diff --git a/.devcontainer/cortex-m-toolchain.sh b/.devcontainer/cortex-m-toolchain.sh
index de1ccde62742a..38ecdb72a7b96 100755
--- a/.devcontainer/cortex-m-toolchain.sh
+++ b/.devcontainer/cortex-m-toolchain.sh
@@ -14,10 +14,10 @@ echo -e "[cortex-m-toolchain.sh] downloading and installing gcc-arm-non-eabi too
 cd /workspaces
 
 wget -qO gcc-arm-none-eabi.tar.xz \
-  https://developer.arm.com/-/media/Files/downloads/gnu/13.2.rel1/binrel/arm-gnu-toolchain-13.2.rel1-x86_64-arm-none-eabi.tar.xz
+  https://developer.arm.com/-/media/Files/downloads/gnu/14.2.rel1/binrel/arm-gnu-toolchain-14.2.rel1-x86_64-arm-none-eabi.tar.xz
 
 tar -xJf gcc-arm-none-eabi.tar.xz
-ln -s arm-gnu-toolchain-13.2.Rel1-x86_64-arm-none-eabi gcc-arm-none-eabi
+ln -s arm-gnu-toolchain-14.2.Rel1-x86_64-arm-none-eabi gcc-arm-none-eabi
 rm -f gcc-arm-none-eabi.tar.xz
 
 echo -e "[cortex-m-toolchain.sh] update PATH in environment"
diff --git a/.github/actions/deps/external/action.yml b/.github/actions/deps/external/action.yml
index 0b1444a820da2..10aace1134ec5 100644
--- a/.github/actions/deps/external/action.yml
+++ b/.github/actions/deps/external/action.yml
@@ -27,7 +27,7 @@ runs:
       uses: carlosperate/arm-none-eabi-gcc-action@v1
       with:
         # When changing this update what Windows grabs too!
-        release: '13.2.Rel1'
+        release: '14.2.Rel1'
 
     # espressif
     - name: Get espressif toolchain
diff --git a/.github/actions/deps/ports/broadcom/action.yml b/.github/actions/deps/ports/broadcom/action.yml
index f936f8e7edfde..9ad0e361bda1b 100644
--- a/.github/actions/deps/ports/broadcom/action.yml
+++ b/.github/actions/deps/ports/broadcom/action.yml
@@ -5,8 +5,8 @@ runs:
   steps:
     - name: Get broadcom toolchain
       run: |
-        wget --no-verbose https://adafruit-circuit-python.s3.amazonaws.com/arm-gnu-toolchain-13.3.rel1-x86_64-aarch64-none-elf.tar.xz
-        sudo tar -C /usr --strip-components=1 -xaf arm-gnu-toolchain-13.3.rel1-x86_64-aarch64-none-elf.tar.xz
+        wget --no-verbose https://adafruit-circuit-python.s3.amazonaws.com/arm-gnu-toolchain-14.2.rel1-x86_64-aarch64-none-elf.tar.xz
+        sudo tar -C /usr --strip-components=1 -xaf arm-gnu-toolchain-14.2.rel1-x86_64-aarch64-none-elf.tar.xz
         sudo apt-get update
         sudo apt-get install -y mtools
       shell: bash
diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index eb6a9a0c26325..0f837d793bddc 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -261,9 +261,9 @@ jobs:
         python3 -c "import sys, locale; print(sys.getdefaultencoding(), locale.getpreferredencoding(False))"
     - name: Install dependencies
       run: |
-        wget --no-verbose -O gcc-arm.zip https://developer.arm.com/-/media/Files/downloads/gnu/13.2.rel1/binrel/arm-gnu-toolchain-13.2.rel1-mingw-w64-i686-arm-none-eabi.zip
-        unzip -q -d /tmp gcc-arm.zip
-        tar -C /tmp/arm-gnu-toolchain* -cf - . | tar -C /usr/local -xf -
+        wget --no-verbose -O gcc-arm.zip https://developer.arm.com/-/media/Files/downloads/gnu/14.2.rel1/binrel/arm-gnu-toolchain-14.2.rel1-mingw-w64-i686-arm-none-eabi.zip
+        unzip -q -d /tmp/arm-gnu-toolchain gcc-arm.zip
+        tar -C /tmp/arm-gnu-toolchain -cf - . | tar -C /usr/local -xf -
         # We could use a venv instead, but that requires entering the venv on each run step
         # that runs in its own shell. There are some actions that help with that, but not for msys2
         # that I can find. (dhalbert)
diff --git a/.github/workflows/notify-on-issue-label.yml b/.github/workflows/notify-on-issue-label.yml
index da1ac0a18e28a..2b229156811f8 100644
--- a/.github/workflows/notify-on-issue-label.yml
+++ b/.github/workflows/notify-on-issue-label.yml
@@ -10,7 +10,7 @@ jobs:
     permissions:
         issues: write
     steps:
-        - uses: tekktrik/issue-labeled-ping@v1
+        - uses: tekktrik/issue-labeled-ping@v2
           with:
                 github-token: ${{ secrets.GITHUB_TOKEN }}
                 user: v923z
diff --git a/.gitignore b/.gitignore
index 6725b901b92bf..7f798c415c784 100644
--- a/.gitignore
+++ b/.gitignore
@@ -9,6 +9,7 @@
 *.o
 *.a
 !atmel-samd/asf/**/*.a
+!ports/espressif/microros-lib/**/*.a
 *.elf
 *.bin
 !*.toml.bin
diff --git a/.gitmodules b/.gitmodules
index a5226ffafdd52..067dd612b8038 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -412,3 +412,6 @@
 [submodule "ports/analog/msdk"]
 	path = ports/analog/msdk
 	url = https://github.com/analogdevicesinc/msdk.git
+[submodule "ports/espressif/microros-lib"]
+	path = ports/espressif/microros-lib
+	url = https://github.com/hierophect/microros-lib.git
diff --git a/devices/ble_hci/common-hal/_bleio/__init__.c b/devices/ble_hci/common-hal/_bleio/__init__.c
index 9663e70699807..6376f6f10c8c9 100644
--- a/devices/ble_hci/common-hal/_bleio/__init__.c
+++ b/devices/ble_hci/common-hal/_bleio/__init__.c
@@ -40,13 +40,13 @@ bool vm_used_ble;
 void common_hal_bleio_init(void) {
 }
 
-void bleio_user_reset() {
+void bleio_user_reset(void) {
     // HCI doesn't support the BLE workflow so just do a full reset.
     bleio_reset();
 }
 
 // Turn off BLE on a reset or reload.
-void bleio_reset() {
+void bleio_reset(void) {
     // Create a UUID object for all CCCD's.
     cccd_uuid.base.type = &bleio_uuid_type;
     common_hal_bleio_uuid_construct(&cccd_uuid, BLE_UUID_CCCD, NULL);
diff --git a/locale/ID.po b/locale/ID.po
index 0eedaf07868d4..1a7d2a7735e69 100644
--- a/locale/ID.po
+++ b/locale/ID.po
@@ -871,6 +871,10 @@ msgstr "Deretan koordinat memiliki panjang yang berbeda"
 msgid "Coordinate arrays types have different sizes"
 msgstr "Tipe array koordinat memiliki ukuran yang berbeda"
 
+#: ports/espressif/common-hal/rclcpy/Publisher.c
+msgid "Could not publish to ROS topic"
+msgstr ""
+
 #: shared-bindings/_bleio/Adapter.c
 msgid "Could not set address"
 msgstr "Tidak dapat mengatur alamat"
@@ -883,6 +887,11 @@ msgstr "Tidak dapat memulai interupsi, RX sibuk"
 msgid "Couldn't allocate decoder"
 msgstr "Tidak dapat mengalokasikan dekoder"
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+#, c-format
+msgid "Critical ROS failure during soft reboot, reset required: %d"
+msgstr ""
+
 #: ports/stm/common-hal/analogio/AnalogOut.c
 msgid "DAC Channel Init Error"
 msgstr "Terjadi kesalahan saat menginisialisasi kanal DAC"
@@ -1312,6 +1321,10 @@ msgstr ""
 msgid "Invalid MAC address"
 msgstr ""
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "Invalid ROS domain ID"
+msgstr ""
+
 #: ports/espressif/common-hal/espidf/__init__.c py/moderrno.c
 msgid "Invalid argument"
 msgstr "Argumen tidak valid"
@@ -1874,6 +1887,10 @@ msgstr "Ukuran program tidak valid"
 msgid "Program too long"
 msgstr "Program terlalu lama"
 
+#: shared-bindings/rclcpy/Publisher.c
+msgid "Publishers can only be created from a parent node"
+msgstr ""
+
 #: shared-bindings/digitalio/DigitalInOut.c
 msgid "Pull not used when direction is output."
 msgstr "Pull tidak digunakan saat arah output."
@@ -1894,6 +1911,26 @@ msgstr "Kesalahan DeInit RNG"
 msgid "RNG Init Error"
 msgstr "Kesalahan Init RNG"
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS failed to initialize. Is agent connected?"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS internal setup failure"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS memory allocator failure"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/Node.c
+msgid "ROS node failed to initialize"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/Publisher.c
+msgid "ROS topic failed to initialize"
+msgstr ""
+
 #: ports/atmel-samd/common-hal/busio/UART.c ports/cxd56/common-hal/busio/UART.c
 #: ports/nordic/common-hal/busio/UART.c ports/stm/common-hal/busio/UART.c
 msgid "RS485"
diff --git a/locale/circuitpython.pot b/locale/circuitpython.pot
index 1c6fcce1d417a..c43e3a945f478 100644
--- a/locale/circuitpython.pot
+++ b/locale/circuitpython.pot
@@ -848,6 +848,10 @@ msgstr ""
 msgid "Coordinate arrays types have different sizes"
 msgstr ""
 
+#: ports/espressif/common-hal/rclcpy/Publisher.c
+msgid "Could not publish to ROS topic"
+msgstr ""
+
 #: shared-bindings/_bleio/Adapter.c
 msgid "Could not set address"
 msgstr ""
@@ -860,6 +864,11 @@ msgstr ""
 msgid "Couldn't allocate decoder"
 msgstr ""
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+#, c-format
+msgid "Critical ROS failure during soft reboot, reset required: %d"
+msgstr ""
+
 #: ports/stm/common-hal/analogio/AnalogOut.c
 msgid "DAC Channel Init Error"
 msgstr ""
@@ -1287,6 +1296,10 @@ msgstr ""
 msgid "Invalid MAC address"
 msgstr ""
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "Invalid ROS domain ID"
+msgstr ""
+
 #: ports/espressif/common-hal/espidf/__init__.c py/moderrno.c
 msgid "Invalid argument"
 msgstr ""
@@ -1841,6 +1854,10 @@ msgstr ""
 msgid "Program too long"
 msgstr ""
 
+#: shared-bindings/rclcpy/Publisher.c
+msgid "Publishers can only be created from a parent node"
+msgstr ""
+
 #: shared-bindings/digitalio/DigitalInOut.c
 msgid "Pull not used when direction is output."
 msgstr ""
@@ -1861,6 +1878,26 @@ msgstr ""
 msgid "RNG Init Error"
 msgstr ""
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS failed to initialize. Is agent connected?"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS internal setup failure"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS memory allocator failure"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/Node.c
+msgid "ROS node failed to initialize"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/Publisher.c
+msgid "ROS topic failed to initialize"
+msgstr ""
+
 #: ports/atmel-samd/common-hal/busio/UART.c ports/cxd56/common-hal/busio/UART.c
 #: ports/nordic/common-hal/busio/UART.c ports/stm/common-hal/busio/UART.c
 msgid "RS485"
diff --git a/locale/cs.po b/locale/cs.po
index f9e5f9f670350..6b7a48dbeb24a 100644
--- a/locale/cs.po
+++ b/locale/cs.po
@@ -865,6 +865,10 @@ msgstr "Pole souřadnic mají různé délky"
 msgid "Coordinate arrays types have different sizes"
 msgstr ""
 
+#: ports/espressif/common-hal/rclcpy/Publisher.c
+msgid "Could not publish to ROS topic"
+msgstr ""
+
 #: shared-bindings/_bleio/Adapter.c
 msgid "Could not set address"
 msgstr "Není možné nastavit adresu"
@@ -877,6 +881,11 @@ msgstr "Nelze začít přerušení, RX je zaneprázdněn"
 msgid "Couldn't allocate decoder"
 msgstr "Dekodér nelze přiřadit"
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+#, c-format
+msgid "Critical ROS failure during soft reboot, reset required: %d"
+msgstr ""
+
 #: ports/stm/common-hal/analogio/AnalogOut.c
 msgid "DAC Channel Init Error"
 msgstr "Chyba inicializace kanálu DAC"
@@ -1307,6 +1316,10 @@ msgstr "Chybné BSSID"
 msgid "Invalid MAC address"
 msgstr "Chybná MAC adresa"
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "Invalid ROS domain ID"
+msgstr ""
+
 #: ports/espressif/common-hal/espidf/__init__.c py/moderrno.c
 msgid "Invalid argument"
 msgstr "Neplatný argument"
@@ -1864,6 +1877,10 @@ msgstr "Velikost programu je nesprávná"
 msgid "Program too long"
 msgstr "Program je příliš dlouhý"
 
+#: shared-bindings/rclcpy/Publisher.c
+msgid "Publishers can only be created from a parent node"
+msgstr ""
+
 #: shared-bindings/digitalio/DigitalInOut.c
 msgid "Pull not used when direction is output."
 msgstr ""
@@ -1884,6 +1901,26 @@ msgstr ""
 msgid "RNG Init Error"
 msgstr ""
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS failed to initialize. Is agent connected?"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS internal setup failure"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS memory allocator failure"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/Node.c
+msgid "ROS node failed to initialize"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/Publisher.c
+msgid "ROS topic failed to initialize"
+msgstr ""
+
 #: ports/atmel-samd/common-hal/busio/UART.c ports/cxd56/common-hal/busio/UART.c
 #: ports/nordic/common-hal/busio/UART.c ports/stm/common-hal/busio/UART.c
 msgid "RS485"
diff --git a/locale/de_DE.po b/locale/de_DE.po
index 8d509153cbf2c..1bf83fe64b9b7 100644
--- a/locale/de_DE.po
+++ b/locale/de_DE.po
@@ -6,14 +6,14 @@ msgstr ""
 "Project-Id-Version: \n"
 "Report-Msgid-Bugs-To: \n"
 "POT-Creation-Date: 2021-01-04 12:55-0600\n"
-"PO-Revision-Date: 2024-12-15 14:00+0000\n"
-"Last-Translator: Exp3rt <jannik.homberg@gmail.com>\n"
+"PO-Revision-Date: 2025-06-07 16:03+0000\n"
+"Last-Translator: MAE <martin-aehle@hotmail.de>\n"
 "Language: de_DE\n"
 "MIME-Version: 1.0\n"
 "Content-Type: text/plain; charset=UTF-8\n"
 "Content-Transfer-Encoding: 8bit\n"
 "Plural-Forms: nplurals=2; plural=n != 1;\n"
-"X-Generator: Weblate 5.9-rc\n"
+"X-Generator: Weblate 5.12-dev\n"
 
 #: main.c
 msgid ""
@@ -117,7 +117,7 @@ msgstr "%q Fehler: %d"
 
 #: shared-module/audiodelays/MultiTapDelay.c
 msgid "%q in %q must be of type %q or %q, not %q"
-msgstr ""
+msgstr "%q in %q muss vom Typ %q oder %q sein, nicht %q"
 
 #: py/argcheck.c shared-module/audiofilters/Filter.c
 msgid "%q in %q must be of type %q, not %q"
@@ -304,7 +304,7 @@ msgstr "%q[%u] schiebt mehr Bits raus als Pins vorhanden sind"
 
 #: ports/raspberrypi/common-hal/rp2pio/StateMachine.c
 msgid "%q[%u] uses extra pin"
-msgstr ""
+msgstr "%q[%u] verwendet zusätzlichen Pin"
 
 #: ports/raspberrypi/common-hal/rp2pio/StateMachine.c
 msgid "%q[%u] waits on input outside of count"
@@ -495,7 +495,7 @@ msgstr "Adressbereich nicht erlaubt"
 
 #: shared-bindings/memorymap/AddressRange.c
 msgid "Address range wraps around"
-msgstr ""
+msgstr "Der Adressbereich umfasst folgende Bereiche"
 
 #: ports/espressif/common-hal/canio/CAN.c
 msgid "All CAN peripherals are in use"
@@ -573,7 +573,7 @@ msgstr "All-Matchers-Listener bereits vorhanden"
 
 #: ports/espressif/common-hal/_bleio/__init__.c
 msgid "Already in progress"
-msgstr ""
+msgstr "Bereits in Arbeit"
 
 #: ports/espressif/bindings/espnow/ESPNow.c
 #: ports/espressif/common-hal/espulp/ULP.c
@@ -613,7 +613,7 @@ msgstr "Array-Werte sollten aus Einzelbytes bestehen."
 
 #: ports/atmel-samd/common-hal/spitarget/SPITarget.c
 msgid "Async SPI transfer in progress on this bus, keep awaiting."
-msgstr ""
+msgstr "Asynchroner SPI-Transfer auf diesem Bus im Gange, warten Sie weiter."
 
 #: shared-module/memorymonitor/AllocationAlarm.c
 #, c-format
@@ -627,7 +627,7 @@ msgstr "Audio-Konvertierung nicht implementiert"
 #: ports/raspberrypi/common-hal/audiobusio/I2SOut.c
 #: ports/raspberrypi/common-hal/audiopwmio/PWMAudioOut.c
 msgid "Audio source error"
-msgstr ""
+msgstr "Audioquellenfehler"
 
 #: shared-bindings/wifi/Radio.c
 msgid "AuthMode.OPEN is not used with password"
@@ -660,7 +660,7 @@ msgstr "Unterhalb der minimalen Frame Rate"
 
 #: ports/raspberrypi/common-hal/audiobusio/I2SOut.c
 msgid "Bit clock and word select must be sequential GPIO pins"
-msgstr ""
+msgstr "Bittakt und Wortauswahl müssen aufeinanderfolgende GPIO-Pins sein"
 
 #: shared-bindings/bitmaptools/__init__.c
 msgid "Bitmap size and bits per value must match"
@@ -767,6 +767,8 @@ msgstr "Kann nur auf zwei Pins Alarm als low aus Deep Sleep auslösen."
 #: ports/espressif/common-hal/audioio/AudioOut.c
 msgid "Can't construct AudioOut because continuous channel already open"
 msgstr ""
+"AudioOut kann nicht erstellt werden, da ein kontinuierlicher Kanal bereits "
+"geöffnet ist"
 
 #: ports/espressif/common-hal/_bleio/Characteristic.c
 #: ports/nordic/common-hal/_bleio/Characteristic.c
@@ -816,6 +818,7 @@ msgstr "Aufnahme in eine Datei nicht möglich"
 #: shared-module/storage/__init__.c
 msgid "Cannot remount path when visible via USB."
 msgstr ""
+"Der Pfad kann nicht neu gemountet werden, wenn er über USB sichtbar ist."
 
 #: shared-bindings/digitalio/DigitalInOut.c
 msgid "Cannot set value when direction is input."
@@ -832,7 +835,7 @@ msgstr "Slice kann keine sub-klasse sein"
 
 #: ports/raspberrypi/common-hal/rp2pio/StateMachine.c
 msgid "Cannot use GPIO0..15 together with GPIO32..47"
-msgstr ""
+msgstr "GPIO0..15 kann nicht zusammen mit GPIO32..47 verwendet werden"
 
 #: ports/nordic/common-hal/alarm/pin/PinAlarm.c
 msgid "Cannot wake on pin edge, only level"
@@ -870,6 +873,10 @@ msgstr "Koordinaten-Arrays haben unterschiedliche Längen"
 msgid "Coordinate arrays types have different sizes"
 msgstr "Typen der Koordinaten-Arrays haben unterschiedliche Längen"
 
+#: ports/espressif/common-hal/rclcpy/Publisher.c
+msgid "Could not publish to ROS topic"
+msgstr ""
+
 #: shared-bindings/_bleio/Adapter.c
 msgid "Could not set address"
 msgstr "Konnte Adresse nicht setzen"
@@ -882,6 +889,11 @@ msgstr "Interrupt konnte nicht gestartet werden, RX beschäftigt"
 msgid "Couldn't allocate decoder"
 msgstr "Decoder konnte nicht zugeordnet werden"
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+#, c-format
+msgid "Critical ROS failure during soft reboot, reset required: %d"
+msgstr ""
+
 #: ports/stm/common-hal/analogio/AnalogOut.c
 msgid "DAC Channel Init Error"
 msgstr "DAC-Kanal-Initialisierungsfehler"
@@ -1000,12 +1012,14 @@ msgstr "Mutex konnte nicht akquiriert werden. Status: 0x%04x"
 
 #: ports/raspberrypi/common-hal/mdns/Server.c
 msgid "Failed to add service TXT record"
-msgstr ""
+msgstr "Fehler beim Hinzufügen des TXT-Diensteintrags"
 
 #: shared-bindings/mdns/Server.c
 msgid ""
 "Failed to add service TXT record; non-string or bytes found in txt_records"
 msgstr ""
+"Fehler beim Hinzufügen des TXT-Diensteintrags; Nicht-Zeichenfolge oder Bytes "
+"in txt_records gefunden"
 
 #: shared-module/rgbmatrix/RGBMatrix.c
 msgid "Failed to allocate %q buffer"
@@ -1034,23 +1048,24 @@ msgstr "Verbindung nicht erfolgreich: timeout"
 
 #: ports/espressif/common-hal/audioio/AudioOut.c
 msgid "Failed to create continuous channels: invalid arg"
-msgstr ""
+msgstr "Erstellen kontinuierlicher Kanäle fehlgeschlagen: ungültiges Argument"
 
 #: ports/espressif/common-hal/audioio/AudioOut.c
 msgid "Failed to create continuous channels: invalid state"
 msgstr ""
+"Kontinuierliche Kanäle konnten nicht erstellt werden: ungültiger Status"
 
 #: ports/espressif/common-hal/audioio/AudioOut.c
 msgid "Failed to create continuous channels: no mem"
-msgstr ""
+msgstr "Erstellen von kontinuierlichen Kanälen fehlgeschlagen: kein Speicher"
 
 #: ports/espressif/common-hal/audioio/AudioOut.c
 msgid "Failed to create continuous channels: not found"
-msgstr ""
+msgstr "Kontinuierliche Kanäle konnten nicht erstellt werden: nicht gefunden"
 
 #: ports/espressif/common-hal/audioio/AudioOut.c
 msgid "Failed to enable continuous"
-msgstr ""
+msgstr "ntinuierliche Aktivierung fehlgeschlagen"
 
 #: shared-module/audiomp3/MP3Decoder.c
 msgid "Failed to parse MP3 file"
@@ -1058,7 +1073,7 @@ msgstr "MP3-Datei konnte nicht analysiert werden"
 
 #: ports/espressif/common-hal/audioio/AudioOut.c
 msgid "Failed to register continuous events callback"
-msgstr ""
+msgstr "Rüclruf für kontinuierliche Ereignisse konnte nicht registriert werden"
 
 #: ports/nordic/sd_mutex.c
 #, c-format
@@ -1067,11 +1082,11 @@ msgstr "Mutex konnte nicht freigegeben werden. Status: 0x%04x"
 
 #: ports/zephyr-cp/common-hal/wifi/Radio.c
 msgid "Failed to set hostname"
-msgstr ""
+msgstr "Hostname konnte nicht gesetzt werden"
 
 #: ports/espressif/common-hal/audioio/AudioOut.c
 msgid "Failed to start async audio"
-msgstr ""
+msgstr "Start von asynchronem Audio fehlgeschlagen"
 
 #: supervisor/shared/safe_mode.c
 msgid "Failed to write internal flash."
@@ -1224,7 +1239,7 @@ msgstr "Unzureichender Speicherpool für das Bild"
 
 #: shared-module/jpegio/JpegDecoder.c
 msgid "Insufficient stream input buffer"
-msgstr ""
+msgstr "Unzureichender Stream-Eingabepuffer"
 
 #: ports/espressif/common-hal/wifi/Radio.c
 #: ports/zephyr-cp/common-hal/wifi/Radio.c
@@ -1318,6 +1333,10 @@ msgstr "Ungültige BSSID"
 msgid "Invalid MAC address"
 msgstr "Ungültige MAC-Adresse"
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "Invalid ROS domain ID"
+msgstr ""
+
 #: ports/espressif/common-hal/espidf/__init__.c py/moderrno.c
 msgid "Invalid argument"
 msgstr "Ungültiges Argument"
@@ -1397,6 +1416,8 @@ msgstr "Ebene muss eine Gruppe oder eine TileGrid Subklasse sein"
 #: shared-bindings/audiocore/RawSample.c
 msgid "Length of %q must be an even multiple of channel_count * type_size"
 msgstr ""
+"Die Länge von %q muss ein gerades Vielfaches von channel_count * type_size "
+"sein"
 
 #: ports/espressif/common-hal/espidf/__init__.c
 msgid "MAC address was invalid"
@@ -1410,7 +1431,7 @@ msgstr "MITM-Sicherheit wird nicht unterstützt"
 #: ports/stm/common-hal/sdioio/SDCard.c
 #, c-format
 msgid "MMC/SDIO Clock Error %x"
-msgstr ""
+msgstr "MMC/SDIO-Taktfehler %x"
 
 #: shared-bindings/is31fl3741/IS31FL3741.c
 msgid "Mapping must be a tuple"
@@ -1600,7 +1621,7 @@ msgstr "Kein Pulldown-Widerstand am Pin; 1 MOhm wird vorgeschlagen"
 
 #: shared-module/touchio/TouchIn.c
 msgid "No pullup on pin; 1Mohm recommended"
-msgstr ""
+msgstr "Kein Pullup-Widerstand am Pin; 1Mohm wird vorgeschlagen"
 
 #: py/moderrno.c
 msgid "No space left on device"
@@ -1649,7 +1670,7 @@ msgstr "Nicht unterstützter JPEG-Standard"
 #: ports/espressif/common-hal/sdioio/SDCard.c
 #, c-format
 msgid "Number of data_pins must be %d or %d, not %d"
-msgstr ""
+msgstr "Die Anzahl der data_pins muss %d oder %d sein, nicht %d"
 
 #: shared-bindings/util.c
 msgid ""
@@ -1778,6 +1799,7 @@ msgstr "PWM-Stück-Kanal A wird bereits verwendet"
 #: shared-bindings/spitarget/SPITarget.c
 msgid "Packet buffers for an SPI transfer must have the same length."
 msgstr ""
+"Die Paketpuffer für eine SPI-Übertragung müssen die gleiche Länge haben."
 
 #: shared-module/jpegio/JpegDecoder.c
 msgid "Parameter error"
@@ -1884,6 +1906,10 @@ msgstr "Programm-Größe ist ungültig"
 msgid "Program too long"
 msgstr "Programm zu lang"
 
+#: shared-bindings/rclcpy/Publisher.c
+msgid "Publishers can only be created from a parent node"
+msgstr ""
+
 #: shared-bindings/digitalio/DigitalInOut.c
 msgid "Pull not used when direction is output."
 msgstr "Pull wird nicht verwendet, wenn die Richtung output ist."
@@ -1904,6 +1930,26 @@ msgstr "RNG DeInit-Fehler"
 msgid "RNG Init Error"
 msgstr "RNG-Init-Fehler"
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS failed to initialize. Is agent connected?"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS internal setup failure"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS memory allocator failure"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/Node.c
+msgid "ROS node failed to initialize"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/Publisher.c
+msgid "ROS topic failed to initialize"
+msgstr ""
+
 #: ports/atmel-samd/common-hal/busio/UART.c ports/cxd56/common-hal/busio/UART.c
 #: ports/nordic/common-hal/busio/UART.c ports/stm/common-hal/busio/UART.c
 msgid "RS485"
@@ -1986,7 +2032,7 @@ msgstr "SDIO GetCardInfo-Fehler %d"
 #: ports/stm/common-hal/sdioio/SDCard.c
 #, c-format
 msgid "SDIO Init Error %x"
-msgstr ""
+msgstr "SDIO-Init-Fehler %x"
 
 #: ports/espressif/common-hal/busio/SPI.c
 msgid "SPI configuration failed"
@@ -2086,7 +2132,7 @@ msgstr "Die Länge von rgb_pins muss 6, 12, 18, 24 oder 30 betragen"
 
 #: shared-module/audiocore/__init__.c
 msgid "The sample's %q does not match"
-msgstr ""
+msgstr "Der %q-Wert der Probe stimmt nicht überein"
 
 #: supervisor/shared/safe_mode.c
 msgid "Third-party firmware fatal error."
@@ -2120,7 +2166,7 @@ msgstr "Die Kachelbreite muss die Bitmap-Breite genau teilen"
 
 #: shared-module/tilepalettemapper/TilePaletteMapper.c
 msgid "TilePaletteMapper may only be bound to a TileGrid once"
-msgstr ""
+msgstr "TilePaletteMapper darf nur einmal an ein TileGrid gebunden werden"
 
 #: shared-bindings/alarm/time/TimeAlarm.c
 msgid "Time is in the past."
@@ -2233,7 +2279,7 @@ msgstr "Konnte keine Buffer für Vorzeichenumwandlung allozieren"
 
 #: supervisor/shared/safe_mode.c
 msgid "Unable to allocate to the heap."
-msgstr ""
+msgstr "Die Zuweisung zum Heap ist nicht möglich."
 
 #: ports/espressif/common-hal/busio/I2C.c
 msgid "Unable to create lock"
@@ -2256,6 +2302,8 @@ msgstr "Konnte Farbpalettendaten nicht lesen"
 #: ports/mimxrt10xx/common-hal/canio/CAN.c
 msgid "Unable to send CAN Message: all Tx message buffers are busy"
 msgstr ""
+"CAN-Nachricht kann nicht gesendet werden: alle Sende-Nachrichtenpuffer sind "
+"belegt"
 
 #: ports/espressif/common-hal/mdns/Server.c
 #: ports/raspberrypi/common-hal/mdns/Server.c
@@ -2360,7 +2408,7 @@ msgstr "Hash Algorithmus wird nicht unterstützt"
 #: ports/espressif/common-hal/socketpool/Socket.c
 #: ports/zephyr-cp/common-hal/socketpool/Socket.c
 msgid "Unsupported socket type"
-msgstr ""
+msgstr "Nicht unterstützter Sockeltyp"
 
 #: ports/espressif/common-hal/_bleio/Adapter.c
 #: ports/espressif/common-hal/dualbank/__init__.c
@@ -2421,7 +2469,7 @@ msgstr "Wi-Fi: "
 #: ports/raspberrypi/common-hal/wifi/Radio.c
 #: ports/zephyr-cp/common-hal/wifi/Radio.c
 msgid "WiFi is not enabled"
-msgstr ""
+msgstr "WiFi ist nicht aktiviert"
 
 #: main.c
 msgid "Woken up by alarm.\n"
@@ -2520,7 +2568,7 @@ msgstr "addresses ist leer"
 
 #: ports/espressif/common-hal/audioio/AudioOut.c
 msgid "already playing"
-msgstr ""
+msgstr "spielt bereits"
 
 #: py/compile.c
 msgid "annotation must be an identifier"
@@ -2549,6 +2597,7 @@ msgstr "argsort ist für flattened Arrays nicht implementiert"
 #: extmod/ulab/code/numpy/random/random.c
 msgid "argument must be None, an integer or a tuple of integers"
 msgstr ""
+"Das Argument muss None, eine Ganzzahl oder ein Tupel von Ganzzahlen sein"
 
 #: py/compile.c
 msgid "argument name reused"
@@ -2602,7 +2651,7 @@ msgstr "Attribute werden nicht unterstützt"
 
 #: ports/espressif/common-hal/audioio/AudioOut.c
 msgid "audio format not supported"
-msgstr ""
+msgstr "Audioformat wird nicht unterstützt"
 
 #: extmod/ulab/code/ulab_tools.c
 msgid "axis is out of bounds"
@@ -2642,7 +2691,7 @@ msgstr "Der binäre Operator %q ist nicht implementiert"
 
 #: ports/espressif/common-hal/audiobusio/PDMIn.c
 msgid "bit_depth must be 8, 16, 24, or 32."
-msgstr ""
+msgstr "bit_depth muss 8, 16, 24 oder 32 sein."
 
 #: shared-module/bitmapfilter/__init__.c
 msgid "bitmap size and depth must match"
@@ -2658,7 +2707,7 @@ msgstr "bits müssen 32 oder kleiner sein"
 
 #: shared-bindings/audiofreeverb/Freeverb.c
 msgid "bits_per_sample must be 16"
-msgstr ""
+msgstr "bits_per_sample muss 16 sein"
 
 #: shared-bindings/audiodelays/Chorus.c shared-bindings/audiodelays/Echo.c
 #: shared-bindings/audiodelays/MultiTapDelay.c
@@ -2873,7 +2922,7 @@ msgstr ""
 
 #: py/objcomplex.c
 msgid "can't truncate-divide a complex number"
-msgstr ""
+msgstr "kann eine komplexe Zahl nicht kürzen und dividieren"
 
 #: extmod/modasyncio.c
 msgid "can't wait"
@@ -3965,7 +4014,7 @@ msgstr "Ausgabe-Array ist zu klein"
 
 #: extmod/ulab/code/numpy/random/random.c
 msgid "out has wrong type"
-msgstr ""
+msgstr "Ausgabe hat den falschen Typ"
 
 #: extmod/ulab/code/numpy/vector.c
 msgid "out keyword is not supported for complex dtype"
@@ -3993,11 +4042,11 @@ msgstr "Außerhalb des Bereichs des Ziels"
 
 #: extmod/ulab/code/numpy/random/random.c
 msgid "output array has wrong type"
-msgstr ""
+msgstr "Ausgabe-Array hat einen falschen Typ"
 
 #: extmod/ulab/code/numpy/random/random.c
 msgid "output array must be contiguous"
-msgstr ""
+msgstr "Ausgabe-Array muss zusammenhängend sein"
 
 #: py/objint_mpz.c
 msgid "overflow converting long int to machine word"
@@ -4110,7 +4159,7 @@ msgstr "rsplit(None,n)"
 
 #: shared-bindings/audiofreeverb/Freeverb.c
 msgid "samples_signed must be true"
-msgstr ""
+msgstr "samples_signed muss wahr sein"
 
 #: ports/atmel-samd/common-hal/audiobusio/PDMIn.c
 #: ports/raspberrypi/common-hal/audiobusio/PDMIn.c
@@ -4131,7 +4180,7 @@ msgstr "nicht unterstützt"
 
 #: extmod/ulab/code/numpy/random/random.c
 msgid "shape must be None, and integer or a tuple of integers"
-msgstr ""
+msgstr "Form muss Keine, eine Ganzzahl oder ein Tupel von Ganzenahlen sein"
 
 #: extmod/ulab/code/ndarray.c
 msgid "shape must be integer or tuple of integers"
@@ -4155,7 +4204,7 @@ msgstr "Größe ist nur für ndarrays definiert"
 
 #: extmod/ulab/code/numpy/random/random.c
 msgid "size must match out.shape when used together"
-msgstr ""
+msgstr "size muss bei gemeinsamer Verwendung mit out.shape übereinstimmen"
 
 #: py/nativeglue.c
 msgid "slice unsupported"
@@ -4203,7 +4252,7 @@ msgstr "source_bitmap muss value_count von 8 haben"
 
 #: extmod/modre.c
 msgid "splitting with sub-captures"
-msgstr ""
+msgstr "Aufteilung mit Untererfassungen"
 
 #: py/objstr.c
 msgid "start/end indices"
@@ -4244,7 +4293,7 @@ msgstr "Syntaxfehler in JSON"
 
 #: extmod/modtime.c
 msgid "ticks interval overflow"
-msgstr ""
+msgstr "Ticks Intervallüberlauf"
 
 #: ports/nordic/common-hal/watchdog/WatchDogTimer.c
 msgid "timeout duration exceeded the maximum supported value"
@@ -4256,12 +4305,12 @@ msgstr "timeout muss kleiner als 655.35 Sekunden sein"
 
 #: ports/raspberrypi/common-hal/floppyio/__init__.c
 msgid "timeout waiting for flux"
-msgstr ""
+msgstr "Zeitüberschreitung beim Warten auf Fluss"
 
 #: ports/raspberrypi/common-hal/floppyio/__init__.c
 #: shared-module/floppyio/__init__.c
 msgid "timeout waiting for index pulse"
-msgstr ""
+msgstr "Zeitüberschreitung beim Warten auf Indeximpuls"
 
 #: shared-module/sdcardio/SDCard.c
 msgid "timeout waiting for v1 card"
diff --git a/locale/el.po b/locale/el.po
index 8eb66311bd74a..eb7887a5ac3d2 100644
--- a/locale/el.po
+++ b/locale/el.po
@@ -871,6 +871,10 @@ msgstr ""
 msgid "Coordinate arrays types have different sizes"
 msgstr ""
 
+#: ports/espressif/common-hal/rclcpy/Publisher.c
+msgid "Could not publish to ROS topic"
+msgstr ""
+
 #: shared-bindings/_bleio/Adapter.c
 msgid "Could not set address"
 msgstr "Δεν μπόρεσε να ρυθμιστεί η διεύθυνση"
@@ -883,6 +887,11 @@ msgstr "Δεν μπόρεσε να εκκινηθεί το interrupt, RX κατ
 msgid "Couldn't allocate decoder"
 msgstr "Δεν μπόρεσε να δεσμευτεί decoder"
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+#, c-format
+msgid "Critical ROS failure during soft reboot, reset required: %d"
+msgstr ""
+
 #: ports/stm/common-hal/analogio/AnalogOut.c
 msgid "DAC Channel Init Error"
 msgstr "Σφάλμα εκκίνησης καναλιού DAC"
@@ -1313,6 +1322,10 @@ msgstr ""
 msgid "Invalid MAC address"
 msgstr ""
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "Invalid ROS domain ID"
+msgstr ""
+
 #: ports/espressif/common-hal/espidf/__init__.c py/moderrno.c
 msgid "Invalid argument"
 msgstr ""
@@ -1869,6 +1882,10 @@ msgstr ""
 msgid "Program too long"
 msgstr ""
 
+#: shared-bindings/rclcpy/Publisher.c
+msgid "Publishers can only be created from a parent node"
+msgstr ""
+
 #: shared-bindings/digitalio/DigitalInOut.c
 msgid "Pull not used when direction is output."
 msgstr ""
@@ -1889,6 +1906,26 @@ msgstr ""
 msgid "RNG Init Error"
 msgstr ""
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS failed to initialize. Is agent connected?"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS internal setup failure"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS memory allocator failure"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/Node.c
+msgid "ROS node failed to initialize"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/Publisher.c
+msgid "ROS topic failed to initialize"
+msgstr ""
+
 #: ports/atmel-samd/common-hal/busio/UART.c ports/cxd56/common-hal/busio/UART.c
 #: ports/nordic/common-hal/busio/UART.c ports/stm/common-hal/busio/UART.c
 msgid "RS485"
diff --git a/locale/en_GB.po b/locale/en_GB.po
index f62a09e1db378..fff7179902c53 100644
--- a/locale/en_GB.po
+++ b/locale/en_GB.po
@@ -7,7 +7,7 @@ msgid ""
 msgstr ""
 "Project-Id-Version: PACKAGE VERSION\n"
 "Report-Msgid-Bugs-To: \n"
-"PO-Revision-Date: 2025-04-25 15:04+0000\n"
+"PO-Revision-Date: 2025-06-04 14:01+0000\n"
 "Last-Translator: Andi Chandler <andi@gowling.com>\n"
 "Language-Team: none\n"
 "Language: en_GB\n"
@@ -865,6 +865,10 @@ msgstr "Coordinate arrays have different lengths"
 msgid "Coordinate arrays types have different sizes"
 msgstr "Coordinate arrays types have different sizes"
 
+#: ports/espressif/common-hal/rclcpy/Publisher.c
+msgid "Could not publish to ROS topic"
+msgstr ""
+
 #: shared-bindings/_bleio/Adapter.c
 msgid "Could not set address"
 msgstr "Could not set address"
@@ -877,6 +881,11 @@ msgstr "Could not start interrupt, RX busy"
 msgid "Couldn't allocate decoder"
 msgstr "Couldn't allocate decoder"
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+#, c-format
+msgid "Critical ROS failure during soft reboot, reset required: %d"
+msgstr ""
+
 #: ports/stm/common-hal/analogio/AnalogOut.c
 msgid "DAC Channel Init Error"
 msgstr "DAC channel init error"
@@ -1306,6 +1315,10 @@ msgstr "Invalid BSSID"
 msgid "Invalid MAC address"
 msgstr "Invalid MAC address"
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "Invalid ROS domain ID"
+msgstr ""
+
 #: ports/espressif/common-hal/espidf/__init__.c py/moderrno.c
 msgid "Invalid argument"
 msgstr "Invalid argument"
@@ -1865,6 +1878,10 @@ msgstr "Program size invalid"
 msgid "Program too long"
 msgstr "Program too long"
 
+#: shared-bindings/rclcpy/Publisher.c
+msgid "Publishers can only be created from a parent node"
+msgstr ""
+
 #: shared-bindings/digitalio/DigitalInOut.c
 msgid "Pull not used when direction is output."
 msgstr "Pull not used when direction is output."
@@ -1885,6 +1902,26 @@ msgstr "RNG deinit Error"
 msgid "RNG Init Error"
 msgstr "RNG init Error"
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS failed to initialize. Is agent connected?"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS internal setup failure"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS memory allocator failure"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/Node.c
+msgid "ROS node failed to initialize"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/Publisher.c
+msgid "ROS topic failed to initialize"
+msgstr ""
+
 #: ports/atmel-samd/common-hal/busio/UART.c ports/cxd56/common-hal/busio/UART.c
 #: ports/nordic/common-hal/busio/UART.c ports/stm/common-hal/busio/UART.c
 msgid "RS485"
@@ -2098,7 +2135,7 @@ msgstr "Tile width must exactly divide bitmap width"
 
 #: shared-module/tilepalettemapper/TilePaletteMapper.c
 msgid "TilePaletteMapper may only be bound to a TileGrid once"
-msgstr ""
+msgstr "TilePaletteMapper may only be bound to a TileGrid once"
 
 #: shared-bindings/alarm/time/TimeAlarm.c
 msgid "Time is in the past."
@@ -2393,7 +2430,7 @@ msgstr "Wi-Fi: "
 #: ports/raspberrypi/common-hal/wifi/Radio.c
 #: ports/zephyr-cp/common-hal/wifi/Radio.c
 msgid "WiFi is not enabled"
-msgstr ""
+msgstr "WiFi is not enabled"
 
 #: main.c
 msgid "Woken up by alarm.\n"
diff --git a/locale/es.po b/locale/es.po
index 065782c2b07e6..dc329988628a1 100644
--- a/locale/es.po
+++ b/locale/es.po
@@ -8,15 +8,15 @@ msgstr ""
 "Project-Id-Version: \n"
 "Report-Msgid-Bugs-To: \n"
 "POT-Creation-Date: 2021-01-04 12:55-0600\n"
-"PO-Revision-Date: 2025-02-09 17:02+0000\n"
-"Last-Translator: karlos g liberal <karlosgliberal@gmail.com>\n"
+"PO-Revision-Date: 2025-06-09 12:01+0000\n"
+"Last-Translator: MAE <martin-aehle@hotmail.de>\n"
 "Language-Team: \n"
 "Language: es\n"
 "MIME-Version: 1.0\n"
 "Content-Type: text/plain; charset=UTF-8\n"
 "Content-Transfer-Encoding: 8bit\n"
 "Plural-Forms: nplurals=2; plural=n != 1;\n"
-"X-Generator: Weblate 5.10-dev\n"
+"X-Generator: Weblate 5.12-dev\n"
 
 #: main.c
 msgid ""
@@ -119,7 +119,7 @@ msgstr "%q fallo: %d"
 
 #: shared-module/audiodelays/MultiTapDelay.c
 msgid "%q in %q must be of type %q or %q, not %q"
-msgstr ""
+msgstr "%q en %q debe ser de tipo %q o %q, no %q"
 
 #: py/argcheck.c shared-module/audiofilters/Filter.c
 msgid "%q in %q must be of type %q, not %q"
@@ -836,7 +836,7 @@ msgstr "No se puede manejar la partición en una subclase"
 
 #: ports/raspberrypi/common-hal/rp2pio/StateMachine.c
 msgid "Cannot use GPIO0..15 together with GPIO32..47"
-msgstr ""
+msgstr "No se puede utilizar GPIO0..15 junto con GPIO32..47"
 
 #: ports/nordic/common-hal/alarm/pin/PinAlarm.c
 msgid "Cannot wake on pin edge, only level"
@@ -874,6 +874,10 @@ msgstr "Las matrices de coordenadas tienen diferentes longitudes"
 msgid "Coordinate arrays types have different sizes"
 msgstr "Las matrices de coordenadas tienen diferentes tamaños"
 
+#: ports/espressif/common-hal/rclcpy/Publisher.c
+msgid "Could not publish to ROS topic"
+msgstr ""
+
 #: shared-bindings/_bleio/Adapter.c
 msgid "Could not set address"
 msgstr "No se puede definir la dirección"
@@ -886,6 +890,11 @@ msgstr "No se pudo iniciar la interrupción, RX ocupado"
 msgid "Couldn't allocate decoder"
 msgstr "No se pudo encontrar el decodificador"
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+#, c-format
+msgid "Critical ROS failure during soft reboot, reset required: %d"
+msgstr ""
+
 #: ports/stm/common-hal/analogio/AnalogOut.c
 msgid "DAC Channel Init Error"
 msgstr "Error de inicio del canal DAC"
@@ -1071,7 +1080,7 @@ msgstr "No se puede liberar el mutex, err 0x%04x"
 
 #: ports/zephyr-cp/common-hal/wifi/Radio.c
 msgid "Failed to set hostname"
-msgstr ""
+msgstr "Fallo al establecer el nombre de host"
 
 #: ports/espressif/common-hal/audioio/AudioOut.c
 msgid "Failed to start async audio"
@@ -1328,6 +1337,10 @@ msgstr "BSSID inválido"
 msgid "Invalid MAC address"
 msgstr "Dirección MAC inválida"
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "Invalid ROS domain ID"
+msgstr ""
+
 #: ports/espressif/common-hal/espidf/__init__.c py/moderrno.c
 msgid "Invalid argument"
 msgstr "Argumento inválido"
@@ -1611,7 +1624,7 @@ msgstr "No hay pulldown en el pin; 1Mohm recomendado"
 
 #: shared-module/touchio/TouchIn.c
 msgid "No pullup on pin; 1Mohm recommended"
-msgstr ""
+msgstr "Sin pullup en el pin; 1Mohm recomendado"
 
 #: py/moderrno.c
 msgid "No space left on device"
@@ -1894,6 +1907,10 @@ msgstr "El tamaño del programa no es correcto"
 msgid "Program too long"
 msgstr "El programa es demasiado grande"
 
+#: shared-bindings/rclcpy/Publisher.c
+msgid "Publishers can only be created from a parent node"
+msgstr ""
+
 #: shared-bindings/digitalio/DigitalInOut.c
 msgid "Pull not used when direction is output."
 msgstr "Pull no se usa cuando la dirección es output."
@@ -1914,6 +1931,26 @@ msgstr "Error de desinicialización de RNG"
 msgid "RNG Init Error"
 msgstr "Error de inicialización de RNG"
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS failed to initialize. Is agent connected?"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS internal setup failure"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS memory allocator failure"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/Node.c
+msgid "ROS node failed to initialize"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/Publisher.c
+msgid "ROS topic failed to initialize"
+msgstr ""
+
 #: ports/atmel-samd/common-hal/busio/UART.c ports/cxd56/common-hal/busio/UART.c
 #: ports/nordic/common-hal/busio/UART.c ports/stm/common-hal/busio/UART.c
 msgid "RS485"
@@ -2430,7 +2467,7 @@ msgstr "Wi-Fi: "
 #: ports/raspberrypi/common-hal/wifi/Radio.c
 #: ports/zephyr-cp/common-hal/wifi/Radio.c
 msgid "WiFi is not enabled"
-msgstr ""
+msgstr "WiFi no está habilitado"
 
 #: main.c
 msgid "Woken up by alarm.\n"
@@ -2667,7 +2704,7 @@ msgstr "los bits deben ser 32 o menos"
 
 #: shared-bindings/audiofreeverb/Freeverb.c
 msgid "bits_per_sample must be 16"
-msgstr ""
+msgstr "bits_per_sample debe ser 16"
 
 #: shared-bindings/audiodelays/Chorus.c shared-bindings/audiodelays/Echo.c
 #: shared-bindings/audiodelays/MultiTapDelay.c
@@ -4105,7 +4142,7 @@ msgstr "rsplit(None,n)"
 
 #: shared-bindings/audiofreeverb/Freeverb.c
 msgid "samples_signed must be true"
-msgstr ""
+msgstr "samples_signed debe ser true"
 
 #: ports/atmel-samd/common-hal/audiobusio/PDMIn.c
 #: ports/raspberrypi/common-hal/audiobusio/PDMIn.c
diff --git a/locale/fil.po b/locale/fil.po
index 3069ed78c1dd5..3e6c32d9b2a58 100644
--- a/locale/fil.po
+++ b/locale/fil.po
@@ -857,6 +857,10 @@ msgstr ""
 msgid "Coordinate arrays types have different sizes"
 msgstr ""
 
+#: ports/espressif/common-hal/rclcpy/Publisher.c
+msgid "Could not publish to ROS topic"
+msgstr ""
+
 #: shared-bindings/_bleio/Adapter.c
 msgid "Could not set address"
 msgstr ""
@@ -869,6 +873,11 @@ msgstr ""
 msgid "Couldn't allocate decoder"
 msgstr ""
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+#, c-format
+msgid "Critical ROS failure during soft reboot, reset required: %d"
+msgstr ""
+
 #: ports/stm/common-hal/analogio/AnalogOut.c
 msgid "DAC Channel Init Error"
 msgstr ""
@@ -1299,6 +1308,10 @@ msgstr ""
 msgid "Invalid MAC address"
 msgstr ""
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "Invalid ROS domain ID"
+msgstr ""
+
 #: ports/espressif/common-hal/espidf/__init__.c py/moderrno.c
 msgid "Invalid argument"
 msgstr "Maling argumento"
@@ -1858,6 +1871,10 @@ msgstr ""
 msgid "Program too long"
 msgstr ""
 
+#: shared-bindings/rclcpy/Publisher.c
+msgid "Publishers can only be created from a parent node"
+msgstr ""
+
 #: shared-bindings/digitalio/DigitalInOut.c
 msgid "Pull not used when direction is output."
 msgstr "Pull hindi ginagamit kapag ang direksyon ay output."
@@ -1878,6 +1895,26 @@ msgstr "Error sa RNG DeInit"
 msgid "RNG Init Error"
 msgstr "Error sa RNG Init"
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS failed to initialize. Is agent connected?"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS internal setup failure"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS memory allocator failure"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/Node.c
+msgid "ROS node failed to initialize"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/Publisher.c
+msgid "ROS topic failed to initialize"
+msgstr ""
+
 #: ports/atmel-samd/common-hal/busio/UART.c ports/cxd56/common-hal/busio/UART.c
 #: ports/nordic/common-hal/busio/UART.c ports/stm/common-hal/busio/UART.c
 msgid "RS485"
diff --git a/locale/fr.po b/locale/fr.po
index e7516a609da30..e892971f872b0 100644
--- a/locale/fr.po
+++ b/locale/fr.po
@@ -8,15 +8,15 @@ msgstr ""
 "Project-Id-Version: 0.1\n"
 "Report-Msgid-Bugs-To: \n"
 "POT-Creation-Date: 2021-01-04 12:55-0600\n"
-"PO-Revision-Date: 2025-02-19 11:46+0000\n"
-"Last-Translator: Noel Gaetan <gaetan.noel@viacesi.fr>\n"
+"PO-Revision-Date: 2025-06-09 12:01+0000\n"
+"Last-Translator: MAE <martin-aehle@hotmail.de>\n"
 "Language-Team: \n"
 "Language: fr\n"
 "MIME-Version: 1.0\n"
 "Content-Type: text/plain; charset=utf-8\n"
 "Content-Transfer-Encoding: 8bit\n"
 "Plural-Forms: nplurals=2; plural=n > 1;\n"
-"X-Generator: Weblate 5.10.1-dev\n"
+"X-Generator: Weblate 5.12-dev\n"
 
 #: main.c
 msgid ""
@@ -118,7 +118,7 @@ msgstr "Échec de %q : %d"
 
 #: shared-module/audiodelays/MultiTapDelay.c
 msgid "%q in %q must be of type %q or %q, not %q"
-msgstr ""
+msgstr "%q dans %q doit être du type %q ou %q, pas %q"
 
 #: py/argcheck.c shared-module/audiofilters/Filter.c
 msgid "%q in %q must be of type %q, not %q"
@@ -824,6 +824,7 @@ msgstr "Impossible d'enregistrer vers un fichier"
 #: shared-module/storage/__init__.c
 msgid "Cannot remount path when visible via USB."
 msgstr ""
+"Impossible de remonter le chemin d'accès lorsqu'il est visible via USB."
 
 #: shared-bindings/digitalio/DigitalInOut.c
 msgid "Cannot set value when direction is input."
@@ -880,6 +881,10 @@ msgstr "Les tableaux de coordonnées sont de longueur différentes"
 msgid "Coordinate arrays types have different sizes"
 msgstr "Les types des tableaux de coordonnées sont de longueur différentes"
 
+#: ports/espressif/common-hal/rclcpy/Publisher.c
+msgid "Could not publish to ROS topic"
+msgstr ""
+
 #: shared-bindings/_bleio/Adapter.c
 msgid "Could not set address"
 msgstr "Ne peux définir l'adresse"
@@ -892,6 +897,11 @@ msgstr "Ne peux lancer l'interruption, RX occupé"
 msgid "Couldn't allocate decoder"
 msgstr "Ne peux allouer le décodeur"
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+#, c-format
+msgid "Critical ROS failure during soft reboot, reset required: %d"
+msgstr ""
+
 #: ports/stm/common-hal/analogio/AnalogOut.c
 msgid "DAC Channel Init Error"
 msgstr "Erreur init du canal DAC"
@@ -1332,6 +1342,10 @@ msgstr "BSSID invalide"
 msgid "Invalid MAC address"
 msgstr "Adresse MAC invalide"
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "Invalid ROS domain ID"
+msgstr ""
+
 #: ports/espressif/common-hal/espidf/__init__.c py/moderrno.c
 msgid "Invalid argument"
 msgstr "Paramètre invalide"
@@ -1424,7 +1438,7 @@ msgstr "Sécurité MITM n'est pas supportée"
 #: ports/stm/common-hal/sdioio/SDCard.c
 #, c-format
 msgid "MMC/SDIO Clock Error %x"
-msgstr ""
+msgstr "Erreur d'horloge MMC/SDIO %x"
 
 #: shared-bindings/is31fl3741/IS31FL3741.c
 msgid "Mapping must be a tuple"
@@ -1622,7 +1636,7 @@ msgstr "Pas de pulldown sur la broche ; 1Mohm requis"
 
 #: shared-module/touchio/TouchIn.c
 msgid "No pullup on pin; 1Mohm recommended"
-msgstr ""
+msgstr "Pas de pullup sur la broche ; 1Mohm recommandé"
 
 #: py/moderrno.c
 msgid "No space left on device"
@@ -1904,6 +1918,10 @@ msgstr "Taille du programme invalide"
 msgid "Program too long"
 msgstr "Programme trop long"
 
+#: shared-bindings/rclcpy/Publisher.c
+msgid "Publishers can only be created from a parent node"
+msgstr ""
+
 #: shared-bindings/digitalio/DigitalInOut.c
 msgid "Pull not used when direction is output."
 msgstr "Le tirage 'pull' n'est pas utilisé quand la direction est 'output'."
@@ -1924,6 +1942,26 @@ msgstr "Erreur de désinitialisation du RNG"
 msgid "RNG Init Error"
 msgstr "Erreur d'initialisation du RNG"
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS failed to initialize. Is agent connected?"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS internal setup failure"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS memory allocator failure"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/Node.c
+msgid "ROS node failed to initialize"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/Publisher.c
+msgid "ROS topic failed to initialize"
+msgstr ""
+
 #: ports/atmel-samd/common-hal/busio/UART.c ports/cxd56/common-hal/busio/UART.c
 #: ports/nordic/common-hal/busio/UART.c ports/stm/common-hal/busio/UART.c
 msgid "RS485"
@@ -2139,6 +2177,8 @@ msgstr "La largeur de la tuile doit diviser exactement la largeur de l'image"
 #: shared-module/tilepalettemapper/TilePaletteMapper.c
 msgid "TilePaletteMapper may only be bound to a TileGrid once"
 msgstr ""
+"Le TilePaletteMapper ne peut être lié à une grille de tuiles qu'une seule "
+"fois"
 
 #: shared-bindings/alarm/time/TimeAlarm.c
 msgid "Time is in the past."
@@ -2439,7 +2479,7 @@ msgstr "Wi-Fi : "
 #: ports/raspberrypi/common-hal/wifi/Radio.c
 #: ports/zephyr-cp/common-hal/wifi/Radio.c
 msgid "WiFi is not enabled"
-msgstr ""
+msgstr "Le WiFi n'est pas activé"
 
 #: main.c
 msgid "Woken up by alarm.\n"
@@ -2677,7 +2717,7 @@ msgstr "les bits doivent être 32 ou moins"
 
 #: shared-bindings/audiofreeverb/Freeverb.c
 msgid "bits_per_sample must be 16"
-msgstr ""
+msgstr "bits_par_échantillon doit être de 16"
 
 #: shared-bindings/audiodelays/Chorus.c shared-bindings/audiodelays/Echo.c
 #: shared-bindings/audiodelays/MultiTapDelay.c
@@ -4126,7 +4166,7 @@ msgstr "rsplit(None, n)"
 
 #: shared-bindings/audiofreeverb/Freeverb.c
 msgid "samples_signed must be true"
-msgstr ""
+msgstr "samples_signed doit être vrai"
 
 #: ports/atmel-samd/common-hal/audiobusio/PDMIn.c
 #: ports/raspberrypi/common-hal/audiobusio/PDMIn.c
diff --git a/locale/hi.po b/locale/hi.po
index abffcfe88cb52..fb3d72ea8f655 100644
--- a/locale/hi.po
+++ b/locale/hi.po
@@ -850,6 +850,10 @@ msgstr ""
 msgid "Coordinate arrays types have different sizes"
 msgstr ""
 
+#: ports/espressif/common-hal/rclcpy/Publisher.c
+msgid "Could not publish to ROS topic"
+msgstr ""
+
 #: shared-bindings/_bleio/Adapter.c
 msgid "Could not set address"
 msgstr ""
@@ -862,6 +866,11 @@ msgstr ""
 msgid "Couldn't allocate decoder"
 msgstr ""
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+#, c-format
+msgid "Critical ROS failure during soft reboot, reset required: %d"
+msgstr ""
+
 #: ports/stm/common-hal/analogio/AnalogOut.c
 msgid "DAC Channel Init Error"
 msgstr ""
@@ -1289,6 +1298,10 @@ msgstr ""
 msgid "Invalid MAC address"
 msgstr ""
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "Invalid ROS domain ID"
+msgstr ""
+
 #: ports/espressif/common-hal/espidf/__init__.c py/moderrno.c
 msgid "Invalid argument"
 msgstr ""
@@ -1843,6 +1856,10 @@ msgstr ""
 msgid "Program too long"
 msgstr ""
 
+#: shared-bindings/rclcpy/Publisher.c
+msgid "Publishers can only be created from a parent node"
+msgstr ""
+
 #: shared-bindings/digitalio/DigitalInOut.c
 msgid "Pull not used when direction is output."
 msgstr ""
@@ -1863,6 +1880,26 @@ msgstr ""
 msgid "RNG Init Error"
 msgstr ""
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS failed to initialize. Is agent connected?"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS internal setup failure"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS memory allocator failure"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/Node.c
+msgid "ROS node failed to initialize"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/Publisher.c
+msgid "ROS topic failed to initialize"
+msgstr ""
+
 #: ports/atmel-samd/common-hal/busio/UART.c ports/cxd56/common-hal/busio/UART.c
 #: ports/nordic/common-hal/busio/UART.c ports/stm/common-hal/busio/UART.c
 msgid "RS485"
diff --git a/locale/it_IT.po b/locale/it_IT.po
index 7ef52213ced3d..cb2d418e96725 100644
--- a/locale/it_IT.po
+++ b/locale/it_IT.po
@@ -856,6 +856,10 @@ msgstr ""
 msgid "Coordinate arrays types have different sizes"
 msgstr ""
 
+#: ports/espressif/common-hal/rclcpy/Publisher.c
+msgid "Could not publish to ROS topic"
+msgstr ""
+
 #: shared-bindings/_bleio/Adapter.c
 msgid "Could not set address"
 msgstr ""
@@ -868,6 +872,11 @@ msgstr ""
 msgid "Couldn't allocate decoder"
 msgstr ""
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+#, c-format
+msgid "Critical ROS failure during soft reboot, reset required: %d"
+msgstr ""
+
 #: ports/stm/common-hal/analogio/AnalogOut.c
 msgid "DAC Channel Init Error"
 msgstr ""
@@ -1297,6 +1306,10 @@ msgstr ""
 msgid "Invalid MAC address"
 msgstr ""
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "Invalid ROS domain ID"
+msgstr ""
+
 #: ports/espressif/common-hal/espidf/__init__.c py/moderrno.c
 msgid "Invalid argument"
 msgstr "Argomento non valido"
@@ -1856,6 +1869,10 @@ msgstr ""
 msgid "Program too long"
 msgstr ""
 
+#: shared-bindings/rclcpy/Publisher.c
+msgid "Publishers can only be created from a parent node"
+msgstr ""
+
 #: shared-bindings/digitalio/DigitalInOut.c
 msgid "Pull not used when direction is output."
 msgstr ""
@@ -1876,6 +1893,26 @@ msgstr ""
 msgid "RNG Init Error"
 msgstr ""
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS failed to initialize. Is agent connected?"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS internal setup failure"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS memory allocator failure"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/Node.c
+msgid "ROS node failed to initialize"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/Publisher.c
+msgid "ROS topic failed to initialize"
+msgstr ""
+
 #: ports/atmel-samd/common-hal/busio/UART.c ports/cxd56/common-hal/busio/UART.c
 #: ports/nordic/common-hal/busio/UART.c ports/stm/common-hal/busio/UART.c
 msgid "RS485"
diff --git a/locale/ja.po b/locale/ja.po
index ef29c947b1316..63a9d40f84909 100644
--- a/locale/ja.po
+++ b/locale/ja.po
@@ -867,6 +867,10 @@ msgstr ""
 msgid "Coordinate arrays types have different sizes"
 msgstr ""
 
+#: ports/espressif/common-hal/rclcpy/Publisher.c
+msgid "Could not publish to ROS topic"
+msgstr ""
+
 #: shared-bindings/_bleio/Adapter.c
 msgid "Could not set address"
 msgstr "アドレスをセットできません"
@@ -879,6 +883,11 @@ msgstr "割り込みをスタートできません。RXビジー"
 msgid "Couldn't allocate decoder"
 msgstr "デコーダを確保できません"
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+#, c-format
+msgid "Critical ROS failure during soft reboot, reset required: %d"
+msgstr ""
+
 #: ports/stm/common-hal/analogio/AnalogOut.c
 msgid "DAC Channel Init Error"
 msgstr "DACチャネル初期化エラー"
@@ -1306,6 +1315,10 @@ msgstr "不正なBSSID"
 msgid "Invalid MAC address"
 msgstr ""
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "Invalid ROS domain ID"
+msgstr ""
+
 #: ports/espressif/common-hal/espidf/__init__.c py/moderrno.c
 msgid "Invalid argument"
 msgstr "不正な引数"
@@ -1865,6 +1878,10 @@ msgstr ""
 msgid "Program too long"
 msgstr ""
 
+#: shared-bindings/rclcpy/Publisher.c
+msgid "Publishers can only be created from a parent node"
+msgstr ""
+
 #: shared-bindings/digitalio/DigitalInOut.c
 msgid "Pull not used when direction is output."
 msgstr "方向がoutputのときpullは使われません"
@@ -1885,6 +1902,26 @@ msgstr "RNG解体エラー"
 msgid "RNG Init Error"
 msgstr "乱数生成器の初期化エラー"
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS failed to initialize. Is agent connected?"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS internal setup failure"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS memory allocator failure"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/Node.c
+msgid "ROS node failed to initialize"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/Publisher.c
+msgid "ROS topic failed to initialize"
+msgstr ""
+
 #: ports/atmel-samd/common-hal/busio/UART.c ports/cxd56/common-hal/busio/UART.c
 #: ports/nordic/common-hal/busio/UART.c ports/stm/common-hal/busio/UART.c
 msgid "RS485"
diff --git a/locale/ko.po b/locale/ko.po
index a06ff26372503..d843c74533cba 100644
--- a/locale/ko.po
+++ b/locale/ko.po
@@ -895,6 +895,10 @@ msgstr "좌표 배열의 길이가 다릅니다"
 msgid "Coordinate arrays types have different sizes"
 msgstr "좌표 배열 유형은 크기가 다릅니다"
 
+#: ports/espressif/common-hal/rclcpy/Publisher.c
+msgid "Could not publish to ROS topic"
+msgstr ""
+
 #: shared-bindings/_bleio/Adapter.c
 msgid "Could not set address"
 msgstr "주소를 설정할 수 없습니다"
@@ -907,6 +911,11 @@ msgstr "인터럽트를 시작할 수 없습니다, RX가 사용 중입니다"
 msgid "Couldn't allocate decoder"
 msgstr "디코더를 할당할 수 없습니다"
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+#, c-format
+msgid "Critical ROS failure during soft reboot, reset required: %d"
+msgstr ""
+
 #: ports/stm/common-hal/analogio/AnalogOut.c
 msgid "DAC Channel Init Error"
 msgstr "DAC 채널 초기화 오류"
@@ -1341,6 +1350,10 @@ msgstr "잘못된 BSSID"
 msgid "Invalid MAC address"
 msgstr "잘못된 MAC 주소"
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "Invalid ROS domain ID"
+msgstr ""
+
 #: ports/espressif/common-hal/espidf/__init__.c py/moderrno.c
 msgid "Invalid argument"
 msgstr "잘못된 인수"
@@ -1917,6 +1930,10 @@ msgstr "프로그램 크기가 잘못되었습니다"
 msgid "Program too long"
 msgstr "프로그램이 너무 깁니다"
 
+#: shared-bindings/rclcpy/Publisher.c
+msgid "Publishers can only be created from a parent node"
+msgstr ""
+
 #: shared-bindings/digitalio/DigitalInOut.c
 #, fuzzy
 msgid "Pull not used when direction is output."
@@ -1938,6 +1955,26 @@ msgstr "RNG DeInit 오류"
 msgid "RNG Init Error"
 msgstr "RNG 초기화 오류"
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS failed to initialize. Is agent connected?"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS internal setup failure"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS memory allocator failure"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/Node.c
+msgid "ROS node failed to initialize"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/Publisher.c
+msgid "ROS topic failed to initialize"
+msgstr ""
+
 #: ports/atmel-samd/common-hal/busio/UART.c ports/cxd56/common-hal/busio/UART.c
 #: ports/nordic/common-hal/busio/UART.c ports/stm/common-hal/busio/UART.c
 msgid "RS485"
diff --git a/locale/nl.po b/locale/nl.po
index ade9593a2cea1..9c9e1bda3321a 100644
--- a/locale/nl.po
+++ b/locale/nl.po
@@ -6,15 +6,15 @@ msgstr ""
 "Project-Id-Version: PACKAGE VERSION\n"
 "Report-Msgid-Bugs-To: \n"
 "POT-Creation-Date: 2021-01-04 12:55-0600\n"
-"PO-Revision-Date: 2023-11-16 15:03+0000\n"
-"Last-Translator: Jeff Epler <jepler@gmail.com>\n"
+"PO-Revision-Date: 2025-06-09 12:01+0000\n"
+"Last-Translator: MAE <martin-aehle@hotmail.de>\n"
 "Language-Team: none\n"
 "Language: nl\n"
 "MIME-Version: 1.0\n"
 "Content-Type: text/plain; charset=UTF-8\n"
 "Content-Transfer-Encoding: 8bit\n"
 "Plural-Forms: nplurals=2; plural=n != 1;\n"
-"X-Generator: Weblate 5.2\n"
+"X-Generator: Weblate 5.12-dev\n"
 
 #: main.c
 msgid ""
@@ -61,7 +61,7 @@ msgstr ""
 
 #: main.c
 msgid " not found.\n"
-msgstr ""
+msgstr " niet gevonden.\n"
 
 #: main.c
 msgid " output:\n"
@@ -558,7 +558,7 @@ msgstr "Heeft al een luisteraar voor 'all-matches'"
 
 #: ports/espressif/common-hal/_bleio/__init__.c
 msgid "Already in progress"
-msgstr ""
+msgstr "Al in uitvoering"
 
 #: ports/espressif/bindings/espnow/ESPNow.c
 #: ports/espressif/common-hal/espulp/ULP.c
@@ -612,7 +612,7 @@ msgstr ""
 #: ports/raspberrypi/common-hal/audiobusio/I2SOut.c
 #: ports/raspberrypi/common-hal/audiopwmio/PWMAudioOut.c
 msgid "Audio source error"
-msgstr ""
+msgstr "Audiobronfout"
 
 #: shared-bindings/wifi/Radio.c
 msgid "AuthMode.OPEN is not used with password"
@@ -701,7 +701,7 @@ msgstr "Buffer is %d bytes te klein"
 #: shared-bindings/framebufferio/FramebufferDisplay.c
 #: shared-bindings/struct/__init__.c shared-module/struct/__init__.c
 msgid "Buffer too small"
-msgstr ""
+msgstr "Buffer te klein"
 
 #: ports/atmel-samd/common-hal/paralleldisplaybus/ParallelBus.c
 #: ports/espressif/common-hal/paralleldisplaybus/ParallelBus.c
@@ -853,6 +853,10 @@ msgstr ""
 msgid "Coordinate arrays types have different sizes"
 msgstr ""
 
+#: ports/espressif/common-hal/rclcpy/Publisher.c
+msgid "Could not publish to ROS topic"
+msgstr ""
+
 #: shared-bindings/_bleio/Adapter.c
 msgid "Could not set address"
 msgstr "Kan adres niet zetten"
@@ -865,6 +869,11 @@ msgstr "Kan interrupt niet starten, RX is bezig"
 msgid "Couldn't allocate decoder"
 msgstr "Kan decoder niet alloceren"
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+#, c-format
+msgid "Critical ROS failure during soft reboot, reset required: %d"
+msgstr ""
+
 #: ports/stm/common-hal/analogio/AnalogOut.c
 msgid "DAC Channel Init Error"
 msgstr "DAC kanaal Init Fout"
@@ -925,7 +934,7 @@ msgstr "Beeldscherm rotatie moet in stappen van 90 graden"
 
 #: main.c
 msgid "Done"
-msgstr ""
+msgstr "Gedaan"
 
 #: shared-bindings/digitalio/DigitalInOut.c
 msgid "Drive mode not used when direction is input."
@@ -1064,7 +1073,7 @@ msgstr "Bestand bestaat"
 #: shared-bindings/supervisor/__init__.c shared-module/lvfontio/OnDiskFont.c
 #: shared-module/os/getenv.c
 msgid "File not found"
-msgstr ""
+msgstr "Bestand niet gevonden"
 
 #: ports/atmel-samd/common-hal/canio/Listener.c
 #: ports/espressif/common-hal/canio/Listener.c
@@ -1075,11 +1084,11 @@ msgstr "Filters zijn te complex"
 
 #: ports/espressif/common-hal/dualbank/__init__.c
 msgid "Firmware is duplicate"
-msgstr ""
+msgstr "Firmware is duplicaat"
 
 #: ports/espressif/common-hal/dualbank/__init__.c
 msgid "Firmware is invalid"
-msgstr ""
+msgstr "Firmware is ongeldig"
 
 #: ports/espressif/common-hal/dualbank/__init__.c
 msgid "Firmware is too big"
@@ -1113,7 +1122,7 @@ msgstr ""
 
 #: ports/espressif/common-hal/espidf/__init__.c
 msgid "Generic Failure"
-msgstr ""
+msgstr "Generieke mislukking"
 
 #: shared-bindings/framebufferio/FramebufferDisplay.c
 #: shared-module/busdisplay/BusDisplay.c
@@ -1215,7 +1224,7 @@ msgstr "Interne define fout"
 
 #: shared-bindings/pwmio/PWMOut.c shared-module/os/getenv.c
 msgid "Internal error"
-msgstr ""
+msgstr "Interne fout"
 
 #: shared-module/rgbmatrix/RGBMatrix.c
 #, c-format
@@ -1241,7 +1250,7 @@ msgstr ""
 
 #: supervisor/shared/safe_mode.c
 msgid "Interrupt error."
-msgstr ""
+msgstr "Interruptfout."
 
 #: shared-module/jpegio/JpegDecoder.c
 msgid "Interrupted by output function"
@@ -1282,7 +1291,7 @@ msgstr "Ongeldige ADC Unit waarde"
 #: ports/espressif/common-hal/_bleio/__init__.c
 #: ports/nordic/common-hal/_bleio/__init__.c
 msgid "Invalid BLE parameter"
-msgstr ""
+msgstr "Ongeldige BLE-parameter"
 
 #: shared-bindings/wifi/Radio.c
 msgid "Invalid BSSID"
@@ -1290,6 +1299,10 @@ msgstr "Ongeldig BSSID"
 
 #: shared-bindings/wifi/Radio.c
 msgid "Invalid MAC address"
+msgstr "Ongeldig MAC-adres"
+
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "Invalid ROS domain ID"
 msgstr ""
 
 #: ports/espressif/common-hal/espidf/__init__.c py/moderrno.c
@@ -1312,7 +1325,7 @@ msgstr ""
 
 #: shared-module/msgpack/__init__.c
 msgid "Invalid format"
-msgstr ""
+msgstr "Ongeldig formaat"
 
 #: shared-module/audiocore/WaveFile.c
 msgid "Invalid format chunk size"
@@ -1329,7 +1342,7 @@ msgstr ""
 
 #: ports/espressif/common-hal/espidf/__init__.c
 msgid "Invalid size"
-msgstr ""
+msgstr "Ongeldige grootte"
 
 #: shared-module/ssl/SSLSocket.c
 msgid "Invalid socket for TLS"
@@ -1338,11 +1351,11 @@ msgstr ""
 #: ports/espressif/common-hal/espidf/__init__.c
 #: ports/nordic/common-hal/_bleio/__init__.c
 msgid "Invalid state"
-msgstr ""
+msgstr "Ongeldige staat"
 
 #: shared-module/os/getenv.c
 msgid "Invalid unicode escape"
-msgstr ""
+msgstr "Ongeldige unicode escape"
 
 #: shared-bindings/aesio/aes.c
 msgid "Key must be 16, 24, or 32 bytes long"
@@ -1350,7 +1363,7 @@ msgstr "Sleutel moet 16, 24, of 32 bytes lang zijn"
 
 #: shared-module/os/getenv.c
 msgid "Key not found"
-msgstr ""
+msgstr "Sleutel niet gevonden"
 
 #: shared-module/is31fl3741/FrameBuffer.c
 msgid "LED mappings must match display size"
@@ -1855,6 +1868,10 @@ msgstr ""
 msgid "Program too long"
 msgstr ""
 
+#: shared-bindings/rclcpy/Publisher.c
+msgid "Publishers can only be created from a parent node"
+msgstr ""
+
 #: shared-bindings/digitalio/DigitalInOut.c
 msgid "Pull not used when direction is output."
 msgstr "Pull niet gebruikt wanneer de richting output is."
@@ -1875,10 +1892,30 @@ msgstr "RNG DeInit Fout"
 msgid "RNG Init Error"
 msgstr "RNG Init Fout"
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS failed to initialize. Is agent connected?"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS internal setup failure"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS memory allocator failure"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/Node.c
+msgid "ROS node failed to initialize"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/Publisher.c
+msgid "ROS topic failed to initialize"
+msgstr ""
+
 #: ports/atmel-samd/common-hal/busio/UART.c ports/cxd56/common-hal/busio/UART.c
 #: ports/nordic/common-hal/busio/UART.c ports/stm/common-hal/busio/UART.c
 msgid "RS485"
-msgstr ""
+msgstr "RS485"
 
 #: ports/espressif/common-hal/busio/UART.c
 #: ports/mimxrt10xx/common-hal/busio/UART.c
@@ -1910,7 +1947,7 @@ msgstr ""
 
 #: supervisor/shared/bluetooth/bluetooth.c
 msgid "Reconnecting"
-msgstr ""
+msgstr "Opnieuw aansluiten"
 
 #: shared-bindings/epaperdisplay/EPaperDisplay.c
 msgid "Refresh too soon"
@@ -2378,7 +2415,7 @@ msgstr ""
 #: ports/raspberrypi/common-hal/wifi/Radio.c
 #: ports/zephyr-cp/common-hal/wifi/Radio.c
 msgid "WiFi is not enabled"
-msgstr ""
+msgstr "WiFi is niet ingeschakeld"
 
 #: main.c
 msgid "Woken up by alarm.\n"
@@ -4416,7 +4453,7 @@ msgstr "breedte moet groter dan nul zijn"
 
 #: ports/raspberrypi/common-hal/wifi/Monitor.c
 msgid "wifi.Monitor not available"
-msgstr ""
+msgstr "wifi.monitor niet beschikbaar"
 
 #: shared-bindings/_bleio/Adapter.c
 msgid "window must be <= interval"
diff --git a/locale/pl.po b/locale/pl.po
index 0c565f72d8d1c..c274764a6896a 100644
--- a/locale/pl.po
+++ b/locale/pl.po
@@ -7,16 +7,16 @@ msgstr ""
 "Project-Id-Version: \n"
 "Report-Msgid-Bugs-To: \n"
 "POT-Creation-Date: 2021-01-04 12:55-0600\n"
-"PO-Revision-Date: 2023-11-16 15:03+0000\n"
-"Last-Translator: Szymon Jakubiak <sz.a.jakubiak@gmail.com>\n"
+"PO-Revision-Date: 2025-06-09 12:01+0000\n"
+"Last-Translator: MAE <martin-aehle@hotmail.de>\n"
 "Language-Team: pl\n"
 "Language: pl\n"
 "MIME-Version: 1.0\n"
 "Content-Type: text/plain; charset=UTF-8\n"
 "Content-Transfer-Encoding: 8bit\n"
-"Plural-Forms: nplurals=3; plural=n==1 ? 0 : n%10>=2 && n%10<=4 && (n%100<10 "
-"|| n%100>=20) ? 1 : 2;\n"
-"X-Generator: Weblate 5.2\n"
+"Plural-Forms: nplurals=3; plural=(n==1 ? 0 : n%10>=2 && n%10<=4 && (n%100<10 "
+"|| n%100>=20) ? 1 : 2);\n"
+"X-Generator: Weblate 5.12-dev\n"
 
 #: main.c
 msgid ""
@@ -864,6 +864,10 @@ msgstr ""
 msgid "Coordinate arrays types have different sizes"
 msgstr ""
 
+#: ports/espressif/common-hal/rclcpy/Publisher.c
+msgid "Could not publish to ROS topic"
+msgstr ""
+
 #: shared-bindings/_bleio/Adapter.c
 msgid "Could not set address"
 msgstr "Nie można ustawić adresu"
@@ -876,6 +880,11 @@ msgstr "Nie można rozpocząć przerwania, RX jest zajęty"
 msgid "Couldn't allocate decoder"
 msgstr "Nie udało się przydzielić dekodera"
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+#, c-format
+msgid "Critical ROS failure during soft reboot, reset required: %d"
+msgstr ""
+
 #: ports/stm/common-hal/analogio/AnalogOut.c
 msgid "DAC Channel Init Error"
 msgstr "Błąd inicjalizacji kanału DAC"
@@ -1311,6 +1320,10 @@ msgstr ""
 msgid "Invalid MAC address"
 msgstr ""
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "Invalid ROS domain ID"
+msgstr ""
+
 #: ports/espressif/common-hal/espidf/__init__.c py/moderrno.c
 msgid "Invalid argument"
 msgstr "Zły argument"
@@ -1754,7 +1767,7 @@ msgstr ""
 
 #: ports/stm/common-hal/pwmio/PWMOut.c
 msgid "PWM restart"
-msgstr ""
+msgstr "Ponowne uruchomienie PWM"
 
 #: ports/raspberrypi/common-hal/countio/Counter.c
 msgid "PWM slice already in use"
@@ -1770,7 +1783,7 @@ msgstr ""
 
 #: shared-module/jpegio/JpegDecoder.c
 msgid "Parameter error"
-msgstr ""
+msgstr "Błąd parametru"
 
 #: ports/espressif/common-hal/audiobusio/__init__.c
 msgid "Peripheral in use"
@@ -1867,6 +1880,10 @@ msgstr ""
 
 #: ports/espressif/common-hal/espulp/ULP.c
 msgid "Program too long"
+msgstr "Program zbyt długi"
+
+#: shared-bindings/rclcpy/Publisher.c
+msgid "Publishers can only be created from a parent node"
 msgstr ""
 
 #: shared-bindings/digitalio/DigitalInOut.c
@@ -1889,10 +1906,30 @@ msgstr "Błąd RNG DeInit"
 msgid "RNG Init Error"
 msgstr "Błąd inicjalizacji RNG"
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS failed to initialize. Is agent connected?"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS internal setup failure"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS memory allocator failure"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/Node.c
+msgid "ROS node failed to initialize"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/Publisher.c
+msgid "ROS topic failed to initialize"
+msgstr ""
+
 #: ports/atmel-samd/common-hal/busio/UART.c ports/cxd56/common-hal/busio/UART.c
 #: ports/nordic/common-hal/busio/UART.c ports/stm/common-hal/busio/UART.c
 msgid "RS485"
-msgstr ""
+msgstr "RS485"
 
 #: ports/espressif/common-hal/busio/UART.c
 #: ports/mimxrt10xx/common-hal/busio/UART.c
@@ -1924,7 +1961,7 @@ msgstr "Otrzymana odpowiedź była nieprawidłowa"
 
 #: supervisor/shared/bluetooth/bluetooth.c
 msgid "Reconnecting"
-msgstr ""
+msgstr "Ponowne połączenie"
 
 #: shared-bindings/epaperdisplay/EPaperDisplay.c
 msgid "Refresh too soon"
@@ -2009,7 +2046,7 @@ msgstr ""
 
 #: ports/cxd56/common-hal/camera/Camera.c
 msgid "Size not supported"
-msgstr ""
+msgstr "Rozmiar nieobsługiwany"
 
 #: shared-bindings/alarm/SleepMemory.c shared-bindings/memorymap/AddressRange.c
 #: shared-bindings/nvm/ByteArray.c
@@ -2140,7 +2177,7 @@ msgstr ""
 #: ports/raspberrypi/common-hal/alarm/touch/TouchAlarm.c
 #: ports/stm/common-hal/alarm/touch/TouchAlarm.c
 msgid "Touch alarms not available"
-msgstr ""
+msgstr "Alarmy dotykowe niedostępne"
 
 #: py/obj.c
 msgid "Traceback (most recent call last):\n"
@@ -2169,7 +2206,7 @@ msgstr ""
 
 #: main.c
 msgid "UID:"
-msgstr ""
+msgstr "UID:"
 
 #: shared-module/usb_hid/Device.c
 msgid "USB busy"
@@ -2185,7 +2222,7 @@ msgstr ""
 
 #: shared-module/usb_hid/Device.c
 msgid "USB error"
-msgstr ""
+msgstr "Błąd USB"
 
 #: shared-bindings/_bleio/UUID.c
 msgid "UUID integer value must be 0-0xffff"
@@ -2251,7 +2288,7 @@ msgstr ""
 
 #: shared-bindings/alarm/SleepMemory.c
 msgid "Unable to write to sleep_memory."
-msgstr ""
+msgstr "Nie można zapisać do sleep_memory."
 
 #: ports/nordic/common-hal/_bleio/UUID.c
 msgid "Unexpected nrfx uuid type"
@@ -2342,7 +2379,7 @@ msgstr ""
 #: ports/espressif/common-hal/_bleio/Adapter.c
 #: ports/espressif/common-hal/dualbank/__init__.c
 msgid "Update failed"
-msgstr ""
+msgstr "Aktualizacja nie powiodła się"
 
 #: ports/espressif/common-hal/_bleio/Characteristic.c
 #: ports/nordic/common-hal/_bleio/Characteristic.c
@@ -2381,16 +2418,21 @@ msgid ""
 "\n"
 "To list built-in modules type `help(\"modules\")`.\n"
 msgstr ""
+"Witamy w Adafruit CircuitPython %s!\n"
+"\n"
+"Odwiedź circuitpython.org po więcej informacji.\n"
+"\n"
+"Aby wyświetlić listę wbudowanych modułów wpisz `help(„modules”)`.\n"
 
 #: supervisor/shared/web_workflow/web_workflow.c
 msgid "Wi-Fi: "
-msgstr ""
+msgstr "Wi-Fi: "
 
 #: ports/espressif/common-hal/wifi/Radio.c
 #: ports/raspberrypi/common-hal/wifi/Radio.c
 #: ports/zephyr-cp/common-hal/wifi/Radio.c
 msgid "WiFi is not enabled"
-msgstr ""
+msgstr "WiFi nie jest włączone"
 
 #: main.c
 msgid "Woken up by alarm.\n"
@@ -2611,7 +2653,7 @@ msgstr "brak dwu-argumentowego operatora %q"
 
 #: ports/espressif/common-hal/audiobusio/PDMIn.c
 msgid "bit_depth must be 8, 16, 24, or 32."
-msgstr ""
+msgstr "bit_depth musi wynosić 8, 16, 24 lub 32."
 
 #: shared-module/bitmapfilter/__init__.c
 msgid "bitmap size and depth must match"
@@ -2623,11 +2665,11 @@ msgstr ""
 
 #: extmod/modrandom.c
 msgid "bits must be 32 or less"
-msgstr ""
+msgstr "bitów musi wynosić 32 lub mniej"
 
 #: shared-bindings/audiofreeverb/Freeverb.c
 msgid "bits_per_sample must be 16"
-msgstr ""
+msgstr "bits_per_sample musi wynosić 16"
 
 #: shared-bindings/audiodelays/Chorus.c shared-bindings/audiodelays/Echo.c
 #: shared-bindings/audiodelays/MultiTapDelay.c
@@ -2838,7 +2880,7 @@ msgstr ""
 
 #: extmod/modasyncio.c
 msgid "can't wait"
-msgstr ""
+msgstr "nie mogę się doczekać"
 
 #: extmod/ulab/code/ndarray.c
 msgid "cannot assign new shape"
@@ -3025,7 +3067,7 @@ msgstr ""
 
 #: extmod/ulab/code/numpy/create.c
 msgid "divide by zero"
-msgstr ""
+msgstr "dziel przez zero"
 
 #: py/runtime.c
 msgid "division by zero"
@@ -3045,7 +3087,7 @@ msgstr "puste"
 
 #: extmod/ulab/code/numpy/io/io.c
 msgid "empty file"
-msgstr ""
+msgstr "puste plik"
 
 #: extmod/modasyncio.c extmod/modheapq.c
 msgid "empty heap"
@@ -3164,7 +3206,7 @@ msgstr "float zbyt wielki"
 
 #: py/nativeglue.c
 msgid "float unsupported"
-msgstr ""
+msgstr "float nieobsługiwany"
 
 #: shared-bindings/_stage/Text.c
 msgid "font must be 2048 bytes long"
@@ -3172,7 +3214,7 @@ msgstr "font musi mieć 2048 bajtów długości"
 
 #: extmod/moddeflate.c
 msgid "format"
-msgstr ""
+msgstr "format"
 
 #: py/objstr.c
 msgid "format requires a dict"
@@ -3273,7 +3315,7 @@ msgstr ""
 
 #: py/persistentcode.c
 msgid "incompatible .mpy file"
-msgstr ""
+msgstr "niekompatybilny plik .mpy"
 
 #: py/objstr.c
 msgid "incomplete format"
@@ -3685,7 +3727,7 @@ msgstr ""
 
 #: shared-module/sdcardio/SDCard.c
 msgid "no SD card"
-msgstr ""
+msgstr "brak karty SD"
 
 #: py/vm.c
 msgid "no active exception to reraise"
@@ -3766,7 +3808,7 @@ msgstr "liczba punktów musi wynosić co najmniej 2"
 
 #: py/builtinhelp.c
 msgid "object "
-msgstr ""
+msgstr "obiekt "
 
 #: py/obj.c
 #, c-format
@@ -3820,7 +3862,7 @@ msgstr "łańcuch o nieparzystej długości"
 
 #: supervisor/shared/web_workflow/web_workflow.c
 msgid "off"
-msgstr ""
+msgstr "wył"
 
 #: extmod/ulab/code/utils/utils.c
 msgid "offset is too large"
diff --git a/locale/pt_BR.po b/locale/pt_BR.po
index a1b6b9ff5c6b5..0aef0b46159f3 100644
--- a/locale/pt_BR.po
+++ b/locale/pt_BR.po
@@ -6,15 +6,15 @@ msgstr ""
 "Project-Id-Version: PACKAGE VERSION\n"
 "Report-Msgid-Bugs-To: \n"
 "POT-Creation-Date: 2021-01-04 12:55-0600\n"
-"PO-Revision-Date: 2025-03-09 18:40+0000\n"
-"Last-Translator: Wellington Terumi Uemura <wellingtonuemura@gmail.com>\n"
+"PO-Revision-Date: 2025-06-09 12:01+0000\n"
+"Last-Translator: MAE <martin-aehle@hotmail.de>\n"
 "Language-Team: \n"
 "Language: pt_BR\n"
 "MIME-Version: 1.0\n"
 "Content-Type: text/plain; charset=UTF-8\n"
 "Content-Transfer-Encoding: 8bit\n"
 "Plural-Forms: nplurals=2; plural=n > 1;\n"
-"X-Generator: Weblate 5.10.3-dev\n"
+"X-Generator: Weblate 5.12-dev\n"
 
 #: main.c
 msgid ""
@@ -117,7 +117,7 @@ msgstr "%q falha: %d"
 
 #: shared-module/audiodelays/MultiTapDelay.c
 msgid "%q in %q must be of type %q or %q, not %q"
-msgstr ""
+msgstr "%q em %q deve ser do tipo %q ou %q, não %q"
 
 #: py/argcheck.c shared-module/audiofilters/Filter.c
 msgid "%q in %q must be of type %q, not %q"
@@ -874,6 +874,10 @@ msgstr "As coordenadas das matrizes possuem comprimentos diferentes"
 msgid "Coordinate arrays types have different sizes"
 msgstr "Os tipos das coordenadas das matrizes possuem tamanhos diferentes"
 
+#: ports/espressif/common-hal/rclcpy/Publisher.c
+msgid "Could not publish to ROS topic"
+msgstr ""
+
 #: shared-bindings/_bleio/Adapter.c
 msgid "Could not set address"
 msgstr "Não foi possível definir o endereço"
@@ -886,6 +890,11 @@ msgstr "Não foi possível iniciar a interrupção, RX ocupado"
 msgid "Couldn't allocate decoder"
 msgstr "Não foi possível alocar o decodificador"
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+#, c-format
+msgid "Critical ROS failure during soft reboot, reset required: %d"
+msgstr ""
+
 #: ports/stm/common-hal/analogio/AnalogOut.c
 msgid "DAC Channel Init Error"
 msgstr "Erro de Inicialização do Canal DAC"
@@ -1325,6 +1334,10 @@ msgstr "BSSID Inválido"
 msgid "Invalid MAC address"
 msgstr "Endereço MAC inválido"
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "Invalid ROS domain ID"
+msgstr ""
+
 #: ports/espressif/common-hal/espidf/__init__.c py/moderrno.c
 msgid "Invalid argument"
 msgstr "Argumento inválido"
@@ -1418,7 +1431,7 @@ msgstr "Não há suporte para segurança MITM"
 #: ports/stm/common-hal/sdioio/SDCard.c
 #, c-format
 msgid "MMC/SDIO Clock Error %x"
-msgstr ""
+msgstr "Erro de relógio MMC/SDIO %x"
 
 #: shared-bindings/is31fl3741/IS31FL3741.c
 msgid "Mapping must be a tuple"
@@ -1897,6 +1910,10 @@ msgstr "O tamanho do programa é inválido"
 msgid "Program too long"
 msgstr "Programa muito longo"
 
+#: shared-bindings/rclcpy/Publisher.c
+msgid "Publishers can only be created from a parent node"
+msgstr ""
+
 #: shared-bindings/digitalio/DigitalInOut.c
 msgid "Pull not used when direction is output."
 msgstr "O Pull não foi usado quando a direção for gerada."
@@ -1917,6 +1934,26 @@ msgstr "Erro DeInit RNG"
 msgid "RNG Init Error"
 msgstr "Houve um erro na inicialização do RNG"
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS failed to initialize. Is agent connected?"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS internal setup failure"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS memory allocator failure"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/Node.c
+msgid "ROS node failed to initialize"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/Publisher.c
+msgid "ROS topic failed to initialize"
+msgstr ""
+
 #: ports/atmel-samd/common-hal/busio/UART.c ports/cxd56/common-hal/busio/UART.c
 #: ports/nordic/common-hal/busio/UART.c ports/stm/common-hal/busio/UART.c
 msgid "RS485"
@@ -2435,7 +2472,7 @@ msgstr "Wi-Fi: "
 #: ports/raspberrypi/common-hal/wifi/Radio.c
 #: ports/zephyr-cp/common-hal/wifi/Radio.c
 msgid "WiFi is not enabled"
-msgstr ""
+msgstr "O WiFi não está habilitado"
 
 #: main.c
 msgid "Woken up by alarm.\n"
@@ -2673,7 +2710,7 @@ msgstr "bits deve ser 32 ou menos"
 
 #: shared-bindings/audiofreeverb/Freeverb.c
 msgid "bits_per_sample must be 16"
-msgstr ""
+msgstr "bits_per_sample deve ser 16"
 
 #: shared-bindings/audiodelays/Chorus.c shared-bindings/audiodelays/Echo.c
 #: shared-bindings/audiodelays/MultiTapDelay.c
@@ -4119,7 +4156,7 @@ msgstr "rsplit(Nenhum,n)"
 
 #: shared-bindings/audiofreeverb/Freeverb.c
 msgid "samples_signed must be true"
-msgstr ""
+msgstr "samples_signed deve ser verdadeiro"
 
 #: ports/atmel-samd/common-hal/audiobusio/PDMIn.c
 #: ports/raspberrypi/common-hal/audiobusio/PDMIn.c
diff --git a/locale/ru.po b/locale/ru.po
index d2e11451a0d7d..6e4feb9826014 100644
--- a/locale/ru.po
+++ b/locale/ru.po
@@ -874,6 +874,10 @@ msgstr "Координатные массивы имеют разные длин
 msgid "Coordinate arrays types have different sizes"
 msgstr "Типы массивов координат имеют разные размеры"
 
+#: ports/espressif/common-hal/rclcpy/Publisher.c
+msgid "Could not publish to ROS topic"
+msgstr ""
+
 #: shared-bindings/_bleio/Adapter.c
 msgid "Could not set address"
 msgstr "Не удалось задать адрес"
@@ -886,6 +890,11 @@ msgstr "Не удалось запустить прерывание, RX заня
 msgid "Couldn't allocate decoder"
 msgstr "Не удалось выделить место для декодера"
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+#, c-format
+msgid "Critical ROS failure during soft reboot, reset required: %d"
+msgstr ""
+
 #: ports/stm/common-hal/analogio/AnalogOut.c
 msgid "DAC Channel Init Error"
 msgstr "Ошибка инициализации канала DAC"
@@ -1328,6 +1337,10 @@ msgstr "Неверный BSSID"
 msgid "Invalid MAC address"
 msgstr "Неверный MAC-адрес"
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "Invalid ROS domain ID"
+msgstr ""
+
 #: ports/espressif/common-hal/espidf/__init__.c py/moderrno.c
 msgid "Invalid argument"
 msgstr "Недопустимый аргумент"
@@ -1894,6 +1907,10 @@ msgstr "Недопустимый размер программы"
 msgid "Program too long"
 msgstr "Слишком длинная программа"
 
+#: shared-bindings/rclcpy/Publisher.c
+msgid "Publishers can only be created from a parent node"
+msgstr ""
+
 #: shared-bindings/digitalio/DigitalInOut.c
 msgid "Pull not used when direction is output."
 msgstr "Тяга не используется, когда выводится направление."
@@ -1914,6 +1931,26 @@ msgstr "Ошибка деинициализации генератора слу
 msgid "RNG Init Error"
 msgstr "Ошибка инициализации RNG"
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS failed to initialize. Is agent connected?"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS internal setup failure"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS memory allocator failure"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/Node.c
+msgid "ROS node failed to initialize"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/Publisher.c
+msgid "ROS topic failed to initialize"
+msgstr ""
+
 #: ports/atmel-samd/common-hal/busio/UART.c ports/cxd56/common-hal/busio/UART.c
 #: ports/nordic/common-hal/busio/UART.c ports/stm/common-hal/busio/UART.c
 msgid "RS485"
diff --git a/locale/sv.po b/locale/sv.po
index c8b9468f5c3b9..e42a3f9d5fc2e 100644
--- a/locale/sv.po
+++ b/locale/sv.po
@@ -868,6 +868,10 @@ msgstr "Arrayer för koordinater har olika längd"
 msgid "Coordinate arrays types have different sizes"
 msgstr "Arrayer för koordinater har olika storlek"
 
+#: ports/espressif/common-hal/rclcpy/Publisher.c
+msgid "Could not publish to ROS topic"
+msgstr ""
+
 #: shared-bindings/_bleio/Adapter.c
 msgid "Could not set address"
 msgstr "Kan inte ange adress"
@@ -880,6 +884,11 @@ msgstr "Det gick inte att starta avbrott, RX upptagen"
 msgid "Couldn't allocate decoder"
 msgstr "Det gick inte att allokera avkodaren"
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+#, c-format
+msgid "Critical ROS failure during soft reboot, reset required: %d"
+msgstr ""
+
 #: ports/stm/common-hal/analogio/AnalogOut.c
 msgid "DAC Channel Init Error"
 msgstr "Initieringsfel för DAC-kanal"
@@ -1314,6 +1323,10 @@ msgstr "Ogiltig BSSID"
 msgid "Invalid MAC address"
 msgstr "Ogiltig MAC-adress"
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "Invalid ROS domain ID"
+msgstr ""
+
 #: ports/espressif/common-hal/espidf/__init__.c py/moderrno.c
 msgid "Invalid argument"
 msgstr "Ogiltigt argument"
@@ -1876,6 +1889,10 @@ msgstr "Programstorlek ogiltig"
 msgid "Program too long"
 msgstr "Programmet är för långt"
 
+#: shared-bindings/rclcpy/Publisher.c
+msgid "Publishers can only be created from a parent node"
+msgstr ""
+
 #: shared-bindings/digitalio/DigitalInOut.c
 msgid "Pull not used when direction is output."
 msgstr "Pull används inte när riktningen är output."
@@ -1896,6 +1913,26 @@ msgstr "RNG DeInit-fel"
 msgid "RNG Init Error"
 msgstr "RNG Init-fel"
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS failed to initialize. Is agent connected?"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS internal setup failure"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS memory allocator failure"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/Node.c
+msgid "ROS node failed to initialize"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/Publisher.c
+msgid "ROS topic failed to initialize"
+msgstr ""
+
 #: ports/atmel-samd/common-hal/busio/UART.c ports/cxd56/common-hal/busio/UART.c
 #: ports/nordic/common-hal/busio/UART.c ports/stm/common-hal/busio/UART.c
 msgid "RS485"
diff --git a/locale/tr.po b/locale/tr.po
index 30c8f3d107f71..53ae8d385abbe 100644
--- a/locale/tr.po
+++ b/locale/tr.po
@@ -864,6 +864,10 @@ msgstr ""
 msgid "Coordinate arrays types have different sizes"
 msgstr ""
 
+#: ports/espressif/common-hal/rclcpy/Publisher.c
+msgid "Could not publish to ROS topic"
+msgstr ""
+
 #: shared-bindings/_bleio/Adapter.c
 msgid "Could not set address"
 msgstr "Adres ayarlanamadı"
@@ -876,6 +880,11 @@ msgstr "Kesinti başlatılamadı, RX kullanımda"
 msgid "Couldn't allocate decoder"
 msgstr ""
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+#, c-format
+msgid "Critical ROS failure during soft reboot, reset required: %d"
+msgstr ""
+
 #: ports/stm/common-hal/analogio/AnalogOut.c
 msgid "DAC Channel Init Error"
 msgstr ""
@@ -1307,6 +1316,10 @@ msgstr "Geçersiz BSSID"
 msgid "Invalid MAC address"
 msgstr "Geçersiz MAC adresi"
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "Invalid ROS domain ID"
+msgstr ""
+
 #: ports/espressif/common-hal/espidf/__init__.c py/moderrno.c
 msgid "Invalid argument"
 msgstr "Geçersiz argüman"
@@ -1865,6 +1878,10 @@ msgstr ""
 msgid "Program too long"
 msgstr ""
 
+#: shared-bindings/rclcpy/Publisher.c
+msgid "Publishers can only be created from a parent node"
+msgstr ""
+
 #: shared-bindings/digitalio/DigitalInOut.c
 msgid "Pull not used when direction is output."
 msgstr ""
@@ -1885,6 +1902,26 @@ msgstr ""
 msgid "RNG Init Error"
 msgstr ""
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS failed to initialize. Is agent connected?"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS internal setup failure"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS memory allocator failure"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/Node.c
+msgid "ROS node failed to initialize"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/Publisher.c
+msgid "ROS topic failed to initialize"
+msgstr ""
+
 #: ports/atmel-samd/common-hal/busio/UART.c ports/cxd56/common-hal/busio/UART.c
 #: ports/nordic/common-hal/busio/UART.c ports/stm/common-hal/busio/UART.c
 msgid "RS485"
diff --git a/locale/zh_Latn_pinyin.po b/locale/zh_Latn_pinyin.po
index 85eb703d4db01..0cd2ccf17b163 100644
--- a/locale/zh_Latn_pinyin.po
+++ b/locale/zh_Latn_pinyin.po
@@ -7,7 +7,7 @@ msgstr ""
 "Project-Id-Version: circuitpython-cn\n"
 "Report-Msgid-Bugs-To: \n"
 "POT-Creation-Date: 2021-01-04 12:55-0600\n"
-"PO-Revision-Date: 2025-04-25 15:04+0000\n"
+"PO-Revision-Date: 2025-05-31 20:05+0000\n"
 "Last-Translator: hexthat <hexthat@gmail.com>\n"
 "Language-Team: Chinese Hanyu Pinyin\n"
 "Language: zh_Latn_pinyin\n"
@@ -868,6 +868,10 @@ msgstr "zuòbiāo shùzǔ jùyǒu bùtóng de chángdù"
 msgid "Coordinate arrays types have different sizes"
 msgstr "zuòbiāo shùzǔ lèixíng jùyǒu bùtóng de dàxiǎo"
 
+#: ports/espressif/common-hal/rclcpy/Publisher.c
+msgid "Could not publish to ROS topic"
+msgstr ""
+
 #: shared-bindings/_bleio/Adapter.c
 msgid "Could not set address"
 msgstr "wúfǎ shèzhì dìzhǐ"
@@ -880,6 +884,11 @@ msgstr "Wúfǎ qǐdòng zhōngduàn,RX máng"
 msgid "Couldn't allocate decoder"
 msgstr "wúfǎ fēnpèi jiěmǎ qì"
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+#, c-format
+msgid "Critical ROS failure during soft reboot, reset required: %d"
+msgstr ""
+
 #: ports/stm/common-hal/analogio/AnalogOut.c
 msgid "DAC Channel Init Error"
 msgstr "DAC tōngdào chūshǐhuà cuòwù"
@@ -1320,6 +1329,10 @@ msgstr "Wúxiào de BSSID"
 msgid "Invalid MAC address"
 msgstr "wú xiào de MAC dì zhǐ"
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "Invalid ROS domain ID"
+msgstr ""
+
 #: ports/espressif/common-hal/espidf/__init__.c py/moderrno.c
 msgid "Invalid argument"
 msgstr "Wúxiào de cānshù"
@@ -1883,6 +1896,10 @@ msgstr "chéng xù dà xiǎo wú xiào"
 msgid "Program too long"
 msgstr "chéng xù tài cháng"
 
+#: shared-bindings/rclcpy/Publisher.c
+msgid "Publishers can only be created from a parent node"
+msgstr ""
+
 #: shared-bindings/digitalio/DigitalInOut.c
 msgid "Pull not used when direction is output."
 msgstr "Fāngxiàng shūchū shí Pull méiyǒu shǐyòng."
@@ -1903,6 +1920,26 @@ msgstr "RNG qǔxiāo chūshǐhuà cuòwù"
 msgid "RNG Init Error"
 msgstr "RNG chūshǐhuà cuòwù"
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS failed to initialize. Is agent connected?"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS internal setup failure"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS memory allocator failure"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/Node.c
+msgid "ROS node failed to initialize"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/Publisher.c
+msgid "ROS topic failed to initialize"
+msgstr ""
+
 #: ports/atmel-samd/common-hal/busio/UART.c ports/cxd56/common-hal/busio/UART.c
 #: ports/nordic/common-hal/busio/UART.c ports/stm/common-hal/busio/UART.c
 msgid "RS485"
@@ -2116,7 +2153,7 @@ msgstr "Píng pū kuāndù bìxū huàfēn wèi tú kuāndù"
 
 #: shared-module/tilepalettemapper/TilePaletteMapper.c
 msgid "TilePaletteMapper may only be bound to a TileGrid once"
-msgstr ""
+msgstr "TilePaletteMapper zhǐnéng bǎngdìng dào yígè TileGrid shàngyícì"
 
 #: shared-bindings/alarm/time/TimeAlarm.c
 msgid "Time is in the past."
@@ -2411,7 +2448,7 @@ msgstr "Wi-Fi: "
 #: ports/raspberrypi/common-hal/wifi/Radio.c
 #: ports/zephyr-cp/common-hal/wifi/Radio.c
 msgid "WiFi is not enabled"
-msgstr ""
+msgstr "WiFi wèi qǐyòng"
 
 #: main.c
 msgid "Woken up by alarm.\n"
diff --git a/main.c b/main.c
index 45b7af2725435..1f387b7ca3ceb 100644
--- a/main.c
+++ b/main.c
@@ -582,8 +582,8 @@ static bool __attribute__((noinline)) run_code_py(safe_mode_t safe_mode, bool *s
     size_t total_time = blink_time + LED_SLEEP_TIME_MS;
     #endif
 
-    // This loop is waits after code completes. It waits for fake sleeps to
-    // finish, user input or autoreloads.
+    // This loop is run after code completes. It waits for fake sleeps to
+    // finish, waits for user input, or waits for an autoreload.
     #if CIRCUITPY_ALARM
     bool fake_sleeping = false;
     #endif
@@ -1180,7 +1180,7 @@ void gc_collect(void) {
 }
 
 // Ports may provide an implementation of this function if it is needed
-MP_WEAK void port_gc_collect() {
+MP_WEAK void port_gc_collect(void) {
 }
 
 size_t gc_get_max_new_split(void) {
diff --git a/mpy-cross/Makefile b/mpy-cross/Makefile
index 9962e9bcbb246..bd9e0fb1f54d4 100644
--- a/mpy-cross/Makefile
+++ b/mpy-cross/Makefile
@@ -25,6 +25,12 @@ CFLAGS += -fdata-sections -ffunction-sections -fno-asynchronous-unwind-tables
 # CIRCUITPY-CHANGE
 CFLAGS += -DCIRCUITPY
 
+# Build a static executable.
+# Useful for builds that must run on multiple operating system versions. Used for published mpy-cross versions.
+ifdef STATIC_BUILD
+CFLAGS += -static -static-libgcc -static-libstdc++
+endif
+
 # Debugging/Optimization
 ifdef DEBUG
 CFLAGS += -g
@@ -47,6 +53,10 @@ LDFLAGS_ARCH = -Wl,-Map=$@.map,--cref -Wl,--gc-sections
 endif
 LDFLAGS += $(LDFLAGS_MOD) $(LDFLAGS_ARCH) -lm $(LDFLAGS_EXTRA)
 
+ifdef STATIC_BUILD
+LDFLAGS += -static -static-libgcc -static-libstdc++
+endif
+
 # source files
 # CIRCUITPY-CHANGE: extra files
 SRC_C = \
diff --git a/ports/atmel-samd/Makefile b/ports/atmel-samd/Makefile
index 888729c7b7f3d..9582eff212d60 100644
--- a/ports/atmel-samd/Makefile
+++ b/ports/atmel-samd/Makefile
@@ -107,7 +107,7 @@ else
   endif
 endif
 
-CFLAGS += $(INC) -Wall -Werror -std=gnu11 -nostdlib -fshort-enums $(BASE_CFLAGS) $(CFLAGS_MOD) $(COPT) -Werror=missing-prototypes
+CFLAGS += $(INC) -Wall -Werror -std=gnu11 -nostdlib -fshort-enums $(BASE_CFLAGS) $(CFLAGS_MOD) $(COPT) -Werror=missing-prototypes -Werror=old-style-definition
 
 ifeq ($(CHIP_FAMILY), samd21)
 CFLAGS += \
diff --git a/ports/atmel-samd/audio_dma.c b/ports/atmel-samd/audio_dma.c
index d5f841f371dd9..e25b74d9a2893 100644
--- a/ports/atmel-samd/audio_dma.c
+++ b/ports/atmel-samd/audio_dma.c
@@ -30,7 +30,7 @@ static audio_dma_t *audio_dma_state[AUDIO_DMA_CHANNEL_COUNT];
 // This cannot be in audio_dma_state because it's volatile.
 static volatile bool audio_dma_pending[AUDIO_DMA_CHANNEL_COUNT];
 
-uint8_t find_sync_event_channel_raise() {
+uint8_t find_sync_event_channel_raise(void) {
     uint8_t event_channel = find_sync_event_channel();
     if (event_channel >= EVSYS_SYNCH_NUM) {
         mp_raise_RuntimeError(MP_ERROR_TEXT("All sync event channels in use"));
diff --git a/ports/atmel-samd/boards/openbook_m4/board.c b/ports/atmel-samd/boards/openbook_m4/board.c
index 032ebe9f628a7..3ad2e162ecf3c 100644
--- a/ports/atmel-samd/boards/openbook_m4/board.c
+++ b/ports/atmel-samd/boards/openbook_m4/board.c
@@ -85,6 +85,7 @@ void board_init(void) {
         false, // chip_select (don't always toggle chip select)
         false, // grayscale
         false, // acep
+        false, // spectra6
         false, // two_byte_sequence_length
         false); // address_little_endian
 }
diff --git a/ports/atmel-samd/common-hal/_pew/PewPew.c b/ports/atmel-samd/common-hal/_pew/PewPew.c
index 84ff7bc16c734..c3f9330faaef9 100644
--- a/ports/atmel-samd/common-hal/_pew/PewPew.c
+++ b/ports/atmel-samd/common-hal/_pew/PewPew.c
@@ -38,7 +38,7 @@ void pewpew_interrupt_handler(uint8_t index) {
     tc->COUNT16.INTFLAG.reg = TC_INTFLAG_MC0;
 }
 
-void pew_init() {
+void pew_init(void) {
     pew_obj_t *pew = MP_STATE_VM(pew_singleton);
 
     common_hal_digitalio_digitalinout_switch_to_input(pew->buttons, PULL_UP);
@@ -105,6 +105,6 @@ void pew_reset(void) {
     MP_STATE_VM(pew_singleton) = NULL;
 }
 
-uint16_t pew_get_ticks() {
+uint16_t pew_get_ticks(void) {
     return pewpew_ticks;
 }
diff --git a/ports/atmel-samd/common-hal/analogio/AnalogIn.c b/ports/atmel-samd/common-hal/analogio/AnalogIn.c
index c633cf44b678c..801ab18f7fd6d 100644
--- a/ports/atmel-samd/common-hal/analogio/AnalogIn.c
+++ b/ports/atmel-samd/common-hal/analogio/AnalogIn.c
@@ -64,7 +64,7 @@ void common_hal_analogio_analogin_deinit(analogio_analogin_obj_t *self) {
     self->pin = NULL;
 }
 
-void analogin_reset() {
+void analogin_reset(void) {
 }
 
 uint16_t common_hal_analogio_analogin_get_value(analogio_analogin_obj_t *self) {
diff --git a/ports/atmel-samd/common-hal/touchio/TouchIn.c b/ports/atmel-samd/common-hal/touchio/TouchIn.c
index dc31bfe634be5..822d614a60298 100644
--- a/ports/atmel-samd/common-hal/touchio/TouchIn.c
+++ b/ports/atmel-samd/common-hal/touchio/TouchIn.c
@@ -91,7 +91,7 @@ void common_hal_touchio_touchin_deinit(touchio_touchin_obj_t *self) {
     self->config.pin = NO_PIN;
 }
 
-void touchin_reset() {
+void touchin_reset(void) {
     Ptc *ptc = ((Ptc *)PTC);
     if (ptc->CTRLA.bit.ENABLE == 1) {
         ptc->CTRLA.bit.ENABLE = 0;
diff --git a/ports/broadcom/Makefile b/ports/broadcom/Makefile
index 240362e3de7f6..f60ebbf045e1f 100644
--- a/ports/broadcom/Makefile
+++ b/ports/broadcom/Makefile
@@ -95,7 +95,7 @@ else
 endif
 
 
-CFLAGS += $(INC) -Wall -Werror -std=gnu11 $(BASE_CFLAGS) $(CFLAGS_MOD) $(COPT) $(DISABLE_WARNINGS)
+CFLAGS += $(INC) -Wall -Werror -std=gnu11 $(BASE_CFLAGS) $(CFLAGS_MOD) $(COPT) $(DISABLE_WARNINGS) -Werror=old-style-definition
 
 $(BUILD)/lib/tlsf/tlsf.o: CFLAGS += -Wno-cast-align
 
diff --git a/ports/broadcom/mpconfigport.mk b/ports/broadcom/mpconfigport.mk
index b4b3e2ebf8192..d906b5d2aa467 100644
--- a/ports/broadcom/mpconfigport.mk
+++ b/ports/broadcom/mpconfigport.mk
@@ -27,7 +27,7 @@ USB_HIGHSPEED = 1
 CIRCUITPY_BUILD_EXTENSIONS ?= disk.img.zip,kernel8.img
 
 ifeq ($(CHIP_VARIANT), "bcm2711")
-CIRCUITPY_MIN_GCC_VERSION ?= 10
+CIRCUITPY_MIN_GCC_VERSION ?= 14
 else ifeq ($(CHIP_VARIANT), "bcm2837")
-CIRCUITPY_MIN_GCC_VERSION ?= 10
+CIRCUITPY_MIN_GCC_VERSION ?= 14
 endif
diff --git a/ports/cxd56/common-hal/camera/Camera.c b/ports/cxd56/common-hal/camera/Camera.c
index c3c935a168d42..b9fa2787ef767 100644
--- a/ports/cxd56/common-hal/camera/Camera.c
+++ b/ports/cxd56/common-hal/camera/Camera.c
@@ -44,7 +44,7 @@ static const image_size_t isx019_image_size_table[] = {
     { VIDEO_HSIZE_QUADVGA, VIDEO_VSIZE_QUADVGA },
 };
 
-static const char *get_imgsensor_name() {
+static const char *get_imgsensor_name(void) {
     static struct v4l2_capability cap;
 
     ioctl(camera_dev.fd, VIDIOC_QUERYCAP, (unsigned long)&cap);
@@ -113,7 +113,7 @@ static void camera_start_streaming(enum v4l2_buf_type type) {
     ioctl(camera_dev.fd, VIDIOC_STREAMON, (unsigned long)&type);
 }
 
-static void camera_start_preview() {
+static void camera_start_preview(void) {
     camera_set_format(V4L2_BUF_TYPE_VIDEO_CAPTURE, V4L2_PIX_FMT_UYVY, VIDEO_HSIZE_QVGA, VIDEO_VSIZE_QVGA);
 
     v4l2_buffer_t buf;
diff --git a/ports/espressif/Makefile b/ports/espressif/Makefile
index 542083188e556..bbd39852bf2bd 100644
--- a/ports/espressif/Makefile
+++ b/ports/espressif/Makefile
@@ -191,7 +191,7 @@ endif
 # option to override compiler optimization level, set in boards/$(BOARD)/mpconfigboard.mk
 CFLAGS += $(OPTIMIZATION_FLAGS)
 
-CFLAGS += $(INC) -Werror -Wall -std=gnu11 -Wl,--gc-sections $(BASE_CFLAGS) $(C_DEFS) $(CFLAGS_MOD) $(COPT) -Werror=missing-prototypes
+CFLAGS += $(INC) -Werror -Wall -std=gnu11 -Wl,--gc-sections $(BASE_CFLAGS) $(C_DEFS) $(CFLAGS_MOD) $(COPT) -Werror=missing-prototypes -Werror=old-style-definition
 
 # Most current ESPs have nano versions of newlib in ROM so we use them.
 ifneq ($(IDF_TARGET),esp32c6)
@@ -440,6 +440,55 @@ CFLAGS += -isystem esp-camera/driver/include
 CFLAGS += -isystem esp-camera/conversions/include
 endif
 
+ifneq ($(CIRCUITPY_RCLCPY),0)
+CFLAGS += -isystem microros-lib/include
+CFLAGS += -isystem microros-lib/include/rcl
+CFLAGS += -isystem microros-lib/include/statistics_msgs
+CFLAGS += -isystem microros-lib/include/composition_interfaces
+CFLAGS += -isystem microros-lib/include/example_interfaces
+CFLAGS += -isystem microros-lib/include/rmw_microxrcedds_c
+CFLAGS += -isystem microros-lib/include/test_msgs
+CFLAGS += -isystem microros-lib/include/std_msgs
+CFLAGS += -isystem microros-lib/include/rcutils
+CFLAGS += -isystem microros-lib/include/lifecycle_msgs
+CFLAGS += -isystem microros-lib/include/rosidl_typesupport_interface
+CFLAGS += -isystem microros-lib/include/service_msgs
+CFLAGS += -isystem microros-lib/include/visualization_msgs
+CFLAGS += -isystem microros-lib/include/rosidl_dynamic_typesupport
+CFLAGS += -isystem microros-lib/include/stereo_msgs
+CFLAGS += -isystem microros-lib/include/ucdr
+CFLAGS += -isystem microros-lib/include/rosidl_typesupport_c
+CFLAGS += -isystem microros-lib/include/std_srvs
+CFLAGS += -isystem microros-lib/include/rcl_lifecycle
+CFLAGS += -isystem microros-lib/include/action_msgs
+CFLAGS += -isystem microros-lib/include/micro_ros_utilities
+CFLAGS += -isystem microros-lib/include/rcl_action
+CFLAGS += -isystem microros-lib/include/rcl_logging_interface
+CFLAGS += -isystem microros-lib/include/type_description_interfaces
+CFLAGS += -isystem microros-lib/include/nav_msgs
+CFLAGS += -isystem microros-lib/include/actionlib_msgs
+CFLAGS += -isystem microros-lib/include/rmw
+CFLAGS += -isystem microros-lib/include/rclc_parameter
+CFLAGS += -isystem microros-lib/include/geometry_msgs
+CFLAGS += -isystem microros-lib/include/sensor_msgs
+CFLAGS += -isystem microros-lib/include/trajectory_msgs
+CFLAGS += -isystem microros-lib/include/shape_msgs
+CFLAGS += -isystem microros-lib/include/rosidl_runtime_c
+CFLAGS += -isystem microros-lib/include/rclc
+CFLAGS += -isystem microros-lib/include/rosgraph_msgs
+CFLAGS += -isystem microros-lib/include/rclc_lifecycle
+CFLAGS += -isystem microros-lib/include/rcl_interfaces
+CFLAGS += -isystem microros-lib/include/diagnostic_msgs
+CFLAGS += -isystem microros-lib/include/micro_ros_msgs
+CFLAGS += -isystem microros-lib/include/rosidl_typesupport_introspection_c
+CFLAGS += -isystem microros-lib/include/uxr
+CFLAGS += -isystem microros-lib/include/unique_identifier_msgs
+CFLAGS += -isystem microros-lib/include/rosidl_typesupport_microxrcedds_c
+CFLAGS += -isystem microros-lib/include/builtin_interfaces
+CFLAGS += -isystem microros-lib/include/tracetools
+CFLAGS += -isystem microros-lib/include/rmw_microros
+endif
+
 ifneq ($(CIRCUITPY_ESPIDF),0)
 SRC_ESPIDF := \
 	$(wildcard common-hal/espidf/*.c) \
@@ -685,6 +734,18 @@ ESP_IDF_COMPONENTS_EXPANDED += $(BUILD)/esp-idf/esp-idf/esp-camera/libesp-camera
 #$(error $(ESP_IDF_COMPONENTS_EXPANDED))
 endif
 
+ifneq ($(CIRCUITPY_RCLCPY),0)
+	ifeq ($(IDF_TARGET),esp32)
+		BINARY_BLOBS += microros-lib/esp32/libmicroros.a
+	else ifeq ($(IDF_TARGET),esp32s2)
+		BINARY_BLOBS+= microros-lib/esp32s2/libmicroros.a
+	else ifeq ($(IDF_TARGET),esp32s3)
+		BINARY_BLOBS += microros-lib/esp32s3/libmicroros.a
+	else
+		$(error Unsupported Espressif target for Micro-ROS: $(IDF_TARGET).)
+	endif
+endif
+
 ifneq ($(VALID_BOARD),)
 # From esp-idf/components/bootloader/Kconfig.projbuild
 # BOOTLOADER_OFFSET is determined by chip type, based on the ROM bootloader, and is not changeable.
diff --git a/ports/espressif/boards/adafruit_magtag_2.9_grayscale/board.c b/ports/espressif/boards/adafruit_magtag_2.9_grayscale/board.c
index 321a5a1f2c7a0..430079a94dad2 100644
--- a/ports/espressif/boards/adafruit_magtag_2.9_grayscale/board.c
+++ b/ports/espressif/boards/adafruit_magtag_2.9_grayscale/board.c
@@ -141,6 +141,7 @@ void board_init(void) {
         false,  // always_toggle_chip_select
         true, // grayscale
         false, // acep
+        false, // spectra6
         false,  // two_byte_sequence_length
         false); // address_little_endian
 }
diff --git a/ports/espressif/boards/adafruit_magtag_2.9_grayscale/mpconfigboard.mk b/ports/espressif/boards/adafruit_magtag_2.9_grayscale/mpconfigboard.mk
index 01b9ec73e9c34..5ab8c995e331c 100644
--- a/ports/espressif/boards/adafruit_magtag_2.9_grayscale/mpconfigboard.mk
+++ b/ports/espressif/boards/adafruit_magtag_2.9_grayscale/mpconfigboard.mk
@@ -10,6 +10,7 @@ CIRCUITPY_ESP_FLASH_FREQ = 80m
 CIRCUITPY_ESP_FLASH_SIZE = 4MB
 
 CIRCUITPY_ESPCAMERA = 0
+CIRCUITPY_PARALLELDISPLAYBUS = 0
 
 # Include these Python libraries in firmware.
 FROZEN_MPY_DIRS += $(TOP)/frozen/Adafruit_CircuitPython_ConnectionManager
diff --git a/ports/espressif/boards/adafruit_qtpy_esp32c3/mpconfigboard.mk b/ports/espressif/boards/adafruit_qtpy_esp32c3/mpconfigboard.mk
index 1f47795002df9..076c3184e93f2 100644
--- a/ports/espressif/boards/adafruit_qtpy_esp32c3/mpconfigboard.mk
+++ b/ports/espressif/boards/adafruit_qtpy_esp32c3/mpconfigboard.mk
@@ -16,3 +16,4 @@ CIRCUITPY_CODEOP = 0
 
 # Not enough pins.
 CIRCUITPY_PARALLELDISPLAYBUS = 0
+CIRCUITPY_RGBMATRIX = 0
diff --git a/ports/espressif/boards/adafruit_sparkle_motion_stick/pins.c b/ports/espressif/boards/adafruit_sparkle_motion_stick/pins.c
index a73c0e63f2ef6..a5fdadac1e0f7 100644
--- a/ports/espressif/boards/adafruit_sparkle_motion_stick/pins.c
+++ b/ports/espressif/boards/adafruit_sparkle_motion_stick/pins.c
@@ -13,7 +13,7 @@ static const mp_rom_map_elem_t board_module_globals_table[] = {
     { MP_ROM_QSTR(MP_QSTR_BUTTON), MP_ROM_PTR(&pin_GPIO0) },
     { MP_ROM_QSTR(MP_QSTR_D0), MP_ROM_PTR(&pin_GPIO0) },
 
-    { MP_ROM_QSTR(MP_QSTR_IR_RX), MP_ROM_PTR(&pin_GPIO10) },
+    { MP_ROM_QSTR(MP_QSTR_IR), MP_ROM_PTR(&pin_GPIO10) },
     { MP_ROM_QSTR(MP_QSTR_D10), MP_ROM_PTR(&pin_GPIO10) },
     { MP_ROM_QSTR(MP_QSTR_D12), MP_ROM_PTR(&pin_GPIO12) },
     { MP_ROM_QSTR(MP_QSTR_D13), MP_ROM_PTR(&pin_GPIO13) },
diff --git a/ports/espressif/boards/elecrow_crowpanel_4_2_epaper/board.c b/ports/espressif/boards/elecrow_crowpanel_4_2_epaper/board.c
index 4567e2c595627..88150dd401b97 100644
--- a/ports/espressif/boards/elecrow_crowpanel_4_2_epaper/board.c
+++ b/ports/espressif/boards/elecrow_crowpanel_4_2_epaper/board.c
@@ -96,6 +96,7 @@ void board_init(void) {
         false, // always_toggle_chip_select
         false, // grayscale
         false, // acep
+        false, // spectra6
         false, // two_byte_sequence_length
         false); // address_little_endian
 }
diff --git a/ports/espressif/boards/espressif_esp32s3_devkitc_1_n8r2_ros/board.c b/ports/espressif/boards/espressif_esp32s3_devkitc_1_n8r2_ros/board.c
new file mode 100644
index 0000000000000..a3a9eec047145
--- /dev/null
+++ b/ports/espressif/boards/espressif_esp32s3_devkitc_1_n8r2_ros/board.c
@@ -0,0 +1,9 @@
+// This file is part of the CircuitPython project: https://circuitpython.org
+//
+// SPDX-FileCopyrightText: Copyright (c) 2020 Scott Shawcroft for Adafruit Industries
+//
+// SPDX-License-Identifier: MIT
+
+#include "supervisor/board.h"
+
+// Use the MP_WEAK supervisor/shared/board.c versions of routines not defined here.
diff --git a/ports/espressif/boards/espressif_esp32s3_devkitc_1_n8r2_ros/mpconfigboard.h b/ports/espressif/boards/espressif_esp32s3_devkitc_1_n8r2_ros/mpconfigboard.h
new file mode 100644
index 0000000000000..02fe72fe4a709
--- /dev/null
+++ b/ports/espressif/boards/espressif_esp32s3_devkitc_1_n8r2_ros/mpconfigboard.h
@@ -0,0 +1,16 @@
+// This file is part of the CircuitPython project: https://circuitpython.org
+//
+// SPDX-FileCopyrightText: Copyright (c) 2019 Scott Shawcroft for Adafruit Industries
+//
+// SPDX-License-Identifier: MIT
+
+#pragma once
+
+// Micropython setup
+#define MICROPY_HW_BOARD_NAME       "ESP32-S3-DevKitC-1-N8R2 (ROS version)"
+#define MICROPY_HW_MCU_NAME         "ESP32S3"
+
+#define MICROPY_HW_NEOPIXEL         (&pin_GPIO48)
+
+#define DEFAULT_UART_BUS_RX         (&pin_GPIO44)
+#define DEFAULT_UART_BUS_TX         (&pin_GPIO43)
diff --git a/ports/espressif/boards/espressif_esp32s3_devkitc_1_n8r2_ros/mpconfigboard.mk b/ports/espressif/boards/espressif_esp32s3_devkitc_1_n8r2_ros/mpconfigboard.mk
new file mode 100644
index 0000000000000..336b9f4dd8926
--- /dev/null
+++ b/ports/espressif/boards/espressif_esp32s3_devkitc_1_n8r2_ros/mpconfigboard.mk
@@ -0,0 +1,16 @@
+USB_VID = 0x303A
+USB_PID = 0x7003
+USB_PRODUCT = "ESP32-S3-DevKitC-1-N8R2 CPY/ROS"
+USB_MANUFACTURER = "Espressif"
+
+IDF_TARGET = esp32s3
+
+CIRCUITPY_ESP_FLASH_SIZE = 8MB
+CIRCUITPY_ESP_FLASH_MODE = qio
+CIRCUITPY_ESP_FLASH_FREQ = 80m
+
+CIRCUITPY_ESP_PSRAM_SIZE = 2MB
+CIRCUITPY_ESP_PSRAM_MODE = qio
+CIRCUITPY_ESP_PSRAM_FREQ = 80m
+
+CIRCUITPY_RCLCPY = 1
diff --git a/ports/espressif/boards/espressif_esp32s3_devkitc_1_n8r2_ros/pins.c b/ports/espressif/boards/espressif_esp32s3_devkitc_1_n8r2_ros/pins.c
new file mode 100644
index 0000000000000..3bb64f434d02f
--- /dev/null
+++ b/ports/espressif/boards/espressif_esp32s3_devkitc_1_n8r2_ros/pins.c
@@ -0,0 +1,55 @@
+// This file is part of the CircuitPython project: https://circuitpython.org
+//
+// SPDX-FileCopyrightText: Copyright (c) 2020 Scott Shawcroft for Adafruit Industries
+//
+// SPDX-License-Identifier: MIT
+
+#include "shared-bindings/board/__init__.h"
+
+static const mp_rom_map_elem_t board_module_globals_table[] = {
+    CIRCUITPYTHON_BOARD_DICT_STANDARD_ITEMS
+
+    { MP_ROM_QSTR(MP_QSTR_IO0), MP_ROM_PTR(&pin_GPIO0) },
+    { MP_ROM_QSTR(MP_QSTR_IO1), MP_ROM_PTR(&pin_GPIO1) },
+    { MP_ROM_QSTR(MP_QSTR_IO2), MP_ROM_PTR(&pin_GPIO2) },
+    { MP_ROM_QSTR(MP_QSTR_IO3), MP_ROM_PTR(&pin_GPIO3) },
+    { MP_ROM_QSTR(MP_QSTR_IO4), MP_ROM_PTR(&pin_GPIO4) },
+    { MP_ROM_QSTR(MP_QSTR_IO5), MP_ROM_PTR(&pin_GPIO5) },
+    { MP_ROM_QSTR(MP_QSTR_IO6), MP_ROM_PTR(&pin_GPIO6) },
+    { MP_ROM_QSTR(MP_QSTR_IO7), MP_ROM_PTR(&pin_GPIO7) },
+    { MP_ROM_QSTR(MP_QSTR_IO8), MP_ROM_PTR(&pin_GPIO8) },
+    { MP_ROM_QSTR(MP_QSTR_IO9), MP_ROM_PTR(&pin_GPIO9) },
+    { MP_ROM_QSTR(MP_QSTR_IO10), MP_ROM_PTR(&pin_GPIO10) },
+    { MP_ROM_QSTR(MP_QSTR_IO11), MP_ROM_PTR(&pin_GPIO11) },
+    { MP_ROM_QSTR(MP_QSTR_IO12), MP_ROM_PTR(&pin_GPIO12) },
+    { MP_ROM_QSTR(MP_QSTR_IO13), MP_ROM_PTR(&pin_GPIO13) },
+    { MP_ROM_QSTR(MP_QSTR_IO14), MP_ROM_PTR(&pin_GPIO14) },
+    { MP_ROM_QSTR(MP_QSTR_IO15), MP_ROM_PTR(&pin_GPIO15) },
+    { MP_ROM_QSTR(MP_QSTR_IO16), MP_ROM_PTR(&pin_GPIO16) },
+    { MP_ROM_QSTR(MP_QSTR_IO17), MP_ROM_PTR(&pin_GPIO17) },
+    { MP_ROM_QSTR(MP_QSTR_IO18), MP_ROM_PTR(&pin_GPIO18) },
+    { MP_ROM_QSTR(MP_QSTR_IO19), MP_ROM_PTR(&pin_GPIO19) },
+    { MP_ROM_QSTR(MP_QSTR_IO20), MP_ROM_PTR(&pin_GPIO20) },
+    { MP_ROM_QSTR(MP_QSTR_IO21), MP_ROM_PTR(&pin_GPIO21) },
+    { MP_ROM_QSTR(MP_QSTR_IO35), MP_ROM_PTR(&pin_GPIO35) },
+    { MP_ROM_QSTR(MP_QSTR_IO36), MP_ROM_PTR(&pin_GPIO36) },
+    { MP_ROM_QSTR(MP_QSTR_IO37), MP_ROM_PTR(&pin_GPIO37) },
+    { MP_ROM_QSTR(MP_QSTR_IO38), MP_ROM_PTR(&pin_GPIO38) },
+    { MP_ROM_QSTR(MP_QSTR_IO39), MP_ROM_PTR(&pin_GPIO39) },
+    { MP_ROM_QSTR(MP_QSTR_IO40), MP_ROM_PTR(&pin_GPIO40) },
+    { MP_ROM_QSTR(MP_QSTR_IO41), MP_ROM_PTR(&pin_GPIO41) },
+    { MP_ROM_QSTR(MP_QSTR_IO42), MP_ROM_PTR(&pin_GPIO42) },
+    { MP_ROM_QSTR(MP_QSTR_IO43), MP_ROM_PTR(&pin_GPIO43) },
+    { MP_ROM_QSTR(MP_QSTR_IO44), MP_ROM_PTR(&pin_GPIO44) },
+    { MP_ROM_QSTR(MP_QSTR_IO45), MP_ROM_PTR(&pin_GPIO45) },
+    { MP_ROM_QSTR(MP_QSTR_IO46), MP_ROM_PTR(&pin_GPIO46) },
+    { MP_ROM_QSTR(MP_QSTR_IO47), MP_ROM_PTR(&pin_GPIO47) },
+    { MP_ROM_QSTR(MP_QSTR_IO48), MP_ROM_PTR(&pin_GPIO48) },
+    { MP_ROM_QSTR(MP_QSTR_NEOPIXEL), MP_ROM_PTR(&pin_GPIO48) },
+
+    { MP_ROM_QSTR(MP_QSTR_TX), MP_ROM_PTR(&pin_GPIO43) },
+    { MP_ROM_QSTR(MP_QSTR_RX), MP_ROM_PTR(&pin_GPIO44) },
+
+    { MP_ROM_QSTR(MP_QSTR_UART), MP_ROM_PTR(&board_uart_obj) },
+};
+MP_DEFINE_CONST_DICT(board_module_globals, board_module_globals_table);
diff --git a/ports/espressif/boards/espressif_esp32s3_devkitc_1_n8r2_ros/sdkconfig b/ports/espressif/boards/espressif_esp32s3_devkitc_1_n8r2_ros/sdkconfig
new file mode 100644
index 0000000000000..e962866216039
--- /dev/null
+++ b/ports/espressif/boards/espressif_esp32s3_devkitc_1_n8r2_ros/sdkconfig
@@ -0,0 +1,14 @@
+#
+# Espressif IoT Development Framework Configuration
+#
+#
+# Component config
+#
+#
+# LWIP
+#
+# end of LWIP
+
+# end of Component config
+
+# end of Espressif IoT Development Framework Configuration
diff --git a/ports/espressif/boards/heltec_esp32s3_wifi_lora_v3/board.c b/ports/espressif/boards/heltec_esp32s3_wifi_lora_v3/board.c
index 317fb0d88a1f0..d0ae146504234 100644
--- a/ports/espressif/boards/heltec_esp32s3_wifi_lora_v3/board.c
+++ b/ports/espressif/boards/heltec_esp32s3_wifi_lora_v3/board.c
@@ -34,10 +34,10 @@ uint8_t display_init_sequence[] = { // SSD1306
 digitalio_digitalinout_obj_t display_on;
 
 static void display_init(void) {
-    // Need to bring GPIO21 high or the screen doesn't get power
+    // Need to bring GPIO36 high or the screen doesn't get power
     // & the board can't see the i2c bus at all.
-    common_hal_digitalio_digitalinout_construct(&display_on, &pin_GPIO21);
-    common_hal_digitalio_digitalinout_switch_to_output(&display_on, true, DRIVE_MODE_PUSH_PULL);
+    common_hal_digitalio_digitalinout_construct(&display_on, &pin_GPIO36);
+    common_hal_digitalio_digitalinout_switch_to_output(&display_on, false, DRIVE_MODE_PUSH_PULL);
     common_hal_digitalio_digitalinout_never_reset(&display_on);
 
     busio_i2c_obj_t *i2c = common_hal_board_create_i2c(0);
@@ -48,7 +48,7 @@ static void display_init(void) {
         bus,
         i2c,
         0x3c,
-        NULL
+        &pin_GPIO21  // broken-out on V3
         );
 
     busdisplay_busdisplay_obj_t *display = &allocate_display()->display;
diff --git a/ports/espressif/boards/heltec_vision_master_e290/board.c b/ports/espressif/boards/heltec_vision_master_e290/board.c
index cc8afe226be95..e392f65a76432 100644
--- a/ports/espressif/boards/heltec_vision_master_e290/board.c
+++ b/ports/espressif/boards/heltec_vision_master_e290/board.c
@@ -94,6 +94,7 @@ void board_init(void) {
         false, // always_toggle_chip_select
         false, // grayscale
         false, // acep
+        false, // spectra6
         false, // two_byte_sequence_length
         true); // address_little_endian
 }
diff --git a/ports/espressif/boards/heltec_wireless_paper/board.c b/ports/espressif/boards/heltec_wireless_paper/board.c
index 2807f2d1a2012..28fb6ae41b9a1 100644
--- a/ports/espressif/boards/heltec_wireless_paper/board.c
+++ b/ports/espressif/boards/heltec_wireless_paper/board.c
@@ -134,6 +134,7 @@ void board_init(void) {
         false, // always_toggle_chip_select
         false, // grayscale
         false, // acep
+        false, // spectra6
         false, // two_byte_sequence_length
         false); // address_little_endian
 }
diff --git a/ports/espressif/boards/m5stack_cardputer_ros/board.c b/ports/espressif/boards/m5stack_cardputer_ros/board.c
new file mode 100644
index 0000000000000..6fdc2f8ea5c46
--- /dev/null
+++ b/ports/espressif/boards/m5stack_cardputer_ros/board.c
@@ -0,0 +1,95 @@
+// This file is part of the CircuitPython project: https://circuitpython.org
+//
+// SPDX-FileCopyrightText: Copyright (c) 2020 Scott Shawcroft for Adafruit Industries
+//
+// SPDX-License-Identifier: MIT
+
+#include "mpconfigboard.h"
+#include "supervisor/board.h"
+#include "supervisor/shared/serial.h"
+#include "shared-bindings/busio/SPI.h"
+#include "shared-bindings/fourwire/FourWire.h"
+#include "shared-bindings/microcontroller/Pin.h"
+#include "shared-module/displayio/__init__.h"
+#include "shared-module/displayio/mipi_constants.h"
+#include "shared-bindings/board/__init__.h"
+#include "py/runtime.h"
+#include "py/ringbuf.h"
+#include "shared/runtime/interrupt_char.h"
+
+
+#define DELAY 0x80
+
+uint8_t display_init_sequence[] = {
+    // SWRESET and Delay 140ms
+    0x01, 0 | DELAY, 140,
+    // SLPOUT and Delay 10ms
+    0x11, 0 | DELAY, 10,
+    // COLMOD 65k colors and 16 bit 5-6-5
+    0x3A, 1, 0x55,
+    // INVON Iiversion on
+    0x21, 0,
+    // NORON normal operation (full update)
+    0x13, 0,
+    // MADCTL columns RTL, page/column reverse order
+    0x36, 1, 0x60,
+    // RAMCTRL color word little endian
+    0xB0, 2, 0x00, 0xF8,
+    // DIPON display on
+    0x29, 0,
+};
+
+
+// Overrides the weakly linked function from supervisor/shared/board.c
+void board_init(void) {
+    busio_spi_obj_t *spi = common_hal_board_create_spi(0);
+    fourwire_fourwire_obj_t *bus = &allocate_display_bus()->fourwire_bus;
+    bus->base.type = &fourwire_fourwire_type;
+
+    // see here for inspiration: https://github.com/m5stack/M5GFX/blob/33d7d3135e816a86a008fae8ab3757938cee95d2/src/M5GFX.cpp#L1350
+    common_hal_fourwire_fourwire_construct(
+        bus,
+        spi,
+        &pin_GPIO34,    // DC
+        &pin_GPIO37,     // CS
+        &pin_GPIO33,    // RST
+        40000000,       // baudrate
+        0,              // polarity
+        0               // phase
+        );
+    busdisplay_busdisplay_obj_t *display = &allocate_display()->display;
+    display->base.type = &busdisplay_busdisplay_type;
+
+    common_hal_busdisplay_busdisplay_construct(
+        display,
+        bus,
+        240,            // width (after rotation)
+        135,            // height (after rotation)
+        40,             // column start
+        53,             // row start
+        0,              // rotation
+        16,             // color depth
+        false,          // grayscale
+        false,          // pixels in a byte share a row. Only valid for depths < 8
+        1,              // bytes per cell. Only valid for depths < 8
+        false,          // reverse_pixels_in_byte. Only valid for depths < 8
+        false,          // reverse_pixels_in_word
+        MIPI_COMMAND_SET_COLUMN_ADDRESS, // set column command
+        MIPI_COMMAND_SET_PAGE_ADDRESS,   // set row command
+        MIPI_COMMAND_WRITE_MEMORY_START, // write memory command
+        display_init_sequence,
+        sizeof(display_init_sequence),
+        &pin_GPIO38,    // backlight pin
+        NO_BRIGHTNESS_COMMAND,
+        1.0f,           // brightness
+        false,          // single_byte_bounds
+        false,          // data_as_commands
+        true,           // auto_refresh
+        60,             // native_frames_per_second
+        true,           // backlight_on_high
+        false,          // SH1107_addressing
+        350             // backlight pwm frequency
+        );
+}
+
+// TODO: Should we turn off the display when asleep, in board_deinit() ?
diff --git a/ports/espressif/boards/m5stack_cardputer_ros/cardputer_keyboard.c b/ports/espressif/boards/m5stack_cardputer_ros/cardputer_keyboard.c
new file mode 100644
index 0000000000000..73880f66e19d9
--- /dev/null
+++ b/ports/espressif/boards/m5stack_cardputer_ros/cardputer_keyboard.c
@@ -0,0 +1,238 @@
+// This file is part of the CircuitPython project: https://circuitpython.org
+//
+// SPDX-FileCopyrightText: Copyright (c) 2016 Scott Shawcroft
+//
+// SPDX-License-Identifier: MIT
+
+#include "py/obj.h"
+#include "py/objstr.h"
+#include "py/runtime.h"
+
+#include "supervisor/shared/serial.h"
+#include "shared-bindings/keypad/EventQueue.h"
+#include "shared-bindings/keypad_demux/DemuxKeyMatrix.h"
+#include "shared-bindings/microcontroller/Pin.h"
+#include "shared-module/keypad/EventQueue.h"
+#include "shared-module/keypad_demux/DemuxKeyMatrix.h"
+#include "supervisor/shared/reload.h"
+
+#include "keymap.h"
+
+//| """M5Stack Cardputer keyboard integration.
+//| """
+//|
+//| """The KEYBOARD object is an instance of DemuxKeyMatrix, configured with correct pins.
+//| The pins cannot be used for any other purposes (even though exposed in the board module).
+//| By default all keyboard events are consumed and routed to the standard input - there is
+//| not much use of the KEYBOARD object in this configuration - just read the input via sys.stdin.
+//|
+//| If you need to manually process individual key up / key down events via KEYBOARD.events,
+//| call `detach_serial()`.
+//| """"
+//| KEYBOARD: keypad_demux.DemuxKeymatrix
+//|
+keypad_demux_demuxkeymatrix_obj_t cardputer_keyboard_obj;
+bool cardputer_keyboard_serial_attached = false;
+
+void cardputer_keyboard_init(void);
+void keyboard_seq(const char *seq);
+void update_keyboard(keypad_eventqueue_obj_t *queue);
+
+//| def detach_serial() -> None:
+//|     """Stops consuming keyboard events and routing them to sys.stdin."""
+//|     ...
+//|
+static mp_obj_t detach_serial(void) {
+    cardputer_keyboard_serial_attached = false;
+    common_hal_keypad_eventqueue_set_event_handler(cardputer_keyboard_obj.events, NULL);
+    return mp_const_none;
+}
+static MP_DEFINE_CONST_FUN_OBJ_0(detach_serial_obj, detach_serial);
+
+//| def attach_serial() -> None:
+//|     """Starts consuming keyboard events and routing them to sys.stdin."""
+//|     ...
+//|
+static mp_obj_t attach_serial(void) {
+    common_hal_keypad_eventqueue_set_event_handler(cardputer_keyboard_obj.events, update_keyboard);
+    cardputer_keyboard_serial_attached = true;
+    return mp_const_none;
+}
+static MP_DEFINE_CONST_FUN_OBJ_0(attach_serial_obj, attach_serial);
+
+//| def key_to_char(key: int, shifted: bool) -> str | None:
+//|     """Converts a key index to the respective key (with or without shift modifier).
+//|     Returns None for functional & modifier keys or whenever not 0 <= key < 56.
+//|     """
+//|     ...
+//|
+static mp_obj_t key_to_char(mp_obj_t key_obj, mp_obj_t shifted_obj) {
+    mp_int_t key = mp_obj_get_int(key_obj);
+    if (key < 0 || key > (mp_int_t)(sizeof keymap / sizeof *keymap) || keymap[key] == 0) {
+        return mp_const_none;
+    } else if (shifted_obj == mp_const_true) {
+        return mp_obj_new_str(&keymap_shifted[key], 1);
+    } else {
+        return mp_obj_new_str(&keymap[key], 1);
+    }
+}
+static MP_DEFINE_CONST_FUN_OBJ_2(key_to_char_obj, key_to_char);
+
+// Ring buffer of characters consumed from keyboard events (when serial attached)
+ringbuf_t keyqueue;
+char keybuf[32];
+
+keypad_event_obj_t event;
+char keystate[56];
+
+// Keyboard pins
+const mcu_pin_obj_t *row_addr_pins[] = {
+    &pin_GPIO8,
+    &pin_GPIO9,
+    &pin_GPIO11,
+};
+
+const mcu_pin_obj_t *column_pins[] = {
+    &pin_GPIO13,
+    &pin_GPIO15,
+    &pin_GPIO3,
+    &pin_GPIO4,
+    &pin_GPIO5,
+    &pin_GPIO6,
+    &pin_GPIO7
+};
+
+void cardputer_keyboard_init(void) {
+    cardputer_keyboard_obj.base.type = &keypad_demux_demuxkeymatrix_type;
+    common_hal_keypad_demux_demuxkeymatrix_construct(
+        &cardputer_keyboard_obj, // self
+        3,                       // num_row_addr_pins
+        row_addr_pins,           // row_addr_pins
+        7,                       // num_column_pins
+        column_pins,             // column_pins
+        true,                    // columns_to_anodes
+        false,                   // transpose
+        0.01f,                   // interval
+        20,                      // max_events
+        2                        // debounce_threshold
+        );
+    demuxkeymatrix_never_reset(&cardputer_keyboard_obj);
+
+    ringbuf_init(&keyqueue, (uint8_t *)keybuf, sizeof(keybuf));
+    attach_serial();
+}
+
+// Overrides the weakly linked function from supervisor/shared/serial.c
+void board_serial_init(void) {
+    cardputer_keyboard_init();
+}
+
+// Overrides the weakly linked function from supervisor/shared/serial.c
+bool board_serial_connected(void) {
+    return cardputer_keyboard_serial_attached;
+}
+
+// Overrides the weakly linked function from supervisor/shared/serial.c
+uint32_t board_serial_bytes_available(void) {
+    if (cardputer_keyboard_serial_attached) {
+        return ringbuf_num_filled(&keyqueue);
+    } else {
+        return 0;
+    }
+}
+
+// Overrides the weakly linked function from supervisor/shared/serial.c
+char board_serial_read(void) {
+    if (cardputer_keyboard_serial_attached) {
+        return ringbuf_get(&keyqueue);
+    } else {
+        return 0;
+    }
+}
+
+void keyboard_seq(const char *seq) {
+    while (*seq) {
+        ringbuf_put(&keyqueue, *seq++);
+    }
+}
+
+void update_keyboard(keypad_eventqueue_obj_t *queue) {
+    uint8_t ascii = 0;
+
+    if (common_hal_keypad_eventqueue_get_length(queue) == 0) {
+        return;
+    }
+
+    while (common_hal_keypad_eventqueue_get_into(queue, &event)) {
+        if (event.pressed) {
+            keystate[event.key_number] = 1;
+
+            if (keystate[KEY_CTRL]) {
+                if (keystate[KEY_ALT] && keystate[KEY_BACKSPACE]) {
+                    reload_initiate(RUN_REASON_REPL_RELOAD);
+                }
+                ascii = keymap[event.key_number];
+                if (ascii >= 'a' && ascii <= 'z') {
+                    ascii -= 'a' - 1;
+                }
+
+                if (ascii == mp_interrupt_char) {
+                    mp_sched_keyboard_interrupt();
+                }
+            } else if (keystate[KEY_SHIFT]) {
+                ascii = keymap_shifted[event.key_number];
+            } else if (keystate[KEY_FN] && event.key_number != KEY_FN) {
+                switch (event.key_number | FN_MOD)
+                {
+                    case KEY_DOWN:
+                        keyboard_seq("\e[B");
+                        break;
+                    case KEY_UP:
+                        keyboard_seq("\e[A");
+                        break;
+                    case KEY_DELETE:
+                        keyboard_seq("\e[3~");
+                        break;
+                    case KEY_LEFT:
+                        keyboard_seq("\e[D");
+                        break;
+                    case KEY_RIGHT:
+                        keyboard_seq("\e[C");
+                        break;
+                    case KEY_ESC:
+                        ringbuf_put(&keyqueue, '\e');
+                        break;
+                }
+            } else {
+                ascii = keymap[event.key_number];
+            }
+
+            if (ascii > 0) {
+                if (keystate[KEY_ALT]) {
+                    ringbuf_put(&keyqueue, '\e');
+                } else if (keystate[KEY_OPT]) {
+                    ringbuf_put(&keyqueue, '\x10');
+                }
+                ringbuf_put(&keyqueue, ascii);
+            }
+        } else {
+            keystate[event.key_number] = 0;
+        }
+    }
+}
+
+static const mp_rom_map_elem_t cardputer_keyboard_module_globals_table[] = {
+    {MP_ROM_QSTR(MP_QSTR___name__), MP_ROM_QSTR(MP_QSTR_cardputer_keyboard)},
+    {MP_ROM_QSTR(MP_QSTR_KEYBOARD), MP_ROM_PTR(&cardputer_keyboard_obj)},
+    {MP_ROM_QSTR(MP_QSTR_attach_serial), MP_ROM_PTR(&attach_serial_obj)},
+    {MP_ROM_QSTR(MP_QSTR_detach_serial), MP_ROM_PTR(&detach_serial_obj)},
+    {MP_ROM_QSTR(MP_QSTR_key_to_char), MP_ROM_PTR(&key_to_char_obj)},
+};
+MP_DEFINE_CONST_DICT(cardputer_keyboard_module_globals, cardputer_keyboard_module_globals_table);
+
+const mp_obj_module_t cardputer_keyboard_module = {
+    .base = {&mp_type_module},
+    .globals = (mp_obj_dict_t *)&cardputer_keyboard_module_globals,
+};
+
+MP_REGISTER_MODULE(MP_QSTR_cardputer_keyboard, cardputer_keyboard_module);
diff --git a/ports/espressif/boards/m5stack_cardputer_ros/keymap.h b/ports/espressif/boards/m5stack_cardputer_ros/keymap.h
new file mode 100644
index 0000000000000..0256fafaa0f57
--- /dev/null
+++ b/ports/espressif/boards/m5stack_cardputer_ros/keymap.h
@@ -0,0 +1,214 @@
+// This file is part of the CircuitPython project: https://circuitpython.org
+//
+// SPDX-FileCopyrightText: Copyright (c) 2020 Scott Shawcroft for Adafruit Industries
+//
+// SPDX-License-Identifier: MIT
+
+#pragma once
+
+#define SHIFT_MOD 0x40
+#define FN_MOD 0x80
+
+#define KEY_OPT 0
+#define KEY_Z 1
+#define KEY_C 2
+#define KEY_B 3
+#define KEY_M 4
+#define KEY_DOT 5
+#define KEY_SPACE 6
+#define KEY_SHIFT 7
+#define KEY_S 8
+#define KEY_F 9
+#define KEY_H 10
+#define KEY_K 11
+#define KEY_SEMICOLON 12
+#define KEY_ENTER 13
+#define KEY_Q 14
+#define KEY_E 15
+#define KEY_T 16
+#define KEY_U 17
+#define KEY_O 18
+#define KEY_LEFT_BRACKET 19
+#define KEY_BACKSLASH 20
+#define KEY_1 21
+#define KEY_3 22
+#define KEY_5 23
+#define KEY_7 24
+#define KEY_9 25
+#define KEY_UNDERSCORE 26
+#define KEY_BACKSPACE 27
+#define KEY_CTRL 28
+#define KEY_ALT 29
+#define KEY_X 30
+#define KEY_V 31
+#define KEY_N 32
+#define KEY_COMMA 33
+#define KEY_SLASH 34
+#define KEY_FN 35
+#define KEY_A 36
+#define KEY_D 37
+#define KEY_G 38
+#define KEY_J 39
+#define KEY_L 40
+#define KEY_APOSTROPHE 41
+#define KEY_TAB 42
+#define KEY_W 43
+#define KEY_R 44
+#define KEY_Y 45
+#define KEY_I 46
+#define KEY_P 47
+#define KEY_RIGHT_BRACKET 48
+#define KEY_GRAVE 49
+#define KEY_2 50
+#define KEY_4 51
+#define KEY_6 52
+#define KEY_8 53
+#define KEY_0 54
+#define KEY_EQUALS 55
+
+#define KEY_GREATER (5 | SHIFT_MOD)
+#define KEY_COLON (12 | SHIFT_MOD)
+#define KEY_LEFT_CURLY_BRACKET (19 | SHIFT_MOD)
+#define KEY_PIPE (20 | SHIFT_MOD)
+#define KEY_EXCLAMATION (21 | SHIFT_MOD)
+#define KEY_HASH (22 | SHIFT_MOD)
+#define KEY_PERCENT (23 | SHIFT_MOD)
+#define KEY_AMPERSAND (24 | SHIFT_MOD)
+#define KEY_OPEN_PARENTHESIS (25 | SHIFT_MOD)
+#define KEY_MINUS (26 | SHIFT_MOD)
+#define KEY_LESS (33 | SHIFT_MOD)
+#define KEY_QUESTION (34 | SHIFT_MOD)
+#define KEY_DOUBLE_QUOTE (41 | SHIFT_MOD)
+#define KEY_RIGHT_CURLY_BRACKET (48 | SHIFT_MOD)
+#define KEY_TILDE (49 | SHIFT_MOD)
+#define KEY_AT (50 | SHIFT_MOD)
+#define KEY_DOLLAR (51 | SHIFT_MOD)
+#define KEY_CARET (52 | SHIFT_MOD)
+#define KEY_ASTERISK (53 | SHIFT_MOD)
+#define KEY_CLOSE_PARENTHESIS (54 | SHIFT_MOD)
+#define KEY_PLUS (55 | SHIFT_MOD)
+
+#define KEY_DOWN (5 | FN_MOD)
+#define KEY_UP (12 | FN_MOD)
+#define KEY_DELETE (27 | FN_MOD)
+#define KEY_LEFT (33 | FN_MOD)
+#define KEY_RIGHT (34 | FN_MOD)
+#define KEY_ESC (49 | FN_MOD)
+
+const char keymap[56] = {
+    0,   // KEY_OPT
+    'z', // KEY_Z
+    'c', // KEY_C
+    'b', // KEY_B
+    'm', // KEY_M
+    '.', // KEY_DOT
+    ' ', // KEY_SPACE
+    0,   // KEY_SHIFT
+    's', // KEY_S
+    'f', // KEY_F
+    'h', // KEY_H
+    'k', // KEY_K
+    ';', // KEY_SEMICOLON
+    '\r',// KEY_ENTER
+    'q', // KEY_Q
+    'e', // KEY_E
+    't', // KEY_T
+    'u', // KEY_U
+    'o', // KEY_O
+    '[', // KEY_LEFT_BRACKET
+    '\\',// KEY_BACKSLASH
+    '1', // KEY_1
+    '3', // KEY_3
+    '5', // KEY_5
+    '7', // KEY_7
+    '9', // KEY_9
+    '_', // KEY_UNDERSCORE
+    '\b',// KEY_BACKSPACE
+    0,   // KEY_CTRL
+    0,   // KEY_ALT
+    'x', // KEY_X
+    'v', // KEY_V
+    'n', // KEY_N
+    ',', // KEY_COMMA
+    '/', // KEY_SLASH
+    0,   // KEY_FN
+    'a', // KEY_A
+    'd', // KEY_D
+    'g', // KEY_G
+    'j', // KEY_J
+    'l', // KEY_L
+    '\'',// KEY_APOSTROPHE
+    '\t',// KEY_TAB
+    'w', // KEY_W
+    'r', // KEY_R
+    'y', // KEY_Y
+    'i', // KEY_I
+    'p', // KEY_P
+    ']', // KEY_RIGHT_BRACKET
+    '`', // KEY_GRAVE
+    '2', // KEY_2
+    '4', // KEY_4
+    '6', // KEY_6
+    '8', // KEY_8
+    '0', // KEY_0
+    '='  // KEY_EQUALS
+};
+
+const char keymap_shifted[56] = {
+    0,   // KEY_OPT
+    'Z', // KEY_Z
+    'C', // KEY_C
+    'B', // KEY_B
+    'M', // KEY_M
+    '>', // KEY_DOT -> '>'
+    ' ', // KEY_SPACE
+    0,   // KEY_SHIFT
+    'S', // KEY_S
+    'F', // KEY_F
+    'H', // KEY_H
+    'K', // KEY_K
+    ':', // KEY_SEMICOLON -> ':'
+    '\r',// KEY_ENTER
+    'Q', // KEY_Q
+    'E', // KEY_E
+    'T', // KEY_T
+    'U', // KEY_U
+    'O', // KEY_O
+    '{', // KEY_LEFT_BRACKET -> '{'
+    '|', // KEY_BACKSLASH -> '|'
+    '!', // KEY_1 -> '!'
+    '#', // KEY_3 -> '#'
+    '%', // KEY_5 -> '%'
+    '&', // KEY_7 -> '&'
+    '(', // KEY_9 -> '('
+    '-', // KEY_UNDERSCORE -> '-'
+    '\b',// KEY_BACKSPACE
+    0,   // KEY_CTRL
+    0,   // KEY_ALT
+    'X', // KEY_X
+    'V', // KEY_V
+    'N', // KEY_N
+    '<', // KEY_COMMA -> '<'
+    '?', // KEY_SLASH -> '?'
+    0,   // KEY_FN
+    'A', // KEY_A
+    'D', // KEY_D
+    'G', // KEY_G
+    'J', // KEY_J
+    'L', // KEY_L
+    '"', // KEY_APOSTROPHE -> '"'
+    '\t',// KEY_TAB
+    'W', // KEY_W
+    'R', // KEY_R
+    'Y', // KEY_Y
+    'I', // KEY_I
+    'P', // KEY_P
+    '}', // KEY_RIGHT_BRACKET -> '}'
+    '~', // KEY_GRAVE -> '~'
+    '@', // KEY_2 -> '@'
+    '$', // KEY_4 -> '$'
+    '^', // KEY_6 -> '^'
+    '*', // KEY_8 -> '*'
+    ')', // KEY_0 -> ')'
+    '+'  // KEY_EQUALS -> '+'
+};
diff --git a/ports/espressif/boards/m5stack_cardputer_ros/mpconfigboard.h b/ports/espressif/boards/m5stack_cardputer_ros/mpconfigboard.h
new file mode 100644
index 0000000000000..4b62c7d76e6a1
--- /dev/null
+++ b/ports/espressif/boards/m5stack_cardputer_ros/mpconfigboard.h
@@ -0,0 +1,19 @@
+// This file is part of the CircuitPython project: https://circuitpython.org
+//
+// SPDX-FileCopyrightText: Copyright (c) 2019 Scott Shawcroft for Adafruit Industries
+//
+// SPDX-License-Identifier: MIT
+
+#pragma once
+
+// Micropython setup
+
+#define MICROPY_HW_BOARD_NAME       "M5Stack Cardputer (ROS version)"
+#define MICROPY_HW_MCU_NAME         "ESP32S3"
+
+#define MICROPY_HW_NEOPIXEL (&pin_GPIO21)
+#define DEFAULT_I2C_BUS_SCL (&pin_GPIO1)
+#define DEFAULT_I2C_BUS_SDA (&pin_GPIO2)
+#define CIRCUITPY_BOARD_SPI         (2)
+#define CIRCUITPY_BOARD_SPI_PIN     {{.clock = &pin_GPIO36, .mosi = &pin_GPIO35}, \
+                                     {.clock = &pin_GPIO40, .mosi = &pin_GPIO14, .miso = &pin_GPIO39}}
diff --git a/ports/espressif/boards/m5stack_cardputer_ros/mpconfigboard.mk b/ports/espressif/boards/m5stack_cardputer_ros/mpconfigboard.mk
new file mode 100644
index 0000000000000..8d296939a1a7b
--- /dev/null
+++ b/ports/espressif/boards/m5stack_cardputer_ros/mpconfigboard.mk
@@ -0,0 +1,17 @@
+USB_VID = 0x303A
+USB_PID = 0x81DA
+USB_PRODUCT = "M5Stack Cardputer - Circuitpython/ROS"
+USB_MANUFACTURER = "M5STACK"
+
+IDF_TARGET = esp32s3
+
+CIRCUITPY_ESP_FLASH_MODE = qio
+CIRCUITPY_ESP_FLASH_FREQ = 80m
+CIRCUITPY_ESP_FLASH_SIZE = 8MB
+CIRCUITPY_ESPCAMERA = 0
+CIRCUITPY_RCLCPY = 1
+
+CIRCUITPY_GIFIO = 1
+CIRCUITPY_MAX3421E = 0
+
+SRC_C += boards/$(BOARD)/cardputer_keyboard.c
diff --git a/ports/espressif/boards/m5stack_cardputer_ros/pins.c b/ports/espressif/boards/m5stack_cardputer_ros/pins.c
new file mode 100644
index 0000000000000..ba309e0dcbff1
--- /dev/null
+++ b/ports/espressif/boards/m5stack_cardputer_ros/pins.c
@@ -0,0 +1,86 @@
+// This file is part of the CircuitPython project: https://circuitpython.org
+//
+// SPDX-FileCopyrightText: Copyright (c) 2020 Scott Shawcroft for Adafruit Industries
+//
+// SPDX-License-Identifier: MIT
+
+#include "shared-bindings/board/__init__.h"
+
+#include "shared-module/displayio/__init__.h"
+CIRCUITPY_BOARD_BUS_SINGLETON(sd_spi, spi, 1)
+static const mp_rom_map_elem_t board_module_globals_table[] = {
+    CIRCUITPYTHON_BOARD_DICT_STANDARD_ITEMS
+
+    // Port A
+    { MP_ROM_QSTR(MP_QSTR_TX), MP_ROM_PTR(&pin_GPIO1) },
+    { MP_ROM_QSTR(MP_QSTR_PORTA1), MP_ROM_PTR(&pin_GPIO1) },
+    { MP_ROM_QSTR(MP_QSTR_D1), MP_ROM_PTR(&pin_GPIO1) },
+    { MP_ROM_QSTR(MP_QSTR_G1), MP_ROM_PTR(&pin_GPIO1) },
+    { MP_ROM_QSTR(MP_QSTR_RX), MP_ROM_PTR(&pin_GPIO2) },
+    { MP_ROM_QSTR(MP_QSTR_PORTA2), MP_ROM_PTR(&pin_GPIO2) },
+    { MP_ROM_QSTR(MP_QSTR_D2), MP_ROM_PTR(&pin_GPIO2) },
+    { MP_ROM_QSTR(MP_QSTR_G2), MP_ROM_PTR(&pin_GPIO2) },
+
+    // Keyboard
+    { MP_ROM_QSTR(MP_QSTR_KB_COL_0), MP_ROM_PTR(&pin_GPIO13) },
+    { MP_ROM_QSTR(MP_QSTR_KB_COL_1), MP_ROM_PTR(&pin_GPIO15) },
+    { MP_ROM_QSTR(MP_QSTR_KB_COL_2), MP_ROM_PTR(&pin_GPIO3) },
+    { MP_ROM_QSTR(MP_QSTR_KB_COL_3), MP_ROM_PTR(&pin_GPIO4) },
+    { MP_ROM_QSTR(MP_QSTR_KB_COL_4), MP_ROM_PTR(&pin_GPIO5) },
+    { MP_ROM_QSTR(MP_QSTR_KB_COL_5), MP_ROM_PTR(&pin_GPIO6) },
+    { MP_ROM_QSTR(MP_QSTR_KB_COL_6), MP_ROM_PTR(&pin_GPIO7) },
+    { MP_ROM_QSTR(MP_QSTR_KB_A_0), MP_ROM_PTR(&pin_GPIO8) },
+    { MP_ROM_QSTR(MP_QSTR_KB_A_1), MP_ROM_PTR(&pin_GPIO9) },
+    { MP_ROM_QSTR(MP_QSTR_KB_A_2), MP_ROM_PTR(&pin_GPIO11) },
+
+    // Neopixel
+    { MP_ROM_QSTR(MP_QSTR_NEOPIXEL), MP_ROM_PTR(&pin_GPIO21) },
+
+    // Speaker
+    { MP_ROM_QSTR(MP_QSTR_I2S_BIT_CLOCK), MP_ROM_PTR(&pin_GPIO41) },
+    { MP_ROM_QSTR(MP_QSTR_I2S_DATA), MP_ROM_PTR(&pin_GPIO42) },
+    { MP_ROM_QSTR(MP_QSTR_I2S_WORD_SELECT), MP_ROM_PTR(&pin_GPIO43) },
+
+    // Mic
+    { MP_ROM_QSTR(MP_QSTR_MIC_DATA), MP_ROM_PTR(&pin_GPIO46) },
+    { MP_ROM_QSTR(MP_QSTR_MIC_CLK), MP_ROM_PTR(&pin_GPIO43) },
+
+    // IR
+    { MP_ROM_QSTR(MP_QSTR_IR_TX), MP_ROM_PTR(&pin_GPIO44) },
+
+    // SD
+    { MP_ROM_QSTR(MP_QSTR_SD_MOSI), MP_ROM_PTR(&pin_GPIO14) },
+    { MP_ROM_QSTR(MP_QSTR_SD_SCK), MP_ROM_PTR(&pin_GPIO40) },
+    { MP_ROM_QSTR(MP_QSTR_SD_MISO), MP_ROM_PTR(&pin_GPIO39) },
+    { MP_ROM_QSTR(MP_QSTR_SD_CS), MP_ROM_PTR(&pin_GPIO12) },
+
+
+    // Display
+    { MP_ROM_QSTR(MP_QSTR_TFT_RST), MP_ROM_PTR(&pin_GPIO33) },
+    { MP_ROM_QSTR(MP_QSTR_TFT_RESET), MP_ROM_PTR(&pin_GPIO33) },
+    { MP_ROM_QSTR(MP_QSTR_TFT_DC), MP_ROM_PTR(&pin_GPIO34) },
+    { MP_ROM_QSTR(MP_QSTR_TFT_RS), MP_ROM_PTR(&pin_GPIO34) },
+    { MP_ROM_QSTR(MP_QSTR_TFT_MOSI), MP_ROM_PTR(&pin_GPIO35) },
+    { MP_ROM_QSTR(MP_QSTR_TFT_DATA), MP_ROM_PTR(&pin_GPIO35) },
+    { MP_ROM_QSTR(MP_QSTR_TFT_SCK), MP_ROM_PTR(&pin_GPIO36) },
+    { MP_ROM_QSTR(MP_QSTR_TFT_CS), MP_ROM_PTR(&pin_GPIO37) },
+    { MP_ROM_QSTR(MP_QSTR_TFT_BACKLIGHT), MP_ROM_PTR(&pin_GPIO38) },
+    { MP_ROM_QSTR(MP_QSTR_TFT_BL), MP_ROM_PTR(&pin_GPIO38) },
+
+    // Button
+    { MP_ROM_QSTR(MP_QSTR_BUTTON), MP_ROM_PTR(&pin_GPIO0) },
+    { MP_ROM_QSTR(MP_QSTR_BOOT0), MP_ROM_PTR(&pin_GPIO0) },
+
+    // Battery
+    { MP_ROM_QSTR(MP_QSTR_BAT_ADC), MP_ROM_PTR(&pin_GPIO10) },
+
+    // Other
+    { MP_ROM_QSTR(MP_QSTR_I2C), MP_ROM_PTR(&board_i2c_obj) },
+    { MP_ROM_QSTR(MP_QSTR_PORTA_I2C), MP_ROM_PTR(&board_i2c_obj) },
+    { MP_ROM_QSTR(MP_QSTR_TFT_SPI), MP_ROM_PTR(&board_spi_obj) },
+    { MP_ROM_QSTR(MP_QSTR_SD_SPI), MP_ROM_PTR(&board_sd_spi_obj) },
+
+    // Display object
+    { MP_ROM_QSTR(MP_QSTR_DISPLAY), MP_ROM_PTR(&displays[0].display)},
+};
+MP_DEFINE_CONST_DICT(board_module_globals, board_module_globals_table);
diff --git a/ports/espressif/boards/m5stack_cardputer_ros/sdkconfig b/ports/espressif/boards/m5stack_cardputer_ros/sdkconfig
new file mode 100644
index 0000000000000..e962866216039
--- /dev/null
+++ b/ports/espressif/boards/m5stack_cardputer_ros/sdkconfig
@@ -0,0 +1,14 @@
+#
+# Espressif IoT Development Framework Configuration
+#
+#
+# Component config
+#
+#
+# LWIP
+#
+# end of LWIP
+
+# end of Component config
+
+# end of Espressif IoT Development Framework Configuration
diff --git a/ports/espressif/boards/m5stack_m5paper/board.c b/ports/espressif/boards/m5stack_m5paper/board.c
index fbf66fa5ccdf9..db68df79c4291 100644
--- a/ports/espressif/boards/m5stack_m5paper/board.c
+++ b/ports/espressif/boards/m5stack_m5paper/board.c
@@ -74,6 +74,7 @@ void board_init(void) {
     //     false,  // always_toggle_chip_select
     //     false, // grayscale
     //     true, // acep
+    //     false, // spectra6
     //     false,  // two_byte_sequence_length
     //     false  // address_little_endian
     // );
diff --git a/ports/espressif/boards/makergo_esp32c3_supermini/mpconfigboard.mk b/ports/espressif/boards/makergo_esp32c3_supermini/mpconfigboard.mk
index 37c27203af31c..69576369d5faf 100644
--- a/ports/espressif/boards/makergo_esp32c3_supermini/mpconfigboard.mk
+++ b/ports/espressif/boards/makergo_esp32c3_supermini/mpconfigboard.mk
@@ -7,6 +7,8 @@ CIRCUITPY_ESP_FLASH_MODE=dio
 CIRCUITPY_ESP_FLASH_FREQ=80m
 CIRCUITPY_ESP_FLASH_SIZE=4MB
 
+CIRCUITPY_CODEOP = 0
+
 CIRCUITPY_LEGACY_4MB_FLASH_LAYOUT = 1
 
 CIRCUITPY_ESP_USB_SERIAL_JTAG = 1
diff --git a/ports/espressif/boards/sqfmi_watchy/board.c b/ports/espressif/boards/sqfmi_watchy/board.c
index 25a7be4613c6e..393b8b759028a 100644
--- a/ports/espressif/boards/sqfmi_watchy/board.c
+++ b/ports/espressif/boards/sqfmi_watchy/board.c
@@ -190,6 +190,7 @@ void board_init(void) {
         false,  // always_toggle_chip_select
         false, // grayscale
         false, // acep
+        false, // spectra6
         false,  // two_byte_sequence_length
         true // address_little_endian
         );
diff --git a/ports/espressif/boards/waveshare_esp32_s3_zero/pins.c b/ports/espressif/boards/waveshare_esp32_s3_zero/pins.c
index 868c26be20140..15225b1c57c5d 100644
--- a/ports/espressif/boards/waveshare_esp32_s3_zero/pins.c
+++ b/ports/espressif/boards/waveshare_esp32_s3_zero/pins.c
@@ -152,8 +152,7 @@ static const mp_rom_map_elem_t board_module_globals_table[] = {
     { MP_ROM_QSTR(MP_QSTR_D21), MP_ROM_PTR(&pin_GPIO21) },
     { MP_ROM_QSTR(MP_QSTR_NEOPIXEL), MP_ROM_PTR(&pin_GPIO21) },
 
-    { MP_ROM_QSTR(MP_QSTR_I2C), MP_ROM_PTR(&board_i2c_obj) },
-    { MP_ROM_QSTR(MP_QSTR_SPI), MP_ROM_PTR(&board_spi_obj) },
+    // UART - using TX RX on silkscreen
     { MP_ROM_QSTR(MP_QSTR_UART), MP_ROM_PTR(&board_uart_obj) }
 };
 MP_DEFINE_CONST_DICT(board_module_globals, board_module_globals_table);
diff --git a/ports/espressif/common-hal/_bleio/__init__.c b/ports/espressif/common-hal/_bleio/__init__.c
index f3637a8fddb99..119fe55921e8a 100644
--- a/ports/espressif/common-hal/_bleio/__init__.c
+++ b/ports/espressif/common-hal/_bleio/__init__.c
@@ -31,7 +31,7 @@ static uint64_t _timeout_start_time;
 
 background_callback_t bleio_background_callback;
 
-void bleio_user_reset() {
+void bleio_user_reset(void) {
     // Stop any user scanning or advertising.
     common_hal_bleio_adapter_stop_scan(&common_hal_bleio_adapter_obj);
     common_hal_bleio_adapter_stop_advertising(&common_hal_bleio_adapter_obj);
@@ -43,7 +43,7 @@ void bleio_user_reset() {
 }
 
 // Turn off BLE on a reset or reload.
-void bleio_reset() {
+void bleio_reset(void) {
     // Set this explicitly to save data.
     if (!common_hal_bleio_adapter_get_enabled(&common_hal_bleio_adapter_obj)) {
         return;
diff --git a/ports/espressif/common-hal/audiobusio/__init__.c b/ports/espressif/common-hal/audiobusio/__init__.c
index 226e371c5b0b0..d07a0b521ba9b 100644
--- a/ports/espressif/common-hal/audiobusio/__init__.c
+++ b/ports/espressif/common-hal/audiobusio/__init__.c
@@ -184,7 +184,7 @@ void port_i2s_play(i2s_t *self, mp_obj_t sample, bool loop) {
         self->next_buffer_size = sizeof(starting_frame);
         i2s_fill_buffer(self);
         i2s_channel_preload_data(self->handle, &starting_frame, sizeof(uint32_t), &bytes_loaded);
-        preloaded += 1;
+        preloaded += bytes_loaded;
     }
 
     // enable the channel
diff --git a/ports/espressif/common-hal/pulseio/PulseIn.c b/ports/espressif/common-hal/pulseio/PulseIn.c
index f7e500790562a..a90f9796ab8c5 100644
--- a/ports/espressif/common-hal/pulseio/PulseIn.c
+++ b/ports/espressif/common-hal/pulseio/PulseIn.c
@@ -80,8 +80,9 @@ void common_hal_pulseio_pulsein_construct(pulseio_pulsein_obj_t *self, const mcu
     }
     // We add one to the maxlen version to ensure that two symbols at lease are
     // captured because we may skip the first portion of a symbol.
-    self->raw_symbols_size = MIN(64, maxlen / 2 + 1) * sizeof(rmt_symbol_word_t);
-    self->raw_symbols = (rmt_symbol_word_t *)m_malloc_without_collect(self->raw_symbols_size);
+    self->raw_symbols_size = (maxlen / 2 + 1) * sizeof(rmt_symbol_word_t);
+    // RMT DMA mode cannot access PSRAM -> ensure raw_symbols is in internal ram
+    self->raw_symbols = (rmt_symbol_word_t *)port_malloc(self->raw_symbols_size, true);
     if (self->raw_symbols == NULL) {
         m_free(self->buffer);
         m_malloc_fail(self->raw_symbols_size);
@@ -109,17 +110,26 @@ void common_hal_pulseio_pulsein_construct(pulseio_pulsein_obj_t *self, const mcu
         .clk_src = RMT_CLK_SRC_DEFAULT,
         // 2 us resolution so we can capture 65ms pulses. The RMT period is only 15 bits.
         .resolution_hz = 1000000 / 2,
-        .mem_block_symbols = SOC_RMT_MEM_WORDS_PER_CHANNEL,
+        .mem_block_symbols = self->raw_symbols_size,
+        .flags.with_dma = 1
     };
-    // If we fail here, the buffers allocated above will be garbage collected.
-    CHECK_ESP_RESULT(rmt_new_rx_channel(&config, &self->channel));
+    // If we fail here, the self->buffer will be garbage collected.
+    esp_err_t result = rmt_new_rx_channel(&config, &self->channel);
+    if (result != ESP_OK) {
+        port_free(self->raw_symbols);
+        raise_esp_error(result);
+    }
 
     rmt_rx_event_callbacks_t rx_callback = {
         .on_recv_done = _done_callback
     };
     rmt_rx_register_event_callbacks(self->channel, &rx_callback, self);
     rmt_enable(self->channel);
-    rmt_receive(self->channel, self->raw_symbols, self->raw_symbols_size, &rx_config);
+    result = rmt_receive(self->channel, self->raw_symbols, self->raw_symbols_size, &rx_config);
+    if (result != ESP_OK) {
+        port_free(self->raw_symbols);
+        raise_esp_error(result);
+    }
 }
 
 bool common_hal_pulseio_pulsein_deinited(pulseio_pulsein_obj_t *self) {
diff --git a/ports/espressif/common-hal/rclcpy/Node.c b/ports/espressif/common-hal/rclcpy/Node.c
new file mode 100644
index 0000000000000..f68daa44fc34d
--- /dev/null
+++ b/ports/espressif/common-hal/rclcpy/Node.c
@@ -0,0 +1,47 @@
+// This file is part of the CircuitPython project: https://circuitpython.org
+//
+// SPDX-FileCopyrightText: Copyright (c) 2025 Lucian Copeland
+//
+// SPDX-License-Identifier: MIT
+
+#include "shared-bindings/rclcpy/Node.h"
+#include "shared-bindings/rclcpy/__init__.h"
+
+#include "esp_log.h"
+
+void common_hal_rclcpy_node_construct(rclcpy_node_obj_t *self,
+    const char *node_name, const char *node_namespace) {
+
+    rclc_node_init_default(&self->rcl_node, node_name, node_namespace, &rclcpy_default_context.rcl_support);
+    if (!rcl_node_is_valid(&self->rcl_node)) {
+        mp_raise_RuntimeError(MP_ERROR_TEXT("ROS node failed to initialize"));
+    }
+    self->deinited = false;
+}
+
+bool common_hal_rclcpy_node_deinited(rclcpy_node_obj_t *self) {
+    return self->deinited;
+}
+
+void common_hal_rclcpy_node_deinit(rclcpy_node_obj_t *self) {
+    if (common_hal_rclcpy_node_deinited(self)) {
+        return;
+    }
+    // Clean up Micro-ROS object
+    rcl_ret_t ret = rcl_node_fini(&self->rcl_node);
+    if (ret != RCL_RET_OK) {
+        // TODO: node_fini returns a fail here, but doesn't impede microros
+        // from restarting. Debug left for future investigation.
+        ESP_LOGW("RCLCPY", "Node cleanup error: %d", ret);
+        // rclcpy_default_context.critical_fail=RCLCPY_NODE_FAIL;
+    }
+    self->deinited = true;
+}
+
+const char *common_hal_rclcpy_node_get_name(rclcpy_node_obj_t *self) {
+    return rcl_node_get_name(&self->rcl_node);
+}
+
+const char *common_hal_rclcpy_node_get_namespace(rclcpy_node_obj_t *self) {
+    return rcl_node_get_namespace(&self->rcl_node);
+}
diff --git a/ports/espressif/common-hal/rclcpy/Node.h b/ports/espressif/common-hal/rclcpy/Node.h
new file mode 100644
index 0000000000000..c019a654e5add
--- /dev/null
+++ b/ports/espressif/common-hal/rclcpy/Node.h
@@ -0,0 +1,23 @@
+// This file is part of the CircuitPython project: https://circuitpython.org
+//
+// SPDX-FileCopyrightText: Copyright (c) 2025 Lucian Copeland
+//
+// SPDX-License-Identifier: MIT
+
+#pragma once
+
+#include "py/obj.h"
+#include "py/runtime.h"
+
+#include <rcl/error_handling.h>
+#include <rcl/rcl.h>
+#include <rclc/executor.h>
+#include <rclc/rclc.h>
+#include <stdio.h>
+
+
+typedef struct {
+    mp_obj_base_t base;
+    bool deinited;
+    rcl_node_t rcl_node;
+} rclcpy_node_obj_t;
diff --git a/ports/espressif/common-hal/rclcpy/Publisher.c b/ports/espressif/common-hal/rclcpy/Publisher.c
new file mode 100644
index 0000000000000..81df154687ace
--- /dev/null
+++ b/ports/espressif/common-hal/rclcpy/Publisher.c
@@ -0,0 +1,64 @@
+// This file is part of the CircuitPython project: https://circuitpython.org
+//
+// SPDX-FileCopyrightText: Copyright (c) 2025 Lucian Copeland
+//
+// SPDX-License-Identifier: MIT
+
+#include "shared-bindings/rclcpy/Publisher.h"
+
+#include "esp_log.h"
+
+void common_hal_rclcpy_publisher_construct(rclcpy_publisher_obj_t *self, rclcpy_node_obj_t *node,
+    const char *topic_name) {
+
+    // Create Int32 type object
+    // TODO: support other message types through class imports
+    const rosidl_message_type_support_t *type_support = ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int32);
+
+    // Creates a reliable Int32 publisher
+    rcl_ret_t rc = rclc_publisher_init_default(
+        &self->rcl_publisher, &node->rcl_node,
+        type_support, topic_name);
+    if (RCL_RET_OK != rc) {
+        mp_raise_RuntimeError(MP_ERROR_TEXT("ROS topic failed to initialize"));
+    }
+
+    self->node = node;
+}
+
+bool common_hal_rclcpy_publisher_deinited(rclcpy_publisher_obj_t *self) {
+    return self->node == NULL;
+}
+
+void common_hal_rclcpy_publisher_deinit(rclcpy_publisher_obj_t *self) {
+    if (common_hal_rclcpy_publisher_deinited(self)) {
+        return;
+    }
+    // Clean up Micro-ROS object
+    rcl_ret_t ret = rcl_publisher_fini(&self->rcl_publisher, &self->node->rcl_node);
+    if (ret != RCL_RET_OK) {
+        // TODO: publisher_fini returns a fail here, but doesn't impede microros
+        // from restarting. Debug left for future investigation.
+        ESP_LOGW("RCLCPY", "Publisher cleanup error: %d", ret);
+        // rclcpy_default_context.critical_fail=RCLCPY_PUB_FAIL;
+    }
+    self->node = NULL;
+}
+
+void common_hal_rclcpy_publisher_publish_int32(rclcpy_publisher_obj_t *self, int32_t data) {
+    // Int32 message object
+    std_msgs__msg__Int32 msg;
+
+    // Set message value
+    msg.data = data;
+
+    // Publish message
+    rcl_ret_t rc = rcl_publish(&self->rcl_publisher, &msg, NULL);
+    if (RCL_RET_OK != rc) {
+        mp_raise_RuntimeError(MP_ERROR_TEXT("Could not publish to ROS topic"));
+    }
+}
+
+const char *common_hal_rclcpy_publisher_get_topic_name(rclcpy_publisher_obj_t *self) {
+    return rcl_publisher_get_topic_name(&self->rcl_publisher);
+}
diff --git a/ports/espressif/common-hal/rclcpy/Publisher.h b/ports/espressif/common-hal/rclcpy/Publisher.h
new file mode 100644
index 0000000000000..fdc45293cd270
--- /dev/null
+++ b/ports/espressif/common-hal/rclcpy/Publisher.h
@@ -0,0 +1,26 @@
+// This file is part of the CircuitPython project: https://circuitpython.org
+//
+// SPDX-FileCopyrightText: Copyright (c) 2025 Lucian Copeland
+//
+// SPDX-License-Identifier: MIT
+
+#pragma once
+
+#include "py/obj.h"
+
+#include "common-hal/rclcpy/Node.h"
+#include "common-hal/rclcpy/__init__.h"
+
+#include <rcl/error_handling.h>
+#include <rcl/rcl.h>
+#include <rclc/executor.h>
+#include <rclc/rclc.h>
+#include <stdio.h>
+#include <std_msgs/msg/int32.h>
+
+
+typedef struct {
+    mp_obj_base_t base;
+    rclcpy_node_obj_t *node;
+    rcl_publisher_t rcl_publisher;
+} rclcpy_publisher_obj_t;
diff --git a/ports/espressif/common-hal/rclcpy/__init__.c b/ports/espressif/common-hal/rclcpy/__init__.c
new file mode 100644
index 0000000000000..e0e6fd8b4f4fc
--- /dev/null
+++ b/ports/espressif/common-hal/rclcpy/__init__.c
@@ -0,0 +1,122 @@
+// This file is part of the CircuitPython project: https://circuitpython.org
+//
+// SPDX-FileCopyrightText: Copyright (c) 2025 Lucian Copeland
+//
+// SPDX-License-Identifier: MIT
+
+#include "shared-bindings/rclcpy/__init__.h"
+
+#include "esp_log.h"
+
+#define RCLCPY_SUPPORT_FAIL 1
+#define RCLCPY_OPTIONS_FAIL 2
+
+rclcpy_context_t rclcpy_default_context = {
+    .initialized = false,
+    .critical_fail = 0,
+};
+
+static void *microros_allocate(size_t size, void *state) {
+    (void)state;
+    return m_malloc(size);
+}
+
+static void microros_deallocate(void *pointer, void *state) {
+    (void)state;
+    m_free(pointer);
+}
+
+static void *microros_reallocate(void *pointer, size_t size, void *state) {
+    (void)state;
+    return m_realloc(pointer, size);
+}
+
+static void *microros_zero_allocate(size_t number_of_elements, size_t size_of_element, void *state) {
+    (void)state;
+    size_t total_size = number_of_elements * size_of_element;
+    void *ptr = m_malloc(total_size);
+    if (ptr != NULL) {
+        memset(ptr, 0, total_size);
+    }
+    return ptr;
+}
+
+void rclcpy_reset(void) {
+    if (rclcpy_default_context.initialized) {
+        // Clean up micro-ROS objects
+        rcl_ret_t ret = rclc_support_fini(&rclcpy_default_context.rcl_support);
+        if (ret != RCL_RET_OK) {
+            // ESP_LOGW("RCLCPY", "Support cleanup error: %d", ret);
+            rclcpy_default_context.critical_fail = RCLCPY_SUPPORT_FAIL;
+        }
+        ret = rcl_init_options_fini(&rclcpy_default_context.init_options);
+        if (ret != RCL_RET_OK) {
+            // ESP_LOGW("RCLCPY", "Init options cleanup error: %d", ret);
+            rclcpy_default_context.critical_fail = RCLCPY_OPTIONS_FAIL;
+        }
+
+        // Reset context state
+        memset(&rclcpy_default_context, 0, sizeof(rclcpy_default_context));
+        rclcpy_default_context.initialized = false;
+    }
+}
+
+void common_hal_rclcpy_init(const char *agent_ip, const char *agent_port, int16_t domain_id) {
+    if (rclcpy_default_context.critical_fail != 0) {
+        mp_raise_RuntimeError_varg(MP_ERROR_TEXT("Critical ROS failure during soft reboot, reset required: %d"), rclcpy_default_context.critical_fail);
+    }
+
+    // Set up circuitpython-friendly allocator
+    rcl_allocator_t custom_allocator = rcutils_get_zero_initialized_allocator();
+    custom_allocator.allocate = microros_allocate;
+    custom_allocator.deallocate = microros_deallocate;
+    custom_allocator.reallocate = microros_reallocate;
+    custom_allocator.zero_allocate = microros_zero_allocate;
+    if (!rcutils_set_default_allocator(&custom_allocator)) {
+        mp_raise_RuntimeError(MP_ERROR_TEXT("ROS memory allocator failure"));
+    }
+    rclcpy_default_context.rcl_allocator = custom_allocator;
+
+    rcl_ret_t ret;
+
+    // Micro-ROS options initialization
+    rclcpy_default_context.init_options = rcl_get_zero_initialized_init_options();
+    ret = rcl_init_options_init(&rclcpy_default_context.init_options, rclcpy_default_context.rcl_allocator);
+    if (ret != RCL_RET_OK) {
+        mp_raise_RuntimeError(MP_ERROR_TEXT("ROS internal setup failure"));
+    }
+    if (domain_id < 0) {
+        mp_raise_RuntimeError(MP_ERROR_TEXT("Invalid ROS domain ID"));
+    }
+    ret = rcl_init_options_set_domain_id(&rclcpy_default_context.init_options, domain_id);
+    if (ret != RCL_RET_OK) {
+        mp_raise_RuntimeError(MP_ERROR_TEXT("ROS internal setup failure"));
+    }
+
+    // Set up Micro-ROS Agent
+    rclcpy_default_context.rmw_options = rcl_init_options_get_rmw_init_options(&rclcpy_default_context.init_options);
+    ret = rmw_uros_options_set_udp_address(agent_ip, agent_port, rclcpy_default_context.rmw_options);
+    if (ret != RCL_RET_OK) {
+        mp_raise_RuntimeError(MP_ERROR_TEXT("ROS internal setup failure"));
+    }
+
+    // Final support object init requires a connected agent
+    ret = rclc_support_init_with_options(&rclcpy_default_context.rcl_support,
+        0,
+        NULL,
+        &rclcpy_default_context.init_options,
+        &rclcpy_default_context.rcl_allocator);
+    if (ret != RCL_RET_OK) {
+        mp_raise_RuntimeError(MP_ERROR_TEXT("ROS failed to initialize. Is agent connected?"));
+    } else {
+        rclcpy_default_context.initialized = true;
+    }
+}
+
+rclcpy_context_t *common_hal_rclcpy_get_default_context(void) {
+    return &rclcpy_default_context;
+}
+
+bool common_hal_rclcpy_default_context_is_initialized(void) {
+    return rclcpy_default_context.initialized;
+}
diff --git a/ports/espressif/common-hal/rclcpy/__init__.h b/ports/espressif/common-hal/rclcpy/__init__.h
new file mode 100644
index 0000000000000..f3ebd4787e757
--- /dev/null
+++ b/ports/espressif/common-hal/rclcpy/__init__.h
@@ -0,0 +1,30 @@
+// This file is part of the CircuitPython project: https://circuitpython.org
+//
+// SPDX-FileCopyrightText: Copyright (c) 2025 Lucian Copeland
+//
+// SPDX-License-Identifier: MIT
+
+#pragma once
+
+#include "py/obj.h"
+#include "py/runtime.h"
+
+#include <stdio.h>
+#include <rcl/rcl.h>
+#include <rcl/error_handling.h>
+#include <rclc/rclc.h>
+#include <rclc/executor.h>
+#include <rmw_microros/rmw_microros.h>
+
+
+typedef struct {
+    bool initialized;
+    uint8_t critical_fail;
+    rcl_allocator_t rcl_allocator;
+    rclc_support_t rcl_support;
+    rcl_init_options_t init_options;
+    rmw_init_options_t *rmw_options;
+} rclcpy_context_t;
+
+extern rclcpy_context_t rclcpy_default_context;
+void rclcpy_reset(void);
diff --git a/ports/espressif/common-hal/sdioio/SDCard.c b/ports/espressif/common-hal/sdioio/SDCard.c
index 6fd27c289459c..87ba32f802095 100644
--- a/ports/espressif/common-hal/sdioio/SDCard.c
+++ b/ports/espressif/common-hal/sdioio/SDCard.c
@@ -245,7 +245,7 @@ void common_hal_sdioio_sdcard_never_reset(sdioio_sdcard_obj_t *self) {
     }
 }
 
-void sdioio_reset() {
+void sdioio_reset(void) {
     for (size_t i = 0; i < MP_ARRAY_SIZE(slot_in_use); i++) {
         if (!never_reset_sdio[i]) {
             slot_in_use[i] = false;
diff --git a/ports/espressif/microros-lib b/ports/espressif/microros-lib
new file mode 160000
index 0000000000000..4b2a696dec7f0
--- /dev/null
+++ b/ports/espressif/microros-lib
@@ -0,0 +1 @@
+Subproject commit 4b2a696dec7f0f865e014ea4b83f2332df7e9560
diff --git a/ports/espressif/mpconfigport.mk b/ports/espressif/mpconfigport.mk
index ccc305761c4dc..516111e5a8586 100644
--- a/ports/espressif/mpconfigport.mk
+++ b/ports/espressif/mpconfigport.mk
@@ -64,6 +64,7 @@ CIRCUITPY_HASHLIB ?= 1
 CIRCUITPY_I2CTARGET ?= 0
 CIRCUITPY_MAX3421E ?= 1
 CIRCUITPY_MEMORYMAP ?= 1
+CIRCUITPY_RCLCPY ?= 0
 CIRCUITPY_NVM ?= 1
 CIRCUITPY_PARALLELDISPLAYBUS ?= 1
 CIRCUITPY_PS2IO ?= 1
diff --git a/ports/espressif/supervisor/port.c b/ports/espressif/supervisor/port.c
index e72eab7e32a56..48ae29ab4f927 100644
--- a/ports/espressif/supervisor/port.c
+++ b/ports/espressif/supervisor/port.c
@@ -55,6 +55,10 @@
 #include "esp_camera.h"
 #endif
 
+#if CIRCUITPY_RCLCPY
+#include "common-hal/rclcpy/__init__.h"
+#endif
+
 #include "soc/efuse_reg.h"
 #if defined(SOC_LP_AON_SUPPORTED)
 #include "soc/lp_aon_reg.h"
@@ -304,18 +308,18 @@ void port_heap_init(void) {
 }
 
 void *port_malloc(size_t size, bool dma_capable) {
-    size_t caps = MALLOC_CAP_8BIT;
     if (dma_capable) {
-        caps |= MALLOC_CAP_DMA;
+        // SPIRAM is not DMA-capable, so don't bother to ask for it.
+        return heap_caps_malloc(size, MALLOC_CAP_8BIT | MALLOC_CAP_DMA);
     }
 
     void *ptr = NULL;
-    // Try SPIRAM first when available.
+    // Try SPIRAM first if available.
     #ifdef CONFIG_SPIRAM
-    ptr = heap_caps_malloc(size, caps | MALLOC_CAP_SPIRAM);
+    ptr = heap_caps_malloc(size, MALLOC_CAP_8BIT | MALLOC_CAP_SPIRAM);
     #endif
     if (ptr == NULL) {
-        ptr = heap_caps_malloc(size, caps);
+        ptr = heap_caps_malloc(size, MALLOC_CAP_8BIT);
     }
     return ptr;
 }
@@ -378,6 +382,10 @@ void reset_port(void) {
     ps2_reset();
     #endif
 
+    #if CIRCUITPY_RCLCPY
+    rclcpy_reset();
+    #endif
+
     #if CIRCUITPY_RTC
     rtc_reset();
     #endif
@@ -461,11 +469,11 @@ void port_disable_tick(void) {
     esp_timer_stop(_tick_timer);
 }
 
-void port_wake_main_task() {
+void port_wake_main_task(void) {
     xTaskNotifyGive(circuitpython_task);
 }
 
-void port_wake_main_task_from_isr() {
+void port_wake_main_task_from_isr(void) {
     BaseType_t xHigherPriorityTaskWoken = pdFALSE;
     vTaskNotifyGiveFromISR(circuitpython_task, &xHigherPriorityTaskWoken);
     if (xHigherPriorityTaskWoken == pdTRUE) {
@@ -473,7 +481,7 @@ void port_wake_main_task_from_isr() {
     }
 }
 
-void port_yield() {
+void port_yield(void) {
     vTaskDelay(4);
 }
 
diff --git a/ports/litex/Makefile b/ports/litex/Makefile
index bb1d88e755201..98abe985699cf 100644
--- a/ports/litex/Makefile
+++ b/ports/litex/Makefile
@@ -38,7 +38,7 @@ endif
 # option to override compiler optimization level, set in boards/$(BOARD)/mpconfigboard.mk
 CFLAGS += $(OPTIMIZATION_FLAGS)
 
-CFLAGS += $(INC) -Werror -Wall -std=gnu11 -nostdlib -fshort-enums $(BASE_CFLAGS) $(C_DEFS) $(CFLAGS_MOD) $(COPT) -Werror=missing-prototypes
+CFLAGS += $(INC) -Werror -Wall -std=gnu11 -nostdlib -fshort-enums $(BASE_CFLAGS) $(C_DEFS) $(CFLAGS_MOD) $(COPT) -Werror=missing-prototypes -Werror=old-style-definition
 
 # TODO: check this
 CFLAGS += -D__START=main -DFOMU
diff --git a/ports/mimxrt10xx/Makefile b/ports/mimxrt10xx/Makefile
index 57a8beb069129..e6928eead619d 100644
--- a/ports/mimxrt10xx/Makefile
+++ b/ports/mimxrt10xx/Makefile
@@ -45,7 +45,7 @@ ifeq ($(DEBUG), 1)
   CFLAGS += -fno-ipa-sra
 endif
 
-CFLAGS += $(INC) -ggdb -Wall -Werror -std=gnu11 -nostdlib -fshort-enums $(BASE_CFLAGS) $(CFLAGS_MOD) $(COPT) -Werror=missing-prototypes
+CFLAGS += $(INC) -ggdb -Wall -Werror -std=gnu11 -nostdlib -fshort-enums $(BASE_CFLAGS) $(CFLAGS_MOD) $(COPT) -Werror=missing-prototypes -Werror=old-style-definition
 
 # TODO: add these when -Werror is applied
 # Disable some warnings, as do most ports. NXP SDK causes undef, tinyusb causes cast-align
diff --git a/ports/mimxrt10xx/boards/teensy40/mpconfigboard.h b/ports/mimxrt10xx/boards/teensy40/mpconfigboard.h
index e7565d64438f6..e6931752e3e58 100644
--- a/ports/mimxrt10xx/boards/teensy40/mpconfigboard.h
+++ b/ports/mimxrt10xx/boards/teensy40/mpconfigboard.h
@@ -25,3 +25,6 @@
 
 #define DEFAULT_UART_BUS_RX (&pin_GPIO_AD_B0_03)
 #define DEFAULT_UART_BUS_TX (&pin_GPIO_AD_B0_02)
+
+#define CIRCUITPY_USB_DEVICE_INSTANCE 0
+#define CIRCUITPY_USB_HOST_INSTANCE 1
diff --git a/ports/mimxrt10xx/boards/teensy40/mpconfigboard.mk b/ports/mimxrt10xx/boards/teensy40/mpconfigboard.mk
index 9cb1e636b6f33..f26f8dbd72b79 100644
--- a/ports/mimxrt10xx/boards/teensy40/mpconfigboard.mk
+++ b/ports/mimxrt10xx/boards/teensy40/mpconfigboard.mk
@@ -7,4 +7,5 @@ CHIP_VARIANT = MIMXRT1062DVJ6A
 CHIP_FAMILY = MIMXRT1062
 FLASH = W25Q16JV
 CIRCUITPY__EVE = 1
+CIRCUITPY_USB_HOST = 1
 CIRCUITPY_SETTABLE_PROCESSOR_FREQUENCY = 1
diff --git a/ports/mimxrt10xx/boards/teensy40/pins.c b/ports/mimxrt10xx/boards/teensy40/pins.c
index 7aacdf95e15ff..dc8b07605b256 100644
--- a/ports/mimxrt10xx/boards/teensy40/pins.c
+++ b/ports/mimxrt10xx/boards/teensy40/pins.c
@@ -120,6 +120,10 @@ static const mp_rom_map_elem_t board_module_globals_table[] = {
     {MP_ROM_QSTR(MP_QSTR_SPI), MP_ROM_PTR(&board_spi_obj)},
     {MP_ROM_QSTR(MP_QSTR_UART), MP_ROM_PTR(&board_uart_obj)},
 
+    // USB Host (pads)
+    {MP_ROM_QSTR(MP_QSTR_USB_HOST_DP), MP_ROM_PTR(&pin_USB_OTG2_DP)},
+    {MP_ROM_QSTR(MP_QSTR_USB_HOST_DM), MP_ROM_PTR(&pin_USB_OTG2_DN)},
+
     // other i2c ports defined
     {MP_OBJ_NEW_QSTR(MP_QSTR_SDA1), MP_ROM_PTR(&pin_GPIO_AD_B1_06)},
     {MP_OBJ_NEW_QSTR(MP_QSTR_SCL1), MP_ROM_PTR(&pin_GPIO_AD_B1_07)},
diff --git a/ports/mimxrt10xx/common-hal/audiobusio/__init__.c b/ports/mimxrt10xx/common-hal/audiobusio/__init__.c
index 196e52dbf0369..f1030bfcd848c 100644
--- a/ports/mimxrt10xx/common-hal/audiobusio/__init__.c
+++ b/ports/mimxrt10xx/common-hal/audiobusio/__init__.c
@@ -439,6 +439,6 @@ void port_i2s_resume(i2s_t *self) {
     self->paused = false;
 }
 
-void i2s_reset() {
+void i2s_reset(void) {
 // this port relies on object finalizers for reset
 }
diff --git a/ports/nordic/Makefile b/ports/nordic/Makefile
index e60b4072a8d48..aa614e097ba3c 100755
--- a/ports/nordic/Makefile
+++ b/ports/nordic/Makefile
@@ -47,7 +47,7 @@ endif
 # option to override compiler optimization level, set in boards/$(BOARD)/mpconfigboard.mk
 CFLAGS += $(OPTIMIZATION_FLAGS)
 
-CFLAGS += $(INC) -Wall -Werror -std=gnu11 -nostdlib -fshort-enums $(BASE_CFLAGS) $(CFLAGS_MOD) $(COPT) -Werror=missing-prototypes
+CFLAGS += $(INC) -Wall -Werror -std=gnu11 -nostdlib -fshort-enums $(BASE_CFLAGS) $(CFLAGS_MOD) $(COPT) -Werror=missing-prototypes -Werror=old-style-definition
 
 # Nordic Softdevice SDK header files contains inline assembler that has
 # broken constraints. As a result the IPA-modref pass, introduced in gcc-11,
diff --git a/ports/nordic/boards/circuitplayground_bluefruit/mpconfigboard.h b/ports/nordic/boards/circuitplayground_bluefruit/mpconfigboard.h
index 91cf68095d27d..d63a9ccd5d8d5 100644
--- a/ports/nordic/boards/circuitplayground_bluefruit/mpconfigboard.h
+++ b/ports/nordic/boards/circuitplayground_bluefruit/mpconfigboard.h
@@ -50,3 +50,7 @@
 #define DEFAULT_UART_BUS_TX         (&pin_P0_14)
 
 #define SPEAKER_ENABLE_PIN          (&pin_P1_04)
+
+// Uncomment to allow debugging over console UART
+// #define CIRCUITPY_CONSOLE_UART_TX (&pin_P0_14)
+// #define CIRCUITPY_CONSOLE_UART_RX (&pin_P0_30)
diff --git a/ports/nordic/common-hal/_bleio/__init__.c b/ports/nordic/common-hal/_bleio/__init__.c
index 095723194cfbf..454937dcd354a 100644
--- a/ports/nordic/common-hal/_bleio/__init__.c
+++ b/ports/nordic/common-hal/_bleio/__init__.c
@@ -80,7 +80,7 @@ void check_sec_status(uint8_t sec_status) {
 void common_hal_bleio_init(void) {
 }
 
-void bleio_user_reset() {
+void bleio_user_reset(void) {
     if (common_hal_bleio_adapter_get_enabled(&common_hal_bleio_adapter_obj)) {
         // Stop any user scanning or advertising.
         common_hal_bleio_adapter_stop_scan(&common_hal_bleio_adapter_obj);
@@ -94,7 +94,7 @@ void bleio_user_reset() {
 }
 
 // Turn off BLE on a reset or reload.
-void bleio_reset() {
+void bleio_reset(void) {
     // Set this explicitly to save data.
     common_hal_bleio_adapter_obj.base.type = &bleio_adapter_type;
     if (!common_hal_bleio_adapter_get_enabled(&common_hal_bleio_adapter_obj)) {
diff --git a/ports/nordic/common-hal/alarm/__init__.h b/ports/nordic/common-hal/alarm/__init__.h
index 91d717ccce273..336447689ff4e 100644
--- a/ports/nordic/common-hal/alarm/__init__.h
+++ b/ports/nordic/common-hal/alarm/__init__.h
@@ -13,7 +13,7 @@
 #include "common-hal/alarm/touch/TouchAlarm.h"
 
 typedef enum {
-    NRF_SLEEP_WAKEUP_UNDEFINED,
+    NRF_SLEEP_WAKEUP_UNDEFINED = 0,
     NRF_SLEEP_WAKEUP_GPIO,
     NRF_SLEEP_WAKEUP_TIMER,
     NRF_SLEEP_WAKEUP_TOUCHPAD,
@@ -33,8 +33,9 @@ extern const alarm_sleep_memory_obj_t alarm_sleep_memory_obj;
 
 enum {
     SLEEPMEM_WAKEUP_BY_NONE  = 0,
-    SLEEPMEM_WAKEUP_BY_PIN   = 1,
-    SLEEPMEM_WAKEUP_BY_TIMER = 2,
+    SLEEPMEM_WAKEUP_BY_PIN,
+    SLEEPMEM_WAKEUP_BY_TIMER,
+    SLEEPMEM_WAKEUP_BY_TOUCH,
 };
 #define WAKEUP_PIN_UNDEF 0xFF
 extern uint8_t sleepmem_wakeup_event;
diff --git a/ports/nordic/common-hal/audiopwmio/PWMAudioOut.c b/ports/nordic/common-hal/audiopwmio/PWMAudioOut.c
index 53be11bcd7485..b48a03e09c601 100644
--- a/ports/nordic/common-hal/audiopwmio/PWMAudioOut.c
+++ b/ports/nordic/common-hal/audiopwmio/PWMAudioOut.c
@@ -136,7 +136,7 @@ static void audiopwmout_background_obj(audiopwmio_pwmaudioout_obj_t *self) {
     }
 }
 
-void audiopwmout_background() {
+void audiopwmout_background(void) {
     // Check the NVIC first because it is part of the CPU and fast to read.
     if (!NVIC_GetPendingIRQ(PWM0_IRQn) &&
         !NVIC_GetPendingIRQ(PWM1_IRQn) &&
diff --git a/ports/nordic/common-hal/microcontroller/__init__.c b/ports/nordic/common-hal/microcontroller/__init__.c
index 38a3b1ee60938..fbb40afe0449d 100644
--- a/ports/nordic/common-hal/microcontroller/__init__.c
+++ b/ports/nordic/common-hal/microcontroller/__init__.c
@@ -35,7 +35,7 @@ void common_hal_mcu_delay_us(uint32_t delay) {
 
 static volatile uint32_t nesting_count = 0;
 static uint8_t is_nested_critical_region;
-void common_hal_mcu_disable_interrupts() {
+void common_hal_mcu_disable_interrupts(void) {
     if (nesting_count == 0) {
         // Unlike __disable_irq(), this should only be called the first time
         // "is_nested_critical_region" is sd's equivalent of our nesting count
@@ -51,7 +51,7 @@ void common_hal_mcu_disable_interrupts() {
     nesting_count++;
 }
 
-void common_hal_mcu_enable_interrupts() {
+void common_hal_mcu_enable_interrupts(void) {
     if (nesting_count == 0) {
         // This is very very bad because it means there was mismatched disable/enables.
         reset_into_safe_mode(SAFE_MODE_INTERRUPT_ERROR);
diff --git a/ports/raspberrypi/Makefile b/ports/raspberrypi/Makefile
index 582c04282734c..6565af79bf3e1 100644
--- a/ports/raspberrypi/Makefile
+++ b/ports/raspberrypi/Makefile
@@ -223,7 +223,7 @@ endif
 
 DISABLE_WARNINGS = -Wno-cast-align
 
-CFLAGS += $(INC) -Wtype-limits -Wall -Werror -std=gnu11 -fshort-enums $(BASE_CFLAGS) $(CFLAGS_MOD) $(COPT) $(DISABLE_WARNINGS) -Werror=missing-prototypes
+CFLAGS += $(INC) -Wtype-limits -Wall -Werror -std=gnu11 -fshort-enums $(BASE_CFLAGS) $(CFLAGS_MOD) $(COPT) $(DISABLE_WARNINGS) -Werror=missing-prototypes -Wold-style-definition
 
 PICO_LDFLAGS = --specs=nosys.specs --specs=nano.specs
 
@@ -562,12 +562,15 @@ SRC_C += \
 	common-hal/picodvi/Framebuffer_$(CHIP_VARIANT).c \
 
 ifeq ($(CHIP_VARIANT),RP2040)
-SRC_C += \
+SRC_PICODVI := \
 	lib/PicoDVI/software/libdvi/dvi.c \
 	lib/PicoDVI/software/libdvi/dvi_serialiser.c \
 	lib/PicoDVI/software/libdvi/dvi_timing.c \
 	lib/PicoDVI/software/libdvi/tmds_encode.c \
 
+SRC_C += $(SRC_PICODVI)
+$(patsubst %.c,$(BUILD)/%.o,$(SRC_PICODVI))): CFLAGS += -Wno-old-style-definition
+
 endif
 
 endif
diff --git a/ports/raspberrypi/bindings/cyw43/__init__.c b/ports/raspberrypi/bindings/cyw43/__init__.c
index a699a5e91ebba..93755d6ce1e04 100644
--- a/ports/raspberrypi/bindings/cyw43/__init__.c
+++ b/ports/raspberrypi/bindings/cyw43/__init__.c
@@ -43,7 +43,7 @@ MP_DEFINE_CONST_OBJ_TYPE(
     print, shared_bindings_microcontroller_pin_print
     );
 
-uint32_t cyw43_get_power_management_value() {
+uint32_t cyw43_get_power_management_value(void) {
     return power_management_value;
 }
 
@@ -103,7 +103,7 @@ static MP_DEFINE_CONST_FUN_OBJ_1(cyw43_set_power_management_obj, cyw43_set_power
 //|     """Retrieve the power management register"""
 //|
 //|
-static mp_obj_t cyw43_get_power_management() {
+static mp_obj_t cyw43_get_power_management(void) {
     return mp_obj_new_int(power_management_value);
 }
 static MP_DEFINE_CONST_FUN_OBJ_0(cyw43_get_power_management_obj, cyw43_get_power_management);
diff --git a/ports/raspberrypi/boards/42keebs_frood/pins.c b/ports/raspberrypi/boards/42keebs_frood/pins.c
index 4543625051869..2e7ac22475b22 100644
--- a/ports/raspberrypi/boards/42keebs_frood/pins.c
+++ b/ports/raspberrypi/boards/42keebs_frood/pins.c
@@ -49,6 +49,9 @@ static const mp_rom_map_elem_t board_module_globals_table[] = {
     { MP_ROM_QSTR(MP_QSTR_D15), MP_ROM_PTR(&pin_GPIO15) },
     { MP_ROM_QSTR(MP_QSTR_D16), MP_ROM_PTR(&pin_GPIO16) },
 
+    { MP_ROM_QSTR(MP_QSTR_D10), MP_ROM_PTR(&pin_GPIO10) },
+    { MP_ROM_QSTR(MP_QSTR_D11), MP_ROM_PTR(&pin_GPIO11) },
+
     { MP_ROM_QSTR(MP_QSTR_LED), MP_ROM_PTR(&pin_GPIO17) },
     { MP_ROM_QSTR(MP_QSTR_D17), MP_ROM_PTR(&pin_GPIO17) },
     { MP_ROM_QSTR(MP_QSTR_VBUS_SENSE), MP_ROM_PTR(&pin_GPIO19) },
diff --git a/ports/raspberrypi/boards/bradanlanestudio_explorer_rp2040/board.c b/ports/raspberrypi/boards/bradanlanestudio_explorer_rp2040/board.c
index a20b16473174c..19e18bd544bee 100644
--- a/ports/raspberrypi/boards/bradanlanestudio_explorer_rp2040/board.c
+++ b/ports/raspberrypi/boards/bradanlanestudio_explorer_rp2040/board.c
@@ -281,6 +281,7 @@ void board_init(void) {
             true,                                                                                           // always_toggle_chip_select
             false,                                                                                          // not grayscale
             false,                                                                                          // not acep
+            false,                                                                                          // not spectra6
             false,                                                                                          // not two_byte_sequence_length
             true);                                                                                          // address_little_endian
     } else if (vid_setting == 2) {  // Explorer SSD1608 BW
@@ -314,6 +315,7 @@ void board_init(void) {
             true,                                                                                           // always_toggle_chip_select
             false,                                                                                          // not grayscale
             false,                                                                                          // not acep
+            false,                                                                                          // not spectra6
             false,                                                                                          // not two_byte_sequence_length
             true);                                                                                          // address_little_endian
     } else {
diff --git a/ports/raspberrypi/boards/orpheus_pico/board.c b/ports/raspberrypi/boards/orpheus_pico/board.c
new file mode 100644
index 0000000000000..e6a868ab21226
--- /dev/null
+++ b/ports/raspberrypi/boards/orpheus_pico/board.c
@@ -0,0 +1,9 @@
+// This file is part of the CircuitPython project: https://circuitpython.org
+//
+// SPDX-FileCopyrightText: Copyright (c) 2021 Scott Shawcroft for Adafruit Industries
+//
+// SPDX-License-Identifier: MIT
+
+#include "supervisor/board.h"
+
+// Use the MP_WEAK supervisor/shared/board.c versions of routines not defined here.
diff --git a/ports/raspberrypi/boards/orpheus_pico/mpconfigboard.h b/ports/raspberrypi/boards/orpheus_pico/mpconfigboard.h
new file mode 100644
index 0000000000000..8c6269771fdfc
--- /dev/null
+++ b/ports/raspberrypi/boards/orpheus_pico/mpconfigboard.h
@@ -0,0 +1,13 @@
+// This file is part of the CircuitPython project: https://circuitpython.org
+//
+// SPDX-FileCopyrightText: Copyright (c) 2021 Scott Shawcroft for Adafruit Industries
+//
+// SPDX-License-Identifier: MIT
+
+#pragma once
+
+#define MICROPY_HW_BOARD_NAME "Orpheus Pico"
+#define MICROPY_HW_MCU_NAME "rp2040"
+
+#define MICROPY_HW_NEOPIXEL (&pin_GPIO25)
+#define MICROPY_HW_LED_STATUS (&pin_GPIO23)
diff --git a/ports/raspberrypi/boards/orpheus_pico/mpconfigboard.mk b/ports/raspberrypi/boards/orpheus_pico/mpconfigboard.mk
new file mode 100644
index 0000000000000..9b570211c8f77
--- /dev/null
+++ b/ports/raspberrypi/boards/orpheus_pico/mpconfigboard.mk
@@ -0,0 +1,11 @@
+USB_VID = 0x2E8A
+USB_PID = 0x10D0
+USB_PRODUCT = "Orpheus Pico"
+USB_MANUFACTURER = "Hack Club"
+
+CHIP_VARIANT = RP2040
+CHIP_FAMILY = rp2
+
+EXTERNAL_FLASH_DEVICES = "W25Q64JVxQ"
+
+CIRCUITPY__EVE = 1
diff --git a/ports/raspberrypi/boards/orpheus_pico/pico-sdk-configboard.h b/ports/raspberrypi/boards/orpheus_pico/pico-sdk-configboard.h
new file mode 100644
index 0000000000000..110195b779498
--- /dev/null
+++ b/ports/raspberrypi/boards/orpheus_pico/pico-sdk-configboard.h
@@ -0,0 +1,9 @@
+// This file is part of the CircuitPython project: https://circuitpython.org
+//
+// SPDX-FileCopyrightText: Copyright (c) 2021 Scott Shawcroft for Adafruit Industries
+//
+// SPDX-License-Identifier: MIT
+
+#pragma once
+
+// Put board-specific pico-sdk definitions here. This file must exist.
diff --git a/ports/raspberrypi/boards/orpheus_pico/pins.c b/ports/raspberrypi/boards/orpheus_pico/pins.c
new file mode 100644
index 0000000000000..24d656c18c9e0
--- /dev/null
+++ b/ports/raspberrypi/boards/orpheus_pico/pins.c
@@ -0,0 +1,57 @@
+// This file is part of the CircuitPython project: https://circuitpython.org
+//
+// SPDX-FileCopyrightText: Copyright (c) 2021 Scott Shawcroft for Adafruit Industries
+//
+// SPDX-License-Identifier: MIT
+
+#include "shared-bindings/board/__init__.h"
+
+static const mp_rom_map_elem_t board_module_globals_table[] = {
+    CIRCUITPYTHON_BOARD_DICT_STANDARD_ITEMS
+
+    { MP_ROM_QSTR(MP_QSTR_GP0), MP_ROM_PTR(&pin_GPIO0) },
+    { MP_ROM_QSTR(MP_QSTR_GP1), MP_ROM_PTR(&pin_GPIO1) },
+    { MP_ROM_QSTR(MP_QSTR_GP2), MP_ROM_PTR(&pin_GPIO2) },
+    { MP_ROM_QSTR(MP_QSTR_GP3), MP_ROM_PTR(&pin_GPIO3) },
+    { MP_ROM_QSTR(MP_QSTR_GP4), MP_ROM_PTR(&pin_GPIO4) },
+    { MP_ROM_QSTR(MP_QSTR_GP5), MP_ROM_PTR(&pin_GPIO5) },
+    { MP_ROM_QSTR(MP_QSTR_GP6), MP_ROM_PTR(&pin_GPIO6) },
+    { MP_ROM_QSTR(MP_QSTR_GP7), MP_ROM_PTR(&pin_GPIO7) },
+    { MP_ROM_QSTR(MP_QSTR_GP8), MP_ROM_PTR(&pin_GPIO8) },
+    { MP_ROM_QSTR(MP_QSTR_GP9), MP_ROM_PTR(&pin_GPIO9) },
+    { MP_ROM_QSTR(MP_QSTR_GP10), MP_ROM_PTR(&pin_GPIO10) },
+    { MP_ROM_QSTR(MP_QSTR_GP11), MP_ROM_PTR(&pin_GPIO11) },
+    { MP_ROM_QSTR(MP_QSTR_GP12), MP_ROM_PTR(&pin_GPIO12) },
+    { MP_ROM_QSTR(MP_QSTR_GP13), MP_ROM_PTR(&pin_GPIO13) },
+    { MP_ROM_QSTR(MP_QSTR_GP14), MP_ROM_PTR(&pin_GPIO14) },
+    { MP_ROM_QSTR(MP_QSTR_GP15), MP_ROM_PTR(&pin_GPIO15) },
+    { MP_ROM_QSTR(MP_QSTR_GP16), MP_ROM_PTR(&pin_GPIO16) },
+    { MP_ROM_QSTR(MP_QSTR_GP17), MP_ROM_PTR(&pin_GPIO17) },
+    { MP_ROM_QSTR(MP_QSTR_GP18), MP_ROM_PTR(&pin_GPIO18) },
+    { MP_ROM_QSTR(MP_QSTR_GP19), MP_ROM_PTR(&pin_GPIO19) },
+    { MP_ROM_QSTR(MP_QSTR_GP20), MP_ROM_PTR(&pin_GPIO20) },
+    { MP_ROM_QSTR(MP_QSTR_GP21), MP_ROM_PTR(&pin_GPIO21) },
+    { MP_ROM_QSTR(MP_QSTR_GP22), MP_ROM_PTR(&pin_GPIO22) },
+
+    { MP_ROM_QSTR(MP_QSTR_LED), MP_ROM_PTR(&pin_GPIO23) },
+    { MP_ROM_QSTR(MP_QSTR_GP23), MP_ROM_PTR(&pin_GPIO23) },
+
+    { MP_ROM_QSTR(MP_QSTR_NEOPIXEL), MP_ROM_PTR(&pin_GPIO24) },
+    { MP_ROM_QSTR(MP_QSTR_GP24), MP_ROM_PTR(&pin_GPIO24) },
+
+    { MP_ROM_QSTR(MP_QSTR_BUTTON), MP_ROM_PTR(&pin_GPIO25) },
+    { MP_ROM_QSTR(MP_QSTR_GP25), MP_ROM_PTR(&pin_GPIO25) },
+
+    { MP_ROM_QSTR(MP_QSTR_GP26_A0), MP_ROM_PTR(&pin_GPIO26) },
+    { MP_ROM_QSTR(MP_QSTR_GP26), MP_ROM_PTR(&pin_GPIO26) },
+    { MP_ROM_QSTR(MP_QSTR_A0), MP_ROM_PTR(&pin_GPIO26) },
+
+    { MP_ROM_QSTR(MP_QSTR_GP27_A1), MP_ROM_PTR(&pin_GPIO27) },
+    { MP_ROM_QSTR(MP_QSTR_GP27), MP_ROM_PTR(&pin_GPIO27) },
+    { MP_ROM_QSTR(MP_QSTR_A1), MP_ROM_PTR(&pin_GPIO27) },
+
+    { MP_ROM_QSTR(MP_QSTR_GP28_A2), MP_ROM_PTR(&pin_GPIO28) },
+    { MP_ROM_QSTR(MP_QSTR_GP28), MP_ROM_PTR(&pin_GPIO28) },
+    { MP_ROM_QSTR(MP_QSTR_A2), MP_ROM_PTR(&pin_GPIO28) },
+};
+MP_DEFINE_CONST_DICT(board_module_globals, board_module_globals_table);
diff --git a/ports/raspberrypi/boards/pimoroni_badger2040/board.c b/ports/raspberrypi/boards/pimoroni_badger2040/board.c
index 457bff33b4433..5950d11da8a11 100644
--- a/ports/raspberrypi/boards/pimoroni_badger2040/board.c
+++ b/ports/raspberrypi/boards/pimoroni_badger2040/board.c
@@ -303,6 +303,7 @@ void board_init(void) {
         false,  // always_toggle_chip_select
         false, // grayscale
         false, // acep
+        false, // spectra6
         false,  // two_byte_sequence_length
         false); // address_little_endian
 }
diff --git a/ports/raspberrypi/boards/pimoroni_badger2040w/board.c b/ports/raspberrypi/boards/pimoroni_badger2040w/board.c
index 30c05273b9478..7dc11af01eca3 100644
--- a/ports/raspberrypi/boards/pimoroni_badger2040w/board.c
+++ b/ports/raspberrypi/boards/pimoroni_badger2040w/board.c
@@ -303,6 +303,7 @@ void board_init(void) {
         false,  // always_toggle_chip_select
         false, // grayscale
         false, // acep
+        false, // spectra6
         false,  // two_byte_sequence_length
         false); // address_little_endian
 }
diff --git a/ports/raspberrypi/boards/pimoroni_inky_frame_5_7/board.c b/ports/raspberrypi/boards/pimoroni_inky_frame_5_7/board.c
index 650d307711e8e..7969143ec6621 100644
--- a/ports/raspberrypi/boards/pimoroni_inky_frame_5_7/board.c
+++ b/ports/raspberrypi/boards/pimoroni_inky_frame_5_7/board.c
@@ -97,6 +97,7 @@ void board_init(void) {
         false,  // always_toggle_chip_select
         false, // grayscale
         true, // acep
+        false, // spectra6
         false,  // two_byte_sequence_length
         false); // address_little_endian
 }
diff --git a/ports/raspberrypi/boards/pimoroni_inky_frame_5_7/mpconfigboard.h b/ports/raspberrypi/boards/pimoroni_inky_frame_5_7/mpconfigboard.h
index d2547cc161568..a8c404c422501 100644
--- a/ports/raspberrypi/boards/pimoroni_inky_frame_5_7/mpconfigboard.h
+++ b/ports/raspberrypi/boards/pimoroni_inky_frame_5_7/mpconfigboard.h
@@ -14,8 +14,8 @@
 
 #define MICROPY_HW_LED_STATUS   (&pin_GPIO6)
 
-#define DEFAULT_I2C_BUS_SCL (&pin_GPIO4)
-#define DEFAULT_I2C_BUS_SDA (&pin_GPIO5)
+#define DEFAULT_I2C_BUS_SDA (&pin_GPIO4)
+#define DEFAULT_I2C_BUS_SCL (&pin_GPIO5)
 
 #define DEFAULT_UART_BUS_TX (&pin_GPIO0)
 #define DEFAULT_UART_BUS_RX (&pin_GPIO1)
diff --git a/ports/raspberrypi/boards/pimoroni_inky_frame_7_3/board.c b/ports/raspberrypi/boards/pimoroni_inky_frame_7_3/board.c
index a24c91e546da9..7c71e03b4281d 100644
--- a/ports/raspberrypi/boards/pimoroni_inky_frame_7_3/board.c
+++ b/ports/raspberrypi/boards/pimoroni_inky_frame_7_3/board.c
@@ -156,6 +156,7 @@ void board_init(void) {
         false,  // always_toggle_chip_select
         false, // grayscale
         true, // acep
+        false, // spectra6
         false,  // two_byte_sequence_length
         false); // address_little_endian
 }
diff --git a/ports/raspberrypi/boards/pimoroni_inky_frame_7_3/mpconfigboard.h b/ports/raspberrypi/boards/pimoroni_inky_frame_7_3/mpconfigboard.h
index 42cb1196a5475..32477b12c299f 100644
--- a/ports/raspberrypi/boards/pimoroni_inky_frame_7_3/mpconfigboard.h
+++ b/ports/raspberrypi/boards/pimoroni_inky_frame_7_3/mpconfigboard.h
@@ -14,8 +14,8 @@
 
 #define MICROPY_HW_LED_STATUS   (&pin_GPIO6)
 
-#define DEFAULT_I2C_BUS_SCL (&pin_GPIO4)
-#define DEFAULT_I2C_BUS_SDA (&pin_GPIO5)
+#define DEFAULT_I2C_BUS_SDA (&pin_GPIO4)
+#define DEFAULT_I2C_BUS_SCL (&pin_GPIO5)
 
 #define DEFAULT_UART_BUS_TX (&pin_GPIO0)
 #define DEFAULT_UART_BUS_RX (&pin_GPIO1)
diff --git a/ports/raspberrypi/common-hal/alarm/pin/PinAlarm.c b/ports/raspberrypi/common-hal/alarm/pin/PinAlarm.c
index ecebb072775ed..350306390eefb 100644
--- a/ports/raspberrypi/common-hal/alarm/pin/PinAlarm.c
+++ b/ports/raspberrypi/common-hal/alarm/pin/PinAlarm.c
@@ -39,7 +39,7 @@ static void gpio_callback(uint gpio, uint32_t events) {
     }
 }
 
-void alarm_pin_pinalarm_entering_deep_sleep() {
+void alarm_pin_pinalarm_entering_deep_sleep(void) {
     _not_yet_deep_sleeping = false;
 }
 
diff --git a/ports/raspberrypi/supervisor/port.c b/ports/raspberrypi/supervisor/port.c
index f5bc67332af4b..4be42380491cb 100644
--- a/ports/raspberrypi/supervisor/port.c
+++ b/ports/raspberrypi/supervisor/port.c
@@ -584,7 +584,7 @@ __attribute__((used)) void __not_in_flash_func(isr_hardfault)(void) {
     }
 }
 
-void port_yield() {
+void port_yield(void) {
     #if CIRCUITPY_CYW43
     cyw43_arch_poll();
     #endif
diff --git a/ports/renode/Makefile b/ports/renode/Makefile
index 22e32f9d2fb6e..92541c03e77b9 100644
--- a/ports/renode/Makefile
+++ b/ports/renode/Makefile
@@ -21,7 +21,7 @@ INC += \
 CFLAGS += -ggdb3 -Os
 
 DISABLE_WARNINGS = -Wno-cast-align
-CFLAGS += $(INC) -Wall -Werror -std=gnu11 -fshort-enums $(BASE_CFLAGS) $(CFLAGS_MOD) $(COPT) $(DISABLE_WARNINGS) -Werror=missing-prototypes
+CFLAGS += $(INC) -Wall -Werror -std=gnu11 -fshort-enums $(BASE_CFLAGS) $(CFLAGS_MOD) $(COPT) $(DISABLE_WARNINGS) -Werror=missing-prototypes -Werror=old-style-definition
 
 CFLAGS += \
 	-march=armv6-m \
diff --git a/ports/renode/supervisor/port.c b/ports/renode/supervisor/port.c
index dae32b7bb8f2d..d12ebd2efddb9 100644
--- a/ports/renode/supervisor/port.c
+++ b/ports/renode/supervisor/port.c
@@ -210,7 +210,7 @@ __attribute__((used)) void HardFault_Handler(void) {
     }
 }
 
-void port_yield() {
+void port_yield(void) {
 }
 
 void port_boot_info(void) {
diff --git a/ports/silabs/boards/devkit_xg24_brd2601b/sensor.c b/ports/silabs/boards/devkit_xg24_brd2601b/sensor.c
index aaf698a6cb27f..1c991a4caafc7 100644
--- a/ports/silabs/boards/devkit_xg24_brd2601b/sensor.c
+++ b/ports/silabs/boards/devkit_xg24_brd2601b/sensor.c
@@ -75,7 +75,7 @@ static mp_obj_t sensor_init(mp_obj_t i2c_in) {
     return mp_const_true;
 }
 
-static mp_obj_t sensor_deinit() {
+static mp_obj_t sensor_deinit(void) {
 
     sl_sensor_hall_deinit();
     sl_sensor_lux_deinit();
diff --git a/ports/silabs/common-hal/_bleio/CharacteristicBuffer.c b/ports/silabs/common-hal/_bleio/CharacteristicBuffer.c
index d6a64db3a2e95..d08fa765c4f71 100644
--- a/ports/silabs/common-hal/_bleio/CharacteristicBuffer.c
+++ b/ports/silabs/common-hal/_bleio/CharacteristicBuffer.c
@@ -156,7 +156,7 @@ bool common_hal_bleio_characteristic_buffer_connected(
                    common_hal_bleio_connection_get_connected(self->characteristic->service->connection)));
 }
 
-void reset_characteristic_buffer_list() {
+void reset_characteristic_buffer_list(void) {
     // Remove characteristic_buffer list
     memset(bleio_characteristic_buffer_list.data, 0,
         sizeof(bleio_characteristic_buffer_list.data));
diff --git a/ports/silabs/common-hal/_bleio/PacketBuffer.c b/ports/silabs/common-hal/_bleio/PacketBuffer.c
index 1d2b140f7efef..dec833fe62f85 100644
--- a/ports/silabs/common-hal/_bleio/PacketBuffer.c
+++ b/ports/silabs/common-hal/_bleio/PacketBuffer.c
@@ -391,7 +391,7 @@ void common_hal_bleio_packet_buffer_deinit(bleio_packet_buffer_obj_t *self) {
 }
 
 // Remove packet_buffer list when reload
-void reset_packet_buffer_list() {
+void reset_packet_buffer_list(void) {
     // Remove packet_buffer list
     memset(bleio_packet_buffer_list.data, 0,
         sizeof(bleio_packet_buffer_list.data));
diff --git a/ports/silabs/common-hal/_bleio/Service.c b/ports/silabs/common-hal/_bleio/Service.c
index 694841e66284f..abc8ffe74edff 100644
--- a/ports/silabs/common-hal/_bleio/Service.c
+++ b/ports/silabs/common-hal/_bleio/Service.c
@@ -230,7 +230,7 @@ void common_hal_bleio_service_add_characteristic(bleio_service_obj_t *self,
 }
 
 // Remove dynamic service when reload
-void reset_dynamic_service() {
+void reset_dynamic_service(void) {
 
     uint16_t gattdb_session;
     uint8_t svc_index;
diff --git a/ports/silabs/common-hal/_bleio/__init__.c b/ports/silabs/common-hal/_bleio/__init__.c
index a9ad7b32c36ba..c6ae8a0b606c8 100644
--- a/ports/silabs/common-hal/_bleio/__init__.c
+++ b/ports/silabs/common-hal/_bleio/__init__.c
@@ -54,7 +54,7 @@ const osMutexAttr_t bluetooth_connection_mutex_attr = {
 void common_hal_bleio_init(void) {
 }
 
-void bleio_user_reset() {
+void bleio_user_reset(void) {
     // Stop any user scanning or advertising.
     common_hal_bleio_adapter_stop_scan(&common_hal_bleio_adapter_obj);
     common_hal_bleio_adapter_stop_advertising(&common_hal_bleio_adapter_obj);
@@ -63,7 +63,7 @@ void bleio_user_reset() {
     supervisor_bluetooth_background();
 }
 
-void bleio_reset() {
+void bleio_reset(void) {
     reset_dynamic_service();
     reset_packet_buffer_list();
     reset_characteristic_buffer_list();
diff --git a/ports/stm/Makefile b/ports/stm/Makefile
index baea6893a33d9..9db283767e0ec 100755
--- a/ports/stm/Makefile
+++ b/ports/stm/Makefile
@@ -51,7 +51,7 @@ CFLAGS += -ftree-vrp
 # STM32 MCU series must be defined. See supervisor/linker.h
 C_DEFS = -D$(MCU_PACKAGE) -DUSE_HAL_DRIVER -DUSE_FULL_LL_DRIVER -D$(MCU_VARIANT) -DSTM32$(MCU_SERIES)
 
-CFLAGS += $(INC) -Werror -Wall -std=gnu11 -fshort-enums $(BASE_CFLAGS) $(C_DEFS) $(CFLAGS_MOD) $(COPT) -nostdlib -nostartfiles
+CFLAGS += $(INC) -Werror -Wall -std=gnu11 -fshort-enums $(BASE_CFLAGS) $(C_DEFS) $(CFLAGS_MOD) $(COPT) -nostdlib -nostartfiles -Werror=old-style-definition
 
 # Undo some warnings.
 # STM32 HAL uses undefined preprocessor variables, shadowed variables, casts that change alignment reqs
diff --git a/ports/stm/common-hal/sdioio/SDCard.c b/ports/stm/common-hal/sdioio/SDCard.c
index a5c8b0404a0fb..92e552c2e8984 100644
--- a/ports/stm/common-hal/sdioio/SDCard.c
+++ b/ports/stm/common-hal/sdioio/SDCard.c
@@ -338,7 +338,7 @@ void common_hal_sdioio_sdcard_never_reset(sdioio_sdcard_obj_t *self) {
     }
 }
 
-void sdioio_reset() {
+void sdioio_reset(void) {
     for (size_t i = 0; i < MP_ARRAY_SIZE(reserved_sdio); i++) {
         if (!never_reset_sdio[i]) {
             reserved_sdio[i] = false;
diff --git a/ports/stm/supervisor/port.c b/ports/stm/supervisor/port.c
index 4aa8c044122ce..c5a1685a7fddc 100644
--- a/ports/stm/supervisor/port.c
+++ b/ports/stm/supervisor/port.c
@@ -285,7 +285,7 @@ void HAL_Delay(uint32_t delay_ms) {
     }
 }
 
-uint32_t HAL_GetTick() {
+uint32_t HAL_GetTick(void) {
     if (SysTick->CTRL != 0) {
         return systick_ms;
     } else {
diff --git a/ports/zephyr-cp/boards/nordic/nrf5340dk/autogen_board_info.toml b/ports/zephyr-cp/boards/nordic/nrf5340dk/autogen_board_info.toml
index aecccebb9c850..222a325e346b6 100644
--- a/ports/zephyr-cp/boards/nordic/nrf5340dk/autogen_board_info.toml
+++ b/ports/zephyr-cp/boards/nordic/nrf5340dk/autogen_board_info.toml
@@ -78,6 +78,7 @@ pwmio = false
 qrio = false
 rainbowio = false
 random = true
+rclcpy = false
 rgbmatrix = false
 rotaryio = false
 rtc = false
diff --git a/ports/zephyr-cp/boards/nordic/nrf54l15dk/autogen_board_info.toml b/ports/zephyr-cp/boards/nordic/nrf54l15dk/autogen_board_info.toml
index 27e4f35f22366..41631c3d6c02c 100644
--- a/ports/zephyr-cp/boards/nordic/nrf54l15dk/autogen_board_info.toml
+++ b/ports/zephyr-cp/boards/nordic/nrf54l15dk/autogen_board_info.toml
@@ -78,6 +78,7 @@ pwmio = false
 qrio = false
 rainbowio = false
 random = true
+rclcpy = false
 rgbmatrix = false
 rotaryio = false
 rtc = false
diff --git a/ports/zephyr-cp/boards/nordic/nrf7002dk/autogen_board_info.toml b/ports/zephyr-cp/boards/nordic/nrf7002dk/autogen_board_info.toml
index 35e3791507023..ea009aa36e1ca 100644
--- a/ports/zephyr-cp/boards/nordic/nrf7002dk/autogen_board_info.toml
+++ b/ports/zephyr-cp/boards/nordic/nrf7002dk/autogen_board_info.toml
@@ -78,6 +78,7 @@ pwmio = false
 qrio = false
 rainbowio = false
 random = true
+rclcpy = false
 rgbmatrix = false
 rotaryio = false
 rtc = false
diff --git a/ports/zephyr-cp/boards/renesas/ek_ra6m5/autogen_board_info.toml b/ports/zephyr-cp/boards/renesas/ek_ra6m5/autogen_board_info.toml
index 4f4ee95bd0296..a96d1bad1d2a6 100644
--- a/ports/zephyr-cp/boards/renesas/ek_ra6m5/autogen_board_info.toml
+++ b/ports/zephyr-cp/boards/renesas/ek_ra6m5/autogen_board_info.toml
@@ -78,6 +78,7 @@ pwmio = false
 qrio = false
 rainbowio = false
 random = true
+rclcpy = false
 rgbmatrix = false
 rotaryio = false
 rtc = false
diff --git a/ports/zephyr-cp/boards/renesas/ek_ra8d1/autogen_board_info.toml b/ports/zephyr-cp/boards/renesas/ek_ra8d1/autogen_board_info.toml
index 90bb28c341ef6..e4946decb190b 100644
--- a/ports/zephyr-cp/boards/renesas/ek_ra8d1/autogen_board_info.toml
+++ b/ports/zephyr-cp/boards/renesas/ek_ra8d1/autogen_board_info.toml
@@ -78,6 +78,7 @@ pwmio = false
 qrio = false
 rainbowio = false
 random = true
+rclcpy = false
 rgbmatrix = false
 rotaryio = false
 rtc = false
diff --git a/ports/zephyr-cp/boards/st/nucleo_u575zi_q/autogen_board_info.toml b/ports/zephyr-cp/boards/st/nucleo_u575zi_q/autogen_board_info.toml
index c6fa66037a9ac..7519d8817687b 100644
--- a/ports/zephyr-cp/boards/st/nucleo_u575zi_q/autogen_board_info.toml
+++ b/ports/zephyr-cp/boards/st/nucleo_u575zi_q/autogen_board_info.toml
@@ -78,6 +78,7 @@ pwmio = false
 qrio = false
 rainbowio = false
 random = true
+rclcpy = false
 rgbmatrix = false
 rotaryio = false
 rtc = false
diff --git a/ports/zephyr-cp/boards/st/stm32h7b3i_dk/autogen_board_info.toml b/ports/zephyr-cp/boards/st/stm32h7b3i_dk/autogen_board_info.toml
index 9e117262b3f91..e029020982d20 100644
--- a/ports/zephyr-cp/boards/st/stm32h7b3i_dk/autogen_board_info.toml
+++ b/ports/zephyr-cp/boards/st/stm32h7b3i_dk/autogen_board_info.toml
@@ -78,6 +78,7 @@ pwmio = false
 qrio = false
 rainbowio = false
 random = true
+rclcpy = false
 rgbmatrix = false
 rotaryio = false
 rtc = false
diff --git a/py/circuitpy_defns.mk b/py/circuitpy_defns.mk
index f73d52a6c4b12..d6569bc39bd8e 100644
--- a/py/circuitpy_defns.mk
+++ b/py/circuitpy_defns.mk
@@ -201,6 +201,9 @@ endif
 ifeq ($(CIRCUITPY_DISPLAYIO),1)
 SRC_PATTERNS += displayio/%
 endif
+ifeq ($(CIRCUITPY_DUALBANK),1)
+SRC_PATTERNS += dualbank/%
+endif
 ifeq ($(CIRCUITPY__EVE),1)
 SRC_PATTERNS += _eve/%
 endif
@@ -279,6 +282,9 @@ endif
 ifeq ($(CIRCUITPY_MAX3421E),1)
 SRC_PATTERNS += max3421e/%
 endif
+ifeq ($(CIRCUITPY_MDNS),1)
+SRC_PATTERNS += mdns/%
+endif
 ifeq ($(CIRCUITPY_MEMORYMAP),1)
 SRC_PATTERNS += memorymap/%
 endif
@@ -288,9 +294,6 @@ endif
 ifeq ($(CIRCUITPY_MICROCONTROLLER),1)
 SRC_PATTERNS += microcontroller/%
 endif
-ifeq ($(CIRCUITPY_MDNS),1)
-SRC_PATTERNS += mdns/%
-endif
 ifeq ($(CIRCUITPY_MSGPACK),1)
 SRC_PATTERNS += msgpack/%
 endif
@@ -306,9 +309,6 @@ endif
 ifeq ($(CIRCUITPY_OS),1)
 SRC_PATTERNS += os/%
 endif
-ifeq ($(CIRCUITPY_DUALBANK),1)
-SRC_PATTERNS += dualbank/%
-endif
 ifeq ($(CIRCUITPY_PARALLELDISPLAYBUS),1)
 SRC_PATTERNS += paralleldisplaybus/%
 endif
@@ -342,6 +342,9 @@ endif
 ifeq ($(CIRCUITPY_RANDOM),1)
 SRC_PATTERNS += random/%
 endif
+ifeq ($(CIRCUITPY_RCLCPY),1)
+SRC_PATTERNS += rclcpy/%
+endif
 ifeq ($(CIRCUITPY_RGBMATRIX),1)
 SRC_PATTERNS += rgbmatrix/%
 endif
@@ -540,6 +543,9 @@ SRC_COMMON_HAL_ALL = \
 	pulseio/__init__.c \
 	pwmio/PWMOut.c \
 	pwmio/__init__.c \
+	rclcpy/__init__.c \
+	rclcpy/Node.c \
+	rclcpy/Publisher.c \
 	rgbmatrix/RGBMatrix.c \
 	rgbmatrix/__init__.c \
 	rotaryio/IncrementalEncoder.c \
diff --git a/py/circuitpy_mpconfig.h b/py/circuitpy_mpconfig.h
index d6658867b7d1d..bc894e98606eb 100644
--- a/py/circuitpy_mpconfig.h
+++ b/py/circuitpy_mpconfig.h
@@ -639,7 +639,7 @@ void background_callback_run_all(void);
 #define MICROPY_PY_BUILTINS_COMPILE (1)
 
 #ifndef CIRCUITPY_MIN_GCC_VERSION
-#define CIRCUITPY_MIN_GCC_VERSION 13
+#define CIRCUITPY_MIN_GCC_VERSION 14
 #endif
 
 #ifndef CIRCUITPY_SAVES_PARTITION_SIZE
diff --git a/py/circuitpy_mpconfig.mk b/py/circuitpy_mpconfig.mk
index b081e0f52dbde..2009c4e177da6 100644
--- a/py/circuitpy_mpconfig.mk
+++ b/py/circuitpy_mpconfig.mk
@@ -379,6 +379,9 @@ CFLAGS += -DCIRCUITPY_MATH=$(CIRCUITPY_MATH)
 CIRCUITPY_MAX3421E ?= 0
 CFLAGS += -DCIRCUITPY_MAX3421E=$(CIRCUITPY_MAX3421E)
 
+CIRCUITPY_MDNS ?= $(CIRCUITPY_WIFI)
+CFLAGS += -DCIRCUITPY_MDNS=$(CIRCUITPY_MDNS)
+
 CIRCUITPY_MEMORYMAP ?= 0
 CFLAGS += -DCIRCUITPY_MEMORYMAP=$(CIRCUITPY_MEMORYMAP)
 
@@ -388,9 +391,6 @@ CFLAGS += -DCIRCUITPY_MEMORYMONITOR=$(CIRCUITPY_MEMORYMONITOR)
 CIRCUITPY_MICROCONTROLLER ?= 1
 CFLAGS += -DCIRCUITPY_MICROCONTROLLER=$(CIRCUITPY_MICROCONTROLLER)
 
-CIRCUITPY_MDNS ?= $(CIRCUITPY_WIFI)
-CFLAGS += -DCIRCUITPY_MDNS=$(CIRCUITPY_MDNS)
-
 CIRCUITPY_MSGPACK ?= $(CIRCUITPY_FULL_BUILD)
 CFLAGS += -DCIRCUITPY_MSGPACK=$(CIRCUITPY_MSGPACK)
 
@@ -454,6 +454,9 @@ CFLAGS += -DCIRCUITPY_RAINBOWIO=$(CIRCUITPY_RAINBOWIO)
 CIRCUITPY_RANDOM ?= 1
 CFLAGS += -DCIRCUITPY_RANDOM=$(CIRCUITPY_RANDOM)
 
+CIRCUITPY_RCLCPY ?= 0
+CFLAGS += -DCIRCUITPY_RCLCPY=$(CIRCUITPY_RCLCPY)
+
 CIRCUITPY_RE ?= $(CIRCUITPY_FULL_BUILD)
 CFLAGS += -DCIRCUITPY_RE=$(CIRCUITPY_RE)
 
@@ -719,7 +722,7 @@ CIRCUITPY_SWO_TRACE ?= 0
 CFLAGS += -DCIRCUITPY_SWO_TRACE=$(CIRCUITPY_SWO_TRACE)
 
 # Check for a minimum GCC version during build (set to 0 to disable)
-CIRCUITPY_MIN_GCC_VERSION ?= 13
+CIRCUITPY_MIN_GCC_VERSION ?= 14
 CFLAGS += -DCIRCUITPY_MIN_GCC_VERSION=$(CIRCUITPY_MIN_GCC_VERSION)
 
 # Define an equivalent for MICROPY_LONGINT_IMPL, to pass to $(MPY-TOOL) in py/mkrules.mk
diff --git a/py/objdeque.c b/py/objdeque.c
index 2edb6908f0b4c..c766c9cf8cf1b 100644
--- a/py/objdeque.c
+++ b/py/objdeque.c
@@ -209,7 +209,7 @@ static mp_obj_t deque_subscr(mp_obj_t self_in, mp_obj_t index, mp_obj_t value) {
 
     size_t offset = mp_get_index(self->base.type, deque_len(self), index, false);
     size_t index_val = self->i_get + offset;
-    if (index_val > self->alloc) {
+    if (index_val >= self->alloc) {
         index_val -= self->alloc;
     }
 
diff --git a/shared-bindings/_eve/__init__.c b/shared-bindings/_eve/__init__.c
index 000e3526ed567..a3914d07f324f 100644
--- a/shared-bindings/_eve/__init__.c
+++ b/shared-bindings/_eve/__init__.c
@@ -970,6 +970,7 @@ static MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(vertex2ii_obj, 3, 5, _vertex2ii);
     { MP_ROM_QSTR(MP_QSTR_PaletteSource), MP_ROM_PTR(&palettesource_obj) }, \
     { MP_ROM_QSTR(MP_QSTR_PaletteSourceH), MP_ROM_PTR(&palettesourceh_obj) }, \
     { MP_ROM_QSTR(MP_QSTR_PointSize), MP_ROM_PTR(&pointsize_obj) }, \
+    { MP_ROM_QSTR(MP_QSTR_Region), MP_ROM_PTR(&region_obj) }, \
     { MP_ROM_QSTR(MP_QSTR_RestoreContext), MP_ROM_PTR(&restorecontext_obj) }, \
     { MP_ROM_QSTR(MP_QSTR_Return), MP_ROM_PTR(&return_obj) }, \
     { MP_ROM_QSTR(MP_QSTR_SaveContext), MP_ROM_PTR(&savecontext_obj) }, \
@@ -1061,8 +1062,29 @@ static mp_obj_t _pointsize(mp_obj_t self, mp_obj_t a0) {
     common_hal__eve_PointSize(EVEHAL(self), size);
     return mp_const_none;
 }
+
 static MP_DEFINE_CONST_FUN_OBJ_2(pointsize_obj, _pointsize);
 
+//|     def Region(self, y: int, h: int, dest: int) -> None:
+//|         """Specify a cull region in the display list
+//|
+//|         :param int y: Starting Y band in the render buffer. Range 0-63
+//|         :param int h: Y height in the render buffer. Range 0-63
+//|         :param int dest: destination address in the display list if the raster is outside the region
+//|
+//|         """
+//|         ...
+//|
+
+static mp_obj_t _region(size_t n_args, const mp_obj_t *args) {
+    uint32_t y = mp_obj_get_int_truncated(args[1]);
+    uint32_t h = mp_obj_get_int_truncated(args[2]);
+    uint32_t dest = mp_obj_get_int_truncated(args[3]);
+    common_hal__eve_Region(EVEHAL(args[0]), y, h, dest);
+    return mp_const_none;
+}
+static MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(region_obj, 4, 4, _region);
+
 //|     def VertexTranslateX(self, x: float) -> None:
 //|         """Set the vertex transformation's x translation component
 //|
diff --git a/shared-bindings/_eve/__init__.h b/shared-bindings/_eve/__init__.h
index e75f8db792840..13ae1b8a6cb50 100644
--- a/shared-bindings/_eve/__init__.h
+++ b/shared-bindings/_eve/__init__.h
@@ -49,6 +49,7 @@ void common_hal__eve_Nop(common_hal__eve_t *eve);
 void common_hal__eve_PaletteSource(common_hal__eve_t *eve, uint32_t addr);
 void common_hal__eve_PaletteSourceH(common_hal__eve_t *eve, uint32_t addr);
 void common_hal__eve_PointSize(common_hal__eve_t *eve, mp_float_t size);
+void common_hal__eve_Region(common_hal__eve_t *eve, uint32_t y, uint32_t h, uint32_t dest);
 void common_hal__eve_RestoreContext(common_hal__eve_t *eve);
 void common_hal__eve_Return(common_hal__eve_t *eve);
 void common_hal__eve_SaveContext(common_hal__eve_t *eve);
diff --git a/shared-bindings/alarm/SleepMemory.c b/shared-bindings/alarm/SleepMemory.c
index d783983008c5f..e6d65de45551d 100644
--- a/shared-bindings/alarm/SleepMemory.c
+++ b/shared-bindings/alarm/SleepMemory.c
@@ -20,8 +20,6 @@
 //|     instance of :class:`SleepMemory` is available at
 //|     :attr:`alarm.sleep_memory`.
 //|
-//|     **Limitations:** Not supported on RP2040.
-//|
 //|     Usage::
 //|
 //|        import alarm
diff --git a/shared-bindings/epaperdisplay/EPaperDisplay.c b/shared-bindings/epaperdisplay/EPaperDisplay.c
index 90828cb1f5a9a..5d72df815d0a7 100644
--- a/shared-bindings/epaperdisplay/EPaperDisplay.c
+++ b/shared-bindings/epaperdisplay/EPaperDisplay.c
@@ -62,6 +62,7 @@
 //|         always_toggle_chip_select: bool = False,
 //|         grayscale: bool = False,
 //|         advanced_color_epaper: bool = False,
+//|         spectra6: bool = False,
 //|         two_byte_sequence_length: bool = False,
 //|         start_up_time: float = 0,
 //|         address_little_endian: bool = False,
@@ -104,6 +105,7 @@
 //|         :param bool always_toggle_chip_select: When True, chip select is toggled every byte
 //|         :param bool grayscale: When true, the color ram is the low bit of 2-bit grayscale
 //|         :param bool advanced_color_epaper: When true, the display is a 7-color advanced color epaper (ACeP)
+//|         :param bool spectra6: When true, the display is a 6-color spectra6 epaper
 //|         :param bool two_byte_sequence_length: When true, use two bytes to define sequence length
 //|         :param float start_up_time: Time to wait after reset before sending commands
 //|         :param bool address_little_endian: Send the least significant byte (not bit) of multi-byte addresses first. Ignored when ram is addressed with one byte
@@ -117,7 +119,7 @@ static mp_obj_t epaperdisplay_epaperdisplay_make_new(const mp_obj_type_t *type,
            ARG_set_current_row_command, ARG_write_black_ram_command, ARG_black_bits_inverted,
            ARG_write_color_ram_command, ARG_color_bits_inverted, ARG_highlight_color,
            ARG_refresh_display_command,  ARG_refresh_time, ARG_busy_pin, ARG_busy_state,
-           ARG_seconds_per_frame, ARG_always_toggle_chip_select, ARG_grayscale, ARG_advanced_color_epaper,
+           ARG_seconds_per_frame, ARG_always_toggle_chip_select, ARG_grayscale, ARG_advanced_color_epaper, ARG_spectra6,
            ARG_two_byte_sequence_length, ARG_start_up_time, ARG_address_little_endian };
     static const mp_arg_t allowed_args[] = {
         { MP_QSTR_display_bus, MP_ARG_REQUIRED | MP_ARG_OBJ },
@@ -147,6 +149,7 @@ static mp_obj_t epaperdisplay_epaperdisplay_make_new(const mp_obj_type_t *type,
         { MP_QSTR_always_toggle_chip_select, MP_ARG_BOOL | MP_ARG_KW_ONLY, {.u_bool = false} },
         { MP_QSTR_grayscale, MP_ARG_BOOL | MP_ARG_KW_ONLY, {.u_bool = false} },
         { MP_QSTR_advanced_color_epaper, MP_ARG_BOOL | MP_ARG_KW_ONLY, {.u_bool = false} },
+        { MP_QSTR_spectra6, MP_ARG_BOOL | MP_ARG_KW_ONLY, {.u_bool = false} },
         { MP_QSTR_two_byte_sequence_length, MP_ARG_BOOL | MP_ARG_KW_ONLY, {.u_bool = false} },
         { MP_QSTR_start_up_time, MP_ARG_OBJ | MP_ARG_KW_ONLY, {.u_obj = MP_OBJ_NEW_SMALL_INT(0)} },
         { MP_QSTR_address_little_endian, MP_ARG_BOOL | MP_ARG_KW_ONLY, {.u_bool = false} },
@@ -215,7 +218,7 @@ static mp_obj_t epaperdisplay_epaperdisplay_make_new(const mp_obj_type_t *type,
         args[ARG_write_black_ram_command].u_int, args[ARG_black_bits_inverted].u_bool, write_color_ram_command,
         args[ARG_color_bits_inverted].u_bool, highlight_color, refresh_buf, refresh_buf_len, refresh_time,
         busy_pin, args[ARG_busy_state].u_bool, seconds_per_frame,
-        args[ARG_always_toggle_chip_select].u_bool, args[ARG_grayscale].u_bool, args[ARG_advanced_color_epaper].u_bool,
+        args[ARG_always_toggle_chip_select].u_bool, args[ARG_grayscale].u_bool, args[ARG_advanced_color_epaper].u_bool, args[ARG_spectra6].u_bool,
         two_byte_sequence_length, args[ARG_address_little_endian].u_bool
         );
 
diff --git a/shared-bindings/epaperdisplay/EPaperDisplay.h b/shared-bindings/epaperdisplay/EPaperDisplay.h
index d4475e0a6aa43..016a07f1490c5 100644
--- a/shared-bindings/epaperdisplay/EPaperDisplay.h
+++ b/shared-bindings/epaperdisplay/EPaperDisplay.h
@@ -26,7 +26,7 @@ void common_hal_epaperdisplay_epaperdisplay_construct(epaperdisplay_epaperdispla
     uint16_t write_color_ram_command, bool color_bits_inverted, uint32_t highlight_color,
     const uint8_t *refresh_sequence, uint16_t refresh_sequence_len, mp_float_t refresh_time,
     const mcu_pin_obj_t *busy_pin, bool busy_state, mp_float_t seconds_per_frame,
-    bool always_toggle_chip_select, bool grayscale, bool acep, bool two_byte_sequence_length,
+    bool always_toggle_chip_select, bool grayscale, bool acep, bool spectra6, bool two_byte_sequence_length,
     bool address_little_endian);
 
 bool common_hal_epaperdisplay_epaperdisplay_refresh(epaperdisplay_epaperdisplay_obj_t *self);
diff --git a/shared-bindings/i2ctarget/I2CTarget.c b/shared-bindings/i2ctarget/I2CTarget.c
index 728d9f60e2712..8586d1843cc77 100644
--- a/shared-bindings/i2ctarget/I2CTarget.c
+++ b/shared-bindings/i2ctarget/I2CTarget.c
@@ -21,7 +21,7 @@
 
 static mp_obj_t mp_obj_new_i2ctarget_i2c_target_request(i2ctarget_i2c_target_obj_t *target, uint8_t address, bool is_read, bool is_restart) {
     i2ctarget_i2c_target_request_obj_t *self =
-        mp_obj_malloc(i2ctarget_i2c_target_request_obj_t, &i2ctarget_i2c_target_request_type);
+        mp_obj_malloc_with_finaliser(i2ctarget_i2c_target_request_obj_t, &i2ctarget_i2c_target_request_type);
     self->target = target;
     self->address = address;
     self->is_read = is_read;
@@ -200,7 +200,7 @@ static MP_DEFINE_CONST_DICT(i2ctarget_i2c_target_locals_dict, i2ctarget_i2c_targ
 MP_DEFINE_CONST_OBJ_TYPE(
     i2ctarget_i2c_target_type,
     MP_QSTR_I2CTarget,
-    MP_TYPE_FLAG_NONE,
+    MP_TYPE_FLAG_HAS_SPECIAL_ACCESSORS,
     make_new, i2ctarget_i2c_target_make_new,
     locals_dict, &i2ctarget_i2c_target_locals_dict
     );
@@ -222,23 +222,38 @@ static mp_obj_t i2ctarget_i2c_target_request_make_new(const mp_obj_type_t *type,
     return mp_obj_new_i2ctarget_i2c_target_request(args[0], mp_obj_get_int(args[1]), mp_obj_is_true(args[2]), mp_obj_is_true(args[3]));
 }
 
-//|     def __enter__(self) -> I2CTargetRequest:
-//|         """No-op used in Context Managers."""
-//|         ...
-//|
-//  Provided by context manager helper.
+static void target_request_check_for_deinit(i2ctarget_i2c_target_request_obj_t *self) {
+    if (self->target == NULL) {
+        raise_deinited_error();
+    }
+    check_for_deinit(self->target);
+}
 
-//|     def __exit__(self) -> None:
-//|         """Close the request."""
+//|     def deinit(self) -> None:
+//|         """Disconnects from parent `I2CTarget`.
+//|         Called by `__exit__()` to indicate the `I2CTargetRequest` is no longer useful."""
 //|         ...
 //|
-//  Provided by context manager helper.
+static mp_obj_t i2ctarget_i2c_target_request_deinit(mp_obj_t self_in) {
+    i2ctarget_i2c_target_request_obj_t *self = MP_OBJ_TO_PTR(self_in);
+    target_request_check_for_deinit(self);
+
+    i2ctarget_i2c_target_obj_t *target = self->target;
+
+    // Deinit I2CTargetRequest first in case _close() fails.
+    self->target = NULL;
+
+    common_hal_i2ctarget_i2c_target_close(target);
+
+    return mp_const_none;
+}
+MP_DEFINE_CONST_FUN_OBJ_1(i2ctarget_i2c_target_request_deinit_obj, i2ctarget_i2c_target_request_deinit);
 
 //|     address: int
 //|     """The I2C address of the request."""
 static mp_obj_t i2ctarget_i2c_target_request_get_address(mp_obj_t self_in) {
     i2ctarget_i2c_target_request_obj_t *self = MP_OBJ_TO_PTR(self_in);
-    check_for_deinit(self->target);
+    target_request_check_for_deinit(self);
 
     return mp_obj_new_int(self->address);
 }
@@ -248,7 +263,7 @@ MP_DEFINE_CONST_PROP_GET(i2ctarget_i2c_target_request_address_obj, i2ctarget_i2c
 //|     """The I2C main controller is reading from this target."""
 static mp_obj_t i2ctarget_i2c_target_request_get_is_read(mp_obj_t self_in) {
     i2ctarget_i2c_target_request_obj_t *self = MP_OBJ_TO_PTR(self_in);
-    check_for_deinit(self->target);
+    target_request_check_for_deinit(self);
 
     return mp_obj_new_bool(self->is_read);
 }
@@ -259,7 +274,7 @@ MP_DEFINE_CONST_PROP_GET(i2ctarget_i2c_target_request_is_read_obj, i2ctarget_i2c
 //|
 static mp_obj_t i2ctarget_i2c_target_request_get_is_restart(mp_obj_t self_in) {
     i2ctarget_i2c_target_request_obj_t *self = MP_OBJ_TO_PTR(self_in);
-    check_for_deinit(self->target);
+    target_request_check_for_deinit(self);
 
     return mp_obj_new_bool(self->is_restart);
 }
@@ -276,7 +291,7 @@ MP_DEFINE_CONST_PROP_GET(i2ctarget_i2c_target_request_is_restart_obj, i2ctarget_
 //|
 static mp_obj_t i2ctarget_i2c_target_request_read(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
     i2ctarget_i2c_target_request_obj_t *self = MP_OBJ_TO_PTR(pos_args[0]);
-    check_for_deinit(self->target);
+    target_request_check_for_deinit(self);
 
     enum { ARG_n, ARG_ack };
     static const mp_arg_t allowed_args[] = {
@@ -335,7 +350,7 @@ MP_DEFINE_CONST_FUN_OBJ_KW(i2ctarget_i2c_target_request_read_obj, 1, i2ctarget_i
 //|
 static mp_obj_t i2ctarget_i2c_target_request_write(mp_obj_t self_in, mp_obj_t buf_in) {
     i2ctarget_i2c_target_request_obj_t *self = MP_OBJ_TO_PTR(self_in);
-    check_for_deinit(self->target);
+    target_request_check_for_deinit(self);
 
     if (!self->is_read) {
         mp_raise_OSError(MP_EACCES);
@@ -370,7 +385,7 @@ static MP_DEFINE_CONST_FUN_OBJ_2(i2ctarget_i2c_target_request_write_obj, i2ctarg
 //|
 static mp_obj_t i2ctarget_i2c_target_request_ack(uint n_args, const mp_obj_t *args) {
     i2ctarget_i2c_target_request_obj_t *self = MP_OBJ_TO_PTR(args[0]);
-    check_for_deinit(self->target);
+    target_request_check_for_deinit(self);
 
     bool ack = (n_args == 1) ? true : mp_obj_is_true(args[1]);
 
@@ -383,25 +398,29 @@ static mp_obj_t i2ctarget_i2c_target_request_ack(uint n_args, const mp_obj_t *ar
 }
 MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(i2ctarget_i2c_target_request_ack_obj, 1, 2, i2ctarget_i2c_target_request_ack);
 
-static mp_obj_t i2ctarget_i2c_target_request_close(mp_obj_t self_in) {
-    i2ctarget_i2c_target_request_obj_t *self = MP_OBJ_TO_PTR(self_in);
-    check_for_deinit(self->target);
+//|     def __enter__(self) -> I2CTargetRequest:
+//|         """No-op used in Context Managers."""
+//|         ...
+//|
+//  Provided by context manager helper.
 
-    common_hal_i2ctarget_i2c_target_close(self->target);
-    return mp_const_none;
-}
-static MP_DEFINE_CONST_FUN_OBJ_1(i2ctarget_i2c_target_request_close_obj, i2ctarget_i2c_target_request_close);
+//|     def __exit__(self) -> None:
+//|         """Close and deinit the request."""
+//|         ...
+//|
+//  Provided by context manager helper.
 
 static const mp_rom_map_elem_t i2ctarget_i2c_target_request_locals_dict_table[] = {
     { MP_ROM_QSTR(MP_QSTR___enter__), MP_ROM_PTR(&default___enter___obj) },
     { MP_ROM_QSTR(MP_QSTR___exit__), MP_ROM_PTR(&default___exit___obj) },
+    { MP_ROM_QSTR(MP_QSTR_deinit), MP_ROM_PTR(&i2ctarget_i2c_target_request_deinit_obj) },
+    { MP_ROM_QSTR(MP_QSTR__del__), MP_ROM_PTR(&i2ctarget_i2c_target_request_deinit_obj) },
     { MP_ROM_QSTR(MP_QSTR_address), MP_ROM_PTR(&i2ctarget_i2c_target_request_address_obj) },
     { MP_ROM_QSTR(MP_QSTR_is_read), MP_ROM_PTR(&i2ctarget_i2c_target_request_is_read_obj) },
     { MP_ROM_QSTR(MP_QSTR_is_restart), MP_ROM_PTR(&i2ctarget_i2c_target_request_is_restart_obj) },
     { MP_ROM_QSTR(MP_QSTR_read), MP_ROM_PTR(&i2ctarget_i2c_target_request_read_obj) },
     { MP_ROM_QSTR(MP_QSTR_write), MP_ROM_PTR(&i2ctarget_i2c_target_request_write_obj) },
     { MP_ROM_QSTR(MP_QSTR_ack), MP_ROM_PTR(&i2ctarget_i2c_target_request_ack_obj) },
-    { MP_ROM_QSTR(MP_QSTR_close), MP_ROM_PTR(&i2ctarget_i2c_target_request_close_obj) },
 };
 
 static MP_DEFINE_CONST_DICT(i2ctarget_i2c_target_request_locals_dict, i2ctarget_i2c_target_request_locals_dict_table);
diff --git a/shared-bindings/keypad/KeyMatrix.c b/shared-bindings/keypad/KeyMatrix.c
index 8303645f20183..edb32c2c5c700 100644
--- a/shared-bindings/keypad/KeyMatrix.c
+++ b/shared-bindings/keypad/KeyMatrix.c
@@ -67,6 +67,14 @@
 //|           in the respective state for ``debounce_threshold`` times on average.
 //|           Successive measurements are spaced apart by ``interval`` seconds.
 //|           The default is 1, which resolves immediately. The maximum is 127.
+//|
+//|         .. warning:: On Raspberry Pi RP2350, using ``columns_to_anodes=False``
+//|            normally depends on the internal pull-down resistors.
+//|            This will not work, due to an RP2350 issue.
+//|            The easiest fix is simply to swap the ``row_pins`` and ```column_pins`` and to set
+//|            ``columns_to_anodes=True``. This requires no external components.
+//|            An alternative is to add external pull-downs of 8.2 kohms or less, but that will draw more current.
+//|            See the Warning in `digitalio` for more information.
 //|         """
 //|         ...
 //|
diff --git a/shared-bindings/keypad/Keys.c b/shared-bindings/keypad/Keys.c
index 10ac81cf1fb63..64e8e51a67ded 100644
--- a/shared-bindings/keypad/Keys.c
+++ b/shared-bindings/keypad/Keys.c
@@ -69,6 +69,12 @@
 //|           in the respective state for ``debounce_threshold`` times on average.
 //|           Successive measurements are spaced apart by ``interval`` seconds.
 //|           The default is 1, which resolves immediately. The maximum is 127.
+//|
+//|         .. warning:: On Raspberry Pi RP2350, using ``value_when_pressed=True`` and ``pull=True``,
+//|            to enable using the internal pull-down resistor, will not work, due to an RP2350
+//|            hardware issue. Instead, wire the switch to be ``value_when_pressed=False``, or add
+//|            an external pull-down resistor of 8.2 kohms or less.
+//|            See the Warning in `digitalio` for more information.
 //|         """
 //|         ...
 //|
diff --git a/shared-bindings/keypad/__init__.c b/shared-bindings/keypad/__init__.c
index b29de197262f4..b182e977829d1 100644
--- a/shared-bindings/keypad/__init__.c
+++ b/shared-bindings/keypad/__init__.c
@@ -65,7 +65,7 @@ MP_PROPERTY_GETTER(keypad_generic_events_obj,
 //|    due to a GPIO hardware issue that causes excessive leakage current (~120uA).
 //|    A pin can read as high even when driven or pulled low, if the input signal is high
 //|    impedance or if an attached pull-down resistor is too weak (has too high a value).
-//|    See the warning in `digitalio` for more information.
+//|    See the warnings in `keypad.Keys`, `keypad.KeyMatrix`, and `digitalio` for workarounds and more information.
 //|
 //| .. jinja
 //| """
diff --git a/shared-bindings/rclcpy/Node.c b/shared-bindings/rclcpy/Node.c
new file mode 100644
index 0000000000000..a2fa9bd36a656
--- /dev/null
+++ b/shared-bindings/rclcpy/Node.c
@@ -0,0 +1,145 @@
+// This file is part of the CircuitPython project: https://circuitpython.org
+//
+// SPDX-FileCopyrightText: Copyright (c) 2025 Lucian Copeland
+//
+// SPDX-License-Identifier: MIT
+
+#include <stdint.h>
+#include "shared-bindings/rclcpy/Node.h"
+#include "shared-bindings/rclcpy/Publisher.h"
+#include "shared-bindings/util.h"
+#include "py/objproperty.h"
+#include "py/objtype.h"
+#include "py/runtime.h"
+
+
+//| class Node:
+//|     """A ROS2 Node"""
+//|
+//|     def __init__(
+//|         self,
+//|         node_name: str,
+//|         *,
+//|         namespace: str | None = None,
+//|     ) -> None:
+//|         """Create a Node.
+//|
+//|         Creates an instance of a ROS2 Node. Nodes can be used to create other ROS
+//|         entities like publishers or subscribers. Nodes must have a unique name, and
+//|         may also be constructed from their class.
+//|
+//|         :param str node_name: The name of the node. Must be a valid ROS 2 node name
+//|         :param str namespace: The namespace for the node. If None, the node will be
+//|             created in the root namespace
+//|         """
+//|         ...
+//|
+static mp_obj_t rclcpy_node_make_new(const mp_obj_type_t *type, size_t n_args, size_t n_kw, const mp_obj_t *all_args) {
+    enum { ARG_node_name, ARG_namespace };
+    static const mp_arg_t allowed_args[] = {
+        { MP_QSTR_node_name, MP_ARG_REQUIRED | MP_ARG_OBJ },
+        { MP_QSTR_namespace, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_obj = mp_const_none} },
+    };
+    mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
+    mp_arg_parse_all_kw_array(n_args, n_kw, all_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
+    const char *node_name = mp_obj_str_get_str(args[ARG_node_name].u_obj);
+    const char *namespace = "";
+    if (args[ARG_namespace].u_obj != mp_const_none) {
+        namespace = mp_obj_str_get_str(args[ARG_namespace].u_obj);
+    }
+
+    rclcpy_node_obj_t *self = mp_obj_malloc_with_finaliser(rclcpy_node_obj_t, &rclcpy_node_type);
+    common_hal_rclcpy_node_construct(self, node_name, namespace);
+    return (mp_obj_t)self;
+}
+
+//|     def deinit(self) -> None:
+//|         """Deinitializes the node and frees any hardware or remote agent resources
+//|         used by it. Deinitialized nodes cannot be used again.
+//|         """
+//|         ...
+//|
+static mp_obj_t rclcpy_node_obj_deinit(mp_obj_t self_in) {
+    rclcpy_node_obj_t *self = MP_OBJ_TO_PTR(self_in);
+    common_hal_rclcpy_node_deinit(self);
+    return mp_const_none;
+}
+MP_DEFINE_CONST_FUN_OBJ_1(rclcpy_node_deinit_obj, rclcpy_node_obj_deinit);
+
+static void check_for_deinit(rclcpy_node_obj_t *self) {
+    if (common_hal_rclcpy_node_deinited(self)) {
+        raise_deinited_error();
+    }
+}
+
+//|     def create_publisher(self, topic: str) -> Publisher:
+//|         """Create a publisher for a given topic string.
+//|
+//|         Creates an instance of a ROS2 Publisher.
+//|
+//|         :param str topic: The name of the topic
+//|         :return: A new Publisher object for the specified topic
+//|         :rtype: Publisher
+//|         """
+//|         ...
+//|
+static mp_obj_t rclcpy_node_create_publisher(mp_obj_t self_in, mp_obj_t topic) {
+    rclcpy_node_obj_t *self = MP_OBJ_TO_PTR(self_in);
+    check_for_deinit(self);
+    const char *topic_name = mp_obj_str_get_str(topic);
+
+    rclcpy_publisher_obj_t *publisher = mp_obj_malloc_with_finaliser(rclcpy_publisher_obj_t, &rclcpy_publisher_type);
+    common_hal_rclcpy_publisher_construct(publisher, self, topic_name);
+    return (mp_obj_t)publisher;
+}
+static MP_DEFINE_CONST_FUN_OBJ_2(rclcpy_node_create_publisher_obj, rclcpy_node_create_publisher);
+
+//|     def get_name(self) -> str:
+//|         """Get the name of the node.
+//|
+//|         :return: The node's name
+//|         :rtype: str
+//|         """
+//|         ...
+//|
+static mp_obj_t rclcpy_node_get_name(mp_obj_t self_in) {
+    rclcpy_node_obj_t *self = MP_OBJ_TO_PTR(self_in);
+    check_for_deinit(self);
+    const char *name_str = common_hal_rclcpy_node_get_name(self);
+    return mp_obj_new_str(name_str, strlen(name_str));
+}
+static MP_DEFINE_CONST_FUN_OBJ_1(rclcpy_node_get_name_obj, rclcpy_node_get_name);
+
+//|     def get_namespace(self) -> str:
+//|         """Get the namespace of the node.
+//|
+//|         :return: The node's namespace
+//|         :rtype: str
+//|         """
+//|         ...
+//|
+static mp_obj_t rclcpy_node_get_namespace(mp_obj_t self_in) {
+    rclcpy_node_obj_t *self = MP_OBJ_TO_PTR(self_in);
+    check_for_deinit(self);
+    const char *namespace_str = common_hal_rclcpy_node_get_namespace(self);
+    return mp_obj_new_str(namespace_str, strlen(namespace_str));
+}
+static MP_DEFINE_CONST_FUN_OBJ_1(rclcpy_node_get_namespace_obj, rclcpy_node_get_namespace);
+
+static const mp_rom_map_elem_t rclcpy_node_locals_dict_table[] = {
+    { MP_ROM_QSTR(MP_QSTR_deinit), MP_ROM_PTR(&rclcpy_node_deinit_obj) },
+    { MP_ROM_QSTR(MP_QSTR___del__), MP_ROM_PTR(&rclcpy_node_deinit_obj) },
+    { MP_ROM_QSTR(MP_QSTR_create_publisher), MP_ROM_PTR(&rclcpy_node_create_publisher_obj) },
+    { MP_ROM_QSTR(MP_QSTR_get_name), MP_ROM_PTR(&rclcpy_node_get_name_obj) },
+    { MP_ROM_QSTR(MP_QSTR_get_namespace), MP_ROM_PTR(&rclcpy_node_get_namespace_obj) },
+};
+static MP_DEFINE_CONST_DICT(rclcpy_node_locals_dict, rclcpy_node_locals_dict_table);
+
+
+MP_DEFINE_CONST_OBJ_TYPE(
+    rclcpy_node_type,
+    MP_QSTR_Node,
+    MP_TYPE_FLAG_HAS_SPECIAL_ACCESSORS,
+    make_new, rclcpy_node_make_new,
+    locals_dict, &rclcpy_node_locals_dict
+    );
diff --git a/shared-bindings/rclcpy/Node.h b/shared-bindings/rclcpy/Node.h
new file mode 100644
index 0000000000000..be0230846f6bd
--- /dev/null
+++ b/shared-bindings/rclcpy/Node.h
@@ -0,0 +1,18 @@
+// This file is part of the CircuitPython project: https://circuitpython.org
+//
+// SPDX-FileCopyrightText: Copyright (c) 2025 Lucian Copeland
+//
+// SPDX-License-Identifier: MIT
+
+#pragma once
+#include "common-hal/rclcpy/Node.h"
+
+
+extern const mp_obj_type_t rclcpy_node_type;
+
+void common_hal_rclcpy_node_construct(rclcpy_node_obj_t *self,
+    const char *node_name, const char *namespace);
+bool common_hal_rclcpy_node_deinited(rclcpy_node_obj_t *self);
+void common_hal_rclcpy_node_deinit(rclcpy_node_obj_t *self);
+const char *common_hal_rclcpy_node_get_name(rclcpy_node_obj_t *self);
+const char *common_hal_rclcpy_node_get_namespace(rclcpy_node_obj_t *self);
diff --git a/shared-bindings/rclcpy/Publisher.c b/shared-bindings/rclcpy/Publisher.c
new file mode 100644
index 0000000000000..be1e229cce4f8
--- /dev/null
+++ b/shared-bindings/rclcpy/Publisher.c
@@ -0,0 +1,99 @@
+// This file is part of the CircuitPython project: https://circuitpython.org
+//
+// SPDX-FileCopyrightText: Copyright (c) 2025 Lucian Copeland
+//
+// SPDX-License-Identifier: MIT
+
+#include <stdint.h>
+#include "shared-bindings/rclcpy/Publisher.h"
+#include "shared-bindings/util.h"
+#include "py/objproperty.h"
+#include "py/objtype.h"
+#include "py/runtime.h"
+
+
+//| class Publisher:
+//|     """A ROS2 publisher"""
+//|
+//|     def __init__(self) -> None:
+//|         """Publishers cannot be created directly.
+//|
+//|         Use :meth:`Node.create_publisher` to create a publisher from a node.
+//|
+//|         :raises NotImplementedError: Always, as direct instantiation is not supported
+//|         """
+//|         ...
+//|
+static mp_obj_t rclcpy_publisher_make_new(const mp_obj_type_t *type, size_t n_args, size_t n_kw, const mp_obj_t *all_args) {
+    mp_raise_NotImplementedError(MP_ERROR_TEXT("Publishers can only be created from a parent node"));
+}
+
+//|     def deinit(self) -> None:
+//|         """Deinitializes the publisher and frees any hardware or remote agent resources
+//|         used by it. Deinitialized publishers cannot be used again.
+//|         """
+//|         ...
+//|
+static mp_obj_t rclcpy_publisher_obj_deinit(mp_obj_t self_in) {
+    rclcpy_publisher_obj_t *self = MP_OBJ_TO_PTR(self_in);
+    common_hal_rclcpy_publisher_deinit(self);
+    return mp_const_none;
+}
+MP_DEFINE_CONST_FUN_OBJ_1(rclcpy_publisher_deinit_obj, rclcpy_publisher_obj_deinit);
+
+static void check_for_deinit(rclcpy_publisher_obj_t *self) {
+    if (common_hal_rclcpy_publisher_deinited(self)) {
+        raise_deinited_error();
+    }
+}
+
+//|     def publish_int32(self, message: int) -> None:
+//|         """Publish a 32-bit signed integer message to the topic.
+//|
+//|         :param int message: The integer value to publish. Must be within the range
+//|             of a 32-bit signed integer (-2,147,483,648 to 2,147,483,647)
+//|         """
+//|         ...
+//|
+static mp_obj_t rclcpy_publisher_publish_int32(mp_obj_t self_in, mp_obj_t in_msg) {
+    rclcpy_publisher_obj_t *self = MP_OBJ_TO_PTR(self_in);
+    check_for_deinit(self);
+    int32_t msg = mp_obj_get_int(in_msg);
+    common_hal_rclcpy_publisher_publish_int32(self, msg);
+    return mp_const_none;
+}
+static MP_DEFINE_CONST_FUN_OBJ_2(rclcpy_publisher_publish_int32_obj, rclcpy_publisher_publish_int32);
+
+//|     def get_topic_name(self) -> str:
+//|         """Get the name of the topic this publisher publishes to.
+//|
+//|         :return: The topic name as specified when the publisher was created
+//|         :rtype: str
+//|         """
+//|         ...
+//|
+static mp_obj_t rclcpy_publisher_get_topic_name(mp_obj_t self_in) {
+    rclcpy_publisher_obj_t *self = MP_OBJ_TO_PTR(self_in);
+    check_for_deinit(self);
+    const char *topic_str = common_hal_rclcpy_publisher_get_topic_name(self);
+    return mp_obj_new_str(topic_str, strlen(topic_str));
+}
+static MP_DEFINE_CONST_FUN_OBJ_1(rclcpy_publisher_get_topic_name_obj, rclcpy_publisher_get_topic_name);
+
+
+static const mp_rom_map_elem_t rclcpy_publisher_locals_dict_table[] = {
+    { MP_ROM_QSTR(MP_QSTR_deinit), MP_ROM_PTR(&rclcpy_publisher_deinit_obj) },
+    { MP_ROM_QSTR(MP_QSTR___del__), MP_ROM_PTR(&rclcpy_publisher_deinit_obj) },
+    { MP_ROM_QSTR(MP_QSTR_publish_int32), MP_ROM_PTR(&rclcpy_publisher_publish_int32_obj) },
+    { MP_ROM_QSTR(MP_QSTR_get_topic_name), MP_ROM_PTR(&rclcpy_publisher_get_topic_name_obj) },
+};
+static MP_DEFINE_CONST_DICT(rclcpy_publisher_locals_dict, rclcpy_publisher_locals_dict_table);
+
+
+MP_DEFINE_CONST_OBJ_TYPE(
+    rclcpy_publisher_type,
+    MP_QSTR_Publisher,
+    MP_TYPE_FLAG_HAS_SPECIAL_ACCESSORS,
+    make_new, rclcpy_publisher_make_new,
+    locals_dict, &rclcpy_publisher_locals_dict
+    );
diff --git a/shared-bindings/rclcpy/Publisher.h b/shared-bindings/rclcpy/Publisher.h
new file mode 100644
index 0000000000000..21909fe12bed9
--- /dev/null
+++ b/shared-bindings/rclcpy/Publisher.h
@@ -0,0 +1,18 @@
+// This file is part of the CircuitPython project: https://circuitpython.org
+//
+// SPDX-FileCopyrightText: Copyright (c) 2025 Lucian Copeland
+//
+// SPDX-License-Identifier: MIT
+
+#pragma once
+#include "common-hal/rclcpy/Publisher.h"
+
+
+extern const mp_obj_type_t rclcpy_publisher_type;
+
+void common_hal_rclcpy_publisher_construct(rclcpy_publisher_obj_t *self, rclcpy_node_obj_t *node,
+    const char *topic_name);
+bool common_hal_rclcpy_publisher_deinited(rclcpy_publisher_obj_t *self);
+void common_hal_rclcpy_publisher_deinit(rclcpy_publisher_obj_t *self);
+void common_hal_rclcpy_publisher_publish_int32(rclcpy_publisher_obj_t *self, int32_t data);
+const char *common_hal_rclcpy_publisher_get_topic_name(rclcpy_publisher_obj_t *self);
diff --git a/shared-bindings/rclcpy/__init__.c b/shared-bindings/rclcpy/__init__.c
new file mode 100644
index 0000000000000..a6631642ea7c0
--- /dev/null
+++ b/shared-bindings/rclcpy/__init__.c
@@ -0,0 +1,134 @@
+// This file is part of the CircuitPython project: https://circuitpython.org
+//
+// SPDX-FileCopyrightText: Copyright (c) 2025 Lucian Copeland
+//
+// SPDX-License-Identifier: MIT
+
+#include "shared-bindings/rclcpy/__init__.h"
+#include "shared-bindings/rclcpy/Node.h"
+#include "shared-bindings/rclcpy/Publisher.h"
+
+#include "py/obj.h"
+#include "py/objproperty.h"
+#include "py/objstr.h"
+#include "py/runtime.h"
+
+//| """Robot Operating System (ROS2) connectivity through micro-ROS
+//|
+//| The `rclcpy` module contains basic classes and connectivity options for
+//| communicating with a ROS network running on a linux machine, using the
+//| eProsima's `micro-ROS client API <https://micro.ros.org/>`_.
+//|
+//| The underlying micro-ROS system uses a resource-constrained middleware layer
+//| (XRCE-DDS) that must be connected to an agent running within ROS2 on a host
+//| Linux computer. The API exposed by Circuitpython aims to be close to the
+//| standard Python API for ROS2, ``rclpy`` with minor additions to support
+//| connecting to this agent.
+//|
+//| Wifi must be connected before calling any `rclcpy` functions. As with
+//| ``rclpy``, the `rclcpy.init()` function must be run before creating any ROS
+//| objects. Child objects, such as publishers, must be created by their parent
+//| objects. For example::
+//|
+//|   import os, wifi, time
+//|   import rclcpy
+//|   wifi.radio.connect(ssid=os.getenv('CIRCUITPY_WIFI_SSID'),
+//|                      password=os.getenv('CIRCUITPY_WIFI_PASSWORD'))
+//|   rclcpy.init("192.168.10.111","8888")
+//|   mynode = rclcpy.Node("foo")
+//|   mypub = mynode.create_publisher("bar")
+//|   mypub.publish_int32(42)
+//| """
+
+//| def init(
+//|     agent_ip: str,
+//|     agent_port: str,
+//|     *,
+//|     domain_id: int = 0,
+//| ) -> None:
+//|     """Initialize micro-ROS and connect to a micro-ROS agent.
+//|
+//|     This function starts ROS communications and connects to the micro-ROS agent
+//|     on a linux computer. It must be called before creating ROS objects.
+//|
+//|     :param str agent_ip: The IP address of the micro-ROS agent
+//|     :param str agent_port: The port number of the micro-ROS agent as a string
+//|     :param int domain_id: The ROS 2 domain ID for network isolation and organization.
+//|         Devices with the same domain ID can communicate with each other.
+//|     """
+//|     ...
+//|
+static mp_obj_t rclcpy_init(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
+    enum { ARG_agent_ip, ARG_agent_port, ARG_domain_id};
+    static const mp_arg_t allowed_args[] = {
+        { MP_QSTR_agent_ip, MP_ARG_REQUIRED | MP_ARG_OBJ },
+        { MP_QSTR_agent_port, MP_ARG_REQUIRED | MP_ARG_OBJ },
+        { MP_QSTR_domain_id, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 0} },
+    };
+    mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
+    mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
+    const char *agent_ip = mp_obj_str_get_str(args[ARG_agent_ip].u_obj);
+    const char *agent_port = mp_obj_str_get_str(args[ARG_agent_port].u_obj);
+    int16_t domain_id = args[ARG_domain_id].u_int;
+
+    common_hal_rclcpy_init(agent_ip, agent_port, domain_id);
+    return mp_const_none;
+}
+static MP_DEFINE_CONST_FUN_OBJ_KW(rclcpy_init_obj, 2, rclcpy_init);
+
+
+//| def create_node(
+//|     node_name: str,
+//|     *,
+//|     namespace: str | None = None
+//| ) -> Node:
+//|     """Create a Node.
+//|
+//|     Creates an instance of a ROS2 Node. Nodes can be used to create other ROS
+//|     entities like publishers or subscribers. Nodes must have a unique name, and
+//|     may also be constructed from their class.
+//|
+//|     :param str node_name: The name of the node. Must be a valid ROS 2 node name.
+//|     :param str namespace: The namespace for the node. If None, the node will be
+//|         created in the root namespace.
+//|     :return: A new Node object
+//|     :rtype: Node
+//|     """
+//|     ...
+//|
+static mp_obj_t rclcpy_create_node(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
+    enum { ARG_node_name, ARG_namespace };
+    static const mp_arg_t allowed_args[] = {
+        { MP_QSTR_node_name, MP_ARG_REQUIRED | MP_ARG_OBJ },
+        { MP_QSTR_namespace, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_obj = mp_const_none} },
+    };
+    mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
+    mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
+    const char *node_name = mp_obj_str_get_str(args[ARG_node_name].u_obj);
+    const char *namespace = "";
+    if (args[ARG_namespace].u_obj != mp_const_none) {
+        namespace = mp_obj_str_get_str(args[ARG_namespace].u_obj);
+    }
+
+    rclcpy_node_obj_t *self = mp_obj_malloc_with_finaliser(rclcpy_node_obj_t, &rclcpy_node_type);
+    common_hal_rclcpy_node_construct(self, node_name, namespace);
+    return (mp_obj_t)self;
+}
+static MP_DEFINE_CONST_FUN_OBJ_KW(rclcpy_create_node_obj, 2, rclcpy_create_node);
+
+static const mp_rom_map_elem_t rclcpy_module_globals_table[] = {
+    { MP_ROM_QSTR(MP_QSTR___name__), MP_ROM_QSTR(MP_QSTR_rclcpy) },
+    { MP_ROM_QSTR(MP_QSTR_Node),   MP_ROM_PTR(&rclcpy_node_type) },
+    { MP_ROM_QSTR(MP_QSTR_Publisher),   MP_ROM_PTR(&rclcpy_publisher_type) },
+    { MP_ROM_QSTR(MP_QSTR_init),   MP_ROM_PTR(&rclcpy_init_obj) },
+    { MP_ROM_QSTR(MP_QSTR_create_node),   MP_ROM_PTR(&rclcpy_create_node_obj) },
+};
+
+static MP_DEFINE_CONST_DICT(rclcpy_module_globals, rclcpy_module_globals_table);
+
+const mp_obj_module_t rclcpy_module = {
+    .base = { &mp_type_module },
+    .globals = (mp_obj_dict_t *)&rclcpy_module_globals,
+};
+
+MP_REGISTER_MODULE(MP_QSTR_rclcpy, rclcpy_module);
diff --git a/shared-bindings/rclcpy/__init__.h b/shared-bindings/rclcpy/__init__.h
new file mode 100644
index 0000000000000..1b4734216889c
--- /dev/null
+++ b/shared-bindings/rclcpy/__init__.h
@@ -0,0 +1,12 @@
+// This file is part of the CircuitPython project: https://circuitpython.org
+//
+// SPDX-FileCopyrightText: Copyright (c) 2025 Lucian Copeland
+//
+// SPDX-License-Identifier: MIT
+
+#pragma once
+#include "common-hal/rclcpy/__init__.h"
+
+void common_hal_rclcpy_init(const char *agent_ip, const char *agent_port, int16_t domain_id);
+rclcpy_context_t *common_hal_rclcpy_get_default_context(void);
+bool common_hal_rclcpy_default_context_is_initialized(void);
diff --git a/shared-module/_eve/__init__.c b/shared-module/_eve/__init__.c
index ecd310b55a3c1..ca084d9b43b36 100644
--- a/shared-module/_eve/__init__.c
+++ b/shared-module/_eve/__init__.c
@@ -246,6 +246,11 @@ void common_hal__eve_PointSize(common_hal__eve_t *eve, mp_float_t size) {
 }
 
 
+void common_hal__eve_Region(common_hal__eve_t *eve, uint32_t y, uint32_t h, uint32_t dest) {
+    C4(eve, ((52 << 24) | ((y & 0x3f) << 18) | ((h & 0x3f) << 12) | (dest & 0xfff)));
+}
+
+
 void common_hal__eve_RestoreContext(common_hal__eve_t *eve) {
     C4(eve, ((35 << 24)));
 }
diff --git a/shared-module/audiodelays/Echo.c b/shared-module/audiodelays/Echo.c
index 289d6699506b9..78764d9099a1c 100644
--- a/shared-module/audiodelays/Echo.c
+++ b/shared-module/audiodelays/Echo.c
@@ -98,11 +98,10 @@ void common_hal_audiodelays_echo_construct(audiodelays_echo_obj_t *self, uint32_
 
     // read is where we read previous echo from delay_ms ago to play back now
     // write is where the store the latest playing sample to echo back later
-    self->echo_buffer_read_pos = self->buffer_len / sizeof(uint16_t);
-    self->echo_buffer_write_pos = 0;
+    self->echo_buffer_left_pos = 0;
 
-    // where we read the previous echo from delay_ms ago to play back now (for freq shift)
-    self->echo_buffer_left_pos = self->echo_buffer_right_pos = 0;
+    // use a separate buffer position for the right channel
+    self->echo_buffer_right_pos = 0;
 }
 
 void common_hal_audiodelays_echo_deinit(audiodelays_echo_obj_t *self) {
@@ -128,30 +127,32 @@ void recalculate_delay(audiodelays_echo_obj_t *self, mp_float_t f_delay_ms) {
     // Require that delay is at least 1 sample long
     f_delay_ms = MAX(f_delay_ms, self->sample_ms);
 
+    // Calculate the maximum buffer size per channel in bytes
+    uint32_t max_echo_buffer_len = self->max_echo_buffer_len >> (self->base.channel_count - 1);
+
     if (self->freq_shift) {
         // Calculate the rate of iteration over the echo buffer with 8 sub-bits
         self->echo_buffer_rate = (uint32_t)MAX(self->max_delay_ms / f_delay_ms * MICROPY_FLOAT_CONST(256.0), MICROPY_FLOAT_CONST(1.0));
-        self->echo_buffer_len = self->max_echo_buffer_len;
+        // Only use half of the buffer per channel if stereo
+        self->echo_buffer_len = max_echo_buffer_len;
     } else {
         // Calculate the current echo buffer length in bytes
-        uint32_t new_echo_buffer_len = (uint32_t)(self->base.sample_rate / MICROPY_FLOAT_CONST(1000.0) * f_delay_ms) * (self->base.channel_count * sizeof(uint16_t));
-
-        // Check if our new echo is too long for our maximum buffer
-        if (new_echo_buffer_len > self->max_echo_buffer_len) {
-            return;
-        } else if (new_echo_buffer_len < 0.0) { // or too short!
-            return;
-        }
-
-        // If the echo buffer is larger then our audio buffer weird things happen
-        if (new_echo_buffer_len < self->buffer_len) {
-            return;
+        uint32_t new_echo_buffer_len = (uint32_t)(self->base.sample_rate / MICROPY_FLOAT_CONST(1000.0) * f_delay_ms) * sizeof(uint16_t);
+
+        // Limit to valid range
+        if (new_echo_buffer_len > max_echo_buffer_len) {
+            new_echo_buffer_len = max_echo_buffer_len;
+        } else if (new_echo_buffer_len < self->buffer_len) {
+            // If the echo buffer is smaller than our audio buffer, weird things happen
+            new_echo_buffer_len = self->buffer_len;
         }
 
         self->echo_buffer_len = new_echo_buffer_len;
 
         // Clear the now unused part of the buffer or some weird artifacts appear
-        memset(self->echo_buffer + self->echo_buffer_len, 0, self->max_echo_buffer_len - self->echo_buffer_len);
+        for (uint32_t i = 0; i < self->base.channel_count; i++) {
+            memset(self->echo_buffer + (i * max_echo_buffer_len) + self->echo_buffer_len, 0, max_echo_buffer_len - self->echo_buffer_len);
+        }
     }
 
     self->current_delay_ms = f_delay_ms;
@@ -178,6 +179,12 @@ bool common_hal_audiodelays_echo_get_freq_shift(audiodelays_echo_obj_t *self) {
 }
 
 void common_hal_audiodelays_echo_set_freq_shift(audiodelays_echo_obj_t *self, bool freq_shift) {
+    // Clear the echo buffer and reset buffer position if changing freq_shift modes
+    if (self->freq_shift != freq_shift) {
+        memset(self->echo_buffer, 0, self->max_echo_buffer_len);
+        self->echo_buffer_left_pos = 0;
+        self->echo_buffer_right_pos = 0;
+    }
     self->freq_shift = freq_shift;
     uint32_t delay_ms = (uint32_t)synthio_block_slot_get(&self->delay_ms);
     recalculate_delay(self, delay_ms);
@@ -277,15 +284,7 @@ audioio_get_buffer_result_t audiodelays_echo_get_buffer(audiodelays_echo_obj_t *
         }
 
         uint32_t echo_buf_len = self->echo_buffer_len / sizeof(uint16_t);
-
-        // Set our echo buffer position accounting for stereo
-        uint32_t echo_buffer_pos = 0;
-        if (self->freq_shift) {
-            echo_buffer_pos = self->echo_buffer_left_pos;
-            if (channel == 1) {
-                echo_buffer_pos = self->echo_buffer_right_pos;
-            }
-        }
+        uint32_t max_echo_buf_len = (self->max_echo_buffer_len >> (self->base.channel_count - 1)) / sizeof(uint16_t);
 
         // If we have no sample keep the echo echoing
         if (self->sample == NULL) {
@@ -309,18 +308,22 @@ audioio_get_buffer_result_t audiodelays_echo_get_buffer(audiodelays_echo_obj_t *
                     int16_t echo, word = 0;
                     uint32_t next_buffer_pos = 0;
 
+                    // Get our echo buffer position and offset depending on current channel
+                    uint32_t echo_buffer_offset = max_echo_buf_len * ((single_channel_output && channel == 1) || (!single_channel_output && (i % self->base.channel_count) == 1));
+                    uint32_t echo_buffer_pos = echo_buffer_offset ? self->echo_buffer_right_pos : self->echo_buffer_left_pos;
+
                     if (self->freq_shift) {
-                        echo = echo_buffer[echo_buffer_pos >> 8];
+                        echo = echo_buffer[(echo_buffer_pos >> 8) + echo_buffer_offset];
                         next_buffer_pos = echo_buffer_pos + self->echo_buffer_rate;
 
                         for (uint32_t j = echo_buffer_pos >> 8; j < next_buffer_pos >> 8; j++) {
-                            word = (int16_t)(echo_buffer[j % echo_buf_len] * decay);
-                            echo_buffer[j % echo_buf_len] = word;
+                            word = (int16_t)(echo_buffer[(j % echo_buf_len) + echo_buffer_offset] * decay);
+                            echo_buffer[(j % echo_buf_len) + echo_buffer_offset] = word;
                         }
                     } else {
-                        echo = echo_buffer[self->echo_buffer_read_pos++];
+                        echo = echo_buffer[echo_buffer_pos + echo_buffer_offset];
                         word = (int16_t)(echo * decay);
-                        echo_buffer[self->echo_buffer_write_pos++] = word;
+                        echo_buffer[echo_buffer_pos++ + echo_buffer_offset] = word;
                     }
 
                     word = (int16_t)(echo * MIN(mix, MICROPY_FLOAT_CONST(1.0)));
@@ -339,13 +342,15 @@ audioio_get_buffer_result_t audiodelays_echo_get_buffer(audiodelays_echo_obj_t *
 
                     if (self->freq_shift) {
                         echo_buffer_pos = next_buffer_pos % (echo_buf_len << 8);
+                    } else if (!self->freq_shift && echo_buffer_pos >= echo_buf_len) {
+                        echo_buffer_pos = 0;
+                    }
+
+                    // Update buffer position
+                    if (echo_buffer_offset) {
+                        self->echo_buffer_right_pos = echo_buffer_pos;
                     } else {
-                        if (self->echo_buffer_read_pos >= echo_buf_len) {
-                            self->echo_buffer_read_pos = 0;
-                        }
-                        if (self->echo_buffer_write_pos >= echo_buf_len) {
-                            self->echo_buffer_write_pos = 0;
-                        }
+                        self->echo_buffer_left_pos = echo_buffer_pos;
                     }
                 }
             }
@@ -380,37 +385,42 @@ audioio_get_buffer_result_t audiodelays_echo_get_buffer(audiodelays_echo_obj_t *
 
                     int32_t echo, word = 0;
                     uint32_t next_buffer_pos = 0;
+
+                    // Get our echo buffer position and offset depending on current channel
+                    uint32_t echo_buffer_offset = max_echo_buf_len * ((single_channel_output && channel == 1) || (!single_channel_output && (i % self->base.channel_count) == 1));
+                    uint32_t echo_buffer_pos = echo_buffer_offset ? self->echo_buffer_right_pos : self->echo_buffer_left_pos;
+
                     if (self->freq_shift) {
-                        echo = echo_buffer[echo_buffer_pos >> 8];
+                        echo = echo_buffer[(echo_buffer_pos >> 8) + echo_buffer_offset];
                         next_buffer_pos = echo_buffer_pos + self->echo_buffer_rate;
                     } else {
-                        echo = echo_buffer[self->echo_buffer_read_pos++];
+                        echo = echo_buffer[echo_buffer_pos + echo_buffer_offset];
                         word = (int32_t)(echo * decay + sample_word);
                     }
 
                     if (MP_LIKELY(self->base.bits_per_sample == 16)) {
                         if (self->freq_shift) {
                             for (uint32_t j = echo_buffer_pos >> 8; j < next_buffer_pos >> 8; j++) {
-                                word = (int32_t)(echo_buffer[j % echo_buf_len] * decay + sample_word);
+                                word = (int32_t)(echo_buffer[(j % echo_buf_len) + echo_buffer_offset] * decay + sample_word);
                                 word = synthio_mix_down_sample(word, SYNTHIO_MIX_DOWN_SCALE(2));
-                                echo_buffer[j % echo_buf_len] = (int16_t)word;
+                                echo_buffer[(j % echo_buf_len) + echo_buffer_offset] = (int16_t)word;
                             }
                         } else {
                             word = synthio_mix_down_sample(word, SYNTHIO_MIX_DOWN_SCALE(2));
-                            echo_buffer[self->echo_buffer_write_pos++] = (int16_t)word;
+                            echo_buffer[echo_buffer_pos++ + echo_buffer_offset] = (int16_t)word;
                         }
                     } else {
                         if (self->freq_shift) {
                             for (uint32_t j = echo_buffer_pos >> 8; j < next_buffer_pos >> 8; j++) {
-                                word = (int32_t)(echo_buffer[j % echo_buf_len] * decay + sample_word);
+                                word = (int32_t)(echo_buffer[(j % echo_buf_len) + echo_buffer_offset] * decay + sample_word);
                                 // Do not have mix_down for 8 bit so just hard cap samples into 1 byte
                                 word = MIN(MAX(word, -128), 127);
-                                echo_buffer[j % echo_buf_len] = (int8_t)word;
+                                echo_buffer[(j % echo_buf_len) + echo_buffer_offset] = (int8_t)word;
                             }
                         } else {
                             // Do not have mix_down for 8 bit so just hard cap samples into 1 byte
                             word = MIN(MAX(word, -128), 127);
-                            echo_buffer[self->echo_buffer_write_pos++] = (int8_t)word;
+                            echo_buffer[echo_buffer_pos++ + echo_buffer_offset] = (int8_t)word;
                         }
                     }
 
@@ -434,13 +444,15 @@ audioio_get_buffer_result_t audiodelays_echo_get_buffer(audiodelays_echo_obj_t *
 
                     if (self->freq_shift) {
                         echo_buffer_pos = next_buffer_pos % (echo_buf_len << 8);
+                    } else if (!self->freq_shift && echo_buffer_pos >= echo_buf_len) {
+                        echo_buffer_pos = 0;
+                    }
+
+                    // Update buffer position
+                    if (echo_buffer_offset) {
+                        self->echo_buffer_right_pos = echo_buffer_pos;
                     } else {
-                        if (self->echo_buffer_read_pos >= echo_buf_len) {
-                            self->echo_buffer_read_pos = 0;
-                        }
-                        if (self->echo_buffer_write_pos >= echo_buf_len) {
-                            self->echo_buffer_write_pos = 0;
-                        }
+                        self->echo_buffer_left_pos = echo_buffer_pos;
                     }
                 }
             }
@@ -452,14 +464,6 @@ audioio_get_buffer_result_t audiodelays_echo_get_buffer(audiodelays_echo_obj_t *
             self->sample_remaining_buffer += (n * (self->base.bits_per_sample / 8));
             self->sample_buffer_length -= n;
         }
-
-        if (self->freq_shift) {
-            if (channel == 0) {
-                self->echo_buffer_left_pos = echo_buffer_pos;
-            } else if (channel == 1) {
-                self->echo_buffer_right_pos = echo_buffer_pos;
-            }
-        }
     }
 
     // Finally pass our buffer and length to the calling audio function
diff --git a/shared-module/audiodelays/Echo.h b/shared-module/audiodelays/Echo.h
index 7f5dbb69f090a..cc37f7030be0e 100644
--- a/shared-module/audiodelays/Echo.h
+++ b/shared-module/audiodelays/Echo.h
@@ -37,12 +37,9 @@ typedef struct {
     uint32_t echo_buffer_len; // bytes
     uint32_t max_echo_buffer_len; // bytes
 
-    uint32_t echo_buffer_read_pos; // words
-    uint32_t echo_buffer_write_pos; // words
-
+    uint32_t echo_buffer_left_pos; // words (<< 8 when freq_shift=True)
+    uint32_t echo_buffer_right_pos; // words (<< 8 when freq_shift=True)
     uint32_t echo_buffer_rate; // words << 8
-    uint32_t echo_buffer_left_pos; // words << 8
-    uint32_t echo_buffer_right_pos; // words << 8
 
     mp_obj_t sample;
 } audiodelays_echo_obj_t;
diff --git a/shared-module/displayio/ColorConverter.c b/shared-module/displayio/ColorConverter.c
index cf5136f4e6bb6..ae7d3f02d5127 100644
--- a/shared-module/displayio/ColorConverter.c
+++ b/shared-module/displayio/ColorConverter.c
@@ -91,6 +91,40 @@ uint8_t displayio_colorconverter_compute_hue(uint32_t color_rgb888) {
     return hue;
 }
 
+uint8_t displayio_colorconverter_compute_sixcolor(uint32_t color_rgb888) {
+    // This is DDX=1, the default for the displays.
+    uint8_t chroma = displayio_colorconverter_compute_chroma(color_rgb888);
+    if (chroma >= 64) {
+        uint8_t hue = displayio_colorconverter_compute_hue(color_rgb888);
+        // Red 0
+        if (hue < 10) {
+            return 0x3;
+        }
+        // Yellow 42
+        if (hue < 42 + 21) {
+            return 0x2;
+        }
+        // Green 85
+        if (hue < 85 + 42) {
+            return 0x6;
+        }
+        // Blue 170
+        if (hue < 170 + 42) {
+            return 0x5;
+        }
+
+        // The rest is red to 255
+        return 0x3;
+    } else {
+        uint8_t luma = displayio_colorconverter_compute_luma(color_rgb888);
+        if (luma >= 128) {
+            return 0x1; // White
+        } else {
+            return 0x0; // Black
+        }
+    }
+}
+
 uint8_t displayio_colorconverter_compute_sevencolor(uint32_t color_rgb888) {
     // This is DDX=1, the default for the displays.
     uint8_t chroma = displayio_colorconverter_compute_chroma(color_rgb888);
@@ -309,7 +343,9 @@ void displayio_convert_color(const _displayio_colorspace_t *colorspace, bool dit
         return;
     } else if (colorspace->depth == 4) {
         uint8_t packed;
-        if (colorspace->sevencolor) {
+        if (colorspace->sixcolor) {
+            packed = displayio_colorconverter_compute_sixcolor(pixel);
+        } else if (colorspace->sevencolor) {
             packed = displayio_colorconverter_compute_sevencolor(pixel);
         } else {
             packed = displayio_colorconverter_compute_rgbd(pixel);
diff --git a/shared-module/displayio/ColorConverter.h b/shared-module/displayio/ColorConverter.h
index 60efc132f9ae5..d3dbedfe160ab 100644
--- a/shared-module/displayio/ColorConverter.h
+++ b/shared-module/displayio/ColorConverter.h
@@ -41,5 +41,6 @@ uint8_t displayio_colorconverter_compute_rgbd(uint32_t color_rgb888);
 uint8_t displayio_colorconverter_compute_luma(uint32_t color_rgb888);
 uint8_t displayio_colorconverter_compute_chroma(uint32_t color_rgb888);
 uint8_t displayio_colorconverter_compute_hue(uint32_t color_rgb888);
+uint8_t displayio_colorconverter_compute_sixcolor(uint32_t color_rgb888);
 uint8_t displayio_colorconverter_compute_sevencolor(uint32_t color_rgb888);
 void displayio_colorconverter_compute_tricolor(const _displayio_colorspace_t *colorspace, uint8_t pixel_hue, uint32_t *color);
diff --git a/shared-module/displayio/Palette.h b/shared-module/displayio/Palette.h
index 092b934b66a24..bb87a93d98133 100644
--- a/shared-module/displayio/Palette.h
+++ b/shared-module/displayio/Palette.h
@@ -19,6 +19,7 @@ typedef struct {
     uint8_t grayscale_bit; // The lowest grayscale bit. Normally 8 - depth.
     bool grayscale;
     bool tricolor;
+    bool sixcolor; // Spectra6 e-ink screens.
     bool sevencolor; // Acep e-ink screens.
     bool pixels_in_byte_share_row;
     bool reverse_pixels_in_byte;
diff --git a/shared-module/epaperdisplay/EPaperDisplay.c b/shared-module/epaperdisplay/EPaperDisplay.c
index 86ecff29b1102..a5a303d82ae75 100644
--- a/shared-module/epaperdisplay/EPaperDisplay.c
+++ b/shared-module/epaperdisplay/EPaperDisplay.c
@@ -36,7 +36,7 @@ void common_hal_epaperdisplay_epaperdisplay_construct(epaperdisplay_epaperdispla
     uint16_t write_color_ram_command, bool color_bits_inverted, uint32_t highlight_color,
     const uint8_t *refresh_sequence, uint16_t refresh_sequence_len, mp_float_t refresh_time,
     const mcu_pin_obj_t *busy_pin, bool busy_state, mp_float_t seconds_per_frame,
-    bool chip_select, bool grayscale, bool acep, bool two_byte_sequence_length, bool address_little_endian) {
+    bool chip_select, bool grayscale, bool acep, bool spectra6, bool two_byte_sequence_length, bool address_little_endian) {
     uint16_t color_depth = 1;
     bool core_grayscale = true;
     if (highlight_color != 0x000000) {
@@ -46,9 +46,10 @@ void common_hal_epaperdisplay_epaperdisplay_construct(epaperdisplay_epaperdispla
     } else {
         self->core.colorspace.tricolor = false;
     }
-    self->acep = acep;
+    self->acep = acep || spectra6;
+    self->core.colorspace.sixcolor = spectra6;
     self->core.colorspace.sevencolor = acep;
-    if (acep) {
+    if (self->acep) {
         color_depth = 4; // bits. 7 colors + clean
         grayscale = false;
         core_grayscale = false;
@@ -338,7 +339,7 @@ static bool epaperdisplay_epaperdisplay_refresh_area(epaperdisplay_epaperdisplay
                 } else if (self->core.colorspace.tricolor) {
                     self->core.colorspace.grayscale = false;
                     displayio_display_core_fill_area(&self->core, &subrectangle, mask, buffer);
-                } else if (self->core.colorspace.sevencolor) {
+                } else if (self->core.colorspace.sixcolor || self->core.colorspace.sevencolor) {
                     displayio_display_core_fill_area(&self->core, &subrectangle, mask, buffer);
                 }
             } else {
diff --git a/shared-module/touchio/TouchIn.c b/shared-module/touchio/TouchIn.c
index b81b52b44415f..268055d14bf53 100644
--- a/shared-module/touchio/TouchIn.c
+++ b/shared-module/touchio/TouchIn.c
@@ -86,7 +86,7 @@ void common_hal_touchio_touchin_deinit(touchio_touchin_obj_t *self) {
     self->digitalinout = MP_OBJ_NULL;
 }
 
-void touchin_reset() {
+void touchin_reset(void) {
 }
 
 bool common_hal_touchio_touchin_get_value(touchio_touchin_obj_t *self) {
diff --git a/shared-module/usb_cdc/__init__.c b/shared-module/usb_cdc/__init__.c
index 0248c0f180fdb..9a9f158f28cfb 100644
--- a/shared-module/usb_cdc/__init__.c
+++ b/shared-module/usb_cdc/__init__.c
@@ -356,10 +356,10 @@ size_t usb_vendor_descriptor_length(void) {
 
 static uint8_t *ms_os_20_descriptor = NULL;
 
-size_t vendor_ms_os_20_descriptor_length() {
+size_t vendor_ms_os_20_descriptor_length(void) {
     return ms_os_20_descriptor != NULL ? sizeof(ms_os_20_descriptor_template) : 0;
 }
-uint8_t const *vendor_ms_os_20_descriptor() {
+uint8_t const *vendor_ms_os_20_descriptor(void) {
     return ms_os_20_descriptor;
 }
 
diff --git a/shared-module/vectorio/VectorShape.c b/shared-module/vectorio/VectorShape.c
index 680a9f157c360..3ac752f327ce3 100644
--- a/shared-module/vectorio/VectorShape.c
+++ b/shared-module/vectorio/VectorShape.c
@@ -539,6 +539,7 @@ displayio_area_t *vectorio_vector_shape_get_refresh_areas(vectorio_vector_shape_
             self->ephemeral_dirty_area.next = tail;
             tail = &self->ephemeral_dirty_area;
         } else {
+            self->current_area_dirty = true;
             self->current_area.next = tail;
             tail = &self->current_area;
             VECTORIO_SHAPE_DEBUG("%p get_refresh_area: redrawing current: {(%3d,%3d), (%3d,%3d)}\n", self, self->current_area.x1, self->current_area.y1, self->current_area.x2, self->current_area.y2);
diff --git a/supervisor/shared/background_callback.c b/supervisor/shared/background_callback.c
index 309210b7a12ae..ffeb78bbb8371 100644
--- a/supervisor/shared/background_callback.c
+++ b/supervisor/shared/background_callback.c
@@ -58,7 +58,7 @@ inline bool background_callback_pending(void) {
 
 static int background_prevention_count;
 
-void PLACE_IN_ITCM(background_callback_run_all)() {
+void PLACE_IN_ITCM(background_callback_run_all)(void) {
     port_background_task();
     if (!background_callback_pending()) {
         return;
@@ -89,13 +89,13 @@ void PLACE_IN_ITCM(background_callback_run_all)() {
     CALLBACK_CRITICAL_END;
 }
 
-void background_callback_prevent() {
+void background_callback_prevent(void) {
     CALLBACK_CRITICAL_BEGIN;
     ++background_prevention_count;
     CALLBACK_CRITICAL_END;
 }
 
-void background_callback_allow() {
+void background_callback_allow(void) {
     CALLBACK_CRITICAL_BEGIN;
     --background_prevention_count;
     CALLBACK_CRITICAL_END;
@@ -103,7 +103,7 @@ void background_callback_allow() {
 
 
 // Filter out queued callbacks if they are allocated on the heap.
-void background_callback_reset() {
+void background_callback_reset(void) {
     background_callback_t *new_head = NULL;
     background_callback_t **previous_next = &new_head;
     background_callback_t *new_tail = NULL;
diff --git a/supervisor/shared/bluetooth/bluetooth.c b/supervisor/shared/bluetooth/bluetooth.c
index 73c05139eeea3..055a5cdf1fdfd 100644
--- a/supervisor/shared/bluetooth/bluetooth.c
+++ b/supervisor/shared/bluetooth/bluetooth.c
@@ -189,6 +189,7 @@ void supervisor_bluetooth_init(void) {
     boot_in_discovery_mode = false;
     if (reset_reason != RESET_REASON_POWER_ON &&
         reset_reason != RESET_REASON_RESET_PIN &&
+        reset_reason != RESET_REASON_DEEP_SLEEP_ALARM &&
         reset_reason != RESET_REASON_UNKNOWN &&
         reset_reason != RESET_REASON_SOFTWARE) {
         return;
diff --git a/supervisor/shared/cpu_regs.h b/supervisor/shared/cpu_regs.h
index 335201fe94231..8243c2388cd9b 100644
--- a/supervisor/shared/cpu_regs.h
+++ b/supervisor/shared/cpu_regs.h
@@ -7,7 +7,7 @@
 #pragma once
 
 #ifdef __arm__
-#define INTEGER_REGS 8
+#define INTEGER_REGS 10
 #ifdef __ARM_FP
 #define FLOATING_POINT_REGS 16
 #endif
diff --git a/supervisor/shared/reload.c b/supervisor/shared/reload.c
index fb7ff0403c259..862c4ccebc7aa 100644
--- a/supervisor/shared/reload.c
+++ b/supervisor/shared/reload.c
@@ -35,16 +35,16 @@ void reload_initiate(supervisor_run_reason_t run_reason) {
     port_wake_main_task();
 }
 
-void autoreload_reset() {
+void autoreload_reset(void) {
     last_autoreload_trigger = 0;
 }
 
-void autoreload_enable() {
+void autoreload_enable(void) {
     autoreload_enabled = true;
     last_autoreload_trigger = 0;
 }
 
-void autoreload_disable() {
+void autoreload_disable(void) {
     autoreload_enabled = false;
 }
 
@@ -56,11 +56,11 @@ void autoreload_resume(uint32_t suspend_reason_mask) {
     autoreload_suspended &= ~suspend_reason_mask;
 }
 
-inline bool autoreload_is_enabled() {
+inline bool autoreload_is_enabled(void) {
     return autoreload_enabled;
 }
 
-void autoreload_trigger() {
+void autoreload_trigger(void) {
     if (!autoreload_enabled || autoreload_suspended != 0) {
         return;
     }
@@ -78,7 +78,7 @@ void autoreload_trigger() {
     }
 }
 
-bool autoreload_ready() {
+bool autoreload_ready(void) {
     if (last_autoreload_trigger == 0 || autoreload_suspended != 0) {
         return false;
     }
diff --git a/supervisor/shared/status_leds.c b/supervisor/shared/status_leds.c
index 0742b6485ebfd..ffe8b46b20b7c 100644
--- a/supervisor/shared/status_leds.c
+++ b/supervisor/shared/status_leds.c
@@ -112,7 +112,7 @@ static uint32_t current_status_color = 0;
 #endif
 
 static bool status_led_init_in_progress = false;
-void status_led_init() {
+void status_led_init(void) {
     if (status_led_init_in_progress) {
         // Avoid recursion.
         return;
@@ -186,7 +186,7 @@ void status_led_init() {
     status_led_init_in_progress = false;
 }
 
-void status_led_deinit() {
+void status_led_deinit(void) {
     #ifdef MICROPY_HW_NEOPIXEL
     // Make sure the pin stays low for the reset period. The pin reset may pull
     // it up and stop the reset period.
diff --git a/supervisor/shared/tick.c b/supervisor/shared/tick.c
index e19b7c4e68134..346ef9a93c4c5 100644
--- a/supervisor/shared/tick.c
+++ b/supervisor/shared/tick.c
@@ -92,14 +92,14 @@ static uint64_t _get_raw_subticks(void) {
     return (ticks << 5) | subticks;
 }
 
-uint64_t supervisor_ticks_ms64() {
+uint64_t supervisor_ticks_ms64(void) {
     uint64_t result;
     result = port_get_raw_ticks(NULL);
     result = result * 1000 / 1024;
     return result;
 }
 
-uint32_t supervisor_ticks_ms32() {
+uint32_t supervisor_ticks_ms32(void) {
     return supervisor_ticks_ms64();
 }
 
diff --git a/tests/basics/deque2.py b/tests/basics/deque2.py
index 3552d5be37abe..ebc0872c7b4e0 100644
--- a/tests/basics/deque2.py
+++ b/tests/basics/deque2.py
@@ -31,6 +31,16 @@
 d[3] = 5
 print(d[3])
 
+# Access the last element via index, when the last element is at various locations
+d = deque((), 2)
+for i in range(4):
+    d.append(i)
+    print(i, d[-1])
+
+# Write the last element then access all elements from the end
+d[-1] = 4
+print(d[-2], d[-1])
+
 # Accessing indices out of bounds raises IndexError
 try:
     d[4]
diff --git a/tools/ci_check_duplicate_usb_vid_pid.py b/tools/ci_check_duplicate_usb_vid_pid.py
index 233c7acdffc42..5361914af199b 100644
--- a/tools/ci_check_duplicate_usb_vid_pid.py
+++ b/tools/ci_check_duplicate_usb_vid_pid.py
@@ -53,6 +53,7 @@
     "0x303A:0x7003": [
         "espressif_esp32s3_devkitc_1_n8",
         "espressif_esp32s3_devkitc_1_n8r2",
+        "espressif_esp32s3_devkitc_1_n8r2_ros",
         "espressif_esp32s3_devkitc_1_n8r8",
         "espressif_esp32s3_devkitc_1_n8r8_hacktablet",
         "espressif_esp32s3_devkitc_1_n16",
@@ -63,6 +64,10 @@
         "espressif_esp32s2_devkitc_1_n4r2",
         "espressif_esp32s2_devkitc_1_n8r2",
     ],
+    "0x303A:0x81DA": [
+        "m5stack_cardputer",
+        "m5stack_cardputer_ros",
+    ],
     "0x239A:0x102E": ["weact_studio_pico", "weact_studio_pico_16mb"],
     "0x303A:0x8166": ["yd_esp32_s3_n8r8", "yd_esp32_s3_n16r8"],
     "0x2341:0x056B": ["arduino_nano_esp32s3", "arduino_nano_esp32s3_inverted_statusled"],