.. _changelog_v4_5_2:

v4.5.2
======

v4.5.2 adds CAN bus support on the i.MX RT port, Arduino GIGA OV5640 support,
and high-resolution AprilTags on the OpenMV RT1060, plus camera/USB
reliability fixes. ``Mjpeg.sync()``/``close()`` no longer take an ``fps``
argument — see the breaking change.

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

Highlights
----------

- **CAN bus** support on the i.MX RT (mimxrt) port.
- **Arduino GIGA** gains OV5640 camera support; **OpenMV RT1060** gains
  high-resolution AprilTag detection.
- **Breaking:** ``Mjpeg.sync()`` / ``Mjpeg.close()`` no longer take an
  ``fps`` argument (FPS is now computed internally).

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

- **CAN bus** — added CAN support on the i.MX RT (mimxrt) port.

Bug fixes
---------

Camera and sensors:

- Fixed ``Image.midpoint_pool()`` not being able to select the centered area.
- Fixed TensorFlow (``tf``) inference with non-square images.

System and USB:

- Fixed the ``tv`` module argument parsing.
- Fixed TinyUSB polling, and the i.MX RT port now services TinyUSB while
  waiting for sensor frames (more responsive USB during capture).
- Fixed the OpenMV RT1060 default-script LED pin name.

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

- **Arduino GIGA** — OV5640 camera support.
- **i.MX RT** — CAN bus support.
- **OpenMV RT1060** — high-resolution AprilTag detection enabled.

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

User-visible API breaks between v4.5.1 and v4.5.2.

The only breaking change is narrow and affects MJPEG recording.

.. _v4_5_2_mjpeg:

``Mjpeg.sync()`` / ``Mjpeg.close()`` no longer take ``fps`` *(minor)*
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

MJPEG recording now computes the frame rate internally from the actual
capture timing, so ``Mjpeg.sync()`` and ``Mjpeg.close()`` no longer accept an
``fps`` argument. Calls that passed ``fps`` must drop that argument.

*Commit:* `83229dcdf <https://github.com/openmv/openmv/commit/83229dcdf>`__

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

Only MJPEG recording is affected: remove the ``fps`` argument from
``Mjpeg.sync()`` / ``Mjpeg.close()`` calls
(:ref:`the MJPEG change <v4_5_2_mjpeg>`). All other scripts run unchanged.