Finished initial uart code, it compiles.
The next task is writting unit tests for it.
Also fixed some minor issues in Brian's code.
Finally, fixed a minor problem in download_externals.sh
that was causing things not to build properly.
diff --git a/bbb_cape/src/bbb/uart_receiver.h b/bbb_cape/src/bbb/uart_receiver.h
new file mode 100644
index 0000000..1a29dab
--- /dev/null
+++ b/bbb_cape/src/bbb/uart_receiver.h
@@ -0,0 +1,31 @@
+#ifndef FCR971_INPUT_UART_RECEIVER_H_
+#define FRC971_INPUT_UART_RECEIVER_H_
+
+#include <cstdint>
+#include <termios.h>
+
+#define DATA_STRUCT_NAME DataStruct
+#include <bbb_cape/src/cape/data_struct.h>
+#undef DATA_STRUCT_NAME
+
+namespace bbb {
+
+ class UartReceiver {
+ speed_t baud_rate_;
+ size_t packet_size_, stuffed_size_;
+ int fd_;
+ uint32_t buf_used_;
+ char *buf_;
+
+ public:
+ UartReceiver(speed_t baud_rate, size_t packet_size);
+ ~UartReceiver();
+ // Opens file descriptor, etc.
+ int SetUp();
+ int GetPacket(DataStruct *packet);
+
+ };
+
+} //bbb
+
+#endif