diff --git a/TinyG2/encoder.cpp b/TinyG2/encoder.cpp
index f0aef275..692c1ed0 100755
--- a/TinyG2/encoder.cpp
+++ b/TinyG2/encoder.cpp
@@ -27,11 +27,7 @@
 
 #include "tinyg2.h"
 #include "config.h"
-#include "planner.h"
-#include "stepper.h"
 #include "encoder.h"
-#include "kinematics.h"
-#include "hardware.h"
 
 #ifdef __cplusplus
 extern "C"{
@@ -98,10 +94,9 @@ void en_set_encoder_steps(uint8_t motor, float steps)
 
 float en_read_encoder(uint8_t motor)
 {
-	return((float)en.en[motor].encoder_steps + ENCODER_STEP_ROUNDING);
+	return((float)en.en[motor].encoder_steps);
 }
 
-
 /***********************************************************************************
  * CONFIGURATION AND INTERFACE FUNCTIONS
  * Functions to get and set variables from the cfgArray table
diff --git a/TinyG2/encoder.h b/TinyG2/encoder.h
index e6fae375..877489fd 100755
--- a/TinyG2/encoder.h
+++ b/TinyG2/encoder.h
@@ -94,9 +94,6 @@ extern "C"{
 
 /**** Configs and Constants ****/
 
-//#define ENCODER_STEP_ROUNDING	(float)0.5	// round steps for more accurate following error computation
-#define ENCODER_STEP_ROUNDING	(float)0.0	// round steps for more accurate following error computation
-
 /**** Macros ****/
 // used to abstract the encoder code out of the stepper so it can be managed in one place
 
diff --git a/TinyG2/gcode_parser.cpp b/TinyG2/gcode_parser.cpp
index 2ee26b88..9e8adbf3 100755
--- a/TinyG2/gcode_parser.cpp
+++ b/TinyG2/gcode_parser.cpp
@@ -460,7 +460,7 @@ static stat_t _execute_gcode_block()
 		case NEXT_ACTION_SET_ABSOLUTE_ORIGIN: { status = cm_set_absolute_origin(cm.gn.target, cm.gf.target); break;}// G28.3
 		case NEXT_ACTION_HOMING_NO_SET: { status = cm_homing_cycle_start_no_set(); break;}							// G28.4
 
-		case NEXT_ACTION_STRAIGHT_PROBE: { status = cm_straight_probe(cm.gn.target, cm.gf.target); break;}		// G38.2
+		case NEXT_ACTION_STRAIGHT_PROBE: { status = cm_straight_probe(cm.gn.target, cm.gf.target); break;}			// G38.2
 
 		case NEXT_ACTION_SET_COORD_DATA: { status = cm_set_coord_offsets(cm.gn.parameter, cm.gn.target, cm.gf.target); break;}
 		case NEXT_ACTION_SET_ORIGIN_OFFSETS: { status = cm_set_origin_offsets(cm.gn.target, cm.gf.target); break;}
diff --git a/TinyG2/json_parser.cpp b/TinyG2/json_parser.cpp
index b999e874..267f08ae 100755
--- a/TinyG2/json_parser.cpp
+++ b/TinyG2/json_parser.cpp
@@ -452,6 +452,9 @@ static stat_t _get_nv_pair_strict(cmdObj_t *cmd, char_t **pstr, int8_t *depth)
 
 uint16_t json_serialize(cmdObj_t *cmd, char_t *out_buf, uint16_t size)
 {
+#ifdef __SILENCE_JSON_RESPONSES
+	return (0);
+#else
 	char_t *str = out_buf;
 	char_t *str_max = out_buf + size - BUFFER_MARGIN;
 	int8_t initial_depth = cmd->depth;
@@ -518,6 +521,7 @@ uint16_t json_serialize(cmdObj_t *cmd, char_t *out_buf, uint16_t size)
 	str += sprintf((char *)str, "}\n");	// using sprintf for this last one ensures a NUL termination
 	if (str > out_buf + size) { return (-1);}
 	return (str - out_buf);
+#endif
 }
 
 /*
@@ -594,7 +598,7 @@ void json_print_response(uint8_t status)
 					cmd->objtype = TYPE_EMPTY;
 				}
 
-//+++++		} else if (cmd_type == CMD_TYPE_CONFIG) {		// kill config echo if not enabled
+//++++		} else if (cmd_type == CMD_TYPE_CONFIG) {		// kill config echo if not enabled
 //fix me		if (js.echo_json_configs == false) {
 //					cmd->objtype = TYPE_EMPTY;
 //				}
diff --git a/TinyG2/kinematics.cpp b/TinyG2/kinematics.cpp
index e61a1340..6a4910af 100755
--- a/TinyG2/kinematics.cpp
+++ b/TinyG2/kinematics.cpp
@@ -53,7 +53,7 @@ void ik_kinematics(const float travel[], float steps[])
 {
 	float joint[AXES];
 
-//	_inverse_kinematics(travel, joint, microseconds);// you can insert inverse kinematics transformations here
+//	_inverse_kinematics(travel, joint);				// you can insert inverse kinematics transformations here
 	memcpy(joint, travel, sizeof(float)*AXES);		 //...or just do a memcopy for cartesian machines
 
 	// Map motors to axes and convert length units to steps
@@ -104,7 +104,9 @@ static void _inverse_kinematics(float travel[], float joint[])
 }
 */
 
-//############## UNIT TESTS ################
+// *************************************************
+// ***** UNIT TESTS ********************************
+// *************************************************
 
 //#define __UNIT_TEST_KINEMATICS
 #ifdef __UNIT_TESTS
diff --git a/TinyG2/text_parser.cpp b/TinyG2/text_parser.cpp
index b572632a..21906432 100755
--- a/TinyG2/text_parser.cpp
+++ b/TinyG2/text_parser.cpp
@@ -27,7 +27,6 @@
 
 #include "tinyg2.h"
 #include "config.h"
-#include "controller.h"
 #include "canonical_machine.h"
 #include "text_parser.h"
 #include "json_parser.h"
@@ -135,7 +134,7 @@ static stat_t _text_parser_kernal(char_t *str, cmdObj_t *cmd)
 	strcpy_P(cmd->group, cfgArray[cmd->index].group);// capture the group string if there is one
 
 	// see if you need to strip the token
-	if ((cmd_index_is_group(cmd->index)) && (cmd_group_is_prefixed(cmd->token))) {
+	if (cmd->group[0] != NUL) {
 		wr = cmd->token;
 		rd = cmd->token + strlen(cmd->group);
 		while (*rd != NUL) { *(wr)++ = *(rd)++;}
diff --git a/TinyG2/tinyg2.h b/TinyG2/tinyg2.h
index 4038868e..c5761a43 100755
--- a/TinyG2/tinyg2.h
+++ b/TinyG2/tinyg2.h
@@ -36,7 +36,7 @@
 #include "MotatePins.h"
 
 #ifndef TINYG_FIRMWARE_BUILD
-#define TINYG_FIRMWARE_BUILD   		039.05	// Merge tinyg code; jogging - mostly back-porting to TinyG
+#define TINYG_FIRMWARE_BUILD   		039.07	// Merge tinyg code; encoders, parsers, kinematics
 #endif
 #define TINYG_FIRMWARE_VERSION		0.8		// firmware major version
 #define TINYG_HARDWARE_PLATFORM		3		// hardware platform indicator (2 = Native Arduino Due)