MarkForged kinematics (#19235)

Marlin/Configuration.h

@@ -608,7 +608,7 @@
 
 // @section machine
 
-// Uncomment one of these options to enable CoreXY, CoreXZ, or CoreYZ kinematics
+// Enable one of the options below for CoreXY, CoreXZ, or CoreYZ kinematics,
 // either in the usual order or reversed
 //#define COREXY
 //#define COREXZ
@@ -616,6 +616,7 @@
 //#define COREYX
 //#define COREZX
 //#define COREZY
+//#define MARKFORGED_XY  // MarkForged. See https://reprap.org/forum/read.php?152,504042
 
 //===========================================================================
 //============================== Endstop Settings ===========================

Marlin/src/core/utility.cpp

@@ -60,6 +60,7 @@ void safe_delay(millis_t ms) {
       TERN_(DELTA,         "Delta")
       TERN_(IS_SCARA,      "SCARA")
       TERN_(IS_CORE,       "Core")
+      TERN_(MARKFORGED_XY, "MarkForged")
       TERN_(IS_CARTESIAN,  "Cartesian")
     );
 

Marlin/src/gcode/host/M360.cpp

@@ -148,6 +148,7 @@ void GcodeSuite::M360() {
     TERN_(DELTA,         "Delta")
     TERN_(IS_SCARA,      "SCARA")
     TERN_(IS_CORE,       "Core")
+    TERN_(MARKFORGED_XY, "MarkForged")
     TERN_(IS_CARTESIAN,  "Cartesian")
   );
 

Marlin/src/inc/Conditionals_post.h

@@ -149,11 +149,16 @@
     #define CORE_AXIS_2 C_AXIS
   #endif
   #define CORESIGN(n) (ANY(COREYX, COREZX, COREZY) ? (-(n)) : (n))
+#elif ENABLED(MARKFORGED_XY)
+  // Markforged kinematics
+  #define CORE_AXIS_1 A_AXIS
+  #define CORE_AXIS_2 B_AXIS
+  #define NORMAL_AXIS Z_AXIS
 #endif
 
 // Calibration codes only for non-core axes
 #if EITHER(BACKLASH_GCODE, CALIBRATION_GCODE)
-  #if IS_CORE
+  #if EITHER(IS_CORE, MARKFORGED_XY)
     #define X_AXIS_INDEX 0
     #define Y_AXIS_INDEX 1
     #define Z_AXIS_INDEX 2

Marlin/src/inc/SanityCheck.h

@@ -764,6 +764,8 @@ 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)
+    #error "BABYSTEPPING only implemented for Z axis on MarkForged."
   #elif BOTH(DELTA, BABYSTEP_XY)
     #error "BABYSTEPPING only implemented for Z axis on deltabots."
   #elif BOTH(BABYSTEP_ZPROBE_OFFSET, MESH_BED_LEVELING)
@@ -1155,8 +1157,9 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
   + ENABLED(COREYZ) \
   + ENABLED(COREYX) \
   + ENABLED(COREZX) \
-  + ENABLED(COREZY)
+  + ENABLED(COREZY) \
-  #error "Please enable only one of DELTA, MORGAN_SCARA, COREXY, COREYX, COREXZ, COREZX, COREYZ, or COREZY."
+  + ENABLED(MARKFORGED_XY)
+  #error "Please enable only one of DELTA, MORGAN_SCARA, COREXY, COREYX, COREXZ, COREZX, COREYZ, COREZY, or MARKFORGED_XY."
 #endif
 
 /**
@@ -1576,8 +1579,8 @@ static_assert(hbm[Z_AXIS] >= 0, "HOMING_BUMP_MM.Z must be greater than or equal
 #if ENABLED(DUAL_X_CARRIAGE)
   #if EXTRUDERS < 2
     #error "DUAL_X_CARRIAGE requires 2 (or more) extruders."
-  #elif CORE_IS_XY || CORE_IS_XZ
+  #elif ANY(CORE_IS_XY, CORE_IS_XZ, MARKFORGED_XY)
-    #error "DUAL_X_CARRIAGE cannot be used with COREXY, COREYX, COREXZ, or COREZX."
+    #error "DUAL_X_CARRIAGE cannot be used with COREXY, COREYX, COREXZ, COREZX, or MARKFORGED_XY."
   #elif !GOOD_AXIS_PINS(X2)
     #error "DUAL_X_CARRIAGE requires X2 stepper pins to be defined."
   #elif !HAS_X_MAX
@@ -2533,6 +2536,8 @@ static_assert(hbm[Z_AXIS] >= 0, "HOMING_BUMP_MM.Z must be greater than or equal
   #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."
 #endif
 
 // Other TMC feature requirements
@@ -2848,6 +2853,10 @@ static_assert(   _ARR_TEST(3,0) && _ARR_TEST(3,1) && _ARR_TEST(3,2)
     #error "BACKLASH_COMPENSATION requires BACKLASH_DISTANCE_MM."
   #elif !defined(BACKLASH_CORRECTION)
     #error "BACKLASH_COMPENSATION requires BACKLASH_CORRECTION."
+  #elif ENABLED(MARKFORGED_XY)
+    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.");
   #elif IS_CORE
     constexpr float backlash_arr[] = BACKLASH_DISTANCE_MM;
     static_assert(!backlash_arr[CORE_AXIS_1] && !backlash_arr[CORE_AXIS_2],

Marlin/src/module/endstops.cpp

@@ -498,7 +498,7 @@ 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) && PIN_EXISTS(Z_MIN_PROBE) && !(CORE_IS_XY || CORE_IS_XZ)
+  #if ENABLED(G38_PROBE_TARGET) && PIN_EXISTS(Z_MIN_PROBE) && NONE(CORE_IS_XY, CORE_IS_XZ, MARKFORGED_XY)
     // If G38 command is active check Z_MIN_PROBE for ALL movement
     if (G38_move) UPDATE_ENDSTOP_BIT(Z, MIN_PROBE);
   #endif
@@ -514,12 +514,12 @@ void Endstops::update() {
   #endif
 
   // Use HEAD for core axes, AXIS for others
-  #if CORE_IS_XY || CORE_IS_XZ
+  #if ANY(CORE_IS_XY, CORE_IS_XZ, MARKFORGED_XY)
     #define X_AXIS_HEAD X_HEAD
   #else
     #define X_AXIS_HEAD X_AXIS
   #endif
-  #if CORE_IS_XY || CORE_IS_YZ
+  #if ANY(CORE_IS_XY, CORE_IS_YZ, MARKFORGED_XY)
     #define Y_AXIS_HEAD Y_HEAD
   #else
     #define Y_AXIS_HEAD Y_AXIS
@@ -736,7 +736,7 @@ void Endstops::update() {
     #define PROCESS_ENDSTOP_Z(MINMAX) PROCESS_DUAL_ENDSTOP(Z, MINMAX)
   #endif
 
-  #if ENABLED(G38_PROBE_TARGET) && PIN_EXISTS(Z_MIN_PROBE) && !(CORE_IS_XY || CORE_IS_XZ)
+  #if ENABLED(G38_PROBE_TARGET) && PIN_EXISTS(Z_MIN_PROBE) && NONE(CORE_IS_XY, CORE_IS_XZ, MARKFORGED_XY)
     #if ENABLED(G38_PROBE_AWAY)
       #define _G38_OPEN_STATE (G38_move >= 4)
     #else
@@ -865,7 +865,7 @@ void Endstops::update() {
     bool hit = false;
     #if X_SPI_SENSORLESS
       if (tmc_spi_homing.x && (stepperX.test_stall_status()
-        #if CORE_IS_XY && Y_SPI_SENSORLESS
+        #if ANY(CORE_IS_XY, MARKFORGED_XY) && Y_SPI_SENSORLESS
           || stepperY.test_stall_status()
         #elif CORE_IS_XZ && Z_SPI_SENSORLESS
           || stepperZ.test_stall_status()
@@ -877,7 +877,7 @@ void Endstops::update() {
     #endif
     #if Y_SPI_SENSORLESS
       if (tmc_spi_homing.y && (stepperY.test_stall_status()
-        #if CORE_IS_XY && X_SPI_SENSORLESS
+        #if ANY(CORE_IS_XY, MARKFORGED_XY) && X_SPI_SENSORLESS
           || stepperX.test_stall_status()
         #elif CORE_IS_YZ && Z_SPI_SENSORLESS
           || stepperZ.test_stall_status()

Marlin/src/module/motion.cpp

@@ -1152,7 +1152,7 @@ feedRate_t get_homing_bump_feedrate(const AxisEnum axis) {
           #if AXIS_HAS_STALLGUARD(X2)
             stealth_states.x2 = tmc_enable_stallguard(stepperX2);
           #endif
-          #if CORE_IS_XY && Y_SENSORLESS
+          #if EITHER(CORE_IS_XY, MARKFORGED_XY) && Y_SENSORLESS
             stealth_states.y = tmc_enable_stallguard(stepperY);
           #elif CORE_IS_XZ && Z_SENSORLESS
             stealth_states.z = tmc_enable_stallguard(stepperZ);
@@ -1165,7 +1165,7 @@ feedRate_t get_homing_bump_feedrate(const AxisEnum axis) {
           #if AXIS_HAS_STALLGUARD(Y2)
             stealth_states.y2 = tmc_enable_stallguard(stepperY2);
           #endif
-          #if CORE_IS_XY && X_SENSORLESS
+          #if EITHER(CORE_IS_XY, MARKFORGED_XY) && X_SENSORLESS
             stealth_states.x = tmc_enable_stallguard(stepperX);
           #elif CORE_IS_YZ && Z_SENSORLESS
             stealth_states.z = tmc_enable_stallguard(stepperZ);
@@ -1216,7 +1216,7 @@ feedRate_t get_homing_bump_feedrate(const AxisEnum axis) {
           #if AXIS_HAS_STALLGUARD(X2)
             tmc_disable_stallguard(stepperX2, enable_stealth.x2);
           #endif
-          #if CORE_IS_XY && Y_SENSORLESS
+          #if EITHER(CORE_IS_XY, MARKFORGED_XY) && Y_SENSORLESS
             tmc_disable_stallguard(stepperY, enable_stealth.y);
           #elif CORE_IS_XZ && Z_SENSORLESS
             tmc_disable_stallguard(stepperZ, enable_stealth.z);
@@ -1229,7 +1229,7 @@ feedRate_t get_homing_bump_feedrate(const AxisEnum axis) {
           #if AXIS_HAS_STALLGUARD(Y2)
             tmc_disable_stallguard(stepperY2, enable_stealth.y2);
           #endif
-          #if CORE_IS_XY && X_SENSORLESS
+          #if EITHER(CORE_IS_XY, MARKFORGED_XY) && X_SENSORLESS
             tmc_disable_stallguard(stepperX, enable_stealth.x);
           #elif CORE_IS_YZ && Z_SENSORLESS
             tmc_disable_stallguard(stepperZ, enable_stealth.z);
@@ -1789,7 +1789,7 @@ void homeaxis(const AxisEnum axis) {
       do_homing_move(axis, adjDistance, get_homing_bump_feedrate(axis));
     }
 
-  #else // CARTESIAN / CORE
+  #else // CARTESIAN / CORE / MARKFORGED_XY
 
     set_axis_is_at_home(axis);
     sync_plan_position();
@@ -1818,8 +1818,11 @@ void homeaxis(const AxisEnum axis) {
 
       #if ENABLED(SENSORLESS_HOMING)
         planner.synchronize();
-        if (TERN0(IS_CORE, axis != NORMAL_AXIS))
+        if (false
-          safe_delay(200);  // Short delay to allow belts to spring back
+          #if EITHER(IS_CORE, MARKFORGED_XY)
+            || axis != NORMAL_AXIS
+          #endif
+        ) safe_delay(200);  // Short delay to allow belts to spring back
       #endif
     }
   #endif

Marlin/src/module/planner.cpp

@@ -1614,6 +1614,7 @@ void Planner::finish_and_disable() {
 float Planner::get_axis_position_mm(const AxisEnum axis) {
   float axis_steps;
   #if IS_CORE
+
     // Requesting one of the "core" axes?
     if (axis == CORE_AXIS_1 || axis == CORE_AXIS_2) {
 
@@ -1631,9 +1632,30 @@ float Planner::get_axis_position_mm(const AxisEnum axis) {
     }
     else
       axis_steps = stepper.position(axis);
-  #else
+
+  #elif ENABLED(MARKFORGED_XY)
+
+    // Requesting one of the joined axes?
+    if (axis == CORE_AXIS_1 || axis == CORE_AXIS_2) {
+      // Protect the access to the position.
+      const bool was_enabled = stepper.suspend();
+
+      const int32_t p1 = stepper.position(CORE_AXIS_1),
+                    p2 = stepper.position(CORE_AXIS_2);
+
+      if (was_enabled) stepper.wake_up();
+
+      axis_steps = ((axis == CORE_AXIS_1) ? p1 - p2 : p2);
+    }
+    else
       axis_steps = stepper.position(axis);
+
+  #else
+
+    axis_steps = stepper.position(axis);
+
   #endif
+
   return axis_steps * steps_to_mm[axis];
 }
 
@@ -1808,6 +1830,12 @@ 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
+  #elif ENABLED(MARKFORGED_XY)
+    if (da < 0) SBI(dm, X_HEAD);                // Save the real Extruder (head) direction in X Axis
+    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
   #else
     if (da < 0) SBI(dm, X_AXIS);
     if (db < 0) SBI(dm, Y_AXIS);
@@ -1843,6 +1871,8 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
     block->steps.set(ABS(da + dc), ABS(db), ABS(da - dc));
   #elif CORE_IS_YZ
     block->steps.set(ABS(da), ABS(db + dc), ABS(db - dc));
+  #elif ENABLED(MARKFORGED_XY)
+    block->steps.set(ABS(da + db), ABS(db), ABS(dc));
   #elif IS_SCARA
     block->steps.set(ABS(da), ABS(db), ABS(dc));
   #else
@@ -1859,7 +1889,9 @@ 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 {
-    TERN_(IS_CORE, xyz_pos_t head);
+    #if EITHER(IS_CORE, MARKFORGED_XY)
+      xyz_pos_t head;
+    #endif
   } steps_dist_mm;
   #if IS_CORE
     #if CORE_IS_XY
@@ -1881,6 +1913,12 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
       steps_dist_mm.b      = (db + dc) * steps_to_mm[B_AXIS];
       steps_dist_mm.c      = CORESIGN(db - dc) * steps_to_mm[C_AXIS];
     #endif
+  #elif ENABLED(MARKFORGED_XY)
+    steps_dist_mm.head.x = da * steps_to_mm[A_AXIS];
+    steps_dist_mm.head.y = db * steps_to_mm[B_AXIS];
+    steps_dist_mm.z      = dc * steps_to_mm[Z_AXIS];
+    steps_dist_mm.a      = (da - db) * steps_to_mm[A_AXIS];
+    steps_dist_mm.b      = db * steps_to_mm[B_AXIS];
   #else
     steps_dist_mm.a = da * steps_to_mm[A_AXIS];
     steps_dist_mm.b = db * steps_to_mm[B_AXIS];
@@ -1907,7 +1945,7 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
       block->millimeters = millimeters;
     else
       block->millimeters = SQRT(
-        #if CORE_IS_XY
+        #if EITHER(CORE_IS_XY, MARKFORGED_XY)
           sq(steps_dist_mm.head.x) + sq(steps_dist_mm.head.y) + sq(steps_dist_mm.z)
         #elif CORE_IS_XZ
           sq(steps_dist_mm.head.x) + sq(steps_dist_mm.y) + sq(steps_dist_mm.head.z)
@@ -1964,7 +2002,7 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
   #endif
 
   // Enable active axes
-  #if CORE_IS_XY
+  #if EITHER(CORE_IS_XY, MARKFORGED_XY)
     if (block->steps.a || block->steps.b) {
       ENABLE_AXIS_X();
       ENABLE_AXIS_Y();
@@ -2325,9 +2363,9 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
      * On CoreXY the length of the vector [A,B] is SQRT(2) times the length of the head movement vector [X,Y].
      * So taking Z and E into account, we cannot scale to a unit vector with "inverse_millimeters".
      * => normalize the complete junction vector.
-     * Elsewise, when needed JD factors in the E component
+     * Elsewise, when needed JD will factor-in the E component
      */
-    if (ENABLED(IS_CORE) || esteps > 0)
+    if (EITHER(IS_CORE, MARKFORGED_XY) || 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

@@ -2041,6 +2041,8 @@ uint32_t Stepper::block_phase_isr() {
           #define X_CMP(A,B) ((A)!=(B))
         #endif
         #define X_MOVE_TEST ( S_(1) != S_(2) || (S_(1) > 0 && X_CMP(D_(1),D_(2))) )
+      #elif ENABLED(MARKFORGED_XY)
+        #define X_MOVE_TEST (current_block->steps.a != current_block->steps.b)
       #else
         #define X_MOVE_TEST !!current_block->steps.a
       #endif
@@ -2614,6 +2616,8 @@ void Stepper::_set_position(const int32_t &a, const int32_t &b, const int32_t &c
   #elif CORE_IS_YZ
     // coreyz planning
     count_position.set(a, b + c, CORESIGN(b - c));
+  #elif ENABLED(MARKFORGED_XY)
+    count_position.set(a - b, b, c);
   #else
     // default non-h-bot planning
     count_position.set(a, b, c);
@@ -2680,6 +2684,10 @@ void Stepper::endstop_triggered(const AxisEnum axis) {
         ? CORESIGN(count_position[CORE_AXIS_1] - count_position[CORE_AXIS_2])
         : count_position[CORE_AXIS_1] + count_position[CORE_AXIS_2]
       ) * double(0.5)
+    #elif ENABLED(MARKFORGED_XY)
+      axis == CORE_AXIS_1
+        ? count_position[CORE_AXIS_1] - count_position[CORE_AXIS_2]
+        : count_position[CORE_AXIS_2]
     #else // !IS_CORE
       count_position[axis]
     #endif
@@ -2709,12 +2717,12 @@ int32_t Stepper::triggered_position(const AxisEnum axis) {
 }
 
 void Stepper::report_a_position(const xyz_long_t &pos) {
-  #if CORE_IS_XY || CORE_IS_XZ || ENABLED(DELTA) || IS_SCARA
+  #if ANY(CORE_IS_XY, CORE_IS_XZ, MARKFORGED_XY, DELTA, IS_SCARA)
     SERIAL_ECHOPAIR(STR_COUNT_A, pos.x, " B:", pos.y);
   #else
     SERIAL_ECHOPAIR_P(PSTR(STR_COUNT_X), pos.x, SP_Y_LBL, pos.y);
   #endif
-  #if CORE_IS_XZ || CORE_IS_YZ || ENABLED(DELTA)
+  #if ANY(CORE_IS_XZ, CORE_IS_YZ, DELTA)
     SERIAL_ECHOLNPAIR(" C:", pos.z);
   #else
     SERIAL_ECHOLNPAIR_P(SP_Z_LBL, pos.z);