Novatek is extremely secretive and discloses basically zero information publicly, and I’m pretty sure they put all their customers under NDA as a matter of course, but I know for a fact they distribute SDKs with their chipsets for manufacturers to use.
I also happen to have a leaked copy of one of these SDKs, crca 2012. This SDK contains the source code for an application labeled "cardv", which matches the name of the application binary called out in the technical documents Aleph One sent me as one of the offenders in both Viofo and Vantrue's firmware. Now, this source code does not contain any YAFFS usage. But this actually tracks with other information I have discovered: Viofo's older camera designs (A119V3, A129, A139, others) don't contain YAFFS in their firmwares. This leads me to believe YAFFS implementation only began some time after STARVIS 2 came out.
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Now, it's obviously not possible to determine definitively whether this cardv application is the same as Viofo and Vantrue's cardv (or perhaps more accurately a progenitor, given its age) but I think it's very likely. If so, then it's entirely plausible that Viofo and Vantrue weren't originally aware of the unlicensed software implemented within their firmwares. But according to Aleph One, they were notified some time ago, so their continued usage is hard to excuse.