diff --git a/extmod/modframebuf.c b/extmod/modframebuf.c
index cd0f50d104427..b718a66cc62fe 100644
--- a/extmod/modframebuf.c
+++ b/extmod/modframebuf.c
@@ -536,6 +536,10 @@ static mp_obj_t framebuf_ellipse(size_t n_args, const mp_obj_t *args_in) {
     } else {
         mask |= ELLIPSE_MASK_ALL;
     }
+    if (args[2] == 0 && args[3] == 0) {
+        setpixel_checked(self, args[0], args[1], args[4], mask & ELLIPSE_MASK_ALL);
+        return mp_const_none;
+    }
     mp_int_t two_asquare = 2 * args[2] * args[2];
     mp_int_t two_bsquare = 2 * args[3] * args[3];
     mp_int_t x = args[2];
diff --git a/extmod/modlwip.c b/extmod/modlwip.c
index 21c6f7264befa..0d38bf41b2051 100644
--- a/extmod/modlwip.c
+++ b/extmod/modlwip.c
@@ -1432,7 +1432,7 @@ static mp_obj_t lwip_socket_setsockopt(size_t n_args, const mp_obj_t *args) {
         case IP_DROP_MEMBERSHIP: {
             mp_buffer_info_t bufinfo;
             mp_get_buffer_raise(args[3], &bufinfo, MP_BUFFER_READ);
-            if (bufinfo.len != sizeof(ip_addr_t) * 2) {
+            if (bufinfo.len != sizeof(MP_IGMP_IP_ADDR_TYPE) * 2) {
                 mp_raise_ValueError(NULL);
             }
 
diff --git a/extmod/network_cyw43.c b/extmod/network_cyw43.c
index 3066cac75d3b7..02b022cb81327 100644
--- a/extmod/network_cyw43.c
+++ b/extmod/network_cyw43.c
@@ -60,6 +60,10 @@ typedef struct _network_cyw43_obj_t {
 static const network_cyw43_obj_t network_cyw43_wl_sta = { { &mp_network_cyw43_type }, &cyw43_state, CYW43_ITF_STA };
 static const network_cyw43_obj_t network_cyw43_wl_ap = { { &mp_network_cyw43_type }, &cyw43_state, CYW43_ITF_AP };
 
+// Avoid race conditions with callbacks by tracking the last up or down request
+// we have made for each interface.
+static bool if_active[2];
+
 static void network_cyw43_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind) {
     network_cyw43_obj_t *self = MP_OBJ_TO_PTR(self_in);
     struct netif *netif = &self->cyw->netif[self->itf];
@@ -122,6 +126,10 @@ static MP_DEFINE_CONST_FUN_OBJ_3(network_cyw43_ioctl_obj, network_cyw43_ioctl);
 /*******************************************************************************/
 // network API
 
+static uint32_t get_country_code(void) {
+    return CYW43_COUNTRY(mod_network_country_code[0], mod_network_country_code[1], 0);
+}
+
 static mp_obj_t network_cyw43_deinit(mp_obj_t self_in) {
     network_cyw43_obj_t *self = MP_OBJ_TO_PTR(self_in);
     cyw43_deinit(self->cyw);
@@ -132,10 +140,11 @@ static MP_DEFINE_CONST_FUN_OBJ_1(network_cyw43_deinit_obj, network_cyw43_deinit)
 static mp_obj_t network_cyw43_active(size_t n_args, const mp_obj_t *args) {
     network_cyw43_obj_t *self = MP_OBJ_TO_PTR(args[0]);
     if (n_args == 1) {
-        return mp_obj_new_bool(cyw43_tcpip_link_status(self->cyw, self->itf));
+        return mp_obj_new_bool(if_active[self->itf]);
     } else {
-        uint32_t country = CYW43_COUNTRY(mod_network_country_code[0], mod_network_country_code[1], 0);
-        cyw43_wifi_set_up(self->cyw, self->itf, mp_obj_is_true(args[1]), country);
+        bool value = mp_obj_is_true(args[1]);
+        cyw43_wifi_set_up(self->cyw, self->itf, value, get_country_code());
+        if_active[self->itf] = value;
         return mp_const_none;
     }
 }
@@ -311,7 +320,17 @@ static MP_DEFINE_CONST_FUN_OBJ_1(network_cyw43_disconnect_obj, network_cyw43_dis
 
 static mp_obj_t network_cyw43_isconnected(mp_obj_t self_in) {
     network_cyw43_obj_t *self = MP_OBJ_TO_PTR(self_in);
-    return mp_obj_new_bool(cyw43_tcpip_link_status(self->cyw, self->itf) == 3);
+    bool result = (cyw43_tcpip_link_status(self->cyw, self->itf) == CYW43_LINK_UP);
+
+    if (result && self->itf == CYW43_ITF_AP) {
+        // For AP we need to not only know if the link is up, but also if any stations
+        // have associated.
+        uint8_t mac_buf[6];
+        int num_stas = 1;
+        cyw43_wifi_ap_get_stas(self->cyw, &num_stas, mac_buf);
+        result = num_stas > 0;
+    }
+    return mp_obj_new_bool(result);
 }
 static MP_DEFINE_CONST_FUN_OBJ_1(network_cyw43_isconnected_obj, network_cyw43_isconnected);
 
@@ -351,13 +370,15 @@ static mp_obj_t network_cyw43_status(size_t n_args, const mp_obj_t *args) {
             if (self->itf != CYW43_ITF_AP) {
                 mp_raise_ValueError(MP_ERROR_TEXT("AP required"));
             }
-            int num_stas;
-            uint8_t macs[32 * 6];
+            static const unsigned mac_len = 6;
+            static const unsigned max_stas = 32;
+            int num_stas = max_stas;
+            uint8_t macs[max_stas * mac_len];
             cyw43_wifi_ap_get_stas(self->cyw, &num_stas, macs);
             mp_obj_t list = mp_obj_new_list(num_stas, NULL);
             for (int i = 0; i < num_stas; ++i) {
                 mp_obj_t tuple[1] = {
-                    mp_obj_new_bytes(&macs[i * 6], 6),
+                    mp_obj_new_bytes(&macs[i * mac_len], mac_len),
                 };
                 ((mp_obj_list_t *)MP_OBJ_TO_PTR(list))->items[i] = mp_obj_new_tuple(1, tuple);
             }
@@ -445,6 +466,10 @@ static mp_obj_t network_cyw43_config(size_t n_args, const mp_obj_t *args, mp_map
             mp_raise_TypeError(MP_ERROR_TEXT("can't specify pos and kw args"));
         }
 
+        // A number of these options only update buffers in memory, and
+        // won't do anything until the interface is cycled down and back up
+        bool cycle_active = false;
+
         for (size_t i = 0; i < kwargs->alloc; ++i) {
             if (MP_MAP_SLOT_IS_FILLED(kwargs, i)) {
                 mp_map_elem_t *e = &kwargs->table[i];
@@ -457,6 +482,7 @@ static mp_obj_t network_cyw43_config(size_t n_args, const mp_obj_t *args, mp_map
                     }
                     case MP_QSTR_channel: {
                         cyw43_wifi_ap_set_channel(self->cyw, mp_obj_get_int(e->value));
+                        cycle_active = true;
                         break;
                     }
                     case MP_QSTR_ssid:
@@ -464,6 +490,7 @@ static mp_obj_t network_cyw43_config(size_t n_args, const mp_obj_t *args, mp_map
                         size_t len;
                         const char *str = mp_obj_str_get_data(e->value, &len);
                         cyw43_wifi_ap_set_ssid(self->cyw, len, (const uint8_t *)str);
+                        cycle_active = true;
                         break;
                     }
                     case MP_QSTR_monitor: {
@@ -483,6 +510,7 @@ static mp_obj_t network_cyw43_config(size_t n_args, const mp_obj_t *args, mp_map
                     }
                     case MP_QSTR_security: {
                         cyw43_wifi_ap_set_auth(self->cyw, mp_obj_get_int(e->value));
+                        cycle_active = true;
                         break;
                     }
                     case MP_QSTR_key:
@@ -490,6 +518,7 @@ static mp_obj_t network_cyw43_config(size_t n_args, const mp_obj_t *args, mp_map
                         size_t len;
                         const char *str = mp_obj_str_get_data(e->value, &len);
                         cyw43_wifi_ap_set_password(self->cyw, len, (const uint8_t *)str);
+                        cycle_active = true;
                         break;
                     }
                     case MP_QSTR_pm: {
@@ -519,6 +548,13 @@ static mp_obj_t network_cyw43_config(size_t n_args, const mp_obj_t *args, mp_map
             }
         }
 
+        // If the interface is already active, cycle it down and up
+        if (cycle_active && if_active[self->itf]) {
+            uint32_t country = get_country_code();
+            cyw43_wifi_set_up(self->cyw, self->itf, false, country);
+            cyw43_wifi_set_up(self->cyw, self->itf, true, country);
+        }
+
         return mp_const_none;
     }
 }
diff --git a/extmod/vfs_blockdev.c b/extmod/vfs_blockdev.c
index a7c14b76ee368..d43c96b08f326 100644
--- a/extmod/vfs_blockdev.c
+++ b/extmod/vfs_blockdev.c
@@ -58,6 +58,13 @@ static int mp_vfs_blockdev_call_rw(mp_obj_t *args, size_t block_num, size_t bloc
     if (ret == mp_const_none) {
         return 0;
     } else {
+        // Some block devices return a bool indicating success, so
+        // convert those to an errno integer code.
+        if (ret == mp_const_true) {
+            return 0;
+        } else if (ret == mp_const_false) {
+            return -MP_EIO;
+        }
         // Block device functions are expected to return 0 on success
         // and negative integer on errors. Check for positive integer
         // results as some callers (i.e. littlefs) will produce corrupt
diff --git a/ports/esp32/machine_pwm.c b/ports/esp32/machine_pwm.c
index 71402e1c49e44..0134fa2cc8c89 100644
--- a/ports/esp32/machine_pwm.c
+++ b/ports/esp32/machine_pwm.c
@@ -36,6 +36,10 @@
 #include "esp_err.h"
 #include "soc/gpio_sig_map.h"
 
+#if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(5, 1, 0)
+#include "esp_clk_tree.h"
+#endif
+
 #define PWM_DBG(...)
 // #define PWM_DBG(...) mp_printf(&mp_plat_print, __VA_ARGS__); mp_printf(&mp_plat_print, "\n");
 
@@ -207,53 +211,79 @@ static void configure_channel(machine_pwm_obj_t *self) {
     }
 }
 
-static void set_freq(machine_pwm_obj_t *self, unsigned int freq, ledc_timer_config_t *timer) {
-    if (freq != timer->freq_hz) {
-        // Find the highest bit resolution for the requested frequency
-        unsigned int i = APB_CLK_FREQ; // 80 MHz
-        #if SOC_LEDC_SUPPORT_REF_TICK
-        if (freq < EMPIRIC_FREQ) {
-            i = REF_CLK_FREQ; // 1 MHz
-        }
-        #endif
+// Temporary workaround for ledc_find_suitable_duty_resolution function only being added in IDF V5.2
+#if ESP_IDF_VERSION < ESP_IDF_VERSION_VAL(5, 2, 0)
+static uint32_t ledc_find_suitable_duty_resolution(uint32_t src_clk_freq, uint32_t timer_freq) {
+    // This implementation is based on the one used in Micropython v1.23
 
-        int divider = (i + freq / 2) / freq; // rounded
-        if (divider == 0) {
-            divider = 1;
-        }
-        float f = (float)i / divider; // actual frequency
-        if (f <= 1.0) {
-            f = 1.0;
-        }
-        i = (unsigned int)roundf((float)i / f);
+    // Find the highest bit resolution for the requested frequency
+    unsigned int freq = src_clk_freq;
 
-        unsigned int res = 0;
-        for (; i > 1; i >>= 1) {
-            ++res;
-        }
-        if (res == 0) {
-            res = 1;
-        } else if (res > HIGHEST_PWM_RES) {
-            // Limit resolution to HIGHEST_PWM_RES to match units of our duty
-            res = HIGHEST_PWM_RES;
-        }
+    int divider = (freq + timer_freq / 2) / timer_freq; // rounded
+    if (divider == 0) {
+        divider = 1;
+    }
+    float f = (float)freq / divider; // actual frequency
+    if (f <= 1.0) {
+        f = 1.0;
+    }
+    freq = (unsigned int)roundf((float)freq / f);
 
-        // Configure the new resolution and frequency
-        timer->duty_resolution = res;
+    unsigned int res = 0;
+    for (; freq > 1; freq >>= 1) {
+        ++res;
+    }
+    if (res == 0) {
+        res = 1;
+    } else if (res > HIGHEST_PWM_RES) {
+        // Limit resolution to HIGHEST_PWM_RES to match units of our duty
+        res = HIGHEST_PWM_RES;
+    }
+
+    return res;
+}
+#endif
+
+static void set_freq(machine_pwm_obj_t *self, unsigned int freq, ledc_timer_config_t *timer) {
+    esp_err_t err;
+    if (freq != timer->freq_hz) {
+        // Configure the new frequency and resolution
         timer->freq_hz = freq;
-        #if SOC_LEDC_SUPPORT_XTAL_CLOCK
+
+        #if SOC_LEDC_SUPPORT_PLL_DIV_CLOCK
+        timer->clk_cfg = LEDC_USE_PLL_DIV_CLK;
+        #elif SOC_LEDC_SUPPORT_APB_CLOCK
+        timer->clk_cfg = LEDC_USE_APB_CLK;
+        #elif SOC_LEDC_SUPPORT_XTAL_CLOCK
         timer->clk_cfg = LEDC_USE_XTAL_CLK;
         #else
-        timer->clk_cfg = LEDC_USE_APB_CLK;
+        #error No supported PWM / LEDC clocks.
         #endif
         #if SOC_LEDC_SUPPORT_REF_TICK
         if (freq < EMPIRIC_FREQ) {
             timer->clk_cfg = LEDC_USE_REF_TICK;
         }
         #endif
+        uint32_t src_clk_freq = 0;
+        #if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(5, 1, 0)
+        err = esp_clk_tree_src_get_freq_hz(timer->clk_cfg, ESP_CLK_TREE_SRC_FREQ_PRECISION_CACHED, &src_clk_freq);
+        if (err != ESP_OK) {
+            mp_raise_msg_varg(&mp_type_ValueError, MP_ERROR_TEXT("unable to query source clock frequency %d"), (int)timer->clk_cfg);
+        }
+        #else
+        // Simplified fallback logic for IDF V5.0.x, for targets with APB only.
+        src_clk_freq = APB_CLK_FREQ; // 80 MHz
+        #if SOC_LEDC_SUPPORT_REF_TICK
+        if (timer->clk_cfg == LEDC_USE_REF_TICK) {
+            src_clk_freq = REF_CLK_FREQ; // 1 MHz
+        }
+        #endif // SOC_LEDC_SUPPORT_REF_TICK
+        #endif // ESP_IDF_VERSION
+
+        timer->duty_resolution = ledc_find_suitable_duty_resolution(src_clk_freq, timer->freq_hz);
 
         // Set frequency
-        esp_err_t err = ledc_timer_config(timer);
+        err = ledc_timer_config(timer);
         if (err != ESP_OK) {
             if (err == ESP_FAIL) {
                 mp_raise_msg_varg(&mp_type_ValueError, MP_ERROR_TEXT("unreachable frequency %d"), freq);
diff --git a/ports/esp32/machine_touchpad.c b/ports/esp32/machine_touchpad.c
index 7612063e51d4a..48250280badaf 100644
--- a/ports/esp32/machine_touchpad.c
+++ b/ports/esp32/machine_touchpad.c
@@ -29,12 +29,14 @@
 #include "modmachine.h"
 #include "driver/gpio.h"
 
-#if CONFIG_IDF_TARGET_ESP32 || CONFIG_IDF_TARGET_ESP32S2 || CONFIG_IDF_TARGET_ESP32S3
+#if SOC_TOUCH_SENSOR_SUPPORTED
 
-#if CONFIG_IDF_TARGET_ESP32
+#if SOC_TOUCH_VERSION_1 // ESP32 only
 #include "driver/touch_pad.h"
-#elif CONFIG_IDF_TARGET_ESP32S2 || CONFIG_IDF_TARGET_ESP32S3
+#elif SOC_TOUCH_VERSION_2 // All other SoCs with touch, to date
 #include "driver/touch_sensor.h"
+#else
+#error "Unknown touch hardware version"
 #endif
 
 typedef struct _mtp_obj_t {
@@ -70,6 +72,8 @@ static const mtp_obj_t touchpad_obj[] = {
     {{&machine_touchpad_type}, GPIO_NUM_12, TOUCH_PAD_NUM12},
     {{&machine_touchpad_type}, GPIO_NUM_13, TOUCH_PAD_NUM13},
     {{&machine_touchpad_type}, GPIO_NUM_14, TOUCH_PAD_NUM14},
+    #else
+    #error "Please add GPIO mapping for this SoC"
     #endif
 };
 
@@ -92,17 +96,18 @@ static mp_obj_t mtp_make_new(const mp_obj_type_t *type, size_t n_args, size_t n_
     if (!initialized) {
         touch_pad_init();
         touch_pad_set_fsm_mode(TOUCH_FSM_MODE_TIMER);
-        #if CONFIG_IDF_TARGET_ESP32S2 || CONFIG_IDF_TARGET_ESP32S3
-        touch_pad_fsm_start();
-        #endif
         initialized = 1;
     }
-    #if CONFIG_IDF_TARGET_ESP32
+    #if SOC_TOUCH_VERSION_1
     esp_err_t err = touch_pad_config(self->touchpad_id, 0);
-    #elif CONFIG_IDF_TARGET_ESP32S2 || CONFIG_IDF_TARGET_ESP32S3
+    #elif SOC_TOUCH_VERSION_2
     esp_err_t err = touch_pad_config(self->touchpad_id);
     #endif
     if (err == ESP_OK) {
+        #if SOC_TOUCH_VERSION_2
+        touch_pad_fsm_start();
+        #endif
+
         return MP_OBJ_FROM_PTR(self);
     }
     mp_raise_ValueError(MP_ERROR_TEXT("Touch pad error"));
@@ -110,10 +115,10 @@ static mp_obj_t mtp_make_new(const mp_obj_type_t *type, size_t n_args, size_t n_
 
 static mp_obj_t mtp_config(mp_obj_t self_in, mp_obj_t value_in) {
     mtp_obj_t *self = self_in;
-    #if CONFIG_IDF_TARGET_ESP32
+    #if SOC_TOUCH_VERSION_1
     uint16_t value = mp_obj_get_int(value_in);
     esp_err_t err = touch_pad_config(self->touchpad_id, value);
-    #elif CONFIG_IDF_TARGET_ESP32S2 || CONFIG_IDF_TARGET_ESP32S3
+    #elif SOC_TOUCH_VERSION_2
     esp_err_t err = touch_pad_config(self->touchpad_id);
     #endif
     if (err == ESP_OK) {
@@ -125,10 +130,10 @@ MP_DEFINE_CONST_FUN_OBJ_2(mtp_config_obj, mtp_config);
 
 static mp_obj_t mtp_read(mp_obj_t self_in) {
     mtp_obj_t *self = self_in;
-    #if CONFIG_IDF_TARGET_ESP32
+    #if SOC_TOUCH_VERSION_1
     uint16_t value;
     esp_err_t err = touch_pad_read(self->touchpad_id, &value);
-    #elif CONFIG_IDF_TARGET_ESP32S2 || CONFIG_IDF_TARGET_ESP32S3
+    #elif SOC_TOUCH_VERSION_2
     uint32_t value;
     esp_err_t err = touch_pad_read_raw_data(self->touchpad_id, &value);
     #endif
@@ -155,4 +160,4 @@ MP_DEFINE_CONST_OBJ_TYPE(
     locals_dict, &mtp_locals_dict
     );
 
-#endif
+#endif // SOC_TOUCH_SENSOR_SUPPORTED
diff --git a/ports/esp32/main.c b/ports/esp32/main.c
index 03dc0807a025c..18ef9d7354798 100644
--- a/ports/esp32/main.c
+++ b/ports/esp32/main.c
@@ -39,6 +39,7 @@
 #include "esp_task.h"
 #include "esp_event.h"
 #include "esp_log.h"
+#include "esp_memory_utils.h"
 #include "esp_psram.h"
 
 #include "py/cstack.h"
@@ -237,6 +238,13 @@ void *esp_native_code_commit(void *buf, size_t len, void *reloc) {
     len = (len + 3) & ~3;
     size_t len_node = sizeof(native_code_node_t) + len;
     native_code_node_t *node = heap_caps_malloc(len_node, MALLOC_CAP_EXEC);
+    #if CONFIG_IDF_TARGET_ESP32S2
+    // Workaround for ESP-IDF bug https://github.com/espressif/esp-idf/issues/14835
+    if (node != NULL && !esp_ptr_executable(node)) {
+        free(node);
+        node = NULL;
+    }
+    #endif // CONFIG_IDF_TARGET_ESP32S2
     if (node == NULL) {
         m_malloc_fail(len_node);
     }
diff --git a/ports/esp32/modsocket.c b/ports/esp32/modsocket.c
index 916eb79bd9265..7ea5e855d325e 100644
--- a/ports/esp32/modsocket.c
+++ b/ports/esp32/modsocket.c
@@ -213,7 +213,7 @@ static int mdns_getaddrinfo(const char *host_str, const char *port_str,
 #endif // MICROPY_HW_ENABLE_MDNS_QUERIES
 
 static void _getaddrinfo_inner(const mp_obj_t host, const mp_obj_t portx,
-    const struct addrinfo *hints, struct addrinfo **res) {
+    struct addrinfo *hints, struct addrinfo **res) {
     int retval = 0;
 
     *res = NULL;
@@ -235,6 +235,9 @@ static void _getaddrinfo_inner(const mp_obj_t host, const mp_obj_t portx,
 
     MP_THREAD_GIL_EXIT();
 
+    // The ai_canonname field is used below, so set the hint.
+    hints->ai_flags |= AI_CANONNAME;
+
     #if MICROPY_HW_ENABLE_MDNS_QUERIES
     retval = mdns_getaddrinfo(host_str, port_str, hints, res);
     #endif
@@ -264,7 +267,8 @@ static void _getaddrinfo_inner(const mp_obj_t host, const mp_obj_t portx,
 static void _socket_getaddrinfo(const mp_obj_t addrtuple, struct addrinfo **resp) {
     mp_obj_t *elem;
     mp_obj_get_array_fixed_n(addrtuple, 2, &elem);
-    _getaddrinfo_inner(elem[0], elem[1], NULL, resp);
+    struct addrinfo hints = { 0 };
+    _getaddrinfo_inner(elem[0], elem[1], &hints, resp);
 }
 
 static mp_obj_t socket_make_new(const mp_obj_type_t *type_in, size_t n_args, size_t n_kw, const mp_obj_t *args) {
diff --git a/ports/esp32/network_wlan.c b/ports/esp32/network_wlan.c
index 7e802166c116c..66b72e495e209 100644
--- a/ports/esp32/network_wlan.c
+++ b/ports/esp32/network_wlan.c
@@ -549,21 +549,38 @@ static mp_obj_t network_wlan_config(size_t n_args, const mp_obj_t *args, mp_map_
                         break;
                     }
                     case MP_QSTR_channel: {
-                        uint8_t primary;
-                        wifi_second_chan_t secondary;
-                        // Get the current value of secondary
-                        esp_exceptions(esp_wifi_get_channel(&primary, &secondary));
-                        primary = mp_obj_get_int(kwargs->table[i].value);
-                        esp_err_t err = esp_wifi_set_channel(primary, secondary);
-                        if (err == ESP_ERR_INVALID_ARG) {
-                            // May need to swap secondary channel above to below or below to above
-                            secondary = (
-                                (secondary == WIFI_SECOND_CHAN_ABOVE)
-                                ? WIFI_SECOND_CHAN_BELOW
-                                : (secondary == WIFI_SECOND_CHAN_BELOW)
+                        uint8_t channel = mp_obj_get_int(kwargs->table[i].value);
+                        if (self->if_id == ESP_IF_WIFI_AP) {
+                            cfg.ap.channel = channel;
+                        } else {
+                            // This setting is only used to determine the
+                            // starting channel for a scan, so it can result in
+                            // slightly faster connection times.
+                            cfg.sta.channel = channel;
+
+                            // This additional code to directly set the channel
+                            // on the STA interface is only relevant for ESP-NOW
+                            // (when there is no STA connection attempt.)
+                            uint8_t old_primary;
+                            wifi_second_chan_t secondary;
+                            // Get the current value of secondary
+                            esp_exceptions(esp_wifi_get_channel(&old_primary, &secondary));
+                            esp_err_t err = esp_wifi_set_channel(channel, secondary);
+                            if (err == ESP_ERR_INVALID_ARG) {
+                                // May need to swap secondary channel above to below or below to above
+                                secondary = (
+                                    (secondary == WIFI_SECOND_CHAN_ABOVE)
+                                    ? WIFI_SECOND_CHAN_BELOW
+                                    : (secondary == WIFI_SECOND_CHAN_BELOW)
                                     ? WIFI_SECOND_CHAN_ABOVE
                                     : WIFI_SECOND_CHAN_NONE);
-                            esp_exceptions(esp_wifi_set_channel(primary, secondary));
+                                err = esp_wifi_set_channel(channel, secondary);
+                            }
+                            esp_exceptions(err);
+                            if (channel != old_primary) {
+                                // Workaround the ESP-IDF Wi-Fi stack sometimes taking a moment to change channels
+                                mp_hal_delay_ms(1);
+                            }
                         }
                         break;
                     }
diff --git a/ports/nrf/drivers/ticker.c b/ports/nrf/drivers/ticker.c
index c2fa31e7c207b..e9c07c842ecd5 100644
--- a/ports/nrf/drivers/ticker.c
+++ b/ports/nrf/drivers/ticker.c
@@ -62,6 +62,7 @@ void ticker_init0(void) {
 #else
     NRFX_IRQ_PRIORITY_SET(FastTicker_IRQn, 2);
 #endif
+    m_num_of_slow_tickers = 0;
 
     NRFX_IRQ_PRIORITY_SET(SlowTicker_IRQn, 3);
 
diff --git a/ports/pic16bit/Makefile b/ports/pic16bit/Makefile
index 6d061514f9583..dda48fa3ce5f1 100644
--- a/ports/pic16bit/Makefile
+++ b/ports/pic16bit/Makefile
@@ -7,7 +7,7 @@ QSTR_DEFS = qstrdefsport.h
 include $(TOP)/py/py.mk
 include $(TOP)/extmod/extmod.mk
 
-XCVERSION ?= 1.35
+XCVERSION ?= 2.10
 XC16 ?= /opt/microchip/xc16/v$(XCVERSION)
 CROSS_COMPILE ?= $(XC16)/bin/xc16-
 
@@ -31,7 +31,7 @@ CFLAGS += -O1 -DNDEBUG
 endif
 
 LDFLAGS += --heap=0 -nostdlib -T $(XC16)/support/$(PARTFAMILY)/gld/p$(PART).gld -Map=$@.map --cref -p$(PART)
-LIBS += -L$(XC16)/lib -L$(XC16)/lib/$(PARTFAMILY) -lc -lm -lpic30
+LIBS += -L$(XC16)/lib -L$(XC16)/lib/$(PARTFAMILY) -lc99-elf -lm-elf -lc99-pic30-elf
 
 SRC_C = \
 	main.c \
diff --git a/ports/pic16bit/mpconfigport.h b/ports/pic16bit/mpconfigport.h
index a2d607fb29325..d80f7edb9e546 100644
--- a/ports/pic16bit/mpconfigport.h
+++ b/ports/pic16bit/mpconfigport.h
@@ -93,7 +93,3 @@ typedef int mp_off_t;
 #define MICROPY_MPHALPORT_H "pic16bit_mphal.h"
 #define MICROPY_HW_BOARD_NAME "dsPICSK"
 #define MICROPY_HW_MCU_NAME "dsPIC33"
-
-// XC16 toolchain doesn't seem to define these
-typedef int intptr_t;
-typedef unsigned int uintptr_t;
diff --git a/py/misc.h b/py/misc.h
index 96b13c151a6b9..8ac80bb7b3e34 100644
--- a/py/misc.h
+++ b/py/misc.h
@@ -380,6 +380,18 @@ static inline bool mp_check(bool value) {
 
 // mp_int_t can be larger than long, i.e. Windows 64-bit, nan-box variants
 static inline uint32_t mp_clz_mpi(mp_int_t x) {
+    #ifdef __XC16__
+    mp_uint_t mask = MP_OBJ_WORD_MSBIT_HIGH;
+    mp_uint_t zeroes = 0;
+    while (mask != 0) {
+        if (mask & (mp_uint_t)x) {
+            break;
+        }
+        zeroes++;
+        mask >>= 1;
+    }
+    return zeroes;
+    #else
     MP_STATIC_ASSERT(sizeof(mp_int_t) == sizeof(long long)
         || sizeof(mp_int_t) == sizeof(long));
 
@@ -389,6 +401,7 @@ static inline uint32_t mp_clz_mpi(mp_int_t x) {
     } else {
         return mp_clzll((unsigned long long)x);
     }
+    #endif
 }
 
 #endif // MICROPY_INCLUDED_PY_MISC_H
diff --git a/py/mpconfig.h b/py/mpconfig.h
index caea0f4f7a3b8..a828f505ceac8 100644
--- a/py/mpconfig.h
+++ b/py/mpconfig.h
@@ -31,7 +31,7 @@
 // are unavailable.
 #define MICROPY_VERSION_MAJOR 1
 #define MICROPY_VERSION_MINOR 24
-#define MICROPY_VERSION_MICRO 0
+#define MICROPY_VERSION_MICRO 1
 #define MICROPY_VERSION_PRERELEASE 0
 
 // Combined version as a 32-bit number for convenience to allow version
diff --git a/py/objdeque.c b/py/objdeque.c
index 2ad771284df53..22c380a05a926 100644
--- a/py/objdeque.c
+++ b/py/objdeque.c
@@ -208,7 +208,7 @@ 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/py/objfloat.c b/py/objfloat.c
index 5c90b1491cebf..0728fce3151fe 100644
--- a/py/objfloat.c
+++ b/py/objfloat.c
@@ -47,6 +47,13 @@
 #define M_PI (3.14159265358979323846)
 #endif
 
+// Workaround a bug in recent MSVC where NAN is no longer constant.
+// (By redefining back to the previous MSVC definition of NAN)
+#if defined(_MSC_VER) && _MSC_VER >= 1942
+#undef NAN
+#define NAN (-(float)(((float)(1e+300 * 1e+300)) * 0.0F))
+#endif
+
 typedef struct _mp_obj_float_t {
     mp_obj_base_t base;
     mp_float_t value;
diff --git a/tests/extmod/framebuf_ellipse.py b/tests/extmod/framebuf_ellipse.py
index a4c784aff8762..ec0461e66ca03 100644
--- a/tests/extmod/framebuf_ellipse.py
+++ b/tests/extmod/framebuf_ellipse.py
@@ -63,3 +63,18 @@ def printbuf():
     fbuf.fill(0)
     fbuf.ellipse(x, y, 6, 12, 0xAA, True)
     printbuf()
+
+# Draw an ellipse with both radius 0
+fbuf.fill(0)
+fbuf.ellipse(15, 15, 0, 0, 0xFF, True)
+printbuf()
+
+# Draw an ellipse with both radius 0 out of bounds
+fbuf.fill(0)
+fbuf.ellipse(45, 45, 0, 0, 0xFF, True)
+printbuf()
+
+# Draw an ellipse with radius 0 and all sectors masked out
+fbuf.fill(0)
+fbuf.ellipse(15, 15, 0, 0, 0xFF, True, 0)
+printbuf()
diff --git a/tests/extmod/framebuf_ellipse.py.exp b/tests/extmod/framebuf_ellipse.py.exp
index ae6ad1ee7e487..96a60c24da1f1 100644
--- a/tests/extmod/framebuf_ellipse.py.exp
+++ b/tests/extmod/framebuf_ellipse.py.exp
@@ -702,3 +702,99 @@ aaaaaaaaaaaaaaaaaaaaaa00000000000000000000000000000000000000
 aaaaaaaaaaaaaaaaaaaaaa00000000000000000000000000000000000000
 aaaaaaaaaaaaaaaaaaaaaa00000000000000000000000000000000000000
 -->8--
+--8<--
+000000000000000000000000000000000000000000000000000000000000
+000000000000000000000000000000000000000000000000000000000000
+000000000000000000000000000000000000000000000000000000000000
+000000000000000000000000000000000000000000000000000000000000
+000000000000000000000000000000000000000000000000000000000000
+000000000000000000000000000000000000000000000000000000000000
+000000000000000000000000000000000000000000000000000000000000
+000000000000000000000000000000000000000000000000000000000000
+000000000000000000000000000000000000000000000000000000000000
+000000000000000000000000000000000000000000000000000000000000
+000000000000000000000000000000000000000000000000000000000000
+000000000000000000000000000000000000000000000000000000000000
+000000000000000000000000000000000000000000000000000000000000
+000000000000000000000000000000000000000000000000000000000000
+000000000000000000000000000000000000000000000000000000000000
+000000000000000000000000000000ff0000000000000000000000000000
+000000000000000000000000000000000000000000000000000000000000
+000000000000000000000000000000000000000000000000000000000000
+000000000000000000000000000000000000000000000000000000000000
+000000000000000000000000000000000000000000000000000000000000
+000000000000000000000000000000000000000000000000000000000000
+000000000000000000000000000000000000000000000000000000000000
+000000000000000000000000000000000000000000000000000000000000
+000000000000000000000000000000000000000000000000000000000000
+000000000000000000000000000000000000000000000000000000000000
+000000000000000000000000000000000000000000000000000000000000
+000000000000000000000000000000000000000000000000000000000000
+000000000000000000000000000000000000000000000000000000000000
+000000000000000000000000000000000000000000000000000000000000
+000000000000000000000000000000000000000000000000000000000000
+-->8--
+--8<--
+000000000000000000000000000000000000000000000000000000000000
+000000000000000000000000000000000000000000000000000000000000
+000000000000000000000000000000000000000000000000000000000000
+000000000000000000000000000000000000000000000000000000000000
+000000000000000000000000000000000000000000000000000000000000
+000000000000000000000000000000000000000000000000000000000000
+000000000000000000000000000000000000000000000000000000000000
+000000000000000000000000000000000000000000000000000000000000
+000000000000000000000000000000000000000000000000000000000000
+000000000000000000000000000000000000000000000000000000000000
+000000000000000000000000000000000000000000000000000000000000
+000000000000000000000000000000000000000000000000000000000000
+000000000000000000000000000000000000000000000000000000000000
+000000000000000000000000000000000000000000000000000000000000
+000000000000000000000000000000000000000000000000000000000000
+000000000000000000000000000000000000000000000000000000000000
+000000000000000000000000000000000000000000000000000000000000
+000000000000000000000000000000000000000000000000000000000000
+000000000000000000000000000000000000000000000000000000000000
+000000000000000000000000000000000000000000000000000000000000
+000000000000000000000000000000000000000000000000000000000000
+000000000000000000000000000000000000000000000000000000000000
+000000000000000000000000000000000000000000000000000000000000
+000000000000000000000000000000000000000000000000000000000000
+000000000000000000000000000000000000000000000000000000000000
+000000000000000000000000000000000000000000000000000000000000
+000000000000000000000000000000000000000000000000000000000000
+000000000000000000000000000000000000000000000000000000000000
+000000000000000000000000000000000000000000000000000000000000
+000000000000000000000000000000000000000000000000000000000000
+-->8--
+--8<--
+000000000000000000000000000000000000000000000000000000000000
+000000000000000000000000000000000000000000000000000000000000
+000000000000000000000000000000000000000000000000000000000000
+000000000000000000000000000000000000000000000000000000000000
+000000000000000000000000000000000000000000000000000000000000
+000000000000000000000000000000000000000000000000000000000000
+000000000000000000000000000000000000000000000000000000000000
+000000000000000000000000000000000000000000000000000000000000
+000000000000000000000000000000000000000000000000000000000000
+000000000000000000000000000000000000000000000000000000000000
+000000000000000000000000000000000000000000000000000000000000
+000000000000000000000000000000000000000000000000000000000000
+000000000000000000000000000000000000000000000000000000000000
+000000000000000000000000000000000000000000000000000000000000
+000000000000000000000000000000000000000000000000000000000000
+000000000000000000000000000000000000000000000000000000000000
+000000000000000000000000000000000000000000000000000000000000
+000000000000000000000000000000000000000000000000000000000000
+000000000000000000000000000000000000000000000000000000000000
+000000000000000000000000000000000000000000000000000000000000
+000000000000000000000000000000000000000000000000000000000000
+000000000000000000000000000000000000000000000000000000000000
+000000000000000000000000000000000000000000000000000000000000
+000000000000000000000000000000000000000000000000000000000000
+000000000000000000000000000000000000000000000000000000000000
+000000000000000000000000000000000000000000000000000000000000
+000000000000000000000000000000000000000000000000000000000000
+000000000000000000000000000000000000000000000000000000000000
+000000000000000000000000000000000000000000000000000000000000
+000000000000000000000000000000000000000000000000000000000000
+-->8--
diff --git a/tools/mpremote/mpremote/commands.py b/tools/mpremote/mpremote/commands.py
index 2b1acea438084..f86befd080349 100644
--- a/tools/mpremote/mpremote/commands.py
+++ b/tools/mpremote/mpremote/commands.py
@@ -129,8 +129,15 @@ def _remote_path_basename(a):
 
 def do_filesystem_cp(state, src, dest, multiple, check_hash=False):
     if dest.startswith(":"):
-        dest_exists = state.transport.fs_exists(dest[1:])
-        dest_isdir = dest_exists and state.transport.fs_isdir(dest[1:])
+        dest_no_slash = dest.rstrip("/" + os.path.sep + (os.path.altsep or ""))
+        dest_exists = state.transport.fs_exists(dest_no_slash[1:])
+        dest_isdir = dest_exists and state.transport.fs_isdir(dest_no_slash[1:])
+
+        # A trailing / on dest forces it to be a directory.
+        if dest != dest_no_slash:
+            if not dest_isdir:
+                raise CommandError("cp: destination is not a directory")
+            dest = dest_no_slash
     else:
         dest_exists = os.path.exists(dest)
         dest_isdir = dest_exists and os.path.isdir(dest)
diff --git a/tools/mpremote/mpremote/main.py b/tools/mpremote/mpremote/main.py
index 8c0a6cd224c32..e6e397020fe85 100644
--- a/tools/mpremote/mpremote/main.py
+++ b/tools/mpremote/mpremote/main.py
@@ -547,7 +547,10 @@ def main():
 
         return 0
     except CommandError as e:
+        # Make sure existing stdout appears before the error message on stderr.
+        sys.stdout.flush()
         print(f"{_PROG}: {e}", file=sys.stderr)
+        sys.stderr.flush()
         return 1
     finally:
         do_disconnect(state)
diff --git a/tools/mpremote/mpremote/transport.py b/tools/mpremote/mpremote/transport.py
index 0b22a61580a03..d845796953a29 100644
--- a/tools/mpremote/mpremote/transport.py
+++ b/tools/mpremote/mpremote/transport.py
@@ -151,9 +151,9 @@ def fs_writefile(self, dest, data, chunk_size=256, progress_callback=None):
             while data:
                 chunk = data[:chunk_size]
                 self.exec("w(" + repr(chunk) + ")")
-                written += len(chunk)
                 data = data[len(chunk) :]
                 if progress_callback:
+                    written += len(chunk)
                     progress_callback(written, src_size)
             self.exec("f.close()")
         except TransportExecError as e:
diff --git a/tools/mpremote/tests/run-mpremote-tests.sh b/tools/mpremote/tests/run-mpremote-tests.sh
index 11d82c9bb3801..b25b5fd7d2966 100755
--- a/tools/mpremote/tests/run-mpremote-tests.sh
+++ b/tools/mpremote/tests/run-mpremote-tests.sh
@@ -16,7 +16,7 @@ for t in $TESTS; do
     TMP=$(mktemp -d)
     echo -n "${t}: "
     # Strip CR and replace the random temp dir with a token.
-    if env MPREMOTE=${MPREMOTE} TMP="${TMP}" "${t}" | tr -d '\r' | sed "s,${TMP},"'${TMP},g' > "${t}.out"; then
+    if env MPREMOTE=${MPREMOTE} TMP="${TMP}" "${t}" 2>&1 | tr -d '\r' | sed "s,${TMP},"'${TMP},g' > "${t}.out"; then
         if diff "${t}.out" "${t}.exp" > /dev/null; then
             echo "OK"
         else
diff --git a/tools/mpremote/tests/test_filesystem.sh b/tools/mpremote/tests/test_filesystem.sh
index b6d5a7febcb84..afeb7c91da8d6 100755
--- a/tools/mpremote/tests/test_filesystem.sh
+++ b/tools/mpremote/tests/test_filesystem.sh
@@ -66,6 +66,16 @@ $MPREMOTE resume cp "${TMP}/a.py" :aaa
 $MPREMOTE resume cp "${TMP}/a.py" :bbb/b.py
 $MPREMOTE resume cat :aaa/a.py bbb/b.py
 
+# Test cp -f (force copy).
+echo -----
+$MPREMOTE resume cp -f "${TMP}/a.py" :aaa
+$MPREMOTE resume cat :aaa/a.py
+
+# Test cp where the destination has a trailing /.
+echo -----
+$MPREMOTE resume cp "${TMP}/a.py" :aaa/
+$MPREMOTE resume cp "${TMP}/a.py" :aaa/a.py/ || echo "expect error"
+
 echo -----
 $MPREMOTE resume rm :b.py c.py
 $MPREMOTE resume ls
diff --git a/tools/mpremote/tests/test_filesystem.sh.exp b/tools/mpremote/tests/test_filesystem.sh.exp
index 7220dc41e472c..82fe7d6bf78c5 100644
--- a/tools/mpremote/tests/test_filesystem.sh.exp
+++ b/tools/mpremote/tests/test_filesystem.sh.exp
@@ -38,6 +38,16 @@ print("World")
 print("Hello")
 print("World")
 -----
+cp ${TMP}/a.py :aaa
+print("Hello")
+print("World")
+-----
+cp ${TMP}/a.py :aaa/
+Up to date: aaa/a.py
+cp ${TMP}/a.py :aaa/a.py/
+mpremote: cp: destination is not a directory
+expect error
+-----
 rm :b.py
 rm :c.py
 ls :