Fixed issue where VFD spindle alarm during homing failed to stop movement.

Changed homing init to only stop spindle and coolant if already on.

README.md

@@ -11,7 +11,7 @@ It has been written to complement grblHAL and has features such as proper keyboa
 
 ---
 
-Latest build date is 20211213, see the [changelog](changelog.md) for details.  
+Latest build date is 20211218, see the [changelog](changelog.md) for details.  
 __NOTE:__ A settings reset will be performed on an update for versions earlier than 20211122. Backup and restore of settings is recommended.  
 __IMPORTANT!__  A new setting has been introduced for ganged axes motors in version 20211121.  
 I have only bench tested this for a couple of drivers, correct function should be verified after updating by those who have more than three motors configured.  
@@ -83,4 +83,4 @@ List of Supported G-Codes:
 Some [plugins](https://github.com/grblHAL/plugins) implements additional M-codes.
 
 ---
-2021-12-13
+2021-12-18

changelog.md

@@ -1,5 +1,31 @@
 ## grblHAL changelog
 
+Build 20211218:
+
+Core:
+
+* Fixed issue where VFD spindle alarm during homing failed to stop movement. Changed homing init to only stop spindle and coolant if already on.
+
+Plugins:
+
+* Trinamic: Bug fixes and improvements for ganged axes handling.
+
+Drivers:
+
+* All STM32 drivers, LPC176x, MSP432E401Y and TM4C1294:  
+Made folder references relative in Eclipse _.cproject_ file to allow renaming of project.
+
+* STM32F4xx:    
+Added alternative startup code for F407 and F446 to allow use of additional peripherals in user code.  
+__NOTE:__ This may break PlatformIO compilation. A possible workaround is to delete the startup folders not matching the MCU variant.  
+Added support for Bigtreetech SKR 1.2 boards \(as a synonomym for SKR 1.1\), switched soft UART pins for Trinamic drivers to direct connection.
+
+* ESP32: Bug fixes for ganged axes and output pins with pin number > 31.
+
+* SAM3X8E and SAMD21: Simplified USB polling.
+
+---
+
 Build 20211213:
 
 Core:
@@ -21,6 +47,7 @@ Plugins:
 * Networking, Bluetooth: updated for core stream switcher.
 
 ---
+
 Core:
 
 * Renamed unused function.

grbl.h

@@ -34,7 +34,7 @@
 #else
 #define GRBL_VERSION "1.1f"
 #endif
-#define GRBL_BUILD 20211209
+#define GRBL_BUILD 20211218
 
 // The following symbols are set here if not already set by the compiler or in config.h
 // Do NOT change here!

motion_control.c

@@ -781,18 +781,22 @@ status_code_t mc_homing_cycle (axes_signals_t cycle)
 
         state_set(STATE_HOMING);                                // Set homing system state.
 #if COMPATIBILITY_LEVEL == 0
-        protocol_enqueue_realtime_command(CMD_STATUS_REPORT);            // Force a status report and
+        protocol_enqueue_realtime_command(CMD_STATUS_REPORT);   // Force a status report and
         delay_sec(0.1f, DelayMode_Dwell);                       // delay a bit to get it sent (or perhaps wait a bit for a request?)
 #endif
         hal.limits.enable(false, true); // Disable hard limits pin change register for cycle duration
 
         // Turn off spindle and coolant (and update parser state)
-        gc_state.spindle.rpm = 0.0f;
-        gc_state.modal.spindle.on = gc_state.modal.spindle.ccw = Off;
-        spindle_set_state(gc_state.modal.spindle, 0.0f);
+        if(hal.spindle.get_state().on) {
+            gc_state.spindle.rpm = 0.0f;
+            gc_state.modal.spindle.on = gc_state.modal.spindle.ccw = Off;
+            spindle_set_state(gc_state.modal.spindle, 0.0f);
+        }
 
-        gc_state.modal.coolant.mask = 0;
-        coolant_set_state(gc_state.modal.coolant);
+        if(hal.coolant.get_state().mask) {
+            gc_state.modal.coolant.mask = 0;
+            coolant_set_state(gc_state.modal.coolant);
+        }
 
         // ---------------------------------------------------------------------------
         // Perform homing routine. NOTE: Special motion case. Only system reset works.

report.c

@@ -285,7 +285,7 @@ status_code_t report_status_message (status_code_t status_code)
 alarm_code_t report_alarm_message (alarm_code_t alarm_code)
 {
     hal.stream.write_all(appendbuf(3, "ALARM:", uitoa((uint32_t)alarm_code), ASCII_EOL));
-    hal.delay_ms(500, NULL); // Force delay to ensure message clears output stream buffer.
+    hal.delay_ms(100, NULL); // Force delay to ensure message clears output stream buffer.
 
     return alarm_code;
 }

system.c

@@ -980,7 +980,9 @@ void system_apply_jog_limits (float *target)
 
 void system_raise_alarm (alarm_code_t alarm)
 {
-    if(sys.alarm != alarm) {
+    if(state_get() == STATE_HOMING && !(sys.rt_exec_state & EXEC_RESET))
+        system_set_exec_alarm(alarm);
+    else if(sys.alarm != alarm) {
         sys.alarm = alarm;
         state_set(alarm == Alarm_EStop ? STATE_ESTOP : STATE_ALARM);
         if(sys.driver_started || sys.alarm == Alarm_SelftestFailed)