RTOS/LAUNCHXL-CC1310: Using TI-RTOS UART and RF Rx at the same time

Tool/software: TI-RTOS

I am trying to get UART and RF working together. Specifically, I need to listen for a RF packet, and transmit it over UART whenever a packet is received. I have tried to use the example provided here for the CC1350 as a base, but I do not receive my RF packet if my UartTxTask is initiallized.

Here is my code:

/***** Includes *****/
#include <stdlib.h>
#include <xdc/std.h>
#include <xdc/cfg/global.h>
#include <xdc/runtime/System.h>

#include <ti/sysbios/BIOS.h>
#include <ti/sysbios/knl/Task.h>

/* Drivers */
#include <ti/drivers/rf/RF.h>
#include <ti/drivers/PIN.h>
#include <ti/drivers/UART.h>
#include <ti/sysbios/knl/Mailbox.h>
#include <ti/sysbios/knl/Semaphore.h>
#include <ti/sysbios/knl/Task.h>
#include <ti/sysbios/BIOS.h>
#include <ti/sysbios/knl/Clock.h>

#include <ti/devices/DeviceFamily.h>
#include DeviceFamily_constructPath(driverlib/rf_prop_mailbox.h)

/* Board Header files */
#include "Board.h"

#include "RFQueue.h"
#include "smartrf_settings/smartrf_settings.h"

#include <stdlib.h>

/* Pin driver handle */
static PIN_Handle ledPinHandle;
static PIN_State ledPinState;

/*
 * Application LED pin configuration table:
 *   - All LEDs board LEDs are off.
 */
PIN_Config pinTable[] =
{
    Board_LED1 | PIN_GPIO_OUTPUT_EN | PIN_GPIO_LOW | PIN_PUSHPULL | PIN_DRVSTR_MAX,
    Board_PIN_LED2 | PIN_GPIO_OUTPUT_EN | PIN_GPIO_LOW | PIN_PUSHPULL | PIN_DRVSTR_MAX,
    PIN_TERMINATE
};

enum rf_mode  {
    RX_MODE,
    TX_MODE,
};

volatile enum rf_mode mode = RX_MODE;

/* Packet RX Configuration */
#define DATA_ENTRY_HEADER_SIZE 8  /* Constant header size of a Generic Data Entry */
#define MAX_LENGTH             2 /* Max length byte the radio will accept */
#define NUM_DATA_ENTRIES       2  /* NOTE: Only two data entries supported at the moment */
#define NUM_APPENDED_BYTES     2  /* The Data Entries data field will contain:
                                   * 1 Header byte (RF_cmdPropRx.rxConf.bIncludeHdr = 0x1)
                                   * Max 30 payload bytes
                                   * 1 status byte (RF_cmdPropRx.rxConf.bAppendStatus = 0x1) */

/***** Defines *****/
#define RX_TASK_STACK_SIZE 1024
#define RX_TASK_PRIORITY   1

#define UART_TX_TASK_STACK_SIZE 1024
#define UART_TX_TASK_PRIORITY   2

/***** Prototypes *****/
static void rxTaskFunction(UArg arg0, UArg arg1);
static void callback(RF_Handle h, RF_CmdHandle ch, RF_EventMask e);
static void uartTxTaskFunction(UArg arg0, UArg arg1);

/***** Variable declarations *****/
static Task_Params rxTaskParams;
Task_Struct rxTask;    /* not static so you can see in ROV */
static uint8_t rxTaskStack[RX_TASK_STACK_SIZE];

static Task_Params uartTxTaskParams;
Task_Struct uartTxTask;    /* not static so you can see in ROV */
static uint8_t uartTxTaskStack[UART_TX_TASK_STACK_SIZE];

Semaphore_Struct semRxStruct;
Semaphore_Handle semRxHandle;

Semaphore_Struct semUartTxStruct;
Semaphore_Handle semUartTxHandle;

static RF_Object rfObject;
static RF_Handle rfHandle;
static RF_CmdHandle rfRxCmd;

UART_Handle uart = NULL;
UART_Params uartParams;

/* Buffer which contains all Data Entries for receiving data.
 * Pragmas are needed to make sure this buffer is 4 byte aligned (requirement from the RF Core) */
#if defined(__TI_COMPILER_VERSION__)
    #pragma DATA_ALIGN (rxDataEntryBuffer, 4);
        static uint8_t rxDataEntryBuffer[RF_QUEUE_DATA_ENTRY_BUFFER_SIZE(NUM_DATA_ENTRIES,
                                                                 MAX_LENGTH,
                                                                 NUM_APPENDED_BYTES)];
#elif defined(__IAR_SYSTEMS_ICC__)
    #pragma data_alignment = 4
        static uint8_t rxDataEntryBuffer[RF_QUEUE_DATA_ENTRY_BUFFER_SIZE(NUM_DATA_ENTRIES,
                                                                 MAX_LENGTH,
                                                                 NUM_APPENDED_BYTES)];
#elif defined(__GNUC__)
        static uint8_t rxDataEntryBuffer [RF_QUEUE_DATA_ENTRY_BUFFER_SIZE(NUM_DATA_ENTRIES,
            MAX_LENGTH, NUM_APPENDED_BYTES)] __attribute__ ((aligned (4)));
#else
    #error This compiler is not supported.
#endif

/* Receive dataQueue for RF Core to fill in data */
static dataQueue_t dataQueue;
static rfc_dataEntryGeneral_t* currentDataEntry;
uint8_t packetReady = 0;
static uint8_t packetLength;
static uint8_t* packetDataPointer;
//uint32_t time;

static PIN_Handle pinHandle;

static uint8_t packet[MAX_LENGTH + NUM_APPENDED_BYTES - 1]; /* The length byte is stored in a separate variable */


/***** Function definitions *****/
void RxTask_init(PIN_Handle ledPinHandle) {
    pinHandle = ledPinHandle;

    Task_Params_init(&rxTaskParams);
    rxTaskParams.stackSize = RX_TASK_STACK_SIZE;
    rxTaskParams.priority = RX_TASK_PRIORITY;
    rxTaskParams.stack = &rxTaskStack;
    rxTaskParams.arg0 = (UInt)1000000;

    Task_construct(&rxTask, rxTaskFunction, &rxTaskParams, NULL);
}

void UartTxTask_init(PIN_Handle ledPinHandle) {
    pinHandle = ledPinHandle;

    Task_Params_init(&uartTxTaskParams);
    uartTxTaskParams.stackSize = UART_TX_TASK_STACK_SIZE;
    uartTxTaskParams.priority = UART_TX_TASK_PRIORITY;
    uartTxTaskParams.stack = &uartTxTaskStack;
    uartTxTaskParams.arg0 = (UInt)1000000;

    Task_construct(&uartTxTask, uartTxTaskFunction, &uartTxTaskParams, NULL);
}
static void rxTaskFunction(UArg arg0, UArg arg1)
{
    RF_Params rfParams;
    RF_Params_init(&rfParams);

    if( RFQueue_defineQueue(&dataQueue,
                            rxDataEntryBuffer,
                            sizeof(rxDataEntryBuffer),
                            NUM_DATA_ENTRIES,
                            MAX_LENGTH + NUM_APPENDED_BYTES))
    {
        /* Failed to allocate space for all data entries */
        while(1);
    }

    /* Modify CMD_PROP_RX command for application needs */
    RF_cmdPropRx.pQueue = &dataQueue;           /* Set the Data Entity queue for received data */
    RF_cmdPropRx.rxConf.bAutoFlushIgnored = 1;  /* Discard ignored packets from Rx queue */
    RF_cmdPropRx.rxConf.bAutoFlushCrcErr = 1;   /* Discard packets with CRC error from Rx queue */
    RF_cmdPropRx.maxPktLen = MAX_LENGTH;        /* Implement packet length filtering to avoid PROP_ERROR_RXBUF */
    RF_cmdPropRx.pktConf.bRepeatOk = 1;
    RF_cmdPropRx.pktConf.bRepeatNok = 1;

   if(!rfHandle)
       {
            /* Request access to the radio */
            rfHandle = RF_open(&rfObject, &RF_prop, (RF_RadioSetup*)&RF_cmdPropRadioDivSetup, &rfParams);

            /* Set the frequency */
            RF_postCmd(rfHandle, (RF_Op*)&RF_cmdFs, RF_PriorityNormal, NULL, 0);
       }

    while(1)
    {
        /* Enter RX mode and stay forever in RX */
        RF_runCmd(rfHandle, (RF_Op*)&RF_cmdPropRx, RF_PriorityNormal, &callback, IRQ_RX_ENTRY_DONE);
        Semaphore_pend(semRxHandle, BIOS_WAIT_FOREVER);
    }

}

void callback(RF_Handle h, RF_CmdHandle ch, RF_EventMask e)
{
    if (e & RF_EventRxEntryDone)
    {
        /* Toggle pin to indicate RX */
        PIN_setOutputValue(pinHandle, Board_PIN_LED2,!PIN_getOutputValue(Board_PIN_LED2));

        /* Get current unhandled data entry */
        currentDataEntry = RFQueue_getDataEntry();

        /* Handle the packet data, located at &currentDataEntry->data:
         * - Length is the first byte with the current configuration
         * - Data starts from the second byte */
        packetLength      = *(uint8_t*)(&currentDataEntry->data);
        packetDataPointer = (uint8_t*)(&currentDataEntry->data + 1);

        /* Copy the payload + the status byte to the packet variable */
        memcpy(packet, packetDataPointer, (packetLength + 1));

        packetReady = 1;

        RFQueue_nextEntry();

        Semaphore_post(semUartTxHandle);
    }
}

#define UART_TX_BUFFER_SIZE 256
char uartTxBuffer[UART_TX_BUFFER_SIZE];

static void uartTxTaskFunction(UArg arg0, UArg arg1)
{
    int readShift;
    uint8_t input[packetLength];
    for(readShift = 0; readShift < 2; readShift++)
                    {
                        input[readShift] = packet[readShift];
                    }
    /* Open UART if not already open */
    if (uart == NULL) {
        /* 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 = 9600;
        uart = UART_open(Board_UART0, &uartParams);

        if (uart == NULL) {
            System_abort("Error opening the UART");
        }
    }

    while (1)
    {
        Semaphore_pend(semUartTxHandle, BIOS_WAIT_FOREVER);
        UART_write(uart, input, 3);

        /* Cancel Rx */
    //    RF_cancelCmd(rfHandle, rfRxCmd, 0);
        Semaphore_post(semRxHandle);

    }



}

/*
 *  ======== main ========
 */
int main(void)
{
    Semaphore_Params semParams;

    /* Call driver init functions. */
    Board_initGeneral();

    /* Open LED pins */
    ledPinHandle = PIN_open(&ledPinState, pinTable);
    if(!ledPinHandle)
    {
        System_abort("Error initializing board LED pins\n");
    }

       /* Construct a Semaphore object to be used as a resource lock, inital count 0 */
       Semaphore_Params_init(&semParams);
       Semaphore_construct(&semRxStruct, 0, &semParams);

       /* Obtain instance handle */
       semUartTxHandle = Semaphore_handle(&semUartTxStruct);

       /* Construct a Semaphore object to be used as a resource lock, inital count 0 */
       //Semaphore_Params_init(&semParams);
       Semaphore_construct(&semUartTxStruct, 0, &semParams);


    /* Initialize task */
    RxTask_init(ledPinHandle);

    UartTxTask_init(ledPinHandle);

    /* Start BIOS */
    BIOS_start();

    return (0);
}

If I comment out my UartTxTask_init in my main (line 294) RF Rx works again. Any ideas as to why I can only seem to run one task at a time? I'm pretty sure I've got my Semaphores set up properly, so I don't think it's that.