hawkeye camera support(not tested)

framework/Inspectron.HawkEye/Camera/I2CLinux.cs

@@ -0,0 +1,159 @@
+using System;
+using System.IO;
+using Mono.Unix.Native;
+
+namespace Inspectron.Devices.Raspberry
+{
+    public unsafe class I2CLinux
+    {
+        string device;
+        int fd = -1;
+
+        public I2CLinux(int index)
+        {
+            device = "/dev/i2c-" + index;
+            Open();
+            //Close();
+        }
+
+        public void Open()
+        {
+            fd = Syscall.open(device, OpenFlags.O_RDWR);
+            if (fd < 0)
+                throw new IOException(device);
+        }
+
+        void IoCtl(byte devAddr)
+        {
+            int ret = LunixNatives.ioctl(fd, LunixNatives.I2C_SLAVE, devAddr);
+            if (ret < 0)
+                throw new IOException(device + ": ioctl");
+        }
+
+        public byte readBytes(byte devAddr, byte regAddr, byte length, byte[] data, int offset, ushort timeout = 0)
+        {
+            if (length > 127)
+                throw new IOException(device + ": length > 127");
+
+            //Open();
+
+            IoCtl(devAddr);
+
+            //fixed(byte* p = &regAddr)
+            {
+                int ret = (int)Syscall.write(fd, &regAddr, 1);
+                if (ret != 1)
+                    throw new IOException(device + ": write");
+            }
+
+            int count;
+            fixed (byte* p = &data[offset])
+            {
+                count = (int)Syscall.read(fd, p, (ulong)length);
+                if (count < 0)
+                    throw new IOException(device + ": read");
+                else if (count != length)
+                    throw new IOException(device + ": read short: length = " + length + " > " + count);
+            }
+
+            //Close();
+
+            return (byte)count;
+        }
+
+        public byte readBytes(byte devAddr, byte regAddr, byte length, byte[] data, ushort timeout = 0)
+        {
+            return readBytes(devAddr, regAddr, length, data, 0, timeout);
+        }
+
+        /** Write multiple bytes to an 8-bit device register.
+        * @param devAddr I2C slave device address
+        * @param regAddr First register address to write to
+        * @param length Number of bytes to write
+        * @param data Buffer to copy new data from
+        * @return Status of operation (true = success)
+        */
+        public void writeBytes(byte devAddr, byte regAddr, byte length, byte[] data)
+        {
+            if (length > 127)
+                throw new IOException(device + ": length > 127");
+
+            //Open();
+            IoCtl(devAddr);
+
+            byte[] buffer = new byte[128];
+            buffer[0] = regAddr;
+            Array.Copy(data, 0, buffer, 1, length);
+
+            int count;
+            fixed (byte* p = buffer)
+            {
+                count = (int)Syscall.write(fd, p, (ulong)(length + 1));
+            }
+
+            if (count < 0)
+            {
+                throw new IOException(device + ": write = " + count);
+            }
+            else if (count != length + 1)
+            {
+                throw new IOException(device + ": write short = " + count);
+            }
+
+            //Close();
+        }
+
+
+        /** Write multiple words to a 16-bit device register.
+        * @param devAddr I2C slave device address
+        * @param regAddr First register address to write to
+        * @param length Number of words to write
+        * @param data Buffer to copy new data from
+        * @return Status of operation (true = success)
+        */
+        public void writeWords(byte devAddr, byte regAddr, byte length, ushort[] data)
+        {
+            int count = 0;
+            byte[] buf = new byte[128];
+            int i;
+
+            // Should do potential byteswap and call writeBytes() really, but that
+            // messes with the callers buffer
+
+            if (length > 63)
+            {
+                throw new IOException(device + ": length > 63");
+            }
+
+            //Open();
+            IoCtl(devAddr);
+
+            buf[0] = regAddr;
+            for (i = 0; i < (int)length; i++)
+            {
+                buf[i * 2 + 1] = (byte)(data[i] >> 8);
+                buf[i * 2 + 2] = (byte)data[i];
+            }
+            fixed (byte* p = buf)
+            {
+                count = (int)Syscall.write(fd, p, (ulong)(length * 2 + 1));
+            }
+            if (count < 0)
+            {
+                throw new IOException(device + ": write");
+            }
+            else if (count != length * 2 + 1)
+            {
+                throw new IOException(device + ": write short");
+            }
+            //Close();
+        }
+
+        public void Close()
+        {
+            int ret = Syscall.close(fd);
+            if (ret != 0)
+                throw new IOException(device);
+        }
+    }
+}