Updated motion in units per revolution mode (G95) to handle spindle RPM changes.

Changed initial wait for two index pulses to check RPM > 0 before starting such motion.

README.md

@@ -1,6 +1,6 @@
 ## grblHAL ##
 
-Latest build date is 20250925, see the [changelog](changelog.md) for details.  
+Latest build date is 20250926, see the [changelog](changelog.md) for details.  
 
 > [!NOTE]
 >  A settings reset will be performed on an update of builds prior to 20241208. Backup and restore of settings is recommended.  
@@ -89,4 +89,4 @@ G/M-codes not supported by [legacy Grbl](https://github.com/gnea/grbl/wiki) are
 Some [plugins](https://github.com/grblHAL/plugins) implements additional M-codes.
 
 ---
-20250925
+20250926

changelog.md

@@ -1,5 +1,13 @@
 ## grblHAL changelog
 
+<a name="20250926">Build 20250926
+
+Core:
+
+* Updated motion in units per revolution mode (G95) to handle spindle RPM changes. Changed initial wait for two index pulses to check RPM > 0 before starting such motion.
+
+---
+
 <a name="20250925">Build 20250925
 
 Core:

grbl.h

@@ -42,7 +42,7 @@
 #else
 #define GRBL_VERSION "1.1f"
 #endif
-#define GRBL_BUILD 20250925
+#define GRBL_BUILD 20250926
 
 #define GRBL_URL "https://github.com/grblHAL"
 

grbllib.c

@@ -615,7 +615,7 @@ ISR_CODE void task_delete (foreground_task_ptr fn, void *data)
     hal.irq_disable();
 
     if((task = next_task)) do {
-        if(fn == task->fn && data == task->data) {
+        if(fn == task->fn && (data == NULL || data == task->data)) {
             if(prev)
                 prev->next = task->next;
             else

ngc_params.c

@@ -171,7 +171,7 @@ static float tool_offset (ngc_param_id_t id)
 {
     uint_fast8_t axis = id % 10;
 
-    return axis <= N_AXIS ? gc_state.tool_length_offset[axis] : 0.0f;
+    return _convert_pos(axis <= N_AXIS ? gc_state.tool_length_offset[axis] : 0.0f, axis);
 }
 
 static float g28_home (ngc_param_id_t id)
@@ -183,7 +183,7 @@ static float g28_home (ngc_param_id_t id)
     if(axis <= N_AXIS && settings_read_coord_data(CoordinateSystem_G28, &data.xyz))
         value = data.xyz[axis - 1];
 
-    return value;
+    return _convert_pos(value, axis);
 }
 
 static float g30_home (ngc_param_id_t id)
@@ -195,13 +195,13 @@ static float g30_home (ngc_param_id_t id)
 #if COMPATIBILITY_LEVEL > 1
     if(id <= CoordinateSystem_G59) {
 #endif
-    if (axis <= N_AXIS && settings_read_coord_data(CoordinateSystem_G30, &data.xyz))
+    if(axis <= N_AXIS && settings_read_coord_data(CoordinateSystem_G30, &data.xyz))
         value = data.xyz[axis - 1];
 #if COMPATIBILITY_LEVEL > 1
     }
 #endif
 
-    return value;
+    return _convert_pos(value, axis);
 }
 
 static float coord_system (ngc_param_id_t id)
@@ -220,7 +220,7 @@ static float coord_system_offset (ngc_param_id_t id)
     if (axis > 0 && axis <= N_AXIS && settings_read_coord_data((coord_system_id_t)id, &data.xyz))
         value = data.xyz[axis - 1];
 
-    return value;
+    return _convert_pos(value, axis);
 }
 
 static float g92_offset_applied (ngc_param_id_t id)
@@ -232,7 +232,7 @@ static float g92_offset (ngc_param_id_t id)
 {
     uint_fast8_t axis = id % 10;
 
-    return axis <= N_AXIS ? gc_state.g92_coord_offset [axis - 1] : 0.0f;
+    return _convert_pos(axis <= N_AXIS ? gc_state.g92_coord_offset[axis - 1] : 0.0f, axis);
 }
 
 static float work_position (ngc_param_id_t id)
@@ -677,7 +677,7 @@ static char *ngc_name_tolower (char *s)
     static char name[NGC_MAX_PARAM_LENGTH + 1];
 
     uint_fast8_t len = 0;
-	char c, *s1 = s, *s2 = name;
+    char c, *s1 = s, *s2 = name;
 
     while((c = *s1++) && len <= NGC_MAX_PARAM_LENGTH) {
         if(c > ' ') {
@@ -687,7 +687,7 @@ static char *ngc_name_tolower (char *s)
     }
     *s2 = '\0';
 
-	return name;
+    return name;
 }
 
 bool ngc_named_param_get (char *name, float *value)
@@ -999,7 +999,7 @@ uint_fast8_t ngc_call_level (void)
 
 uint8_t ngc_float_decimals (void)
 {
-	return settings.flags.report_inches ? N_DECIMAL_COORDVALUE_INCH : N_DECIMAL_COORDVALUE_MM;
+    return settings.flags.report_inches ? N_DECIMAL_COORDVALUE_INCH : N_DECIMAL_COORDVALUE_MM;
 }
 
 static status_code_t macro_get_setting (void)

planner.c

@@ -307,7 +307,7 @@ bool plan_check_full_buffer (void)
 float plan_compute_profile_nominal_speed (plan_block_t *block)
 {
     float nominal_speed = block->condition.units_per_rev || block->spindle.state.synchronized
-                           ? block->programmed_rate * block->spindle.hal->get_data(SpindleData_RPM)->rpm
+                           ? block->programmed_rate * (pl.actual_rpm = block->spindle.hal->get_data(SpindleData_RPM)->rpm)
                            : block->programmed_rate;
 
     if(block->condition.rapid_motion)
@@ -711,6 +711,20 @@ static bool plan_update_velocity_profile_parameters (void)
     return block_buffer_tail != block_buffer_head;
 }
 
+// Re-calulates feed rate on RPM changes for units per revolution blocks (G95)
+// Called periodically from stepper.c
+void plan_sync_velocity (void *block)
+{
+    float rpm = ((plan_block_t *)block)->spindle.hal->get_data(SpindleData_RPM)->rpm;
+
+    if(pl.actual_rpm != rpm) {
+        pl.actual_rpm = rpm;
+        if(plan_update_velocity_profile_parameters())
+            plan_cycle_reinitialize();
+    } else
+        task_add_delayed(plan_sync_velocity, block, 10);
+}
+
 // Set feed overrides
 void plan_feed_override (override_t feed_override, override_t rapid_override)
 {

planner.h

@@ -147,6 +147,7 @@ typedef struct {
                                     // i.e. arcs, canned cycles, and backlash compensation.
   float previous_unit_vec[N_AXIS];  // Unit vector of previous path line segment
   float previous_nominal_speed;     // Nominal speed of previous path line segment
+  float actual_rpm;                 // Updated when in units per revolution blocks (G95) mode.
 } planner_t;
 
 // Initialize and reset the motion plan subsystem
@@ -194,4 +195,6 @@ void plan_feed_override (override_t feed_override, override_t rapid_override);
 
 void plan_data_init (plan_line_data_t *plan_data);
 
+void plan_sync_velocity (void *block);
+
 #endif

state_machine.c

@@ -266,22 +266,33 @@ void state_set (sys_state_t new_state)
                             if (block->spindle.hal->reset_data)
                                 block->spindle.hal->reset_data();
 
-                            uint32_t index = block->spindle.hal->get_data(SpindleData_Counters)->index_count + 2;
+                            if(!block->condition.units_per_rev) {
 
-                            while(index != block->spindle.hal->get_data(SpindleData_Counters)->index_count) {
+                                uint32_t index = block->spindle.hal->get_data(SpindleData_Counters)->index_count + 2;
 
-                                if(hal.get_elapsed_ticks() - ms > 5000) {
+                                while(index != block->spindle.hal->get_data(SpindleData_Counters)->index_count) {
+
+                                    if(hal.get_elapsed_ticks() - ms > 5000) {
+                                        system_raise_alarm(Alarm_Spindle);
+                                        return;
+                                    }
+
+                                    if(sys.rt_exec_state & (EXEC_RESET|EXEC_STOP)) {
+                                        system_set_exec_state_flag(EXEC_RESET);
+                                        return;
+                                    }
+                                    // TODO: allow real time reporting?
+                                }
+
+                                if(block->spindle.hal->get_data(SpindleData_RPM)->rpm == 0.0f) {
                                     system_raise_alarm(Alarm_Spindle);
                                     return;
                                 }
 
-                                if(sys.rt_exec_state & (EXEC_RESET|EXEC_STOP)) {
-                                    system_set_exec_state_flag(EXEC_RESET);
-                                    return;
-                                }
-                                // TODO: allow real time reporting?
+                            } else if(block->spindle.hal->get_data(SpindleData_RPM)->rpm == 0.0f) {
+                                system_raise_alarm(Alarm_Spindle);
+                                return;
                             }
-
                         }
                         st_wake_up();
                         stateHandler = state_cycle;

stepper.c

@@ -216,6 +216,8 @@ ISR_CODE void ISR_FUNC(st_go_idle)(void)
     stepping = false;
     hal.stepper.go_idle(false);
 
+    task_delete(plan_sync_velocity, NULL);
+
     // Set stepper driver idle state, disabled or enabled, depending on settings and circumstances.
     if(((settings.steppers.idle_lock_time != 255) || sys.rt_exec_alarm || state == STATE_SLEEP) && state != STATE_HOMING) {
         if(settings.steppers.idle_lock_time == 0 || state == STATE_SLEEP)
@@ -813,6 +815,9 @@ void st_prep_buffer (void)
             if (pl_block == NULL)
                 return; // No planner blocks. Exit.
 
+            if(pl_block->condition.units_per_rev)
+                task_add_delayed(plan_sync_velocity, pl_block, 10);
+
             // Check if we need to only recompute the velocity profile or load a new block.
             if (prep.recalculate.velocity_profile) {
                 if(settings.parking.flags.enabled) {
@@ -1253,6 +1258,9 @@ void st_prep_buffer (void)
         // Check for exit conditions and flag to load next planner block.
         if (mm_remaining <= prep.mm_complete) {
 
+            if(pl_block->condition.units_per_rev)
+                task_delete(plan_sync_velocity, NULL);
+
             // End of planner block or forced-termination. No more distance to be executed.
             if (mm_remaining > 0.0f) { // At end of forced-termination.
                 // Reset prep parameters for resuming and then bail. Allow the stepper ISR to complete