diff --git a/Marlin/Marlin.h b/Marlin/Marlin.h
index 97af92c583be108bf384c84b5079c024c9ac9d45..7d759553cc362776fb8538fe7cb4e46ef9a98883 100644
--- a/Marlin/Marlin.h
+++ b/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);
diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index c57c2e296f0a95dd82ea245869a2ead859b590f3..3c6ef8bd5e54e3a871f3d9fa53ce463672773a35 100755
--- a/Marlin/Marlin_main.cpp
+++ b/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)
@@ -1333,76 +1337,83 @@ bool get_target_extruder_from_command(int code) {
#endif // DUAL_X_CARRIAGE
-/**
- * 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.
- *
- * To keep doing their job as the coordinate system changes,
- * 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);
+#if DISABLED(NO_WORKSPACE_OFFSETS) || ENABLED(DUAL_X_CARRIAGE) || ENABLED(DELTA)
- #if ENABLED(DUAL_X_CARRIAGE)
- if (axis == X_AXIS) {
+ /**
+ * 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.
+ *
+ * To keep doing their job as the coordinate system changes,
+ * the software endstop positions must be refreshed to remain
+ * at the same positions relative to the machine.
+ */
+ void update_software_endstops(const AxisEnum axis) {
+ const float offs = LOGICAL_POSITION(0, axis);
- // In Dual X mode hotend_offset[X] is T1's home position
- float dual_max_x = max(hotend_offset[X_AXIS][1], X2_MAX_POS);
+ #if ENABLED(DUAL_X_CARRIAGE)
+ if (axis == X_AXIS) {
- if (active_extruder != 0) {
- // T1 can move from X2_MIN_POS to X2_MAX_POS or X2 home position (whichever is larger)
- soft_endstop_min[X_AXIS] = X2_MIN_POS + offs;
- soft_endstop_max[X_AXIS] = dual_max_x + offs;
- }
- else if (dual_x_carriage_mode == DXC_DUPLICATION_MODE) {
- // In Duplication Mode, T0 can move as far left as X_MIN_POS
- // but not so far to the right that T1 would move past the end
- soft_endstop_min[X_AXIS] = base_min_pos(X_AXIS) + offs;
- soft_endstop_max[X_AXIS] = min(base_max_pos(X_AXIS), dual_max_x - duplicate_extruder_x_offset) + offs;
- }
- else {
- // In other modes, T0 can move from X_MIN_POS to X_MAX_POS
- soft_endstop_min[axis] = base_min_pos(axis) + offs;
- soft_endstop_max[axis] = base_max_pos(axis) + offs;
+ // In Dual X mode hotend_offset[X] is T1's home position
+ float dual_max_x = max(hotend_offset[X_AXIS][1], X2_MAX_POS);
+
+ if (active_extruder != 0) {
+ // T1 can move from X2_MIN_POS to X2_MAX_POS or X2 home position (whichever is larger)
+ soft_endstop_min[X_AXIS] = X2_MIN_POS + offs;
+ soft_endstop_max[X_AXIS] = dual_max_x + offs;
+ }
+ else if (dual_x_carriage_mode == DXC_DUPLICATION_MODE) {
+ // In Duplication Mode, T0 can move as far left as X_MIN_POS
+ // but not so far to the right that T1 would move past the end
+ soft_endstop_min[X_AXIS] = base_min_pos(X_AXIS) + offs;
+ soft_endstop_max[X_AXIS] = min(base_max_pos(X_AXIS), dual_max_x - duplicate_extruder_x_offset) + offs;
+ }
+ else {
+ // In other modes, T0 can move from X_MIN_POS to X_MAX_POS
+ soft_endstop_min[axis] = base_min_pos(axis) + offs;
+ soft_endstop_max[axis] = base_max_pos(axis) + offs;
+ }
}
- }
- #else
- soft_endstop_min[axis] = base_min_pos(axis) + offs;
- soft_endstop_max[axis] = base_max_pos(axis) + offs;
- #endif
+ #else
+ soft_endstop_min[axis] = base_min_pos(axis) + offs;
+ soft_endstop_max[axis] = base_max_pos(axis) + offs;
+ #endif
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOPAIR("For ", axis_codes[axis]);
- SERIAL_ECHOPAIR(" axis:\n home_offset = ", home_offset[axis]);
- SERIAL_ECHOPAIR("\n position_shift = ", position_shift[axis]);
- SERIAL_ECHOPAIR("\n soft_endstop_min = ", soft_endstop_min[axis]);
- SERIAL_ECHOLNPAIR("\n soft_endstop_max = ", soft_endstop_max[axis]);
- }
- #endif
+ #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]);
+ }
+ #endif
- #if ENABLED(DELTA)
- if (axis == Z_AXIS)
- delta_clip_start_height = soft_endstop_max[axis] - delta_safe_distance_from_top();
- #endif
+ #if ENABLED(DELTA)
+ if (axis == Z_AXIS)
+ delta_clip_start_height = soft_endstop_max[axis] - delta_safe_distance_from_top();
+ #endif
+ }
-}
+#endif // 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.
- *
- * Since this changes the current_position, code should
- * call sync_plan_position soon after this.
- */
-static void set_home_offset(AxisEnum axis, float v) {
- current_position[axis] += v - home_offset[axis];
- home_offset[axis] = v;
- update_software_endstops(axis);
-}
+#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.
+ *
+ * Since this changes the current_position, code should
+ * call sync_plan_position soon after this.
+ */
+ 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;
- position_shift[axis] = 0;
- update_software_endstops(axis);
+ #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)) {
- SERIAL_ECHOPAIR("> home_offset[", axis_codes[axis]);
- SERIAL_ECHOLNPAIR("] = ", home_offset[axis]);
+ #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;
- position_shift[i] += v - p; // Offset the coordinate space
- update_software_endstops((AxisEnum)i);
+ #if DISABLED(NO_WORKSPACE_OFFSETS)
+ position_shift[i] += v - p; // Offset the coordinate space
+ update_software_endstops((AxisEnum)i);
+ #endif
}
#endif
}
@@ -6334,22 +6351,26 @@ inline void gcode_M205() {
if (code_seen('E')) planner.max_jerk[E_AXIS] = code_value_axis_units(E_AXIS);
}
-/**
- * M206: Set Additional Homing Offset (X Y Z). SCARA aliases T=X, P=Y
- */
-inline void gcode_M206() {
- LOOP_XYZ(i)
- if (code_seen(axis_codes[i]))
- set_home_offset((AxisEnum)i, code_value_axis_units(i));
+#if DISABLED(NO_WORKSPACE_OFFSETS)
- #if ENABLED(MORGAN_SCARA)
- if (code_seen('T')) set_home_offset(A_AXIS, code_value_axis_units(A_AXIS)); // Theta
- if (code_seen('P')) set_home_offset(B_AXIS, code_value_axis_units(B_AXIS)); // Psi
- #endif
+ /**
+ * M206: Set Additional Homing Offset (X Y Z). SCARA aliases T=X, P=Y
+ */
+ inline void gcode_M206() {
+ LOOP_XYZ(i)
+ if (code_seen(axis_codes[i]))
+ set_home_offset((AxisEnum)i, code_value_axis_units(i));
- SYNC_PLAN_POSITION_KINEMATIC();
- report_current_position();
-}
+ #if ENABLED(MORGAN_SCARA)
+ if (code_seen('T')) set_home_offset(A_AXIS, code_value_axis_units(A_AXIS)); // Theta
+ if (code_seen('P')) set_home_offset(B_AXIS, code_value_axis_units(B_AXIS)); // Psi
+ #endif
+
+ SYNC_PLAN_POSITION_KINEMATIC();
+ report_current_position();
+ }
+
+#endif // NO_WORKSPACE_OFFSETS
#if ENABLED(DELTA)
/**
@@ -7173,45 +7194,49 @@ void quickstop_stepper() {
#endif
-/**
- * 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
- * is the reference-point. Otherwise it uses 0. This allows
- * the Z offset to be set near the bed when using a max endstop.
- *
- * M428 can't be used more than 2cm away from 0 or an endstop.
- *
- * Use M206 to set these values directly.
- */
-inline void gcode_M428() {
- bool err = false;
- LOOP_XYZ(i) {
- if (axis_homed[i]) {
- float base = (current_position[i] > (soft_endstop_min[i] + soft_endstop_max[i]) * 0.5) ? base_home_pos((AxisEnum)i) : 0,
- diff = current_position[i] - LOGICAL_POSITION(base, i);
- if (diff > -20 && diff < 20) {
- set_home_offset((AxisEnum)i, home_offset[i] - diff);
- }
- else {
- SERIAL_ERROR_START;
- SERIAL_ERRORLNPGM(MSG_ERR_M428_TOO_FAR);
- LCD_ALERTMESSAGEPGM("Err: Too far!");
- BUZZ(200, 40);
- err = true;
- break;
+#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
+ * is the reference-point. Otherwise it uses 0. This allows
+ * the Z offset to be set near the bed when using a max endstop.
+ *
+ * M428 can't be used more than 2cm away from 0 or an endstop.
+ *
+ * Use M206 to set these values directly.
+ */
+ inline void gcode_M428() {
+ bool err = false;
+ LOOP_XYZ(i) {
+ if (axis_homed[i]) {
+ float base = (current_position[i] > (soft_endstop_min[i] + soft_endstop_max[i]) * 0.5) ? base_home_pos((AxisEnum)i) : 0,
+ diff = current_position[i] - LOGICAL_POSITION(base, i);
+ if (diff > -20 && diff < 20) {
+ set_home_offset((AxisEnum)i, home_offset[i] - diff);
+ }
+ else {
+ SERIAL_ERROR_START;
+ SERIAL_ERRORLNPGM(MSG_ERR_M428_TOO_FAR);
+ LCD_ALERTMESSAGEPGM("Err: Too far!");
+ BUZZ(200, 40);
+ err = true;
+ break;
+ }
}
}
- }
- if (!err) {
- SYNC_PLAN_POSITION_KINEMATIC();
- report_current_position();
- LCD_MESSAGEPGM(MSG_HOME_OFFSETS_APPLIED);
- BUZZ(200, 659);
- BUZZ(200, 698);
+ if (!err) {
+ SYNC_PLAN_POSITION_KINEMATIC();
+ report_current_position();
+ LCD_MESSAGEPGM(MSG_HOME_OFFSETS_APPLIED);
+ 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];
- for (uint8_t i = X_AXIS; i <= Y_AXIS; i++) {
- position_shift[i] += xydiff[i];
- update_software_endstops((AxisEnum)i);
- }
+ #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;
- case 206: // M206: Set home offsets
- gcode_M206();
- 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
- case 428: // M428: Apply current_position to home_offset
- gcode_M428();
- break;
+ #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();
- // Initialize current position based on home_offset
- memcpy(current_position, home_offset, sizeof(home_offset));
+ #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();
diff --git a/Marlin/configuration_store.cpp b/Marlin/configuration_store.cpp
index 360b3f2c252a4c77ca01ff8e5051a4919af4f763..68475f8604f7e42fb83693062db726143d624bca 100644
--- a/Marlin/configuration_store.cpp
+++ b/Marlin/configuration_store.cpp
@@ -171,8 +171,10 @@ void Config_Postprocess() {
calculate_volumetric_multipliers();
- // Software endstops depend on home_offset
- LOOP_XYZ(i) update_software_endstops((AxisEnum)i);
+ #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] = {
@@ -937,15 +948,17 @@ void Config_ResetDefault() {
SERIAL_ECHOPAIR(" E", planner.max_jerk[E_AXIS]);
SERIAL_EOL;
- CONFIG_ECHO_START;
- if (!forReplay) {
- SERIAL_ECHOLNPGM("Home offset (mm)");
+ #if DISABLED(NO_WORKSPACE_OFFSETS)
CONFIG_ECHO_START;
- }
- SERIAL_ECHOPAIR(" M206 X", home_offset[X_AXIS]);
- SERIAL_ECHOPAIR(" Y", home_offset[Y_AXIS]);
- SERIAL_ECHOPAIR(" Z", home_offset[Z_AXIS]);
- SERIAL_EOL;
+ if (!forReplay) {
+ SERIAL_ECHOLNPGM("Home offset (mm)");
+ CONFIG_ECHO_START;
+ }
+ SERIAL_ECHOPAIR(" M206 X", home_offset[X_AXIS]);
+ SERIAL_ECHOPAIR(" Y", home_offset[Y_AXIS]);
+ SERIAL_ECHOPAIR(" Z", home_offset[Z_AXIS]);
+ SERIAL_EOL;
+ #endif
#if HOTENDS > 1
CONFIG_ECHO_START;