diff --git a/Grbl_Esp32/src/Eeprom.cpp b/Grbl_Esp32/src/Eeprom.cpp
index 7096d24f..6654289a 100644
--- a/Grbl_Esp32/src/Eeprom.cpp
+++ b/Grbl_Esp32/src/Eeprom.cpp
@@ -23,9 +23,10 @@
 void memcpy_to_eeprom_with_checksum(unsigned int destination, const char* source, unsigned int size) {
     unsigned char checksum = 0;
     for (; size > 0; size--) {
-        checksum = (checksum << 1) || (checksum >> 7);
-        checksum += *source;
-        EEPROM.write(destination++, *(source++));
+        unsigned char data = static_cast<unsigned char>(*source++);
+        checksum = (checksum << 1) | (checksum >> 7);
+        checksum += data;
+        EEPROM.write(destination++, data);
     }
     EEPROM.write(destination, checksum);
     EEPROM.commit();
@@ -35,7 +36,7 @@ int memcpy_from_eeprom_with_checksum(char* destination, unsigned int source, uns
     unsigned char data, checksum = 0;
     for (; size > 0; size--) {
         data     = EEPROM.read(source++);
-        checksum = (checksum << 1) || (checksum >> 7);
+        checksum = (checksum << 1) | (checksum >> 7);
         checksum += data;
         *(destination++) = data;
     }
diff --git a/Grbl_Esp32/src/GCode.cpp b/Grbl_Esp32/src/GCode.cpp
index 2c5bef76..3f2c00c0 100644
--- a/Grbl_Esp32/src/GCode.cpp
+++ b/Grbl_Esp32/src/GCode.cpp
@@ -37,6 +37,23 @@ parser_block_t gc_block;
 #define FAIL(status) return (status);
 
 void gc_init() {
+    // First thing we do here is iterate through the coord systems and read them all, so that
+    // we get all our coord system errors here, and not while we're busy:
+    float coord_system[MAX_N_AXIS];
+
+    // g54 - g59 is 6 coordinate systems, plus 2 for G28 and G30 reference positions
+    bool      reported_error    = false;
+    const int MAX_COORD_SYSTEMS = 8;
+    for (uint8_t i = 0; i < MAX_COORD_SYSTEMS; ++i) {
+        if (!(settings_read_coord_data(i, coord_system))) {
+            if (!reported_error) {
+                reported_error = true;
+                report_status_message(Error::SettingReadFail, CLIENT_SERIAL);
+            }
+        }
+    }
+
+    // Reset parser state:
     memset(&gc_state, 0, sizeof(parser_state_t));
     // Load default G54 coordinate system.
     if (!(settings_read_coord_data(gc_state.modal.coord_select, gc_state.coord_system))) {
diff --git a/Grbl_Esp32/src/Motors/Dynamixel2.cpp b/Grbl_Esp32/src/Motors/Dynamixel2.cpp
index 73057b4b..fb0314f4 100644
--- a/Grbl_Esp32/src/Motors/Dynamixel2.cpp
+++ b/Grbl_Esp32/src/Motors/Dynamixel2.cpp
@@ -365,7 +365,8 @@ namespace Motors {
         tx_message[++msg_index] = 4;                                  // low order data length
         tx_message[++msg_index] = 0;                                  // high order data length
 
-        for (uint8_t axis = X_AXIS; axis < N_AXIS; axis++) {
+        auto n_axis = number_axis->get();
+        for (uint8_t axis = X_AXIS; axis < n_axis; axis++) {
             for (uint8_t gang_index = 0; gang_index < 2; gang_index++) {
                 current_id = ids[axis][gang_index];
                 if (current_id != 0) {
diff --git a/Grbl_Esp32/src/Report.cpp b/Grbl_Esp32/src/Report.cpp
index 38d160b8..e93b578a 100644
--- a/Grbl_Esp32/src/Report.cpp
+++ b/Grbl_Esp32/src/Report.cpp
@@ -167,6 +167,7 @@ void grbl_notifyf(const char* title, const char* format, ...) {
 }
 
 // formats axis values into a string and returns that string in rpt
+// NOTE: rpt should have at least size: 20 * MAX_N_AXIS
 static void report_util_axis_values(float* axis_value, char* rpt) {
     uint8_t idx;
     char    axisVal[20];
@@ -178,9 +179,9 @@ static void report_util_axis_values(float* axis_value, char* rpt) {
     auto n_axis = number_axis->get();
     for (idx = 0; idx < n_axis; idx++) {
         if (report_inches->get()) {
-            sprintf(axisVal, "%4.4f", axis_value[idx] * unit_conv);  // Report inches to 4 decimals
+            snprintf(axisVal, 19, "%4.4f", axis_value[idx] * unit_conv);  // Report inches to 4 decimals
         } else {
-            sprintf(axisVal, "%4.3f", axis_value[idx] * unit_conv);  // Report mm to 3 decimals
+            snprintf(axisVal, 19, "%4.3f", axis_value[idx] * unit_conv);  // Report mm to 3 decimals
         }
         strcat(rpt, axisVal);
         if (idx < (number_axis->get() - 1)) {
@@ -283,8 +284,8 @@ void report_grbl_help(uint8_t client) {
 void report_probe_parameters(uint8_t client) {
     // Report in terms of machine position.
     float print_position[MAX_N_AXIS];
-    char  probe_rpt[100];  // the probe report we are building here
-    char  temp[60];
+    char  probe_rpt[(MAX_N_AXIS * 20 + 13 + 6 + 1)];  // the probe report we are building here
+    char  temp[MAX_N_AXIS * 20];
     strcpy(probe_rpt, "[PRB:");  // initialize the string with the first characters
     // get the machine position and put them into a string and append to the probe report
     system_convert_array_steps_to_mpos(print_position, sys_probe_position);
@@ -300,8 +301,8 @@ void report_probe_parameters(uint8_t client) {
 void report_ngc_parameters(uint8_t client) {
     float   coord_data[MAX_N_AXIS];
     uint8_t coord_select;
-    char    temp[60];
-    char    ngc_rpt[500];
+    char    temp[MAX_N_AXIS * 20];
+    char    ngc_rpt[((8 + (MAX_N_AXIS * 20)) * SETTING_INDEX_NCOORD + 4 + MAX_N_AXIS * 20 + 8 + 2 * 20)];
     ngc_rpt[0] = '\0';
     for (coord_select = 0; coord_select <= SETTING_INDEX_NCOORD; coord_select++) {
         if (!(settings_read_coord_data(coord_select, coord_data))) {
@@ -332,9 +333,9 @@ void report_ngc_parameters(uint8_t client) {
     strcat(ngc_rpt, "]\r\n");
     strcat(ngc_rpt, "[TLO:");  // Print tool length offset value
     if (report_inches->get()) {
-        sprintf(temp, "%4.3f]\r\n", gc_state.tool_length_offset * INCH_PER_MM);
+        snprintf(temp, 20, "%4.3f]\r\n", gc_state.tool_length_offset * INCH_PER_MM);
     } else {
-        sprintf(temp, "%4.3f]\r\n", gc_state.tool_length_offset);
+        snprintf(temp, 20, "%4.3f]\r\n", gc_state.tool_length_offset);
     }
     strcat(ngc_rpt, temp);
     grbl_send(client, ngc_rpt);
@@ -598,7 +599,7 @@ void report_realtime_status(uint8_t client) {
     memcpy(current_position, sys_position, sizeof(sys_position));
     float print_position[MAX_N_AXIS];
     char  status[200];
-    char  temp[80];
+    char  temp[MAX_N_AXIS * 20];
     system_convert_array_steps_to_mpos(print_position, current_position);
     // Report current machine state and sub-states
     strcpy(status, "<");
@@ -670,7 +671,7 @@ void report_realtime_status(uint8_t client) {
     if (bit_istrue(status_mask->get(), BITFLAG_RT_STATUS_POSITION_TYPE)) {
         strcat(status, "|MPos:");
     } else {
-#ifdef USE_FWD_KINEMATICS        
+#ifdef USE_FWD_KINEMATICS
         forward_kinematics(print_position);
 #endif
         strcat(status, "|WPos:");
@@ -855,7 +856,7 @@ void report_realtime_status(uint8_t client) {
 
 void report_realtime_steps() {
     uint8_t idx;
-    auto n_axis = number_axis->get();
+    auto    n_axis = number_axis->get();
     for (idx = 0; idx < n_axis; idx++) {
         grbl_sendf(CLIENT_ALL, "%ld\n", sys_position[idx]);  // OK to send to all ... debug stuff
     }