diff --git a/.travis.yml b/.travis.yml
index a80fa5c532..201e9ee790 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -31,7 +31,7 @@ matrix:
         - sudo apt-get install python3.5 python3.5-dev
         - sudo apt-get -y -o Dpkg::Options::="--force-confnew" install docker-ce
         - sudo pip install tox
-        - git clone -b master https://github.com/swift-nav/piksi_tools.git ../piksi_tools
+        - git clone -b pmiettinen/esd-1156-numba-deployment https://github.com/swift-nav/piksi_tools.git ../piksi_tools
       script: |
         pushd haskell
         docker build -t sbp2json .
diff --git a/HOWTO.md b/HOWTO.md
index 4ba1e2cd93..ff315d78a3 100644
--- a/HOWTO.md
+++ b/HOWTO.md
@@ -144,17 +144,54 @@ Ubuntu 16.04.
    [GitHub](https://github.com/swift-nav/libsbp/releases) and add the
    RELEASE_NOTES.md.
 
-7. Distribute release packages: `make dist`. You may need credentials
-   on the appropriate package repositories. Ignore the GPG error in `stack`,
-   the package will get uploaded correctly anyway.  If the release is
-   a Python only change it may be appropriate to just publish to PyPI
-   with `make dist-python` -- we typically update all other supported
-   languages when we make an official firmware release.
+7. Distribute release packages.  You can attempt to run all releases
+   with `make dist` -- this will likely not work through... it is
+   advisable to run each dist target separately.  In particular:
+
+   - `make dist-javascript`
+   - `make dist-haskell`
+   - `make dist-pdf`
+   - `make dist-python` (see section on Python below)
+
+   You may need credentials on the appropriate package repositories. Ignore the
+   GPG error in `stack`, the package will get uploaded correctly anyway.  If
+   the release is a Python only change it may be appropriate to just publish to
+   PyPI with `make dist-python` (see section on Python below) -- we typically
+   update all other supported languages when we make an official firmware
+   release.
 
 8. Releases are not only never perfect, they never really end. Please
    pay special attention to any downstream projects or users that may
    have issues or regressions as a consequence of the release version.
 
+# Distributing Python
+
+Python distribution requires compilation for the JIT accelerated `sbp.jit`
+package.  This package uses the Python `numba` library, which supports AOT
+compilation of a native Python extension.  The distributions for each platform
+can be created by running the `make dist-python` target on each platform
+(Windows, Mac OS X, Linux x86, and Linux ARM through docker).
+
+For example, running this:
+```
+make dist-python PYPI_USERNAME=swiftnav PYPI_PASSWORD=...
+```
+
+...will produce and upload a `.whl` appropriate for that platform.  A
+wheel that targets any platform (but requires that `numba` be installed)
+can be produced and uploaded by running the following command:
+```
+make dist-python PYPI_USERNAME=swiftnav PYPI_PASSWORD=... LIBSBP_BUILD_ANY=y
+```
+
+The Linux ARM build of libsbp can be done either natively, or through docker
+via the following set of command:
+```
+docker build -f python/Dockerfile.arm -t libsbp-arm .
+docker run -v $PWD:/work --rm -it libsbp-arm /bin/bash
+make dist-python PYPI_USERNAME=swiftnav PYPI_PASSWORD=...
+```
+
 # Contributions
 
 This library is developed internally by Swift Navigation. We welcome
diff --git a/Makefile b/Makefile
index f6ee4894b7..c96d4fa979 100644
--- a/Makefile
+++ b/Makefile
@@ -3,7 +3,7 @@
 # before using it to do Crazy Things.
 
 SHELL := /bin/bash
-SWIFTNAV_ROOT := $(shell pwd)
+SWIFTNAV_ROOT := $(CURDIR)
 MAKEFLAGS += SWIFTNAV_ROOT=$(SWIFTNAV_ROOT)
 SBP_SPEC_DIR := $(SWIFTNAV_ROOT)/spec/yaml/swiftnav/sbp/
 SBP_TESTS_SPEC_DIR := $(SWIFTNAV_ROOT)/spec/tests/yaml/
@@ -249,15 +249,22 @@ dist-python:
 	make -C $(SWIFTNAV_ROOT)/python SBP_VERSION="$(SBP_MAJOR_VERSION).$(SBP_MINOR_VERSION).$(SBP_PATCH_VERSION)" deploy 
 	$(call announce-end,"Finished deploying Python package")
 
-dist: dist-python
-	$(call announce-begin,"Deploying packages")
+dist-javascript:
+	$(call announce-begin,"Deploying Javascript package")
 	npm publish
-	pushd $(SWIFTNAV_ROOT)/haskell
-	stack sdist
-	stack upload .
-	popd
+	$(call announce-begin,"Finished deploying Javascript package")
+
+dist-haskell:
+	$(call announce-begin,"Deploying Haskell package")
+	(cd $(SWIFTNAV_ROOT)/haskell; stack sdist; stack upload .)
+	$(call announce-begin,"Finished deploying Haskell package")
+
+dist-pdf:
+	$(call announce-begin,"Deploying PDF documentation")
 	make pdf_dist
-	$(call announce-end,"Finished deploying packages")
+	$(call announce-begin,"Finished deploying PDF documentation")
+
+dist: dist-python dist-javascript dist-haskell dist-pdf
 
 pdf:
 	$(call announce-begin,"Generating PDF datasheet documentation")
diff --git a/python/Dockerfile.arm b/python/Dockerfile.arm
new file mode 100644
index 0000000000..1875701867
--- /dev/null
+++ b/python/Dockerfile.arm
@@ -0,0 +1,14 @@
+FROM balenalib/armv7hf-debian:sid-build
+
+RUN [ "cross-build-start" ]
+
+RUN \
+     echo Setting up ARM build environment... \
+  && apt-get update \
+  && apt-get install wget bzip2 build-essential llvm-6.0-dev python3 \
+  && update-alternatives --install /usr/bin/llvm-config llvm-config /usr/bin/llvm-config-6.0 1 \
+  && wget -O /tmp/miniconda.sh https://repo.continuum.io/miniconda/Miniconda3-latest-Linux-armv7l.sh \
+  && bash /tmp/miniconda.sh -b \
+  && rm /tmp/miniconda.sh
+
+ENV PATH=/root/miniconda3/bin:$PATH
diff --git a/python/MANIFEST.in b/python/MANIFEST.in
index c626bc8882..c55c64ca54 100644
--- a/python/MANIFEST.in
+++ b/python/MANIFEST.in
@@ -9,5 +9,5 @@ include .gitignore
 include LICENSE
 include tox.ini
 include sbp/RELEASE-VERSION
-recursive-include sbp/ *.py
+recursive-include sbp *.py
 prune docs/_build
diff --git a/python/Makefile b/python/Makefile
index 0761c23eb7..5bb4feeb47 100644
--- a/python/Makefile
+++ b/python/Makefile
@@ -1,8 +1,14 @@
-
 .PHONY: deploy
 
-DEPLOY_PYTHON := $(CURDIR)/deploy.bash
-DEPLOY_COMMAND := SBP_VERSION=$(SBP_VERSION) $(SHELL) $(DEPLOY_PYTHON)
+ifeq ($(OS),Windows_NT)
+PYTHON := python
+else
+PYTHON := python3
+endif
+
+DEPLOY_PYTHON := $(CURDIR)/deploy.py
+DEPLOY_COMMAND := $(PYTHON) $(DEPLOY_PYTHON)
 
+deploy: export SBP_VERSION=$(SBP_VERSION)
 deploy:
 	$(DEPLOY_COMMAND)
diff --git a/python/deploy.bash b/python/deploy.bash
deleted file mode 100755
index e51e666baa..0000000000
--- a/python/deploy.bash
+++ /dev/null
@@ -1,62 +0,0 @@
-#!/usr/bin/env bash
-
-set -euo pipefail
-IFS=$'\n\t'
-
-[[ -n "$PYPI_USERNAME" ]] || \
-  { printf "\n!!! Please set PYPI_USERNAME in the environment !!!\n\n"; exit 1; }
-
-[[ -n "$PYPI_PASSWORD" ]] || \
-  { printf "\n!!! Please set PYPI_PASSWORD in the environment !!!\n\n"; exit 1; }
-
-if ! command -v conda; then
-  echo '!!! Please install conda to deploy python !!!'
-fi
-
-conda_dir=$(mktemp -d)
-conda create --yes -p "$conda_dir" python=3.5
-
-# Activate conda
-{
-  # Workaround bug in activate code...
-  export PS1=''
-
-  eval "$(conda shell.bash hook)"
-  # shellcheck disable=SC1091
-  source activate "$conda_dir"
-}
-
-conda install --yes \
-  cython virtualenv twine wheel
-
-deploy_dir=$(mktemp -d)
-trap 'rm -rf "$deploy_dir" "$conda_dir"' EXIT
-
-echo "$deploy_dir"
-cd "$deploy_dir"
-
-echo ">>> Building staging area for deployment ..."
-
-mkdir module
-
-cp -r "$(dirname "$0")"/../.git .
-
-cp -r "$(dirname "$0")"/.coveragerc module/.
-cp -r "$(dirname "$0")"/.gitignore module/.
-
-cp -r "$(dirname "$0")"/* module/.
-
-echo ">>> Pruning ..."
-rm -r -f module/docs/_build
-rm -r -f module/build/*
-
-echo ">>> Patching setup.py ..."
-sed -i.backup 's@IS_RELEASED = False@IS_RELEASED = True@' module/setup.py
-
-cd module
-
-echo ">>> Building Python wheel ..."
-python setup.py sdist bdist_wheel
-
-echo ">>> Uploading Python wheel ..."
-twine upload -u "$PYPI_USERNAME" -p "$PYPI_PASSWORD" "dist/sbp-$SBP_VERSION-*.whl"
diff --git a/python/deploy.py b/python/deploy.py
new file mode 100644
index 0000000000..256660794b
--- /dev/null
+++ b/python/deploy.py
@@ -0,0 +1,237 @@
+#!/usr/bin/env python
+
+import os
+import sys
+import glob
+import shutil
+import platform
+import tempfile
+import subprocess
+
+if 'PYPI_USERNAME' not in os.environ:
+    print("\n!!! Please set PYPI_USERNAME in the environment !!!\n\n")
+    sys.exit(1)
+
+PYPI_USERNAME = os.environ['PYPI_USERNAME']
+
+if 'PYPI_PASSWORD' not in os.environ:
+    print("\n!!! Please set PYPI_PASSWORD in the environment !!!\n\n")
+    sys.exit(1)
+
+PYPI_PASSWORD = os.environ['PYPI_PASSWORD']
+
+if 'SBP_VERSION' not in os.environ:
+    print("\n!!! Please set SBP_VERSION in the environment !!!\n\n")
+    sys.exit(1)
+
+SBP_VERSION = os.environ['SBP_VERSION']
+
+USE_TEST_PYPI = bool(os.environ.get('USE_TEST_PYPI', None))
+
+if not shutil.which('conda'):
+    print("\n!!! Please install conda to deploy python !!!\n\n")
+    sys.exit(1)
+
+script_dir = os.path.dirname(os.path.abspath(__file__))
+repo_dir = os.path.join(script_dir, "..")
+
+os.chdir(script_dir)
+
+if platform.system() == "Linux":
+    DASHDASH = ["--"]
+else:
+    DASHDASH = []
+
+def twine_upload(conda_dir, wheel, use_conda=True):
+
+    cmd_prefix = ["/usr/bin/python3", "-m"]
+    if use_conda:
+        cmd_prefix = ["conda", "run", "-p", conda_dir] + DASHDASH
+
+    invoke = subprocess.check_call if not USE_TEST_PYPI else subprocess.call
+    ret = invoke(cmd_prefix + [
+        "twine", "upload", "-u", PYPI_USERNAME, "-p", PYPI_PASSWORD] + ([
+        "--repository-url", "https://test.pypi.org/legacy/"]
+            if USE_TEST_PYPI else []
+        ) + [wheel])
+    if USE_TEST_PYPI and ret != 0:
+        print(">>> Warning: twine upload returned exit code {}".format(ret))
+
+
+def build_wheel_native(conda_dir, deploy_dir, py_version):
+
+    print(">>> Installing native deps for: {}...".format(py_version))
+
+    subprocess.check_call(["apt-get", "update"])
+
+    subprocess.check_call(["apt-get", "install", "-y",
+        "python3", "python3-wheel", "cython3", "python3-pip", "python3-dev",
+        ])
+
+    subprocess.check_call([
+        "/usr/bin/python3", "-m",
+        "pip", "install", "--upgrade", "pip"
+    ])
+
+    subprocess.check_call([
+        "/usr/bin/python3", "-m",
+        "pip", "install", "twine", "numpy", "setuptools"
+    ])
+
+    print(">>> Installing setup deps in Python {} conda environment...".format(py_version))
+
+    subprocess.check_call([
+        "/usr/bin/python3", "-m",
+        "pip", "install", "--ignore-installed", "-r", "setup_requirements.txt"
+    ])
+
+    run_bdist(conda_dir, deploy_dir, py_version, use_conda=False)
+
+
+def invoke_bdist(conda_dir, use_conda):
+
+    cmd_prefix = ["/usr/bin/python3"]
+    if use_conda:
+        cmd_prefix = ["conda", "run", "-p", conda_dir] + DASHDASH + ["python"]
+
+    subprocess.check_call(cmd_prefix + [
+        "setup.py", "bdist_wheel"
+    ])
+
+
+def run_bdist(conda_dir, deploy_dir, py_version, use_conda=True):
+
+    print(">>> Building staging area for deployment ...")
+
+    os.chdir(deploy_dir)
+    os.mkdir('module')
+
+    shutil.copytree(os.path.join(repo_dir, ".git"), ".git")
+
+    shutil.copy(os.path.join(script_dir, ".coveragerc"), "module/.coveragerc")
+    shutil.copy(os.path.join(script_dir, ".gitignore"), "module/.gitignore")
+    shutil.copy(os.path.join(script_dir, ".flake8"), "module/.flake8")
+
+    for dirent in glob.glob(os.path.join(script_dir, "*")):
+        _, leaf_name = os.path.split(dirent)
+        if os.path.isdir(dirent):
+            print('Copying (recursive) {}'.format(dirent))
+            shutil.copytree(dirent, os.path.join("module", leaf_name))
+        else:
+            print('Copying (non-recursive) {}'.format(dirent))
+            shutil.copy(dirent, os.path.join("module", leaf_name))
+
+    print(">>> Pruning ...")
+
+    if os.path.exists("module/docs/_build"):
+        shutil.rmtree("module/docs/_build")
+
+    for dirent in glob.glob("module/build/*"):
+        shutil.rmtree(dirent) if os.path.isdir(dirent) else os.unlink(dirent)
+
+    with open("module/setup.py", "rb") as fp:
+        data = fp.read()
+    with open("module/setup.py", "wb") as fp:
+        fp.write(data.replace(b"IS_RELEASED = False", b"IS_RELEASED = True"))
+
+    os.chdir("module")
+
+    print(">>> Staged to '{}'...'".format(deploy_dir))
+
+    print(">>> Building Python wheel ...")
+
+    invoke_bdist(conda_dir, use_conda)
+
+    whl_pattern = "dist/sbp-{}-*.whl".format(SBP_VERSION)
+    print(">>> Uploading Python wheel (glob: {})...".format(whl_pattern))
+
+    wheels = glob.glob(whl_pattern)
+    if not wheels:
+        print("\n!!! No Python wheel (.whl) file found...\n\n")
+        sys.exit(1)
+
+    wheel = wheels[0]
+
+    print(">>> Found wheel (of {} matches): {}".format(len(wheels), wheel))
+
+    twine_upload(conda_dir, wheel, use_conda)
+
+
+def build_wheel_conda(conda_dir, deploy_dir, py_version):
+
+    print(">>> Creating conda environment for Python version: {}...".format(py_version))
+
+    subprocess.check_call([
+        "conda", "create", "--yes", "-p", conda_dir,
+        "python={}".format(py_version)])
+
+    if platform.system() == 'Linux' and platform.machine() == 'x86_64':
+        subprocess.check_call([
+            "conda", "install", "--yes", "-p", conda_dir,
+            "gcc_linux-64", "gxx_linux-64"
+        ])
+
+    print(">>> Installing build deps in Python {} conda environment...".format(py_version))
+
+    subprocess.check_call([
+        "conda", "install", "-p", conda_dir, "--yes",
+        "cython", "wheel", "setuptools"
+    ])
+    subprocess.check_call([
+        "conda", "run", "-p", conda_dir] + DASHDASH + [
+        "pip", "install", "--upgrade", "pip"
+    ])
+    subprocess.check_call([
+        "conda", "run", "-p", conda_dir] + DASHDASH + [
+        "pip", "install", "twine", "numpy"
+    ])
+
+    print(">>> Installing setup deps in Python {} conda environment...".format(py_version))
+
+    subprocess.check_call([
+        "conda", "run", "-p", conda_dir] + DASHDASH + [
+        "pip", "install", "--ignore-installed", "-r", "setup_requirements.txt"
+    ])
+
+    run_bdist(conda_dir, deploy_dir, py_version, use_conda=True)
+
+
+def build_wheel(conda_dir, deploy_dir, py_version):
+    if platform.system() == "Linux" and platform.machine().startswith("arm") and py_version == "3.7":
+        build_wheel_native(conda_dir, deploy_dir, py_version)
+    else:
+        build_wheel_conda(conda_dir, deploy_dir, py_version)
+
+
+def py_versions():
+    if os.environ.get('LIBSBP_BUILD_ANY', None):
+        return ["3.7"]
+    if platform.system() == "Linux" and platform.machine().startswith("arm"):
+        return ["2.7", "3.7"]
+    else:
+        return ["2.7", "3.5", "3.7"]
+
+
+for py_version in py_versions():
+
+    print(">>> Building wheel for Python {}...".format(py_version))
+
+    conda_tmp_dir = tempfile.mkdtemp()
+    conda_dir = os.path.join(conda_tmp_dir, "conda")
+
+    deploy_dir = tempfile.mkdtemp()
+
+    try:
+        build_wheel(conda_dir, deploy_dir, py_version)
+    finally:
+        os.chdir(script_dir)
+        if platform.system() == "Linux" and not platform.machine().startswith("arm"):
+            shutil.rmtree(conda_tmp_dir)
+        else:
+            subprocess.check_call(["rm", "-fr", conda_dir])
+        if platform.system() == "Windows":
+            # Workaround a permission denied error that happens for the copied
+            #   .git directory...
+            subprocess.check_call(["rmdir", "/s", "/q", deploy_dir], shell=True)
+        else:
+            shutil.rmtree(deploy_dir)
diff --git a/python/requirements.txt b/python/requirements.txt
index befd25a028..19c7a11734 100644
--- a/python/requirements.txt
+++ b/python/requirements.txt
@@ -3,8 +3,5 @@ pyftdi==0.13.4
 pylibftdi
 pyserial
 requests>=2.8.1
-llvmlite==0.26.0
 numpy==1.16.2
-numba==0.41.0
 pybase64
-cffi
diff --git a/python/sbp/RELEASE-VERSION b/python/sbp/RELEASE-VERSION
index 160fe391c8..da6b0a8f16 100644
--- a/python/sbp/RELEASE-VERSION
+++ b/python/sbp/RELEASE-VERSION
@@ -1 +1 @@
-2.5.5
\ No newline at end of file
+2.5.6
diff --git a/python/sbp/constants.py b/python/sbp/constants.py
new file mode 100644
index 0000000000..e1aa34f3b7
--- /dev/null
+++ b/python/sbp/constants.py
@@ -0,0 +1,50 @@
+#!/usr/bin/env python
+# Copyright (C) 2019 Swift Navigation Inc.
+# Contact: Swift Navigation <dev@swiftnav.com>
+#
+# This source is subject to the license found in the file 'LICENSE' which must
+# be be distributed together with this source. All other rights reserved.
+#
+# THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND,
+# EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED
+# WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE.
+
+SBP_PREAMBLE = 0x55
+
+# Default sender ID. Intended for messages sent from the host to the
+# device.
+SENDER_ID = 0x42
+
+crc16_tab = [
+    0x0000, 0x1021, 0x2042, 0x3063, 0x4084, 0x50a5, 0x60c6, 0x70e7,
+    0x8108, 0x9129, 0xa14a, 0xb16b, 0xc18c, 0xd1ad, 0xe1ce, 0xf1ef,
+    0x1231, 0x0210, 0x3273, 0x2252, 0x52b5, 0x4294, 0x72f7, 0x62d6,
+    0x9339, 0x8318, 0xb37b, 0xa35a, 0xd3bd, 0xc39c, 0xf3ff, 0xe3de,
+    0x2462, 0x3443, 0x0420, 0x1401, 0x64e6, 0x74c7, 0x44a4, 0x5485,
+    0xa56a, 0xb54b, 0x8528, 0x9509, 0xe5ee, 0xf5cf, 0xc5ac, 0xd58d,
+    0x3653, 0x2672, 0x1611, 0x0630, 0x76d7, 0x66f6, 0x5695, 0x46b4,
+    0xb75b, 0xa77a, 0x9719, 0x8738, 0xf7df, 0xe7fe, 0xd79d, 0xc7bc,
+    0x48c4, 0x58e5, 0x6886, 0x78a7, 0x0840, 0x1861, 0x2802, 0x3823,
+    0xc9cc, 0xd9ed, 0xe98e, 0xf9af, 0x8948, 0x9969, 0xa90a, 0xb92b,
+    0x5af5, 0x4ad4, 0x7ab7, 0x6a96, 0x1a71, 0x0a50, 0x3a33, 0x2a12,
+    0xdbfd, 0xcbdc, 0xfbbf, 0xeb9e, 0x9b79, 0x8b58, 0xbb3b, 0xab1a,
+    0x6ca6, 0x7c87, 0x4ce4, 0x5cc5, 0x2c22, 0x3c03, 0x0c60, 0x1c41,
+    0xedae, 0xfd8f, 0xcdec, 0xddcd, 0xad2a, 0xbd0b, 0x8d68, 0x9d49,
+    0x7e97, 0x6eb6, 0x5ed5, 0x4ef4, 0x3e13, 0x2e32, 0x1e51, 0x0e70,
+    0xff9f, 0xefbe, 0xdfdd, 0xcffc, 0xbf1b, 0xaf3a, 0x9f59, 0x8f78,
+    0x9188, 0x81a9, 0xb1ca, 0xa1eb, 0xd10c, 0xc12d, 0xf14e, 0xe16f,
+    0x1080, 0x00a1, 0x30c2, 0x20e3, 0x5004, 0x4025, 0x7046, 0x6067,
+    0x83b9, 0x9398, 0xa3fb, 0xb3da, 0xc33d, 0xd31c, 0xe37f, 0xf35e,
+    0x02b1, 0x1290, 0x22f3, 0x32d2, 0x4235, 0x5214, 0x6277, 0x7256,
+    0xb5ea, 0xa5cb, 0x95a8, 0x8589, 0xf56e, 0xe54f, 0xd52c, 0xc50d,
+    0x34e2, 0x24c3, 0x14a0, 0x0481, 0x7466, 0x6447, 0x5424, 0x4405,
+    0xa7db, 0xb7fa, 0x8799, 0x97b8, 0xe75f, 0xf77e, 0xc71d, 0xd73c,
+    0x26d3, 0x36f2, 0x0691, 0x16b0, 0x6657, 0x7676, 0x4615, 0x5634,
+    0xd94c, 0xc96d, 0xf90e, 0xe92f, 0x99c8, 0x89e9, 0xb98a, 0xa9ab,
+    0x5844, 0x4865, 0x7806, 0x6827, 0x18c0, 0x08e1, 0x3882, 0x28a3,
+    0xcb7d, 0xdb5c, 0xeb3f, 0xfb1e, 0x8bf9, 0x9bd8, 0xabbb, 0xbb9a,
+    0x4a75, 0x5a54, 0x6a37, 0x7a16, 0x0af1, 0x1ad0, 0x2ab3, 0x3a92,
+    0xfd2e, 0xed0f, 0xdd6c, 0xcd4d, 0xbdaa, 0xad8b, 0x9de8, 0x8dc9,
+    0x7c26, 0x6c07, 0x5c64, 0x4c45, 0x3ca2, 0x2c83, 0x1ce0, 0x0cc1,
+    0xef1f, 0xff3e, 0xcf5d, 0xdf7c, 0xaf9b, 0xbfba, 0x8fd9, 0x9ff8,
+    0x6e17, 0x7e36, 0x4e55, 0x5e74, 0x2e93, 0x3eb2, 0x0ed1, 0x1ef0]
diff --git a/python/sbp/jit/msg.py b/python/sbp/jit/msg.py
index 5f5a6053e0..8795ce8bbb 100644
--- a/python/sbp/jit/msg.py
+++ b/python/sbp/jit/msg.py
@@ -10,159 +10,52 @@
 # EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED
 # WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE.
 
+import importlib
+
 from pybase64 import standard_b64encode
 
 import decimal as dec
 
 import numpy as np
-import numba as nb
-
-import numba.cffi_support
-
-from sbp.msg import crc16jit
-from sbp.msg import SENDER_ID as _SENDER_ID
-from sbp.msg import SBP_PREAMBLE as _SBP_PREAMBLE
-
-from sbp.jit import parse_float
-from sbp.jit import parse_float_c
-
-
-numba.cffi_support.register_module(parse_float_c)
 
-_get_f32 = parse_float_c.lib.get_f32
-_get_f64 = parse_float_c.lib.get_f64
+from sbp.constants import SENDER_ID as _SENDER_ID
+from sbp.constants import SBP_PREAMBLE as _SBP_PREAMBLE
+
+from pkgutil import iter_modules
+
+import sys
+
+parse_jit_name = "parse_jit_py{}".format(str(sys.version_info[0]) + str(sys.version_info[1]))
+
+if parse_jit_name in (name for loader, name, ispkg in iter_modules()):
+    # found in sys.path
+    parse_jit = importlib.import_module(parse_jit_name)
+elif parse_jit_name in (name for loader, name, ispkg in iter_modules(['sbp/jit'])):
+    # found in sbp.jit
+    parse_jit = importlib.import_module('sbp.jit.' + parse_jit_name)
+else:
+    # not found -> compile
+    from sbp.jit import parse
+    parse.compile()
+    parse_jit = importlib.import_module('sbp.jit.' + parse_jit_name)
+
+get_u8 = parse_jit.get_u8
+get_u16 = parse_jit.get_u16
+get_u32 = parse_jit.get_u32
+get_u64 = parse_jit.get_u64
+get_s8 = parse_jit.get_s8
+get_s16 = parse_jit.get_s16
+get_s32 = parse_jit.get_s32
+get_s64 = parse_jit.get_s64
+get_f32 = lambda buf, offset, length: (float(np.frombuffer(buf, dtype=np.float32, count=1, offset=offset)), offset + 4, length - 4)
+get_f64 = lambda buf, offset, length: (float(np.frombuffer(buf, dtype=np.float64, count=1, offset=offset)), offset + 8, length - 8)
+_get_string = parse_jit._get_string
+unpack_payload = parse_jit.unpack_payload
 
 SENDER_ID = _SENDER_ID
 SBP_PREAMBLE = _SBP_PREAMBLE
 
 
-@nb.jit('Tuple((u1,u4,u4))(u1[:],u4,u4)', nopython=True, nogil=True)
-def get_u8(buf, offset, length):
-    if length < 1:
-        return (0, offset, length)
-    return buf[offset], offset + 1, length - 1
-
-
-@nb.jit('Tuple((u2,u4,u4))(u1[:],u4,u4)', nopython=True, nogil=True)
-def get_u16(buf, offset, length):
-    if length < 2:
-        return (0, offset, length)
-    msb = nb.u2(buf[offset + 1]) << 8
-    lsb = nb.u2(buf[offset + 0]) << 0
-    return msb | lsb, offset + 2, length - 2
-
-
-@nb.jit('Tuple((u4,u4,u4))(u1[:],u4,u4)', nopython=True, nogil=True)
-def get_u32(buf, offset, length):
-    if length < 4:
-        return (0, offset, length)
-    a = nb.u4(buf[offset + 3]) << 24
-    b = nb.u4(buf[offset + 2]) << 16
-    c = nb.u4(buf[offset + 1]) << 8
-    d = nb.u4(buf[offset + 0]) << 0
-    return a | b | c | d, offset + 4, length - 4
-
-
-@nb.jit('Tuple((u8,u4,u4))(u1[:],u4,u4)', nopython=True, nogil=True)
-def get_u64(buf, offset, length):
-    if length < 8:
-        return (0, offset, length)
-    a = nb.u8(buf[offset + 7]) << 54
-    b = nb.u8(buf[offset + 6]) << 48
-    c = nb.u8(buf[offset + 5]) << 40
-    d = nb.u8(buf[offset + 4]) << 32
-    e = nb.u8(buf[offset + 3]) << 24
-    f = nb.u8(buf[offset + 2]) << 16
-    g = nb.u8(buf[offset + 1]) << 8
-    h = nb.u8(buf[offset + 0]) << 0
-    return a | b | c | d | e | f | g | h, offset + 8, length - 8
-
-
-@nb.jit('Tuple((i1,u4,u4))(u1[:],u4,u4)', nopython=True, nogil=True)
-def get_s8(buf, offset, length):
-    if length < 1:
-        return (0, offset, length)
-    return buf[offset], offset + 1, length - 1
-
-
-@nb.jit('Tuple((i2,u4,u4))(u1[:],u4,u4)', nopython=True, nogil=True)
-def get_s16(buf, offset, length):
-    if length < 2:
-        return (0, offset, length)
-    msb = nb.i2(buf[offset + 1]) << 8
-    lsb = nb.i2(buf[offset + 0]) << 0
-    return msb | lsb, offset + 2, length - 2
-
-
-@nb.jit('Tuple((i4,u4,u4))(u1[:],u4,u4)', nopython=True, nogil=True)
-def get_s32(buf, offset, length):
-    if length < 4:
-        return (0, offset, length)
-    a = nb.i4(buf[offset + 3]) << 24
-    b = nb.i4(buf[offset + 2]) << 16
-    c = nb.i4(buf[offset + 1]) << 8
-    d = nb.i4(buf[offset + 0]) << 0
-    return a | b | c | d, offset + 4, length - 4
-
-
-@nb.jit('Tuple((i8,u4,u4))(u1[:],u4,u4)', nopython=True, nogil=True)
-def get_s64(buf, offset, length):
-    if length < 8:
-        return (0, offset, length)
-    a = nb.i8(buf[offset + 7]) << 54
-    b = nb.i8(buf[offset + 6]) << 48
-    c = nb.i8(buf[offset + 5]) << 40
-    d = nb.i8(buf[offset + 4]) << 32
-    e = nb.i8(buf[offset + 3]) << 24
-    f = nb.i8(buf[offset + 2]) << 16
-    g = nb.i8(buf[offset + 1]) << 8
-    h = nb.i8(buf[offset + 0]) << 0
-    return a | b | c | d | e | f | g | h, offset + 8, length - 8
-
-
-@nb.jit('Tuple((f4,u4,u4))(u1[:],u4,u4)', nopython=True, nogil=True)
-def get_f32(buf, offset, length):
-    if length < 4:
-        return (0, offset, length)
-    res = _get_f32(buf[offset + 0],
-                   buf[offset + 1],
-                   buf[offset + 2],
-                   buf[offset + 3])
-    return res, offset + 4, length - 4
-
-
-@nb.jit('Tuple((f8,u4,u4))(u1[:],u4,u4)', nopython=True, nogil=True)
-def get_f64(buf, offset, length):
-    if length < 8:
-        return (0, offset, length)
-    res = _get_f64(buf[offset + 0],
-                   buf[offset + 1],
-                   buf[offset + 2],
-                   buf[offset + 3],
-                   buf[offset + 4],
-                   buf[offset + 5],
-                   buf[offset + 6],
-                   buf[offset + 7])
-    return res, offset + 8, length - 8
-
-
-@nb.jit('Tuple((u1[:],u4,u4))(u1[:],u4,u4,b1)', nopython=True, nogil=True)
-def _get_string(buf_in, offset, length, check_null):
-    buf_out = np.zeros(256, dtype=np.uint8)
-    i = nb.u4(0)
-    null_term = False
-    while i < length:
-        if check_null and buf_in[offset + i] == 0:
-            null_term = True
-            break
-        buf_out[i] = buf_in[offset + i]
-        i = nb.u4(i + nb.u4(1))
-    if null_term:
-        return buf_out[:i], offset + i + 1, i + 1
-    else:
-        return buf_out[:i], offset + i, i
-
-
 def judicious_round(f):
     # Let numpy's judicious rounding tell us the amount of digits we
     # want as it seems to align with Haskell's output
@@ -270,58 +163,6 @@ def __eq__(self, other):
         except AttributeError:
             return False
 
-    @staticmethod
-    @nb.jit('Tuple((u4, u2, u2, u2, u2, b1))(u1[:], u4, u4)',
-            nopython=True, nogil=True)
-    def unpack_payload(buf, offset, length):
-        crc_fail = False
-        crc = 0
-        payload_len = 0
-        msg_type = 0
-        sender = 0
-        offset_start = offset
-        pkt_len = 0
-
-        preamble_len = 1
-        if length < preamble_len:
-            return (pkt_len, payload_len, msg_type, sender, crc, crc_fail)
-
-        preamble, offset, length = get_u8(buf, offset, length)
-        if preamble != SBP_PREAMBLE:
-            return (preamble_len, payload_len, msg_type, sender, crc, crc_fail)
-
-        header_len = 5
-        if length < header_len:
-            return (pkt_len, payload_len, msg_type, sender, crc, crc_fail)
-
-        typ, offset, length = get_u16(buf, offset, length)
-        sender, offset, length = get_u16(buf, offset, length)
-        payload_len, offset, length = get_u8(buf, offset, length)
-
-        if length < payload_len:
-            return (pkt_len, payload_len, msg_type, sender, crc, crc_fail)
-
-        # Consume payload
-        offset += payload_len
-        length -= payload_len
-
-        crc_len = 2
-        if length < crc_len:
-            return (pkt_len, payload_len, msg_type, sender, crc, crc_fail)
-
-        msg_type = typ
-
-        crc, offset, length = get_u16(buf, offset, length)
-        buf_start = offset_start + 1
-        buf_end = offset_start + 1 + (preamble_len + header_len - 1) + payload_len
-
-        calc_crc = crc16jit(buf, buf_start, 0, buf_end - buf_start)
-        if calc_crc != crc:
-            crc_fail = True
-
-        pkt_len = preamble_len + header_len + payload_len + crc_len
-        return (pkt_len, payload_len, msg_type, sender, crc, crc_fail)
-
     @classmethod
     def parse_members(cls, buf, offset, length):
         raise NotImplementedError()
diff --git a/python/sbp/jit/parse.py b/python/sbp/jit/parse.py
new file mode 100644
index 0000000000..34917b0a11
--- /dev/null
+++ b/python/sbp/jit/parse.py
@@ -0,0 +1,282 @@
+#!/usr/bin/env python
+
+# Copyright (C) 2019 Swift Navigation Inc.
+# Contact: Swift Navigation <dev@swiftnav.com>
+#
+# This source is subject to the license found in the file 'LICENSE' which must
+# be be distributed together with this source. All other rights reserved.
+#
+# THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND,
+# EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED
+# WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE.
+
+import glob
+import ntpath
+import os
+import shutil
+import importlib
+import time
+
+import numpy as np
+import numba as nb
+
+from numba.pycc import CC
+
+from sbp.constants import SENDER_ID as _SENDER_ID
+from sbp.constants import SBP_PREAMBLE as _SBP_PREAMBLE
+from sbp.constants import crc16_tab
+
+from distutils.ccompiler import CCompiler
+from numpy.distutils.misc_util import get_num_build_jobs
+from numpy.distutils.ccompiler import _global_lock, _processing_files
+from numpy.distutils import log
+
+import sys
+import types
+
+# monkeypatch numpy.distutils.ccompiler. Parallel build hangs with py27
+def replace_method(klass, method_name, func):
+    if sys.version_info[0] < 3:
+        m = types.MethodType(func, None, klass)
+        setattr(klass, method_name, m)
+
+# Original https://github.com/numpy/numpy/blob/v1.16.2/numpy/distutils/ccompiler.py#L223
+def CCompiler_compile(self, sources, output_dir=None, macros=None,
+                      include_dirs=None, debug=0, extra_preargs=None,
+                      extra_postargs=None, depends=None):
+    global _job_semaphore
+
+    if not sources:
+        return []
+
+    ccomp = self.compiler_so
+    display = "C compiler: %s\n" % (' '.join(ccomp),)
+    log.info(display)
+    macros, objects, extra_postargs, pp_opts, build = \
+            self._setup_compile(output_dir, macros, include_dirs, sources,
+                                depends, extra_postargs)
+    cc_args = self._get_cc_args(pp_opts, debug, extra_preargs)
+    #cc_args += ['-g']
+    display = "compile options: '%s'" % (' '.join(cc_args))
+    if extra_postargs:
+        display += "\nextra options: '%s'" % (' '.join(extra_postargs))
+    log.info(display)
+
+    def single_compile(args):
+        obj, (src, ext) = args
+
+        # check if we are currently already processing the same object
+        # happens when using the same source in multiple extensions
+        while True:
+            # need explicit lock as there is no atomic check and add with GIL
+            with _global_lock:
+                # file not being worked on, start working
+                if obj not in _processing_files:
+                    _processing_files.add(obj)
+                    break
+            # wait for the processing to end
+            time.sleep(0.1)
+
+        try:
+            self._compile(obj, src, ext, cc_args, extra_postargs, pp_opts)
+        finally:
+            # register being done processing
+            with _global_lock:
+                _processing_files.remove(obj)
+
+    for o in build.items():
+        single_compile(o)
+
+    # Return *all* object filenames, not just the ones we just built.
+    return objects
+
+replace_method(CCompiler, 'compile', CCompiler_compile)
+# monkeypatch end
+
+module_name = "parse_jit_py{}".format(str(sys.version_info[0]) + str(sys.version_info[1]))
+cc = CC(module_name)
+cc.verbose = True
+
+np_crc16_tab = np.array(crc16_tab, dtype=np.uint16)
+
+SENDER_ID = _SENDER_ID
+SBP_PREAMBLE = _SBP_PREAMBLE
+
+
+@nb.jit('u2(u1[:], u4, u2, u4)', nopython=True, nogil=True)
+@cc.export('crc16jit', 'u2(u1[:], u4, u2, u4)')
+def crc16jit(buf, offset, crc, length):
+  """CRC16 implementation acording to CCITT standards."""
+  for index in range(offset, offset + length):
+    data = buf[index]
+    lookup = np_crc16_tab[((nb.u2(crc) >> 8) & nb.u2(0xFF)) ^ (data & nb.u2(0xFF))]
+    crc = ((nb.u2(crc) << nb.u2(8)) & nb.u2(0xFFFF)) ^ lookup
+    crc = nb.u2(crc) & nb.u2(0xFFFF)
+  return crc
+
+
+@nb.jit('Tuple((u1,u4,u4))(u1[:],u4,u4)', nopython=True, nogil=True)
+@cc.export('get_u8', 'Tuple((u1,u4,u4))(u1[:],u4,u4)')
+def get_u8(buf, offset, length):
+    if length < 1:
+        return (0, offset, length)
+    return buf[offset], offset + 1, length - 1
+
+
+@nb.jit('Tuple((u2,u4,u4))(u1[:],u4,u4)', nopython=True, nogil=True)
+@cc.export('get_u16', 'Tuple((u2,u4,u4))(u1[:],u4,u4)')
+def get_u16(buf, offset, length):
+    if length < 2:
+        return (0, offset, length)
+    msb = nb.u2(buf[offset + 1]) << 8
+    lsb = nb.u2(buf[offset + 0]) << 0
+    return msb | lsb, offset + 2, length - 2
+
+
+@cc.export('get_u32', 'Tuple((u4,u4,u4))(u1[:],u4,u4)')
+def get_u32(buf, offset, length):
+    if length < 4:
+        return (0, offset, length)
+    a = nb.u4(buf[offset + 3]) << 24
+    b = nb.u4(buf[offset + 2]) << 16
+    c = nb.u4(buf[offset + 1]) << 8
+    d = nb.u4(buf[offset + 0]) << 0
+    return a | b | c | d, offset + 4, length - 4
+
+
+@cc.export('get_u64', 'Tuple((u8,u4,u4))(u1[:],u4,u4)')
+def get_u64(buf, offset, length):
+    if length < 8:
+        return (0, offset, length)
+    a = nb.u8(buf[offset + 7]) << 54
+    b = nb.u8(buf[offset + 6]) << 48
+    c = nb.u8(buf[offset + 5]) << 40
+    d = nb.u8(buf[offset + 4]) << 32
+    e = nb.u8(buf[offset + 3]) << 24
+    f = nb.u8(buf[offset + 2]) << 16
+    g = nb.u8(buf[offset + 1]) << 8
+    h = nb.u8(buf[offset + 0]) << 0
+    return a | b | c | d | e | f | g | h, offset + 8, length - 8
+
+
+@cc.export('get_s8', 'Tuple((i1,u4,u4))(u1[:],u4,u4)')
+def get_s8(buf, offset, length):
+    if length < 1:
+        return (0, offset, length)
+    return buf[offset], offset + 1, length - 1
+
+
+@cc.export('get_s16', 'Tuple((i2,u4,u4))(u1[:],u4,u4)')
+def get_s16(buf, offset, length):
+    if length < 2:
+        return (0, offset, length)
+    msb = nb.i2(buf[offset + 1]) << 8
+    lsb = nb.i2(buf[offset + 0]) << 0
+    return msb | lsb, offset + 2, length - 2
+
+
+@cc.export('get_s32', 'Tuple((i4,u4,u4))(u1[:],u4,u4)')
+def get_s32(buf, offset, length):
+    if length < 4:
+        return (0, offset, length)
+    a = nb.i4(buf[offset + 3]) << 24
+    b = nb.i4(buf[offset + 2]) << 16
+    c = nb.i4(buf[offset + 1]) << 8
+    d = nb.i4(buf[offset + 0]) << 0
+    return a | b | c | d, offset + 4, length - 4
+
+
+@cc.export('get_s64', 'Tuple((i8,u4,u4))(u1[:],u4,u4)')
+def get_s64(buf, offset, length):
+    if length < 8:
+        return (0, offset, length)
+    a = nb.i8(buf[offset + 7]) << 54
+    b = nb.i8(buf[offset + 6]) << 48
+    c = nb.i8(buf[offset + 5]) << 40
+    d = nb.i8(buf[offset + 4]) << 32
+    e = nb.i8(buf[offset + 3]) << 24
+    f = nb.i8(buf[offset + 2]) << 16
+    g = nb.i8(buf[offset + 1]) << 8
+    h = nb.i8(buf[offset + 0]) << 0
+    return a | b | c | d | e | f | g | h, offset + 8, length - 8
+
+
+@cc.export('_get_string', 'Tuple((u1[:],u4,u4))(u1[:],u4,u4,b1)')
+def _get_string(buf_in, offset, length, check_null):
+    buf_out = np.zeros(256, dtype=np.uint8)
+    i = nb.u4(0)
+    null_term = False
+    while i < length:
+        if check_null and buf_in[offset + i] == 0:
+            null_term = True
+            break
+        buf_out[i] = buf_in[offset + i]
+        i = nb.u4(i + nb.u4(1))
+    if null_term:
+        return buf_out[:i], offset + i + 1, i + 1
+    else:
+        return buf_out[:i], offset + i, i
+
+
+@cc.export('unpack_payload', 'Tuple((u4, u2, u2, u2, u2, b1))(u1[:], u4, u4)')
+def unpack_payload(buf, offset, length):
+    crc_fail = False
+    crc = 0
+    payload_len = 0
+    msg_type = 0
+    sender = 0
+    offset_start = offset
+    pkt_len = 0
+
+    preamble_len = 1
+    if length < preamble_len:
+        return (pkt_len, payload_len, msg_type, sender, crc, crc_fail)
+
+    preamble, offset, length = get_u8(buf, offset, length)
+    if preamble != SBP_PREAMBLE:
+        return (preamble_len, payload_len, msg_type, sender, crc, crc_fail)
+
+    header_len = 5
+    if length < header_len:
+        return (pkt_len, payload_len, msg_type, sender, crc, crc_fail)
+
+    typ, offset, length = get_u16(buf, offset, length)
+    sender, offset, length = get_u16(buf, offset, length)
+    payload_len, offset, length = get_u8(buf, offset, length)
+
+    if length < payload_len:
+        return (pkt_len, payload_len, msg_type, sender, crc, crc_fail)
+
+    # Consume payload
+    offset += payload_len
+    length -= payload_len
+
+    crc_len = 2
+    if length < crc_len:
+        return (pkt_len, payload_len, msg_type, sender, crc, crc_fail)
+
+    msg_type = typ
+
+    crc, offset, length = get_u16(buf, offset, length)
+    buf_start = offset_start + 1
+    buf_end = offset_start + 1 + (preamble_len + header_len - 1) + payload_len
+
+    calc_crc = crc16jit(buf, buf_start, 0, buf_end - buf_start)
+    if calc_crc != crc:
+        crc_fail = True
+
+    pkt_len = preamble_len + header_len + payload_len + crc_len
+    return (pkt_len, payload_len, msg_type, sender, crc, crc_fail)
+
+
+def compile():
+    cc.compile()
+
+    # Move deliverables to same dir as the script
+    dest_dir = os.path.dirname(os.path.realpath(__file__))
+    for f in glob.glob(os.path.join(os.getcwd(), module_name + '.*')):
+        shutil.move(f, os.path.join(dest_dir, ntpath.basename(f)))
+
+
+if __name__ == "__main__":    # not when running with setuptools
+    compile()
diff --git a/python/sbp/jit/parse_float.py b/python/sbp/jit/parse_float.py
deleted file mode 100644
index c011031265..0000000000
--- a/python/sbp/jit/parse_float.py
+++ /dev/null
@@ -1,49 +0,0 @@
-import cffi
-
-import glob
-import ntpath
-import os
-import shutil
-
-ffi = cffi.FFI()
-ffi.cdef("""
-float get_f32(unsigned char a, unsigned char b, unsigned char c, unsigned char d);
-double get_f64(unsigned char a, unsigned char b, unsigned char c, unsigned char d,
-               unsigned char e, unsigned char f, unsigned char g, unsigned char h);
-""")
-
-source = """
-float get_f32(unsigned char a, unsigned char b, unsigned char c, unsigned char d) {
-    union { unsigned char buf[4]; float f; } u;
-    u.buf[0] = a;
-    u.buf[1] = b;
-    u.buf[2] = c;
-    u.buf[3] = d;
-    return u.f;
-}
-
-double get_f64(unsigned char a, unsigned char b, unsigned char c, unsigned char d,
-               unsigned char e, unsigned char f, unsigned char g, unsigned char h) {
-    union { unsigned char buf[8]; double d; } u;
-    u.buf[0] = a;
-    u.buf[1] = b;
-    u.buf[2] = c;
-    u.buf[3] = d;
-    u.buf[4] = e;
-    u.buf[5] = f;
-    u.buf[6] = g;
-    u.buf[7] = h;
-    return u.d;
-}
-"""
-
-module_name = "parse_float_c"
-
-ffi.set_source(module_name=module_name, source=source)
-
-ffi.compile()
-
-# Move deliverables to same dir as the script
-dest_dir = os.path.dirname(os.path.realpath(__file__))
-for f in glob.glob(os.path.join(os.getcwd(), module_name + '.*')):
-    shutil.move(f, os.path.join(dest_dir, ntpath.basename(f)))
diff --git a/python/sbp/msg.py b/python/sbp/msg.py
index 748424edfe..b6e1022b5d 100755
--- a/python/sbp/msg.py
+++ b/python/sbp/msg.py
@@ -11,80 +11,55 @@
 
 import base64
 import copy
+import importlib
 import json
 import struct
 
 import construct
 
+from sbp.constants import SENDER_ID as _SENDER_ID
+from sbp.constants import SBP_PREAMBLE as _SBP_PREAMBLE
+from sbp.constants import crc16_tab
+
 import numba as nb
 import numpy as np
 
-SBP_PREAMBLE = 0x55
-
-# Default sender ID. Intended for messages sent from the host to the
-# device.
-SENDER_ID = 0x42
-
-_crc16_tab = [
-    0x0000, 0x1021, 0x2042, 0x3063, 0x4084, 0x50a5, 0x60c6, 0x70e7,
-    0x8108, 0x9129, 0xa14a, 0xb16b, 0xc18c, 0xd1ad, 0xe1ce, 0xf1ef,
-    0x1231, 0x0210, 0x3273, 0x2252, 0x52b5, 0x4294, 0x72f7, 0x62d6,
-    0x9339, 0x8318, 0xb37b, 0xa35a, 0xd3bd, 0xc39c, 0xf3ff, 0xe3de,
-    0x2462, 0x3443, 0x0420, 0x1401, 0x64e6, 0x74c7, 0x44a4, 0x5485,
-    0xa56a, 0xb54b, 0x8528, 0x9509, 0xe5ee, 0xf5cf, 0xc5ac, 0xd58d,
-    0x3653, 0x2672, 0x1611, 0x0630, 0x76d7, 0x66f6, 0x5695, 0x46b4,
-    0xb75b, 0xa77a, 0x9719, 0x8738, 0xf7df, 0xe7fe, 0xd79d, 0xc7bc,
-    0x48c4, 0x58e5, 0x6886, 0x78a7, 0x0840, 0x1861, 0x2802, 0x3823,
-    0xc9cc, 0xd9ed, 0xe98e, 0xf9af, 0x8948, 0x9969, 0xa90a, 0xb92b,
-    0x5af5, 0x4ad4, 0x7ab7, 0x6a96, 0x1a71, 0x0a50, 0x3a33, 0x2a12,
-    0xdbfd, 0xcbdc, 0xfbbf, 0xeb9e, 0x9b79, 0x8b58, 0xbb3b, 0xab1a,
-    0x6ca6, 0x7c87, 0x4ce4, 0x5cc5, 0x2c22, 0x3c03, 0x0c60, 0x1c41,
-    0xedae, 0xfd8f, 0xcdec, 0xddcd, 0xad2a, 0xbd0b, 0x8d68, 0x9d49,
-    0x7e97, 0x6eb6, 0x5ed5, 0x4ef4, 0x3e13, 0x2e32, 0x1e51, 0x0e70,
-    0xff9f, 0xefbe, 0xdfdd, 0xcffc, 0xbf1b, 0xaf3a, 0x9f59, 0x8f78,
-    0x9188, 0x81a9, 0xb1ca, 0xa1eb, 0xd10c, 0xc12d, 0xf14e, 0xe16f,
-    0x1080, 0x00a1, 0x30c2, 0x20e3, 0x5004, 0x4025, 0x7046, 0x6067,
-    0x83b9, 0x9398, 0xa3fb, 0xb3da, 0xc33d, 0xd31c, 0xe37f, 0xf35e,
-    0x02b1, 0x1290, 0x22f3, 0x32d2, 0x4235, 0x5214, 0x6277, 0x7256,
-    0xb5ea, 0xa5cb, 0x95a8, 0x8589, 0xf56e, 0xe54f, 0xd52c, 0xc50d,
-    0x34e2, 0x24c3, 0x14a0, 0x0481, 0x7466, 0x6447, 0x5424, 0x4405,
-    0xa7db, 0xb7fa, 0x8799, 0x97b8, 0xe75f, 0xf77e, 0xc71d, 0xd73c,
-    0x26d3, 0x36f2, 0x0691, 0x16b0, 0x6657, 0x7676, 0x4615, 0x5634,
-    0xd94c, 0xc96d, 0xf90e, 0xe92f, 0x99c8, 0x89e9, 0xb98a, 0xa9ab,
-    0x5844, 0x4865, 0x7806, 0x6827, 0x18c0, 0x08e1, 0x3882, 0x28a3,
-    0xcb7d, 0xdb5c, 0xeb3f, 0xfb1e, 0x8bf9, 0x9bd8, 0xabbb, 0xbb9a,
-    0x4a75, 0x5a54, 0x6a37, 0x7a16, 0x0af1, 0x1ad0, 0x2ab3, 0x3a92,
-    0xfd2e, 0xed0f, 0xdd6c, 0xcd4d, 0xbdaa, 0xad8b, 0x9de8, 0x8dc9,
-    0x7c26, 0x6c07, 0x5c64, 0x4c45, 0x3ca2, 0x2c83, 0x1ce0, 0x0cc1,
-    0xef1f, 0xff3e, 0xcf5d, 0xdf7c, 0xaf9b, 0xbfba, 0x8fd9, 0x9ff8,
-    0x6e17, 0x7e36, 0x4e55, 0x5e74, 0x2e93, 0x3eb2, 0x0ed1, 0x1ef0]
-
-crc16_tab = np.array(_crc16_tab, dtype=np.uint16)
-
-
-@nb.jit('u2(u1[:], u4, u2, u4)', nopython=True, nogil=True)
-def crc16jit(buf, offset, crc, length):
-  """CRC16 implementation acording to CCITT standards."""
-  for index in range(offset, offset + length):
-    data = buf[index]
-    lookup = crc16_tab[((nb.u2(crc) >> 8) & nb.u2(0xFF)) ^ (data & nb.u2(0xFF))]
-    crc = ((nb.u2(crc) << nb.u2(8)) & nb.u2(0xFFFF)) ^ lookup
-    crc = nb.u2(crc) & nb.u2(0xFFFF)
-  return crc
+from pkgutil import iter_modules
+
+import sys
+
+parse_jit_name = "parse_jit_py{}".format(str(sys.version_info[0]) + str(sys.version_info[1]))
+
+if parse_jit_name in (name for loader, name, ispkg in iter_modules()):
+    # found in sys.path
+    parse_jit = importlib.import_module(parse_jit_name)
+elif parse_jit_name in (name for loader, name, ispkg in iter_modules(['sbp/jit'])):
+    # found in sbp.jit
+    parse_jit = importlib.import_module('sbp.jit.' + parse_jit_name)
+else:
+    # not found -> compile
+    from sbp.jit import parse
+    parse.compile()
+    parse_jit = importlib.import_module('sbp.jit.' + parse_jit_name)
+
+
+np_crc16_tab = np.array(crc16_tab, dtype=np.uint16)
 
+SENDER_ID = _SENDER_ID
+SBP_PREAMBLE = _SBP_PREAMBLE
 
 crc_buffer = np.zeros(512, dtype=np.uint8)
 
 
 def crc16(s, crc=0, buf=crc_buffer):
   crc_buffer[:len(s)] = bytearray(s)
-  return crc16jit(crc_buffer, 0, crc, len(s))
+  return parse_jit.crc16jit(crc_buffer, 0, crc, len(s))
 
 
 def crc16_nojit(s, crc=0):
   """CRC16 implementation acording to CCITT standards."""
   for ch in bytearray(s):  # bytearray's elements are integers in both python 2 and 3
-    crc = ((crc << 8) & 0xFFFF) ^ _crc16_tab[((crc >> 8) & 0xFF) ^ (ch & 0xFF)]
+    crc = ((crc << 8) & 0xFFFF) ^ np_crc16_tab[((crc >> 8) & 0xFF) ^ (ch & 0xFF)]
     crc &= 0xFFFF
   return crc
 
@@ -185,7 +160,7 @@ def _get_framed(self, buf, offset, insert_payload):
     crc_offset = header_offset + self.length
     preamble_bytes = 1
     crc_over_len = self._header_len + self.length - preamble_bytes
-    self.crc = crc16jit(buf, offset+1, 0, crc_over_len)
+    self.crc = parse_jit.crc16jit(buf, offset+1, 0, crc_over_len)
     struct.pack_into(self._crc_fmt, buf, crc_offset, self.crc)
     length = preamble_bytes + crc_over_len + self._crc_len
     return length
diff --git a/python/setup.py b/python/setup.py
index c3736e790a..55df2e039d 100755
--- a/python/setup.py
+++ b/python/setup.py
@@ -7,6 +7,7 @@
 #   https://github.com/swift-nav/traitsui/blob/swift-2019.01/setup.py
 #
 
+import warnings
 from setuptools import setup
 
 import re
@@ -30,6 +31,7 @@
 
 PACKAGES = [
   'sbp',
+  'sbp.jit',
   'sbp.client',
   'sbp.client.drivers',
   'sbp.client.loggers',
@@ -42,15 +44,16 @@
   'win32',
 ]
 
+setup_py_dir = os.path.dirname(os.path.abspath(__file__))
 
 def _read_release_version():
-    this_dir = os.path.dirname(__file__)
-    relver_path = os.path.join(this_dir, 'sbp/RELEASE-VERSION')
+    relver_path = os.path.join(setup_py_dir, 'sbp/RELEASE-VERSION')
     try:
         with open(relver_path, "r") as f:
             version = f.readlines()[0]
             return version.strip()
-    except IOError:
+    except IOError as ex:
+        warnings.warn("Error reading version: {}".format(ex))
         return "0.0.0"
 
 
@@ -110,10 +113,8 @@ def _minimal_ext_cmd(cmd):
 
 def write_version_py(filename=VERSION_PY_PATH):
 
-    filedir = os.path.abspath(os.path.dirname(__file__))
-
     fullversion = VERSION
-    if os.path.exists(os.path.join(filedir, '..', '.git')):
+    if os.path.exists(os.path.join(setup_py_dir, '..', '.git')):
         git_rev, dev_num = git_version()
     elif os.path.exists(VERSION_PY_PATH):
         # must be a source distribution, use existing version file
@@ -144,7 +145,8 @@ def write_version_py(filename=VERSION_PY_PATH):
         #
         fullversion += '.dev{0}+g{1}'.format(dev_num, git_rev)
 
-    filename_fullpath = os.path.join(filedir, filename)
+    filename_fullpath = os.path.join(setup_py_dir, filename)
+    print(filename_fullpath)
 
     with open(filename_fullpath, "wt") as fp:
         fp.write(VERSION_PY_TEMPLATE.format(version=VERSION,
@@ -155,22 +157,33 @@ def write_version_py(filename=VERSION_PY_PATH):
 
 if __name__ == "__main__":
 
-    filedir = os.path.abspath(os.path.dirname(__file__))
-
-    with open(os.path.join(filedir, 'README.rst')) as f:
+    with open(os.path.join(setup_py_dir, 'README.rst')) as f:
         readme = f.read()
 
-    with open(os.path.join(filedir, 'requirements.txt')) as f:
-        INSTALL_REQUIRES = [i.strip() for i in f.readlines()]
+    INSTALL_REQUIRES = []
+    with open(os.path.join(setup_py_dir, 'requirements.txt')) as f:
+        INSTALL_REQUIRES += [i.strip() for i in f.readlines()]
 
-    with open(os.path.join(filedir, 'test_requirements.txt')) as f:
+    with open(os.path.join(setup_py_dir, 'test_requirements.txt')) as f:
         TEST_REQUIRES = [i.strip() for i in f.readlines()]
 
+    with open(os.path.join(setup_py_dir, 'setup_requirements.txt')) as f:
+        SETUP_REQUIRES = [i.strip() for i in f.readlines()
+                          if 'setuptools' not in i]
+
     write_version_py()
-    from sbp import __version__
+
+    from sbp import __version__ as sbp_version
+    print("Building/installing libsbp version {} (read version: {})".format(sbp_version, VERSION))
+
+    ext_modules = None
+    if not os.environ.get('LIBSBP_BUILD_ANY', None):
+        from sbp.jit.parse import cc
+        ext_modules = [cc.distutils_extension()]
+        INSTALL_REQUIRES.extend(SETUP_REQUIRES)
 
     setup(name='sbp',
-          version=__version__,
+          version=sbp_version,
           description='Python bindings for Swift Binary Protocol',
           long_description=readme,
           author='Swift Navigation',
@@ -182,4 +195,5 @@ def write_version_py(filename=VERSION_PY_PATH):
           install_requires=INSTALL_REQUIRES,
           tests_require=TEST_REQUIRES,
           use_2to3=False,
-          zip_safe=False)
+          zip_safe=False,
+          ext_modules=ext_modules)
diff --git a/python/setup_requirements.txt b/python/setup_requirements.txt
new file mode 100644
index 0000000000..4237b269a6
--- /dev/null
+++ b/python/setup_requirements.txt
@@ -0,0 +1,3 @@
+setuptools==41.0.1
+numba==0.41.0
+llvmlite==0.26.0
diff --git a/python/tests/sbp/test_numba.py b/python/tests/sbp/test_numba.py
index ab2ba285c1..3d3705f8e0 100644
--- a/python/tests/sbp/test_numba.py
+++ b/python/tests/sbp/test_numba.py
@@ -3,7 +3,7 @@
 
 from sbp.file_io import MsgFileioWriteReq
 
-from sbp.jit.msg import SBP
+from sbp.jit.msg import unpack_payload
 
 from sbp.jit.msg import get_string
 from sbp.jit.msg import get_fixed_string
@@ -74,7 +74,7 @@ def test_parse():
 
     assert len(buf) > 0
 
-    pkt_len, payload_len, msg_type, sender, crc, crc_fail = SBP.unpack_payload(buf, 0, len(buf))
+    pkt_len, payload_len, msg_type, sender, crc, crc_fail = unpack_payload(buf, 0, len(buf))
     assert not crc_fail
 
     m = dispatch(msg_type)(msg_type)
diff --git a/python/tox.ini b/python/tox.ini
index bb47b36b96..61091909f2 100644
--- a/python/tox.ini
+++ b/python/tox.ini
@@ -1,12 +1,17 @@
 [tox]
 envlist = py27, py35, py37
 minversion = 1.7.2
+# Same as setup_requirements.txt as tox builds sdist package which it then
+# installs into the testenvs
+requires = setuptools==41.0.1
+           numba==0.41.0
+           llvmlite==0.26.0
 
 [testenv]
-deps = -r{toxinidir}/requirements.txt
+deps = -r{toxinidir}/setup_requirements.txt
+       -r{toxinidir}/requirements.txt
        -r{toxinidir}/test_requirements.txt
 commands =
-  python {toxinidir}/sbp/jit/parse_float.py
   py.test -v tests/
   py35,py37: {toxinidir}/../test_data/format-test.sh {posargs}
   {toxinidir}/../test_data/benchmark.sh {posargs}
diff --git a/test_data/benchmark.sh b/test_data/benchmark.sh
index f74b9e3625..d9b9aa863f 100755
--- a/test_data/benchmark.sh
+++ b/test_data/benchmark.sh
@@ -18,7 +18,7 @@ echo "Python" $time_py
 time_hs=$(TIMEFORMAT="%R"; { time $1/sbp2json < $TESTDATA_ROOT/long.sbp > $TESTDATA_ROOT/long_hask.json; } 2>&1)
 echo "Haskell" $time_hs
 
-threshold=1.8
+threshold=1.4
 perf_diff=$(echo "$time_py / $time_hs" | bc -l)
 
 if (( $(echo "$perf_diff > $threshold" | bc -l) )); then