Added setting $677 for stepper spindle options.

Author: terjeio

changelog.md

@@ -1,5 +1,21 @@
 ## grblHAL changelog
 
+<a name="20250313">Build 20250313
+
+Core:
+
+* Added setting $677 for stepper spindle options.
+
+Drivers:
+
+* ESP32: added tentative board map for FluidNC v3 6-pack board.
+
+Plugins:
+
+* Spindle: fixed issues with stepper spindle enable/disable via S-commands. Related to issue [#30](https://github.com/grblHAL/Plugins_spindle/issues/30).
+
+---
+
 <a name="20250312">20250312
 
 Core:
@@ -14,7 +30,7 @@ Drivers:
 
 Plugins:
 
-* Spindle: fix for incorrect sign returned from spindle data function used for spindle sync. Depends on stepper configuration.
+* Spindle: fix for incorrect sign returned from stepper spindle data function used for spindle sync. Depends on stepper configuration.
 
 ---
 

grbl.h

@@ -42,7 +42,7 @@
 #else
 #define GRBL_VERSION "1.1f"
 #endif
-#define GRBL_BUILD 20250311
+#define GRBL_BUILD 20250313
 
 #define GRBL_URL "https://github.com/grblHAL"
 

settings.h

@@ -455,6 +455,7 @@ typedef enum {
     Setting_THC_Options = 674,
     Setting_MacroATC_Options = 675,
     Setting_ResetActions = 676,
+    Setting_StepperSpindle_Options = 677,
 
     Setting_SpindleInvertMask1 = 716,
 
@@ -877,7 +878,8 @@ typedef struct {
     axes_signals_t motor_fault_enable;
     axes_signals_t motor_fault_invert;
     macro_atc_flags_t macro_atc_flags;
-    char reserved[19];          // Reserved For future expansion
+    stepper_spindle_settings_flags_t stepper_spindle_flags;
+    char reserved[18];          // Reserved For future expansion
 } settings_t;
 
 typedef enum {

spindle_control.h

@@ -208,6 +208,16 @@ typedef union {
     };
 } spindle_settings_flags_t;
 
+typedef union {
+    uint8_t value;
+    uint8_t mask;
+    struct {
+        uint8_t allow_axis_control    :1,
+                sync_position         :1,
+                unassigned            :6;
+    };
+} stepper_spindle_settings_flags_t;
+
 typedef struct {
     spindle_state_t invert;
     spindle_settings_flags_t flags;

stepper2.c

@@ -3,7 +3,7 @@
 
   Part of grblHAL
 
-  Copyright (c) 2023-2024 Terje Io
+  Copyright (c) 2023-2025 Terje Io
 
   Algorithm based on article/code by David Austin:
   https://www.embedded.com/generate-stepper-motor-speed-profiles-in-real-time/
@@ -315,6 +315,11 @@ Motor will be accelerated or decelerated to the new speed.
 */
 float st2_motor_set_speed (st2_motor_t *motor, float speed)
 {
+    if(speed == 0.0f) {
+        st2_motor_stop(motor);
+        return speed;
+    }
+
     motor->speed = speed > settings.axis[motor->idx].max_rate ? settings.axis[motor->idx].max_rate : speed;
     motor->speed *= settings.axis[motor->idx].steps_per_mm / 60.0f;