controller_vhci_ble_adv example on ESP32-C6 linking errors (IDFGH-13073)

[mringwal]

Answers checklist.

• I have read the documentation ESP-IDF Programming Guide and the issue is not addressed there.
• I have updated my IDF branch (master or release) to the latest version and checked that the issue is present there.
• I have searched the issue tracker for a similar issue and not found a similar issue.

IDF version.

v5.2-dev-3065-g272b4091f1

Operating System used.

macOS

How did you build your project?

Command line with idf.py

If you are using Windows, please specify command line type.

None

What is the expected behavior?

The example should compile for ESP32-C6

What is the actual behavior?

It fails to compile due to missing symbols:

• undefined reference to `esp_vhci_host_send_packet'
• undefined reference to `esp_vhci_host_register_callback'
• others

Steps to reproduce.

• Go to /examples/bluetooth/hci/controller_vhci_ble_adv
• idf.py set-target esp32-c6
• idf.py build

Build or installation Logs.

➜  controller_vhci_ble_adv git:(master) ✗ idf.py build
Executing action: all (aliases: build)
Running ninja in directory /Users/mringwal/Projects/esp32/esp-idf/examples/bluetooth/hci/controller_vhci_ble_adv/build
Executing "ninja all"...
[1/1] cd /Users/mringwal/Projects/esp32/esp-idf/examples/bluetooth/hci/controller_vh...p-idf/examples/bluetooth/hci/controller_vhci_ble_adv/build/bootloader/bootloader.bin
Bootloader binary size 0x5400 bytes. 0x2c00 bytes (34%) free.
[4/6] Linking CXX executable ble_adv.elf
FAILED: ble_adv.elf
: && /Users/mringwal/Projects/esp32/idf-tools/tools/riscv32-esp-elf/esp-12.2.0_20230208/riscv32-esp-elf/bin/riscv32-esp-elf-g++ -march=rv32imac_zicsr_zifencei -nostartfiles -march=rv32imac_zicsr_zifencei --specs=nosys.specs    -Wl,--cref -Wl,--defsym=IDF_TARGET_ESP32C6=0 -Wl,--Map=/Users/mringwal/Projects/esp32/esp-idf/examples/bluetooth/hci/controller_vhci_ble_adv/build/ble_adv.map -Wl,--no-warn-rwx-segments -fno-rtti -fno-lto -Wl,--gc-sections -Wl,--warn-common -T esp32c6.peripherals.ld -T esp32c6.rom.ld -T esp32c6.rom.api.ld -T esp32c6.rom.rvfp.ld -T esp32c6.rom.newlib.ld -T esp32c6.rom.version.ld -T esp32c6.rom.phy.ld -T esp32c6.rom.coexist.ld -T esp32c6.rom.net80211.ld -T esp32c6.rom.pp.ld -T esp32c6.rom.wdt.ld -T esp32c6.rom.newlib-normal.ld -T esp32c6.rom.heap.ld -T memory.ld -T sections.ld CMakeFiles/ble_adv.elf.dir/project_elf_src_esp32c6.c.obj -o ble_adv.elf -L/Users/mringwal/Projects/esp32/esp-idf/components/soc/esp32c6/ld   -L/Users/mringwal/Projects/esp32/esp-idf/components/esp_rom/esp32c6/ld   -L/Users/mringwal/Projects/esp32/esp-idf/examples/bluetooth/hci/controller_vhci_ble_adv/build/esp-idf/esp_system/ld   -L/Users/mringwal/Projects/esp32/esp-idf/components/esp_phy/lib/esp32c6   -L/Users/mringwal/Projects/esp32/esp-idf/components/esp_coex/lib/esp32c6   -L/Users/mringwal/Projects/esp32/esp-idf/components/esp_wifi/lib/esp32c6 esp-idf/riscv/libriscv.a  esp-idf/esp_ringbuf/libesp_ringbuf.a  esp-idf/efuse/libefuse.a  esp-idf/driver/libdriver.a  esp-idf/esp_pm/libesp_pm.a  esp-idf/mbedtls/libmbedtls.a  esp-idf/esp_bootloader_format/libesp_bootloader_format.a  esp-idf/esp_app_format/libesp_app_format.a  esp-idf/bootloader_support/libbootloader_support.a  esp-idf/esp_partition/libesp_partition.a  esp-idf/app_update/libapp_update.a  esp-idf/esp_mm/libesp_mm.a  esp-idf/spi_flash/libspi_flash.a  esp-idf/pthread/libpthread.a  esp-idf/esp_system/libesp_system.a  esp-idf/esp_rom/libesp_rom.a  esp-idf/hal/libhal.a  esp-idf/log/liblog.a  esp-idf/heap/libheap.a  esp-idf/soc/libsoc.a  esp-idf/esp_hw_support/libesp_hw_support.a  esp-idf/freertos/libfreertos.a  esp-idf/newlib/libnewlib.a  esp-idf/cxx/libcxx.a  esp-idf/esp_common/libesp_common.a  esp-idf/esp_timer/libesp_timer.a  esp-idf/app_trace/libapp_trace.a  esp-idf/esp_event/libesp_event.a  esp-idf/nvs_flash/libnvs_flash.a  esp-idf/esp_phy/libesp_phy.a  esp-idf/vfs/libvfs.a  esp-idf/lwip/liblwip.a  esp-idf/esp_netif/libesp_netif.a  esp-idf/wpa_supplicant/libwpa_supplicant.a  esp-idf/esp_coex/libesp_coex.a  esp-idf/esp_wifi/libesp_wifi.a  esp-idf/bt/libbt.a  esp-idf/btstack/libbtstack.a  esp-idf/unity/libunity.a  esp-idf/cmock/libcmock.a  esp-idf/console/libconsole.a  esp-idf/http_parser/libhttp_parser.a  esp-idf/esp-tls/libesp-tls.a  esp-idf/esp_adc/libesp_adc.a  esp-idf/esp_eth/libesp_eth.a  esp-idf/esp_gdbstub/libesp_gdbstub.a  esp-idf/esp_hid/libesp_hid.a  esp-idf/tcp_transport/libtcp_transport.a  esp-idf/esp_http_client/libesp_http_client.a  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/Users/mringwal/Projects/esp32/esp-idf/components/esp_coex/lib/esp32c6/libcoexist.a  /Users/mringwal/Projects/esp32/esp-idf/components/esp_wifi/lib/esp32c6/libcore.a  /Users/mringwal/Projects/esp32/esp-idf/components/esp_wifi/lib/esp32c6/libespnow.a  /Users/mringwal/Projects/esp32/esp-idf/components/esp_wifi/lib/esp32c6/libmesh.a  /Users/mringwal/Projects/esp32/esp-idf/components/esp_wifi/lib/esp32c6/libnet80211.a  /Users/mringwal/Projects/esp32/esp-idf/components/esp_wifi/lib/esp32c6/libpp.a  /Users/mringwal/Projects/esp32/esp-idf/components/esp_wifi/lib/esp32c6/libsmartconfig.a  /Users/mringwal/Projects/esp32/esp-idf/components/esp_wifi/lib/esp32c6/libwapi.a  esp-idf/riscv/libriscv.a  esp-idf/esp_ringbuf/libesp_ringbuf.a  esp-idf/efuse/libefuse.a  esp-idf/driver/libdriver.a  esp-idf/esp_pm/libesp_pm.a  esp-idf/mbedtls/libmbedtls.a  esp-idf/esp_bootloader_format/libesp_bootloader_format.a  esp-idf/esp_app_format/libesp_app_format.a  esp-idf/bootloader_support/libbootloader_support.a  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esp-idf/riscv/libriscv.a  esp-idf/esp_ringbuf/libesp_ringbuf.a  esp-idf/efuse/libefuse.a  esp-idf/driver/libdriver.a  esp-idf/esp_pm/libesp_pm.a  esp-idf/mbedtls/libmbedtls.a  esp-idf/esp_bootloader_format/libesp_bootloader_format.a  esp-idf/esp_app_format/libesp_app_format.a  esp-idf/bootloader_support/libbootloader_support.a  esp-idf/esp_partition/libesp_partition.a  esp-idf/app_update/libapp_update.a  esp-idf/esp_mm/libesp_mm.a  esp-idf/spi_flash/libspi_flash.a  esp-idf/pthread/libpthread.a  esp-idf/esp_system/libesp_system.a  esp-idf/esp_rom/libesp_rom.a  esp-idf/hal/libhal.a  esp-idf/log/liblog.a  esp-idf/heap/libheap.a  esp-idf/soc/libsoc.a  esp-idf/esp_hw_support/libesp_hw_support.a  esp-idf/freertos/libfreertos.a  esp-idf/newlib/libnewlib.a  esp-idf/cxx/libcxx.a  esp-idf/esp_common/libesp_common.a  esp-idf/esp_timer/libesp_timer.a  esp-idf/esp_event/libesp_event.a  esp-idf/nvs_flash/libnvs_flash.a  esp-idf/esp_phy/libesp_phy.a  esp-idf/vfs/libvfs.a  esp-idf/lwip/liblwip.a  esp-idf/esp_netif/libesp_netif.a  esp-idf/wpa_supplicant/libwpa_supplicant.a  esp-idf/esp_coex/libesp_coex.a  esp-idf/esp_wifi/libesp_wifi.a  esp-idf/http_parser/libhttp_parser.a  esp-idf/esp-tls/libesp-tls.a  esp-idf/esp_adc/libesp_adc.a  esp-idf/esp_eth/libesp_eth.a  esp-idf/esp_gdbstub/libesp_gdbstub.a  esp-idf/tcp_transport/libtcp_transport.a  esp-idf/esp_http_client/libesp_http_client.a  esp-idf/esp_http_server/libesp_http_server.a  esp-idf/esp_https_ota/libesp_https_ota.a  esp-idf/mbedtls/mbedtls/library/libmbedtls.a  esp-idf/mbedtls/mbedtls/library/libmbedcrypto.a  esp-idf/mbedtls/mbedtls/library/libmbedx509.a  /Users/mringwal/Projects/esp32/esp-idf/components/esp_coex/lib/esp32c6/libcoexist.a  /Users/mringwal/Projects/esp32/esp-idf/components/esp_wifi/lib/esp32c6/libcore.a  /Users/mringwal/Projects/esp32/esp-idf/components/esp_wifi/lib/esp32c6/libespnow.a  /Users/mringwal/Projects/esp32/esp-idf/components/esp_wifi/lib/esp32c6/libmesh.a  /Users/mringwal/Projects/esp32/esp-idf/components/esp_wifi/lib/esp32c6/libnet80211.a  /Users/mringwal/Projects/esp32/esp-idf/components/esp_wifi/lib/esp32c6/libpp.a  /Users/mringwal/Projects/esp32/esp-idf/components/esp_wifi/lib/esp32c6/libsmartconfig.a  /Users/mringwal/Projects/esp32/esp-idf/components/esp_wifi/lib/esp32c6/libwapi.a  esp-idf/riscv/libriscv.a  esp-idf/esp_ringbuf/libesp_ringbuf.a  esp-idf/efuse/libefuse.a  esp-idf/driver/libdriver.a  esp-idf/esp_pm/libesp_pm.a  esp-idf/mbedtls/libmbedtls.a  esp-idf/esp_bootloader_format/libesp_bootloader_format.a  esp-idf/esp_app_format/libesp_app_format.a  esp-idf/bootloader_support/libbootloader_support.a  esp-idf/esp_partition/libesp_partition.a  esp-idf/app_update/libapp_update.a  esp-idf/esp_mm/libesp_mm.a  esp-idf/spi_flash/libspi_flash.a  esp-idf/pthread/libpthread.a  esp-idf/esp_system/libesp_system.a  esp-idf/esp_rom/libesp_rom.a  esp-idf/hal/libhal.a  esp-idf/log/liblog.a  esp-idf/heap/libheap.a  esp-idf/soc/libsoc.a  esp-idf/esp_hw_support/libesp_hw_support.a  esp-idf/freertos/libfreertos.a  esp-idf/newlib/libnewlib.a  esp-idf/cxx/libcxx.a  esp-idf/esp_common/libesp_common.a  esp-idf/esp_timer/libesp_timer.a  esp-idf/esp_event/libesp_event.a  esp-idf/nvs_flash/libnvs_flash.a  esp-idf/esp_phy/libesp_phy.a  esp-idf/vfs/libvfs.a  esp-idf/lwip/liblwip.a  esp-idf/esp_netif/libesp_netif.a  esp-idf/wpa_supplicant/libwpa_supplicant.a  esp-idf/esp_coex/libesp_coex.a  esp-idf/esp_wifi/libesp_wifi.a  esp-idf/http_parser/libhttp_parser.a  esp-idf/esp-tls/libesp-tls.a  esp-idf/esp_adc/libesp_adc.a  esp-idf/esp_eth/libesp_eth.a  esp-idf/esp_gdbstub/libesp_gdbstub.a  esp-idf/tcp_transport/libtcp_transport.a  esp-idf/esp_http_client/libesp_http_client.a  esp-idf/esp_http_server/libesp_http_server.a  esp-idf/esp_https_ota/libesp_https_ota.a  esp-idf/mbedtls/mbedtls/library/libmbedtls.a  esp-idf/mbedtls/mbedtls/library/libmbedcrypto.a  esp-idf/mbedtls/mbedtls/library/libmbedx509.a  /Users/mringwal/Projects/esp32/esp-idf/components/esp_coex/lib/esp32c6/libcoexist.a  /Users/mringwal/Projects/esp32/esp-idf/components/esp_wifi/lib/esp32c6/libcore.a  /Users/mringwal/Projects/esp32/esp-idf/components/esp_wifi/lib/esp32c6/libespnow.a  /Users/mringwal/Projects/esp32/esp-idf/components/esp_wifi/lib/esp32c6/libmesh.a  /Users/mringwal/Projects/esp32/esp-idf/components/esp_wifi/lib/esp32c6/libnet80211.a  /Users/mringwal/Projects/esp32/esp-idf/components/esp_wifi/lib/esp32c6/libpp.a  /Users/mringwal/Projects/esp32/esp-idf/components/esp_wifi/lib/esp32c6/libsmartconfig.a  /Users/mringwal/Projects/esp32/esp-idf/components/esp_wifi/lib/esp32c6/libwapi.a  -u esp_app_desc  -u pthread_include_pthread_impl  -u pthread_include_pthread_cond_var_impl  -u pthread_include_pthread_local_storage_impl  -u pthread_include_pthread_rwlock_impl  -u pthread_include_pthread_semaphore_impl  -u start_app  -u __ubsan_include  -u __assert_func  -u esp_crypto_dpa_prot_include_impl  -Wl,--undefined=FreeRTOS_openocd_params  -u app_main  -lc  -lm  -u newlib_include_heap_impl  -u newlib_include_syscalls_impl  -u newlib_include_pthread_impl  -u newlib_include_assert_impl  -Wl,--wrap=_Unwind_SetEnableExceptionFdeSorting  -Wl,--wrap=__register_frame_info_bases  -Wl,--wrap=__register_frame_info  -Wl,--wrap=__register_frame  -Wl,--wrap=__register_frame_info_table_bases  -Wl,--wrap=__register_frame_info_table  -Wl,--wrap=__register_frame_table  -Wl,--wrap=__deregister_frame_info_bases  -Wl,--wrap=__deregister_frame_info  -Wl,--wrap=_Unwind_Find_FDE  -Wl,--wrap=_Unwind_GetGR  -Wl,--wrap=_Unwind_GetCFA  -Wl,--wrap=_Unwind_GetIP  -Wl,--wrap=_Unwind_GetIPInfo  -Wl,--wrap=_Unwind_GetRegionStart  -Wl,--wrap=_Unwind_GetDataRelBase  -Wl,--wrap=_Unwind_GetTextRelBase  -Wl,--wrap=_Unwind_SetIP  -Wl,--wrap=_Unwind_SetGR  -Wl,--wrap=_Unwind_GetLanguageSpecificData  -Wl,--wrap=_Unwind_FindEnclosingFunction  -Wl,--wrap=_Unwind_Resume  -Wl,--wrap=_Unwind_RaiseException  -Wl,--wrap=_Unwind_DeleteException  -Wl,--wrap=_Unwind_ForcedUnwind  -Wl,--wrap=_Unwind_Resume_or_Rethrow  -Wl,--wrap=_Unwind_Backtrace  -Wl,--wrap=__cxa_call_unexpected  -Wl,--wrap=__gxx_personality_v0  -u __cxa_guard_dummy  -lstdc++  esp-idf/pthread/libpthread.a  esp-idf/newlib/libnewlib.a  -lgcc  esp-idf/cxx/libcxx.a  -u __cxx_fatal_exception  -u include_esp_phy_override  -lphy  -lbtbb  esp-idf/esp_phy/libesp_phy.a  -lphy  -lbtbb  esp-idf/esp_phy/libesp_phy.a  -lphy  -lbtbb  -u vfs_include_syscalls_impl && :
/Users/mringwal/Projects/esp32/idf-tools/tools/riscv32-esp-elf/esp-12.2.0_20230208/riscv32-esp-elf/bin/../lib/gcc/riscv32-esp-elf/12.2.0/../../../../riscv32-esp-elf/bin/ld: esp-idf/main/libmain.a(app_bt.c.obj): in function `hci_cmd_send_reset':
/Users/mringwal/Projects/esp32/esp-idf/examples/bluetooth/hci/controller_vhci_ble_adv/main/app_bt.c:50: undefined reference to `esp_vhci_host_send_packet'
/Users/mringwal/Projects/esp32/idf-tools/tools/riscv32-esp-elf/esp-12.2.0_20230208/riscv32-esp-elf/bin/../lib/gcc/riscv32-esp-elf/12.2.0/../../../../riscv32-esp-elf/bin/ld: esp-idf/main/libmain.a(app_bt.c.obj): in function `hci_cmd_send_ble_set_adv_param':
/Users/mringwal/Projects/esp32/esp-idf/examples/bluetooth/hci/controller_vhci_ble_adv/main/app_bt.c:79: undefined reference to `esp_vhci_host_send_packet'
/Users/mringwal/Projects/esp32/idf-tools/tools/riscv32-esp-elf/esp-12.2.0_20230208/riscv32-esp-elf/bin/../lib/gcc/riscv32-esp-elf/12.2.0/../../../../riscv32-esp-elf/bin/ld: esp-idf/main/libmain.a(app_bt.c.obj): in function `hci_cmd_send_ble_set_adv_data':
/Users/mringwal/Projects/esp32/esp-idf/examples/bluetooth/hci/controller_vhci_ble_adv/main/app_bt.c:96: undefined reference to `esp_vhci_host_send_packet'
/Users/mringwal/Projects/esp32/idf-tools/tools/riscv32-esp-elf/esp-12.2.0_20230208/riscv32-esp-elf/bin/../lib/gcc/riscv32-esp-elf/12.2.0/../../../../riscv32-esp-elf/bin/ld: esp-idf/main/libmain.a(app_bt.c.obj): in function `hci_cmd_send_ble_adv_start':
/Users/mringwal/Projects/esp32/esp-idf/examples/bluetooth/hci/controller_vhci_ble_adv/main/app_bt.c:56: undefined reference to `esp_vhci_host_send_packet'
/Users/mringwal/Projects/esp32/idf-tools/tools/riscv32-esp-elf/esp-12.2.0_20230208/riscv32-esp-elf/bin/../lib/gcc/riscv32-esp-elf/12.2.0/../../../../riscv32-esp-elf/bin/ld: esp-idf/main/libmain.a(app_bt.c.obj): in function `bleAdvtTask':
/Users/mringwal/Projects/esp32/esp-idf/examples/bluetooth/hci/controller_vhci_ble_adv/main/app_bt.c:106: undefined reference to `esp_vhci_host_register_callback'
/Users/mringwal/Projects/esp32/idf-tools/tools/riscv32-esp-elf/esp-12.2.0_20230208/riscv32-esp-elf/bin/../lib/gcc/riscv32-esp-elf/12.2.0/../../../../riscv32-esp-elf/bin/ld: /Users/mringwal/Projects/esp32/esp-idf/examples/bluetooth/hci/controller_vhci_ble_adv/main/app_bt.c:119: undefined reference to `esp_vhci_host_check_send_available'
collect2: error: ld returned 1 exit status
ninja: build stopped: subcommand failed.
ninja failed with exit code 1, output of the command is in the /Users/mringwal/Projects/esp32/esp-idf/examples/bluetooth/hci/controller_vhci_ble_adv/build/log/idf_py_stderr_output_93879 and /Users/mringwal/Projects/esp32/esp-idf/examples/bluetooth/hci/controller_vhci_ble_adv/build/log/idf_py_stdout_output_93879
➜  controller_vhci_ble_adv git:(master) ✗

More Information.

This is the same issue as #12194
However, the original poster had to patch esp-idf & his code locally to work around.

The main issue here is that the VHCI Interface gets disabled without CONFIG_BT_BLUEDROID_ENABLED.
The VHCI interface is very important to allow for alternative Bluetooth stacks, e.g. our BTstack, to successfully run on all ESP32 variants that contain a Bluetooth Controller.

Please enabled the VHCI interface for the C6 as it was done for ESP32, ESP32-C3, ESP32-S3,...

Thanks!

[zhaoweiliang2021]

@mringwal hi, This example(/examples/bluetooth/hci/controller_vhci_ble_adv) does not currently support ESP32C6 chip. There are currently plans to support it. You need to wait for a while.

[mringwal]

@zhaoweiliang2021 that would be great! Any idea on a time frame?

[ricardoquesada]

Friendly ping. Any ETA for this fix ? ty!

[zhaoweiliang2021]

@mringwal @ricardoquesada This code is already supported and awaiting further verification and code synchronization. Thanks.

[weiyuhannnn]

Hello, @mringwal @ricardoquesada The support has been merged with the following commits. We recommend using the latest release branches for your projects. Thx!

• master: abfca50
• v5.3: 0efdd4a
• v5.2: d0da89f
• v5.1: d82f916
• v5.0: 8d86ea0

[ricardoquesada]

@weiyuhannnn yay, many thanks!