.. _changelog_v3_1_0:

v3.1.0
======

v3.1.0 introduces the :mod:`fir` thermopile module (MLX90620 / MLX90640 /
AMG8833), **WiFi IDE debugging and discovery** over the WINC1500, a **UVC
webcam** firmware, :func:`sensor.shutdown`, ``image.selective_search()``, and
the :mod:`uctypes` and :class:`pyb.CAN` modules. Some :mod:`image` methods were dropped on
the OpenMV Cam M4 — read the breaking changes below.

.. contents:: On this page
   :local:
   :depth: 1

Highlights
----------

- :mod:`fir` module — MLX90620 / MLX90640 / AMG8833 thermopile thermal-camera
  support.
- **WiFi IDE** — debug and program over WiFi (WINC1500) with UDP broadcast
  discovery (no hardcoded IP needed).
- **UVC webcam** — a USB Video Class firmware to use the cam as a webcam.
- **New APIs** — :func:`sensor.shutdown`, ``image.selective_search()``, and the
  :mod:`uctypes` / :class:`pyb.CAN` modules.
- **Breaking:** ``image.mean()`` and ``image.morph()`` are no longer
  available on the OpenMV Cam M4 — see the breaking changes.

New features
------------

- :mod:`fir` — added the thermopile module with MLX90620 / MLX90640 /
  AMG8833 support: :func:`fir.init`, :func:`fir.snapshot`, :func:`fir.read_ir`,
  :func:`fir.draw_ir` and the ``FIR_MLX90640`` / ``FIR_AMG8833`` constants, with
  per-sensor Thermopile-Shield examples.
- **WiFi IDE** — WiFi programming/debug over the WINC1500 with UDP broadcast
  discovery so OpenMV IDE can auto-find cameras (firmware reads STA/AP
  settings from the IDE).
- **UVC webcam** — added a USB Video Class webcam firmware.
- :func:`sensor.shutdown` — power the camera down via the PWDN pin.
- ``image.selective_search()`` — region-proposal rectangles, with a
  ``selective_search.py`` example.
- **Modules** — enabled the :mod:`uctypes` module, re-enabled :class:`pyb.CAN`, and
  enabled additional MicroPython modules; added a USB-HID example and a
  function to check whether the IDE is connected.

Other changes and improvements
------------------------------

- Added a per-socket receive buffer for more reliable WiFi socket ``recv``;
  the :mod:`image` math methods (``top_hat`` / ``black_hat`` / ``negate`` /
  ``replace`` / ``add`` / ``sub`` / ``mul`` / ``div`` / ``min`` / ``max`` /
  ``difference`` / ``blend``) are now behind an ``IMLIB_ENABLE_MATH_OPS``
  build flag (enabled by default on standard firmware).

Bug fixes
---------

Imaging and camera:

- Fixed ``image.save()`` not closing the file after writing raw images
  (truncated/corrupt saves) and the FLIR Lepton SPI GPIO configuration.

System and connectivity:

- Worked around the STM32F7 SPI BUSY-flag errata (2.11.2), fixed the WiFi
  IDE-debug broadcast interval / socket cleanup / debug timer, the
  ``openmv.ini`` integer parsing, and H7 flash latency.

Hardware and board support
--------------------------

- **MLX90620 / MLX90640 / AMG8833** thermopile (FIR) sensors.
- **UVC webcam** — USB Video Class firmware.
- **WINC1500** — WiFi IDE debugging and discovery.

Breaking API changes
--------------------

User-visible API breaks between v3.0.0 and v3.1.0. Scope: Python C-modules in
``modules/`` and Python libraries in ``scripts/libraries/``.

The breaking changes are *behavior* changes scoped to the OpenMV Cam M4 — re-
check affected scripts. Each commit hash links to its diff on GitHub.

.. _v3_1_0_m4methods:

``image.mean()`` / ``image.morph()`` removed on the OpenMV Cam M4 *(behavior)*
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

To fit flash/RAM on the OpenMV Cam M4 (OMV2), ``image.mean()`` and
``image.morph()`` were compiled out on that board; calling them now raises an
"unavailable" error. Use a different filter (e.g. ``image.median()`` /
``image.midpoint()``) or run the morphology / mean filtering on a newer
camera (M7 / H7). Other boards are unaffected.

*Commits:* `abe97a73b <https://github.com/openmv/openmv/commit/abe97a73b>`__,
`4e34b32ec <https://github.com/openmv/openmv/commit/4e34b32ec>`__

.. _v3_1_0_migration:

Migration checklist
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

On the OpenMV Cam M4, replace ``image.mean()`` / ``image.morph()`` with
another filter or move that processing to an M7 / H7 camera
(:ref:`the M4 method removal <v3_1_0_m4methods>`). All other scripts run
unchanged.