18 files changed, 116 insertions, 18 deletions

diff --git a/src/Movement/DDA.cpp b/src/Movement/DDA.cpp
index e98c7042..880f02f5 100644
--- a/src/Movement/DDA.cpp
+++ b/src/Movement/DDA.cpp
@@ -316,8 +316,10 @@ bool DDA::InitStandardMove(DDARing& ring, const RawMove &nextMove, bool doMotorM
 		{
 			return false;												// throw away the move if it couldn't be transformed
 		}
+#if SUPPORT_LINEAR_DELTA
 		flags.isDeltaMovement = move.IsDeltaMode()
 							&& (endPoint[X_AXIS] != positionNow[X_AXIS] || endPoint[Y_AXIS] != positionNow[Y_AXIS] || endPoint[Z_AXIS] != positionNow[Z_AXIS]);
+#endif
 	}
 
 	bool linearAxesMoving = false;
@@ -1085,6 +1087,7 @@ float DDA::AdvanceBabyStepping(DDARing& ring, size_t axis, float amount) noexcep
 
 		// Even if there is no babystepping to do this move, we may need to adjust the end coordinates
 		cdda->endCoordinates[Z_AXIS] += babySteppingDone;
+#if SUPPORT_LINEAR_DELTA
 		if (cdda->flags.isDeltaMovement)
 		{
 			for (size_t motor = 0; motor < reprap.GetGCodes().GetTotalAxes(); ++motor)
@@ -1096,6 +1099,7 @@ float DDA::AdvanceBabyStepping(DDARing& ring, size_t axis, float amount) noexcep
 			}
 		}
 		else
+#endif
 		{
 			cdda->endPoint[Z_AXIS] += (int32_t)(babySteppingDone * reprap.GetPlatform().DriveStepsPerUnit(Z_AXIS));
 		}
@@ -1320,26 +1324,28 @@ void DDA::Prepare(SimulationMode simMode) noexcept
 
 	if (simMode < SimulationMode::normal)
 	{
+#if SUPPORT_LINEAR_DELTA
 		if (flags.isDeltaMovement)
 		{
 			// This code assumes that the previous move in the DDA ring is the previously-executed move, because it fetches the X and Y end coordinates from that move.
 			// Therefore the Move code must not store a new move in that entry until this one has been prepared! (It took me ages to track this down.)
 			// Ideally we would store the initial X and Y coordinates in the DDA, but we need to be economical with memory
-#if MS_USE_FPU
+# if MS_USE_FPU
 			// Nothing needed here, use directionVector[Z_AXIS] directly
-#else
+# else
 			afterPrepare.cKc = lrintf(directionVector[Z_AXIS] * MoveSegment::KdirectionVector);
-#endif
+# endif
 			params.a2plusb2 = fsquare(directionVector[X_AXIS]) + fsquare(directionVector[Y_AXIS]);
 			params.initialX = prev->GetEndCoordinate(X_AXIS, false);
 			params.initialY = prev->GetEndCoordinate(Y_AXIS, false);
-#if SUPPORT_CAN_EXPANSION
+			params.dparams = static_cast<const LinearDeltaKinematics*>(&(reprap.GetMove().GetKinematics()));
+# if SUPPORT_CAN_EXPANSION
 			params.finalX = GetEndCoordinate(X_AXIS, false);
 			params.finalY = GetEndCoordinate(Y_AXIS, false);
 			params.zMovement = GetEndCoordinate(Z_AXIS, false) - prev->GetEndCoordinate(Z_AXIS, false);
-#endif
-			params.dparams = static_cast<const LinearDeltaKinematics*>(&(reprap.GetMove().GetKinematics()));
+# endif
 		}
+#endif
 
 		activeDMs = completedDMs = nullptr;
 
@@ -1405,6 +1411,7 @@ void DDA::Prepare(SimulationMode simMode) noexcept
 					}
 				}
 			}
+#if SUPPORT_LINEAR_DELTA
 			else if (flags.isDeltaMovement && reprap.GetMove().GetKinematics().GetMotionType(drive) == MotionType::segmentFreeDelta)
 			{
 				// On a delta we need to move all towers even if some of them have no net movement
@@ -1438,7 +1445,7 @@ void DDA::Prepare(SimulationMode simMode) noexcept
 					}
 				}
 
-#if SUPPORT_CAN_EXPANSION
+# if SUPPORT_CAN_EXPANSION
 				afterPrepare.drivesMoving.SetBit(drive);
 				const AxisDriversConfig& config = platform.GetAxisDriversConfig(drive);
 				for (size_t i = 0; i < config.numDrivers; ++i)
@@ -1449,9 +1456,10 @@ void DDA::Prepare(SimulationMode simMode) noexcept
 						CanMotion::AddMovement(params, driver, delta, false);
 					}
 				}
-#endif
+# endif
 				axisMotorsEnabled.SetBit(drive);
 			}
+#endif
 			else if (drive < reprap.GetGCodes().GetTotalAxes())
 			{
 				// It's a linear axis
diff --git a/src/Movement/DDA.h b/src/Movement/DDA.h
index 290c6d69..c4ce6b34 100644
--- a/src/Movement/DDA.h
+++ b/src/Movement/DDA.h
@@ -51,14 +51,16 @@ struct PrepParams
 	float initialSpeedFraction, finalSpeedFraction;
 #endif
 
+#if SUPPORT_LINEAR_DELTA
 	// Parameters used only for delta moves
 	float initialX, initialY;
-#if SUPPORT_CAN_EXPANSION
+# if SUPPORT_CAN_EXPANSION
 	float finalX, finalY;
 	float zMovement;
-#endif
+# endif
 	const LinearDeltaKinematics *dparams;
 	float a2plusb2;								// sum of the squares of the X and Y movement fractions
+#endif
 
 	// Set up the parameters from the DDA, excluding steadyClocks because that may be affected by input shaping
 	void SetFromDDA(const DDA& dda) noexcept;
@@ -272,8 +274,10 @@ private:
 	{
 		struct
 		{
-			uint16_t endCoordinatesValid : 1,		// True if endCoordinates can be relied on
+			uint16_t endCoordinatesValid : 1,		// True if endCoordinates can be relied
+#if SUPPORT_LINEAR_DELTA
 					 isDeltaMovement : 1,			// True if this is a delta printer movement
+#endif
 					 canPauseAfter : 1,				// True if we can pause at the end of this move
 					 isPrintingMove : 1,			// True if this move includes XY movement and extrusion
 					 usePressureAdvance : 1,		// True if pressure advance should be applied to any forward extrusion
@@ -340,7 +344,7 @@ private:
 			static_assert(MaxAxesPlusExtruders <= DriversBitmap::MaxBits());
 #endif
 			// These are used only in delta calculations
-#if !MS_USE_FPU
+#if SUPPORT_LINEAR_DELTA && !MS_USE_FPU
 			int32_t cKc;							// The Z movement fraction multiplied by Kc and converted to integer
 #endif
 		} afterPrepare;
diff --git a/src/Movement/DriveMovement.cpp b/src/Movement/DriveMovement.cpp
index 77351302..fce12e1f 100644
--- a/src/Movement/DriveMovement.cpp
+++ b/src/Movement/DriveMovement.cpp
@@ -172,6 +172,8 @@ bool DriveMovement::NewCartesianSegment() noexcept
 	}
 }
 
+#if SUPPORT_LINEAR_DELTA
+
 // This is called when currentSegment has just been changed to a new segment. Return true if there is a new segment to execute.
 bool DriveMovement::NewDeltaSegment(const DDA& dda) noexcept
 {
@@ -311,6 +313,8 @@ bool DriveMovement::NewDeltaSegment(const DDA& dda) noexcept
 	}
 }
 
+#endif // SUPPORT_LINEAR_DELTA
+
 // This is called when currentSegment has just been changed to a new segment. Return true if there is a new segment to execute.
 bool DriveMovement::NewExtruderSegment() noexcept
 {
@@ -437,6 +441,8 @@ bool DriveMovement::PrepareCartesianAxis(const DDA& dda, const PrepParams& param
 	return CalcNextStepTime(dda);
 }
 
+#if SUPPORT_LINEAR_DELTA
+
 // Prepare this DM for a Delta axis move, returning true if there are steps to do
 bool DriveMovement::PrepareDeltaAxis(const DDA& dda, const PrepParams& params) noexcept
 {
@@ -616,6 +622,8 @@ bool DriveMovement::PrepareDeltaAxis(const DDA& dda, const PrepParams& params) n
 	return CalcNextStepTime(dda);
 }
 
+#endif	// SUPPORT_LINEAR_DELTA
+
 // Prepare this DM for an extruder move, returning true if there are steps to do
 // If there are no steps to do, set nextStep = 0 so that DDARing::CurrentMoveCompleted doesn't add any steps to the movement accumulator
 // We have already generated the extruder segments and we know that there are some
@@ -902,9 +910,12 @@ pre(nextStep <= totalSteps; stepsTillRecalc == 0)
 		if (stepsToLimit == 0)
 		{
 			currentSegment = currentSegment->GetNext();
-			const bool more = (isDelta) ? NewDeltaSegment(dda)
-								: (isExtruder) ? NewExtruderSegment()
-									: NewCartesianSegment();
+			const bool more =
+#if SUPPORT_LINEAR_DELTA
+								(isDelta) ? NewDeltaSegment(dda) :
+#endif
+									(isExtruder) ? NewExtruderSegment()
+										: NewCartesianSegment();
 			if (!more)
 			{
 				state = DMState::stepError;
diff --git a/src/Movement/DriveMovement.h b/src/Movement/DriveMovement.h
index 0315e808..473091d3 100644
--- a/src/Movement/DriveMovement.h
+++ b/src/Movement/DriveMovement.h
@@ -50,7 +50,9 @@ public:
 
 	bool CalcNextStepTime(const DDA &dda) noexcept SPEED_CRITICAL;
 	bool PrepareCartesianAxis(const DDA& dda, const PrepParams& params) noexcept SPEED_CRITICAL;
+#if SUPPORT_LINEAR_DELTA
 	bool PrepareDeltaAxis(const DDA& dda, const PrepParams& params) noexcept SPEED_CRITICAL;
+#endif
 	bool PrepareExtruder(const DDA& dda, const PrepParams& params) noexcept SPEED_CRITICAL;
 
 	void DebugPrint() const noexcept;
@@ -70,7 +72,9 @@ private:
 	bool CalcNextStepTimeFull(const DDA &dda) noexcept SPEED_CRITICAL;
 	bool NewCartesianSegment() noexcept SPEED_CRITICAL;
 	bool NewExtruderSegment() noexcept SPEED_CRITICAL;
+#if SUPPORT_LINEAR_DELTA
 	bool NewDeltaSegment(const DDA& dda) noexcept SPEED_CRITICAL;
+#endif
 
 	static DriveMovement *freeList;
 	static unsigned int numCreated;
diff --git a/src/Movement/Kinematics/FiveBarScaraKinematics.cpp b/src/Movement/Kinematics/FiveBarScaraKinematics.cpp
index fe44440b..7615e261 100644
--- a/src/Movement/Kinematics/FiveBarScaraKinematics.cpp
+++ b/src/Movement/Kinematics/FiveBarScaraKinematics.cpp
@@ -8,6 +8,9 @@
  */
 
 #include "FiveBarScaraKinematics.h"
+
+#if SUPPORT_FIVEBARSCARA
+
 #include <Platform/RepRap.h>
 #include <Platform/Platform.h>
 #include <Storage/MassStorage.h>
@@ -948,4 +951,6 @@ void FiveBarScaraKinematics::Recalc() noexcept
 	cachedInvalid = true;
 }
 
+#endif // SUPPORT_FIVEBARSCARA
+
 // End
diff --git a/src/Movement/Kinematics/FiveBarScaraKinematics.h b/src/Movement/Kinematics/FiveBarScaraKinematics.h
index 7c20a9ca..beaa5905 100644
--- a/src/Movement/Kinematics/FiveBarScaraKinematics.h
+++ b/src/Movement/Kinematics/FiveBarScaraKinematics.h
@@ -12,6 +12,8 @@
 
 #include "ZLeadscrewKinematics.h"
 
+#if SUPPORT_FIVEBARSCARA
+
 // Standard setup for 5 Bar SCARA (parallel SCARA) machines assumed by this firmware
 enum class Arm : uint8_t
 {
@@ -103,4 +105,6 @@ private:
 	mutable bool cachedInvalid;
 };
 
+#endif // SUPPORT_FIVEBARSCARA
+
 #endif /* SRC_MOVEMENT_KINEMATICS_FIVEBARSCARAKINEMATICS_H_ */
diff --git a/src/Movement/Kinematics/HangprinterKinematics.cpp b/src/Movement/Kinematics/HangprinterKinematics.cpp
index a99e71ae..71566e83 100644
--- a/src/Movement/Kinematics/HangprinterKinematics.cpp
+++ b/src/Movement/Kinematics/HangprinterKinematics.cpp
@@ -6,6 +6,9 @@
  */
 
 #include "HangprinterKinematics.h"
+
+#if SUPPORT_HANGPRINTER
+
 #include <Platform/RepRap.h>
 #include <Platform/Platform.h>
 #include <GCodes/GCodeBuffer/GCodeBuffer.h>
@@ -521,7 +524,7 @@ void HangprinterKinematics::ForwardTransform(float const a, float const b, float
 {
 	// Force the anchor location norms Ax=0, Dx=0, Dy=0
 	// through a series of rotations.
-	float const x_angle = atan(anchors[D_AXIS][Y_AXIS]/anchors[D_AXIS][Z_AXIS]);
+	float const x_angle = atanf(anchors[D_AXIS][Y_AXIS]/anchors[D_AXIS][Z_AXIS]);
 	float const rxt[3][3] = {{1, 0, 0}, {0, cosf(x_angle), sinf(x_angle)}, {0, -sinf(x_angle), cosf(x_angle)}};
 	float anchors_tmp0[4][3] = { 0 };
 	for (size_t row{0}; row < 4; ++row) {
@@ -529,7 +532,7 @@ void HangprinterKinematics::ForwardTransform(float const a, float const b, float
 			anchors_tmp0[row][col] = rxt[0][col]*anchors[row][0] + rxt[1][col]*anchors[row][1] + rxt[2][col]*anchors[row][2];
 		}
 	}
-	float const y_angle = atan(-anchors_tmp0[D_AXIS][X_AXIS]/anchors_tmp0[D_AXIS][Z_AXIS]);
+	float const y_angle = atanf(-anchors_tmp0[D_AXIS][X_AXIS]/anchors_tmp0[D_AXIS][Z_AXIS]);
 	float const ryt[3][3] = {{cosf(y_angle), 0, -sinf(y_angle)}, {0, 1, 0}, {sinf(y_angle), 0, cosf(y_angle)}};
 	float anchors_tmp1[4][3] = { 0 };
 	for (size_t row{0}; row < 4; ++row) {
@@ -537,7 +540,7 @@ void HangprinterKinematics::ForwardTransform(float const a, float const b, float
 			anchors_tmp1[row][col] = ryt[0][col]*anchors_tmp0[row][0] + ryt[1][col]*anchors_tmp0[row][1] + ryt[2][col]*anchors_tmp0[row][2];
 		}
 	}
-	float const z_angle = atan(anchors_tmp1[A_AXIS][X_AXIS]/anchors_tmp1[A_AXIS][Y_AXIS]);
+	float const z_angle = atanf(anchors_tmp1[A_AXIS][X_AXIS]/anchors_tmp1[A_AXIS][Y_AXIS]);
 	float const rzt[3][3] = {{cosf(z_angle), sinf(z_angle), 0}, {-sinf(z_angle), cosf(z_angle), 0}, {0, 0, 1}};
 	for (size_t row{0}; row < 4; ++row) {
 		for (size_t col{0}; col < 3; ++col) {
@@ -778,4 +781,6 @@ GCodeResult HangprinterKinematics::SetODrive3TorqueMode(DriverId const driver, f
 }
 #endif // DUAL_CAN
 
+#endif // SUPPORT_HANGPRINTER
+
 // End
diff --git a/src/Movement/Kinematics/HangprinterKinematics.h b/src/Movement/Kinematics/HangprinterKinematics.h
index 6a64977d..8584a389 100644
--- a/src/Movement/Kinematics/HangprinterKinematics.h
+++ b/src/Movement/Kinematics/HangprinterKinematics.h
@@ -10,6 +10,8 @@
 
 #include "RoundBedKinematics.h"
 
+#if SUPPORT_HANGPRINTER
+
 class HangprinterKinematics : public RoundBedKinematics
 {
 public:
@@ -137,4 +139,6 @@ class CANSimple {
 	static const int32_t INPUT_MODE_TUNING = 8;
 };
 
+#endif // SUPPORT_HANGPRINTER
+
 #endif /* SRC_MOVEMENT_KINEMATICS_HANGPRINTERKINEMATICS_H_ */
diff --git a/src/Movement/Kinematics/Kinematics.cpp b/src/Movement/Kinematics/Kinematics.cpp
index e2ebdc71..6ccc5f9d 100644
--- a/src/Movement/Kinematics/Kinematics.cpp
+++ b/src/Movement/Kinematics/Kinematics.cpp
@@ -238,18 +238,35 @@ void Kinematics::LimitSpeedAndAcceleration(DDA& dda, const float *normalisedDire
 	case KinematicsType::markForged:
 		return new CoreKinematics(k);
 
+#if SUPPORT_LINEAR_DELTA
 	case KinematicsType::linearDelta:
 		return new LinearDeltaKinematics();
+#endif
+
+#if SUPPORT_SCARA
 	case KinematicsType::scara:
 		return new ScaraKinematics();
+#endif
+
+#if SUPPORT_HANGPRINTER
 	case KinematicsType::hangprinter:
 		return new HangprinterKinematics();
+#endif
+
+#if SUPPORT_POLAR
 	case KinematicsType::polar:
 		return new PolarKinematics();
+#endif
+
+#if SUPPORT_ROTARY_DELTA
 	case KinematicsType::rotaryDelta:
 		return new RotaryDeltaKinematics();
+#endif
+
+#if SUPPORT_FIVEBARSCARA
 	case KinematicsType::fiveBarScara:
 		return new FiveBarScaraKinematics();
+#endif
 	}
 }
 
diff --git a/src/Movement/Kinematics/LinearDeltaKinematics.cpp b/src/Movement/Kinematics/LinearDeltaKinematics.cpp
index 13f951a5..e0d2ff10 100644
--- a/src/Movement/Kinematics/LinearDeltaKinematics.cpp
+++ b/src/Movement/Kinematics/LinearDeltaKinematics.cpp
@@ -7,6 +7,8 @@
 
 #include "LinearDeltaKinematics.h"
 
+#if SUPPORT_LINEAR_DELTA
+
 #include <Movement/Move.h>
 #include <Platform/RepRap.h>
 #include <Storage/FileStore.h>
@@ -1046,4 +1048,6 @@ AxesBitmap LinearDeltaKinematics::GetLinearAxes() const noexcept
 	return AxesBitmap::MakeFromBits(Z_AXIS);
 }
 
+#endif	// SUPPORT_LINEAR_DELTA
+
 // End
diff --git a/src/Movement/Kinematics/LinearDeltaKinematics.h b/src/Movement/Kinematics/LinearDeltaKinematics.h
index 0132c33e..8bd55d5d 100644
--- a/src/Movement/Kinematics/LinearDeltaKinematics.h
+++ b/src/Movement/Kinematics/LinearDeltaKinematics.h
@@ -9,6 +9,9 @@
 #define LINEARDELTAKINEMATICS_H_
 
 #include "RepRapFirmware.h"
+
+#if SUPPORT_LINEAR_DELTA
+
 #include "RoundBedKinematics.h"
 
 // Class to hold the parameter for a delta machine.
@@ -106,4 +109,6 @@ private:
 	bool doneAutoCalibration;							// True if we have done auto calibration
 };
 
+#endif	// SUPPORT_LINEAR_DELTA
+
 #endif /* LINEARDELTAKINEMATICS_H_ */
diff --git a/src/Movement/Kinematics/PolarKinematics.cpp b/src/Movement/Kinematics/PolarKinematics.cpp
index 25a26735..1e00c145 100644
--- a/src/Movement/Kinematics/PolarKinematics.cpp
+++ b/src/Movement/Kinematics/PolarKinematics.cpp
@@ -7,6 +7,8 @@
 
 #include "PolarKinematics.h"
 
+#if SUPPORT_POLAR
+
 #include <Platform/RepRap.h>
 #include <Platform/Platform.h>
 #include <Storage/MassStorage.h>
@@ -340,4 +342,6 @@ void PolarKinematics::Recalc()
 	maxRadiusSquared = fsquare(maxRadius);
 }
 
+#endif // SUPPORT_POLAR
+
 // End
diff --git a/src/Movement/Kinematics/PolarKinematics.h b/src/Movement/Kinematics/PolarKinematics.h
index 60483b38..0cb0951f 100644
--- a/src/Movement/Kinematics/PolarKinematics.h
+++ b/src/Movement/Kinematics/PolarKinematics.h
@@ -10,6 +10,8 @@
 
 #include "Kinematics.h"
 
+#if SUPPORT_POLAR
+
 class PolarKinematics : public Kinematics
 {
 public:
@@ -51,4 +53,6 @@ private:
 	float minRadiusSquared, maxRadiusSquared;
 };
 
+#endif // SUPPORT_POLAR
+
 #endif /* SRC_MOVEMENT_KINEMATICS_POLARKINEMATICS_H_ */
diff --git a/src/Movement/Kinematics/RotaryDeltaKinematics.cpp b/src/Movement/Kinematics/RotaryDeltaKinematics.cpp
index 9ef081a2..eb2b8fc3 100644
--- a/src/Movement/Kinematics/RotaryDeltaKinematics.cpp
+++ b/src/Movement/Kinematics/RotaryDeltaKinematics.cpp
@@ -7,6 +7,8 @@
 
 #include "RotaryDeltaKinematics.h"
 
+#if SUPPORT_ROTARY_DELTA
+
 #include <Movement/Move.h>
 #include <Platform/RepRap.h>
 #include <Storage/FileStore.h>
@@ -813,4 +815,6 @@ void RotaryDeltaKinematics::ForwardTransform(float Ha, float Hb, float Hc, float
 	}
 }
 
+#endif // SUPPORT_ROTARY_DELTA
+
 // End
diff --git a/src/Movement/Kinematics/RotaryDeltaKinematics.h b/src/Movement/Kinematics/RotaryDeltaKinematics.h
index b0361fdb..9c916010 100644
--- a/src/Movement/Kinematics/RotaryDeltaKinematics.h
+++ b/src/Movement/Kinematics/RotaryDeltaKinematics.h
@@ -10,6 +10,8 @@
 
 #include "RoundBedKinematics.h"
 
+#if SUPPORT_ROTARY_DELTA
+
 class RotaryDeltaKinematics : public RoundBedKinematics
 {
 public:
@@ -92,4 +94,6 @@ private:
 	bool doneAutoCalibration;							// True if we have done auto calibration
 };
 
+#endif // SUPPORT_ROTARY_DELTA
+
 #endif /* SRC_MOVEMENT_KINEMATICS_ROTARYDELTAKINEMATICS_H_ */
diff --git a/src/Movement/Kinematics/ScaraKinematics.cpp b/src/Movement/Kinematics/ScaraKinematics.cpp
index c6c95e30..2ff4597e 100644
--- a/src/Movement/Kinematics/ScaraKinematics.cpp
+++ b/src/Movement/Kinematics/ScaraKinematics.cpp
@@ -6,6 +6,9 @@
  */
 
 #include "ScaraKinematics.h"
+
+#if SUPPORT_SCARA
+
 #include <Platform/RepRap.h>
 #include <Platform/Platform.h>
 #include <Storage/MassStorage.h>
@@ -494,4 +497,6 @@ void ScaraKinematics::Recalc() noexcept
 	cachedX = cachedY = std::numeric_limits<float>::quiet_NaN();		// make sure that the cached values won't match any coordinates
 }
 
+#endif // SUPPORT_SCARA
+
 // End
diff --git a/src/Movement/Kinematics/ScaraKinematics.h b/src/Movement/Kinematics/ScaraKinematics.h
index 2a6920bf..27d69999 100644
--- a/src/Movement/Kinematics/ScaraKinematics.h
+++ b/src/Movement/Kinematics/ScaraKinematics.h
@@ -10,6 +10,8 @@
 
 #include "ZLeadscrewKinematics.h"
 
+#if SUPPORT_SCARA
+
 // Standard setup for SCARA machines assumed by this firmware
 // The X motor output drives the proximal arm joint, unless remapped using M584
 // The Y motor output drives the distal arm joint, unless remapped using M584
@@ -83,4 +85,6 @@ private:
 	mutable bool currentArmMode, cachedArmMode;
 };
 
+#endif // SUPPORT_SCARA
+
 #endif /* SRC_MOVEMENT_KINEMATICS_SCARAKINEMATICS_H_ */
diff --git a/src/Movement/Move.h b/src/Movement/Move.h
index 5d274600..057c79b4 100644
--- a/src/Movement/Move.h
+++ b/src/Movement/Move.h
@@ -121,7 +121,9 @@ public:
 	bool IsAccessibleProbePoint(float axesCoords[MaxAxes], AxesBitmap axes) const noexcept;
 
 	// Temporary kinematics functions
+#if SUPPORT_LINEAR_DELTA
 	bool IsDeltaMode() const noexcept { return kinematics->GetKinematicsType() == KinematicsType::linearDelta; }
+#endif
 	// End temporary functions
 
 	bool IsRawMotorMove(uint8_t moveType) const noexcept;									// Return true if this is a raw motor move