diff --git a/Firmware/Marlin_main.cpp b/Firmware/Marlin_main.cpp
index 5670023fb..cd0069c87 100644
--- a/Firmware/Marlin_main.cpp
+++ b/Firmware/Marlin_main.cpp
@@ -475,8 +475,6 @@ uint16_t print_time_remaining_silent = PRINT_TIME_REMAINING_INIT; //estimated re
 const char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'};
 float destination[NUM_AXIS] = {  0.0, 0.0, 0.0, 0.0};
 
-static float delta[3] = {0.0, 0.0, 0.0};
-
 // For tracing an arc
 static float offset[3] = {0.0, 0.0, 0.0};
 static float feedrate = 1500.0, next_feedrate, saved_feedrate;
@@ -1778,9 +1776,9 @@ void trace();
 char chunk[CHUNK_SIZE+SAFETY_MARGIN];
 int chunkHead = 0;
 
-int serial_read_stream() {
+void serial_read_stream() {
 
-    setTargetHotend(0, 0);
+    setAllTargetHotends(0);
     setTargetBed(0);
 
     lcd_clear();
@@ -1839,9 +1837,7 @@ int serial_read_stream() {
             card.closefile();
             prusa_sd_card_upload = false;
             SERIAL_PROTOCOLLNRPGM(MSG_FILE_SAVED);
-            return 0;
         }
-
     }
 }
 
@@ -2876,9 +2872,7 @@ bool gcode_M45(bool onlyZ, int8_t verbosity_level)
 	if (!onlyZ)
 	{
 		setTargetBed(0);
-		setTargetHotend(0, 0);
-		setTargetHotend(0, 1);
-		setTargetHotend(0, 2);
+		setAllTargetHotends(0);
 		adjust_bed_reset(); //reset bed level correction
 	}
 
@@ -5264,7 +5258,10 @@ Sigma_Exit:
       if(setTargetedHotend(104)){
         break;
       }
-      if (code_seen('S')) setTargetHotend(code_value(), tmp_extruder);
+      if (code_seen('S'))
+      {
+          setTargetHotendSafe(code_value(), tmp_extruder);
+      }
       setWatch();
       break;
     case 112: //  M112 -Emergency Stop
@@ -5377,10 +5374,10 @@ Sigma_Exit:
         autotemp_enabled=false;
       #endif
       if (code_seen('S')) {
-        setTargetHotend(code_value(), tmp_extruder);
+          setTargetHotendSafe(code_value(), tmp_extruder);
               CooldownNoWait = true;
             } else if (code_seen('R')) {
-              setTargetHotend(code_value(), tmp_extruder);
+                setTargetHotendSafe(code_value(), tmp_extruder);
         CooldownNoWait = false;
       }
       #ifdef AUTOTEMP
@@ -6368,9 +6365,7 @@ bFirst=false;
 				if (millis() > waiting_start_time + (unsigned long)M600_TIMEOUT * 1000) {
 					lcd_display_message_fullscreen_P(_i("Press knob to preheat nozzle and continue."));////MSG_PRESS_TO_PREHEAT c=20 r=4
 					wait_for_user_state = 1;
-					setTargetHotend(0, 0);
-					setTargetHotend(0, 1);
-					setTargetHotend(0, 2);
+					setAllTargetHotends(0);
 					st_synchronize();
 					disable_e0();
 					disable_e1();
@@ -7510,7 +7505,7 @@ static void handleSafetyTimer()
     else if (safetyTimer.expired(safetytimer_inactive_time))
     {
         setTargetBed(0);
-        setTargetHotend(0, 0);
+        setAllTargetHotends(0);
         lcd_show_fullscreen_message_and_wait_P(_i("Heating disabled by safety timer."));////MSG_BED_HEATING_SAFETY_DISABLED c=0 r=0
     }
 }
@@ -8315,9 +8310,7 @@ void long_pause() //long pause print
 	plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 15, active_extruder);
 
 	//set nozzle target temperature to 0
-	setTargetHotend(0, 0);
-	setTargetHotend(0, 1);
-	setTargetHotend(0, 2);
+	setAllTargetHotends(0);
 
 	//Move XY to side
 	current_position[X_AXIS] = X_PAUSE_POS;
@@ -8832,7 +8825,9 @@ enquecommand_P(PSTR("G4 S0"));
 void stop_and_save_print_to_ram(float z_move, float e_move)
 {
 	if (saved_printing) return;
+#if 0
 	unsigned char nplanner_blocks;
+#endif
 	unsigned char nlines;
 	uint16_t sdlen_planner;
 	uint16_t sdlen_cmdqueue;
@@ -8840,7 +8835,9 @@ void stop_and_save_print_to_ram(float z_move, float e_move)
 
 	cli();
 	if (card.sdprinting) {
+#if 0
 		nplanner_blocks = number_of_blocks();
+#endif
 		saved_sdpos = sdpos_atomic; //atomic sd position of last command added in queue
 		sdlen_planner = planner_calc_sd_length(); //length of sd commands in planner
 		saved_sdpos -= sdlen_planner;
diff --git a/Firmware/SdFatUtil.cpp b/Firmware/SdFatUtil.cpp
index 371627f2d..51da4ee2b 100644
--- a/Firmware/SdFatUtil.cpp
+++ b/Firmware/SdFatUtil.cpp
@@ -46,13 +46,10 @@ int SdFatUtil::FreeRam() {
 
 void SdFatUtil::set_stack_guard()
 {	
-	char i = 0;
 	uint32_t *stack_guard;
 
 	stack_guard = (uint32_t*)&__bss_end;
-	//for (i = 0; i < 10; i++) {
-		*stack_guard = STACK_GUARD_TEST_VALUE;
-	//}
+    *stack_guard = STACK_GUARD_TEST_VALUE;
 }
 
 bool SdFatUtil::test_stack_integrity()
@@ -63,12 +60,9 @@ bool SdFatUtil::test_stack_integrity()
 
 uint32_t SdFatUtil::get_stack_guard_test_value()
 {
-	//static char i = 0;
 	uint32_t* stack_guard;
 	uint32_t output;
 	stack_guard = (uint32_t*)&__bss_end;
-	//output = *(stack_guard + i);
-	//i++;
 	output = *stack_guard;
 	return(output);
 }
diff --git a/Firmware/cardreader.cpp b/Firmware/cardreader.cpp
index e59b964cb..82312efb8 100644
--- a/Firmware/cardreader.cpp
+++ b/Firmware/cardreader.cpp
@@ -702,11 +702,12 @@ void CardReader::updir()
   {
     --workDirDepth;
     workDir = workDirParents[0];
-	int d;
-    for (int d = 0; d < workDirDepth; d++)
-      workDirParents[d] = workDirParents[d+1];
+    for (unsigned int d = 0; d < workDirDepth; d++)
+    {
+        workDirParents[d] = workDirParents[d+1];
+    }
 	#ifdef SDCARD_SORT_ALPHA
-		presort();
+    presort();
 	#endif
   }
 }
diff --git a/Firmware/temperature.cpp b/Firmware/temperature.cpp
index 15ee34da2..166b108c2 100644
--- a/Firmware/temperature.cpp
+++ b/Firmware/temperature.cpp
@@ -1373,8 +1373,7 @@ void temp_runaway_stop(bool isPreheat, bool isBed)
 
 void disable_heater()
 {
-  for(int i=0;i<EXTRUDERS;i++)
-    setTargetHotend(0,i);
+  setAllTargetHotends(0);
   setTargetBed(0);
   #if defined(TEMP_0_PIN) && TEMP_0_PIN > -1
   target_temperature[0]=0;
diff --git a/Firmware/temperature.h b/Firmware/temperature.h
index 462412d37..0633158c8 100644
--- a/Firmware/temperature.h
+++ b/Firmware/temperature.h
@@ -142,6 +142,16 @@ FORCE_INLINE void setTargetHotend(const float &celsius, uint8_t extruder) {
   target_temperature[extruder] = celsius;
 };
 
+static inline void setTargetHotendSafe(const float &celsius, uint8_t extruder)
+{
+    if (extruder<EXTRUDERS) target_temperature[extruder] = celsius;
+}
+
+static inline void setAllTargetHotends(const float &celsius)
+{
+    for(int i=0;i<EXTRUDERS;i++) setTargetHotend(celsius,i);
+}
+
 FORCE_INLINE void setTargetBed(const float &celsius) {  
   target_temperature_bed = celsius;
 };
diff --git a/Firmware/tmc2130.cpp b/Firmware/tmc2130.cpp
index 3aeedda02..1c219cc71 100644
--- a/Firmware/tmc2130.cpp
+++ b/Firmware/tmc2130.cpp
@@ -668,16 +668,6 @@ uint8_t tmc2130_rx(uint8_t axis, uint8_t addr, uint32_t* rval)
 	return stat;
 }
 
-
-void tmc2130_eeprom_load_config()
-{
-}
-
-void tmc2130_eeprom_save_config()
-{
-
-}
-
 #define _GET_PWR_X      (READ(X_ENABLE_PIN) == X_ENABLE_ON)
 #define _GET_PWR_Y      (READ(Y_ENABLE_PIN) == Y_ENABLE_ON)
 #define _GET_PWR_Z      (READ(Z_ENABLE_PIN) == Z_ENABLE_ON)
diff --git a/Firmware/tmc2130.h b/Firmware/tmc2130.h
index e3c476dcb..28ecb7be6 100644
--- a/Firmware/tmc2130.h
+++ b/Firmware/tmc2130.h
@@ -91,38 +91,6 @@ extern uint8_t tmc2130_usteps2mres(uint16_t usteps);
 
 extern bool tmc2130_wait_standstill_xy(int timeout);
 
-extern void tmc2130_eeprom_load_config();
-extern void tmc2130_eeprom_save_config();
-
-
-#pragma pack(push)
-#pragma pack(1)
-struct
-{
-	uint8_t mres:5;             // mres       - byte 0, bit 0..4     microstep resolution
-	uint8_t reserved_0_0:2;     // reserved   - byte 0, bit 5..6
-	uint8_t intpol:1;           // intpol     - byte 0, bit 7        linear interpolation to 255 usteps
-	uint8_t pwm_ampl:8;         // pwm_ampl   - byte 1, bit 0..7     pwm amplitude for silent mode
-	uint8_t pwm_grad:4;         // pwm_grad   - byte 2, bit 0..3     pwm gradient for silent mode
-	uint8_t pwm_freq:2;         // pwm_freq   - byte 2, bit 4..5     pwm frequency for silent mode
-	uint8_t reserved_2_0:2;     // reserved   - byte 2, bit 6..7
-	uint16_t tcoolthrs:16;      // tcoolthrs  - byte 3..4            coolstep threshold / middle sensitivity
-	int8_t  sg_thrs:8;          // sg_thrs    - byte 5, bit 0..7     stallguard sensitivity in high power / middle sensitivity
-	int8_t  current_h:6;        // current_h  - byte 6, bit 0..5     holding current for high power mode
-	uint8_t reserved_6_0:2;     // reserved   - byte 6, bit 6..7
-	int8_t  current_r:6;        // current_r  - byte 7, bit 0..5     running current for high power mode
-	uint8_t reserved_7_0:2;     // reserved   - byte 7, bit 6..7
-	int8_t  home_sg_thrs:8;     // sg_thrs    - byte 8, bit 0..7     stallguard sensitivity for homing
-	int8_t  home_current:6;     // current_r  - byte 9, bit 0..5     running current for homing
-	uint8_t reserved_9_0:2;     // reserved   - byte 9, bit 6..7
-	int8_t  home_dtcoolthrs:8;  // dtcoolthrs - byte 10, bit 0..7    delta tcoolthrs for homing
-	int8_t  dtcoolthrs_low:8;   // dtcoolthrs - byte 11, bit 0..7    delta tcoolthrs for low sensitivity (based on value for middle sensitivity)
-	int8_t  dtcoolthrs_high:8;  // dtcoolthrs - byte 12, bit 0..7    delta tcoolthrs for high sensitivity (based on value for middle sensitivity)
-	int8_t  sg_thrs_low:8;      // sg_thrs    - byte 13, bit 0..7    stallguard sensitivity in high power / low sensitivity
-	int8_t  sg_thrs_high:8;     // sg_thrs    - byte 14, bit 0..7    stallguard sensitivity in high power / high sensitivity
-} tmc2130_axis_config;
-#pragma pack(pop)
-
 extern uint16_t tmc2130_get_res(uint8_t axis);
 extern void tmc2130_set_res(uint8_t axis, uint16_t res);
 extern uint8_t tmc2130_get_pwr(uint8_t axis);
diff --git a/Firmware/ultralcd.cpp b/Firmware/ultralcd.cpp
index cfbd31425..2093c21ed 100644
--- a/Firmware/ultralcd.cpp
+++ b/Firmware/ultralcd.cpp
@@ -852,7 +852,7 @@ if (print_sd_status)
 				lcd_set_cursor(7, 3);
 				lcd_puts_P(PSTR("             "));
 
-				for (int dots = 0; dots < heating_status_counter; dots++)
+				for (unsigned int dots = 0; dots < heating_status_counter; dots++)
 				{
 					lcd_set_cursor(7 + dots, 3);
 					lcd_print('.');
@@ -1804,9 +1804,7 @@ void lcd_commands()
 			cancel_heatup = true;
 			setTargetBed(0);
 			#if !(defined (SNMM) || defined (SNMM_V2))
-			setTargetHotend(0, 0);	//heating when changing filament for multicolor
-			setTargetHotend(0, 1);
-			setTargetHotend(0, 2);
+			setAllTargetHotends(0);
 			#endif
 			manage_heater();
 			custom_message = true;
@@ -2036,9 +2034,7 @@ void lcd_preheat_flex()
 
 void lcd_cooldown()
 {
-  setTargetHotend0(0);
-  setTargetHotend1(0);
-  setTargetHotend2(0);
+  setAllTargetHotends(0);
   setTargetBed(0);
   fanSpeed = 0;
   lcd_return_to_status();
@@ -3126,7 +3122,7 @@ void lcd_adjust_z() {
 
 bool lcd_wait_for_pinda(float temp) {
 	lcd_set_custom_characters_degree();
-	setTargetHotend(0, 0);
+	setAllTargetHotends(0);
 	setTargetBed(0);
 	LongTimer pinda_timeout;
 	pinda_timeout.start();
@@ -3166,7 +3162,7 @@ void lcd_wait_for_heater() {
 
 void lcd_wait_for_cool_down() {
 	lcd_set_custom_characters_degree();
-	setTargetHotend(0,0);
+	setAllTargetHotends(0);
 	setTargetBed(0);
 	while ((degHotend(0)>MAX_HOTEND_TEMP_CALIBRATION) || (degBed() > MAX_BED_TEMP_CALIBRATION)) {
 		lcd_display_message_fullscreen_P(_i("Waiting for nozzle and bed cooling"));////MSG_WAITING_TEMP c=20 r=3
@@ -6712,7 +6708,7 @@ static bool lcd_selfcheck_axis(int _axis, int _travel)
 		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[3], manual_feedrate[0] / 60, active_extruder);
 		st_synchronize();
 #ifdef TMC2130
-		if ((READ(Z_MIN_PIN) ^ Z_MIN_ENDSTOP_INVERTING == 1))
+		if (((READ(Z_MIN_PIN) ^ Z_MIN_ENDSTOP_INVERTING) == 1))
 #else //TMC2130
 		if (((READ(X_MIN_PIN) ^ X_MIN_ENDSTOP_INVERTING) == 1) ||
 			((READ(Y_MIN_PIN) ^ Y_MIN_ENDSTOP_INVERTING) == 1) ||