✨ MarkForged YX kinematics (#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."
@@ -1461,8 +1461,8 @@ 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
 
 /**
@@ -1960,8 +1960,8 @@ 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
@@ -3203,8 +3203,8 @@ 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
@@ -3464,7 +3464,7 @@ 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

Marlin/src/module/planner.cpp

@@ -1743,7 +1743,7 @@ float Planner::get_axis_position_mm(const AxisEnum axis) {
     else
       axis_steps = stepper.position(axis);
 
-  #elif ENABLED(MARKFORGED_XY)
+  #elif EITHER(MARKFORGED_XY, MARKFORGED_YX)
 
     // Requesting one of the joined axes?
     if (axis == CORE_AXIS_1 || axis == CORE_AXIS_2) {
@@ -1917,10 +1917,13 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
 
   // Compute direction bit-mask for this block
   axis_bits_t dm = 0;
-  #if CORE_IS_XY
+  #if ANY(CORE_IS_XY, MARKFORGED_XY, MARKFORGED_YX)
     if (da < 0) SBI(dm, X_HEAD);                  // Save the toolhead's true direction in X
     if (db < 0) SBI(dm, Y_HEAD);                  // ...and Y
     if (dc < 0) SBI(dm, Z_AXIS);
+  #endif
+  #if IS_CORE
+    #if CORE_IS_XY
       if (da + db < 0) SBI(dm, A_AXIS);           // Motor A direction
       if (CORESIGN(da - db) < 0) SBI(dm, B_AXIS); // Motor B direction
     #elif CORE_IS_XZ
@@ -1935,12 +1938,22 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
       if (dc < 0) SBI(dm, Z_HEAD);                // ...and Z
       if (db + dc < 0) SBI(dm, B_AXIS);           // Motor B direction
       if (CORESIGN(db - dc) < 0) SBI(dm, C_AXIS); // Motor C direction
+    #endif
+    #if LINEAR_AXES >= 4
+      if (di < 0) SBI(dm, I_AXIS);
+    #endif
+    #if LINEAR_AXES >= 5
+      if (dj < 0) SBI(dm, J_AXIS);
+    #endif
+    #if LINEAR_AXES >= 6
+      if (dk < 0) SBI(dm, K_AXIS);
+    #endif
   #elif ENABLED(MARKFORGED_XY)
-    if (da < 0) SBI(dm, X_HEAD);                // Save the toolhead's true direction in X
-    if (db < 0) SBI(dm, Y_HEAD);                // ...and Y
-    if (dc < 0) SBI(dm, Z_AXIS);
     if (da + db < 0) SBI(dm, A_AXIS);              // Motor A direction
     if (db < 0) SBI(dm, B_AXIS);                   // Motor B direction
+  #elif ENABLED(MARKFORGED_YX)
+    if (da < 0) SBI(dm, A_AXIS);                   // Motor A direction
+    if (db + da < 0) SBI(dm, B_AXIS);              // Motor B direction
   #else
     LINEAR_AXIS_CODE(
       if (da < 0) SBI(dm, X_AXIS),
@@ -1952,21 +1965,8 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
     );
   #endif
 
-  #if IS_CORE
-    #if LINEAR_AXES >= 4
-      if (di < 0) SBI(dm, I_AXIS);
-    #endif
-    #if LINEAR_AXES >= 5
-      if (dj < 0) SBI(dm, J_AXIS);
-    #endif
-    #if LINEAR_AXES >= 6
-      if (dk < 0) SBI(dm, K_AXIS);
-    #endif
-  #endif
-
-  TERN_(HAS_EXTRUDERS, if (de < 0) SBI(dm, E_AXIS));
-
   #if HAS_EXTRUDERS
+    if (de < 0) SBI(dm, E_AXIS);
     const float esteps_float = de * e_factor[extruder];
     const uint32_t esteps = ABS(esteps_float) + 0.5f;
   #else
@@ -1996,6 +1996,8 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
     block->steps.set(LINEAR_AXIS_LIST(ABS(da), ABS(db + dc), ABS(db - dc), ABS(di), ABS(dj), ABS(dk)));
   #elif ENABLED(MARKFORGED_XY)
     block->steps.set(LINEAR_AXIS_LIST(ABS(da + db), ABS(db), ABS(dc), ABS(di), ABS(dj), ABS(dk)));
+  #elif ENABLED(MARKFORGED_YX)
+    block->steps.set(LINEAR_AXIS_LIST(ABS(da), ABS(db + da), ABS(dc), ABS(di), ABS(dj), ABS(dk)));
   #elif IS_SCARA
     block->steps.set(LINEAR_AXIS_LIST(ABS(da), ABS(db), ABS(dc), ABS(di), ABS(dj), ABS(dk)));
   #else
@@ -2012,15 +2014,18 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
    * Having the real displacement of the head, we can calculate the total movement length and apply the desired speed.
    */
   struct DistanceMM : abce_float_t {
-    #if EITHER(IS_CORE, MARKFORGED_XY)
+    #if ANY(IS_CORE, MARKFORGED_XY, MARKFORGED_YX)
       struct { float x, y, z; } head;
     #endif
   } steps_dist_mm;
-  #if IS_CORE
-    #if CORE_IS_XY
+
+  #if ANY(CORE_IS_XY, MARKFORGED_XY, MARKFORGED_YX)
     steps_dist_mm.head.x = da * mm_per_step[A_AXIS];
     steps_dist_mm.head.y = db * mm_per_step[B_AXIS];
     steps_dist_mm.z      = dc * mm_per_step[Z_AXIS];
+  #endif
+  #if IS_CORE
+    #if CORE_IS_XY
       steps_dist_mm.a      = (da + db) * mm_per_step[A_AXIS];
       steps_dist_mm.b      = CORESIGN(da - db) * mm_per_step[B_AXIS];
     #elif CORE_IS_XZ
@@ -2046,11 +2051,11 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
       steps_dist_mm.k = dk * mm_per_step[K_AXIS];
     #endif
   #elif ENABLED(MARKFORGED_XY)
-    steps_dist_mm.head.x = da * mm_per_step[A_AXIS];
-    steps_dist_mm.head.y = db * mm_per_step[B_AXIS];
-    steps_dist_mm.z      = dc * mm_per_step[Z_AXIS];
     steps_dist_mm.a      = (da - db) * mm_per_step[A_AXIS];
     steps_dist_mm.b      = db * mm_per_step[B_AXIS];
+  #elif ENABLED(MARKFORGED_YX)
+    steps_dist_mm.a      = da * mm_per_step[A_AXIS];
+    steps_dist_mm.b      = (db - da) * mm_per_step[B_AXIS];
   #else
     LINEAR_AXIS_CODE(
       steps_dist_mm.a = da * mm_per_step[A_AXIS],
@@ -2082,7 +2087,7 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
       block->millimeters = millimeters;
     else {
       block->millimeters = SQRT(
-        #if EITHER(CORE_IS_XY, MARKFORGED_XY)
+        #if ANY(CORE_IS_XY, MARKFORGED_XY, MARKFORGED_YX)
           LINEAR_AXIS_GANG(
               sq(steps_dist_mm.head.x), + sq(steps_dist_mm.head.y), + sq(steps_dist_mm.z),
             + sq(steps_dist_mm.i),      + sq(steps_dist_mm.j),      + sq(steps_dist_mm.k)
@@ -2161,7 +2166,7 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
   #endif
 
   // Enable active axes
-  #if EITHER(CORE_IS_XY, MARKFORGED_XY)
+  #if ANY(CORE_IS_XY, MARKFORGED_XY, MARKFORGED_YX)
     if (block->steps.a || block->steps.b) {
       stepper.enable_axis(X_AXIS);
       stepper.enable_axis(Y_AXIS);
@@ -2191,7 +2196,7 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
       if (block->steps.k) stepper.enable_axis(K_AXIS)
     );
   #endif
-  #if EITHER(IS_CORE, MARKFORGED_XY)
+  #if ANY(CORE_IS_XY, MARKFORGED_XY, MARKFORGED_YX)
     #if LINEAR_AXES >= 4
       if (block->steps.i) stepper.enable_axis(I_AXIS);
     #endif
@@ -2549,7 +2554,7 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
      * => normalize the complete junction vector.
      * Elsewise, when needed JD will factor-in the E component
      */
-    if (EITHER(IS_CORE, MARKFORGED_XY) || esteps > 0)
+    if (ANY(IS_CORE, MARKFORGED_XY, MARKFORGED_YX) || esteps > 0)
       normalize_junction_vector(unit_vec);  // Normalize with XYZE components
     else
       unit_vec *= inverse_millimeters;      // Use pre-calculated (1 / SQRT(x^2 + y^2 + z^2))

Marlin/src/module/stepper.cpp

@@ -2212,6 +2212,8 @@ uint32_t Stepper::block_phase_isr() {
           #define Y_CMP(A,B) ((A)!=(B))
         #endif
         #define Y_MOVE_TEST ( S_(1) != S_(2) || (S_(1) > 0 && Y_CMP(D_(1),D_(2))) )
+      #elif ENABLED(MARKFORGED_YX)
+        #define Y_MOVE_TEST (current_block->steps.a != current_block->steps.b)
       #else
         #define Y_MOVE_TEST !!current_block->steps.b
       #endif
@@ -2800,7 +2802,7 @@ void Stepper::init() {
  * derive the current XYZE position later on.
  */
 void Stepper::_set_position(const abce_long_t &spos) {
-  #if EITHER(IS_CORE, MARKFORGED_XY)
+  #if ANY(IS_CORE, MARKFORGED_XY, MARKFORGED_YX)
     #if CORE_IS_XY
       // corexy positioning
       // these equations follow the form of the dA and dB equations on https://www.corexy.com/theory.html
@@ -2813,6 +2815,8 @@ void Stepper::_set_position(const abce_long_t &spos) {
       count_position.set(spos.a, spos.b + spos.c, CORESIGN(spos.b - spos.c));
     #elif ENABLED(MARKFORGED_XY)
       count_position.set(spos.a - spos.b, spos.b, spos.c);
+    #elif ENABLED(MARKFORGED_YX)
+      count_position.set(spos.a, spos.b - spos.a, spos.c);
     #endif
     TERN_(HAS_EXTRUDERS, count_position.e = spos.e);
   #else
@@ -2884,6 +2888,10 @@ void Stepper::endstop_triggered(const AxisEnum axis) {
       axis == CORE_AXIS_1
         ? count_position[CORE_AXIS_1] - count_position[CORE_AXIS_2]
         : count_position[CORE_AXIS_2]
+    #elif ENABLED(MARKFORGED_YX)
+      axis == CORE_AXIS_1
+        ? count_position[CORE_AXIS_1]
+        : count_position[CORE_AXIS_2] - count_position[CORE_AXIS_1]
     #else // !IS_CORE
       count_position[axis]
     #endif
@@ -2912,10 +2920,10 @@ int32_t Stepper::triggered_position(const AxisEnum axis) {
   return v;
 }
 
-#if ANY(CORE_IS_XY, CORE_IS_XZ, MARKFORGED_XY, IS_SCARA, DELTA)
+#if ANY(CORE_IS_XY, CORE_IS_XZ, MARKFORGED_XY, MARKFORGED_YX, IS_SCARA, DELTA)
   #define SAYS_A 1
 #endif
-#if ANY(CORE_IS_XY, CORE_IS_YZ, MARKFORGED_XY, IS_SCARA, DELTA)
+#if ANY(CORE_IS_XY, CORE_IS_YZ, MARKFORGED_XY, MARKFORGED_YX, IS_SCARA, DELTA)
   #define SAYS_B 1
 #endif
 #if ANY(CORE_IS_XZ, CORE_IS_YZ, DELTA)