Huimin I would like to seek your team's advice on the changes to FSIN GPIO pin. Previously, We have used MXIO46 and 41 taking reference to FFC-4P and early version of OAK-D-LR. I recently observe that the new schematic of OAK-D-LR change the FSIN pin back to MXIO46, as it is pwm capable. I have three questions: Can we and should we also adopt this design? So that I could use PWM function to help all-AR0234 setup to work with FSIN. Understand AR0234 cannot trigger by themselves. If so, how should I enable the pwm function programmatically? Also, As MXIO46 was previously occupied by BNO085 IMU_BOOTN. Can I follow the new OAK-D-LR design, to reroute the IMU? Would it work with develop branch straight away? with a custom BoardConfig?