如何实现BLE gatt client + BT HFP AG共存？

最近开发一个项目有一个需求，需要BLE gatt client + BT HFP AG 共存

我写了一个demo，参考examplesbluetoothbluedroidclassic_bthfp_ag and examplesbluetoothbluedroidblegatt_client

首先hfp ag连接耳机，成功。

然后开始gatt client扫描，扫一会就出现了panic



串口log如下：

rst:0x1 (POWERON_RESET),boot:0x12 (SPI_FAST_FLASH_BOOT)

configsip: 0, SPIWP:0xee

clk_drv:0x00,q_drv:0x00,d_drv:0x00,cs0_drv:0x00,hd_drv:0x00,wp_drv:0x00

mode:DIO, clock div:2

load:0x3fff0030,len:7100

ho 0 tail 12 room 4

load:0x40078000,len:14292

load:0x40080400,len:3688

0x40080400: _init at ??:?



entry 0x40080678

I (29) boot: ESP-IDF v4.3-dirty 2nd stage bootloader

I (29) boot: compile time 15:17:17

I (29) boot: chip revision: 3

I (32) boot_comm: chip revision: 3, min. bootloader chip revision: 0

I (40) boot.esp32: SPI Speed      : 40MHz

I (44) boot.esp32: SPI Mode       : DIO

I (49) boot.esp32: SPI Flash Size : 2MB

I (53) boot: Enabling RNG early entropy source...

I (58) boot: Partition Table:

I (62) boot: ## Label            Usage          Type ST Offset   Length

I (69) boot:  0 nvs              WiFi data        01 02 00009000 00006000

I (77) boot:  1 phy_init         RF data          01 01 0000f000 00001000

I (84) boot:  2 factory          factory app      00 00 00010000 00100000

I (92) boot: End of partition table

I (96) boot_comm: chip revision: 3, min. application chip revision: 0

I (103) esp_image: segment 0: paddr=00010020 vaddr=3f400020 size=2a77ch (173948) map

I (177) esp_image: segment 1: paddr=0003a7a4 vaddr=3ffbdb60 size=040d8h ( 16600) load

I (184) esp_image: segment 2: paddr=0003e884 vaddr=40080000 size=01794h (  6036) load

I (187) esp_image: segment 3: paddr=00040020 vaddr=400d0020 size=a2d88h (667016) map

I (443) esp_image: segment 4: paddr=000e2db0 vaddr=40081794 size=164b0h ( 91312) load

I (482) esp_image: segment 5: paddr=000f9268 vaddr=50000000 size=00010h (    16) load

I (495) boot: Loaded app from partition at offset 0x10000

I (495) boot: Disabling RNG early entropy source...

I (507) cpu_start: Pro cpu up.

I (507) cpu_start: Starting app cpu, entry point is 0x400813cc

0x400813cc: call_start_cpu1 at /home/liupeng/WorkSpace/espressif/esp/esp-idf/components/esp_system/port/cpu_start.c:141



I (0) cpu_start: App cpu up.

I (524) cpu_start: Pro cpu start user code

I (524) cpu_start: cpu freq: 160000000

I (524) cpu_start: Application information:

I (528) cpu_start: Project name:     bt_ble_coex

I (533) cpu_start: App version:      v4.3-dirty

I (539) cpu_start: Compile time:     Aug 24 2021 15:17:17

I (545) cpu_start: ELF file SHA256:  2ba164595fb42e8d...

I (551) cpu_start: ESP-IDF:          v4.3-dirty

I (556) heap_init: Initializing. RAM available for dynamic allocation:

I (563) heap_init: At 3FFAFF10 len 000000F0 (0 KiB): DRAM

I (569) heap_init: At 3FFB6BF8 len 00001408 (5 KiB): DRAM

I (575) heap_init: At 3FFB9A20 len 00004108 (16 KiB): DRAM

I (581) heap_init: At 3FFC9C00 len 00016400 (89 KiB): DRAM

I (588) heap_init: At 3FFE0440 len 00003AE0 (14 KiB): D/IRAM

I (594) heap_init: At 3FFE4350 len 0001BCB0 (111 KiB): D/IRAM

I (600) heap_init: At 40097C44 len 000083BC (32 KiB): IRAM

I (608) spi_flash: detected chip: gd

I (611) spi_flash: flash io: dio

W (615) spi_flash: Detected size(8192k) larger than the size in the binary image header(2048k). Using the size in the binary image header.

I (629) cpu_start: Starting scheduler on PRO CPU.

I (0) cpu_start: Starting scheduler on APP CPU.

I (639) BT_APP_HF: [app_main] app main start....

I (689) BTDM_INIT: BT controller compile version [1342a48]

I (689) system_api: Base MAC address is not set

I (689) system_api: read default base MAC address from EFUSE

I (699) phy_init: phy_version 4670,719f9f6,Feb 18 2021,17:07:07

E (1419) BT_BTC: btc_hf_cb_handler: Invalid index -1

I (1429) gpio: GPIO[19]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0

I (1429) gpio: GPIO[21]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0

I (1439) gpio: GPIO[22]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0



Type 'help' to get the list of commands.

Use UP/DOWN arrows to navigate through command history.

Press TAB when typing command name to auto-complete.

==================================================

|       Steps to test hfp_ag                     |

|                                                |

|  1. Print 'help' to gain overview of commands  |

|  2. Setup a service level connection           |

|  3. Run hfp_ag to test                         |

|                                                |

=================================================



I (1689) BT_APP_HF: ble_gattc_init in.

I (1699) APP_GATTC: REG_EVT

I (1699) APP_GATTC: scan param set complete

hfp_ag>

hfp_ag> W (7539) BT_APPL: new conn_srvc id:5, app_id:0

I (7539) BT_APP_HF: APP HFP event: CONNECTION_STATE_EVT

I (7539) BT_APP_HF:     --connection state CONNECTED, peer feats 0x0, chld_feats 0x0

I (7609) BT_APP_HF: APP HFP event: CIND_RESPONSE_EVT

I (7609) BT_APP_HF:     --CIND Start.

I (7639) BT_APP_HF: APP HFP event: CONNECTION_STATE_EVT

I (7639) BT_APP_HF:     --connection state SLC_CONNECTED, peer feats 0x3f, chld_feats 0x4013

I (7659) BT_APP_HF: APP HFP event: NREC_RESPONSE_EVT

I (7659) BT_APP_HF:     --NREC status is: NREC DISABLE.

I (7669) BT_APP_HF: APP HFP event: VOLUME_CONTROL_EVT

I (7669) BT_APP_HF:     --Volume Target: SPEAKER, Volume 13

I (7719) BT_APP_HF: APP HFP event: UNKNOW_AT_CMD

I (7719) BT_APP_HF:     --UNKOW AT CMD: +XAPL=0000-0000-0100,7

I (7739) BT_APP_HF: APP HFP event: UNKNOW_AT_CMD

I (7739) BT_APP_HF:     --UNKOW AT CMD: +IPHONEACCEV=2,1,8,2,0

I (7789) BT_APP_HF: APP HFP event: CLCC_RESPONSE_EVT

I (7789) BT_APP_HF:     --Calling Line Identification.

I (7829) BT_APP_HF: APP HFP event: UNKNOW_AT_CMD

I (7829) BT_APP_HF:     --UNKOW AT CMD: +CSRSF=0,0,0,1,0,0,0

hfp_ag>

hfp_ag>

hfp_ag>

hfp_ag>

hfp_ag>

hfp_ag>

hfp_ag> blescan

ble start scanning

I (17059) APP_GATTC: scan start success

                                                                                                                                                                                                                                        I (17089) APP_GATTC: 1d a8 c0 ac e8 da

I (17089) APP_GATTC: searched Adv Data Len 31, Scan Response Len 0

I (17089) APP_GATTC: searched Device Name Len 0

I (17099) APP_GATTC:



I (17119) APP_GATTC: 53 7b 57 35 54 29

I (17119) APP_GATTC: searched Adv Data Len 17, Scan Response Len 0

I (17119) APP_GATTC: searched Device Name Len 0

I (17129) APP_GATTC:



I (17129) APP_GATTC: 5d be a4 a5 2f 6f

I (17129) APP_GATTC: searched Adv Data Len 31, Scan Response Len 0

I (17149) APP_GATTC: searched Device Name Len 0

I (17149) APP_GATTC:



hfp_ag> I (17189) APP_GATTC: 1d a8 c0 ac e8 da

I (17199) APP_GATTC: searched Adv Data Len 31, Scan Response Len 0

I (17199) APP_GATTC: searched Device Name Len 0

I (17209) APP_GATTC:



I (17219) APP_GATTC: 2a 67 91 78 8e 5d

I (17219) APP_GATTC: searched Adv Data Len 31, Scan Response Len 0

I (17219) APP_GATTC: searched Device Name Len 0

I (17229) APP_GATTC:



I (17319) APP_GATTC: d4 f2 5d 21 96 5a

I (17319) APP_GATTC: searched Adv Data Len 31, Scan Response Len 0

I (17319) APP_GATTC: searched Device Name Len 0

I (17329) APP_GATTC:



Guru Meditation Error: Core  0 panic'ed (LoadProhibited). Exception was unhandled.



Core  0 register dump:

PC      : 0x4001ac19  PS      : 0x00060e31  A0      : 0x800881fe  A1      : 0x3ffbe7f0  

A2      : 0x008479d4  A3      : 0x00000007  A4      : 0x00000000  A5      : 0x3ffb8360  

A6      : 0x000005b4  A7      : 0x00000000  A8      : 0x0000002f  A9      : 0x00000507  

A10     : 0x00000000  A11     : 0x3ffcc584  A12     : 0x00000000  A13     : 0x00000001  

A14     : 0x00000000  A15     : 0x3ffb8360  SAR     : 0x0000001e  EXCCAUSE: 0x0000001c  

EXCVADDR: 0x008479d8  LBEG    : 0x00000000  LEND    : 0x00000000  LCOUNT  : 0x00000000  



Backtrace:0x4001ac16:0x3ffbe7f0 0x400881fb:0x3ffbe810 0x40085502:0x3ffbe850 0x4008aaea:0x3ffbe870 0x4008b603:0x3ffbe890 0x40082b59:0x3ffbe8b0 0x40170413:0x3ffbd690 0x400da8ca:0x3ffbd6b0 0x40091fb5:0x3ffbd6d0 0x40093cd9:0x3ffbd6f0

0x400881fb: r_lld_evt_schedule at ??:?



0x40085502: r_ea_finetimer_isr at ??:?



0x4008aaea: r_rwbt_isr at ??:?



0x4008b603: r_rwbtdm_isr_wrapper at intc.c:?



0x40082b59: _xt_lowint1 at /home/liupeng/WorkSpace/espressif/esp/esp-idf/components/freertos/port/xtensa/xtensa_vectors.S:1105



0x40170413: cpu_ll_waiti at /home/liupeng/WorkSpace/espressif/esp/esp-idf/examples/bluetooth/bluedroid/coex/bt_ble_coex/build/../../../../../../components/hal/esp32/include/hal/cpu_ll.h:183

(inlined by) esp_pm_impl_waiti at /home/liupeng/WorkSpace/espressif/esp/esp-idf/components/esp_pm/pm_impl.c:827



0x400da8ca: esp_vApplicationIdleHook at /home/liupeng/WorkSpace/espressif/esp/esp-idf/components/esp_common/src/freertos_hooks.c:63



0x40091fb5: prvIdleTask at /home/liupeng/WorkSpace/espressif/esp/esp-idf/components/freertos/tasks.c:3839 (discriminator 1)



0x40093cd9: vPortTaskWrapper at /home/liupeng/WorkSpace/espressif/esp/esp-idf/components/freertos/port/xtensa/port.c:168