diff --git a/src/config/config.h b/src/config/config.h
index 5934ec7..cd2c499 100644
--- a/src/config/config.h
+++ b/src/config/config.h
@@ -71,22 +71,22 @@ static constexpr uint8_t feedToBondtechMaxRetries = 2;
 static constexpr U_mm pulleyToCuttingEdge = 33.0_mm; /// 33.0_mm /// Pulley to cutting edge.
 /// Case 1: FINDA working: This should be the max retraction after FINDA un-triggers.
 /// Case 2: FINDA not working: calculate retraction from printer to this point.
-static constexpr U_mm filamentMinLoadedToMMU = 20.0_mm; /// 20.0_mm ??? /// Limit of retraction. @TODO find correct distance.
+static constexpr U_mm filamentMinLoadedToMMU = 20.0_mm; /// Limit of retraction.
 static constexpr U_mm ejectFromCuttingEdge = 40.0_mm; /// Eject should ignore FilamentMinLoadedToMMU and retract
-static constexpr U_mm cuttingEdgeRetract = 5.0_mm; /// 3.0_mm /// Cutting retraction distance (filament should be flush with outlet) @TODO find correct distance.
-static constexpr U_mm cuttingEdgeToFinda = 18.5_mm; /// 18.5_mm -1.0_mm /// Cutting edge to FINDA MMU2 side -1mm tolerance should be ~18.5. FINDA shouldn't trigger here.
-static constexpr U_mm findaTriggerDistance = 4.5_mm; /// 9.0_mm /// FINDA trigger distance +1.0_mm tolerance.
+static constexpr U_mm cuttingEdgeRetract = 5.0_mm; /// Cutting retraction distance (filament should be flush with outlet)
+static constexpr U_mm cuttingEdgeToFinda = 18.5_mm; /// Cutting edge to FINDA MMU2 side -1mm tolerance should be ~18.5. FINDA shouldn't trigger here.
+static constexpr U_mm findaTriggerDistance = 4.5_mm; /// FINDA trigger distance +1.0_mm tolerance.
 static constexpr U_mm cuttingEdgeToFindaMidpoint = 22.85_mm; /// Cutting edge to Midpoint of FINDA should be 22.85_mm.
-static constexpr U_mm findaToCoupler = 12.0_mm; /// 12.0_mm /// FINDA Coupler side to coupler screw.
-static constexpr U_mm couplerToBowden = 3.5_mm; /// 3.5_mm /// FINDA Coupler screw to bowden mmu2s side (in coupling).
+static constexpr U_mm findaToCoupler = 12.0_mm; /// FINDA Coupler side to coupler screw.
+static constexpr U_mm couplerToBowden = 3.5_mm; /// FINDA Coupler screw to bowden mmu2s side (in coupling).
 
 // @@TODO this is very tricky - the same MMU, same PTFE,
 // just another piece of PLA (probably having more resistance in the tubes)
 // and we are at least 40mm off! It looks like this really depends on the exact position
 // We'll probably need to check for StallGuard while pushing the filament to avoid ginding the filament
-static constexpr U_mm defaultBowdenLength = 427.0_mm; ///< ~427.0_mm - Default Bowden length. @TODO Should be stored in EEPROM. 392 a 784
-static constexpr U_mm minimumBowdenLength = 341.0_mm; ///< ~341.0_mm - Minimum bowden length. @TODO Should be stored in EEPROM.
-static constexpr U_mm maximumBowdenLength = 792.0_mm; ///< ~792.0_mm - Maximum bowden length. @TODO Should be stored in EEPROM.
+static constexpr U_mm defaultBowdenLength = 427.0_mm; ///< ~427.0_mm - Default Bowden length. TODO Should be stored in EEPROM. 392 a 784
+static constexpr U_mm minimumBowdenLength = 341.0_mm; ///< ~341.0_mm - Minimum bowden length. TODO Should be stored in EEPROM.
+static constexpr U_mm maximumBowdenLength = 792.0_mm; ///< ~792.0_mm - Maximum bowden length. TODO Should be stored in EEPROM.
 static constexpr U_mm feedToFinda = cuttingEdgeToFindaMidpoint + filamentMinLoadedToMMU;
 static constexpr U_mm maximumFeedToFinda = feedToFinda + 20.0_mm; ///< allow for some safety margin to load to FINDA
 static constexpr U_mm pulleyHelperMove = 10.0_mm; ///< Helper move for Load/Unload error states - when the MMU should slowly move the filament a bit
@@ -136,7 +136,7 @@ static constexpr uint8_t selectorCutIRun = 40; ///< 660mA
 
 /// Selector motion limits
 static constexpr SelectorLimits selectorLimits = {
-    .lenght = 75.0_mm, // @@TODO how does this relate to SelectorOffsetFromMin?
+    .lenght = 75.0_mm, // TODO how does this relate to SelectorOffsetFromMin?
     .jerk = 1.0_mm_s,
     .accel = 200.0_mm_s2,
 };
@@ -213,7 +213,7 @@ static constexpr U_deg idlerIntermediateSlotPositions[toolCount + 1] = {
     IdlerOffsetFromHome ///18.0_deg Fully disengaged all slots
 };
 
-static constexpr U_deg idlerParkPositionDelta = -IdlerSlotDistance + 5.0_deg / 2; ///@TODO verify
+static constexpr U_deg idlerParkPositionDelta = -IdlerSlotDistance + 5.0_deg / 2; // TODO verify
 
 static constexpr U_deg_s idlerFeedrate = 300._deg_s;
 static constexpr U_deg_s idlerHomingFeedrate = 265._deg_s;
diff --git a/src/hal/eeprom.h b/src/hal/eeprom.h
index 7f53cf2..e95a8f7 100644
--- a/src/hal/eeprom.h
+++ b/src/hal/eeprom.h
@@ -17,7 +17,7 @@ public:
 
     /// Convenience function to read a 1-byte value from EEPROM and check for unitialized EEPROM cells.
     /// @returns 1-byte value read from the EEPROM.
-    /// In case the EEPROM has a default value at @addr, this function returns @defaultValue
+    /// In case the EEPROM has a default value at @p addr, this function returns @p defaultValue
     static uint8_t ReadByte(addr_t addr, uint8_t defaultValue);
 
     static void WriteWord(addr_t addr, uint16_t value);
@@ -25,7 +25,7 @@ public:
     static uint16_t ReadWord(addr_t addr);
 
     /// @returns physical end address of EEPROM memory end
-    /// @@TODO this is sad - the constexpr must be inline... find a way around in the future
+    /// TODO this is sad - the constexpr must be inline... find a way around in the future
     constexpr static addr_t End() { return 2048; }
 };
 
diff --git a/src/hal/tmc2130.cpp b/src/hal/tmc2130.cpp
index 3811d95..3a6218f 100644
--- a/src/hal/tmc2130.cpp
+++ b/src/hal/tmc2130.cpp
@@ -3,11 +3,13 @@
 #include "../config/config.h"
 #include "../debug.h"
 
-//! @brief Translate current to tmc2130 vsense and IHOLD or IRUN - copied from MK3 FW repo
+//! @defgroup TMC2130 current to value translation table
+//! @{
+//! @brief Translate current to tmc2130 vsense and IHOLD or IRUN - copied from MK3 FW repo.
 //! @param cur current in mA
 //! @return 0 .. 63
-//! @n most significant bit is CHOPCONF vsense bit (sense resistor voltage based current scaling)
-//! @n rest is to be used in IRUN or IHOLD register
+//! @n most significant bit is CHOPCONF vsense bit (sense resistor voltage based current scaling).
+//! @n rest is to be used in IRUN or IHOLD register.
 //!
 //! | mA   | trinamic register | note |
 //! | ---  | ---               | ---  |
@@ -74,6 +76,8 @@
 //! | 1000 | 61 | |
 //! | 1020 | 62 | |
 //! | 1029 | 63 | |
+//! @}
+
 namespace hal {
 namespace tmc2130 {
 
diff --git a/src/hal/tmc2130.h b/src/hal/tmc2130.h
index 811fc88..5a95f7a 100644
--- a/src/hal/tmc2130.h
+++ b/src/hal/tmc2130.h
@@ -101,7 +101,7 @@ public:
     void SetCurrents(const MotorParams &params, const MotorCurrents &currents);
 
     /// Set StallGuard threshold
-    /// New SGTHRS must be already set in @params
+    /// New SGTHRS must be already set in @p params
     /// Beware - there are no checks, new value is written into the TMC register immediately.
     /// It is advised to prefer setting the SGTHRS via the Init() method.
     void SetSGTHRS(const MotorParams &params);
diff --git a/src/hal/usart.h b/src/hal/usart.h
index d8fe1dd..58fc98b 100644
--- a/src/hal/usart.h
+++ b/src/hal/usart.h
@@ -49,14 +49,14 @@ public:
     /// @param str pointer to a string in RAM to be pushed byte-by-byte into the TX buffer (to be sent)
     /// No NL character is appended
     void WriteS(const char *str);
-    /// @param str pointer to a string in PROGMEM to be pushed byte-by-byte into the TX buffer (to be sent)
+    /// @param str_P pointer to a string in PROGMEM to be pushed byte-by-byte into the TX buffer (to be sent)
     /// No NL character is appended
     void WriteS_P(const char *str_P);
 
     /// @param str c string to be sent. NL is appended
     /// Works on RAM strings
     void puts(const char *str);
-    /// @param str c string to be sent. NL is appended
+    /// @param str_P c string to be sent. NL is appended
     /// Works on PROGMEM strings
     void puts_P(const char *str_P);
     /// @returns true if there is at least one byte free in the TX buffer (i.e. some space to add a character to be sent)
diff --git a/src/logic/home.h b/src/logic/home.h
index 560f257..c0e05de 100644
--- a/src/logic/home.h
+++ b/src/logic/home.h
@@ -24,7 +24,6 @@ public:
         : CommandBase() {}
 
     /// Restart the automaton
-    /// @param param unused
     bool Reset(uint8_t /*param*/) override;
 
     /// @returns true if the state machine finished its job, false otherwise
diff --git a/src/modules/axisunit.h b/src/modules/axisunit.h
index ba57611..9dc413c 100644
--- a/src/modules/axisunit.h
+++ b/src/modules/axisunit.h
@@ -115,9 +115,9 @@ static constexpr AU unitToAxisUnit(U v) {
 /// Convert an AxisUnit to a physical unit with a truncated integer type (normally int32_t).
 /// Inverse of unitToAxisUnit, with the additional constraint that type casts are
 /// performed earlier so that no floating point computation is required at runtime.
-/// @param U Base unit type (normally U_mm)
-/// @param AU AxisUnit type (implicit)
-/// @param T Resulting integer type
+/// @tparam U Base unit type (normally U_mm)
+/// @tparam AU AxisUnit type (implicit)
+/// @tparam T Resulting integer type
 /// @param v Value to truncate
 /// @param mul Optional pre-multiplier
 /// @returns Truncated unit (v * mul)
diff --git a/src/modules/globals.cpp b/src/modules/globals.cpp
index dfcad74..ab0ba6a 100644
--- a/src/modules/globals.cpp
+++ b/src/modules/globals.cpp
@@ -48,7 +48,7 @@ FilamentLoadState Globals::FilamentLoaded() const {
     return filamentLoaded;
 }
 
-void Globals::SetFilamentLoaded(uint8_t slot, FilamentLoadState newFilamentLoaded) {
+void __attribute__((noinline)) Globals::SetFilamentLoaded(uint8_t slot, FilamentLoadState newFilamentLoaded) {
     filamentLoaded = newFilamentLoaded;
     SetActiveSlot(slot);
     switch (newFilamentLoaded) {
diff --git a/src/modules/globals.h b/src/modules/globals.h
index 1ae758b..4748b10 100644
--- a/src/modules/globals.h
+++ b/src/modules/globals.h
@@ -43,8 +43,9 @@ public:
 
     /// Sets the filament loaded flag value, usually after some command/operation.
     /// Also updates the EEPROM records accordingly
+    /// @param slot slot index
     /// @param newFilamentLoaded new state
-    void __attribute__((noinline)) SetFilamentLoaded(uint8_t slot, FilamentLoadState newFilamentLoaded);
+    void SetFilamentLoaded(uint8_t slot, FilamentLoadState newFilamentLoaded);
 
     /// @returns the total number of MMU errors so far
     /// Errors are stored in the EEPROM
diff --git a/src/modules/movable_base.cpp b/src/modules/movable_base.cpp
index 44f4798..2f14fdd 100644
--- a/src/modules/movable_base.cpp
+++ b/src/modules/movable_base.cpp
@@ -23,7 +23,7 @@ void MovableBase::PlanHome() {
     PlanHomingMoveForward();
 }
 
-void MovableBase::SetCurrents(uint8_t iRun, uint8_t iHold) {
+void __attribute__((noinline)) MovableBase::SetCurrents(uint8_t iRun, uint8_t iHold) {
     hal::tmc2130::MotorCurrents tempCurrent(iRun, iHold);
     mm::motion.DriverForAxis(axis).SetCurrents(mm::axisParams[axis].params, tempCurrent);
 }
diff --git a/src/modules/movable_base.h b/src/modules/movable_base.h
index 4ab27a4..376dea3 100644
--- a/src/modules/movable_base.h
+++ b/src/modules/movable_base.h
@@ -70,7 +70,7 @@ public:
 
     /// Set TMC2130 iRun current level for this axis
     /// iRun == 0 means set the default from config
-    void __attribute__((noinline)) SetCurrents(uint8_t iRun, uint8_t iHold);
+    void SetCurrents(uint8_t iRun, uint8_t iHold);
 
 #ifndef UNITTEST
 protected:
diff --git a/src/modules/protocol.h b/src/modules/protocol.h
index bee500b..e842ecd 100644
--- a/src/modules/protocol.h
+++ b/src/modules/protocol.h
@@ -182,8 +182,7 @@ public:
 
     /// Encode response to Query operation status
     /// @param msg source request message for this response
-    /// @param code status of operation (Processing, Error, Finished)
-    /// @param value related to status of operation(e.g. error code or progress)
+    /// @param rcs status of operation (Processing, Error, Finished)
     /// @param txbuff where to format the message
     /// @returns number of bytes written into txbuff
     static uint8_t EncodeResponseQueryOperation(const RequestMsg &msg, ResponseCommandStatus rcs, uint8_t *txbuff);
diff --git a/src/version.hpp b/src/version.hpp
index 83af403..25d4939 100644
--- a/src/version.hpp
+++ b/src/version.hpp
@@ -1,4 +1,4 @@
-/// @file version.h
+/// @file
 #pragma once
 #include <stdint.h>