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The firmware is here. In the „pull requests“ tab you can see the currently proposed code changes, „closed“ pull requests were either accepted into the code or rejected (different icons). Each pull request will usually contain or link to a description of the feature it implements or the issue it fixes. There is also the concrete code change proposed as well as some discussion with other developers about the general approach or details of the code. I can imagine this is the best place to follow development if you are really interested.
Review trezor-common repo, specifically the proto buffers (protb) and MD files