diff --git a/README.md b/README.md
index 617bd6f..d5e4337 100644
--- a/README.md
+++ b/README.md
@@ -13,7 +13,7 @@ It has been written to complement grblHAL and has features such as proper keyboa
 
 ---
 
-Latest build date is 20231222, see the [changelog](changelog.md) for details.  
+Latest build date is 20240115, see the [changelog](changelog.md) for details.  
 __NOTE:__ A settings reset will be performed on an update of builds earlier than 20230125. Backup and restore of settings is recommended.  
 
 ---
@@ -89,4 +89,4 @@ 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.
 
 ---
-2023-12-10
+20240115
diff --git a/changelog.md b/changelog.md
index c817ddf..0a252a6 100644
--- a/changelog.md
+++ b/changelog.md
@@ -1,6 +1,20 @@
 ## grblHAL changelog
 
-<a name="20240111"/>Build 20240111
+<a name="20240115"/>Build 20240115
+
+Core:
+
+* Updated build date and a minor insignificant fix.
+
+Drivers:
+
+* ESP32: switched to low-level I/O register access for speed, added WS2812 RGB HAL, completed 32 \(or 31?\) bit I2S shift register output for ESP32-S3, 16 bit not yet ready.
+
+* STM32F7xx: added missing code for ganged axis support \(auto squaring was not affected\).
+
+---
+
+<a name="20240109"/>Build 20240109
 
 Core:
 
diff --git a/grbl.h b/grbl.h
index 08673bf..3871487 100644
--- a/grbl.h
+++ b/grbl.h
@@ -42,7 +42,7 @@
 #else
 #define GRBL_VERSION "1.1f"
 #endif
-#define GRBL_BUILD 20240109
+#define GRBL_BUILD 20240115
 
 #define GRBL_URL "https://github.com/grblHAL"
 
diff --git a/machine_limits.c b/machine_limits.c
index 8f75a71..b6f2d9a 100644
--- a/machine_limits.c
+++ b/machine_limits.c
@@ -144,7 +144,7 @@ void limits_set_work_envelope (void)
 void limits_set_machine_positions (axes_signals_t cycle, bool add_pulloff)
 {
     uint_fast8_t idx = N_AXIS;
-    float pulloff = add_pulloff ? settings.homing.pulloff : 0.0f;
+    float pulloff = add_pulloff ? settings.homing.pulloff : -0.0f;
 
     if(settings.homing.flags.force_set_origin) {
         do {