BEZIER_JERK_CONTROL => S_CURVE_ACCELERATION

.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}

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 =============================

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 =============================

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 =============================

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 =============================

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 =============================

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 =============================

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 =============================

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 =============================

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 =============================

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 =============================

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 =============================

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 =============================

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 =============================

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 =============================

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 =============================

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 =============================

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 =============================

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 =============================

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 =============================

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 =============================

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 =============================

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 =============================

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 =============================

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 =============================

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 =============================

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 =============================

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 =============================

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 =============================

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 =============================

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 =============================

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 =============================

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 =============================

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 =============================

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 =============================

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 =============================

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 =============================

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 =============================

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 =============================

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 =============================

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 =============================

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 =============================

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 =============================

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 =============================

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 =============================

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 =============================

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 =============================

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 =============================

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 =============================

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 =============================

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 =============================

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 =============================

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 =============================

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 =============================

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 =============================

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 =============================

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 =============================

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 =============================

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 =============================

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 =============================

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 =============================

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 =============================

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 =============================

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 =============================

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 =============================

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 =============================

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 =============================

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 =============================

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 =============================

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

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)

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
        */

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);
 

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