✨ MarkForged YX kinematics (MarlinFirmware#23163)

Marlin/Configuration.h

@@ -756,6 +756,7 @@
 //#define COREZX
 //#define COREZY
 //#define MARKFORGED_XY  // MarkForged. See https://reprap.org/forum/read.php?152,504042
+//#define MARKFORGED_YX
 
 // Enable for a belt style printer with endless "Z" motion
 //#define BELTPRINTER

Marlin/src/core/types.h

@@ -82,7 +82,7 @@ enum AxisEnum : uint8_t {
   #undef _EN_ITEM
 
   // Core also keeps toolhead directions
-  #if EITHER(IS_CORE, MARKFORGED_XY)
+  #if ANY(IS_CORE, MARKFORGED_XY, MARKFORGED_YX)
     , X_HEAD, Y_HEAD, Z_HEAD
   #endif
 

Marlin/src/core/utility.cpp

@@ -60,7 +60,8 @@ void safe_delay(millis_t ms) {
       TERN_(DELTA,         "Delta")
       TERN_(IS_SCARA,      "SCARA")
       TERN_(IS_CORE,       "Core")
-      TERN_(MARKFORGED_XY, "MarkForged")
+      TERN_(MARKFORGED_XY, "MarkForgedXY")
+      TERN_(MARKFORGED_YX, "MarkForgedYX")
       TERN_(IS_CARTESIAN,  "Cartesian")
     );
 

Marlin/src/feature/backlash.cpp

@@ -64,7 +64,7 @@ void Backlash::add_correction_steps(const int32_t &da, const int32_t &db, const
   static axis_bits_t last_direction_bits;
   axis_bits_t changed_dir = last_direction_bits ^ dm;
   // Ignore direction change unless steps are taken in that direction
-  #if DISABLED(CORE_BACKLASH) || ENABLED(MARKFORGED_XY)
+  #if DISABLED(CORE_BACKLASH) || EITHER(MARKFORGED_XY, MARKFORGED_YX)
     if (!da) CBI(changed_dir, X_AXIS);
     if (!db) CBI(changed_dir, Y_AXIS);
     if (!dc) CBI(changed_dir, Z_AXIS);

Marlin/src/gcode/host/M360.cpp

@@ -162,7 +162,8 @@ void GcodeSuite::M360() {
     TERN_(DELTA,         "Delta")
     TERN_(IS_SCARA,      "SCARA")
     TERN_(IS_CORE,       "Core")
-    TERN_(MARKFORGED_XY, "MarkForged")
+    TERN_(MARKFORGED_XY, "MarkForgedXY")
+    TERN_(MARKFORGED_YX, "MarkForgedYX")
     TERN_(IS_CARTESIAN,  "Cartesian")
   );
 

Marlin/src/inc/Conditionals_LCD.h

@@ -1079,7 +1079,7 @@
     #define CORE_AXIS_2 C_AXIS
   #endif
   #define CORESIGN(n) (ANY(COREYX, COREZX, COREZY) ? (-(n)) : (n))
-#elif ENABLED(MARKFORGED_XY)
+#elif EITHER(MARKFORGED_XY, MARKFORGED_YX)
   // Markforged kinematics
   #define CORE_AXIS_1 A_AXIS
   #define CORE_AXIS_2 B_AXIS

Marlin/src/inc/Conditionals_post.h

@@ -193,7 +193,7 @@
 
 // Calibration codes only for non-core axes
 #if EITHER(BACKLASH_GCODE, CALIBRATION_GCODE)
-  #if EITHER(IS_CORE, MARKFORGED_XY)
+  #if ANY(IS_CORE, MARKFORGED_XY, MARKFORGED_YX)
     #define CAN_CALIBRATE(A,B) (_AXIS(A) == B)
   #else
     #define CAN_CALIBRATE(A,B) true

Marlin/src/inc/SanityCheck.h

@@ -914,7 +914,7 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
 #if ENABLED(BABYSTEPPING)
   #if ENABLED(SCARA)
     #error "BABYSTEPPING is not implemented for SCARA yet."
-  #elif BOTH(MARKFORGED_XY, BABYSTEP_XY)
+  #elif ENABLED(BABYSTEP_XY) && EITHER(MARKFORGED_XY, MARKFORGED_YX)
     #error "BABYSTEPPING only implemented for Z axis on MarkForged."
   #elif BOTH(DELTA, BABYSTEP_XY)
     #error "BABYSTEPPING only implemented for Z axis on deltabots."
@@ -1459,8 +1459,8 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
 /**
  * Allow only one kinematic type to be defined
  */
-#if MANY(DELTA, MORGAN_SCARA, MP_SCARA, AXEL_TPARA, COREXY, COREXZ, COREYZ, COREYX, COREZX, COREZY, MARKFORGED_XY, FOAMCUTTER_XYUV)
-  #error "Please enable only one of DELTA, MORGAN_SCARA, MP_SCARA, AXEL_TPARA, COREXY, COREXZ, COREYZ, COREYX, COREZX, COREZY, MARKFORGED_XY, or FOAMCUTTER_XYUV."
+#if MANY(DELTA, MORGAN_SCARA, MP_SCARA, AXEL_TPARA, COREXY, COREXZ, COREYZ, COREYX, COREZX, COREZY, MARKFORGED_XY, MARKFORGED_YX, FOAMCUTTER_XYUV)
+  #error "Please enable only one of DELTA, MORGAN_SCARA, MP_SCARA, AXEL_TPARA, COREXY, COREXZ, COREYZ, COREYX, COREZX, COREZY, MARKFORGED_XY, MARKFORGED_YX, or FOAMCUTTER_XYUV."
 #endif
 
 /**
@@ -1958,8 +1958,8 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
 #if ENABLED(DUAL_X_CARRIAGE)
   #if EXTRUDERS < 2
     #error "DUAL_X_CARRIAGE requires 2 (or more) extruders."
-  #elif ANY(CORE_IS_XY, CORE_IS_XZ, MARKFORGED_XY)
-    #error "DUAL_X_CARRIAGE cannot be used with COREXY, COREYX, COREXZ, COREZX, or MARKFORGED_XY."
+  #elif ANY(CORE_IS_XY, CORE_IS_XZ, MARKFORGED_XY, MARKFORGED_YX)
+    #error "DUAL_X_CARRIAGE cannot be used with COREXY, COREYX, COREXZ, COREZX, MARKFORGED_YX, or MARKFORGED_XY."
   #elif !GOOD_AXIS_PINS(X2)
     #error "DUAL_X_CARRIAGE requires X2 stepper pins to be defined."
   #elif !HAS_X_MAX
@@ -3201,8 +3201,8 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
   #error "CoreXZ requires both X and Z to use sensorless homing if either one does."
 #elif CORE_IS_YZ && Y_SENSORLESS != Z_SENSORLESS && !HOMING_Z_WITH_PROBE
   #error "CoreYZ requires both Y and Z to use sensorless homing if either one does."
-#elif ENABLED(MARKFORGED_XY) && X_SENSORLESS != Y_SENSORLESS
-  #error "MARKFORGED_XY requires both X and Y to use sensorless homing if either one does."
+#elif EITHER(MARKFORGED_XY, MARKFORGED_YX) && X_SENSORLESS != Y_SENSORLESS
+  #error "MARKFORGED requires both X and Y to use sensorless homing if either one does."
 #endif
 
 // Other TMC feature requirements
@@ -3462,7 +3462,7 @@ static_assert(_PLUS_TEST(4), "HOMING_FEEDRATE_MM_M values must be positive.");
     #error "BACKLASH_COMPENSATION requires BACKLASH_DISTANCE_MM."
   #elif !defined(BACKLASH_CORRECTION)
     #error "BACKLASH_COMPENSATION requires BACKLASH_CORRECTION."
-  #elif ENABLED(MARKFORGED_XY)
+  #elif EITHER(MARKFORGED_XY, MARKFORGED_YX)
     constexpr float backlash_arr[] = BACKLASH_DISTANCE_MM;
     static_assert(!backlash_arr[CORE_AXIS_1] && !backlash_arr[CORE_AXIS_2],
                   "BACKLASH_COMPENSATION can only apply to " STRINGIFY(NORMAL_AXIS) " on a MarkForged system.");

Marlin/src/lcd/menu/menu_backlash.cpp

@@ -38,7 +38,7 @@ void menu_backlash() {
 
   EDIT_ITEM_FAST(percent, MSG_BACKLASH_CORRECTION, &backlash.correction, all_off, all_on);
 
-  #if DISABLED(CORE_BACKLASH) || ENABLED(MARKFORGED_XY)
+  #if DISABLED(CORE_BACKLASH) || EITHER(MARKFORGED_XY, MARKFORGED_YX)
     #define _CAN_CALI AXIS_CAN_CALIBRATE
   #else
     #define _CAN_CALI(A) true

Marlin/src/module/endstops.cpp

@@ -617,7 +617,7 @@ void Endstops::update() {
   #define UPDATE_ENDSTOP_BIT(AXIS, MINMAX) SET_BIT_TO(live_state, _ENDSTOP(AXIS, MINMAX), (READ(_ENDSTOP_PIN(AXIS, MINMAX)) != _ENDSTOP_INVERTING(AXIS, MINMAX)))
   #define COPY_LIVE_STATE(SRC_BIT, DST_BIT) SET_BIT_TO(live_state, DST_BIT, TEST(live_state, SRC_BIT))
 
-  #if ENABLED(G38_PROBE_TARGET) && NONE(CORE_IS_XY, CORE_IS_XZ, MARKFORGED_XY)
+  #if ENABLED(G38_PROBE_TARGET) && NONE(CORE_IS_XY, CORE_IS_XZ, MARKFORGED_XY, MARKFORGED_XY)
     #define HAS_G38_PROBE 1
     // For G38 moves check the probe's pin for ALL movement
     if (G38_move) UPDATE_ENDSTOP_BIT(Z, TERN(USES_Z_MIN_PROBE_PIN, MIN_PROBE, MIN));
@@ -628,12 +628,12 @@ void Endstops::update() {
   #define X_MAX_TEST() TERN1(DUAL_X_CARRIAGE, TERN0(X_HOME_TO_MAX, stepper.last_moved_extruder == 0) || TERN0(X2_HOME_TO_MAX, stepper.last_moved_extruder != 0))
 
   // Use HEAD for core axes, AXIS for others
-  #if ANY(CORE_IS_XY, CORE_IS_XZ, MARKFORGED_XY)
+  #if ANY(CORE_IS_XY, CORE_IS_XZ, MARKFORGED_XY, MARKFORGED_XY)
     #define X_AXIS_HEAD X_HEAD
   #else
     #define X_AXIS_HEAD X_AXIS
   #endif
-  #if ANY(CORE_IS_XY, CORE_IS_YZ, MARKFORGED_XY)
+  #if ANY(CORE_IS_XY, CORE_IS_YZ, MARKFORGED_XY, MARKFORGED_YX)
     #define Y_AXIS_HEAD Y_HEAD
   #else
     #define Y_AXIS_HEAD Y_AXIS
@@ -1111,7 +1111,7 @@ void Endstops::update() {
     bool hit = false;
     #if X_SPI_SENSORLESS
       if (tmc_spi_homing.x && (stepperX.test_stall_status()
-        #if ANY(CORE_IS_XY, MARKFORGED_XY) && Y_SPI_SENSORLESS
+        #if ANY(CORE_IS_XY, MARKFORGED_XY, MARKFORGED_YX) && Y_SPI_SENSORLESS
           || stepperY.test_stall_status()
         #elif CORE_IS_XZ && Z_SPI_SENSORLESS
           || stepperZ.test_stall_status()
@@ -1123,7 +1123,7 @@ void Endstops::update() {
     #endif
     #if Y_SPI_SENSORLESS
       if (tmc_spi_homing.y && (stepperY.test_stall_status()
-        #if ANY(CORE_IS_XY, MARKFORGED_XY) && X_SPI_SENSORLESS
+        #if ANY(CORE_IS_XY, MARKFORGED_XY, MARKFORGED_YX) && X_SPI_SENSORLESS
           || stepperX.test_stall_status()
         #elif CORE_IS_YZ && Z_SPI_SENSORLESS
           || stepperZ.test_stall_status()

Marlin/src/module/motion.cpp

@@ -1367,7 +1367,7 @@ void prepare_line_to_destination() {
             #if AXIS_HAS_STALLGUARD(X2)
               stealth_states.x2 = tmc_enable_stallguard(stepperX2);
             #endif
-            #if EITHER(CORE_IS_XY, MARKFORGED_XY) && Y_SENSORLESS
+            #if ANY(CORE_IS_XY, MARKFORGED_XY, MARKFORGED_YX) && Y_SENSORLESS
               stealth_states.y = tmc_enable_stallguard(stepperY);
             #elif CORE_IS_XZ && Z_SENSORLESS
               stealth_states.z = tmc_enable_stallguard(stepperZ);
@@ -1380,7 +1380,7 @@ void prepare_line_to_destination() {
             #if AXIS_HAS_STALLGUARD(Y2)
               stealth_states.y2 = tmc_enable_stallguard(stepperY2);
             #endif
-            #if EITHER(CORE_IS_XY, MARKFORGED_XY) && X_SENSORLESS
+            #if ANY(CORE_IS_XY, MARKFORGED_XY, MARKFORGED_YX) && X_SENSORLESS
               stealth_states.x = tmc_enable_stallguard(stepperX);
             #elif CORE_IS_YZ && Z_SENSORLESS
               stealth_states.z = tmc_enable_stallguard(stepperZ);
@@ -1444,7 +1444,7 @@ void prepare_line_to_destination() {
             #if AXIS_HAS_STALLGUARD(X2)
               tmc_disable_stallguard(stepperX2, enable_stealth.x2);
             #endif
-            #if EITHER(CORE_IS_XY, MARKFORGED_XY) && Y_SENSORLESS
+            #if ANY(CORE_IS_XY, MARKFORGED_XY, MARKFORGED_YX) && Y_SENSORLESS
               tmc_disable_stallguard(stepperY, enable_stealth.y);
             #elif CORE_IS_XZ && Z_SENSORLESS
               tmc_disable_stallguard(stepperZ, enable_stealth.z);
@@ -1457,7 +1457,7 @@ void prepare_line_to_destination() {
             #if AXIS_HAS_STALLGUARD(Y2)
               tmc_disable_stallguard(stepperY2, enable_stealth.y2);
             #endif
-            #if EITHER(CORE_IS_XY, MARKFORGED_XY) && X_SENSORLESS
+            #if ANY(CORE_IS_XY, MARKFORGED_XY, MARKFORGED_YX) && X_SENSORLESS
               tmc_disable_stallguard(stepperX, enable_stealth.x);
             #elif CORE_IS_YZ && Z_SENSORLESS
               tmc_disable_stallguard(stepperZ, enable_stealth.z);
@@ -2011,7 +2011,7 @@ void prepare_line_to_destination() {
         do_homing_move(axis, adjDistance, get_homing_bump_feedrate(axis));
       }
 
-    #else // CARTESIAN / CORE / MARKFORGED_XY
+    #else // CARTESIAN / CORE / MARKFORGED_XY / MARKFORGED_YX
 
       set_axis_is_at_home(axis);
       sync_plan_position();
@@ -2041,7 +2041,7 @@ void prepare_line_to_destination() {
         #if ENABLED(SENSORLESS_HOMING)
           planner.synchronize();
           if (false
-            #if EITHER(IS_CORE, MARKFORGED_XY)
+            #if ANY(IS_CORE, MARKFORGED_XY, MARKFORGED_YX)
               || axis != NORMAL_AXIS
             #endif
           ) safe_delay(200);  // Short delay to allow belts to spring back