To send debug info to your UART, you have to correctly set the macro
LWIP_PLATFORM_DIAG in your port. Check for examples in the contrib tree,
contrib/ports/unix/include/arch/cc.h (for example...)
It usually is something like
/* Plaform specific diagnostic output */
#define LWIP_PLATFORM_DIAG(x) do {printf x;} while(0)
How to redirect printf to your UART depends on your compiler and is
beyond this list. You can use any other function here, by the way.
Then, when compiling, you have to enable debugging by defining LWIP_DEBUG
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