Fork of pimoroni's mlx940640 software, for use in the TurtleBot4

** EXPERIMENTAL **

This port uses either generic Linux I2C or the bcm2835 library. Upon building, the mode is set with the I2C_MODE property, i.e. make I2C_MODE=LINUX or make I2C_MODE=RPI. The default is LINUX, without the need for the bcm2835 library or root access.

Make sure the Linux I2C dev library is installed:

sudo apt-get install libi2c-dev

To get the best out of your sensor you should modify /boot/firmware/usercfg.txt and change your I2C baudrate to 400 kHz:

dtparam=i2c1=on,i2c1_baudrate=400000

Now build the MLX90640 library and examples in LINUX I2C mode:

make clean
make I2C_MODE=LINUX

On the TurtleBot4's, a few additional dependencies are needed:

gstreamer plugins for the rawrgb and network streaming example:

sudo apt-get install libgstreamer1.0-0 gstreamer1.0-dev gstreamer1.0-tools gstreamer1.0-doc
sudo apt-get install gstreamer1.0-plugins-base gstreamer1.0-plugins-good

After installing the dependencies, you can build the library. Build-modes are:

• make or make all: build the library and all dependencies. Default is to use standard linux I2C-Drivers, specify Raspberry Pi driver with make I2C_MODE=RPI
• make examples: only build examples, see below
• sudo make install: install libraries and headers into $PREFIX, default is /usr/local

Afterwards you can run the examples or build the python binding, see readme in the subfolder. If you built the examples or library using the native bcm2835 I2C-Driver, you need to run all applications and examples as root. Hence, sudo examples/<exampleame> for one of the examples listed below, or without sudo when using the standard Linux driver.

make examples/rawrgb
sudo ./rawrgb | gst-launch-1.0 fdsrc blocksize=2304 ! udpsink host=enter-host-ip port=5000

On the recieving end, run:

gst-launch-1.0 udpsrc blocksize=2304 port=5000 ! rawvideoparse use-sink-caps=false width=32 height=24 format=rgb framerate=16/1 ! videoconvert ! videoscale ! video/x-raw,width=640,height=480 ! autovideosink

make examples/fbuf
sudo examples/fbuf

This example uses direct-to-framebuffer rendering and black-blue-green-yellow-red-purple-white false colouring.

If you have issues with the output image, set "IMAGE_SCALE" to a smaller number.

make examples/interp
sudo examples/interp

This example uses direct-to-framebuffer rendering and black-blue-green-yellow-red-purple-white false colouring.

It also has 2x bicubic resize filter.

If you have issues with the output image, set "IMAGE_SCALE" to a smaller number.

make examples/test
sudo examples/test

This example draws out to the console using ANSI colours and the full block char.

To see the actual temperature values, change "FMT_STRING" from the block char to the float format.

make examples/step
sudo examples/step

Attempt to run in step by step mode (experimental)