endstop_phase: Fix endstop_phase on trinamic drivers that aren't inverted

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

klippy/extras/endstop_phase.py

@@ -66,6 +66,8 @@ class EndstopPhase:
                 msg = "Unable to get stepper %s phase: %s" % (self.name, str(e))
                 logging.exception(msg)
                 raise homing.EndstopError(msg)
+            if stepper.is_dir_inverted():
+                phase = (self.phases - 1) - phase
         else:
             phase = stepper.get_mcu_position() % self.phases
         self.phase_history[phase] += 1

klippy/extras/tmc.py

@@ -227,7 +227,7 @@ class TMCMicrostepHelper:
             field_name = "MSTEP"
         reg = self.mcu_tmc.get_register(self.fields.lookup_register(field_name))
         mscnt = self.fields.get_field(field_name, reg)
-        return mscnt >> self.fields.get_field("MRES")
+        return (1023 - mscnt) >> self.fields.get_field("MRES")
 
 # Helper to configure "stealthchop" mode
 def TMCStealthchopHelper(config, mcu_tmc, tmc_freq):