From 45b0e105892d08e76d5140871cfb032d445d2f20 Mon Sep 17 00:00:00 2001
From: Terje Io <terjeio@users.noreply.github.com>
Date: Thu, 16 Jun 2022 08:45:10 +0200
Subject: [PATCH] Delayed calling hal.driver_reset until alarm and abort state
 has been established.

---
 changelog.md | 18 ++++++++++++++++++
 grbl.h       |  2 +-
 protocol.c   | 11 +++++++----
 3 files changed, 26 insertions(+), 5 deletions(-)

diff --git a/changelog.md b/changelog.md
index dbdc9c9..3e88729 100644
--- a/changelog.md
+++ b/changelog.md
@@ -1,5 +1,21 @@
 ## grblHAL changelog
 
+20220616:
+
+Core:
+
+* Delayed calling `hal.driver_reset` until alarm and abort states has been established.
+
+Drivers:
+
+* STM32F4xx : Fix for [issue #77](https://github.com/grblHAL/STM32F4xx/issues/77) - serial port clock selection.
+
+Plugins:
+
+* Spindle plugin: Fix for [issue #9](https://github.com/grblHAL/plugins/issues/9) - VFD spindle not stopped on STOP command.
+
+---
+
 20220612:
 
 Core:
@@ -20,6 +36,8 @@ Drivers:
 
 * ESP32 : Added missing file \(corexy.c\) to filelist, fixed incorrect URL in readme.
 
+---
+
 20220416:
 
 Drivers:
diff --git a/grbl.h b/grbl.h
index eb020fb..958ea29 100644
--- a/grbl.h
+++ b/grbl.h
@@ -34,7 +34,7 @@
 #else
 #define GRBL_VERSION "1.1f"
 #endif
-#define GRBL_BUILD 20220612
+#define GRBL_BUILD 20220616
 
 // The following symbols are set here if not already set by the compiler or in config.h
 // Do NOT change here!
diff --git a/protocol.c b/protocol.c
index e454a7d..21dfff4 100644
--- a/protocol.c
+++ b/protocol.c
@@ -412,8 +412,6 @@ bool protocol_exec_rt_system (void)
             killed = true;
             hal.spindle.set_state((spindle_state_t){0}, 0.0f);
             hal.coolant.set_state((coolant_state_t){0});
-            // Tell driver/plugins about reset.
-            hal.driver_reset();
         }
 
         // System alarm. Everything has shutdown by something that has gone severely wrong. Report
@@ -421,6 +419,9 @@ bool protocol_exec_rt_system (void)
         // loop until system reset/abort.
         system_raise_alarm((alarm_code_t)rt_exec);
 
+        if(killed) // Tell driver/plugins about reset.
+            hal.driver_reset();
+
         // Halt everything upon a critical event flag. Currently hard and soft limits flag this.
         if ((alarm_code_t)rt_exec == Alarm_HardLimit ||
             (alarm_code_t)rt_exec == Alarm_SoftLimit ||
@@ -463,12 +464,11 @@ bool protocol_exec_rt_system (void)
 
         // Execute system abort.
         if (rt_exec & EXEC_RESET) {
+
             if(!killed) {
                 // Kill spindle and coolant.
                 hal.spindle.set_state((spindle_state_t){0}, 0.0f);
                 hal.coolant.set_state((coolant_state_t){0});
-                // Tell driver/plugins about reset.
-                hal.driver_reset();
             }
 
             // Only place sys.abort is set true, when E-stop is not asserted.
@@ -483,6 +483,9 @@ bool protocol_exec_rt_system (void)
                 grbl.report.feedback_message(Message_MotorFault);
             }
 
+            if(!killed) // Tell driver/plugins about reset.
+                hal.driver_reset();
+
             return !sys.abort; // Nothing else to do but exit.
         }