diff --git a/.gitignore b/.gitignore
index f0f84d4..713c558 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,8 +1,20 @@
+# MPLab X project folder
 *.X/
+
+# IntelliJ project folder
 *.idea/
+!*.mcp
+
+# MPLab 8 saved project settings
+*.mcs
+*.mptags
+*.tagsrc
 
+# intermediate build files
 obj/
 
+# built binaries
 bin/
 
-*.mcs
+# temporary copy of linker script (generated by xc16-gcc)
+*.gld.00
diff --git a/CMakeLists.txt b/CMakeLists.txt
new file mode 100644
index 0000000..ad47c9b
--- /dev/null
+++ b/CMakeLists.txt
@@ -0,0 +1,45 @@
+cmake_minimum_required(VERSION 3.12)
+project(bootypic VERSION 1.9.3 LANGUAGES C)
+
+STRING(TOLOWER "pic${CMAKE_SYSTEM_PROCESSOR}" MCU_NAME)
+STRING(TOLOWER "p${CMAKE_SYSTEM_PROCESSOR}" MCU_NAME_2)
+
+set(DEVICE_SRC "${CMAKE_CURRENT_SOURCE_DIR}/devices/${MCU_NAME}")
+set(FIRMWARE_SRC  "${CMAKE_CURRENT_SOURCE_DIR}/../Power_Board/src")
+
+add_executable(bootypic
+  bootloader.c
+  "${DEVICE_SRC}/boot_user.c"
+  "${FIRMWARE_SRC}/power.c"
+  "${FIRMWARE_SRC}/battery.c"
+  "${FIRMWARE_SRC}/stdfunctions.c"
+  "${FIRMWARE_SRC}/i2clib.c"
+  )
+
+target_include_directories(bootypic
+  PRIVATE
+  "${DEVICE_SRC}"
+  "${FIRMWARE_SRC}"
+  )
+
+target_compile_options(bootypic PRIVATE -O1 -ffunction-sections)
+target_compile_definitions(bootypic PRIVATE BOOTYPIC)
+set(APP_LINKER_SCRIPT "${DEVICE_SRC}/${MCU_NAME_2}_app.gld")
+set(BOOT_LINKER_SCRIPT "${DEVICE_SRC}/${MCU_NAME_2}_boot.gld")
+
+set_target_properties(bootypic
+  PROPERTIES LINK_DEPENDS ${BOOT_LINKER_SCRIPT})
+target_link_options(bootypic
+  PRIVATE
+  "LINKER:--gc-sections"
+  "LINKER:--heap=2048"
+  "LINKER:--coresident,--defsym,__SP_init=0x800,--defsym,__SPLIM_init=0x1000,-mreserve=data@0x0:0x1000"
+  "LINKER:--script=${BOOT_LINKER_SCRIPT},-Map=${CMAKE_CURRENT_BINARY_DIR}/$<TARGET_PROPERTY:NAME>.map,--no-isr,--save-gld,-D__DEFINE_RESET"
+  )
+# $<TARGET_LINKER_FILE:myLib>
+#file(GENERATE OUTPUT filename CONTENT "$<TARGET_LINKER_FILE:bootypic>")
+add_custom_command(
+  TARGET bootypic POST_BUILD
+  COMMAND "${XC16_bin2hex_EXECUTABLE}" "$<TARGET_FILE:bootypic>"
+  BYPRODUCTS bootypic.hex
+)
diff --git a/bootloader.c b/bootloader.c
index 61c261e..197cb19 100644
--- a/bootloader.c
+++ b/bootloader.c
@@ -2,6 +2,11 @@
 #include "config.h" 
 #include "bootloader.h"
 
+
+#if MAX_PROG_SIZE % _FLASH_ROW != 0
+#error "MAX_PROG_SIZE must be a multiple of _FLASH_ROW"
+#endif
+
 /* bootloader starting address (cannot write to addresses between
  * BOOTLOADER_START_ADDRESS and APPLICATION_START_ADDRESS) */
 #if _FLASH_PAGE == 128
@@ -12,127 +17,101 @@
 #define BOOTLOADER_START_ADDRESS 0x800
 #endif
 
-static uint8_t rxBuffer[RX_BUF_LEN];
-static uint16_t rxBufferIndex = 0;
-
+static uint8_t message[RX_BUF_LEN] = {0};
 static uint8_t f16_sum1 = 0, f16_sum2 = 0;
-static uint16_t t2Counter = 0;
-
-int main(void){
-    /* initialize the peripherals from the user-supplied initialization functions */
-	initPins();
-    initOsc();
-    initUart();
-    initTimers();
-	
-    /* wait until something is received on the serial port */
-    while(!should_abort_boot(t2Counter)){
-		ClrWdt();
-        
-        receiveBytes();
-        processReceived();
-        
-        if(TMR2 > 50000){
-            TMR2 = 0;
-            t2Counter++;
-        }
-    }
 
+int main(void) {
+	if (pre_boot()) {
+		/* initialize the peripherals from the user-supplied initialization functions */
+		initPins();
+	    initOsc();
+	    initUart();
+	    initTimers();
+		
+	    /* wait until something is received on the serial port */
+	    while(!should_abort_boot()){
+			ClrWdt();
+	        receiveBytes();
+	    }
+	}
     startApp(APPLICATION_START_ADDRESS);
     
     return 0;
 }
 
+typedef enum ParseState {
+	STATE_WAIT_FOR_START, ///< Have not yet received a start byte.
+	STATE_READ_ESCAPED,   ///< Have received an escape byte, next data byte must be decoded
+	STATE_READ_VERBATIM,  ///< Have not received an escape byte, next data byte should be read as-is
+	STATE_END_OF_MESSAGE, 
+} ParseState;
+
 void receiveBytes(void){
-    static const uint16_t TMR1_THRESHOLD = (uint16_t)(STALE_MESSAGE_TIME * (FCY / (256.0f)));
-    
-    while(U1STAbits.URXDA){
-        rxBuffer[rxBufferIndex] = U1RXREG;
-        rxBufferIndex++;
+	static uint16_t messageIndex = 0;
+	static ParseState state = STATE_WAIT_FOR_START;
+	// keep reading until one of the following:
+	// 1. we don't have any data available in the uart buffer to read in which case we return
+	//    and wait for this function to be called again
+	// 2. we find an END OF MESSAGE, in which case we call processCommand to deal with the data
+	// 3. we overflow the receive buffer, in which case we throw out the data
+    while(true)
+	{
+		uint8_t a_byte;
 
-        TMR1 = TMR2 = 0;
-        t2Counter = 0;
-        T1CONbits.TON = 1;
-    }
-    
-    /* if the time since the last received has expired, then
-     * turn off the timer and reset the buffer */
-    if(TMR1 > TMR1_THRESHOLD){
-        uint16_t i;
-        T1CONbits.TON = 0;
-        TMR1 = 0;
-        
-        rxBufferIndex = 0;
-        for(i=0; i<RX_BUF_LEN; i++)   rxBuffer[i] = 0;
-    }
+		if (!tryRxByte(&a_byte))
+			return;
+			
+		switch (state){
+		case STATE_WAIT_FOR_START:
+			if (a_byte == START_OF_FRAME){
+				state = STATE_READ_VERBATIM;
+			}
+			// otherwise, ignore data until we see a start byte
+			break;
+		case STATE_READ_VERBATIM:
+			if (a_byte == ESC){
+				state = STATE_READ_ESCAPED;
+			} else if (a_byte == END_OF_FRAME) {
+				state = STATE_END_OF_MESSAGE;
+			} else {
+				message[messageIndex++] = a_byte;
+			}
+			break;
+		case STATE_READ_ESCAPED:
+			message[messageIndex++] = a_byte ^ ESC_XOR;
+			state = STATE_READ_VERBATIM;
+			break;
+		default:
+			break;
+		}
+		
+		if (state == STATE_END_OF_MESSAGE) {
+			uint16_t fletcher = (uint16_t)message[messageIndex - 2] 
+	                + ((uint16_t)message[messageIndex - 1] << 8);
+	        if(fletcher == fletcher16(message, messageIndex - 2)){
+	            processCommand(message);
+	            // we got a valid message! reset the stall timer
+				TMR3HLD = 0;
+				TMR2 = 0;
+	        }
+		}
+	    if (messageIndex >= RX_BUF_LEN || state == STATE_END_OF_MESSAGE) {
+			uint16_t i;
+		    for(i=0; i<RX_BUF_LEN; i++) message[i] = 0;
+		    messageIndex = 0;
+		    state = STATE_WAIT_FOR_START;
+		    return;
+		}
+	}
 }
 
-void processReceived(void){
-    /* look for start and end bytes in the sequence */
-    bool startFound = false, endFound = false;
-    uint16_t indexOfStart = 0, indexOfEnd = 0;
-    uint16_t index = 0, messageIndex = 0, i;
-    uint8_t message[RX_BUF_LEN];
-    uint16_t fletcher;
-    
-    /* find the start of frame */
-    while((index < RX_BUF_LEN) && (index < rxBufferIndex)){
-        if(rxBuffer[index] == START_OF_FRAME){
-            startFound = true;
-            indexOfStart = index;
-        }
-        index++;
-        
-        if(startFound) break;
-    }
-    
-    /* find the end of frame */
-    while((index < RX_BUF_LEN) && (index < rxBufferIndex)){
-        if(rxBuffer[index] == END_OF_FRAME){
-            endFound = true;
-            indexOfEnd = index;
-        }
-        index++;
-        
-        if(endFound) break;
-    }
-    
-    if(startFound && endFound){
-        bool escapeNext = false;
-        index = indexOfStart;
-        messageIndex = 0;
-        
-        /* read the message out, removing escape characters as necessary */
-        for(index=indexOfStart+1; index<indexOfEnd; index++){
-            if(!escapeNext){
-                if(rxBuffer[index] == ESC){
-                    escapeNext = true;
-                }else{
-                    message[messageIndex] = rxBuffer[index];
-                    messageIndex++;
-                }
-            }else{
-                message[messageIndex] = rxBuffer[index] ^ ESC_XOR;
-                messageIndex++;
-                escapeNext = false;
-            }
-        }
-        
-        /* read the fletcher number from the message */
-        fletcher = (uint16_t)message[messageIndex - 2] 
-                + ((uint16_t)message[messageIndex - 1] << 8);
-        
-        /* if they match, then process the message */
-        if(fletcher == fletcher16(message, messageIndex - 2)){
-            processCommand(message);
-        }
-        
-        /* stop the timer, clear the buffer */
-        T1CONbits.TON = 0;
-        TMR1 = 0;
-        rxBufferIndex = 0;
-        for(i=0; i<RX_BUF_LEN; i++)   rxBuffer[i] = 0;
-    }
+/// Construct a uint32 from the little endian bytes starting at data
+uint32_t from_lendian_uint32(const void * data){
+	const unsigned char * bytes = data;
+	return ((uint32_t)bytes[0] << 0)
+         | ((uint32_t)bytes[1] << 8)
+         | ((uint32_t)bytes[2] << 16)
+         | ((uint32_t)bytes[3] << 24);
 }
 
 void processCommand(uint8_t* data){
@@ -189,10 +168,7 @@ void processCommand(uint8_t* data){
             
         case CMD_ERASE_PAGE:
             /* should correspond to a border */
-            address = (uint32_t)data[3] 
-                    + ((uint32_t)data[4] << 8)
-                    + ((uint32_t)data[5] << 16)
-                    + ((uint32_t)data[6] << 24);
+            address = from_lendian_uint32(data + 3);
             
             /* do not allow the bootloader to be erased */
             if((address >= BOOTLOADER_START_ADDRESS) && (address < APPLICATION_START_ADDRESS))
@@ -202,10 +178,8 @@ void processCommand(uint8_t* data){
             
             /* re-initialize the bootloader start address */
             if(address == 0){
-                address = 0x00000000;
-                
                 /* this is the GOTO BOOTLOADER instruction */
-                progData[0] = 0x040000 + BOOTLOADER_START_ADDRESS;
+                progData[0] = 0x040000 | BOOTLOADER_START_ADDRESS;
                 progData[1] = 0x000000;
                 
                 /* write the data */
@@ -215,10 +189,7 @@ void processCommand(uint8_t* data){
             break;
             
         case CMD_READ_ADDR:
-            address = (uint32_t)data[3] 
-                    + ((uint32_t)data[4] << 8)
-                    + ((uint32_t)data[5] << 16)
-                    + ((uint32_t)data[6] << 24);
+            address = from_lendian_uint32(data + 3);
             progData[0] = address;
             progData[1] = readAddress(address);
             
@@ -226,15 +197,12 @@ void processCommand(uint8_t* data){
             break;
             
         case CMD_READ_MAX:
-            address = (uint32_t)data[3] 
-                    + ((uint32_t)data[4] << 8)
-                    + ((uint32_t)data[5] << 16)
-                    + ((uint32_t)data[6] << 24);
+            address = from_lendian_uint32(data + 3);
             
             progData[0] = address;
             
             for(i=0; i<MAX_PROG_SIZE; i++){
-                progData[i+1] = readAddress((address + (i << 1)));
+                progData[i+1] = readAddress(address + 2*i);
             }
             
             txArray32bit(cmd, progData, MAX_PROG_SIZE + 1);
@@ -242,53 +210,45 @@ void processCommand(uint8_t* data){
             break;
             
         case CMD_WRITE_ROW:
-            address = (uint32_t)data[3] 
-                    + ((uint32_t)data[4] << 8)
-                    + ((uint32_t)data[5] << 16)
-                    + ((uint32_t)data[6] << 24);
+            address = from_lendian_uint32(data + 3);
             
+			/* do not allow the bootloader to be overwritten */
+            if((address >= BOOTLOADER_START_ADDRESS) && (address < APPLICATION_START_ADDRESS))
+                break;
+
             for(i=0; i<_FLASH_ROW; i++){
-                progData[i] = (uint32_t)data[i * 4 + 7] 
-                    + ((uint32_t)data[i * 4 + 8] << 8)
-                    + ((uint32_t)data[i * 4 + 9] << 16)
-                    + ((uint32_t)data[i * 4 + 10] << 24);
+                progData[i] = from_lendian_uint32(data + 7 + i * 4);
             }
-            
-            /* do not allow the bootloader to be overwritten */
-            if((word >= BOOTLOADER_START_ADDRESS) && (word < APPLICATION_START_ADDRESS))
-                break;
-            
+        
             /* do not allow the reset vector to be changed by the application */
-            if(word < __IVT_BASE)
+            if(address < __IVT_BASE)
                 break;
 
 			writeRow(address, progData);
             break;
             
         case CMD_WRITE_MAX_PROG_SIZE:
-            address = (uint32_t)data[3] 
-                    + ((uint32_t)data[4] << 8)
-                    + ((uint32_t)data[5] << 16)
-                    + ((uint32_t)data[6] << 24);
-            
+			address = from_lendian_uint32(data + 3);
+
+			/* do not allow the bootloader to be overwritten */
+            if((address >= BOOTLOADER_START_ADDRESS) && (address < APPLICATION_START_ADDRESS))
+                break;
+           	
             /* fill the progData array */
             for(i=0; i<MAX_PROG_SIZE; i++){
-                progData[i] = (uint32_t)data[7 + (i * 4)]
-                        + ((uint32_t)data[8 + (i * 4)] << 8)
-                        + ((uint32_t)data[9 + (i * 4)] << 16)
-                        + ((uint32_t)data[10 + (i * 4)] << 24);
-                
-                /* the zero address should always go to the bootloader */
-                if(address == 0){
-                    if(i == 0){
-                        progData[i] = 0x040000 | BOOTLOADER_START_ADDRESS;
-                    }else if(i == 1){
-                        progData[i] = 0x000000;
-                    }
-                }
+				progData[i] = from_lendian_uint32(data + 7 + i * 4);
+			}
+
+		    /* the zero address should always go to the bootloader */
+            if(address == 0){
+	            progData[0] = 0x040000 | BOOTLOADER_START_ADDRESS;
+	            progData[1] = 0x000000;
             }
-            writeRow(address, progData);
 
+			/* write to flash memory, one row at a time */
+			for (i=0; i*_FLASH_ROW<MAX_PROG_SIZE; i++){
+				 writeRow(address + i * _FLASH_ROW * 2, progData + i*_FLASH_ROW);
+			}
             break;
             
         case CMD_START_APP:
@@ -296,7 +256,7 @@ void processCommand(uint8_t* data){
             break;
             
         default:
-        {}
+        	break;
     }
 }
 
diff --git a/bootloader.h b/bootloader.h
index cb35a4a..60aa162 100644
--- a/bootloader.h
+++ b/bootloader.h
@@ -1,5 +1,5 @@
-#ifndef _BOOTY_H
-#define _BOOTY_H
+#ifndef _BOOTLOADER_H
+#define _BOOTLOADER_H
 #include "boot_user.h"
 
 /** @brief the version of the transmission protocol
@@ -88,6 +88,13 @@ void processCommand(uint8_t* data);
  */
 void txStart(void);
 
+
+/**
+ * @brief receive a single UART byte, assigning it to outbyte
+ * @return true if successful
+ */
+extern bool tryRxByte(uint8_t *outbyte);
+
 /**
  * @brief transmits a single byte, escaping if necessary, along with 
  * accumulating the fletcher checksum
@@ -166,4 +173,24 @@ uint16_t fletcher16(uint8_t* data, uint16_t length);
  */
 void startApp(uint16_t applicationAddress);
 
+/**
+ * @brief initializes the oscillator
+ */
+extern void initOsc(void);
+
+/**
+ * @brief initializes the pins
+ */
+extern void initPins(void);
+
+/**
+ * @brief initializes the UART
+ */
+extern void initUart(void);
+
+/**
+ * @brief initializes timers for bootloader timeout
+ */
+extern void initTimers(void);
+
 #endif
\ No newline at end of file
diff --git a/bootypic.mcp b/bootypic.mcp
new file mode 100644
index 0000000..20d013e
--- /dev/null
+++ b/bootypic.mcp
@@ -0,0 +1,118 @@
+[HEADER]
+magic_cookie={66E99B07-E706-4689-9E80-9B2582898A13}
+file_version=1.0
+device=PIC24FJ256GB106
+[PATH_INFO]
+BuildDirPolicy=BuildDirIsProjectDir
+dir_src=
+dir_bin=bin
+dir_tmp=obj
+dir_sin=
+dir_inc=.\devices\pic24fj256gb106;..\Power_Board\src;C:\Program Files (x86)\Microchip\xc16\v1.36\include
+dir_lib=
+dir_lkr=
+[CAT_FILTERS]
+filter_src=*.s;*.c
+filter_inc=*.h;*.inc
+filter_obj=*.o
+filter_lib=*.a
+filter_lkr=*.gld
+[CAT_SUBFOLDERS]
+subfolder_src=OpenRover;P24FJ256GB106
+subfolder_inc=OpenRover;P24FJ256GB106
+subfolder_obj=
+subfolder_lib=
+subfolder_lkr=
+[FILE_SUBFOLDERS]
+file_000=.
+file_001=P24FJ256GB106
+file_002=OpenRover
+file_003=OpenRover
+file_004=OpenRover
+file_005=OpenRover
+file_006=P24FJ256GB106
+file_007=P24FJ256GB106
+file_008=OpenRover
+file_009=OpenRover
+file_010=OpenRover
+file_011=OpenRover
+file_012=OpenRover
+file_013=OpenRover
+file_014=.
+file_015=.
+file_016=.
+file_017=.
+[GENERATED_FILES]
+file_000=no
+file_001=no
+file_002=no
+file_003=no
+file_004=no
+file_005=no
+file_006=no
+file_007=no
+file_008=no
+file_009=no
+file_010=no
+file_011=no
+file_012=no
+file_013=no
+file_014=no
+file_015=no
+file_016=no
+file_017=no
+[OTHER_FILES]
+file_000=no
+file_001=no
+file_002=no
+file_003=no
+file_004=no
+file_005=no
+file_006=no
+file_007=no
+file_008=no
+file_009=no
+file_010=no
+file_011=no
+file_012=no
+file_013=no
+file_014=no
+file_015=yes
+file_016=yes
+file_017=yes
+[FILE_INFO]
+file_000=bootloader.c
+file_001=devices\pic24fj256gb106\boot_user.c
+file_002=..\Power_Board\src\i2clib.c
+file_003=..\Power_Board\src\stdfunctions.c
+file_004=..\Power_Board\src\power.c
+file_005=..\Power_Board\src\battery.c
+file_006=devices\pic24fj256gb106\config.h
+file_007=devices\pic24fj256gb106\boot_user.h
+file_008=..\Power_Board\src\power.h
+file_009=..\Power_Board\src\battery.h
+file_010=bootloader.h
+file_011=..\Power_Board\src\hardware_definitions.h
+file_012=..\Power_Board\src\i2clib.h
+file_013=..\Power_Board\src\stdhdr.h
+file_014=devices\pic24fj256gb106\p24FJ256GB106_boot.gld
+file_015=license.txt
+file_016=readme.rst
+file_017=.gitignore
+[SUITE_INFO]
+suite_guid={9BCCB495-CD65-480A-BA76-63D8E78B117F}
+suite_state=-omf=elf
+[TOOL_SETTINGS]
+TS{8493B2ED-D539-4951-86C9-24D5331F0393}=-DBOOTYPIC -g
+TS{F9CE474D-6A6C-401D-A11E-BEE01B244D79}=-g -ffunction-sections -Wall -DBOOTYPIC -O1
+TS{21A8AA9B-E75C-40B6-B3AE-9CBC16FF2EF9}=--gc-sections -Map="$(BINDIR_)$(TARGETBASE).map" --report-mem --no-isr -o"$(BINDIR_)$(TARGETBASE).$(TARGETSUFFIX)"
+TS{45B3B6E0-6DAF-4E40-8D20-CFB1B620134D}=
+[INSTRUMENTED_TRACE]
+enable=0
+transport=0
+format=0
+[CUSTOM_BUILD]
+Pre-Build=
+Pre-BuildEnabled=1
+Post-Build=
+Post-BuildEnabled=1
diff --git a/devices/dspic33epXkm/boot_config.h b/devices/dspic33epXkm/boot_config.h
index 025b85c..0d02e6b 100644
--- a/devices/dspic33epXkm/boot_config.h
+++ b/devices/dspic33epXkm/boot_config.h
@@ -1,5 +1,5 @@
-#ifndef _BOOTLOADER_H
-#define _BOOTLOADER_H
+#ifndef _BOOT_CONFIG_H
+#define _BOOT_CONFIG_H
 
 #include <stdbool.h>
 #include <stdint.h>
diff --git a/devices/dspic33epXmc/32mc204/boot_user.h b/devices/dspic33epXmc/32mc204/boot_user.h
index 0af52d0..fb779f6 100644
--- a/devices/dspic33epXmc/32mc204/boot_user.h
+++ b/devices/dspic33epXmc/32mc204/boot_user.h
@@ -1,5 +1,5 @@
-#ifndef _BOOTLOADER_H
-#define _BOOTLOADER_H
+#ifndef _BOOT_USER_H
+#define _BOOT_USER_H
 
 #include <stdbool.h>
 #include <stdint.h>
diff --git a/devices/pic24fj256gb106/boot_user.c b/devices/pic24fj256gb106/boot_user.c
index 739869e..88f5195 100644
--- a/devices/pic24fj256gb106/boot_user.c
+++ b/devices/pic24fj256gb106/boot_user.c
@@ -1,12 +1,21 @@
 /// Device-specific implementation details
 #include "xc.h"
 #include "boot_user.h"
+#include "power.h"
 
-bool readBootPin(void);
+bool pre_boot(){
+	power_init();
+
+	bool should_run_bootloader;
+	// In a normal power-on boot, we don't need to run the bootloader
+	// if the firmware is corrupt, it will reset for an IOPUWR
+    should_run_bootloader = (RCON & ~_RCON_POR_MASK & ~_RCON_BOR_MASK);
+	RCON = 0;
+	return should_run_bootloader;
+}
 
 void initOsc(void){
     CLKDIV = 0;
-
     return;
 }
 
@@ -14,8 +23,9 @@ void initPins(void){
     /* no analog, all digital */
     AD1PCFGL = 0xffff;
     AD1PCFGH = 0x3;
-    
-#if defined(BOOT_PORT_B)
+
+#if defined(BOOT_PORT_NONE)
+#elif defined(BOOT_PORT_B)
     TRISB |= (1 << BOOT_PIN);
 #elif defined(BOOT_PORT_C)
     TRISC |= (1 << BOOT_PIN);
@@ -32,14 +42,13 @@ void initPins(void){
 #endif
 }
 
-#define UART_MAP_RX(rpn) uart_map_rx(rpn)
 void uart_map_rx(uint16_t rpn) {
 	// map that pin to UART RX
 	_U1RXR = rpn;
 }
 
-#define UART_MAP_TX(rpn) uart_map_tx(rpn)
-void uart_map_tx(uint16_t rpn) {
+static __attribute__((always_inline)) void uart_map_tx(uint16_t rpn) {
+	// this big case statement benefits greatly from inlining this function.
 	#define _RPxR(x) _RP ## x ## R
 	#define CASE(x) case x: _RPxR(x)=_RPOUT_U1TX; break;
 	switch (rpn){
@@ -82,42 +91,19 @@ void uart_map_tx(uint16_t rpn) {
 void initUart(void){
     U1MODE = 0;
     U1STA = 0x2000;
+    uart_map_rx(RX_PIN);
+    uart_map_tx(TX_PIN);
 
 	if (UART_BAUD_RATE < FCY/4.0f){
 		U1MODEbits.BRGH = 0; // High Baud Rate Select bit = off
-		U1BRG = FCY / (16.0f*UART_BAUD_RATE) - 1;
+		U1BRG = FCY / 16 / UART_BAUD_RATE - 1;
 	} 	else {
 		U1MODEbits.BRGH = 1;
-		U1BRG = FCY / (4.0f*UART_BAUD_RATE) - 1;
-	}   
-	
-/* make the RX pin an input */
-#if defined(UART_MAP_RX)
-	UART_MAP_RX(RX_PIN);
-#elif defined RX_PORT_A
-    TRISA |= (1 << RX_PIN);
-    ANSELA &= ~(1 << RX_PIN);
-#elif defined RX_PORT_B
-    TRISB |= (1 << RX_PIN);
-    ANSELB &= ~(1 << RX_PIN);
-#elif defined RX_PORT_C
-    TRISC |= (1 << RX_PIN);
-    ANSELC &= ~(1 << RX_PIN);
-#endif
-   
-/* make the TX pin an output */
-#if defined UART_MAP_TX
-	UART_MAP_TX(TX_PIN);
-#elif defined TX_PORT_A
-    TRISA &= ~(1 << TX_PIN);
-    ANSELA &= ~(1 << TX_PIN);
-#elif defined TX_PORT_B 
-    TRISB &= ~(1 << TX_PIN);
-    ANSELB &= ~(1 << TX_PIN);
-#elif defined TX_PORT_C 
-    TRISC &= ~(1 << TX_PIN);
-    ANSELC &= ~(1 << TX_PIN);
-#endif
+		U1BRG = FCY / 4 / UART_BAUD_RATE - 1;
+	}
+
+	/* note UART module overrides the PORT, LAT, and TRIS bits, so no
+     * need to set them */
     
     U1MODEbits.UARTEN = 1;  /* enable UART */
     U1STAbits.UTXEN = 1;    /* transmit enabled */
@@ -126,24 +112,30 @@ void initUart(void){
 }
 
 void initTimers(void){
-    /* initialize timer1 registers - timer 1 is used for determining if the 
-     * rx buffer should be flushed b/c of local stale data (mis-transfers, 
-     * etc) */
-    T1CON = 0x0030; /* prescaler = 256 (4.27us/tick) */
-    
-    /* initialize timer2 registers - timer 2 is used for determining if the
-     * the bootloader has been engaged recently */
-    TMR2 = 0;
+	T2CON = T3CON = 0;
+	TMR2 = TMR3 = 0;
+	PR2 = PR3 = 0xffff;
+	
+	T2CONbits.T32 = 1; // merge timer 2 and timer 3 into a 32 bit timer
+	T2CONbits.TCKPS = 0b11; // 256 prescale
+	T2CONbits.TON = 1;
+}
 
-    T2CON = 0x8030; /* prescaler = 256 */
+uint32_t getTimeTicks(){
+	uint32_t n_ticks = 0;
+	n_ticks |= (uint32_t)TMR2;
+	n_ticks |= ((uint32_t)TMR3HLD)<<16;
+	return n_ticks;
 }
 
-bool should_abort_boot(uint16_t counterValue) {
-	if(counterValue > NUM_OF_TMR2_OVERFLOWS){
-		return true;
-	}
+bool should_abort_boot() {
+	static const uint32_t BOOTLOADER_TIMEOUT_TICKS = (FCY / 256.0 * BOOT_LOADER_TIME);
+	if(getTimeTicks() > BOOTLOADER_TIMEOUT_TICKS){
+       return true;
+    }
 
-    #if defined(BOOT_PORT_A)
+	#if defined(BOOT_PORT_NONE)
+    #elif defined(BOOT_PORT_A)
         if(PORTA & (1 << BOOT_PIN))
             return true;
     #elif defined(BOOT_PORT_B)
@@ -159,6 +151,16 @@ bool should_abort_boot(uint16_t counterValue) {
    return false;
 }
 
+bool tryRxByte(uint8_t *outbyte){
+	if (U1STAbits.URXDA){
+		*outbyte = U1RXREG;
+		return true;
+	}
+	else{
+		return false;
+	}
+}
+
 /// Device-specific implementations of bootloader operations
 void eraseByAddress(uint32_t address){
 	uint16_t offset;
diff --git a/devices/pic24fj256gb106/boot_user.h b/devices/pic24fj256gb106/boot_user.h
index 231cad0..081ef3b 100644
--- a/devices/pic24fj256gb106/boot_user.h
+++ b/devices/pic24fj256gb106/boot_user.h
@@ -1,38 +1,21 @@
-#ifndef _BOOTLOADER_H
-#define _BOOTLOADER_H
+#ifndef _BOOT_USER_H
+#define _BOOT_USER_H
 
 #include <stdbool.h>
 #include <stdint.h>
 
+#ifndef __PIC24FJ256GB106__
+#error "platform settings do not match header file"
+#endif
+#define PLATFORM_STRING "pic24fj256gb106"
+
 /**
  * @brief these defines will determine the boot pin to be utilized
  * 
  * When the boot pin is pulled low, then bootloader will start, otherwise
  * the application will start on reset.
  */
-#define BOOT_PORT_B
-#define BOOT_PIN 0
-
-/**
- * @brief choose the RX and TX pins by RP function and port/pin
- * 
- * Each pin should have three defines associated with it:
- *   * port
- *   * pin number
- *   * RP assignment
- * 
- * Assign the port by defining RX_PORT_A, RX_PORT_B, etc.
- * Assign the pin by defining RX_PIN 1, RX_PIN 2, etc.
- * Assign the remappable input by define RX_RPNUM to an RP number
- * 
- * Same pattern for TX pins.
- * 
- * If the pin has not been utilized before, it may be necessary to add this 
- * bit to the source code as well, but in those places, it should be clear
- * what the user should do in the source code to make compatible with their
- * application.
- */
-
+#define BOOT_PORT_NONE
 
 // UART communication baud rate, in Hz
 #define UART_BAUD_RATE 57600
@@ -47,8 +30,6 @@
  * active at startup before moving on to the application
  */
 #define BOOT_LOADER_TIME (10.0f)
-#define STALE_MESSAGE_TIME (0.05f)
-
 
 /* @brief this is the maximum size that can be programmed into the microcontroller
  * as part of one transaction using the CMD_WRITE_MAX_PROG_SIZE command 
@@ -57,46 +38,24 @@
  * allow faster programming operations, but will consume more RAM.
  */
 #define MAX_PROG_SIZE 0x80
-#define APPLICATION_START_ADDRESS 0x1000
-#define TIME_PER_TMR2_50k 0.213
-#define FCY 16000000UL  /* instruction clock frequency, in Hz */
+#define APPLICATION_START_ADDRESS 0x2000
+#define FCY (16000000UL)  /* instruction clock frequency, in Hz */
 
 #define _FLASH_PAGE   512  /* _FLASH_PAGE should be the maximum page (in instructions) */
 #define _FLASH_ROW    64  /* _FLASH_ROW = maximum write row (in instructions) */
 
-#define NUM_OF_TMR2_OVERFLOWS (uint16_t)((BOOT_LOADER_TIME/TIME_PER_TMR2_50k) + 1.0)
-
-#if defined(__PIC24FJ256GB106__)
-#define PLATFORM_STRING "pic24fj256gb106"
-#else 
-#warning "your device may not be supported"
-#endif
-
-/**
- * @brief initializes the oscillator
- */
-void initOsc(void);
-
-/**
- * @brief initializes the pins
- */
-void initPins(void);
-
-/**
- * @brief initializes the UART
- */
-void initUart(void);
-
 /**
- * @brief initializes TMR1 and TMR2
+ * @brief run the very first initialization
+ * @return true if we should continue with the bootloader
+ *         false if we should jump directly to the application
  */
-void initTimers(void);
+bool pre_boot();
 
 /**
  * @brief determines if the bootloader should abort
  * @return true if the bootloader should abort, else false
  */
-bool should_abort_boot(uint16_t counterValue);
+bool should_abort_boot();
 
 /**
  * @brief reads the value at the address
@@ -122,7 +81,7 @@ void writeInstr(uint32_t address, uint32_t instruction);
 /**
  * @brief writes two instructions, starting at the address
  * @param address the starting address (must be even)
- * @param progDataArray a 32-bit, 2-element array containing the instruction 
+ * @param progDataArray a 32-bit, 2-element array containing the instructions
  * words to be written to flash
  */
 void doubleWordWrite(uint32_t address, uint32_t* progDataArray);
@@ -130,14 +89,14 @@ void doubleWordWrite(uint32_t address, uint32_t* progDataArray);
 /**
  * @brief writes an entire row of instructions, starting at the address
  * @param address the starting address (must start a flash row)
- * @param words a buffer containing the instructions to write
+ * @param words a buffer containing the _FLASH_ROW instructions to write
  */
 void writeRow(uint32_t address, uint32_t* words);
 
 /**
  * @brief writes the maximum number of instructions
  * @param address the starting address
- * @param progData a 32-bit, 2-element array containing the instruction words
+ * @param progData a 32-bit, MAX_PROG_SIZE-element array containing the instruction words
  * to be written to flash
  */
 void writeMax(uint32_t address, uint32_t* progData);
diff --git a/devices/pic24fj256gb106/config.h b/devices/pic24fj256gb106/config.h
index 4a35bc0..f116658 100644
--- a/devices/pic24fj256gb106/config.h
+++ b/devices/pic24fj256gb106/config.h
@@ -1,7 +1,7 @@
 /* PIC24FJ256GB106 Configuration Bit Settings */
 
-#ifndef CONFIG_H
-#define CONFIG_H
+#ifndef _CONFIG_H
+#define _CONFIG_H
 
 #pragma config JTAGEN = OFF
 #pragma config GCP = OFF
diff --git a/devices/pic24fj256gb106/p24FJ256GB106_app.gld b/devices/pic24fj256gb106/p24FJ256GB106_app.gld
index 5f7eae1..6b41c89 100644
--- a/devices/pic24fj256gb106/p24FJ256GB106_app.gld
+++ b/devices/pic24fj256gb106/p24FJ256GB106_app.gld
@@ -33,7 +33,6 @@
  * 
  */
 
-
 OUTPUT_ARCH("24FJ256GB106")
 CRT0_STARTUP(crt0_standard.o)
 CRT1_STARTUP(crt1_standard.o)
diff --git a/devices/pic24fj256gb106/p24FJ256GB106_boot.gld b/devices/pic24fj256gb106/p24FJ256GB106_boot.gld
index ec0c25d..30cd09a 100644
--- a/devices/pic24fj256gb106/p24FJ256GB106_boot.gld
+++ b/devices/pic24fj256gb106/p24FJ256GB106_boot.gld
@@ -60,7 +60,7 @@ MEMORY
   ivt            : ORIGIN = 0x4,           LENGTH = 0xFC
   _reserved      : ORIGIN = 0x100,         LENGTH = 0x4
   aivt           : ORIGIN = 0x104,         LENGTH = 0xFC
-  program (xr)   : ORIGIN = 0x400,         LENGTH = 0xC00 /* reduced to ensure that the bootloader doesn't encroach on application space */
+  program (xr)   : ORIGIN = 0x400,         LENGTH = 0x1600 /* reduced to ensure that the bootloader doesn't encroach on application space */
   CONFIG3        : ORIGIN = 0x2ABFA,       LENGTH = 0x2
   CONFIG2        : ORIGIN = 0x2ABFC,       LENGTH = 0x2
   CONFIG1        : ORIGIN = 0x2ABFE,       LENGTH = 0x2
diff --git a/devices/pic24fvXkm/boot_user.h b/devices/pic24fvXkm/boot_user.h
index 5af97b2..b72320a 100644
--- a/devices/pic24fvXkm/boot_user.h
+++ b/devices/pic24fvXkm/boot_user.h
@@ -1,5 +1,5 @@
-#ifndef _BOOTLOADER_H
-#define _BOOTLOADER_H
+#ifndef _BOOT_USER_H
+#define _BOOT_USER_H
 
 #include <stdbool.h>
 #include <stdint.h>