Major refactor of HoTT drivers and finished sensor read implementation.

2 files changed, 28 insertions, 18 deletions

diff --git a/src/drivers/hott/hott_sensors/hott_sensors.c b/src/drivers/hott/hott_sensors/hott_sensors.cpp
index 41ca0c92f..ad7e74e62 100644
--- a/src/drivers/hott/hott_sensors/hott_sensors.c
+++ b/src/drivers/hott/hott_sensors/hott_sensors.cpp
@@ -55,6 +55,14 @@
 #include "../comms.h"
 #include "../messages.h"
 
+#define DEFAULT_UART "/dev/ttyS2";		/**< USART5 */
+
+/* Oddly, ERROR is not defined for C++ */
+#ifdef ERROR
+# undef ERROR
+#endif
+static const int ERROR = -1;
+
 static int thread_should_exit = false;		/**< Deamon exit flag */
 static int thread_running = false;		/**< Deamon status flag */
 static int deamon_task;				/**< Handle of deamon task / thread */
@@ -64,7 +72,7 @@ static const char commandline_usage[] = "usage: hott_sensors start|status|stop [
 /**
  * Deamon management function.
  */
-__EXPORT int hott_sensors_main(int argc, char *argv[]);
+extern "C" __EXPORT int hott_sensors_main(int argc, char *argv[]);
 
 /**
  * Mainloop of daemon.
@@ -96,11 +104,13 @@ int
 recv_data(int uart, uint8_t *buffer, size_t *size, uint8_t *id)
 {
 	static const int timeout_ms = 1000;
-	struct pollfd fds[] = { { .fd = uart, .events = POLLIN } };
-
+	
+	struct pollfd fds;
+	fds.fd = uart;
+	fds.events = POLLIN;
 	
 	// XXX should this poll be inside the while loop???
-	if (poll(fds, 1, timeout_ms) > 0) {
+	if (poll(&fds, 1, timeout_ms) > 0) {
 		int i = 0;
 		bool stop_byte_read = false;
 		while (true)  {
@@ -129,7 +139,7 @@ hott_sensors_thread_main(int argc, char *argv[])
 
 	thread_running = true;
 
-	const char *device = "/dev/ttyS2";		/**< Default telemetry port: USART5 */
+	const char *device = DEFAULT_UART;
 
 	/* read commandline arguments */
 	for (int i = 0; i < argc && argv[i]; i++) {
@@ -151,20 +161,20 @@ hott_sensors_thread_main(int argc, char *argv[])
 		thread_running = false;
 	}
 
-	pub_messages_init();
+	init_pub_messages();
 
-	uint8_t buffer[MESSAGE_BUFFER_SIZE];
+	uint8_t buffer[MAX_MESSAGE_BUFFER_SIZE];
 	size_t size = 0;
 	uint8_t id = 0;
 	while (!thread_should_exit) {
 		// Currently we only support a General Air Module sensor.
-		build_gam_request(&buffer, &size);
+		build_gam_request(&buffer[0], &size);
 		send_poll(uart, buffer, size);
 
 		// The sensor will need a little time before it starts sending.
 		usleep(5000);
 
-		recv_data(uart, &buffer, &size, &id);
+		recv_data(uart, &buffer[0], &size, &id);
 
 		// Determine which moduel sent it and process accordingly.
 		if (id == GAM_SENSOR_ID) {
@@ -199,12 +209,12 @@ hott_sensors_main(int argc, char *argv[])
 		}
 
 		thread_should_exit = false;
-		deamon_task = task_spawn(daemon_name,
-					 SCHED_DEFAULT,
-					 SCHED_PRIORITY_MAX - 40,
-					 2048,
-					 hott_sensors_thread_main,
-					 (argv) ? (const char **)&argv[2] : (const char **)NULL);
+		deamon_task = task_spawn_cmd(daemon_name,
+					     SCHED_DEFAULT,
+					     SCHED_PRIORITY_MAX - 40,
+					     2048,
+					     hott_sensors_thread_main,
+					     (argv) ? (const char **)&argv[2] : (const char **)NULL);
 		exit(0);
 	}
 
diff --git a/src/drivers/hott/hott_sensors/module.mk b/src/drivers/hott/hott_sensors/module.mk
index ca65d3de2..b5f5762ba 100644
--- a/src/drivers/hott/hott_sensors/module.mk
+++ b/src/drivers/hott/hott_sensors/module.mk
@@ -37,6 +37,6 @@
 
 MODULE_COMMAND	= hott_sensors
 
-SRCS		= hott_sensors.c \
-		  ../messages.c \
-		  ../comms.c
+SRCS		= hott_sensors.cpp \
+		  ../messages.cpp \
+		  ../comms.cpp