Bluetooth: Controller: Zephyr v4.3.0 cherry pick

doc/connectivity/bluetooth/api/hci.txt

@@ -1085,14 +1085,13 @@ represents.
 | Event                         | Event Code | Event Parameters              |
 +-------------------------------+------------+-------------------------------+
 | Fatal_Error                   | 0xFF       | Subevent_Code,                |
-|                               |            | Error_Data_Type,              |
 |                               |            | Error_Data                    |
 +-------------------------------+------------+-------------------------------+
 
-The Error_Data_Type provides an information about what is the Error_Data size
-and content.
+The Subevent_Code provides an information about what is the Error_Data size and
+content.
 
-	Error_Data_Type:                                Size: 1 Octet
+	Subevent_Code:                                  Size: 1 Octet
 	+--------------------+--------------------------------------+
 	| Value              | Parameter Description                |
 	+--------------------+--------------------------------------+
@@ -1157,6 +1156,7 @@ Zephyr Fatal Error event may be generated by k_sys_fatal_error_handler.
 	| a4                 | 4 octets | General purpose register        |
 	| ip                 | 4 octets | Instruction pointer register    |
 	| lr                 | 4 octets | Link register                   |
+	| pc                 | 4 octets | Program counter register        |
 	| xpsr               | 4 octets | Program status register         |
 	+--------------------+--------------------------------------------+
 

doc/releases/migration-guide-4.3.rst

@@ -91,10 +91,13 @@ Bluetooth
 Bluetooth Controller
 ====================
 
-* The following Kconfig option have been renamed:
+* The following have been renamed:
 
     * :kconfig:option:`CONFIG_BT_CTRL_ADV_ADI_IN_SCAN_RSP` to
       :kconfig:option:`CONFIG_BT_CTLR_ADV_ADI_IN_SCAN_RSP`
+    * :c:struct:`bt_hci_vs_fata_error_cpu_data_cortex_m` to
+      :c:struct:`bt_hci_vs_fatal_error_cpu_data_cortex_m` and now contains the program counter
+      value.
 
 .. zephyr-keep-sorted-start re(^\w)
 

include/zephyr/bluetooth/hci_vs.h

@@ -222,20 +222,20 @@ struct bt_hci_evt_vs {
 	uint8_t  subevent;
 } __packed;
 
-#define BT_HCI_EVT_VS_FATAL_ERROR              0x02
-
 #define BT_HCI_EVT_VS_ERROR_DATA_TYPE_STACK_FRAME   0x01
 #define BT_HCI_EVT_VS_ERROR_DATA_TYPE_CTRL_ASSERT   0x02
 #define BT_HCI_EVT_VS_ERROR_DATA_TYPE_TRACE         0x03
-struct bt_hci_vs_fata_error_cpu_data_cortex_m {
+struct bt_hci_vs_fatal_error_cpu_data_cortex_m {
 	uint32_t a1;
 	uint32_t a2;
 	uint32_t a3;
 	uint32_t a4;
 	uint32_t ip;
 	uint32_t lr;
+	uint32_t pc;
 	uint32_t xpsr;
 } __packed;
+
 #define BT_HCI_EVT_VS_ERROR_CPU_TYPE_CORTEX_M  0x01
 struct bt_hci_vs_fatal_error_stack_frame {
 	uint32_t reason;

samples/bluetooth/hci_ipc/nrf5340_cpunet_bis-bt_ll_sw_split.conf

@@ -44,8 +44,9 @@ CONFIG_BT_ISO_RX_BUF_COUNT=1
 
 # Controller
 CONFIG_BT_LL_SW_SPLIT=y
-CONFIG_BT_CTLR_ASSERT_HANDLER=y
 CONFIG_BT_CTLR_DTM_HCI=y
+CONFIG_BT_CTLR_ASSERT_HANDLER=y
+CONFIG_BT_HCI_VS_FATAL_ERROR=y
 
 # Rx ACL and Adv Reports
 CONFIG_BT_CTLR_RX_BUFFERS=9

samples/bluetooth/hci_ipc/nrf5340_cpunet_bt_mesh-bt_ll_sw_split.conf

@@ -12,6 +12,8 @@ CONFIG_BT_MAX_CONN=16
 
 # Controller
 CONFIG_BT_LL_SW_SPLIT=y
+CONFIG_BT_CTLR_ASSERT_HANDLER=y
+CONFIG_BT_HCI_VS_FATAL_ERROR=y
 
 # Disable unused Bluetooth features
 CONFIG_BT_CTLR_DUP_FILTER_LEN=0

samples/bluetooth/hci_ipc/nrf5340_cpunet_cis-bt_ll_sw_split.conf

@@ -43,8 +43,9 @@ CONFIG_BT_ISO_RX_BUF_COUNT=1
 
 # Controller
 CONFIG_BT_LL_SW_SPLIT=y
-CONFIG_BT_CTLR_ASSERT_HANDLER=y
 CONFIG_BT_CTLR_DTM_HCI=y
+CONFIG_BT_CTLR_ASSERT_HANDLER=y
+CONFIG_BT_HCI_VS_FATAL_ERROR=y
 
 # Rx ACL and Adv Reports
 CONFIG_BT_CTLR_RX_BUFFERS=9

samples/bluetooth/hci_ipc/nrf5340_cpunet_df-bt_ll_sw_split.conf

@@ -29,8 +29,9 @@ CONFIG_BT_MAX_CONN=2
 
 # Controller
 CONFIG_BT_LL_SW_SPLIT=y
-CONFIG_BT_CTLR_ASSERT_HANDLER=y
 CONFIG_BT_CTLR_DTM_HCI=y
+CONFIG_BT_CTLR_ASSERT_HANDLER=y
+CONFIG_BT_HCI_VS_FATAL_ERROR=y
 
 # Rx ACL and Adv Reports
 CONFIG_BT_CTLR_RX_BUFFERS=9

samples/bluetooth/hci_ipc/nrf5340_cpunet_iso-bt_ll_sw_split.conf

@@ -53,8 +53,9 @@ CONFIG_BT_ISO_RX_BUF_COUNT=1
 
 # Controller
 CONFIG_BT_LL_SW_SPLIT=y
-CONFIG_BT_CTLR_ASSERT_HANDLER=y
 CONFIG_BT_CTLR_DTM_HCI=y
+CONFIG_BT_CTLR_ASSERT_HANDLER=y
+CONFIG_BT_HCI_VS_FATAL_ERROR=y
 
 # Rx ACL and Adv Reports
 CONFIG_BT_CTLR_RX_BUFFERS=9

samples/bluetooth/hci_ipc/nrf5340_cpunet_iso_broadcast-bt_ll_sw_split.conf

@@ -30,6 +30,8 @@ CONFIG_BT_ISO_RX_BUF_COUNT=1
 
 # ISO Broadcast Controller
 CONFIG_BT_LL_SW_SPLIT=y
+CONFIG_BT_CTLR_ASSERT_HANDLER=y
+CONFIG_BT_HCI_VS_FATAL_ERROR=y
 CONFIG_BT_CTLR_ADV_PERIODIC=y
 CONFIG_BT_CTLR_ADV_DATA_LEN_MAX=191
 CONFIG_BT_CTLR_ADV_ISO=y

samples/bluetooth/hci_ipc/nrf5340_cpunet_iso_central-bt_ll_sw_split.conf

@@ -40,6 +40,8 @@ CONFIG_BT_ISO_RX_BUF_COUNT=1
 
 # Controller
 CONFIG_BT_LL_SW_SPLIT=y
+CONFIG_BT_CTLR_ASSERT_HANDLER=y
+CONFIG_BT_HCI_VS_FATAL_ERROR=y
 CONFIG_BT_CTLR_DATA_LENGTH_MAX=251
 CONFIG_BT_CTLR_SCAN_DATA_LEN_MAX=191
 

samples/bluetooth/hci_ipc/nrf5340_cpunet_iso_peripheral-bt_ll_sw_split.conf

@@ -40,6 +40,8 @@ CONFIG_BT_ISO_RX_BUF_COUNT=1
 
 # Controller
 CONFIG_BT_LL_SW_SPLIT=y
+CONFIG_BT_CTLR_ASSERT_HANDLER=y
+CONFIG_BT_HCI_VS_FATAL_ERROR=y
 CONFIG_BT_CTLR_DATA_LENGTH_MAX=251
 CONFIG_BT_CTLR_ADV_DATA_LEN_MAX=191
 

samples/bluetooth/hci_ipc/nrf5340_cpunet_iso_receive-bt_ll_sw_split.conf

@@ -22,6 +22,8 @@ CONFIG_BT_PERIPHERAL=n
 
 # ISO Receive Controller
 CONFIG_BT_LL_SW_SPLIT=y
+CONFIG_BT_CTLR_ASSERT_HANDLER=y
+CONFIG_BT_HCI_VS_FATAL_ERROR=y
 CONFIG_BT_CTLR_SYNC_PERIODIC=y
 CONFIG_BT_CTLR_SCAN_DATA_LEN_MAX=191
 CONFIG_BT_CTLR_SYNC_ISO=y

samples/bluetooth/hci_ipc/src/main.c

@@ -307,7 +307,10 @@ void bt_ctlr_assert_handle(char *file, uint32_t line)
 	LOG_PANIC();
 
 	while (true) {
+		k_cpu_idle();
 	};
+
+	CODE_UNREACHABLE;
 }
 #endif /* CONFIG_BT_CTLR_ASSERT_HANDLER */
 
@@ -338,6 +341,7 @@ void k_sys_fatal_error_handler(unsigned int reason, const struct arch_esf *esf)
 	LOG_PANIC();
 
 	while (true) {
+		k_cpu_idle();
 	};
 
 	CODE_UNREACHABLE;

samples/bluetooth/hci_uart/overlay-all-bt_ll_sw_split.conf

@@ -28,8 +28,9 @@ CONFIG_BT_ISO_RX_BUF_COUNT=1
 
 # Controller
 CONFIG_BT_LL_SW_SPLIT=y
-CONFIG_BT_CTLR_ASSERT_HANDLER=y
 CONFIG_BT_CTLR_DTM_HCI=y
+CONFIG_BT_CTLR_ASSERT_HANDLER=y
+CONFIG_BT_HCI_VS_FATAL_ERROR=y
 
 # Rx ACL and Adv Reports
 CONFIG_BT_CTLR_RX_BUFFERS=9

subsys/bluetooth/controller/Kconfig

@@ -1190,6 +1190,21 @@ rsource "Kconfig.df"
 rsource "Kconfig.ll_sw_split"
 rsource "Kconfig.dtm"
 
+config BT_CTLR_ASSERT_OPTIMIZE_FOR_SIZE_SUPPORT
+	bool
+
+config BT_CTLR_ASSERT_DEBUG
+	bool "Development asserts"
+	default y
+	help
+	  This option enables development asserts used for code coverage.
+
+	  The Controller will continue to function without memory leak or corruption with these
+	  assertion checks disabled. Example, run-time mis-aligned memory access etc. which do
+	  otherwise implicitly cause CPU fault during development testing. But these type of
+	  asserted are essentially required for debugging, code and unit test coverage during
+	  development cycle.
+
 config BT_CTLR_ASSERT_HANDLER
 	bool "Application Defined Assertion Handler"
 	help
@@ -1199,6 +1214,18 @@ config BT_CTLR_ASSERT_HANDLER
 	  and will be invoked whenever the controller code encounters
 	  an unrecoverable error.
 
+config BT_CTLR_ASSERT_OPTIMIZE_FOR_SIZE
+	bool "Assertions optimized for code size"
+	depends on BT_CTLR_ASSERT_OPTIMIZE_FOR_SIZE_SUPPORT
+	default y
+	help
+	  Optimize Controller assertion check for code size.
+
+	  Example, reduces assertion check code size for ARM Cortex-M CPUs by using the undefined
+	  instruction exception.
+	  `arm-none-eabi-addr2line` commandline can be used to get the source file and line number
+	  from the program counter value.
+
 config BT_CTLR_VS_SCAN_REQ_RX
 	bool "Use scan request reporting"
 	depends on BT_HCI_VS && !BT_CTLR_ADV_EXT

subsys/bluetooth/controller/Kconfig.ll_sw_split

@@ -22,8 +22,7 @@ config BT_LLL_VENDOR_NORDIC
 					 !BT_CTLR_DATA_LENGTH_CLEAR && \
 					 !BT_CTLR_PHY_2M_NRF
 	select BT_CTLR_PRIVACY_SUPPORT if BT_CTLR_CRYPTO_SUPPORT && \
-					  !SOC_SERIES_NRF51X && \
-					  !SOC_COMPATIBLE_NRF54LX
+					  !SOC_SERIES_NRF51X
 	select BT_CTLR_CONN_PARAM_REQ_SUPPORT
 	select BT_CTLR_EXT_REJ_IND_SUPPORT
 	select BT_CTLR_PER_INIT_FEAT_XCHG_SUPPORT
@@ -70,6 +69,8 @@ config BT_LLL_VENDOR_NORDIC
 
 	select BT_TICKER_PREFER_START_BEFORE_STOP if BT_TICKER_SLOT_AGNOSTIC
 
+	select BT_CTLR_ASSERT_OPTIMIZE_FOR_SIZE_SUPPORT if CPU_CORTEX_M
+
 	default y
 	help
 	  Use Nordic Lower Link Layer implementation.

subsys/bluetooth/controller/hal/debug.h

@@ -1,31 +1,85 @@
 /*
- * Copyright (c) 2016 Nordic Semiconductor ASA
+ * Copyright (c) 2016-2025 Nordic Semiconductor ASA
  * Copyright (c) 2016 Vinayak Kariappa Chettimada
  *
  * SPDX-License-Identifier: Apache-2.0
  */
 
 #include "common/assert.h"
 
-#ifdef CONFIG_BT_CTLR_ASSERT_HANDLER
+#if defined(CONFIG_BT_CTLR_ASSERT_HANDLER)
 void bt_ctlr_assert_handle(char *file, uint32_t line);
+
+#if defined(CONFIG_BT_CTLR_ASSERT_OPTIMIZE_FOR_SIZE)
+BUILD_ASSERT(IS_ENABLED(CONFIG_CPU_CORTEX_M));
+/* Generate assertion as undefined instruction exception.
+ */
+#define LL_ASSERT(x) \
+	do { \
+		if (unlikely(!(x))) { \
+			__asm__ inline volatile (".inst 0xde00\n"); \
+		} \
+	} while (0)
+
+#else /* !CONFIG_BT_CTLR_ASSERT_OPTIMIZE_FOR_SIZE */
+/* Generate assertion with file name and line number.
+ * NOTE: Variable code size increase per assertion check, depends on full file name path string
+ *       length.
+ */
 #define LL_ASSERT(cond) \
-		if (!(cond)) { \
+		if (unlikely(!(cond))) { \
 			BT_ASSERT_PRINT(cond); \
 			bt_ctlr_assert_handle(__FILE__, __LINE__); \
 		}
+#endif /* !CONFIG_BT_CTLR_ASSERT_OPTIMIZE_FOR_SIZE */
+
 #define LL_ASSERT_MSG(cond, fmt, ...) \
-		if (!(cond)) { \
+		if (unlikely(!(cond))) { \
 			BT_ASSERT_PRINT(cond); \
 			BT_ASSERT_PRINT_MSG(fmt, ##__VA_ARGS__); \
 			bt_ctlr_assert_handle(__FILE__, __LINE__); \
 		}
-#else
+
+#else /* !CONFIG_BT_CTLR_ASSERT_HANDLER */
+
+#if defined(CONFIG_BT_CTLR_ASSERT_OPTIMIZE_FOR_SIZE)
+BUILD_ASSERT(IS_ENABLED(CONFIG_CPU_CORTEX_M));
+/* Generate assertion as undefined instruction exception.
+ */
+#define LL_ASSERT(x) \
+	do { \
+		if (unlikely(!(x))) { \
+			__asm__ inline volatile (".inst 0xde00\n"); \
+		} \
+	} while (0)
+
+#else /* !CONFIG_BT_CTLR_ASSERT_OPTIMIZE_FOR_SIZE */
 #define LL_ASSERT(cond) \
 		BT_ASSERT(cond)
+#endif /* !CONFIG_BT_CTLR_ASSERT_OPTIMIZE_FOR_SIZE */
+
 #define LL_ASSERT_MSG(cond, fmt, ...) \
 		BT_ASSERT_MSG(cond, fmt, ##__VA_ARGS__)
-#endif
+#endif /* !CONFIG_BT_CTLR_ASSERT_HANDLER */
+
+/* Fatal asserts.
+ * The Controller will otherwise misbehave causing memory leak or system-wide memory corruptions due
+ * to uncontrolled DMA transfers etc.
+ * It is not safe to disable these assertion checks.
+ */
+#define LL_ASSERT_ERR(cond) LL_ASSERT(cond)
+
+/* Development asserts.
+ * The Controller will continue to function without memory leak or corruption with these assertion
+ * checks disabled. Example, run-time mis-aligned memory access etc. which do otherwise implicitly
+ * cause CPU fault during development testing. But these type of asserted are essentially required
+ * for debugging, code and unit test coverage during development cycle.
+ */
+#if defined(CONFIG_BT_CTLR_ASSERT_DEBUG)
+#define LL_ASSERT_DBG(cond) LL_ASSERT(cond)
+#else /* !CONFIG_BT_CTLR_ASSERT_DEBUG */
+#define LL_ASSERT_DBG(cond) ARG_UNUSED((cond))
+#endif /* !CONFIG_BT_CTLR_ASSERT_DEBUG */
 
 #if defined(CONFIG_BT_CTLR_ASSERT_VENDOR)
 #define LL_ASSERT_INFO1(cond, param) \