bricks/ev3rt/mphalport: Optionally use sensor debug port.

If you have the hardware to use the debug port, this is much less painful than refreshing the rfcomm port every time.

bricks/ev3rt/mphalport.c

@@ -29,20 +29,31 @@ void pb_stack_get_info(char **sstack, char **estack) {
     *estack = *sstack + (uint32_t)main_task_init_block->sstksz;
 }
 
-static FILE *bt = NULL;
 
-bool bluetooth_is_connected(uint32_t *in_waiting) {
-    if (!bt) {
-        bt = ev3_serial_open_file(EV3_SERIAL_BT);
-        syslog(LOG_NOTICE, "open bt file");
+// On the /ev3rt/etc/rc.conf.ini choose:
+// [Bluetooth] TurnOff=1 and [Sensors] DisablePort1=1 to use sensor port 1 for stdio
+// [Bluetooth] TurnOff=0 and [Sensors] DisablePort1=0 to use bluetooth rfcomm0 for stdio
+static FILE *fd = NULL;
+extern const bool_t *ev3rt_bluetooth_disabled;
+extern const bool_t *ev3rt_sensor_port_1_disabled;
+static serial_port_t serial_port_type = EV3_SERIAL_UART;
+
+static bool serial_configured(uint32_t *in_waiting) {
+    if (!fd) {
+        serial_port_type = (*ev3rt_sensor_port_1_disabled && *ev3rt_bluetooth_disabled) ? serial_port_type : EV3_SERIAL_BT;
+
+        fd = ev3_serial_open_file(serial_port_type);
+        syslog(LOG_NOTICE, "open serial file");
+
+        // Disables default echo and extra CR on REPL, which confuses MicroPython.
+        serial_ctl_por(serial_port_type, (/*IOCTL_ECHO | IOCTL_CRLF | */ IOCTL_FCSND | IOCTL_FCRCV));
     }
     T_SERIAL_RPOR rpor;
-    ER ercd = serial_ref_por(EV3_SERIAL_BT, &rpor);
+    ER ercd = serial_ref_por(serial_port_type, &rpor);
     *in_waiting = 0;
     return ercd == E_OK;
 }
 
-
 void mp_hal_delay_ms(mp_uint_t Delay) {
     uint32_t start = pbdrv_clock_get_ms();
     do {
@@ -53,7 +64,7 @@ void mp_hal_delay_ms(mp_uint_t Delay) {
 uintptr_t mp_hal_stdio_poll(uintptr_t poll_flags) {
     uintptr_t ret = 0;
     uint32_t in_waiting;
-    if ((poll_flags & MP_STREAM_POLL_RD) && bluetooth_is_connected(&in_waiting) && in_waiting) {
+    if ((poll_flags & MP_STREAM_POLL_RD) && serial_configured(&in_waiting) && in_waiting) {
         ret |= MP_STREAM_POLL_RD;
     }
 
@@ -63,22 +74,22 @@ uintptr_t mp_hal_stdio_poll(uintptr_t poll_flags) {
 // Receive single character
 int mp_hal_stdin_rx_chr(void) {
     uint32_t in_waiting;
-    if (!bluetooth_is_connected(&in_waiting)) {
+    if (!serial_configured(&in_waiting)) {
         return 0;
     }
-    // while (bluetooth_is_connected(&in_waiting) && in_waiting == 0) {
+    // while (serial_configured(&in_waiting) && in_waiting == 0) {
     //     MICROPY_EVENT_POLL_HOOK
     // }
     uint8_t c;
-    serial_rea_dat(EV3_SERIAL_BT, (char *)&c, 1);
+    serial_rea_dat(serial_port_type, (char *)&c, 1);
     return c;
 }
 
 // Send string of given length
 void mp_hal_stdout_tx_strn(const char *str, mp_uint_t len) {
     uint32_t in_waiting;
-    if (bluetooth_is_connected(&in_waiting)) {
-        serial_wri_dat(EV3_SERIAL_BT, str, len);
+    if (serial_configured(&in_waiting)) {
+        serial_wri_dat(serial_port_type, str, len);
     }
 }