Add JD_HANDLE_SMALL_SEGMENTS option (#18316)

Marlin/Configuration.h

@@ -815,6 +815,8 @@
  */
 #if DISABLED(CLASSIC_JERK)
   #define JUNCTION_DEVIATION_MM 0.013 // (mm) Distance from real junction edge
+  #define JD_HANDLE_SMALL_SEGMENTS    // Use curvature estimation instead of just the junction angle
+                                      // for small segments (< 1mm) with large junction angles (> 135°).
 #endif
 
 /**

Marlin/src/module/planner.cpp

@@ -2352,6 +2352,8 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
 
         vmax_junction_sqr = junction_acceleration * junction_deviation_mm * sin_theta_d2 / (1.0f - sin_theta_d2);
 
+        #if ENABLED(JD_HANDLE_SMALL_SEGMENTS)
+
           // For small moves with >135° junction (octagon) find speed for approximate arc
           if (block->millimeters < 1 && junction_cos_theta < -0.7071067812f) {
 
@@ -2435,6 +2437,8 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
             const float limit_sqr = (block->millimeters * junction_acceleration) / junction_theta;
             NOMORE(vmax_junction_sqr, limit_sqr);
           }
+
+        #endif // JD_HANDLE_SMALL_SEGMENTS
       }
 
       // Get the lowest speed

Marlin/src/module/planner.h

@@ -32,7 +32,7 @@
 
 #include "../MarlinCore.h"
 
-#if HAS_JUNCTION_DEVIATION
+#if ENABLED(JD_HANDLE_SMALL_SEGMENTS)
   // Enable this option for perfect accuracy but maximum
   // computation. Should be fine on ARM processors.
   //#define JD_USE_MATH_ACOS