Fix for stepper spindle in polling mode causing alarm 14 when used for spindle synced motion (G33, G76).

changelog.md

@@ -1,10 +1,20 @@
 ## grblHAL changelog
 
+<a name="20250927">Build 20250927
+
+Core:
+
+* Fix for stepper spindle in polling mode causing alarm 14 when used for spindle synced motion \(G33, G76\).
+Ref. iMXRT1062 discussion [#100](https://github.com/grblHAL/iMXRT1062/discussions/100).
+
+---
+
 <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.
+* 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.
 
 ---
 
@@ -35,6 +45,8 @@ Plugins:
 * Misc, eventout: added _Motion_ event \(trigged by RUN, JOG and HOMING states\) and toggle events for optional stop, single step and block delete signals.
 Ref. discussion [#813](https://github.com/grblHAL/core/discussions/813).
 
+---
+
 <a name="20250910">Build 20250910
 
 Core:

grbl.h

@@ -42,7 +42,7 @@
 #else
 #define GRBL_VERSION "1.1f"
 #endif
-#define GRBL_BUILD 20250926
+#define GRBL_BUILD 20250927
 
 #define GRBL_URL "https://github.com/grblHAL"
 

ngc_params.c

@@ -171,7 +171,7 @@ static float tool_offset (ngc_param_id_t id)
 {
     uint_fast8_t axis = id % 10;
 
-    return _convert_pos(axis <= N_AXIS ? gc_state.tool_length_offset[axis] : 0.0f, axis);
+    return axis <= N_AXIS ? gc_state.tool_length_offset[axis] : 0.0f;
 }
 
 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 _convert_pos(value, axis);
+    return value;
 }
 
 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 _convert_pos(value, axis);
+    return value;
 }
 
 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 _convert_pos(value, axis);
+    return value;
 }
 
 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 _convert_pos(axis <= N_AXIS ? gc_state.g92_coord_offset[axis - 1] : 0.0f, axis);
+    return axis <= N_AXIS ? gc_state.g92_coord_offset [axis - 1] : 0.0f;
 }
 
 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)

state_machine.c

@@ -272,6 +272,8 @@ void state_set (sys_state_t new_state)
 
                                 while(index != block->spindle.hal->get_data(SpindleData_Counters)->index_count) {
 
+                                    grbl.on_execute_realtime(sys_state);
+
                                     if(hal.get_elapsed_ticks() - ms > 5000) {
                                         system_raise_alarm(Alarm_Spindle);
                                         return;
@@ -283,12 +285,6 @@ void state_set (sys_state_t new_state)
                                     }
                                     // TODO: allow real time reporting?
                                 }
-
-                                if(block->spindle.hal->get_data(SpindleData_RPM)->rpm == 0.0f) {
-                                    system_raise_alarm(Alarm_Spindle);
-                                    return;
-                                }
-
                             } else if(block->spindle.hal->get_data(SpindleData_RPM)->rpm == 0.0f) {
                                 system_raise_alarm(Alarm_Spindle);
                                 return;