bazel build: Fix compilation bugs for Pico-W support (#1797)

* Add @pico-sdk prefix to bazel/config in lwip.BUILD

Without this, we're trying to refer to a subpackage of
the lwip directory called bazel/config, which doesn't
exist. See similar references in this file.

* bazelbuild: Fix compilation errors with pico_lwip and freertos

This fixes two general problems.

* pico_lwip_contrib_freertos misspelled several things
  (omitted contrib/ dir prefix, didn't have @pico-sdk in front of
  out references to pico-sdk targets)

  This is fixed simply by fixing the spellings.

* Circular dependency between pico_lwip_core and pico_lwip_contrib_freertos.
  In NO_SYS=0 mode, lwip wants to include sys_arch.h. But sys_arch.h
  is defined in pico_lwip_contrib_freertos. sys_arch.c in turn wants
  to include lwip's opt.h and arch.h, among other things. So it needs
  to depend on pico_lwip_core.

  This is fixed by extracting all the headers into a common rule which
  can be depended on by both targets, then depending on it in the
  relevant targets.

Additionally, for the LWIP+FreeRTOS build to work correctly, we need
to actually depend on the pico_lwip_contrib_freertos rule from
pico_lwip_core. This the purpose of the select in the deps of
pico_lwip_core.

* bazel+cyw43: Fix compilation errors.

This fixes issues with the cyw43 driver
build rules in Bazel:

* Before this, the btstack would always be included
  even if it could not be used. If the user did not
  specify a btstack config, this would cause a
  compilation error. Now, we condition the linking
  and building of the btstack on whether there is
  a config for it.
* Before, the btbus was not properly linked.

* Implements code review feedback

src/rp2_common/pico_cyw43_driver/BUILD.bazel

@@ -16,16 +16,10 @@ cc_library(
 cc_library(
     name = "pico_cyw43_driver",
     srcs = [
-        "btstack_chipset_cyw43.c",
-        "btstack_cyw43.c",
-        "btstack_hci_transport_cyw43.c",
         "cyw43_bus_pio_spi.c",
         "cyw43_driver.c",
     ],
     hdrs = [
-        "include/pico/btstack_chipset_cyw43.h",
-        "include/pico/btstack_cyw43.h",
-        "include/pico/btstack_hci_transport_cyw43.h",
         "include/pico/cyw43_driver.h",
     ],
     includes = ["include"],
@@ -33,7 +27,6 @@ cc_library(
     deps = [
         ":cyw43_bus_pio",
         ":cyw43_configport",
-        "//bazel/config:PICO_BTSTACK_CONFIG",
         "//src/rp2_common:pico_platform",
         "//src/rp2_common/hardware_clocks",
         "//src/rp2_common/hardware_dma",
@@ -41,10 +34,37 @@ cc_library(
         "//src/rp2_common/hardware_pio",
         "//src/rp2_common/hardware_sync",
         "//src/rp2_common/pico_async_context",
+        "//src/rp2_common/pico_unique_id",
+        "@cyw43-driver//:cyw43_driver",
+    ] +
+    # Only depend on the btstack if its configuration is set up.
+    select({
+        "//bazel/constraint:pico_btstack_config_unset": [],
+        "//conditions:default": [":pico_cyw43_btstack"],
+    }),
+)
+
+cc_library(
+    name = "pico_cyw43_btstack",
+    srcs = [
+        "btstack_chipset_cyw43.c",
+        "btstack_cyw43.c",
+        "btstack_hci_transport_cyw43.c",
+    ],
+    hdrs = [
+        "include/pico/btstack_chipset_cyw43.h",
+        "include/pico/btstack_cyw43.h",
+        "include/pico/btstack_hci_transport_cyw43.h",
+    ],
+    includes = ["include"],
+    deps = [
+        ":cyw43_bus_pio",
+        ":cyw43_configport",
+        "//bazel/config:PICO_BTSTACK_CONFIG",
         "//src/rp2_common/pico_btstack:btstack_run_loop_async_context",
         "//src/rp2_common/pico_btstack:pico_btstack_base",
         "//src/rp2_common/pico_btstack:pico_btstack_flash_bank",
-        "//src/rp2_common/pico_unique_id",
+        "//src/rp2_common/pico_cyw43_driver/cybt_shared_bus:cybt_shared_bus_driver",
         "@cyw43-driver//:cyw43_driver",
     ],
 )

src/rp2_common/pico_cyw43_driver/cyw43-driver.BUILD

@@ -11,7 +11,14 @@ cc_library(
         "src/cyw43_stats.c",
     ],
     hdrs = glob(["**/*.h"]),
-    defines = ["CYW43_ENABLE_BLUETOOTH=1"],
+    defines = select({
+        "@pico-sdk//bazel/constraint:pico_btstack_config_unset": [
+            "CYW43_ENABLE_BLUETOOTH=0",
+        ],
+        "//conditions:default": [
+            "CYW43_ENABLE_BLUETOOTH=1",
+        ],
+    }),
     includes = [
         "firmware",
         "src",

src/rp2_common/pico_lwip/lwip.BUILD

@@ -2,18 +2,36 @@ load("@pico-sdk//bazel:defs.bzl", "incompatible_with_config")
 
 package(default_visibility = ["//visibility:public"])
 
+# Some of the LWIP sys_arch.h and the lwip headers depend circularly on one
+# another. Include them all in the same target.
 cc_library(
-    name = "pico_lwip_core",
-    srcs = glob(["src/core/*.c"]),
+    name = "pico_lwip_headers",
     hdrs = glob(["**/*.h"]),
-    includes = ["src/include"],
-    target_compatible_with = incompatible_with_config(
-        "@pico-sdk//bazel/constraint:pico_lwip_config_unset",
-    ),
+    includes = [
+        "contrib/ports/freertos/include/arch",
+        "src/include",
+    ],
     deps = [
         "@pico-sdk//bazel/config:PICO_LWIP_CONFIG",
         "@pico-sdk//src/rp2_common/pico_lwip:pico_lwip_config",
     ],
+    visibility = ["//visibility:private"],
+)
+
+cc_library(
+    name = "pico_lwip_core",
+    srcs = glob(["src/core/*.c"]),
+    target_compatible_with = incompatible_with_config(
+        "@pico-sdk//bazel/constraint:pico_lwip_config_unset",
+    ),
+    deps = [
+        ":pico_lwip_headers",
+    ] + select({
+        "@pico-sdk//bazel/constraint:pico_freertos_unset": [],
+        "//conditions:default": [
+            ":pico_lwip_contrib_freertos",
+        ],
+    }),
 )
 
 cc_library(
@@ -151,13 +169,13 @@ cc_library(
 
 cc_library(
     name = "pico_lwip_contrib_freertos",
-    srcs = ["ports/freertos/sys_arch.c"],
-    includes = ["ports/freertos/include"],
+    srcs = ["contrib/ports/freertos/sys_arch.c"],
+    includes = ["contrib/ports/freertos/include"],
     target_compatible_with = incompatible_with_config(
         "@pico-sdk//bazel/constraint:pico_freertos_unset",
     ),
     deps = [
-        ":pico_lwip_core",
-        "//bazel/config:PICO_FREERTOS_LIB",
+        ":pico_lwip_headers",
+        "@pico-sdk//bazel/config:PICO_FREERTOS_LIB",
     ],
 )