tp: S-curve planner performance and control fixes (solve storm, planner pool, cornering scale, G64 R)#4154

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grandixximo:tp-improve

Commits on Jun 11, 2026

tp: preallocated Ruckig planner pool (no RT-cycle alloc churn)

greatEndian
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grandixximo
committed
tp: closed-form s-curve velocity queries replace per-cycle Ruckig solves

greatEndian
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grandixximo
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tp: runtime SCURVE_PEAK_SCALE knob ([TRAJ] + HAL pin)

greatEndian
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grandixximo
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tp: defer PLANNER_TYPE switch until motion idle (never abort)

greatEndian
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grandixximo
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tp: G64 R word selects planner mode (graded Fanuc-style dial)

greatEndian
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grandixximo
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tp: throttle S-curve no-jerk log storm + refuse S-curve without jerk limit

greatEndian
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grandixximo
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tp: G64 R carries intent only; SCURVE_PEAK_SCALE defaults to 1.0; review fixes
grandixximo
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interp: refuse R word on a line with both G64 and M19
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docs: G64 R planner dial, [TRAJ]SMOOTH_PLANNER and SCURVE_PEAK_SCALE
grandixximo
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tests: interp coverage for the G64 R planner dial
grandixximo
committed