RTOS/LAUNCHXL-CC2650: Issues in adding UART driver to simple_peripheral project

/******************************************************************************

 @file  main.c

 @brief main entry of the BLE stack sample application.

 Group: WCS, BTS
 Target Device: CC2650, CC2640, CC1350

 ******************************************************************************
 
 Copyright (c) 2013-2016, Texas Instruments Incorporated
 All rights reserved.

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 modification, are permitted provided that the following conditions
 are met:

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    notice, this list of conditions and the following disclaimer.

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    notice, this list of conditions and the following disclaimer in the
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 *  Neither the name of Texas Instruments Incorporated nor the names of
    its contributors may be used to endorse or promote products derived
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 AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
 THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
 PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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 PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
 OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
 WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
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 EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

 ******************************************************************************
 Release Name: ble_sdk_2_02_01_18
 Release Date: 2016-10-26 15:20:04
 *****************************************************************************/
  
/*******************************************************************************
 * INCLUDES
 */

#include <xdc/runtime/Error.h>

#include <ti/drivers/Power.h>
#include <ti/drivers/power/PowerCC26XX.h>
#include <ti/sysbios/BIOS.h>

#include "icall.h"
#include "hal_assert.h"
#include "bcomdef.h"
#include "peripheral.h"
#include "simple_peripheral.h"

/* Header files required to enable instruction fetch cache */
#include <inc/hw_memmap.h>
#include <driverlib/vims.h>

#ifndef USE_DEFAULT_USER_CFG

#include "ble_user_config.h"

// BLE user defined configuration
bleUserCfg_t user0Cfg = BLE_USER_CFG;

#endif // USE_DEFAULT_USER_CFG

#include <ti/mw/display/Display.h>

#ifdef USE_FPGA
#include <inc/hw_prcm.h>
#endif // USE_FPGA

#include "npi_task.h"


/*******************************************************************************
 * MACROS
 */

/*******************************************************************************
 * CONSTANTS
 */

#if defined( USE_FPGA )
  #define RFC_MODE_BLE                 PRCM_RFCMODESEL_CURR_MODE1
  #define RFC_MODE_ANT                 PRCM_RFCMODESEL_CURR_MODE4
  #define RFC_MODE_EVERYTHING_BUT_ANT  PRCM_RFCMODESEL_CURR_MODE5
  #define RFC_MODE_EVERYTHING          PRCM_RFCMODESEL_CURR_MODE6
  //
  #define SET_RFC_BLE_MODE(mode) HWREG( PRCM_BASE + PRCM_O_RFCMODESEL ) = (mode)
#endif // USE_FPGA

/*******************************************************************************
 * TYPEDEFS
 */

/*******************************************************************************
 * LOCAL VARIABLES
 */

/*******************************************************************************
 * GLOBAL VARIABLES
 */

#ifdef CC1350_LAUNCHXL
#ifdef POWER_SAVING
// Power Notify Object for wake-up callbacks
Power_NotifyObj rFSwitchPowerNotifyObj;
static uint8_t rFSwitchNotifyCb(uint8_t eventType, uint32_t *eventArg,
                                uint32_t *clientArg);
#endif //POWER_SAVING

PIN_State  radCtrlState;
PIN_Config radCtrlCfg[] = 
{
  Board_DIO1_RFSW   | PIN_GPIO_OUTPUT_EN | PIN_GPIO_LOW  | PIN_PUSHPULL | PIN_DRVSTR_MAX, /* RF SW Switch defaults to 2.4GHz path*/
  Board_DIO30_SWPWR | PIN_GPIO_OUTPUT_EN | PIN_GPIO_HIGH | PIN_PUSHPULL | PIN_DRVSTR_MAX, /* Power to the RF Switch */
  PIN_TERMINATE
};
PIN_Handle radCtrlHandle;
#endif //CC1350_LAUNCHXL

/*******************************************************************************
 * EXTERNS
 */

extern void AssertHandler(uint8 assertCause, uint8 assertSubcause);

extern Display_Handle dispHandle;

/*******************************************************************************
 * @fn          Main
 *
 * @brief       Application Main
 *
 * input parameters
 *
 * @param       None.
 *
 * output parameters
 *
 * @param       None.
 *
 * @return      None.
 */
int main()
{
#if defined( USE_FPGA )
  HWREG(PRCM_BASE + PRCM_O_PDCTL0) &= ~PRCM_PDCTL0_RFC_ON;
  HWREG(PRCM_BASE + PRCM_O_PDCTL1) &= ~PRCM_PDCTL1_RFC_ON;
#endif // USE_FPGA
  
  /* Register Application callback to trap asserts raised in the Stack */
  RegisterAssertCback(AssertHandler);

  PIN_init(BoardGpioInitTable);

#ifdef CC1350_LAUNCHXL
  // Enable 2.4GHz Radio
  radCtrlHandle = PIN_open(&radCtrlState, radCtrlCfg);
  
#ifdef POWER_SAVING
  Power_registerNotify(&rFSwitchPowerNotifyObj, 
                       PowerCC26XX_ENTERING_STANDBY | PowerCC26XX_AWAKE_STANDBY,
                       (Power_NotifyFxn) rFSwitchNotifyCb, NULL);
#endif //POWER_SAVING
#endif //CC1350_LAUNCHXL

#if defined( USE_FPGA )
  // set RFC mode to support BLE
  // Note: This must be done before the RF Core is released from reset!
  SET_RFC_BLE_MODE(RFC_MODE_BLE);
#endif // USE_FPGA
  
  // Enable iCache prefetching
  VIMSConfigure(VIMS_BASE, TRUE, TRUE);

  // Enable cache
  VIMSModeSet(VIMS_BASE, VIMS_MODE_ENABLED);

#if !defined( POWER_SAVING ) || defined( USE_FPGA )
  /* Set constraints for Standby, powerdown and idle mode */
  // PowerCC26XX_SB_DISALLOW may be redundant
  Power_setConstraint(PowerCC26XX_SB_DISALLOW);
  Power_setConstraint(PowerCC26XX_IDLE_PD_DISALLOW);
#endif // POWER_SAVING | USE_FPGA

  /* Initialize ICall module */
  ICall_init();

  /* Start tasks of external images - Priority 5 */
  ICall_createRemoteTasks();
  
  /* Kick off profile - Priority 3 */
  // priority changed to 2 for uart
  GAPRole_createTask();

  SimpleBLEPeripheral_createTask();

  
  /* NPI UART Example Task - Priority 2 */
  NPITask_createTask(2);    
  ti_sysbios_knl_Semaphore_Handle appSem = Semaphore_create(0, NULL, NULL);


  /* enable interrupts and start SYS/BIOS */
  BIOS_start();

  return 0;
}


/*******************************************************************************
 * @fn          AssertHandler
 *
 * @brief       This is the Application's callback handler for asserts raised
 *              in the stack.  When EXT_HAL_ASSERT is defined in the Stack
 *              project this function will be called when an assert is raised, 
 *              and can be used to observe or trap a violation from expected 
 *              behavior.       
 *              
 *              As an example, for Heap allocation failures the Stack will raise 
 *              HAL_ASSERT_CAUSE_OUT_OF_MEMORY as the assertCause and 
 *              HAL_ASSERT_SUBCAUSE_NONE as the assertSubcause.  An application
 *              developer could trap any malloc failure on the stack by calling
 *              HAL_ASSERT_SPINLOCK under the matching case.
 *
 *              An application developer is encouraged to extend this function
 *              for use by their own application.  To do this, add hal_assert.c
 *              to your project workspace, the path to hal_assert.h (this can 
 *              be found on the stack side). Asserts are raised by including
 *              hal_assert.h and using macro HAL_ASSERT(cause) to raise an 
 *              assert with argument assertCause.  the assertSubcause may be
 *              optionally set by macro HAL_ASSERT_SET_SUBCAUSE(subCause) prior
 *              to asserting the cause it describes. More information is
 *              available in hal_assert.h.
 *
 * input parameters
 *
 * @param       assertCause    - Assert cause as defined in hal_assert.h.
 * @param       assertSubcause - Optional assert subcause (see hal_assert.h).
 *
 * output parameters
 *
 * @param       None.
 *
 * @return      None.
 */
void AssertHandler(uint8 assertCause, uint8 assertSubcause)
{
  // Open the display if the app has not already done so
  if ( !dispHandle )
  {
    dispHandle = Display_open(Display_Type_LCD, NULL);
  }

  Display_print0(dispHandle, 0, 0, ">>>STACK ASSERT");

  // check the assert cause
  switch (assertCause)
  {
    case HAL_ASSERT_CAUSE_OUT_OF_MEMORY:
      Display_print0(dispHandle, 0, 0, "***ERROR***");
      Display_print0(dispHandle, 2, 0, ">> OUT OF MEMORY!");
      break;

    case HAL_ASSERT_CAUSE_INTERNAL_ERROR:
      // check the subcause
      if (assertSubcause == HAL_ASSERT_SUBCAUSE_FW_INERNAL_ERROR)
      {
        Display_print0(dispHandle, 0, 0, "***ERROR***");
        Display_print0(dispHandle, 2, 0, ">> INTERNAL FW ERROR!");
      }
      else
      {
        Display_print0(dispHandle, 0, 0, "***ERROR***");
        Display_print0(dispHandle, 2, 0, ">> INTERNAL ERROR!");
      }
      break;

    case HAL_ASSERT_CAUSE_ICALL_ABORT:
      Display_print0(dispHandle, 0, 0, "***ERROR***");
      Display_print0(dispHandle, 2, 0, ">> ICALL ABORT!");
      HAL_ASSERT_SPINLOCK;
      break;

    default:
      Display_print0(dispHandle, 0, 0, "***ERROR***");
      Display_print0(dispHandle, 2, 0, ">> DEFAULT SPINLOCK!");
      HAL_ASSERT_SPINLOCK;
  }

  return;
}


/*******************************************************************************
 * @fn          smallErrorHook
 *
 * @brief       Error handler to be hooked into TI-RTOS.
 *
 * input parameters
 *
 * @param       eb - Pointer to Error Block.
 *
 * output parameters
 *
 * @param       None.
 *
 * @return      None.
 */
void smallErrorHook(Error_Block *eb)
{
  for (;;);
}

#if defined (CC1350_LAUNCHXL) && defined (POWER_SAVING)
/*******************************************************************************
 * @fn          rFSwitchNotifyCb
 *
 * @brief       Power driver callback to toggle RF switch on Power state
 *              transitions.
 *
 * input parameters
 *
 * @param   eventType - The state change.
 * @param   eventArg  - Not used.
 * @param   clientArg - Not used.
 *
 * @return  Power_NOTIFYDONE to indicate success.
 */
static uint8_t rFSwitchNotifyCb(uint8_t eventType, uint32_t *eventArg,
                                uint32_t *clientArg)
{
  if (eventType == PowerCC26XX_ENTERING_STANDBY)
  {
    // Power down RF Switch
    PIN_setOutputValue(radCtrlHandle, Board_DIO30_SWPWR, 0);
  }
  else if (eventType == PowerCC26XX_AWAKE_STANDBY)
  {
    // Power up RF Switch
    PIN_setOutputValue(radCtrlHandle, Board_DIO30_SWPWR, 1);
  }
  
  // Notification handled successfully
  return Power_NOTIFYDONE;
}
#endif //CC1350_LAUNCHXL || POWER_SAVING


/*******************************************************************************
 */