After some tinkering, I found a couple things:
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I had accidentally made the UART connections the wrong way around (TX/RX), this partially solves my issue, as now I can send data over the UART connection.
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The module boots up in AT mode when it is powered on while there is a physical connection to the Ethernet port. If I disconnect the Ethernet cable when powering it on, the device goes into TCP Server mode. This behavior is still a mystery to me.
Although I have partially solved the issue, I am now running into another issue that has been posted here before with no resolution.
When I connect to the TCP server, there is no output from the TCP server when sending data through the UART. Furthermore, after sending a few messages, I get an error output on the debug line: “UART Rx Ring buffer Full”. Similarly to the other post, I cannot see any of the data on the debug line, despite the “Serial Debug”->Enable with data being selected.
How can I resolve this issue?