Merge branch 'master' into rpi. Upgrade to Cubism 4 R4

diff --cc example/demo.patch
index af215d5,cb40cc9..f1b491b
--- 1/example/demo.patch
--- 2/example/demo.patch
+++ b/example/demo.patch
@@@ -1,10 -1,7 +1,10 @@@
  diff -pruN --exclude build ./demo_clean/CMakeLists.txt ./demo_dev/CMakeLists.txt
- --- ./demo_clean/CMakeLists.txt       2021-02-17 01:23:17.000000000 +0000
- +++ ./demo_dev/CMakeLists.txt 2021-06-12 17:14:36.877121318 +0100
+ --- ./demo_clean/CMakeLists.txt       2022-01-02 01:49:06.929909588 +0000
+ +++ ./demo_dev/CMakeLists.txt 2022-01-02 01:49:31.334289944 +0000
 -@@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.16)
 +@@ -1,9 +1,9 @@
 +-cmake_minimum_required(VERSION 3.16)
 ++cmake_minimum_required(VERSION 3.13)
 + 
   # Set app name.
   set(APP_NAME Demo)
   # Set directory paths.