From aaaf09bda27eff38d773b4b73925442f61d34866 Mon Sep 17 00:00:00 2001 From: Scott Lahteine 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 78333aea1..1ce6a2f5b 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 6b1d9af16..067e4c87e 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 6b1d9af16..067e4c87e 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 a8e4b3358..6aa8f5795 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 fb66dc559..6a986559e 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 9bdab4f1e..ed75c2f42 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 19b0ee6eb..2e2446064 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 4f57560b0..8a308144e 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 f9052c042..e4e980986 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 09af2c566..e91e9400b 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 81969b0c8..3ab23d918 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 5a71a968b..2be8d5454 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 8e94ff505..25d21738d 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 4451a0536..b39d353ec 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 d5914b7a7..ed0864a11 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 f2b857955..8db5804fd 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 37f59c95b..a25006e00 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 5a76ea936..c1a36e0fc 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 1084e5a56..f0b58958b 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 e5fc7f569..c0fab4857 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 88b333503..c0e8962ec 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 3cc412842..633ca326f 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 3fafecf53..6c424ecb3 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 c7e3a278d..f79579118 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 da7d0630a..00e0bed57 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 cbcd0bd81..86600a6ce 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 2888626bc..903f35078 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 bee4a97ac..98eb3ab69 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 b5afd1fd3..709540c7e 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 12c32b319..7b232ad38 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 92e83fd30..87166a1d7 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 62dbe98df..1838a8e7f 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 7664d6fab..8fda56f8a 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 035352a33..cc873808a 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 0976c0297..1eafdd9e4 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 d90e98eeb..fad05b56a 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 d49c4ee33..eafca70f9 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 96eeb7581..4b3f45514 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 083aab24e..ed27c430e 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 6d8ba9f6f..96214fb79 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 1f98d9502..d22a4a995 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 09558a46f..bfa157f32 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 7d5dc0da4..34a88c19c 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 ee912830d..51aaf523e 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 a8f7049c0..f3b6dcf2d 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 75781a9f5..4248bf164 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 b2a08480a..f644aa02d 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 124851c2e..9e600cab4 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 c1b22dfa0..34fc23d56 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 0e447e0df..8ef50d83e 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 66c95d115..44077f700 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 b0b4c3efb..61f0410e7 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 4dc22d643..97b88b8a0 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 f0d138163..6277ebd12 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 7c94669a1..26f1ad76d 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 7b2a2815f..7b0700e54 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 b69e07f4e..de69281e4 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 91337ba8c..84d193b49 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 144911f32..a61be3641 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 32e390573..2385f8e48 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 52a112bbe..71de9dfe7 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 4ec0233c5..39e7a5dd2 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 11f0ec7c8..bbda15e8c 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 4258458fe..46d22fc1f 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 df33c6929..c26a3c88e 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 df58f166e..2b6c87bd9 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 52750a9aa..9ffd6cd1a 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 1fc85c168..37d7a7a8d 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 4e233b469..f7e05b1bf 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 aaefdfe2d..a1480c2cb 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 f56c581c9..f480c0a90 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 878675d4d..77b0d5a09 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 b4411579c..9c9a087f4 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 6264560ff..d10b8c32e 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