Add integration with bt-hci crate (#1971)

* Add integration with bt-hci crate

Implementing traits from bt-hci allows the BleConnector to
be used with the Trouble BLE stack.

* use packed based read interface

* Improve example to allow another connection after disconnect

* update trouble version

* Workaround for spurious command complete events

* fix formatting

* ignore notify errors in example

* fix clippy warnings

* remove async feature from hal dependency

* remove deprecated feature from example

* Adopt to api changes

* Api fix for esp32

* Set rust-version of esp-wifi

* bump MSRV to 1.77 for CI and esp-hal

* Add changelog entry

.github/workflows/ci.yml

@@ -23,7 +23,7 @@ on:
 env:
   CARGO_TERM_COLOR: always
   GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-  MSRV: "1.76.0"
+  MSRV: "1.77.0"
   RUSTDOCFLAGS: -Dwarnings
 
 # Cancel any currently running workflows from the same PR, branch, or

esp-hal/CHANGELOG.md

@@ -7,6 +7,8 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ## [Unreleased]
 
+- Bump MSRV to 1.77.0 (#1971)
+
 ### Added
 
 - Implement `embedded-hal` output pin traits for `DummyPin` (#2019)

esp-hal/Cargo.toml

@@ -2,7 +2,7 @@
 name          = "esp-hal"
 version       = "0.20.1"
 edition       = "2021"
-rust-version  = "1.76.0"
+rust-version  = "1.77.0"
 description   = "Bare-metal HAL for Espressif devices"
 documentation = "https://docs.esp-rs.org/esp-hal/"
 repository    = "https://github.com/esp-rs/esp-hal"

esp-wifi/CHANGELOG.md

@@ -50,6 +50,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 - Implement `embedded_io::{ReadReady, WriteReady}` traits for `WifiStack` (#1882)
 - Implement `queue_msg_waiting` on the os_adapter (#1925)
 - Added API for promiscuous mode (#1935)
+- Implement `bt_hci::transport::Transport` traits for BLE (#1933)
 
 ### Changed
 

esp-wifi/Cargo.toml

@@ -2,6 +2,7 @@
 name = "esp-wifi"
 version = "0.9.1"
 edition = "2021"
+rust-version  = "1.77.0"
 authors = ["The ESP-RS team"]
 description = "A WiFi, Bluetooth and ESP-NOW driver for use with Espressif chips and bare-metal Rust"
 repository = "https://github.com/esp-rs/esp-hal"
@@ -51,6 +52,7 @@ futures-util = { version = "0.3.30", default-features = false, features = [
 atomic-waker = { version = "1.1.2", default-features = false, features = [
   "portable-atomic",
 ] }
+bt-hci = { version = "0.1.0", optional = true }
 
 [build-dependencies]
 toml-cfg     = "0.2.0"
@@ -103,6 +105,7 @@ async = [
   "dep:embassy-futures",
   "dep:embedded-io-async",
   "dep:esp-hal-embassy",
+  "dep:bt-hci",
 ]
 
 embassy-net = ["dep:embassy-net-driver", "async"]

esp-wifi/src/ble/controller/mod.rs

@@ -83,6 +83,13 @@ impl Write for BleConnector<'_> {
 pub mod asynch {
     use core::task::Poll;
 
+    use bt_hci::{
+        transport::{Transport, WithIndicator},
+        ControllerToHostPacket,
+        FromHciBytes,
+        HostToControllerPacket,
+        WriteHci,
+    };
     use embassy_sync::waitqueue::AtomicWaker;
     use embedded_io::ErrorType;
 
@@ -177,4 +184,64 @@ pub mod asynch {
             }
         }
     }
+
+    fn parse_hci(data: &[u8]) -> Result<Option<ControllerToHostPacket<'_>>, BleConnectorError> {
+        match ControllerToHostPacket::from_hci_bytes_complete(data) {
+            Ok(p) => Ok(Some(p)),
+            Err(e) => {
+                if e == bt_hci::FromHciBytesError::InvalidSize {
+                    use bt_hci::{event::EventPacketHeader, PacketKind};
+
+                    // Some controllers emit a suprious command complete event at startup.
+                    let (kind, data) =
+                        PacketKind::from_hci_bytes(data).map_err(|_| BleConnectorError::Unknown)?;
+                    if kind == PacketKind::Event {
+                        let (header, _) = EventPacketHeader::from_hci_bytes(data)
+                            .map_err(|_| BleConnectorError::Unknown)?;
+                        const COMMAND_COMPLETE: u8 = 0x0E;
+                        if header.code == COMMAND_COMPLETE && header.params_len < 4 {
+                            return Ok(None);
+                        }
+                    }
+                }
+                warn!("[hci] error parsing packet: {:?}", e);
+                Err(BleConnectorError::Unknown)
+            }
+        }
+    }
+
+    impl<'d> Transport for BleConnector<'d> {
+        /// Read a complete HCI packet into the rx buffer
+        async fn read<'a>(
+            &self,
+            rx: &'a mut [u8],
+        ) -> Result<ControllerToHostPacket<'a>, Self::Error> {
+            loop {
+                if !have_hci_read_data() {
+                    HciReadyEventFuture.await;
+                }
+
+                // Workaround for borrow checker.
+                // Safety: we only return a reference to x once, if parsing is successful.
+                let rx =
+                    unsafe { &mut *core::ptr::slice_from_raw_parts_mut(rx.as_mut_ptr(), rx.len()) };
+
+                let len = crate::ble::read_next(rx);
+                if let Some(packet) = parse_hci(&rx[..len])? {
+                    return Ok(packet);
+                }
+            }
+        }
+
+        /// Write a complete HCI packet from the tx buffer
+        async fn write<T: HostToControllerPacket>(&self, val: &T) -> Result<(), Self::Error> {
+            let mut buf: [u8; 259] = [0; 259];
+            let w = WithIndicator::new(val);
+            let len = w.size();
+            w.write_hci(&mut buf[..])
+                .map_err(|_| BleConnectorError::Unknown)?;
+            send_hci(&buf[..len]);
+            Ok(())
+        }
+    }
 }

examples/Cargo.toml

@@ -9,6 +9,7 @@ publish = false
 aes                 = "0.8.4"
 aligned             = { version = "0.4.2", optional = true }
 bleps               = { git = "https://github.com/bjoernQ/bleps", package = "bleps", rev = "a5148d8ae679e021b78f53fd33afb8bb35d0b62e", features = [ "macros", "async"] }
+bt-hci              = "0.1.0"
 cfg-if              = "1.0.0"
 critical-section    = "1.1.2"
 crypto-bigint       = { version = "0.5.5", default-features = false }
@@ -55,6 +56,7 @@ smart-leds          = "0.4.0"
 smoltcp             = { version = "0.11.0", default-features = false, features = [ "medium-ethernet", "socket-raw"] }
 ssd1306             = "0.8.4"
 static_cell         = { version = "2.1.0", features = ["nightly"] }
+trouble-host        = { git = "https://github.com/embassy-rs/trouble", package = "trouble-host", rev = "4f1114ce58e96fe54f5ed7e726f66e1ad8d9ce54", features = [ "log", "gatt" ] }
 usb-device          = "0.3.2"
 usbd-serial         = "0.2.2"
 

examples/src/bin/wifi_embassy_trouble.rs

@@ -0,0 +1,157 @@
+//! Embassy BLE Example using Trouble
+//!
+//! - starts Bluetooth advertising
+//! - offers a GATT service providing a battery percentage reading
+//! - automatically notifies subscribers every second
+//!
+
+//% FEATURES: embassy embassy-generic-timers esp-wifi esp-wifi/async esp-wifi/ble
+//% CHIPS: esp32 esp32s3 esp32c2 esp32c3 esp32c6 esp32h2
+
+#![no_std]
+#![no_main]
+
+use bt_hci::controller::ExternalController;
+use embassy_executor::Spawner;
+use embassy_futures::join::join3;
+use embassy_sync::blocking_mutex::raw::NoopRawMutex;
+use embassy_time::{Duration, Timer};
+use esp_backtrace as _;
+use esp_hal::{prelude::*, timer::timg::TimerGroup};
+use esp_wifi::ble::controller::asynch::BleConnector;
+use log::*;
+use static_cell::StaticCell;
+use trouble_host::{
+    advertise::{AdStructure, Advertisement, BR_EDR_NOT_SUPPORTED, LE_GENERAL_DISCOVERABLE},
+    attribute::{AttributeTable, CharacteristicProp, Service, Uuid},
+    Address,
+    BleHost,
+    BleHostResources,
+    PacketQos,
+};
+
+#[esp_hal_embassy::main]
+async fn main(_s: Spawner) {
+    esp_println::logger::init_logger_from_env();
+    let peripherals = esp_hal::init({
+        let mut config = esp_hal::Config::default();
+        config.cpu_clock = CpuClock::max();
+        config
+    });
+    let timg0 = TimerGroup::new(peripherals.TIMG0);
+
+    let init = esp_wifi::initialize(
+        esp_wifi::EspWifiInitFor::Ble,
+        timg0.timer0,
+        esp_hal::rng::Rng::new(peripherals.RNG),
+        peripherals.RADIO_CLK,
+    )
+    .unwrap();
+
+    #[cfg(feature = "esp32")]
+    {
+        let timg1 = TimerGroup::new(peripherals.TIMG1);
+        esp_hal_embassy::init(timg1.timer0);
+    }
+
+    #[cfg(not(feature = "esp32"))]
+    {
+        let systimer = esp_hal::timer::systimer::SystemTimer::new(peripherals.SYSTIMER)
+            .split::<esp_hal::timer::systimer::Target>();
+        esp_hal_embassy::init(systimer.alarm0);
+    }
+
+    let mut bluetooth = peripherals.BT;
+    let connector = BleConnector::new(&init, &mut bluetooth);
+    let controller: ExternalController<_, 20> = ExternalController::new(connector);
+
+    static HOST_RESOURCES: StaticCell<BleHostResources<8, 8, 256>> = StaticCell::new();
+    let host_resources = HOST_RESOURCES.init(BleHostResources::new(PacketQos::None));
+
+    let mut ble: BleHost<'_, _> = BleHost::new(controller, host_resources);
+
+    ble.set_random_address(Address::random([0xff, 0x9f, 0x1a, 0x05, 0xe4, 0xff]));
+    let mut table: AttributeTable<'_, NoopRawMutex, 10> = AttributeTable::new();
+
+    let id = b"Trouble ESP32";
+    let appearance = [0x80, 0x07];
+    let mut bat_level = [0; 1];
+    // Generic Access Service (mandatory)
+    let mut svc = table.add_service(Service::new(0x1800));
+    let _ = svc.add_characteristic_ro(0x2a00, id);
+    let _ = svc.add_characteristic_ro(0x2a01, &appearance[..]);
+    svc.build();
+
+    // Generic attribute service (mandatory)
+    table.add_service(Service::new(0x1801));
+
+    // Battery service
+    let bat_level_handle = table.add_service(Service::new(0x180f)).add_characteristic(
+        0x2a19,
+        &[CharacteristicProp::Read, CharacteristicProp::Notify],
+        &mut bat_level,
+    );
+
+    let mut adv_data = [0; 31];
+    AdStructure::encode_slice(
+        &[
+            AdStructure::Flags(LE_GENERAL_DISCOVERABLE | BR_EDR_NOT_SUPPORTED),
+            AdStructure::ServiceUuids16(&[Uuid::Uuid16([0x0f, 0x18])]),
+            AdStructure::CompleteLocalName(b"Trouble ESP32"),
+        ],
+        &mut adv_data[..],
+    )
+    .unwrap();
+
+    let server = ble.gatt_server::<NoopRawMutex, 10, 256>(&table);
+
+    info!("Starting advertising and GATT service");
+    // Run all 3 tasks in a join. They can also be separate embassy tasks.
+    let _ = join3(
+        // Runs the BLE host task
+        ble.run(),
+        // Processing events from GATT server (if an attribute was written)
+        async {
+            loop {
+                match server.next().await {
+                    Ok(_event) => {
+                        info!("Gatt event!");
+                    }
+                    Err(e) => {
+                        warn!("Error processing GATT events: {:?}", e);
+                    }
+                }
+            }
+        },
+        // Advertise our presence to the world.
+        async {
+            loop {
+                let mut advertiser = ble
+                    .advertise(
+                        &Default::default(),
+                        Advertisement::ConnectableScannableUndirected {
+                            adv_data: &adv_data[..],
+                            scan_data: &[],
+                        },
+                    )
+                    .await
+                    .unwrap();
+                let conn = advertiser.accept().await.unwrap();
+                // Keep connection alive and notify with value change
+                let mut tick: u8 = 0;
+                loop {
+                    if !conn.is_connected() {
+                        break;
+                    }
+                    Timer::after(Duration::from_secs(1)).await;
+                    tick = tick.wrapping_add(1);
+                    server
+                        .notify(&ble, bat_level_handle, &conn, &[tick])
+                        .await
+                        .ok();
+                }
+            }
+        },
+    )
+    .await;
+}