Added platform specific formatting strings for int32_t, "hardened" task handler code.

README.md

@@ -1,6 +1,6 @@
 ## grblHAL ##
 
-Latest build date is 20260311, see the [changelog](changelog.md) for details.  
+Latest build date is 20260312, 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.  

changelog.md

@@ -1,5 +1,13 @@
 ## grblHAL changelog
 
+<a name="20260312">Build 20260312
+
+Core:
+
+* Added platform specific formatting strings for int32_t, "hardened" task handler code.
+
+---
+
 <a name="20260311">Build 20260311
 
 Core:
@@ -15,7 +23,7 @@ Plugins:
 * SD card: added `$PWD` command for outputting current working directory and `$CWD=<directory>` as an alternative to `$F=<directory>` to set current working directory.  
 `<directory>` can be `..` for up one level, `/` for the root directory, a single directory name or a path to a directory - either relative to CWD or absolute.
 
-* Spindle: delayed on actions on soft reset till after reset is cleared.
+* Spindle: delayed actions on soft reset till after reset is cleared.
 
 * Networking, ftp: improved handling of current working directory. Note that this is not the same as maintained by the core.
 

grbl.h

@@ -42,7 +42,7 @@
 #else
 #define GRBL_VERSION "1.1f"
 #endif
-#define GRBL_BUILD 20260311
+#define GRBL_BUILD 20260312
 
 #define GRBL_URL "https://github.com/grblHAL"
 

grbllib.c

@@ -122,12 +122,17 @@ __attribute__((always_inline)) static inline void task_free (core_task_t *task)
 
 __attribute__((always_inline)) static inline core_task_t *task_run (core_task_t *task)
 {
+    hal.irq_disable();
+
     core_task_t *t = task;
     foreground_task_ptr fn = task->fn;
     void *data = task->data;
 
     task = task->next;
     task_free(t);
+
+    hal.irq_enable();
+
     fn(data);
 
     return task;
@@ -536,7 +541,7 @@ FLASHMEM int grbl_enter (void)
             protocol_enqueue_realtime_command(sys.mpg_mode ? CMD_STATUS_REPORT_ALL : CMD_STATUS_REPORT);
 
         if(tasks.on_reset)
-            system_set_exec_state_flag(EXEC_RT_COMMAND);  // execute any on reset tasks
+            system_set_exec_state_flag(EXEC_RT_COMMAND);  // execute any reset tasks
 
         // Start main loop. Processes program inputs and executes them.
         if(!(looping = protocol_main_loop()))
@@ -578,11 +583,6 @@ static void task_execute (sys_state_t state)
 
     core_task_t *task;
 
-    if(lock)
-        return;
-
-    lock = true;
-
     if(tasks.immediate && sys.driver_started) {
 
         hal.irq_disable();
@@ -594,6 +594,11 @@ static void task_execute (sys_state_t state)
         } while((task = task_run(task)));
     }
 
+    if(lock)
+        return;
+
+    lock = true;
+
     uint32_t now = hal.get_elapsed_ticks();
     if(!(now == last_ms || tasks.delayed == tasks.systick)) {
 
@@ -619,12 +624,12 @@ static void task_execute (sys_state_t state)
                 }
             }
 
-            hal.irq_enable();
-
             void *data = task->data;
             foreground_task_ptr fn = task->fn;
             task_free(task);
 
+            hal.irq_enable();
+
             fn(data);
         }
     }

platform.h

@@ -3,7 +3,7 @@
 
   Part of grblHAL
 
-  Copyright (c) 2021-2025 Terje Io
+  Copyright (c) 2021-2026 Terje Io
 
   grblHAL is free software: you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
@@ -47,9 +47,13 @@
 #endif
 
 #if defined(STM32_PLATFORM) || defined(__LPC17XX__) || defined(__IMXRT1062__) || defined(__SAM3X8E__)
+#define INT32FMT "%li"
+#define INT32SFMT "li"
 #define UINT32FMT "%lu"
 #define UINT32SFMT "lu"
 #else
+#define INT32FMT "%i"
+#define INT32SFMT "i"
 #define UINT32FMT "%u"
 #define UINT32SFMT "u"
 #endif