diff --git a/MLX90640_OrangePi/Makefile b/MLX90640_OrangePi/Makefile
new file mode 100644
index 0000000..9ab7bd3
--- /dev/null
+++ b/MLX90640_OrangePi/Makefile
@@ -0,0 +1,53 @@
+# run `make DEF=...` to add extra defines
+PROGRAM := mlx
+LDFLAGS := -fdata-sections -ffunction-sections -Wl,--gc-sections -Wl,--discard-all
+LDFLAGS += -lwiringPi -lusefull_macros -L/usr/local/lib -lm -lcrypt
+SRCS := $(wildcard *.c)
+DEFINES := $(DEF) -D_GNU_SOURCE -D_XOPEN_SOURCE=1111
+OBJDIR := mk
+CFLAGS += -O2 -Wall -Wextra -Wno-trampolines -std=gnu99
+OBJS := $(addprefix $(OBJDIR)/, $(SRCS:%.c=%.o))
+DEPS := $(OBJS:.o=.d)
+TARGFILE := $(OBJDIR)/TARGET
+CC = gcc
+#TARGET := RELEASE
+
+ifeq ($(shell test -e $(TARGFILE) && echo -n yes),yes)
+	TARGET := $(file < $(TARGFILE))
+else
+	TARGET := RELEASE
+endif
+
+release: $(PROGRAM)
+
+debug: CFLAGS += -DEBUG -Werror
+debug: TARGET := DEBUG
+debug: $(PROGRAM)
+
+$(TARGFILE): $(OBJDIR)
+	@echo -e "\t\tTARGET: $(TARGET)"
+	@echo "$(TARGET)" > $(TARGFILE)
+
+$(PROGRAM) : $(TARGFILE) $(OBJS)
+	@echo -e "\t\tLD $(PROGRAM)"
+	$(CC)  $(OBJS) $(LDFLAGS) -o $(PROGRAM)
+
+$(OBJDIR):
+	@mkdir $(OBJDIR)
+
+ifneq ($(MAKECMDGOALS),clean)
+-include $(DEPS)
+endif
+
+$(OBJDIR)/%.o: %.c
+	@echo -e "\t\tCC $<"
+	$(CC) -MD -c $(LDFLAGS) $(CFLAGS) $(DEFINES) -o $@ $<
+
+clean:
+	@echo -e "\t\tCLEAN"
+	@rm -rf $(OBJDIR) 2>/dev/null || true
+
+xclean: clean
+	@rm -f $(PROGRAM)
+
+.PHONY: clean xclean
diff --git a/MLX90640_OrangePi/cmdlnopts.c b/MLX90640_OrangePi/cmdlnopts.c
new file mode 100644
index 0000000..07b8baf
--- /dev/null
+++ b/MLX90640_OrangePi/cmdlnopts.c
@@ -0,0 +1,86 @@
+/*                                                                                                  geany_encoding=koi8-r
+ * cmdlnopts.c - the only function that parse cmdln args and returns glob parameters
+ *
+ * Copyright 2013 Edward V. Emelianoff <eddy@sao.ru>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ * MA 02110-1301, USA.
+ */
+#include <assert.h>
+#include <stdio.h>
+#include <string.h>
+#include <strings.h>
+#include <math.h>
+#include "cmdlnopts.h"
+#include "usefull_macros.h"
+
+/*
+ * here are global parameters initialisation
+ */
+static int help;
+static glob_pars  G;
+
+// default PID filename:
+#define DEFAULT_PIDFILE "/tmp/testcmdlnopts.pid"
+#define DEFAULT_I2C     "/dev/i2c-3"
+
+//            DEFAULTS
+// default global parameters
+static glob_pars const Gdefault = {
+    .device = DEFAULT_I2C,
+    .pidfile = DEFAULT_PIDFILE,
+    .logfile = NULL // don't save logs
+};
+
+/*
+ * Define command line options by filling structure:
+ *  name        has_arg     flag    val     type        argptr              help
+*/
+static myoption cmdlnopts[] = {
+// common options
+    {"help",    NO_ARGS,    NULL,   'h',    arg_int,    APTR(&help),        _("show this help")},
+    {"logfile", NEED_ARG,   NULL,   'l',    arg_string, APTR(&G.logfile),   _("file to save logs")},
+    {"pidfile", NEED_ARG,   NULL,   'P',    arg_string, APTR(&G.pidfile),   _("pidfile (default: " DEFAULT_PIDFILE ")")},
+    {"device",  NEED_ARG,   NULL,   'd',    arg_string, APTR(&G.device),    _("I2C device path (default: " DEFAULT_I2C ")")},
+   end_option
+};
+
+/**
+ * Parse command line options and return dynamically allocated structure
+ *      to global parameters
+ * @param argc - copy of argc from main
+ * @param argv - copy of argv from main
+ * @return allocated structure with global parameters
+ */
+glob_pars *parse_args(int argc, char **argv){
+    int i;
+    void *ptr;
+    ptr = memcpy(&G, &Gdefault, sizeof(G)); assert(ptr);
+    size_t hlen = 1024;
+    char helpstring[1024], *hptr = helpstring;
+    snprintf(hptr, hlen, "Usage: %%s [args]\n\n\tWhere args are:\n");
+    // format of help: "Usage: progname [args]\n"
+    change_helpstring(helpstring);
+    // parse arguments
+    parseargs(&argc, &argv, cmdlnopts);
+    if(help) showhelp(-1, cmdlnopts);
+    if(argc > 0){
+        WARNX("Ignoring arguments:");
+        for (i = 0; i < argc; i++)
+            printf("\t%s\n", argv[i]);
+    }
+    return &G;
+}
+
diff --git a/MLX90640_OrangePi/cmdlnopts.h b/MLX90640_OrangePi/cmdlnopts.h
new file mode 100644
index 0000000..3d37d41
--- /dev/null
+++ b/MLX90640_OrangePi/cmdlnopts.h
@@ -0,0 +1,32 @@
+/*
+ * This file is part of the mxl90640wPi project.
+ * Copyright 2022 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+/*
+ * here are some typedef's for global data
+ */
+typedef struct{
+    char *device;           // I2C device
+    char *pidfile;          // name of PID file
+    char *logfile;          // logging to this file
+} glob_pars;
+
+
+glob_pars *parse_args(int argc, char **argv);
+
diff --git a/MLX90640_OrangePi/main.c b/MLX90640_OrangePi/main.c
new file mode 100644
index 0000000..47a425d
--- /dev/null
+++ b/MLX90640_OrangePi/main.c
@@ -0,0 +1,65 @@
+/*
+ * This file is part of the mxl90640wPi project.
+ * Copyright 2022 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <signal.h>
+#include <stdio.h>
+#include <string.h>
+#include <usefull_macros.h>
+
+#include "cmdlnopts.h"
+#include "mlx90640.h"
+
+#define DEVICE_ID 0x33
+
+static glob_pars *GP = NULL;
+
+void signals(int sig){
+    if(sig){
+        signal(sig, SIG_IGN);
+        DBG("Get signal %d, quit.\n", sig);
+    }
+    LOGERR("Exit with status %d", sig);
+    if(GP && GP->pidfile) // remove unnesessary PID file
+        unlink(GP->pidfile);
+    exit(sig);
+}
+
+
+
+int main (int argc, char **argv){
+    initial_setup();
+    char *self = strdup(argv[0]);
+    GP = parse_args(argc, argv);
+    check4running(self, GP->pidfile);
+    FREE(self);
+    if(GP->logfile) OPENLOG(GP->logfile, LOGLEVEL_ANY, 1);
+
+    if(!mlx90640_init(GP->device, DEVICE_ID)) ERR("Can't open device");
+    double *ima = NULL;
+    if(!mlx90640_take_image(0, &ima) || !ima) ERRX("Can't take image");
+  //  mlx90640_dump_parameters();
+    double *ptr = ima;
+    green("Image:\n");
+    for(int row = 0; row < MLX_H; ++row){
+        for(int col = 0; col < MLX_W; ++col){
+            printf("%5.1f ", *ptr++);
+        }
+        printf("\n");
+    }
+    return 0;
+}
diff --git a/MLX90640_OrangePi/mlx b/MLX90640_OrangePi/mlx
new file mode 100755
index 0000000..fe423f4
Binary files /dev/null and b/MLX90640_OrangePi/mlx differ
diff --git a/MLX90640_OrangePi/mlx90640.c b/MLX90640_OrangePi/mlx90640.c
new file mode 100644
index 0000000..e44eca6
--- /dev/null
+++ b/MLX90640_OrangePi/mlx90640.c
@@ -0,0 +1,441 @@
+/*
+ * This file is part of the mxl90640wPi project.
+ * Copyright 2022 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <math.h>
+#include <stdint.h>
+#include <stdio.h>
+#include <string.h>
+#include <usefull_macros.h>
+#include <fcntl.h>
+#include <sys/ioctl.h>
+#include <asm/ioctl.h>
+#include <linux/i2c.h>
+#include <linux/i2c-dev.h>
+
+#include "mlx90640.h"
+#include "mlx90640_regs.h"
+
+
+static int I2Cfd = -1;
+static uint8_t lastaddr = 0;
+static MLX90640_params params;
+
+static uint16_t dataarray[MLX_DMA_MAXLEN]; // array for raw data from sensor
+static double mlx_image[MLX_PIXNO]; // ready image
+
+#define CREG_VAL(reg) dataarray[CREG_IDX(reg)]
+#define IMD_VAL(reg) dataarray[IMD_IDX(reg)]
+
+// reg_control values for subpage #0 and #1
+static const uint16_t reg_control_val[2] = {
+    REG_CONTROL_CHESS | REG_CONTROL_RES18 | REG_CONTROL_REFR_2HZ | REG_CONTROL_SUBPSEL | REG_CONTROL_DATAHOLD | REG_CONTROL_SUBPEN,
+    REG_CONTROL_CHESS | REG_CONTROL_RES18 | REG_CONTROL_REFR_2HZ | REG_CONTROL_SUBP1 | REG_CONTROL_SUBPSEL | REG_CONTROL_DATAHOLD | REG_CONTROL_SUBPEN
+};
+
+
+// read register value
+static int read_reg(uint16_t regaddr, uint16_t *data){
+    if(I2Cfd < 1) return FALSE;
+    struct i2c_msg m[2];
+    struct i2c_rdwr_ioctl_data x = {.msgs = m, .nmsgs = 2};
+    m[0].addr = lastaddr; m[1].addr = lastaddr;
+    m[0].flags = 0;
+    m[1].flags = I2C_M_RD;
+    m[0].len = 2; m[1].len = 2;
+    uint8_t a[2], d[2] = {0};
+    a[0] = regaddr >> 8;
+    a[1] = regaddr & 0xff;
+    m[0].buf = a; m[1].buf = d;
+    if(ioctl(I2Cfd, I2C_RDWR, &x) < 0) return FALSE;
+    if(data) *data = (uint16_t)((d[0] << 8) | (d[1]));
+    return TRUE;
+}
+
+// blocking read N uint16_t values starting from `reg`
+// @param reg - register to read
+// @param N (io) - amount of bytes to read / bytes read
+// @return `dataarray` or NULL if failed
+static uint16_t *read_data(uint16_t reg, uint16_t *N){
+    if(I2Cfd < 1 || !N || *N < 1) return NULL;
+    uint16_t n = *N;
+    if(n < 1 || n > MLX_DMA_MAXLEN) return NULL;
+    uint16_t i, *data = dataarray;
+    for(i = 0; i < n; ++i){
+        if(!read_reg(reg++, data++)){
+            DBG("can't read");
+            break;
+        }
+    }
+    *N = i;
+    return dataarray;
+}
+
+// write register value
+static int write_reg(uint16_t regaddr, uint16_t data){
+    if(I2Cfd < 1) return FALSE;
+    union i2c_smbus_data d;
+    d.block[0] = 3;
+    d.block[1] = regaddr & 0xff;
+    d.block[2] = data >> 8;
+    d.block[3] = data & 0xff;
+    struct i2c_smbus_ioctl_data args;
+    args.read_write = I2C_SMBUS_WRITE;
+    args.command    = regaddr >> 8;
+    args.size       = I2C_SMBUS_I2C_BLOCK_DATA;
+    args.data       = &d;
+    if(ioctl(I2Cfd, I2C_SMBUS, &args) < 0) return FALSE;
+    return TRUE;
+}
+
+int mlx90640_set_slave_address(uint8_t addr){
+    if(I2Cfd < 1) return FALSE;
+    if(ioctl (I2Cfd, I2C_SLAVE, addr) < 0) return FALSE;
+    lastaddr = addr;
+    return TRUE;
+}
+
+int mlx90640_init(const char *dev, uint8_t ID){
+    if(I2Cfd > 0) close(I2Cfd);
+    I2Cfd = open(dev, O_RDWR);
+    if(I2Cfd < 1) return FALSE;
+    if(!mlx90640_set_slave_address(ID)) return FALSE;
+    if(!read_reg(0, NULL)) return FALSE;
+    return TRUE;
+}
+
+static void dumpIma(double *im){
+    for(int row = 0; row < MLX_H; ++row){
+        for(int col = 0; col < MLX_W; ++col){
+            printf("%5.1f ", *im++);
+        }
+        printf("\n");
+    }
+}
+
+void mlx90640_dump_parameters(){
+    printf("kVdd=%d\nvdd25=%d\nKvPTAT=%g\nKtPTAT=%g\nvPTAT25=%d\n", params.kVdd, params.vdd25, params.KvPTAT, params.KtPTAT, params.vPTAT25);
+    printf("alphaPTAT=%g\ngainEE=%d\ntgc=%g\ncpKv=%g\ncpKta=%g\n", params.alphaPTAT, params.gainEE, params.tgc, params.cpKta, params.cpKta);
+    printf("KsTa=%g\nCT[]={%g, %g, %g}\n", params.KsTa, params.CT[0], params.CT[1], params.CT[2]);
+    printf("ksTo[]={"); for(int i = 0; i < 4; ++i) printf("%s%g", (i) ? ", " : "", params.ksTo[i]); printf("}\n");
+    printf("alphacorr[]={"); for(int i = 0; i < 4; ++i) printf("%s%g", (i) ? ", " : "", params.alphacorr[i]); printf("}\n");
+    printf("alpha[]=\n"); dumpIma(params.alpha);
+    printf("offset[]=\n"); dumpIma(params.offset);
+    printf("kta[]=\n"); dumpIma(params.kta);
+    printf("kv[]={"); for(int i = 0; i < 4; ++i) printf("%s%g", (i) ? ", " : "", params.kv[i]); printf("}\n");
+    printf("cpAlpha[]={%g, %g}\n", params.cpAlpha[0], params.cpAlpha[1]);
+    printf("cpOffset[]={%d, %d}\n", params.cpOffset[0], params.cpOffset[1]);
+}
+
+/*****************************************************************************
+                Calculate parameters & values
+ *****************************************************************************/
+
+// fill OCC/ACC row/col arrays
+static void occacc(int8_t *arr, int l, uint16_t *regstart){
+    int n = l >> 2; // divide by 4
+    int8_t *p = arr;
+    for(int i = 0; i < n; ++i){
+        register uint16_t val = *regstart++;
+        *p++ = (val & 0x000F) >> 0;
+        *p++ = (val & 0x00F0) >> 4;
+        *p++ = (val & 0x0F00) >> 8;
+        *p++ = (val         ) >> 12;
+    }
+    for(int i = 0; i < l; ++i, ++arr){
+        if(*arr > 0x07) *arr -= 0x10;
+    }
+}
+
+// get all parameters' values from `dataarray`, return FALSE if something failed
+static int get_parameters(){
+    int8_t i8;
+    int16_t i16;
+    uint16_t *pu16;
+    uint16_t val = CREG_VAL(REG_VDD);
+    i8 = (int8_t) (val >> 8);
+    params.kVdd = i8 * 32; // keep sign
+    if(params.kVdd == 0) return FALSE;
+    i16 = val & 0xFF;
+    params.vdd25 = ((i16 - 0x100) * 32) - (1<<13);
+    val = CREG_VAL(REG_KVTPTAT);
+    i16 = (val & 0xFC00) >> 10;
+    if(i16 > 0x1F) i16 -= 0x40;
+    params.KvPTAT = (double)i16 / (1<<12);
+    i16 = (val & 0x03FF);
+    if(i16 > 0x1FF) i16 -= 0x400;
+    params.KtPTAT = (double)i16 / 8.;
+    params.vPTAT25 = (int16_t) CREG_VAL(REG_PTAT);
+    val = CREG_VAL(REG_APTATOCCS) >> 12;
+    params.alphaPTAT = val / 4. + 8.;
+    params.gainEE = (int16_t)CREG_VAL(REG_GAIN);
+    if(params.gainEE == 0) return FALSE;
+    int8_t occRow[MLX_H];
+    int8_t occColumn[MLX_W];
+    occacc(occRow, MLX_H, &CREG_VAL(REG_OCCROW14));
+    occacc(occColumn, MLX_W, &CREG_VAL(REG_OCCCOL14));
+    int8_t accRow[MLX_H];
+    int8_t accColumn[MLX_W];
+    occacc(accRow, MLX_H, &CREG_VAL(REG_ACCROW14));
+    occacc(accColumn, MLX_W, &CREG_VAL(REG_ACCCOL14));
+    val = CREG_VAL(REG_APTATOCCS);
+    // need to do multiplication instead of bitshift, so:
+    double occRemScale = 1<<(val&0x0F),
+          occColumnScale = 1<<((val>>4)&0x0F),
+          occRowScale = 1<<((val>>8)&0x0F);
+    int16_t offavg = (int16_t) CREG_VAL(REG_OSAVG);
+    // even/odd column/row numbers are for starting from 1, so for starting from 0 we chould swap them:
+    // even - for 1,3,5,...; odd - for 0,2,4,... etc
+    int8_t ktaavg[4];
+    // 0 - odd row, odd col; 1 - odd row even col; 2 - even row, odd col; 3 - even row, even col
+    val = CREG_VAL(REG_KTAAVGODDCOL);
+    ktaavg[2] = (int8_t)(val & 0xFF); // odd col, even row -> col 0,2,..; row 1,3,..
+    ktaavg[0] = (int8_t)(val >> 8); // odd col, odd row -> col 0,2,..; row 0,2,..
+    val = CREG_VAL(REG_KTAAVGEVENCOL);
+    ktaavg[3] = (int8_t)(val & 0xFF); // even col, even row -> col 1,3,..; row 1,3,..
+    ktaavg[1] = (int8_t)(val >> 8); // even col, odd row -> col 1,3,..; row 0,2,..
+    // so index of ktaavg is 2*(row&1)+(col&1)
+    val = CREG_VAL(REG_KTAVSCALE);
+    uint8_t scale1 = ((val & 0xFF)>>4) + 8, scale2 = (val&0xF);
+    if(scale1 == 0 || scale2 == 0) return FALSE;
+    double mul = (double)(1<<scale2), div = (double)(1<<scale1); // kta_scales
+    uint16_t a_r = CREG_VAL(REG_SENSIVITY); // alpha_ref
+    val = CREG_VAL(REG_SCALEACC);
+    double *a = params.alpha, diva = (double)(val >> 12);
+    diva *= (double)(1<<30); // alpha_scale
+    double accRowScale = 1<<((val & 0x0f00)>>8),
+          accColumnScale = 1<<((val & 0x00f0)>>4),
+          accRemScale = 1<<(val & 0x0f);
+    pu16 = &CREG_VAL(REG_OFFAK1);
+    double *kta = params.kta, *offset = params.offset;
+    for(int row = 0; row < MLX_H; ++row){
+        int idx = (row&1)<<1;
+        for(int col = 0; col < MLX_W; ++col){
+            // offset
+            register uint16_t rv = *pu16++;
+            i16 = (rv & 0xFC00) >> 10;
+            if(i16 > 0x1F) i16 -= 0x40;
+            *offset++ = (double)offavg + (double)occRow[row]*occRowScale + (double)occColumn[col]*occColumnScale + (double)i16*occRemScale;
+            // kta
+            i16 = (rv & 0xF) >> 1;
+            if(i16  > 0x03) i16 -= 0x08;
+            *kta++ = (ktaavg[idx|(col&1)] + i16*mul) / div;
+            // alpha
+            i16 = (rv & 0x3F0) >> 4;
+            if(i16 > 0x1F) i16 -= 0x40;
+            double oft = (double)a_r + accRow[row]*accRowScale + accColumn[col]*accColumnScale +i16*accRemScale;
+            *a++ = oft / diva;
+        }
+    }
+    scale1 = (CREG_VAL(REG_KTAVSCALE) >> 8) & 0xF; // kvscale
+    div = (double)(1<<scale1);
+    val = CREG_VAL(REG_KVAVG);
+    i16 = val >> 12; if(i16 > 0x07) i16 -= 0x10;
+    ktaavg[0] = (int8_t)i16; // odd col, odd row
+    i16 = (val & 0xF0) >> 4; if(i16 > 0x07) i16 -= 0x10;
+    ktaavg[1] = (int8_t)i16; // even col, odd row
+    i16 = (val & 0x0F00) >> 8; if(i16 > 0x07) i16 -= 0x10;
+    ktaavg[2] = (int8_t)i16; // odd col, even row
+    i16 = val & 0x0F; if(i16 > 0x07) i16 -= 0x10;
+    ktaavg[3] = (int8_t)i16; // even col, even row
+    for(int i = 0; i < 4; ++i) params.kv[i] = ktaavg[i] / div;
+    val = CREG_VAL(REG_CPOFF);
+    params.cpOffset[0] = (val & 0x03ff);
+    if(params.cpOffset[0] > 0x1ff) params.cpOffset[0] -= 0x400;
+    params.cpOffset[1] = val >> 10;
+    if(params.cpOffset[1] > 0x1f) params.cpOffset[1] -= 0x40;
+    params.cpOffset[1] += params.cpOffset[0];
+    val = ((CREG_VAL(REG_KTAVSCALE) & 0xF0) >> 4) + 8;
+    i8 = (int8_t)(CREG_VAL(REG_KVTACP) & 0xFF);
+    params.cpKta = (double)i8 / (1<<val);
+    val = (CREG_VAL(REG_KTAVSCALE) & 0x0F00) >> 8;
+    i16 = CREG_VAL(REG_KVTACP) >> 8;
+    if(i16 > 0x7F) i16 -= 0x100;
+    params.cpKv = (double)i16 / (1<<val);
+    i16 = CREG_VAL(REG_KSTATGC) & 0xFF;
+    if(i16 > 0x7F) i16 -= 0x100;
+    params.tgc = (double)i16;
+    params.tgc /= 32.;
+    val = (CREG_VAL(REG_SCALEACC)>>12); // alpha_scale_CP
+    i16 = CREG_VAL(REG_ALPHA)>>10; // cp_P1_P0_ratio
+    if(i16 > 0x1F) i16 -= 0x40;
+    div = (double)(1<<val);
+    div *= (double)(1<<27);
+    params.cpAlpha[0] = (double)(CREG_VAL(REG_ALPHA) & 0x03FF) / div;
+    div = (double)(1<<7);
+    params.cpAlpha[1] = params.cpAlpha[0] * (1. + (double)i16/div);
+    i8 = (int8_t)(CREG_VAL(REG_KSTATGC) >> 8);
+    params.KsTa = (double)i8/(1<<13);
+    div = 1<<((CREG_VAL(REG_CT34) & 0x0F) + 8); // kstoscale
+    val = CREG_VAL(REG_KSTO12);
+    i8 = (int8_t)(val & 0xFF);
+    params.ksTo[0] = 273.15 * i8 / div;
+    i8 = (int8_t)(val >> 8);
+    params.ksTo[1] = 273.15 * i8 / div;
+    val = CREG_VAL(REG_KSTO34);
+    i8 = (int8_t)(val & 0xFF);
+    params.ksTo[2] = 273.15 * i8 / div;
+    i8 = (int8_t)(val >> 8);
+    params.ksTo[3] = 273.15 * i8 / div;
+    params.CT[0] = 0.; // 0degr - between ranges 1 and 2
+    val = CREG_VAL(REG_CT34);
+    mul = ((val & 0x3000)>>12)*10.; // step
+    params.CT[1] = ((val & 0xF0)>>4)*mul; // CT3 - between ranges 2 and 3
+    params.CT[2] = ((val & 0x0F00) >> 8)*mul + params.CT[1]; // CT4 - between ranges 3 and 4
+    params.alphacorr[0] = 1./(1. + params.ksTo[0] * 40.);
+    params.alphacorr[1] = 1.;
+    params.alphacorr[2] = (1. + params.ksTo[2] * params.CT[1]);
+    params.alphacorr[3] = (1. + params.ksTo[3] * (params.CT[2] - params.CT[1])) * params.alphacorr[2];
+    // Don't forget to check 'outlier' flags for wide purpose
+    return TRUE;
+}
+
+/**
+ * @brief process_subpage - calculate all parameters from `dataarray` into `mlx_image`
+ */
+static void process_subpage(int subpageno, int simpleimage){
+    DBG("process_subpage(%d)", subpageno);
+    int16_t i16a = (int16_t)IMD_VAL(REG_IVDDPIX);
+    double dvdd = i16a - params.vdd25;
+    dvdd = dvdd / params.kVdd;
+    DBG("Vd=%g", dvdd+3.3);
+    i16a = (int16_t)IMD_VAL(REG_ITAPTAT);
+    int16_t i16b = (int16_t)IMD_VAL(REG_ITAVBE);
+    double dTa = (double)i16a / (i16a * params.alphaPTAT + i16b); // vptatart
+    dTa *= (double)(1<<18);
+    dTa = (dTa / (1 + params.KvPTAT*dvdd) - params.vPTAT25);
+    dTa = dTa / params.KtPTAT; // without 25degr - Ta0
+    DBG("Ta=%g", dTa+25.);
+    i16a = (int16_t)IMD_VAL(REG_IGAIN);
+    double Kgain = params.gainEE / (double)i16a;
+    DBG("Kgain=%g", Kgain);
+    // now make first approximation to image
+    uint16_t pixno = 0;  // current pixel number - for indexing in parameters etc
+    for(int row = 0; row < MLX_H; ++row){
+        int idx = (row&1)<<1; // index for params.kv
+        for(int col = 0; col < MLX_W; ++col, ++pixno){
+            uint8_t sp = (row&1)^(col&1); // subpage of current pixel
+            if(sp != subpageno) continue;
+            double curval = (double)((int16_t)dataarray[pixno]) * Kgain; // gain compensation
+            curval -= params.offset[pixno] * (1. + params.kta[pixno]*dTa) *
+                    (1. + params.kv[idx|(col&1)]*dvdd); // add offset
+            double IRcompens = curval; // IR_compensated
+            if(simpleimage){
+                curval -= params.cpOffset[subpageno] * (1. - params.cpKta * dTa) *
+                        (1. + params.cpKv * dvdd); // CP
+                curval = IRcompens - params.tgc * curval; // IR gradient compens
+            }else{
+                double alphaComp = params.alpha[pixno] - params.tgc * params.cpAlpha[subpageno];
+                alphaComp /= 1. + params.KsTa * dTa;
+                // calculate To for basic range
+                double Tar = dTa + 273.15 + 25.;
+                Tar = Tar*Tar*Tar*Tar;
+                double ac3 = alphaComp*alphaComp*alphaComp;
+                double Sx = ac3*IRcompens + alphaComp*ac3*Tar;
+                Sx = params.KsTa * sqrt(sqrt(Sx));
+                double To = IRcompens / (alphaComp * (1. - params.ksTo[1]) + Sx) + Tar;
+                curval = sqrt(sqrt(To)) - 273.15; // To
+                // TODO: extended
+            }
+            mlx_image[pixno] = curval;
+        }
+    }
+}
+
+static int errctr = 0;
+static double Tlast = 0.;
+#define chstate()  do{errctr = 0; Tlast = dtime(); }while(0)
+#define chkerr()   do{if(++errctr > MLX_MAXERR_COUNT){ DBG("-> M_ERROR"); return FALSE;}else continue;}while(0)
+#define chktmout() do{if(dtime() - Tlast > MLX_TIMEOUT){ DBG("Timeout! -> M_ERROR"); return FALSE;}else continue;}while(0)
+
+static int process_readconf(){
+    chstate();
+    while(1){
+        if(get_parameters()) return TRUE;
+        else chkerr();
+    }
+}
+static int process_firstrun(){
+    uint16_t reg, N;
+    chstate();
+    while(1){
+    if(write_reg(REG_CONTROL, reg_control_val[0])
+            && read_reg(REG_CONTROL, &reg)){
+        DBG("REG_CTRL=0x%04x", reg);
+        if(read_reg(REG_STATUS, &reg)) DBG("REG_STATUS=0x%04x", reg);
+        N = REG_CALIDATA_LEN;
+        if(read_data(REG_CALIDATA, &N)){
+            DBG("-> M_READCONF");
+            return process_readconf();
+        }else chkerr();
+    }else chkerr();
+    }
+    return FALSE;
+}
+// start image acquiring for next subpage
+static int process_startima(int subpageno){
+    chstate();
+    DBG("startima()");
+    uint16_t reg, N;
+    while(1){
+        // write `overwrite` flag twice
+        if(!write_reg(REG_CONTROL, reg_control_val[subpageno]) ||
+                !write_reg(REG_STATUS, REG_STATUS_OVWEN) ||
+                !write_reg(REG_STATUS, REG_STATUS_OVWEN)) chkerr();
+        if(read_reg(REG_STATUS, &reg)){
+            if(reg & REG_STATUS_NEWDATA){
+                if(subpageno != (reg & REG_STATUS_SPNO)){
+                    DBG("wrong subpage number -> M_ERROR");
+                    return FALSE;
+                }else{ // all OK, run image reading
+                    chstate();
+                    write_reg(REG_STATUS, 0); // clear rdy bit
+                    N = MLX_PIXARRSZ;
+                    if(read_data(REG_IMAGEDATA, &N)){
+                        DBG("-> M_READOUT, N=%u", N);
+                        return TRUE;
+                    }else chkerr();
+                }
+            }else chktmout();
+        }else chkerr();
+    }
+    return FALSE;
+}
+
+void mlx90640_restart(){
+    memset(&params, 0, sizeof(params));
+    process_firstrun();
+}
+
+// if state of MLX allows, make an image else return error
+// @param simple ==1 for simplest image processing (without T calibration)
+int mlx90640_take_image(uint8_t simple, double **image){
+    if(I2Cfd < 1) return FALSE;
+    if(params.kVdd == 0){ // no parameters -> make first run
+        if(!process_firstrun()) return FALSE;
+    }
+    //subpageno = 0;
+    DBG("-> M_STARTIMA");
+    for(int sp = 0; sp < 2; ++sp){
+        if(!process_startima(sp)) return FALSE; // get first subpage
+        process_subpage(sp, simple);
+    }
+    if(image) *image = mlx_image;
+    return TRUE;
+}
+
+
diff --git a/MLX90640_OrangePi/mlx90640.h b/MLX90640_OrangePi/mlx90640.h
new file mode 100644
index 0000000..f8daa99
--- /dev/null
+++ b/MLX90640_OrangePi/mlx90640.h
@@ -0,0 +1,71 @@
+/*
+ * This file is part of the mxl90640wPi project.
+ * Copyright 2022 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#include <stdint.h>
+
+// timeout for reading operations, s
+#define MLX_TIMEOUT         5.
+// counter of errors, when > max -> M_ERROR
+#define MLX_MAXERR_COUNT    10
+// wait after power off, s
+#define MLX_POWOFF_WAIT     0.5
+// wait after power on, s
+#define MLX_POWON_WAIT      2.
+
+// amount of pixels
+#define MLX_W               (32)
+#define MLX_H               (24)
+#define MLX_PIXNO           (MLX_W*MLX_H)
+// pixels + service data
+#define MLX_PIXARRSZ        (MLX_PIXNO + 64)
+
+typedef struct{
+    int16_t kVdd;
+    int16_t vdd25;
+    double KvPTAT;
+    double KtPTAT;
+    int16_t vPTAT25;
+    double alphaPTAT;
+    int16_t gainEE;
+    double tgc;
+    double cpKv;     // K_V_CP
+    double cpKta;    // K_Ta_CP
+    double KsTa;
+    double CT[3]; // range borders (0, 160, 320 degrC?)
+    double ksTo[4]; // K_S_To for each range * 273.15
+    double alphacorr[4]; // Alpha_corr for each range
+    double alpha[MLX_PIXNO]; // full - with alpha_scale
+    double offset[MLX_PIXNO];
+    double kta[MLX_PIXNO]; // full K_ta - with scale1&2
+    double kv[4];  // full - with scale; 0 - odd row, odd col; 1 - odd row even col; 2 - even row, odd col; 3 - even row, even col
+    double cpAlpha[2];   // alpha_CP_subpage 0 and 1
+    int16_t cpOffset[2];
+} MLX90640_params;
+
+// default I2C address
+#define MLX_DEFAULT_ADDR    (0x33)
+// max datalength by one read (in 16-bit values)
+#define MLX_DMA_MAXLEN      (832)
+
+void mlx90640_dump_parameters();
+int mlx90640_init(const char *dev, uint8_t ID);
+int mlx90640_set_slave_address(uint8_t addr);
+int mlx90640_take_image(uint8_t simple, double **image);
+void mlx90640_restart();
diff --git a/MLX90640_OrangePi/mlx90640_regs.h b/MLX90640_OrangePi/mlx90640_regs.h
new file mode 100644
index 0000000..71d1ad9
--- /dev/null
+++ b/MLX90640_OrangePi/mlx90640_regs.h
@@ -0,0 +1,77 @@
+/*
+ * This file is part of the mxl90640wPi project.
+ * Copyright 2022 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#define REG_STATUS              0x8000
+#define REG_STATUS_OVWEN        (1<<4)
+#define REG_STATUS_NEWDATA      (1<<3)
+#define REG_STATUS_SPNO         (1<<0)
+#define REG_STATUS_SPMASK       (3<<0)
+#define REG_CONTROL             0x800D
+#define REG_CONTROL_CHESS       (1<<12)
+#define REG_CONTROL_RES18       (2<<10)
+#define REG_CONTROL_RESMASK     (3<<10)
+#define REG_CONTROL_REFR_2HZ    (2<<7)
+#define REG_CONTROL_SUBP1       (1<<4)
+#define REG_CONTROL_SUBPMASK    (3<<4)
+#define REG_CONTROL_SUBPSEL     (1<<3)
+#define REG_CONTROL_DATAHOLD    (1<<2)
+#define REG_CONTROL_SUBPEN      (1<<0)
+
+// calibration data start & len
+#define REG_CALIDATA            0x2410
+#define REG_CALIDATA_LEN        816
+
+#define REG_APTATOCCS           0x2410
+#define REG_OSAVG               0x2411
+#define REG_OCCROW14            0x2412
+#define REG_OCCCOL14            0x2418
+#define REG_SCALEACC            0x2420
+#define REG_SENSIVITY           0x2421
+#define REG_ACCROW14            0x2422
+#define REG_ACCCOL14            0x2428
+#define REG_GAIN                0x2430
+#define REG_PTAT                0x2431
+#define REG_KVTPTAT             0x2432
+#define REG_VDD                 0x2433
+#define REG_KVAVG               0x2434
+#define REG_ILCHESS             0x2435
+#define REG_KTAAVGODDCOL        0x2436
+#define REG_KTAAVGEVENCOL       0x2437
+#define REG_KTAVSCALE           0x2438
+#define REG_ALPHA               0x2439
+#define REG_CPOFF               0x243A
+#define REG_KVTACP              0x243B
+#define REG_KSTATGC             0x243C
+#define REG_KSTO12              0x243D
+#define REG_KSTO34              0x243E
+#define REG_CT34                0x243F
+#define REG_OFFAK1              0x2440
+// index of register in array (from REG_CALIDATA)
+#define CREG_IDX(addr)          ((addr)-REG_CALIDATA)
+
+#define REG_IMAGEDATA           0x0400
+#define REG_ITAVBE              0x0700
+#define REG_ICPSP0              0x0708
+#define REG_IGAIN               0x070A
+#define REG_ITAPTAT             0x0720
+#define REG_ICPSP1              0x0728
+#define REG_IVDDPIX             0x072A
+// indeg of register in array (from REG_IMAGEDATA)
+#define IMD_IDX(addr)           ((addr)-REG_IMAGEDATA)
diff --git a/MLX90640_OrangePi/mxl90640OPi.cflags b/MLX90640_OrangePi/mxl90640OPi.cflags
new file mode 100644
index 0000000..68d5165
--- /dev/null
+++ b/MLX90640_OrangePi/mxl90640OPi.cflags
@@ -0,0 +1 @@
+-std=c17
\ No newline at end of file
diff --git a/MLX90640_OrangePi/mxl90640OPi.config b/MLX90640_OrangePi/mxl90640OPi.config
new file mode 100644
index 0000000..e93f8a9
--- /dev/null
+++ b/MLX90640_OrangePi/mxl90640OPi.config
@@ -0,0 +1,4 @@
+#define GNU_SOURCE 1
+#define _XOPEN_SOURCE 1111
+#define EBUG
+
diff --git a/MLX90640_OrangePi/mxl90640OPi.creator b/MLX90640_OrangePi/mxl90640OPi.creator
new file mode 100644
index 0000000..e94cbbd
--- /dev/null
+++ b/MLX90640_OrangePi/mxl90640OPi.creator
@@ -0,0 +1 @@
+[General]
diff --git a/MLX90640_OrangePi/mxl90640OPi.creator.user b/MLX90640_OrangePi/mxl90640OPi.creator.user
new file mode 100644
index 0000000..88d3f4b
--- /dev/null
+++ b/MLX90640_OrangePi/mxl90640OPi.creator.user
@@ -0,0 +1,174 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE QtCreatorProject>
+<!-- Written by QtCreator 6.0.0, 2022-09-14T17:46:19. -->
+<qtcreator>
+ <data>
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+      <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">GenericProjectManager.GenericMakeStep</value>
+     </valuemap>
+     <value type="int" key="ProjectExplorer.BuildStepList.StepsCount">1</value>
+     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Очистка</value>
+     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Очистка</value>
+     <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Clean</value>
+    </valuemap>
+    <value type="int" key="ProjectExplorer.BuildConfiguration.BuildStepListCount">2</value>
+    <value type="bool" key="ProjectExplorer.BuildConfiguration.ClearSystemEnvironment">false</value>
+    <valuelist type="QVariantList" key="ProjectExplorer.BuildConfiguration.CustomParsers"/>
+    <value type="bool" key="ProjectExplorer.BuildConfiguration.ParseStandardOutput">false</value>
+    <valuelist type="QVariantList" key="ProjectExplorer.BuildConfiguration.UserEnvironmentChanges"/>
+    <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">По умолчанию</value>
+    <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">GenericProjectManager.GenericBuildConfiguration</value>
+   </valuemap>
+   <value type="int" key="ProjectExplorer.Target.BuildConfigurationCount">1</value>
+   <valuemap type="QVariantMap" key="ProjectExplorer.Target.DeployConfiguration.0">
+    <valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.0">
+     <value type="int" key="ProjectExplorer.BuildStepList.StepsCount">0</value>
+     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Развёртывание</value>
+     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Развёртывание</value>
+     <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Deploy</value>
+    </valuemap>
+    <value type="int" key="ProjectExplorer.BuildConfiguration.BuildStepListCount">1</value>
+    <valuemap type="QVariantMap" key="ProjectExplorer.DeployConfiguration.CustomData"/>
+    <value type="bool" key="ProjectExplorer.DeployConfiguration.CustomDataEnabled">false</value>
+    <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.DefaultDeployConfiguration</value>
+   </valuemap>
+   <value type="int" key="ProjectExplorer.Target.DeployConfigurationCount">1</value>
+   <valuemap type="QVariantMap" key="ProjectExplorer.Target.RunConfiguration.0">
+    <valuelist type="QVariantList" key="CustomOutputParsers"/>
+    <value type="int" key="PE.EnvironmentAspect.Base">2</value>
+    <valuelist type="QVariantList" key="PE.EnvironmentAspect.Changes"/>
+    <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.CustomExecutableRunConfiguration</value>
+    <value type="QString" key="ProjectExplorer.RunConfiguration.BuildKey"></value>
+    <value type="bool" key="RunConfiguration.UseCppDebugger">false</value>
+    <value type="bool" key="RunConfiguration.UseCppDebuggerAuto">true</value>
+    <value type="bool" key="RunConfiguration.UseQmlDebugger">false</value>
+    <value type="bool" key="RunConfiguration.UseQmlDebuggerAuto">true</value>
+   </valuemap>
+   <value type="int" key="ProjectExplorer.Target.RunConfigurationCount">1</value>
+  </valuemap>
+ </data>
+ <data>
+  <variable>ProjectExplorer.Project.TargetCount</variable>
+  <value type="int">1</value>
+ </data>
+ <data>
+  <variable>ProjectExplorer.Project.Updater.FileVersion</variable>
+  <value type="int">22</value>
+ </data>
+ <data>
+  <variable>Version</variable>
+  <value type="int">22</value>
+ </data>
+</qtcreator>
diff --git a/MLX90640_OrangePi/mxl90640OPi.cxxflags b/MLX90640_OrangePi/mxl90640OPi.cxxflags
new file mode 100644
index 0000000..6435dfc
--- /dev/null
+++ b/MLX90640_OrangePi/mxl90640OPi.cxxflags
@@ -0,0 +1 @@
+-std=c++17
\ No newline at end of file
diff --git a/MLX90640_OrangePi/mxl90640OPi.files b/MLX90640_OrangePi/mxl90640OPi.files
new file mode 100644
index 0000000..d70565e
--- /dev/null
+++ b/MLX90640_OrangePi/mxl90640OPi.files
@@ -0,0 +1,6 @@
+cmdlnopts.c
+cmdlnopts.h
+main.c
+mlx90640.c
+mlx90640.h
+mlx90640_regs.h
diff --git a/MLX90640_OrangePi/mxl90640OPi.includes b/MLX90640_OrangePi/mxl90640OPi.includes
new file mode 100644
index 0000000..774cf29
--- /dev/null
+++ b/MLX90640_OrangePi/mxl90640OPi.includes
@@ -0,0 +1,2 @@
+/usr/local/include
+.