diff --git a/klippy/extras/endstop_phase.py b/klippy/extras/endstop_phase.py
index 20ddd340..c0408262 100644
--- a/klippy/extras/endstop_phase.py
+++ b/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
diff --git a/klippy/extras/tmc.py b/klippy/extras/tmc.py
index f3dcdb92..d0c88f58 100644
--- a/klippy/extras/tmc.py
+++ b/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):
diff --git a/klippy/mcu.py b/klippy/mcu.py
index 15148a86..bc5e046b 100644
--- a/klippy/mcu.py
+++ b/klippy/mcu.py
@@ -70,6 +70,8 @@ class MCU_stepper:
         return self._oid
     def get_step_dist(self):
         return self._step_dist
+    def is_dir_inverted(self):
+        return self._invert_dir
     def calc_position_from_coord(self, coord):
         return self._ffi_lib.itersolve_calc_position_from_coord(
             self._stepper_kinematics, coord[0], coord[1], coord[2])
diff --git a/klippy/stepper.py b/klippy/stepper.py
index 786ea2ee..29b525a9 100644
--- a/klippy/stepper.py
+++ b/klippy/stepper.py
@@ -73,6 +73,7 @@ class PrinterStepper:
         self.set_commanded_position = mcu_stepper.set_commanded_position
         self.get_mcu_position = mcu_stepper.get_mcu_position
         self.get_step_dist = mcu_stepper.get_step_dist
+        self.is_dir_inverted = mcu_stepper.is_dir_inverted
     def get_name(self, short=False):
         if short and self.name.startswith('stepper_'):
             return self.name[8:]