Fix for crash when multiple G95 mode motions are commanded.

README.md

@@ -1,6 +1,6 @@
 ## grblHAL ##
 
-Latest build date is 20250926, see the [changelog](changelog.md) for details.  
+Latest build date is 20250928, 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.
 
 ---
-20250926
+20250928

changelog.md

@@ -1,5 +1,18 @@
 ## grblHAL changelog
 
+<a name="20250928">Build 20250928
+
+Core:
+
+* Fix for crash when multiple G95 mode motions are commanded.
+Ref. iMXRT1062 discussion [#100](https://github.com/grblHAL/iMXRT1062/discussions/100).
+
+Drivers:
+
+* ESP32: fix for MPG mode switch handling causing compilation error. Ref. Web Builder [discussion comment](https://github.com/grblHAL/core/discussions/645#discussioncomment-14529145).
+
+---
+
 <a name="20250927">Build 20250927
 
 Core:

grbl.h

@@ -42,7 +42,7 @@
 #else
 #define GRBL_VERSION "1.1f"
 #endif
-#define GRBL_BUILD 20250927
+#define GRBL_BUILD 20250928
 
 #define GRBL_URL "https://github.com/grblHAL"
 

stepper.c

@@ -414,7 +414,7 @@ ISR_CODE void ISR_FUNC(stepper_driver_interrupt_handler)(void)
     if(st.exec_block) {
 
 #if SPINDLE_SYNC_ENABLE
-        if(st.new_block && st.exec_segment->spindle_sync) {
+        if(st.new_block && st.exec_segment->spindle_sync && hal.stepper.pulse_start != st_spindle_sync_out) {
             spindle_tracker.stepper_pulse_start = hal.stepper.pulse_start;
             hal.stepper.pulse_start = st_spindle_sync_out;
         }
@@ -1225,7 +1225,7 @@ void st_prep_buffer (void)
         uint32_t cycles = (uint32_t)ceilf(cycles_per_min * inv_rate); // (cycles/step)
 
         // Record end position of segment relative to block if spindle synchronized motion
-        if((prep_segment->spindle_sync = pl_block->spindle.state.synchronized)) {
+        if((prep_segment->spindle_sync = pl_block->spindle.state.synchronized && !pl_block->condition.units_per_rev)) {
             prep.target_position += dt * prep.target_feed;
             prep_segment->cruising = prep.ramp_type == Ramp_Cruise;
             prep_segment->target_position = prep.target_position; //st_prep_block->millimeters - pl_block->millimeters;