.. _changelog_v4_4_0:

v4.4.0
======

v4.4.0 adds a ``tf.regression()`` API, FLIR Lepton support on the OpenMV Cam
H7 Pro, Cortex-M4 coprocessor support on the Arduino Nicla Vision, and
MicroPython 1.19. A few board-specific modules and WiFi/LCD behaviors changed
— read the breaking changes below.

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

Highlights
----------

- ``tf.regression()`` — run 1D-input/1D-output TensorFlow Lite regression
  models.
- **FLIR Lepton** thermal sensor support on the OpenMV Cam H7 Pro.
- **Arduino Nicla Vision** — Cortex-M4 coprocessor support, working
  MicroSpeech, LPUART1.
- **MicroPython updated to 1.19**; ulab updated to 5.1.1.
- **Breaking:** the Nicla Vision ``lcd``/``tv`` modules were disabled and the
  RP2040 Connect WiFi driver changed — see the breaking changes.

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

- ``tf.regression(model, input_array)`` — a new function for 1D
  input/output TensorFlow Lite regression models, returning a list of float
  outputs.
- **GC2145 controls** — :func:`sensor.set_auto_exposure` and
  :func:`sensor.set_auto_whitebal` are now functional on the GC2145 (auto
  exposure / white balance can be disabled; explicit exposure/gain not yet
  supported).
- **Arduino Nicla Vision** — Cortex-M4 (CM4) coprocessor support and the
  LPUART1 peripheral were enabled.
- :class:`machine.Pin` — the ``USB_VBUS`` pin is now exposed to user scripts.

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

- **MicroPython updated to 1.19**; ulab to 5.1.1; the bundled cyw43 WiFi
  driver was updated.
- The RP2 (Arduino Nano RP2040 Connect) and nRF (Arduino Nano 33 BLE Sense)
  ports switched to the new TinyUSB-based debugger for the IDE/host
  connection.
- The OV7670 XCLK was raised from 12 MHz to 24 MHz (updated register set).

Bug fixes
---------

Camera and sensors:

- OpenMV Pure Thermal blob temperature statistics now use the IR image
  instead of the color image, so per-blob mean temperature is correct.
- Fixed ``draw_image()`` ROI handling and area scaling for more accurate
  scaled output.
- The IMU is re-initialized after a soft-reset so it keeps working when the
  IMU SPI bus is enabled.

System:

- Fixed signed/unsigned comparison issues across FAST/AGAST feature
  detection, blob detection, CLAHE, and the LCD/TV drivers; fixed STM32
  camera-GPIO / SPI / DAC de-initialization, H7 LPUART pin mapping, and the
  STM32Cube.AI ``nn`` module registration.

Arduino Nicla Vision:

- MicroSpeech now works (doubled PDM buffer, added example) and low-power
  standby mode was fixed.

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

- **OpenMV Cam H7 Pro** — FLIR Lepton thermal sensor support.
- **Arduino Nicla Vision** — CM4 coprocessor, LPUART1, MicroSpeech,
  low-power standby.

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

User-visible API breaks between v4.3.3 and v4.4.0. 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 on a specific board.
- *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_4_0_migration>` at the end.
Each commit hash links to its diff on GitHub.

.. _v4_4_0_board:

Nicla Vision modules and RP2040 WiFi *(minor)*
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

On the Arduino Nicla Vision, the ``lcd`` and ``tv`` modules were disabled to
free memory for CM4 coprocessor support — scripts using those modules on the
Nicla Vision will no longer find them. The Arduino Nano RP2040 Connect
switched from the OpenMV-custom WiFi/``nina`` implementation to the upstream
MicroPython NINA-W10 driver/module, whose API differs.

*Commits:* `f78d191e3 <https://github.com/openmv/openmv/commit/f78d191e3>`__,
`ddf01cb09 <https://github.com/openmv/openmv/commit/ddf01cb09>`__

.. _v4_4_0_behavior:

WiFi socket timeout and LCD vertical flip *(behavior)*
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

A WINC1500 socket timeout now returns a non-blocking error (``EWOULDBLOCK``)
instead of ``ETIMEDOUT``, so timed-out sockets are no longer unexpectedly
closed — code that caught ``ETIMEDOUT`` must be updated. The SPI LCD shield
:mod:`display` now raises ``ValueError`` ("Vertical flip requires triple
buffering!") when a negative ``y_scale`` is requested without triple
buffering enabled.

*Commits:* `1dc4bea88 <https://github.com/openmv/openmv/commit/1dc4bea88>`__,
`7e52cf751 <https://github.com/openmv/openmv/commit/7e52cf751>`__

.. _v4_4_0_migration:

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

For a clean port to v4.4.0 the typical work is:

#. On the Nicla Vision, stop using ``lcd``/``tv``; on the Nano RP2040
   Connect, port WiFi code to the upstream NINA-W10 driver
   (:ref:`the board module changes <v4_4_0_board>`).
#. Update WINC1500 socket code to expect ``EWOULDBLOCK`` on timeout, and
   enable triple buffering for vertically-flipped LCD output
   (:ref:`the behavior changes <v4_4_0_behavior>`).