diff --git a/creole b/creole
index dc1abae..c7fc965 160000
--- a/creole
+++ b/creole
@@ -1 +1 @@
-Subproject commit dc1abae13a7d8d50043dfbf22b8c8592692617f8
+Subproject commit c7fc965fcfa72f26456f5221a6480de52f7d776a
diff --git a/firmware/generate_csr_locations.py b/firmware/generate_csr_locations.py
index e278fdc..c575575 100644
--- a/firmware/generate_csr_locations.py
+++ b/firmware/generate_csr_locations.py
@@ -13,7 +13,7 @@ class CSRGenerator:
 			regname = f"base_{name}"
 		else:
 			regname = f"base_{name}_{num}"
-		return self.j["csr_registers"][regname]["addr"]
+		return f'(csr_t) {self.j["csr_registers"][regname]["addr"]}'
 	def print(self, *args):
 		print(*args, end='', file=self.file)
 
@@ -22,7 +22,7 @@ class CSRGenerator:
 			self.print(f'csr_t {name} = {self.get_reg(name, None)};\n')
 		else:
 			self.print(f'csr_t {name}[{num}] = {{', self.get_reg(name, 0))
-			for i in range(0,num):
+			for i in range(1,num):
 				self.print(',', self.get_reg(name, i))
 			self.print('};\n\n')
 
diff --git a/software/CMakeLists.txt b/software/CMakeLists.txt
index 4e6f783..ae3e92f 100644
--- a/software/CMakeLists.txt
+++ b/software/CMakeLists.txt
@@ -3,7 +3,8 @@ cmake_minimum_required(VERSION 3.20.0)
 find_package(Zephyr)
 project(upsilon)
 include_directories("../firmware")
+include_directories("src/")
 include_directories("../creole")
 include_directories("../firmware/rtl/control_loop")
 
-target_sources(app PRIVATE src/access.c src/buf.c src/main.c src/sock.c)
+target_sources(app PRIVATE src/access.c src/buf.c src/main.c src/sock.c ../creole/creole.c)
diff --git a/software/Makefile b/software/Makefile
index 6318517..98e1870 100644
--- a/software/Makefile
+++ b/software/Makefile
@@ -1,5 +1,5 @@
 build/zephyr/zephyr.bin: src/*.c ../firmware/overlay.dts ../firmware/pin_io.h
 	mkdir -p build
-	cd build && cmake $$(cat ../../firmware/overlay.config) -DDTC_OVERLAY_FILE=../firmware/overlay.dts -DBOARD=litex_vexriscv .. && make -j7
+	cd build && CMAKE_BINARY_DIR=$$(pwd) cmake $$(cat ../../firmware/overlay.config) -DDTC_OVERLAY_FILE=../firmware/overlay.dts -DBOARD=litex_vexriscv -DEXTRA_CFLAGS=-Wfatal-errors .. && make
 clean:
 	rm -rf build
diff --git a/software/src/access.c b/software/src/access.c
index 8d8c21d..c93c538 100644
--- a/software/src/access.c
+++ b/software/src/access.c
@@ -11,8 +11,10 @@
 
 #include <zephyr/kernel.h>
 #include <zephyr/logging/log.h>
+#include "upsilon.h"
 #include "access.h"
 #include "pin_io.h"
+#include "control_loop_cmds.h"
 
 LOG_MODULE_REGISTER(access);
 
@@ -31,7 +33,7 @@ sign_extend(uint32_t in, unsigned len)
  * DAC
  *********************/
 
-static struct k_mutex_t dac_mutex[DAC_MAX];
+static struct k_mutex dac_mutex[DAC_MAX];
 static __thread int dac_locked[DAC_MAX];
 
 int
@@ -74,7 +76,7 @@ dac_read_write(int dac, creole_word send, k_timeout_t timeout,
 		return e;
 
 	*to_dac[dac] = send;
-	*dac_arm[adc] = 1;
+	*dac_arm[dac] = 1;
 
 	/* Recursive locks should busy wait. */
 	/* 10ns * (2 * 10 cycles per half DAC cycle)
@@ -96,11 +98,11 @@ dac_read_write(int dac, creole_word send, k_timeout_t timeout,
  * adc read
  *********************/
 
-static struct k_mutex_t adc_mutex[ADC_MAX];
+static struct k_mutex adc_mutex[ADC_MAX];
 static __thread int adc_locked[ADC_MAX];
 
 int
-adc_take(int adc, int timeout)
+adc_take(int adc, k_timeout_t timeout)
 {
 	if (adc < 0 || adc >= ADC_MAX)
 		return -EFAULT;
@@ -131,7 +133,7 @@ adc_release(int adc)
 }
 
 int
-adc_read(int adc, int timeout, creole_word *wrd)
+adc_read(int adc, k_timeout_t timeout, creole_word *wrd)
 {
 	int e;
 	if ((e = adc_take(adc, timeout)) != 0)
@@ -144,7 +146,7 @@ adc_read(int adc, int timeout, creole_word *wrd)
 		k_sleep(K_NSEC(550 + 24*2*10*10));
 	while (!*adc_finished[adc]);
 
-	*wrd = sign_extend(*from_adc[adc]);
+	*wrd = sign_extend(*from_adc[adc], 20);
 	*adc_arm[adc] = 0;
 
 	adc_release(adc);
@@ -155,8 +157,8 @@ adc_read(int adc, int timeout, creole_word *wrd)
  * Control loop
  *******/
 
-static struct k_mutex_t cloop_mutex;
-static __thread cloop_locked;
+static struct k_mutex cloop_mutex;
+static __thread int cloop_locked;
 
 int
 cloop_take(k_timeout_t timeout)
@@ -206,7 +208,7 @@ cloop_read(int code, uint32_t *high_reg, uint32_t *low_reg,
 }
 
 int
-cloop_write(int code, uint32_t high_reg, uint32_t low_reg,
+cloop_write(int code, uint32_t high_val, uint32_t low_val,
             k_timeout_t timeout)
 {
 	if (cloop_take(timeout) != 0)
@@ -228,7 +230,7 @@ cloop_write(int code, uint32_t high_reg, uint32_t low_reg,
  * Waveforms
  ***********/
 
-static struct k_mutex_t waveform_mutex[DAC_MAX];
+static struct k_mutex waveform_mutex[DAC_MAX];
 static __thread int waveform_locked[DAC_MAX];
 
 int
@@ -249,7 +251,7 @@ waveform_disarm_wait(int wf)
 {
 	*wf_arm[wf] = 0;
 	if (*wf_running[wf]) {
-		k_sleep(K_NSEC(10* *wf_time_to_wait[wf]);
+		k_sleep(K_NSEC(10* *wf_time_to_wait[wf]));
 		while (*wf_running[wf]);
 	}
 }
@@ -264,10 +266,11 @@ waveform_release(int waveform)
 		waveform_disarm_wait(waveform);
 	}
 
-	int e k_mutex_unlock(waveform_mutex + waveform);
+	int e = k_mutex_unlock(waveform_mutex + waveform);
 	if (e == 0) {
 		waveform_locked[e]--;
 	}
+	return e;
 }
 
 size_t
@@ -275,7 +278,7 @@ creole_to_array(const struct creole_reader *start, creole_word *buf, size_t bufl
 {
 	size_t i = 0;
 	struct creole_word w;
-	struct creole_reader r = start;
+	struct creole_reader r = *start;
 
 	while (creole_decode(&r, &w) && i < buflen) {
 		buf[i++] = w.word;
@@ -290,11 +293,7 @@ waveform_load(uint32_t buf[MAX_WL_SIZE], int slot, k_timeout_t timeout)
 	if (waveform_take(slot, timeout) != 0)
 		return 0;
 
-	if (load_into_array(env->dats[db], buf, ARRAY_SIZE(buf))
-	    != MAX_WL_SIZE)
-		goto ret;
-
-	*wf_start_addr[slot] = &buf;
+	*wf_start_addr[slot] = (uint32_t) buf;
 	*wf_refresh_start[slot] = 1;
 	while (!*wf_refresh_finished[slot]);
 	*wf_refresh_start[slot] = 0;
@@ -306,7 +305,9 @@ waveform_load(uint32_t buf[MAX_WL_SIZE], int slot, k_timeout_t timeout)
 int
 waveform_halt_until_finished(int slot)
 {
-	// stub
+	*wf_halt_on_finish[slot] = 1;
+	while (!*wf_finished[slot]);
+	return 1;
 }
 
 int
@@ -319,7 +320,7 @@ waveform_arm(int slot, bool halt_on_finish, uint32_t wait, k_timeout_t timeout)
 		return 0;
 	}
 
-	*wf_halt_on_finished[slot] = halt_on_finish;
+	*wf_halt_on_finish[slot] = halt_on_finish;
 	*wf_time_to_wait[slot] = wait;
 	*wf_arm[slot] = 1;
 
@@ -350,7 +351,7 @@ access_release_thread(void)
 	}
 
 	for (int i = 0; i < DAC_MAX; i++) {
-		while (dac_release(i) == 0);
+		while (dac_release(i) == 0)
 			dac_locked[i]--;
 		if (dac_locked[i] != 0) {
 			LOG_WRN("%s: dac mutex %d counter mismatch", get_thread_name(), i);
@@ -378,17 +379,17 @@ access_release_thread(void)
 	}
 }
 
-int
+void
 access_init(void)
 {
-	k_mutex_init(cloop_mutex);
+	k_mutex_init(&cloop_mutex);
 
-	for (int i = 0; i < DAC_NUM; i++) {
+	for (int i = 0; i < DAC_MAX; i++) {
 		k_mutex_init(dac_mutex + i);
 		k_mutex_init(waveform_mutex + i);
 	}
 
-	for (int i = 0; i < ADC_NUM; i++) {
+	for (int i = 0; i < ADC_MAX; i++) {
 		k_mutex_init(adc_mutex + i);
 	}
 }
diff --git a/software/src/access.h b/software/src/access.h
index 2ac1ab3..3a42ba8 100644
--- a/software/src/access.h
+++ b/software/src/access.h
@@ -1,16 +1,21 @@
 #pragma once
 #include <zephyr/kernel.h>
+#include "creole.h"
 
-
+int dac_take(int dac, k_timeout_t timeout);
 int dac_release(int dac);
 int dac_read_write(int dac, creole_word send, k_timeout_t timeout,
                    creole_word *recv);
 
-int adc_take(int adc, int timeout);
+int adc_take(int adc, k_timeout_t timeout);
 int adc_release(int adc);
-int adc_read(int adc, int timeout, creole_word *wrd);
+int adc_read(int adc, k_timeout_t timeout, creole_word *wrd);
 
 int cloop_take(k_timeout_t timeout);
+int cloop_read(int code, uint32_t *high_reg, uint32_t *low_reg,
+               k_timeout_t timeout);
+int cloop_write(int code, uint32_t high_val, uint32_t low_val,
+                k_timeout_t timeout);
 int cloop_release(void);
 
 int waveform_take(int waveform, k_timeout_t timeout);
@@ -28,4 +33,4 @@ int waveform_disarm(int slot);
 void access_release_thread(void);
 
 /* Called once on initializion. */
-int access_init(void);
+void access_init(void);
diff --git a/software/src/main.c b/software/src/main.c
index 5e157c1..9d2874d 100644
--- a/software/src/main.c
+++ b/software/src/main.c
@@ -17,7 +17,7 @@ static K_KERNEL_STACK_ARRAY_DEFINE(stacks, THREADNUM, THREAD_STACK_SIZ);
 
 #define READBUF_SIZ 0xFFFF
 static unsigned char readbuf[THREADNUM][READBUF_SIZ];
-static struct kthread_t threads[THREADNUM];
+static struct k_thread threads[THREADNUM];
 static bool thread_ever_used[THREADNUM];
 
 static int
@@ -31,7 +31,7 @@ read_size(int s)
 	return (unsigned char)buf[0] | (unsigned char) buf[1] << 8;
 }
 
-static const char *const compiler_ret_str[CREOLE_COMPILER_RET_LEN] = {
+static const char *const compiler_ret_str[CREOLE_COMPILE_RET_LEN] = {
 	[CREOLE_COMPILE_OK] = "compile ok",
 	[CREOLE_OPCODE_READ_ERROR] = "opcode read error",
 	[CREOLE_OPCODE_MALFORMED] = "opcode malformed",
@@ -42,7 +42,7 @@ static const char *const compiler_ret_str[CREOLE_COMPILER_RET_LEN] = {
 	[CREOLE_DATA_OVERFLOW] = "data overflow",
 	[CREOLE_TYPE_ERROR] = "type error",
 	[CREOLE_PROGRAM_OVERFLOW] = "program overflow"
-}
+};
 
 static const char *const run_ret_str[CREOLE_RUN_RET_LEN] = {
 	[CREOLE_STEP_CONTINUE] = "continue",
@@ -67,12 +67,13 @@ hup(int sock)
 		.revents = 0
 	};
 
-	return zsock_pollfd(&fd, 1, 0);
+	return zsock_poll(&fd, 1, 0);
 }
 
 static void
 exec_creole(unsigned char *buf, int size, int sock)
-{#define DATLEN 64
+{
+#define DATSLEN 64
 	struct creole_reader dats[DATSLEN];
 #define REGLEN 32
 	creole_word reg[REGLEN];
@@ -81,7 +82,7 @@ exec_creole(unsigned char *buf, int size, int sock)
 
 	struct creole_env env = {
 		.dats = dats,
-		.datlen = DATLEN,
+		.datlen = DATSLEN,
 		.reg = reg,
 		.reglen = REGLEN,
 		.stk = stk,
@@ -89,7 +90,7 @@ exec_creole(unsigned char *buf, int size, int sock)
 
 		.r_current = {buf, size},
 		.r_start = {buf, size},
-		.sock = sock
+		.fd = sock
 	};
 
 	int e = creole_compile(&env);
@@ -113,7 +114,7 @@ exec_creole(unsigned char *buf, int size, int sock)
 			return;
 		default:
 			LOG_WRN("%s: run: %s", get_thread_name(),
-			        creole_run_ret[e]);
+			        run_ret_str[e]);
 			return;
 		}
 
@@ -128,12 +129,12 @@ static void
 exec_entry(void *client_p, void *threadnum_p,
            void *unused __attribute__((unused)))
 {
-	intptr_t client = client_p;
-	intptr_t threadnum = threadnum_p;
+	intptr_t client = (intptr_t)client_p;
+	intptr_t threadnum = (intptr_t)threadnum_p;
 	int size = read_size(client);
 
-	const char thread_name[64];
-	vsnprintk(thread_name, sizeof(thread_name), "%d:%d", client, threadnum);
+	char thread_name[64];
+	snprintk(thread_name, sizeof(thread_name), "%"PRIdPTR":%"PRIdPTR, client, threadnum);
 	k_thread_name_set(k_current_get(), thread_name);
 
 	LOG_INF("%s: Connection initiated", thread_name);
@@ -152,7 +153,7 @@ exec_entry(void *client_p, void *threadnum_p,
 		return;
 	}
 
-	exec_creole(size);
+	exec_creole(readbuf[threadnum], size, (int)client);
 	zsock_close(client);
 }
 
@@ -167,12 +168,12 @@ main_loop(int srvsock)
 
 		for (i = 0; i < THREADNUM; i++) {
 			if (!thread_ever_used[i]
-			    || k_thread_join(threads[i], 0) == 0) {
+			    || k_thread_join(&threads[i], K_NO_WAIT) == 0) {
 				connection_counter++;
-				k_thread_create(threads[i], stacks[i],
+				k_thread_create(&threads[i], stacks[i],
 				THREAD_STACK_SIZ, exec_entry,
-				(uintptr_t) client, (uintptr_t) i,
-				(uintptr_t) connection_counter,
+				(void*) client, (void*) i,
+				(void*) connection_counter,
 				1, 0, K_NO_WAIT);
 			}
 		}
@@ -189,7 +190,7 @@ void
 main(void)
 {
 	access_init();
-	k_thread_name_get(k_current_get(), "main thread");
+	k_thread_name_set(k_current_get(), "main thread");
 	for (;;) {
 		int sock = server_init_sock(6626);
 		main_loop(sock);