.. _changelog_v4_1_0:

v4.1.0
======

v4.1.0 brings full **Arduino Nano RP2040 Connect / Raspberry Pi Pico**
support (WiFi, Bluetooth, camera capture, jump-to-bootloader), direct **JPEG
image decoding**, a frozen ``urequests`` HTTP client, OV7670 sensor support,
and standardized sensor error reporting. The WiFi API and sensor exceptions
changed — read the breaking changes below.

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

Highlights
----------

- **RP2 boards** — Arduino Nano RP2040 Connect / Pico gain WiFi (NINA-W10),
  Bluetooth (NimBLE), camera/DCMI capture, and jump-to-bootloader.
- **JPEG decoding** — image operations now accept compressed JPEG images
  directly.
- ``urequests`` HTTP client frozen into the firmware.
- **OV7670** camera sensor support.
- **Breaking:** the NINA/RP2 WiFi API was reworked and several sensor errors
  now raise ``RuntimeError`` — see the breaking changes.

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

- **Arduino Nano RP2040 Connect / Raspberry Pi Pico** — WiFi via the NINA-W10
  :mod:`network` driver, Bluetooth/NimBLE, camera capture (DCMI PIO program),
  and a jump-to-bootloader command.
- **JPEG image decoding** — ``find_apriltags()``, ``lcd.display()``,
  ``tv.display()``, and related image operations now accept compressed JPEG
  images directly (decode to binary/grayscale/RGB565).
- ``urequests`` — the HTTP client (GET/POST/PUT/...) is now frozen on the
  OpenMV 4 / 4 Plus / Portenta / Nicla, with an ``http_post.py`` example.
- ``ble_advertising`` helper library, frozen on the Nano RP2040 Connect.
- **Host/debug** — ``pyopenmv.reset_to_bl()`` and a new
  ``USBDBG_SYS_RESET_TO_BL`` (0x0E) command to reset into the bootloader;
  jump-to-bootloader on the Arduino Nano 33 BLE Sense.
- **OV7670** — new OV7670 camera sensor support, selectable on OpenMV 4.

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

- RP2 UDP sockets auto-bind to an ephemeral port when used unbound; bundled
  MicroPython submodule updated.

Bug fixes
---------

Networking:

- Fixed NINA WiFi socket accept/close/send/recv/bind handling and operation
  timeouts, and an RP2 debug text-buffer race that could corrupt IDE output.

Camera and system:

- Fixed the HM01B0 reset, the camera I2C bus getting stuck after a failed
  sensor scan on the OpenMV H7, H7 ULPI low-power entry on USB disconnect,
  H7 ADC pin generation, and the Portenta camera pinout / shield SPI-CS.

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

- **Arduino Nano RP2040 Connect / Raspberry Pi Pico** — WiFi, Bluetooth,
  camera, larger flash filesystem, MSC bootloader.
- **OV7670** camera sensor (OpenMV 4).
- **Arduino Portenta H7** — breakout I2C4, extra PWM/clock pins, OV7725 /
  MT9V034 sensors.

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

User-visible API breaks between v4.0.2 and v4.1.0. Scope: Python C-modules in
``modules/`` and Python libraries in ``scripts/libraries/``.

Each change is tagged with its impact:

- *minor* — narrow API; only affects scripts that used it.
- *behavior* — same API, different results; re-check tuned scripts.

Changes are grouped by impact in that order. If you just want to port your
code, jump to the :ref:`migration checklist <v4_1_0_migration>` at the end.
Each commit hash links to its diff on GitHub.

.. _v4_1_0_wifi:

NINA / RP2 WiFi API reworked *(minor)*
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

The NINA / RP2 WLAN driver was reworked to match the upstream MicroPython /
CYW43 :mod:`network` interface: a ``WLAN(interface)`` constructor (STA/AP mode), a
new ``active([bool])`` method, ``config`` / ``start_ap`` aliases of
``connect``, the ``connect()`` ``ssid`` argument renamed to ``essid``, a new
``channel`` keyword, and ``nina.fw_version()`` now returns a
``(major, minor, patch)`` tuple instead of raw bytes. A NINA firmware version
mismatch is now a non-fatal warning instead of an ``OSError``.

*Commits:* `eb2f98277 <https://github.com/openmv/openmv/commit/eb2f98277>`__,
`e14470f68 <https://github.com/openmv/openmv/commit/e14470f68>`__,
`0c40f4832 <https://github.com/openmv/openmv/commit/0c40f4832>`__

.. _v4_1_0_errors:

Sensor errors now raise ``RuntimeError`` *(behavior)*
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

Sensor error reporting was standardized around a unified error-code table:
camera failures (capture timeout, invalid framesize/pixformat/window/
framerate, framebuffer error, JPEG overflow, undetected sensor, ...) now raise
consistent, descriptive messages, and several conditions that previously
raised ``ValueError`` now raise ``RuntimeError`` (including
:func:`sensor.reset`). Code that caught ``ValueError`` for these cases must
catch ``RuntimeError`` instead.

*Commits:* `0491a6a88 <https://github.com/openmv/openmv/commit/0491a6a88>`__,
`c8bf0af6f <https://github.com/openmv/openmv/commit/c8bf0af6f>`__,
`2fb226562 <https://github.com/openmv/openmv/commit/2fb226562>`__

.. _v4_1_0_migration:

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

For a clean port to v4.1.0 the typical work is:

#. Port NINA/RP2 WiFi code to the standard :class:`network.WLAN` interface
   (``WLAN(interface)``, ``active()``, ``essid=``) and expect a tuple from
   ``nina.fw_version()`` (:ref:`the WiFi API change <v4_1_0_wifi>`).
#. Change ``except ValueError`` to ``except RuntimeError`` around camera /
   :func:`sensor.reset` error handling
   (:ref:`the sensor-error change <v4_1_0_errors>`).