By all means, take a spin through the manual if you haven't already. There's some good stuff in there. Page 26 has some information on the speaker configuration and bass management.

The 950's bass management includes three independent adjustable crossovers -- one for the mains, one for the center, and one for the surrounds. These crossovers come into play for any speakers that are set to "small" (when set to "large" the signals skip the bass management). This means that you can (for example) set the crossover point for the mains at 40Hz, the center channel crossover at 60Hz, and the surround channels' crossover at 100Hz. In each case, the material below the crossover point will be redirected to the subwoofer. (In the case of a system with no subwoofer, the mains have to be set to large; that allows the 950 to pass the redirected bass from center and surrounds to the mains.)

The firmware is not available as far as I am aware.

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