First of all, thanks for your help!
Everyone is welcome to contribute by submitting bug reports, writing new patterns, improving documentation, writing examples, testing on different boards, profiling and optimizing, etc.
If you're planning a big code change, it's a good idea to to open an issue and discuss your plans first. Otherwise, follow the usual process - fork a repo, make the changes, submit pull request.
By contributing your code, you agree to license your contribution under the terms of the Apache License v2.0.