#263 klipper support

[vintagepc]

Description

Changes required for Klipper support, both SimAVR and the main FW.

Behaviour/ Breaking changes

Adds --skew-correct to force the simulation to try to track wall time.
Tweaks heater off-time so it doesn't cool as much when not at 100% PWM
LCD now ignores writes when it is busy.

Have you tested the changes?

Yes - locally and @leptun have confirmed that Klipper appears to be working.

Linked issues:

• Closes [FEATURE] Klipper support #263

[codecov-io]

Codecov Report

Merging #274 into master will decrease coverage by 0.13%.
The diff coverage is 71.73%.

@@            Coverage Diff             @@
##           master     #274      +/-   ##
==========================================
- Coverage   89.98%   89.84%   -0.14%     
==========================================
  Files         137      137              
  Lines        6129     6163      +34     
==========================================
+ Hits         5515     5537      +22     
- Misses        614      626      +12     

Impacted Files	Coverage Δ
parts/components/Heater.h	100.00% <ø> (ø)
parts/components/PINDA.cpp	94.01% <ø> (-0.06%)	⬇️
parts/components/TMC2130.h	100.00% <ø> (ø)
parts/Board.cpp	80.95% <9.09%> (-3.60%)	⬇️
parts/boards/EinsyRambo.cpp	93.98% <50.00%> (-0.68%)	⬇️
parts/components/HD44780.cpp	77.73% <75.00%> (+0.04%)	⬆️
MK404.cpp	94.66% <100.00%> (+0.16%)	⬆️
parts/Board.h	95.65% <100.00%> (+0.19%)	⬆️
parts/components/Heater.cpp	98.90% <100.00%> (+0.01%)	⬆️
parts/components/TMC2130.cpp	93.40% <100.00%> (+0.34%)	⬆️

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[leptun]

In the future we might have to improve the TMC DIAG active_low option. This mode of operation is designed so that all TMC drivers can share the same DIAG line. We haven't encountered this yet on any of the boards we use, but it is theoretically possible to have something like this. I think the DUET2 WIFI board is like this with their drivers, but that is a SAMD based board anyway.

[vintagepc]

Yep, there's definitely work to be done when we encounter additional features in use (for example, boards with both DIAG lines configured to different things. But better to implement it at point of need rather than get mired down in the specifics too soon 👍