Merge pull request #18439 from gschorcht/cpu/esp32/enable_ble_nimble

cpu/esp32: add Bluetooth LE and NimBLE host support

cpu/esp32/Kconfig

@@ -16,6 +16,17 @@ config HAS_CPU_ESP32
     help
         Indicates that the current CPU belongs to the ESP32x SoC series.
 
+config HAS_ESP_BLE
+    bool
+    help
+        Indicates that the used ESP32x SoC supports Bluetooth LE.
+
+config HAS_ESP_BLE_ESP32
+    bool
+    help
+        Indicates that the ESP32x SoC uses the SDK Bluetooth LE library
+        for the ESP32 variant.
+
 config HAS_ESP_HW_COUNTER
     bool
     help

cpu/esp32/Kconfig.common

@@ -9,6 +9,13 @@ if TEST_KCONFIG && HAS_ARCH_ESP32
 
 # define configuration menu entries that common for all ESP32x SoC variants
 
+config MODULE_ESP_BLE
+    bool "Enable Bluetooth LE interface"
+    depends on HAS_ESP_BLE
+    select MODULE_ESP_IDF_BLE
+    select PACKAGE_ESP32_SDK_LIB_PHY
+    select PACKAGE_ESP32_SDK_LIB_BT_ESP32 if HAS_ESP_BLE_ESP32
+
 config MODULE_ESP_JTAG
     bool "Enable JTAG debugging interface"
     depends on HAS_ESP_JTAG
@@ -24,6 +31,7 @@ config MODULE_ESP_SPI_RAM
         Say y to use external SPI RAM connected through the SPI interface.
 
 rsource "bootloader/Kconfig"
+rsource "esp-ble-nimble/Kconfig"
 rsource "esp-idf/Kconfig"
 rsource "esp-idf-api/Kconfig"
 rsource "periph/Kconfig"

cpu/esp32/Kconfig.esp32

@@ -18,6 +18,10 @@ config CPU_FAM_ESP32
     select CPU_CORE_XTENSA_LX6
     select HAS_ARCH_ESP32
     select HAS_CPU_ESP32
+    select HAS_BLE_NIMBLE
+    select HAS_BLE_NIMBLE_NETIF
+    select HAS_ESP_BLE
+    select HAS_ESP_BLE_ESP32
     select HAS_ESP_HW_COUNTER
     select HAS_ESP_WIFI_ENTERPRISE
     select HAS_PUF_SRAM

cpu/esp32/Makefile

@@ -13,6 +13,10 @@ ifneq (, $(filter esp_bootloader, $(USEMODULE)))
     DIRS += bootloader
 endif
 
+ifneq (, $(filter esp_ble_nimble, $(USEMODULE)))
+    DIRS += esp-ble-nimble
+endif
+
 ifneq (, $(filter esp_eth, $(USEMODULE)))
     DIRS += esp-eth
 endif

cpu/esp32/Makefile.dep

@@ -17,6 +17,17 @@ ifneq (,$(filter cpp,$(USEMODULE)))
   USEMODULE += pthread
 endif
 
+ifneq (,$(filter esp_ble,$(USEMODULE)))
+  # add additional modules and packages used for any BLE interface
+  FEATURES_REQUIRED += esp_ble
+  USEMODULE += esp_idf_ble
+  USEPKG += esp32_sdk_lib_phy
+  ifeq (esp32,$(CPU_FAM))
+    FEATURES_REQUIRED += esp_ble_esp32
+    USEPKG += esp32_sdk_lib_bt_esp32
+  endif
+endif
+
 ifneq (,$(filter esp_eth,$(USEMODULE)))
   FEATURES_REQUIRED += esp_eth
   USEMODULE += esp_idf_eth
@@ -120,6 +131,14 @@ ifneq (,$(filter mtd,$(USEMODULE)))
   USEMODULE += esp_idf_spi_flash
 endif
 
+ifneq (,$(filter nimble,$(USEPKG)))
+  USEMODULE += esp_ble
+  USEMODULE += esp_ble_nimble
+  USEMODULE += nimble_host
+  USEMODULE += nimble_transport_hci_h4
+  USEMODULE += ztimer_msec
+endif
+
 ifneq (,$(filter periph_adc,$(USEMODULE)))
   USEMODULE += esp_idf_adc
 endif

cpu/esp32/Makefile.features

@@ -23,6 +23,13 @@ ifeq (xtensa,$(CPU_ARCH))
   FEATURES_PROVIDED += esp_hw_counter
 endif
 
+ifeq (esp32,$(CPU_FAM))
+  FEATURES_PROVIDED += ble_nimble
+  FEATURES_PROVIDED += ble_nimble_netif
+  FEATURES_PROVIDED += esp_ble
+  FEATURES_PROVIDED += esp_ble_esp32
+endif
+
 ifneq (,$(filter esp32-wrover% esp32s2%r2 esp32s3%r2 esp32s3%r8 esp32s3%r8v,$(CPU_MODEL)))
   FEATURES_PROVIDED += esp_spi_ram
   ifneq (,$(filter esp32s3%r8 esp32s3%r8v,$(CPU_MODEL)))

cpu/esp32/Makefile.include

@@ -36,6 +36,7 @@ else
   $(error Unkwnown ESP32x SoC architecture)
 endif
 
+PSEUDOMODULES += esp_ble
 PSEUDOMODULES += esp_bootloader
 PSEUDOMODULES += esp_gdbstub
 PSEUDOMODULES += esp_hw_counter
@@ -80,6 +81,15 @@ ifneq (,$(filter xtensa%,$(TARGET_ARCH)))
   INCLUDES += -I$(ESP32_SDK_DIR)/components/xtensa/$(CPU_FAM)/include
 endif
 
+ifneq (,$(filter esp_ble,$(USEMODULE)))
+  INCLUDES += -I$(ESP32_SDK_DIR)/components/bt/include/$(CPU_FAM)/include
+endif
+
+ifneq (,$(filter esp_ble_nimble,$(USEMODULE)))
+  INCLUDES += -I$(RIOTCPU)/$(CPU)/include/esp_ble_nimble
+  INCLUDES += $(NIMIBASE)/nimble/transport/common/hci_h4/include
+endif
+
 ifneq (,$(filter esp_spi_ram,$(USEMODULE)))
   INCLUDES += -I$(ESP32_SDK_DIR)/components/esp_hw_support/include/soc/$(CPU_FAM)
 endif
@@ -150,8 +160,14 @@ ifneq (,$(filter xtensa%,$(TARGET_ARCH)))
 endif
 
 LINKFLAGS += -L$(RIOTCPU)/$(CPU)/ld/$(CPU_FAM)/
-LINKFLAGS += -T$(RIOTCPU)/$(CPU)/ld/$(CPU_FAM)/memory.ld
+
+ifeq (,$(filter esp_ble,$(USEMODULE)))
+  LINKFLAGS += -T$(RIOTCPU)/$(CPU)/ld/$(CPU_FAM)/memory.ld
+else
+  LINKFLAGS += -T$(RIOTCPU)/$(CPU)/ld/$(CPU_FAM)/memory_bt.ld
+endif
 LINKFLAGS += -T$(RIOTCPU)/$(CPU)/ld/$(CPU_FAM)/sections.ld
+
 LINKFLAGS += -T$(ESP32_SDK_DIR)/components/soc/$(CPU_FAM)/ld/$(CPU_FAM).peripherals.ld
 LINKFLAGS += -T$(ESP32_SDK_DIR)/components/esp_rom/$(CPU_FAM)/ld/$(CPU_FAM).rom.api.ld
 LINKFLAGS += -T$(ESP32_SDK_DIR)/components/esp_rom/$(CPU_FAM)/ld/$(CPU_FAM).rom.ld
@@ -182,7 +198,7 @@ ifneq (,$(filter esp_wifi_any,$(USEMODULE)))
   LINKFLAGS += -L$(ESP32_SDK_LIB_PHY_DIR)/$(CPU_FAM)
   ARCHIVES += -lcoexist -lcore -lmesh -lnet80211 -lpp
   ARCHIVES += -lphy -lstdc++
-  ifneq (,$(filter esp32,$(CPU_FAM)))
+  ifeq (esp32,$(CPU_FAM))
     ARCHIVES += -lrtc
   endif
 endif
@@ -192,6 +208,17 @@ ifneq (,$(filter esp_now,$(USEMODULE)))
   ARCHIVES += -lespnow -lmesh
 endif
 
+# Libraries needed when using esp_ble
+ifneq (,$(filter esp_ble,$(USEMODULE)))
+  LINKFLAGS += -L$(ESP32_SDK_LIB_PHY_DIR)/$(CPU_FAM)
+  LINKFLAGS += -L$(ESP32_SDK_LIB_BT_DIR)/$(CPU_FAM)
+  ARCHIVES += -lbtdm_app
+  ARCHIVES += -lphy -lstdc++
+  ifeq (esp32,$(CPU_FAM))
+    ARCHIVES += -lrtc
+  endif
+endif
+
 ifneq (,$(filter cpp,$(USEMODULE)))
   ARCHIVES += -lstdc++
 endif

cpu/esp32/doc.txt

@@ -55,6 +55,7 @@ This document describes the RIOT implementation for supported variants
     2. [WiFi Network Interface](#esp32_wifi_network_interface)
     3. [WiFi SoftAP Network Interface](#esp32_wifi_ap_network_interface)
     4. [ESP-NOW Network Interface](#esp32_esp_now_network_interface)
+    4. [Bluetooth Interface](#esp32_esp_bluetooth_interface)
     5. [Other Network Devices](#esp32_other_network_devices)
 10. [Application-Specific Configurations](#esp32_application_specific_configurations)
     1. [Make Variable `CFLAGS`](#esp32_config_make_variable)
@@ -204,7 +205,7 @@ The key features of ESP32 are:
 | SPIs              | 4                                                                 | yes (2) |
 | UARTs             | 3                                                                 | yes |
 | WiFi              | IEEE 802.11 b/g/n built in                                        | yes |
-| Bluetooth         | v4.2 BR/EDR and BLE                                               | no  |
+| Bluetooth         | v4.2 BR/EDR and BLE                                               | yes |
 | Ethernet          | MAC interface with dedicated DMA and IEEE 1588 support            | yes |
 | CAN               | version 2.0                                                       | yes |
 | IR                | up to 8 channels TX/RX                                            | no |
@@ -335,7 +336,6 @@ at the moment:
 
 - Only **one core** (the PRO CPU) is used because RIOT does not support running
   multiple threads simultaneously.
-- **Bluetooth** cannot be used at the moment.
 - **Flash encryption** is not yet supported.
 
 [Back to table of contents](#esp32_toc)
@@ -1691,6 +1691,21 @@ the channel of the AP asvalue for the parameter 'ESP_NOW_CHANNEL'.
 
 [Back to table of contents](#esp32_toc)
 
+## Bluetooth Network Interface {#esp32_esp_bluetooth_interface}
+
+The following ESP32x SoC variants (families) integrate a Bluetooth Link
+Controller and a Bluetooth baseband system:
+
+- ESP32 supports Bluetooth v4.2 BR/EDR and Bluetooth LE
+- ESP32-C3, ESP32-S3 support Bluetooth 5 and Bluetooth mesh
+
+The Bluetooth interface can be used with the Bluetooth host implementation
+of the NimBLE package. Use one of the `nimble_*` modules for different
+applications to enable the Bluetooth interface and the NimBLE host
+implementation. Please refer to the NimBle package documentation for details.
+
+[Back to table of contents](#esp32_toc)
+
 ## Other Network Devices {#esp32_other_network_devices}
 
 RIOT provides a number of driver modules for different types of network

cpu/esp32/esp-ble-nimble/Kconfig

@@ -0,0 +1,22 @@
+# Copyright (c) 2022 HAW Hamburg
+#
+# This file is subject to the terms and conditions of the GNU Lesser
+# General Public License v2.1. See the file LICENSE in the top level
+# directory for more details.
+#
+
+config MODULE_ESP_BLE_NIMBLE
+    bool "ESP32 Bluetooth LE HCI for NimBLE host"
+    depends on TEST_KCONFIG
+    depends on CPU_FAM_ESP32
+    depends on HAS_ESP_BLE
+    default y if TEST_KCONFIG && MODULE_NIMBLE
+    select MODULE_ESP_BLE
+    select MODULE_NIMBLE_HOST
+    select MODULE_NIMBLE_TRANSPORT_HCI_H4
+    select MODULE_ZTIMER_MSEC
+
+config HAS_ESP_BLE
+    bool
+    help
+        Indicates that a ESP32 Buetooth LE controller.

cpu/esp32/esp-ble-nimble/Makefile

@@ -0,0 +1,3 @@
+MODULE=esp_ble_nimble
+
+include $(RIOTBASE)/Makefile.base

cpu/esp32/esp-ble-nimble/doc.txt

@@ -0,0 +1,17 @@
+/*
+ * Copyright (C) 2022 Gunar Schorcht
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ */
+
+/**
+ * @defgroup        cpu_esp32_esp_ble_nimble ESP32 Bluetooth LE HCI for NimBLE host
+ * @ingroup         cpu_esp32
+ * @brief           ESP32 Bluetooth LE HCI implementation for NimBLE host
+ *
+ * This module realizes the HCI for NimBLE host using the ESP32 Bluetooth controller
+ *
+ * @author      Gunar Schorcht <gunar@schorcht.net>
+ */