Initial Pico/2 W Bazel support (#2049)

* Initial Pico 2 W Bazel support

Improves compatibility with Pico W and Pico 2 W by fixing issues that
prevented correct linking of wireless libraries.

* Improve correctness and configurability

* Require newer rules_python

* Require rules_python@0.36.0

* Fix missing compatibility expressions

* Minor tweaks

* Minor cleanup

* Update suggested version in Bazel README

* More README tweaks

* Improve Bazel btstack build correctness

MODULE.bazel

@@ -5,7 +5,7 @@ module(
 
 bazel_dep(name = "platforms", version = "0.0.9")
 bazel_dep(name = "bazel_skylib", version = "1.6.1")
-bazel_dep(name = "rules_python", version = "0.22.1")
+bazel_dep(name = "rules_python", version = "0.36.0")
 bazel_dep(name = "picotool", version = "2.0.0")
 bazel_dep(name = "rules_cc", version = "0.0.10")
 
@@ -132,3 +132,19 @@ register_toolchains(
     # Require users to opt-in to the Pico SDK's toolchains.
     dev_dependency = True,
 )
+
+python = use_extension("@rules_python//python/extensions:python.bzl", "python")
+python.toolchain(
+    configure_coverage_tool = True,
+    python_version = "3.9",
+)
+
+use_repo(python, "pythons_hub")
+register_toolchains(
+    "@pythons_hub//:all",
+    dev_dependency = True,
+)
+register_toolchains(
+    "@rules_python//python/runtime_env_toolchains:all",
+    dev_dependency = True,
+)

bazel/README.md

@@ -6,7 +6,7 @@
 First, in your `MODULE.bazel` file, add a dependency on the Pico SDK and
 `rules_cc`:
 ```python
-bazel_dep(name = "pico-sdk", version = "2.0.1")
+bazel_dep(name = "pico-sdk", version = "2.1.0")
 ```
 
 ### Register toolchains
@@ -92,11 +92,12 @@ you encounter along the way.
 
 Currently, the following features are not supported:
 
+* Pico W wireless libraries work, but may not have complete feature parity with
+  the CMake build.
+* Bazel does not yet provide RISC-V support for Pico 2/RP2350.
 * The pioasm parser cannot be built from source via Bazel.
 * Windows MSVC wildcard build (`bazel build //...`) does not work when targeting
   host.
-* Bazel does not yet provide RISC-V support for Pico 2/RP2350.
-* Pico W wireless libraries have link issues.
 
 ## Contributing
 When making changes to the Bazel build, please run the Bazel validation script

bazel/config/BUILD.bazel

@@ -151,6 +151,17 @@ string_flag(
     ],
 )
 
+# PICO_BAZEL_CONFIG: PICO_ASYNC_CONTEXT_IMPL, The default implementation for pico_async_context to link, type=string, default=threadsafe_background, group=build
+string_flag(
+    name = "PICO_ASYNC_CONTEXT_IMPL",
+    build_setting_default = "threadsafe_background",
+    values = [
+        "poll",
+        "threadsafe_background",
+        "freertos",
+    ],
+)
+
 # PICO_BAZEL_CONFIG: PICO_BINARY_INFO_ENABLED, Whether to include binary info in final firmware, type=bool, default=1, group=pico_stdlib
 bool_flag(
     name = "PICO_BINARY_INFO_ENABLED",
@@ -248,6 +259,24 @@ label_flag(
     build_setting_default = "//bazel:empty_cc_lib",
 )
 
+# PICO_BAZEL_CONFIG: PICO_BT_ENABLE_BLE, [Bazel only] Whether or not to link in BLE portions of the btstack as part of //src/rp2_common/pico_btstack. Also defines ENABLE_BLE=1, type=bool, default=False, group=wireless
+bool_flag(
+    name = "PICO_BT_ENABLE_BLE",
+    build_setting_default = False,
+)
+
+# PICO_BAZEL_CONFIG: PICO_BT_ENABLE_CLASSIC, [Bazel only] Whether or not to link in classic BT portions of the btstack as part of //src/rp2_common/pico_btstack. Also defines ENABLE_CLASSIC=1, type=bool, default=False, group=wireless
+bool_flag(
+    name = "PICO_BT_ENABLE_CLASSIC",
+    build_setting_default = False,
+)
+
+# PICO_BAZEL_CONFIG: PICO_BT_ENABLE_MESH, [Bazel only] Whether or not to link in mesh BT portions of the btstack as part of //src/rp2_common/pico_btstack. Also defines ENABLE_MESH=1, type=bool, default=False, group=wireless
+bool_flag(
+    name = "PICO_BT_ENABLE_MESH",
+    build_setting_default = False,
+)
+
 # PICO_BAZEL_CONFIG: PICO_LWIP_CONFIG, [Bazel only] The cc_library that provides lwipopts.h, default=//bazel:empty_cc_lib, group=wireless
 label_flag(
     name = "PICO_LWIP_CONFIG",

bazel/constraint/BUILD.bazel

@@ -1,3 +1,5 @@
+load("//bazel/util:label_flag_matches.bzl", "label_flag_matches")
+
 package(default_visibility = ["//visibility:public"])
 
 # This constraint represents the dimension that guides the Pico SDK build. This
@@ -48,6 +50,11 @@ config_setting(
     flag_values = {"//bazel/config:PICO_BOARD": "pico_w"},
 )
 
+config_setting(
+    name = "is_pico2_w",
+    flag_values = {"//bazel/config:PICO_BOARD": "pico2_w"},
+)
+
 config_setting(
     name = "pico_toolchain_clang_enabled",
     flag_values = {"//bazel/config:PICO_TOOLCHAIN": "clang"},
@@ -173,6 +180,21 @@ config_setting(
     flag_values = {"//bazel/config:PICO_DEFAULT_PRINTF_IMPL": "compiler"},
 )
 
+config_setting(
+    name = "pico_async_context_poll_enabled",
+    flag_values = {"//bazel/config:PICO_ASYNC_CONTEXT_IMPL": "poll"},
+)
+
+config_setting(
+    name = "pico_async_context_threadsafe_background_enabled",
+    flag_values = {"//bazel/config:PICO_ASYNC_CONTEXT_IMPL": "threadsafe_background"},
+)
+
+config_setting(
+    name = "pico_async_context_freertos_enabled",
+    flag_values = {"//bazel/config:PICO_ASYNC_CONTEXT_IMPL": "freertos"},
+)
+
 config_setting(
     name = "pico_use_default_max_page_size_enabled",
     flag_values = {"//bazel/config:PICO_USE_DEFAULT_MAX_PAGE_SIZE": "True"},
@@ -199,16 +221,34 @@ config_setting(
 )
 
 config_setting(
-    name = "pico_btstack_config_unset",
-    flag_values = {"//bazel/config:PICO_BTSTACK_CONFIG": "//bazel:empty_cc_lib"},
+    name = "pico_bt_enable_ble_enabled",
+    flag_values = {"//bazel/config:PICO_BT_ENABLE_BLE": "True"},
 )
 
 config_setting(
+    name = "pico_bt_enable_classic_enabled",
+    flag_values = {"//bazel/config:PICO_BT_ENABLE_CLASSIC": "True"},
+)
+
+config_setting(
+    name = "pico_bt_enable_mesh_enabled",
+    flag_values = {"//bazel/config:PICO_BT_ENABLE_MESH": "True"},
+)
+
+label_flag_matches(
     name = "pico_lwip_config_unset",
-    flag_values = {"//bazel/config:PICO_LWIP_CONFIG": "//bazel:empty_cc_lib"},
+    flag = "//bazel/config:PICO_LWIP_CONFIG",
+    value = "//bazel:empty_cc_lib",
 )
 
-config_setting(
-    name = "pico_freertos_unset",
-    flag_values = {"//bazel/config:PICO_FREERTOS_LIB": "//bazel:empty_cc_lib"},
+label_flag_matches(
+    name = "pico_btstack_config_unset",
+    flag = "//bazel/config:PICO_BTSTACK_CONFIG",
+    value = "//bazel:empty_cc_lib",
+)
+
+label_flag_matches(
+    name = "pico_freertos_unset",
+    flag = "//bazel/config:PICO_FREERTOS_LIB",
+    value = "//bazel:empty_cc_lib",
 )

bazel/defs.bzl

@@ -88,6 +88,7 @@ def compatible_with_pico_w():
     return select({
         "@pico-sdk//bazel/constraint:cyw43_wireless": [],
         "@pico-sdk//bazel/constraint:is_pico_w": [],
+        "@pico-sdk//bazel/constraint:is_pico2_w": [],
         "//conditions:default": ["@platforms//:incompatible"],
     })
 

bazel/pico_btstack_make_gatt_header.bzl

@@ -0,0 +1,59 @@
+load("@rules_cc//cc:find_cc_toolchain.bzl", "find_cpp_toolchain", "use_cc_toolchain")
+
+def _pico_btstack_make_gatt_header_impl(ctx):
+    cc_toolchain = find_cpp_toolchain(ctx)
+    feature_configuration = cc_common.configure_features(
+        ctx = ctx,
+        cc_toolchain = cc_toolchain,
+        requested_features = ctx.features,
+        unsupported_features = ctx.disabled_features,
+    )
+
+    out = ctx.actions.declare_file(
+        "{}_gatt_generated/{}.h".format(ctx.label.name, ctx.file.src.basename.removesuffix(".gatt")),
+    )
+
+    ctx.actions.run(
+        executable = ctx.executable._make_gat_header_tool,
+        arguments = [
+            ctx.file.src.path,
+            out.path,
+            "-I",
+            ctx.file._btstack_hdr.dirname,
+        ] + [
+
+        ],
+        inputs = [
+            ctx.file.src,
+            ctx.file._btstack_hdr,
+        ],
+        outputs = [out],
+    )
+
+    cc_ctx = cc_common.create_compilation_context(
+        headers = depset(direct = [out]),
+        includes = depset(direct = [out.dirname]),
+    )
+
+    return [
+        DefaultInfo(files = depset(direct = [out])),
+        CcInfo(compilation_context = cc_ctx)
+    ]
+
+pico_btstack_make_gatt_header = rule(
+    implementation = _pico_btstack_make_gatt_header_impl,
+    attrs = {
+        "src": attr.label(mandatory = True, allow_single_file = True),
+        "_btstack_hdr": attr.label(
+            default = "@btstack//:src/bluetooth_gatt.h",
+            allow_single_file = True,
+        ),
+        "_make_gat_header_tool": attr.label(
+            default = "@btstack//:compile_gatt",
+            cfg = "exec",
+            executable = True,
+        ),
+    },
+    fragments = ["cpp"],
+    toolchains = use_cc_toolchain(),
+)

bazel/util/label_flag_matches.bzl

@@ -0,0 +1,37 @@
+"""A wrapper that enables a `config_setting` matcher for label_flag flags."""
+
+load("@bazel_skylib//rules:common_settings.bzl", "BuildSettingInfo")
+load("@bazel_tools//tools/cpp:toolchain_utils.bzl", "find_cpp_toolchain", "use_cpp_toolchain")
+
+def _match_label_flag_impl(ctx):
+    matches = str(ctx.attr.expected_value.label) == str(ctx.attr.flag.label)
+    return [
+        config_common.FeatureFlagInfo(value = str(matches)),
+        BuildSettingInfo(value = matches),
+    ]
+
+_match_label_flag = rule(
+    implementation = _match_label_flag_impl,
+    attrs = {
+        "expected_value": attr.label(
+            mandatory = True,
+            doc = "The expected flag value",
+        ),
+        "flag": attr.label(
+            mandatory = True,
+            doc = "The flag to extract a value from",
+        ),
+    },
+)
+
+def label_flag_matches(*, name, flag, value):
+    _match_label_flag(
+        name = name + "._impl",
+        expected_value = native.package_relative_label(value),
+        flag = flag,
+    )
+
+    native.config_setting(
+        name = name,
+        flag_values = {":{}".format(name + "._impl"): "True"},
+    )

bazel/util/transition.bzl

@@ -1,3 +1,9 @@
+def _normalize_flag_value(val):
+    """Converts flag values to transition-safe primitives."""
+    if type(val) == "label":
+        return str(val)
+    return val
+
 def declare_transtion(attrs, flag_overrides = None, append_to_flags = None, executable = True):
     """A helper that drastically simplifies declaration of a transition.
 
@@ -31,7 +37,7 @@ def declare_transtion(attrs, flag_overrides = None, append_to_flags = None, exec
         final_overrides = {}
         if flag_overrides != None:
             final_overrides = {
-                key: str(getattr(attrs, value))
+                key: _normalize_flag_value(getattr(attrs, value))
                 for key, value in flag_overrides.items()
             }
         if append_to_flags != None:
@@ -108,6 +114,8 @@ kitchen_sink_test_binary = declare_transtion(
     attrs = {
         "bt_stack_config": attr.label(mandatory = True),
         "lwip_config": attr.label(mandatory = True),
+        "enable_ble": attr.bool(default = False),
+        "enable_bt_classic": attr.bool(default = False),
         # This could be shared, but we don't in order to make it clearer that
         # a transition is in use.
         "_allowlist_function_transition": attr.label(
@@ -117,6 +125,8 @@ kitchen_sink_test_binary = declare_transtion(
     flag_overrides = {
         "@pico-sdk//bazel/config:PICO_BTSTACK_CONFIG": "bt_stack_config",
         "@pico-sdk//bazel/config:PICO_LWIP_CONFIG": "lwip_config",
+        "@pico-sdk//bazel/config:PICO_BT_ENABLE_BLE": "enable_ble",
+        "@pico-sdk//bazel/config:PICO_BT_ENABLE_CLASSIC": "enable_bt_classic",
     },
 )
 

src/rp2_common/pico_async_context/BUILD.bazel

@@ -2,8 +2,18 @@ load("//bazel:defs.bzl", "compatible_with_rp2", "incompatible_with_config")
 
 package(default_visibility = ["//visibility:public"])
 
-cc_library(
+alias(
     name = "pico_async_context",
+    actual = select({
+        "//bazel/constraint:pico_async_context_poll_enabled": ":pico_async_context_poll",
+        "//bazel/constraint:pico_async_context_threadsafe_background_enabled": ":pico_async_context_threadsafe_background",
+        "//bazel/constraint:pico_async_context_freertos_enabled": ":pico_async_context_freertos",
+        "//conditions:default": "//bazel:incompatible_cc_lib",
+    }),
+)
+
+cc_library(
+    name = "pico_async_context_base",
     srcs = ["async_context_base.c"],
     hdrs = [
         "include/pico/async_context.h",
@@ -26,7 +36,7 @@ cc_library(
         "//bazel/constraint:pico_freertos_unset",
     ),
     deps = [
-        ":pico_async_context",
+        ":pico_async_context_base",
         "//bazel/config:PICO_FREERTOS_LIB",
         "//src/common/pico_sync",
         "//src/common/pico_time",
@@ -42,7 +52,7 @@ cc_library(
     includes = ["include"],
     target_compatible_with = compatible_with_rp2(),
     deps = [
-        ":pico_async_context",
+        ":pico_async_context_base",
         "//src/common/pico_sync",
         "//src/common/pico_time",
         "//src/rp2_common:pico_platform",
@@ -56,7 +66,7 @@ cc_library(
     includes = ["include"],
     target_compatible_with = compatible_with_rp2(),
     deps = [
-        ":pico_async_context",
+        ":pico_async_context_base",
         "//src/common/pico_sync",
         "//src/common/pico_time",
         "//src/rp2_common:pico_platform",

src/rp2_common/pico_btstack/BUILD.bazel

@@ -2,6 +2,28 @@ load("//bazel:defs.bzl", "compatible_with_pico_w", "incompatible_with_config")
 
 package(default_visibility = ["//visibility:public"])
 
+# Prefer using this target to link in all the enabled bt modules, as it will
+# link the appropriate libraries and set the appropraite defines based on the
+# following flags:
+#
+#   --@pico-sdk//bazel/constraint:PICO_BT_ENABLE_BLE
+#   --@pico-sdk//bazel/constraint:PICO_BT_ENABLE_CLASSIC
+#   --@pico-sdk//bazel/constraint:PICO_BT_ENABLE_MESH
+cc_library(
+    name = "pico_btstack",
+    deps = ["pico_btstack_base"] + select({
+        "//bazel/constraint:pico_bt_enable_ble_enabled": [":pico_btstack_ble"],
+        "//conditions:default": [],
+    }) + select({
+        "//bazel/constraint:pico_bt_enable_classic_enabled": [":pico_btstack_classic"],
+        "//conditions:default": [],
+    }) + select({
+        "//bazel/constraint:pico_bt_enable_mesh_enabled": [":pico_btstack_mesh"],
+        "//conditions:default": [],
+    }),
+    target_compatible_with = incompatible_with_config("//bazel/constraint:pico_btstack_config_unset"),
+)
+
 # Prefer these aliases to directly referencing @btstack, as it's possible that
 # name may change.
 alias(
@@ -19,9 +41,19 @@ alias(
     actual = "@btstack//:pico_btstack_classic",
 )
 
+alias(
+    name = "pico_btstack_mesh",
+    actual = "@btstack//:pico_btstack_mesh",
+)
+
 alias(
     name = "pico_btstack_sbc_encoder",
-    actual = "@btstack//:pico_btstack_classic",
+    actual = "@btstack//:pico_btstack_sbc_encoder",
+)
+
+alias(
+    name = "pico_btstack_sbc_decoder",
+    actual = "@btstack//:pico_btstack_sbc_decoder",
 )
 
 alias(
@@ -63,11 +95,12 @@ cc_library(
 cc_library(
     name = "pico_btstack_stdin",
     srcs = ["btstack_stdin_pico.c"],
-    target_compatible_with = incompatible_with_config(
-        "//bazel/constraint:pico_btstack_config_unset",
-    ) + compatible_with_pico_w(),
+    target_compatible_with = compatible_with_pico_w() + incompatible_with_config("//bazel/constraint:pico_btstack_config_unset"),
     deps = [
+        ":pico_btstack_base",
+        "//bazel/config:PICO_BTSTACK_CONFIG",
         "//src/rp2_common:pico_platform",
         "//src/rp2_common/pico_stdio",
     ],
+    alwayslink = True,
 )

src/rp2_common/pico_btstack/btstack.BUILD

@@ -1,7 +1,14 @@
-load("@pico-sdk//bazel:defs.bzl", "incompatible_with_config")
+load("@rules_python//python:defs.bzl", "py_binary")
+load("@pico-sdk//bazel:defs.bzl", "compatible_with_config", "incompatible_with_config")
 
 package(default_visibility = ["//visibility:public"])
 
+# Expose the gatt header for pico_btstack_make_gatt_header.
+exports_files(
+    ["src/bluetooth_gatt.h"],
+    visibility = ["@pico-sdk//bazel:__pkg__"],
+)
+
 _DISABLE_WARNINGS = [
     "-Wno-cast-qual",
     "-Wno-format",
@@ -14,15 +21,44 @@ _DISABLE_WARNINGS = [
     "-Wno-unused-parameter",
 ]
 
+cc_library(
+    name = "pico_btstack_base_headers",
+    hdrs = glob(["**/*.h"]),
+    visibility = ["//visibility:private"],
+    defines = select({
+        "@pico-sdk//bazel/constraint:pico_bt_enable_ble_enabled": ["ENABLE_BLE=1"],
+        "//conditions:default": [],
+    }) + select({
+        "@pico-sdk//bazel/constraint:pico_bt_enable_mesh_enabled": ["ENABLE_MESH=1"],
+        "//conditions:default": [],
+    }) + select({
+        "@pico-sdk//bazel/constraint:pico_bt_enable_classic_enabled": ["ENABLE_CLASSIC=1"],
+        "//conditions:default": [],
+    }),
+    includes = [
+        ".",
+        "3rd-party/bluedroid/decoder/include",
+        "3rd-party/bluedroid/encoder/include",
+        "3rd-party/md5",
+        "3rd-party/micro-ecc",
+        "3rd-party/rijndael",
+        "3rd-party/segger-rtt",
+        "3rd-party/yxml",
+        "platform/embedded",
+        "src",
+    ],
+    deps = [
+        "@pico-sdk//bazel/config:PICO_BTSTACK_CONFIG"
+    ],
+)
+
 cc_library(
     name = "pico_btstack_base",
     srcs = [
-        "3rd-party/md5/md5.c",
         "3rd-party/micro-ecc/uECC.c",
         "3rd-party/rijndael/rijndael.c",
         "3rd-party/segger-rtt/SEGGER_RTT.c",
         "3rd-party/segger-rtt/SEGGER_RTT_printf.c",
-        "3rd-party/yxml/yxml.c",
         "platform/embedded/btstack_tlv_flash_bank.c",
         "platform/embedded/hci_dump_embedded_stdout.c",
         "platform/embedded/hci_dump_segger_rtt_stdout.c",
@@ -30,6 +66,7 @@ cc_library(
         "src/btstack_audio.c",
         "src/btstack_base64_decoder.c",
         "src/btstack_crypto.c",
+        "src/btstack_hid.c",
         "src/btstack_hid_parser.c",
         "src/btstack_linked_list.c",
         "src/btstack_memory.c",
@@ -48,25 +85,13 @@ cc_library(
         "src/hci_event.c",
         "src/l2cap.c",
         "src/l2cap_signaling.c",
-        "src/mesh/gatt-service/mesh_provisioning_service_server.c",
-        "src/mesh/gatt-service/mesh_proxy_service_server.c",
+        "3rd-party/md5/md5.c",
+        "3rd-party/yxml/yxml.c",
     ],
-    hdrs = glob(["**/*.h"]),
     copts = _DISABLE_WARNINGS,
-    includes = [
-        ".",
-        "3rd-party/md5",
-        "3rd-party/micro-ecc",
-        "3rd-party/rijndael",
-        "3rd-party/segger-rtt",
-        "3rd-party/yxml",
-        "platform/embedded",
-        "src",
-    ],
-    target_compatible_with = incompatible_with_config(
-        "@pico-sdk//bazel/constraint:pico_btstack_config_unset",
-    ),
-    deps = ["@pico-sdk//bazel/config:PICO_BTSTACK_CONFIG"],
+    target_compatible_with = incompatible_with_config("@pico-sdk//bazel/constraint:pico_btstack_config_unset"),
+    deps = [":pico_btstack_base_headers"],
+    alwayslink = True,
 )
 
 cc_library(
@@ -76,25 +101,27 @@ cc_library(
         "src/ble/att_db_util.c",
         "src/ble/att_dispatch.c",
         "src/ble/att_server.c",
-        "src/ble/gatt-service/ancs_client.c",
-        "src/ble/gatt-service/battery_service_client.c",
         "src/ble/gatt-service/battery_service_server.c",
+        "src/ble/gatt-service/battery_service_client.c",
         "src/ble/gatt-service/cycling_power_service_server.c",
         "src/ble/gatt-service/cycling_speed_and_cadence_service_server.c",
-        "src/ble/gatt-service/device_information_service_client.c",
         "src/ble/gatt-service/device_information_service_server.c",
+        "src/ble/gatt-service/device_information_service_client.c",
         "src/ble/gatt-service/heart_rate_service_server.c",
         "src/ble/gatt-service/hids_client.c",
         "src/ble/gatt-service/hids_device.c",
         "src/ble/gatt-service/nordic_spp_service_server.c",
         "src/ble/gatt-service/ublox_spp_service_server.c",
+        "src/ble/gatt-service/ancs_client.c",
         "src/ble/gatt_client.c",
         "src/ble/le_device_db_memory.c",
         "src/ble/le_device_db_tlv.c",
         "src/ble/sm.c",
     ],
     copts = _DISABLE_WARNINGS,
-    deps = [":pico_btstack_base"],
+    target_compatible_with = compatible_with_config("@pico-sdk//bazel/constraint:pico_bt_enable_ble_enabled"),
+    deps = [":pico_btstack_base_headers"],
+    alwayslink = True,
 )
 
 cc_library(
@@ -146,12 +173,70 @@ cc_library(
         "src/classic/spp_server.c",
     ],
     copts = _DISABLE_WARNINGS,
-    deps = [":pico_btstack_base"],
+    target_compatible_with = compatible_with_config("@pico-sdk//bazel/constraint:pico_bt_enable_classic_enabled"),
+    deps = [
+        ":pico_btstack_base",
+        ":pico_btstack_base_headers",
+    ],
+    alwayslink = True,
+)
+
+cc_library(
+    name = "pico_btstack_mesh",
+    srcs = [
+        "src/mesh/adv_bearer.c",
+        "src/mesh/beacon.c",
+        "src/mesh/gatt_bearer.c",
+        "src/mesh/gatt-service/mesh_provisioning_service_server.c",
+        "src/mesh/gatt-service/mesh_proxy_service_server.c",
+        "src/mesh/mesh.c",
+        "src/mesh/mesh_access.c",
+        "src/mesh/mesh_configuration_client.c",
+        "src/mesh/mesh_configuration_server.c",
+        "src/mesh/mesh_crypto.c",
+        "src/mesh/mesh_foundation.c",
+        "src/mesh/mesh_generic_default_transition_time_client.c",
+        "src/mesh/mesh_generic_default_transition_time_server.c",
+        "src/mesh/mesh_generic_level_client.c",
+        "src/mesh/mesh_generic_level_server.c",
+        "src/mesh/mesh_generic_on_off_client.c",
+        "src/mesh/mesh_generic_on_off_server.c",
+        "src/mesh/mesh_health_server.c",
+        "src/mesh/mesh_iv_index_seq_number.c",
+        "src/mesh/mesh_keys.c",
+        "src/mesh/mesh_lower_transport.c",
+        "src/mesh/mesh_network.c",
+        "src/mesh/mesh_node.c",
+        "src/mesh/mesh_peer.c",
+        "src/mesh/mesh_proxy.c",
+        "src/mesh/mesh_upper_transport.c",
+        "src/mesh/mesh_virtual_addresses.c",
+        "src/mesh/pb_adv.c",
+        "src/mesh/pb_gatt.c",
+        "src/mesh/provisioning.c",
+        "src/mesh/provisioning_device.c",
+        "src/mesh/provisioning_provisioner.c",
+    ],
+    copts = _DISABLE_WARNINGS,
+    target_compatible_with = compatible_with_config("@pico-sdk//bazel/constraint:pico_bt_enable_mesh_enabled"),
+    deps = [
+        ":pico_btstack_base_headers",
+        ":pico_btstack_ble",
+    ],
+    alwayslink = True,
+)
+
+cc_library(
+    name = "pico_btstack_sbc_common",
+    srcs = ["src/classic/btstack_sbc_bluedroid.c"],
+    deps = [":pico_btstack_base_headers"],
+    target_compatible_with = incompatible_with_config("@pico-sdk//bazel/constraint:pico_btstack_config_unset"),
 )
 
 cc_library(
     name = "pico_btstack_sbc_encoder",
     srcs = [
+        "src/classic/btstack_sbc_encoder_bluedroid.c",
         "3rd-party/bluedroid/encoder/srce/sbc_analysis.c",
         "3rd-party/bluedroid/encoder/srce/sbc_dct.c",
         "3rd-party/bluedroid/encoder/srce/sbc_dct_coeffs.c",
@@ -160,11 +245,43 @@ cc_library(
         "3rd-party/bluedroid/encoder/srce/sbc_enc_coeffs.c",
         "3rd-party/bluedroid/encoder/srce/sbc_encoder.c",
         "3rd-party/bluedroid/encoder/srce/sbc_packing.c",
-        "src/classic/btstack_sbc_encoder_bluedroid.c",
     ],
     copts = _DISABLE_WARNINGS,
     includes = ["3rd-party/bluedroid/decoder/include"],
-    deps = [":pico_btstack_base"],
+    deps = [
+        ":pico_btstack_base_headers",
+        ":pico_btstack_sbc_common",
+    ],
+    alwayslink = True,
+)
+
+cc_library(
+    name = "pico_btstack_sbc_decoder",
+    srcs = [
+        "src/classic/btstack_sbc_decoder_bluedroid.c",
+        "3rd-party/bluedroid/decoder/srce/readsamplesjoint.inc",
+        "3rd-party/bluedroid/decoder/srce/alloc.c",
+        "3rd-party/bluedroid/decoder/srce/bitalloc.c",
+        "3rd-party/bluedroid/decoder/srce/bitalloc-sbc.c",
+        "3rd-party/bluedroid/decoder/srce/bitstream-decode.c",
+        "3rd-party/bluedroid/decoder/srce/decoder-oina.c",
+        "3rd-party/bluedroid/decoder/srce/decoder-private.c",
+        "3rd-party/bluedroid/decoder/srce/decoder-sbc.c",
+        "3rd-party/bluedroid/decoder/srce/dequant.c",
+        "3rd-party/bluedroid/decoder/srce/framing.c",
+        "3rd-party/bluedroid/decoder/srce/framing-sbc.c",
+        "3rd-party/bluedroid/decoder/srce/oi_codec_version.c",
+        "3rd-party/bluedroid/decoder/srce/synthesis-sbc.c",
+        "3rd-party/bluedroid/decoder/srce/synthesis-dct8.c",
+        "3rd-party/bluedroid/decoder/srce/synthesis-8-generated.c",
+    ],
+    copts = _DISABLE_WARNINGS,
+    includes = ["3rd-party/bluedroid/decoder/include"],
+    deps = [
+        ":pico_btstack_base_headers",
+        ":pico_btstack_sbc_common",
+    ],
+    alwayslink = True,
 )
 
 cc_library(
@@ -175,7 +292,10 @@ cc_library(
     ],
     copts = _DISABLE_WARNINGS,
     includes = ["platform/lwip"],
-    deps = [":pico_btstack_base"],
+    deps = [
+        ":pico_btstack_base_headers",
+        "@pico-sdk//src/rp2_common/pico_lwip:pico_lwip_nosys",
+    ],
 )
 
 cc_library(
@@ -193,5 +313,17 @@ cc_library(
         "platform/freertos",
         "platform/lwip",
     ],
-    deps = [":pico_btstack_base"],
+    deps = [
+        ":pico_btstack_base_headers",
+        "@pico-sdk//src/rp2_common/pico_lwip:pico_lwip_freertos",
+    ],
+)
+
+py_binary(
+    name = "compile_gatt",
+    srcs = [
+        "tool/compile_gatt.py",
+    ],
+    # TODO: Add pip pins.
+    # deps = ["@python_packages//pycryptodomex"]
 )

src/rp2_common/pico_cyw43_arch/BUILD.bazel

@@ -2,6 +2,36 @@ load("//bazel:defs.bzl", "compatible_with_pico_w", "incompatible_with_config")
 
 package(default_visibility = ["//visibility:public"])
 
+alias(
+    name = "pico_cyw43_arch",
+    actual = select({
+        "//bazel/constraint:pico_lwip_config_unset": ":select_no_lwip",
+        "//conditions:default": ":select_lwip",
+    })
+)
+
+alias(
+    name = "select_lwip",
+    actual = select({
+        "//bazel/constraint:pico_async_context_poll_enabled": ":pico_cyw43_arch_lwip_poll",
+        "//bazel/constraint:pico_async_context_threadsafe_background_enabled": ":pico_cyw43_arch_lwip_threadsafe_background",
+        "//bazel/constraint:pico_async_context_freertos_enabled": ":pico_cyw43_arch_lwip_freertos",
+        "//conditions:default": "//bazel:incompatible_cc_lib",
+    }),
+    visibility = ["//visibility:private"],
+)
+
+alias(
+    name = "select_no_lwip",
+    actual = select({
+        "//bazel/constraint:pico_async_context_poll_enabled": ":pico_cyw43_arch_poll",
+        "//bazel/constraint:pico_async_context_threadsafe_background_enabled": ":pico_cyw43_arch_threadsafe_background",
+        "//bazel/constraint:pico_async_context_freertos_enabled": ":pico_cyw43_arch_freertos",
+        "//conditions:default": "//bazel:incompatible_cc_lib",
+    }),
+    visibility = ["//visibility:private"],
+)
+
 # Tuple is async_context type and whether or not lwip is enabled.
 _CONFIGURATIONS = [
     ("freertos", False),
@@ -13,8 +43,8 @@ _CONFIGURATIONS = [
 ]
 
 # This produces the following labels:
-#   pico_cyw43_arch_sys_freertos
-#   pico_cyw43_arch_lwip_sys_freertos
+#   pico_cyw43_arch_freertos
+#   pico_cyw43_arch_lwip_freertos
 #   pico_cyw43_arch_poll
 #   pico_cyw43_arch_lwip_poll
 #   pico_cyw43_arch_threadsafe_background
@@ -36,20 +66,24 @@ _CONFIGURATIONS = [
         defines = [
             "LIB_PICO_CYW43_ARCH=1",
             "PICO_CYW43_ARCH_{}=1".format(kind.upper()),
-            "CYW43_LWIP={}".format(1 if use_lwip else 0),
         ],
         includes = ["include"],
         target_compatible_with = compatible_with_pico_w() + (
             incompatible_with_config("//bazel/constraint:pico_freertos_unset") if kind == "freertos" else []
+        ) + (
+            incompatible_with_config("//bazel/constraint:pico_lwip_config_unset") if use_lwip else []
         ),
         deps = [
             "//src/rp2_common:pico_platform",
             "//src/rp2_common/pico_async_context:pico_async_context_{}".format(kind),
             "//src/rp2_common/pico_cyw43_driver",
-            "//src/rp2_common/pico_lwip",
             "//src/rp2_common/pico_unique_id",
         ] + (
-            ["//src/rp2_common/pico_lwip:pico_lwip_freertos"] if kind == "freertos" else ["//src/rp2_common/pico_lwip:pico_lwip_nosys"]
+            ["//src/rp2_common/pico_lwip:pico_lwip_freertos"] if kind == "freertos" and use_lwip else []
+        ) + (
+            ["//src/rp2_common/pico_lwip:pico_lwip_nosys"] if kind != "freertos" and use_lwip else []
+        ) + (
+            ["//src/rp2_common/pico_lwip"] if use_lwip else []
         ),
     )
     for kind, use_lwip in _CONFIGURATIONS

src/rp2_common/pico_cyw43_driver/BUILD.bazel

@@ -27,6 +27,7 @@ cc_library(
     deps = [
         ":cyw43_bus_pio",
         ":cyw43_configport",
+        ":pico_btstack_cyw43",
         "//src/rp2_common:pico_platform",
         "//src/rp2_common/hardware_clocks",
         "//src/rp2_common/hardware_dma",
@@ -36,21 +37,25 @@ cc_library(
         "//src/rp2_common/pico_async_context",
         "//src/rp2_common/pico_unique_id",
         "@cyw43-driver//:cyw43_driver",
-    ] +
-    # Only depend on the btstack if its configuration is set up.
-    select({
+    ] + select({
         "//bazel/constraint:pico_btstack_config_unset": [],
-        "//conditions:default": [":pico_cyw43_btstack"],
+        "//conditions:default": [
+            "//src/rp2_common/pico_btstack:pico_btstack",
+        ],
     }),
+    alwayslink = True,
 )
 
 cc_library(
-    name = "pico_cyw43_btstack",
-    srcs = [
-        "btstack_chipset_cyw43.c",
+    name = "pico_btstack_cyw43",
+    srcs = select({
+        "//bazel/constraint:pico_btstack_config_unset": [],
+        "//conditions:default": [
             "btstack_cyw43.c",
+            "btstack_chipset_cyw43.c",
             "btstack_hci_transport_cyw43.c",
         ],
+    }),
     hdrs = [
         "include/pico/btstack_chipset_cyw43.h",
         "include/pico/btstack_cyw43.h",
@@ -60,13 +65,18 @@ cc_library(
     deps = [
         ":cyw43_bus_pio",
         ":cyw43_configport",
-        "//bazel/config:PICO_BTSTACK_CONFIG",
-        "//src/rp2_common/pico_btstack:btstack_run_loop_async_context",
-        "//src/rp2_common/pico_btstack:pico_btstack_base",
-        "//src/rp2_common/pico_btstack:pico_btstack_flash_bank",
-        "//src/rp2_common/pico_cyw43_driver/cybt_shared_bus:cybt_shared_bus_driver",
         "@cyw43-driver//:cyw43_driver",
+    ] + select({
+        "//bazel/constraint:pico_btstack_config_unset": [],
+        "//conditions:default": [
+            "//bazel/config:PICO_BTSTACK_CONFIG",
+            "//src/rp2_common/pico_cyw43_driver/cybt_shared_bus:cybt_shared_bus_driver",
+            "//src/rp2_common/pico_btstack:btstack_run_loop_async_context",
+            "//src/rp2_common/pico_btstack:pico_btstack",
+            "//src/rp2_common/pico_btstack:pico_btstack_flash_bank",
         ],
+    }),
+    alwayslink = True,
 )
 
 pico_generate_pio_header(

src/rp2_common/pico_cyw43_driver/cybt_shared_bus/BUILD.bazel

@@ -11,4 +11,5 @@ cc_library(
     deps = [
         "@cyw43-driver//:cyw43_driver",
     ],
+    alwayslink = True,
 )

src/rp2_common/pico_cyw43_driver/cyw43-driver.BUILD

@@ -12,6 +12,13 @@ cc_library(
     ],
     hdrs = glob(["**/*.h"]),
     defines = select({
+        "@pico-sdk//bazel/constraint:pico_lwip_config_unset": [
+            "CYW43_LWIP=0",
+        ],
+        "//conditions:default": [
+            "CYW43_LWIP=1",
+        ],
+    })+ select({
         "@pico-sdk//bazel/constraint:pico_btstack_config_unset": [
             "CYW43_ENABLE_BLUETOOTH=0",
         ],
@@ -26,6 +33,10 @@ cc_library(
     target_compatible_with = compatible_with_pico_w(),
     deps = [
         "@pico-sdk//src/rp2_common/pico_cyw43_driver:cyw43_configport",
+    ] + select({
+        "@pico-sdk//bazel/constraint:pico_lwip_config_unset": [],
+        "//conditions:default": [
             "@pico-sdk//src/rp2_common/pico_lwip",
         ],
+    }),
 )

src/rp2_common/pico_lwip/BUILD.bazel

@@ -25,11 +25,13 @@ cc_library(
         "//src/rp2_common/pico_async_context",
         "//src/rp2_common/pico_rand",
     ],
+    alwayslink = True,
 )
 
 cc_library(
     name = "pico_lwip_nosys",
     srcs = ["lwip_nosys.c"],
+    includes = ["include"],
     hdrs = ["include/pico/lwip_nosys.h"],
     target_compatible_with = compatible_with_pico_w(),
     deps = [
@@ -39,6 +41,7 @@ cc_library(
         "//src/rp2_common/pico_async_context",
         "//src/rp2_common/pico_rand",
     ],
+    alwayslink = True,
 )
 
 # Prefer these aliases to directly referencing @lwip, as it's possible that

src/rp2_common/pico_lwip/lwip.BUILD

@@ -1,4 +1,4 @@
-load("@pico-sdk//bazel:defs.bzl", "incompatible_with_config")
+load("@pico-sdk//bazel:defs.bzl", "incompatible_with_config", "compatible_with_config")
 
 package(default_visibility = ["//visibility:public"])
 
@@ -11,9 +11,10 @@ cc_library(
         "contrib/ports/freertos/include/arch",
         "src/include",
     ],
-    visibility = ["//visibility:private"],
+    visibility = [
+        "@pico-sdk//src/rp2_common/pico_lwip:__pkg__",
+    ],
     deps = [
-        "@pico-sdk//bazel/config:PICO_LWIP_CONFIG",
         "@pico-sdk//src/rp2_common/pico_lwip:pico_lwip_config",
     ],
 )
@@ -21,29 +22,25 @@ cc_library(
 cc_library(
     name = "pico_lwip_core",
     srcs = glob(["src/core/*.c"]),
-    target_compatible_with = incompatible_with_config(
-        "@pico-sdk//bazel/constraint:pico_lwip_config_unset",
-    ),
     deps = [
         ":pico_lwip_headers",
-    ] + select({
-        "@pico-sdk//bazel/constraint:pico_freertos_unset": [],
-        "//conditions:default": [
-            ":pico_lwip_contrib_freertos",
+        "@pico-sdk//bazel/config:PICO_LWIP_CONFIG",
     ],
-    }),
+    target_compatible_with = incompatible_with_config("@pico-sdk//bazel/constraint:pico_lwip_config_unset")
 )
 
 cc_library(
     name = "pico_lwip_core4",
     srcs = glob(["src/core/ipv4/*.c"]),
     deps = [":pico_lwip_core"],
+    alwayslink = True,
 )
 
 cc_library(
     name = "pico_lwip_core6",
     srcs = glob(["src/core/ipv6/*.c"]),
     deps = [":pico_lwip_core"],
+    alwayslink = True,
 )
 
 cc_library(

test/kitchen_sink/BUILD.bazel

@@ -6,10 +6,6 @@ package(default_visibility = ["//visibility:public"])
 cc_library(
     name = "btstack_config",
     hdrs = ["btstack_config.h"],
-    defines = [
-        "ENABLE_CLASSIC=1",
-        "ENABLE_BLE=1",
-    ],
     includes = ["."],
 )
 
@@ -113,6 +109,7 @@ cc_binary(
     deps = [
         ":kitchen_sink_common",
         "//src/rp2_common/pico_cyw43_arch:pico_cyw43_arch_lwip_poll",
+        "//src/rp2_common/pico_btstack:pico_btstack",
     ],
 )
 
@@ -133,6 +130,8 @@ kitchen_sink_test_binary(
     src = ":kitchen_sink_lwip_poll_actual",
     bt_stack_config = ":btstack_config",
     lwip_config = ":lwip_config",
+    enable_ble = True,
+    enable_bt_classic = True,
     target_compatible_with = compatible_with_rp2(),
 )
 
@@ -142,5 +141,7 @@ kitchen_sink_test_binary(
     src = ":kitchen_sink_lwip_background_actual",
     bt_stack_config = ":btstack_config",
     lwip_config = ":lwip_config",
+    enable_ble = True,
+    enable_bt_classic = True,
     target_compatible_with = compatible_with_rp2(),
 )

test/kitchen_sink/CMakeLists.txt

@@ -180,7 +180,7 @@ if (TARGET pico_cyw43_arch)
         target_link_libraries(kitchen_sink_lwip_poll
             pico_btstack_ble pico_btstack_classic pico_btstack_cyw43)
     endif()
-    # for lwipopts.h
+    # for lwipopts.h and btstack_config.h.
     target_include_directories(kitchen_sink_lwip_poll PRIVATE
             ${CMAKE_CURRENT_LIST_DIR})
 

tools/bazel_build.py

@@ -145,6 +145,22 @@ BUILD_CONFIGURATIONS = (
             )
         ),
     },
+    {
+        "name": "Pico 2 W",
+        "args": (
+            "--platforms=//bazel/platform:rp2350",
+            "--@pico-sdk//bazel/config:PICO_BOARD=pico2_w",
+        ),
+        "extra_targets": (),
+        "exclusions": frozenset(
+            (
+                # Host only.
+                "//test/pico_float_test:hazard3_test_gen",
+                # No RISC-V on RP2040.
+                "//test/pico_float_test:pico_float_test_hazard3",
+            )
+        ),
+    },
 )
 
 

tools/compare_build_systems.py

@@ -147,9 +147,16 @@ BAZEL_ONLY_ALLOWLIST = (
     "PICO_DEFAULT_PRINTF_IMPL",
     "PICO_DEFAULT_RAND_IMPL",
     "PICO_BINARY_INFO_ENABLED",
+    "PICO_ASYNC_CONTEXT_IMPL",
     # Allows selection of clang/gcc when using the dynamically fetched
     # toolchains.
     "PICO_TOOLCHAIN",
+    # In CMake, linking these libraries also sets defines for adjacent
+    # libraries. That's an antipattern in Bazel, so there's flags to control
+    # which modules to enable instead.
+    "PICO_BT_ENABLE_BLE",
+    "PICO_BT_ENABLE_CLASSIC",
+    "PICO_BT_ENABLE_MESH",
 )