feat(openthread): support trel feature

components/openthread/CMakeLists.txt

@@ -15,7 +15,6 @@ if(CONFIG_OPENTHREAD_ENABLED)
 
     set(private_include_dirs
         "openthread/examples/platforms"
-        "openthread/include/openthread"
         "openthread/src"
         "openthread/src/core"
         "openthread/src/lib"
@@ -140,6 +139,19 @@ if(CONFIG_OPENTHREAD_ENABLED)
         list(APPEND exclude_srcs
             "src/port/esp_openthread_radio.c"
             "src/port/esp_openthread_sleep.c")
+    elseif(CONFIG_OPENTHREAD_RADIO_154_NONE)
+        list(APPEND exclude_srcs
+            "src/port/esp_openthread_radio_spinel.cpp"
+            "src/port/esp_spi_spinel_interface.cpp"
+            "src/port/esp_uart_spinel_interface.cpp"
+            "src/port/esp_openthread_radio.c"
+            "src/port/esp_openthread_sleep.c"
+            )
+    endif()
+
+    if(NOT CONFIG_OPENTHREAD_RADIO_TREL)
+        list(APPEND exclude_srcs
+            "src/port/esp_openthread_trel.c")
     endif()
 
     if(CONFIG_OPENTHREAD_BORDER_ROUTER)
@@ -252,6 +264,10 @@ idf_component_register(SRC_DIRS "${src_dirs}"
                        PRIV_REQUIRES console esp_event esp_partition esp_timer
                                      ieee802154 mbedtls nvs_flash)
 
+if(CONFIG_OPENTHREAD_RADIO_TREL)
+idf_component_optional_requires(PRIVATE espressif__mdns)
+endif()
+
 if(CONFIG_OPENTHREAD_ENABLED OR CONFIG_OPENTHREAD_SPINEL_ONLY)
     if(CONFIG_OPENTHREAD_RADIO)
         set(CONFIG_FILE_TYPE "radio")

components/openthread/Kconfig

@@ -101,7 +101,7 @@ menu "OpenThread"
         default 5 if OPENTHREAD_LOG_LEVEL_DEBG
 
     choice OPENTHREAD_RADIO_TYPE
-        prompt "Config the Thread radio type"
+        prompt "Config the Thread radio type with 15.4 link"
         depends on OPENTHREAD_ENABLED
         default OPENTHREAD_RADIO_NATIVE if SOC_IEEE802154_SUPPORTED
         default OPENTHREAD_RADIO_SPINEL_UART
@@ -124,8 +124,26 @@ menu "OpenThread"
             help
                 Select this to connect to a Radio Co-Processor via SPI.
 
+        config OPENTHREAD_RADIO_154_NONE
+            bool "Disable the Thread radio based on 15.4 link"
+            help
+                Select this to disable the Thread radio based on 15.4 link.
     endchoice
 
+    config OPENTHREAD_RADIO_TREL
+        bool "Enable Thread Radio Encapsulation Link (TREL)"
+        depends on SOC_WIFI_SUPPORTED
+        default n
+        help
+            Select this option to enable Thread Radio Encapsulation Link.
+
+    config OPENTHREAD_TREL_PORT
+        int "The port of openthread trel service"
+        depends on OPENTHREAD_RADIO_TREL
+        default 12390
+        help
+            Configure the port number of TREL service.
+
     choice OPENTHREAD_DEVICE_TYPE
         prompt "Config the Thread device type"
         depends on OPENTHREAD_ENABLED

components/openthread/include/esp_openthread_trel.h

@@ -0,0 +1,38 @@
+/*
+ * SPDX-FileCopyrightText: 2024 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#pragma once
+
+#include "sdkconfig.h"
+#include "esp_netif.h"
+#include "esp_netif_types.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @brief   Sets the interface used for trel feature.
+ *
+ * @note This function must be called after connect to wifi/ethernet
+ *
+ * @param[in]  trel_netif   The network interface (WiFi or ethernet)
+ *
+ */
+void esp_openthread_set_trel_netif(esp_netif_t *trel_netif);
+
+/**
+ * @brief   Gets the trel interface of OpenThread device.
+ *
+ * @return
+ *      The trel interface or NULL if trel not initialized.
+ *
+ */
+esp_netif_t *esp_openthread_get_trel_netif(void);
+
+#ifdef __cplusplus
+}
+#endif

components/openthread/include/esp_openthread_types.h

@@ -136,6 +136,7 @@ typedef enum {
     RADIO_MODE_NATIVE = 0x0,   /*!< Use the native 15.4 radio */
     RADIO_MODE_UART_RCP,       /*!< UART connection to a 15.4 capable radio co-processor (RCP) */
     RADIO_MODE_SPI_RCP,        /*!< SPI connection to a 15.4 capable radio co-processor (RCP) */
+    RADIO_MODE_TREL,           /*!< Use the Thread Radio Encapsulation Link (TREL) */
     RADIO_MODE_MAX,            /*!< Using for parameter check */
 } esp_openthread_radio_mode_t;
 

components/openthread/private_include/openthread-core-esp32x-ftd-config.h

@@ -203,16 +203,6 @@
 #define OPENTHREAD_CONFIG_DNSSD_SERVER_ENABLE 1
 #endif
 
-/**
- * @def OPENTHREAD_CONFIG_RADIO_LINK_TREL_ENABLE
- *
- * Set to 1 to enable support for Thread Radio Encapsulation Link (TREL).
- *
- */
-#ifndef OPENTHREAD_CONFIG_RADIO_LINK_TREL_ENABLE
-#define OPENTHREAD_CONFIG_RADIO_LINK_TREL_ENABLE 0
-#endif
-
 /**
  * @def OPENTHREAD_CONFIG_BACKBONE_ROUTER_ENABLE
  *
@@ -225,6 +215,28 @@
 
 #endif // CONFIG_OPENTHREAD_BORDER_ROUTER
 
+/**
+ * @def OPENTHREAD_CONFIG_RADIO_LINK_TREL_ENABLE
+ *
+ * Set to 1 to enable support for Thread Radio Encapsulation Link (TREL).
+ *
+ */
+#if CONFIG_OPENTHREAD_RADIO_TREL
+#define OPENTHREAD_CONFIG_RADIO_LINK_TREL_ENABLE 1
+#endif // CONFIG_OPENTHREAD_RADIO_TREL
+
+/**
+ * @def OPENTHREAD_CONFIG_RADIO_LINK_IEEE_802_15_4_ENABLE
+ *
+ * Set to 1 to enable support for IEEE802.15.4 radio link.
+ *
+ */
+#if CONFIG_OPENTHREAD_RADIO_NATIVE || CONFIG_OPENTHREAD_RADIO_SPINEL_UART || CONFIG_OPENTHREAD_RADIO_SPINEL_SPI
+#define OPENTHREAD_CONFIG_RADIO_LINK_IEEE_802_15_4_ENABLE 1
+#else
+#define OPENTHREAD_CONFIG_RADIO_LINK_IEEE_802_15_4_ENABLE 0
+#endif
+
 #if !CONFIG_OPENTHREAD_RADIO_NATIVE
 /**
  * @def OPENTHREAD_SPINEL_CONFIG_RCP_RESTORATION_MAX_COUNT

components/openthread/src/port/esp_openthread_radio.c

@@ -7,7 +7,7 @@
 #include <stdatomic.h>
 #include "esp_openthread_radio.h"
 
-#include "error.h"
+#include "openthread/error.h"
 #include "esp_err.h"
 #include "sdkconfig.h"
 #include "esp_check.h"

components/openthread/src/port/esp_openthread_radio_spinel.cpp

@@ -6,7 +6,6 @@
 
 #include "esp_openthread_radio.h"
 
-#include "link_raw.h"
 #include "sdkconfig.h"
 #include "esp_check.h"
 #include "esp_err.h"

components/openthread/src/port/esp_openthread_trel.c

@@ -0,0 +1,374 @@
+/*
+ * SPDX-FileCopyrightText: 2024 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include "esp_err.h"
+#include "esp_netif_types.h"
+#include "lwip/ip6_addr.h"
+#include "sdkconfig.h"
+#include "common/code_utils.hpp"
+#include "openthread/error.h"
+#include "esp_check.h"
+#include "esp_event.h"
+#include "esp_log.h"
+#include "esp_netif.h"
+#include "mdns.h"
+#include "esp_netif_ip_addr.h"
+#include "esp_openthread.h"
+#include "esp_openthread_common_macro.h"
+#include "esp_openthread_lock.h"
+#include "esp_openthread_radio.h"
+#include "esp_openthread_task_queue.h"
+#include "esp_openthread_trel.h"
+#include "lwip/pbuf.h"
+#include "lwip/tcpip.h"
+#include "lwip/udp.h"
+#include "openthread/trel.h"
+#include "openthread/platform/diag.h"
+
+#if CONFIG_OPENTHREAD_BORDER_ROUTER
+#include "esp_openthread_border_router.h"
+#endif
+
+static esp_netif_t *s_trel_netif = NULL;
+static otPlatTrelCounters s_trel_counters;
+
+#define TREL_MDNS_TYPE "_trel"
+#define TREL_MDNS_PROTO "_udp"
+
+typedef struct {
+    uint16_t port;
+    struct udp_pcb *trel_pcb;
+} ot_trel_t;
+
+typedef struct {
+    struct pbuf *p;
+} ot_trel_recv_task_t;
+
+typedef struct {
+    struct udp_pcb *pcb;
+    const uint8_t *payload;
+    uint16_t length;
+    ip_addr_t peer_addr;
+    uint16_t peer_port;
+} ot_trel_send_task_t;
+
+static ot_trel_t s_ot_trel = {CONFIG_OPENTHREAD_TREL_PORT, NULL};
+static bool s_is_service_registered = false;
+
+static void trel_browse_notifier(mdns_result_t *result)
+{
+    while (result) {
+
+        if (result->addr->addr.type == IPADDR_TYPE_V6) {
+            otPlatTrelPeerInfo info;
+            uint8_t trel_txt[1024] = {0};
+            uint16_t trel_txt_len = 0;
+            size_t index = 0;
+            while (index < result->txt_count) {
+                trel_txt[trel_txt_len++] = strlen(result->txt[index].key) + result->txt_value_len[index] + 1;
+                memcpy((trel_txt + trel_txt_len), (void *)result->txt[index].key, strlen(result->txt[index].key));
+                trel_txt_len += (strlen(result->txt[index].key));
+                trel_txt[trel_txt_len++] = '=';
+                memcpy((trel_txt + trel_txt_len), (void *)result->txt[index].value, result->txt_value_len[index]);
+                trel_txt_len += result->txt_value_len[index];
+                index++;
+            }
+
+            info.mTxtData = trel_txt;
+            info.mTxtLength = trel_txt_len;
+            info.mSockAddr.mPort = result->port;
+
+            memcpy(info.mSockAddr.mAddress.mFields.m32, result->addr->addr.u_addr.ip6.addr, OT_IP6_ADDRESS_SIZE);
+
+            info.mRemoved = (result->ttl == 0);
+            ESP_LOGI(OT_PLAT_LOG_TAG, "Found TREL peer: address: %s, port:%d", ip6addr_ntoa(((ip6_addr_t*)(&result->addr->addr.u_addr.ip6))), info.mSockAddr.mPort);
+
+            esp_openthread_task_switching_lock_acquire(portMAX_DELAY);
+            otPlatTrelHandleDiscoveredPeerInfo(esp_openthread_get_instance(), &info);
+            esp_openthread_task_switching_lock_release();
+        }
+
+        result = result->next;
+    }
+}
+
+static void trel_recv_task(void *ctx)
+{
+    struct pbuf *recv_buf = (struct pbuf *)ctx;
+    uint8_t *data_buf = (uint8_t *)recv_buf->payload;
+    uint8_t *data_buf_to_free = NULL;
+    uint16_t length = recv_buf->len;
+
+    if (recv_buf->next != NULL) {
+        data_buf = (uint8_t *)malloc(recv_buf->tot_len);
+        if (data_buf != NULL) {
+            length = recv_buf->tot_len;
+            data_buf_to_free = data_buf;
+            pbuf_copy_partial(recv_buf, data_buf, recv_buf->tot_len, 0);
+        } else {
+            ESP_LOGE(OT_PLAT_LOG_TAG, "Failed to allocate data buf when receiving Thread TREL message");
+            ExitNow();
+        }
+    }
+    otPlatTrelHandleReceived(esp_openthread_get_instance(), data_buf, length);
+
+exit:
+    if (data_buf_to_free) {
+        free(data_buf_to_free);
+    }
+    pbuf_free(recv_buf);
+}
+
+static void handle_trel_udp_recv(void *ctx, struct udp_pcb *pcb, struct pbuf *p, const ip_addr_t *addr, uint16_t port)
+{
+    ESP_LOGD(OT_PLAT_LOG_TAG, "Receive from %s:%d", ip6addr_ntoa(&(addr->u_addr.ip6)), port);
+
+    if (esp_openthread_task_queue_post(trel_recv_task, p) != ESP_OK) {
+        ESP_LOGE(OT_PLAT_LOG_TAG, "Failed to receive OpenThread TREL message");
+    }
+}
+
+static esp_err_t ot_new_trel(void *ctx)
+{
+    ot_trel_t *task = (ot_trel_t *)ctx;
+
+    task->trel_pcb = udp_new();
+    ESP_RETURN_ON_FALSE(task->trel_pcb != NULL, ESP_ERR_NO_MEM, OT_PLAT_LOG_TAG, "Failed to create a new UDP pcb");
+    udp_bind(task->trel_pcb, IP6_ADDR_ANY, task->port);
+    udp_bind_netif(task->trel_pcb, netif_get_by_index(esp_netif_get_netif_impl_index(s_trel_netif)));
+    udp_recv(task->trel_pcb, handle_trel_udp_recv, NULL);
+    return ESP_OK;
+}
+
+void otPlatTrelEnable(otInstance *aInstance, uint16_t *aUdpPort)
+{
+    *aUdpPort = s_ot_trel.port;
+    if (s_trel_netif == NULL) {
+        ESP_LOGE(OT_PLAT_LOG_TAG, "netif for trel is not set");
+        assert(false);
+    }
+
+    esp_openthread_task_switching_lock_release();
+    esp_err_t err = esp_netif_tcpip_exec(ot_new_trel, &s_ot_trel);
+    if (err != ESP_OK) {
+        ESP_LOGE(OT_PLAT_LOG_TAG, "Fail to create trel udp");
+    }
+    mdns_browse_new(TREL_MDNS_TYPE, TREL_MDNS_PROTO, trel_browse_notifier);
+    esp_openthread_task_switching_lock_acquire(portMAX_DELAY);
+}
+
+static void trel_send_task(void *ctx)
+{
+    err_t err = ERR_OK;
+    struct pbuf *send_buf = NULL;
+    ot_trel_send_task_t *task = (ot_trel_send_task_t *)ctx;
+
+    task->pcb = s_ot_trel.trel_pcb;
+    task->pcb->ttl = UDP_TTL;
+    task->pcb->netif_idx = esp_netif_get_netif_impl_index(s_trel_netif);
+    task->peer_addr.u_addr.ip6.zone = 0;
+    task->peer_addr.type = IPADDR_TYPE_V6;
+    task->pcb->flags = (task->pcb->flags & (~UDP_FLAGS_MULTICAST_LOOP));
+    task->pcb->local_port = s_ot_trel.port;
+    send_buf = pbuf_alloc(PBUF_TRANSPORT, task->length, PBUF_RAM);
+    if (send_buf == NULL) {
+        ESP_LOGE(OT_PLAT_LOG_TAG, "Failed to allocate data buf when sending Thread TREL message");
+        ExitNow();
+    }
+    memcpy(send_buf->payload, task->payload, task->length);
+
+    err = udp_sendto_if(task->pcb, send_buf, &task->peer_addr, task->peer_port, netif_get_by_index(task->pcb->netif_idx));
+    if(err != ERR_OK) {
+        ESP_LOGE(OT_PLAT_LOG_TAG, "Fail to send trel msg to %s:%d %d (%d)", ip6addr_ntoa(&(task->peer_addr.u_addr.ip6)), task->peer_port, task->pcb->netif_idx, err);
+    }
+
+exit:
+    pbuf_free(send_buf);
+    free(task);
+}
+
+void otPlatTrelSend(otInstance       *aInstance,
+                    const uint8_t    *aUdpPayload,
+                    uint16_t          aUdpPayloadLen,
+                    const otSockAddr *aDestSockAddr)
+{
+    ot_trel_send_task_t *task = (ot_trel_send_task_t *)malloc(sizeof(ot_trel_send_task_t));
+    if (task == NULL) {
+        ESP_LOGE(OT_PLAT_LOG_TAG, "Failed to allocate buf for Thread TREL");
+        return;
+    }
+    memcpy(task->peer_addr.u_addr.ip6.addr, aDestSockAddr->mAddress.mFields.m32, OT_IP6_ADDRESS_SIZE);
+    task->peer_port = aDestSockAddr->mPort;
+    ESP_LOGD(OT_PLAT_LOG_TAG, "send trel msg to %s:%d", ip6addr_ntoa(&(task->peer_addr.u_addr.ip6)), task->peer_port);
+    task->payload = aUdpPayload;
+    task->length = aUdpPayloadLen;
+
+    esp_openthread_task_switching_lock_release();
+    tcpip_callback(trel_send_task, task);
+    esp_openthread_task_switching_lock_acquire(portMAX_DELAY);
+}
+
+void otPlatTrelRegisterService(otInstance *aInstance, uint16_t aPort, const uint8_t *aTxtData, uint8_t aTxtLength)
+{
+    esp_err_t ret = ESP_OK;
+    esp_openthread_task_switching_lock_release();
+    if (s_is_service_registered) {
+        mdns_service_remove(TREL_MDNS_TYPE, TREL_MDNS_PROTO);
+    }
+
+    mdns_service_add(NULL, TREL_MDNS_TYPE, TREL_MDNS_PROTO, aPort, NULL, 0);
+    s_is_service_registered = true;
+    uint16_t index = 0;
+    while (index < aTxtLength) {
+        const uint8_t *item_header = aTxtData + index + 1;
+        uint8_t item_len = aTxtData[index];
+
+        char key[UINT8_MAX + 1];
+        for (uint16_t i = 0; i < item_len; i++) {
+            if (item_header[i] == '=') {
+                ESP_GOTO_ON_FALSE(i != 0, ESP_FAIL, exit, OT_PLAT_LOG_TAG, "Wrong format of _trel._udp txt key");
+                key[i] = '\0';
+                uint16_t value_len = item_len - i - 1;
+                ESP_GOTO_ON_FALSE(value_len != 0, ESP_FAIL, exit, OT_PLAT_LOG_TAG, "Wrong format of _trel._udp txt value");
+                mdns_service_txt_item_set_with_explicit_value_len(TREL_MDNS_TYPE, TREL_MDNS_PROTO, key, (const char *)item_header + i + 1, value_len);
+                break;
+            }
+            key[i] = item_header[i];
+        }
+        index += item_len + 1;
+    }
+exit:
+    if (ret != ESP_OK) {
+        ESP_LOGE(OT_PLAT_LOG_TAG, "Registered TREL service with some errors");
+    }
+    esp_openthread_task_switching_lock_acquire(portMAX_DELAY);
+}
+
+void otPlatTrelResetCounters(otInstance *aInstance)
+{
+    memset(&s_trel_counters, 0, sizeof(otPlatTrelCounters));
+}
+
+static void trel_disable_task(void *ctx)
+{
+    struct udp_pcb *pcb = (struct udp_pcb *)ctx;
+    udp_remove(pcb);
+}
+
+void otPlatTrelDisable(otInstance *aInstance)
+{
+    esp_openthread_task_switching_lock_release();
+    if (s_ot_trel.trel_pcb) {
+        tcpip_callback(trel_disable_task, s_ot_trel.trel_pcb);
+    }
+    mdns_service_remove(TREL_MDNS_TYPE, TREL_MDNS_PROTO);
+    s_is_service_registered = false;
+    mdns_browse_delete(TREL_MDNS_TYPE, TREL_MDNS_PROTO);
+    esp_openthread_task_switching_lock_acquire(portMAX_DELAY);
+    s_ot_trel.trel_pcb = NULL;
+}
+
+const otPlatTrelCounters *otPlatTrelGetCounters(otInstance *aInstance)
+{
+    return &s_trel_counters;
+}
+
+void esp_openthread_set_trel_netif(esp_netif_t *trel_netif)
+{
+    s_trel_netif = trel_netif;
+}
+
+esp_netif_t *esp_openthread_get_trel_netif(void)
+{
+    return s_trel_netif;
+}
+
+OT_TOOL_WEAK otError otPlatRadioSetTransmitPower(otInstance *aInstance, int8_t aPower)
+{
+    ESP_LOGW(OT_PLAT_LOG_TAG, "Running in TREL mode and not support `otPlatRadioSetTransmitPower`");
+    return OT_ERROR_NONE;
+}
+
+OT_TOOL_WEAK otError otPlatRadioGetTransmitPower(otInstance *aInstance, int8_t *aPower)
+{
+    ESP_LOGW(OT_PLAT_LOG_TAG, "Running in TREL mode and not support `otPlatRadioGetTransmitPower`");
+    return OT_ERROR_NONE;
+}
+
+OT_TOOL_WEAK bool otPlatRadioGetPromiscuous(otInstance *aInstance)
+{
+    ESP_LOGW(OT_PLAT_LOG_TAG, "Running in TREL mode and not support `otPlatRadioGetPromiscuous`");
+    return false;
+}
+
+OT_TOOL_WEAK otError otPlatRadioSetCcaEnergyDetectThreshold(otInstance *aInstance, int8_t aThreshold)
+{
+    ESP_LOGW(OT_PLAT_LOG_TAG, "Running in TREL mode and not support `otPlatRadioSetCcaEnergyDetectThreshold`");
+    return OT_ERROR_NONE;
+}
+
+OT_TOOL_WEAK otError otPlatRadioGetCcaEnergyDetectThreshold(otInstance *aInstance, int8_t *aThreshold)
+{
+    ESP_LOGW(OT_PLAT_LOG_TAG, "Running in TREL mode and not support `otPlatRadioGetCcaEnergyDetectThreshold`");
+    return OT_ERROR_NONE;
+}
+
+OT_TOOL_WEAK void otPlatRadioGetIeeeEui64(otInstance *aInstance, uint8_t *aIeeeEui64)
+{
+    ESP_LOGW(OT_PLAT_LOG_TAG, "Running in TREL mode and not support `otPlatRadioGetIeeeEui64`");
+}
+
+OT_TOOL_WEAK otRadioFrame *otPlatRadioGetTransmitBuffer(otInstance *aInstance)
+{
+    return NULL;
+}
+
+#if CONFIG_OPENTHREAD_DIAG
+
+OT_TOOL_WEAK void otPlatDiagSetOutputCallback(otInstance *aInstance, otPlatDiagOutputCallback aCallback, void *aContext)
+{
+    OT_UNUSED_VARIABLE(aInstance);
+    OT_UNUSED_VARIABLE(aCallback);
+    OT_UNUSED_VARIABLE(aContext);
+}
+
+OT_TOOL_WEAK void otPlatDiagModeSet(bool mode)
+{
+    ESP_LOGW(OT_PLAT_LOG_TAG, "Running in TREL mode and not support `otPlatDiagModeSet`");
+}
+
+OT_TOOL_WEAK bool otPlatDiagModeGet(void)
+{
+    return false;
+}
+
+OT_TOOL_WEAK void otPlatDiagTxPowerSet(int8_t tx_power)
+{
+    ESP_LOGW(OT_PLAT_LOG_TAG, "Running in TREL mode and not support `otPlatDiagTxPowerSet`");
+}
+
+OT_TOOL_WEAK void otPlatDiagChannelSet(uint8_t channel)
+{
+    ESP_LOGW(OT_PLAT_LOG_TAG, "Running in TREL mode and not support `otPlatDiagChannelSet`");
+}
+
+OT_TOOL_WEAK void otPlatDiagAlarmCallback(otInstance *aInstance)
+{
+    ESP_LOGW(OT_PLAT_LOG_TAG, "Running in TREL mode and not support `otPlatDiagAlarmCallback`");
+}
+
+#endif // CONFIG_OPENTHREAD_DIAG
+
+OT_TOOL_WEAK esp_err_t esp_openthread_radio_init(const esp_openthread_platform_config_t *config)
+{
+    ESP_LOGI(OT_PLAT_LOG_TAG, "Running in TREL mode");
+    return ESP_OK;
+}
+
+OT_TOOL_WEAK void esp_openthread_radio_deinit(void)
+{
+    ESP_LOGI(OT_PLAT_LOG_TAG, "Running in TREL mode");
+}

components/openthread/src/port/esp_spi_spinel_interface.cpp

@@ -6,7 +6,7 @@
 
 #include "esp_spi_spinel_interface.hpp"
 
-#include "error.h"
+#include "openthread/error.h"
 #include "esp_check.h"
 #include "esp_openthread_common_macro.h"
 #include "esp_rom_sys.h"

examples/openthread/.build-test-rules.yml

@@ -33,3 +33,7 @@ examples/openthread/ot_sleepy_device/deep_sleep:
 examples/openthread/ot_sleepy_device/light_sleep:
   enable:
     - if: SOC_IEEE802154_SUPPORTED == 1
+
+examples/openthread/ot_trel:
+  enable:
+    - if: SOC_WIFI_SUPPORTED == 1

examples/openthread/ot_trel/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 3.16)
+
+include($ENV{IDF_PATH}/tools/cmake/project.cmake)
+project(esp_ot_cli)

examples/openthread/ot_trel/README.md

@@ -0,0 +1,132 @@
+| Supported Targets | ESP32 | ESP32-C2 | ESP32-C3 | ESP32-C6 | ESP32-S2 | ESP32-S3 |
+| ----------------- | ----- | -------- | -------- | -------- | -------- | -------- |
+
+# Thread Radio Encapsulation Link Example
+
+This example demonstrates a Thread Radio Encapsulation Link (TREL) Example.
+
+## How to use example
+
+### Hardware Required
+
+To run this example, a board with Wi-Fi module (for example ESP32-S3) is required.
+
+### Configure the project
+
+```
+idf.py menuconfig
+```
+
+The Wi-Fi ssid and password should be set through the menuconfig:
+```
+Component config → → Example Connection Configuration → → WiFi SSID
+Component config → → Example Connection Configuration → → WiFi Password
+```
+
+The example can run with the default configuration. OpenThread Command Line is enabled with UART as the default interface. Additionally, USB JTAG is also supported and can be activated through the menuconfig:
+
+```
+Component config → ESP System Settings → Channel for console output → USB Serial/JTAG Controller
+```
+
+### 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 OpenThread command line shell.
+
+### Example Output
+
+The `help` command will print all of the supported commands.
+```bash
+>  help
+I(7058) OPENTHREAD:[INFO]-CLI-----: execute command: help
+bbr
+bufferinfo
+ccathreshold
+channel
+child
+childip
+childmax
+childsupervision
+childtimeout
+coap
+contextreusedelay
+counters
+dataset
+delaytimermin
+diag
+discover
+dns
+domainname
+eidcache
+eui64
+extaddr
+extpanid
+factoryreset
+...
+```
+
+## Set Up Network
+
+To run this example, at least two ESP32-S3 boards flashed with this ot_trel example are required. And they must connect to the same wifi AP.
+
+On the first device, run the following commands:
+```bash
+> factoryreset
+... # the device will reboot
+
+> dataset init new
+Done
+> dataset commit active
+Done
+> ifconfig up
+Done
+> thread start
+Done
+
+# After some seconds
+
+> state
+leader
+Done
+```
+Now the first device has formed a Thread network as a leader. Get some information which will be used in next steps:
+```bash
+> ipaddr
+fdde:ad00:beef:0:0:ff:fe00:fc00
+fdde:ad00:beef:0:0:ff:fe00:8000
+fdde:ad00:beef:0:a7c6:6311:9c8c:271b
+fe80:0:0:0:5c27:a723:7115:c8f8
+
+# Get the Active Dataset
+> dataset active -x
+0e080000000000010000000300001835060004001fffe00208fe7bb701f5f1125d0708fd75cbde7c6647bd0510b3914792d44f45b6c7d76eb9306eec94030f4f70656e5468726561642d35383332010258320410e35c581af5029b054fc904a24c2b27700c0402a0fff8
+```
+
+On the second device, set the active dataset from leader, and start Thread interface:
+```bash
+> factoryreset
+... # the device will reboot
+
+> dataset set active 0e080000000000010000000300001835060004001fffe00208fe7bb701f5f1125d0708fd75cbde7c6647bd0510b3914792d44f45b6c7d76eb9306eec94030f4f70656e5468726561642d35383332010258320410e35c581af5029b054fc904a24c2b27700c0402a0fff8
+> ifconfig up
+Done
+> thread start
+Done
+
+# After some seconds
+
+> state
+router  # child is also a valid state
+Done
+```
+The second device has joined the Thread network as a router (or a child).
+
+## Extension commands
+
+You can refer to the [extension command](https://github.com/espressif/esp-thread-br/blob/main/components/esp_ot_cli_extension/README.md) about the extension commands.

examples/openthread/ot_trel/main/CMakeLists.txt

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

examples/openthread/ot_trel/main/Kconfig.projbuild

@@ -0,0 +1,9 @@
+menu "OpenThread CLI Example"
+
+    config OPENTHREAD_AUTO_START
+        bool 'Enable the automatic start mode.'
+        default False
+        help
+            If enabled, the Openthread Device will create or connect to thread network with pre-configured
+            network parameters automatically. Otherwise, user need to configure Thread via CLI command manually.
+endmenu

examples/openthread/ot_trel/main/esp_ot_config.h

@@ -0,0 +1,58 @@
+/*
+ * SPDX-FileCopyrightText: 2021-2024 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: CC0-1.0
+ *
+ * OpenThread Command Line Example
+ *
+ * This example code is in the Public Domain (or CC0 licensed, at your option.)
+ *
+ * Unless required by applicable law or agreed to in writing, this
+ * software is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR
+ * CONDITIONS OF ANY KIND, either express or implied.
+ */
+
+#pragma once
+
+#include "sdkconfig.h"
+#include "esp_openthread_types.h"
+
+#define ESP_OPENTHREAD_DEFAULT_RADIO_CONFIG()              \
+    {                                                      \
+        .radio_mode = RADIO_MODE_TREL,                     \
+    }
+
+#if CONFIG_OPENTHREAD_CONSOLE_TYPE_UART
+#define ESP_OPENTHREAD_DEFAULT_HOST_CONFIG()                    \
+    {                                                           \
+        .host_connection_mode = HOST_CONNECTION_MODE_CLI_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_DEFAULT,            \
+                },                                              \
+            .rx_pin = UART_PIN_NO_CHANGE,                       \
+            .tx_pin = UART_PIN_NO_CHANGE,                       \
+        },                                                      \
+    }
+#elif CONFIG_OPENTHREAD_CONSOLE_TYPE_USB_SERIAL_JTAG
+#define ESP_OPENTHREAD_DEFAULT_HOST_CONFIG()                        \
+    {                                                               \
+        .host_connection_mode = HOST_CONNECTION_MODE_CLI_USB,       \
+        .host_usb_config = USB_SERIAL_JTAG_DRIVER_CONFIG_DEFAULT(), \
+    }
+#endif
+
+#define ESP_OPENTHREAD_DEFAULT_PORT_CONFIG()    \
+    {                                           \
+        .storage_partition_name = "nvs",        \
+        .netif_queue_size = 10,                 \
+        .task_queue_size = 10,                  \
+    }

examples/openthread/ot_trel/main/esp_ot_trel.c

@@ -0,0 +1,141 @@
+/*
+ * SPDX-FileCopyrightText: 2024 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: CC0-1.0
+ *
+ * OpenThread Command Line Example
+ *
+ * This example code is in the Public Domain (or CC0 licensed, at your option.)
+ *
+ * Unless required by applicable law or agreed to in writing, this
+ * software is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR
+ * CONDITIONS OF ANY KIND, either express or implied.
+*/
+
+#include <stdio.h>
+#include <unistd.h>
+#include <string.h>
+
+#include "sdkconfig.h"
+#include "esp_err.h"
+#include "esp_event.h"
+#include "esp_log.h"
+#include "esp_netif.h"
+#include "esp_netif_types.h"
+#include "esp_openthread.h"
+#include "esp_openthread_cli.h"
+#include "esp_openthread_lock.h"
+#include "esp_openthread_netif_glue.h"
+#include "esp_openthread_types.h"
+#include "esp_ot_config.h"
+#include "esp_vfs_eventfd.h"
+#include "driver/uart.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "hal/uart_types.h"
+#include "nvs_flash.h"
+#include "openthread/cli.h"
+#include "openthread/instance.h"
+#include "openthread/logging.h"
+#include "openthread/tasklet.h"
+#include "esp_openthread_trel.h"
+#include "protocol_examples_common.h"
+#include "mdns.h"
+
+#if CONFIG_OPENTHREAD_STATE_INDICATOR_ENABLE
+#include "ot_led_strip.h"
+#endif
+
+#if CONFIG_OPENTHREAD_CLI_ESP_EXTENSION
+#include "esp_ot_cli_extension.h"
+#endif // CONFIG_OPENTHREAD_CLI_ESP_EXTENSION
+
+
+#define TAG "ot_esp_trel"
+
+static esp_netif_t *init_openthread_netif(const esp_openthread_platform_config_t *config)
+{
+    esp_netif_config_t cfg = ESP_NETIF_DEFAULT_OPENTHREAD();
+    esp_netif_t *netif = esp_netif_new(&cfg);
+    assert(netif != NULL);
+    ESP_ERROR_CHECK(esp_netif_attach(netif, esp_openthread_netif_glue_init(config)));
+
+    return netif;
+}
+
+static void ot_task_worker(void *aContext)
+{
+    esp_openthread_platform_config_t config = {
+        .radio_config = ESP_OPENTHREAD_DEFAULT_RADIO_CONFIG(),
+        .host_config = ESP_OPENTHREAD_DEFAULT_HOST_CONFIG(),
+        .port_config = ESP_OPENTHREAD_DEFAULT_PORT_CONFIG(),
+    };
+
+#if !CONFIG_EXAMPLE_CONNECT_WIFI && !CONFIG_EXAMPLE_CONNECT_ETHERNET
+#error No netif for TREL!
+#endif
+    ESP_ERROR_CHECK(example_connect());
+    assert(esp_openthread_get_trel_netif() == NULL);
+    esp_openthread_set_trel_netif(get_example_netif());
+
+    // Initialize the OpenThread stack
+    ESP_ERROR_CHECK(esp_openthread_init(&config));
+
+#if CONFIG_OPENTHREAD_STATE_INDICATOR_ENABLE
+    ESP_ERROR_CHECK(esp_openthread_state_indicator_init(esp_openthread_get_instance()));
+#endif
+
+#if CONFIG_OPENTHREAD_LOG_LEVEL_DYNAMIC
+    // The OpenThread log level directly matches ESP log level
+    (void)otLoggingSetLevel(CONFIG_LOG_DEFAULT_LEVEL);
+#endif
+    // Initialize the OpenThread cli
+#if CONFIG_OPENTHREAD_CLI
+    esp_openthread_cli_init();
+#endif
+
+    esp_netif_t *openthread_netif;
+    // Initialize the esp_netif bindings
+    openthread_netif = init_openthread_netif(&config);
+    esp_netif_set_default_netif(openthread_netif);
+
+#if CONFIG_OPENTHREAD_CLI_ESP_EXTENSION
+    esp_cli_custom_command_init();
+#endif // CONFIG_OPENTHREAD_CLI_ESP_EXTENSION
+
+    // Run the main loop
+#if CONFIG_OPENTHREAD_CLI
+    esp_openthread_cli_create_task();
+#endif
+#if CONFIG_OPENTHREAD_AUTO_START
+    otOperationalDatasetTlvs dataset;
+    otError error = otDatasetGetActiveTlvs(esp_openthread_get_instance(), &dataset);
+    ESP_ERROR_CHECK(esp_openthread_auto_start((error == OT_ERROR_NONE) ? &dataset : NULL));
+#endif
+    esp_openthread_launch_mainloop();
+
+    // Clean up
+    esp_openthread_netif_glue_deinit();
+    esp_netif_destroy(openthread_netif);
+
+    esp_vfs_eventfd_unregister();
+    vTaskDelete(NULL);
+}
+
+void app_main(void)
+{
+    // Used eventfds:
+    // * netif
+    // * ot task queue
+    esp_vfs_eventfd_config_t eventfd_config = {
+        .max_fds = 2,
+    };
+
+    ESP_ERROR_CHECK(nvs_flash_init());
+    ESP_ERROR_CHECK(esp_event_loop_create_default());
+    ESP_ERROR_CHECK(esp_netif_init());
+    ESP_ERROR_CHECK(esp_vfs_eventfd_register(&eventfd_config));
+    ESP_ERROR_CHECK(mdns_init());
+    ESP_ERROR_CHECK(mdns_hostname_set("esp-ot-trel"));
+    xTaskCreate(ot_task_worker, "ot_trel_main", 8192, xTaskGetCurrentTaskHandle(), 5, NULL);
+}

examples/openthread/ot_trel/main/idf_component.yml

@@ -0,0 +1,11 @@
+## IDF Component Manager Manifest File
+dependencies:
+  espressif/esp_ot_cli_extension:
+    version: "~1.1.0"
+  espressif/mdns: "^1.0.3"
+  idf:
+    version: ">=4.1.0"
+  protocol_examples_common:
+    path: ${IDF_PATH}/examples/common_components/protocol_examples_common
+  ot_led:
+    path: ${IDF_PATH}/examples/openthread/ot_common_components/ot_led

examples/openthread/ot_trel/partitions.csv

@@ -0,0 +1,5 @@
+# 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, 0x170000,

examples/openthread/ot_trel/sdkconfig.defaults

@@ -0,0 +1,42 @@
+#
+# 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
+CONFIG_MBEDTLS_ECJPAKE_C=y
+# end of mbedTLS
+
+#
+# OpenThread
+#
+CONFIG_OPENTHREAD_ENABLED=y
+CONFIG_OPENTHREAD_BORDER_ROUTER=n
+CONFIG_OPENTHREAD_DNS64_CLIENT=y
+CONFIG_OPENTHREAD_RADIO_154_NONE=y
+CONFIG_OPENTHREAD_RADIO_TREL=y
+# end of OpenThread
+
+#
+# lwIP
+#
+CONFIG_LWIP_TCPIP_TASK_STACK_SIZE=4096
+CONFIG_LWIP_IPV6_NUM_ADDRESSES=8
+CONFIG_LWIP_MULTICAST_PING=y
+CONFIG_LWIP_HOOK_IP6_SELECT_SRC_ADDR_CUSTOM=y
+# end of lwIP
+
+#
+# Configurations for optimizing the size of firmware
+#
+CONFIG_COMPILER_OPTIMIZATION_SIZE=y