diff --git a/driver.json b/driver.json
index 56f83fc..b8ded2d 100644
--- a/driver.json
+++ b/driver.json
@@ -83,6 +83,7 @@
       "caps": {
         "axes": 3,
         "serial_ports": 2,
+        "safety_door": 0,
         "sdcard": 1,
         "probe": 1,
         "safety_door": 0,
diff --git a/main/boards/fysetc_e4_map.h b/main/boards/fysetc_e4_map.h
index a27ae6c..3336f87 100644
--- a/main/boards/fysetc_e4_map.h
+++ b/main/boards/fysetc_e4_map.h
@@ -19,7 +19,7 @@
   along with Grbl.  If not, see <http://www.gnu.org/licenses/>.
 */
 
-#if N_ABC_MOTORS > 0
+#if N_ABC_MOTORS > 1
 #error "Axis configuration is not supported!"
 #endif
 
diff --git a/main/boards/mks_tinybee_1_0_map.h b/main/boards/mks_tinybee_1_0_map.h
index 027210a..db35c72 100644
--- a/main/boards/mks_tinybee_1_0_map.h
+++ b/main/boards/mks_tinybee_1_0_map.h
@@ -28,7 +28,7 @@
 #define USE_I2S_OUT
 #define I2S_OUT_PIN_BASE 64
 
-#define SERIAL2_ENABLE      1
+//#define SERIAL2_ENABLE      1
 #define UART2_RX_PIN        GPIO_NUM_16 // EXP_1
 #define UART2_TX_PIN        GPIO_NUM_17 // EXP_1
 
diff --git a/main/driver.c b/main/driver.c
index a74ce65..8c12542 100644
--- a/main/driver.c
+++ b/main/driver.c
@@ -1922,12 +1922,12 @@ static inline uint64_t getElapsedMicros (void)
 
 #if MPG_MODE == 1
 
-static void modeChange(sys_state_t state)
+static void modeChange (void *data)
 {
     stream_mpg_enable(!DIGITAL_IN(MPG_ENABLE_PIN));
 }
 
-static void modeEnable (sys_state_t state)
+static void modeEnable (void *data)
 {
     if(sys.mpg_mode == DIGITAL_IN(MPG_ENABLE_PIN))
         stream_mpg_enable(true);
@@ -3050,10 +3050,10 @@ bool driver_init (void)
 #if MPG_MODE == 1
   #if KEYPAD_ENABLE == 2
     if((hal.driver_cap.mpg_mode = stream_mpg_register(stream_open_instance(MPG_STREAM, 115200, NULL), MPG_STREAM_DUPLEX, keypad_enqueue_keycode)))
-        protocol_enqueue_rt_command(modeEnable);
+        protocol_enqueue_foreground_task(modeEnable, NULL);
   #else
     if((hal.driver_cap.mpg_mode = stream_mpg_register(stream_open_instance(MPG_STREAM, 115200, NULL), MPG_STREAM_DUPLEX, NULL)))
-        protocol_enqueue_rt_command(modeEnable);
+        protocol_enqueue_foreground_task(modeEnable, NULL);
   #endif
 #elif MPG_MODE == 2
     hal.driver_cap.mpg_mode = stream_mpg_register(stream_open_instance(MPG_STREAM, 115200, NULL), 0, keypad_enqueue_keycode);
@@ -3129,7 +3129,7 @@ IRAM_ATTR static void gpio_mpg_isr (void *signal)
 
     if(!mpg_mutex) {
         mpg_mutex = true;
-        protocol_enqueue_rt_command(modeChange);
+        protocol_enqueue_foreground_task(modeChange, NULL);
         mpg_mutex = false;
     }
 }
@@ -3190,7 +3190,7 @@ IRAM_ATTR static void gpio_isr (void *arg)
 
     if((grp & PinGroup_MPG) && !mpg_mutex) {
         mpg_mutex = true;
-        protocol_enqueue_rt_command(modeChange);
+        protocol_enqueue_foreground_task(modeChange, NULL);
         mpg_mutex = false;
     }
 #endif
diff --git a/main/trinamic_if.c b/main/trinamic_if.c
index 834548b..e4422d8 100644
--- a/main/trinamic_if.c
+++ b/main/trinamic_if.c
@@ -263,6 +263,8 @@ void board_init (void)
 
     if((stream = stream_open_instance(TRINAMIC_STREAM, 230400, NULL)) == NULL)
         stream = stream_null_init(230400);
+    else
+        stream_set_description(stream, "Trinamic UART");
 
     if(stream) {
         memcpy(&tmc_uart, stream, sizeof(io_stream_t));
diff --git a/main/wifi.c b/main/wifi.c
index f46cde4..57d15b4 100644
--- a/main/wifi.c
+++ b/main/wifi.c
@@ -385,27 +385,7 @@ void wifi_ap_scan (void)
         xEventGroupSetBits(wifi_event_group, SCANNING_BIT);
 }
 
-static void msg_ap_ready (sys_state_t state)
-{
-    hal.stream.write_all("[MSG:WIFI AP READY]" ASCII_EOL);
-}
-
-static void msg_ap_connected (sys_state_t state)
-{
-    hal.stream.write_all("[MSG:WIFI AP CONNECTED]" ASCII_EOL);
-}
-
-static void msg_ap_scan_completed (sys_state_t state)
-{
-    hal.stream.write_all("[MSG:WIFI AP SCAN COMPLETED]" ASCII_EOL);
-}
-
-static void msg_ap_disconnected (sys_state_t state)
-{
-    hal.stream.write_all("[MSG:WIFI AP DISCONNECTED]" ASCII_EOL);
-}
-
-static void msg_sta_active (sys_state_t state)
+static void msg_sta_active (void *data)
 {
     char buf[50 + 45]; // + 45 due to compiler issue?
 
@@ -414,11 +394,6 @@ static void msg_sta_active (sys_state_t state)
     hal.stream.write_all(buf);
 }
 
-static void msg_sta_disconnected (sys_state_t state)
-{
-    hal.stream.write_all("[MSG:WIFI STA DISCONNECTED]" ASCII_EOL);
-}
-
 static void ip_event_handler (void *arg, esp_event_base_t event_base, int32_t event_id, void *event_data)
 {
     switch(event_id) {
@@ -440,7 +415,7 @@ static void ip_event_handler (void *arg, esp_event_base_t event_base, int32_t ev
                 // commit to EEPROM?
             } else
                 wifi_ap_scan();
-            protocol_enqueue_rt_command(msg_sta_active);
+            protocol_enqueue_foreground_task(msg_sta_active, NULL);
             break;
 
         default:
@@ -453,7 +428,7 @@ static void wifi_event_handler (void *arg, esp_event_base_t event_base, int32_t
     if(event_base == WIFI_EVENT) switch(event_id) {
 
         case WIFI_EVENT_AP_START:
-            protocol_enqueue_rt_command(msg_ap_ready);
+            protocol_enqueue_foreground_task(report_plain, "WIFI AP READY");
             if(xEventGroupGetBits(wifi_event_group) & APSTA_BIT) {
                 start_services(false);
                 services.dns = dns_server_start(sta_netif);
@@ -462,12 +437,12 @@ static void wifi_event_handler (void *arg, esp_event_base_t event_base, int32_t
             break;
 /*??
         case WIFI_EVENT_AP_STOP:
-            protocol_enqueue_rt_command(msg_ap_disconnected);
+            protocol_enqueue_foreground_task(report_plain, "WIFI AP SCAN COMPLETED");
             wifi_stop();
             break;
 */
         case WIFI_EVENT_AP_STACONNECTED:
-            protocol_enqueue_rt_command(msg_ap_connected);
+            protocol_enqueue_foreground_task(report_plain, "WIFI AP CONNECTED");
             if(xEventGroupGetBits(wifi_event_group) & APSTA_BIT) {
                 if(!(xEventGroupGetBits(wifi_event_group) & CONNECTED_BIT)) {
                     /* // screws up dns?
@@ -496,7 +471,7 @@ static void wifi_event_handler (void *arg, esp_event_base_t event_base, int32_t
             else if(!(xEventGroupGetBits(wifi_event_group) & CONNECTED_BIT))
                 ssdp_stop();
 #endif
-            protocol_enqueue_rt_command(msg_ap_disconnected);
+            protocol_enqueue_foreground_task(report_plain, "WIFI AP DISCONNECTED");
             break;
                 
         case WIFI_EVENT_STA_START:
@@ -512,7 +487,7 @@ static void wifi_event_handler (void *arg, esp_event_base_t event_base, int32_t
 #if WEBSOCKET_ENABLE
             websocketd_close_connections();
 #endif
-            protocol_enqueue_rt_command(msg_sta_disconnected);
+            protocol_enqueue_foreground_task(report_plain, "WIFI STA DISCONNECTED");
             memset(&wifi_sta_config, 0, sizeof(wifi_config_t));
             esp_wifi_set_config(ESP_IF_WIFI_STA, &wifi_sta_config);
             if((xEventGroupGetBits(wifi_event_group) & APSTA_BIT) && !(xEventGroupGetBits(wifi_event_group) & CONNECTED_BIT)) {
@@ -562,7 +537,7 @@ static void wifi_event_handler (void *arg, esp_event_base_t event_base, int32_t
                 if((ap_list.ap_records = (wifi_ap_record_t *)malloc(sizeof(wifi_ap_record_t) * ap_list.ap_num)) != NULL)
                     esp_wifi_scan_get_ap_records(&ap_list.ap_num, ap_list.ap_records);
 
-                protocol_enqueue_rt_command(msg_ap_scan_completed);
+                protocol_enqueue_foreground_task(report_plain, "WIFI AP SCAN COMPLETED");
 
                 xSemaphoreGive(aplist_mutex);
             }