Implement NO_WORKSPACE_OFFSETS

Marlin/Marlin.h

@@ -275,15 +275,34 @@ extern volatile bool wait_for_heatup;
 #endif
 
 extern float current_position[NUM_AXIS];
-extern float position_shift[XYZ];
-extern float home_offset[XYZ];
+
+// Workspace offsets
+#if DISABLED(NO_WORKSPACE_OFFSETS)
+  extern float position_shift[XYZ];
+  extern float home_offset[XYZ];
+  #define LOGICAL_POSITION(POS, AXIS) ((POS) + home_offset[AXIS] + position_shift[AXIS])
+  #define RAW_POSITION(POS, AXIS)     ((POS) - home_offset[AXIS] - position_shift[AXIS])
+#else
+  #define LOGICAL_POSITION(POS, AXIS) (POS)
+  #define RAW_POSITION(POS, AXIS)     (POS)
+#endif
+
+#define LOGICAL_X_POSITION(POS)     LOGICAL_POSITION(POS, X_AXIS)
+#define LOGICAL_Y_POSITION(POS)     LOGICAL_POSITION(POS, Y_AXIS)
+#define LOGICAL_Z_POSITION(POS)     LOGICAL_POSITION(POS, Z_AXIS)
+#define RAW_X_POSITION(POS)         RAW_POSITION(POS, X_AXIS)
+#define RAW_Y_POSITION(POS)         RAW_POSITION(POS, Y_AXIS)
+#define RAW_Z_POSITION(POS)         RAW_POSITION(POS, Z_AXIS)
+#define RAW_CURRENT_POSITION(AXIS)  RAW_POSITION(current_position[AXIS], AXIS)
 
 #if HOTENDS > 1
   extern float hotend_offset[XYZ][HOTENDS];
 #endif
 
 // Software Endstops
-void update_software_endstops(AxisEnum axis);
+extern float soft_endstop_min[XYZ];
+extern float soft_endstop_max[XYZ];
+
 #if ENABLED(min_software_endstops) || ENABLED(max_software_endstops)
   extern bool soft_endstops_enabled;
   void clamp_to_software_endstops(float target[XYZ]);
@@ -291,18 +310,10 @@ void update_software_endstops(AxisEnum axis);
   #define soft_endstops_enabled false
   #define clamp_to_software_endstops(x) NOOP
 #endif
-extern float soft_endstop_min[XYZ];
-extern float soft_endstop_max[XYZ];
 
-#define LOGICAL_POSITION(POS, AXIS) ((POS) + home_offset[AXIS] + position_shift[AXIS])
-#define RAW_POSITION(POS, AXIS)     ((POS) - home_offset[AXIS] - position_shift[AXIS])
-#define LOGICAL_X_POSITION(POS)     LOGICAL_POSITION(POS, X_AXIS)
-#define LOGICAL_Y_POSITION(POS)     LOGICAL_POSITION(POS, Y_AXIS)
-#define LOGICAL_Z_POSITION(POS)     LOGICAL_POSITION(POS, Z_AXIS)
-#define RAW_X_POSITION(POS)         RAW_POSITION(POS, X_AXIS)
-#define RAW_Y_POSITION(POS)         RAW_POSITION(POS, Y_AXIS)
-#define RAW_Z_POSITION(POS)         RAW_POSITION(POS, Z_AXIS)
-#define RAW_CURRENT_POSITION(AXIS)  RAW_POSITION(current_position[AXIS], AXIS)
+#if DISABLED(NO_WORKSPACE_OFFSETS) || ENABLED(DUAL_X_CARRIAGE) || ENABLED(DELTA)
+  void update_software_endstops(const AxisEnum axis);
+#endif
 
 // GCode support for external objects
 bool code_seen(char);

Marlin/Marlin_main.cpp

@@ -396,12 +396,16 @@ bool axis_relative_modes[] = AXIS_RELATIVE_MODES,
 float filament_size[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(DEFAULT_NOMINAL_FILAMENT_DIA),
       volumetric_multiplier[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(1.0);
 
-// The distance that XYZ has been offset by G92. Reset by G28.
-float position_shift[XYZ] = { 0 };
+#if DISABLED(NO_WORKSPACE_OFFSETS)
 
-// This offset is added to the configured home position.
-// Set by M206, M428, or menu item. Saved to EEPROM.
-float home_offset[XYZ] = { 0 };
+  // The distance that XYZ has been offset by G92. Reset by G28.
+  float position_shift[XYZ] = { 0 };
+
+  // This offset is added to the configured home position.
+  // Set by M206, M428, or menu item. Saved to EEPROM.
+  float home_offset[XYZ] = { 0 };
+
+#endif
 
 // Software Endstops are based on the configured limits.
 #if ENABLED(min_software_endstops) || ENABLED(max_software_endstops)
@@ -1333,7 +1337,9 @@ bool get_target_extruder_from_command(int code) {
 
 #endif // DUAL_X_CARRIAGE
 
-/**
+#if DISABLED(NO_WORKSPACE_OFFSETS) || ENABLED(DUAL_X_CARRIAGE) || ENABLED(DELTA)
+
+  /**
    * Software endstops can be used to monitor the open end of
    * an axis that has a hardware endstop on the other end. Or
    * they can prevent axes from moving past endstops and grinding.
@@ -1342,8 +1348,8 @@ bool get_target_extruder_from_command(int code) {
    * the software endstop positions must be refreshed to remain
    * at the same positions relative to the machine.
    */
-void update_software_endstops(AxisEnum axis) {
-  float offs = LOGICAL_POSITION(0, axis);
+  void update_software_endstops(const AxisEnum axis) {
+    const float offs = LOGICAL_POSITION(0, axis);
 
     #if ENABLED(DUAL_X_CARRIAGE)
       if (axis == X_AXIS) {
@@ -1376,8 +1382,10 @@ void update_software_endstops(AxisEnum axis) {
     #if ENABLED(DEBUG_LEVELING_FEATURE)
       if (DEBUGGING(LEVELING)) {
         SERIAL_ECHOPAIR("For ", axis_codes[axis]);
+        #if DISABLED(NO_WORKSPACE_OFFSETS)
           SERIAL_ECHOPAIR(" axis:\n home_offset = ", home_offset[axis]);
           SERIAL_ECHOPAIR("\n position_shift = ", position_shift[axis]);
+        #endif
         SERIAL_ECHOPAIR("\n soft_endstop_min = ", soft_endstop_min[axis]);
         SERIAL_ECHOLNPAIR("\n soft_endstop_max = ", soft_endstop_max[axis]);
       }
@@ -1387,10 +1395,12 @@ void update_software_endstops(AxisEnum axis) {
       if (axis == Z_AXIS)
         delta_clip_start_height = soft_endstop_max[axis] - delta_safe_distance_from_top();
     #endif
+  }
 
-}
+#endif // NO_WORKSPACE_OFFSETS
 
-/**
+#if DISABLED(NO_WORKSPACE_OFFSETS)
+  /**
    * Change the home offset for an axis, update the current
    * position and the software endstops to retain the same
    * relative distance to the new home.
@@ -1398,11 +1408,12 @@ void update_software_endstops(AxisEnum axis) {
    * Since this changes the current_position, code should
    * call sync_plan_position soon after this.
    */
-static void set_home_offset(AxisEnum axis, float v) {
+  static void set_home_offset(AxisEnum axis, float v) {
     current_position[axis] += v - home_offset[axis];
     home_offset[axis] = v;
     update_software_endstops(axis);
-}
+  }
+#endif // NO_WORKSPACE_OFFSETS
 
 /**
  * Set an axis' current position to its home position (after homing).
@@ -1433,8 +1444,10 @@ static void set_axis_is_at_home(AxisEnum axis) {
 
   axis_known_position[axis] = axis_homed[axis] = true;
 
+  #if DISABLED(NO_WORKSPACE_OFFSETS)
     position_shift[axis] = 0;
     update_software_endstops(axis);
+  #endif
 
   #if ENABLED(DUAL_X_CARRIAGE)
     if (axis == X_AXIS && (active_extruder == 1 || dual_x_carriage_mode == DXC_DUPLICATION_MODE)) {
@@ -1507,8 +1520,10 @@ static void set_axis_is_at_home(AxisEnum axis) {
 
   #if ENABLED(DEBUG_LEVELING_FEATURE)
     if (DEBUGGING(LEVELING)) {
+      #if DISABLED(NO_WORKSPACE_OFFSETS)
         SERIAL_ECHOPAIR("> home_offset[", axis_codes[axis]);
         SERIAL_ECHOLNPAIR("] = ", home_offset[axis]);
+      #endif
       DEBUG_POS("", current_position);
       SERIAL_ECHOPAIR("<<< set_axis_is_at_home(", axis_codes[axis]);
       SERIAL_CHAR(')');
@@ -4603,8 +4618,10 @@ inline void gcode_G92() {
 
         if (i != E_AXIS) {
           didXYZ = true;
+          #if DISABLED(NO_WORKSPACE_OFFSETS)
             position_shift[i] += v - p; // Offset the coordinate space
             update_software_endstops((AxisEnum)i);
+          #endif
         }
       #endif
     }
@@ -6334,10 +6351,12 @@ inline void gcode_M205() {
   if (code_seen('E')) planner.max_jerk[E_AXIS] = code_value_axis_units(E_AXIS);
 }
 
-/**
+#if DISABLED(NO_WORKSPACE_OFFSETS)
+
+  /**
    * M206: Set Additional Homing Offset (X Y Z). SCARA aliases T=X, P=Y
    */
-inline void gcode_M206() {
+  inline void gcode_M206() {
     LOOP_XYZ(i)
       if (code_seen(axis_codes[i]))
         set_home_offset((AxisEnum)i, code_value_axis_units(i));
@@ -6349,7 +6368,9 @@ inline void gcode_M206() {
 
     SYNC_PLAN_POSITION_KINEMATIC();
     report_current_position();
-}
+  }
+
+#endif // NO_WORKSPACE_OFFSETS
 
 #if ENABLED(DELTA)
   /**
@@ -7173,7 +7194,9 @@ void quickstop_stepper() {
 
 #endif
 
-/**
+#if DISABLED(NO_WORKSPACE_OFFSETS)
+
+  /**
    * M428: Set home_offset based on the distance between the
    *       current_position and the nearest "reference point."
    *       If an axis is past center its endstop position
@@ -7184,7 +7207,7 @@ void quickstop_stepper() {
    *
    *       Use M206 to set these values directly.
    */
-inline void gcode_M428() {
+  inline void gcode_M428() {
     bool err = false;
     LOOP_XYZ(i) {
       if (axis_homed[i]) {
@@ -7211,7 +7234,9 @@ inline void gcode_M428() {
       BUZZ(200, 659);
       BUZZ(200, 698);
     }
-}
+  }
+
+#endif // NO_WORKSPACE_OFFSETS
 
 /**
  * M500: Store settings in EEPROM
@@ -8081,10 +8106,14 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
           // The newly-selected extruder XY is actually at...
           current_position[X_AXIS] += xydiff[X_AXIS];
           current_position[Y_AXIS] += xydiff[Y_AXIS];
+          #if DISABLED(NO_WORKSPACE_OFFSETS) || ENABLED(DUAL_X_CARRIAGE)
             for (uint8_t i = X_AXIS; i <= Y_AXIS; i++) {
+              #if DISABLED(NO_WORKSPACE_OFFSETS)
                 position_shift[i] += xydiff[i];
+              #endif
               update_software_endstops((AxisEnum)i);
             }
+          #endif
 
           // Set the new active extruder
           active_extruder = tmp_extruder;
@@ -8639,9 +8668,12 @@ void process_next_command() {
       case 205: //M205: Set advanced settings
         gcode_M205();
         break;
+
+      #if DISABLED(NO_WORKSPACE_OFFSETS)
         case 206: // M206: Set home offsets
           gcode_M206();
           break;
+      #endif
 
       #if ENABLED(DELTA)
         case 665: // M665: Set delta configurations
@@ -8805,9 +8837,11 @@ void process_next_command() {
           break;
       #endif
 
+      #if DISABLED(NO_WORKSPACE_OFFSETS)
         case 428: // M428: Apply current_position to home_offset
           gcode_M428();
           break;
+      #endif
 
       case 500: // M500: Store settings in EEPROM
         gcode_M500();
@@ -10488,8 +10522,12 @@ void setup() {
   // This also updates variables in the planner, elsewhere
   Config_RetrieveSettings();
 
+  #if DISABLED(NO_WORKSPACE_OFFSETS)
     // Initialize current position based on home_offset
     memcpy(current_position, home_offset, sizeof(home_offset));
+  #else
+    ZERO(current_position);
+  #endif
 
   // Vital to init stepper/planner equivalent for current_position
   SYNC_PLAN_POSITION_KINEMATIC();

Marlin/configuration_store.cpp

@@ -171,8 +171,10 @@ void Config_Postprocess() {
 
   calculate_volumetric_multipliers();
 
+  #if DISABLED(NO_WORKSPACE_OFFSETS) || ENABLED(DUAL_X_CARRIAGE) || ENABLED(DELTA)
     // Software endstops depend on home_offset
     LOOP_XYZ(i) update_software_endstops((AxisEnum)i);
+  #endif
 }
 
 #if ENABLED(EEPROM_SETTINGS)
@@ -251,6 +253,9 @@ void Config_Postprocess() {
     EEPROM_WRITE(planner.min_travel_feedrate_mm_s);
     EEPROM_WRITE(planner.min_segment_time);
     EEPROM_WRITE(planner.max_jerk);
+    #if ENABLED(NO_WORKSPACE_OFFSETS)
+      float home_offset[XYZ] = { 0 };
+    #endif
     EEPROM_WRITE(home_offset);
 
     #if HOTENDS > 1
@@ -498,6 +503,10 @@ void Config_Postprocess() {
       EEPROM_READ(planner.min_travel_feedrate_mm_s);
       EEPROM_READ(planner.min_segment_time);
       EEPROM_READ(planner.max_jerk);
+
+      #if ENABLED(NO_WORKSPACE_OFFSETS)
+        float home_offset[XYZ];
+      #endif
       EEPROM_READ(home_offset);
 
       #if HOTENDS > 1
@@ -726,7 +735,9 @@ void Config_ResetDefault() {
   planner.max_jerk[Y_AXIS] = DEFAULT_YJERK;
   planner.max_jerk[Z_AXIS] = DEFAULT_ZJERK;
   planner.max_jerk[E_AXIS] = DEFAULT_EJERK;
-  home_offset[X_AXIS] = home_offset[Y_AXIS] = home_offset[Z_AXIS] = 0;
+  #if DISABLED(NO_WORKSPACE_OFFSETS)
+    ZERO(home_offset);
+  #endif
 
   #if HOTENDS > 1
     constexpr float tmp4[XYZ][HOTENDS] = {
@@ -937,6 +948,7 @@ void Config_ResetDefault() {
     SERIAL_ECHOPAIR(" E", planner.max_jerk[E_AXIS]);
     SERIAL_EOL;
 
+    #if DISABLED(NO_WORKSPACE_OFFSETS)
       CONFIG_ECHO_START;
       if (!forReplay) {
         SERIAL_ECHOLNPGM("Home offset (mm)");
@@ -946,6 +958,7 @@ void Config_ResetDefault() {
       SERIAL_ECHOPAIR(" Y", home_offset[Y_AXIS]);
       SERIAL_ECHOPAIR(" Z", home_offset[Z_AXIS]);
       SERIAL_EOL;
+    #endif
 
     #if HOTENDS > 1
       CONFIG_ECHO_START;