diff --git a/CHANGELOG.md b/CHANGELOG.md
index f3ed5171..d22c03bc 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -2,6 +2,13 @@
 
 This document summarizes the changes introduced to the code base for each release.
 
+## v1.0.4
+
+- Fix injection period inconsistencies
+- Add ramp injection function
+- Add AMDS driver counter access API
+- Add top priority scheduler task register method
+
 ## v1.0.3
 
 - Fix bug in Vivado project vs. C code config checking
diff --git a/sdk/app_cpu1/common/drv/motherboard.c b/sdk/app_cpu1/common/drv/motherboard.c
index c0d7b05c..17e07f2b 100644
--- a/sdk/app_cpu1/common/drv/motherboard.c
+++ b/sdk/app_cpu1/common/drv/motherboard.c
@@ -98,4 +98,25 @@ void motherboard_print_counters(uint32_t base_addr)
     cmd_resp_printf("T: %08X\r\n", m_motherboard[MOTHERBOARD_DEFS_OFFSET_COUNT_TIMEOUT / 4]);
 }
 
+void motherboard_get_counters(uint32_t base_addr, uint32_t *V, uint32_t *C, uint32_t *T)
+{
+    // Create base address for IP
+    volatile uint32_t *m_motherboard = (volatile uint32_t *) base_addr;
+
+    // Read V counter if user requested it
+    if (V != NULL) {
+        *V = m_motherboard[MOTHERBOARD_DEFS_OFFSET_COUNT_VALID / 4];
+    }
+
+    // Read C counter if user requested it
+    if (C != NULL) {
+        *C = m_motherboard[MOTHERBOARD_DEFS_OFFSET_COUNT_CORRUPT / 4];
+    }
+
+    // Read T counter if user requested it
+    if (T != NULL) {
+        *T = m_motherboard[MOTHERBOARD_DEFS_OFFSET_COUNT_TIMEOUT / 4];
+    }
+}
+
 #endif // USER_CONFIG_ENABLE_MOTHERBOARD_SUPPORT
diff --git a/sdk/app_cpu1/common/drv/motherboard.h b/sdk/app_cpu1/common/drv/motherboard.h
index b710cc66..8e642ddb 100644
--- a/sdk/app_cpu1/common/drv/motherboard.h
+++ b/sdk/app_cpu1/common/drv/motherboard.h
@@ -83,5 +83,6 @@ int motherboard_get_data(uint32_t base_addr, mb_channel_e channel, int32_t *out)
 
 void motherboard_print_samples(uint32_t base_addr);
 void motherboard_print_counters(uint32_t base_addr);
+void motherboard_get_counters(uint32_t base_addr, uint32_t *V, uint32_t *C, uint32_t *T);
 
 #endif // MOTHERBOARD_H
diff --git a/sdk/app_cpu1/common/sys/cmd/cmd_inj.c b/sdk/app_cpu1/common/sys/cmd/cmd_inj.c
index 8bf941ad..bca0e467 100644
--- a/sdk/app_cpu1/common/sys/cmd/cmd_inj.c
+++ b/sdk/app_cpu1/common/sys/cmd/cmd_inj.c
@@ -221,6 +221,37 @@ int cmd_inj(int argc, char **argv)
         return CMD_SUCCESS;
     }
 
+    // Handle 'inj ramp ...' command
+    if (argc == 7 && STREQ("ramp", argv[1])) {
+        // Parse out name and convert to injection context
+        inj_ctx_t *ctx = injection_find_ctx_by_name(argv[2]);
+        if (ctx == NULL) {
+            return CMD_INVALID_ARGUMENTS;
+        }
+
+        // Parse out operation
+        inj_op_e op;
+        if (_parse_op(argv[3], &op) != 0) {
+            return CMD_INVALID_ARGUMENTS;
+        }
+
+        // Pull out valueMin argument
+        double valueMin = strtod(argv[4], NULL);
+
+        // Pull out valueMax argument
+        double valueMax = strtod(argv[5], NULL);
+
+        // Pull out period argument
+        double period = strtod(argv[6], NULL);
+        if (period < 0.0) {
+            return CMD_INVALID_ARGUMENTS;
+        }
+
+        injection_ramp(ctx, op, valueMin, valueMax, period);
+
+        return CMD_SUCCESS;
+    }
+
     return CMD_INVALID_ARGUMENTS;
 }
 
diff --git a/sdk/app_cpu1/common/sys/injection.c b/sdk/app_cpu1/common/sys/injection.c
index 317501b9..95e0cf7b 100644
--- a/sdk/app_cpu1/common/sys/injection.c
+++ b/sdk/app_cpu1/common/sys/injection.c
@@ -110,6 +110,18 @@ static inline double _square(double min, double max, double period, double time)
     return out;
 }
 
+static inline double _ramp(double min, double max, double period, double time)
+{
+    double out;
+    // Calculate slope
+    double m_pos = (max - min) / (period);
+
+    // Calculate output
+    out = m_pos * time + min;
+
+    return out;
+}
+
 void injection_init(void)
 {
     cmd_inj_register();
@@ -221,7 +233,7 @@ void injection_inj(double *output, inj_ctx_t *ctx, double Ts)
     {
         ctx->curr_time += Ts;
         if (ctx->curr_time >= ctx->chirp.period) {
-            ctx->curr_time = 0.0;
+            ctx->curr_time -= ctx->chirp.period;
         }
 
         value = _chirp(
@@ -233,7 +245,7 @@ void injection_inj(double *output, inj_ctx_t *ctx, double Ts)
     {
         ctx->curr_time += Ts;
         if (ctx->curr_time >= ctx->triangle.period) {
-            ctx->curr_time = 0.0;
+            ctx->curr_time -= ctx->triangle.period;
         }
 
         value = _triangle(ctx->triangle.valueMin, ctx->triangle.valueMax, ctx->triangle.period, ctx->curr_time);
@@ -244,13 +256,24 @@ void injection_inj(double *output, inj_ctx_t *ctx, double Ts)
     {
         ctx->curr_time += Ts;
         if (ctx->curr_time >= ctx->square.period) {
-            ctx->curr_time = 0.0;
+            ctx->curr_time -= ctx->square.period;
         }
 
         value = _square(ctx->square.valueMin, ctx->square.valueMax, ctx->square.period, ctx->curr_time);
         break;
     }
 
+    case RAMP:
+    {
+        ctx->curr_time += Ts;
+        if (ctx->curr_time >= ctx->ramp.period) {
+            ctx->curr_time -= ctx->ramp.period;
+        }
+
+        value = _ramp(ctx->ramp.valueMin, ctx->ramp.valueMax, ctx->ramp.period, ctx->curr_time);
+        break;
+    }
+
     case NONE:
     default:
         // Injection function not set by user,
@@ -357,6 +380,16 @@ void injection_square(inj_ctx_t *ctx, inj_op_e op, double valueMin, double value
     ctx->square.period = period;
 }
 
+void injection_ramp(inj_ctx_t *ctx, inj_op_e op, double valueMin, double valueMax, double period)
+{
+    ctx->inj_func = RAMP;
+    ctx->operation = op;
+    ctx->curr_time = 0.0;
+    ctx->ramp.valueMin = valueMin;
+    ctx->ramp.valueMax = valueMax;
+    ctx->ramp.period = period;
+}
+
 // ***************************
 // Code for running the state machine to
 // list the registered injection contexts
diff --git a/sdk/app_cpu1/common/sys/injection.h b/sdk/app_cpu1/common/sys/injection.h
index 3f06669f..532a98ea 100644
--- a/sdk/app_cpu1/common/sys/injection.h
+++ b/sdk/app_cpu1/common/sys/injection.h
@@ -9,6 +9,7 @@ typedef enum inj_func_e {
     CHIRP,
     TRIANGLE,
     SQUARE,
+    RAMP,
     NONE,
 } inj_func_e;
 
@@ -46,6 +47,12 @@ typedef struct inj_func_square_t {
     double period;
 } inj_func_square_t;
 
+typedef struct inj_func_ramp_t {
+    double valueMin;
+    double valueMax;
+    double period;
+} inj_func_ramp_t;
+
 #define INJ_MAX_NAME_LENGTH (24)
 
 typedef struct inj_ctx_t {
@@ -62,6 +69,7 @@ typedef struct inj_ctx_t {
     inj_func_chirp_t chirp;
     inj_func_triangle_t triangle;
     inj_func_square_t square;
+    inj_func_ramp_t ramp;
 
     double curr_time;
 } inj_ctx_t;
@@ -82,6 +90,7 @@ void injection_noise(inj_ctx_t *ctx, inj_op_e op, double gain, double offset);
 void injection_chirp(inj_ctx_t *ctx, inj_op_e op, double gain, double freqMin, double freqMax, double period);
 void injection_triangle(inj_ctx_t *ctx, inj_op_e op, double valueMin, double valueMax, double period);
 void injection_square(inj_ctx_t *ctx, inj_op_e op, double valueMin, double valueMax, double period);
+void injection_ramp(inj_ctx_t *ctx, inj_op_e op, double valueMin, double valueMax, double period);
 
 inj_ctx_t *injection_find_ctx_by_name(char *name);
 
diff --git a/sdk/app_cpu1/common/sys/scheduler.c b/sdk/app_cpu1/common/sys/scheduler.c
index 5f8bde3e..c0a402dc 100644
--- a/sdk/app_cpu1/common/sys/scheduler.c
+++ b/sdk/app_cpu1/common/sys/scheduler.c
@@ -30,17 +30,25 @@ void scheduler_timer_isr(void *arg)
     // We should be done running tasks in a time slice before this fires,
     // so if tasks are still running, we consumed too many cycles per slice
     if (tasks_running) {
-        // Use raw printf so this goes directly to the UART device
-        xil_printf("ERROR: OVERRUN SCHEDULER TIME QUANTUM!\n");
-
-        led_set_color(0, LED_COLOR_RED);
-        led_set_color(1, LED_COLOR_RED);
-        led_set_color(2, LED_COLOR_RED);
-        led_set_color(3, LED_COLOR_RED);
-
-        // Hang here so the user can debug why the code took so long
-        // and overran the time slice! See the `running_task` variable.
-        while (1) {
+        // Per AMDC-Firmware Issue #265, during start-up, the overrun check
+        // seems to falsely trigger, or at least, we do not care about the trigger.
+        //
+        // To fix this, wait until at least 100 time slices have elapsed
+        // before allowing it to trigger.
+        if (elapsed_usec > 100 * SYS_TICK_USEC) {
+            // Use raw printf so this goes directly to the UART device
+            xil_printf("ERROR: OVERRUN SCHEDULER TIME QUANTUM!\r\n");
+            xil_printf("ERROR: CURRENT TASK IS %s\n", running_task->name);
+
+            led_set_color(0, LED_COLOR_RED);
+            led_set_color(1, LED_COLOR_RED);
+            led_set_color(2, LED_COLOR_RED);
+            led_set_color(3, LED_COLOR_RED);
+
+            // Hang here so the user can debug why the code took so long
+            // and overran the time slice! See the `running_task` variable.
+            while (1) {
+            }
         }
     }
 #endif // USER_CONFIG_ENABLE_TIME_QUANTUM_CHECKING
@@ -109,6 +117,29 @@ int scheduler_tcb_register(task_control_block_t *tcb)
     return SUCCESS;
 }
 
+int scheduler_tcb_register_high_priority(task_control_block_t *tcb)
+{
+    // Don't let clients re-register their tcb
+    if (tcb->is_registered) {
+        return FAILURE;
+    }
+
+    // Mark as registered
+    tcb->is_registered = true;
+
+    if (tasks == NULL) {
+        // There are no tasks in linked list
+        tasks = tcb;
+        tasks->next = NULL;
+    } else {
+        // Put new tcb at front of linked list
+        tcb->next = tasks;
+        tasks = tcb;
+    }
+
+    return SUCCESS;
+}
+
 int scheduler_tcb_unregister(task_control_block_t *tcb)
 {
     // Don't let clients unregister their already unregistered tcb
diff --git a/sdk/app_cpu1/common/sys/scheduler.h b/sdk/app_cpu1/common/sys/scheduler.h
index 7532a0e2..5ec81337 100644
--- a/sdk/app_cpu1/common/sys/scheduler.h
+++ b/sdk/app_cpu1/common/sys/scheduler.h
@@ -49,6 +49,7 @@ void scheduler_run(void);
 void scheduler_tcb_init(
     task_control_block_t *tcb, task_callback_t callback, void *callback_arg, const char *name, uint32_t interval_usec);
 int scheduler_tcb_register(task_control_block_t *tcb);
+int scheduler_tcb_register_high_priority(task_control_block_t *tcb);
 int scheduler_tcb_unregister(task_control_block_t *tcb);
 bool scheduler_tcb_is_registered(task_control_block_t *tcb);