Merge branch 'feat/use_ot_cmakelists_v5.3' into 'release/v5.3'

feat(openthread): use upstream CMakeLists.txt for radio build (v5.3) See merge request espressif/esp-idf!46593
2026-10-02 03:00:34 +03:00 · 2026-03-25 04:08:51 +00:00
parent eabe7af8bb 0c03fc73a9
commit 02f70bc2a7
19 changed files with 582 additions and 261 deletions
@@ -5,14 +5,12 @@ if(${idf_target} STREQUAL "linux")
 endif()

 if(CONFIG_OPENTHREAD_ENABLED OR CONFIG_IDF_DOC_BUILD OR CONFIG_OPENTHREAD_SPINEL_ONLY)
-
    set(public_include_dirs
        "include"
        "openthread/include")
 endif()

 if(CONFIG_OPENTHREAD_ENABLED)
-
    set(private_include_dirs
        "openthread/examples/platforms"
        "openthread/src"
@@ -24,239 +22,18 @@ if(CONFIG_OPENTHREAD_ENABLED)
        "openthread/src/ncp"
        "private_include")

-    set(src_dirs
-        "src"
-        "src/port"
-        "openthread/examples/platforms/utils"
-        "openthread/src/core/api"
-        "openthread/src/core/common"
-        "openthread/src/core/crypto"
-        "openthread/src/core/diags"
-        "openthread/src/core/instance"
-        "openthread/src/core/mac"
-        "openthread/src/core/radio"
-        "openthread/src/core/thread"
-        "openthread/src/core/utils"
-        "openthread/src/lib/hdlc"
-        "openthread/src/lib/spinel")
-
-    set(exclude_srcs
-        "openthread/examples/platforms/utils/logging_rtt.c"
-        "openthread/examples/platforms/utils/soft_source_match_table.c"
-        "openthread/src/core/instance/extension_example.cpp")
-
-    if(CONFIG_OPENTHREAD_FTD OR CONFIG_OPENTHREAD_MTD)
-        list(APPEND src_dirs
-            "openthread/src/core/backbone_router"
-            "openthread/src/core/coap"
-            "openthread/src/core/meshcop"
-            "openthread/src/core/net"
-            "openthread/src/lib/platform")
-
-        if(CONFIG_OPENTHREAD_CLI)
-            list(APPEND src_dirs
-                "openthread/examples/apps/cli"
-                "openthread/src/cli")
-
-            list(APPEND exclude_srcs
-                "openthread/examples/apps/cli/main.c")
-        endif()
-
-    elseif(CONFIG_OPENTHREAD_RADIO)
-        list(APPEND src_dirs
-            "openthread/src/ncp"
-            "openthread/examples/apps/ncp")
-
-        list(APPEND exclude_srcs
-            "src/port/esp_openthread_state.c"
-            "openthread/examples/apps/ncp/main.c"
-            "openthread/src/core/api/backbone_router_api.cpp"
-            "openthread/src/core/api/child_supervision_api.cpp"
-            "openthread/src/core/api/dataset_api.cpp"
-            "openthread/src/core/api/dns_api.cpp"
-            "openthread/src/core/api/entropy_api.cpp"
-            "openthread/src/core/api/heap_api.cpp"
-            "openthread/src/core/api/icmp6_api.cpp"
-            "openthread/src/core/api/ip6_api.cpp"
-            "openthread/src/core/api/link_api.cpp"
-            "openthread/src/core/api/link_metrics_api.cpp"
-            "openthread/src/core/api/message_api.cpp"
-            "openthread/src/core/api/nat64_api.cpp"
-            "openthread/src/core/api/netdata_api.cpp"
-            "openthread/src/core/api/netdiag_api.cpp"
-            "openthread/src/core/api/network_time_api.cpp"
-            "openthread/src/core/api/random_crypto_api.cpp"
-            "openthread/src/core/api/tcp_api.cpp"
-            "openthread/src/core/api/udp_api.cpp"
-            "openthread/src/core/common/heap.cpp"
-            "openthread/src/core/common/heap_string.cpp"
-            "openthread/src/core/common/notifier.cpp"
-            "openthread/src/core/common/settings.cpp"
-            "openthread/src/core/common/time_ticker.cpp"
-            "openthread/src/core/mac/channel_mask.cpp"
-            "openthread/src/core/mac/data_poll_handler.cpp"
-            "openthread/src/core/mac/data_poll_sender.cpp"
-            "openthread/src/core/mac/mac.cpp"
-            "openthread/src/core/mac/mac_filter.cpp"
-            "openthread/src/core/mac/mac_links.cpp"
-            "openthread/src/core/thread/announce_begin_server.cpp"
-            "openthread/src/core/thread/announce_sender.cpp"
-            "openthread/src/core/thread/address_resolver.cpp"
-            "openthread/src/core/thread/child.cpp"
-            "openthread/src/core/thread/child_supervision.cpp"
-            "openthread/src/core/thread/csl_tx_scheduler.cpp"
-            "openthread/src/core/thread/discover_scanner.cpp"
-            "openthread/src/core/thread/energy_scan_server.cpp"
-            "openthread/src/core/thread/indirect_sender.cpp"
-            "openthread/src/core/thread/key_manager.cpp"
-            "openthread/src/core/thread/link_metrics.cpp"
-            "openthread/src/core/thread/lowpan.cpp"
-            "openthread/src/core/thread/mesh_forwarder.cpp"
-            "openthread/src/core/thread/mesh_forwarder_ftd.cpp"
-            "openthread/src/core/thread/mesh_forwarder_mtd.cpp"
-            "openthread/src/core/thread/message_framer.cpp"
-            "openthread/src/core/thread/mle.cpp"
-            "openthread/src/core/thread/mle_ftd.cpp"
-            "openthread/src/core/thread/mle_p2p.cpp"
-            "openthread/src/core/thread/mle_router.cpp"
-            "openthread/src/core/thread/mle_types.cpp"
-            "openthread/src/core/thread/neighbor.cpp"
-            "openthread/src/core/thread/neighbor_table.cpp"
-            "openthread/src/core/thread/network_data.cpp"
-            "openthread/src/core/thread/network_data_leader.cpp"
-            "openthread/src/core/thread/network_data_leader_ftd.cpp"
-            "openthread/src/core/thread/network_data_types.cpp"
-            "openthread/src/core/thread/network_data_service.cpp"
-            "openthread/src/core/thread/network_diagnostic.cpp"
-            "openthread/src/core/thread/network_diagnostic_tlvs.cpp"
-            "openthread/src/core/thread/panid_query_server.cpp"
-            "openthread/src/core/thread/router.cpp"
-            "openthread/src/core/thread/thread_netif.cpp"
-            "openthread/src/core/thread/time_sync_service.cpp"
-            "openthread/src/core/thread/tmf.cpp"
-            "openthread/src/core/thread/topology.cpp"
-            "openthread/src/core/utils/child_supervision.cpp")
-    endif()
-
-    if(CONFIG_OPENTHREAD_RADIO_NATIVE)
-        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"
-            )
-    elseif(CONFIG_OPENTHREAD_RADIO_SPINEL_UART OR CONFIG_OPENTHREAD_RADIO_SPINEL_SPI)
-        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)
-        list(APPEND src_dirs
-            "openthread/src/core/border_router")
-    endif()
-
-    if(CONFIG_OPENTHREAD_FTD)
-        set_source_files_properties("openthread/src/core/net/srp_server.cpp"
-            PROPERTIES COMPILE_FLAGS
-            -Wno-maybe-uninitialized)
-    endif()
-
-    if(CONFIG_OPENTHREAD_NCP_VENDOR_HOOK)
-        list(APPEND src_dirs
-            "src/ncp")
-        if(CONFIG_OPENTHREAD_RCP_UART OR CONFIG_OPENTHREAD_RCP_USB_SERIAL_JTAG)
-            list(APPEND exclude_srcs
-                "src/ncp/esp_openthread_ncp_spi.cpp")
-        elseif(CONFIG_OPENTHREAD_RCP_SPI)
-            list(APPEND exclude_srcs
-                "src/ncp/esp_openthread_ncp_hdlc.cpp")
-        endif()
-    endif()
-
-    if(NOT CONFIG_OPENTHREAD_DNS64_CLIENT)
-        list(APPEND exclude_srcs
-            "src/esp_openthread_dns64.c")
-    endif()
-
-    if(NOT CONFIG_FREERTOS_USE_TICKLESS_IDLE)
-        list(APPEND exclude_srcs
-            "src/port/esp_openthread_sleep.c")
-    endif()
-
-    if(NOT CONFIG_OPENTHREAD_PLATFORM_MSGPOOL_MANAGEMENT)
-        list(APPEND exclude_srcs
-            "src/port/esp_openthread_messagepool.c")
-    endif()
-
-    if(NOT CONFIG_OPENTHREAD_RCP_SPINEL_CONSOLE)
-        list(APPEND exclude_srcs
-            "src/ncp/esp_openthread_ncp_console.cpp")
-    endif()
-
    if(CONFIG_OPENTHREAD_FTD)
+        include(srcs_ftd_mtd.cmake)
        set(device_type "OPENTHREAD_FTD=1")
    elseif(CONFIG_OPENTHREAD_MTD)
+        include(srcs_ftd_mtd.cmake)
        set(device_type "OPENTHREAD_MTD=1")
    elseif(CONFIG_OPENTHREAD_RADIO)
+        include(srcs_radio.cmake)
        set(device_type "OPENTHREAD_RADIO=1")
    endif()
 elseif(CONFIG_OPENTHREAD_SPINEL_ONLY)
-
-    set(src_dirs
-        "src/spinel"
-        "src/port"
-        "openthread/src/lib/spinel"
-        "openthread/src/lib/hdlc"
-        "openthread/src/lib/platform"
-        "openthread/src/core/api"
-        "openthread/src/core/common"
-        "openthread/src/core/mac")
-
-    set(private_include_dirs
-        "private_include"
-        "openthread/src"
-        "openthread/src/core"
-        "openthread/src/include"
-        "openthread/src/lib"
-        "openthread/src/lib/hdlc"
-        "openthread/src/lib/spinel")
-
-    file(GLOB_RECURSE exclude_srcs_list
-        "src/port/*"
-        "openthread/src/core/api/*.cpp"
-        "openthread/src/core/common/*"
-        "openthread/src/core/mac/*")
-
-    list(REMOVE_ITEM exclude_srcs_list
-        "${CMAKE_CURRENT_SOURCE_DIR}/src/port/esp_openthread_alarm.c"
-        "${CMAKE_CURRENT_SOURCE_DIR}/src/port/esp_openthread_logging.c"
-        "${CMAKE_CURRENT_SOURCE_DIR}/openthread/src/core/api/error_api.cpp"
-        "${CMAKE_CURRENT_SOURCE_DIR}/openthread/src/core/api/logging_api.cpp"
-        "${CMAKE_CURRENT_SOURCE_DIR}/openthread/src/core/common/error.cpp"
-        "${CMAKE_CURRENT_SOURCE_DIR}/openthread/src/core/common/error.hpp"
-        "${CMAKE_CURRENT_SOURCE_DIR}/openthread/src/core/common/log.cpp"
-        "${CMAKE_CURRENT_SOURCE_DIR}/openthread/src/core/common/log.hpp"
-        "${CMAKE_CURRENT_SOURCE_DIR}/openthread/src/core/common/logging.hpp"
-        "${CMAKE_CURRENT_SOURCE_DIR}/openthread/src/core/common/string.cpp"
-        "${CMAKE_CURRENT_SOURCE_DIR}/openthread/src/core/common/string.hpp"
-        "${CMAKE_CURRENT_SOURCE_DIR}/openthread/src/core/mac/mac_frame.cpp"
-        "${CMAKE_CURRENT_SOURCE_DIR}/openthread/src/core/mac/mac_frame.hpp")
-
-    list(APPEND exclude_srcs ${exclude_srcs_list})
-
+    include(srcs_spinel.cmake)
 endif()

 if(CONFIG_OPENTHREAD_HEADER_CUSTOM)
@@ -283,14 +60,45 @@ string(CONCAT OT_FULL_VERSION_STRING
       "${IDF_VERSION_FOR_OPENTHREAD_PACKAGE}-${OPENTHREAD_VERSION}\; "
       "${CONFIG_OPENTHREAD_PLATFORM_INFO}\; ${OT_BUILD_TIMESTAMP}")

-idf_component_register(SRC_DIRS "${src_dirs}"
-                       EXCLUDE_SRCS "${exclude_srcs}"
-                       INCLUDE_DIRS "${public_include_dirs}"
-                       PRIV_INCLUDE_DIRS "${private_include_dirs}"
-                       REQUIRES esp_netif lwip esp_driver_uart driver
-                       LDFRAGMENTS linker.lf
-                       PRIV_REQUIRES console esp_coex esp_event esp_partition esp_timer
-                                     ieee802154 mbedtls nvs_flash)
+# Register component based on mode
+if(CONFIG_OPENTHREAD_FTD OR CONFIG_OPENTHREAD_MTD)
+    # FTD/MTD modes use directory-based collection from srcs_ftd_mtd.cmake
+    idf_component_register(SRC_DIRS "${src_dirs}"
+                           EXCLUDE_SRCS "${exclude_srcs}"
+                           INCLUDE_DIRS "${public_include_dirs}"
+                           PRIV_INCLUDE_DIRS "${private_include_dirs}"
+                           REQUIRES esp_netif lwip esp_driver_uart driver
+                           LDFRAGMENTS linker.lf
+                           PRIV_REQUIRES console esp_coex esp_event esp_partition esp_timer
+                                         ieee802154 mbedtls nvs_flash esp_psram)
+elseif(CONFIG_OPENTHREAD_RADIO)
+    # RCP mode uses explicit source list from srcs_radio.cmake
+    idf_component_register(SRCS ${rcp_srcs}
+                           INCLUDE_DIRS "${public_include_dirs}"
+                           PRIV_INCLUDE_DIRS "${private_include_dirs}"
+                           REQUIRES esp_netif lwip esp_driver_uart driver
+                           LDFRAGMENTS linker.lf
+                           PRIV_REQUIRES console esp_coex esp_event esp_partition esp_timer
+                                         ieee802154 mbedtls nvs_flash esp_psram)
+elseif(CONFIG_OPENTHREAD_SPINEL_ONLY)
+    # SPINEL_ONLY mode uses explicit source list from srcs_spinel.cmake
+    idf_component_register(SRCS ${spinel_srcs}
+                           INCLUDE_DIRS "${public_include_dirs}"
+                           PRIV_INCLUDE_DIRS "${private_include_dirs}"
+                           REQUIRES esp_netif lwip esp_driver_uart driver
+                           LDFRAGMENTS linker.lf
+                           PRIV_REQUIRES console esp_coex esp_event esp_partition esp_timer
+                                         ieee802154 mbedtls nvs_flash esp_psram)
+else()
+    # This is not supposed to happen, but in older versions of IDF components couldn't be selectively
+    # enabled based on KConfig options so some examples just included openthread for all configs.
+    idf_component_register(INCLUDE_DIRS "${public_include_dirs}"
+                           PRIV_INCLUDE_DIRS "${private_include_dirs}"
+                           REQUIRES esp_netif lwip esp_driver_uart driver
+                           LDFRAGMENTS linker.lf
+                           PRIV_REQUIRES console esp_coex esp_event esp_partition esp_timer
+                                         ieee802154 mbedtls nvs_flash esp_psram)
+endif()

 if(CONFIG_OPENTHREAD_RADIO_TREL)
    idf_component_optional_requires(PRIVATE espressif__mdns)
@@ -436,6 +436,7 @@ menu "OpenThread"

            config OPENTHREAD_PLATFORM_MSGPOOL_MANAGEMENT
                bool 'Allocate message pool buffer from PSRAM'
+                depends on OPENTHREAD_PLATFORM_MALLOC_CAP_SPIRAM
                default y
                help
                    If enabled, the message pool is managed by platform defined logic.
@@ -622,5 +623,27 @@ menu "OpenThread"
            information whenever an OpenThread assert occurs. This can help developers
            analyze unexpected failures by providing additional MAC layer context.

+    config OPENTHREAD_TASK_BLOCK_MONITOR
+        depends on OPENTHREAD_DEBUG
+        bool "Enable OpenThread Task Block Monitor"
+        default n
+        help
+            Enable monitoring of OpenThread tasks to detect if a task is blocked
+            and unable to continue its normal execution loop. Useful for debugging
+            issues where tasks stop progressing due to deadlocks or resource waits.
+            On RISC-V targets, in order to get meaningful backtraces when a task is
+            detected as blocked, ESP_SYSTEM_USE_EH_FRAME must be enabled in
+            ESP System Settings.
+
+    config OPENTHREAD_TASK_BLOCK_MONITOR_TIMEOUT
+        depends on OPENTHREAD_TASK_BLOCK_MONITOR
+        int "Task Block Monitor Timeout (seconds)"
+        range 1 60
+        default 20
+        help
+            Set the timeout (in seconds) for detecting a blocked task.
+            The timer is started at the beginning of each task main loop
+            and stopped at the end. If the timer expires, the task is considered blocked.
+

 endmenu
@@ -2,13 +2,13 @@
 archive: libopenthread.a
 entries:
  if OPENTHREAD_TIMING_OPTIMIZATION = y:
-    link_metrics (noflash)
    link_quality (noflash)
    mac_frame (noflash)
    radio (noflash)
    sub_mac (noflash)

  if OPENTHREAD_TIMING_OPTIMIZATION = y && OPENTHREAD_RADIO = n:
+    link_metrics (noflash)
    mesh_forwarder (noflash)
    csl_tx_scheduler (noflash)
    mac (noflash)
@@ -0,0 +1,55 @@
+/*
+ * SPDX-FileCopyrightText: 2026 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#pragma once
+
+#include <esp_err.h>
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#if CONFIG_OPENTHREAD_TASK_BLOCK_MONITOR
+/**
+ * @brief This function creates the OpenThread task block monitor.
+ *        The monitor task periodically checks whether the OpenThread mainloop
+ *        has been blocked for more than `CONFIG_OPENTHREAD_TASK_BLOCK_MONITOR_TIMEOUT`
+ *        seconds and prints backtraces when a block is detected.
+ *
+ * @return
+ *      - ESP_OK on success
+ *      - ESP_FAIL if the monitor task cannot be created
+ *
+ */
+esp_err_t esp_openthread_task_block_monitor_create(void);
+
+/**
+ * @brief This function deletes the OpenThread task block monitor.
+ *
+ * @return
+ *      - ESP_OK on success
+ *
+ */
+esp_err_t esp_openthread_task_block_monitor_delete(void);
+
+/**
+ * @brief This function enables or disables the OpenThread task block monitor.
+ *
+ * @note When enabled, the latest mainloop activity timestamp is updated and the
+ *       monitor task starts checking for blocking. When disabled, monitoring is
+ *       temporarily stopped.
+ *
+ * @param[in] enable  True to enable the monitor, false to disable it.
+ *
+ */
+void esp_openthread_task_block_monitor_set(bool enable);
+#endif  // CONFIG_OPENTHREAD_TASK_BLOCK_MONITOR
+
+#ifdef __cplusplus
+}
+#endif
@@ -18,6 +18,7 @@
 #include "esp_openthread_platform.h"
 #include "esp_openthread_sleep.h"
 #include "esp_openthread_state.h"
+#include "esp_openthread_debug.h"
 #include "esp_openthread_task_queue.h"
 #include "esp_openthread_types.h"
 #include "freertos/FreeRTOS.h"
@@ -27,7 +28,6 @@
 #include "openthread/netdata.h"
 #include "openthread/tasklet.h"
 #include "openthread/thread.h"
-#include <cstddef>

 #if CONFIG_OPENTHREAD_FTD
 #include "openthread/dataset_ftd.h"
@@ -186,6 +186,10 @@ esp_err_t esp_openthread_launch_mainloop(void)
    esp_err_t error = ESP_OK;
    s_ot_mainloop_running = true;

+#if CONFIG_OPENTHREAD_TASK_BLOCK_MONITOR
+    ESP_ERROR_CHECK(esp_openthread_task_block_monitor_create());
+#endif
+
    while (s_ot_mainloop_running) {
        FD_ZERO(&mainloop.read_fds);
        FD_ZERO(&mainloop.write_fds);
@@ -206,8 +210,14 @@ esp_err_t esp_openthread_launch_mainloop(void)
 #endif /* CONFIG_FREERTOS_USE_TICKLESS_IDLE && CONFIG_OPENTHREAD_RADIO_NATIVE */
        esp_openthread_lock_release();

-        if (select(mainloop.max_fd + 1, &mainloop.read_fds, &mainloop.write_fds, &mainloop.error_fds,
-                   &mainloop.timeout) >= 0) {
+#if CONFIG_OPENTHREAD_TASK_BLOCK_MONITOR
+        esp_openthread_task_block_monitor_set(false);
+#endif
+        int result = select(mainloop.max_fd + 1, &mainloop.read_fds, &mainloop.write_fds, &mainloop.error_fds, &mainloop.timeout);
+#if CONFIG_OPENTHREAD_TASK_BLOCK_MONITOR
+        esp_openthread_task_block_monitor_set(true);
+#endif
+        if (result >= 0) {
            esp_openthread_lock_acquire(portMAX_DELAY);
            error = esp_openthread_platform_process(instance, &mainloop);
            while (otTaskletsArePending(instance)) {
@@ -224,6 +234,9 @@ esp_err_t esp_openthread_launch_mainloop(void)
            break;
        }
    }
+#if CONFIG_OPENTHREAD_TASK_BLOCK_MONITOR
+    ESP_ERROR_CHECK(esp_openthread_task_block_monitor_delete());
+#endif
    return error;
 }

@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2021-2025 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2021-2026 Espressif Systems (Shanghai) CO LTD
 *
 * SPDX-License-Identifier: Apache-2.0
 */
@@ -179,11 +179,21 @@ esp_err_t esp_openthread_platform_deinit(void)
    esp_openthread_task_queue_deinit();
    esp_openthread_radio_deinit();

-    if (get_host_connection_mode() == HOST_CONNECTION_MODE_RCP_SPI){
+    esp_openthread_host_connection_mode_t host_mode = get_host_connection_mode();
+    switch (host_mode) {
+#if CONFIG_OPENTHREAD_RCP_SPI
+    case HOST_CONNECTION_MODE_RCP_SPI:
        esp_openthread_spi_slave_deinit();
-    } else if (get_host_connection_mode() == HOST_CONNECTION_MODE_CLI_UART ||
-        get_host_connection_mode() == HOST_CONNECTION_MODE_RCP_UART) {
+        break;
+#endif
+#if CONFIG_OPENTHREAD_RCP_UART || CONFIG_OPENTHREAD_CONSOLE_TYPE_UART
+    case HOST_CONNECTION_MODE_RCP_UART:
+    case HOST_CONNECTION_MODE_CLI_UART:
        esp_openthread_uart_deinit();
+        break;
+#endif
+    default:
+        break;
    }

    esp_openthread_lock_deinit();
@@ -217,6 +227,6 @@ uint32_t esp_openthread_get_alloc_caps(void)
 #if CONFIG_OPENTHREAD_PLATFORM_MALLOC_CAP_SPIRAM
    (MALLOC_CAP_SPIRAM | MALLOC_CAP_8BIT);
 #else
-    (MALLOC_CAP_DEFAULT | MALLOC_CAP_8BIT);
+    (MALLOC_CAP_INTERNAL | MALLOC_CAP_8BIT);
 #endif
 }
@@ -0,0 +1,131 @@
+/*
+ * SPDX-FileCopyrightText: 2026 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include "sdkconfig.h"
+
+#include <stdatomic.h>
+#include <stdbool.h>
+#include <string.h>
+
+#include "esp_check.h"
+#include "esp_log.h"
+#include "esp_timer.h"
+#include "esp_debug_helpers.h"
+#include "esp_openthread_debug.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+
+#if CONFIG_OPENTHREAD_TASK_BLOCK_MONITOR
+
+#include "esp_private/eh_frame_parser.h"
+#include "esp_attr.h"
+#include "esp_private/esp_cpu_internal.h"
+#include "esp_private/panic_internal.h"
+#include "esp_private/freertos_debug.h"
+
+static const char *TAG = "OT_DEBUG";
+static TaskHandle_t s_ot_task_block_monitor_task = NULL;
+static atomic_llong s_ot_task_block_monitor_latest_time = 0;
+static atomic_bool s_ot_task_block_monitor_active = false;
+static const int64_t s_ot_task_block_monitor_timeout = CONFIG_OPENTHREAD_TASK_BLOCK_MONITOR_TIMEOUT * 1000000;
+static bool is_backtrace_printed = false;
+
+#if CONFIG_IDF_TARGET_ARCH_RISCV
+static esp_err_t IRAM_ATTR esp_task_backtrace_print(TaskHandle_t target_task)
+{
+    TaskSnapshot_t snapshot = {};
+    void *frame = NULL;
+
+    vTaskGetSnapshot(target_task, &snapshot);
+
+    frame = snapshot.pxTopOfStack;
+    char *name = pcTaskGetName(target_task);
+
+    ESP_LOGI(TAG, "Target Task Backtrace: %s", name ? name : "No Name");
+
+#if CONFIG_ESP_SYSTEM_USE_EH_FRAME
+    esp_eh_frame_print_backtrace(frame);
+#else
+    esp_cpu_frame_t backtrace_frame = {};
+    const int current_core = xPortGetCoreID();
+    memset(&backtrace_frame, 0, sizeof(esp_cpu_frame_t));
+    memcpy(&backtrace_frame, frame, sizeof(esp_cpu_frame_t));
+
+    panic_prepare_frame_from_ctx(&backtrace_frame);
+    panic_print_registers(&backtrace_frame, current_core);
+
+    esp_rom_printf("\r\n");
+    esp_rom_printf("Please enable CONFIG_ESP_SYSTEM_USE_EH_FRAME option to have a full backtrace.\r\n");
+#endif
+
+    return ESP_OK;
+}
+#endif
+
+static void ot_debug_monitor_task(void *arg)
+{
+    (void)arg;
+
+    while (true) {
+        if (atomic_load(&s_ot_task_block_monitor_active)) {
+            int64_t elapsed = esp_timer_get_time() - atomic_load(&s_ot_task_block_monitor_latest_time);
+            if (elapsed > s_ot_task_block_monitor_timeout && !is_backtrace_printed) {
+                is_backtrace_printed = true;
+                ESP_LOGW(TAG,
+                         "OpenThread mainloop blocked for more than %d seconds, printing all tasks backtrace",
+                         CONFIG_OPENTHREAD_TASK_BLOCK_MONITOR_TIMEOUT);
+#if CONFIG_IDF_TARGET_ARCH_XTENSA
+                esp_backtrace_print_all_tasks(10);
+#elif CONFIG_IDF_TARGET_ARCH_RISCV
+                TaskHandle_t handle = xTaskGetHandle(CONFIG_OPENTHREAD_TASK_NAME);
+                if (handle) {
+                    esp_task_backtrace_print(handle);
+                }
+#endif
+            } else if (elapsed <= s_ot_task_block_monitor_timeout) {
+                is_backtrace_printed = false;
+            }
+        }
+
+        vTaskDelay(pdMS_TO_TICKS(1000));
+    }
+}
+
+esp_err_t esp_openthread_task_block_monitor_create(void)
+{
+    ESP_RETURN_ON_FALSE(s_ot_task_block_monitor_task == NULL, ESP_OK, TAG, "Task block monitor already created");
+
+    BaseType_t ret = xTaskCreate(ot_debug_monitor_task, "ot_task_monitor", 3072, NULL, CONFIG_OPENTHREAD_TASK_PRIORITY, &s_ot_task_block_monitor_task);
+    ESP_RETURN_ON_FALSE(ret == pdPASS, ESP_FAIL, TAG, "Failed to create OpenThread task block monitor");
+
+    ESP_LOGI(TAG, "OpenThread task block monitor created");
+    esp_openthread_task_block_monitor_set(true);
+    return ESP_OK;
+}
+
+esp_err_t esp_openthread_task_block_monitor_delete(void)
+{
+    ESP_RETURN_ON_FALSE(s_ot_task_block_monitor_task != NULL, ESP_OK, TAG, "Task block monitor not created");
+
+    esp_openthread_task_block_monitor_set(false);
+    vTaskDelete(s_ot_task_block_monitor_task);
+    s_ot_task_block_monitor_task = NULL;
+
+    ESP_LOGI(TAG, "OpenThread task block monitor deleted");
+    return ESP_OK;
+}
+
+void esp_openthread_task_block_monitor_set(bool enable)
+{
+    if (enable) {
+        atomic_store(&s_ot_task_block_monitor_latest_time, esp_timer_get_time());
+        atomic_store(&s_ot_task_block_monitor_active, true);
+    } else {
+        atomic_store(&s_ot_task_block_monitor_active, false);
+    }
+}
+
+#endif // CONFIG_OPENTHREAD_TASK_BLOCK_MONITOR
@@ -13,7 +13,7 @@

 void *otPlatCAlloc(size_t num, size_t size)
 {
-    return heap_caps_calloc(num, size, esp_openthread_get_alloc_caps());
+    return heap_caps_calloc_prefer(num, size, 3, esp_openthread_get_alloc_caps(), MALLOC_CAP_SPIRAM | MALLOC_CAP_8BIT, MALLOC_CAP_INTERNAL | MALLOC_CAP_8BIT);
 }

 void otPlatFree(void *ptr)
@@ -1,35 +1,48 @@
 /*
- * SPDX-FileCopyrightText: 2023-2025 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2023-2026 Espressif Systems (Shanghai) CO LTD
 *
 * SPDX-License-Identifier: Apache-2.0
 */

 #include "openthread-core-config.h"
 #include "esp_openthread_common_macro.h"
+#include "esp_openthread_platform.h"
 #include "esp_err.h"
 #include "esp_log.h"
 #include "esp_heap_caps.h"
+#include "esp_psram.h"
 #include "openthread/instance.h"
 #include "openthread/platform/messagepool.h"

-int s_buffer_pool_head = -1;
-otMessageBuffer **s_buffer_pool_pointer = NULL;
-otMessageBuffer *s_buffer_pool = NULL;
+// Fallback buffer count at runtime for non-PSRAM targets (matches Kconfig default)
+#define OT_MSGPOOL_NUM_BUFFERS_NO_PSRAM 65
+
+static int s_buffer_pool_head = -1;
+static otMessageBuffer **s_buffer_pool_pointer = NULL;
+static otMessageBuffer *s_buffer_pool = NULL;

 void otPlatMessagePoolInit(otInstance *aInstance, uint16_t aMinNumFreeBuffers, size_t aBufferSize)
 {
-    otMessageBuffer *buffer_pool = (otMessageBuffer *)heap_caps_calloc(aMinNumFreeBuffers, aBufferSize, MALLOC_CAP_SPIRAM);
-    s_buffer_pool_pointer = (otMessageBuffer **)heap_caps_calloc(aMinNumFreeBuffers, sizeof(otMessageBuffer **), MALLOC_CAP_SPIRAM);
+    uint16_t num_buffers = aMinNumFreeBuffers;
+
+    if (!esp_psram_is_initialized() && num_buffers > OT_MSGPOOL_NUM_BUFFERS_NO_PSRAM) {
+        ESP_LOGW(OT_PLAT_LOG_TAG, "PSRAM not available, reducing message pool from %u to %u buffers",
+                 num_buffers, OT_MSGPOOL_NUM_BUFFERS_NO_PSRAM);
+        num_buffers = OT_MSGPOOL_NUM_BUFFERS_NO_PSRAM;
+    }
+
+    otMessageBuffer *buffer_pool = (otMessageBuffer *)heap_caps_calloc_prefer(num_buffers, aBufferSize, 3, esp_openthread_get_alloc_caps(), MALLOC_CAP_SPIRAM | MALLOC_CAP_8BIT, MALLOC_CAP_INTERNAL | MALLOC_CAP_8BIT);
+    s_buffer_pool_pointer = (otMessageBuffer **)heap_caps_calloc_prefer(num_buffers, sizeof(otMessageBuffer **), 3, esp_openthread_get_alloc_caps(), MALLOC_CAP_SPIRAM | MALLOC_CAP_8BIT, MALLOC_CAP_INTERNAL | MALLOC_CAP_8BIT);
    if (buffer_pool == NULL || s_buffer_pool_pointer == NULL) {
        ESP_LOGE(OT_PLAT_LOG_TAG, "Failed to create message buffer pool");
        assert(false);
    }
-    for (uint16_t i = 0; i < aMinNumFreeBuffers; i++) {
+    for (uint16_t i = 0; i < num_buffers; i++) {
        s_buffer_pool_pointer[i] = buffer_pool + i * aBufferSize / sizeof(otMessageBuffer);
    }
-    s_buffer_pool_head = aMinNumFreeBuffers - 1;
+    s_buffer_pool_head = num_buffers - 1;
    s_buffer_pool = buffer_pool;
-    ESP_LOGI(OT_PLAT_LOG_TAG, "Create message buffer pool successfully, size %d", aMinNumFreeBuffers*aBufferSize);
+    ESP_LOGI(OT_PLAT_LOG_TAG, "Create message buffer pool successfully, size %d", num_buffers * aBufferSize);
 }

 otMessageBuffer *otPlatMessagePoolNew(otInstance *aInstance)
@@ -0,0 +1,114 @@
+# SPDX-FileCopyrightText: 2026 Espressif Systems (Shanghai) CO LTD
+# SPDX-License-Identifier: Apache-2.0
+
+# Source files for FTD (Full Thread Device) and MTD (Minimal Thread Device) modes.
+# Uses directory-based collection with exclusions.
+
+set(src_dirs
+    "src"
+    "src/port"
+    "openthread/examples/platforms/utils"
+    "openthread/src/core/api"
+    "openthread/src/core/common"
+    "openthread/src/core/crypto"
+    "openthread/src/core/diags"
+    "openthread/src/core/instance"
+    "openthread/src/core/mac"
+    "openthread/src/core/radio"
+    "openthread/src/core/thread"
+    "openthread/src/core/utils"
+    "openthread/src/lib/hdlc"
+    "openthread/src/lib/spinel"
+    "openthread/src/core/backbone_router"
+    "openthread/src/core/coap"
+    "openthread/src/core/meshcop"
+    "openthread/src/core/net"
+    "openthread/src/lib/platform"
+)
+
+set(exclude_srcs
+    "openthread/examples/platforms/utils/logging_rtt.c"
+    "openthread/examples/platforms/utils/soft_source_match_table.c"
+    "openthread/src/core/instance/extension_example.cpp"
+)
+
+# CLI sources
+if(CONFIG_OPENTHREAD_CLI)
+    list(APPEND src_dirs
+        "openthread/examples/apps/cli"
+        "openthread/src/cli")
+    list(APPEND exclude_srcs
+        "openthread/examples/apps/cli/main.c")
+endif()
+
+# Radio interface exclusions
+if(CONFIG_OPENTHREAD_RADIO_NATIVE)
+    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")
+elseif(CONFIG_OPENTHREAD_RADIO_SPINEL_UART OR CONFIG_OPENTHREAD_RADIO_SPINEL_SPI)
+    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()
+
+# TREL
+if(NOT CONFIG_OPENTHREAD_RADIO_TREL)
+    list(APPEND exclude_srcs
+        "src/port/esp_openthread_trel.c")
+endif()
+
+# Border router
+if(CONFIG_OPENTHREAD_BORDER_ROUTER)
+    list(APPEND src_dirs
+        "openthread/src/core/border_router")
+endif()
+
+# FTD-specific
+if(CONFIG_OPENTHREAD_FTD)
+    set_source_files_properties("openthread/src/core/net/srp_server.cpp"
+        PROPERTIES COMPILE_FLAGS
+        -Wno-maybe-uninitialized)
+endif()
+
+# NCP vendor hook
+if(CONFIG_OPENTHREAD_NCP_VENDOR_HOOK)
+    list(APPEND src_dirs
+        "src/ncp")
+    if(CONFIG_OPENTHREAD_RCP_UART OR CONFIG_OPENTHREAD_RCP_USB_SERIAL_JTAG)
+        list(APPEND exclude_srcs
+            "src/ncp/esp_openthread_ncp_spi.cpp")
+    elseif(CONFIG_OPENTHREAD_RCP_SPI)
+        list(APPEND exclude_srcs
+            "src/ncp/esp_openthread_ncp_hdlc.cpp")
+    endif()
+endif()
+
+# Optional features
+if(NOT CONFIG_OPENTHREAD_DNS64_CLIENT)
+    list(APPEND exclude_srcs
+        "src/esp_openthread_dns64.c")
+endif()
+
+if(NOT CONFIG_FREERTOS_USE_TICKLESS_IDLE)
+    list(APPEND exclude_srcs
+        "src/port/esp_openthread_sleep.c")
+endif()
+
+if(NOT CONFIG_OPENTHREAD_PLATFORM_MSGPOOL_MANAGEMENT)
+    list(APPEND exclude_srcs
+        "src/port/esp_openthread_messagepool.c")
+endif()
+
+if(NOT CONFIG_OPENTHREAD_RCP_SPINEL_CONSOLE)
+    list(APPEND exclude_srcs
+        "src/ncp/esp_openthread_ncp_console.cpp")
+endif()
@@ -0,0 +1,97 @@
+# SPDX-FileCopyrightText: 2026 Espressif Systems (Shanghai) CO LTD
+# SPDX-License-Identifier: Apache-2.0
+
+# Source files for RCP (Radio Co-Processor) mode.
+# Uses explicit whitelist to avoid including non-RCP-compatible files.
+# This prevents new OpenThread files from breaking RCP builds.
+
+set(rcp_srcs
+    # OpenThread core - RADIO_COMMON_SOURCES from openthread/src/core/CMakeLists.txt
+    # No need for crypto/crypto_platform_mbedtls.cpp because we use esp-idf implementation
+    openthread/src/core/api/diags_api.cpp
+    openthread/src/core/api/error_api.cpp
+    openthread/src/core/api/instance_api.cpp
+    openthread/src/core/api/link_raw_api.cpp
+    openthread/src/core/api/logging_api.cpp
+    openthread/src/core/api/random_noncrypto_api.cpp
+    openthread/src/core/api/tasklet_api.cpp
+    openthread/src/core/common/binary_search.cpp
+    openthread/src/core/common/error.cpp
+    openthread/src/core/common/frame_builder.cpp
+    openthread/src/core/common/log.cpp
+    openthread/src/core/common/random.cpp
+    openthread/src/core/common/string.cpp
+    openthread/src/core/common/tasklet.cpp
+    openthread/src/core/common/timer.cpp
+    openthread/src/core/common/uptime.cpp
+    openthread/src/core/crypto/aes_ccm.cpp
+    openthread/src/core/crypto/aes_ecb.cpp
+    openthread/src/core/crypto/crypto_platform.cpp
+    openthread/src/core/crypto/storage.cpp
+    openthread/src/core/diags/factory_diags.cpp
+    openthread/src/core/instance/instance.cpp
+    openthread/src/core/mac/link_raw.cpp
+    openthread/src/core/mac/mac_frame.cpp
+    openthread/src/core/mac/mac_header_ie.cpp
+    openthread/src/core/mac/mac_types.cpp
+    openthread/src/core/mac/sub_mac.cpp
+    openthread/src/core/mac/sub_mac_callbacks.cpp
+    openthread/src/core/mac/sub_mac_csl_receiver.cpp
+    openthread/src/core/mac/sub_mac_wed.cpp
+    openthread/src/core/radio/radio.cpp
+    openthread/src/core/radio/radio_callbacks.cpp
+    openthread/src/core/radio/radio_platform.cpp
+    openthread/src/core/thread/link_quality.cpp
+    openthread/src/core/utils/otns.cpp
+    openthread/src/core/utils/parse_cmdline.cpp
+    openthread/src/core/utils/power_calibration.cpp
+    # Platform utils
+    openthread/examples/platforms/utils/mac_frame.cpp
+    # HDLC library
+    openthread/src/lib/hdlc/hdlc.cpp
+    # Spinel library
+    openthread/src/lib/spinel/spinel.c
+    openthread/src/lib/spinel/spinel_buffer.cpp
+    openthread/src/lib/spinel/spinel_decoder.cpp
+    openthread/src/lib/spinel/spinel_encoder.cpp
+    # NCP
+    openthread/src/ncp/changed_props_set.cpp
+    openthread/src/ncp/ncp_base.cpp
+    openthread/src/ncp/ncp_base_dispatcher.cpp
+    openthread/src/ncp/ncp_base_radio.cpp
+    openthread/examples/apps/ncp/ncp.c
+    # ESP port
+    src/port/esp_openthread_alarm.c
+    src/port/esp_openthread_logging.c
+    src/port/esp_openthread_misc.c
+    src/port/esp_openthread_radio.c
+    src/port/esp_openthread_settings.c
+    # ESP sources
+    src/esp_openthread.cpp
+    src/esp_openthread_lock.c
+    src/esp_openthread_platform.cpp
+    src/esp_openthread_task_queue.c
+    # ESP NCP
+    src/ncp/esp_openthread_ncp.cpp
+)
+
+# Conditional sources based on host connection mode
+if(CONFIG_OPENTHREAD_RCP_UART OR CONFIG_OPENTHREAD_RCP_USB_SERIAL_JTAG)
+    list(APPEND rcp_srcs
+        openthread/src/ncp/ncp_hdlc.cpp
+        src/port/esp_openthread_uart.c)
+    if(CONFIG_OPENTHREAD_NCP_VENDOR_HOOK)
+        list(APPEND rcp_srcs src/ncp/esp_openthread_ncp_hdlc.cpp)
+    endif()
+elseif(CONFIG_OPENTHREAD_RCP_SPI)
+    list(APPEND rcp_srcs
+        openthread/src/ncp/ncp_spi.cpp
+        src/port/esp_openthread_spi_slave.c)
+    if(CONFIG_OPENTHREAD_NCP_VENDOR_HOOK)
+        list(APPEND rcp_srcs src/ncp/esp_openthread_ncp_spi.cpp)
+    endif()
+endif()
+
+if(CONFIG_OPENTHREAD_NCP_VENDOR_HOOK AND CONFIG_OPENTHREAD_RCP_SPINEL_CONSOLE)
+    list(APPEND rcp_srcs src/ncp/esp_openthread_ncp_console.cpp)
+endif()
@@ -0,0 +1,45 @@
+# SPDX-FileCopyrightText: 2026 Espressif Systems (Shanghai) CO LTD
+# SPDX-License-Identifier: Apache-2.0
+
+# Source files for SPINEL_ONLY mode.
+# Minimal build for host-side spinel communication.
+# Uses explicit whitelist for clarity.
+
+set(private_include_dirs
+    "private_include"
+    "openthread/src"
+    "openthread/src/core"
+    "openthread/src/include"
+    "openthread/src/lib"
+    "openthread/src/lib/hdlc"
+    "openthread/src/lib/spinel"
+)
+
+set(spinel_srcs
+    # ESP spinel sources
+    src/spinel/esp_radio_spinel.cpp
+    src/spinel/esp_radio_spinel_uart_interface.cpp
+    # ESP port (minimal)
+    src/port/esp_openthread_alarm.c
+    src/port/esp_openthread_logging.c
+    # OpenThread spinel library
+    openthread/src/lib/spinel/spinel.c
+    openthread/src/lib/spinel/spinel_buffer.cpp
+    openthread/src/lib/spinel/spinel_decoder.cpp
+    openthread/src/lib/spinel/spinel_encoder.cpp
+    openthread/src/lib/spinel/spinel_helper.cpp
+    openthread/src/lib/spinel/radio_spinel.cpp
+    openthread/src/lib/spinel/spinel_driver.cpp
+    openthread/src/lib/spinel/logger.cpp
+    # OpenThread HDLC library
+    openthread/src/lib/hdlc/hdlc.cpp
+    # OpenThread platform library
+    openthread/src/lib/platform/exit_code.c
+    # OpenThread core (minimal)
+    openthread/src/core/api/error_api.cpp
+    openthread/src/core/api/logging_api.cpp
+    openthread/src/core/common/error.cpp
+    openthread/src/core/common/log.cpp
+    openthread/src/core/common/string.cpp
+    openthread/src/core/mac/mac_frame.cpp
+)