[2.0.x] 6th-order jerk-controlled motion planning in real-time

.travis.yml

@@ -436,6 +436,7 @@ script:
   - export TEST_PLATFORM="-e DUE"
   - restore_configs
   - opt_set MOTHERBOARD BOARD_RAMPS4DUE_EFB
+  - opt_set BEZIER_JERK_CONTROL
   - 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

@@ -608,6 +608,17 @@
 #define DEFAULT_ZJERK                  0.3
 #define DEFAULT_EJERK                  5.0
 
+/**
+ * Realtime Jerk Control
+ *
+ * This option eliminates vibration during printing by fitting a Bézier
+ * curve to move acceleration, producing much smoother direction changes.
+ * Because this is computationally-intensive, a 32-bit MCU is required.
+ *
+ * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
+ */
+//#define BEZIER_JERK_CONTROL
+
 //===========================================================================
 //============================= Z Probe Options =============================
 //===========================================================================

Marlin/src/backtrace/unwarm_thumb.cpp

@@ -260,7 +260,7 @@ UnwResult UnwStartThumb(UnwState * const state) {
 
         UnwPrintd5("TB%c [r%d,r%d%s]\n", H ? 'H' : 'B', rn, rm, H ? ",LSL #1" : "");
 
-        // We are only interested if the RN is the PC. Let´s choose the 1st destination
+        // We are only interested if the RN is the PC. Let's choose the 1st destination
         if (rn == 15) {
           if (H) {
             uint16_t rv;

Marlin/src/backtrace/unwinder.cpp

@@ -28,7 +28,7 @@ extern "C" const UnwTabEntry __exidx_end[];
 
 // Detect if unwind information is present or not
 static int HasUnwindTableInfo(void) {
-  // > 16 because there are default entries we can´t supress
+  // > 16 because there are default entries we can't supress
   return ((char*)(&__exidx_end) - (char*)(&__exidx_start)) > 16 ? 1 : 0;
 }
 

Marlin/src/config/default/Configuration.h

@@ -608,6 +608,17 @@
 #define DEFAULT_ZJERK                  0.3
 #define DEFAULT_EJERK                  5.0
 
+/**
+ * Realtime Jerk Control
+ *
+ * This option eliminates vibration during printing by fitting a Bézier
+ * curve to move acceleration, producing much smoother direction changes.
+ * Because this is computationally-intensive, a 32-bit MCU is required.
+ *
+ * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
+ */
+//#define BEZIER_JERK_CONTROL
+
 //===========================================================================
 //============================= Z Probe Options =============================
 //===========================================================================

Marlin/src/config/examples/AlephObjects/TAZ4/Configuration.h

@@ -628,6 +628,17 @@
 #define DEFAULT_ZJERK                  0.3
 #define DEFAULT_EJERK                 10.0
 
+/**
+ * Realtime Jerk Control
+ *
+ * This option eliminates vibration during printing by fitting a Bézier
+ * curve to move acceleration, producing much smoother direction changes.
+ * Because this is computationally-intensive, a 32-bit MCU is required.
+ *
+ * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
+ */
+//#define BEZIER_JERK_CONTROL
+
 //===========================================================================
 //============================= Z Probe Options =============================
 //===========================================================================

Marlin/src/config/examples/AliExpress/CL-260/Configuration.h

@@ -608,6 +608,17 @@
 #define DEFAULT_ZJERK                  0.3
 #define DEFAULT_EJERK                  5.0
 
+/**
+ * Realtime Jerk Control
+ *
+ * This option eliminates vibration during printing by fitting a Bézier
+ * curve to move acceleration, producing much smoother direction changes.
+ * Because this is computationally-intensive, a 32-bit MCU is required.
+ *
+ * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
+ */
+//#define BEZIER_JERK_CONTROL
+
 //===========================================================================
 //============================= Z Probe Options =============================
 //===========================================================================

Marlin/src/config/examples/Anet/A6/Configuration.h

@@ -656,6 +656,17 @@
 #define DEFAULT_ZJERK                  0.3
 #define DEFAULT_EJERK                  5.0
 
+/**
+ * Realtime Jerk Control
+ *
+ * This option eliminates vibration during printing by fitting a Bézier
+ * curve to move acceleration, producing much smoother direction changes.
+ * Because this is computationally-intensive, a 32-bit MCU is required.
+ *
+ * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
+ */
+//#define BEZIER_JERK_CONTROL
+
 //===========================================================================
 //============================= Z Probe Options =============================
 //===========================================================================

Marlin/src/config/examples/Anet/A8/Configuration.h

@@ -615,6 +615,17 @@
 #define DEFAULT_ZJERK                  0.3
 #define DEFAULT_EJERK                  5.0
 
+/**
+ * Realtime Jerk Control
+ *
+ * This option eliminates vibration during printing by fitting a Bézier
+ * curve to move acceleration, producing much smoother direction changes.
+ * Because this is computationally-intensive, a 32-bit MCU is required.
+ *
+ * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
+ */
+//#define BEZIER_JERK_CONTROL
+
 //===========================================================================
 //============================= Z Probe Options =============================
 //===========================================================================

Marlin/src/config/examples/Azteeg/X5GT/Configuration.h

@@ -608,6 +608,17 @@
 #define DEFAULT_ZJERK                  0.3
 #define DEFAULT_EJERK                  5.0
 
+/**
+ * Realtime Jerk Control
+ *
+ * This option eliminates vibration during printing by fitting a Bézier
+ * curve to move acceleration, producing much smoother direction changes.
+ * Because this is computationally-intensive, a 32-bit MCU is required.
+ *
+ * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
+ */
+//#define BEZIER_JERK_CONTROL
+
 //===========================================================================
 //============================= Z Probe Options =============================
 //===========================================================================

Marlin/src/config/examples/BIBO/TouchX/cyclops/Configuration.h

@@ -608,6 +608,17 @@ const bool Z_MIN_PROBE_ENDSTOP_INVERTING = true; // set to true to invert the lo
 #define DEFAULT_ZJERK                  0.65
 #define DEFAULT_EJERK                  5.0
 
+/**
+ * Realtime Jerk Control
+ *
+ * This option eliminates vibration during printing by fitting a Bézier
+ * curve to move acceleration, producing much smoother direction changes.
+ * Because this is computationally-intensive, a 32-bit MCU is required.
+ *
+ * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
+ */
+//#define BEZIER_JERK_CONTROL
+
 //===========================================================================
 //============================= Z Probe Options =============================
 //===========================================================================

Marlin/src/config/examples/BIBO/TouchX/default/Configuration.h

@@ -608,6 +608,17 @@ const bool Z_MIN_PROBE_ENDSTOP_INVERTING = true; // set to true to invert the lo
 #define DEFAULT_ZJERK                  0.65
 #define DEFAULT_EJERK                  5.0
 
+/**
+ * Realtime Jerk Control
+ *
+ * This option eliminates vibration during printing by fitting a Bézier
+ * curve to move acceleration, producing much smoother direction changes.
+ * Because this is computationally-intensive, a 32-bit MCU is required.
+ *
+ * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
+ */
+//#define BEZIER_JERK_CONTROL
+
 //===========================================================================
 //============================= Z Probe Options =============================
 //===========================================================================

Marlin/src/config/examples/BQ/Hephestos/Configuration.h

@@ -596,6 +596,17 @@
 #define DEFAULT_ZJERK                  0.3
 #define DEFAULT_EJERK                  5.0
 
+/**
+ * Realtime Jerk Control
+ *
+ * This option eliminates vibration during printing by fitting a Bézier
+ * curve to move acceleration, producing much smoother direction changes.
+ * Because this is computationally-intensive, a 32-bit MCU is required.
+ *
+ * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
+ */
+//#define BEZIER_JERK_CONTROL
+
 //===========================================================================
 //============================= Z Probe Options =============================
 //===========================================================================

Marlin/src/config/examples/BQ/Hephestos_2/Configuration.h

@@ -609,6 +609,17 @@
 #define DEFAULT_ZJERK                  0.3
 #define DEFAULT_EJERK                  1.0
 
+/**
+ * Realtime Jerk Control
+ *
+ * This option eliminates vibration during printing by fitting a Bézier
+ * curve to move acceleration, producing much smoother direction changes.
+ * Because this is computationally-intensive, a 32-bit MCU is required.
+ *
+ * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
+ */
+//#define BEZIER_JERK_CONTROL
+
 //===========================================================================
 //============================= Z Probe Options =============================
 //===========================================================================

Marlin/src/config/examples/BQ/WITBOX/Configuration.h

@@ -596,6 +596,17 @@
 #define DEFAULT_ZJERK                  0.3
 #define DEFAULT_EJERK                  5.0
 
+/**
+ * Realtime Jerk Control
+ *
+ * This option eliminates vibration during printing by fitting a Bézier
+ * curve to move acceleration, producing much smoother direction changes.
+ * Because this is computationally-intensive, a 32-bit MCU is required.
+ *
+ * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
+ */
+//#define BEZIER_JERK_CONTROL
+
 //===========================================================================
 //============================= Z Probe Options =============================
 //===========================================================================

Marlin/src/config/examples/Cartesio/Configuration.h

@@ -607,6 +607,17 @@
 #define DEFAULT_ZJERK                  0.3
 #define DEFAULT_EJERK                  5.0
 
+/**
+ * Realtime Jerk Control
+ *
+ * This option eliminates vibration during printing by fitting a Bézier
+ * curve to move acceleration, producing much smoother direction changes.
+ * Because this is computationally-intensive, a 32-bit MCU is required.
+ *
+ * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
+ */
+//#define BEZIER_JERK_CONTROL
+
 //===========================================================================
 //============================= Z Probe Options =============================
 //===========================================================================

Marlin/src/config/examples/Creality/CR-10/Configuration.h

@@ -618,6 +618,17 @@
 #define DEFAULT_ZJERK                  2.7
 #define DEFAULT_EJERK                  5.0
 
+/**
+ * Realtime Jerk Control
+ *
+ * This option eliminates vibration during printing by fitting a Bézier
+ * curve to move acceleration, producing much smoother direction changes.
+ * Because this is computationally-intensive, a 32-bit MCU is required.
+ *
+ * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
+ */
+//#define BEZIER_JERK_CONTROL
+
 //===========================================================================
 //============================= Z Probe Options =============================
 //===========================================================================

Marlin/src/config/examples/Creality/CR-10S/Configuration.h

@@ -608,6 +608,17 @@
 #define DEFAULT_ZJERK                  0.4
 #define DEFAULT_EJERK                  5.0
 
+/**
+ * Realtime Jerk Control
+ *
+ * This option eliminates vibration during printing by fitting a Bézier
+ * curve to move acceleration, producing much smoother direction changes.
+ * Because this is computationally-intensive, a 32-bit MCU is required.
+ *
+ * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
+ */
+//#define BEZIER_JERK_CONTROL
+
 //===========================================================================
 //============================= Z Probe Options =============================
 //===========================================================================

Marlin/src/config/examples/Creality/CR-10mini/Configuration.h

@@ -627,6 +627,17 @@
 #define DEFAULT_ZJERK                  0.3
 #define DEFAULT_EJERK                  5.0
 
+/**
+ * Realtime Jerk Control
+ *
+ * This option eliminates vibration during printing by fitting a Bézier
+ * curve to move acceleration, producing much smoother direction changes.
+ * Because this is computationally-intensive, a 32-bit MCU is required.
+ *
+ * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
+ */
+//#define BEZIER_JERK_CONTROL
+
 //===========================================================================
 //============================= Z Probe Options =============================
 //===========================================================================

Marlin/src/config/examples/Creality/CR-8/Configuration.h

@@ -618,6 +618,17 @@
 #define DEFAULT_ZJERK                  0.4
 #define DEFAULT_EJERK                  5.0
 
+/**
+ * Realtime Jerk Control
+ *
+ * This option eliminates vibration during printing by fitting a Bézier
+ * curve to move acceleration, producing much smoother direction changes.
+ * Because this is computationally-intensive, a 32-bit MCU is required.
+ *
+ * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
+ */
+//#define BEZIER_JERK_CONTROL
+
 //===========================================================================
 //============================= Z Probe Options =============================
 //===========================================================================

Marlin/src/config/examples/Creality/Ender-2/Configuration.h

@@ -612,6 +612,17 @@
 #define DEFAULT_ZJERK                  0.3
 #define DEFAULT_EJERK                  5.0
 
+/**
+ * Realtime Jerk Control
+ *
+ * This option eliminates vibration during printing by fitting a Bézier
+ * curve to move acceleration, producing much smoother direction changes.
+ * Because this is computationally-intensive, a 32-bit MCU is required.
+ *
+ * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
+ */
+//#define BEZIER_JERK_CONTROL
+
 //===========================================================================
 //============================= Z Probe Options =============================
 //===========================================================================

Marlin/src/config/examples/Creality/Ender-4/Configuration.h

@@ -618,6 +618,17 @@
 #define DEFAULT_ZJERK                  2.4
 #define DEFAULT_EJERK                  5.0
 
+/**
+ * Realtime Jerk Control
+ *
+ * This option eliminates vibration during printing by fitting a Bézier
+ * curve to move acceleration, producing much smoother direction changes.
+ * Because this is computationally-intensive, a 32-bit MCU is required.
+ *
+ * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
+ */
+//#define BEZIER_JERK_CONTROL
+
 //===========================================================================
 //============================= Z Probe Options =============================
 //===========================================================================

Marlin/src/config/examples/Felix/Configuration.h

@@ -590,6 +590,17 @@
 #define DEFAULT_ZJERK                  0.3
 #define DEFAULT_EJERK                  5.0
 
+/**
+ * Realtime Jerk Control
+ *
+ * This option eliminates vibration during printing by fitting a Bézier
+ * curve to move acceleration, producing much smoother direction changes.
+ * Because this is computationally-intensive, a 32-bit MCU is required.
+ *
+ * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
+ */
+//#define BEZIER_JERK_CONTROL
+
 //===========================================================================
 //============================= Z Probe Options =============================
 //===========================================================================