Merge branch 'master' of ettus.sourcerepo.com:ettus/uhdpriv into usrp_e

Conflicts:
	host/examples/CMakeLists.txt

21 files changed, 630 insertions, 217 deletions

diff --git a/firmware/microblaze/apps/txrx_uhd.c b/firmware/microblaze/apps/txrx_uhd.c
index f0a9702be..1dd6e80ac 100644
--- a/firmware/microblaze/apps/txrx_uhd.c
+++ b/firmware/microblaze/apps/txrx_uhd.c
@@ -172,6 +172,33 @@ void handle_udp_data_packet(
 #define OTW_GPIO_BANK_TO_NUM(bank) \
     (((bank) == USRP2_DIR_RX)? (GPIO_RX_BANK) : (GPIO_TX_BANK))
 
+//setup the output data
+static usrp2_ctrl_data_t ctrl_data_out;
+static struct socket_address i2c_src;
+static struct socket_address spi_src;
+
+static volatile bool i2c_done = false;
+void i2c_read_done_callback(void) {
+  //printf("I2C read done callback\n");
+  i2c_async_data_ready(ctrl_data_out.data.i2c_args.data);
+  i2c_done = true;
+  i2c_register_callback(0);
+}
+
+void i2c_write_done_callback(void) {
+  //printf("I2C write done callback\n");
+  i2c_done = true;
+  i2c_register_callback(0);
+}
+
+static volatile bool spi_done = false;
+static volatile uint32_t spi_readback_data;
+void get_spi_readback_data(void) {
+  ctrl_data_out.data.spi_args.data = spi_get_data();
+  spi_done = true;
+  spi_register_callback(0);
+}
+
 void handle_udp_ctrl_packet(
     struct socket_address src, struct socket_address dst,
     unsigned char *payload, int payload_len
@@ -197,11 +224,9 @@ void handle_udp_ctrl_packet(
     }
 
     //setup the output data
-    usrp2_ctrl_data_t ctrl_data_out = {
-        .proto_ver = USRP2_FW_COMPAT_NUM,
-        .id=USRP2_CTRL_ID_HUH_WHAT,
-        .seq=ctrl_data_in->seq
-    };
+    ctrl_data_out.proto_ver = USRP2_FW_COMPAT_NUM;
+    ctrl_data_out.id=USRP2_CTRL_ID_HUH_WHAT;
+    ctrl_data_out.seq=ctrl_data_in->seq;
 
     //handle the data based on the id
     switch(ctrl_data_in_id){
@@ -212,6 +237,7 @@ void handle_udp_ctrl_packet(
     case USRP2_CTRL_ID_WAZZUP_BRO:
         ctrl_data_out.id = USRP2_CTRL_ID_WAZZUP_DUDE;
         memcpy(&ctrl_data_out.data.ip_addr, get_ip_addr(), sizeof(struct ip_addr));
+        send_udp_pkt(USRP2_UDP_CTRL_PORT, src, &ctrl_data_out, sizeof(ctrl_data_out));
         break;
 
     /*******************************************************************
@@ -219,19 +245,21 @@ void handle_udp_ctrl_packet(
      ******************************************************************/
     case USRP2_CTRL_ID_TRANSACT_ME_SOME_SPI_BRO:{
             //transact
-            uint32_t result = spi_transact(
-                (ctrl_data_in->data.spi_args.readback == 0)? SPI_TXONLY : SPI_TXRX,
+            bool success = spi_async_transact(
+                //(ctrl_data_in->data.spi_args.readback == 0)? SPI_TXONLY : SPI_TXRX,
                 ctrl_data_in->data.spi_args.dev,      //which device
                 ctrl_data_in->data.spi_args.data,     //32 bit data
                 ctrl_data_in->data.spi_args.num_bits, //length in bits
-                (ctrl_data_in->data.spi_args.mosi_edge == USRP2_CLK_EDGE_RISE)? SPIF_PUSH_FALL : SPIF_PUSH_RISE |
-                (ctrl_data_in->data.spi_args.miso_edge == USRP2_CLK_EDGE_RISE)? SPIF_LATCH_RISE : SPIF_LATCH_FALL
+                (ctrl_data_in->data.spi_args.mosi_edge == USRP2_CLK_EDGE_RISE)? SPIF_PUSH_FALL : SPIF_PUSH_RISE | //flags
+                (ctrl_data_in->data.spi_args.miso_edge == USRP2_CLK_EDGE_RISE)? SPIF_LATCH_RISE : SPIF_LATCH_FALL,
+                get_spi_readback_data //callback
             );
 
             //load output
-            ctrl_data_out.data.spi_args.data = result;
             ctrl_data_out.id = USRP2_CTRL_ID_OMG_TRANSACTED_SPI_DUDE;
+            spi_src = src;
         }
+//        send_udp_pkt(USRP2_UDP_CTRL_PORT, src, &ctrl_data_out, sizeof(ctrl_data_out));
         break;
 
     /*******************************************************************
@@ -239,11 +267,13 @@ void handle_udp_ctrl_packet(
      ******************************************************************/
     case USRP2_CTRL_ID_DO_AN_I2C_READ_FOR_ME_BRO:{
             uint8_t num_bytes = ctrl_data_in->data.i2c_args.bytes;
-            i2c_read(
+            i2c_register_callback(i2c_read_done_callback);
+            i2c_async_read(
                 ctrl_data_in->data.i2c_args.addr,
-                ctrl_data_out.data.i2c_args.data,
                 num_bytes
             );
+            i2c_src = src;
+//            i2c_dst = dst;
             ctrl_data_out.id = USRP2_CTRL_ID_HERES_THE_I2C_DATA_DUDE;
             ctrl_data_out.data.i2c_args.bytes = num_bytes;
         }
@@ -251,11 +281,14 @@ void handle_udp_ctrl_packet(
 
     case USRP2_CTRL_ID_WRITE_THESE_I2C_VALUES_BRO:{
             uint8_t num_bytes = ctrl_data_in->data.i2c_args.bytes;
-            i2c_write(
+            i2c_register_callback(i2c_read_done_callback);
+            i2c_async_write(
                 ctrl_data_in->data.i2c_args.addr,
                 ctrl_data_in->data.i2c_args.data,
                 num_bytes
             );
+            i2c_src = src;
+//            i2c_dst = dst;
             ctrl_data_out.id = USRP2_CTRL_ID_COOL_IM_DONE_I2C_WRITE_DUDE;
             ctrl_data_out.data.i2c_args.bytes = num_bytes;
         }
@@ -287,6 +320,7 @@ void handle_udp_ctrl_packet(
 
         }
         ctrl_data_out.id = USRP2_CTRL_ID_OMG_POKED_REGISTER_SO_BAD_DUDE;
+        send_udp_pkt(USRP2_UDP_CTRL_PORT, src, &ctrl_data_out, sizeof(ctrl_data_out));
         break;
 
     case USRP2_CTRL_ID_PEEK_AT_THIS_REGISTER_FOR_ME_BRO:
@@ -309,13 +343,14 @@ void handle_udp_ctrl_packet(
 
         }
         ctrl_data_out.id = USRP2_CTRL_ID_WOAH_I_DEFINITELY_PEEKED_IT_DUDE;
+        send_udp_pkt(USRP2_UDP_CTRL_PORT, src, &ctrl_data_out, sizeof(ctrl_data_out));
         break;
 
     default:
         ctrl_data_out.id = USRP2_CTRL_ID_HUH_WHAT;
-
+        send_udp_pkt(USRP2_UDP_CTRL_PORT, src, &ctrl_data_out, sizeof(ctrl_data_out));
     }
-    send_udp_pkt(USRP2_UDP_CTRL_PORT, src, &ctrl_data_out, sizeof(ctrl_data_out));
+    
 }
 
 /*
@@ -481,6 +516,17 @@ main(void)
 
     buffer_irq_handler(0);
 
+    if(i2c_done) {
+      i2c_done = false;
+      send_udp_pkt(USRP2_UDP_CTRL_PORT, i2c_src, &ctrl_data_out, sizeof(ctrl_data_out));
+      //printf("Sending UDP packet from main loop for I2C...\n");
+    }
+
+    if(spi_done) {
+      spi_done = false;
+      send_udp_pkt(USRP2_UDP_CTRL_PORT, spi_src, &ctrl_data_out, sizeof(ctrl_data_out));
+    }
+
     int pending = pic_regs->pending;		// poll for under or overrun
 
     if (pending & PIC_UNDERRUN_INT){
diff --git a/firmware/microblaze/lib/dbsm.c b/firmware/microblaze/lib/dbsm.c
index d495860fd..cee343eaa 100644
--- a/firmware/microblaze/lib/dbsm.c
+++ b/firmware/microblaze/lib/dbsm.c
@@ -160,12 +160,12 @@ dbsm_process_status(dbsm_t *sm, uint32_t status)
     putchar('E');
     // Most likely an ethernet Rx error.  We just restart the transfer.
     if (status & (BPS_ERROR(sm->buf0)))
-      //dbsm_error_helper(sm, sm->buf0);
-      dbsm_process_helper(sm, sm->buf0); //forward errors
+      dbsm_error_helper(sm, sm->buf0);
+      //dbsm_process_helper(sm, sm->buf0); //forward errors
 
     if (status & (BPS_ERROR(sm->buf0 ^ 1)))
-      //dbsm_error_helper(sm, sm->buf0 ^ 1);
-      dbsm_process_helper(sm, sm->buf0 ^ 1); //forward errors
+      dbsm_error_helper(sm, sm->buf0 ^ 1);
+      //dbsm_process_helper(sm, sm->buf0 ^ 1); //forward errors
   }
 
   if (status & BPS_DONE(sm->buf0))
diff --git a/firmware/microblaze/lib/i2c.c b/firmware/microblaze/lib/i2c.c
index 3f738733b..177341267 100644
--- a/firmware/microblaze/lib/i2c.c
+++ b/firmware/microblaze/lib/i2c.c
@@ -19,12 +19,15 @@
 #include "i2c.h"
 #include "memory_map.h"
 #include "stdint.h"
+#include <string.h>
+#include "pic.h"
+#include "nonstdio.h"
 
 #define MAX_WB_DIV 4	// maximum wishbone divisor (from 100 MHz MASTER_CLK)
 
 // prescaler divisor values for 100 kHz I2C [uses 5 * SCLK internally]
 
-#define PRESCALER(wb_div) (((MASTER_CLK_RATE/(wb_div)) / (5 * 100000)) - 1)
+#define PRESCALER(wb_div) (((MASTER_CLK_RATE/(wb_div)) / (5 * 400000)) - 1)
 
 static uint16_t prescaler_values[MAX_WB_DIV+1] = {
   0xffff,	// 0: can't happen
@@ -34,6 +37,18 @@ static uint16_t prescaler_values[MAX_WB_DIV+1] = {
   PRESCALER(4), // 4:  25 MHz
 };
 
+//asynchronous (interrupt-driven) i2c state variables
+volatile uint8_t i2c_buf[17]; //tx/rx data transfer buffer
+volatile uint8_t *volatile i2c_bufptr = i2c_buf; //ptr to current position
+volatile uint8_t i2c_len = 0; //length remaining in current transfer
+volatile i2c_state_t i2c_state = I2C_STATE_IDLE; //current I2C transfer state
+i2c_dir_t i2c_dir; //I2C transfer direction
+
+void  (*volatile i2c_callback)(void); //function pointer to i2c callback to be called when transaction is complete
+
+static void i2c_irq_handler(unsigned irq);
+inline void i2c_async_err(void);
+
 void
 i2c_init(void)
 {
@@ -47,9 +62,10 @@ i2c_init(void)
   i2c_regs->prescaler_lo = prescaler_values[wb_div] & 0xff;
   i2c_regs->prescaler_hi = (prescaler_values[wb_div] >> 8) & 0xff;
 
-  i2c_regs->ctrl = I2C_CTRL_EN;	// enable core
+  i2c_regs->ctrl = I2C_CTRL_EN; //| I2C_CTRL_IE;	// enable core
 
-  // FIXME interrupt driven?
+  // FIXME interrupt driven?  
+  pic_register_handler(IRQ_I2C, i2c_irq_handler);
 }
 
 static inline void
@@ -107,7 +123,7 @@ i2c_write(unsigned char i2c_addr, const unsigned char *buf, unsigned int len)
   i2c_regs->data = (i2c_addr << 1) | 0;	 // 7 bit address and write bit (0)
 
   // generate START and write addr (and maybe STOP)
-  i2c_regs->cmd_status = I2C_CMD_WR | I2C_CMD_START | (len == 0 ? I2C_CMD_STOP : 0);  
+  i2c_regs->cmd_status = I2C_CMD_WR | I2C_CMD_START | (len == 0 ? I2C_CMD_STOP : 0);
   if (!wait_chk_ack())
     goto fail;
 
@@ -124,4 +140,163 @@ i2c_write(unsigned char i2c_addr, const unsigned char *buf, unsigned int len)
   return false;
 }
 
-  
+static void i2c_irq_handler(unsigned irq) {
+//i2c state machine.
+
+  //printf("I2C irq handler\n");
+  //first let's make sure nothing is f'ed up
+  //TODO: uncomment this error checking when we have some way to handle errors
+//  if(((i2c_regs->cmd_status & I2C_ST_RXACK) != 0) && i2c_dir == I2C_DIR_WRITE) { //we got a NACK and we didn't send it
+//    printf("\tNACK received\n");
+//    i2c_async_err();
+//    return;
+//  }// else printf("\tACK received, proceeding\n");
+
+  if(i2c_regs->cmd_status & I2C_ST_AL) { 
+    printf("\tArbitration lost!\n");
+    i2c_async_err();
+    return;
+  }
+
+  if(i2c_regs->cmd_status & I2C_ST_TIP) {
+    //printf("\tI2C still busy in interrupt\n");
+    return;
+  }
+
+  //now decide what to do
+  switch(i2c_state) {
+
+  case I2C_STATE_IDLE:
+    //this is an error. in idle state, we shouldn't be transferring data, and the fact that the IRQ fired is terrible bad.
+    printf("AAAAAHHHHH INTERRUPT IN THE IDLE STATE AAAHHHHHHHHH\n");
+    i2c_async_err();
+    break;
+
+  case I2C_STATE_CONTROL_BYTE_SENT: //here we've sent the control byte, and we're either clocking data in or out now, but we haven't received a byte yet.
+  case I2C_STATE_DATA:      //here we're sending/receiving data and if we're receiving there's data in the data reg
+
+    //if(i2c_state == I2C_STATE_DATA) printf("\tI2C in state DATA with dir=%d and len=%d\n", i2c_dir, i2c_len);
+    //else printf("\tI2C in state CONTROL_BYTE_SENT with dir=%d and len=%d\n", i2c_dir, i2c_len);
+
+    if(i2c_dir == I2C_DIR_READ) {
+      if(i2c_state == I2C_STATE_DATA) *(i2c_bufptr++) = i2c_regs->data;
+      //printf("\tRead %x\n", *(i2c_bufptr-1));
+      //set up another data byte
+      if(i2c_len > 1) //only one more byte to transfer
+        i2c_regs->cmd_status = I2C_CMD_RD;
+      else
+        i2c_regs->cmd_status = I2C_CMD_RD | I2C_CMD_NACK | I2C_CMD_STOP;
+    }
+    else if(i2c_dir == I2C_DIR_WRITE) {
+      //write a byte
+      //printf("\tWriting %x\n", *i2c_bufptr);
+      i2c_regs->data = *(i2c_bufptr++);
+      if(i2c_len > 1)
+        i2c_regs->cmd_status = I2C_CMD_WR;
+      else {
+        //printf("\tGenerating STOP\n");
+        i2c_regs->cmd_status = I2C_CMD_WR | I2C_CMD_STOP;
+      }
+    };
+    i2c_len--;
+    if(i2c_len == 0) i2c_state = I2C_STATE_LAST_BYTE;
+    else i2c_state = I2C_STATE_DATA; //takes care of the addr_sent->data transition
+    break;
+
+
+  case I2C_STATE_LAST_BYTE: //here we've already sent the last read request and the last data is waiting for us.
+    //printf("\tI2C in state LAST BYTE\n");
+
+    if(i2c_dir == I2C_DIR_READ) {
+      *(i2c_bufptr++) = i2c_regs->data;
+      //printf("\tRead %x\n", *(i2c_bufptr-1));
+      i2c_state = I2C_STATE_DATA_READY;
+    } else {
+      i2c_state = I2C_STATE_IDLE;
+    }
+    i2c_regs->ctrl &= ~I2C_CTRL_IE; //disable interrupts until next time
+
+    if(i2c_callback) {
+      i2c_callback(); //if we registered a callback, call it!
+    }
+
+    break;
+
+
+  default: //terrible things have happened.
+    break;
+  }
+
+}
+
+void i2c_register_callback(void (*volatile callback)(void)) {
+  i2c_callback = callback;
+}
+
+inline void i2c_async_err(void) {
+  i2c_state = I2C_STATE_IDLE;
+  i2c_regs->ctrl &= ~I2C_CTRL_IE;
+  printf("I2C error\n");
+//TODO: set an error flag instead of just dropping things on the floor
+  i2c_regs->cmd_status = I2C_CMD_STOP;
+}
+
+bool i2c_async_read(uint8_t addr, unsigned int len) {
+  //printf("Starting async read\n");
+  if(i2c_state != I2C_STATE_IDLE) return false; //sorry mario but your i2c is in another castle
+  if(len == 0) return true; //just idiot-proofing
+  if(len > sizeof(i2c_buf)) return false;
+
+  //disable I2C interrupts and clear pending interrupts on the I2C device
+  i2c_regs->ctrl &= ~I2C_CTRL_IE;
+  i2c_regs->cmd_status |= I2C_CMD_IACK;
+
+  i2c_len = len;
+  i2c_dir = I2C_DIR_READ;
+  i2c_bufptr = i2c_buf;
+  //then set up the transfer by issuing the control byte
+  i2c_regs->ctrl |= I2C_CTRL_IE;
+  i2c_regs->data = (addr << 1) | 0x01; //7 bit addr and read bit
+  i2c_regs->cmd_status = I2C_CMD_WR | I2C_CMD_START; //generate start & start writing addr
+  //update the state so the irq handler knows what's going on
+  i2c_state = I2C_STATE_CONTROL_BYTE_SENT;
+  return true;
+}
+
+bool i2c_async_write(uint8_t addr, const uint8_t *buf, unsigned int len) {
+  //printf("Starting async write\n");
+  if(i2c_state != I2C_STATE_IDLE) return false; //sorry mario but your i2c is in another castle
+  if(len > sizeof(i2c_buf)) return false;
+
+  //disable I2C interrupts and clear pending interrupts on the I2C device
+  i2c_regs->ctrl &= ~I2C_CTRL_IE;
+  i2c_regs->cmd_status |= I2C_CMD_IACK;
+
+  //copy the buffer into our own if writing
+  memcpy((void *)i2c_buf, buf, len);
+
+  i2c_len = len;
+  i2c_dir = I2C_DIR_WRITE;
+  i2c_bufptr = i2c_buf;
+  //then set up the transfer by issuing the control byte
+  i2c_regs->ctrl |= I2C_CTRL_IE;
+  i2c_regs->data = (addr << 1) | 0x00; //7 bit addr and read bit
+  i2c_regs->cmd_status = I2C_CMD_WR | I2C_CMD_START; //generate start & start writing addr
+  //update the state so the irq handler knows what's going on
+  i2c_state = I2C_STATE_CONTROL_BYTE_SENT;
+
+  return true;
+}
+
+//TODO: determine if it's better to read sequentially into the user's buffer, copy on transfer complete, or copy on request (shown below). probably best to copy on request.
+bool i2c_async_data_ready(void *buf) {
+  if(i2c_state == I2C_STATE_DATA_READY) {
+    i2c_state = I2C_STATE_IDLE;
+    memcpy(buf, (void *)i2c_buf, (i2c_bufptr - i2c_buf)); //TODO: not really comfortable with this
+    //printf("Copying %d bytes to user buffer\n", i2c_bufptr-i2c_buf);
+    return true;
+  }
+  return false;
+}
+
+
diff --git a/firmware/microblaze/lib/i2c.h b/firmware/microblaze/lib/i2c.h
index ecb6aa0d2..77129e922 100644
--- a/firmware/microblaze/lib/i2c.h
+++ b/firmware/microblaze/lib/i2c.h
@@ -20,20 +20,38 @@
 #define INCLUDED_I2C_H
 
 #include <stdbool.h>
+#include "stdint.h"
+
+typedef enum { I2C_STATE_IDLE, 
+               I2C_STATE_CONTROL_BYTE_SENT, 
+               I2C_STATE_DATA, 
+               I2C_STATE_LAST_BYTE, 
+               I2C_STATE_DATA_READY, 
+               I2C_STATE_ERROR 
+             } i2c_state_t;
+
+typedef enum { I2C_DIR_WRITE=0, I2C_DIR_READ=1 } i2c_dir_t;
 
 void i2c_init(void);
 bool i2c_read (unsigned char i2c_addr, unsigned char *buf, unsigned int len);
 bool i2c_write(unsigned char i2c_addr, const unsigned char *buf, unsigned int len);
 
+bool i2c_async_read(uint8_t addr, unsigned int len);
+bool i2c_async_write(uint8_t addr, const uint8_t *buf, unsigned int len);
+bool i2c_async_data_ready(void *);
+//static void i2c_irq_handler(unsigned irq);
+void i2c_register_callback(void (*callback)(void));
 
 // Write 24LC024 / 24LC025 EEPROM on motherboard or daughterboard.
 // Which EEPROM is determined by i2c_addr.  See i2c_addr.h
 
 bool eeprom_write (int i2c_addr, int eeprom_offset, const void *buf, int len);
+bool eeprom_write_async (int i2c_addr, int eeprom_offset, const void *buf, int len, void (*callback)(void));
 
 // Read 24LC024 / 24LC025 EEPROM on motherboard or daughterboard.
 // Which EEPROM is determined by i2c_addr.  See i2c_addr.h
 
 bool eeprom_read (int i2c_addr, int eeprom_offset, void *buf, int len);
+bool eeprom_read_async(int i2c_addr, int eeprom_offset, void *buf, int len, void (*callback)(void));
 
 #endif /* INCLUDED_I2C_H */
diff --git a/firmware/microblaze/lib/spi.c b/firmware/microblaze/lib/spi.c
index bef808e57..2a41a1bfa 100644
--- a/firmware/microblaze/lib/spi.c
+++ b/firmware/microblaze/lib/spi.c
@@ -17,6 +17,12 @@
 
 #include "spi.h"
 #include "memory_map.h"
+#include "pic.h"
+#include "nonstdio.h"
+
+void (*volatile spi_callback)(void); //SPI callback when xfer complete.
+
+static void spi_irq_handler(unsigned irq);
 
 void
 spi_init(void) 
@@ -59,3 +65,44 @@ spi_transact(bool readback, int slave, uint32_t data, int length, uint32_t flags
   else
     return 0;
 }
+
+void spi_register_callback(void (*volatile callback)(void)) {
+  spi_callback = callback;
+}
+
+static void spi_irq_handler(unsigned irq) {
+//  printf("SPI IRQ handler\n");
+//  uint32_t wat = spi_regs->ctrl; //read a register just to clear the interrupt
+  //spi_regs->ctrl &= ~SPI_CTRL_IE;
+  if(spi_callback) spi_callback(); //we could just use the PIC to register the user's callback, but this provides the ability to do other things later
+}
+
+uint32_t spi_get_data(void) {
+  return spi_regs->txrx0;
+}
+
+bool 
+spi_async_transact(int slave, uint32_t data, int length, uint32_t flags, void (*volatile callback)(void)) {
+  flags &= (SPI_CTRL_TXNEG | SPI_CTRL_RXNEG);
+  int ctrl = SPI_CTRL_ASS | SPI_CTRL_IE | (SPI_CTRL_CHAR_LEN_MASK & length) | flags;
+
+  if(spi_regs->ctrl & SPI_CTRL_GO_BSY) {
+    printf("Async SPI busy!\n");
+    return false; //we don't wait on busy, we just return failure. we count on the host to not set up another transaction before the last one finishes.
+  }
+
+  // Tell it which SPI slave device to access
+  spi_regs->ss = slave & 0xffff;
+
+  // Data we will send
+  spi_regs->txrx0 = data;
+
+  spi_register_callback(callback);
+  pic_register_handler(IRQ_SPI, spi_irq_handler);
+
+  // Run it -- write once and rewrite with GO set
+  spi_regs->ctrl = ctrl;
+  spi_regs->ctrl = ctrl | SPI_CTRL_GO_BSY;
+
+  return true;
+}
diff --git a/firmware/microblaze/lib/spi.h b/firmware/microblaze/lib/spi.h
index 01e4d26fd..54618cedd 100644
--- a/firmware/microblaze/lib/spi.h
+++ b/firmware/microblaze/lib/spi.h
@@ -48,6 +48,13 @@ void spi_wait(void);
 uint32_t
 spi_transact(bool readback, int slave, uint32_t data, int length, uint32_t flags);
 
+uint32_t spi_get_data(void);
+//static void spi_irq_handler(unsigned irq);
+void spi_register_callback(void (*volatile callback)(void));
+
+bool 
+spi_async_transact(int slave, uint32_t data, int length, uint32_t flags, void (*volatile callback)(void));
+
 // ----------------------------------------------------------------
 // Routines that manipulate the FLASH SPI BUS
 // ----------------------------------------------------------------
diff --git a/firmware/microblaze/lib/u2_init.c b/firmware/microblaze/lib/u2_init.c
index 75bc40859..8d666b76b 100644
--- a/firmware/microblaze/lib/u2_init.c
+++ b/firmware/microblaze/lib/u2_init.c
@@ -45,22 +45,26 @@ get_hw_rev(void)
 bool
 u2_init(void)
 {
+  hal_disable_ints();
   hal_io_init();
 
   // init spi, so that we can switch over to the high-speed clock
   spi_init();
 
-  // init i2c so we can read our rev
-  i2c_init();
-  get_hw_rev();
-
   // set up the default clocks
   clocks_init();
 
+  hal_uart_init();
+
+  // init i2c so we can read our rev
   pic_init();	// progammable interrupt controller
+  i2c_init();
+  hal_enable_ints();
+  get_hw_rev();
+
   bp_init();	// buffer pool
   
-  hal_enable_ints();
+
 
   // flash all leds to let us know board is alive
   hal_set_leds(0x0, 0x1f);
diff --git a/fpga/usrp2/vrt/vita_rx_framer.v b/fpga/usrp2/vrt/vita_rx_framer.v
index fd82263d0..235817941 100644
--- a/fpga/usrp2/vrt/vita_rx_framer.v
+++ b/fpga/usrp2/vrt/vita_rx_framer.v
@@ -128,7 +128,7 @@ module vita_rx_framer
        VITA_ERR_SECS : pkt_fifo_line <= {2'b00,vita_time_fifo_o[63:32]};
        VITA_ERR_TICS : pkt_fifo_line <= {2'b00,32'd0};
        VITA_ERR_TICS2 : pkt_fifo_line <= {2'b00,vita_time_fifo_o[31:0]};
-       VITA_ERR_PAYLOAD : pkt_fifo_line <= {2'b11,28'd0,flags_fifo_o};
+       VITA_ERR_PAYLOAD : pkt_fifo_line <= {2'b10,28'd0,flags_fifo_o};
        //VITA_ERR_TRAILER : pkt_fifo_line <= {2'b11,vita_trailer};
        
        default : pkt_fifo_line <= 34'h0_FFFF_FFFF;
diff --git a/host/docs/CMakeLists.txt b/host/docs/CMakeLists.txt
index d0041f71c..b4383f88d 100644
--- a/host/docs/CMakeLists.txt
+++ b/host/docs/CMakeLists.txt
@@ -24,6 +24,7 @@ SET(manual_sources
     coding.rst
     dboards.rst
     general.rst
+    images.rst
     usrp2.rst
 )
 
diff --git a/host/docs/images.rst b/host/docs/images.rst
new file mode 100644
index 000000000..ff5c5404e
--- /dev/null
+++ b/host/docs/images.rst
@@ -0,0 +1,104 @@
+========================================================================
+UHD - Firmware and FPGA Image Application Notes
+========================================================================
+
+.. contents:: Table of Contents
+
+------------------------------------------------------------------------
+Images Overview
+------------------------------------------------------------------------
+Every USRP device must be loaded with special firmware and FPGA images.
+The methods of loading images into the device varies among devices:
+
+* **USRP1:** The host code will automatically load the firmware and FPGA at runtime.
+* **USRP2:** The user must manually write the images onto the USRP2 SD card.
+
+------------------------------------------------------------------------
+Pre-built images
+------------------------------------------------------------------------
+
+Pre-built images are available for download.
+See the UHD wiki for the download link.
+
+The pre-built images come in platform-specific installer packages
+and platform-independent archive files:
+
+* **Linux:** DEB or RPM installer
+* **Windows:** not available yet...
+* **Macintosh:** not available yet...
+* **Platform-independent:** ZIP or TAR.GZ archive
+
+^^^^^^^^^^^^^^^^^^
+Linux installers
+^^^^^^^^^^^^^^^^^^
+The Linux-based installers will install the images into /usr/share/uhd/images.
+On a Linux system, the UHD will always search this path for image files.
+
+Commands to install a linux rpm or deb package:
+
+::
+
+    sudo rpm -i <linux-images-installer>.rpm
+
+    -- OR --
+
+    sudo dpkg -i <linux-images-installer>.deb
+
+^^^^^^^^^^^^^^^^^^^^^^
+Archive install
+^^^^^^^^^^^^^^^^^^^^^^
+When installing images from an archive, there are two options:
+
+**Option 1:**
+
+Unpack the archive into the UHD installation prefix.
+The UHD will always search <prefix>/share/uhd/images for image files.
+Where <prefix> was set by the CMAKE_INSTALL_PREFIX at configure-time.
+
+**Option 2:**
+
+Unpack the archive anywhere and set the UHD_IMAGE_PATH environment variable.
+The UHD_IMAGE_PATH may contain a list of directories to search for image files,
+or paths to specific image files.
+
+------------------------------------------------------------------------
+Building images
+------------------------------------------------------------------------
+
+The UHD source repository comes with the source code necessary to build
+both firmware and FPGA images for all supported devices.
+The build commands for a particular image can be found in <uhd-repo-path>/images/Makefile.
+
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Xilinx FPGA builds
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Xilinx ISE 12.x and up is required to build the Xilinx FPGA images.
+The build requires that you have a unix-like environment with make.
+Make sure that xtclsh from the Xilinx ISE bin directory is in your $PATH.
+
+See <uhd-repo-path>/fpga/usrp2/top/*
+
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Microblaze firmware builds
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+The Microblaze GCC compiler from the Xilinx EDK is required to build the Microblaze firmware images.
+The build requires that you have a unix-like environment with autotools and make.
+Make sure that mb-gcc from the Xilinx EDK/microblaze directory is in your $PATH.
+
+See <uhd-repo-path>/firmware/microblaze
+
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Altera FPGA builds
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Quartus is required to build the Altera FPGA images.
+Pre-built images can also be found in <uhd-repo-path>/fpga/usrp1/rbf
+
+See <uhd-repo-path>/fpga/usrp1/toplevel/*
+
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+FX2 firmware builds
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+The sdcc compiler is required to build the FX2 firmware images.
+The build requires that you have a unix-like environment with autotools and make.
+
+See <uhd-repo-path>/firmware/fx2
diff --git a/host/docs/index.rst b/host/docs/index.rst
index b31a3d0ac..6973ede19 100644
--- a/host/docs/index.rst
+++ b/host/docs/index.rst
@@ -21,6 +21,7 @@ Building the UHD
 Application Notes
 ^^^^^^^^^^^^^^^^^^^^^
 * `General App Notes <./general.html>`_
+* `Firmware and FPGA Image Notes <./images.html>`_
 * `USRP2 App Notes <./usrp2.html>`_
 * `Daughterboard App Notes <./dboards.html>`_
 
diff --git a/host/docs/usrp2.rst b/host/docs/usrp2.rst
index bc4ea0e44..3ac326f58 100644
--- a/host/docs/usrp2.rst
+++ b/host/docs/usrp2.rst
@@ -5,42 +5,6 @@ UHD - USRP2 Application Notes
 .. contents:: Table of Contents
 
 ------------------------------------------------------------------------
-Building firmware and FPGA images
-------------------------------------------------------------------------
-
-^^^^^^^^^^^^^^^^^^
-FPGA Image
-^^^^^^^^^^^^^^^^^^
-Xilinx ISE 10.1 and up is required to build the FPGA image for the USRP2.
-The build requires that you have a unix-like environment with make.
-Make sure that xtclsh from the Xilinx ISE bin directory is in your $PATH.
-
-Run the following commands:
-::
-
-    cd <uhd-repo-path>/fpga/usrp2/top/u2_rev3
-    make -f Makefile.udp bin
-
-*The image file will be ./build/u2_rev3.bin*
-
-^^^^^^^^^^^^^^^^^^
-Firmware Image
-^^^^^^^^^^^^^^^^^^
-The Microblaze GCC compiler from the Xilinx EDK is required to build the firmware.
-The build requires that you have a unix-like environment with autotools and make.
-Make sure that mb-gcc from the Xilinx EDK/microblaze directory is in your $PATH.
-
-Run the following commands:
-::
-
-    cd <uhd-repo-path>/firmware/microblaze
-    ./boostrap
-    ./configure --host=mb
-    make
-
-*The image file will be ./usrp2/usrp2_txrx_uhd.bin*
-
-------------------------------------------------------------------------
 Load the images onto the SD card
 ------------------------------------------------------------------------
 **Warning!**
diff --git a/host/examples/CMakeLists.txt b/host/examples/CMakeLists.txt
index cad01a7cc..fea6cb98f 100644
--- a/host/examples/CMakeLists.txt
+++ b/host/examples/CMakeLists.txt
@@ -16,9 +16,6 @@
 #
 
 
-ADD_EXECUTABLE(tx_continuous_samples tx_continuous_samples.cpp)
-TARGET_LINK_LIBRARIES(tx_continuous_samples uhd)
-
 ADD_EXECUTABLE(benchmark_rx_rate benchmark_rx_rate.cpp)
 TARGET_LINK_LIBRARIES(benchmark_rx_rate uhd)
 
@@ -34,12 +31,15 @@ TARGET_LINK_LIBRARIES(tx_timed_samples uhd)
 ADD_EXECUTABLE(tx_from_file tx_from_file.cpp)
 TARGET_LINK_LIBRARIES(tx_from_file uhd)
 
+ADD_EXECUTABLE(tx_waveforms tx_waveforms.cpp)
+TARGET_LINK_LIBRARIES(tx_waveforms uhd)
+
 INSTALL(TARGETS
-    tx_continuous_samples
     benchmark_rx_rate
     rx_timed_samples
     tx_timed_samples
     tx_from_file
     rx_to_file
+    tx_waveforms
     RUNTIME DESTINATION ${PKG_DATA_DIR}/examples
 )
diff --git a/host/examples/tx_continuous_samples.cpp b/host/examples/tx_continuous_samples.cpp
deleted file mode 100644
index cf70b07fb..000000000
--- a/host/examples/tx_continuous_samples.cpp
+++ /dev/null
@@ -1,110 +0,0 @@
-//
-// Copyright 2010 Ettus Research LLC
-//
-// This program is free software: you can redistribute it and/or modify
-// it under the terms of the GNU General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
-//
-// This program is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-
-#include <uhd/utils/thread_priority.hpp>
-#include <uhd/utils/safe_main.hpp>
-#include <uhd/usrp/simple_usrp.hpp>
-#include <boost/program_options.hpp>
-#include <boost/thread/thread_time.hpp> //system time
-#include <boost/format.hpp>
-#include <iostream>
-#include <complex>
-
-namespace po = boost::program_options;
-
-int UHD_SAFE_MAIN(int argc, char *argv[]){
-    uhd::set_thread_priority_safe();
-
-    //variables to be set by po
-    std::string args;
-    size_t total_duration;
-    size_t samps_per_packet;
-    double tx_rate, freq;
-    float ampl;
-
-    //setup the program options
-    po::options_description desc("Allowed options");
-    desc.add_options()
-        ("help", "help message")
-        ("args", po::value<std::string>(&args)->default_value(""), "simple uhd device address args")
-        ("duration", po::value<size_t>(&total_duration)->default_value(3), "number of seconds to transmit")
-        ("spp", po::value<size_t>(&samps_per_packet)->default_value(1000), "number of samples per packet")
-        ("txrate", po::value<double>(&tx_rate)->default_value(100e6/16), "rate of outgoing samples")
-        ("freq", po::value<double>(&freq)->default_value(0), "rf center frequency in Hz")
-        ("ampl", po::value<float>(&ampl)->default_value(float(0.3)), "amplitude of each sample")
-        ("dilv", "specify to disable inner-loop verbose")
-    ;
-    po::variables_map vm;
-    po::store(po::parse_command_line(argc, argv, desc), vm);
-    po::notify(vm);
-
-    //print the help message
-    if (vm.count("help")){
-        std::cout << boost::format("UHD TX Continuous Samples %s") % desc << std::endl;
-        return ~0;
-    }
-
-    bool verbose = vm.count("dilv") == 0;
-
-    //create a usrp device
-    std::cout << std::endl;
-    std::cout << boost::format("Creating the usrp device with: %s...") % args << std::endl;
-    uhd::usrp::simple_usrp::sptr sdev = uhd::usrp::simple_usrp::make(args);
-    uhd::device::sptr dev = sdev->get_device();
-    std::cout << boost::format("Using Device: %s") % sdev->get_pp_string() << std::endl;
-
-    //set properties on the device
-    std::cout << boost::format("Setting TX Rate: %f Msps...") % (tx_rate/1e6) << std::endl;
-    sdev->set_tx_rate(tx_rate);
-    std::cout << boost::format("Actual TX Rate: %f Msps...") % (sdev->get_tx_rate()/1e6) << std::endl;
-    sdev->set_tx_freq(freq);
-
-    //allocate data to send
-    std::vector<std::complex<float> > buff(samps_per_packet, std::complex<float>(ampl, ampl));
-
-    //setup the metadata flags
-    uhd::tx_metadata_t md;
-    md.start_of_burst = true; //always SOB (good for continuous streaming)
-    md.end_of_burst   = false;
-
-    //send the data in multiple packets
-    boost::system_time end_time(boost::get_system_time() + boost::posix_time::seconds(total_duration));
-    while(end_time > boost::get_system_time()){
-        //send samples per packet (driver fragments internally)
-        size_t num_tx_samps = dev->send(
-            &buff.front(), samps_per_packet, md,
-            uhd::io_type_t::COMPLEX_FLOAT32,
-            uhd::device::SEND_MODE_FULL_BUFF
-        );
-        if(verbose) std::cout << std::endl << boost::format("Sent %d samples") % num_tx_samps << std::endl;
-    }
-
-    //send a mini EOB packet
-    if(verbose) std::cout << std::endl << boost::format("Sending packet with end-of-burst") << std::endl;
-    md.start_of_burst = false;
-    md.end_of_burst   = true;
-    dev->send(
-        NULL, 0, md,
-        uhd::io_type_t::COMPLEX_FLOAT32,
-        uhd::device::SEND_MODE_FULL_BUFF
-    );
-
-    //finished
-    std::cout << std::endl << "Done!" << std::endl << std::endl;
-
-    return 0;
-}
diff --git a/host/examples/tx_from_file.cpp b/host/examples/tx_from_file.cpp
index df6446c0c..9611cf47c 100644
--- a/host/examples/tx_from_file.cpp
+++ b/host/examples/tx_from_file.cpp
@@ -36,6 +36,7 @@ int UHD_SAFE_MAIN(int argc, char *argv[]){
     size_t samps_per_packet;
     double tx_rate, freq;
     float ampl;
+    float tx_gain;
 
     //setup the program options
     po::options_description desc("Allowed options");
@@ -47,6 +48,7 @@ int UHD_SAFE_MAIN(int argc, char *argv[]){
         ("txrate", po::value<double>(&tx_rate)->default_value(100e6/16), "rate of outgoing samples")
         ("freq", po::value<double>(&freq)->default_value(0), "rf center frequency in Hz")
         ("ampl", po::value<float>(&ampl)->default_value(float(0.3)), "amplitude of each sample")
+        ("gain", po::value<float>(&tx_gain)->default_value(float(0)), "amplitude of each sample")
         ("dilv", "specify to disable inner-loop verbose")
     ;
     po::variables_map vm;
@@ -76,7 +78,7 @@ int UHD_SAFE_MAIN(int argc, char *argv[]){
     sdev->set_tx_freq(freq);
     sdev->set_time_now(uhd::time_spec_t(0.0));
 
-    sdev->set_tx_gain(0);
+    sdev->set_tx_gain(tx_gain);
 
     //allocate data to send
     std::vector<std::complex<short> > buff;
diff --git a/host/examples/tx_waveforms.cpp b/host/examples/tx_waveforms.cpp
new file mode 100644
index 000000000..e9cf210bb
--- /dev/null
+++ b/host/examples/tx_waveforms.cpp
@@ -0,0 +1,144 @@
+//
+// Copyright 2010 Ettus Research LLC
+//
+// This program is free software: you can redistribute it and/or modify
+// it under the terms of the GNU General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+
+#include <uhd/utils/thread_priority.hpp>
+#include <uhd/utils/safe_main.hpp>
+#include <uhd/usrp/simple_usrp.hpp>
+#include <boost/program_options.hpp>
+#include <boost/thread/thread_time.hpp> //system time
+#include <boost/format.hpp>
+#include <iostream>
+#include <complex>
+#include <cmath>
+
+namespace po = boost::program_options;
+
+int UHD_SAFE_MAIN(int argc, char *argv[]){
+    uhd::set_thread_priority_safe();
+
+    //variables to be set by po
+    std::string args, wave_type;
+    size_t total_duration, amspb;
+    double rate, freq, wave_freq;
+    float ampl, gain;
+
+    //setup the program options
+    po::options_description desc("Allowed options");
+    desc.add_options()
+        ("help", "help message")
+        ("args", po::value<std::string>(&args)->default_value(""), "simple uhd device address args")
+        ("duration", po::value<size_t>(&total_duration)->default_value(3), "number of seconds to transmit")
+        ("amspb", po::value<size_t>(&amspb)->default_value(10000), "approximate mimimum samples per buffer")
+        ("rate", po::value<double>(&rate)->default_value(100e6/16), "rate of outgoing samples")
+        ("freq", po::value<double>(&freq)->default_value(0), "rf center frequency in Hz")
+        ("ampl", po::value<float>(&ampl)->default_value(float(0.3)), "amplitude of the waveform")
+        ("gain", po::value<float>(&gain)->default_value(float(0)), "gain for the RF chain")
+        ("wave-type", po::value<std::string>(&wave_type)->default_value("SINE"), "waveform type (CONST, SQUARE, RAMP, SINE)")
+        ("wave-freq", po::value<double>(&wave_freq)->default_value(0), "waveform frequency in Hz")
+    ;
+    po::variables_map vm;
+    po::store(po::parse_command_line(argc, argv, desc), vm);
+    po::notify(vm);
+
+    //print the help message
+    if (vm.count("help")){
+        std::cout << boost::format("UHD TX Waveforms %s") % desc << std::endl;
+        return ~0;
+    }
+
+    //create a usrp device
+    std::cout << std::endl;
+    std::cout << boost::format("Creating the usrp device with: %s...") % args << std::endl;
+    uhd::usrp::simple_usrp::sptr sdev = uhd::usrp::simple_usrp::make(args);
+    uhd::device::sptr dev = sdev->get_device();
+    std::cout << boost::format("Using Device: %s") % sdev->get_pp_string() << std::endl;
+
+    //set the tx sample rate
+    std::cout << boost::format("Setting TX Rate: %f Msps...") % (rate/1e6) << std::endl;
+    sdev->set_tx_rate(rate);
+    std::cout << boost::format("Actual TX Rate: %f Msps...") % (sdev->get_tx_rate()/1e6) << std::endl << std::endl;
+
+    //set the tx center frequency
+    std::cout << boost::format("Setting TX Freq: %f Mhz...") % (freq/1e6) << std::endl;
+    sdev->set_tx_freq(freq);
+    std::cout << boost::format("Actual TX Freq: %f Mhz...") % (sdev->get_tx_freq()/1e6) << std::endl << std::endl;
+
+    //set the tx rf gain
+    std::cout << boost::format("Setting TX Gain: %f dB...") % gain << std::endl;
+    sdev->set_tx_gain(gain);
+    std::cout << boost::format("Actual TX Gain: %f dB...") % sdev->get_tx_gain() << std::endl << std::endl;
+
+    //for the const wave, set the wave freq for small samples per period
+    if (wave_freq == 0 and wave_type == "CONST"){
+        wave_freq = sdev->get_tx_rate()/2;
+    }
+
+    //error when the waveform is not possible to generate
+    if (std::abs(wave_freq)/sdev->get_tx_rate() < 0.5/amspb){
+        throw std::runtime_error("wave freq/tx rate too small");
+    }
+    if (std::abs(wave_freq) > sdev->get_tx_rate()/2){
+        throw std::runtime_error("wave freq out of Nyquist zone");
+    }
+
+    //fill a buffer with one period worth of samples
+    std::vector<float> period(size_t(sdev->get_tx_rate()/std::abs(wave_freq)));
+    std::cout << boost::format("Samples per waveform period: %d") % period.size() << std::endl;
+    for (size_t n = 0; n < period.size(); n++){
+        if      (wave_type == "CONST")  period[n] = ampl;
+        else if (wave_type == "SQUARE") period[n] = (n > period.size()/2)? ampl : 0;
+        else if (wave_type == "RAMP")   period[n] = float((n/double(period.size()-1)) * 2*ampl - ampl);
+        else if (wave_type == "SINE")   period[n] = ampl*float(std::sin(2*M_PI*n/double(period.size())));
+        else throw std::runtime_error("unknown waveform type: " + wave_type);
+    }
+
+    //allocate data to send (fill with several periods worth of IQ samples)
+    const size_t periods_per_buff = std::max<size_t>(1, amspb/period.size());
+    std::vector<std::complex<float> > buff(period.size()*periods_per_buff);
+    std::cout << boost::format("Samples per send buffer: %d") % buff.size() << std::endl;
+    const size_t i_ahead = (wave_freq > 0)? period.size()/4 : 0;
+    const size_t q_ahead = (wave_freq < 0)? period.size()/4 : 0;
+    for (size_t n = 0; n < buff.size(); n++) buff[n] = std::complex<float>(
+        period[(n+i_ahead)%period.size()], period[(n+q_ahead)%period.size()] //I,Q
+    );
+
+    //setup the metadata flags
+    uhd::tx_metadata_t md;
+    md.start_of_burst = true; //always SOB (good for continuous streaming)
+    md.end_of_burst   = false;
+
+    //send the data in multiple packets
+    boost::system_time end_time(boost::get_system_time() + boost::posix_time::seconds(total_duration));
+    while(end_time > boost::get_system_time()) dev->send(
+        &buff.front(), buff.size(), md,
+        uhd::io_type_t::COMPLEX_FLOAT32,
+        uhd::device::SEND_MODE_FULL_BUFF
+    );
+
+    //send a mini EOB packet
+    md.start_of_burst = false;
+    md.end_of_burst   = true;
+    dev->send(NULL, 0, md,
+        uhd::io_type_t::COMPLEX_FLOAT32,
+        uhd::device::SEND_MODE_FULL_BUFF
+    );
+
+    //finished
+    std::cout << std::endl << "Done!" << std::endl << std::endl;
+
+    return 0;
+}
diff --git a/host/lib/CMakeLists.txt b/host/lib/CMakeLists.txt
index cbb68c725..81845de21 100644
--- a/host/lib/CMakeLists.txt
+++ b/host/lib/CMakeLists.txt
@@ -54,11 +54,13 @@ INCLUDE(${CMAKE_CURRENT_SOURCE_DIR}/utils/CMakeLists.txt)
 # Append to the list of sources for lib uhd
 ########################################################################
 FILE(TO_NATIVE_PATH ${CMAKE_INSTALL_PREFIX}/${PKG_DATA_DIR} LOCAL_PKG_DATA_DIR)
+STRING(REPLACE "\\" "\\\\" LOCAL_PKG_DATA_DIR ${LOCAL_PKG_DATA_DIR})
 MESSAGE(STATUS "Local package data directory: ${LOCAL_PKG_DATA_DIR}")
 
 IF(UNIX)
     #on unix systems, installers will use this directory for the package data
     FILE(TO_NATIVE_PATH /usr/${PKG_DATA_DIR} INSTALLER_PKG_DATA_DIR)
+    STRING(REPLACE "\\" "\\\\" INSTALLER_PKG_DATA_DIR ${INSTALLER_PKG_DATA_DIR})
     MESSAGE(STATUS "Installer package data directory: ${INSTALLER_PKG_DATA_DIR}")
 ENDIF(UNIX)
 
diff --git a/host/lib/usrp/misc_utils.cpp b/host/lib/usrp/misc_utils.cpp
index 46094ba32..a1664d810 100644
--- a/host/lib/usrp/misc_utils.cpp
+++ b/host/lib/usrp/misc_utils.cpp
@@ -25,6 +25,7 @@
 #include <uhd/usrp/codec_props.hpp>
 #include <boost/bind.hpp>
 #include <boost/foreach.hpp>
+#include <boost/format.hpp>
 
 using namespace uhd;
 using namespace uhd::usrp;
@@ -132,43 +133,49 @@ static void verify_xx_subdev_spec(
     wax::obj mboard,
     std::string xx_type
 ){
-    prop_names_t dboard_names = mboard[dboard_names_prop].as<prop_names_t>();
-    UHD_ASSERT_THROW(dboard_names.size() > 0); //well i hope there is a dboard
+    try{
+        prop_names_t dboard_names = mboard[dboard_names_prop].as<prop_names_t>();
+        UHD_ASSERT_THROW(dboard_names.size() > 0); //well i hope there is a dboard
 
-    //the subdevice specification is empty: handle automatic
-    if (subdev_spec.empty()){
-        BOOST_FOREACH(const std::string &db_name, dboard_names){
-            wax::obj dboard = mboard[named_prop_t(dboard_prop, db_name)];
+        //the subdevice specification is empty: handle automatic
+        if (subdev_spec.empty()){
+            BOOST_FOREACH(const std::string &db_name, dboard_names){
+                wax::obj dboard = mboard[named_prop_t(dboard_prop, db_name)];
+
+                //if the dboard slot is populated, take the first subdevice
+                if (dboard[DBOARD_PROP_DBOARD_ID].as<dboard_id_t>() != dboard_id_t::none()){
+                    std::string sd_name = dboard[DBOARD_PROP_SUBDEV_NAMES].as<prop_names_t>().front();
+                    subdev_spec.push_back(subdev_spec_pair_t(db_name, sd_name));
+                    break;
+                }
+            }
 
-            //if the dboard slot is populated, take the first subdevice
-            if (dboard[DBOARD_PROP_DBOARD_ID].as<dboard_id_t>() != dboard_id_t::none()){
+            //didnt find any populated dboards: add the first subdevice
+            if (subdev_spec.empty()){
+                std::string db_name = dboard_names.front();
+                wax::obj dboard = mboard[named_prop_t(dboard_prop, db_name)];
                 std::string sd_name = dboard[DBOARD_PROP_SUBDEV_NAMES].as<prop_names_t>().front();
                 subdev_spec.push_back(subdev_spec_pair_t(db_name, sd_name));
-                break;
             }
         }
 
-        //didnt find any populated dboards: add the first subdevice
-        if (subdev_spec.empty()){
-            std::string db_name = dboard_names.front();
-            wax::obj dboard = mboard[named_prop_t(dboard_prop, db_name)];
-            std::string sd_name = dboard[DBOARD_PROP_SUBDEV_NAMES].as<prop_names_t>().front();
-            subdev_spec.push_back(subdev_spec_pair_t(db_name, sd_name));
-        }
-    }
-
-    //sanity check that the dboard/subdevice names exist for this mboard
-    BOOST_FOREACH(const subdev_spec_pair_t &pair, subdev_spec){
-        //empty db name means select dboard automatically
-        if (pair.db_name.empty()){
-            if (dboard_names.size() != 1) throw std::runtime_error(
-                "A daughterboard name must be provided for multi-slot boards: " + subdev_spec.to_string()
-            );
-            pair.db_name == dboard_names.front();
+        //sanity check that the dboard/subdevice names exist for this mboard
+        BOOST_FOREACH(const subdev_spec_pair_t &pair, subdev_spec){
+            //empty db name means select dboard automatically
+            if (pair.db_name.empty()){
+                if (dboard_names.size() != 1) throw std::runtime_error(
+                    "A daughterboard name must be provided for multi-slot boards: " + subdev_spec.to_string()
+                );
+                pair.db_name == dboard_names.front();
+            }
+            uhd::assert_has(dboard_names, pair.db_name, xx_type + " dboard name");
+            wax::obj dboard = mboard[named_prop_t(dboard_prop, pair.db_name)];
+            uhd::assert_has(dboard[DBOARD_PROP_SUBDEV_NAMES].as<prop_names_t>(), pair.sd_name, xx_type + " subdev name");
         }
-        uhd::assert_has(dboard_names, pair.db_name, xx_type + " dboard name");
-        wax::obj dboard = mboard[named_prop_t(dboard_prop, pair.db_name)];
-        uhd::assert_has(dboard[DBOARD_PROP_SUBDEV_NAMES].as<prop_names_t>(), pair.sd_name, xx_type + " subdev name");
+    }catch(const std::exception &e){
+        throw std::runtime_error(str(boost::format(
+            "Validate %s subdev spec failed: %s\n    %s"
+        ) % xx_type % subdev_spec.to_string() % e.what()));
     }
 }
 
diff --git a/host/lib/usrp/usrp2/dsp_impl.cpp b/host/lib/usrp/usrp2/dsp_impl.cpp
index 347ec38af..6422142ce 100644
--- a/host/lib/usrp/usrp2/dsp_impl.cpp
+++ b/host/lib/usrp/usrp2/dsp_impl.cpp
@@ -31,9 +31,10 @@ static const size_t default_interp = 16;
 /***********************************************************************
  * DDC Helper Methods
  **********************************************************************/
-static unsigned pick_closest_rate(double exact_rate, const std::vector<unsigned> &rates){
+template <typename rate_type>
+static rate_type pick_closest_rate(double exact_rate, const std::vector<rate_type> &rates){
     unsigned closest_match = rates.front();
-    BOOST_FOREACH(unsigned possible_rate, rates){
+    BOOST_FOREACH(rate_type possible_rate, rates){
         if(std::abs(exact_rate - possible_rate) < std::abs(exact_rate - closest_match))
             closest_match = possible_rate;
     }
diff --git a/host/lib/usrp/usrp2/fw_common.h b/host/lib/usrp/usrp2/fw_common.h
index a781c1a21..cc6c41ba7 100644
--- a/host/lib/usrp/usrp2/fw_common.h
+++ b/host/lib/usrp/usrp2/fw_common.h
@@ -34,7 +34,7 @@ extern "C" {
 
 //fpga and firmware compatibility numbers
 #define USRP2_FPGA_COMPAT_NUM 1
-#define USRP2_FW_COMPAT_NUM 5
+#define USRP2_FW_COMPAT_NUM 6
 
 //used to differentiate control packets over data port
 #define USRP2_INVALID_VRT_HEADER 0
@@ -104,12 +104,12 @@ typedef struct{
     union{
         __stdint(uint32_t) ip_addr;
         struct {
-            __stdint(uint8_t) dev;
+            __stdint(uint32_t) dev;
+            __stdint(uint32_t) data;
             __stdint(uint8_t) miso_edge;
             __stdint(uint8_t) mosi_edge;
-            __stdint(uint8_t) readback;
-            __stdint(uint32_t) data;
             __stdint(uint8_t) num_bits;
+            __stdint(uint8_t) readback;
         } spi_args;
         struct {
             __stdint(uint8_t) addr;
diff --git a/host/lib/usrp/usrp2/usrp2_iface.cpp b/host/lib/usrp/usrp2/usrp2_iface.cpp
index 4124221ef..2d450bfc6 100644
--- a/host/lib/usrp/usrp2/usrp2_iface.cpp
+++ b/host/lib/usrp/usrp2/usrp2_iface.cpp
@@ -115,7 +115,7 @@ public:
         //setup the out data
         usrp2_ctrl_data_t out_data;
         out_data.id = htonl(USRP2_CTRL_ID_TRANSACT_ME_SOME_SPI_BRO);
-        out_data.data.spi_args.dev = which_slave;
+        out_data.data.spi_args.dev = htonl(which_slave);
         out_data.data.spi_args.miso_edge = spi_edge_to_otw[config.miso_edge];
         out_data.data.spi_args.mosi_edge = spi_edge_to_otw[config.mosi_edge];
         out_data.data.spi_args.readback = (readback)? 1 : 0;