Merge branch 'feat/add_save_debug_context_250226_v5.4' into 'release/v5.4'

Feat/add save debug context 250226 (v5.4)

See merge request espressif/esp-idf!37297

components/bt/controller/esp32c5/Kconfig.in

@@ -396,6 +396,12 @@ menu "Controller debug features"
     config BT_LE_ASSERT_WHEN_ABNORMAL_DISCONN_ENABLED
         bool "When ACL disconnects abnormally, assertion processing is performed(Experimental)"
         default n
+
+    config BT_LE_DEBUG_REMAIN_SCENE_ENABLED
+        bool "Remain scene with GDB to capture relevant status info(Experimental)"
+        default n
+        help
+            Retain scene with GDB to capture info, requires disabling WDT (CONFIG_ESP_INT_WDT, CONFIG_ESP_TASK_WDT_EN).
 endmenu
 
 config BT_LE_LL_RESOLV_LIST_SIZE

components/bt/controller/esp32c5/bt.c

@@ -1620,6 +1620,10 @@ int ble_sm_alg_gen_key_pair(uint8_t *pub, uint8_t *priv)
 #endif // CONFIG_BT_LE_SM_LEGACY || CONFIG_BT_LE_SM_SC
 #endif // (!CONFIG_BT_NIMBLE_ENABLED) && (CONFIG_BT_CONTROLLER_ENABLED)
 
+#if CONFIG_BT_LE_DEBUG_REMAIN_SCENE_ENABLED
+#include "esp_gdbstub.h"
+#endif // CONFIG_BT_LE_DEBUG_REMAIN_SCENE_ENABLED
+
 int IRAM_ATTR
 ble_capture_info_user_handler(uint8_t type, uint32_t reason)
 {
@@ -1630,7 +1634,11 @@ ble_capture_info_user_handler(uint8_t type, uint32_t reason)
             for (i = 0; i < 2; i++) {
                 esp_ble_controller_info_capture(0x010101);
             }
-
+#if CONFIG_BT_LE_DEBUG_REMAIN_SCENE_ENABLED
+            uintptr_t sp;
+            __asm__ volatile ("mv %0, sp" : "=r" (sp));
+            esp_gdbstub_panic_handler(&sp);
+#endif // CONFIG_BT_LE_DEBUG_REMAIN_SCENE_ENABLED
             break;
 #if CONFIG_BT_LE_ASSERT_WHEN_ABNORMAL_DISCONN_ENABLED
         case 1: