AP_HAL_Linux: move mt9v117 patches inside class

Let it be a static const member instead of defining it in a header. The
problem with the header is that it will generate conflicting symbols
when more than 1 compilation unit includes it.

libraries/AP_HAL_Linux/CameraSensor_Mt9v117.cpp

@@ -18,7 +18,6 @@
 #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
 
 #include "CameraSensor_Mt9v117.h"
-#include "CameraSensor_Mt9v117_Patches.h"
 
 /* Cam sensor register definitions */
 #define CHIP_ID                 0x0
@@ -318,7 +317,7 @@ void CameraSensor_Mt9v117::_apply_patch()
     /* write patch */
     for (unsigned int i = 0; i < MT9V117_PATCH_LINE_NUM; i++) {
         _i2c->do_transfer(_addr,
-                          patch_lines[i].data, patch_lines[i].size, NULL, 0);
+                          _patch_lines[i].data, _patch_lines[i].size, NULL, 0);
     }
 
     _write_reg16(LOGICAL_ADDRESS_ACCESS, 0x0000);

libraries/AP_HAL_Linux/CameraSensor_Mt9v117.h

@@ -17,17 +17,28 @@
 #include "AP_HAL_Linux.h"
 #include "CameraSensor.h"
 
+namespace Linux {
+
 enum mt9v117_res {
     MT9V117_QVGA,
 };
 
-class Linux::CameraSensor_Mt9v117 : public Linux::CameraSensor {
+struct mt9v117_patch {
+    uint8_t *data;
+    uint8_t size;
+};
+
+#define MT9V117_PATCH_LINE_NUM 13
+
+class CameraSensor_Mt9v117 : public CameraSensor {
 public:
     CameraSensor_Mt9v117(const char *device_path, AP_HAL::I2CDriver *i2c,
                          uint8_t addr, enum mt9v117_res res,
                          uint16_t nrst_gpio, uint32_t clock_freq);
 
 private:
+    static const struct mt9v117_patch _patch_lines[MT9V117_PATCH_LINE_NUM];
+
     uint8_t _read_reg8(uint16_t reg);
     void _write_reg8(uint16_t reg, uint8_t val);
     uint16_t _read_reg16(uint16_t reg);
@@ -52,3 +63,5 @@ private:
     uint16_t _nrst_gpio = 0xFFFF;
     uint8_t _addr;
 };
+
+}

libraries/AP_HAL_Linux/CameraSensor_Mt9v117_Patches.cpp

@@ -12,7 +12,6 @@
    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
 
 /* It seems to be mandatory to write these patches by unit of 48 bytes, the
  * 2 first ones seem to be an address since it increments of 48 at each line
@@ -20,10 +19,15 @@
  * writeRegisters(addr, 0xf000, 48, line1);
  * ...
  */
-#define MT9V117_PATCH_LINE_NUM 13
+#include "CameraSensor_Mt9v117.h"
 
-uint8_t patch_line1[] =
+#include <AP_HAL/AP_HAL.h>
-{
+
+#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
+
+using namespace Linux;
+
+static uint8_t patch_line1[] = {
     0xf0, 0x00, 0x72, 0xcf, 0xff, 0x00, 0x3e, 0xd0, 0x92, 0x00,
     0x71, 0xcf, 0xff, 0xff, 0xf2, 0x18, 0xb1, 0x10, 0x92, 0x05,
     0xb1, 0x11, 0x92, 0x04, 0xb1, 0x12, 0x70, 0xcf, 0xff, 0x00,
@@ -31,8 +35,7 @@ uint8_t patch_line1[] =
     0xff, 0xff, 0xe7, 0x1c, 0x88, 0x36, 0x09, 0x0f, 0x00, 0xb3
 };
 
-uint8_t patch_line2[] =
+static uint8_t patch_line2[] = {
-{
     0xf0, 0x30, 0x69, 0x13, 0xe1, 0x80, 0xd8, 0x08, 0x20, 0xca,
     0x03, 0x22, 0x71, 0xcf, 0xff, 0xff, 0xe5, 0x68, 0x91, 0x35,
     0x22, 0x0a, 0x1f, 0x80, 0xff, 0xff, 0xf2, 0x18, 0x29, 0x05,
@@ -40,8 +43,7 @@ uint8_t patch_line2[] =
     0x00, 0x00, 0xff, 0xf0, 0x21, 0x8c, 0xf0, 0x10, 0x1a, 0x22
 };
 
-uint8_t patch_line3[] =
+static uint8_t patch_line3[] = {
-{
     0xf0, 0x60, 0x10, 0x44, 0x12, 0x20, 0x11, 0x02, 0xf7, 0x87,
     0x22, 0x4f, 0x03, 0x83, 0x1a, 0x20, 0x10, 0xc4, 0xf0, 0x09,
     0xba, 0xae, 0x7b, 0x50, 0x1a, 0x20, 0x10, 0x84, 0x21, 0x45,
@@ -49,8 +51,7 @@ uint8_t patch_line3[] =
     0x3e, 0xd0, 0xb0, 0x60, 0xb0, 0x25, 0x7e, 0xe0, 0x78, 0xe0
 };
 
-uint8_t patch_line4[] =
+static uint8_t patch_line4[] = {
-{
     0xf0, 0x90, 0x71, 0xcf, 0xff, 0xff, 0xf2, 0x18, 0x91, 0x12,
     0x72, 0xcf, 0xff, 0xff, 0xe7, 0x1c, 0x8a, 0x57, 0x20, 0x04,
     0x0f, 0x80, 0x00, 0x00, 0xff, 0xf0, 0xe2, 0x80, 0x20, 0xc5,
@@ -58,8 +59,7 @@ uint8_t patch_line4[] =
     0xff, 0x00, 0x3e, 0xd0, 0xb1, 0x04, 0x7e, 0xe0, 0x78, 0xe0
 };
 
-uint8_t patch_line5[] =
+static uint8_t patch_line5[] = {
-{
     0xf0, 0xc0, 0x70, 0xcf, 0xff, 0xff, 0xe7, 0x1c, 0x88, 0x57,
     0x71, 0xcf, 0xff, 0xff, 0xf2, 0x18, 0x91, 0x13, 0xea, 0x84,
     0xb8, 0xa9, 0x78, 0x10, 0xf0, 0x03, 0xb8, 0x89, 0xb8, 0x8c,
@@ -67,8 +67,7 @@ uint8_t patch_line5[] =
     0x7e, 0xe0, 0xc0, 0xf1, 0x09, 0x1e, 0x03, 0xc0, 0xc1, 0xa1
 };
 
-uint8_t patch_line6[] =
+static uint8_t patch_line6[] = {
-{
     0xf0, 0xf0, 0x75, 0x08, 0x76, 0x28, 0x77, 0x48, 0xc2, 0x40,
     0xd8, 0x20, 0x71, 0xcf, 0x00, 0x03, 0x20, 0x67, 0xda, 0x02,
     0x08, 0xae, 0x03, 0xa0, 0x73, 0xc9, 0x0e, 0x25, 0x13, 0xc0,
@@ -76,8 +75,7 @@ uint8_t patch_line6[] =
     0x01, 0x00, 0xd8, 0x00, 0xb8, 0x9e, 0x0e, 0x5a, 0x03, 0x20
 };
 
-uint8_t patch_line7[] =
+static uint8_t patch_line7[] = {
-{
     0xf1, 0x20, 0xd9, 0x01, 0xd8, 0x00, 0xb8, 0x9e, 0x0e, 0xb6,
     0x03, 0x20, 0xd9, 0x01, 0x8d, 0x14, 0x08, 0x17, 0x01, 0x91,
     0x8d, 0x16, 0xe8, 0x07, 0x0b, 0x36, 0x01, 0x60, 0xd8, 0x07,
@@ -85,8 +83,7 @@ uint8_t patch_line7[] =
     0xd8, 0x00, 0x20, 0xca, 0x02, 0x62, 0x00, 0xc9, 0x03, 0xe0
 };
 
-uint8_t patch_line8[] =
+static uint8_t patch_line8[] = {
-{
     0xf1, 0x50, 0xc0, 0xa1, 0x78, 0xe0, 0xc0, 0xf1, 0x08, 0xb2,
     0x03, 0xc0, 0x76, 0xcf, 0xff, 0xff, 0xe5, 0x40, 0x75, 0xcf,
     0xff, 0xff, 0xe5, 0x68, 0x95, 0x17, 0x96, 0x40, 0x77, 0xcf,
@@ -94,8 +91,7 @@ uint8_t patch_line8[] =
     0x97, 0x40, 0x0a, 0x11, 0x00, 0x40, 0x0b, 0x0a, 0x01, 0x00
 };
 
-uint8_t patch_line9[] =
+static uint8_t patch_line9[] = {
-{
     0xf1, 0x80, 0x95, 0x17, 0xb6, 0x00, 0x95, 0x18, 0xb7, 0x00,
     0x76, 0xcf, 0xff, 0xff, 0xe5, 0x44, 0x96, 0x20, 0x95, 0x15,
     0x08, 0x13, 0x00, 0x40, 0x0e, 0x1e, 0x01, 0x20, 0xd9, 0x00,
@@ -103,8 +99,7 @@ uint8_t patch_line9[] =
     0xe7, 0x1c, 0x77, 0xcf, 0xff, 0xff, 0xe5, 0x46, 0x97, 0x40
 };
 
-uint8_t patch_line10[] =
+static uint8_t patch_line10[] = {
-{
     0xf1, 0xb0, 0x8d, 0x16, 0x76, 0xcf, 0xff, 0xff, 0xe5, 0x48,
     0x8d, 0x37, 0x08, 0x0d, 0x00, 0x81, 0x96, 0x40, 0x09, 0x15,
     0x00, 0x80, 0x0f, 0xd6, 0x01, 0x00, 0x8d, 0x16, 0xb7, 0x00,
@@ -112,8 +107,7 @@ uint8_t patch_line10[] =
     0x03, 0xc0, 0xc0, 0xf1, 0x0d, 0x9e, 0x01, 0x00, 0xe8, 0x04
 };
 
-uint8_t patch_line11[] =
+static uint8_t patch_line11[] = {
-{
     0xf1, 0xe0, 0xff, 0x88, 0xf0, 0x0a, 0x0d, 0x6a, 0x01, 0x00,
     0x0d, 0x8e, 0x01, 0x00, 0xe8, 0x7e, 0xff, 0x85, 0x0d, 0x72,
     0x01, 0x00, 0xff, 0x8c, 0xff, 0xa7, 0xff, 0xb2, 0xd8, 0x00,
@@ -121,8 +115,7 @@ uint8_t patch_line11[] =
     0x81, 0x41, 0xe0, 0x02, 0x81, 0x20, 0x08, 0xf7, 0x81, 0x34
 };
 
-uint8_t patch_line12[] =
+static uint8_t patch_line12[] = {
-{
     0xf2, 0x10, 0xa1, 0x40, 0xd8, 0x00, 0xc0, 0xd1, 0x7e, 0xe0,
     0x53, 0x51, 0x30, 0x34, 0x20, 0x6f, 0x6e, 0x5f, 0x73, 0x74,
     0x61, 0x72, 0x74, 0x5f, 0x73, 0x74, 0x72, 0x65, 0x61, 0x6d,
@@ -130,18 +123,12 @@ uint8_t patch_line12[] =
     0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00
 };
 
-uint8_t patch_line13[] =
+static uint8_t patch_line13[] = {
-{
     0xf2, 0x40, 0xff, 0xff, 0xe8, 0x28, 0xff, 0xff, 0xf0, 0xe8,
     0xff, 0xff, 0xe8, 0x08, 0xff, 0xff, 0xf1, 0x54
 };
 
-struct mt9v117_patch_line {
+const struct mt9v117_patch CameraSensor_Mt9v117::_patch_lines[MT9V117_PATCH_LINE_NUM] = {
-    uint8_t *data;
-    uint8_t size;
-};
-
-struct mt9v117_patch_line patch_lines[MT9V117_PATCH_LINE_NUM] = {
     {patch_line1, sizeof(patch_line1)},
     {patch_line2, sizeof(patch_line2)},
     {patch_line3, sizeof(patch_line3)},
@@ -156,3 +143,5 @@ struct mt9v117_patch_line patch_lines[MT9V117_PATCH_LINE_NUM] = {
     {patch_line12, sizeof(patch_line12)},
     {patch_line13, sizeof(patch_line13)}
 };
+
+#endif