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Feature/stallguard autotune - #6
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Continuously cross-check StallGuard against the accelerometer and nudge SGTHRS so the tune self-corrects between calibrations. New "StallGuard Auto-Tune" switch (advanced group, default OFF) gates it; requires StallGuard + Vibration Stall Detection both on. Two directions, both small (+/-1 register step), clamped, logged, and counted via a new "Auto-Tune Adjustments" diagnostic: - RAISE (high confidence): when the vibration detector trips (its sustained-judder threshold = a real stall) but StallGuard did NOT fire this travel, StallGuard was too insensitive -> SGTHRS += step (ceiling 60). - LOWER (conservative): a StallGuard trip is cross-checked in sg_autotune_eval. If peak vibration this travel stayed below half the Vibration Threshold AND the trip was mid-travel (not near an end stop), it is counted as a probable false trip. Only after THREE consecutive such quiet trips -> SGTHRS -= step (floor 2). A vibration-agreeing trip or a clean full travel (limit reached) resets the streak, so a single missed-judder stall can't desensitize StallGuard. State: vib_run_peak + sg_fired_this_move reset at motion start, tracked in the vibration interval / on_stall; sg_quiet_streak and a persisted sg_autotune_count. A fresh Auto-Calibrate always overrides whatever auto-tune has drifted to. Config valid; full compile OK. Default OFF so behaviour is unchanged until enabled.
…, raise cap Add a "Speed" preset select (Motion Tuning) mapping Slow/Medium/Fast to 1200 / 2600 / 5500 steps/s, and demote the raw Speed slider to the advanced group (mirrors the Ropener pattern). Raise stepper_max_speed 1200 -> 5500 so Fast is reachable. Values chosen from an accelerometer resonance sweep of this mechanism (external measurement tool, not shipped): vibration is flat and quiet across the range EXCEPT a violent drivetrain resonance at ~2900-3300 (worst 3000-3100, peak ~1 g). All three presets avoid parking in that band; ramps cross it only transiently, which measured harmless (clean position tracking). The motor holds torque with no step loss all the way to 9000, but 6000+ free-run vibration exceeds the vib-stall threshold, so the product cap sits at 5500 (Fast) to stay clear of false trips. The select reads/writes global_speed (single source of truth, restored on boot); changing speed auto-flags the StallGuard calibration stale (SG_RESULT is speed-dependent). Verified on hardware: Slow->1200, Medium->2600, Fast->5500.
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