Rework UART for TI SimpleLink

targets/TI-SimpleLink/common/CMakeLists.txt

@@ -14,7 +14,7 @@ list(APPEND TARGET_TI_SimpleLink_COMMON_SOURCES "${CMAKE_CURRENT_SOURCE_DIR}/pla
 
 list(APPEND TARGET_TI_SimpleLink_COMMON_SOURCES "${CMAKE_CURRENT_SOURCE_DIR}/FreeRTOS-openocd.c")
 
-# list(APPEND TARGET_TI_SimpleLink_COMMON_SOURCES "${CMAKE_CURRENT_SOURCE_DIR}/GenericPort.cpp")
+list(APPEND TARGET_TI_SimpleLink_COMMON_SOURCES "${CMAKE_CURRENT_SOURCE_DIR}/GenericPort.cpp")
 list(APPEND TARGET_TI_SimpleLink_COMMON_SOURCES "${CMAKE_CURRENT_SOURCE_DIR}/syscalls.c")
 list(APPEND TARGET_TI_SimpleLink_COMMON_SOURCES "${CMAKE_CURRENT_SOURCE_DIR}/nanoSupport_CRC32.c")
 

targets/TI-SimpleLink/common/GenericPort.cpp

@@ -3,27 +3,30 @@
 // See LICENSE file in the project root for full license information.
 //
 
-#include "nanoCLR_Types.h"
-#include "nanoCLR_Runtime.h"
+#include <nanoCLR_Types.h>
+#include <nanoCLR_Runtime.h>
+#include <ti/drivers/UART.h>
+
+extern UART_Handle uart;
 
 uint32_t GenericPort_Write( int portNum, const char* data, size_t size )
 {
     (void)portNum;
-    if (g_CLR_RT_ExecutionEngine.m_iDebugger_Conditions == CLR_RT_ExecutionEngine::c_fDebugger_StateProgramRunning)
-    {
-        char* p = (char*)data;
-        int counter = 0;
 
-        // send characters directly to the trace port
-        while(*p != '\0' || counter < (int)size)
-        {
-            // ets_printf( "%c", *p++); 
-            counter++;
-        }
-        return counter;
+    // developer note:
+    // Outputing to board UART can be done only if there is no debugger attached, because it uses the same UART.
+
+    if( (g_CLR_RT_ExecutionEngine.m_iDebugger_Conditions & CLR_RT_ExecutionEngine::c_fDebugger_Enabled) == CLR_RT_ExecutionEngine::c_fDebugger_Enabled)
+    {
+        // debugger port is in use, don't output to UART
     }
     else
     {
-        return (uint32_t)size;
+        // send characters directly to the UART port
+        UART_write(uart, data, size);
+
+        return size;
     }
+
+    return (uint32_t)size;
 }

targets/TI-SimpleLink/common/WireProtocol_HAL_Interface.c

@@ -11,9 +11,9 @@
 #include <WireProtocol_Message.h>
 #include <WireProtocol_HAL_interface.h>
 
-WP_Message inboundMessage;
+UART_Handle uart = NULL;
 
-bool WP_Initialise(COM_HANDLE port);
+WP_Message inboundMessage;
 
 ////////////////////////////////////////////////////////////////////////////////////////////////
 ////////////////////////////////////////////////////////////////////////////////////////////////
@@ -25,40 +25,8 @@ bool WP_Initialise(COM_HANDLE port);
 //
 ////////////////////////////////////////////////////////////////////////////////////////////////
 
-UART_Handle uart = NULL;
-UART_Params uartParams;
-
-bool WP_Initialise(COM_HANDLE port)
-{
-    (void)port;
-
-    // Create a UART with data processing off
-    UART_Params_init(&uartParams);
-    uartParams.readTimeout = 500;
-    uartParams.writeDataMode = UART_DATA_BINARY;
-    uartParams.readDataMode = UART_DATA_BINARY;
-    uartParams.readReturnMode = UART_RETURN_FULL;
-    uartParams.readEcho = UART_ECHO_OFF;
-    uartParams.baudRate = 115200;
-
-    uart = UART_open(Board_UART0, &uartParams);
-
-    if (uart == NULL)
-    {
-        // UART_open() failed
-        while (1);
-    }
-
-    return true;
-}
-
 int WP_ReceiveBytes(uint8_t* ptr, uint16_t* size)
 {
-    if(uart == NULL)
-    {
-        WP_Initialise(NULL);
-    }
-
     // save for latter comparison
     uint16_t requestedSize = *size;
 
@@ -92,11 +60,6 @@ int WP_TransmitMessage(WP_Message* message)
     uint32_t writeResult;
     bool operationResult = false;
 
-    if(uart == NULL)
-    {
-        WP_Initialise(NULL);
-    }
-
     ///////////////////////////////////////////////////////////
     //              PORTING CHANGE REQUIRED HERE             //
     ///////////////////////////////////////////////////////////

targets/TI-SimpleLink/nanoCLR/targetPAL.c

@@ -3,6 +3,11 @@
 // See LICENSE file in the project root for full license information.
 //
 
+#include <ti/drivers/UART.h>
+#include <board.h>
+
+extern UART_Handle uart;
+
 // Need to have calls to these two functions in C code.
 // Because they are called only on asm code, GCC linker with LTO option thinks they are not used and just removes them.
 // Having them called from a dummy function that is never called it a workaround for this.
@@ -15,3 +20,26 @@ void dummyFunction(void) {
     vTaskSwitchContext();
     localProgramStart();
 }
+
+// configure UART
+void ConfigUART()
+{
+    UART_Params uartParams;
+
+    // Create a UART with data processing off
+    UART_Params_init(&uartParams);
+
+    uartParams.writeDataMode = UART_DATA_BINARY;
+    uartParams.readDataMode = UART_DATA_BINARY;
+    uartParams.readReturnMode = UART_RETURN_FULL;
+    uartParams.readEcho = UART_ECHO_OFF;
+    uartParams.baudRate = 115200;
+
+    uart = UART_open(Board_UART0, &uartParams);
+
+    if (uart == NULL)
+    {
+        // UART_open() failed
+        while (1);
+    }    
+}

targets/TI-SimpleLink/nanoCLR/targetSimpleLinkCC32xx_Threads.c

@@ -41,6 +41,9 @@ extern void * CLRStartupThread(void *arg0);
 extern void * ReceiverThread(void *arg0);
 extern void sntp_init(void);
 
+// other externals
+extern void ConfigUART();
+
 //////////////////////////////
 #define SL_STOP_TIMEOUT         (200)
 
@@ -625,6 +628,9 @@ void * mainThread(void *arg)
     ADC_init();
     PWM_init();
 
+    // initialize UART (need UART to be functional ASAP in order to output to terminal, if required)
+    ConfigUART();
+
     // Initialize SlNetSock layer
     SlNetIf_init(0);
     SlNetIf_add(SLNETIF_ID_1, "nF",
@@ -790,7 +796,7 @@ void * mainThread(void *arg)
     pthread_attr_init(&threadAttributes);
     priorityParams.sched_priority = NF_TASK_PRIORITY;
     retc = pthread_attr_setschedparam(&threadAttributes, &priorityParams);
-    retc |= pthread_attr_setstacksize(&threadAttributes, 4092);
+    retc |= pthread_attr_setstacksize(&threadAttributes, 5116);
     if (retc != 0)
     {
         // failed to set attributes