Optimize coordinate transformation
Pre-compute the combined position shift and home offset to save a single float fetch-and-add per conversion. Great for delta/scara and bed leveling.
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@ -278,10 +278,11 @@ extern float current_position[NUM_AXIS];
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// Workspace offsets
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// Workspace offsets
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#if DISABLED(NO_WORKSPACE_OFFSETS)
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#if DISABLED(NO_WORKSPACE_OFFSETS)
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extern float position_shift[XYZ];
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extern float position_shift[XYZ],
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extern float home_offset[XYZ];
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home_offset[XYZ],
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#define LOGICAL_POSITION(POS, AXIS) ((POS) + home_offset[AXIS] + position_shift[AXIS])
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workspace_offset[XYZ];
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#define RAW_POSITION(POS, AXIS) ((POS) - home_offset[AXIS] - position_shift[AXIS])
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#define LOGICAL_POSITION(POS, AXIS) ((POS) + workspace_offset[AXIS])
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#define RAW_POSITION(POS, AXIS) ((POS) - workspace_offset[AXIS])
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#else
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#else
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#define LOGICAL_POSITION(POS, AXIS) (POS)
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#define LOGICAL_POSITION(POS, AXIS) (POS)
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#define RAW_POSITION(POS, AXIS) (POS)
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#define RAW_POSITION(POS, AXIS) (POS)
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@ -405,6 +405,9 @@ float filament_size[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(DEFAULT_NOMINAL_FILAMENT_DI
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// Set by M206, M428, or menu item. Saved to EEPROM.
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// Set by M206, M428, or menu item. Saved to EEPROM.
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float home_offset[XYZ] = { 0 };
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float home_offset[XYZ] = { 0 };
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// The above two are combined to save on computes
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float workspace_offset[XYZ] = { 0 };
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#endif
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#endif
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// Software Endstops are based on the configured limits.
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// Software Endstops are based on the configured limits.
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@ -1349,7 +1352,7 @@ bool get_target_extruder_from_command(int code) {
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* at the same positions relative to the machine.
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* at the same positions relative to the machine.
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*/
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*/
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void update_software_endstops(const AxisEnum axis) {
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void update_software_endstops(const AxisEnum axis) {
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const float offs = LOGICAL_POSITION(0, axis);
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const float offs = workspace_offset[axis] = LOGICAL_POSITION(0, axis);
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#if ENABLED(DUAL_X_CARRIAGE)
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#if ENABLED(DUAL_X_CARRIAGE)
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if (axis == X_AXIS) {
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if (axis == X_AXIS) {
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@ -1408,7 +1411,7 @@ bool get_target_extruder_from_command(int code) {
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* Since this changes the current_position, code should
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* Since this changes the current_position, code should
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* call sync_plan_position soon after this.
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* call sync_plan_position soon after this.
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*/
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*/
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static void set_home_offset(AxisEnum axis, float v) {
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static void set_home_offset(const AxisEnum axis, const float v) {
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current_position[axis] += v - home_offset[axis];
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current_position[axis] += v - home_offset[axis];
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home_offset[axis] = v;
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home_offset[axis] = v;
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update_software_endstops(axis);
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update_software_endstops(axis);
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