diff --git a/DW1000-arduino-test/DW1000-arduino-basic-test/DW1000-arduino-basic-test.ino b/DW1000-arduino-test/DW1000-arduino-basic-test/DW1000-arduino-basic-test.ino
index e0b9843f..c1ec555c 100644
--- a/DW1000-arduino-test/DW1000-arduino-basic-test/DW1000-arduino-basic-test.ino
+++ b/DW1000-arduino-test/DW1000-arduino-basic-test/DW1000-arduino-basic-test.ino
@@ -34,10 +34,15 @@ void setup() {
 }
 
 void loop() {
+    // wait a bit
+    delay(1000);
     // DEBUG chip info and registers pretty printed
     Serial.print("Device ID: "); Serial.println(dw.getPrintableDeviceIdentifier());
     Serial.print("Unique ID: "); Serial.println(dw.getPrintableExtendedUniqueIdentifier());
     Serial.print("Network ID & Device Address: "); Serial.println(dw.getPrintableNetworkIdAndShortAddress());
+    // DEBUG print device tuning results
+    Serial.println(dw.getPrettyBytes(AGC_TUNE, AGC_TUNE1_SUB, LEN_AGC_TUNE1));
+    Serial.println(dw.getPrettyBytes(AGC_TUNE, AGC_TUNE2_SUB, LEN_AGC_TUNE2));
     // wait a bit
-    delay(1000);
+    delay(10000);
 }
diff --git a/DW1000-arduino-test/DW1000-arduino-receiver-test/DW1000-arduino-receiver-test.ino b/DW1000-arduino-test/DW1000-arduino-receiver-test/DW1000-arduino-receiver-test.ino
index 0bf582fa..bf546949 100644
--- a/DW1000-arduino-test/DW1000-arduino-receiver-test/DW1000-arduino-receiver-test.ino
+++ b/DW1000-arduino-test/DW1000-arduino-receiver-test/DW1000-arduino-receiver-test.ino
@@ -14,6 +14,8 @@
 #include <SPI.h>
 #include <DW1000.h>
 
+// packet data
+byte recvBytes[256];
 // DEBUG packet sent status and count
 volatile boolean received = false;
 volatile int numReceived = 0;
@@ -41,9 +43,9 @@ void setup() {
   Serial.print("Device ID: "); Serial.println(dw.getPrintableDeviceIdentifier());
   Serial.print("Unique ID: "); Serial.println(dw.getPrintableExtendedUniqueIdentifier());
   Serial.print("Network ID & Device Address: "); Serial.println(dw.getPrintableNetworkIdAndShortAddress());
-  Serial.println(dw.getPrettyBytes(SYS_CFG, LEN_SYS_CFG));
-  Serial.println(dw.getPrettyBytes(PANADR, LEN_PANADR));
-  Serial.println(dw.getPrettyBytes(SYS_MASK, LEN_SYS_MASK));
+  Serial.println(dw.getPrettyBytes(SYS_CFG, NO_SUB, LEN_SYS_CFG));
+  Serial.println(dw.getPrettyBytes(PANADR, NO_SUB, LEN_PANADR));
+  Serial.println(dw.getPrettyBytes(SYS_MASK, NO_SUB, LEN_SYS_MASK));
   // attach interrupt and ISR
   pinMode(INT0, INPUT);
   attachInterrupt(0, serviceIRQ, FALLING);
@@ -68,20 +70,21 @@ void loop() {
     // Interrupt version of transmit: Confirmation of ISR status change
     if(received) {
       Serial.print("Received packet ... #"); Serial.println(numReceived);
-      Serial.println(dw.getDataLength());
-      received = false;
+      int n = dw.getDataLength();
+      Serial.print("Bytes available ... "); Serial.println(n);
+      dw.getData(recvBytes, n);
+      Serial.print("Data is ... ");
+      for(int i = 0; i < n; i++) {
+        Serial.print((char)recvBytes[i]);
+      }
+      Serial.println();
       
+      received = false;
+      // restart the receiver
       dw.newReceive();
       dw.setDefaults();
       dw.startReceive();
     }
-    // wait a bit
-    delay(1000);
-    //Serial.println(dw.getPrettyBytes(SYS_STATUS, LEN_SYS_STATUS));
-    //Serial.println(dw.getPrettyBytes(CHAN_CTRL, LEN_CHAN_CTRL));
-    
-    // TODO re-issue receive after error
-    dw.newReceive();
-    dw.setDefaults();
-    dw.startReceive();
+    //Serial.println(dw.getPrettyBytes(SYS_STATUS, NO_SUB, LEN_SYS_STATUS));
+    //Serial.println(dw.getPrettyBytes(CHAN_CTRL, NO_SUB, LEN_CHAN_CTRL));
 }
diff --git a/DW1000-arduino-test/DW1000-arduino-sender-test/DW1000-arduino-sender-test.ino b/DW1000-arduino-test/DW1000-arduino-sender-test/DW1000-arduino-sender-test.ino
index c6102ae6..b1e52cb4 100644
--- a/DW1000-arduino-test/DW1000-arduino-sender-test/DW1000-arduino-sender-test.ino
+++ b/DW1000-arduino-test/DW1000-arduino-sender-test/DW1000-arduino-sender-test.ino
@@ -41,9 +41,9 @@ void setup() {
   Serial.print("Device ID: "); Serial.println(dw.getPrintableDeviceIdentifier());
   Serial.print("Unique ID: "); Serial.println(dw.getPrintableExtendedUniqueIdentifier());
   Serial.print("Network ID & Device Address: "); Serial.println(dw.getPrintableNetworkIdAndShortAddress());
-  Serial.println(dw.getPrettyBytes(SYS_CFG, LEN_SYS_CFG));
-  Serial.println(dw.getPrettyBytes(PANADR, LEN_PANADR));
-  Serial.println(dw.getPrettyBytes(SYS_MASK, LEN_SYS_MASK));
+  Serial.println(dw.getPrettyBytes(SYS_CFG, NO_SUB, LEN_SYS_CFG));
+  Serial.println(dw.getPrettyBytes(PANADR, NO_SUB, LEN_PANADR));
+  Serial.println(dw.getPrettyBytes(SYS_MASK, NO_SUB, LEN_SYS_MASK));
   // attach interrupt and ISR
   pinMode(INT0, INPUT);
   attachInterrupt(0, serviceIRQ, FALLING);
@@ -66,8 +66,8 @@ void loop() {
   dw.newTransmit();
   {
     dw.setDefaults();
-    byte data[4] = {'t', 'e', 's', 't'};
-    dw.setData(data, 3);
+    String msg = "Hello DW1000";
+    dw.setData(msg);
     dw.startTransmit();
   }
   // Interrupt version of transmit: Confirmation of ISR status change
@@ -77,5 +77,5 @@ void loop() {
   }
   // wait a bit
   delay(2000);
-  //Serial.println(dw.getPrettyBytes(SYS_STATUS, LEN_SYS_STATUS));
+  //Serial.println(dw.getPrettyBytes(SYS_STATUS, NO_SUB, LEN_SYS_STATUS));
 }
diff --git a/DW1000/DW1000.cpp b/DW1000/DW1000.cpp
index 8f70733f..48a6f0e8 100644
--- a/DW1000/DW1000.cpp
+++ b/DW1000/DW1000.cpp
@@ -47,7 +47,7 @@ void DW1000::initialize() {
 	digitalWrite(_rst, HIGH);
 	delay(10);
 	// default network and node id
-	memset(_networkAndAddress, 0xFF, LEN_PANADR);
+	writeValueToBytes(_networkAndAddress, 0xFF, LEN_PANADR);
 	writeNetworkIdAndDeviceAddress();
 	// default system configuration
 	memset(_syscfg, 0, LEN_SYS_CFG);
@@ -60,12 +60,12 @@ void DW1000::initialize() {
 	// tell the chip to load the LDE microcode
 	byte pmscctrl0[LEN_PMSC_CTRL0];
 	byte otpctrl[LEN_OTP_CTRL];
-	memset(otpctrl, 0x8000, LEN_OTP_CTRL);
-	memset(pmscctrl0, 0x0301, LEN_PMSC_CTRL0);
+	writeValueToBytes(otpctrl, 0x8000, LEN_OTP_CTRL);
+	writeValueToBytes(pmscctrl0, 0x0301, LEN_PMSC_CTRL0);
 	writeBytes(PMSC_CTRL0, NO_SUB, pmscctrl0, LEN_PMSC_CTRL0);
 	writeBytes(OTP_CTRL, OTP_CTRL_SUB, otpctrl, LEN_OTP_CTRL);
 	delay(10);
-	memset(pmscctrl0, 0x0200, LEN_PMSC_CTRL0);
+	writeValueToBytes(pmscctrl0, 0x0200, LEN_PMSC_CTRL0);
 	writeBytes(PMSC_CTRL0, NO_SUB, pmscctrl0, LEN_PMSC_CTRL0);
 	tune();
 	delay(10);
@@ -82,15 +82,15 @@ void DW1000::tune() {
 	byte rftxctrl[LEN_RF_TXCTRL];
 	byte tcpgdelay[LEN_TC_PGDELAY];
 	byte fsplltune[LEN_FS_PLLTUNE];
-	memset(agctune1, 0x8870, LEN_AGC_TUNE1);
-	memset(agctune2, 0x2502A907, LEN_AGC_TUNE2);
-	memset(drxtune2, 0x311A002D, LEN_DRX_TUNE2);
-	memset(ldecfg1, 0x6D, LEN_LDE_CFG1);
-	memset(ldecfg2, 0x1607, LEN_LDE_CFG2);
-	memset(txpower, 0x0E082848, LEN_TX_POWER);
-	memset(rftxctrl, 0x001E3FE0, LEN_RF_TXCTRL);
-	memset(tcpgdelay, 0xC0, LEN_TC_PGDELAY);
-	memset(fsplltune, 0xA6, LEN_FS_PLLTUNE);
+	writeValueToBytes(agctune1, 0x8870, LEN_AGC_TUNE1);
+	writeValueToBytes(agctune2, 0x2502A907, LEN_AGC_TUNE2);
+	writeValueToBytes(drxtune2, 0x311A002D, LEN_DRX_TUNE2);
+	writeValueToBytes(ldecfg1, 0x6D, LEN_LDE_CFG1);
+	writeValueToBytes(ldecfg2, 0x1607, LEN_LDE_CFG2);
+	writeValueToBytes(txpower, 0x0E082848, LEN_TX_POWER);
+	writeValueToBytes(rftxctrl, 0x001E3FE0, LEN_RF_TXCTRL);
+	writeValueToBytes(tcpgdelay, 0xC0, LEN_TC_PGDELAY);
+	writeValueToBytes(fsplltune, 0xA6, LEN_FS_PLLTUNE);
 	writeBytes(AGC_TUNE, AGC_TUNE1_SUB, agctune1, LEN_AGC_TUNE1);
 	writeBytes(AGC_TUNE, AGC_TUNE2_SUB, agctune2, LEN_AGC_TUNE2);
 	writeBytes(DRX_TUNE, DRX_TUNE2_SUB, drxtune2, LEN_DRX_TUNE2);
@@ -296,9 +296,9 @@ void DW1000::pulseFrequency(byte freq) {
 	// tuning
 	byte agctune1[LEN_AGC_TUNE1];
 	if(freq == TX_PULSE_FREQ_16MHZ) {
-		memset(agctune1, 0x8870, LEN_AGC_TUNE1);
+		writeValueToBytes(agctune1, 0x8870, LEN_AGC_TUNE1);
 	} else if(freq == TX_PULSE_FREQ_64MHZ) {
-		memset(agctune1, 0x889B, LEN_AGC_TUNE1);
+		writeValueToBytes(agctune1, 0x889B, LEN_AGC_TUNE1);
 	} else {
 		return;
 	}
@@ -360,7 +360,7 @@ void DW1000::startTransmit() {
 	_deviceMode = IDLE_MODE;
 }
 
-void DW1000::setData(byte data[], unsigned int n) {
+void DW1000::setData(byte data[], int n) {
 	if(!isSuppressFrameCheck()) {
 		n+=2; // two bytes CRC-16
 	}
@@ -382,6 +382,15 @@ void DW1000::setData(byte data[], unsigned int n) {
 	writeTransmitFrameControlRegister();
 }
 
+void DW1000::setData(String data) {
+	int n = data.length()+1;
+	byte* dataBytes = (byte*)malloc(n);
+	data.getBytes(dataBytes, n);
+	setData(dataBytes, n);
+	free(dataBytes);
+	
+}
+
 int DW1000::getDataLength() {
 	if(_deviceMode == TX_MODE) {
 		// 10 bits of TX frame control register
@@ -397,13 +406,24 @@ int DW1000::getDataLength() {
 	}
 }
 
-int DW1000::getData(byte data[]) {
-	int n = getDataLength(); // number of bytes w/o the two FCS ones
+void DW1000::getData(byte data[], int n) {
 	if(n < 0) {
-		return n;
+		return;
 	}
 	readBytes(RX_BUFFER, NO_SUB, data, n);
-	return n;
+}
+
+void DW1000::getData(String data) {
+	int i;
+	int n = getDataLength(); // number of bytes w/o the two FCS ones
+	byte* dataBytes = (byte*)malloc(n);
+	getData(dataBytes, n);
+	// clear string
+	data.remove(0);
+	// append to string
+	for(i = 0; i < n; i++) {
+		data += (char)dataBytes[i];
+	}
 }
 
 // system event register
@@ -447,6 +467,11 @@ boolean DW1000::isReceiveSuccess() {
 	return false;
 }
 
+void DW1000::clearAllStatus() {
+	memset(_sysstatus, 0, LEN_SYS_STATUS);
+	writeBytes(SYS_STATUS, NO_SUB, _sysstatus, LEN_SYS_STATUS);
+}
+
 void DW1000::clearReceiveStatus() {
 	// clear latched RX bits (i.e. write 1 to clear)
 	setBit(_sysstatus, LEN_SYS_STATUS, RXDFR_BIT, true);
@@ -524,6 +549,13 @@ boolean DW1000::getBit(byte data[], int n, int bit) {
 	return bitRead(targetByte, shift);
 }
 
+void DW1000::writeValueToBytes(byte data[], int val, int n) {
+	int i;	
+	for(i = 0; i < n; i++) {
+		data[i] = ((val >> (i * 8)) & 0xFF);
+	}
+}
+
 /*
  * Read bytes from the DW1000. Number of bytes depend on register length.
  * @param cmd 
@@ -623,11 +655,11 @@ void DW1000::writeBytes(byte cmd, word offset, byte data[], int n) {
 #endif
 }
 
-char* DW1000::getPrettyBytes(unsigned int reg, unsigned int n) {
+char* DW1000::getPrettyBytes(byte cmd, word offset, int n) {
 	unsigned int i, j, b;
 	byte* readBuf = (byte*)malloc(n);
-	readBytes(reg, NO_SUB, readBuf, n);
-	b = sprintf(_msgBuf, "Reg: 0x%02x, bytes: %d\nB: 7 6 5 4 3 2 1 0\n", reg, n);
+	readBytes(cmd, offset, readBuf, n);
+	b = sprintf(_msgBuf, "Reg: 0x%02x, bytes: %d\nB: 7 6 5 4 3 2 1 0\n", cmd, n);
 	for(i = 0; i < n; i++) {
 		byte curByte = readBuf[i];
 		snprintf(&_msgBuf[b++], 2, "%d", (i + 1));
diff --git a/DW1000/DW1000.h b/DW1000/DW1000.h
index cda186e5..75c2b693 100644
--- a/DW1000/DW1000.h
+++ b/DW1000/DW1000.h
@@ -216,8 +216,10 @@ class DW1000 {
 	void preambleLength(byte prealen);
 	void extendedFrameLength(boolean val);
 	void waitForResponse(boolean val);
-	void setData(byte data[], unsigned int n);
-	int getData(byte data[]);
+	void setData(byte data[], int n);
+	void setData(String data);
+	void getData(byte data[], int n);
+	void getData(String data);
 	int getDataLength();
 	boolean isSuppressFrameCheck();
 
@@ -236,6 +238,7 @@ class DW1000 {
 	void interruptOnAutomaticAcknowledgeTrigger(boolean val);
 	void clearInterrupts();
 
+	void clearAllStatus();
 	void clearReceiveStatus();
 	void clearTransmitStatus(); // TODO impl
 
@@ -258,7 +261,7 @@ class DW1000 {
 	void startTransmit();
 
 	// debug pretty print registers
-	char* getPrettyBytes(unsigned int reg, unsigned int n);
+	char* getPrettyBytes(byte cmd, word offset, int n);
 
 	// transmission/reception bit rate
 	static const byte TRX_RATE_110KBPS = 0x00;
@@ -329,6 +332,9 @@ class DW1000 {
 	void readBytes(byte cmd, word offset, byte data[], int n);
 	void writeBytes(byte cmd, word offset, byte data[], int n);
 
+	/* writing numeric values to bytes. */
+	void writeValueToBytes(byte data[], int val, int n); 
+
 	/* internal helper for bit operations on multi-bytes. */
 	boolean getBit(byte data[], int n, int bit);
 	void setBit(byte data[], int n, int bit, boolean val);