From aaaf09bda27eff38d773b4b73925442f61d34866 Mon Sep 17 00:00:00 2001
From: Scott Lahteine <github@thinkyhead.com>
Date: Sat, 26 May 2018 02:02:39 -0500
Subject: [PATCH] BEZIER_JERK_CONTROL => S_CURVE_ACCELERATION
---
.travis.yml | 2 +-
Marlin/Configuration.h | 5 ++---
Marlin/src/config/default/Configuration.h | 5 ++---
.../examples/AlephObjects/TAZ4/Configuration.h | 5 ++---
.../examples/AliExpress/CL-260/Configuration.h | 5 ++---
.../src/config/examples/Anet/A6/Configuration.h | 5 ++---
.../src/config/examples/Anet/A8/Configuration.h | 5 ++---
.../config/examples/Azteeg/X5GT/Configuration.h | 5 ++---
.../examples/BIBO/TouchX/cyclops/Configuration.h | 5 ++---
.../examples/BIBO/TouchX/default/Configuration.h | 5 ++---
.../config/examples/BQ/Hephestos/Configuration.h | 5 ++---
.../examples/BQ/Hephestos_2/Configuration.h | 5 ++---
.../config/examples/BQ/WITBOX/Configuration.h | 5 ++---
.../src/config/examples/Cartesio/Configuration.h | 5 ++---
.../examples/Creality/CR-10/Configuration.h | 5 ++---
.../examples/Creality/CR-10S/Configuration.h | 5 ++---
.../examples/Creality/CR-10mini/Configuration.h | 5 ++---
.../examples/Creality/CR-8/Configuration.h | 5 ++---
.../examples/Creality/Ender-2/Configuration.h | 5 ++---
.../examples/Creality/Ender-3/Configuration.h | 5 ++---
.../examples/Creality/Ender-4/Configuration.h | 5 ++---
Marlin/src/config/examples/Felix/Configuration.h | 5 ++---
.../config/examples/Felix/DUAL/Configuration.h | 5 ++---
.../examples/FolgerTech/i3-2020/Configuration.h | 5 ++---
.../examples/Geeetech/GT2560/Configuration.h | 5 ++---
.../Geeetech/I3_Pro_X-GT2560/Configuration.h | 5 ++---
.../Prusa i3 Pro B/bltouch/Configuration.h | 5 ++---
.../Prusa i3 Pro B/noprobe/Configuration.h | 5 ++---
.../Geeetech/Prusa i3 Pro C/Configuration.h | 5 ++---
.../Geeetech/Prusa i3 Pro W/Configuration.h | 5 ++---
.../examples/Infitary/i3-M508/Configuration.h | 5 ++---
.../config/examples/JGAurora/A5/Configuration.h | 5 ++---
.../config/examples/MakerParts/Configuration.h | 5 ++---
.../config/examples/Malyan/M150/Configuration.h | 5 ++---
.../config/examples/Malyan/M200/Configuration.h | 5 ++---
.../examples/Micromake/C1/basic/Configuration.h | 5 ++---
.../Micromake/C1/enhanced/Configuration.h | 5 ++---
.../config/examples/Mks/Sbase/Configuration.h | 5 ++---
.../examples/RepRapPro/Huxley/Configuration.h | 5 ++---
.../RepRapWorld/Megatronics/Configuration.h | 5 ++---
.../src/config/examples/RigidBot/Configuration.h | 5 ++---
Marlin/src/config/examples/SCARA/Configuration.h | 5 ++---
.../src/config/examples/STM32F10/Configuration.h | 5 ++---
.../src/config/examples/STM32F4/Configuration.h | 5 ++---
.../config/examples/Sanguinololu/Configuration.h | 5 ++---
.../src/config/examples/TheBorg/Configuration.h | 5 ++---
.../src/config/examples/TinyBoy2/Configuration.h | 5 ++---
.../config/examples/Tronxy/X1/Configuration.h | 5 ++---
.../config/examples/Tronxy/X5S/Configuration.h | 5 ++---
.../config/examples/Tronxy/XY100/Configuration.h | 5 ++---
.../examples/UltiMachine/Archim2/Configuration.h | 5 ++---
.../examples/Velleman/K8200/Configuration.h | 5 ++---
.../examples/Velleman/K8400/Configuration.h | 5 ++---
.../Velleman/K8400/Dual-head/Configuration.h | 5 ++---
.../examples/Wanhao/Duplicator 6/Configuration.h | 5 ++---
.../examples/adafruit/ST7565/Configuration.h | 5 ++---
.../delta/FLSUN/auto_calibrate/Configuration.h | 5 ++---
.../examples/delta/FLSUN/kossel/Configuration.h | 5 ++---
.../delta/FLSUN/kossel_mini/Configuration.h | 5 ++---
.../delta/Hatchbox_Alpha/Configuration.h | 5 ++---
.../examples/delta/generic/Configuration.h | 5 ++---
.../examples/delta/kossel_mini/Configuration.h | 5 ++---
.../examples/delta/kossel_pro/Configuration.h | 5 ++---
.../examples/delta/kossel_xl/Configuration.h | 5 ++---
.../examples/gCreate/gMax1.5+/Configuration.h | 5 ++---
.../src/config/examples/makibox/Configuration.h | 5 ++---
.../examples/stm32f103ret6/Configuration.h | 5 ++---
.../examples/tvrrug/Round2/Configuration.h | 5 ++---
Marlin/src/config/examples/wt150/Configuration.h | 5 ++---
Marlin/src/inc/SanityCheck.h | 2 ++
Marlin/src/module/planner.cpp | 14 +++++++-------
Marlin/src/module/planner.h | 4 ++--
Marlin/src/module/stepper.cpp | 16 ++++++++--------
Marlin/src/module/stepper.h | 6 +++---
74 files changed, 159 insertions(+), 225 deletions(-)
diff --git a/.travis.yml b/.travis.yml
index 78333aea1a..1ce6a2f5ba 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 6b1d9af16c..067e4c87e1 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 6b1d9af16c..067e4c87e1 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 a8e4b3358e..6aa8f57950 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 fb66dc559b..6a986559ef 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 9bdab4f1eb..ed75c2f420 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 19b0ee6eb1..2e24460649 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 4f57560b0d..8a308144e7 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 f9052c0420..e4e980986b 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 09af2c566d..e91e9400ba 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 81969b0c8b..3ab23d918b 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 5a71a968bc..2be8d5454e 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 8e94ff5054..25d21738d3 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 4451a05365..b39d353ecf 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 d5914b7a72..ed0864a116 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 f2b8579558..8db5804fd1 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 37f59c95b9..a25006e004 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 5a76ea9366..c1a36e0fcd 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 1084e5a567..f0b58958b2 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 e5fc7f569c..c0fab4857d 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 88b333503c..c0e8962ec6 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 3cc412842b..633ca326fd 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 3fafecf531..6c424ecb35 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 c7e3a278d7..f79579118c 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 da7d0630a3..00e0bed578 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 cbcd0bd81a..86600a6cec 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 2888626bc5..903f350784 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 bee4a97ace..98eb3ab69e 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 b5afd1fd3e..709540c7eb 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 12c32b3191..7b232ad38c 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 92e83fd304..87166a1d7b 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 62dbe98df3..1838a8e7f5 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 7664d6fabb..8fda56f8aa 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 035352a33b..cc873808a2 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 0976c02976..1eafdd9e44 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 d90e98eebd..fad05b56ac 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 d49c4ee337..eafca70f95 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 96eeb75816..4b3f455140 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 083aab24e5..ed27c430e0 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 6d8ba9f6f9..96214fb79f 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 1f98d9502f..d22a4a995f 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 09558a46fb..bfa157f321 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 7d5dc0da4c..34a88c19c5 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 ee912830d1..51aaf523e4 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 a8f7049c0a..f3b6dcf2d0 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 75781a9f5c..4248bf1645 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 b2a08480a7..f644aa02d6 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 124851c2e2..9e600cab42 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 c1b22dfa01..34fc23d560 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 0e447e0df9..8ef50d83ee 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 66c95d115a..44077f7009 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 b0b4c3efbf..61f0410e77 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 4dc22d6434..97b88b8a0e 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 f0d1381639..6277ebd124 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 7c94669a13..26f1ad76d1 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 7b2a2815f1..7b0700e540 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 b69e07f4eb..de69281e4d 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 91337ba8ce..84d193b49d 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 144911f32a..a61be36417 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 32e390573c..2385f8e48a 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 52a112bbe1..71de9dfe73 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 4ec0233c5c..39e7a5dd20 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 11f0ec7c8c..bbda15e8c7 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 4258458fe0..46d22fc1f1 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 df33c69298..c26a3c88e0 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 df58f166e5..2b6c87bd9d 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 52750a9aa0..9ffd6cd1ad 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 1fc85c168f..37d7a7a8d1 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 4e233b469b..f7e05b1bfb 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 aaefdfe2d1..a1480c2cb7 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 f56c581c9a..f480c0a90d 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 878675d4d9..77b0d5a09c 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 b4411579ce..9c9a087f48 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 6264560ffb..d10b8c32ed 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
--
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