Merge branch 'feat/channel_sounding_nimble' into 'master'

feat(nimble): Add initial support for CS HCI

See merge request espressif/esp-idf!41865

Author: rahult-github

components/bt/CMakeLists.txt

@@ -754,6 +754,7 @@ if(CONFIG_BT_ENABLED)
                     host/nimble/nimble/nimble/host/util/include
                     host/nimble/nimble/nimble/host/store/ram/include
                     host/nimble/nimble/nimble/host/store/config/include
+                    host/nimble/nimble/nimble/host/services/ras/include
                     )
 
         list(APPEND srcs "host/nimble/nimble/nimble/transport/src/transport.c"
@@ -774,6 +775,8 @@ if(CONFIG_BT_ENABLED)
                     "host/nimble/nimble/nimble/host/services/hid/src/ble_svc_hid.c"
                     "host/nimble/nimble/nimble/host/services/sps/src/ble_svc_sps.c"
                     "host/nimble/nimble/nimble/host/services/cte/src/ble_svc_cte.c"
+                    "host/nimble/nimble/nimble/host/services/ras/src/ble_svc_ras.c"
+                    "host/nimble/nimble/nimble/host/src/ble_cs.c"
                     "host/nimble/nimble/nimble/host/src/ble_hs_conn.c"
                     "host/nimble/nimble/nimble/host/src/ble_store_util.c"
                     "host/nimble/nimble/nimble/host/src/ble_sm.c"

components/bt/host/nimble/Kconfig.in

@@ -708,6 +708,27 @@ menu "BLE 5.x Features"
     endif
 endmenu #BLE5.x
 
+menu "BLE 6.x Features"
+    depends on (SOC_BLE_60_SUPPORTED || BT_CONTROLLER_DISABLED)
+
+    menuconfig BT_NIMBLE_60_FEATURE_SUPPORT
+        bool "Enable BLE 6 feature"
+        depends on BT_NIMBLE_ENABLED && (SOC_BLE_60_SUPPORTED || BT_CONTROLLER_DISABLED)
+        default n
+        help
+            Enable BLE 6 feature
+
+    if BT_NIMBLE_60_FEATURE_SUPPORT
+        config BT_NIMBLE_CHANNEL_SOUNDING
+            bool "ble channel souding feature"
+            depends on BT_NIMBLE_ENABLED
+            default n
+            help
+                Used to enable/disable the channel sounding feature
+
+    endif
+endmenu #BLE6.x
+
 menu "Services"
     depends on BT_NIMBLE_GATT_SERVER
 
@@ -955,6 +976,7 @@ menu "Services"
             default 0 if BT_NIMBLE_SVC_GAP_CAR_NOT_SUPP
             default 1 if BT_NIMBLE_SVC_GAP_CAR_SUPP
 
+
         menu "GAP Appearance write permissions"
             depends on BT_NIMBLE_GAP_SERVICE
 

components/bt/host/nimble/nimble

@@ -2192,4 +2192,12 @@
 #define MYNEWT_VAL_BLE_USED_IN_IDF (1)
 #endif
 
+#ifndef MYNEWT_VAL_BLE_CHANNEL_SOUNDING
+#ifdef CONFIG_BT_NIMBLE_CHANNEL_SOUNDING
+#define MYNEWT_VAL_BLE_CHANNEL_SOUNDING (CONFIG_BT_NIMBLE_CHANNEL_SOUNDING)
+#else
+#define MYNEWT_VAL_BLE_CHANNEL_SOUNDING (0)
+#endif
+#endif
+
 #endif

components/bt/host/nimble/port/include/esp_nimble_cfg.h

@@ -187,6 +187,25 @@ examples/bluetooth/nimble/ble_ancs:
   depends_filepatterns:
     - examples/bluetooth/nimble/common/**/*
 
+examples/bluetooth/nimble/ble_chan_sound_initiator:
+  <<: *bt_default_depends
+  enable:
+    - if: SOC_BLE_SUPPORTED == 1 and IDF_TARGET == "esp32c6"
+      temporary: true
+      reason: Channel Sounding example only supported on ESP32-C6
+  depends_filepatterns:
+    - examples/bluetooth/nimble/ble_chan_sound_initiator/**/*
+    - examples/bluetooth/nimble/common/**/*
+
+examples/bluetooth/nimble/ble_chan_sound_reflector:
+  <<: *bt_default_depends
+  enable:
+    - if: SOC_BLE_SUPPORTED == 1 and IDF_TARGET == "esp32c6"
+      temporary: true
+      reason: Channel Sounding example only supported on ESP32-C6
+  depends_filepatterns:
+    - examples/bluetooth/nimble/ble_chan_sound_reflector/**/*
+    - examples/bluetooth/nimble/common/**/*
 examples/bluetooth/nimble/ble_cte:
   <<: *bt_default_depends
   enable:

examples/bluetooth/.build-test-rules.yml

@@ -0,0 +1,8 @@
+# The following lines of boilerplate have to be in your project's
+# CMakeLists in this exact order for cmake to work correctly
+cmake_minimum_required(VERSION 3.16)
+
+include($ENV{IDF_PATH}/tools/cmake/project.cmake)
+# "Trim" the build. Include the minimal set of components, main, and anything it depends on.
+idf_build_set_property(MINIMAL_BUILD ON)
+project(ble_chan_sound_initiator)

examples/bluetooth/nimble/ble_chan_sound_initiator/CMakeLists.txt

@@ -0,0 +1,70 @@
+| Supported Targets | ESP32-C6 |
+| ----------------- | -------- |
+
+# BLE Channel sounding example
+(See the README.md file in the upper-level 'examples' directory for more information about examples.)
+* This example demonstrates the capability of the CS procedure to be executed on the ESP host + external controller.
+* It is important to note that the current example does not provide support for distance calculation, and it is currently under development.
+
+## Example output
+
+I (372) hal_uart: set baud_rate:115200.
+
+I (382) NimBLE_RAS_INITIATOR: BLE Host Task Started
+I (382) main_task: Returned from app_main()
+
+I (432) NimBLE: GAP procedure initiated: extended discovery;
+
+I (157332) NimBLE: GAP procedure initiated: extended connect;
+I (157552) NimBLE: Connection established
+I (157562) NimBLE: Connection secured
+I (162222) NimBLE: encryption change event; status=0
+
+I (162372) NimBLE: CS capabilities exchanged
+I (162372) NimBLE: Set default CS settings
+I (162392) NimBLE: create CS config
+I (162392) NimBLE: Setup phase completed
+
+## Note:
+* This example currently requires an external Bluetooth controller supporting BLE Channel sounding functionality,as the ESP chips listed above do not have native controller support for BLE channel sounding feature and is under development phase
+
+* To install the dependency packages needed, please refer to the top level [README file](../../../README.md#running-test-python-script-pytest).
+
+## How to Use Example
+
+Before project configuration and build, be sure to set the correct chip target using:
+
+```bash
+idf.py set-target <chip_name>
+```
+
+### Hardware Required
+
+* A development board with ESP32/ESP32-C2/ESP32-C3/ESP32-S3/ESP32-C6 SoC (e.g., ESP32-DevKitC, ESP-WROVER-KIT, etc.)
+* A USB cable for Power supply and programming
+
+See [Development Boards](https://www.espressif.com/en/products/devkits) for more information about it.
+
+### Configure the Project
+
+Open the project configuration menu:
+
+```bash
+idf.py menuconfig
+```
+
+In the `Example Configuration` menu:
+
+* Change the `Peer Address` option if needed.
+
+### Build and Flash
+
+Run `idf.py -p PORT flash monitor` to build, flash and monitor the project.
+
+(To exit the serial monitor, type ``Ctrl-]``.)
+
+See the [Getting Started Guide](https://idf.espressif.com/) for full steps to configure and use ESP-IDF to build projects.
+
+## Troubleshooting
+
+For any technical queries, please open an [issue](https://github.com/espressif/esp-idf/issues) on GitHub. We will get back to you soon.

examples/bluetooth/nimble/ble_chan_sound_initiator/README.md

@@ -0,0 +1,4 @@
+set(srcs "main.c")
+
+idf_component_register(SRCS "gatt_svr.c" "${srcs}"
+                       INCLUDE_DIRS ".")

examples/bluetooth/nimble/ble_chan_sound_initiator/main/CMakeLists.txt

@@ -0,0 +1,14 @@
+menu "Example Configuration"
+
+
+    config EXAMPLE_EXTENDED_ADV
+        bool
+        depends on SOC_BLE_50_SUPPORTED && BT_NIMBLE_50_FEATURE_SUPPORT
+        default y
+        select BT_NIMBLE_EXT_ADV
+        prompt "Enable Extended Adv"
+        help
+            Use this option to enable extended advertising in the example.
+            If this option is disabled, ensure config BT_NIMBLE_EXT_ADV is
+            also disabled from Nimble stack menuconfig
+endmenu

examples/bluetooth/nimble/ble_chan_sound_initiator/main/Kconfig.projbuild

@@ -0,0 +1,59 @@
+/*
+ * SPDX-FileCopyrightText: 2025 Espressif Systems (Shanghai) CO LTD
+* SPDX-License-Identifier: Unlicense OR CC0-1.0
+*/
+
+#ifndef H_BLE_CHAN_INITIATOR_
+#define H_BLE_CHAN_INITIATOR_
+
+#include "modlog/modlog.h"
+#include "esp_central.h"
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+struct ble_hs_adv_fields;
+struct ble_gap_conn_desc;
+struct ble_hs_cfg;
+union ble_store_value;
+union ble_store_key;
+
+
+#define BLE_HCI_LE_CS_SUBEVENT_DONE_STATUS_COMPLETE   0x0
+#define BLE_HCI_LE_CS_SUBEVENT_DONE_STATUS_PARTIAL   0x1
+#define BLE_HCI_LE_CS_SUBEVENT_DONE_STATUS_ABORTED   0xF
+
+#define LOCAL_PROCEDURE_MEM  1024  // Replace with an appropriate constant value
+struct ble_hs_cfg;
+struct ble_gatt_register_ctxt;
+
+/** GATT server. */
+
+#define BLE_UUID_RANGING_SERVICE_VAL (0x185B)
+
+/** @brief UUID of the RAS Features Characteristic. **/
+#define BLE_UUID_RAS_FEATURES_VAL (0x2C14)
+
+/** @brief UUID of the Real-time Ranging Data Characteristic. **/
+#define BLE_UUID_RAS_REALTIME_RD_VAL (0x2C15)
+
+/** @brief UUID of the On-demand Ranging Data Characteristic. **/
+#define BLE_UUID_RAS_ONDEMAND_RD_VAL (0x2C16)
+
+/** @brief UUID of the RAS Control Point Characteristic. **/
+#define BLE_UUID_RAS_CP_VAL (0x2C17)
+
+/** @brief UUID of the Ranging Data Ready Characteristic. **/
+#define BLE_UUID_RAS_RD_READY_VAL (0x2C18)
+
+/** @brief UUID of the Ranging Data Overwritten Characteristic. **/
+#define BLE_UUID_RAS_RD_OVERWRITTEN_VAL (0x2C19)
+
+void gatt_svr_register_cb(struct ble_gatt_register_ctxt *ctxt, void *arg);
+int gatt_svr_init(void);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif