diff --git a/common/app/app.c b/common/app/app.c
index f2eba65..243938f 100644
--- a/common/app/app.c
+++ b/common/app/app.c
@@ -3,7 +3,7 @@
 #include "system.h"
 #include "pixy.h"
 #include <stdio.h>
-
+#include <stdlib.h>
 
 bool pixy_connected = false;
 
@@ -113,10 +113,10 @@ int pixy_frame_test() {
                                       &videodata,        // pointer to mem address for returned frame
                                       END_IN_ARGS);
 
-
       if(return_value==0) {
             return_value = renderBA81(renderflags,xwidth,ywidth,size,videodata);
       } 
+
       return return_value;
 }
 
@@ -171,24 +171,41 @@ int renderBA81(uint8_t renderFlags, uint16_t width, uint16_t height, uint32_t fr
     // don't render top and bottom rows, and left and rightmost columns because of color
     // interpolation
     //uint32_t decodedimage[(width-2)*(height-2)];
-    uint16_t decodedimage[(width-2)*(height-2)];
-    
-    uint16_t* line = decodedimage;
-    for (y=1; y<height-1; y++)
-    {
-        //line = (unsigned int *)img.scanLine(y-1);
-        frame++;
-        for (x=1; x<width-1; x++, frame++)
-        {
-            interpolateBayer(width, x, y, frame, &r, &g, &b);
-            //*line++ = (0xff<<24) | (r<<16) | (g<<8) | (b<<0);
-            *line++ = RGB(r,g,b);
-        }
-        frame++;
-    }
-
-    tft_draw_bitmap_unscaled(0,0,width-2,height-2,decodedimage); 
+    uint16_t* decodedimage = malloc(sizeof(uint16_t)*(width-2)*(height-2));
    
+    if(decodedimage==NULL) { //not enough free space to decode image in memory
+        //decode & render image pixel by pixel
+	uint16_t* line = decodedimage;
+    	for (y=1; y<height-1; y++)
+        {
+                frame++;
+                for (x=1; x<width-1; x++, frame++)
+                {
+                    interpolateBayer(width, x, y, frame, &r, &g, &b);
+                    tft_draw_pixel(x-1,y-1,RGB(r,g,b));
+                }
+                frame++;
+         }
+    } else { //enough space  
+	    uint16_t* line = decodedimage;
+	    for (y=1; y<height-1; y++)
+	    {
+		//line = (unsigned int *)img.scanLine(y-1);
+		frame++;
+		for (x=1; x<width-1; x++, frame++)
+		{
+		    interpolateBayer(width, x, y, frame, &r, &g, &b);
+		    //*line++ = (0xff<<24) | (r<<16) | (g<<8) | (b<<0);
+		    *line++ = RGB(r,g,b);
+		}
+		frame++;
+	    }
+
+	    tft_draw_bitmap_unscaled(0,0,width-2,height-2,decodedimage); 
+	  
+	    free(decodedimage); 
+    }
+    
     return 0;
 }
 
diff --git a/common/lowlevel/ll_system.h b/common/lowlevel/ll_system.h
index 941851c..b5aa6b0 100644
--- a/common/lowlevel/ll_system.h
+++ b/common/lowlevel/ll_system.h
@@ -4,3 +4,4 @@
 bool ll_system_init();
 void ll_system_delay(uint32_t msec);
 void ll_system_process();
+void ll_system_toggle_led();
diff --git a/common/system/system.c b/common/system/system.c
index af02005..f7a88cb 100644
--- a/common/system/system.c
+++ b/common/system/system.c
@@ -13,3 +13,7 @@ void system_delay(uint32_t msec) {
 void system_process() {
 	ll_system_process();
 }
+
+void system_toggle_led() {
+	ll_system_toggle_led();
+}
diff --git a/common/system/system.h b/common/system/system.h
index 3f5b62f..62b6720 100644
--- a/common/system/system.h
+++ b/common/system/system.h
@@ -4,3 +4,4 @@
 bool system_init();
 void system_delay(uint32_t msec);
 void system_process();
+void system_toggle_led();
diff --git a/discovery/libs/Pixy/src/chirp.cpp b/discovery/libs/Pixy/src/chirp.cpp
index 0ce1ed7..612f5a3 100644
--- a/discovery/libs/Pixy/src/chirp.cpp
+++ b/discovery/libs/Pixy/src/chirp.cpp
@@ -856,6 +856,10 @@ int Chirp::realloc(uint32_t min)
         min = m_bufSize+CRP_BUFSIZE;
     else
         min += CRP_BUFSIZE;
+    
+    if(min==m_bufSize) 
+        return CRP_RES_OK;
+
     uint8_t *newbuf = new (std::nothrow) uint8_t[min];
     if (newbuf==NULL)
         return CRP_RES_ERROR_MEMORY;
diff --git a/discovery/src/ll_system.c b/discovery/src/ll_system.c
index 7e79037..b666ff9 100644
--- a/discovery/src/ll_system.c
+++ b/discovery/src/ll_system.c
@@ -64,3 +64,8 @@ void ll_system_process() {
 void ll_system_delay(uint32_t msec) {
 	USB_OTG_BSP_mDelay(msec);
 }
+
+
+void ll_system_toggle_led() {	
+	STM_EVAL_LEDToggle(LED6);
+}
diff --git a/emulator/libs/Pixy/src/usblink.cpp b/emulator/libs/Pixy/src/usblink.cpp
index 0a499ce..5e59c16 100644
--- a/emulator/libs/Pixy/src/usblink.cpp
+++ b/emulator/libs/Pixy/src/usblink.cpp
@@ -111,6 +111,7 @@ usblink_open__close_and_exit:
 
 usblink_open__exit:
   log("pixydebug: USBLink::open() returned %d\n", return_value);
+  usleep(100* 1000); //let pixy init pass
 
   return return_value;
 }
diff --git a/emulator/qt/ll_system.cpp b/emulator/qt/ll_system.cpp
index ed684c1..1356956 100644
--- a/emulator/qt/ll_system.cpp
+++ b/emulator/qt/ll_system.cpp
@@ -17,3 +17,6 @@ void ll_system_process() {
         QApplication::processEvents();
 }
 
+void ll_system_toggle_led() {
+
+}