✨ FT_MOTION

MarlinFirmware/Marlin##25394

not ft

config/default/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/3DFabXYZ/Migbot/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/ADIMLab/Gantry v1/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/ADIMLab/Gantry v2/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/Alfawise/U20-bltouch/Configuration_adv.h

@@ -1095,7 +1095,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1134,6 +1178,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/Alfawise/U20/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/AliExpress/UM2pExt/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/Anet/A2/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/Anet/A2plus/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/Anet/A6/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/Anet/A8/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/Anet/A8plus/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/Anet/A9/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/Anet/E10/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/Anet/E16/BTT SKR 1.3/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/Anet/E16/Stock/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/Anet/ET4+/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/Anet/ET4-Pro/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/Anet/ET4/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/Anet/ET4X/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/Anet/ET5-Pro/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/Anet/ET5/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/Anet/ET5X/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/AnyCubic/Chiron/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/AnyCubic/Mega Zero 2.0/Anycubic V1/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/AnyCubic/Mega Zero/Anycubic V1/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/AnyCubic/Mega Zero/BigTreeTech SKR Mini MZ V1.0/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/AnyCubic/Vyper/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/AnyCubic/i3 Mega/Trigorilla AVR/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/AnyCubic/i3 Mega/Trigorilla Pro STM32/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/AnyCubic/i3/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/ArmEd/Configuration_adv.h

@@ -1091,7 +1091,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1130,6 +1174,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/Artillery/Genius Pro/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/Artillery/Genius/BLTouch/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/Artillery/Genius/V1/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/Artillery/Hornet/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/Artillery/Sidewinder X1/0.9 BMG - E3D V6/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/Artillery/Sidewinder X1/V1/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/Artillery/Sidewinder X2/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/BIBO/TouchX/cyclops/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/BIBO/TouchX/default/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/BIQU/B1 SE Plus/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/BIQU/B1 SE/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/BIQU/B1/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/BIQU/BX/Configuration_adv.h

@@ -1087,7 +1087,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1126,6 +1170,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/BIQU/Hurakan/Configuration_adv.h

@@ -1087,7 +1087,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1126,6 +1170,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/BIQU/Thunder Standard/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/BQ/Hephestos/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/BQ/Hephestos_2/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/BQ/WITBOX/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/CTC/A13/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/CTC/Bizer/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/Cartesio/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/Creality/CR-10 Mini/BigTreeTech SKR Mini E3 2.0/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/Creality/CR-10 Mini/CrealityV1/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/Creality/CR-10 Mini/MEEB-3DP/Configuration_adv.h

@@ -1085,7 +1085,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1124,6 +1168,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/Creality/CR-10 S4/CrealityV1/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/Creality/CR-10 S5/BigTreeTech SKR Mini E3 1.2 with TFT35 E3 V3.0/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/Creality/CR-10 S5/BigTreeTech SKR Mini E3 v3/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/Creality/CR-10 S5/CrealityV1/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/Creality/CR-10 S5/CrealityV2.2-BLTouch/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/Creality/CR-10 V2/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/Creality/CR-10 V3/Configuration_adv.h

@@ -1088,7 +1088,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1127,6 +1171,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/Creality/CR-10/BigTreeTech SKR Mini E3 2.0/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/Creality/CR-10/CrealityV1/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/Creality/CR-10S/BigTreeTech SKR 1.4 Turbo TMC2209/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/Creality/CR-10S/BigTreeTech SKR 2.0 TMC2209/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/Creality/CR-10S/BigTreeTech SKR Mini E3 2.0/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/Creality/CR-10S/BigTreeTech SKR Pro v1.2/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/Creality/CR-10S/CrealityV1/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/Creality/CR-20 Pro/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/Creality/CR-20/RepRapWorld Minitronics20/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/Creality/CR-20/Stock/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/Creality/CR-30 PrintMill/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/Creality/CR-6 SE/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/Creality/CR-8/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/Creality/Ender-2 Pro/CrealityV423/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/Creality/Ender-2/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/Creality/Ender-3 Max/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/Creality/Ender-3 Neo/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/Creality/Ender-3 Pro/BigTreeTech SKR 1.4 Turbo/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/Creality/Ender-3 Pro/BigTreeTech SKR Mini E3 1.0/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/Creality/Ender-3 Pro/BigTreeTech SKR Mini E3 1.2/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/Creality/Ender-3 Pro/BigTreeTech SKR Mini E3 2.0/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/Creality/Ender-3 Pro/BigTreeTech SKR Mini E3 3.0/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/Creality/Ender-3 Pro/CrealityV1/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/Creality/Ender-3 Pro/CrealityV422/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/Creality/Ender-3 Pro/CrealityV427/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/Creality/Ender-3 S1/STM32F1/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/Creality/Ender-3 S1/STM32F4/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/Creality/Ender-3 V2 Neo/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/Creality/Ender-3 V2/BigTreeTech SKR E3 Turbo/CrealityUI/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/Creality/Ender-3 V2/BigTreeTech SKR E3 Turbo/MarlinUI/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/Creality/Ender-3 V2/BigTreeTech SKR Mini E3 v3/CrealityUI/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/Creality/Ender-3 V2/BigTreeTech SKR Mini E3 v3/MarlinUI/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/Creality/Ender-3 V2/CrealityV422/CrealityUI/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/Creality/Ender-3 V2/CrealityV422/MarlinUI/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/Creality/Ender-3/BigTreeTech E3 RRF/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/Creality/Ender-3/BigTreeTech SKR 1.4/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

config/examples/Creality/Ender-3/BigTreeTech SKR E3 Turbo/2-into-1 Hotend/Configuration_adv.h

@@ -1086,7 +1086,51 @@
 
 #endif
 
-// @section motion
+// @section motion control
+
+/**
+ * Fixed-time-based Motion Control -- EXPERIMENTAL
+ * Enable/disable and set parameters with G-code M493.
+ */
+//#define FT_MOTION
+#if ENABLED(FT_MOTION)
+  #define FTM_DEFAULT_MODE         ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
+  #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f              // (Hz) Default peak frequency used by input shapers.
+  #define FTM_LINEAR_ADV_DEFAULT_ENA false              // Default linear advance enable (true) or disable (false).
+  #define FTM_LINEAR_ADV_DEFAULT_K    0.0f              // Default linear advance gain.
+  #define FTM_SHAPING_ZETA            0.1f              // Zeta used by input shapers.
+  #define FTM_SHAPING_V_TOL           0.05f             // Vibration tolerance used by EI input shapers.
+
+  /**
+   * Advanced configuration
+   */
+  #define FTM_BATCH_SIZE 100                            // Batch size for trajectory generation;
+                                                        // half the window size for Ulendo FBS.
+  #define FTM_FS           1000                         // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
+  #define FTM_TS              0.001f                    // (s) Time step for trajectory generation. (1 / FTM_FS)
+  #define FTM_STEPPER_FS  20000                         // (Hz) Frequency for stepper I/O update.
+  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
+  #define FTM_MIN_SHAPE_FREQ 10                         // Minimum shaping frequency.
+  #define FTM_ZMAX          100                         // Maximum delays for shaping functions (even numbers only!).
+                                                        // Calculate as:
+                                                        //    1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
+                                                        //    (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
+                                                        //    3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
+                                                        //    2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
+  #define FTM_STEPS_PER_UNIT_TIME 20                    // Interpolated stepper commands per unit time.
+                                                        // Calculate as (FTM_STEPPER_FS / FTM_FS).
+  #define FTM_CTS_COMPARE_VAL 10                        // Comparison value used in interpolation algorithm.
+                                                        // Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
+  // These values may be configured to adjust duration of loop().
+  #define FTM_STEPS_PER_LOOP 60                         // Number of stepper commands to generate each loop().
+  #define FTM_POINTS_PER_LOOP 100                       // Number of trajectory points to generate each loop().
+
+  // This value may be configured to adjust duration to consume the command buffer.
+  // Try increasing this value if stepper motion is not smooth.
+  #define FTM_STEPPERCMD_BUFF_SIZE 1000                 // Size of the stepper command buffers.
+#endif
 
 /**
  * Input Shaping -- EXPERIMENTAL
@@ -1125,6 +1169,8 @@
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
 #endif
 
+// @section motion
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles