⚠️ This is a development release, and it may be unstable.

🪄 Image

• imlib: Add offset to embedded header and fix alignment.
• • fmath: Fix strict-aliasing violation in fast_expf.

📚 Libraries

• • alif: Update Alif DFP to 1.3.4.

💾 Drivers

• • sensors: Add bad pixel correction for PAG7936.

🧱 Modules

• • py_unittest: More unit tests.
• modules: Add unit tests module.

⚙️ Boards

• boards: Define USB IDs.

🪛 Misc Fixes:

• build(deps): bump actions/cache from 4.3.0 to 5.0.0

🪄 Image

• imlib: Rework frame buffer management.

🧬 Common

• file_utils: Fix file utils.
• file_utils: Check fp in all public functions.
• common: Update crc code.
• mutex: Return true, if unlocked.
• mutex: Clear tid when releasing mutex
• common: Add CRC HAL with hardware acceleration support.
• profiler: Add get_size function.
• usbdbg: Flush data from unsupported commands.
• common: Add code profiler.
• common: Refactor TinyUSB debug interface implementation.
• csi: Refactor resolution table.
• csi: Add post process op.
• csi: Add support for custom resolutions.
• vospi: Fix synchronization issues.
• vospi: make vospi_restart() non-blocking.
• mutex: Use C11 atomic operations.
• csi: Add function to print sensor name.
• common: Remove unused ringbuf.
• csi: Decouple the clock from main CSI state.
• csi: Add csi shutdown op.
• omv_csi: Fix all sensors working on all boards.
• common: Remove xalloc.
• csi: Refactor I2C scanning code.

📚 Libraries

• stai: Fix STAI NPU memory allocation.
• micropython: Update submodule.
• micropython: Update submodule.
• ml: Refactor postprocessing module into vendor-specific subpackages.
• lib: Poll events during inference.
• micropython: Update submodule.
• imlib: Fix raw stream buffer size check.
• imlib: Remove test loop.
• imlib: Use framebuffer_t for main and streaming buffers.
• cmsis: Fix cmsis compile time constant folding.
• lib: Update to MicroPython 1.26.0.
• alif: Fix Mac M4 USB enumeration.
• imlib: New SIMD ops for ML acceleration
• micropython: Update submodule.
• imlib: Fix draw line glitch.
• micropython: Update submodule.
• imlib: Fix update_jpeg_buffer to update from the passed image.
• micropython: Update RT1062 USB ID and buffers.
• micropython: Update submodule.
• imlib: Remove unused functions.
• lib: Add STAI library and ML backend.

🤖 Sensors

• sensors: Add support for PixArt PS5520.

💾 Drivers

• boson: Use timespec struct from header.
• sensors: Add aux flag to genx320 driver.
• sensors: Update to using post_process callback.
• sensors: Add RAW event output mode for the genx320.
• sensors: Optimize Lepton delays.
• sensors: Remove OV5640 REV_Y special case.
• drivers: Fix snapshot loop.
• lepton: Update lepton driver with asynchronous fb.
• sensors: Update new sensors to use the csi pointer.

🧱 Modules

• py_helper: Fix image allocation on file load.
• py_helper: Release the buffer used in set_to_framebuffer.
• py_imageio: Fix stream file mode.
• modules: Fix code formatting.
• py_image: Accelerate to_ndarray() with Helium.
• py_csi_ng: Support custom frame size.
• py_csi_ng: Fix printed slave address.
• py_fir_lepton: Remove lepton control through fir module.
• py_spi_display: Add vflip/hmirror support.
• py_helper: Fix error arg_to_image error message typo.
• py_display: Pass DT to display controller initializer.

🐍 Micropython

• micropython: Update submodule
• micropython: Update submodule.
• micropython: Update submodule.
• micropython: Update submodule.
• micropython: Update submodule.
• micropython: Update submodule.

🧪 Ports

• alif: Improve PAG7936 Image Quality.
• ports: Enable gamma correction.
• stm32: Remove unused MPU_REGION_NUMBER_MAX.
• ports: Add QEMU port.
• stm32: Add ADC12 RIF config.
• alif: Use direct CRC calculation for unaligned bytes
• alif: Fix and enable Alif HW CRC32.
• alif: Poll events in spi_transfer.
• stm32: Revert N6 slow-peripheral IC clock source.
• stm32: Fix STM32 DCMI Driver
• stm32: Fix SystemClock_config() hard faulting.
• mimxrt: Enable full DMA offload for RT1062.
• stm32: Fix N6 DMA security config.
• ports: Add GPU matrix support.
• stm32: Use HAL_InitTick to init SysTick.
• mimxrt: Fix omv module UID function.
• stm: Re-enable frame interrupt in JPEG mode.
• all: Switch to gnu11 standard.
• stm32: Remove old buzzer module.
• stm32: Fix typo in stm32_pwm.
• stm32: Support DCMI and DCMIPP.
• stm32: Remove UVC firmware.
• stm32: Refactor CSI ISP code.
• all: Refactor CSI port init.
• stm32: Fix PSRAM settings.
• all: Dual CSI support.
• stm32: Fully implement N6 GPU driver for draw_image.
• stm32: Reset pipes states on abort.
• all: Refactor CSI drivers.
• stm32: Fix N6 support.
• stm32: Add N6 support.
• alif: Implement spi_transfer with poll and timeout.
• ports: Add conditional compilation for py_fir_init0()
• stm32: Make dma handle static.
• stm32: Add DSI PLL config.

⚙️ Boards

• OPENMV_N6: Enable depth palette on N6.
• OPENMV4P: Enable BOSON on H7 Plus.
• OPENMV2: Fix QVGA RGB565 support.
• boards: Add fixed sensor polarity configs.
• OPENMV_N6: Enable SPI LCD/TV Displays.

📜 Scripts

• libraries: Add facial landmarks post-processing.
• unittests: Add crc test.
• examples: Add YOLOV8 person detector script.
• libraries: Fix postprocess arg default.
• examples: Add yolov2 and yolov5 template examples.
• examples: Fix blazeface and fomo examples.
• examples: Add YOLO LC person tracking example.
• libraries: Add palm detector post-processing support.
• ml: Split ml module into components.
• examples: Add BlazeFace detection example.
• libraries: Post-processing speedup.
• examples: Add framerate control to genx320 examples.
• libraries: Add support for the SSD1351 OLED display.

🛠 Tools

• tools: Fix uncrustify union variable formatting
• mkromfs: Update romfs build.
• mkromfs.py: Fix exception formatting

🪛 Misc Fixes:

• build(deps): bump actions/checkout from 5 to 6
• misc: USB fixes.
• build(deps): bump actions/upload-artifact from 4 to 5
• build(deps): bump actions/download-artifact from 5 to 6
• misc: clean up mp_obj_get_float.
• build(deps): bump softprops/action-gh-release from 2.3.3 to 2.4.1
• fs: Replace FatFS direct calls with MicroPython VFS abstraction
• build(deps): bump actions/cache from 4.2.0 to 4.3.0
• misc: Fix formatting.
• misc: Fix makefiles.
• Makefile: Fix jlink target.
• boot: Add version header.
• misc: Update code formatter.
• build(deps): bump actions/setup-python from 5 to 6
• stm32: Disable clock gating during sleep for STM32N6 peripherals
• build(deps): bump softprops/action-gh-release from 2.2.2 to 2.3.3
• mutex: Clear tid when releasing mutex"
• Makefile: Suppress J-Link GDB server output
• Makefile: Integrate GDB debugging into jlink target
• imlib: Add an embedded frame header in the streaming buffer.
• build(deps): bump actions/download-artifact from 4 to 5
• build(deps): bump actions/checkout from 4 to 5
• OPENMV_N6: Enable triple buffering for the N6.
• tflm: Remove out of date tf documentation.
• misc: Add common alignment macros.
• docker: Fix Make download.
• stm32: Refactor DMA code.
• misc: Update GCC toolchain.
• misc: Refactor CSI initialization code.
• misc: Refactor CSI I2C bus.
• stm32: Add ram function section.
• stm32: Fix XSPI mmap instruction width.

⚠️ Breaking Changes

• misc: romfs support: Models and other assets are now stored in /rom/.

🪄 Image

• imlib: Refactor framebuffer API to accept a context.

🧬 Common

• omv_csi: Add update AGC/AEC ioctl.

📚 Libraries

• models: Move models.
• tinyusb: Update submodule.

🤖 Sensors

• pag7936: Set CSI phy bitrate.
• boson: Restore FLIR BOSON Factory defaults on reset.
• boson: Try to initialize the FLIR BOSON in a loop.
• genx320: Update ISSD sequence to increase frame rate.
• GenX320: Adding IOCTL to control Anti-Flicker filter (AFK).

💾 Drivers

• softcsi: Support hmirror, vflip and transpose.
• softcsi: Add virtual image sensor for testing.
• drivers: Move GenX EHC back to boardconfig.h.
• cyw4343: Fix BT firmware file.
• drivers: Add VL53L8CX driver.
• vl53l5cx: Add shutdown function and fix deinit.

🧱 Modules

• py_imu: Fix I2C mode.
• py_fir_lepton: Remove unused pins.
• modules: Replace uint with size_t.

🐍 Micropython

• micropython: Update submodule.
• micropython: Update submodule.
• micropython: Update submodule.

🧪 Ports

• stm32: Fix missing SSL sign alt flag/build option.
• mimxrt: Fix unitialized edma_config fb pointer.
• alif: Remove old event poll macro.
• alif: Change HP U55 config to SRAM_OPSI.
• stm32: Update ULPI code.
• stm32: assert i2c not SPEED_FAST if not supported
• alif: Disable LEDs on soft-reboot.
• alif: Generate padded ToC.
• alif: Add Alif port.
• stm32: Add .ram_function section.

⚙️ Boards

• ARDUINO_GIGA: Remove obsolete defines.
• OPENMV_AE3: Update ROMFS size.
• OPENMV2: Fix flash size.
• OPENMV_AE3: Switch to VL53L8CX.
• OPENMV_AE3: Fix romfs partitions numbers.
• all: Add TIM clock sleep enable macro.

📜 Scripts

• examples: Fix Haar Cascade Paths.
• libraries: Add support for more yolo post-processing.
• libraries: Clean remote core output.

🛠 Tools

• tools: Add STEdge AI tools download.
• st: Add missing libraries.
• alif: Update submodule.
• tools: Update alif tools.
• alif: Fix config file formatting.
• alif: Update SE tools to release 104.
• alif: Update tools to 1.103.001.
• st: Add cubeprog.
• tools: Add recovery partition key generator.

🥾 Bootloader

• stm32: Fix build dependencies order.

🪛 Misc Fixes:

• Makefile: Fix JLink command.
• boot: Add DFU partition delay setting.
• example: Fix set_auto_gain param.
• example: Change lepton max_temp.
• example: Fix examples.
• msic: Update README.md
• misc: Refactor repo.
• i2c: disable fastmode at compile
• csi: remove enum to support preprocessor directives
• csi: Don't fail if sleep is not implemented.
• docker: Fix output files permissions.
• docker: Fix build.
• alif: Disable swap for alternate flashes.
• build(deps): bump cryptography from 44.0.0 to 44.0.1 in /.github/workflows
• misc: Add jlink target.
• psee_ehc_activate_override: use the correct accumulation time
• build(deps): bump tj-actions/changed-files from 45 to 46
• misc: Update workflows
• stm32n6: Add STM32N6 HAL.
• misc: Filter gnu11 standard from CFLAGS.

🪄 Image

• draw: Fix fb_alloc aligned size.

🤖 Sensors

• GenX320: Adding ioctl for setting individual biases.

🧱 Modules

• modules: Add missing sensor IDs.

🐍 Micropython

• micropython: Move submodule to lib.

🧪 Ports

• stm32: Move CLUT to DMA memory section.

📜 Scripts

• examples: Fix IMXRT deepsleep and stop examples.

🛠 Tools

• rpc: Remove the desktop RPC library.
• alif: Update tools.

🪛 Misc Fixes:

• build(deps): bump thollander/actions-comment-pull-request from 2 to 3
• misc: Fix files still referencing old micropython location.

⚠️ Breaking Changes

• scripts: Remove obsolete u-prefix from imports.

🪄 Image

• • imlib: xalloc image to be cache aligned.
• • draw: Simplify GPU source rect calculation.
• • draw: Enable GPU in-place cut-through.
• • draw: Fixed transpose on SDRAM-less boards.
• imlib: Update draw_image alpha to 0-255 from 0-256.
• • bayer: Fix debayer bound predication.
• • draw: Optimize set_pixel_aa.

🧬 HAL

• • stm32: Clean up system file.

📚 Libraries

• • models: Add YOLOv2 model.
• • tflm: Rename YoLoV5 Nano model.
• • tflm: Add YoloV5 model for testing.
• • tflm: Add extra padding to arena size.
• • apps: Allow passing gain to audio init.
• • tflm: Update submodule.

🤖 Sensors

• • GenX320: Add IOCTL for biases settings.
• • genx320: Round frequency calc.
• • pag7936: Add missing control functions.
• • genx320: Enable histogram mode.
• • pag7936: Add support for MIPI mode.
• • pag7936: Enable lens shading correction.
• • mt9v0xx: Fix bayer output.
• • ov5640: Fix PCLK calculation for setting correct exposure time.
• sensors: Add PAG7936 sensor driver.
• sensors: Add genx320 driver.

💾 Drivers

• • nema: Update license file.
• • vl53l5cx: Add support for power pin.
• • lsm6dsm: Add LSM6DSM driver.
• drivers: ToF updates and fixes.

🧱 Modules

• modules: Fix bool args.
• • py_ml: Clean up fb_alloc path.
• • py_ml: Align model data allocated on GC.
• • omv: Fix USB debug mode function.
• • omv: Move debug mode flag to omv module.
• • ulab: Update ULAB to version 6.6.1.
• modules: Remove ST header.
• modules: Move IMU to generic modules.
• modules: Add RGB stats ioctl.

🐍 Micropython

• micropython: Update submodule.
• micropython: Update submodule.
• micropython: Switch to openmv-1.24.0 branch.
• micropython: Update submodule.
• micropython: Update to MicroPython 1.24.
• micropython: Update documentation for v4.5.9.

🧪 Ports

• • all: Fix MISO/MOSI pins being used in TX/RX only mode.
• • stm32: Update GPU driver.
• • stm32: Fix MDMA initialization.
• • omv_gpu: Fix cache line clean size.
• • nema: Include missing irq header.
• • stm32: Add support for Nema GPUs.
• • stm32: Disable btree by default.
• • nrf: Update board config options.
• • stm32: Fix float conversion warning.
• • stm32: Make usage of MDMA for jpeg compression conditional.
• • stm32: Fix DMA base calculation for F4/F7/H7.
• • stm32: Update SPI driver.
• • stm32: Misc updates.
• • rp2: Fix firmware.
• • stm32: Misc updates.
• • stm32: Check if FFS region is defined.
• • stm32: Rename old STM32 files.

⚙️ Boards

• • ARDUINO_PORTENTA_H7: Move ETH DMA buffers into SRAM3.
• boards: Fix DRAM address for boards with swapped banks.
• • RPI_PICO: Fix build.
• boards: Remove pro board.

📜 Scripts

• • libraries: Simplify YOLO post-processing using keepdims.
• • libraries: Add yolo v5 post processing support.
• • examples: Update image classification example.
• • examples: Fix new refactored IOCTL names.
• • libraries: Revert fully vectorize and cleanup yolo_v2.
• • libraries: Fully vectorize and cleanup yolo_v2 post-processing.
• scripts: Add yolov2 post-processor.
• • libraries: Update boot script.
• • ibraries: Update ml.
• • examples: Move microspeech example.
• scripts: Update examples.
• scripts: Remove obsolete u-prefix from imports.

🛠 Tools

• • alif: Update device rev.
• • alif: Update tools to release 1.101.0.
• • alif: Update device config.
• • alif: Update tools.
• • alif: Update default part.
• • tflite2c: Fix Vela model summary.

🥾 Bootloader

• bootloader: Add special flash recovery partition.
• bootloader: Support forced mode.
• • stm32: Misc fixes.
• • stm32: Add support XSPI MMAP in DTR mode.
• • stm32: Update XSPI driver.
• • stm32: Enable XSPI clocks in low-power.
• • stm32: Remove hard-coded prescaler.
• bootloader: Fix stm32 cache disable.
• bootloader: Add separate XIP partitions.
• bootloader: Fix XN bit for first partition.
• bootloader: Set first partition's region as executable.
• bootloader: Misc fixes and updates.
• bootloader: Fix string descriptor index.
• bootloader: Misc fixes.
• bootloader: Clean up files.
• bootloader: Add boot partition.
• bootloader: Add common flash interface.
• bootloader: Misc fixes.
• bootloader: Add new TinyUSB-based DFU bootloader.

🪛 Misc Fixes:

• misc: Update get_state() to work with a variable packet size.
• misc: Include CMSIS header in pendsv.
• misc: Move networking variables to board/port Makefiles.
• • py_ml: Round-up dynamic alloc size.
• build(deps): bump actions/cache from 4.1.2 to 4.2.0
• misc: Remove CLA workflow.
• misc: Add CLA workflow.
• • boson: Add initial support for the FLIR Boson.
• boot: Fix m4 and m7 dfu bootloader.
• • vospi: Set vospi bus CPOL=1 and CPHA=1.
• misc: Add CSI2 hardware flag.
• misc: Move CSI state to csi struct.
• misc: Fix typo.
• misc: Ml build cleanup.
• py_image: Fix corruption using to_ndarray() on grayscale images.
• build(deps): bump actions/cache from 4.0.2 to 4.1.2
• misc: Add common filesystem boot script.
• misc: Limit IDE FPS to 20Hz.
• misc: Fix dropped character in debug text.
• misc: Clean up old stm32 files.
• misc: Clean up board Make flags.
• misc: Refactor Makefile variables, and misc bootloader fixes.
• misc: Schedule TinyUSB task in VM node.
• py_image: Add new depth palette.
• misc: refactor sensor drivers.
• misc: Update licenses.
• misc: Add a flag to ioctls to abort streaming.
• • common: Support overriding the resolution table.

⚠️ Breaking Changes

• apriltag: Disable unused TAG families by default.

🪄 Image

• apriltag: Switch to libm's sin/cos.
• imlib: Optimize debayering with Helium.
• imlib: Fix automatic vbuffer count.
• imlib: Add support for sending raw preview frames.
• jpeg: Minor clean-up.
• imlib: Fix framebuffer_get_buffer_size().

📚 Libraries

• tflm: Use GC's free memory for the temporary tensor arena.

💾 Drivers

• dave2d: Add license file.
• dave2d: Fix video memory bug.
• dave2d: Remove license for now.
• dave2d: Add D/AVE 2D GPU driver.

🧱 Modules

• modules: Use the default optimization level for all user C modules.
• py_image: Fix implicit float conversion.

🧪 Ports

• stm32: Fix CM4 boot memory.
• stm32: Move stm32-specific bootloader and uvc to port dir.
• all: Refactor sensor flags.
• all: support for building specific imlib files with clang.

⚙️ Boards

• OPENMV4P: Set HW crop flag.
• OPENMV_RT1060: Add support for RAW streaming.

📜 Scripts

• examples: Add back windowing to example.

🛠 Tools

• Update converters.
• Clean up tools.
• Add Alif tools.
• uncrustify: Fix compound literal return indentation.
• tflite2c: Add default optimization for user models.
• tflite2c: Set Vela optimization per model.
• pyopenmv: Misc fixes, updates and benchmark mode.

🪛 Misc Fixes:

• Move Haar cascades.
• build(deps): bump tj-actions/changed-files from 44 to 45
• docker: Update docker build.
• Add gitattributes.
• misc: USB debug fixes.
• sensor: Add raw sensor flag.
• linker: Update linker script variables.
• common: Add profiling macros.
• usbdbg: Optimzie CDC buffers copy.
• common: Change linker variable to uint32.

🧱 Modules

• py_ml: Add uint16 support to match ndarrays.

🐍 Micropython

• micropython: Update submodule.

📜 Scripts

• libraries: Add missing return in microspeech.listen().

🪄 Image

• draw: Refactor draw_image to support gpu offload.
• jpegd: Fix for JPEG decoder boundary problem.

📚 Libraries

• tflm: Update submodule.
• tflm: Fix Makefile rules to generate files once.
• tflm: Remove Vela models (now generated on the fly).

🧱 Modules

• py_image: Update all lineops to use the draw_image backend.
• py_ml: print model address location too.
• py_sensor: Add missing PAG7920 enum.

🐍 Micropython

• micropython: Update submodule.

🧪 Ports

• stm32: Fix MPU region protection bug.

📜 Scripts

• libraries: Update rpc_spi_master to use the machine module.

🛠 Tools

• tflite2c: Support converting Vela models on the fly.

🪛 Misc Fixes:

• common: Add GPU memory section to common ld.
• github: Post firmware stats after PRs.
• README: Create toolchain parent directory.
• README: Update builld instructions.
• common: Reserve JPEG buffer only if defined.
• common: Add nosys stubs.
• misc: Update GCC toolchain installation instructions.

🪄 Image

• draw: Add missing speculative read invalidates.
• draw: Add AA support for draw_circle.

🤖 Sensors

• hm0360: Enable HM0360 to work on GIGA.

💾 Drivers

• cyw43: Add firmware W4343WA1_45_98_102.

🧱 Modules

• py_ml: Switch to upstream TFLM and refactor all TensorFlow modules.
• py_ml: Add generic CNN processing support.
• py_ml: Make predict output a numpy array.
• py_ml: Fully vectorize all input and output scaling/datatypes.
• py_ml: Fix the size of the input bytearray.
• py_ml: Add support for multi-input models.
• py_image: Update morph() to use arg parse.
• py_image: Change scale argument to (min,max) range.
• py_image: Add buffer length sanity check.
• py_image: Add Image as a type instead of function.
• py_image: Add support for turning lists/tuples into Images.
• py_image: Refactor get_similarity() to use draw_image backend.

🐍 Micropython

• micropython: Update to Micropython v1.23.0.

🧪 Ports

• All: Add support for additional GC blocks.
• All: Root pointer fixes.
• All: Add common linker script.
• All: Fix DMA memory alignment.
• All: Fix accidental CPU cache invalidation.
• All: Add efficient GET_STATE debug command.
• mimxrt: Fix I2C for the MLX90640 driver.
• stm32: Add mic gain support to py_audio when using DFSDM.

⚙️ Boards

• ARDUINO_GIGA: Enable HIMAX sensors.

📜 Scripts

• examples: Add Open-AMP example.
• libraries: Update normalization to handle 3D/4D image tensors.
• examples: Add regression example.
• libraries: Moved nms class to ml/utils.
• libraries: Fix Normalization image format.
• libraries: Move nms to python.

🛠 Tools

• tflite2c: Fix model alignment.

🪛 Misc Fixes:

• misc: Add back original licenses.
• misc: Change to SoftI2c for RT.
• misc: Export common environment variables from top Makefile.
• misc: Tinyusb debug updates.
• misc: Fix malloc heap memory typo.
• docs: fix misspelling of tensorflow

🪄 Image

• pool: Remove obsolete pooling functions.
• binary: Fix erode mask check.
• imlib: Invalidate vbuffers before returning them.
• draw: Cleanup drawline code.
• imlib: Change ARM_MATH_CM4/CM7 to DSP.

🧱 Modules

• py_image: Move ksize to be pos_arg.
• py_image: Fix morph spelling.
• py_image: Update py_image_to with mp_arg_parse_all.

🧪 Ports

• mimxrt: Retry transfer if the DMA is still busy.
• stm32: Reset vbuffer state when dropping frames.

🪛 Misc Fixes:

• misc: Increase delay after reset/power-down.