diff --git a/.github/build-each-commit.py b/.github/build-each-commit.py
index 8ac7054ef..157344d72 100755
--- a/.github/build-each-commit.py
+++ b/.github/build-each-commit.py
@@ -57,7 +57,15 @@
 
     # update only required submodules
     pybricks.git.submodule("update", "--init", "micropython")
-    if args.hub in ["cityhub", "movehub", "technichub", "primehub", "essentialhub", "nxt", "ev3"]:
+    if args.hub in [
+        "cityhub",
+        "movehub",
+        "technichub",
+        "primehub",
+        "essentialhub",
+        "nxt",
+        "ev3",
+    ]:
         pybricks.submodule("micropython").module().git.submodule(
             "update", "--init", "lib/micropython-lib"
         )
@@ -66,7 +74,9 @@
         )
     if args.hub == "primehub" or args.hub == "essentialhub":
         pybricks.git.submodule("update", "--init", "--checkout", "lib/btstack")
-        pybricks.git.submodule("update", "--init", "--checkout", "lib/STM32_USB_Device_Library")
+        pybricks.git.submodule(
+            "update", "--init", "--checkout", "lib/STM32_USB_Device_Library"
+        )
 
     # build the firmware
     subprocess.check_call(
diff --git a/.github/build-missing-commits.py b/.github/build-missing-commits.py
index d5320db1c..63e1af367 100755
--- a/.github/build-missing-commits.py
+++ b/.github/build-missing-commits.py
@@ -97,7 +97,9 @@
         "update", "--init", "lib/stm32lib"
     )
     pybricks.git.submodule("update", "--init", "--checkout", "lib/btstack")
-    pybricks.git.submodule("update", "--init", "--checkout", "lib/STM32_USB_Device_Library")
+    pybricks.git.submodule(
+        "update", "--init", "--checkout", "lib/STM32_USB_Device_Library"
+    )
 
     # Make mpy-cross once
     print("Building mpy-cross")
diff --git a/.github/download-commit-metadata.py b/.github/download-commit-metadata.py
index 1be335ea2..af1806be2 100755
--- a/.github/download-commit-metadata.py
+++ b/.github/download-commit-metadata.py
@@ -65,7 +65,9 @@ def main():
     )
     sizes = {
         item["RowKey"]: {
-            k: v.value if isinstance(v, EntityProperty) else v for k, v in item.items() if k in HUBS
+            k: v.value if isinstance(v, EntityProperty) else v
+            for k, v in item.items()
+            if k in HUBS
         }
         for item in firmware_size_table.query_entities(
             "PartitionKey eq 'size'",
diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index 321d0ace5..cf089e3c9 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -76,6 +76,7 @@ jobs:
     - name: Test
       if: ${{ success() }}
       run: |
+        ulimit -n 1024 # needed for micropython/tests/extmod/select_poll_fd.py
         cd micropython
         make -C ports/unix VARIANT=coverage test_full
         (cd tests && MICROPY_CPYTHON3=python3 MICROPY_MICROPYTHON=../ports/unix/build-coverage/micropython ./run-multitests.py multi_net/*.py)
diff --git a/bricks/_common/micropython.c b/bricks/_common/micropython.c
index 37cc71f0e..bec3db0d7 100644
--- a/bricks/_common/micropython.c
+++ b/bricks/_common/micropython.c
@@ -55,8 +55,6 @@ void pbsys_main_stop_program(bool force_stop) {
     if (force_stop) {
         mp_sched_vm_abort();
     } else {
-        pyexec_system_exit = PYEXEC_FORCED_EXIT;
-
         static mp_obj_exception_t system_exit;
         system_exit.base.type = &mp_type_SystemExit;
         system_exit.traceback_alloc = system_exit.traceback_len = 0;
@@ -106,9 +104,9 @@ static void mp_vfs_map_minimal_new_reader(mp_reader_t *reader, mp_vfs_map_minima
 }
 
 // Prints the exception that ended the program.
-static void print_final_exception(mp_obj_t exc) {
+static void print_final_exception(mp_obj_t exc, int ret) {
     // Handle graceful stop with button.
-    if (pyexec_system_exit == PYEXEC_FORCED_EXIT &&
+    if ((ret & PYEXEC_FORCED_EXIT) &&
         mp_obj_exception_match(exc, MP_OBJ_FROM_PTR(&mp_type_SystemExit))) {
         mp_printf(&mp_plat_print, "The program was stopped (%q).\n",
             ((mp_obj_exception_t *)MP_OBJ_TO_PTR(exc))->base.type->name);
@@ -121,8 +119,9 @@ static void print_final_exception(mp_obj_t exc) {
 
 #if PBSYS_CONFIG_FEATURE_BUILTIN_USER_PROGRAM_REPL
 static void run_repl(void) {
+    int ret = 0;
+
     readline_init0();
-    pyexec_system_exit = 0;
 
     nlr_buf_t nlr;
     nlr.ret_val = NULL;
@@ -134,12 +133,12 @@ static void run_repl(void) {
         if (pyexec_mode_kind == PYEXEC_MODE_RAW_REPL) {
             // Compatibility with mpremote.
             mp_printf(&mp_plat_print, "MPY: soft reboot\n");
-            pyexec_raw_repl();
+            ret = pyexec_raw_repl();
         } else {
-            pyexec_friendly_repl();
+            ret = pyexec_friendly_repl();
         }
         #else // PYBRICKS_OPT_RAW_REPL
-        pyexec_friendly_repl();
+        ret = pyexec_friendly_repl();
         #endif // PYBRICKS_OPT_RAW_REPL
         nlr_pop();
     } else {
@@ -152,7 +151,7 @@ static void run_repl(void) {
         // clear any pending exceptions (and run any callbacks).
         mp_handle_pending(false);
         // Print which exception triggered this.
-        print_final_exception(MP_OBJ_FROM_PTR(nlr.ret_val));
+        print_final_exception(MP_OBJ_FROM_PTR(nlr.ret_val), ret);
     }
 
     nlr_set_abort(NULL);
@@ -175,7 +174,7 @@ static void do_execute_raw_code(mp_module_context_t *context, const mp_raw_code_
 
     nlr_buf_t nlr;
     if (nlr_push(&nlr) == 0) {
-        mp_obj_t module_fun = mp_make_function_from_raw_code(rc, mc, NULL);
+        mp_obj_t module_fun = mp_make_function_from_proto_fun(rc, mc, NULL);
         mp_call_function_0(module_fun);
 
         // finish nlr block, restore context
@@ -241,7 +240,7 @@ static mpy_info_t *mpy_data_find(qstr name) {
  * Runs the __main__ module from user RAM.
  */
 static void run_user_program(void) {
-    pyexec_system_exit = 0;
+    int ret = 0;
 
     nlr_buf_t nlr;
     nlr.ret_val = NULL;
@@ -264,7 +263,7 @@ static void run_user_program(void) {
         mp_compiled_module_t compiled_module;
         compiled_module.context = context;
         mp_raw_code_load(&reader, &compiled_module);
-        mp_obj_t module_fun = mp_make_function_from_raw_code(compiled_module.rc, context, NULL);
+        mp_obj_t module_fun = mp_make_function_from_proto_fun(compiled_module.rc, context, NULL);
 
         // Run the script while letting CTRL-C interrupt it.
         mp_hal_set_interrupt_char(CHAR_CTRL_C);
@@ -287,7 +286,12 @@ static void run_user_program(void) {
         // Clear any pending exceptions (and run any callbacks).
         mp_handle_pending(false);
 
-        print_final_exception(MP_OBJ_FROM_PTR(nlr.ret_val));
+        if (mp_obj_is_subclass_fast(MP_OBJ_FROM_PTR(((mp_obj_base_t *)nlr.ret_val)->type), MP_OBJ_FROM_PTR(&mp_type_SystemExit))) {
+            // at the moment, the value of SystemExit is unused
+            ret = PYEXEC_FORCED_EXIT;
+        }
+
+        print_final_exception(MP_OBJ_FROM_PTR(nlr.ret_val), ret);
 
         #if PBSYS_CONFIG_FEATURE_BUILTIN_USER_PROGRAM_REPL
         // On KeyboardInterrupt, drop to REPL for debugging.
@@ -430,9 +434,21 @@ mp_obj_t pb_builtin_import(size_t n_args, const mp_obj_t *args) {
         mp_raise_NotImplementedError(MP_ERROR_TEXT("relative import"));
     }
 
-    // Check if module already exists, and return it if it does
+    // Check if the module is already loaded.
+    mp_map_elem_t *elem = mp_map_lookup(&MP_STATE_VM(mp_loaded_modules_dict).map, args[0], MP_MAP_LOOKUP);
+    if (elem) {
+        return elem->value;
+    }
+
+    // Try the name directly as a non-extensible built-in (e.g. `micropython`).
     qstr module_name_qstr = mp_obj_str_get_qstr(args[0]);
-    mp_obj_t module_obj = mp_module_get_loaded_or_builtin(module_name_qstr);
+    mp_obj_t module_obj = mp_module_get_builtin(module_name_qstr, false);
+    if (module_obj != MP_OBJ_NULL) {
+        return module_obj;
+    }
+
+    // Now try as an extensible built-in (e.g. `struct`/`ustruct`).
+    module_obj = mp_module_get_builtin(module_name_qstr, true);
     if (module_obj != MP_OBJ_NULL) {
         return module_obj;
     }
@@ -473,7 +489,7 @@ mp_obj_t pb_builtin_import(size_t n_args, const mp_obj_t *args) {
         mp_module_context_t *context = MP_OBJ_TO_PTR(module_obj);
         const mp_frozen_module_t *frozen = modref;
         context->constants = frozen->constants;
-        do_execute_raw_code(context, frozen->rc, context);
+        do_execute_raw_code(context, frozen->proto_fun, context);
         return module_obj;
     }
     #endif
@@ -486,7 +502,7 @@ mp_import_stat_t mp_import_stat(const char *path) {
     return MP_IMPORT_STAT_NO_EXIST;
 }
 
-mp_lexer_t *mp_lexer_new_from_file(const char *filename) {
+mp_lexer_t *mp_lexer_new_from_file(qstr filename) {
     mp_raise_OSError(MP_ENOENT);
 }
 
diff --git a/bricks/_common/mpconfigport.h b/bricks/_common/mpconfigport.h
index 7fc63b972..446ed955a 100644
--- a/bricks/_common/mpconfigport.h
+++ b/bricks/_common/mpconfigport.h
@@ -20,12 +20,12 @@
 #define MICROPY_PY_MICROPYTHON                  (PYBRICKS_OPT_EXTRA_LEVEL1)
 #define MICROPY_PY_STRUCT                       (PYBRICKS_OPT_EXTRA_LEVEL1)
 #define MICROPY_PY_SYS                          (PYBRICKS_OPT_EXTRA_LEVEL1)
-#define MICROPY_PY_UERRNO                       (1)
-#define MICROPY_PY_UJSON                        (PYBRICKS_OPT_EXTRA_LEVEL1)
-#define MICROPY_PY_URANDOM                      (PYBRICKS_OPT_EXTRA_LEVEL1)
-#define MICROPY_PY_USELECT                      (PYBRICKS_OPT_EXTRA_LEVEL1)
+#define MICROPY_PY_ERRNO                        (1)
+#define MICROPY_PY_JSON                         (PYBRICKS_OPT_EXTRA_LEVEL1)
+#define MICROPY_PY_RANDOM                       (PYBRICKS_OPT_EXTRA_LEVEL1)
+#define MICROPY_PY_SELECT                       (PYBRICKS_OPT_EXTRA_LEVEL1)
 
-#define MICROPY_PY_UERRNO_LIST \
+#define MICROPY_PY_ERRNO_LIST \
     X(EPERM) \
     X(EIO) \
     X(EBUSY) \
@@ -93,11 +93,9 @@
 #define MICROPY_PY_SYS_STDFILES                 (PYBRICKS_OPT_EXTRA_LEVEL1)
 #define MICROPY_PY_SYS_STDIO_BUFFER             (PYBRICKS_OPT_EXTRA_LEVEL1)
 #define MICROPY_PY_SYS_STDIO_FLUSH              (PYBRICKS_OPT_EXTRA_LEVEL1)
-#define MICROPY_PY_URANDOM_EXTRA_FUNCS          (PYBRICKS_OPT_EXTRA_LEVEL1)
-#define MICROPY_PY_URANDOM_SEED_INIT_FUNC       ({ extern uint32_t pbdrv_clock_get_us(void); pbdrv_clock_get_us(); })
-#define MICROPY_PY_UTIME_MP_HAL                 (0)
+#define MICROPY_PY_RANDOM_EXTRA_FUNCS           (PYBRICKS_OPT_EXTRA_LEVEL1)
+#define MICROPY_PY_RANDOM_SEED_INIT_FUNC        ({ extern uint32_t pbdrv_clock_get_us(void); pbdrv_clock_get_us(); })
 #define MICROPY_MODULE_BUILTIN_INIT             (1)
-#define MICROPY_MODULE_WEAK_LINKS               (0)
 #define MICROPY_CPYTHON_COMPAT                  (0)
 #define MICROPY_LONGINT_IMPL                    (MICROPY_LONGINT_IMPL_NONE)
 #if PYBRICKS_OPT_FLOAT
diff --git a/bricks/_common_stm32/mphalport.c b/bricks/_common_stm32/mphalport.c
index 4cfd7ad98..7b94c6bd4 100644
--- a/bricks/_common_stm32/mphalport.c
+++ b/bricks/_common_stm32/mphalport.c
@@ -64,11 +64,13 @@ int mp_hal_stdin_rx_chr(void) {
 }
 
 // Send string of given length
-void mp_hal_stdout_tx_strn(const char *str, mp_uint_t len) {
+mp_uint_t mp_hal_stdout_tx_strn(const char *str, size_t len) {
     while (pbsys_host_tx((const uint8_t *)str, len) == PBIO_ERROR_AGAIN) {
         MICROPY_EVENT_POLL_HOOK
     }
     // Not raising the error. This means stdout lost if host is not connected.
+
+    return len;
 }
 
 void mp_hal_stdout_tx_flush(void) {
diff --git a/bricks/ev3/make_bootable_image.py b/bricks/ev3/make_bootable_image.py
index fd7b59e7d..309f50d81 100755
--- a/bricks/ev3/make_bootable_image.py
+++ b/bricks/ev3/make_bootable_image.py
@@ -23,7 +23,6 @@
 
 
 def make_firmware(uboot_blob: bytes, uimage_blob: bytes) -> bytes:
-
     if len(uboot_blob) > UBOOT_MAX_SIZE:
         print(
             f"u-boot file is bigger than 256KiB ({len(uboot_blob)} bytes), it is not safe to use.",
@@ -32,13 +31,18 @@ def make_firmware(uboot_blob: bytes, uimage_blob: bytes) -> bytes:
         exit(1)
 
     if len(uimage_blob) > UIMAGE_MAX_SIZE:
-        print(f"uImage file is too big ({len(uimage_blob)} > {UIMAGE_MAX_SIZE}).", file=sys.stderr)
+        print(
+            f"uImage file is too big ({len(uimage_blob)} > {UIMAGE_MAX_SIZE}).",
+            file=sys.stderr,
+        )
         exit(1)
 
     # Gets combined size, rounded to nearest expected size.
     combined_size = UIMAGE_OFFSET + len(uimage_blob)
     combined_size = (
-        (combined_size + FIRMWARE_ROUND_SIZE) // FIRMWARE_ROUND_SIZE * FIRMWARE_ROUND_SIZE
+        (combined_size + FIRMWARE_ROUND_SIZE)
+        // FIRMWARE_ROUND_SIZE
+        * FIRMWARE_ROUND_SIZE
     )
 
     # Put it all together.
@@ -59,9 +63,11 @@ def make_firmware(uboot_blob: bytes, uimage_blob: bytes) -> bytes:
     parser.add_argument("output", help="The output file")
     args = parser.parse_args()
 
-    with open(args.uboot, "rb") as uboot_file, open(args.uimage, "rb") as uimage_file, open(
-        args.output, "wb"
-    ) as output_file:
+    with (
+        open(args.uboot, "rb") as uboot_file,
+        open(args.uimage, "rb") as uimage_file,
+        open(args.output, "wb") as output_file,
+    ):
         combined = make_firmware(uboot_file.read(), uimage_file.read())
         output_file.write(combined)
         print(f"Created {args.output} with size {len(combined) // 1024} KB.")
diff --git a/bricks/ev3/mphalport.c b/bricks/ev3/mphalport.c
index fa142988a..14f75be20 100644
--- a/bricks/ev3/mphalport.c
+++ b/bricks/ev3/mphalport.c
@@ -57,7 +57,7 @@ int mp_hal_stdin_rx_chr(void) {
 
 extern uint32_t pbdrv_usb_write(const uint8_t *data, uint32_t size);
 
-void mp_hal_stdout_tx_strn(const char *str, mp_uint_t len) {
+mp_uint_t mp_hal_stdout_tx_strn(const char *str, size_t len) {
     pbdrv_uart_debug_printf("%.*s", len, str);
 
     uint32_t done = 0;
@@ -69,6 +69,8 @@ void mp_hal_stdout_tx_strn(const char *str, mp_uint_t len) {
     while (!pbdrv_uart_debug_is_done()) {
         MICROPY_VM_HOOK_LOOP;
     }
+
+    return len;
 }
 
 extern void pbdrv_usb_tx_flush(void);
diff --git a/bricks/nxt/mphalport.c b/bricks/nxt/mphalport.c
index a81939a32..b917500e7 100644
--- a/bricks/nxt/mphalport.c
+++ b/bricks/nxt/mphalport.c
@@ -74,17 +74,19 @@ int mp_hal_stdin_rx_chr(void) {
 }
 
 // Send string of given length
-void mp_hal_stdout_tx_strn(const char *str, mp_uint_t len) {
+mp_uint_t mp_hal_stdout_tx_strn(const char *str, size_t len) {
 
     // Nothing to do if disconnected or empty data
     if (!nx_bt_stream_opened() || len == 0) {
-        return;
+        return len;
     }
 
     nx_bt_stream_write((uint8_t *)str, len);
     while (!nx_bt_stream_data_written()) {
         MICROPY_EVENT_POLL_HOOK;
     }
+
+    return len;
 }
 
 void mp_hal_stdout_tx_flush(void) {
diff --git a/bricks/primehub/modules/_imu_calibrate.py b/bricks/primehub/modules/_imu_calibrate.py
index cc04705db..c2cb394df 100644
--- a/bricks/primehub/modules/_imu_calibrate.py
+++ b/bricks/primehub/modules/_imu_calibrate.py
@@ -36,21 +36,21 @@ def wait_for_stationary(side):
 
 
 def roll_over_axis(axis, new_side):
-
     global bias, bias_count
 
     print("Roll it towards you, without lifting the hub up!")
 
     angle_start = hub.imu.rotation(axis, calibrated=False)
     while hub.imu.up(calibrated=False) != new_side or not hub.imu.stationary():
-
         _, _, z = hub.imu.orientation() * axis
         if abs(z) > 0.07:
             print(hub.imu.orientation() * axis)
             raise RuntimeError("Lifted it!")
         wait(100)
 
-    uncalibrated_90_deg_rotation = abs(hub.imu.rotation(axis, calibrated=False) - angle_start)
+    uncalibrated_90_deg_rotation = abs(
+        hub.imu.rotation(axis, calibrated=False) - angle_start
+    )
     if abs(uncalibrated_90_deg_rotation - 90) > 10:
         raise RuntimeError("Not 90 deg!")
 
diff --git a/bricks/virtualhub/mpconfigvariant.h b/bricks/virtualhub/mpconfigvariant.h
index a18f4a4af..ab4e2cd1a 100644
--- a/bricks/virtualhub/mpconfigvariant.h
+++ b/bricks/virtualhub/mpconfigvariant.h
@@ -56,15 +56,16 @@
 #define MICROPY_DEBUG_PRINTERS                  (1)
 #define MICROPY_MODULE_ATTR_DELEGATION          (1)
 #define MICROPY_MODULE_BUILTIN_INIT             (1)
+#define MICROPY_MODULE_BUILTIN_SUBPACKAGES      (1)
 #define MICROPY_PY_MICROPYTHON_MEM_INFO         (1)
 #define MICROPY_PY_BUILTINS_HELP                (1)
 #define MICROPY_PY_BUILTINS_HELP_MODULES        (1)
 #define MICROPY_PY_SYS_SETTRACE                 (1)
-#define MICROPY_PY_UERRNO                       (1)
-#define MICROPY_PY_UOS                          (1)
-#define MICROPY_PY_UOS_GETENV_PUTENV_UNSETENV   (1)
-#define MICROPY_PY_UOS_INCLUDEFILE              "ports/unix/moduos.c"
-#define MICROPY_PY_URANDOM_EXTRA_FUNCS          (1)
+#define MICROPY_PY_ERRNO                        (1)
+#define MICROPY_PY_OS                           (1)
+#define MICROPY_PY_OS_GETENV_PUTENV_UNSETENV    (1)
+#define MICROPY_PY_OS_INCLUDEFILE               "ports/unix/modos.c"
+#define MICROPY_PY_RANDOM_EXTRA_FUNCS           (1)
 #define MICROPY_PY_BUILTINS_SLICE_INDICES       (1)
 #define MICROPY_PERSISTENT_CODE_SAVE            (1)
 #define MICROPY_STREAMS_POSIX_API               (1)
@@ -72,7 +73,7 @@
 #define MICROPY_KBD_EXCEPTION                   (1)
 
 // REVISIT: This list currently matches the stm32 builds.
-#define MICROPY_PY_UERRNO_LIST \
+#define MICROPY_PY_ERRNO_LIST \
     X(EPERM) \
     X(EIO) \
     X(EBUSY) \
diff --git a/bricks/virtualhub/mpconfigvariant.mk b/bricks/virtualhub/mpconfigvariant.mk
index c62c464b7..d7dd65e53 100644
--- a/bricks/virtualhub/mpconfigvariant.mk
+++ b/bricks/virtualhub/mpconfigvariant.mk
@@ -30,8 +30,8 @@ MICROPY_PY_SOCKET = 1
 # ffi module requires libffi (libffi-dev Debian package)
 MICROPY_PY_FFI = 1
 
-# ussl module requires one of the TLS libraries below
-MICROPY_PY_USSL = 0
+# ssl module requires one of the TLS libraries below
+MICROPY_PY_SSL = 0
 # axTLS has minimal size but implements only a subset of modern TLS
 # functionality, so may have problems with some servers.
 MICROPY_SSL_AXTLS = 0
diff --git a/lib/pbio/doc/control/motor_model.py b/lib/pbio/doc/control/motor_model.py
index cf9e65fe0..e8e6f33ae 100755
--- a/lib/pbio/doc/control/motor_model.py
+++ b/lib/pbio/doc/control/motor_model.py
@@ -151,7 +151,9 @@ def make_model(name, *, V, tau_0, tau_x, w_0, w_x, i_0, i_x, a, Lm, h):
     model[L] = Lm
 
     # Substitute parameters into model to get numeric system matrices
-    exponent_numeric = numpy.array(exponent.subs(model).evalf().tolist()).astype(numpy.float64)
+    exponent_numeric = numpy.array(exponent.subs(model).evalf().tolist()).astype(
+        numpy.float64
+    )
 
     # Get matrix exponential and system matrices
     exponential = scipy.linalg.expm(exponent_numeric * h)
@@ -196,7 +198,6 @@ def make_model(name, *, V, tau_0, tau_x, w_0, w_x, i_0, i_x, a, Lm, h):
 
 
 if __name__ == "__main__":
-
     print(HEADER)
 
     print(
diff --git a/lib/pbio/test/animator/data_parser.py b/lib/pbio/test/animator/data_parser.py
index ad7e705fa..c3fb9b4ea 100755
--- a/lib/pbio/test/animator/data_parser.py
+++ b/lib/pbio/test/animator/data_parser.py
@@ -37,13 +37,11 @@
 
 # Write the CSS component with frames.
 with open("../results/frames.css", "w") as frame_file:
-
     for info in FRAME_INFO:
-
         # CSS rows for each frame.
         frames = "".join(
             [
-                f"{i * 100 // (len(angles) - 1)}% {{transform: translate({info.x}px, {info.y}px) rotate( {int(row[info.index])// info.gearing}deg );}}\n"
+                f"{i * 100 // (len(angles) - 1)}% {{transform: translate({info.x}px, {info.y}px) rotate( {int(row[info.index]) // info.gearing}deg );}}\n"
                 for i, row in enumerate(angles)
             ]
         )
diff --git a/micropython b/micropython
index 9305b73d7..73cbdab14 160000
--- a/micropython
+++ b/micropython
@@ -1 +1 @@
-Subproject commit 9305b73d7e6c6761367624a0077d4bdf96601c5a
+Subproject commit 73cbdab1465aa1772659b764524bddf316bc059c
diff --git a/poetry.lock b/poetry.lock
index 7a54d6922..3726074f2 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -316,41 +316,6 @@ files = [
     {file = "bidict-0.23.1.tar.gz", hash = "sha256:03069d763bc387bbd20e7d49914e75fc4132a41937fa3405417e1a5a2d006d71"},
 ]
 
-[[package]]
-name = "black"
-version = "22.12.0"
-description = "The uncompromising code formatter."
-optional = false
-python-versions = ">=3.7"
-groups = ["lint"]
-files = [
-    {file = "black-22.12.0-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:9eedd20838bd5d75b80c9f5487dbcb06836a43833a37846cf1d8c1cc01cef59d"},
-    {file = "black-22.12.0-cp310-cp310-win_amd64.whl", hash = "sha256:159a46a4947f73387b4d83e87ea006dbb2337eab6c879620a3ba52699b1f4351"},
-    {file = "black-22.12.0-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:d30b212bffeb1e252b31dd269dfae69dd17e06d92b87ad26e23890f3efea366f"},
-    {file = "black-22.12.0-cp311-cp311-win_amd64.whl", hash = "sha256:7412e75863aa5c5411886804678b7d083c7c28421210180d67dfd8cf1221e1f4"},
-    {file = "black-22.12.0-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:c116eed0efb9ff870ded8b62fe9f28dd61ef6e9ddd28d83d7d264a38417dcee2"},
-    {file = "black-22.12.0-cp37-cp37m-win_amd64.whl", hash = "sha256:1f58cbe16dfe8c12b7434e50ff889fa479072096d79f0a7f25e4ab8e94cd8350"},
-    {file = "black-22.12.0-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:77d86c9f3db9b1bf6761244bc0b3572a546f5fe37917a044e02f3166d5aafa7d"},
-    {file = "black-22.12.0-cp38-cp38-win_amd64.whl", hash = "sha256:82d9fe8fee3401e02e79767016b4907820a7dc28d70d137eb397b92ef3cc5bfc"},
-    {file = "black-22.12.0-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:101c69b23df9b44247bd88e1d7e90154336ac4992502d4197bdac35dd7ee3320"},
-    {file = "black-22.12.0-cp39-cp39-win_amd64.whl", hash = "sha256:559c7a1ba9a006226f09e4916060982fd27334ae1998e7a38b3f33a37f7a2148"},
-    {file = "black-22.12.0-py3-none-any.whl", hash = "sha256:436cc9167dd28040ad90d3b404aec22cedf24a6e4d7de221bec2730ec0c97bcf"},
-    {file = "black-22.12.0.tar.gz", hash = "sha256:229351e5a18ca30f447bf724d007f890f97e13af070bb6ad4c0a441cd7596a2f"},
-]
-
-[package.dependencies]
-click = ">=8.0.0"
-mypy-extensions = ">=0.4.3"
-pathspec = ">=0.9.0"
-platformdirs = ">=2"
-tomli = {version = ">=1.1.0", markers = "python_full_version < \"3.11.0a7\""}
-
-[package.extras]
-colorama = ["colorama (>=0.4.3)"]
-d = ["aiohttp (>=3.7.4)"]
-jupyter = ["ipython (>=7.8.0)", "tokenize-rt (>=3.2.0)"]
-uvloop = ["uvloop (>=0.15.2)"]
-
 [[package]]
 name = "bleach"
 version = "6.2.0"
@@ -615,33 +580,18 @@ files = [
     {file = "charset_normalizer-3.4.2.tar.gz", hash = "sha256:5baececa9ecba31eff645232d59845c07aa030f0c81ee70184a90d35099a0e63"},
 ]
 
-[[package]]
-name = "click"
-version = "8.2.0"
-description = "Composable command line interface toolkit"
-optional = false
-python-versions = ">=3.10"
-groups = ["lint"]
-files = [
-    {file = "click-8.2.0-py3-none-any.whl", hash = "sha256:6b303f0b2aa85f1cb4e5303078fadcbcd4e476f114fab9b5007005711839325c"},
-    {file = "click-8.2.0.tar.gz", hash = "sha256:f5452aeddd9988eefa20f90f05ab66f17fce1ee2a36907fd30b05bbb5953814d"},
-]
-
-[package.dependencies]
-colorama = {version = "*", markers = "platform_system == \"Windows\""}
-
 [[package]]
 name = "colorama"
 version = "0.4.6"
 description = "Cross-platform colored terminal text."
 optional = false
 python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,!=3.4.*,!=3.5.*,!=3.6.*,>=2.7"
-groups = ["dev", "lint"]
+groups = ["dev"]
+markers = "sys_platform == \"win32\" or platform_system == \"Windows\""
 files = [
     {file = "colorama-0.4.6-py2.py3-none-any.whl", hash = "sha256:4f1d9991f5acc0ca119f9d443620b77f9d6b33703e51011c16baf57afb285fc6"},
     {file = "colorama-0.4.6.tar.gz", hash = "sha256:08695f5cb7ed6e0531a20572697297273c47b8cae5a63ffc6d6ed5c201be6e44"},
 ]
-markers = {dev = "sys_platform == \"win32\" or platform_system == \"Windows\"", lint = "platform_system == \"Windows\""}
 
 [[package]]
 name = "comm"
@@ -2211,18 +2161,6 @@ files = [
 [package.dependencies]
 typing-extensions = {version = ">=4.1.0", markers = "python_version < \"3.11\""}
 
-[[package]]
-name = "mypy-extensions"
-version = "1.1.0"
-description = "Type system extensions for programs checked with the mypy type checker."
-optional = false
-python-versions = ">=3.8"
-groups = ["lint"]
-files = [
-    {file = "mypy_extensions-1.1.0-py3-none-any.whl", hash = "sha256:1be4cccdb0f2482337c4743e60421de3a356cd97508abadd57d47403e94f5505"},
-    {file = "mypy_extensions-1.1.0.tar.gz", hash = "sha256:52e68efc3284861e772bbcd66823fde5ae21fd2fdb51c62a211403730b916558"},
-]
-
 [[package]]
 name = "nbclassic"
 version = "1.3.1"
@@ -2526,18 +2464,6 @@ files = [
 qa = ["flake8 (==5.0.4)", "mypy (==0.971)", "types-setuptools (==67.2.0.1)"]
 testing = ["docopt", "pytest"]
 
-[[package]]
-name = "pathspec"
-version = "0.12.1"
-description = "Utility library for gitignore style pattern matching of file paths."
-optional = false
-python-versions = ">=3.8"
-groups = ["lint"]
-files = [
-    {file = "pathspec-0.12.1-py3-none-any.whl", hash = "sha256:a0d503e138a4c123b27490a4f7beda6a01c6f288df0e4a8b79c7eb0dc7b4cc08"},
-    {file = "pathspec-0.12.1.tar.gz", hash = "sha256:a482d51503a1ab33b1c67a6c3813a26953dbdc71c31dacaef9a838c4e29f5712"},
-]
-
 [[package]]
 name = "pexpect"
 version = "4.9.0"
@@ -2660,7 +2586,7 @@ version = "4.3.8"
 description = "A small Python package for determining appropriate platform-specific dirs, e.g. a `user data dir`."
 optional = false
 python-versions = ">=3.9"
-groups = ["dev", "lint"]
+groups = ["dev"]
 files = [
     {file = "platformdirs-4.3.8-py3-none-any.whl", hash = "sha256:ff7059bb7eb1179e2685604f4aaf157cfd9535242bd23742eadc3c13542139b4"},
     {file = "platformdirs-4.3.8.tar.gz", hash = "sha256:3d512d96e16bcb959a814c9f348431070822a6496326a4be0911c40b5a74c2bc"},
@@ -3724,6 +3650,34 @@ files = [
     {file = "rpds_py-0.25.0.tar.gz", hash = "sha256:4d97661bf5848dd9e5eb7ded480deccf9d32ce2cd500b88a26acbf7bd2864985"},
 ]
 
+[[package]]
+name = "ruff"
+version = "0.12.1"
+description = "An extremely fast Python linter and code formatter, written in Rust."
+optional = false
+python-versions = ">=3.7"
+groups = ["lint"]
+files = [
+    {file = "ruff-0.12.1-py3-none-linux_armv6l.whl", hash = "sha256:6013a46d865111e2edb71ad692fbb8262e6c172587a57c0669332a449384a36b"},
+    {file = "ruff-0.12.1-py3-none-macosx_10_12_x86_64.whl", hash = "sha256:b3f75a19e03a4b0757d1412edb7f27cffb0c700365e9d6b60bc1b68d35bc89e0"},
+    {file = "ruff-0.12.1-py3-none-macosx_11_0_arm64.whl", hash = "sha256:9a256522893cb7e92bb1e1153283927f842dea2e48619c803243dccc8437b8be"},
+    {file = "ruff-0.12.1-py3-none-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:069052605fe74c765a5b4272eb89880e0ff7a31e6c0dbf8767203c1fbd31c7ff"},
+    {file = "ruff-0.12.1-py3-none-manylinux_2_17_armv7l.manylinux2014_armv7l.whl", hash = "sha256:a684f125a4fec2d5a6501a466be3841113ba6847827be4573fddf8308b83477d"},
+    {file = "ruff-0.12.1-py3-none-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:bdecdef753bf1e95797593007569d8e1697a54fca843d78f6862f7dc279e23bd"},
+    {file = "ruff-0.12.1-py3-none-manylinux_2_17_ppc64.manylinux2014_ppc64.whl", hash = "sha256:70d52a058c0e7b88b602f575d23596e89bd7d8196437a4148381a3f73fcd5010"},
+    {file = "ruff-0.12.1-py3-none-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:84d0a69d1e8d716dfeab22d8d5e7c786b73f2106429a933cee51d7b09f861d4e"},
+    {file = "ruff-0.12.1-py3-none-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:6cc32e863adcf9e71690248607ccdf25252eeeab5193768e6873b901fd441fed"},
+    {file = "ruff-0.12.1-py3-none-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:7fd49a4619f90d5afc65cf42e07b6ae98bb454fd5029d03b306bd9e2273d44cc"},
+    {file = "ruff-0.12.1-py3-none-musllinux_1_2_aarch64.whl", hash = "sha256:ed5af6aaaea20710e77698e2055b9ff9b3494891e1b24d26c07055459bb717e9"},
+    {file = "ruff-0.12.1-py3-none-musllinux_1_2_armv7l.whl", hash = "sha256:801d626de15e6bf988fbe7ce59b303a914ff9c616d5866f8c79eb5012720ae13"},
+    {file = "ruff-0.12.1-py3-none-musllinux_1_2_i686.whl", hash = "sha256:2be9d32a147f98a1972c1e4df9a6956d612ca5f5578536814372113d09a27a6c"},
+    {file = "ruff-0.12.1-py3-none-musllinux_1_2_x86_64.whl", hash = "sha256:49b7ce354eed2a322fbaea80168c902de9504e6e174fd501e9447cad0232f9e6"},
+    {file = "ruff-0.12.1-py3-none-win32.whl", hash = "sha256:d973fa626d4c8267848755bd0414211a456e99e125dcab147f24daa9e991a245"},
+    {file = "ruff-0.12.1-py3-none-win_amd64.whl", hash = "sha256:9e1123b1c033f77bd2590e4c1fe7e8ea72ef990a85d2484351d408224d603013"},
+    {file = "ruff-0.12.1-py3-none-win_arm64.whl", hash = "sha256:78ad09a022c64c13cc6077707f036bab0fac8cd7088772dcd1e5be21c5002efc"},
+    {file = "ruff-0.12.1.tar.gz", hash = "sha256:806bbc17f1104fd57451a98a58df35388ee3ab422e029e8f5cf30aa4af2c138c"},
+]
+
 [[package]]
 name = "scipy"
 version = "1.15.3"
@@ -4000,49 +3954,6 @@ webencodings = ">=0.4"
 doc = ["sphinx", "sphinx_rtd_theme"]
 test = ["pytest", "ruff"]
 
-[[package]]
-name = "tomli"
-version = "2.2.1"
-description = "A lil' TOML parser"
-optional = false
-python-versions = ">=3.8"
-groups = ["lint"]
-markers = "python_full_version < \"3.11.0a7\""
-files = [
-    {file = "tomli-2.2.1-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:678e4fa69e4575eb77d103de3df8a895e1591b48e740211bd1067378c69e8249"},
-    {file = "tomli-2.2.1-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:023aa114dd824ade0100497eb2318602af309e5a55595f76b626d6d9f3b7b0a6"},
-    {file = "tomli-2.2.1-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:ece47d672db52ac607a3d9599a9d48dcb2f2f735c6c2d1f34130085bb12b112a"},
-    {file = "tomli-2.2.1-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:6972ca9c9cc9f0acaa56a8ca1ff51e7af152a9f87fb64623e31d5c83700080ee"},
-    {file = "tomli-2.2.1-cp311-cp311-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:c954d2250168d28797dd4e3ac5cf812a406cd5a92674ee4c8f123c889786aa8e"},
-    {file = "tomli-2.2.1-cp311-cp311-musllinux_1_2_aarch64.whl", hash = "sha256:8dd28b3e155b80f4d54beb40a441d366adcfe740969820caf156c019fb5c7ec4"},
-    {file = "tomli-2.2.1-cp311-cp311-musllinux_1_2_i686.whl", hash = "sha256:e59e304978767a54663af13c07b3d1af22ddee3bb2fb0618ca1593e4f593a106"},
-    {file = "tomli-2.2.1-cp311-cp311-musllinux_1_2_x86_64.whl", hash = "sha256:33580bccab0338d00994d7f16f4c4ec25b776af3ffaac1ed74e0b3fc95e885a8"},
-    {file = "tomli-2.2.1-cp311-cp311-win32.whl", hash = "sha256:465af0e0875402f1d226519c9904f37254b3045fc5084697cefb9bdde1ff99ff"},
-    {file = "tomli-2.2.1-cp311-cp311-win_amd64.whl", hash = "sha256:2d0f2fdd22b02c6d81637a3c95f8cd77f995846af7414c5c4b8d0545afa1bc4b"},
-    {file = "tomli-2.2.1-cp312-cp312-macosx_10_13_x86_64.whl", hash = "sha256:4a8f6e44de52d5e6c657c9fe83b562f5f4256d8ebbfe4ff922c495620a7f6cea"},
-    {file = "tomli-2.2.1-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:8d57ca8095a641b8237d5b079147646153d22552f1c637fd3ba7f4b0b29167a8"},
-    {file = "tomli-2.2.1-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:4e340144ad7ae1533cb897d406382b4b6fede8890a03738ff1683af800d54192"},
-    {file = "tomli-2.2.1-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:db2b95f9de79181805df90bedc5a5ab4c165e6ec3fe99f970d0e302f384ad222"},
-    {file = "tomli-2.2.1-cp312-cp312-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:40741994320b232529c802f8bc86da4e1aa9f413db394617b9a256ae0f9a7f77"},
-    {file = "tomli-2.2.1-cp312-cp312-musllinux_1_2_aarch64.whl", hash = "sha256:400e720fe168c0f8521520190686ef8ef033fb19fc493da09779e592861b78c6"},
-    {file = "tomli-2.2.1-cp312-cp312-musllinux_1_2_i686.whl", hash = "sha256:02abe224de6ae62c19f090f68da4e27b10af2b93213d36cf44e6e1c5abd19fdd"},
-    {file = "tomli-2.2.1-cp312-cp312-musllinux_1_2_x86_64.whl", hash = "sha256:b82ebccc8c8a36f2094e969560a1b836758481f3dc360ce9a3277c65f374285e"},
-    {file = "tomli-2.2.1-cp312-cp312-win32.whl", hash = "sha256:889f80ef92701b9dbb224e49ec87c645ce5df3fa2cc548664eb8a25e03127a98"},
-    {file = "tomli-2.2.1-cp312-cp312-win_amd64.whl", hash = "sha256:7fc04e92e1d624a4a63c76474610238576942d6b8950a2d7f908a340494e67e4"},
-    {file = "tomli-2.2.1-cp313-cp313-macosx_10_13_x86_64.whl", hash = "sha256:f4039b9cbc3048b2416cc57ab3bda989a6fcf9b36cf8937f01a6e731b64f80d7"},
-    {file = "tomli-2.2.1-cp313-cp313-macosx_11_0_arm64.whl", hash = "sha256:286f0ca2ffeeb5b9bd4fcc8d6c330534323ec51b2f52da063b11c502da16f30c"},
-    {file = "tomli-2.2.1-cp313-cp313-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:a92ef1a44547e894e2a17d24e7557a5e85a9e1d0048b0b5e7541f76c5032cb13"},
-    {file = "tomli-2.2.1-cp313-cp313-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:9316dc65bed1684c9a98ee68759ceaed29d229e985297003e494aa825ebb0281"},
-    {file = "tomli-2.2.1-cp313-cp313-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:e85e99945e688e32d5a35c1ff38ed0b3f41f43fad8df0bdf79f72b2ba7bc5272"},
-    {file = "tomli-2.2.1-cp313-cp313-musllinux_1_2_aarch64.whl", hash = "sha256:ac065718db92ca818f8d6141b5f66369833d4a80a9d74435a268c52bdfa73140"},
-    {file = "tomli-2.2.1-cp313-cp313-musllinux_1_2_i686.whl", hash = "sha256:d920f33822747519673ee656a4b6ac33e382eca9d331c87770faa3eef562aeb2"},
-    {file = "tomli-2.2.1-cp313-cp313-musllinux_1_2_x86_64.whl", hash = "sha256:a198f10c4d1b1375d7687bc25294306e551bf1abfa4eace6650070a5c1ae2744"},
-    {file = "tomli-2.2.1-cp313-cp313-win32.whl", hash = "sha256:d3f5614314d758649ab2ab3a62d4f2004c825922f9e370b29416484086b264ec"},
-    {file = "tomli-2.2.1-cp313-cp313-win_amd64.whl", hash = "sha256:a38aa0308e754b0e3c67e344754dff64999ff9b513e691d0e786265c93583c69"},
-    {file = "tomli-2.2.1-py3-none-any.whl", hash = "sha256:cb55c73c5f4408779d0cf3eef9f762b9c9f147a77de7b258bef0a5628adc85cc"},
-    {file = "tomli-2.2.1.tar.gz", hash = "sha256:cd45e1dc79c835ce60f7404ec8119f2eb06d38b1deba146f07ced3bbc44505ff"},
-]
-
 [[package]]
 name = "tornado"
 version = "6.5"
@@ -4697,4 +4608,4 @@ propcache = ">=0.2.1"
 [metadata]
 lock-version = "2.1"
 python-versions = ">=3.10,<3.13"
-content-hash = "f7c805bbd89804d884a596ea8f78ac1a2c24b7adb6c2e20dd13c4ef51409d7f7"
+content-hash = "a97622ebb5b5c33bb1503137186c8d810841ef73ac4f0a8e68af4e79562174ef"
diff --git a/pybricks/common/pb_type_ble.c b/pybricks/common/pb_type_ble.c
index cd3105cbb..348a58de4 100644
--- a/pybricks/common/pb_type_ble.c
+++ b/pybricks/common/pb_type_ble.c
@@ -566,7 +566,7 @@ mp_obj_t pb_type_BLE_new(mp_obj_t broadcast_channel_in, mp_obj_t observe_channel
     }
     #endif // PBSYS_CONFIG_BLUETOOTH_TOGGLE
 
-    pb_obj_BLE_t *self = mp_obj_malloc_var(pb_obj_BLE_t, observed_data_t, num_observe_channels, &pb_type_BLE);
+    pb_obj_BLE_t *self = mp_obj_malloc_var(pb_obj_BLE_t, observed_data, observed_data_t, num_observe_channels, &pb_type_BLE);
     self->broadcast_channel = broadcast_channel_in;
 
     for (mp_int_t i = 0; i < num_observe_channels; i++) {
diff --git a/pybricks/common/pb_type_device.c b/pybricks/common/pb_type_device.c
index 2c5c1120d..6fdb108a1 100644
--- a/pybricks/common/pb_type_device.c
+++ b/pybricks/common/pb_type_device.c
@@ -117,9 +117,7 @@ mp_obj_t pb_type_device_method_call(mp_obj_t self_in, size_t n_args, size_t n_kw
  */
 MP_DEFINE_CONST_OBJ_TYPE(
     pb_type_device_method, MP_QSTR_function, MP_TYPE_FLAG_BINDS_SELF | MP_TYPE_FLAG_BUILTIN_FUN,
-    call, pb_type_device_method_call,
-    unary_op, mp_generic_unary_op
-    );
+    call, pb_type_device_method_call);
 
 /**
  * Set data for a Powered Up device, such as the brightness of multiple external
diff --git a/pybricks/common/pb_type_imu.c b/pybricks/common/pb_type_imu.c
index 8a21fd232..503bc77f8 100644
--- a/pybricks/common/pb_type_imu.c
+++ b/pybricks/common/pb_type_imu.c
@@ -311,7 +311,7 @@ static mp_obj_t pb_type_imu_heading(size_t n_args, const mp_obj_t *pos_args, mp_
 static MP_DEFINE_CONST_FUN_OBJ_KW(pb_type_imu_heading_obj, 1, pb_type_imu_heading);
 
 // pybricks._common.IMU.orientation
-STATIC mp_obj_t common_IMU_orientation(mp_obj_t self_in) {
+static mp_obj_t common_IMU_orientation(mp_obj_t self_in) {
 
     // Make matrix. REVISIT: Dedicated call from orientation matrix.
     pb_type_Matrix_obj_t *matrix = MP_OBJ_TO_PTR(pb_type_Matrix_make_bitmap(3, 3, 1.0f, 0));
diff --git a/pybricks/parameters/pb_type_button.c b/pybricks/parameters/pb_type_button.c
index 421a8190e..331336713 100644
--- a/pybricks/parameters/pb_type_button.c
+++ b/pybricks/parameters/pb_type_button.c
@@ -104,7 +104,6 @@ MP_DEFINE_CONST_OBJ_TYPE(pb_type_button_,
     MP_TYPE_FLAG_NONE,
     print, pb_type_button_print,
     attr, pb_type_button_attribute_handler,
-    unary_op, mp_generic_unary_op,
     binary_op, pb_type_button_binary_op
     );
 
diff --git a/pybricks/parameters/pb_type_color.c b/pybricks/parameters/pb_type_color.c
index 459944abb..3a14e43a5 100644
--- a/pybricks/parameters/pb_type_color.c
+++ b/pybricks/parameters/pb_type_color.c
@@ -354,7 +354,6 @@ MP_DEFINE_CONST_OBJ_TYPE(pb_type_Color,
     call, pb_type_Color_call,
     attr, pb_type_Color_attr,
     print, pb_type_Color_print,
-    unary_op, mp_generic_unary_op,
     binary_op, pb_type_Color_binary_op,
     subscr, pb_type_Color_subscr,
     iter, pb_type_Color_getiter);
diff --git a/pybricks/parameters/pb_type_direction.c b/pybricks/parameters/pb_type_direction.c
index ed97837e0..577e3f0ac 100644
--- a/pybricks/parameters/pb_type_direction.c
+++ b/pybricks/parameters/pb_type_direction.c
@@ -33,7 +33,6 @@ MP_DEFINE_CONST_OBJ_TYPE(pb_enum_type_Direction,
     MP_QSTR_Direction,
     MP_TYPE_FLAG_NONE,
     print, pb_type_enum_print,
-    unary_op, mp_generic_unary_op,
     locals_dict, &(pb_enum_type_Direction_locals_dict));
 
 #endif // PYBRICKS_PY_PARAMETERS
diff --git a/pybricks/parameters/pb_type_port.c b/pybricks/parameters/pb_type_port.c
index a696b7640..fa04cd011 100644
--- a/pybricks/parameters/pb_type_port.c
+++ b/pybricks/parameters/pb_type_port.c
@@ -131,7 +131,6 @@ MP_DEFINE_CONST_OBJ_TYPE(pb_enum_type_Port,
     MP_QSTR_Port,
     MP_TYPE_FLAG_NONE,
     print, pb_type_enum_print,
-    unary_op, mp_generic_unary_op,
     locals_dict, &(pb_enum_type_Port_locals_dict));
 
 #endif // PYBRICKS_PY_PARAMETERS
diff --git a/pybricks/parameters/pb_type_side.c b/pybricks/parameters/pb_type_side.c
index f65bfb18c..df5a21194 100644
--- a/pybricks/parameters/pb_type_side.c
+++ b/pybricks/parameters/pb_type_side.c
@@ -61,7 +61,6 @@ MP_DEFINE_CONST_OBJ_TYPE(pb_enum_type_Side,
     MP_QSTR_Side,
     MP_TYPE_FLAG_NONE,
     print, pb_type_enum_print,
-    unary_op, mp_generic_unary_op,
     locals_dict, &(pb_enum_type_Side_locals_dict));
 
 #endif // PYBRICKS_PY_PARAMETERS
diff --git a/pybricks/parameters/pb_type_stop.c b/pybricks/parameters/pb_type_stop.c
index 245b1e526..72ab647e2 100644
--- a/pybricks/parameters/pb_type_stop.c
+++ b/pybricks/parameters/pb_type_stop.c
@@ -61,7 +61,6 @@ MP_DEFINE_CONST_OBJ_TYPE(pb_enum_type_Stop,
     MP_QSTR_Stop,
     MP_TYPE_FLAG_NONE,
     print, pb_type_enum_print,
-    unary_op, mp_generic_unary_op,
     locals_dict, &(pb_enum_type_Stop_locals_dict));
 
 #endif // PYBRICKS_PY_PARAMETERS
diff --git a/pybricks/pybricks.c b/pybricks/pybricks.c
index c71fd8891..f3ddec2d8 100644
--- a/pybricks/pybricks.c
+++ b/pybricks/pybricks.c
@@ -39,7 +39,7 @@ static const mp_rom_obj_tuple_t pybricks_info_obj = {
 };
 
 #if MICROPY_MODULE_ATTR_DELEGATION
-static void pb_package_pybricks_attr(mp_obj_t self_in, qstr attr, mp_obj_t *dest) {
+void pb_package_pybricks_attr(mp_obj_t self_in, qstr attr, mp_obj_t *dest) {
     // This will get called when external imports tries to store the module
     // as an attribute to this package. This is not currently supported, but
     // it should not cause an exception, so indicate success.
@@ -50,8 +50,37 @@ static void pb_package_pybricks_attr(mp_obj_t self_in, qstr attr, mp_obj_t *dest
 static const mp_rom_map_elem_t pybricks_globals_table[] = {
     { MP_ROM_QSTR(MP_QSTR___name__),            MP_ROM_QSTR(MP_QSTR_pybricks) },
     { MP_ROM_QSTR(MP_QSTR_version),             MP_ROM_PTR(&pybricks_info_obj)},
-    #if MICROPY_MODULE_ATTR_DELEGATION
-    MP_MODULE_ATTR_DELEGATION_ENTRY(&pb_package_pybricks_attr),
+    #if MICROPY_MODULE_BUILTIN_SUBPACKAGES
+    #if PYBRICKS_PY_EXPERIMENTAL
+    { MP_ROM_QSTR(MP_QSTR_experimental), MP_ROM_PTR(&pb_module_experimental) },
+    #endif
+    #if PYBRICKS_PY_HUBS
+    { MP_ROM_QSTR(MP_QSTR_hubs), MP_ROM_PTR(&pb_module_hubs) },
+    #endif
+    #if PYBRICKS_PY_NXTDEVICES
+    { MP_ROM_QSTR(MP_QSTR_nxtdevices), MP_ROM_PTR(&pb_module_nxtdevices) },
+    #endif
+    #if PYBRICKS_PY_EV3DEVICES
+    { MP_ROM_QSTR(MP_QSTR_ev3devices), MP_ROM_PTR(&pb_module_ev3devices) },
+    #endif
+    #if PYBRICKS_PY_PUPDEVICES
+    { MP_ROM_QSTR(MP_QSTR_pupdevices), MP_ROM_PTR(&pb_module_pupdevices) },
+    #endif
+    #if PYBRICKS_PY_IODEVICES
+    { MP_ROM_QSTR(MP_QSTR_iodevices), MP_ROM_PTR(&pb_module_iodevices) },
+    #endif
+    #if PYBRICKS_PY_MEDIA
+    { MP_ROM_QSTR(MP_QSTR_media), MP_ROM_PTR(&pb_module_media) },
+    #endif
+    #if PYBRICKS_PY_PARAMETERS
+    { MP_ROM_QSTR(MP_QSTR_parameters), MP_ROM_PTR(&pb_module_parameters) },
+    #endif
+    #if PYBRICKS_PY_TOOLS
+    { MP_ROM_QSTR(MP_QSTR_tools), MP_ROM_PTR(&pb_module_tools) },
+    #endif
+    #if PYBRICKS_PY_ROBOTICS
+    { MP_ROM_QSTR(MP_QSTR_robotics), MP_ROM_PTR(&pb_module_robotics) },
+    #endif
     #endif
 };
 static MP_DEFINE_CONST_DICT(pb_package_pybricks_globals, pybricks_globals_table);
@@ -62,6 +91,7 @@ const mp_obj_module_t pb_package_pybricks = {
 };
 
 MP_REGISTER_MODULE(MP_QSTR_pybricks, pb_package_pybricks);
+MP_REGISTER_MODULE_DELEGATION(pb_package_pybricks, pb_package_pybricks_attr);
 
 #if PYBRICKS_OPT_COMPILER
 /**
diff --git a/pybricks/tools/pb_type_app_data.c b/pybricks/tools/pb_type_app_data.c
index 0591b19e1..038a99732 100644
--- a/pybricks/tools/pb_type_app_data.c
+++ b/pybricks/tools/pb_type_app_data.c
@@ -42,16 +42,16 @@ static pbio_error_t handle_incoming_app_data(uint16_t offset, uint32_t size, con
     return PBIO_SUCCESS;
 }
 
-STATIC mp_obj_t pb_type_app_data_get_bytes(mp_obj_t self_in) {
+static mp_obj_t pb_type_app_data_get_bytes(mp_obj_t self_in) {
     pb_type_app_data_obj_t *self = MP_OBJ_TO_PTR(self_in);
     // Don't return internal bytes object but make a copy so the user bytes
     // object is constant as would be expected. Revisit: enable and return
     // a memoryview, especially if using large buffers.
     return mp_obj_new_bytes(self->rx_bytes_obj.data, self->rx_bytes_obj.len);
 }
-STATIC MP_DEFINE_CONST_FUN_OBJ_1(pb_type_app_data_get_bytes_obj, pb_type_app_data_get_bytes);
+static MP_DEFINE_CONST_FUN_OBJ_1(pb_type_app_data_get_bytes_obj, pb_type_app_data_get_bytes);
 
-STATIC mp_obj_t pb_type_app_data_get_values(mp_obj_t self_in) {
+static mp_obj_t pb_type_app_data_get_values(mp_obj_t self_in) {
 
     // Implementation in MicroPython is static, so import from ustruct.unpack.
     mp_obj_t ustruct_unpack = pb_function_import_helper(MP_QSTR_ustruct, MP_QSTR_unpack);
@@ -62,9 +62,9 @@ STATIC mp_obj_t pb_type_app_data_get_values(mp_obj_t self_in) {
     pb_type_app_data_obj_t *self = MP_OBJ_TO_PTR(self_in);
     return mp_call_function_2(ustruct_unpack, self->rx_format, MP_OBJ_FROM_PTR(&self->rx_bytes_obj));
 }
-STATIC MP_DEFINE_CONST_FUN_OBJ_1(pb_type_app_data_get_values_obj, pb_type_app_data_get_values);
+static MP_DEFINE_CONST_FUN_OBJ_1(pb_type_app_data_get_values_obj, pb_type_app_data_get_values);
 
-STATIC mp_obj_t pb_type_app_data_write_bytes(mp_obj_t self_in, mp_obj_t data_in) {
+static mp_obj_t pb_type_app_data_write_bytes(mp_obj_t self_in, mp_obj_t data_in) {
     pb_type_app_data_obj_t *self = MP_OBJ_TO_PTR(self_in);
 
     // Copy data to local buffer. Needs to remain valid while sending.
@@ -82,11 +82,11 @@ STATIC mp_obj_t pb_type_app_data_write_bytes(mp_obj_t self_in, mp_obj_t data_in)
     pbdrv_bluetooth_send_queued(&self->tx_task, &self->tx_context);
     return pb_module_tools_pbio_task_wait_or_await(&self->tx_task);
 }
-STATIC MP_DEFINE_CONST_FUN_OBJ_2(pb_type_app_data_write_bytes_obj, pb_type_app_data_write_bytes);
+static MP_DEFINE_CONST_FUN_OBJ_2(pb_type_app_data_write_bytes_obj, pb_type_app_data_write_bytes);
 
 static const mp_obj_str_t pb_const_empty_str_obj = {{&mp_type_str}, 0, 0, (const byte *)""};
 
-STATIC mp_obj_t pb_type_app_data_make_new(const mp_obj_type_t *type, size_t n_args, size_t n_kw, const mp_obj_t *args) {
+static mp_obj_t pb_type_app_data_make_new(const mp_obj_type_t *type, size_t n_args, size_t n_kw, const mp_obj_t *args) {
 
     PB_PARSE_ARGS_CLASS(n_args, n_kw, args,
         PB_ARG_DEFAULT_OBJ(rx_format, pb_const_empty_str_obj));
@@ -101,8 +101,7 @@ STATIC mp_obj_t pb_type_app_data_make_new(const mp_obj_type_t *type, size_t n_ar
     }
 
     // Use finalizer so we can deactivate the data callback when rx_buffer is garbage collected.
-    app_data_instance = m_new_obj_var_with_finaliser(pb_type_app_data_obj_t, uint8_t, size);
-    app_data_instance->base.type = type;
+    app_data_instance = mp_obj_malloc_var_with_finaliser(pb_type_app_data_obj_t, uint8_t, size, type);
     app_data_instance->rx_format = rx_format_in;
 
     // Keep rx_buffer in bytes object rx_format for compatibility with unpack.
@@ -131,14 +130,14 @@ mp_obj_t pb_type_app_data_close(mp_obj_t stream) {
 }
 MP_DEFINE_CONST_FUN_OBJ_1(pb_type_app_data_close_obj, pb_type_app_data_close);
 
-STATIC const mp_rom_map_elem_t pb_type_app_data_locals_dict_table[] = {
+static const mp_rom_map_elem_t pb_type_app_data_locals_dict_table[] = {
     { MP_ROM_QSTR(MP_QSTR___del__),      MP_ROM_PTR(&pb_type_app_data_close_obj) },
     { MP_ROM_QSTR(MP_QSTR_close),        MP_ROM_PTR(&pb_type_app_data_close_obj) },
     { MP_ROM_QSTR(MP_QSTR_get_bytes),    MP_ROM_PTR(&pb_type_app_data_get_bytes_obj) },
     { MP_ROM_QSTR(MP_QSTR_get_values),   MP_ROM_PTR(&pb_type_app_data_get_values_obj) },
     { MP_ROM_QSTR(MP_QSTR_write_bytes),    MP_ROM_PTR(&pb_type_app_data_write_bytes_obj) },
 };
-STATIC MP_DEFINE_CONST_DICT(pb_type_app_data_locals_dict, pb_type_app_data_locals_dict_table);
+static MP_DEFINE_CONST_DICT(pb_type_app_data_locals_dict, pb_type_app_data_locals_dict_table);
 
 MP_DEFINE_CONST_OBJ_TYPE(pb_type_app_data,
     MP_QSTR_AppData,
diff --git a/pyproject.toml b/pyproject.toml
index 1c40343a5..81ade7260 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -34,7 +34,10 @@ pygithub = "^1.58.1"
 
 [tool.poetry.group.lint.dependencies]
 micropython-uncrustify = "^1.0.0.post1"
-black = "^22.3.0"
+ruff = "^0.12.1"
+
+[tool.ruff]
+extend-exclude = ["lib/btstack/", "micropython/"]
 
 [build-system]
 requires = ["poetry>=0.12"]
diff --git a/tests/motors/loop_time.py b/tests/motors/loop_time.py
index 68752dc29..3c0ce0e54 100644
--- a/tests/motors/loop_time.py
+++ b/tests/motors/loop_time.py
@@ -20,7 +20,6 @@
 watch = StopWatch()
 
 while watch.time() < DURATION + 500:
-
     # Compute sine angle.
     phase = watch.time() / DURATION * 2 * pi
     speed = sin(phase) * 750
diff --git a/tests/motors/run_test.py b/tests/motors/run_test.py
index 611967b20..3be338e91 100755
--- a/tests/motors/run_test.py
+++ b/tests/motors/run_test.py
@@ -171,20 +171,31 @@ def plot_servo_data(time, data, build_dir, subtitle=None):
     speed_ax.plot(time, rate, drawstyle="steps-post", label="Reported rate")
     speed_ax.plot(time, rate_est, drawstyle="steps-post", label="Observer")
     speed_ax.plot(
-        time, gradient(count, time / 1000), drawstyle="steps-post", label="Future count derivative"
+        time,
+        gradient(count, time / 1000),
+        drawstyle="steps-post",
+        label="Future count derivative",
     )
     speed_ax.set_ylabel("speed (deg/s)")
 
     torque_ax.plot(time, torque_feedback, label="Feedback", drawstyle="steps-post")
-    torque_ax.plot(time, torque_feedforward, label="Feedforward", drawstyle="steps-post")
+    torque_ax.plot(
+        time, torque_feedforward, label="Feedforward", drawstyle="steps-post"
+    )
     torque_ax.set_ylabel("Torque")
 
     duty_ax.plot(time, voltage, label="Motor", drawstyle="steps-post")
     duty_ax.plot(
-        time, observer_feedback_voltage, label="Observer Feedback", drawstyle="steps-post"
+        time,
+        observer_feedback_voltage,
+        label="Observer Feedback",
+        drawstyle="steps-post",
     )
     duty_ax.plot(
-        time, voltage + observer_feedback_voltage, label="Model voltage", drawstyle="steps-post"
+        time,
+        voltage + observer_feedback_voltage,
+        label="Model voltage",
+        drawstyle="steps-post",
     )
     duty_ax.set_ylabel("Voltage (mV)")
     duty_ax.set_ylim([-10000, 10000])
@@ -195,7 +206,9 @@ def plot_servo_data(time, data, build_dir, subtitle=None):
     loop_time_max = math.ceil((numpy.max(loop_time) + 1) / 5) * 5
     time_ax.set_ylim(0, loop_time_max)
 
-    plot_status(actuate_ax, actuation_type, {0: "Coast", 1: "N/A", 2: "Voltage"}, "Act.")
+    plot_status(
+        actuate_ax, actuation_type, {0: "Coast", 1: "N/A", 2: "Voltage"}, "Act."
+    )
     plot_status(stall_ax, stalled, {0: "No", 1: "Yes"}, "Stall.")
 
     for axis in axes:
@@ -230,11 +243,23 @@ def plot_control_data(time, data, build_dir, subtitle=None):
     title = "control" if subtitle is None else "control_" + subtitle
 
     figure, axes = matplotlib.pyplot.subplots(
-        nrows=8, ncols=1, figsize=(15, 15), height_ratios=[1, 1, 1, 1, 0.05, 0.05, 0.05, 0.5]
+        nrows=8,
+        ncols=1,
+        figsize=(15, 15),
+        height_ratios=[1, 1, 1, 1, 0.05, 0.05, 0.05, 0.5],
     )
     figure.suptitle(title, fontsize=20)
 
-    (position_ax, error_ax, speed_ax, torque_ax, actuate_ax, stall_ax, done_ax, time_ax) = axes
+    (
+        position_ax,
+        error_ax,
+        speed_ax,
+        torque_ax,
+        actuate_ax,
+        stall_ax,
+        done_ax,
+        time_ax,
+    ) = axes
     status_axes = (actuate_ax, stall_ax, done_ax)
 
     position_ax.plot(time, count, drawstyle="steps-post", label="Reported count")
@@ -242,15 +267,24 @@ def plot_control_data(time, data, build_dir, subtitle=None):
     position_ax.plot(time, count_ref, drawstyle="steps-post", label="Reference")
     position_ax.set_ylabel("angle (deg)")
 
-    error_ax.plot(time, count_ref - count, drawstyle="steps-post", label="Reported error")
-    error_ax.plot(time, count_ref - count_est, drawstyle="steps-post", label="Estimated error")
-    error_ax.plot(time, count_est - count, drawstyle="steps-post", label="Estimation error")
+    error_ax.plot(
+        time, count_ref - count, drawstyle="steps-post", label="Reported error"
+    )
+    error_ax.plot(
+        time, count_ref - count_est, drawstyle="steps-post", label="Estimated error"
+    )
+    error_ax.plot(
+        time, count_est - count, drawstyle="steps-post", label="Estimation error"
+    )
     error_ax.set_ylabel("angle error (deg)")
 
     speed_ax.plot(time, rate, drawstyle="steps-post", label="Reported rate")
     speed_ax.plot(time, rate_est, drawstyle="steps-post", label="Observer")
     speed_ax.plot(
-        time, gradient(count, time / 1000), drawstyle="steps-post", label="Future count derivative"
+        time,
+        gradient(count, time / 1000),
+        drawstyle="steps-post",
+        label="Future count derivative",
     )
     speed_ax.plot(time, rate_ref, drawstyle="steps-post", label="Reference")
     speed_ax.set_ylabel("speed (deg/s)")
@@ -370,7 +404,9 @@ def make_plots(build_dir, show=True):
     if "PBIO_VIRTUAL_PLATFORM_MODULE" not in os.environ:
         os.environ["PBIO_VIRTUAL_PLATFORM_MODULE"] = "pbio_virtual.platform.turtle"
     result = subprocess.run(
-        [bin_path, script_archive.absolute()], capture_output=True, cwd=build_dir.absolute()
+        [bin_path, script_archive.absolute()],
+        capture_output=True,
+        cwd=build_dir.absolute(),
     )
     hub_output = (result.stdout or result.stderr).split(b"\n")
     for line in hub_output:
diff --git a/tests/pup/benchmark/pystone.py b/tests/pup/benchmark/pystone.py
index 2dfe934e7..4959e52fb 100644
--- a/tests/pup/benchmark/pystone.py
+++ b/tests/pup/benchmark/pystone.py
@@ -48,7 +48,9 @@ def __init__(self, PtrComp=None, Discr=0, EnumComp=0, IntComp=0, StringComp=0):
         self.StringComp = StringComp
 
     def copy(self):
-        return Record(self.PtrComp, self.Discr, self.EnumComp, self.IntComp, self.StringComp)
+        return Record(
+            self.PtrComp, self.Discr, self.EnumComp, self.IntComp, self.StringComp
+        )
 
 
 TRUE = 1
diff --git a/tests/pup/benchmark/pystone_lowmem.py b/tests/pup/benchmark/pystone_lowmem.py
index 8c6794c38..d1ddbd502 100644
--- a/tests/pup/benchmark/pystone_lowmem.py
+++ b/tests/pup/benchmark/pystone_lowmem.py
@@ -41,7 +41,9 @@ def __init__(self, PtrComp=None, Discr=0, EnumComp=0, IntComp=0, StringComp=0):
         self.StringComp = StringComp
 
     def copy(self):
-        return Record(self.PtrComp, self.Discr, self.EnumComp, self.IntComp, self.StringComp)
+        return Record(
+            self.PtrComp, self.Discr, self.EnumComp, self.IntComp, self.StringComp
+        )
 
 
 TRUE = 1
@@ -218,7 +220,9 @@ def Proc8(Array1Par, Array2Par, IntParI1, IntParI2):
     Array1Par[(IntLoc + 30) // 2] = IntLoc
     for IntIndex in range(IntLoc, IntLoc + 2):
         Array2Par[IntLoc // 2][IntIndex // 2] = IntLoc
-    Array2Par[IntLoc // 2][(IntLoc - 1) // 2] = Array2Par[IntLoc // 2][(IntLoc - 1) // 2] + 1
+    Array2Par[IntLoc // 2][(IntLoc - 1) // 2] = (
+        Array2Par[IntLoc // 2][(IntLoc - 1) // 2] + 1
+    )
     Array2Par[(IntLoc + 20) // 2][IntLoc // 2] = Array1Par[IntLoc // 2]
     IntGlob = 5
 
diff --git a/tests/pup/motors/gears.py b/tests/pup/motors/gears.py
index 3d2ef0c3e..9c11f7f70 100644
--- a/tests/pup/motors/gears.py
+++ b/tests/pup/motors/gears.py
@@ -64,6 +64,6 @@ def get_gear_ratio(gear_arg):
 
     # Allow at most one degree of error, or up to 1/ratio when speeding up.
     tolerance = 1 if ratio >= 1 else 1 / ratio
-    assert abs(motor.angle() - expected) <= tolerance, "{0} != {1} for ratio: {2}".format(
-        expected, measured, gears
+    assert abs(motor.angle() - expected) <= tolerance, (
+        "{0} != {1} for ratio: {2}".format(expected, measured, gears)
     )
diff --git a/tests/pup/motors/measurements.py b/tests/pup/motors/measurements.py
index 7759523f5..b184d645a 100644
--- a/tests/pup/motors/measurements.py
+++ b/tests/pup/motors/measurements.py
@@ -60,7 +60,6 @@
 
 # Test DC positive direction signs.
 for direction in (Direction.CLOCKWISE, Direction.COUNTERCLOCKWISE, "default"):
-
     # Initialize the motor with given sign.
     motor.close()
     if direction == "default":
@@ -94,7 +93,6 @@
 # Test reported speed value.
 watch = StopWatch()
 for dc in (-100, 50, 0, 50, 100):
-
     # Get the motor going at steady speed.
     motor.dc(dc)
     wait(500)
diff --git a/tests/pup/run_all.py b/tests/pup/run_all.py
index 33894d601..cb211376c 100644
--- a/tests/pup/run_all.py
+++ b/tests/pup/run_all.py
@@ -10,12 +10,13 @@
 
 
 async def main():
-
     # Get all script paths.
     scripts = []
-    for (dirpath, dirnames, filenames) in os.walk("."):
+    for dirpath, dirnames, filenames in os.walk("."):
         if dirpath != ".":
-            scripts += [os.path.join(dirpath, name) for name in filenames if ".py" == name[-3:]]
+            scripts += [
+                os.path.join(dirpath, name) for name in filenames if ".py" == name[-3:]
+            ]
 
     # Sort tests to re-run previously failed tests first.
     test_passed = lambda name: (not os.path.exists(name[:-3] + ".out"), name)
@@ -28,7 +29,6 @@ async def main():
 
     # Run all scripts.
     for file_name in scripts:
-
         # Run it.
         print("Now running:", file_name)
         await hub.run(file_name)
diff --git a/tests/pup/sensors/color_color.py b/tests/pup/sensors/color_color.py
index 5b5bca6fb..6c50580db 100644
--- a/tests/pup/sensors/color_color.py
+++ b/tests/pup/sensors/color_color.py
@@ -31,7 +31,9 @@
 for name in ("GREEN", "BLUE", "RED", "YELLOW"):
     motor.run_target(SPEED, angles[name])
     detected = color_sensor.color()
-    assert detected == Color[name], "Expected {0} but got {1}".format(Color[name], detected)
+    assert detected == Color[name], "Expected {0} but got {1}".format(
+        Color[name], detected
+    )
 
 # Update all colors.
 for name in angles.keys():
@@ -45,4 +47,6 @@
 for name in angles.keys():
     motor.run_target(SPEED, angles[name])
     detected = color_sensor.color()
-    assert detected == Color[name], "Expected {0} but got {1}".format(Color[name], detected)
+    assert detected == Color[name], "Expected {0} but got {1}".format(
+        Color[name], detected
+    )
diff --git a/tests/pup/sensors/color_mode.py b/tests/pup/sensors/color_mode.py
index ae1e4cb9b..823f776fc 100644
--- a/tests/pup/sensors/color_mode.py
+++ b/tests/pup/sensors/color_mode.py
@@ -44,4 +44,6 @@
 detected = color_sensor.color()
 
 # With the built-in delay, the stale blue value should be gone, now giving red.
-assert detected == Color["RED"], "Expected {0} but got {1}".format(Color["RED"], detected)
+assert detected == Color["RED"], "Expected {0} but got {1}".format(
+    Color["RED"], detected
+)
diff --git a/tests/pup/sensors/ultrasonic_distance.py b/tests/pup/sensors/ultrasonic_distance.py
index 5f4c91b19..eba3f7ea9 100644
--- a/tests/pup/sensors/ultrasonic_distance.py
+++ b/tests/pup/sensors/ultrasonic_distance.py
@@ -46,4 +46,6 @@
 
 # Assert that we have made as many turns.
 rotations = round(motor.angle() / 360)
-assert rotations == DETECTIONS, "Expected {0} turns, got {1}.".format(DETECTIONS, rotations)
+assert rotations == DETECTIONS, "Expected {0} turns, got {1}.".format(
+    DETECTIONS, rotations
+)
diff --git a/tests/pup/sensors/ultrasonic_presence.py b/tests/pup/sensors/ultrasonic_presence.py
index 7c73ea91c..68c6ea7d2 100644
--- a/tests/pup/sensors/ultrasonic_presence.py
+++ b/tests/pup/sensors/ultrasonic_presence.py
@@ -7,6 +7,7 @@
 Description: Verifies that the Ultrasonic Sensor does not sense ultrasonic
 interference by default.
 """
+
 from pybricks.pupdevices import UltrasonicSensor
 from pybricks.parameters import Port
 
diff --git a/tests/virtualhub/motor/drivebase.py b/tests/virtualhub/motor/drivebase.py
index 00183af36..64b080941 100644
--- a/tests/virtualhub/motor/drivebase.py
+++ b/tests/virtualhub/motor/drivebase.py
@@ -26,7 +26,9 @@ def expect_state(
         or abs(expected_angle - angle) > 10
         or abs(expected_angular_velocity - angular_velocity) > 30
     ):
-        raise ValueError("Expected {0} but got {1}".format(expected_state, drive_base.state()))
+        raise ValueError(
+            "Expected {0} but got {1}".format(expected_state, drive_base.state())
+        )
 
 
 # Expect zeroed state on startup.
@@ -63,6 +65,9 @@ def expect_state(
 
 # Drive fast.
 drive_base.settings(
-    straight_speed=500, straight_acceleration=1000, turn_rate=500, turn_acceleration=2000
+    straight_speed=500,
+    straight_acceleration=1000,
+    turn_rate=500,
+    turn_acceleration=2000,
 )
 drive_base.straight(500)
diff --git a/tests/virtualhub/motor/drivebase_turns.py b/tests/virtualhub/motor/drivebase_turns.py
index e818e6fcb..7ece9d939 100644
--- a/tests/virtualhub/motor/drivebase_turns.py
+++ b/tests/virtualhub/motor/drivebase_turns.py
@@ -15,6 +15,7 @@
 except ImportError:
     virtual = False
 
+
 # Wait on a real robot but not in the simulator.
 def delay(ms):
     if virtual:
@@ -42,13 +43,17 @@ def wait_until_done():
 drive_base.straight(200, wait=False)
 wait(STARTUP_DELAY)
 assert motorL.speed() > 0, "When driving Fwd in straight line, left speed should be +ve"
-assert motorR.speed() > 0, "When driving Fwd in straight line, right speed should be +ve"
+assert motorR.speed() > 0, (
+    "When driving Fwd in straight line, right speed should be +ve"
+)
 wait_until_done()
 
 drive_base.straight(-200, wait=False)
 wait(STARTUP_DELAY)
 assert motorL.speed() < 0, "When driving Rev in straight line, left speed should be -ve"
-assert motorR.speed() < 0, "When driving Rev in straight line, right speed should be -ve"
+assert motorR.speed() < 0, (
+    "When driving Rev in straight line, right speed should be -ve"
+)
 wait_until_done()
 
 # Demo 2: Using turn() for in-place turns by angle (+ve = CW, -ve = CCW)
@@ -67,19 +72,27 @@ def wait_until_done():
 drive_base.turn(-270, wait=False)
 wait(STARTUP_DELAY)
 assert motorL.speed() < 0, "For CCW in-place turn 270 degrees, left speed should be -ve"
-assert motorR.speed() > 0, "For CCW in-place turn 270 degrees, right speed should be +ve"
+assert motorR.speed() > 0, (
+    "For CCW in-place turn 270 degrees, right speed should be +ve"
+)
 wait_until_done()
 
 drive_base.turn(1080, wait=False)
 wait(STARTUP_DELAY)
 assert motorL.speed() > 0, "For CW in-place turn 1080 degrees, left speed should be +ve"
-assert motorR.speed() < 0, "For CW in-place turn 1080 degrees, right speed should be -ve"
+assert motorR.speed() < 0, (
+    "For CW in-place turn 1080 degrees, right speed should be -ve"
+)
 wait_until_done()
 
 drive_base.turn(-1440, wait=False)
 wait(STARTUP_DELAY)
-assert motorL.speed() < 0, "For CCW in-place turn 1440 degrees, left speed should be -ve"
-assert motorR.speed() > 0, "For CCW in-place turn 1440 degrees, right speed should be +ve"
+assert motorL.speed() < 0, (
+    "For CCW in-place turn 1440 degrees, left speed should be -ve"
+)
+assert motorR.speed() > 0, (
+    "For CCW in-place turn 1440 degrees, right speed should be +ve"
+)
 wait_until_done()
 
 
@@ -89,43 +102,47 @@ def wait_until_done():
 wait(STARTUP_DELAY)
 assert motorL.speed() > 0, "When driving Fwd in CW Curve, left speed should be +ve"
 assert motorR.speed() > 0, "When driving Fwd in CW Curve, right speed should be +ve"
-assert (
-    motorL.speed() > motorR.speed()
-), "When driving Fwd in CW Curve, motorL should be greater than motorR"
+assert motorL.speed() > motorR.speed(), (
+    "When driving Fwd in CW Curve, motorL should be greater than motorR"
+)
 wait_until_done()
 
 drive_base.curve(-140, 360, wait=False)  # Drives backward along circle to robot's right
 wait(STARTUP_DELAY)
 assert motorL.speed() < 0, "When driving Rev in CCW Curve, left speed should be -ve"
 assert motorR.speed() < 0, "When driving Rev in CCW Curve, right speed should be -ve"
-assert (
-    motorL.speed() < motorR.speed()
-), "When driving Rev in CCW Curve, motorL should be less (i.e. faster) than motorR"
+assert motorL.speed() < motorR.speed(), (
+    "When driving Rev in CCW Curve, motorL should be less (i.e. faster) than motorR"
+)
 wait_until_done()
 
 drive_base.curve(120, -360, wait=False)  # Drives forward along circle to robot's left
 wait(STARTUP_DELAY)
 assert motorL.speed() > 0, "When driving Fwd in CCW Curve, left speed should be +ve"
 assert motorR.speed() > 0, "When driving Fwd in CCW Curve, right speed should be +ve"
-assert (
-    motorL.speed() < motorR.speed()
-), "When driving Fwd in CCW Curve, motorL should be less than motorR"
+assert motorL.speed() < motorR.speed(), (
+    "When driving Fwd in CCW Curve, motorL should be less than motorR"
+)
 wait_until_done()
 
-drive_base.curve(-120, -360, wait=False)  # Drives in reverse along circle to robot's left
+drive_base.curve(
+    -120, -360, wait=False
+)  # Drives in reverse along circle to robot's left
 wait(STARTUP_DELAY)
 assert motorL.speed() < 0, "When driving Rev in CW Curve, left speed should be -ve"
 assert motorR.speed() < 0, "When driving Rev in CW Curve, right speed should be -ve"
-assert (
-    motorL.speed() > motorR.speed()
-), "When driving Rev in CW Curve, motorL should be greater than motorR"
+assert motorL.speed() > motorR.speed(), (
+    "When driving Rev in CW Curve, motorL should be greater than motorR"
+)
 wait_until_done()
 
 # Demo 4: Using drive() to control the robot in various ways.
 drive_base.drive(200, 0)  # Drive straight Fwd
 wait(STARTUP_DELAY_LONG)
 assert motorL.speed() > 0, "When driving Fwd in straight line, left speed should be +ve"
-assert motorR.speed() > 0, "When driving Fwd in straight line, right speed should be +ve"
+assert motorR.speed() > 0, (
+    "When driving Fwd in straight line, right speed should be +ve"
+)
 delay(500)
 drive_base.stop()
 delay(250)
@@ -133,7 +150,9 @@ def wait_until_done():
 drive_base.drive(-200, 0)  # Drive straight Rev
 wait(STARTUP_DELAY_LONG)
 assert motorL.speed() < 0, "When driving Rev in straight line, left speed should be -ve"
-assert motorR.speed() < 0, "When driving Rev in straight line, right speed should be -ve"
+assert motorR.speed() < 0, (
+    "When driving Rev in straight line, right speed should be -ve"
+)
 delay(500)
 drive_base.stop()
 delay(250)
@@ -142,9 +161,9 @@ def wait_until_done():
 wait(STARTUP_DELAY_LONG)
 assert motorL.speed() > 0, "When driving CW Curve Fwd, left speed should be +ve"
 assert motorR.speed() > 0, "When driving CW Curve Fwd, right speed should be +ve"
-assert (
-    motorL.speed() > motorR.speed()
-), "When driving Fwd in CW Curve, motorL should be greater than motorR"
+assert motorL.speed() > motorR.speed(), (
+    "When driving Fwd in CW Curve, motorL should be greater than motorR"
+)
 delay(3000)  # 4 seconds x 90 deg/s approx full circle
 drive_base.stop()
 delay(250)
@@ -153,9 +172,9 @@ def wait_until_done():
 wait(STARTUP_DELAY_LONG)
 assert motorL.speed() < 0, "When driving CCW Curve Rev, left speed should be -ve"
 assert motorR.speed() < 0, "When driving CCW Curve Rev, right speed should be -ve"
-assert (
-    motorR.speed() < motorL.speed()
-), "When driving Rev in CCW Curve, motorR should be less than motorL"
+assert motorR.speed() < motorL.speed(), (
+    "When driving Rev in CCW Curve, motorR should be less than motorL"
+)
 delay(3000)  # 4 seconds x 90 deg/s = full circle
 drive_base.stop()
 delay(250)
@@ -164,9 +183,9 @@ def wait_until_done():
 wait(STARTUP_DELAY_LONG)
 assert motorL.speed() > 0, "When driving CCW Curve Fwd, left speed should be +ve"
 assert motorR.speed() > 0, "When driving CCW Curve Fwd, right speed should be +ve"
-assert (
-    motorL.speed() < motorR.speed()
-), "When driving Fwd in CCW Curve, motorL should be less than motorR"
+assert motorL.speed() < motorR.speed(), (
+    "When driving Fwd in CCW Curve, motorL should be less than motorR"
+)
 delay(3000)  # 4 seconds x 90 deg/s = full circle
 drive_base.stop()
 delay(250)
@@ -175,9 +194,9 @@ def wait_until_done():
 wait(STARTUP_DELAY_LONG)
 assert motorL.speed() < 0, "When driving CW Curve Rev, left speed should be +ve"
 assert motorR.speed() < 0, "When driving CW Curve Rev, right speed should be +ve"
-assert (
-    motorL.speed() < motorR.speed()
-), "When driving Rev in CW Curve, motorL should be less than motorR"
+assert motorL.speed() < motorR.speed(), (
+    "When driving Rev in CW Curve, motorL should be less than motorR"
+)
 delay(3000)  # 4 seconds x 90 deg/s = full circle
 drive_base.stop()
 delay(250)
diff --git a/tests/virtualhub/motor/test_1.py b/tests/virtualhub/motor/test_1.py
index 376e7654b..7fd433c88 100644
--- a/tests/virtualhub/motor/test_1.py
+++ b/tests/virtualhub/motor/test_1.py
@@ -23,7 +23,6 @@
 motor.run_target(speed=SPEED, target_angle=TARGET_ANGLE, wait=False)
 
 while not motor.done():
-
     if watch.time() > TIMEOUT:
         raise OSError(ETIMEDOUT)
 
diff --git a/tools/codeformat.py b/tools/codeformat.py
index f49a82476..fdee412c4 100755
--- a/tools/codeformat.py
+++ b/tools/codeformat.py
@@ -6,7 +6,9 @@
 # import codeformat from upstream micropython tools
 spec = importlib.util.spec_from_file_location(
     "codeformat",
-    os.path.join(os.path.dirname(__file__), "..", "micropython", "tools", "codeformat.py"),
+    os.path.join(
+        os.path.dirname(__file__), "..", "micropython", "tools", "codeformat.py"
+    ),
 )
 codeformat = importlib.util.module_from_spec(spec)
 spec.loader.exec_module(codeformat)
@@ -19,11 +21,6 @@
     "lib/lego/**/*.[ch]",
     "py/*.[ch]",
     "pybricks/**/*.[ch]",
-    # Python
-    "bricks/**/*.py",
-    "lib/pbio/**/*.py",
-    "tests/**/*.py",
-    "tools/**/*.py",
 ]
 
 codeformat.EXCLUSIONS = [
diff --git a/tools/metadata.py b/tools/metadata.py
index e024be594..b114a308c 100755
--- a/tools/metadata.py
+++ b/tools/metadata.py
@@ -83,7 +83,9 @@ def generate(
 
         flash_origin = None  # Starting address of firmware area in flash memory
         flash_firmware_size = None  # Size of flash memory allocated to firmware
-        flash_user_0_size = 0  # Size of flash memory within checksum area allocated to user
+        flash_user_0_size = (
+            0  # Size of flash memory within checksum area allocated to user
+        )
         name_start = None  # Starting address of custom hub name
         name_size = None  # Size reserved for custom hub name
         user_start = None  # Starting address of user .mpy file
@@ -104,7 +106,9 @@ def generate(
                 flash_user_0_size = int(match[2], base=0)
                 continue
 
-            match = re.match(r"^\.name\s+(0x[0-9A-Fa-f]{8,16})\s+(0x[0-9A-Fa-f]+)", line)
+            match = re.match(
+                r"^\.name\s+(0x[0-9A-Fa-f]{8,16})\s+(0x[0-9A-Fa-f]+)", line
+            )
             if match:
                 name_start = int(match[1], base=0)
                 name_size = int(match[2], base=0)
diff --git a/tools/playground.ipynb b/tools/playground.ipynb
index 27a0084e3..d53a777a6 100644
--- a/tools/playground.ipynb
+++ b/tools/playground.ipynb
@@ -17,6 +17,7 @@
    "source": [
     "# Pybricksdev and pybricks api stubs are available.\n",
     "from pybricks.parameters import Color\n",
+    "\n",
     "print(Color.YELLOW)"
    ]
   },
@@ -39,13 +40,13 @@
     "import matplotlib.pyplot\n",
     "\n",
     "# Make some data.\n",
-    "time = numpy.array([t/10 for t in range(0, 10, 1)])\n",
+    "time = numpy.array([t / 10 for t in range(0, 10, 1)])\n",
     "speed = time * 0.8\n",
     "other = time * time\n",
     "more = 1 - time\n",
     "\n",
     "# Get two axes in one figure.\n",
-    "figure, axes = matplotlib.pyplot.subplots(nrows=1, ncols=2,figsize=(15, 5))\n",
+    "figure, axes = matplotlib.pyplot.subplots(nrows=1, ncols=2, figsize=(15, 5))\n",
     "speed_axis, other_axis = axes\n",
     "\n",
     "# Plot the data.\n",
diff --git a/tools/trigonometry.ipynb b/tools/trigonometry.ipynb
index ed528de8e..b01427ef0 100644
--- a/tools/trigonometry.ipynb
+++ b/tools/trigonometry.ipynb
@@ -27,20 +27,22 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "px = numpy.array([0, 0.40, 0.95, 1.60, 2.50, 3.8,  5.00, 7.00, 15, 25])\n",
-    "py = numpy.array([0, 0.39, 0.76, 1.03, 1.19, 1.32,  1.38, 1.44, 1.51, 1.54])\n",
+    "px = numpy.array([0, 0.40, 0.95, 1.60, 2.50, 3.8, 5.00, 7.00, 15, 25])\n",
+    "py = numpy.array([0, 0.39, 0.76, 1.03, 1.19, 1.32, 1.38, 1.44, 1.51, 1.54])\n",
     "\n",
     "for x, y in zip(px, py):\n",
     "    print(f\"    {{ .x = {int(x * 1024)}, .y = {int(y * 180 / numpy.pi * 8)} }},\")\n",
     "\n",
+    "\n",
     "# Python implementation of pbio_int_math_atan2_positive.\n",
     "def atan_single_pos(y, x):\n",
     "    ratio = abs(y / x)\n",
-    "    for i in range(len(px)-1):\n",
-    "        if ratio < px[i+1]:\n",
-    "            return py[i] + (ratio - px[i]) * (py[i+1] - py[i]) / (px[i+1] - px[i]) \n",
+    "    for i in range(len(px) - 1):\n",
+    "        if ratio < px[i + 1]:\n",
+    "            return py[i] + (ratio - px[i]) * (py[i + 1] - py[i]) / (px[i + 1] - px[i])\n",
     "    return py[-1]\n",
     "\n",
+    "\n",
     "# Python implementation of pbio_int_math_atan2.\n",
     "def atan2_single(y, x):\n",
     "    atan = atan_single_pos(abs(y), abs(x))\n",
@@ -53,12 +55,14 @@
     "    else:\n",
     "        return atan + numpy.pi\n",
     "\n",
+    "\n",
     "# Numpy-like variant that can deal with arrays.\n",
     "def atan2(y, x):\n",
     "    return numpy.array([atan2_single(b, a) for b, a in zip(y, x)])\n",
     "\n",
+    "\n",
     "# Get two axes in one figure.\n",
-    "figure, axes = matplotlib.pyplot.subplots(nrows=1, ncols=2,figsize=(20, 10))\n",
+    "figure, axes = matplotlib.pyplot.subplots(nrows=1, ncols=2, figsize=(20, 10))\n",
     "atan_axis, error_axis = axes\n",
     "\n",
     "ratios = numpy.linspace(-40, 40, num=10000)\n",
@@ -110,14 +114,16 @@
     "roll_simple = numpy.degrees(atan2(accel_y, accel_z))\n",
     "\n",
     "# Get two axes in one figure.\n",
-    "figure, (angle_axis, error_axis) = matplotlib.pyplot.subplots(nrows=1, ncols=2,figsize=(15, 10))\n",
+    "figure, (angle_axis, error_axis) = matplotlib.pyplot.subplots(\n",
+    "    nrows=1, ncols=2, figsize=(15, 10)\n",
+    ")\n",
     "\n",
     "# Plot angle data\n",
     "angle_axis.plot(angle_deg, roll, label=\"roll via atan2\")\n",
     "angle_axis.plot(angle_deg, roll_simple, label=\"roll approximation\")\n",
     "\n",
     "# Plot angle data\n",
-    "error_axis.plot(angle_deg, roll-roll_simple, label=\"Error (deg)\")\n",
+    "error_axis.plot(angle_deg, roll - roll_simple, label=\"Error (deg)\")\n",
     "error_axis.set_ylim(-3, 3)\n",
     "\n",
     "# Show grid, legend, and fix bounds.\n",