diff --git a/.travis.yml b/.travis.yml
index 78333aea1a7d2539a15dc5590e7a389910407306..1ce6a2f5baffa8505d745d708e2c3de9986f6b6a 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -453,7 +453,7 @@ script:
- export TEST_PLATFORM="-e DUE"
- restore_configs
- opt_set MOTHERBOARD BOARD_RAMPS4DUE_EFB
- - opt_set BEZIER_JERK_CONTROL
+ - opt_set S_CURVE_ACCELERATION
- cp Marlin/Configuration.h Marlin/src/config/default/Configuration.h
- cp Marlin/Configuration_adv.h Marlin/src/config/default/Configuration_adv.h
- build_marlin_pio ${TRAVIS_BUILD_DIR} ${TEST_PLATFORM}
diff --git a/Marlin/Configuration.h b/Marlin/Configuration.h
index 6b1d9af16ce2e379c37a04657957f685d6bb4016..067e4c87e102cb75e638e93960a6326fd8cdfcd4 100644
--- a/Marlin/Configuration.h
+++ b/Marlin/Configuration.h
@@ -639,15 +639,14 @@
#define DEFAULT_EJERK 5.0
/**
- * Realtime Jerk Control
+ * S-Curve Acceleration
*
* This option eliminates vibration during printing by fitting a Bézier
* curve to move acceleration, producing much smoother direction changes.
- * Because this is computationally-intensive, a 32-bit MCU is required.
*
* See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
*/
-//#define BEZIER_JERK_CONTROL
+//#define S_CURVE_ACCELERATION
//===========================================================================
//============================= Z Probe Options =============================
diff --git a/Marlin/src/config/default/Configuration.h b/Marlin/src/config/default/Configuration.h
index 6b1d9af16ce2e379c37a04657957f685d6bb4016..067e4c87e102cb75e638e93960a6326fd8cdfcd4 100644
--- a/Marlin/src/config/default/Configuration.h
+++ b/Marlin/src/config/default/Configuration.h
@@ -639,15 +639,14 @@
#define DEFAULT_EJERK 5.0
/**
- * Realtime Jerk Control
+ * S-Curve Acceleration
*
* This option eliminates vibration during printing by fitting a Bézier
* curve to move acceleration, producing much smoother direction changes.
- * Because this is computationally-intensive, a 32-bit MCU is required.
*
* See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
*/
-//#define BEZIER_JERK_CONTROL
+//#define S_CURVE_ACCELERATION
//===========================================================================
//============================= Z Probe Options =============================
diff --git a/Marlin/src/config/examples/AlephObjects/TAZ4/Configuration.h b/Marlin/src/config/examples/AlephObjects/TAZ4/Configuration.h
index a8e4b3358e3469a45a0b461d953a27b0858769ff..6aa8f5795075224a405898d1ac8ca2f20de2744a 100644
--- a/Marlin/src/config/examples/AlephObjects/TAZ4/Configuration.h
+++ b/Marlin/src/config/examples/AlephObjects/TAZ4/Configuration.h
@@ -658,15 +658,14 @@
#define DEFAULT_EJERK 10.0
/**
- * Realtime Jerk Control
+ * S-Curve Acceleration
*
* This option eliminates vibration during printing by fitting a Bézier
* curve to move acceleration, producing much smoother direction changes.
- * Because this is computationally-intensive, a 32-bit MCU is required.
*
* See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
*/
-//#define BEZIER_JERK_CONTROL
+//#define S_CURVE_ACCELERATION
//===========================================================================
//============================= Z Probe Options =============================
diff --git a/Marlin/src/config/examples/AliExpress/CL-260/Configuration.h b/Marlin/src/config/examples/AliExpress/CL-260/Configuration.h
index fb66dc559b20359b10cb4498b687d21bbc1f7a07..6a986559ef154ec44242068fd12896636ca86884 100644
--- a/Marlin/src/config/examples/AliExpress/CL-260/Configuration.h
+++ b/Marlin/src/config/examples/AliExpress/CL-260/Configuration.h
@@ -638,15 +638,14 @@
#define DEFAULT_EJERK 5.0
/**
- * Realtime Jerk Control
+ * S-Curve Acceleration
*
* This option eliminates vibration during printing by fitting a Bézier
* curve to move acceleration, producing much smoother direction changes.
- * Because this is computationally-intensive, a 32-bit MCU is required.
*
* See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
*/
-//#define BEZIER_JERK_CONTROL
+//#define S_CURVE_ACCELERATION
//===========================================================================
//============================= Z Probe Options =============================
diff --git a/Marlin/src/config/examples/Anet/A6/Configuration.h b/Marlin/src/config/examples/Anet/A6/Configuration.h
index 9bdab4f1ebb1c30597b434f332897212d4b9ca2e..ed75c2f420484a37209884c044f53d53189f22e2 100644
--- a/Marlin/src/config/examples/Anet/A6/Configuration.h
+++ b/Marlin/src/config/examples/Anet/A6/Configuration.h
@@ -686,15 +686,14 @@
#define DEFAULT_EJERK 5.0
/**
- * Realtime Jerk Control
+ * S-Curve Acceleration
*
* This option eliminates vibration during printing by fitting a Bézier
* curve to move acceleration, producing much smoother direction changes.
- * Because this is computationally-intensive, a 32-bit MCU is required.
*
* See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
*/
-//#define BEZIER_JERK_CONTROL
+//#define S_CURVE_ACCELERATION
//===========================================================================
//============================= Z Probe Options =============================
diff --git a/Marlin/src/config/examples/Anet/A8/Configuration.h b/Marlin/src/config/examples/Anet/A8/Configuration.h
index 19b0ee6eb1f9c8581827b161440634b0dd7b1172..2e24460649d551a7cdfeb1aba124f50ac5491223 100644
--- a/Marlin/src/config/examples/Anet/A8/Configuration.h
+++ b/Marlin/src/config/examples/Anet/A8/Configuration.h
@@ -645,15 +645,14 @@
#define DEFAULT_EJERK 5.0
/**
- * Realtime Jerk Control
+ * S-Curve Acceleration
*
* This option eliminates vibration during printing by fitting a Bézier
* curve to move acceleration, producing much smoother direction changes.
- * Because this is computationally-intensive, a 32-bit MCU is required.
*
* See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
*/
-//#define BEZIER_JERK_CONTROL
+//#define S_CURVE_ACCELERATION
//===========================================================================
//============================= Z Probe Options =============================
diff --git a/Marlin/src/config/examples/Azteeg/X5GT/Configuration.h b/Marlin/src/config/examples/Azteeg/X5GT/Configuration.h
index 4f57560b0df5989c893801f3c27997db78074c04..8a308144e7e186ef47fb3b6ad978cd023866b83c 100644
--- a/Marlin/src/config/examples/Azteeg/X5GT/Configuration.h
+++ b/Marlin/src/config/examples/Azteeg/X5GT/Configuration.h
@@ -638,15 +638,14 @@
#define DEFAULT_EJERK 5.0
/**
- * Realtime Jerk Control
+ * S-Curve Acceleration
*
* This option eliminates vibration during printing by fitting a Bézier
* curve to move acceleration, producing much smoother direction changes.
- * Because this is computationally-intensive, a 32-bit MCU is required.
*
* See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
*/
-//#define BEZIER_JERK_CONTROL
+//#define S_CURVE_ACCELERATION
//===========================================================================
//============================= Z Probe Options =============================
diff --git a/Marlin/src/config/examples/BIBO/TouchX/cyclops/Configuration.h b/Marlin/src/config/examples/BIBO/TouchX/cyclops/Configuration.h
index f9052c0420c8006505c8504c80777a1965c704e1..e4e980986b0a1d8fd7cd004a141251985ff657e5 100644
--- a/Marlin/src/config/examples/BIBO/TouchX/cyclops/Configuration.h
+++ b/Marlin/src/config/examples/BIBO/TouchX/cyclops/Configuration.h
@@ -638,15 +638,14 @@
#define DEFAULT_EJERK 5.0
/**
- * Realtime Jerk Control
+ * S-Curve Acceleration
*
* This option eliminates vibration during printing by fitting a Bézier
* curve to move acceleration, producing much smoother direction changes.
- * Because this is computationally-intensive, a 32-bit MCU is required.
*
* See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
*/
-//#define BEZIER_JERK_CONTROL
+//#define S_CURVE_ACCELERATION
//===========================================================================
//============================= Z Probe Options =============================
diff --git a/Marlin/src/config/examples/BIBO/TouchX/default/Configuration.h b/Marlin/src/config/examples/BIBO/TouchX/default/Configuration.h
index 09af2c566d8a2e20831c8cbd3aa18ad92ff1252c..e91e9400ba09d3c81f24c1951d9b054d46727c22 100644
--- a/Marlin/src/config/examples/BIBO/TouchX/default/Configuration.h
+++ b/Marlin/src/config/examples/BIBO/TouchX/default/Configuration.h
@@ -638,15 +638,14 @@
#define DEFAULT_EJERK 5.0
/**
- * Realtime Jerk Control
+ * S-Curve Acceleration
*
* This option eliminates vibration during printing by fitting a Bézier
* curve to move acceleration, producing much smoother direction changes.
- * Because this is computationally-intensive, a 32-bit MCU is required.
*
* See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
*/
-//#define BEZIER_JERK_CONTROL
+//#define S_CURVE_ACCELERATION
//===========================================================================
//============================= Z Probe Options =============================
diff --git a/Marlin/src/config/examples/BQ/Hephestos/Configuration.h b/Marlin/src/config/examples/BQ/Hephestos/Configuration.h
index 81969b0c8b8b6f4438f1420867cd09b4e2247b94..3ab23d918b998a5ddc9d399164463b2647fa5f34 100644
--- a/Marlin/src/config/examples/BQ/Hephestos/Configuration.h
+++ b/Marlin/src/config/examples/BQ/Hephestos/Configuration.h
@@ -626,15 +626,14 @@
#define DEFAULT_EJERK 5.0
/**
- * Realtime Jerk Control
+ * S-Curve Acceleration
*
* This option eliminates vibration during printing by fitting a Bézier
* curve to move acceleration, producing much smoother direction changes.
- * Because this is computationally-intensive, a 32-bit MCU is required.
*
* See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
*/
-//#define BEZIER_JERK_CONTROL
+//#define S_CURVE_ACCELERATION
//===========================================================================
//============================= Z Probe Options =============================
diff --git a/Marlin/src/config/examples/BQ/Hephestos_2/Configuration.h b/Marlin/src/config/examples/BQ/Hephestos_2/Configuration.h
index 5a71a968bc9a8b126293744087bf6219f23fd03a..2be8d5454ee9977e6f6dfa755ea6f7bf57a23937 100644
--- a/Marlin/src/config/examples/BQ/Hephestos_2/Configuration.h
+++ b/Marlin/src/config/examples/BQ/Hephestos_2/Configuration.h
@@ -639,15 +639,14 @@
#define DEFAULT_EJERK 1.0
/**
- * Realtime Jerk Control
+ * S-Curve Acceleration
*
* This option eliminates vibration during printing by fitting a Bézier
* curve to move acceleration, producing much smoother direction changes.
- * Because this is computationally-intensive, a 32-bit MCU is required.
*
* See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
*/
-//#define BEZIER_JERK_CONTROL
+//#define S_CURVE_ACCELERATION
//===========================================================================
//============================= Z Probe Options =============================
diff --git a/Marlin/src/config/examples/BQ/WITBOX/Configuration.h b/Marlin/src/config/examples/BQ/WITBOX/Configuration.h
index 8e94ff505459e43246b7e6c4fcaa547120fd5e43..25d21738d3f901719c0ec361750f38f641e15243 100644
--- a/Marlin/src/config/examples/BQ/WITBOX/Configuration.h
+++ b/Marlin/src/config/examples/BQ/WITBOX/Configuration.h
@@ -626,15 +626,14 @@
#define DEFAULT_EJERK 5.0
/**
- * Realtime Jerk Control
+ * S-Curve Acceleration
*
* This option eliminates vibration during printing by fitting a Bézier
* curve to move acceleration, producing much smoother direction changes.
- * Because this is computationally-intensive, a 32-bit MCU is required.
*
* See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
*/
-//#define BEZIER_JERK_CONTROL
+//#define S_CURVE_ACCELERATION
//===========================================================================
//============================= Z Probe Options =============================
diff --git a/Marlin/src/config/examples/Cartesio/Configuration.h b/Marlin/src/config/examples/Cartesio/Configuration.h
index 4451a0536555464ab8b8b22dbf5fcfb5a317e120..b39d353ecfc0e9fc8891dc4dc764af9e7ab52a74 100644
--- a/Marlin/src/config/examples/Cartesio/Configuration.h
+++ b/Marlin/src/config/examples/Cartesio/Configuration.h
@@ -637,15 +637,14 @@
#define DEFAULT_EJERK 5.0
/**
- * Realtime Jerk Control
+ * S-Curve Acceleration
*
* This option eliminates vibration during printing by fitting a Bézier
* curve to move acceleration, producing much smoother direction changes.
- * Because this is computationally-intensive, a 32-bit MCU is required.
*
* See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
*/
-//#define BEZIER_JERK_CONTROL
+//#define S_CURVE_ACCELERATION
//===========================================================================
//============================= Z Probe Options =============================
diff --git a/Marlin/src/config/examples/Creality/CR-10/Configuration.h b/Marlin/src/config/examples/Creality/CR-10/Configuration.h
index d5914b7a7248e28d0debef28046a8160619e053c..ed0864a116349a4052911383eec26d55c2d10253 100755
--- a/Marlin/src/config/examples/Creality/CR-10/Configuration.h
+++ b/Marlin/src/config/examples/Creality/CR-10/Configuration.h
@@ -648,15 +648,14 @@
#define DEFAULT_EJERK 5.0
/**
- * Realtime Jerk Control
+ * S-Curve Acceleration
*
* This option eliminates vibration during printing by fitting a Bézier
* curve to move acceleration, producing much smoother direction changes.
- * Because this is computationally-intensive, a 32-bit MCU is required.
*
* See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
*/
-//#define BEZIER_JERK_CONTROL
+//#define S_CURVE_ACCELERATION
//===========================================================================
//============================= Z Probe Options =============================
diff --git a/Marlin/src/config/examples/Creality/CR-10S/Configuration.h b/Marlin/src/config/examples/Creality/CR-10S/Configuration.h
index f2b8579558d43fa6f72e30b8e116d06a2e597680..8db5804fd179d24fc8b6c57285bac1677e09414d 100644
--- a/Marlin/src/config/examples/Creality/CR-10S/Configuration.h
+++ b/Marlin/src/config/examples/Creality/CR-10S/Configuration.h
@@ -638,15 +638,14 @@
#define DEFAULT_EJERK 5.0
/**
- * Realtime Jerk Control
+ * S-Curve Acceleration
*
* This option eliminates vibration during printing by fitting a Bézier
* curve to move acceleration, producing much smoother direction changes.
- * Because this is computationally-intensive, a 32-bit MCU is required.
*
* See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
*/
-//#define BEZIER_JERK_CONTROL
+//#define S_CURVE_ACCELERATION
//===========================================================================
//============================= Z Probe Options =============================
diff --git a/Marlin/src/config/examples/Creality/CR-10mini/Configuration.h b/Marlin/src/config/examples/Creality/CR-10mini/Configuration.h
index 37f59c95b9e7ce3f55197d133ffd777262c3d6f4..a25006e004eec165a79b0ee01f2f10a5cb7941be 100644
--- a/Marlin/src/config/examples/Creality/CR-10mini/Configuration.h
+++ b/Marlin/src/config/examples/Creality/CR-10mini/Configuration.h
@@ -657,15 +657,14 @@
#define DEFAULT_EJERK 5.0
/**
- * Realtime Jerk Control
+ * S-Curve Acceleration
*
* This option eliminates vibration during printing by fitting a Bézier
* curve to move acceleration, producing much smoother direction changes.
- * Because this is computationally-intensive, a 32-bit MCU is required.
*
* See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
*/
-//#define BEZIER_JERK_CONTROL
+//#define S_CURVE_ACCELERATION
//===========================================================================
//============================= Z Probe Options =============================
diff --git a/Marlin/src/config/examples/Creality/CR-8/Configuration.h b/Marlin/src/config/examples/Creality/CR-8/Configuration.h
index 5a76ea93661795460a248236bb0937eb02ca4a94..c1a36e0fcdb72aaace59edc2def3b878f32e566a 100644
--- a/Marlin/src/config/examples/Creality/CR-8/Configuration.h
+++ b/Marlin/src/config/examples/Creality/CR-8/Configuration.h
@@ -648,15 +648,14 @@
#define DEFAULT_EJERK 5.0
/**
- * Realtime Jerk Control
+ * S-Curve Acceleration
*
* This option eliminates vibration during printing by fitting a Bézier
* curve to move acceleration, producing much smoother direction changes.
- * Because this is computationally-intensive, a 32-bit MCU is required.
*
* See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
*/
-//#define BEZIER_JERK_CONTROL
+//#define S_CURVE_ACCELERATION
//===========================================================================
//============================= Z Probe Options =============================
diff --git a/Marlin/src/config/examples/Creality/Ender-2/Configuration.h b/Marlin/src/config/examples/Creality/Ender-2/Configuration.h
index 1084e5a567a5d9ec83f8c815031772f2afe2564d..f0b58958b24d5d868e74f008a805489c3813fb5b 100644
--- a/Marlin/src/config/examples/Creality/Ender-2/Configuration.h
+++ b/Marlin/src/config/examples/Creality/Ender-2/Configuration.h
@@ -642,15 +642,14 @@
#define DEFAULT_EJERK 5.0
/**
- * Realtime Jerk Control
+ * S-Curve Acceleration
*
* This option eliminates vibration during printing by fitting a Bézier
* curve to move acceleration, producing much smoother direction changes.
- * Because this is computationally-intensive, a 32-bit MCU is required.
*
* See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
*/
-//#define BEZIER_JERK_CONTROL
+//#define S_CURVE_ACCELERATION
//===========================================================================
//============================= Z Probe Options =============================
diff --git a/Marlin/src/config/examples/Creality/Ender-3/Configuration.h b/Marlin/src/config/examples/Creality/Ender-3/Configuration.h
index e5fc7f569c1b0ec4434c558c8150919b5a92ba8a..c0fab4857de027cbe4f68c51b0415701732fb313 100644
--- a/Marlin/src/config/examples/Creality/Ender-3/Configuration.h
+++ b/Marlin/src/config/examples/Creality/Ender-3/Configuration.h
@@ -642,15 +642,14 @@
#define DEFAULT_EJERK 5.0
/**
- * Realtime Jerk Control
+ * S-Curve Acceleration
*
* This option eliminates vibration during printing by fitting a Bézier
* curve to move acceleration, producing much smoother direction changes.
- * Because this is computationally-intensive, a 32-bit MCU is required.
*
* See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
*/
-//#define BEZIER_JERK_CONTROL
+//#define S_CURVE_ACCELERATION
//===========================================================================
//============================= Z Probe Options =============================
diff --git a/Marlin/src/config/examples/Creality/Ender-4/Configuration.h b/Marlin/src/config/examples/Creality/Ender-4/Configuration.h
index 88b333503c911e7ff9e7c85684532633fa7d0217..c0e8962ec6aefcde7c50b8b2305e098ab13f3761 100644
--- a/Marlin/src/config/examples/Creality/Ender-4/Configuration.h
+++ b/Marlin/src/config/examples/Creality/Ender-4/Configuration.h
@@ -648,15 +648,14 @@
#define DEFAULT_EJERK 5.0
/**
- * Realtime Jerk Control
+ * S-Curve Acceleration
*
* This option eliminates vibration during printing by fitting a Bézier
* curve to move acceleration, producing much smoother direction changes.
- * Because this is computationally-intensive, a 32-bit MCU is required.
*
* See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
*/
-//#define BEZIER_JERK_CONTROL
+//#define S_CURVE_ACCELERATION
//===========================================================================
//============================= Z Probe Options =============================
diff --git a/Marlin/src/config/examples/Felix/Configuration.h b/Marlin/src/config/examples/Felix/Configuration.h
index 3cc412842b5244435dab09b8974fca9f4f0d6835..633ca326fd0e6028b6ff6103aa532b5043dfc3d6 100644
--- a/Marlin/src/config/examples/Felix/Configuration.h
+++ b/Marlin/src/config/examples/Felix/Configuration.h
@@ -620,15 +620,14 @@
#define DEFAULT_EJERK 5.0
/**
- * Realtime Jerk Control
+ * S-Curve Acceleration
*
* This option eliminates vibration during printing by fitting a Bézier
* curve to move acceleration, producing much smoother direction changes.
- * Because this is computationally-intensive, a 32-bit MCU is required.
*
* See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
*/
-//#define BEZIER_JERK_CONTROL
+//#define S_CURVE_ACCELERATION
//===========================================================================
//============================= Z Probe Options =============================
diff --git a/Marlin/src/config/examples/Felix/DUAL/Configuration.h b/Marlin/src/config/examples/Felix/DUAL/Configuration.h
index 3fafecf5313ce97988b6b8f023f015d34b082d1a..6c424ecb35b8d6850548be23ccced9812ed011e1 100644
--- a/Marlin/src/config/examples/Felix/DUAL/Configuration.h
+++ b/Marlin/src/config/examples/Felix/DUAL/Configuration.h
@@ -620,15 +620,14 @@
#define DEFAULT_EJERK 5.0
/**
- * Realtime Jerk Control
+ * S-Curve Acceleration
*
* This option eliminates vibration during printing by fitting a Bézier
* curve to move acceleration, producing much smoother direction changes.
- * Because this is computationally-intensive, a 32-bit MCU is required.
*
* See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
*/
-//#define BEZIER_JERK_CONTROL
+//#define S_CURVE_ACCELERATION
//===========================================================================
//============================= Z Probe Options =============================
diff --git a/Marlin/src/config/examples/FolgerTech/i3-2020/Configuration.h b/Marlin/src/config/examples/FolgerTech/i3-2020/Configuration.h
index c7e3a278d758e5b95b9d730465002dfcca221e34..f79579118c54eeec65600ed58290d364e3fae189 100644
--- a/Marlin/src/config/examples/FolgerTech/i3-2020/Configuration.h
+++ b/Marlin/src/config/examples/FolgerTech/i3-2020/Configuration.h
@@ -644,15 +644,14 @@
#define DEFAULT_EJERK 4.0
/**
- * Realtime Jerk Control
+ * S-Curve Acceleration
*
* This option eliminates vibration during printing by fitting a Bézier
* curve to move acceleration, producing much smoother direction changes.
- * Because this is computationally-intensive, a 32-bit MCU is required.
*
* See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
*/
-//#define BEZIER_JERK_CONTROL
+//#define S_CURVE_ACCELERATION
//===========================================================================
//============================= Z Probe Options =============================
diff --git a/Marlin/src/config/examples/Geeetech/GT2560/Configuration.h b/Marlin/src/config/examples/Geeetech/GT2560/Configuration.h
index da7d0630a39eea0c7e9c8f54c1c7e22d8e925f64..00e0bed57854a896d8d3d69058a764b726f9faf8 100644
--- a/Marlin/src/config/examples/Geeetech/GT2560/Configuration.h
+++ b/Marlin/src/config/examples/Geeetech/GT2560/Configuration.h
@@ -653,15 +653,14 @@
#define DEFAULT_EJERK 5.0
/**
- * Realtime Jerk Control
+ * S-Curve Acceleration
*
* This option eliminates vibration during printing by fitting a Bézier
* curve to move acceleration, producing much smoother direction changes.
- * Because this is computationally-intensive, a 32-bit MCU is required.
*
* See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
*/
-//#define BEZIER_JERK_CONTROL
+//#define S_CURVE_ACCELERATION
//===========================================================================
//============================= Z Probe Options =============================
diff --git a/Marlin/src/config/examples/Geeetech/I3_Pro_X-GT2560/Configuration.h b/Marlin/src/config/examples/Geeetech/I3_Pro_X-GT2560/Configuration.h
index cbcd0bd81acbc8862626db463c4718fba30389f4..86600a6cec604a62643baf68a6f46476869a8f1d 100644
--- a/Marlin/src/config/examples/Geeetech/I3_Pro_X-GT2560/Configuration.h
+++ b/Marlin/src/config/examples/Geeetech/I3_Pro_X-GT2560/Configuration.h
@@ -638,15 +638,14 @@
#define DEFAULT_EJERK 4.0
/**
- * Realtime Jerk Control
+ * S-Curve Acceleration
*
* This option eliminates vibration during printing by fitting a Bézier
* curve to move acceleration, producing much smoother direction changes.
- * Because this is computationally-intensive, a 32-bit MCU is required.
*
* See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
*/
-//#define BEZIER_JERK_CONTROL
+//#define S_CURVE_ACCELERATION
//===========================================================================
//============================= Z Probe Options =============================
diff --git a/Marlin/src/config/examples/Geeetech/Prusa i3 Pro B/bltouch/Configuration.h b/Marlin/src/config/examples/Geeetech/Prusa i3 Pro B/bltouch/Configuration.h
index 2888626bc5bd848fba0a212170d000406e5f564c..903f350784f82b7fa7b24707ebfaad3bb8ba4062 100644
--- a/Marlin/src/config/examples/Geeetech/Prusa i3 Pro B/bltouch/Configuration.h
+++ b/Marlin/src/config/examples/Geeetech/Prusa i3 Pro B/bltouch/Configuration.h
@@ -653,15 +653,14 @@
#define DEFAULT_EJERK 5.0
/**
- * Realtime Jerk Control
+ * S-Curve Acceleration
*
* This option eliminates vibration during printing by fitting a Bézier
* curve to move acceleration, producing much smoother direction changes.
- * Because this is computationally-intensive, a 32-bit MCU is required.
*
* See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
*/
-//#define BEZIER_JERK_CONTROL
+//#define S_CURVE_ACCELERATION
//===========================================================================
//============================= Z Probe Options =============================
diff --git a/Marlin/src/config/examples/Geeetech/Prusa i3 Pro B/noprobe/Configuration.h b/Marlin/src/config/examples/Geeetech/Prusa i3 Pro B/noprobe/Configuration.h
index bee4a97acef2aa562a7ca7964dc4ec07f7c80a90..98eb3ab69e06dc4c013945ae8724b8c23d9af284 100644
--- a/Marlin/src/config/examples/Geeetech/Prusa i3 Pro B/noprobe/Configuration.h
+++ b/Marlin/src/config/examples/Geeetech/Prusa i3 Pro B/noprobe/Configuration.h
@@ -653,15 +653,14 @@
#define DEFAULT_EJERK 5.0
/**
- * Realtime Jerk Control
+ * S-Curve Acceleration
*
* This option eliminates vibration during printing by fitting a Bézier
* curve to move acceleration, producing much smoother direction changes.
- * Because this is computationally-intensive, a 32-bit MCU is required.
*
* See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
*/
-//#define BEZIER_JERK_CONTROL
+//#define S_CURVE_ACCELERATION
//===========================================================================
//============================= Z Probe Options =============================
diff --git a/Marlin/src/config/examples/Geeetech/Prusa i3 Pro C/Configuration.h b/Marlin/src/config/examples/Geeetech/Prusa i3 Pro C/Configuration.h
index b5afd1fd3ec6f6004458a523bb4efae15bbadf1a..709540c7ebbf878daa849f1fa7943cde6958ca10 100644
--- a/Marlin/src/config/examples/Geeetech/Prusa i3 Pro C/Configuration.h
+++ b/Marlin/src/config/examples/Geeetech/Prusa i3 Pro C/Configuration.h
@@ -638,15 +638,14 @@
#define DEFAULT_EJERK 5.0
/**
- * Realtime Jerk Control
+ * S-Curve Acceleration
*
* This option eliminates vibration during printing by fitting a Bézier
* curve to move acceleration, producing much smoother direction changes.
- * Because this is computationally-intensive, a 32-bit MCU is required.
*
* See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
*/
-//#define BEZIER_JERK_CONTROL
+//#define S_CURVE_ACCELERATION
//===========================================================================
//============================= Z Probe Options =============================
diff --git a/Marlin/src/config/examples/Geeetech/Prusa i3 Pro W/Configuration.h b/Marlin/src/config/examples/Geeetech/Prusa i3 Pro W/Configuration.h
index 12c32b31914e6d73f223143a213d3bf05089591d..7b232ad38c770bce60d68afe840693b9269f5f8b 100644
--- a/Marlin/src/config/examples/Geeetech/Prusa i3 Pro W/Configuration.h
+++ b/Marlin/src/config/examples/Geeetech/Prusa i3 Pro W/Configuration.h
@@ -638,15 +638,14 @@
#define DEFAULT_EJERK 5.0
/**
- * Realtime Jerk Control
+ * S-Curve Acceleration
*
* This option eliminates vibration during printing by fitting a Bézier
* curve to move acceleration, producing much smoother direction changes.
- * Because this is computationally-intensive, a 32-bit MCU is required.
*
* See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
*/
-//#define BEZIER_JERK_CONTROL
+//#define S_CURVE_ACCELERATION
//===========================================================================
//============================= Z Probe Options =============================
diff --git a/Marlin/src/config/examples/Infitary/i3-M508/Configuration.h b/Marlin/src/config/examples/Infitary/i3-M508/Configuration.h
index 92e83fd3046c028877f5ddfa03770ac30059320b..87166a1d7b7de609082f7b66e03f0dd1777f0097 100644
--- a/Marlin/src/config/examples/Infitary/i3-M508/Configuration.h
+++ b/Marlin/src/config/examples/Infitary/i3-M508/Configuration.h
@@ -642,15 +642,14 @@
#define DEFAULT_EJERK 5.0
/**
- * Realtime Jerk Control
+ * S-Curve Acceleration
*
* This option eliminates vibration during printing by fitting a Bézier
* curve to move acceleration, producing much smoother direction changes.
- * Because this is computationally-intensive, a 32-bit MCU is required.
*
* See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
*/
-//#define BEZIER_JERK_CONTROL
+//#define S_CURVE_ACCELERATION
//===========================================================================
//============================= Z Probe Options =============================
diff --git a/Marlin/src/config/examples/JGAurora/A5/Configuration.h b/Marlin/src/config/examples/JGAurora/A5/Configuration.h
index 62dbe98df3e885f0a39631bcdf076f7443027eb5..1838a8e7f588ee4900c15815db653e9912eecbb9 100644
--- a/Marlin/src/config/examples/JGAurora/A5/Configuration.h
+++ b/Marlin/src/config/examples/JGAurora/A5/Configuration.h
@@ -650,15 +650,14 @@
#define DEFAULT_EJERK 5.0
/**
- * Realtime Jerk Control
+ * S-Curve Acceleration
*
* This option eliminates vibration during printing by fitting a Bézier
* curve to move acceleration, producing much smoother direction changes.
- * Because this is computationally-intensive, a 32-bit MCU is required.
*
* See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
*/
-//#define BEZIER_JERK_CONTROL
+//#define S_CURVE_ACCELERATION
//===========================================================================
//============================= Z Probe Options =============================
diff --git a/Marlin/src/config/examples/MakerParts/Configuration.h b/Marlin/src/config/examples/MakerParts/Configuration.h
index 7664d6fabb4ffc35cd0e394f1f647bc9f99ea2dc..8fda56f8aa32d23765ccd99ce7ca661867bdfa6b 100644
--- a/Marlin/src/config/examples/MakerParts/Configuration.h
+++ b/Marlin/src/config/examples/MakerParts/Configuration.h
@@ -658,15 +658,14 @@
#define DEFAULT_EJERK 8.0
/**
- * Realtime Jerk Control
+ * S-Curve Acceleration
*
* This option eliminates vibration during printing by fitting a Bézier
* curve to move acceleration, producing much smoother direction changes.
- * Because this is computationally-intensive, a 32-bit MCU is required.
*
* See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
*/
-//#define BEZIER_JERK_CONTROL
+//#define S_CURVE_ACCELERATION
//===========================================================================
//============================= Z Probe Options =============================
diff --git a/Marlin/src/config/examples/Malyan/M150/Configuration.h b/Marlin/src/config/examples/Malyan/M150/Configuration.h
index 035352a33be35a8a732d3974feee4c45233cacfe..cc873808a2ce4f03f7d1f3f650adb5093d06642f 100644
--- a/Marlin/src/config/examples/Malyan/M150/Configuration.h
+++ b/Marlin/src/config/examples/Malyan/M150/Configuration.h
@@ -658,15 +658,14 @@
#define DEFAULT_EJERK 5.0
/**
- * Realtime Jerk Control
+ * S-Curve Acceleration
*
* This option eliminates vibration during printing by fitting a Bézier
* curve to move acceleration, producing much smoother direction changes.
- * Because this is computationally-intensive, a 32-bit MCU is required.
*
* See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
*/
-//#define BEZIER_JERK_CONTROL
+//#define S_CURVE_ACCELERATION
//===========================================================================
//============================= Z Probe Options =============================
diff --git a/Marlin/src/config/examples/Malyan/M200/Configuration.h b/Marlin/src/config/examples/Malyan/M200/Configuration.h
index 0976c029764d4f28b82b5c34f473a632d1437cdf..1eafdd9e44c4113cabf930059b9d28d325537ee0 100644
--- a/Marlin/src/config/examples/Malyan/M200/Configuration.h
+++ b/Marlin/src/config/examples/Malyan/M200/Configuration.h
@@ -637,15 +637,14 @@
#define DEFAULT_EJERK 5.0
/**
- * Realtime Jerk Control
+ * S-Curve Acceleration
*
* This option eliminates vibration during printing by fitting a Bézier
* curve to move acceleration, producing much smoother direction changes.
- * Because this is computationally-intensive, a 32-bit MCU is required.
*
* See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
*/
-//#define BEZIER_JERK_CONTROL
+//#define S_CURVE_ACCELERATION
//===========================================================================
//============================= Z Probe Options =============================
diff --git a/Marlin/src/config/examples/Micromake/C1/basic/Configuration.h b/Marlin/src/config/examples/Micromake/C1/basic/Configuration.h
index d90e98eebd7b590eb7d525654050a70ca64ce88b..fad05b56acd3f303dfc44d958f68b1d2572cc0fa 100644
--- a/Marlin/src/config/examples/Micromake/C1/basic/Configuration.h
+++ b/Marlin/src/config/examples/Micromake/C1/basic/Configuration.h
@@ -642,15 +642,14 @@
#define DEFAULT_EJERK 5.0
/**
- * Realtime Jerk Control
+ * S-Curve Acceleration
*
* This option eliminates vibration during printing by fitting a Bézier
* curve to move acceleration, producing much smoother direction changes.
- * Because this is computationally-intensive, a 32-bit MCU is required.
*
* See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
*/
-//#define BEZIER_JERK_CONTROL
+//#define S_CURVE_ACCELERATION
//===========================================================================
//============================= Z Probe Options =============================
diff --git a/Marlin/src/config/examples/Micromake/C1/enhanced/Configuration.h b/Marlin/src/config/examples/Micromake/C1/enhanced/Configuration.h
index d49c4ee33748f2c393d46dc3e218f7fac2831f82..eafca70f9590298a4766ba1e970a969505c9fbb0 100644
--- a/Marlin/src/config/examples/Micromake/C1/enhanced/Configuration.h
+++ b/Marlin/src/config/examples/Micromake/C1/enhanced/Configuration.h
@@ -642,15 +642,14 @@
#define DEFAULT_EJERK 5.0
/**
- * Realtime Jerk Control
+ * S-Curve Acceleration
*
* This option eliminates vibration during printing by fitting a Bézier
* curve to move acceleration, producing much smoother direction changes.
- * Because this is computationally-intensive, a 32-bit MCU is required.
*
* See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
*/
-//#define BEZIER_JERK_CONTROL
+//#define S_CURVE_ACCELERATION
//===========================================================================
//============================= Z Probe Options =============================
diff --git a/Marlin/src/config/examples/Mks/Sbase/Configuration.h b/Marlin/src/config/examples/Mks/Sbase/Configuration.h
index 96eeb75816a10d56dfc80abcad2a4be624e07df5..4b3f4551403b0f4a0d0d36d8c30ce0356cc4ce29 100644
--- a/Marlin/src/config/examples/Mks/Sbase/Configuration.h
+++ b/Marlin/src/config/examples/Mks/Sbase/Configuration.h
@@ -638,15 +638,14 @@
#define DEFAULT_EJERK 5.0
/**
- * Realtime Jerk Control
+ * S-Curve Acceleration
*
* This option eliminates vibration during printing by fitting a Bézier
* curve to move acceleration, producing much smoother direction changes.
- * Because this is computationally-intensive, a 32-bit MCU is required.
*
* See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
*/
-//#define BEZIER_JERK_CONTROL
+//#define S_CURVE_ACCELERATION
//===========================================================================
//============================= Z Probe Options =============================
diff --git a/Marlin/src/config/examples/RepRapPro/Huxley/Configuration.h b/Marlin/src/config/examples/RepRapPro/Huxley/Configuration.h
index 083aab24e5cb7fd5a7a8119bb87adfb4c05acbcd..ed27c430e0e2bf27d8acb54a3a37cf75a6ebfaa0 100644
--- a/Marlin/src/config/examples/RepRapPro/Huxley/Configuration.h
+++ b/Marlin/src/config/examples/RepRapPro/Huxley/Configuration.h
@@ -678,15 +678,14 @@ Black rubber belt(MXL), 18 - tooth aluminium pulley : 87.489 step per mm (Huxley
#define DEFAULT_EJERK 5.0
/**
- * Realtime Jerk Control
+ * S-Curve Acceleration
*
* This option eliminates vibration during printing by fitting a Bézier
* curve to move acceleration, producing much smoother direction changes.
- * Because this is computationally-intensive, a 32-bit MCU is required.
*
* See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
*/
-//#define BEZIER_JERK_CONTROL
+//#define S_CURVE_ACCELERATION
//===========================================================================
//============================= Z Probe Options =============================
diff --git a/Marlin/src/config/examples/RepRapWorld/Megatronics/Configuration.h b/Marlin/src/config/examples/RepRapWorld/Megatronics/Configuration.h
index 6d8ba9f6f9ec1d909635aba33317dc1cd3280fc9..96214fb79f5e1a7f8199a2b6bb5d169d8683584e 100644
--- a/Marlin/src/config/examples/RepRapWorld/Megatronics/Configuration.h
+++ b/Marlin/src/config/examples/RepRapWorld/Megatronics/Configuration.h
@@ -638,15 +638,14 @@
#define DEFAULT_EJERK 5.0
/**
- * Realtime Jerk Control
+ * S-Curve Acceleration
*
* This option eliminates vibration during printing by fitting a Bézier
* curve to move acceleration, producing much smoother direction changes.
- * Because this is computationally-intensive, a 32-bit MCU is required.
*
* See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
*/
-//#define BEZIER_JERK_CONTROL
+//#define S_CURVE_ACCELERATION
//===========================================================================
//============================= Z Probe Options =============================
diff --git a/Marlin/src/config/examples/RigidBot/Configuration.h b/Marlin/src/config/examples/RigidBot/Configuration.h
index 1f98d9502ff89a06fe778839e908be71fcfb172d..d22a4a995f4f07f729f9b9e25e59fc0ffc03be33 100644
--- a/Marlin/src/config/examples/RigidBot/Configuration.h
+++ b/Marlin/src/config/examples/RigidBot/Configuration.h
@@ -636,15 +636,14 @@
#define DEFAULT_EJERK 5.0
/**
- * Realtime Jerk Control
+ * S-Curve Acceleration
*
* This option eliminates vibration during printing by fitting a Bézier
* curve to move acceleration, producing much smoother direction changes.
- * Because this is computationally-intensive, a 32-bit MCU is required.
*
* See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
*/
-//#define BEZIER_JERK_CONTROL
+//#define S_CURVE_ACCELERATION
//===========================================================================
//============================= Z Probe Options =============================
diff --git a/Marlin/src/config/examples/SCARA/Configuration.h b/Marlin/src/config/examples/SCARA/Configuration.h
index 09558a46fb5f93e47260cbd5514ba6e61f83a646..bfa157f321f59d6f9ecf8cd3d0534717569bdee2 100644
--- a/Marlin/src/config/examples/SCARA/Configuration.h
+++ b/Marlin/src/config/examples/SCARA/Configuration.h
@@ -651,15 +651,14 @@
#define DEFAULT_EJERK 3.0
/**
- * Realtime Jerk Control
+ * S-Curve Acceleration
*
* This option eliminates vibration during printing by fitting a Bézier
* curve to move acceleration, producing much smoother direction changes.
- * Because this is computationally-intensive, a 32-bit MCU is required.
*
* See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
*/
-//#define BEZIER_JERK_CONTROL
+//#define S_CURVE_ACCELERATION
//===========================================================================
//============================= Z Probe Options =============================
diff --git a/Marlin/src/config/examples/STM32F10/Configuration.h b/Marlin/src/config/examples/STM32F10/Configuration.h
index 7d5dc0da4c998616c32ee7ab603dd0938590681e..34a88c19c503073d6c92f038adaae3f1e101db26 100644
--- a/Marlin/src/config/examples/STM32F10/Configuration.h
+++ b/Marlin/src/config/examples/STM32F10/Configuration.h
@@ -640,15 +640,14 @@
#define DEFAULT_EJERK 5.0
/**
- * Realtime Jerk Control
+ * S-Curve Acceleration
*
* This option eliminates vibration during printing by fitting a Bézier
* curve to move acceleration, producing much smoother direction changes.
- * Because this is computationally-intensive, a 32-bit MCU is required.
*
* See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
*/
-//#define BEZIER_JERK_CONTROL
+//#define S_CURVE_ACCELERATION
//===========================================================================
//============================= Z Probe Options =============================
diff --git a/Marlin/src/config/examples/STM32F4/Configuration.h b/Marlin/src/config/examples/STM32F4/Configuration.h
index ee912830d126a48c11476f7caffbe38353412921..51aaf523e4d1283d2edd847025bd019b3424e16c 100644
--- a/Marlin/src/config/examples/STM32F4/Configuration.h
+++ b/Marlin/src/config/examples/STM32F4/Configuration.h
@@ -638,15 +638,14 @@
#define DEFAULT_EJERK 5.0
/**
- * Realtime Jerk Control
+ * S-Curve Acceleration
*
* This option eliminates vibration during printing by fitting a Bézier
* curve to move acceleration, producing much smoother direction changes.
- * Because this is computationally-intensive, a 32-bit MCU is required.
*
* See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
*/
-//#define BEZIER_JERK_CONTROL
+//#define S_CURVE_ACCELERATION
//===========================================================================
//============================= Z Probe Options =============================
diff --git a/Marlin/src/config/examples/Sanguinololu/Configuration.h b/Marlin/src/config/examples/Sanguinololu/Configuration.h
index a8f7049c0acfbb3495bc051ef21afade7d41badb..f3b6dcf2d0991259cc743e6d8cd7debde6a88489 100644
--- a/Marlin/src/config/examples/Sanguinololu/Configuration.h
+++ b/Marlin/src/config/examples/Sanguinololu/Configuration.h
@@ -669,15 +669,14 @@
#define DEFAULT_EJERK 5.0
/**
- * Realtime Jerk Control
+ * S-Curve Acceleration
*
* This option eliminates vibration during printing by fitting a Bézier
* curve to move acceleration, producing much smoother direction changes.
- * Because this is computationally-intensive, a 32-bit MCU is required.
*
* See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
*/
-//#define BEZIER_JERK_CONTROL
+//#define S_CURVE_ACCELERATION
//===========================================================================
//============================= Z Probe Options =============================
diff --git a/Marlin/src/config/examples/TheBorg/Configuration.h b/Marlin/src/config/examples/TheBorg/Configuration.h
index 75781a9f5c4c65d66f57b9b3845283154d843286..4248bf1645219944a3ae4ae78f118bde8a68b480 100644
--- a/Marlin/src/config/examples/TheBorg/Configuration.h
+++ b/Marlin/src/config/examples/TheBorg/Configuration.h
@@ -638,15 +638,14 @@
#define DEFAULT_EJERK 5.0
/**
- * Realtime Jerk Control
+ * S-Curve Acceleration
*
* This option eliminates vibration during printing by fitting a Bézier
* curve to move acceleration, producing much smoother direction changes.
- * Because this is computationally-intensive, a 32-bit MCU is required.
*
* See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
*/
-//#define BEZIER_JERK_CONTROL
+//#define S_CURVE_ACCELERATION
//===========================================================================
//============================= Z Probe Options =============================
diff --git a/Marlin/src/config/examples/TinyBoy2/Configuration.h b/Marlin/src/config/examples/TinyBoy2/Configuration.h
index b2a08480a7c6d6ed695db55397d763739f20e2e6..f644aa02d680c393d9a251722637bb779b2a1dca 100644
--- a/Marlin/src/config/examples/TinyBoy2/Configuration.h
+++ b/Marlin/src/config/examples/TinyBoy2/Configuration.h
@@ -689,15 +689,14 @@
#define DEFAULT_EJERK 5.0
/**
- * Realtime Jerk Control
+ * S-Curve Acceleration
*
* This option eliminates vibration during printing by fitting a Bézier
* curve to move acceleration, producing much smoother direction changes.
- * Because this is computationally-intensive, a 32-bit MCU is required.
*
* See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
*/
-//#define BEZIER_JERK_CONTROL
+//#define S_CURVE_ACCELERATION
//===========================================================================
//============================= Z Probe Options =============================
diff --git a/Marlin/src/config/examples/Tronxy/X1/Configuration.h b/Marlin/src/config/examples/Tronxy/X1/Configuration.h
index 124851c2e2a6b069847c90a547a8d6b92d3838cb..9e600cab429bb3efda93a798e515ca2c504ebf34 100644
--- a/Marlin/src/config/examples/Tronxy/X1/Configuration.h
+++ b/Marlin/src/config/examples/Tronxy/X1/Configuration.h
@@ -638,15 +638,14 @@
#define DEFAULT_EJERK 5.0
/**
- * Realtime Jerk Control
+ * S-Curve Acceleration
*
* This option eliminates vibration during printing by fitting a Bézier
* curve to move acceleration, producing much smoother direction changes.
- * Because this is computationally-intensive, a 32-bit MCU is required.
*
* See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
*/
-//#define BEZIER_JERK_CONTROL
+//#define S_CURVE_ACCELERATION
//===========================================================================
//============================= Z Probe Options =============================
diff --git a/Marlin/src/config/examples/Tronxy/X5S/Configuration.h b/Marlin/src/config/examples/Tronxy/X5S/Configuration.h
index c1b22dfa01bf54415e7633298e5f5d27799a340e..34fc23d560ab7c032396910d9f9bdbbbc664b99a 100644
--- a/Marlin/src/config/examples/Tronxy/X5S/Configuration.h
+++ b/Marlin/src/config/examples/Tronxy/X5S/Configuration.h
@@ -638,15 +638,14 @@
#define DEFAULT_EJERK 5.0
/**
- * Realtime Jerk Control
+ * S-Curve Acceleration
*
* This option eliminates vibration during printing by fitting a Bézier
* curve to move acceleration, producing much smoother direction changes.
- * Because this is computationally-intensive, a 32-bit MCU is required.
*
* See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
*/
-//#define BEZIER_JERK_CONTROL
+//#define S_CURVE_ACCELERATION
//===========================================================================
//============================= Z Probe Options =============================
diff --git a/Marlin/src/config/examples/Tronxy/XY100/Configuration.h b/Marlin/src/config/examples/Tronxy/XY100/Configuration.h
index 0e447e0df9fbbdeb4078f24f10c09d33ce240870..8ef50d83eef44a996e0d4773cc518a4f1e837b08 100644
--- a/Marlin/src/config/examples/Tronxy/XY100/Configuration.h
+++ b/Marlin/src/config/examples/Tronxy/XY100/Configuration.h
@@ -649,15 +649,14 @@
#define DEFAULT_EJERK 5.0
/**
- * Realtime Jerk Control
+ * S-Curve Acceleration
*
* This option eliminates vibration during printing by fitting a Bézier
* curve to move acceleration, producing much smoother direction changes.
- * Because this is computationally-intensive, a 32-bit MCU is required.
*
* See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
*/
-//#define BEZIER_JERK_CONTROL
+//#define S_CURVE_ACCELERATION
//===========================================================================
//============================= Z Probe Options =============================
diff --git a/Marlin/src/config/examples/UltiMachine/Archim2/Configuration.h b/Marlin/src/config/examples/UltiMachine/Archim2/Configuration.h
index 66c95d115af9de7c2fda96b34e4dc99b8f8db1b9..44077f700943d9adae5bc6d4f12b67257b70d123 100644
--- a/Marlin/src/config/examples/UltiMachine/Archim2/Configuration.h
+++ b/Marlin/src/config/examples/UltiMachine/Archim2/Configuration.h
@@ -638,15 +638,14 @@
#define DEFAULT_EJERK 5.0
/**
- * Realtime Jerk Control
+ * S-Curve Acceleration
*
* This option eliminates vibration during printing by fitting a Bézier
* curve to move acceleration, producing much smoother direction changes.
- * Because this is computationally-intensive, a 32-bit MCU is required.
*
* See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
*/
-//#define BEZIER_JERK_CONTROL
+//#define S_CURVE_ACCELERATION
//===========================================================================
//============================= Z Probe Options =============================
diff --git a/Marlin/src/config/examples/Velleman/K8200/Configuration.h b/Marlin/src/config/examples/Velleman/K8200/Configuration.h
index b0b4c3efbff840073784eaff6a29b7d0ad574f91..61f0410e771c0dc52e8dba8861713d20b14ca28f 100644
--- a/Marlin/src/config/examples/Velleman/K8200/Configuration.h
+++ b/Marlin/src/config/examples/Velleman/K8200/Configuration.h
@@ -667,15 +667,14 @@
#define DEFAULT_EJERK 5.0
/**
- * Realtime Jerk Control
+ * S-Curve Acceleration
*
* This option eliminates vibration during printing by fitting a Bézier
* curve to move acceleration, producing much smoother direction changes.
- * Because this is computationally-intensive, a 32-bit MCU is required.
*
* See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
*/
-//#define BEZIER_JERK_CONTROL
+//#define S_CURVE_ACCELERATION
//===========================================================================
//============================= Z Probe Options =============================
diff --git a/Marlin/src/config/examples/Velleman/K8400/Configuration.h b/Marlin/src/config/examples/Velleman/K8400/Configuration.h
index 4dc22d643421f960e7db1d7a4a667e260a518cac..97b88b8a0efacdd5a8fa0c00f50c84b17e676475 100644
--- a/Marlin/src/config/examples/Velleman/K8400/Configuration.h
+++ b/Marlin/src/config/examples/Velleman/K8400/Configuration.h
@@ -638,15 +638,14 @@
#define DEFAULT_EJERK 20.0
/**
- * Realtime Jerk Control
+ * S-Curve Acceleration
*
* This option eliminates vibration during printing by fitting a Bézier
* curve to move acceleration, producing much smoother direction changes.
- * Because this is computationally-intensive, a 32-bit MCU is required.
*
* See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
*/
-//#define BEZIER_JERK_CONTROL
+//#define S_CURVE_ACCELERATION
//===========================================================================
//============================= Z Probe Options =============================
diff --git a/Marlin/src/config/examples/Velleman/K8400/Dual-head/Configuration.h b/Marlin/src/config/examples/Velleman/K8400/Dual-head/Configuration.h
index f0d1381639c2119585d5ee70b5227a5f4d98d6a0..6277ebd1242be5885bd4f7142a75f0b80e60a364 100644
--- a/Marlin/src/config/examples/Velleman/K8400/Dual-head/Configuration.h
+++ b/Marlin/src/config/examples/Velleman/K8400/Dual-head/Configuration.h
@@ -638,15 +638,14 @@
#define DEFAULT_EJERK 20.0
/**
- * Realtime Jerk Control
+ * S-Curve Acceleration
*
* This option eliminates vibration during printing by fitting a Bézier
* curve to move acceleration, producing much smoother direction changes.
- * Because this is computationally-intensive, a 32-bit MCU is required.
*
* See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
*/
-//#define BEZIER_JERK_CONTROL
+//#define S_CURVE_ACCELERATION
//===========================================================================
//============================= Z Probe Options =============================
diff --git a/Marlin/src/config/examples/Wanhao/Duplicator 6/Configuration.h b/Marlin/src/config/examples/Wanhao/Duplicator 6/Configuration.h
index 7c94669a13d422d230579904d3f05be903eb5760..26f1ad76d1957eca944a0ec8ffdc1b40fa2f0f3c 100644
--- a/Marlin/src/config/examples/Wanhao/Duplicator 6/Configuration.h
+++ b/Marlin/src/config/examples/Wanhao/Duplicator 6/Configuration.h
@@ -648,15 +648,14 @@
#define DEFAULT_EJERK 1.0
/**
- * Realtime Jerk Control
+ * S-Curve Acceleration
*
* This option eliminates vibration during printing by fitting a Bézier
* curve to move acceleration, producing much smoother direction changes.
- * Because this is computationally-intensive, a 32-bit MCU is required.
*
* See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
*/
-//#define BEZIER_JERK_CONTROL
+//#define S_CURVE_ACCELERATION
//===========================================================================
//============================= Z Probe Options =============================
diff --git a/Marlin/src/config/examples/adafruit/ST7565/Configuration.h b/Marlin/src/config/examples/adafruit/ST7565/Configuration.h
index 7b2a2815f18c75d6b9b2d19ab61f4221ee9d2c80..7b0700e54077e74327a895a5b5b38543e976ebfd 100644
--- a/Marlin/src/config/examples/adafruit/ST7565/Configuration.h
+++ b/Marlin/src/config/examples/adafruit/ST7565/Configuration.h
@@ -638,15 +638,14 @@
#define DEFAULT_EJERK 5.0
/**
- * Realtime Jerk Control
+ * S-Curve Acceleration
*
* This option eliminates vibration during printing by fitting a Bézier
* curve to move acceleration, producing much smoother direction changes.
- * Because this is computationally-intensive, a 32-bit MCU is required.
*
* See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
*/
-//#define BEZIER_JERK_CONTROL
+//#define S_CURVE_ACCELERATION
//===========================================================================
//============================= Z Probe Options =============================
diff --git a/Marlin/src/config/examples/delta/FLSUN/auto_calibrate/Configuration.h b/Marlin/src/config/examples/delta/FLSUN/auto_calibrate/Configuration.h
index b69e07f4ebd9b278a92e63214c8486f757538281..de69281e4da716aa1f9d7d66ae47347997532edc 100644
--- a/Marlin/src/config/examples/delta/FLSUN/auto_calibrate/Configuration.h
+++ b/Marlin/src/config/examples/delta/FLSUN/auto_calibrate/Configuration.h
@@ -720,15 +720,14 @@
#define DEFAULT_EJERK 5.0
/**
- * Realtime Jerk Control
+ * S-Curve Acceleration
*
* This option eliminates vibration during printing by fitting a Bézier
* curve to move acceleration, producing much smoother direction changes.
- * Because this is computationally-intensive, a 32-bit MCU is required.
*
* See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
*/
-//#define BEZIER_JERK_CONTROL
+//#define S_CURVE_ACCELERATION
//===========================================================================
//============================= Z Probe Options =============================
diff --git a/Marlin/src/config/examples/delta/FLSUN/kossel/Configuration.h b/Marlin/src/config/examples/delta/FLSUN/kossel/Configuration.h
index 91337ba8ce5024e52b8e001bcc3008d5486ef95b..84d193b49d2e89c1a652d1c3081a0cc85f6895f8 100644
--- a/Marlin/src/config/examples/delta/FLSUN/kossel/Configuration.h
+++ b/Marlin/src/config/examples/delta/FLSUN/kossel/Configuration.h
@@ -720,15 +720,14 @@
#define DEFAULT_EJERK 5.0
/**
- * Realtime Jerk Control
+ * S-Curve Acceleration
*
* This option eliminates vibration during printing by fitting a Bézier
* curve to move acceleration, producing much smoother direction changes.
- * Because this is computationally-intensive, a 32-bit MCU is required.
*
* See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
*/
-//#define BEZIER_JERK_CONTROL
+//#define S_CURVE_ACCELERATION
//===========================================================================
//============================= Z Probe Options =============================
diff --git a/Marlin/src/config/examples/delta/FLSUN/kossel_mini/Configuration.h b/Marlin/src/config/examples/delta/FLSUN/kossel_mini/Configuration.h
index 144911f32ade20866ef2c54f9cc8d371e34a5eb5..a61be3641758ab8b7c8bb95731e7d9ec970f8201 100644
--- a/Marlin/src/config/examples/delta/FLSUN/kossel_mini/Configuration.h
+++ b/Marlin/src/config/examples/delta/FLSUN/kossel_mini/Configuration.h
@@ -720,15 +720,14 @@
#define DEFAULT_EJERK 5.0
/**
- * Realtime Jerk Control
+ * S-Curve Acceleration
*
* This option eliminates vibration during printing by fitting a Bézier
* curve to move acceleration, producing much smoother direction changes.
- * Because this is computationally-intensive, a 32-bit MCU is required.
*
* See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
*/
-//#define BEZIER_JERK_CONTROL
+//#define S_CURVE_ACCELERATION
//===========================================================================
//============================= Z Probe Options =============================
diff --git a/Marlin/src/config/examples/delta/Hatchbox_Alpha/Configuration.h b/Marlin/src/config/examples/delta/Hatchbox_Alpha/Configuration.h
index 32e390573c6c73e895b77cecb930216eb9bcdd39..2385f8e48a2f51bb5e0e2e35906e0dfe52645322 100644
--- a/Marlin/src/config/examples/delta/Hatchbox_Alpha/Configuration.h
+++ b/Marlin/src/config/examples/delta/Hatchbox_Alpha/Configuration.h
@@ -725,15 +725,14 @@
#define DEFAULT_EJERK 5.0
/**
- * Realtime Jerk Control
+ * S-Curve Acceleration
*
* This option eliminates vibration during printing by fitting a Bézier
* curve to move acceleration, producing much smoother direction changes.
- * Because this is computationally-intensive, a 32-bit MCU is required.
*
* See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
*/
-//#define BEZIER_JERK_CONTROL
+//#define S_CURVE_ACCELERATION
//===========================================================================
//============================= Z Probe Options =============================
diff --git a/Marlin/src/config/examples/delta/generic/Configuration.h b/Marlin/src/config/examples/delta/generic/Configuration.h
index 52a112bbe18fdcaf6b7f954c7ca31af977ded792..71de9dfe73f92d75a2fedfd3bf2a656019f33498 100644
--- a/Marlin/src/config/examples/delta/generic/Configuration.h
+++ b/Marlin/src/config/examples/delta/generic/Configuration.h
@@ -710,15 +710,14 @@
#define DEFAULT_EJERK 5.0
/**
- * Realtime Jerk Control
+ * S-Curve Acceleration
*
* This option eliminates vibration during printing by fitting a Bézier
* curve to move acceleration, producing much smoother direction changes.
- * Because this is computationally-intensive, a 32-bit MCU is required.
*
* See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
*/
-//#define BEZIER_JERK_CONTROL
+//#define S_CURVE_ACCELERATION
//===========================================================================
//============================= Z Probe Options =============================
diff --git a/Marlin/src/config/examples/delta/kossel_mini/Configuration.h b/Marlin/src/config/examples/delta/kossel_mini/Configuration.h
index 4ec0233c5cf5a0f9d04ccbdc23c9aa76b819e670..39e7a5dd2068c7a7146f72025863545bb9a381e1 100644
--- a/Marlin/src/config/examples/delta/kossel_mini/Configuration.h
+++ b/Marlin/src/config/examples/delta/kossel_mini/Configuration.h
@@ -710,15 +710,14 @@
#define DEFAULT_EJERK 5.0
/**
- * Realtime Jerk Control
+ * S-Curve Acceleration
*
* This option eliminates vibration during printing by fitting a Bézier
* curve to move acceleration, producing much smoother direction changes.
- * Because this is computationally-intensive, a 32-bit MCU is required.
*
* See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
*/
-//#define BEZIER_JERK_CONTROL
+//#define S_CURVE_ACCELERATION
//===========================================================================
//============================= Z Probe Options =============================
diff --git a/Marlin/src/config/examples/delta/kossel_pro/Configuration.h b/Marlin/src/config/examples/delta/kossel_pro/Configuration.h
index 11f0ec7c8ced5a25bc451b7cb4a8347754151dc7..bbda15e8c72357e457e40780bc77cea86b49e901 100644
--- a/Marlin/src/config/examples/delta/kossel_pro/Configuration.h
+++ b/Marlin/src/config/examples/delta/kossel_pro/Configuration.h
@@ -703,15 +703,14 @@
#define DEFAULT_EJERK 5.0
/**
- * Realtime Jerk Control
+ * S-Curve Acceleration
*
* This option eliminates vibration during printing by fitting a Bézier
* curve to move acceleration, producing much smoother direction changes.
- * Because this is computationally-intensive, a 32-bit MCU is required.
*
* See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
*/
-//#define BEZIER_JERK_CONTROL
+//#define S_CURVE_ACCELERATION
//===========================================================================
//============================= Z Probe Options =============================
diff --git a/Marlin/src/config/examples/delta/kossel_xl/Configuration.h b/Marlin/src/config/examples/delta/kossel_xl/Configuration.h
index 4258458fe022775014616854daae9ac589f7e8f9..46d22fc1f15c6bb2551396806085c8ede10f82c3 100644
--- a/Marlin/src/config/examples/delta/kossel_xl/Configuration.h
+++ b/Marlin/src/config/examples/delta/kossel_xl/Configuration.h
@@ -713,15 +713,14 @@
#define DEFAULT_EJERK 20.0
/**
- * Realtime Jerk Control
+ * S-Curve Acceleration
*
* This option eliminates vibration during printing by fitting a Bézier
* curve to move acceleration, producing much smoother direction changes.
- * Because this is computationally-intensive, a 32-bit MCU is required.
*
* See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
*/
-//#define BEZIER_JERK_CONTROL
+//#define S_CURVE_ACCELERATION
//===========================================================================
//============================= Z Probe Options =============================
diff --git a/Marlin/src/config/examples/gCreate/gMax1.5+/Configuration.h b/Marlin/src/config/examples/gCreate/gMax1.5+/Configuration.h
index df33c69298d10c51e98c1dd57fb8bd719f609879..c26a3c88e03a789ba31cb3866dc80125638928dd 100644
--- a/Marlin/src/config/examples/gCreate/gMax1.5+/Configuration.h
+++ b/Marlin/src/config/examples/gCreate/gMax1.5+/Configuration.h
@@ -651,15 +651,14 @@
#define DEFAULT_EJERK 4.0
/**
- * Realtime Jerk Control
+ * S-Curve Acceleration
*
* This option eliminates vibration during printing by fitting a Bézier
* curve to move acceleration, producing much smoother direction changes.
- * Because this is computationally-intensive, a 32-bit MCU is required.
*
* See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
*/
-//#define BEZIER_JERK_CONTROL
+//#define S_CURVE_ACCELERATION
//===========================================================================
//============================= Z Probe Options =============================
diff --git a/Marlin/src/config/examples/makibox/Configuration.h b/Marlin/src/config/examples/makibox/Configuration.h
index df58f166e5dabac28753f958c489c51aabdb4ff9..2b6c87bd9decbe2b2cb1a67642175315cb24008a 100644
--- a/Marlin/src/config/examples/makibox/Configuration.h
+++ b/Marlin/src/config/examples/makibox/Configuration.h
@@ -641,15 +641,14 @@
#define DEFAULT_EJERK 5.0
/**
- * Realtime Jerk Control
+ * S-Curve Acceleration
*
* This option eliminates vibration during printing by fitting a Bézier
* curve to move acceleration, producing much smoother direction changes.
- * Because this is computationally-intensive, a 32-bit MCU is required.
*
* See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
*/
-//#define BEZIER_JERK_CONTROL
+//#define S_CURVE_ACCELERATION
//===========================================================================
//============================= Z Probe Options =============================
diff --git a/Marlin/src/config/examples/stm32f103ret6/Configuration.h b/Marlin/src/config/examples/stm32f103ret6/Configuration.h
index 52750a9aa08ce8fe9a9325aa3e59e6701e29a912..9ffd6cd1adce487fd050ac7cb19cf6bad10e51fa 100644
--- a/Marlin/src/config/examples/stm32f103ret6/Configuration.h
+++ b/Marlin/src/config/examples/stm32f103ret6/Configuration.h
@@ -640,15 +640,14 @@
#define DEFAULT_EJERK 5.0
/**
- * Realtime Jerk Control
+ * S-Curve Acceleration
*
* This option eliminates vibration during printing by fitting a Bézier
* curve to move acceleration, producing much smoother direction changes.
- * Because this is computationally-intensive, a 32-bit MCU is required.
*
* See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
*/
-//#define BEZIER_JERK_CONTROL
+//#define S_CURVE_ACCELERATION
//===========================================================================
//============================= Z Probe Options =============================
diff --git a/Marlin/src/config/examples/tvrrug/Round2/Configuration.h b/Marlin/src/config/examples/tvrrug/Round2/Configuration.h
index 1fc85c168f83deff00e4b3acc1cca982e89c6727..37d7a7a8d1e74bda76d92e7e4308599d5160f227 100644
--- a/Marlin/src/config/examples/tvrrug/Round2/Configuration.h
+++ b/Marlin/src/config/examples/tvrrug/Round2/Configuration.h
@@ -633,15 +633,14 @@
#define DEFAULT_EJERK 5.0
/**
- * Realtime Jerk Control
+ * S-Curve Acceleration
*
* This option eliminates vibration during printing by fitting a Bézier
* curve to move acceleration, producing much smoother direction changes.
- * Because this is computationally-intensive, a 32-bit MCU is required.
*
* See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
*/
-//#define BEZIER_JERK_CONTROL
+//#define S_CURVE_ACCELERATION
//===========================================================================
//============================= Z Probe Options =============================
diff --git a/Marlin/src/config/examples/wt150/Configuration.h b/Marlin/src/config/examples/wt150/Configuration.h
index 4e233b469b9d37eb07acebd864e7def7cf84f40d..f7e05b1bfb2b65a749f84782ae3271c7978eae69 100644
--- a/Marlin/src/config/examples/wt150/Configuration.h
+++ b/Marlin/src/config/examples/wt150/Configuration.h
@@ -643,15 +643,14 @@
#define DEFAULT_EJERK 5.0
/**
- * Realtime Jerk Control
+ * S-Curve Acceleration
*
* This option eliminates vibration during printing by fitting a Bézier
* curve to move acceleration, producing much smoother direction changes.
- * Because this is computationally-intensive, a 32-bit MCU is required.
*
* See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
*/
-//#define BEZIER_JERK_CONTROL
+//#define S_CURVE_ACCELERATION
//===========================================================================
//============================= Z Probe Options =============================
diff --git a/Marlin/src/inc/SanityCheck.h b/Marlin/src/inc/SanityCheck.h
index aaefdfe2d13607df070734bc8d2595a179cfbe70..a1480c2cb73b02597bed7f973a0392d5c233bab9 100644
--- a/Marlin/src/inc/SanityCheck.h
+++ b/Marlin/src/inc/SanityCheck.h
@@ -273,6 +273,8 @@
#error "FILAMENT_CHANGE_LOAD_LENGTH is now FILAMENT_CHANGE_FAST_LOAD_LENGTH. Please update your configuration."
#elif ENABLED(LEVEL_BED_CORNERS) && !defined(LEVEL_CORNERS_INSET)
#error "LEVEL_BED_CORNERS requires a LEVEL_CORNERS_INSET value. Please update your Configuration.h."
+#elif defined(BEZIER_JERK_CONTROL)
+ #error "BEZIER_JERK_CONTROL is now S_CURVE_ACCELERATION. Please update your configuration."
#endif
#define BOARD_MKS_13 -47
diff --git a/Marlin/src/module/planner.cpp b/Marlin/src/module/planner.cpp
index f56c581c9abe219a117266f55965ba8f078d6b8a..f480c0a90d80f79edd71854ab411ca897ae92dd5 100644
--- a/Marlin/src/module/planner.cpp
+++ b/Marlin/src/module/planner.cpp
@@ -232,7 +232,7 @@ void Planner::init() {
delay_before_delivering = 0;
}
-#if ENABLED(BEZIER_JERK_CONTROL)
+#if ENABLED(S_CURVE_ACCELERATION)
#ifdef __AVR__
// This routine, for AVR, returns 0x1000000 / d, but trying to get the inverse as
@@ -761,7 +761,7 @@ void Planner::calculate_trapezoid_for_block(block_t* const block, const float &e
NOLESS(initial_rate, uint32_t(MINIMAL_STEP_RATE));
NOLESS(final_rate, uint32_t(MINIMAL_STEP_RATE));
- #if ENABLED(BEZIER_JERK_CONTROL)
+ #if ENABLED(S_CURVE_ACCELERATION)
uint32_t cruise_rate = initial_rate;
#endif
@@ -782,12 +782,12 @@ void Planner::calculate_trapezoid_for_block(block_t* const block, const float &e
accelerate_steps = MIN(uint32_t(MAX(accelerate_steps_float, 0)), block->step_event_count);
plateau_steps = 0;
- #if ENABLED(BEZIER_JERK_CONTROL)
+ #if ENABLED(S_CURVE_ACCELERATION)
// We won't reach the cruising rate. Let's calculate the speed we will reach
cruise_rate = final_speed(initial_rate, accel, accelerate_steps);
#endif
}
- #if ENABLED(BEZIER_JERK_CONTROL)
+ #if ENABLED(S_CURVE_ACCELERATION)
else // We have some plateau time, so the cruise rate will be the nominal rate
cruise_rate = block->nominal_rate;
#endif
@@ -795,7 +795,7 @@ void Planner::calculate_trapezoid_for_block(block_t* const block, const float &e
// block->accelerate_until = accelerate_steps;
// block->decelerate_after = accelerate_steps+plateau_steps;
- #if ENABLED(BEZIER_JERK_CONTROL)
+ #if ENABLED(S_CURVE_ACCELERATION)
// Jerk controlled speed requires to express speed versus time, NOT steps
uint32_t acceleration_time = ((float)(cruise_rate - initial_rate) / accel) * (HAL_STEPPER_TIMER_RATE),
deceleration_time = ((float)(cruise_rate - final_rate) / accel) * (HAL_STEPPER_TIMER_RATE);
@@ -815,7 +815,7 @@ void Planner::calculate_trapezoid_for_block(block_t* const block, const float &e
block->accelerate_until = accelerate_steps;
block->decelerate_after = accelerate_steps + plateau_steps;
block->initial_rate = initial_rate;
- #if ENABLED(BEZIER_JERK_CONTROL)
+ #if ENABLED(S_CURVE_ACCELERATION)
block->acceleration_time = acceleration_time;
block->deceleration_time = deceleration_time;
block->acceleration_time_inverse = acceleration_time_inverse;
@@ -2136,7 +2136,7 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
}
block->acceleration_steps_per_s2 = accel;
block->acceleration = accel / steps_per_mm;
- #if DISABLED(BEZIER_JERK_CONTROL)
+ #if DISABLED(S_CURVE_ACCELERATION)
block->acceleration_rate = (uint32_t)(accel * (4096.0 * 4096.0 / (HAL_STEPPER_TIMER_RATE)));
#endif
#if ENABLED(LIN_ADVANCE)
diff --git a/Marlin/src/module/planner.h b/Marlin/src/module/planner.h
index 878675d4d98e7acd2e0bbdcf1c4abaefc9e5e183..77b0d5a09c48affbec4b5a928f33bb58c1dedc4f 100644
--- a/Marlin/src/module/planner.h
+++ b/Marlin/src/module/planner.h
@@ -115,7 +115,7 @@ typedef struct {
uint32_t accelerate_until, // The index of the step event on which to stop acceleration
decelerate_after; // The index of the step event on which to start decelerating
- #if ENABLED(BEZIER_JERK_CONTROL)
+ #if ENABLED(S_CURVE_ACCELERATION)
uint32_t cruise_rate; // The actual cruise rate to use, between end of the acceleration phase and start of deceleration phase
uint32_t acceleration_time, // Acceleration time and deceleration time in STEP timer counts
deceleration_time;
@@ -782,7 +782,7 @@ class Planner {
return target_velocity_sqr - 2 * accel * distance;
}
- #if ENABLED(BEZIER_JERK_CONTROL)
+ #if ENABLED(S_CURVE_ACCELERATION)
/**
* Calculate the speed reached given initial speed, acceleration and distance
*/
diff --git a/Marlin/src/module/stepper.cpp b/Marlin/src/module/stepper.cpp
index b4411579ce75f89cb437f1f532bbf7131b9d67b0..9c9a087f48d21cd4811842564b11e2f9ea27b693 100644
--- a/Marlin/src/module/stepper.cpp
+++ b/Marlin/src/module/stepper.cpp
@@ -118,7 +118,7 @@ int32_t Stepper::counter_X = 0,
uint32_t Stepper::step_events_completed = 0; // The number of step events executed in the current block
-#if ENABLED(BEZIER_JERK_CONTROL)
+#if ENABLED(S_CURVE_ACCELERATION)
int32_t __attribute__((used)) Stepper::bezier_A __asm__("bezier_A"); // A coefficient in Bézier speed curve with alias for assembler
int32_t __attribute__((used)) Stepper::bezier_B __asm__("bezier_B"); // B coefficient in Bézier speed curve with alias for assembler
int32_t __attribute__((used)) Stepper::bezier_C __asm__("bezier_C"); // C coefficient in Bézier speed curve with alias for assembler
@@ -168,7 +168,7 @@ volatile signed char Stepper::count_direction[NUM_AXIS] = { 1, 1, 1, 1 };
uint32_t Stepper::ticks_nominal;
uint8_t Stepper::step_loops, Stepper::step_loops_nominal;
-#if DISABLED(BEZIER_JERK_CONTROL)
+#if DISABLED(S_CURVE_ACCELERATION)
uint32_t Stepper::acc_step_rate; // needed for deceleration start point
#endif
@@ -318,7 +318,7 @@ void Stepper::set_directions() {
#endif // !LIN_ADVANCE
}
-#if ENABLED(BEZIER_JERK_CONTROL)
+#if ENABLED(S_CURVE_ACCELERATION)
/**
* We are using a quintic (fifth-degree) Bézier polynomial for the velocity curve.
* This gives us a "linear pop" velocity curve; with pop being the sixth derivative of position:
@@ -1122,7 +1122,7 @@ void Stepper::set_directions() {
#endif
}
#endif
-#endif // BEZIER_JERK_CONTROL
+#endif // S_CURVE_ACCELERATION
/**
* Stepper Driver Interrupt
@@ -1497,7 +1497,7 @@ uint32_t Stepper::stepper_block_phase_isr() {
// Calculate new timer value
if (step_events_completed <= current_block->accelerate_until) {
- #if ENABLED(BEZIER_JERK_CONTROL)
+ #if ENABLED(S_CURVE_ACCELERATION)
// Get the next speed to use (Jerk limited!)
uint32_t acc_step_rate =
acceleration_time < current_block->acceleration_time
@@ -1528,7 +1528,7 @@ uint32_t Stepper::stepper_block_phase_isr() {
else if (step_events_completed > current_block->decelerate_after) {
uint32_t step_rate;
- #if ENABLED(BEZIER_JERK_CONTROL)
+ #if ENABLED(S_CURVE_ACCELERATION)
// If this is the 1st time we process the 2nd half of the trapezoid...
if (!bezier_2nd_half) {
// Initialize the Bézier speed curve
@@ -1726,12 +1726,12 @@ uint32_t Stepper::stepper_block_phase_isr() {
// make a note of the number of step loops required at nominal speed
step_loops_nominal = step_loops;
- #if DISABLED(BEZIER_JERK_CONTROL)
+ #if DISABLED(S_CURVE_ACCELERATION)
// Set as deceleration point the initial rate of the block
acc_step_rate = current_block->initial_rate;
#endif
- #if ENABLED(BEZIER_JERK_CONTROL)
+ #if ENABLED(S_CURVE_ACCELERATION)
// Initialize the Bézier speed curve
_calc_bezier_curve_coeffs(current_block->initial_rate, current_block->cruise_rate, current_block->acceleration_time_inverse);
diff --git a/Marlin/src/module/stepper.h b/Marlin/src/module/stepper.h
index 6264560ffb248c28b39d9f14cc8404f850b5b4f8..d10b8c32ed6f4f64ad5b9ee6f9d4c57edfc3ef8c 100644
--- a/Marlin/src/module/stepper.h
+++ b/Marlin/src/module/stepper.h
@@ -94,7 +94,7 @@ class Stepper {
static int32_t counter_X, counter_Y, counter_Z, counter_E;
static uint32_t step_events_completed; // The number of step events executed in the current block
- #if ENABLED(BEZIER_JERK_CONTROL)
+ #if ENABLED(S_CURVE_ACCELERATION)
static int32_t bezier_A, // A coefficient in Bézier speed curve
bezier_B, // B coefficient in Bézier speed curve
bezier_C; // C coefficient in Bézier speed curve
@@ -128,7 +128,7 @@ class Stepper {
static uint8_t step_loops, step_loops_nominal;
static uint32_t ticks_nominal;
- #if DISABLED(BEZIER_JERK_CONTROL)
+ #if DISABLED(S_CURVE_ACCELERATION)
static uint32_t acc_step_rate; // needed for deceleration start point
#endif
@@ -333,7 +333,7 @@ class Stepper {
return timer;
}
- #if ENABLED(BEZIER_JERK_CONTROL)
+ #if ENABLED(S_CURVE_ACCELERATION)
static void _calc_bezier_curve_coeffs(const int32_t v0, const int32_t v1, const uint32_t av);
static int32_t _eval_bezier_curve(const uint32_t curr_step);
#endif