diff --git a/README.md b/README.md
index 98b01ed..ad17f93 100644
--- a/README.md
+++ b/README.md
@@ -1,6 +1,6 @@
 ## grblHAL ##
 
-Latest build date is 20250103, see the [changelog](changelog.md) for details.  
+Latest build date is 20250107, 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.  
@@ -93,4 +93,4 @@ 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.
 
 ---
-20250103
+20250107
diff --git a/changelog.md b/changelog.md
index b02c005..4afe309 100644
--- a/changelog.md
+++ b/changelog.md
@@ -1,5 +1,27 @@
 ## grblHAL changelog
 
+<a name="20250107">20250107
+
+Core:
+
+* Added setting `$539` for spindle spin down delay. Ref. issue [#651](https://github.com/grblHAL/core/issues/651).
+
+Drivers:
+
+* RP2040, STM32F4xx and STM32F7xx: increased reset delay for WizNet ethernet modules.
+
+* iMXRT1062, STM32F4xx and STM32F7xx: fixed regression affecting step injection, used when stepper spindle or plasma THC is enabled.
+
+* STM32F7xx: removed code left over from copy/paste update. Ref. issue [#20](https://github.com/grblHAL/STM32F7xx/issues/20).
+
+Plugins:
+
+* Spindle, stepper: improved settings changes handling. Added a bit of documentation. Ref. issue [#30](https://github.com/grblHAL/Plugins_spindle/issues/30).
+
+* SD card: added inbuilt macro `G65P4` for getting the [current machine state](https://github.com/grblHAL/core/wiki/Expressions-and-flow-control#inbuilt-g65-macros).
+
+---
+
 <a name="20250104">20250104
 
 Core:
diff --git a/config.h b/config.h
index 6fc7e7f..9487742 100644
--- a/config.h
+++ b/config.h
@@ -1154,6 +1154,14 @@ Default value is 0, meaning spindle sync is disabled
 #endif
 ///@}
 
+/*! @name $539 - Setting_SpindleOffDelay
+*/
+///@{
+#if !defined DEFAULT_SPINDLE_OFF_DELAY || defined __DOXYGEN__
+#define DEFAULT_SPINDLE_OFF_DELAY 0 // milliseconds: 0 or 500 - 20000
+#endif
+///@}
+
 // Closed loop spindle settings (Group_Spindle_ClosedLoop)
 
 // $9 - Setting_SpindlePWMOptions
diff --git a/grbl.h b/grbl.h
index 8b8c365..49c4028 100644
--- a/grbl.h
+++ b/grbl.h
@@ -42,7 +42,7 @@
 #else
 #define GRBL_VERSION "1.1f"
 #endif
-#define GRBL_BUILD 20250104
+#define GRBL_BUILD 20250107
 
 #define GRBL_URL "https://github.com/grblHAL"
 
diff --git a/machine_limits.c b/machine_limits.c
index 82b31a3..4594bad 100644
--- a/machine_limits.c
+++ b/machine_limits.c
@@ -3,7 +3,7 @@
 
   Part of grblHAL
 
-  Copyright (c) 2017-2024 Terje Io
+  Copyright (c) 2017-2025 Terje Io
   Copyright (c) 2012-2016 Sungeun K. Jeon for Gnea Research LLC
   Copyright (c) 2009-2011 Simen Svale Skogsrud
 
@@ -656,12 +656,8 @@ static float get_homing_rate (axes_signals_t cycle, homing_mode_t mode)
 {
     uint_fast8_t idx = 0;
 
-    while(cycle.mask) {
-        if(cycle.mask & 1)
-            break;
-        idx++;
-        cycle.mask >>= 1;
-    }
+    if(settings.homing.flags.per_axis_feedrates)
+        idx = ffs(cycle.mask) - 1;
 
     return mode == HomingMode_Locate ? settings.axis[idx].homing_feed_rate : settings.axis[idx].homing_seek_rate;
 }
diff --git a/settings.c b/settings.c
index c5f89c1..472283d 100644
--- a/settings.c
+++ b/settings.c
@@ -161,6 +161,7 @@ PROGMEM const settings_t defaults = {
 
     .spindle.ref_id = DEFAULT_SPINDLE,
     .spindle.on_delay = DEFAULT_SPINDLE_ON_DELAY,
+    .spindle.off_delay = DEFAULT_SPINDLE_OFF_DELAY,
     .spindle.at_speed_tolerance = DEFAULT_SPINDLE_AT_SPEED_TOLERANCE,
     .spindle.encoder_spindle = DEFAULT_SPINDLE,
     .spindle.ppr = DEFAULT_SPINDLE_PPR,
@@ -1147,6 +1148,10 @@ static status_code_t set_float (setting_id_t setting, float value)
             settings.spindle.on_delay = (uint16_t)(value * 1000.0f);
             break;
 
+        case Setting_SpindleOffDelay:
+            settings.spindle.off_delay = (uint16_t)(value * 1000.0f);
+            break;
+
         case Setting_CoolantOnDelay:
             settings.coolant.on_delay = (uint16_t)(value * 1000.0f);
             break;
@@ -1332,6 +1337,10 @@ static float get_float (setting_id_t setting)
             value = (float)settings.spindle.on_delay / 1000.0f;
             break;
 
+        case Setting_SpindleOffDelay:
+            value = (float)settings.spindle.off_delay / 1000.0f;
+            break;
+
         case Setting_CoolantOnDelay:
             value = (float)settings.coolant.on_delay / 1000.0f;
             break;
@@ -1807,6 +1816,7 @@ static bool is_setting_available (const setting_detail_t *setting)
             break;
 
         case Setting_SpindleOnDelay:
+        case Setting_SpindleOffDelay:
             available = spindle_get_count();
             break;
 
@@ -2063,6 +2073,7 @@ PROGMEM static const setting_detail_t setting_detail[] = {
 #if N_AXIS > 3
      { Setting_RotaryWrap, Group_Stepper, "Fast rotary go to G28", NULL, Format_Bitfield, rotary_axes, NULL, NULL, Setting_IsExtendedFn, set_rotary_wrap_axes, get_int, NULL },
 #endif
+     { Setting_SpindleOffDelay, Group_Spindle, "Spindle off delay", "s", Format_Decimal, "#0.0", "0.5", "20", Setting_IsExtendedFn, set_float, get_float, is_setting_available, { .allow_null = On } },
      { Setting_FSOptions, Group_General, "File systems options", NULL, Format_Bitfield, fs_options, NULL, NULL, Setting_IsExtended, &settings.fs_options.mask, NULL, is_setting_available },
      { Setting_HomePinsInvertMask, Group_Limits, "Invert home inputs", NULL, Format_AxisMask, NULL, NULL, NULL, Setting_IsExtended, &settings.home_invert.mask, NULL, is_setting_available },
      { Setting_CoolantOnDelay, Group_Coolant, "Coolant on delay", "s", Format_Decimal, "#0.0", "0.5", "20", Setting_IsExtendedFn, set_float, get_float, is_setting_available, { .allow_null = On } }
@@ -2237,7 +2248,7 @@ PROGMEM static const setting_descr_t setting_descr[] = {
     { Setting_DoorCoolantOnDelay, "Delay to allow coolant to restart after safety door is opened." },
 #endif
     { Setting_SpindleOnDelay, "Delay to allow spindle to spin up. 0 or 0.5 - 20s\\n"
-                              "If spindle supports ""at speed"" functionality it is the time to wait before alarm 14 is raised."
+                              "If spindle supports \"at speed\" functionality it is the time to wait before alarm 14 is raised."
     },
     { Setting_SpindleType, "Spindle selected on startup." },
     { Setting_PlannerBlocks, "Number of blocks in the planner buffer." },
@@ -2250,6 +2261,9 @@ PROGMEM static const setting_descr_t setting_descr[] = {
 #if NGC_EXPRESSIONS_ENABLE
     { Setting_NGCDebugOut, "Example: (debug, metric mode: #<_metric>, coord system: #5220)" },
 #endif
+    { Setting_SpindleOffDelay, "Delay to allow spindle to spin down. 0 or 0.5 - 20s\\n"
+                               "If spindle supports \"at speed\" functionality it is the time to wait before alarm 14 is raised."
+    },
     { Setting_EncoderSpindle, "Specifies which spindle has the encoder attached." },
 #if N_AXIS > 3
     { Setting_RotaryWrap, "Perform fast move to angle stored in G28 position.\\n"
diff --git a/settings.h b/settings.h
index 4c5f703..409bdb8 100644
--- a/settings.h
+++ b/settings.h
@@ -265,7 +265,7 @@ typedef enum {
     Setting_LaserCoolantOkPort = 391,
     Setting_DoorSpindleOnDelay = 392,
     Setting_DoorCoolantOnDelay = 393,
-    Setting_SpindleOnDelay = 394, // made available if safety door input not provided
+    Setting_SpindleOnDelay = 394,
     Setting_SpindleType = 395,
     Setting_WebUiTimeout = 396,
     Setting_WebUiAutoReportInterval = 397,
@@ -373,6 +373,7 @@ typedef enum {
     Setting_RGB_StripLengt0 = 536,
     Setting_RGB_StripLengt1 = 537,
     Setting_RotaryWrap = 538,
+    Setting_SpindleOffDelay = 539,
 
     Setting_Panel_SpindleSpeed       = 540,  // NOTE: Reserving settings values 540 to 579 for panel settings.
     Setting_Panel_ModbusAddress      = 541,
diff --git a/spindle_control.c b/spindle_control.c
index da08a88..d734ea0 100644
--- a/spindle_control.c
+++ b/spindle_control.c
@@ -637,7 +637,7 @@ for it to reach the speed and raise an alarm if the speed is not reached within
 bool spindle_set_state_synced (spindle_ptrs_t *spindle, spindle_state_t state, float rpm)
 {
     // Empty planner buffer to ensure spindle is set when programmed.
-    return protocol_buffer_synchronize() && spindle_set_state_wait(spindle, state, rpm, settings.spindle.on_delay, DelayMode_Dwell);
+    return protocol_buffer_synchronize() && spindle_set_state_wait(spindle, state, rpm, state.on ? settings.spindle.on_delay : settings.spindle.off_delay, DelayMode_Dwell);
 }
 
 /*! \brief Restore spindle running state with direction, enable, spindle RPM and appropriate delay.
diff --git a/spindle_control.h b/spindle_control.h
index c8c5808..40e3ffe 100644
--- a/spindle_control.h
+++ b/spindle_control.h
@@ -225,6 +225,7 @@ typedef struct {
     uint8_t encoder_spindle;
     uint16_t ppr;                               //!< Spindle encoder pulses per revolution (PPR).
     uint16_t on_delay;
+    uint16_t off_delay;
     float at_speed_tolerance;                   //!< Tolerance in percent of programmed speed.
 } spindle_settings_t;