klippy/extras/resonance_tester.py |  8 +++-----
+ 3 files changed, 16 insertions(+), 14 deletions(-)
+
+diff --git a/klippy/extras/resonance_tester.py b/klippy/extras/resonance_tester.py
+index fe8717d58545..e9d4e9d92c53 100644
+--- a/klippy/extras/resonance_tester.py
++++ b/klippy/extras/resonance_tester.py
+@@ -65,6 +65,8 @@ def prepare_test(self, gcmd):
+         self.freq_start = gcmd.get_float("FREQ_START", self.min_freq, minval=1.)
+         self.freq_end = gcmd.get_float("FREQ_END", self.max_freq,
+                                        minval=self.freq_start, maxval=300.)
++        self.accel_per_hz = gcmd.get_float("ACCEL_PER_HZ",
++                                           self.accel_per_hz, above=0.)
+         self.hz_per_sec = gcmd.get_float("HZ_PER_SEC", self.hz_per_sec,
+                                          above=0., maxval=2.)
+     def run_test(self, axis, gcmd):
+@@ -212,11 +214,7 @@ def _run_test(self, gcmd, axes, helper, raw_name_suffix=None,
+     def _parse_chips(self, accel_chips):
+         parsed_chips = []
+         for chip_name in accel_chips.split(','):
+-            if "adxl345" in chip_name:
+-                chip_lookup_name = chip_name.strip()
+-            else:
+-                chip_lookup_name = "adxl345 " + chip_name.strip();
+-            chip = self.printer.lookup_object(chip_lookup_name)
++            chip = self.printer.lookup_object(chip_name.strip())
+             parsed_chips.append(chip)
+         return parsed_chips
+     def _get_max_calibration_freq(self):

overlays/firmware-extended/20-klipper-patches/patches/home/lava/klipper/03_8291788.patch

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+From 8291788f40a677b11d6e0e0283411bc5f96936f7 Mon Sep 17 00:00:00 2001
+From: Kevin O'Connor <kevin@koconnor.net>
+Date: Wed, 27 Nov 2024 22:45:27 -0500
+Subject: [PATCH] toolhead: Use delta_v2 when calculating centripetal force
+
+As a minor math optimization, it's possible to calculate:
+  .5 * self.move_d * self.accel * tan_theta_d2
+using:
+  self.delta_v2 * .25 * tan_theta_d2
+because self.delta_v2 is "2. * self.move_d * self.accel".
+
+Signed-off-by: Dmitry Butyugin <dmbutyugin@google.com>
+Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
+---
+ klippy/toolhead.py | 9 +++++----
+ 1 file changed, 5 insertions(+), 4 deletions(-)
+
+diff --git a/klippy/toolhead.py b/klippy/toolhead.py
+index 4149d53b12f6..948ea974fd70 100644
+--- a/klippy/toolhead.py
++++ b/klippy/toolhead.py
+@@ -76,10 +76,11 @@ def calc_junction(self, prev_move):
+         sin_theta_d2 = math.sqrt(0.5*(1.0-junction_cos_theta))
+         R_jd = sin_theta_d2 / (1. - sin_theta_d2)
+         # Approximated circle must contact moves no further away than mid-move
+-        tan_theta_d2 = sin_theta_d2 / math.sqrt(0.5*(1.0+junction_cos_theta))
+-        move_centripetal_v2 = .5 * self.move_d * tan_theta_d2 * self.accel
+-        prev_move_centripetal_v2 = (.5 * prev_move.move_d * tan_theta_d2
+-                                    * prev_move.accel)
++        #   centripetal_v2 = .5 * self.move_d * self.accel * tan_theta_d2
++        cos_theta_d2 = math.sqrt(0.5*(1.0+junction_cos_theta))
++        quarter_tan_theta_d2 = .25 * sin_theta_d2 / cos_theta_d2
++        move_centripetal_v2 = self.delta_v2 * quarter_tan_theta_d2
++        prev_move_centripetal_v2 = prev_move.delta_v2 * quarter_tan_theta_d2
+         # Apply limits
+         self.max_start_v2 = min(
+             R_jd * self.junction_deviation * self.accel,

overlays/firmware-extended/20-klipper-patches/patches/home/lava/klipper/04_847331260.patch

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+From 847331260c84e9de00404aa98f0029184150a897 Mon Sep 17 00:00:00 2001
+From: Kevin O'Connor <kevin@koconnor.net>
+Date: Wed, 27 Nov 2024 22:34:17 -0500
+Subject: [PATCH] toolhead: Remove arbitrary constants controlling junction
+ deviation
+
+When calculating the junction speed between two moves the code checked
+for angles greater than 0.999999 or less than -0.999999 to avoid math
+issues (sqrt of a negative number and/or divide by zero).  However,
+these arbitrary constants could unnecessarily pessimize junction
+speeds when angles are close to 180 or 0 degrees.
+
+Change the code to explicitly check for negative numbers during sqrt
+and to explicilty check for zero values prior to division.  This
+simplifies the code and avoids unnecessarily reducing some junction
+speeds.
+
+Signed-off-by: Dmitry Butyugin <dmbutyugin@google.com>
+Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
+---
+ klippy/toolhead.py | 38 +++++++++++++++++++-------------------
+ 1 file changed, 19 insertions(+), 19 deletions(-)
+
+diff --git a/klippy/toolhead.py b/klippy/toolhead.py
+index 948ea974fd70..ed26092f651d 100644
+--- a/klippy/toolhead.py
++++ b/klippy/toolhead.py
+@@ -64,33 +64,33 @@ def calc_junction(self, prev_move):
+             return
+         # Allow extruder to calculate its maximum junction
+         extruder_v2 = self.toolhead.extruder.calc_junction(prev_move, self)
++        max_start_v2 = min(
++            extruder_v2, self.max_cruise_v2, prev_move.max_cruise_v2,
++            prev_move.max_start_v2 + prev_move.delta_v2)
+         # Find max velocity using "approximated centripetal velocity"
+         axes_r = self.axes_r
+         prev_axes_r = prev_move.axes_r
+         junction_cos_theta = -(axes_r[0] * prev_axes_r[0]
+                                + axes_r[1] * prev_axes_r[1]
+                                + axes_r[2] * prev_axes_r[2])
+-        if junction_cos_theta > 0.999999:
+-            return
+-        junction_cos_theta = max(junction_cos_theta, -0.999999)
+-        sin_theta_d2 = math.sqrt(0.5*(1.0-junction_cos_theta))
+-        R_jd = sin_theta_d2 / (1. - sin_theta_d2)
+-        # Approximated circle must contact moves no further away than mid-move
+-        #   centripetal_v2 = .5 * self.move_d * self.accel * tan_theta_d2
+-        cos_theta_d2 = math.sqrt(0.5*(1.0+junction_cos_theta))
+-        quarter_tan_theta_d2 = .25 * sin_theta_d2 / cos_theta_d2
+-        move_centripetal_v2 = self.delta_v2 * quarter_tan_theta_d2
+-        prev_move_centripetal_v2 = prev_move.delta_v2 * quarter_tan_theta_d2
++        sin_theta_d2 = math.sqrt(max(0.5*(1.0-junction_cos_theta), 0.))
++        cos_theta_d2 = math.sqrt(max(0.5*(1.0+junction_cos_theta), 0.))
++        one_minus_sin_theta_d2 = 1. - sin_theta_d2
++        if one_minus_sin_theta_d2 > 0. and cos_theta_d2 > 0.:
++            R_jd = sin_theta_d2 / one_minus_sin_theta_d2
++            move_jd_v2 = R_jd * self.junction_deviation * self.accel
++            pmove_jd_v2 = R_jd * prev_move.junction_deviation * prev_move.accel
++            # Approximated circle must contact moves no further than mid-move
++            #   centripetal_v2 = .5 * self.move_d * self.accel * tan_theta_d2
++            quarter_tan_theta_d2 = .25 * sin_theta_d2 / cos_theta_d2
++            move_centripetal_v2 = self.delta_v2 * quarter_tan_theta_d2
++            pmove_centripetal_v2 = prev_move.delta_v2 * quarter_tan_theta_d2
++            max_start_v2 = min(max_start_v2, move_jd_v2, pmove_jd_v2,
++                               move_centripetal_v2, pmove_centripetal_v2)
+         # Apply limits
+-        self.max_start_v2 = min(
+-            R_jd * self.junction_deviation * self.accel,
+-            R_jd * prev_move.junction_deviation * prev_move.accel,
+-            move_centripetal_v2, prev_move_centripetal_v2,
+-            extruder_v2, self.max_cruise_v2, prev_move.max_cruise_v2,
+-            prev_move.max_start_v2 + prev_move.delta_v2)
++        self.max_start_v2 = max_start_v2
+         self.max_smoothed_v2 = min(
+-            self.max_start_v2
+-            , prev_move.max_smoothed_v2 + prev_move.smooth_delta_v2)
++            max_start_v2, prev_move.max_smoothed_v2 + prev_move.smooth_delta_v2)
+     def set_junction(self, start_v2, cruise_v2, end_v2):
+         # Determine accel, cruise, and decel portions of the move distance
+         half_inv_accel = .5 / self.accel