tests: add NimBLE/esp_wifi coexistence test

tests/nimble_esp_wifi_coexist/Makefile

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+include ../Makefile.tests_common
+
+# If no BOARD is found in the environment, use this default:
+BOARD ?= esp32-wroom-32
+
+# This has to be the absolute path to the RIOT base directory:
+RIOTBASE ?= $(CURDIR)/../..
+
+# We use the xtimer and the shell in this example
+USEMODULE += shell
+
+# works only for ESP32x SoC that have WiFi and BLE
+FEATURES_REQUIRED += esp_ble
+FEATURES_REQUIRED += esp_wifi
+
+# use ESP WiFi in station mode as network interface
+USEMODULE += esp_wifi
+
+# configure and use Nimble
+USEPKG += nimble
+USEMODULE += nimble_scanner
+USEMODULE += nimble_scanlist
+
+# Include packages that pull up and auto-init the link layer.
+# NOTE: 6LoWPAN will be included if IEEE802.15.4 devices are present
+USEMODULE += netdev_default
+USEMODULE += auto_init_gnrc_netif
+# Enable single interface optimization.
+# Remove this if more than one interface is present
+USEMODULE += gnrc_netif_single
+# Activate ICMPv6 error messages
+USEMODULE += gnrc_icmpv6_error
+# Specify the mandatory networking module for a IPv6 routing node
+USEMODULE += gnrc_ipv6_router_default
+# Add a routing protocol
+USEMODULE += gnrc_rpl
+USEMODULE += auto_init_gnrc_rpl
+# Additional networking modules that can be dropped if not needed
+USEMODULE += gnrc_icmpv6_echo
+USEMODULE += gnrc_udp_cmd
+# Add also the shell, some shell commands
+USEMODULE += shell
+USEMODULE += shell_commands
+USEMODULE += ps
+USEMODULE += netstats_l2
+USEMODULE += netstats_ipv6
+USEMODULE += netstats_rpl
+
+# Optionally include DNS support. This includes resolution of names at an
+# upstream DNS server and the handling of RDNSS options in Router Advertisements
+# to auto-configure that upstream DNS server.
+# USEMODULE += sock_dns              # include DNS client
+# USEMODULE += gnrc_ipv6_nib_dns     # include RDNSS option handling
+
+# Comment this out to disable code in RIOT that does safety checking
+# which is not needed in a production environment but helps in the
+# development process:
+DEVELHELP ?= 1
+
+# Change this to 0 show compiler invocation lines by default:
+QUIET ?= 1
+
+EXTERNAL_BOARD_DIRS += $(RIOTBASE)/tests/external_board_dirs/esp-ci-boards
+
+include $(RIOTBASE)/Makefile.include
+
+# Set a custom channel if needed
+include $(RIOTMAKE)/default-radio-settings.inc.mk

tests/nimble_esp_wifi_coexist/README.md

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+# About
+
+This application tests the coexistence of Bluetooth and WiFi interface.
+For that purpose it uses the `NimBLE` BLE stack as a scanner and the
+ESP32x WiFi interface simultaneously.
+
+# Usage
+
+Comile and flash the application with command
+```
+CFLAGS='-DESP_WIFI_SSID=\"myssid\" -DESP_WIFI_PASS=\"mypass\"'
+BOARD=esp32-wroom-32 make -C tests/nimble_esp_wifi_coexist flash term
+```
+Once the test application is flashed and the WiFi connection is established,
+ping the node from the host with command
+```
+sudo ping6 fe80::xxxx:xxxx:xxxx:xxxx%eth0 -i 0.01 -s 1280
+```
+to produce network load and execute the command `scan` on the node.
+The scan should still work.

tests/nimble_esp_wifi_coexist/main.c

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+/*
+ * Copyright (C) 2019 Freie Universität Berlin
+ *               2022 Gunar Schorcht
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ */
+
+/**
+ * @ingroup     examples
+ * @{
+ *
+ * @file
+ * @brief       Example for using NimBLE as a BLE scanner and ESP WiFi in coexistence
+ *
+ * @author      Hauke Petersen <hauke.petersen@fu-berlin.de>
+ * @author      Gunar Schorcht <gunar@schorcht.net>
+ *
+ * @}
+ */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+
+#include "msg.h"
+#include "timex.h"
+#include "ztimer.h"
+#include "shell.h"
+
+#include "nimble_scanner.h"
+#include "nimble_scanlist.h"
+
+#define MAIN_QUEUE_SIZE     (8)
+static msg_t _main_msg_queue[MAIN_QUEUE_SIZE];
+
+/* default scan interval */
+#define DEFAULT_SCAN_INTERVAL_MS    30
+
+/* default scan duration (1s) */
+#define DEFAULT_DURATION_MS        (1 * MS_PER_SEC)
+
+int _cmd_scan(int argc, char **argv)
+{
+    uint32_t timeout = DEFAULT_DURATION_MS;
+
+    if ((argc == 2) && (memcmp(argv[1], "help", 4) == 0)) {
+        printf("usage: %s [timeout in ms]\n", argv[0]);
+
+        return 0;
+    }
+    if (argc >= 2) {
+        timeout = atoi(argv[1]);
+    }
+
+    nimble_scanlist_clear();
+    printf("Scanning for %"PRIu32" ms now ...\n", timeout);
+    nimble_scanner_start();
+    ztimer_sleep(ZTIMER_MSEC, timeout);
+    nimble_scanner_stop();
+    puts("Done, results:");
+    nimble_scanlist_print();
+    puts("");
+
+    return 0;
+}
+
+static const shell_command_t _commands[] = {
+    { "scan", "trigger a BLE scan", _cmd_scan },
+    { NULL, NULL, NULL }
+};
+
+int main(void)
+{
+    puts("NimBLE Scanner Example Application");
+    puts("Type `scan help` for more information");
+
+    /* in this example, we want Nimble to scan 'full time', so we set the
+     * window equal the interval */
+    nimble_scanner_cfg_t params = {
+        .itvl_ms = DEFAULT_SCAN_INTERVAL_MS,
+        .win_ms = DEFAULT_SCAN_INTERVAL_MS,
+#if IS_USED(MODULE_NIMBLE_PHY_CODED)
+        .flags = NIMBLE_SCANNER_PHY_1M | NIMBLE_SCANNER_PHY_CODED,
+#else
+        .flags = NIMBLE_SCANNER_PHY_1M,
+#endif
+    };
+
+    /* initialize the nimble scanner */
+    nimble_scanlist_init();
+    nimble_scanner_init(&params, nimble_scanlist_update);
+
+    /* we need a message queue for the thread running the shell in order to
+     * receive potentially fast incoming networking packets */
+    msg_init_queue(_main_msg_queue, MAIN_QUEUE_SIZE);
+    puts("RIOT network stack example application");
+
+    /* start shell */
+    puts("All up, running the shell now");
+    char line_buf[SHELL_DEFAULT_BUFSIZE];
+    shell_run(_commands, line_buf, SHELL_DEFAULT_BUFSIZE);
+
+    return 0;
+}