Merge pull request #4159 from raspberrypi/develop

mudge · web-flow · commit 2705db04927f · 2025-08-18T08:23:14.000+01:00
Deploy to production
diff --git a/.gitignore b/.gitignore
@@ -5,3 +5,4 @@ build-pico-sdk-docs
 documentation/html
 documentation/asciidoc/pico-sdk
 .venv
+.env
diff --git a/documentation/asciidoc/accessories/ai-camera/model-conversion.adoc b/documentation/asciidoc/accessories/ai-camera/model-conversion.adoc
@@ -26,21 +26,21 @@ The Edge-MDT package takes a parameter to select between installing the PyTorch
 
 [tabs]
 ======
-TensorFlow::
+PyTorch::
 +
 [source,console]
 ----
-$ pip install edge-mdt[tf]
+$ pip install edge-mdt[pt]
 ----
-+
-TIP: Always use the same version of TensorFlow you used to compress your model.
 
-PyTorch::
+TensorFlow::
 +
 [source,console]
 ----
-$ pip install edge-mdt[pt]
+$ pip install edge-mdt[tf]
 ----
++
+TIP: Always use the same version of TensorFlow you used to compress your model.
 ======
 
 If you need to install both packages, use two separate Python virtual environments. This prevents TensorFlow and PyTorch from causing conflicts with each other.
@@ -62,18 +62,18 @@ To convert a model model:
 
 [tabs]
 ======
-TensorFlow::
+PyTorch::
 +
 [source,console]
 ----
-$ imxconv-tf -i <compressed Keras model> -o <output folder>
+$ imxconv-pt -i <compressed ONNX model> -o <output folder>
 ----
 
-PyTorch::
+TensorFlow::
 +
 [source,console]
 ----
-$ imxconv-pt -i <compressed ONNX model> -o <output folder>
+$ imxconv-tf -i <compressed Keras model> -o <output folder>
 ----
 ======
 
diff --git a/documentation/asciidoc/accessories/audio/hardware-info.adoc b/documentation/asciidoc/accessories/audio/hardware-info.adoc
@@ -39,7 +39,7 @@ If appropriate then the following are also used:
 
 === DAC PRO, DAC{plus}, DigiAMP{plus}, Codec Zero
 
-image::images/pin_table_new.jpg[width="80%"]
+image::images/all_audio_boards_gpio_pinouts.png[width="80%"]
 
 The DAC PRO, DAC{plus} and DigiAMP{plus} re-expose the Raspberry Pi signals, allowing additional sensors and peripherals
 to be added easily. Please note that some signals are for exclusive use (I2S and EEPROM) by some
diff --git a/documentation/asciidoc/accessories/audio/images/all_audio_boards_gpio_pinouts.png b/documentation/asciidoc/accessories/audio/images/all_audio_boards_gpio_pinouts.png
diff --git a/documentation/asciidoc/accessories/audio/images/pin_table_new.jpg b/documentation/asciidoc/accessories/audio/images/pin_table_new.jpg
diff --git a/documentation/asciidoc/accessories/touch-display-2/about.adoc b/documentation/asciidoc/accessories/touch-display-2/about.adoc
diff --git a/documentation/asciidoc/computers/camera/rpicam_apps_building.adoc b/documentation/asciidoc/computers/camera/rpicam_apps_building.adoc
@@ -27,7 +27,7 @@ To build `rpicam-apps` without first rebuilding `libcamera` and `libepoxy`, inst
 
 [source,console]
 ----
-$ sudo apt install -y libcamera-dev libepoxy-dev libjpeg-dev libtiff5-dev libpng-dev
+$ sudo apt install -y libcamera-dev libepoxy-dev libjpeg-dev libtiff5-dev libpng-dev libopencv-dev
 ----
 
 TIP: If you do not need support for the GLES/EGL preview window, omit `libepoxy-dev`.
diff --git a/documentation/asciidoc/computers/compute-module/cmio-display.adoc b/documentation/asciidoc/computers/compute-module/cmio-display.adoc
@@ -1,52 +1,41 @@
 == Attaching the Touch Display LCD panel
 
-Update your system software and firmware to the latest version before starting.
-Compute Modules mostly use the same process, but sometimes physical differences force changes for a particular model.
+Update your system software and firmware to the latest version before starting. Compute Modules mostly use the same process, but sometimes physical differences force changes for a particular model.
 
 === Connect a display to DISP1/DSI1
 
-NOTE: The Raspberry Pi Zero camera cable cannot be used as an alternative to the RPI-DISPLAY adapter. The two cables have distinct wiring.
+NOTE: The Raspberry Pi Zero camera cable can't be used as an alternative to the RPI-DISPLAY adapter. The two cables have distinct wiring.
 
-To connect a display to DISP1/DSI1:
+To connect a display to `DISP1/DSI1`:
 
 . Disconnect the Compute Module from power.
-. Connect the display to the DISP1/DSI1 port on the Compute Module IO board through the 22W to 15W display adapter.
-. _(CM1, CM3, CM3+, and CM4S only)_: Connect the following GPIO pins with jumper cables:
-  * `0` to `CD1_SDA`
-  * `1` to `CD1_SCL`
-. _(CM5)_ On the Compute Module 5 IO board, add the appropriate jumpers to J6, as indicated on the silkscreen.
+. Connect the display to the `DISP1/DSI1` port on the Compute Module IO board through the 22W to 15W display adapter.
+. Complete the appropriate jumper connections:
+  - For *CM1*, *CM3*, *CM3+*, and *CM4S*, connect the following GPIO pins with jumper cables:
+    * `0` to `CD1_SDA`
+    * `1` to `CD1_SCL`
+  - For *CM5*, on the Compute Module 5 IO board, add the appropriate jumpers to J6, as indicated on the silkscreen.
 . Reconnect the Compute Module to power.
-. Add the following line to xref:../computers/config_txt.adoc#what-is-config-txt[`/boot/firmware/config.txt`]:
-+
-[source,ini]
-----
-dtoverlay=vc4-kms-dsi-7inch
-----
+. Add `dtoverlay=vc4-kms-dsi-7inch` to xref:../computers/config_txt.adoc#what-is-config-txt[`/boot/firmware/config.txt`].
 . Reboot your Compute Module with `sudo reboot`. Your device should detect and begin displaying output to your display.
 
 === Connect a display to DISP0/DSI0
 
-To connect a display to DISP0/DSI0 on CM1, CM3 and CM4 IO boards:
-
-. Connect the display to the DISP0/DSI0 port on the Compute Module IO board through the 22W to 15W display adapter.
-. _(CM1, CM3, CM3+, and CM4S only)_: Connect the following GPIO pins with jumper cables:
-  * `28` to `CD0_SDA`
-  * `29` to `CD0_SCL`
-
- . _(CM4 only)_ On the Compute Module 4 IO board, add the appropriate jumpers to J6, as indicated on the silkscreen.
+To connect a display to `DISP0/DSI0` on CM1, CM3, and CM4 IO boards:
 
+. Connect the display to the `DISP0/DSI0` port on the Compute Module IO board through the 22W to 15W display adapter.
+. Complete the appropriate jumper connections:
+  - For *CM1*, *CM3*, *CM3+*, and *CM4S*, connect the following GPIO pins with jumper cables:
+    * `28` to `CD0_SDA`
+    * `29` to `CD0_SCL`
+  - For *CM4*, on the Compute Module 4 IO board, add the appropriate jumpers to J6, as indicated on the silkscreen.
 . Reconnect the Compute Module to power.
-. Add the following line to `/boot/firmware/config.txt`:
-+
-[source,ini]
-----
-dtoverlay=vc4-kms-dsi-7inch
-----
+. Add `dtoverlay=vc4-kms-dsi-7inch` to `/boot/firmware/config.txt`.
 . Reboot your Compute Module with `sudo reboot`. Your device should detect and begin displaying output to your display.
 
 === Disable touchscreen
 
-The touchscreen requires no additional configuration. Connect it to your Compute Module, and both the touchscreen element and display should work once successfully detected.
+The touchscreen requires no additional configuration. Connect it to your Compute Module; both the touchscreen element and display work  when successfully detected.
 
 To disable the touchscreen element, but still use the display, add the following line to `/boot/firmware/config.txt`:
 
@@ -66,18 +55,17 @@ ignore_lcd=1
 
 == Attaching the Touch Display 2 LCD panel
 
-Touch Display 2 is a 720x1280 7" LCD display designed specifically for Raspberry Pi devices (see https://www.raspberrypi.com/products/touch-display-2/). It connects in the same way as the original touch display, but the software setup on Compute Modules is slightly different as it uses a different display driver. See xref:../accessories/touch-display-2.adoc[Touch Display 2] for connection details.
+Touch Display 2 is an LCD display designed for Raspberry Pi devices (see https://www.raspberrypi.com/products/touch-display-2/). It's available in two sizes: 5 inches or 7 inches (diagonally). For more information about these options, see *Specifications* in xref:../accessories/touch-display-2.adoc[Touch Display 2].
 
-Edit the /boot/firmware/config.txt file and add the following to enable Touch Display 2 on DISP1/DSI1. You will also need to add jumpers to J6 as indicated on the silkscreen.
+Regardless of the size that you use, Touch Display 2 connects in the same way as the original Touch Display, but the software setup on Compute Modules is slightly different because it uses a different display driver. For connection details, see *Connectors* in xref:../accessories/touch-display-2.adoc[Touch Display 2].
 
-[source,ini]
-----
-dtoverlay=vc4-kms-dsi-ili9881-7inch
-----
+To enable Touch Display 2 on `DISP1/DSI1`, edit the `/boot/firmware/config.txt` file to add the following. You must also add jumpers to J6 as indicated on the silkscreen.
 
-To use DISP0/DSI0, use the following:
+- For the *5-inch* display: `dtoverlay=vc4-kms-dsi-ili9881-5inch`
+- For the *7-inch* display: `dtoverlay=vc4-kms-dsi-ili9881-7inch`
+
+To use `DISP0/DSI0`, append `,dsi0` to the overlay name.
+
+- For the *5-inch* display: `dtoverlay=vc4-kms-dsi-ili9881-5inch,dsi0`
+- For the *7-inch* display: `dtoverlay=vc4-kms-dsi-ili9881-7inch,dsi0`
 
-[source,ini]
-----
-dtoverlay=vc4-kms-dsi-ili9881-7inch,dsi0
-----
diff --git a/documentation/asciidoc/computers/config_txt/boot.adoc b/documentation/asciidoc/computers/config_txt/boot.adoc
@@ -208,6 +208,37 @@ This property could be used to debug different xref:raspberry-pi.adoc#BOOT_ORDER
 
 Default: ``
 
+[[kernel_watchdog_timeout]]
+==== `kernel_watchdog_timeout`
+
+If set to a non-zero value (in seconds), this property enables a hardware watchdog timer that is handed over to the operating system (OS) at boot. If the OS does not regularly "kick" or reset the watchdog, the system will be reset after the specified timeout.
+
+This property sets the `systemd` `watchdog.open_timeout` parameter, which controls how long the OS has to initialize and start servicing the watchdog. The value is passed to the OS via the kernel command line. For ongoing operation, the OS must also regularly reset the watchdog, typically controlled by the `RuntimeWatchdogSec` parameter in `systemd`. For more information, see https://www.freedesktop.org/software/systemd/man/systemd-system.conf.html#RuntimeWatchdogSec=[systemd watchdog documentation].
+
+[NOTE]
+====
+On Raspberry Pi OS Bookworm and earlier, the `RuntimeWatchdogSec` parameter is **not enabled by default** and this setting must be configured first in `/etc/systemd/system.conf` before the firmware kernel watchdog can be used.
+
+If both `BOOT_WATCHDOG_TIMEOUT` (EEPROM/bootloader setting, only supported on Raspberry Pi 4 and 5) and `kernel_watchdog_timeout` are set, the bootloader will seamlessly hand over from the bootloader watchdog to the kernel watchdog at the point the OS is started. This provides continuous watchdog coverage from power-on through to OS runtime.
+
+It is preferred to use `kernel_watchdog_timeout` rather than `dtparam=watchdog` because `kernel_watchdog_timeout` explicitly sets the `open_timeout` parameter, ensuring the watchdog is active until systemd takes over.
+====
+
+This is useful for ensuring that the system can recover from OS hangs or crashes after the boot process has completed.
+
+Default: `0` (disabled)
+
+[[kernel_watchdog_partition]]
+==== `kernel_watchdog_partition`
+
+If the kernel watchdog triggers (i.e. the OS fails to reset the watchdog within the timeout), this property specifies the partition number to boot from after the reset. This allows for automatic failover to a recovery or alternate partition.
+
+You can use this in conjunction with the xref:config_txt.adoc#the-expression-filter[expression filter] to apply different settings or select a different boot flow when the watchdog triggers a reboot to a specific partition.
+
+See also the xref:raspberry-pi.adoc#PARTITION[PARTITION] property for more information about how to use high partition numbers to detect a watchdog trigger.
+
+Default: `0` (default partition)
+
 
 [[eeprom_write_protect]]
 ==== `eeprom_write_protect`
diff --git a/documentation/asciidoc/computers/configuration/led_blink_warnings.adoc b/documentation/asciidoc/computers/configuration/led_blink_warnings.adoc
@@ -30,6 +30,10 @@ If a Raspberry Pi fails to boot for some reason, or has to shut down, in many ca
 | 10
 | In HALT state
 
+| 1
+| 2
+| SD card overcurrent detected
+
 | 2
 | 1
 | Partition not FAT
diff --git a/documentation/asciidoc/computers/configuration/users.adoc b/documentation/asciidoc/computers/configuration/users.adoc
@@ -36,7 +36,7 @@ To grant the new user necessary permissions, like `sudo`, run the following comm
 
 [source,console]
 ----
-$ sudo usermod -a -G adm,dialout,cdrom,sudo,audio,video,plugdev,games,users,input,netdev,gpio,i2c,spi <username>
+$ sudo usermod -a -G adm,dialout,cdrom,sudo,audio,video,plugdev,games,users,input,render,netdev,lpadmin,gpio,i2c,spi <username>
 ----
 
 To check that the permissions were successfully granted, run the following command, replacing the `<username>` placeholder with the username for the new user:
diff --git a/documentation/asciidoc/computers/raspberry-pi/eeprom-bootloader.adoc b/documentation/asciidoc/computers/raspberry-pi/eeprom-bootloader.adoc
@@ -146,6 +146,31 @@ The `BOOT_ORDER` property defines the sequence for the different boot modes. It
 | Try NVMe first, followed by USB-MSD then repeat
 |===
 
+
+[[BOOT_WATCHDOG_TIMEOUT]]
+==== `BOOT_WATCHDOG_TIMEOUT`
+
+If set to a non-zero value (in seconds), enables a hardware watchdog timer in the bootloader. If the OS is not started within the specified time, the watchdog will reset the system.
+
+The bootloader watchdog is automatically cancelled as soon as the ARM CPU is started. It does **not** monitor the OS after the handover from the bootloader.
+
+This is useful for unattended or remote systems to ensure recovery from failed boots (e.g. if the OS never loads).
+
+Default: `0` (disabled)
+
+[[BOOT_WATCHDOG_PARTITION]]
+==== `BOOT_WATCHDOG_PARTITION`
+
+If the bootloader watchdog triggers, this property specifies the partition number to boot from after the reset. This allows for automatic failover to a recovery or alternate partition.
+
+If not set, the bootloader will retry the default partition (0).
+
+You can use this in conjunction with the xref:config_txt.adoc#the-expression-filter[expression filter] to apply different settings or select a different boot flow when the watchdog triggers a reboot to a specific partition.
+
+See also the xref:raspberry-pi.adoc#PARTITION[PARTITION] property for more information about how to use high partition numbers to detect a watchdog trigger.
+
+Default: `0`
+
 [[MAX_RESTARTS]]
 ==== `MAX_RESTARTS`
 
@@ -650,6 +675,42 @@ XHCI_DEBUG=0x3
 
 Default: `0x0` (no USB debug messages enabled)
 
+[[SDRAM_BANKLOW]]
+==== `SDRAM_BANKLOW`
+
+SDRAM_BANKLOW controls how the SDRAM banks are arranged within the system address space. The number of bank bits may be selectively mapped to being located in the MSBs of the address, or being located between the row and column address bits.
+This setting can significantly affect SDRAM performance.
+
+When unset, the bootloader will choose the preferred option. This is currently 3 on Pi 4 family and 1 on Pi 5 family.
+
+[cols="1m,3"]
+|===
+| BANKLOW | Address Bit Mapping
+
+| 0
+| Address = {bank[3:0], row, column}
+
+| 1
+| Address = {bank[3:1], row, bank[0], column}
+
+| 2
+| Address = {bank[3:2], row, bank[1:0], column}
+
+| 3
+| Address = {bank[3], row, bank[2:0], column}
+
+| 4
+| Address = {row, bank[3:0], column}
+|===
+
+This setting also causes the bootloader to add a setting for the number of NUMA regions to be used by the kernel ("numa=fake=<n>").
+For best performance these settings should be left as default.
+
+Note: on a Pi 5 family device, if NUMA is not available in the kernel then performance will be adversely affected.
+Manually choosing SDRAM_BANKLOW=3 will mitigate this performance hit, although for highest performance, ensure NUMA is available.
+
+Default: unset (use bootloader recommended setting)
+
 [[config_txt]]
 ==== `[config.txt]` section
 
diff --git a/documentation/asciidoc/computers/raspberry-pi/frequency-management.adoc b/documentation/asciidoc/computers/raspberry-pi/frequency-management.adoc
@@ -84,6 +84,8 @@ As the temperature of the Raspberry Pi 5 increases, the fan reacts in the follow
 
 Temperature decreases use the same mapping with a 5°C **hysteresis**; fan speed decreases when the temperature drops to 5°C below each of the above thresholds.
 
+NOTE: The temperature, hysteresis and speed figures given above can be adjusted by using the various `fan_tempN`, `fan_tempN_hyst` and `fan_tempN_speed` dtoverlay settings (where `N` is 0, 1, 2 or 3). See https://github.com/raspberrypi/linux/blob/rpi-6.12.y/arch/arm/boot/dts/overlays/README[the overlays README] for full details. For example, adding `dtparam=fan_temp0=55000` to `/boot/firmware/config.txt` will cause the fan to remain off until the Raspberry Pi 5's temperature reaches 55°C.
+
 At boot the fan is turned on, and the tachometer input is checked to see if the fan is spinning. If it is, then the `cooling_fan` device tree overlay is enabled. This overlay is in `bcm2712-rpi-5-b.dtb` by default, but with `status=disabled`.
 
 ==== Raspberry Pi 5 fan connector pinout
diff --git a/documentation/asciidoc/computers/raspberry-pi/revision-codes.adoc b/documentation/asciidoc/computers/raspberry-pi/revision-codes.adoc
@@ -15,7 +15,7 @@ Revision    : a02082
 Serial      : 00000000765fc593
 ----
 
-NOTE: All Raspberry Pi computers report `BCM2835`, even those with BCM2836, BCM2837, BCM2711, and BCM2712 processors. You should not use this string to detect the processor. Decode the revision code using the information below, or `cat /sys/firmware/devicetree/base/model`.
+NOTE: All Raspberry Pi computers report `BCM2835`, even those with BCM2836, BCM2837, BCM2711, and BCM2712 processors. You should not use this string to detect the processor. Decode the revision code using the information below, or `cat /sys/firmware/devicetree/base/model`. Depending on which kernel you're running, your `cpuinfo` might also have a "Model" line, and might not have a "Hardware" line.
 
 === Old-style revision codes
 
diff --git a/lib/pico-examples b/lib/pico-examples
@@ -1 +1 @@
-Subproject commit 7fe60d6b4027771e45d97f207532c41b1d8c5418
+Subproject commit 4c3a3dc0196dd426fddd709616d0da984e027bab
diff --git a/lib/pico-sdk b/lib/pico-sdk
@@ -1 +1 @@
-Subproject commit ee68c78d0afae2b69c03ae1a72bf5cc267a2d94c
+Subproject commit a1438dff1d38bd9c65dbd693f0e5db4b9ae91779
