OpenThread: add OpenThread and porting

* Adds the OpenThread submodule.
* Adds porting on ESP32.
* Adds the OpenThread cli example.

.gitlab/CODEOWNERS

@@ -116,6 +116,7 @@
 /components/nghttp/                   @esp-idf-codeowners/app-utilities
 /components/nvs_flash/                @esp-idf-codeowners/storage
 /components/openssl/                  @esp-idf-codeowners/network
+/components/openthread/               @esp-idf-codeowners/ieee802154
 /components/partition_table/          @esp-idf-codeowners/system
 /components/perfmon/                  @esp-idf-codeowners/tools
 /components/protobuf-c/               @esp-idf-codeowners/app-utilities
@@ -147,6 +148,7 @@
 /examples/ethernet/           @esp-idf-codeowners/network
 /examples/get-started/        @esp-idf-codeowners/system
 /examples/mesh/               @esp-idf-codeowners/wifi
+/examples/openthread/         @esp-idf-codeowners/ieee802154
 /examples/peripherals/        @esp-idf-codeowners/peripherals
 /examples/protocols/          @esp-idf-codeowners/network @esp-idf-codeowners/app-utilities
 /examples/provisioning/       @esp-idf-codeowners/app-utilities

.gitmodules

@@ -90,3 +90,7 @@
 [submodule "components/cmock/CMock"]
 	path = components/cmock/CMock
 	url = ../../ThrowTheSwitch/CMock.git
+
+[submodule "components/openthread/openthread"]
+	path = components/openthread/openthread
+	url = ../../espressif/openthread.git

components/openthread/CMakeLists.txt

@@ -0,0 +1,67 @@
+if(CONFIG_OPENTHREAD_ENABLED)
+    set(public_include_dirs
+        "include"
+        "openthread/include")
+
+    set(private_include_dirs
+        "openthread/include/openthread"
+        "openthread/src"
+        "openthread/src/core"
+        "openthread/src/lib/hdlc"
+        "openthread/src/lib/spinel"
+        "openthread/src/ncp"
+        "private_include")
+
+    set(src_dirs
+        "openthread/src/cli"
+        "openthread/src/core/api"
+        "openthread/src/core/coap"
+        "openthread/src/core/common"
+        "openthread/src/core/crypto"
+        "openthread/src/core/diags"
+        "openthread/src/core/mac"
+        "openthread/src/core/meshcop"
+        "openthread/src/core/net"
+        "openthread/src/core/radio"
+        "openthread/src/core/thread"
+        "openthread/src/core/utils"
+        "openthread/src/lib/platform"
+        "openthread/src/lib/hdlc"
+        "openthread/src/lib/spinel"
+        "port")
+
+    set(exclude_srcs "openthread/src/core/common/extension_example.cpp")
+
+    if(CONFIG_OPENTHREAD_FTD)
+        set(device_type "OPENTHREAD_FTD=1")
+    elseif(CONFIG_OPENTHREAD_MTD)
+        set(device_type "OPENTHREAD_MTD=1")
+    elseif(CONFIG_OPENTHREAD_RADIO)
+        set(device_type "OPENTHREAD_RADIO=1")
+    endif()
+endif()
+
+execute_process(
+    COMMAND git rev-parse --short HEAD
+    WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
+    OUTPUT_VARIABLE IDF_VERSION_FOR_OPENTHREAD_PACKAGE OUTPUT_STRIP_TRAILING_WHITESPACE
+)
+
+execute_process(
+    COMMAND git rev-parse --short HEAD
+    WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/openthread
+    OUTPUT_VARIABLE OPENTHREAD_VERSION OUTPUT_STRIP_TRAILING_WHITESPACE
+)
+
+idf_component_register(SRC_DIRS "${src_dirs}"
+                       EXCLUDE_SRCS "${exclude_srcs}"
+                       INCLUDE_DIRS "${public_include_dirs}"
+                       PRIV_INCLUDE_DIRS "${private_include_dirs}"
+                       REQUIRES mbedtls spi_flash)
+
+if(CONFIG_OPENTHREAD_ENABLED)
+    target_compile_definitions(${COMPONENT_LIB} PRIVATE
+                               "OPENTHREAD_CONFIG_FILE=\"openthread-core-esp32x-config.h\""
+                               "PACKAGE_VERSION=\"${IDF_VERSION_FOR_OPENTHREAD_PACKAGE}-${OPENTHREAD_VERSION}\""
+                               "${device_type}")
+endif()

components/openthread/Kconfig

@@ -0,0 +1,68 @@
+menu "OpenThread"
+
+    config OPENTHREAD_ENABLED
+        bool "OpenThread"
+        default n
+        help
+            Select this option to enable OpenThread and show the submenu with OpenThread configuration choices.
+
+    choice OPENTHREAD_DEVICE_TYPE
+        prompt "Config the Thread device type"
+        depends on OPENTHREAD_ENABLED
+        default OPENTHREAD_FTD
+        help
+            OpenThread can be configured to different device types (FTD, MTD, Radio)
+
+        config OPENTHREAD_FTD
+            bool "Full Thread Device"
+            help
+                Select this to enable Full Thread Device which can act as router and leader in a Thread network.
+
+        config OPENTHREAD_MTD
+            bool "Minimal Thread Device"
+            help
+                Select this to enable Minimal Thread Device which can only act as end device in a Thread network.
+                This will reduce the code size of the OpenThread stack.
+
+        config OPENTHREAD_RADIO
+            bool "Radio Only Device"
+            help
+                Select this to enable Radio Only Device which cannot can only forward 15.4 packets to the host.
+                The OpenThread stack will be run on the host and OpenThread will have minimal footprint on the
+                radio only device.
+    endchoice
+
+    config OPENTHREAD_DIAG
+        bool "Enable diag"
+        depends on OPENTHREAD_ENABLED
+        default y
+        help
+            Select this option to enable Diag in OpenThread. This will enable diag mode and a series of diag commands
+            in the OpenThread command line. These commands allow users to manipulate low-level features of the storage
+            and 15.4 radio.
+
+    config OPENTHREAD_COMMISSIONER
+        bool "Enable Commissioner"
+        depends on OPENTHREAD_ENABLED
+        default n
+        help
+            Select this option to enable commissioner in OpenThread. This will enable the device to act as a
+            commissioner in the Thread network. A commissioner checks the pre-shared key from a joining device with
+            the Thread commissioning protocol and shares the network parameter with the joining device upon success.
+
+    config OPENTHREAD_JOINER
+        bool "Enable Joiner"
+        depends on OPENTHREAD_ENABLED
+        default n
+        help
+            Select this option to enable Joiner in OpenThread. This allows a device to join the Thread network with a
+            pre-shared key using the Thread commissioning protocol.
+
+    config OPENTHREAD_PARTITION_NAME
+        string "The partition for OpenThread to store its network data"
+        depends on OPENTHREAD_ENABLED
+        default "ot_storage"
+        help
+            The storage size should be at least 8192 bytes.
+
+endmenu

components/openthread/component.mk

@@ -0,0 +1,59 @@
+ifdef CONFIG_OPENTHREAD_ENABLED
+
+COMPONENT_ADD_INCLUDEDIRS :=       \
+    openthread/include             \
+    include
+
+COMPONENT_PRIV_INCLUDEDIRS :=      \
+    openthread/src                 \
+    openthread/src/core            \
+    openthread/src/lib/hdlc        \
+    openthread/src/lib/spinel      \
+    openthread/src/ncp             \
+    private_include
+
+COMPONENT_SRCDIRS :=            \
+    openthread/src/cli          \
+    openthread/src/core         \
+    openthread/src/core/api     \
+    openthread/src/core/coap    \
+    openthread/src/core/common  \
+    openthread/src/core/crypto  \
+    openthread/src/core/diags   \
+    openthread/src/core/mac     \
+    openthread/src/core/meshcop \
+    openthread/src/core/net     \
+    openthread/src/core/radio   \
+    openthread/src/core/thread  \
+    openthread/src/core/utils   \
+    openthread/src/lib/hdlc     \
+    openthread/src/lib/platform \
+    openthread/src/lib/spinel   \
+    port
+
+COMPONENT_OBJEXCLUDE := \
+    openthread/src/core/common/extension_example.o
+
+IDF_VERSION_FOR_OPENTHREAD_PACKAGE := $(shell git -C $(COMPONENT_PATH) rev-parse --short HEAD)
+OPENTHREAD_VERSION := $(shell git -C $(COMPONENT_PATH)/openthread rev-parse --short HEAD)
+OPENTHREAD_PACKAGE_VERSION := $(IDF_VERSION_FOR_OPENTHREAD_PACKAGE)-$(OPENTHREAD_VERSION)
+
+COMMON_FLAGS :=                                                              \
+    -DOPENTHREAD_CONFIG_FILE=\<openthread-core-esp32x-config.h\>             \
+	-DPACKAGE_VERSION=\"OPENTHREAD_PACKAGE_VERSION\"
+
+ifdef CONFIG_OPENTHREAD_FTD
+	COMMON_FLAGS += -DOPENTHREAD_FTD=1
+else ifdef CONFIG_OPENTHREAD_MTD
+	COMMON_FLAGS += -DOPENTHREAD_MTD=1
+else ifdef CONFIG_OPENTHREAD_RADIO
+	COMMON_FLAGS += -DOPENTHREAD_RADIO=1
+endif
+
+CFLAGS += $(COMMON_FLAGS)
+
+CXXFLAGS += $(COMMON_FLAGS)
+
+CPPFLAGS += $(COMMON_FLAGS)
+
+endif

components/openthread/include/esp_openthread.h

@@ -0,0 +1,97 @@
+// Copyright 2021 Espressif Systems (Shanghai) CO LTD
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License
+
+#pragma once
+
+#include "esp_err.h"
+#include "esp_openthread_types.h"
+#include "openthread/error.h"
+#include "openthread/instance.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @brief   Initializes the platform-specific support for the OpenThread stack.
+ *
+ * @note This function is not called by and will not call the OpenThread library.
+ *       The user needs to call otInstanceInitSingle to intialize the OpenThread
+ *       stack after calling this fucntion.
+ *
+ * @param[in]  init_config      The initialization configuration.
+ *
+ * @return
+ *      - ESP_OK on success
+ *      - ESP_ERR_NO_MEM if allocation has failed
+ *      - ESP_ERR_INVALID_ARG if radio or host connection mode not supported
+ *      - ESP_ERR_INVALID_STATE if already initialized
+ *
+ */
+esp_err_t esp_openthread_platform_init(const esp_openthread_platform_config_t *init_config);
+
+/**
+ * This function performs all platform-specific deinitialization for OpenThread's drivers.
+ *
+ * @note This function is not called by the OpenThread library. Instead, the user should
+ *       call this function when deinitialization of OpenThread's drivers is most appropriate.
+ *
+ * @return
+ *      - ESP_OK on success
+ *      - ESP_ERR_INVALID_STATE if not initialized
+ *
+ */
+esp_err_t esp_openthread_platform_deinit(void);
+
+/**
+ * @brief This function acquires the underlying OpenThread instance.
+ *
+ * @note This function can be called on other tasks without lock.
+ *
+ * @return The OpenThread instance pointer
+ *
+ */
+otInstance *esp_openthread_get_instance(void);
+
+/**
+ * @brief This function updates the platform fds and timeouts
+ *
+ * @note This function will not update the OpenThread core stack pending events.
+ *       The users need to call `otTaskletsArePending` to check whether there being
+ *       pending OpenThread tasks.
+ *
+ * @param[inout]    mainloop    The main loop context.
+ *
+ */
+void esp_openthread_platform_update(esp_openthread_mainloop_context_t *mainloop);
+
+/**
+ * @brief This function performs the OpenThread related platform process (radio, uart, alarm etc.)
+ *
+ * @note This function will call the OpenThread core stack process functions.
+ *       The users need to call `otTaskletsProcess` by self.
+ *
+ * @param[in]    instance   The OpenThread instance.
+ * @param[in]    mainloop   The main loop context.
+ *
+ * @return
+ *      - ESP_OK on success
+ *      - ESP_FAIL on failure
+ *
+ */
+esp_err_t esp_openthread_platform_process(otInstance *instance, const esp_openthread_mainloop_context_t *mainloop);
+
+#ifdef __cplusplus
+} // end of extern "C"
+#endif

components/openthread/include/esp_openthread_lock.h

@@ -0,0 +1,67 @@
+// Copyright 2021 Espressif Systems (Shanghai) CO LTD
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License
+
+#pragma once
+
+#include <stdbool.h>
+
+#include "esp_err.h"
+#include "freertos/FreeRTOS.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @brief This function initializes the OpenThread API lock.
+ *
+ * @return
+ *      - ESP_OK on success
+ *      - ESP_ERR_NO_MEM if allocation has failed
+ *      - ESP_ERR_INVALID_STATE if already initialized
+ *
+ */
+esp_err_t esp_openthread_lock_init(void);
+
+/**
+ * This function deinitializes the OpenThread API lock.
+ *
+ */
+void esp_openthread_lock_deinit(void);
+
+/**
+ * @brief This functions acquires the OpenThread API lock.
+ *
+ * @note Every OT APIs that takes an otInstance argument MUST be protected with this API lock
+ *       except that the call site is in OT callbacks.
+ *
+ * @param[in] block_ticks   The maxinum number of RTOS ticks to wait for the lock.
+ *
+ * @return
+ *      - True on lock acquired
+ *      - False on failing to acquire the lock with the timeout.
+ *
+ */
+bool esp_openthread_lock_acquire(TickType_t block_ticks);
+
+/**
+ * @brief This function releases the OpenThread API lock.
+ *
+ */
+void esp_openthread_lock_release(void);
+
+
+#ifdef __cplusplus
+}
+#endif

components/openthread/include/esp_openthread_types.h

@@ -0,0 +1,93 @@
+// Copyright 2021 Espressif Systems (Shanghai) CO LTD
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License
+
+#pragma once
+
+#include "hal/uart_types.h"
+#include "sys/select.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * This structure represents a context for a select() based mainloop.
+ *
+ */
+typedef struct {
+    fd_set         read_fds;    /*!< The read file descriptors.*/
+    fd_set         write_fds;   /*!< The write file descriptors.*/
+    fd_set         error_fds;   /*!< The error file descriptors.*/
+    int            max_fd;      /*!< The max file descriptor.*/
+    struct timeval timeout;     /*!< The timeout.*/
+} esp_openthread_mainloop_context_t;
+
+/**
+ * @brief The uart port config for OpenThread.
+ *
+ */
+typedef struct {
+    uart_port_t port;               /*!< UART port number*/
+    uart_config_t uart_config;      /*!< UART configuration, see uart_config_t docs*/
+    int rx_pin;                     /*!< UART RX pin */
+    int tx_pin;                     /*!< UART TX pin */
+} esp_openthread_uart_config_t;
+
+/**
+ * @brief The radio mode of OpenThread.
+ *
+ */
+typedef enum {
+    RADIO_MODE_UART_RCP = 0x0,      /*!< UART connection to a 15.4 capable radio co-processor(RCP)*/
+} esp_openthread_radio_mode_t;
+
+/**
+ * @brief How OpenThread connects to the host.
+ *
+ */
+typedef enum {
+    HOST_CONNECTION_MODE_NONE = 0x0, /*!< Disable host connection*/
+    HOST_CONNECTION_MODE_UART = 0x1, /*!< UART connection to the host*/
+} esp_openthread_host_connection_mode_t;
+
+/**
+ * @brief The OpenThread radio configuration
+ *
+ */
+typedef struct {
+    esp_openthread_radio_mode_t     radio_mode;         /*!< The radio mode*/
+    esp_openthread_uart_config_t    radio_uart_config;  /*!< The uart configuration to RCP*/
+} esp_openthread_radio_config_t;
+
+/**
+ * @brief The OpenThread host connection configuration
+ *
+ */
+typedef struct {
+    esp_openthread_host_connection_mode_t   host_connection_mode;   /*!< The host connection mode*/
+    esp_openthread_uart_config_t            host_uart_config;       /*!< The uart configuration to host*/
+} esp_openthread_host_connection_config_t;
+
+/**
+ * @brief The OpenThread platform configuration
+ *
+ */
+typedef struct {
+    esp_openthread_radio_config_t               radio_config;   /*!< The radio configuration*/
+    esp_openthread_host_connection_config_t     host_config;    /*!< The host connection configuration*/
+} esp_openthread_platform_config_t;
+
+#ifdef __cplusplus
+}
+#endif

components/openthread/include/openthread-core-esp32x-config.h

@@ -0,0 +1,281 @@
+// Copyright 2021 Espressif Systems (Shanghai) CO LTD
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License
+
+#pragma once
+
+#include "sdkconfig.h"
+
+/**
+ * @def OPENTHREAD_CONFIG_PLATFORM_INFO
+ *
+ * The platform-specific string to insert into the OpenThread version string.
+ *
+ */
+#define OPENTHREAD_CONFIG_PLATFORM_INFO CONFIG_IDF_TARGET
+
+/**
+ * @def OPENTHREAD_CONFIG_PLATFORM_ASSERT_MANAGEMENT
+ *
+ * The assert is managed by platform defined logic when this flag is set.
+ *
+ */
+#define OPENTHREAD_CONFIG_PLATFORM_ASSERT_MANAGEMENT 1
+
+/**
+ * @def OPENTHREAD_CONFIG_PLATFORM_FLASH_API_ENABLE
+ *
+ * Define to 1 to enable otPlatFlash* APIs to support non-volatile storage.
+ *
+ * When defined to 1, the platform MUST implement the otPlatFlash* APIs instead of the otPlatSettings* APIs.
+ *
+ */
+#define OPENTHREAD_CONFIG_PLATFORM_FLASH_API_ENABLE 1
+
+/**
+ * @def OPENTHREAD_CONFIG_LOG_OUTPUT
+ *
+ * The ESP-IDF platform provides an otPlatLog() function.
+ */
+#define OPENTHREAD_CONFIG_LOG_OUTPUT OPENTHREAD_CONFIG_LOG_OUTPUT_PLATFORM_DEFINED
+
+/**
+ * @def OPENTHREAD_CONFIG_LOG_LEVEL
+ *
+ * The log level (used at compile time). If `OPENTHREAD_CONFIG_LOG_LEVEL_DYNAMIC_ENABLE` is set, this defines the most
+ * verbose log level possible. See `OPENTHREAD_CONFIG_LOG_LEVEL_INIT` to set the initial log level.
+ *
+ */
+#ifndef OPENTHREAD_CONFIG_LOG_LEVEL
+#if CONFIG_LOG_DEFAULT_LEVEL_NONE
+#define OPENTHREAD_CONFIG_LOG_LEVEL OT_LOG_LEVEL_NONE
+#elif CONFIG_LOG_DEFAULT_LEVEL_ERROR
+#define OPENTHREAD_CONFIG_LOG_LEVEL OT_LOG_LEVEL_CRIT
+#elif CONFIG_LOG_DEFAULT_LEVEL_WARN
+#define OPENTHREAD_CONFIG_LOG_LEVEL OT_LOG_LEVEL_WARN
+#elif CONFIG_LOG_DEFAULT_LEVEL_INFO
+#define OPENTHREAD_CONFIG_LOG_LEVEL OT_LOG_LEVEL_INFO
+#elif CONFIG_LOG_DEFAULT_LEVEL_DEBUG
+#define OPENTHREAD_CONFIG_LOG_LEVEL OT_LOG_LEVEL_DEBG
+#elif CONFIG_LOG_DEFAULT_LEVEL_VERBOSE
+#define OPENTHREAD_CONFIG_LOG_LEVEL OT_LOG_LEVEL_DEBG
+#endif
+#endif
+
+#define    OPENTHREAD_CONFIG_LOG_API 1
+#define    OPENTHREAD_CONFIG_LOG_ARP 1
+#define    OPENTHREAD_CONFIG_LOG_BBR 1
+#define    OPENTHREAD_CONFIG_LOG_CLI 1
+#define    OPENTHREAD_CONFIG_LOG_COAP 1
+#define    OPENTHREAD_CONFIG_LOG_DUA 1
+#define    OPENTHREAD_CONFIG_LOG_ICMP 1
+#define    OPENTHREAD_CONFIG_LOG_IP6 1
+#define    OPENTHREAD_CONFIG_LOG_MAC 1
+#define    OPENTHREAD_CONFIG_LOG_MEM 1
+#define    OPENTHREAD_CONFIG_LOG_MESHCOP 1
+#define    OPENTHREAD_CONFIG_LOG_MLE 1
+#define    OPENTHREAD_CONFIG_LOG_MLR 1
+#define    OPENTHREAD_CONFIG_LOG_NETDATA 1
+#define    OPENTHREAD_CONFIG_LOG_NETDIAG 1
+#define    OPENTHREAD_CONFIG_LOG_PKT_DUMP 1
+#define    OPENTHREAD_CONFIG_LOG_PLATFORM 1
+
+/**
+ * @def OPENTHREAD_CONFIG_NUM_MESSAGE_BUFFERS
+ *
+ * The number of message buffers in buffer pool
+ */
+#define OPENTHREAD_CONFIG_NUM_MESSAGE_BUFFERS 50
+
+/**
+ * @def OPENTHREAD_CONFIG_COAP_API_ENABLE
+ *
+ * Define to 1 to enable the CoAP API.
+ *
+ */
+#define OPENTHREAD_CONFIG_COAP_API_ENABLE 1
+
+/**
+ * @def OPENTHREAD_CONFIG_BORDER_ROUTER_ENABLE
+ *
+ * Define to 1 to enable Border Router support.
+ *
+ */
+#ifndef OPENTHREAD_CONFIG_BORDER_ROUTER_ENABLE
+#define OPENTHREAD_CONFIG_BORDER_ROUTER_ENABLE 1
+#endif
+
+/**
+ * @def OPENTHREAD_CONFIG_REFERENCE_DEVICE_ENABLE
+ *
+ * Define to 1 to enable Thread Test Harness reference device support.
+ *
+ */
+#define OPENTHREAD_CONFIG_REFERENCE_DEVICE_ENABLE 1
+
+/**
+ * @def OPENTHREAD_CONFIG_CHILD_SUPERVISION_ENABLE
+ *
+ * Define to 1 to enable Child Supervision support.
+ *
+ */
+#ifndef OPENTHREAD_CONFIG_CHILD_SUPERVISION_ENABLE
+#define OPENTHREAD_CONFIG_CHILD_SUPERVISION_ENABLE 1
+#endif
+
+/**
+ * @def OPENTHREAD_CONFIG_DHCP6_CLIENT_ENABLE
+ *
+ * Define to 1 to enable DHCPv6 Client support.
+ *
+ */
+#ifndef OPENTHREAD_CONFIG_DHCP6_CLIENT_ENABLE
+#define OPENTHREAD_CONFIG_DHCP6_CLIENT_ENABLE 1
+#endif
+
+/**
+ * @def OPENTHREAD_CONFIG_DHCP6_SERVER_ENABLE
+ *
+ * Define to 1 to enable DHCPv6 Server support.
+ *
+ */
+#ifndef OPENTHREAD_CONFIG_DHCP6_SERVER_ENABLE
+#define OPENTHREAD_CONFIG_DHCP6_SERVER_ENABLE 1
+#endif
+
+/**
+ * @def OPENTHREAD_CONFIG_DNS_CLIENT_ENABLE
+ *
+ * Define to 1 to enable DNS Client support.
+ *
+ */
+#ifndef OPENTHREAD_CONFIG_DNS_CLIENT_ENABLE
+#define OPENTHREAD_CONFIG_DNS_CLIENT_ENABLE 1
+#endif
+
+/**
+ * @def OPENTHREAD_CONFIG_NCP_SPI_ENABLE
+ *
+ * Define to 1 to enable NCP SPI support.
+ *
+ */
+#define OPENTHREAD_CONFIG_NCP_SPI_ENABLE 0
+
+/**
+ * @def OPENTHREAD_ENABLE_NCP_SPINEL_ENCRYPTER
+ *
+ * Define to 1 to enable NCP Spinel Encrypter.
+ *
+ */
+#define OPENTHREAD_ENABLE_NCP_SPINEL_ENCRYPTER 0
+
+/**
+ * @def OPENTHREAD_CONFIG_NCP_UART_ENABLE
+ *
+ * Define to 1 to enable NCP UART support.
+ *
+ */
+#define OPENTHREAD_CONFIG_NCP_UART_ENABLE 1
+
+/**
+ * @def OPENTHREAD_CONFIG_TMF_NETDATA_SERVICE_ENABLE
+ *
+ * Define to 1 to support injecting Service entries into the Thread Network Data.
+ *
+ */
+#define OPENTHREAD_CONFIG_TMF_NETDATA_SERVICE_ENABLE 1
+
+/**
+ * @def PACKAGE_NAME
+ *
+ * Define to the full name of this package.
+ *
+ */
+#define PACKAGE_NAME "openthread-esp32"
+
+/**
+ * @def PACKAGE_STRING
+ *
+ * Define to the full name and version of this package.
+ *
+ */
+#define PACKAGE_STRING (PACKAGE_NAME " - " PACKAGE_VERSION)
+
+/**
+ * @def OPENTHREAD_CONFIG_ENABLE_BUILTIN_MBEDTLS
+ *
+ * Define as 1 to enable bultin-mbedtls.
+ *
+ * Note that the OPENTHREAD_CONFIG_ENABLE_BUILTIN_MBEDTLS determines whether to use bultin-mbedtls as well as
+ * whether to manage mbedTLS internally, such as memory allocation and debug.
+ *
+ */
+#define OPENTHREAD_CONFIG_ENABLE_BUILTIN_MBEDTLS 0
+
+/**
+ * @def OPENTHREAD_CONFIG_IP6_SLAAC_ENABLE
+ *
+ * Define as 1 to enable support for adding of auto-configured SLAAC addresses by OpenThread.
+ *
+ */
+#define OPENTHREAD_CONFIG_IP6_SLAAC_ENABLE 1
+
+/**
+ * @def OPENTHREAD_CONFIG_MAX_STATECHANGE_HANDLERS
+ *
+ * The maximum number of state-changed callback handlers (set using `otSetStateChangedCallback()`).
+ *
+ */
+#define OPENTHREAD_CONFIG_MAX_STATECHANGE_HANDLERS 3
+
+/**
+ * @def OPENTHREAD_CONFIG_PLATFORM_RADIO_SPINEL_RX_FRAME_BUFFER_SIZE
+ *
+ * Specifies the rx frame buffer size used by `SpinelInterface` in RCP host code. This is applicable/used when
+ * `RadioSpinel` platform is used.
+ *
+ */
+#define OPENTHREAD_CONFIG_PLATFORM_RADIO_SPINEL_RX_FRAME_BUFFER_SIZE 1024
+
+/**
+ * @def OPENTHREAD_CONFIG_DTLS_MAX_CONTENT_LEN
+ *
+ * The max length of the OpenThread dtls content buffer.
+ *
+ */
+#ifndef OPENTHREAD_CONFIG_DTLS_MAX_CONTENT_LEN
+#define OPENTHREAD_CONFIG_DTLS_MAX_CONTENT_LEN 768
+#endif
+
+/**
+ * The configurable definitions via Kconfig
+ */
+#if CONFIG_OPENTHREAD_COMMISSIONER
+#define OPENTHREAD_CONFIG_COMMISSIONER_ENABLE 1
+#endif
+
+#if CONFIG_OPENTHREAD_JOINER
+#define OPENTHREAD_CONFIG_JOINER_ENABLE 1
+#endif
+
+#if CONFIG_OPENTHREAD_DIAG
+#define OPENTHREAD_CONFIG_DIAG_ENABLE 1
+#endif
+
+#if CONFIG_OPENTHREAD_FTD
+#define OPENTHREAD_FTD 1
+#elif CONFIG_OPENTHREAD_MTD
+#define OPENTHREAD_MTD 1
+#elif CONFIG_OPENTHREAD_RADIO
+#define OPENTHREAD_RADIO 1
+#endif

components/openthread/openthread

@@ -0,0 +1 @@
+Subproject commit 93b6fea3aa10e26f17ad2b877f002ca2cd81b745

components/openthread/port/esp_openthread.cpp

@@ -0,0 +1,106 @@
+// Copyright 2021 Espressif Systems (Shanghai) CO LTD
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License
+
+#include "esp_openthread.h"
+
+#include "esp_check.h"
+#include "esp_err.h"
+#include "esp_log.h"
+#include "esp_openthread_alarm.h"
+#include "esp_openthread_common_macro.h"
+#include "esp_openthread_lock.h"
+#include "esp_openthread_radio_uart.h"
+#include "esp_openthread_types.h"
+#include "esp_openthread_uart.h"
+#include "common/code_utils.hpp"
+#include "common/logging.hpp"
+#include "core/common/instance.hpp"
+#include "freertos/FreeRTOS.h"
+#include "freertos/queue.h"
+#include "openthread/cli.h"
+#include "openthread/instance.h"
+#include "openthread/platform/alarm-milli.h"
+#include "openthread/platform/time.h"
+#include "openthread/tasklet.h"
+
+static esp_openthread_platform_config_t s_platform_config;
+static bool s_openthread_platform_initialized = false;
+
+esp_err_t esp_openthread_platform_init(const esp_openthread_platform_config_t *config)
+{
+    if (config->radio_config.radio_mode != RADIO_MODE_UART_RCP) {
+        otLogCritPlat("Radio mode not supported");
+        return ESP_ERR_INVALID_ARG;
+    }
+    if (config->host_config.host_connection_mode != HOST_CONNECTION_MODE_NONE &&
+            config->host_config.host_connection_mode != HOST_CONNECTION_MODE_UART) {
+        otLogCritPlat("Host connection mode not supported");
+        return ESP_ERR_INVALID_ARG;
+    }
+    if (s_openthread_platform_initialized) {
+        return ESP_ERR_INVALID_STATE;
+    }
+
+    esp_err_t error = ESP_OK;
+
+    s_platform_config = *config;
+    SuccessOrExit(error = esp_openthread_lock_init());
+    if (config->host_config.host_connection_mode == HOST_CONNECTION_MODE_UART) {
+        SuccessOrExit(error = esp_openthread_uart_init(config));
+    }
+    SuccessOrExit(error = esp_openthread_radio_init(config));
+exit:
+    if (error != ESP_OK) {
+        esp_openthread_platform_deinit();
+    }
+
+    return error;
+}
+
+otInstance *esp_openthread_get_instance(void)
+{
+    return &ot::Instance::Get();
+}
+
+esp_err_t esp_openthread_platform_deinit(void)
+{
+    if (!s_openthread_platform_initialized) {
+        return ESP_ERR_INVALID_STATE;
+    }
+    esp_openthread_radio_deinit();
+    if (s_platform_config.host_config.host_connection_mode == HOST_CONNECTION_MODE_UART) {
+        esp_openthread_uart_deinit();
+    }
+    esp_openthread_lock_deinit();
+    return ESP_OK;
+}
+
+void esp_openthread_platform_update(esp_openthread_mainloop_context_t *mainloop)
+{
+    esp_openthread_alarm_update(mainloop);
+    if (s_platform_config.host_config.host_connection_mode == HOST_CONNECTION_MODE_UART) {
+        esp_openthread_uart_update(mainloop);
+    }
+    esp_openthread_radio_update(mainloop);
+}
+
+esp_err_t esp_openthread_platform_process(otInstance *instance, const esp_openthread_mainloop_context_t *mainloop)
+{
+    if (s_platform_config.host_config.host_connection_mode == HOST_CONNECTION_MODE_UART) {
+        ESP_RETURN_ON_ERROR(esp_openthread_uart_process(), OT_PLAT_LOG_TAG, "esp_openthread_uart_process failed");
+    }
+    esp_openthread_radio_process(instance, mainloop);
+    esp_openthread_alarm_process(instance);
+
+    return ESP_OK;
+}

components/openthread/port/esp_openthread_alarm.c

@@ -0,0 +1,103 @@
+// Copyright 2021 Espressif Systems (Shanghai) CO LTD
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License
+
+
+#include "esp_openthread_alarm.h"
+
+#include <stdbool.h>
+#include <stdint.h>
+#include <sys/time.h>
+
+#include "esp_log.h"
+#include "esp_openthread_common_macro.h"
+#include "esp_timer.h"
+#include "common/logging.hpp"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "openthread/platform/alarm-milli.h"
+#include "openthread/platform/diag.h"
+#include "openthread/platform/time.h"
+
+static uint64_t s_alarm_t0   = 0;
+static uint64_t s_alarm_dt   = 0;
+static bool     s_is_running = false;
+
+uint64_t otPlatTimeGet(void)
+{
+    struct timeval tv_now;
+
+    int err = gettimeofday(&tv_now, NULL);
+    assert(err == 0);
+
+    return (uint64_t)tv_now.tv_sec * US_PER_S + tv_now.tv_usec;
+}
+
+void otPlatAlarmMilliStartAt(otInstance *aInstance, uint32_t aT0, uint32_t aDt)
+{
+    OT_UNUSED_VARIABLE(aInstance);
+
+    s_alarm_t0   = aT0;
+    s_alarm_dt   = aDt;
+    s_is_running = true;
+
+    otLogDebgPlat("alarm start running, t0=%llu, dt=%llu", s_alarm_t0, s_alarm_dt);
+}
+
+void otPlatAlarmMilliStop(otInstance *aInstance)
+{
+    OT_UNUSED_VARIABLE(aInstance);
+
+    s_is_running = false;
+}
+
+uint32_t otPlatAlarmMilliGetNow(void)
+{
+    return esp_timer_get_time() / US_PER_MS;
+}
+
+void esp_openthread_alarm_update(esp_openthread_mainloop_context_t *mainloop)
+{
+    struct timeval *timeout = &mainloop->timeout;
+    uint32_t        now     = otPlatAlarmMilliGetNow();
+
+    if (!s_is_running) {
+        timeout->tv_sec  = INT32_MAX;
+        timeout->tv_usec = 0;
+    } else if (s_alarm_t0 + s_alarm_dt > now) {
+        uint64_t remaining = s_alarm_dt + s_alarm_t0 - now;
+        timeout->tv_sec    = remaining / MS_PER_S;
+        timeout->tv_usec   = (remaining % MS_PER_S) * US_PER_MS;
+    } else {
+        timeout->tv_sec  = 0;
+        timeout->tv_usec = 0;
+    }
+}
+
+void esp_openthread_alarm_process(otInstance *aInstance)
+{
+    if (s_is_running && s_alarm_t0 + s_alarm_dt <= otPlatAlarmMilliGetNow()) {
+        s_is_running = false;
+
+#if OPENTHREAD_CONFIG_DIAG_ENABLE
+        if (otPlatDiagModeGet()) {
+            otPlatDiagAlarmFired(aInstance);
+        } else
+#endif
+        {
+            otPlatAlarmMilliFired(aInstance);
+        }
+
+        otLogDebgPlat("alarm fired");
+    }
+}

components/openthread/port/esp_openthread_flash.c

@@ -0,0 +1,70 @@
+// Copyright 2021 Espressif Systems (Shanghai) CO LTD
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the Licens
+
+#include "esp_partition.h"
+#include "esp_spi_flash.h"
+#include "openthread/instance.h"
+#include "openthread/platform/flash.h"
+#include "openthread/platform/settings.h"
+
+#define ESP_OT_FLASH_PAGE_NUM 2
+#define ESP_OT_FLASH_PAGE_SIZE 4096
+
+static const esp_partition_t *s_ot_partition = NULL;
+
+void otPlatFlashInit(otInstance *instance)
+{
+    s_ot_partition = esp_partition_find_first(ESP_PARTITION_TYPE_DATA, ESP_PARTITION_SUBTYPE_ANY, CONFIG_OPENTHREAD_PARTITION_NAME);
+
+    assert(s_ot_partition != NULL);
+    assert(s_ot_partition->size >= otPlatFlashGetSwapSize(instance));
+}
+
+uint32_t otPlatFlashGetSwapSize(otInstance *instance)
+{
+    return ESP_OT_FLASH_PAGE_SIZE;
+}
+
+void otPlatFlashErase(otInstance *instance, uint8_t index)
+{
+    uint32_t address = ESP_OT_FLASH_PAGE_SIZE * (index != 0);
+    uint32_t size = ESP_OT_FLASH_PAGE_SIZE;
+    esp_err_t err = ESP_OK;
+
+    err = esp_partition_erase_range(s_ot_partition, address, size);
+
+    assert(err == ESP_OK);
+}
+
+void otPlatFlashRead(otInstance *instance, uint8_t index, uint32_t offset, void *data, uint32_t size)
+{
+    esp_err_t err = ESP_OK;
+
+    offset += ESP_OT_FLASH_PAGE_SIZE * (index != 0);
+
+    err = esp_partition_read(s_ot_partition, offset, data, size);
+
+    assert(err == ESP_OK);
+}
+
+void otPlatFlashWrite(otInstance *instance, uint8_t index, uint32_t offset, const void *data, uint32_t size)
+{
+    esp_err_t err = ESP_OK;
+
+    offset += ESP_OT_FLASH_PAGE_SIZE * (index != 0);
+
+    err = esp_partition_write(s_ot_partition, offset, data, size);
+
+    assert(err == ESP_OK);
+}

components/openthread/port/esp_openthread_lock.c

@@ -0,0 +1,52 @@
+// Copyright 2021 Espressif Systems (Shanghai) CO LTD
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License
+
+#include "esp_openthread_lock.h"
+
+#include "esp_err.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/semphr.h"
+
+static SemaphoreHandle_t s_openthread_mutex = NULL;
+
+bool esp_openthread_lock_acquire(TickType_t block_ticks)
+{
+    BaseType_t ret = xSemaphoreTake(s_openthread_mutex, block_ticks);
+    return (ret == pdTRUE);
+}
+
+void esp_openthread_lock_release(void)
+{
+    xSemaphoreGive(s_openthread_mutex);
+}
+
+esp_err_t esp_openthread_lock_init(void)
+{
+    if (s_openthread_mutex != NULL) {
+        return ESP_ERR_INVALID_STATE;
+    }
+    s_openthread_mutex = xSemaphoreCreateMutex();
+    if (s_openthread_mutex == NULL) {
+        return ESP_ERR_NO_MEM;
+    }
+    return ESP_OK;
+}
+
+void esp_openthread_lock_deinit(void)
+{
+    if (s_openthread_mutex) {
+        vSemaphoreDelete(s_openthread_mutex);
+        s_openthread_mutex = NULL;
+    }
+}

components/openthread/port/esp_openthread_logging.c

@@ -0,0 +1,68 @@
+// Copyright 2021 Espressif Systems (Shanghai) CO LTD
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License
+
+#include "esp_openthread.h"
+
+#include <stdio.h>
+
+#include "esp_log.h"
+#include "esp_openthread_common_macro.h"
+#include "openthread/platform/logging.h"
+
+/**
+ * The default platform logging tag.
+ *
+ */
+#if (OPENTHREAD_CONFIG_LOG_OUTPUT == OPENTHREAD_CONFIG_LOG_OUTPUT_PLATFORM_DEFINED) || \
+    (OPENTHREAD_CONFIG_LOG_OUTPUT == OPENTHREAD_CONFIG_LOG_OUTPUT_NCP_SPINEL)
+OT_TOOL_WEAK void otPlatLog(otLogLevel log_level, otLogRegion log_region, const char *format, ...)
+{
+    va_list args;
+
+    va_start(args, format);
+
+    switch (log_level) {
+    case OT_LOG_LEVEL_CRIT:
+        if (LOG_LOCAL_LEVEL >= ESP_LOG_ERROR) {
+            esp_log_write(ESP_LOG_ERROR, OT_PLAT_LOG_TAG, LOG_COLOR_E "E(%u) %s:", esp_log_timestamp(), OT_PLAT_LOG_TAG);
+            esp_log_writev(ESP_LOG_ERROR, OT_PLAT_LOG_TAG, format, args);
+            esp_log_write(ESP_LOG_ERROR, OT_PLAT_LOG_TAG, LOG_RESET_COLOR "\n");
+        }
+        break;
+    case OT_LOG_LEVEL_WARN:
+        if (LOG_LOCAL_LEVEL >= ESP_LOG_WARN) {
+            esp_log_write(ESP_LOG_WARN, OT_PLAT_LOG_TAG, LOG_COLOR_W "W(%u) %s:", esp_log_timestamp(), OT_PLAT_LOG_TAG);
+            esp_log_writev(ESP_LOG_WARN, OT_PLAT_LOG_TAG, format, args);
+            esp_log_write(ESP_LOG_WARN, OT_PLAT_LOG_TAG, LOG_RESET_COLOR "\n");
+        }
+        break;
+    case OT_LOG_LEVEL_NOTE:
+    case OT_LOG_LEVEL_INFO:
+        if (LOG_LOCAL_LEVEL >= ESP_LOG_INFO) {
+            esp_log_write(ESP_LOG_INFO, OT_PLAT_LOG_TAG, LOG_COLOR_I "I(%u) %s:", esp_log_timestamp(), OT_PLAT_LOG_TAG);
+            esp_log_writev(ESP_LOG_INFO, OT_PLAT_LOG_TAG, format, args);
+            esp_log_write(ESP_LOG_INFO, OT_PLAT_LOG_TAG, LOG_RESET_COLOR "\n");
+        }
+        break;
+    default:
+        if (LOG_LOCAL_LEVEL >= ESP_LOG_DEBUG) {
+            esp_log_write(ESP_LOG_DEBUG, OT_PLAT_LOG_TAG, LOG_COLOR_D "D(%u) %s:", esp_log_timestamp(), OT_PLAT_LOG_TAG);
+            esp_log_writev(ESP_LOG_DEBUG, OT_PLAT_LOG_TAG, format, args);
+            esp_log_write(ESP_LOG_DEBUG, OT_PLAT_LOG_TAG, LOG_RESET_COLOR "\n");
+        }
+        break;
+    }
+    va_end(args);
+}
+#endif

components/openthread/port/esp_openthread_misc.c

@@ -0,0 +1,87 @@
+// Copyright 2021 Espressif Systems (Shanghai) CO LTD
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License
+
+#include "esp_log.h"
+#include "esp_openthread.h"
+#include "esp_system.h"
+#include "common/logging.hpp"
+#include "openthread/platform/misc.h"
+
+static otPlatMcuPowerState s_mcu_power_state = OT_PLAT_MCU_POWER_STATE_ON;
+
+void otPlatReset(otInstance *aInstance)
+{
+    esp_restart();
+}
+
+otPlatResetReason otPlatGetResetReason(otInstance *instance)
+{
+    switch (esp_reset_reason()) {
+    case ESP_RST_UNKNOWN:
+        return OT_PLAT_RESET_REASON_UNKNOWN;
+    case ESP_RST_POWERON:
+        return OT_PLAT_RESET_REASON_POWER_ON;
+    case ESP_RST_EXT:
+        return OT_PLAT_RESET_REASON_EXTERNAL;
+    case ESP_RST_SW:
+        return OT_PLAT_RESET_REASON_SOFTWARE;
+    case ESP_RST_PANIC:
+        return OT_PLAT_RESET_REASON_FAULT;
+    case ESP_RST_INT_WDT:
+        return OT_PLAT_RESET_REASON_WATCHDOG;
+    case ESP_RST_TASK_WDT:
+        return OT_PLAT_RESET_REASON_WATCHDOG;
+    case ESP_RST_WDT:
+        return OT_PLAT_RESET_REASON_WATCHDOG;
+    default:
+        return OT_PLAT_RESET_REASON_OTHER;
+    }
+}
+
+void otPlatWakeHost(void)
+{
+    // Not Implemented.
+}
+
+otError otPlatSetMcuPowerState(otInstance *instance, otPlatMcuPowerState state)
+{
+    otError error = OT_ERROR_NONE;
+
+    OT_UNUSED_VARIABLE(instance);
+
+    switch (state) {
+    case OT_PLAT_MCU_POWER_STATE_ON:
+    case OT_PLAT_MCU_POWER_STATE_LOW_POWER:
+        s_mcu_power_state = state;
+        break;
+
+    default:
+        error = OT_ERROR_FAILED;
+        break;
+    }
+
+    return error;
+}
+
+otPlatMcuPowerState otPlatGetMcuPowerState(otInstance *instance)
+{
+    OT_UNUSED_VARIABLE(instance);
+    return s_mcu_power_state;
+}
+
+void otPlatAssertFail(const char *filename, int line)
+{
+    otLogCritPlat("Assert failed at %s:%d", filename, line);
+    assert(false);
+}

components/openthread/port/esp_openthread_radio_uart.cpp

@@ -0,0 +1,284 @@
+// Copyright 2021 Espressif Systems (Shanghai) CO LTD
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License
+
+#include "esp_openthread_radio_uart.h"
+
+#include "esp_check.h"
+#include "esp_err.h"
+#include "esp_openthread_common_macro.h"
+#include "esp_openthread_types.h"
+#include "esp_uart_spinel_interface.hpp"
+#include "lib/spinel/radio_spinel.hpp"
+#include "openthread/platform/diag.h"
+#include "openthread/platform/radio.h"
+
+using ot::Spinel::RadioSpinel;
+using esp::openthread::UartSpinelInterface;
+
+static RadioSpinel<UartSpinelInterface, esp_openthread_mainloop_context_t> s_radio;
+
+esp_err_t esp_openthread_radio_init(const esp_openthread_platform_config_t *config)
+{
+    ESP_RETURN_ON_ERROR(s_radio.GetSpinelInterface().Init(config->radio_config.radio_uart_config), OT_PLAT_LOG_TAG,
+                        "Spinel interface init falied");
+    s_radio.Init(/*reset_radio=*/true, /*restore_dataset_from_ncp=*/false, /*skip_rcp_compatibility_check=*/false);
+    return ESP_OK;
+}
+
+void esp_openthread_radio_deinit(void)
+{
+    s_radio.Deinit();
+}
+
+esp_err_t esp_openthread_radio_process(otInstance *instance, const esp_openthread_mainloop_context_t *mainloop)
+{
+    s_radio.Process(*mainloop);
+
+    return ESP_OK;
+}
+
+void esp_openthread_radio_update(esp_openthread_mainloop_context_t *mainloop)
+{
+    s_radio.GetSpinelInterface().Update(*mainloop);
+}
+
+void otPlatRadioGetIeeeEui64(otInstance *instance, uint8_t *ieee_eui64)
+{
+    SuccessOrDie(s_radio.GetIeeeEui64(ieee_eui64));
+}
+
+void otPlatRadioSetPanId(otInstance *instance, uint16_t pan_id)
+{
+    SuccessOrDie(s_radio.SetPanId(pan_id));
+}
+
+void otPlatRadioSetExtendedAddress(otInstance *instance, const otExtAddress *address)
+{
+    otExtAddress addr;
+
+    for (size_t i = 0; i < sizeof(addr); i++) {
+        addr.m8[i] = address->m8[sizeof(addr) - 1 - i];
+    }
+
+    SuccessOrDie(s_radio.SetExtendedAddress(addr));
+}
+
+void otPlatRadioSetShortAddress(otInstance *instance, uint16_t address)
+{
+    SuccessOrDie(s_radio.SetShortAddress(address));
+}
+
+void otPlatRadioSetPromiscuous(otInstance *instance, bool enable)
+{
+    SuccessOrDie(s_radio.SetPromiscuous(enable));
+}
+
+bool otPlatRadioIsEnabled(otInstance *instance)
+{
+    return s_radio.IsEnabled();
+}
+
+otError otPlatRadioEnable(otInstance *instance)
+{
+    return s_radio.Enable(instance);
+}
+
+otError otPlatRadioDisable(otInstance *instance)
+{
+    return s_radio.Disable();
+}
+
+otError otPlatRadioSleep(otInstance *instance)
+{
+    return s_radio.Sleep();
+}
+
+otError otPlatRadioReceive(otInstance *instance, uint8_t channel)
+{
+    return s_radio.Receive(channel);
+}
+
+otError otPlatRadioTransmit(otInstance *instance, otRadioFrame *frame)
+{
+    return s_radio.Transmit(*frame);
+}
+
+otRadioFrame *otPlatRadioGetTransmitBuffer(otInstance *instance)
+{
+    return &s_radio.GetTransmitFrame();
+}
+
+int8_t otPlatRadioGetRssi(otInstance *instance)
+{
+    return s_radio.GetRssi();
+}
+
+otRadioCaps otPlatRadioGetCaps(otInstance *instance)
+{
+    return s_radio.GetRadioCaps();
+}
+
+bool otPlatRadioGetPromiscuous(otInstance *instance)
+{
+    return s_radio.IsPromiscuous();
+}
+
+void otPlatRadioEnableSrcMatch(otInstance *instance, bool enable)
+{
+    SuccessOrDie(s_radio.EnableSrcMatch(enable));
+}
+
+otError otPlatRadioAddSrcMatchShortEntry(otInstance *instance, uint16_t short_address)
+{
+    return s_radio.AddSrcMatchShortEntry(short_address);
+}
+
+otError otPlatRadioAddSrcMatchExtEntry(otInstance *instance, const otExtAddress *ext_address)
+{
+    otExtAddress addr;
+
+    for (size_t i = 0; i < sizeof(addr); i++) {
+        addr.m8[i] = ext_address->m8[sizeof(addr) - 1 - i];
+    }
+
+    return s_radio.AddSrcMatchExtEntry(addr);
+}
+
+otError otPlatRadioClearSrcMatchShortEntry(otInstance *instance, uint16_t short_address)
+{
+    return s_radio.ClearSrcMatchShortEntry(short_address);
+}
+
+otError otPlatRadioClearSrcMatchExtEntry(otInstance *instance, const otExtAddress *ext_address)
+{
+    otExtAddress addr;
+
+    for (size_t i = 0; i < sizeof(addr); i++) {
+        addr.m8[i] = ext_address->m8[sizeof(addr) - 1 - i];
+    }
+
+    return s_radio.ClearSrcMatchExtEntry(addr);
+}
+
+void otPlatRadioClearSrcMatchShortEntries(otInstance *instance)
+{
+    SuccessOrDie(s_radio.ClearSrcMatchShortEntries());
+}
+
+void otPlatRadioClearSrcMatchExtEntries(otInstance *instance)
+{
+    SuccessOrDie(s_radio.ClearSrcMatchExtEntries());
+}
+
+otError otPlatRadioEnergyScan(otInstance *instance, uint8_t channel, uint16_t duration)
+{
+    return s_radio.EnergyScan(channel, duration);
+}
+
+otError otPlatRadioGetTransmitPower(otInstance *instance, int8_t *power)
+{
+    otError error;
+
+    VerifyOrExit(power != NULL, error = OT_ERROR_INVALID_ARGS);
+    error = s_radio.GetTransmitPower(*power);
+
+exit:
+    return error;
+}
+
+otError otPlatRadioSetTransmitPower(otInstance *instance, int8_t power)
+{
+    return s_radio.SetTransmitPower(power);
+}
+
+otError otPlatRadioGetCcaEnergyDetectThreshold(otInstance *instance, int8_t *threshold)
+{
+    otError error;
+
+    VerifyOrExit(threshold != NULL, error = OT_ERROR_INVALID_ARGS);
+    error = s_radio.GetCcaEnergyDetectThreshold(*threshold);
+
+exit:
+    return error;
+}
+
+otError otPlatRadioSetCcaEnergyDetectThreshold(otInstance *instance, int8_t threshold)
+{
+    return s_radio.SetCcaEnergyDetectThreshold(threshold);
+}
+
+int8_t otPlatRadioGetReceiveSensitivity(otInstance *instance)
+{
+    return s_radio.GetReceiveSensitivity();
+}
+
+#if OPENTHREAD_CONFIG_DIAG_ENABLE
+otError otPlatDiagProcess(otInstance *instance, int argc, char *argv[], char *output, size_t output_max_len)
+{
+    // deliver the platform specific diags commands to radio only ncp.
+    char  cmd[OPENTHREAD_CONFIG_DIAG_CMD_LINE_BUFFER_SIZE] = {'\0'};
+    char *cur                                              = cmd;
+    char *end                                              = cmd + sizeof(cmd);
+
+    for (int index = 0; index < argc; index++) {
+        cur += snprintf(cur, static_cast<size_t>(end - cur), "%s ", argv[index]);
+    }
+
+    return s_radio.PlatDiagProcess(cmd, output, output_max_len);
+}
+
+void otPlatDiagModeSet(bool aMode)
+{
+    SuccessOrExit(s_radio.PlatDiagProcess(aMode ? "start" : "stop", NULL, 0));
+    s_radio.SetDiagEnabled(aMode);
+
+exit:
+    return;
+}
+
+bool otPlatDiagModeGet(void)
+{
+    return s_radio.IsDiagEnabled();
+}
+
+void otPlatDiagTxPowerSet(int8_t tx_power)
+{
+    char cmd[OPENTHREAD_CONFIG_DIAG_CMD_LINE_BUFFER_SIZE];
+
+    snprintf(cmd, sizeof(cmd), "power %d", tx_power);
+    SuccessOrExit(s_radio.PlatDiagProcess(cmd, NULL, 0));
+
+exit:
+    return;
+}
+
+void otPlatDiagChannelSet(uint8_t channel)
+{
+    char cmd[OPENTHREAD_CONFIG_DIAG_CMD_LINE_BUFFER_SIZE];
+
+    snprintf(cmd, sizeof(cmd), "channel %d", channel);
+    SuccessOrExit(s_radio.PlatDiagProcess(cmd, NULL, 0));
+
+exit:
+    return;
+}
+
+void otPlatDiagRadioReceived(otInstance *instance, otRadioFrame *frame, otError error)
+{
+}
+
+void otPlatDiagAlarmCallback(otInstance *instance)
+{
+}
+#endif // OPENTHREAD_CONFIG_DIAG_ENABLE

components/openthread/port/esp_openthread_uart.c

@@ -0,0 +1,129 @@
+// Copyright 2021 Espressif Systems (Shanghai) CO LTD
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License
+
+#include "esp_openthread_uart.h"
+
+#include <errno.h>
+#include <fcntl.h>
+#include <sys/select.h>
+
+#include "esp_check.h"
+#include "esp_err.h"
+#include "esp_log.h"
+#include "esp_openthread.h"
+#include "esp_openthread_common_macro.h"
+#include "esp_openthread_types.h"
+#include "esp_vfs_dev.h"
+#include "common/logging.hpp"
+#include "driver/uart.h"
+#include "openthread/platform/uart.h"
+
+static int s_uart_port;
+static int s_uart_fd;
+static uint8_t s_uart_buffer[ESP_OPENTHREAD_UART_BUFFER_SIZE];
+
+otError otPlatUartEnable(void)
+{
+    return OT_ERROR_NONE;
+}
+
+otError otPlatUartDisable(void)
+{
+    return OT_ERROR_NONE;
+}
+
+otError otPlatUartFlush(void)
+{
+    return OT_ERROR_NONE;
+}
+
+otError otPlatUartSend(const uint8_t *buf, uint16_t buf_length)
+{
+    int rval = write(s_uart_fd, buf, buf_length);
+
+    if (rval != (int)buf_length) {
+        return OT_ERROR_FAILED;
+    }
+
+    otPlatUartSendDone();
+
+    return OT_ERROR_NONE;
+}
+
+esp_err_t esp_openthread_uart_init_port(const esp_openthread_uart_config_t *config)
+{
+    ESP_RETURN_ON_ERROR(uart_param_config(config->port, &config->uart_config), OT_PLAT_LOG_TAG,
+                        "uart_param_config failed");
+    ESP_RETURN_ON_ERROR(
+        uart_set_pin(config->port, config->tx_pin, config->rx_pin, UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE),
+        OT_PLAT_LOG_TAG, "uart_set_pin failed");
+    ESP_RETURN_ON_ERROR(uart_driver_install(config->port, ESP_OPENTHREAD_UART_BUFFER_SIZE, 0, 0, NULL, 0),
+                        OT_PLAT_LOG_TAG, "uart_driver_install failed");
+    esp_vfs_dev_uart_use_driver(config->port);
+    return ESP_OK;
+}
+
+esp_err_t esp_openthread_uart_init(const esp_openthread_platform_config_t *config)
+{
+    char uart_path[16];
+
+    // Disable IO buffer.
+    setvbuf(stdin, NULL, _IONBF, 0);
+    setvbuf(stdout, NULL, _IONBF, 0);
+
+    // Install UART driver for interrupt-driven reads and writes.
+    s_uart_port = config->host_config.host_uart_config.port;
+    ESP_RETURN_ON_ERROR(esp_openthread_uart_init_port(&config->host_config.host_uart_config), OT_PLAT_LOG_TAG,
+                        "esp_openthread_uart_init_port failed");
+
+    esp_vfs_dev_uart_port_set_rx_line_endings(s_uart_port, ESP_LINE_ENDINGS_LF);
+    esp_vfs_dev_uart_port_set_tx_line_endings(s_uart_port, ESP_LINE_ENDINGS_CRLF);
+
+    snprintf(uart_path, sizeof(uart_path), "/dev/uart/%d", s_uart_port);
+    s_uart_fd = open(uart_path, O_RDWR | O_NONBLOCK);
+
+    return s_uart_fd >= 0 ? ESP_OK : ESP_FAIL;
+}
+
+void esp_openthread_uart_deinit()
+{
+    if (s_uart_fd != -1) {
+        close(s_uart_fd);
+        s_uart_fd = -1;
+    }
+    uart_driver_delete(s_uart_port);
+}
+
+void esp_openthread_uart_update(esp_openthread_mainloop_context_t *mainloop)
+{
+    FD_SET(s_uart_fd, &mainloop->read_fds);
+    if (s_uart_fd > mainloop->max_fd) {
+        mainloop->max_fd = s_uart_fd;
+    }
+}
+
+esp_err_t esp_openthread_uart_process()
+{
+    int rval = read(s_uart_fd, s_uart_buffer, sizeof(s_uart_buffer));
+
+    if (rval > 0) {
+        otPlatUartReceived(s_uart_buffer, (uint16_t)rval);
+    } else if (rval > 0) {
+        if (errno != EAGAIN) {
+            otLogWarnPlat("read uart failed: %d", errno);
+            return ESP_FAIL;
+        }
+    }
+    return ESP_OK;
+}

components/openthread/port/esp_uart_spinel_interface.cpp

@@ -0,0 +1,295 @@
+// Copyright 2021 Espressif Systems (Shanghai) CO LTD
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License
+
+
+#include "esp_uart_spinel_interface.hpp"
+
+#include <errno.h>
+#include <fcntl.h>
+#include <sys/select.h>
+#include <sys/unistd.h>
+
+#include "esp_check.h"
+#include "esp_err.h"
+#include "esp_log.h"
+#include "esp_openthread_common_macro.h"
+#include "esp_openthread_types.h"
+#include "esp_openthread_uart.h"
+#include "esp_vfs_dev.h"
+#include "core/common/code_utils.hpp"
+#include "core/common/logging.hpp"
+#include "driver/uart.h"
+#include "lib/platform/exit_code.h"
+#include "openthread/platform/time.h"
+
+namespace esp {
+namespace openthread {
+
+UartSpinelInterface::UartSpinelInterface(
+    ot::Spinel::SpinelInterface::ReceiveFrameCallback callback,
+    void                                             *callback_context,
+    ot::Spinel::SpinelInterface::RxFrameBuffer       &frame_buffer)
+    : m_receiver_frame_callback(callback)
+    , m_receiver_frame_context(callback_context)
+    , m_receive_frame_buffer(frame_buffer)
+    , m_hdlc_decoder(frame_buffer, HandleHdlcFrame, this)
+    , m_uart_fd(-1)
+{
+}
+
+UartSpinelInterface::~UartSpinelInterface(void)
+{
+}
+
+esp_err_t UartSpinelInterface::Init(const esp_openthread_uart_config_t &radio_uart_config)
+{
+    m_uart_rx_buffer = static_cast<uint8_t *>(heap_caps_malloc(kMaxFrameSize, MALLOC_CAP_8BIT));
+    if (m_uart_rx_buffer == NULL) {
+        return ESP_ERR_NO_MEM;
+    }
+
+    return InitUart(radio_uart_config);
+}
+
+esp_err_t UartSpinelInterface::Deinit(void)
+{
+    if (m_uart_rx_buffer) {
+        heap_caps_free(m_uart_rx_buffer);
+    }
+    m_uart_rx_buffer = NULL;
+
+    return DeinitUart();
+}
+
+otError UartSpinelInterface::SendFrame(const uint8_t *frame, uint16_t length)
+{
+    otError                              error = OT_ERROR_NONE;
+    ot::Hdlc::FrameBuffer<kMaxFrameSize> encoder_buffer;
+    ot::Hdlc::Encoder                    hdlc_encoder(encoder_buffer);
+
+    SuccessOrExit(error = hdlc_encoder.BeginFrame());
+    SuccessOrExit(error = hdlc_encoder.Encode(frame, length));
+    SuccessOrExit(error = hdlc_encoder.EndFrame());
+
+    SuccessOrExit(error = Write(encoder_buffer.GetFrame(), encoder_buffer.GetLength()));
+
+exit:
+    if (error != OT_ERROR_NONE) {
+        otLogCritPlat("send radio frame failed");
+    } else {
+        otLogDebgPlat("sent radio frame");
+    }
+
+    return error;
+}
+
+void UartSpinelInterface::Process(const esp_openthread_mainloop_context_t &mainloop)
+{
+    if (FD_ISSET(m_uart_fd, &mainloop.read_fds)) {
+        otLogDebgPlat("radio uart read event");
+        TryReadAndDecode();
+    }
+}
+
+void UartSpinelInterface::Update(esp_openthread_mainloop_context_t &mainloop)
+{
+    // Register only READ events for radio UART and always wait
+    // for a radio WRITE to complete.
+    FD_SET(m_uart_fd, &mainloop.read_fds);
+    if (m_uart_fd > mainloop.max_fd) {
+        mainloop.max_fd = m_uart_fd;
+    }
+}
+
+int UartSpinelInterface::TryReadAndDecode(void)
+{
+    uint8_t buffer[UART_FIFO_LEN];
+    ssize_t rval;
+
+    do {
+        rval = read(m_uart_fd, buffer, sizeof(buffer));
+        if (rval > 0) {
+            m_hdlc_decoder.Decode(buffer, static_cast<uint16_t>(rval));
+        }
+    } while (rval > 0);
+
+    if ((rval < 0) && (errno != EAGAIN) && (errno != EWOULDBLOCK)) {
+        ESP_ERROR_CHECK(TryRecoverUart());
+    }
+
+    return rval;
+}
+
+otError UartSpinelInterface::WaitForWritable(void)
+{
+    otError        error   = OT_ERROR_NONE;
+    struct timeval timeout = {kMaxWaitTime / MS_PER_S, (kMaxWaitTime % MS_PER_S) *US_PER_MS};
+    uint64_t       now     = otPlatTimeGet();
+    uint64_t       end     = now + kMaxWaitTime * US_PER_MS;
+    fd_set         write_fds;
+    fd_set         error_fds;
+    int            rval;
+
+    while (true) {
+        FD_ZERO(&write_fds);
+        FD_ZERO(&error_fds);
+        FD_SET(m_uart_fd, &write_fds);
+        FD_SET(m_uart_fd, &error_fds);
+
+        rval = select(m_uart_fd + 1, NULL, &write_fds, &error_fds, &timeout);
+
+        if (rval > 0) {
+            if (FD_ISSET(m_uart_fd, &write_fds)) {
+                ExitNow();
+            } else if (FD_ISSET(m_uart_fd, &error_fds)) {
+                ExitNow(error = OT_ERROR_FAILED);
+            }
+        } else if ((rval < 0) && (errno != EINTR)) {
+            ESP_ERROR_CHECK(TryRecoverUart());
+            ExitNow(error = OT_ERROR_FAILED);
+        }
+
+        now = otPlatTimeGet();
+
+        if (end > now) {
+            uint64_t remain = end - now;
+
+            timeout.tv_sec  = static_cast<time_t>(remain / 1000000);
+            timeout.tv_usec = static_cast<suseconds_t>(remain % 1000000);
+        } else {
+            break;
+        }
+    }
+
+    error = OT_ERROR_FAILED;
+
+exit:
+    return error;
+}
+
+otError UartSpinelInterface::Write(const uint8_t *aFrame, uint16_t length)
+{
+    otError error = OT_ERROR_NONE;
+
+    while (length) {
+        ssize_t rval;
+
+        rval = write(m_uart_fd, aFrame, length);
+
+        if (rval > 0) {
+            assert(rval <= length);
+            length -= static_cast<uint16_t>(rval);
+            aFrame += static_cast<uint16_t>(rval);
+            continue;
+        } else if (rval < 0) {
+            ESP_ERROR_CHECK(TryRecoverUart());
+            ExitNow(error = OT_ERROR_FAILED);
+        }
+
+        SuccessOrExit(error = WaitForWritable());
+    }
+
+exit:
+    return error;
+}
+
+otError UartSpinelInterface::WaitForFrame(uint64_t timeout_us)
+{
+    otError        error = OT_ERROR_NONE;
+    struct timeval timeout;
+    fd_set         read_fds;
+    fd_set         error_fds;
+    int            rval;
+
+    FD_ZERO(&read_fds);
+    FD_ZERO(&error_fds);
+    FD_SET(m_uart_fd, &read_fds);
+    FD_SET(m_uart_fd, &error_fds);
+
+    timeout.tv_sec  = static_cast<time_t>(timeout_us / US_PER_S);
+    timeout.tv_usec = static_cast<suseconds_t>(timeout_us % US_PER_S);
+
+    rval = select(m_uart_fd + 1, &read_fds, NULL, &error_fds, &timeout);
+
+    if (rval > 0) {
+        if (FD_ISSET(m_uart_fd, &read_fds)) {
+            TryReadAndDecode();
+        } else if (FD_ISSET(m_uart_fd, &error_fds)) {
+            ESP_ERROR_CHECK(TryRecoverUart());
+            ExitNow(error = OT_ERROR_FAILED);
+        }
+    } else if (rval == 0) {
+        ExitNow(error = OT_ERROR_RESPONSE_TIMEOUT);
+    } else {
+        ESP_ERROR_CHECK(TryRecoverUart());
+        ExitNow(error = OT_ERROR_FAILED);
+    }
+
+exit:
+    return error;
+}
+
+void UartSpinelInterface::HandleHdlcFrame(void *context, otError error)
+{
+    static_cast<UartSpinelInterface *>(context)->HandleHdlcFrame(error);
+}
+
+void UartSpinelInterface::HandleHdlcFrame(otError error)
+{
+    if (error == OT_ERROR_NONE) {
+        otLogDebgPlat("received hdlc radio frame");
+        m_receiver_frame_callback(m_receiver_frame_context);
+    } else {
+        otLogCritPlat("dropping radio frame: %s", otThreadErrorToString(error));
+        m_receive_frame_buffer.DiscardFrame();
+    }
+}
+
+esp_err_t UartSpinelInterface::InitUart(const esp_openthread_uart_config_t &radio_uart_config)
+{
+    char uart_path[16];
+
+    m_uart_config = radio_uart_config;
+    ESP_RETURN_ON_ERROR(esp_openthread_uart_init_port(&radio_uart_config), OT_PLAT_LOG_TAG,
+                        "esp_openthread_uart_init_port failed");
+    // We have a driver now installed so set up the read/write functions to use driver also.
+    esp_vfs_dev_uart_port_set_tx_line_endings(m_uart_config.port, ESP_LINE_ENDINGS_LF);
+    esp_vfs_dev_uart_port_set_rx_line_endings(m_uart_config.port, ESP_LINE_ENDINGS_LF);
+
+    snprintf(uart_path, sizeof(uart_path), "/dev/uart/%d", radio_uart_config.port);
+    m_uart_fd = open(uart_path, O_RDWR | O_NONBLOCK);
+
+    return m_uart_fd >= 0 ? ESP_OK : ESP_FAIL;
+}
+
+esp_err_t UartSpinelInterface::DeinitUart(void)
+{
+    if (m_uart_fd != -1) {
+        close(m_uart_fd);
+        m_uart_fd = -1;
+        return uart_driver_delete(m_uart_config.port);
+    } else {
+        return ESP_ERR_INVALID_STATE;
+    }
+}
+
+esp_err_t UartSpinelInterface::TryRecoverUart(void)
+{
+    ESP_RETURN_ON_ERROR(DeinitUart(), OT_PLAT_LOG_TAG, "DeInitUart failed");
+    ESP_RETURN_ON_ERROR(InitUart(m_uart_config), OT_PLAT_LOG_TAG, "InitUart failed");
+    return ESP_OK;
+}
+
+} // namespace openthread
+} // namespace esp

components/openthread/private_include/esp_openthread_alarm.h

@@ -0,0 +1,43 @@
+// Copyright 2021 Espressif Systems (Shanghai) CO LTD
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License
+
+#pragma once
+
+#include "esp_openthread_types.h"
+#include "openthread/instance.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @brief  Updates the file descriptor with the OpenThread alarm timeout.
+ *
+ * @param[inout]    mainloop    The main loop context.
+ *
+ */
+void esp_openthread_alarm_update(esp_openthread_mainloop_context_t *mainloop);
+
+/**
+ * @brief  Performs the alarm process and triggers the fired timers for OpenThread.
+ *
+ * @param[in]   instance    The OpenThread instance.
+ *
+ */
+void esp_openthread_alarm_process(otInstance *instance);
+
+
+#ifdef __cplusplus
+}
+#endif

components/openthread/private_include/esp_openthread_common_macro.h

@@ -0,0 +1,31 @@
+// Copyright 2021 Espressif Systems (Shanghai) CO LTD
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License
+
+#pragma once
+
+#define OT_PLAT_LOG_TAG "OPENTHREAD"
+
+#ifndef MS_PER_S
+#define MS_PER_S 1000
+#endif
+
+#ifndef US_PER_MS
+#define US_PER_MS 1000
+#endif
+
+#ifndef US_PER_S
+#define US_PER_S (MS_PER_S * US_PER_MS)
+#endif
+
+#define ESP_OPENTHREAD_UART_BUFFER_SIZE (UART_FIFO_LEN * 2)

components/openthread/private_include/esp_openthread_radio_uart.h

@@ -0,0 +1,66 @@
+// Copyright 2021 Espressif Systems (Shanghai) CO LTD
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License
+
+#pragma once
+
+#include <stdbool.h>
+
+#include "esp_err.h"
+#include "esp_openthread_types.h"
+#include "openthread/instance.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @brief This function initializes the OpenThread radio.
+ *
+ * @return
+ *      - ESP_OK on success
+ *      - ESP_ERR_NO_MEM if allocation has failed
+ *
+ */
+esp_err_t esp_openthread_radio_init(const esp_openthread_platform_config_t *config);
+
+/**
+ * @brief This function deinitializes the OpenThread radio.
+ *
+ */
+void esp_openthread_radio_deinit(void);
+
+/**
+ * @brief This function updates the radio fds and timeouts to the main loop.
+ *
+ * @param[inout]    mainloop    The main loop context.
+ *
+ */
+void esp_openthread_radio_update(esp_openthread_mainloop_context_t *mainloop);
+
+/**
+ * @brief This function performs the OpenThread radio process.
+ *
+ * @param[in]    instance   The OpenThread instance.
+ * @param[in]    mainloop   The main loop context.
+ *
+ * @return
+ *      - ESP_OK on success
+ *      - ESP_FAIL on failure
+ *
+ */
+esp_err_t esp_openthread_radio_process(otInstance *instance, const esp_openthread_mainloop_context_t *mainloop);
+
+#ifdef __cplusplus
+}
+#endif

components/openthread/private_include/esp_openthread_uart.h

@@ -0,0 +1,76 @@
+// Copyright 2021 Espressif Systems (Shanghai) CO LTD
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License
+
+#pragma once
+
+#include "esp_err.h"
+#include "esp_openthread_types.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @brief  Initializes an uart port with the given config.
+ *
+ * @note   The user still needs to open the file descriptor by self.
+ *
+ * @param[in]   config  The uart configuration.
+ *
+ * @return
+ *      - ESP_OK on success
+ *      - ESP_ERROR on failure
+ *
+ */
+esp_err_t esp_openthread_uart_init_port(const esp_openthread_uart_config_t *config);
+
+/**
+ * @brief  Initializes the uart for OpenThread host connection.
+ *
+ * @param[in]   config  The uart configuration.
+ *
+ * @return
+ *      - ESP_OK on success
+ *      - ESP_ERROR on failure
+ *
+ */
+esp_err_t esp_openthread_uart_init(const esp_openthread_platform_config_t *config);
+
+/**
+ * @brief  Deintializes the uart for OpenThread host connection.
+ *
+ */
+void esp_openthread_uart_deinit(void);
+
+/**
+ * @brief  Deintializes the uart for OpenThread host connection.
+ *
+ * @param[inout]    mainloop    The main loop context.
+ *
+ */
+void esp_openthread_uart_update(esp_openthread_mainloop_context_t *context);
+
+/**
+ * @brief  Performs the uart I/O for OpenThread.
+ *
+ * @return
+ *      - ESP_OK on success
+ *      - ESP_ERROR on failure
+ *
+ */
+esp_err_t esp_openthread_uart_process(void);
+
+#ifdef __cplusplus
+}
+#endif

components/openthread/private_include/esp_uart_spinel_interface.hpp

@@ -0,0 +1,157 @@
+// Copyright 2021 Espressif Systems (Shanghai) CO LTD
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License
+
+#pragma once
+
+#include "esp_err.h"
+#include "esp_openthread.h"
+#include "esp_openthread_types.h"
+#include "hal/uart_types.h"
+#include "lib/spinel/spinel_interface.hpp"
+
+namespace esp {
+namespace openthread {
+
+/**
+ * This class defines an UART interface to the Radio Co-processor (RCP).
+ *
+ */
+class UartSpinelInterface {
+public:
+    /**
+     * @brief   This constructor of object.
+     *
+     * @param[in] callback         Callback on frame received
+     * @param[in] callback_context  Callback context
+     * @param[in] frame_buffer      A reference to a `RxFrameBuffer` object.
+     *
+     */
+    UartSpinelInterface(ot::Spinel::SpinelInterface::ReceiveFrameCallback callback,
+                        void                                             *callback_context,
+                        ot::Spinel::SpinelInterface::RxFrameBuffer       &frame_buffer);
+
+    /**
+     * @brief   This destructor of the object.
+     *
+     */
+    ~UartSpinelInterface(void);
+
+    /**
+     * @brief   This method initializes the HDLC interface.
+     *
+     * @return
+     *      - ESP_OK on success
+     *      - ESP_ERR_NO_MEM if allocation has failed
+     *      - ESP_ERROR on failure
+     */
+    esp_err_t Init(const esp_openthread_uart_config_t &radio_uart_config);
+
+    /**
+     * @brief  This method deinitializes the HDLC interface.
+     *
+     */
+    esp_err_t Deinit(void);
+
+    /**
+     * @brief   This method encodes and sends a spinel frame to Radio Co-processor (RCP) over the socket.
+     *
+     * @note    This is blocking call, i.e., if the socket is not writable, this method waits for it to become writable for
+     * up to `kMaxWaitTime` interval.
+     *
+     * @param[in] frame     A pointer to buffer containing the spinel frame to send.
+     * @param[in] length    The length (number of bytes) in the frame.
+     *
+     * @return
+     *      -OT_ERROR_NONE     Successfully encoded and sent the spinel frame.
+     *      -OT_ERROR_NO_BUFS  Insufficient buffer space available to encode the frame.
+     *      -OT_ERROR_FAILED   Failed to send due to socket not becoming writable within `kMaxWaitTime`.
+     *
+     */
+    otError SendFrame(const uint8_t *frame, uint16_t length);
+
+    /**
+     * This method waits for receiving part or all of spinel frame within specified timeout.
+     *
+     * @param[in]  timeout_us  The timeout value in microseconds.
+     *
+     * @return
+     *      -OT_ERROR_NONE             Part or all of spinel frame is received.
+     *      -OT_ERROR_RESPONSE_TIMEOUT No spinel frame is received within @p timeout_us.
+     *
+     */
+    otError WaitForFrame(uint64_t timeout_us);
+
+    /**
+     * This method performs uart processing to the RCP.
+     *
+     * @param[in]  mainloop     The mainloop context
+     *
+     */
+    void Process(const esp_openthread_mainloop_context_t &mainloop);
+
+    /**
+     * This methods updates the mainloop context.
+     *
+     * @param[inout] mainloop   The mainloop context.
+     *
+     */
+    void Update(esp_openthread_mainloop_context_t &mainloop);
+
+private:
+    enum {
+        /**
+         * Maximum spinel frame size.
+         *
+         */
+        kMaxFrameSize = ot::Spinel::SpinelInterface::kMaxFrameSize,
+
+        /**
+         * Maximum wait time in Milliseconds for socket to become writable (see `SendFrame`).
+         *
+         */
+        kMaxWaitTime = 2000,
+    };
+
+    esp_err_t InitUart(const esp_openthread_uart_config_t &radio_uart_config);
+
+    esp_err_t DeinitUart(void);
+
+    int TryReadAndDecode(void);
+
+    otError WaitForWritable(void);
+
+    otError Write(const uint8_t *frame, uint16_t length);
+
+    esp_err_t TryRecoverUart(void);
+
+    static void HandleHdlcFrame(void *context, otError error);
+    void        HandleHdlcFrame(otError error);
+
+    ot::Spinel::SpinelInterface::ReceiveFrameCallback m_receiver_frame_callback;
+    void                                             *m_receiver_frame_context;
+    ot::Spinel::SpinelInterface::RxFrameBuffer       &m_receive_frame_buffer;
+
+    ot::Hdlc::Decoder m_hdlc_decoder;
+    uint8_t          *m_uart_rx_buffer;
+
+    esp_openthread_uart_config_t    m_uart_config;
+    int                             m_uart_fd;
+
+    // Non-copyable, intentionally not implemented.
+    UartSpinelInterface(const UartSpinelInterface &);
+    UartSpinelInterface &operator=(const UartSpinelInterface &);
+};
+
+} // namespace openthread
+} // namespace esp

docs/doxygen/Doxyfile_common

@@ -199,6 +199,11 @@ INPUT = \
     ## Non-Volatile Storage
     $(IDF_PATH)/components/nvs_flash/include/nvs.h \
     $(IDF_PATH)/components/nvs_flash/include/nvs_flash.h \
+    ## OpenThread
+    $(IDF_PATH)/components/openthread/include/esp_openthread.h \
+    $(IDF_PATH)/components/openthread/include/esp_openthread_lock.h \
+    $(IDF_PATH)/components/openthread/include/esp_openthread_types.h \
+    $(IDF_PATH)/components/openthread/include/openthread-core-esp32x-config.h \
     ## Virtual Filesystem
     $(IDF_PATH)/components/vfs/include/esp_vfs.h \
     $(IDF_PATH)/components/vfs/include/esp_vfs_dev.h \

docs/en/COPYRIGHT.rst

@@ -69,6 +69,8 @@ These third party libraries can be included into the application (firmware) prod
 
 * `qrcode`_ QR Code generator library Copyright (c) Project Nayuki, is licensed under MIT license.
 
+* :component:`openthread`, Copyright (c) The OpenThread Authors, is licensed under  Apache License 2.0 as described in :component_file:`LICENSE file<openthread/openthread/LICENSE>`.
+
 Build Tools
 -----------
 

examples/openthread/ot_cli/CMakeLists.txt

@@ -0,0 +1,6 @@
+# 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 3.5)
+
+include($ENV{IDF_PATH}/tools/cmake/project.cmake)
+project(ot_esp_cli)

examples/openthread/ot_cli/Makefile

@@ -0,0 +1,8 @@
+#
+# This is a project Makefile. It is assumed the directory this Makefile resides in is a
+# project subdirectory.
+#
+
+PROJECT_NAME := ot_esp_cli
+
+include $(IDF_PATH)/make/project.mk

examples/openthread/ot_cli/README.md

@@ -0,0 +1,86 @@
+# OpenThread command line example 
+
+## Overview
+
+This example demonstrates a [basic OpenThread command line](https://github.com/openthread/openthread/blob/master/src/cli/README.md).
+
+## How to use example
+
+### Hardware connection
+
+To run this example, it's used to use an DevKit C board and connect PIN4 and PIN5 to the UART TX and RX port of another 15.4 capable radio co-processor ([RCP](https://openthread.io/platforms/co-processor?hl=en))
+
+### Configure the project
+
+```
+idf.py menuconfig
+```
+
+The example can run with the default configuration.
+
+### Build, Flash, and Run
+
+Build the project and flash it to the board, then run monitor tool to view serial output:
+
+```
+idf.py -p PORT build flash monitor
+```
+
+Now you'll get an interactive OpenThread command line shell.
+
+## Example Output
+
+```bash
+I (1540) OPENTHREAD: [INFO]-PLAT----: RCP reset: RESET_POWER_ON
+I (1610) OPENTHREAD: [NOTE]-PLAT----: RCP API Version: 3
+I (1840) OPENTHREAD: [INFO]-CORE----: Non-volatile: Read NetworkInfo {rloc:0x7404, extaddr:aee4a5cc7ed1ad88, role:Child, mode:0x0f, version:2, keyseq:0x0, ...
+I (1850) OPENTHREAD: [INFO]-CORE----: Non-volatile: ... pid:0x1161bcdc, mlecntr:0x5a17, maccntr:0x5a91, mliid:33158c466ab576d4}
+I (1900) OPENTHREAD: [INFO]-CORE----: Non-volatile: Read ParentInfo {extaddr:36505631b12ea5e3, version:2}
+I (1900) OPENTHREAD: [INFO]-CORE----: Notifier: StateChanged (0x1007c300) [KeySeqCntr NetData Channel PanId NetName ExtPanId MstrKey ActDset] 
+
+> ifconfig up
+I (11320) OPENTHREAD: [INFO]-CLI-----: execute command: ifconfig up
+Done
+I (11340) OPENTHREAD: [INFO]-CORE----: Notifier: StateChanged (0x01001009) [Ip6+ LLAddr Ip6Mult+ NetifState] 
+> dataset init new
+I (105650) OPENTHREAD: [INFO]-CLI-----: execute command: dataset init new
+Done
+
+> dataset
+I (107460) OPENTHREAD: [INFO]-CLI-----: execute command: dataset
+Active Timestamp: 1
+Channel: 14
+Channel Mask: 0x07fff800
+Ext PAN ID: d9d69bf6535735ec
+Mesh Local Prefix: fd73:192f:f27:2a5c::/64
+Master Key: 7ad0ec87abbd8c41f07d004922b480bf
+Network Name: OpenThread-a5fe
+PAN ID: 0xa5fe
+PSKc: ef028c933febdeb226f6681cc780272a
+Security Policy: 672, onrcb
+Done
+
+> dataset commit active
+I (134350) OPENTHREAD: [INFO]-CLI-----: execute command: dataset commit active
+I (134350) OPENTHREAD: [INFO]-MESH-CP-: Active dataset set
+Done
+I (134380) OPENTHREAD: [INFO]-CORE----: Notifier: StateChanged (0x101fc110) [MLAddr KeySeqCntr Channel PanId NetName ExtPanId MstrKey PSKc SecPolicy ...
+I (134390) OPENTHREAD: [INFO]-CORE----: Notifier: StateChanged (0x101fc110) ... ActDset] 
+
+>thread start                                                         
+I (177250) OPENTHREAD: [INFO]-CLI-----: execute command: thread start
+I (177250) OPENTHREAD: [NOTE]-MLE-----: Role Disabled -> Detached
+I (177280) OPENTHREAD: [INFO]-CORE----: Non-volatile: Read NetworkInfo {rloc:0x7404, extaddr:aee4a5cc7ed1ad88, role:Child, mode:0x0f, version:2, keyseq:0x0, ...
+I (177290) OPENTHREAD: [INFO]-CORE----: Non-volatile: ... pid:0x1161bcdc, mlecntr:0x5a17, maccntr:0x5a91, mliid:33158c466ab576d4}            
+I (194054) OPENTHREAD: [INFO]-CORE----: Non-volatile: Saved NetworkInfo {rloc:0x7404, extaddr:aee4a5cc7ed1ad88, role:Child, mode:0x0f, version:2, keyseq:0x0, ...
+I (194064) OPENTHREAD: [INFO]-CORE----: Non-volatile: ... pid:0x1161bcdc, mlecntr:0x5e00, maccntr:0x5e79, mliid:33158c466ab576d4}            
+I (194074) OPENTHREAD: [INFO]-MLE-----: Send Child Update Request to parent (fe80:0:0:0:3450:5631:b12e:a5e3)                                 
+Done                                                                  
+
+# After some seconds
+
+> state
+leader
+Done
+```
+

examples/openthread/ot_cli/main/CMakeLists.txt

@@ -0,0 +1,2 @@
+idf_component_register(SRCS "ot_esp_cli.c"
+                       INCLUDE_DIRS ".")

examples/openthread/ot_cli/main/component.mk

@@ -0,0 +1,8 @@
+#
+# "main" pseudo-component makefile.
+#
+# (Uses default behaviour of compiling all source files in directory, adding 'include' to include path.)
+
+COMPONENT_ADD_INCLUDEDIRS := .
+
+COMPONENT_PRIV_INCLUDEDIRS := .

examples/openthread/ot_cli/main/ot_esp_cli.c

@@ -0,0 +1,129 @@
+// Copyright 2020 Espressif Systems (Shanghai) PTE LTD
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <stdio.h>
+#include <unistd.h>
+
+#include "esp_err.h"
+#include "esp_log.h"
+#include "esp_netif.h"
+#include "esp_openthread.h"
+#include "esp_openthread_lock.h"
+#include "esp_openthread_types.h"
+#include "sdkconfig.h"
+#include "driver/uart.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/portmacro.h"
+#include "freertos/task.h"
+#include "hal/uart_types.h"
+#include "openthread/cli.h"
+#include "openthread/instance.h"
+#include "openthread/tasklet.h"
+
+#define TAG "ot_esp_cli"
+
+static void ot_task_worker(void *aContext)
+{
+    esp_openthread_platform_config_t config = {
+        .radio_config =
+        {
+            .radio_mode = RADIO_MODE_UART_RCP,
+            .radio_uart_config =
+            {
+                .port = 1,
+                .uart_config =
+                {
+                    .baud_rate = 115200,
+                    .data_bits = UART_DATA_8_BITS,
+                    .parity = UART_PARITY_DISABLE,
+                    .stop_bits = UART_STOP_BITS_1,
+                    .flow_ctrl = UART_HW_FLOWCTRL_DISABLE,
+                    .rx_flow_ctrl_thresh = 0,
+                    .source_clk = UART_SCLK_APB,
+                },
+                .rx_pin = 4,
+                .tx_pin = 5,
+            },
+        },
+        .host_config =
+        {
+            .host_connection_mode = HOST_CONNECTION_MODE_UART,
+            .host_uart_config =
+            {
+                .port = 0,
+                .uart_config =
+                {
+                    .baud_rate = 115200,
+                    .data_bits = UART_DATA_8_BITS,
+                    .parity = UART_PARITY_DISABLE,
+                    .stop_bits = UART_STOP_BITS_1,
+                    .flow_ctrl = UART_HW_FLOWCTRL_DISABLE,
+                    .rx_flow_ctrl_thresh = 0,
+                    .source_clk = UART_SCLK_APB,
+                },
+                .rx_pin = UART_PIN_NO_CHANGE,
+                .tx_pin = UART_PIN_NO_CHANGE,
+            },
+        },
+    };
+    esp_openthread_mainloop_context_t mainloop;
+
+    ESP_ERROR_CHECK(esp_openthread_platform_init(&config));
+    otInstance *instance = otInstanceInitSingle();
+    assert(instance != NULL);
+
+    esp_openthread_lock_acquire(portMAX_DELAY);
+    otCliUartInit(instance);
+    esp_openthread_lock_release();
+
+    while (true) {
+        FD_ZERO(&mainloop.read_fds);
+        FD_ZERO(&mainloop.write_fds);
+        FD_ZERO(&mainloop.error_fds);
+
+        mainloop.max_fd = -1;
+        mainloop.timeout.tv_sec = 10;
+        mainloop.timeout.tv_usec = 0;
+
+        esp_openthread_lock_acquire(portMAX_DELAY);
+        esp_openthread_platform_update(&mainloop);
+        if (otTaskletsArePending(instance)) {
+            mainloop.timeout.tv_sec = 0;
+            mainloop.timeout.tv_usec = 0;
+        }
+        esp_openthread_lock_release();
+
+        if (select(mainloop.max_fd + 1, &mainloop.read_fds, &mainloop.write_fds, &mainloop.error_fds,
+                   &mainloop.timeout) >= 0) {
+            esp_openthread_lock_acquire(portMAX_DELAY);
+            otTaskletsProcess(instance);
+            if (esp_openthread_platform_process(instance, &mainloop)) {
+                ESP_LOGE(TAG, "esp_openthread_platform_process failed");
+            }
+            esp_openthread_lock_release();
+        } else {
+            ESP_LOGE(TAG, "OpenThread system polling failed");
+            break;
+        }
+    }
+
+    otInstanceFinalize(instance);
+    esp_openthread_platform_deinit();
+    vTaskDelete(NULL);
+}
+
+void app_main(void)
+{
+    xTaskCreate(ot_task_worker, "ot_cli_main", 10240, xTaskGetCurrentTaskHandle(), 5, NULL);
+}

examples/openthread/ot_cli/partitions.csv

@@ -0,0 +1,6 @@
+# Name,   Type, SubType, Offset,  Size, Flags
+# Note: if you have increased the bootloader size, make sure to update the offsets to avoid overlap
+nvs,        data, nvs,      0x9000,  0x6000,
+phy_init,   data, phy,      0xf000,  0x1000,
+factory,    app,  factory,  0x10000, 1M,
+ot_storage, data, 0x3a,            , 0x2000,

examples/openthread/ot_cli/sdkconfig.defaults

@@ -0,0 +1,33 @@
+#
+# libsodium
+#
+CONFIG_LIBSODIUM_USE_MBEDTLS_SHA=y
+# end of libsodium
+
+#
+# Partition Table
+#
+CONFIG_PARTITION_TABLE_CUSTOM=y
+CONFIG_PARTITION_TABLE_CUSTOM_FILENAME="partitions.csv"
+CONFIG_PARTITION_TABLE_FILENAME="partitions.csv"
+CONFIG_PARTITION_TABLE_OFFSET=0x8000
+CONFIG_PARTITION_TABLE_MD5=y
+# end of Partition Table
+
+#
+# mbedTLS
+#
+
+CONFIG_MBEDTLS_CMAC_C=y
+CONFIG_MBEDTLS_SSL_PROTO_DTLS=y
+CONFIG_MBEDTLS_KEY_EXCHANGE_ECJPAKE=y
+# end of TLS Key Exchange Methods
+
+CONFIG_MBEDTLS_ECJPAKE_C=y
+# end of mbedTLS
+
+#
+# OpenThread
+#
+CONFIG_OPENTHREAD_ENABLED=y
+# end of OpenThread

tools/ci/check_public_headers_exceptions.txt

@@ -92,6 +92,8 @@ components/cmock/CMock/src/cmock_internals.h
 
 components/efuse/include/esp_efuse.h
 
+components/openthread/openthread/
+
 ### Here are the files that do not compile for some reason
 #
 components/app_trace/include/esp_sysview_trace.h