diff --git a/bricks/_common/sources.mk b/bricks/_common/sources.mk
index c13c99f74..c127d63e0 100644
--- a/bricks/_common/sources.mk
+++ b/bricks/_common/sources.mk
@@ -204,6 +204,7 @@ PBIO_SRC_C = $(addprefix lib/pbio/,\
 	src/color/util.c \
 	src/control_settings.c \
 	src/control.c \
+	src/debug.c \
 	src/dcmotor.c \
 	src/differentiator.c \
 	src/drivebase.c \
diff --git a/bricks/virtualhub/mpconfigport.h b/bricks/virtualhub/mpconfigport.h
index becb70f4e..8324e11db 100644
--- a/bricks/virtualhub/mpconfigport.h
+++ b/bricks/virtualhub/mpconfigport.h
@@ -11,7 +11,7 @@
 
 // Pybricks modules
 #define PYBRICKS_PY_COMMON                      (1)
-#define PYBRICKS_PY_COMMON_BLE                  (0)
+#define PYBRICKS_PY_COMMON_BLE                  (1)
 #define PYBRICKS_PY_COMMON_CHARGER              (1)
 #define PYBRICKS_PY_COMMON_COLOR_LIGHT          (1)
 #define PYBRICKS_PY_COMMON_CONTROL              (1)
@@ -29,14 +29,22 @@
 #define PYBRICKS_PY_EV3DEVICES                  (0)
 #define PYBRICKS_PY_EXPERIMENTAL                (1)
 #define PYBRICKS_PY_HUBS                        (1)
-#define PYBRICKS_PY_IODEVICES                   (0)
+#define PYBRICKS_PY_IODEVICES                   (1)
+#define PYBRICKS_PY_IODEVICES_ANALOG_SENSOR     (0)
+#define PYBRICKS_PY_IODEVICES_DC_MOTOR          (0)
+#define PYBRICKS_PY_IODEVICES_I2C_DEVICE        (0)
+#define PYBRICKS_PY_IODEVICES_LUMP_DEVICE       (0)
+#define PYBRICKS_PY_IODEVICES_LWP3_DEVICE       (1)
+#define PYBRICKS_PY_IODEVICES_PUP_DEVICE        (0)
+#define PYBRICKS_PY_IODEVICES_UART_DEVICE       (0)
+#define PYBRICKS_PY_IODEVICES_XBOX_CONTROLLER   (1)
 #define PYBRICKS_PY_NXTDEVICES                  (0)
 #define PYBRICKS_PY_PARAMETERS                  (1)
 #define PYBRICKS_PY_PARAMETERS_BUTTON           (1)
 #define PYBRICKS_PY_PARAMETERS_ICON             (0)
 #define PYBRICKS_PY_PARAMETERS_IMAGE            (1)
 #define PYBRICKS_PY_PUPDEVICES                  (1)
-#define PYBRICKS_PY_PUPDEVICES_REMOTE           (0)
+#define PYBRICKS_PY_PUPDEVICES_REMOTE           (1)
 #define PYBRICKS_PY_DEVICES                     (1)
 #define PYBRICKS_PY_ROBOTICS                    (1)
 #define PYBRICKS_PY_ROBOTICS_DRIVEBASE_SPIKE    (0)
diff --git a/lib/pbio/drv/bluetooth/bluetooth.c b/lib/pbio/drv/bluetooth/bluetooth.c
index 130f87db2..593b61ce9 100644
--- a/lib/pbio/drv/bluetooth/bluetooth.c
+++ b/lib/pbio/drv/bluetooth/bluetooth.c
@@ -23,8 +23,8 @@
 #define DEBUG 0
 
 #if DEBUG
-#include <pbdrv/../../drv/uart/uart_debug_first_port.h>
-#define DEBUG_PRINT pbdrv_uart_debug_printf
+#include <pbio/debug.h>
+#define DEBUG_PRINT pbio_debug
 #else
 #define DEBUG_PRINT(...)
 #endif
@@ -158,6 +158,10 @@ pbio_error_t pbdrv_bluetooth_peripheral_scan_and_connect(pbdrv_bluetooth_periphe
 
     pbdrv_bluetooth_peripheral_t *peri = &peripheral_singleton;
 
+    if (!pbdrv_bluetooth_is_connected(PBDRV_BLUETOOTH_CONNECTION_HCI)) {
+        return PBIO_ERROR_INVALID_OP;
+    }
+
     // Can't connect if already connected or already busy.
     if (pbdrv_bluetooth_is_connected(PBDRV_BLUETOOTH_CONNECTION_PERIPHERAL) || peri->func) {
         return PBIO_ERROR_BUSY;
@@ -188,8 +192,12 @@ pbio_error_t pbdrv_bluetooth_peripheral_disconnect(void) {
         return PBIO_SUCCESS;
     }
 
+    // Clear notification handler to avoid receiving further data.
+    if (peri->config) {
+        peri->config->notification_handler = NULL;
+    }
+
     // Initialize operation for handling on the main thread.
-    peri->config->notification_handler = NULL;
     peri->func = pbdrv_bluetooth_peripheral_disconnect_func;
     peri->err = PBIO_ERROR_AGAIN;
     pbio_os_request_poll();
@@ -296,6 +304,10 @@ pbdrv_bluetooth_advertising_state_t pbdrv_bluetooth_advertising_state;
 
 pbio_error_t pbdrv_bluetooth_start_advertising(bool start) {
 
+    if (!pbdrv_bluetooth_is_connected(PBDRV_BLUETOOTH_CONNECTION_HCI)) {
+        return PBIO_ERROR_INVALID_OP;
+    }
+
     bool is_advertising = pbdrv_bluetooth_advertising_state == PBDRV_BLUETOOTH_ADVERTISING_STATE_ADVERTISING_PYBRICKS;
 
     // Already in requested state. This makes it safe to call stop advertising
@@ -326,6 +338,10 @@ uint8_t pbdrv_bluetooth_broadcast_data_size;
 
 pbio_error_t pbdrv_bluetooth_start_broadcasting(const uint8_t *data, size_t size) {
 
+    if (!pbdrv_bluetooth_is_connected(PBDRV_BLUETOOTH_CONNECTION_HCI)) {
+        return PBIO_ERROR_INVALID_OP;
+    }
+
     if (advertising_or_scan_func) {
         return PBIO_ERROR_BUSY;
     }
@@ -370,6 +386,10 @@ pbdrv_bluetooth_start_observing_callback_t pbdrv_bluetooth_observe_callback;
 
 pbio_error_t pbdrv_bluetooth_start_observing(pbdrv_bluetooth_start_observing_callback_t callback) {
 
+    if (!pbdrv_bluetooth_is_connected(PBDRV_BLUETOOTH_CONNECTION_HCI)) {
+        return PBIO_ERROR_INVALID_OP;
+    }
+
     if (advertising_or_scan_func) {
         return PBIO_ERROR_BUSY;
     }
@@ -589,6 +609,11 @@ pbio_error_t pbdrv_bluetooth_close_user_tasks(pbio_os_state_t *state, pbio_os_ti
 
 void pbdrv_bluetooth_deinit(void) {
 
+    // If Bluetooth is not even initialized, nothing to do.
+    if (!pbdrv_bluetooth_is_connected(PBDRV_BLUETOOTH_CONNECTION_HCI)) {
+        return;
+    }
+
     // Under normal operation ::pbdrv_bluetooth_close_user_tasks completes
     // normally and there should be no user activity at this point. If there
     // is, a task got stuck, so exit forcefully.
@@ -596,7 +621,7 @@ void pbdrv_bluetooth_deinit(void) {
     if (pbdrv_bluetooth_await_advertise_or_scan_command(&unused, NULL) != PBIO_SUCCESS ||
         pbdrv_bluetooth_await_peripheral_command(&unused, NULL) != PBIO_SUCCESS) {
 
-        // Hard reset without waitng on completion of any process.
+        // Hard reset without waiting on completion of any process.
         pbdrv_bluetooth_controller_reset_hard();
         return;
     }
diff --git a/lib/pbio/drv/bluetooth/bluetooth_btstack.c b/lib/pbio/drv/bluetooth/bluetooth_btstack.c
index 88f1102b5..ff101e890 100644
--- a/lib/pbio/drv/bluetooth/bluetooth_btstack.c
+++ b/lib/pbio/drv/bluetooth/bluetooth_btstack.c
@@ -46,12 +46,29 @@
 #define DEBUG 0
 
 #if DEBUG
-#include <pbdrv/../../drv/uart/uart_debug_first_port.h>
-#define DEBUG_PRINT pbdrv_uart_debug_printf
+#include <pbio/debug.h>
+#define DEBUG_PRINT pbio_debug
 #else
 #define DEBUG_PRINT(...)
 #endif
 
+#if DEBUG == 2
+static void btstack_hci_dump_reset(void) {
+}
+static void btstack_hci_dump_log_packet(uint8_t packet_type, uint8_t in, uint8_t *packet, uint16_t len) {
+    pbio_debug("HCI %s packet type: %02x, len: %u\n", in ? "in" : "out", packet_type, len);
+}
+static void btstack_hci_dump_log_message(int log_level, const char *format, va_list argptr) {
+    pbio_debug_va(format, argptr);
+    pbio_debug("\n");
+}
+static const hci_dump_t pbdrv_bluetooth_btstack_hci_dump = {
+    .reset = btstack_hci_dump_reset,
+    .log_packet = btstack_hci_dump_log_packet,
+    .log_message = btstack_hci_dump_log_message,
+};
+#endif
+
 typedef enum {
     CON_STATE_NONE,
     CON_STATE_WAIT_ADV_IND,
@@ -107,28 +124,6 @@ static hci_con_handle_t uart_con_handle = HCI_CON_HANDLE_INVALID;
 static pup_handset_t handset;
 #endif // PBDRV_CONFIG_BLUETOOTH_BTSTACK_LE
 
-bool pbdrv_bluetooth_is_connected(pbdrv_bluetooth_connection_t connection) {
-    #if PBDRV_CONFIG_BLUETOOTH_BTSTACK_LE
-    if (connection == PBDRV_BLUETOOTH_CONNECTION_LE && le_con_handle != HCI_CON_HANDLE_INVALID) {
-        return true;
-    }
-
-    if (connection == PBDRV_BLUETOOTH_CONNECTION_PYBRICKS && pybricks_con_handle != HCI_CON_HANDLE_INVALID) {
-        return true;
-    }
-
-    if (connection == PBDRV_BLUETOOTH_CONNECTION_UART && uart_con_handle != HCI_CON_HANDLE_INVALID) {
-        return true;
-    }
-
-    if (connection == PBDRV_BLUETOOTH_CONNECTION_PERIPHERAL && peripheral_singleton.con_handle != HCI_CON_HANDLE_INVALID) {
-        return true;
-    }
-    #endif // PBDRV_CONFIG_BLUETOOTH_BTSTACK_LE
-
-    return false;
-}
-
 #if PBDRV_CONFIG_BLUETOOTH_BTSTACK_LE
 
 /**
@@ -185,6 +180,39 @@ static void propagate_event(uint8_t *packet) {
     event_packet = NULL;
 }
 
+bool pbdrv_bluetooth_is_connected(pbdrv_bluetooth_connection_t connection) {
+
+    // Nothing connected if HCI is not running.
+    if (bluetooth_thread_err != PBIO_ERROR_AGAIN) {
+        return false;
+    }
+
+    #if PBDRV_CONFIG_BLUETOOTH_BTSTACK_LE
+
+    if (connection == PBDRV_BLUETOOTH_CONNECTION_HCI) {
+        return true;
+    }
+
+    if (connection == PBDRV_BLUETOOTH_CONNECTION_LE && le_con_handle != HCI_CON_HANDLE_INVALID) {
+        return true;
+    }
+
+    if (connection == PBDRV_BLUETOOTH_CONNECTION_PYBRICKS && pybricks_con_handle != HCI_CON_HANDLE_INVALID) {
+        return true;
+    }
+
+    if (connection == PBDRV_BLUETOOTH_CONNECTION_UART && uart_con_handle != HCI_CON_HANDLE_INVALID) {
+        return true;
+    }
+
+    if (connection == PBDRV_BLUETOOTH_CONNECTION_PERIPHERAL && peripheral_singleton.con_handle != HCI_CON_HANDLE_INVALID) {
+        return true;
+    }
+    #endif // PBDRV_CONFIG_BLUETOOTH_BTSTACK_LE
+
+    return false;
+}
+
 #if PBDRV_CONFIG_BLUETOOTH_BTSTACK_LE
 static void nordic_spp_packet_handler(uint8_t packet_type, uint16_t channel, uint8_t *packet, uint16_t size) {
     switch (packet_type) {
@@ -216,9 +244,38 @@ static void nordic_spp_packet_handler(uint8_t packet_type, uint16_t channel, uin
 }
 #endif // PBDRV_CONFIG_BLUETOOTH_BTSTACK_LE
 
+/**
+ * Parses the HCI Read Local Version Information command response.
+ *
+ * @param [out] info      The device info to populate.
+ * @param [in]  payload   The payload of the HCI event.
+ */
+static void parse_hci_local_version_information(pbdrv_bluetooth_btstack_local_version_info_t *info, const uint8_t *payload) {
+
+    info->hci_version = payload[1];
+    info->hci_revision = pbio_get_uint16_le(&payload[2]);
+    info->lmp_pal_version = payload[4];
+    info->manufacturer = pbio_get_uint16_le(&payload[5]);
+    info->lmp_pal_subversion = pbio_get_uint16_le(&payload[7]);
+
+    #if DEBUG
+    // Show version in ev3dev format.
+    uint16_t chip = (info->lmp_pal_subversion & 0x7C00) >> 10;
+    uint16_t min_ver = (info->lmp_pal_subversion & 0x007F);
+    uint16_t maj_ver = (info->lmp_pal_subversion & 0x0380) >> 7;
+    if (info->lmp_pal_subversion & 0x8000) {
+        maj_ver |= 0x0008;
+    }
+    DEBUG_PRINT("LMP %04x: TIInit_%d.%d.%d.bts\n", info->lmp_pal_subversion, chip, maj_ver, min_ver);
+    #endif
+}
+
 // currently, this function just handles the Powered Up handset control.
 static void packet_handler(uint8_t packet_type, uint16_t channel, uint8_t *packet, uint16_t size) {
 
+    // Platform-specific platform handler has priority.
+    pbdrv_bluetooth_btstack_platform_packet_handler(packet_type, channel, packet, size);
+
     #if PBDRV_CONFIG_BLUETOOTH_BTSTACK_LE
     pbdrv_bluetooth_peripheral_t *peri = &peripheral_singleton;
     #endif // PBDRV_CONFIG_BLUETOOTH_BTSTACK_LE
@@ -228,19 +285,9 @@ static void packet_handler(uint8_t packet_type, uint16_t channel, uint8_t *packe
             const uint8_t *rp = hci_event_command_complete_get_return_parameters(packet);
             switch (hci_event_command_complete_get_command_opcode(packet)) {
                 case HCI_OPCODE_HCI_READ_LOCAL_VERSION_INFORMATION: {
-                    uint16_t lmp_pal_subversion = pbio_get_uint16_le(&rp[7]);
-                    pbdrv_bluetooth_btstack_set_chipset(lmp_pal_subversion);
-
-                    #if DEBUG
-                    // Show version in ev3dev format.
-                    uint16_t chip = (lmp_pal_subversion & 0x7C00) >> 10;
-                    uint16_t min_ver = (lmp_pal_subversion & 0x007F);
-                    uint16_t maj_ver = (lmp_pal_subversion & 0x0380) >> 7;
-                    if (lmp_pal_subversion & 0x8000) {
-                        maj_ver |= 0x0008;
-                    }
-                    DEBUG_PRINT("LMP %04x: TIInit_%d.%d.%d.bts\n", lmp_pal_subversion, chip, maj_ver, min_ver);
-                    #endif
+                    pbdrv_bluetooth_btstack_local_version_info_t info;
+                    parse_hci_local_version_information(&info, rp);
+                    pbdrv_bluetooth_btstack_set_chipset(&info);
                     break;
                 }
                 default:
@@ -957,6 +1004,10 @@ static pbio_error_t bluetooth_btstack_handle_power_control(pbio_os_state_t *stat
 
 pbio_error_t pbdrv_bluetooth_controller_reset(pbio_os_state_t *state, pbio_os_timer_t *timer) {
 
+    if (pbdrv_bluetooth_is_connected(PBDRV_BLUETOOTH_CONNECTION_HCI)) {
+        return PBIO_ERROR_INVALID_OP;
+    }
+
     #if PBDRV_CONFIG_BLUETOOTH_BTSTACK_LE
     static pbio_os_state_t sub;
 
@@ -1000,6 +1051,17 @@ static void bluetooth_btstack_run_loop_execute(void) {
     // not used
 }
 
+/**
+ * The event loop runs on every system poll, but we only need to go through
+ * the btstack data sources when explicitly requested.
+ */
+static volatile bool pbdrv_bluetooth_btstack_poll_requested;
+
+static void pbdrv_bluetooth_btstack_run_loop_trigger(void) {
+    pbdrv_bluetooth_btstack_poll_requested = true;
+    pbio_os_request_poll();
+}
+
 static const btstack_run_loop_t bluetooth_btstack_run_loop = {
     .init = btstack_run_loop_base_init,
     .add_data_source = btstack_run_loop_base_add_data_source,
@@ -1012,15 +1074,9 @@ static const btstack_run_loop_t bluetooth_btstack_run_loop = {
     .execute = bluetooth_btstack_run_loop_execute,
     .dump_timer = btstack_run_loop_base_dump_timer,
     .get_time_ms = pbdrv_clock_get_ms,
+    .poll_data_sources_from_irq = pbdrv_bluetooth_btstack_run_loop_trigger,
 };
 
-static bool do_poll_handler;
-
-void pbdrv_bluetooth_btstack_run_loop_trigger(void) {
-    do_poll_handler = true;
-    pbio_os_request_poll();
-}
-
 static pbio_os_process_t pbdrv_bluetooth_hci_process;
 
 /**
@@ -1029,11 +1085,13 @@ static pbio_os_process_t pbdrv_bluetooth_hci_process;
  */
 static pbio_error_t pbdrv_bluetooth_hci_process_thread(pbio_os_state_t *state, void *context) {
 
-    if (do_poll_handler) {
-        do_poll_handler = false;
+    if (pbdrv_bluetooth_btstack_poll_requested) {
+        pbdrv_bluetooth_btstack_poll_requested = false;
         btstack_run_loop_base_poll_data_sources();
     }
 
+    pbdrv_bluetooth_btstack_platform_poll();
+
     static pbio_os_timer_t btstack_timer = {
         .duration = 1,
     };
@@ -1055,6 +1113,19 @@ const uint8_t cc256x_init_script[] = {};
 
 void pbdrv_bluetooth_init_hci(void) {
 
+    // Proceed to start Bluetooth process only if platform init passes.
+    pbio_error_t err = pbdrv_bluetooth_btstack_platform_init();
+    if (err != PBIO_SUCCESS) {
+        return;
+    }
+
+    #if DEBUG == 2
+    hci_dump_init(&pbdrv_bluetooth_btstack_hci_dump);
+    hci_dump_enable_log_level(HCI_DUMP_LOG_LEVEL_INFO, true);
+    hci_dump_enable_log_level(HCI_DUMP_LOG_LEVEL_ERROR, true);
+    hci_dump_enable_log_level(HCI_DUMP_LOG_LEVEL_DEBUG, true);
+    #endif
+
     static btstack_packet_callback_registration_t hci_event_callback_registration;
 
     #if PBDRV_CONFIG_BLUETOOTH_BTSTACK_LE
@@ -1065,8 +1136,9 @@ void pbdrv_bluetooth_init_hci(void) {
     btstack_memory_init();
     btstack_run_loop_init(&bluetooth_btstack_run_loop);
 
+    // Chipset is not set here. This is done dynamically when we get the
+    // local version information.
     hci_init(pdata->transport_instance(), pdata->transport_config());
-    hci_set_chipset(pdata->chipset_instance());
     hci_set_control(pdata->control_instance());
 
     // REVISIT: do we need to call btstack_chipset_cc256x_set_power() or btstack_chipset_cc256x_set_power_vector()?
diff --git a/lib/pbio/drv/bluetooth/bluetooth_btstack.h b/lib/pbio/drv/bluetooth/bluetooth_btstack.h
index 26e0304bd..436fe0018 100644
--- a/lib/pbio/drv/bluetooth/bluetooth_btstack.h
+++ b/lib/pbio/drv/bluetooth/bluetooth_btstack.h
@@ -11,6 +11,32 @@
 #include <btstack_control.h>
 #include <btstack_uart_block.h>
 
+#include <pbio/error.h>
+
+/**
+ * Optional platform initialization before BTstack takes over.
+ *
+ * Unlike some BTstack init code, this is guaranteed to be called only once.
+ *
+ * @return Any error code to skip Bluetooth or ::PBIO_SUCCESS to proceed.
+ */
+pbio_error_t pbdrv_bluetooth_btstack_platform_init(void);
+
+/**
+ * Optional platform poll handler, called on every process iteration.
+ */
+void pbdrv_bluetooth_btstack_platform_poll(void);
+
+/**
+ * Optional platform packet handler, called on HCI packets before common handler.
+ *
+ * @param [in]  packet_type  The HCI packet type.
+ * @param [in]  channel      The HCI channel.
+ * @param [in]  packet       Pointer to the raw packet data.
+ * @param [in]  size         Size of the packet data.
+ */
+void pbdrv_bluetooth_btstack_platform_packet_handler(uint8_t packet_type, uint16_t channel, uint8_t *packet, uint16_t size);
+
 /** Chipset info */
 typedef struct {
     /** Version */
@@ -21,15 +47,31 @@ typedef struct {
     const uint32_t init_script_size;
 } pbdrv_bluetooth_btstack_chipset_info_t;
 
-void pbdrv_bluetooth_btstack_run_loop_trigger(void);
+/**
+ * Local HCI version info returned by the chipset.
+ */
+typedef struct {
+    /** HCI version. */
+    uint8_t hci_version;
+    /** HCI revision. */
+    uint16_t hci_revision;
+    /** LMP/PAL version. */
+    uint8_t lmp_pal_version;
+    /** Manufacturer. */
+    uint16_t manufacturer;
+    /** LMP/PAL subversion. */
+    uint16_t lmp_pal_subversion;
+} pbdrv_bluetooth_btstack_local_version_info_t;
 
 /**
  * Hook called when BTstack reads the local version information.
  *
  * This is called _after_ hci_set_chipset but _before_ the init script is sent
  * over the wire, so this can be used to dynamically select the init script.
+ *
+ * @param device_info The device information read from the Bluetooth chip.
  */
-void pbdrv_bluetooth_btstack_set_chipset(uint16_t lmp_pal_subversion);
+void pbdrv_bluetooth_btstack_set_chipset(pbdrv_bluetooth_btstack_local_version_info_t *device_info);
 
 typedef struct {
     const hci_transport_t *(*transport_instance)(void);
diff --git a/lib/pbio/drv/bluetooth/bluetooth_btstack_ev3.c b/lib/pbio/drv/bluetooth/bluetooth_btstack_ev3.c
index 5ec20340e..e6442470f 100644
--- a/lib/pbio/drv/bluetooth/bluetooth_btstack_ev3.c
+++ b/lib/pbio/drv/bluetooth/bluetooth_btstack_ev3.c
@@ -46,28 +46,24 @@
 #define DEBUG 0
 
 #if DEBUG
-#include <pbdrv/../../drv/uart/uart_debug_first_port.h>
-#define DEBUG_PRINT pbdrv_uart_debug_printf
-static void pbdrv_hci_dump_reset(void) {
-}
-static void pbdrv_hci_dump_log_packet(uint8_t packet_type, uint8_t in, uint8_t *packet, uint16_t len) {
-    pbdrv_uart_debug_printf("HCI %s packet type: %02x, len: %u\n", in ? "in" : "out", packet_type, len);
-}
-static void pbdrv_hci_dump_log_message(int log_level, const char *format, va_list argptr) {
-    pbdrv_uart_debug_vprintf(format, argptr);
-    pbdrv_uart_debug_printf("\n");
-}
-static const hci_dump_t bluetooth_btstack_classic_hci_dump = {
-    .reset = pbdrv_hci_dump_reset,
-    .log_packet = pbdrv_hci_dump_log_packet,
-    .log_message = pbdrv_hci_dump_log_message,
-};
+#include <pbio/debug.h>
+#define DEBUG_PRINT pbio_debug
 #else
 #define DEBUG_PRINT(...)
 #endif
 
-void pbdrv_bluetooth_btstack_set_chipset(uint16_t lmp_pal_subversion) {
-    const pbdrv_bluetooth_btstack_chipset_info_t *info = lmp_pal_subversion == cc2560_info.lmp_version ?
+pbio_error_t pbdrv_bluetooth_btstack_platform_init(void) {
+    return PBIO_SUCCESS;
+}
+
+void pbdrv_bluetooth_btstack_platform_poll(void) {
+}
+
+void pbdrv_bluetooth_btstack_platform_packet_handler(uint8_t packet_type, uint16_t channel, uint8_t *packet, uint16_t size) {
+}
+
+void pbdrv_bluetooth_btstack_set_chipset(pbdrv_bluetooth_btstack_local_version_info_t *device_info) {
+    const pbdrv_bluetooth_btstack_chipset_info_t *info = device_info->lmp_pal_subversion == cc2560_info.lmp_version ?
         &cc2560_info : &cc2560a_info;
     btstack_chipset_cc256x_set_init_script((uint8_t *)info->init_script, info->init_script_size);
 
@@ -136,13 +132,6 @@ static void ev3_control_init(const void *config) {
     // Start the module in a defined (and disabled) state.
     ev3_control_off();
 
-    #if DEBUG
-    hci_dump_init(&bluetooth_btstack_classic_hci_dump);
-    hci_dump_enable_log_level(HCI_DUMP_LOG_LEVEL_INFO, true);
-    hci_dump_enable_log_level(HCI_DUMP_LOG_LEVEL_ERROR, true);
-    hci_dump_enable_log_level(HCI_DUMP_LOG_LEVEL_DEBUG, true);
-    #endif
-
     DEBUG_PRINT("Bluetooth: Finished init control\n");
 }
 
@@ -218,7 +207,7 @@ static volatile bool rx_interrupts_enabled;
 void pbdrv_bluetooth_btstack_ev3_handle_tx_complete(void) {
     EDMA3DisableTransfer(EDMA_BASE, DMA_CHA_TX, EDMA3_TRIG_MODE_EVENT);
     dma_write_complete = true;
-    pbdrv_bluetooth_btstack_run_loop_trigger();
+    btstack_run_loop_poll_data_sources_from_irq();
 }
 
 static inline void uart_rx_interrupt_set_enabled(bool enabled) {
@@ -250,11 +239,11 @@ static void uart_rx_interrupt_handler(void) {
         // RX buffer full, disable further RX interrupts until btstack consumes
         // some of the data.
         uart_rx_interrupt_set_enabled(false);
-        pbdrv_bluetooth_btstack_run_loop_trigger();
+        btstack_run_loop_poll_data_sources_from_irq();
         return;
     }
     if (read_buf && (size_t)read_buf_len <= lwrb_get_full(&uart_rx_pending_ring_buffer)) {
-        pbdrv_bluetooth_btstack_run_loop_trigger();
+        btstack_run_loop_poll_data_sources_from_irq();
     }
 }
 
@@ -427,7 +416,7 @@ static void pbdrv_bluetooth_btstack_ev3_receive_block(uint8_t *buffer,
 
     read_buf = buffer;
     read_buf_len = len;
-    pbdrv_bluetooth_btstack_run_loop_trigger();
+    btstack_run_loop_poll_data_sources_from_irq();
 }
 
 static void pbdrv_bluetooth_btstack_ev3_send_block(const uint8_t *data,
diff --git a/lib/pbio/drv/bluetooth/bluetooth_btstack_stm32_hal.c b/lib/pbio/drv/bluetooth/bluetooth_btstack_stm32_hal.c
index f065cf02f..fe5a5da41 100644
--- a/lib/pbio/drv/bluetooth/bluetooth_btstack_stm32_hal.c
+++ b/lib/pbio/drv/bluetooth/bluetooth_btstack_stm32_hal.c
@@ -24,7 +24,19 @@
 
 #include <pbdrv/gpio.h>
 
-void pbdrv_bluetooth_btstack_set_chipset(uint16_t lmp_pal_subversion) {
+#include <pbio/error.h>
+
+pbio_error_t pbdrv_bluetooth_btstack_platform_init(void) {
+    return PBIO_SUCCESS;
+}
+
+void pbdrv_bluetooth_btstack_platform_poll(void) {
+}
+
+void pbdrv_bluetooth_btstack_platform_packet_handler(uint8_t packet_type, uint16_t channel, uint8_t *packet, uint16_t size) {
+}
+
+void pbdrv_bluetooth_btstack_set_chipset(pbdrv_bluetooth_btstack_local_version_info_t *device_info) {
 
     const pbdrv_bluetooth_btstack_platform_data_t *pdata =
         &pbdrv_bluetooth_btstack_platform_data;
@@ -92,12 +104,12 @@ static void (*block_received)(void);
 
 void HAL_UART_TxCpltCallback(UART_HandleTypeDef *huart) {
     send_complete = true;
-    pbdrv_bluetooth_btstack_run_loop_trigger();
+    btstack_run_loop_poll_data_sources_from_irq();
 }
 
 void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart) {
     receive_complete = true;
-    pbdrv_bluetooth_btstack_run_loop_trigger();
+    btstack_run_loop_poll_data_sources_from_irq();
 }
 
 static int btstack_stm32_hal_init(const btstack_uart_config_t *config) {
diff --git a/lib/pbio/drv/bluetooth/bluetooth_simulation.c b/lib/pbio/drv/bluetooth/bluetooth_simulation.c
index c67198b48..1fea286e2 100644
--- a/lib/pbio/drv/bluetooth/bluetooth_simulation.c
+++ b/lib/pbio/drv/bluetooth/bluetooth_simulation.c
@@ -31,6 +31,11 @@ pbio_error_t pbdrv_bluetooth_stop_advertising_func(pbio_os_state_t *state, void
 }
 
 bool pbdrv_bluetooth_is_connected(pbdrv_bluetooth_connection_t connection) {
+
+    if (connection == PBDRV_BLUETOOTH_CONNECTION_HCI) {
+        return true;
+    }
+
     if (connection == PBDRV_BLUETOOTH_CONNECTION_LE) {
         return true;
     }
diff --git a/lib/pbio/drv/bluetooth/bluetooth_stm32_bluenrg.c b/lib/pbio/drv/bluetooth/bluetooth_stm32_bluenrg.c
index 2702b2ef0..3f120bc4a 100644
--- a/lib/pbio/drv/bluetooth/bluetooth_stm32_bluenrg.c
+++ b/lib/pbio/drv/bluetooth/bluetooth_stm32_bluenrg.c
@@ -38,8 +38,8 @@
 #define DEBUG 0
 
 #if DEBUG
-#include <pbdrv/../../drv/uart/uart_debug_first_port.h>
-#define DEBUG_PRINT pbdrv_uart_debug_printf
+#include <pbio/debug.h>
+#define DEBUG_PRINT pbio_debug
 #else
 #define DEBUG_PRINT(...)
 #endif
@@ -290,6 +290,11 @@ pbio_error_t pbdrv_bluetooth_stop_advertising_func(pbio_os_state_t *state, void
 
 
 bool pbdrv_bluetooth_is_connected(pbdrv_bluetooth_connection_t connection) {
+
+    if (connection == PBDRV_BLUETOOTH_CONNECTION_HCI) {
+        return true;
+    }
+
     if (connection == PBDRV_BLUETOOTH_CONNECTION_LE && conn_handle) {
         return true;
     }
diff --git a/lib/pbio/drv/bluetooth/bluetooth_stm32_cc2640.c b/lib/pbio/drv/bluetooth/bluetooth_stm32_cc2640.c
index b255444d0..994292f3c 100644
--- a/lib/pbio/drv/bluetooth/bluetooth_stm32_cc2640.c
+++ b/lib/pbio/drv/bluetooth/bluetooth_stm32_cc2640.c
@@ -46,11 +46,9 @@
 #define DEBUG 0
 
 #if DEBUG
-#include <pbdrv/../../drv/uart/uart_debug_first_port.h>
-// You can selectively enable these as relevant for the debug session.
-// Remember to set PBDRV_CONFIG_UART_DEBUG_FIRST_PORT in pbdrvconfig.
+#include <pbio/debug.h>
 #define DBG(...)
-#define DEBUG_PRINT pbdrv_uart_debug_printf
+#define DEBUG_PRINT pbio_debug
 #else
 #define DBG(...)
 #define DEBUG_PRINT(...)
@@ -323,6 +321,11 @@ pbio_error_t pbdrv_bluetooth_stop_advertising_func(pbio_os_state_t *state, void
 }
 
 bool pbdrv_bluetooth_is_connected(pbdrv_bluetooth_connection_t connection) {
+
+    if (connection == PBDRV_BLUETOOTH_CONNECTION_HCI) {
+        return true;
+    }
+
     if (connection == PBDRV_BLUETOOTH_CONNECTION_LE && conn_handle != NO_CONNECTION && !busy_disconnecting) {
         return true;
     }
diff --git a/lib/pbio/drv/counter/counter_ev3.c b/lib/pbio/drv/counter/counter_ev3.c
index 3b4db62b1..f76369b13 100644
--- a/lib/pbio/drv/counter/counter_ev3.c
+++ b/lib/pbio/drv/counter/counter_ev3.c
@@ -33,8 +33,8 @@
 #if DEBUG
 #include <stdio.h>
 #include <inttypes.h>
-#include <pbdrv/../../drv/uart/uart_debug_first_port.h>
-#define DEBUG_PRINT pbdrv_uart_debug_printf
+#include <pbio/debug.h>
+#define DEBUG_PRINT pbio_debug
 #else
 #define DEBUG_PRINT(...)
 #endif
diff --git a/lib/pbio/drv/i2c/i2c_ev3.c b/lib/pbio/drv/i2c/i2c_ev3.c
index dfbb6bec8..d3fdfb744 100644
--- a/lib/pbio/drv/i2c/i2c_ev3.c
+++ b/lib/pbio/drv/i2c/i2c_ev3.c
@@ -31,8 +31,8 @@
 #if DEBUG
 #include <stdio.h>
 #include <inttypes.h>
-#include <pbdrv/../../drv/uart/uart_debug_first_port.h>
-#define debug_pr pbdrv_uart_debug_printf
+#include <pbio/debug.h>
+#define debug_pr pbio_debug
 #define DBG_ERR(expr) expr
 #else
 #define debug_pr(...)
diff --git a/lib/pbio/drv/motor_driver/motor_driver_ev3.c b/lib/pbio/drv/motor_driver/motor_driver_ev3.c
index 98fce23a2..3db1ac3c3 100644
--- a/lib/pbio/drv/motor_driver/motor_driver_ev3.c
+++ b/lib/pbio/drv/motor_driver/motor_driver_ev3.c
@@ -33,8 +33,8 @@
 #if DEBUG
 #include <stdio.h>
 #include <inttypes.h>
-#include <pbdrv/../../drv/uart/uart_debug_first_port.h>
-#define debug_pr pbdrv_uart_debug_printf
+#include <pbio/debug.h>
+#define debug_pr pbio_debug
 #define DBG_ERR(expr) expr
 #else
 #define debug_pr(...)
diff --git a/lib/pbio/drv/uart/uart_debug_first_port.c b/lib/pbio/drv/uart/uart_debug_first_port.c
index b2af38571..ba7d141cd 100644
--- a/lib/pbio/drv/uart/uart_debug_first_port.c
+++ b/lib/pbio/drv/uart/uart_debug_first_port.c
@@ -37,21 +37,18 @@ int pbdrv_uart_debug_next_char(void) {
 /**
  * Formats and stores a string in the UART debug ring buffer.
  *
- * This function works similarly to vprintf, but instead of printing to the
- * standard output. The formatted string will be written to the UART when the
+ * The formatted string will be written to the UART when the
  * buffer is processed.
  *
  * @param format The format string, similar to printf.
  * @param va_list The variable arguments, as a va_list.
  */
-void pbdrv_uart_debug_vprintf(const char *format, va_list args) {
+void pbdrv_uart_debug_print(const char *data, size_t len) {
     if (!lwrb_is_ready(&ring_buffer)) {
         lwrb_init(&ring_buffer, ring_buf_storage, sizeof(ring_buf_storage));
     }
 
-    char buf[256];
-    size_t len = vsnprintf(buf, sizeof(buf), format, args);
-    lwrb_write(&ring_buffer, (const uint8_t *)buf, len);
+    lwrb_write(&ring_buffer, (const uint8_t *)data, len);
 
     if (!debug_uart) {
         // Not initialized yet, so just buffer for now.
@@ -62,23 +59,6 @@ void pbdrv_uart_debug_vprintf(const char *format, va_list args) {
     pbio_os_request_poll();
 }
 
-/**
- * Formats and stores a string in the UART debug ring buffer.
- *
- * This function works similarly to printf, but instead of printing to the
- * standard output. The formatted string will be written to the UART when the
- * buffer is processed.
- *
- * @param format The format string, similar to printf.
- * @param ... The variable arguments, similar to printf.
- */
-void pbdrv_uart_debug_printf(const char *format, ...) {
-    va_list args;
-    va_start(args, format);
-    pbdrv_uart_debug_vprintf(format, args);
-    va_end(args);
-}
-
 /**
  * Gets a character from the UART debug port.
  *
diff --git a/lib/pbio/drv/uart/uart_debug_first_port.h b/lib/pbio/drv/uart/uart_debug_first_port.h
index e251b7f75..b1cb08014 100644
--- a/lib/pbio/drv/uart/uart_debug_first_port.h
+++ b/lib/pbio/drv/uart/uart_debug_first_port.h
@@ -12,8 +12,7 @@
 
 #if PBDRV_CONFIG_UART_DEBUG_FIRST_PORT
 
-void pbdrv_uart_debug_printf(const char *format, ...);
-void pbdrv_uart_debug_vprintf(const char *format, va_list argptr);
+void pbdrv_uart_debug_print(const char *data, size_t len);
 
 bool pbdrv_uart_debug_is_done(void);
 
@@ -26,8 +25,7 @@ int pbdrv_uart_debug_next_char(void);
 
 #else // PBDRV_CONFIG_UART_DEBUG_FIRST_PORT
 
-#define pbdrv_uart_debug_printf(...)
-#define pbdrv_uart_debug_vprintf(format, argptr)
+#define pbdrv_uart_debug_print(data, len)
 
 #define pbdrv_uart_debug_is_done() (true)
 
@@ -39,7 +37,4 @@ static inline int pbdrv_uart_debug_next_char(void) {
 
 #endif // PBDRV_CONFIG_UART_DEBUG_FIRST_PORT
 
-// Convenient shorthand for pbdrv_uart_debug_printf.
-#define pbdrv_dbg(...) pbdrv_uart_debug_printf(__VA_ARGS__)
-
 #endif // _INTERNAL_PBDRV_UART_DEBUG_FIRST_PORT_H_
diff --git a/lib/pbio/drv/usb/usb.c b/lib/pbio/drv/usb/usb.c
index 30e3f55d4..e6ad44b78 100644
--- a/lib/pbio/drv/usb/usb.c
+++ b/lib/pbio/drv/usb/usb.c
@@ -108,32 +108,23 @@ bool pbdrv_usb_stdout_tx_is_idle(void) {
     return lwrb_get_full(&pbdrv_usb_stdout_ring_buf) == 0 && !pbdrv_usb_noti_size[PBIO_PYBRICKS_EVENT_WRITE_STDOUT];
 }
 
-void pbdrv_usb_debug_vprintf(const char *format, va_list args) {
+void pbdrv_usb_debug_print(const char *data, size_t len) {
+
     if (!lwrb_is_ready(&pbdrv_usb_stdout_ring_buf)) {
         return;
     }
 
-    char buf[256];
-    size_t len = vsnprintf(buf, sizeof(buf), format, args);
-
     // Buffer result with \r injected before \n.
     for (size_t i = 0; i < len; i++) {
-        if (buf[i] == '\n') {
+        if (data[i] == '\n') {
             lwrb_write(&pbdrv_usb_stdout_ring_buf, (const uint8_t *)"\r", 1);
         }
-        lwrb_write(&pbdrv_usb_stdout_ring_buf, (const uint8_t *)&buf[i], 1);
+        lwrb_write(&pbdrv_usb_stdout_ring_buf, (const uint8_t *)&data[i], 1);
     }
 
     pbio_os_request_poll();
 }
 
-void pbdrv_usb_debug_printf(const char *format, ...) {
-    va_list args;
-    va_start(args, format);
-    pbdrv_usb_debug_vprintf(format, args);
-    va_end(args);
-}
-
 pbio_error_t pbdrv_usb_send_event_notification(pbio_os_state_t *state, pbio_pybricks_event_t event_type, const uint8_t *data, size_t size) {
     PBIO_OS_ASYNC_BEGIN(state);
 
diff --git a/lib/pbio/drv/usb/usb_stm32.c b/lib/pbio/drv/usb/usb_stm32.c
index 4f10f103d..b474d3438 100644
--- a/lib/pbio/drv/usb/usb_stm32.c
+++ b/lib/pbio/drv/usb/usb_stm32.c
@@ -31,15 +31,6 @@
 #include "./usb.h"
 #include "./usb_stm32.h"
 
-#define DEBUG 0
-
-#if DEBUG
-#include <pbdrv/../../drv/uart/uart_debug_first_port.h>
-// Remember to set PBDRV_CONFIG_UART_DEBUG_FIRST_PORT in pbdrvconfig.
-#define DEBUG_PRINT pbdrv_uart_debug_printf
-#else
-#define DEBUG_PRINT(...)
-#endif
 
 #if USBD_PYBRICKS_MAX_PACKET_SIZE != PBDRV_CONFIG_USB_MAX_PACKET_SIZE
 #error Inconsistent USB packet size
diff --git a/lib/pbio/include/pbdrv/bluetooth.h b/lib/pbio/include/pbdrv/bluetooth.h
index 67f50abee..9fd98cb7b 100644
--- a/lib/pbio/include/pbdrv/bluetooth.h
+++ b/lib/pbio/include/pbdrv/bluetooth.h
@@ -22,6 +22,8 @@
  * BLE characteristic connection identifiers.
  */
 typedef enum {
+    /* Whether Bluetooth is present and enabled on this platform. */
+    PBDRV_BLUETOOTH_CONNECTION_HCI,
     /* A low energy device connection. */
     PBDRV_BLUETOOTH_CONNECTION_LE,
     /** The Pybricks service. */
diff --git a/lib/pbio/include/pbdrv/usb.h b/lib/pbio/include/pbdrv/usb.h
index e31084fd2..c68ef857f 100644
--- a/lib/pbio/include/pbdrv/usb.h
+++ b/lib/pbio/include/pbdrv/usb.h
@@ -115,20 +115,12 @@ bool pbdrv_usb_connection_is_active(void);
 pbio_error_t pbdrv_usb_send_event_notification(pbio_os_state_t *state, pbio_pybricks_event_t event, const uint8_t *data, size_t size);
 
 /**
- * Formats and stores a string in the USB stdout ring buffer using a va_list.
+ * Stores a string in the USB stdout ring buffer.
  *
- * @param format    The format string, similar to printf.
- * @param args      The variable arguments, as a va_list.
+ * @param data      The string data.
+ * @param len       The length of the string data.
  */
-void pbdrv_usb_debug_vprintf(const char *format, va_list args);
-
-/**
- * Formats and stores a string in the USB stdout ring buffer.
- *
- * @param format    The format string, similar to printf.
- * @param ...       The variable arguments, similar to printf.
- */
-void pbdrv_usb_debug_printf(const char *format, ...);
+void pbdrv_usb_debug_print(const char *data, size_t len);
 
 #else // PBDRV_CONFIG_USB
 
@@ -162,10 +154,7 @@ static inline pbio_error_t pbdrv_usb_send_event_notification(pbio_os_state_t *st
     return PBIO_ERROR_NOT_SUPPORTED;
 }
 
-static inline void pbdrv_usb_debug_vprintf(const char *format, va_list args) {
-}
-
-static inline void pbdrv_usb_debug_printf(const char *format, ...) {
+static inline void pbdrv_usb_debug_print(const char *data, size_t len) {
 }
 
 #endif // PBDRV_CONFIG_USB
diff --git a/lib/pbio/include/pbio/debug.h b/lib/pbio/include/pbio/debug.h
new file mode 100644
index 000000000..466cb93e8
--- /dev/null
+++ b/lib/pbio/include/pbio/debug.h
@@ -0,0 +1,16 @@
+// SPDX-License-Identifier: MIT
+// Copyright (c) 2025 The Pybricks Authors
+
+#ifndef _PBIO_DEBUG_H_
+#define _PBIO_DEBUG_H_
+
+#include <stdio.h>
+#include <stdarg.h>
+#include <stdint.h>
+#include <string.h>
+
+void pbio_debug_va(const char *format, va_list args);
+
+void pbio_debug(const char *format, ...);
+
+#endif // _PBIO_DEBUG_H_
diff --git a/lib/pbio/platform/virtual_hub/pbdrvconfig.h b/lib/pbio/platform/virtual_hub/pbdrvconfig.h
index 9e5a08b80..1130ebcf6 100644
--- a/lib/pbio/platform/virtual_hub/pbdrvconfig.h
+++ b/lib/pbio/platform/virtual_hub/pbdrvconfig.h
@@ -50,11 +50,9 @@
 #define PBDRV_CONFIG_HAS_PORT_VCC_CONTROL                   (1)
 
 // USB mock driver used on CI.
-#ifdef PBDRV_CONFIG_RUN_ON_CI
 #define PBDRV_CONFIG_USB                                    (1)
 #define PBDRV_CONFIG_USB_SIMULATION                         (1)
 #define PBDRV_CONFIG_USB_MAX_PACKET_SIZE                    (64)
 #define PBDRV_CONFIG_USB_NUM_BUFFERED_PACKETS               (2)
 #define PBDRV_CONFIG_USB_MFG_STR                            u"Pybricks"
 #define PBDRV_CONFIG_USB_PROD_STR                           u"Virtual Hub"
-#endif // PBDRV_CONFIG_RUN_ON_CI
diff --git a/lib/pbio/platform/virtual_hub/pbsysconfig.h b/lib/pbio/platform/virtual_hub/pbsysconfig.h
index c19c10d26..7a24a7240 100644
--- a/lib/pbio/platform/virtual_hub/pbsysconfig.h
+++ b/lib/pbio/platform/virtual_hub/pbsysconfig.h
@@ -23,7 +23,7 @@
 #define PBSYS_CONFIG_STATUS_LIGHT                   (0)
 #define PBSYS_CONFIG_STATUS_LIGHT_BATTERY           (0)
 #define PBSYS_CONFIG_STATUS_LIGHT_BLUETOOTH         (0)
-#define PBSYS_CONFIG_STATUS_LIGHT_STATE_ANIMATIONS  (1)
+#define PBSYS_CONFIG_STATUS_LIGHT_STATE_ANIMATIONS  (0)
 #define PBSYS_CONFIG_STATUS_LIGHT_STATE_ANIMATIONS_HUE (240)
 #define PBSYS_CONFIG_TELEMETRY                      (1)
 #define PBSYS_CONFIG_USER_PROGRAM                   (0)
diff --git a/lib/pbio/src/debug.c b/lib/pbio/src/debug.c
new file mode 100644
index 000000000..506e5ccfa
--- /dev/null
+++ b/lib/pbio/src/debug.c
@@ -0,0 +1,21 @@
+// SPDX-License-Identifier: MIT
+// Copyright (c) 2021-2025 The Pybricks Authors
+
+#include <pbdrv/usb.h>
+#include <pbdrv/../../drv/uart/uart_debug_first_port.h>
+
+#include <pbio/debug.h>
+
+void pbio_debug_va(const char *format, va_list args) {
+    char buf[256];
+    size_t len = vsnprintf(buf, sizeof(buf), format, args);
+    pbdrv_usb_debug_print(buf, len);
+    pbdrv_uart_debug_print(buf, len);
+}
+
+void pbio_debug(const char *format, ...) {
+    va_list args;
+    va_start(args, format);
+    pbio_debug_va(format, args);
+    va_end(args);
+}
diff --git a/lib/pbio/src/port.c b/lib/pbio/src/port.c
index 0a4b64b60..9cd02f5e8 100644
--- a/lib/pbio/src/port.c
+++ b/lib/pbio/src/port.c
@@ -25,8 +25,8 @@
 #if DEBUG
 #include <stdio.h>
 #include <inttypes.h>
-#include <pbdrv/../../drv/uart/uart_debug_first_port.h>
-#define debug_pr pbdrv_uart_debug_printf
+#include <pbio/debug.h>
+#define debug_pr pbio_debug
 #define DBG_ERR(expr) expr
 #else
 #define debug_pr(...)
diff --git a/lib/pbio/src/port_dcm_pup.c b/lib/pbio/src/port_dcm_pup.c
index 7d3aa2bde..767c8aa6c 100644
--- a/lib/pbio/src/port_dcm_pup.c
+++ b/lib/pbio/src/port_dcm_pup.c
@@ -16,8 +16,8 @@
 #if DEBUG
 #include <stdio.h>
 #include <inttypes.h>
-#include <pbdrv/../../drv/uart/uart_debug_first_port.h>
-#define debug_pr pbdrv_uart_debug_printf
+#include <pbio/debug.h>
+#define debug_pr pbio_debug
 #define DBG_ERR(expr) expr
 #else
 #define debug_pr(...)
diff --git a/lib/pbio/src/port_lump.c b/lib/pbio/src/port_lump.c
index 65f4db3a1..370737d6d 100644
--- a/lib/pbio/src/port_lump.c
+++ b/lib/pbio/src/port_lump.c
@@ -21,8 +21,8 @@
 #if DEBUG
 #include <stdio.h>
 #include <inttypes.h>
-#include <pbdrv/../../drv/uart/uart_debug_first_port.h>
-#define debug_pr pbdrv_uart_debug_printf
+#include <pbio/debug.h>
+#define debug_pr pbio_debug
 #define DBG_ERR(expr) expr
 #else
 #define debug_pr(...)
diff --git a/lib/pbio/sys/battery_temp.c b/lib/pbio/sys/battery_temp.c
index cdbb7e0f4..3466b4079 100644
--- a/lib/pbio/sys/battery_temp.c
+++ b/lib/pbio/sys/battery_temp.c
@@ -8,6 +8,15 @@
 // LEGO MINDSTORMS EV3 battery temperature estimation from lms2012
 #if PBSYS_CONFIG_BATTERY_TEMP_ESTIMATION
 
+#define DEBUG 0
+
+#if DEBUG
+#include <pbio/debug.h>
+#define DEBUG_PRINT pbio_debug
+#else
+#define DEBUG_PRINT(...)
+#endif
+
 /**
  * Function for estimating new battery temperature based on measurements
  * of battery voltage and battery current.
@@ -132,9 +141,9 @@ float pbsys_battery_temp_update(float V_bat, float I_bat) {
     // Save R_bat_model for use in the next function call
     bat_temp.R_bat_model_old = R_bat_model;
 
-    //  pbdrv_uart_debug_printf("%c %f %f %f %f %f %f\r\n", bat_temp.has_passed_7v5_flag ? 'Y' : 'N',
-    //      (double)R_1A, (double)R_2A, (double)slope_A, (double)intercept_b,
-    //      (double)(R_bat_model - bat_temp.R_bat_model_old), (double)bat_temp.R_bat);
+    DEBUG_PRINT("%c %f %f %f %f %f %f\r\n", bat_temp.has_passed_7v5_flag ? 'Y' : 'N',
+        (double)R_1A, (double)R_2A, (double)slope_A, (double)intercept_b,
+        (double)(R_bat_model - bat_temp.R_bat_model_old), (double)bat_temp.R_bat);
 
     /**** Calculate the 4 types of temperature change for the batteries ****/
 
@@ -182,11 +191,11 @@ float pbsys_battery_temp_update(float V_bat, float I_bat) {
 
     /*****************************************************************************/
 
-    //  pbdrv_uart_debug_printf("%f %f %f %f %f <> %f %f %f %f %f\r\n",
-    //      (double)dT_bat_own, (double)dT_bat_loss_to_elec,
-    //      (double)dT_bat_gain_from_elec, (double)dT_bat_loss_to_room, (double)bat_temp.T_bat,
-    //      (double)dT_elec_own, (double)dT_elec_loss_to_bat, (double)dT_elec_gain_from_bat,
-    //      (double)dT_elec_loss_to_room, (double)bat_temp.T_elec);
+    DEBUG_PRINT("%f %f %f %f %f <> %f %f %f %f %f\r\n",
+        (double)dT_bat_own, (double)dT_bat_loss_to_elec,
+        (double)dT_bat_gain_from_elec, (double)dT_bat_loss_to_room, (double)bat_temp.T_bat,
+        (double)dT_elec_own, (double)dT_elec_loss_to_bat, (double)dT_elec_gain_from_bat,
+        (double)dT_elec_loss_to_room, (double)bat_temp.T_elec);
 
     // Refresh battery temperature
     bat_temp.T_bat += dT_bat_own + dT_bat_loss_to_elec + dT_bat_gain_from_elec + dT_bat_loss_to_room;
diff --git a/lib/pbio/sys/hmi_lcd.c b/lib/pbio/sys/hmi_lcd.c
index 49f134ac8..c2436d594 100644
--- a/lib/pbio/sys/hmi_lcd.c
+++ b/lib/pbio/sys/hmi_lcd.c
@@ -32,8 +32,8 @@
 #define DEBUG 0
 
 #if DEBUG
-#include <pbdrv/../../drv/uart/uart_debug_first_port.h>
-#define DEBUG_PRINT pbdrv_uart_debug_printf
+#include <pbio/debug.h>
+#define DEBUG_PRINT pbio_debug
 #else
 #define DEBUG_PRINT(...)
 #endif
diff --git a/lib/pbio/sys/hmi_pup.c b/lib/pbio/sys/hmi_pup.c
index ef12eff20..defb9606a 100644
--- a/lib/pbio/sys/hmi_pup.c
+++ b/lib/pbio/sys/hmi_pup.c
@@ -31,8 +31,8 @@
 #define DEBUG 0
 
 #if DEBUG
-#include <pbdrv/../../drv/uart/uart_debug_first_port.h>
-#define DEBUG_PRINT pbdrv_uart_debug_printf
+#include <pbio/debug.h>
+#define DEBUG_PRINT pbio_debug
 #else
 #define DEBUG_PRINT(...)
 #endif
diff --git a/lib/pbio/test/drv/test_bluetooth_btstack.c b/lib/pbio/test/drv/test_bluetooth_btstack.c
index 9d4559851..bca369c40 100644
--- a/lib/pbio/test/drv/test_bluetooth_btstack.c
+++ b/lib/pbio/test/drv/test_bluetooth_btstack.c
@@ -770,9 +770,18 @@ static void handle_data_source(btstack_data_source_t *ds,  btstack_data_source_c
     }
 }
 
-void pbdrv_bluetooth_btstack_set_chipset(uint16_t lmp_pal_subversion) {
+void pbdrv_bluetooth_btstack_set_chipset(pbdrv_bluetooth_btstack_local_version_info_t *device_info) {
 }
 
+pbio_error_t pbdrv_bluetooth_btstack_platform_init(void) {
+    return PBIO_SUCCESS;
+}
+
+void pbdrv_bluetooth_btstack_platform_poll(void) {
+}
+
+void pbdrv_bluetooth_btstack_platform_packet_handler(uint8_t packet_type, uint16_t channel, uint8_t *packet, uint16_t size) {
+}
 
 static pbio_error_t test_btstack_run_loop_contiki_poll(pbio_os_state_t *state, void *context) {
     static btstack_data_source_t data_source;
@@ -786,20 +795,20 @@ static pbio_error_t test_btstack_run_loop_contiki_poll(pbio_os_state_t *state, v
     btstack_run_loop_enable_data_source_callbacks(&data_source, DATA_SOURCE_CALLBACK_POLL);
     btstack_run_loop_add_data_source(&data_source);
 
-    pbdrv_bluetooth_btstack_run_loop_trigger();
+    btstack_run_loop_poll_data_sources_from_irq();
     PBIO_OS_AWAIT_ONCE(state);
     tt_want_uint_op(callback_count, ==, 1);
 
     callback_count = 0;
     btstack_run_loop_disable_data_source_callbacks(&data_source, DATA_SOURCE_CALLBACK_POLL);
-    pbdrv_bluetooth_btstack_run_loop_trigger();
+    btstack_run_loop_poll_data_sources_from_irq();
     PBIO_OS_AWAIT_ONCE(state);
     tt_want_uint_op(callback_count, ==, 0);
 
     callback_count = 0;
     btstack_run_loop_enable_data_source_callbacks(&data_source, DATA_SOURCE_CALLBACK_POLL);
     btstack_run_loop_remove_data_source(&data_source);
-    pbdrv_bluetooth_btstack_run_loop_trigger();
+    btstack_run_loop_poll_data_sources_from_irq();
     PBIO_OS_AWAIT_ONCE(state);
     tt_want_uint_op(callback_count, ==, 0);
 
diff --git a/pybricks/common/pb_type_ble.c b/pybricks/common/pb_type_ble.c
index c7163c65a..1d8b8c2d4 100644
--- a/pybricks/common/pb_type_ble.c
+++ b/pybricks/common/pb_type_ble.c
@@ -539,8 +539,6 @@ static MP_DEFINE_CONST_OBJ_TYPE(pb_type_BLE,
  * @throws ValueError                   If either parameter contains an out of range channel number.
  */
 mp_obj_t pb_type_BLE_new(mp_obj_t broadcast_channel_in, mp_obj_t observe_channels_in) {
-    // making the assumption that this is only called once before each pb_type_ble_start_cleanup()
-    assert(observed_data == NULL);
 
     // Validate channel arguments.
     if (broadcast_channel_in != mp_const_none && (mp_obj_get_int(broadcast_channel_in) < 0 || mp_obj_get_int(broadcast_channel_in) > UINT8_MAX)) {
diff --git a/pybricks/hubs/pb_type_virtualhub.c b/pybricks/hubs/pb_type_virtualhub.c
index 92e752915..d24d79694 100644
--- a/pybricks/hubs/pb_type_virtualhub.c
+++ b/pybricks/hubs/pb_type_virtualhub.c
@@ -14,6 +14,10 @@
 
 #include <pybricks/util_mp/pb_obj_helper.h>
 #include <pybricks/util_mp/pb_kwarg_helper.h>
+#include <pybricks/util_pb/pb_error.h>
+
+#include <pybricks/common.h>
+#include <pybricks/hubs.h>
 
 #include <pybricks/common.h>
 #include <pybricks/hubs.h>
@@ -26,11 +30,33 @@ typedef struct _hubs_VirtualHub_obj_t {
     mp_obj_t light;
     mp_obj_t screen;
     mp_obj_t system;
+    #if PYBRICKS_PY_COMMON_BLE
+    mp_obj_t ble;
+    #endif
 } hubs_VirtualHub_obj_t;
 
 static mp_obj_t hubs_VirtualHub_make_new(const mp_obj_type_t *type, size_t n_args, size_t n_kw, const mp_obj_t *args) {
+    PB_PARSE_ARGS_CLASS(n_args, n_kw, args,
+        PB_ARG_DEFAULT_OBJ(top_side, pb_type_Axis_Z_obj),
+        PB_ARG_DEFAULT_OBJ(front_side, pb_type_Axis_X_obj)
+        #if PYBRICKS_PY_COMMON_BLE
+        , PB_ARG_DEFAULT_NONE(broadcast_channel)
+        , PB_ARG_DEFAULT_OBJ(observe_channels, mp_const_empty_tuple_obj)
+        #endif
+        );
+
+    (void)top_side_in;
+    (void)front_side_in;
+
+
+
     hubs_VirtualHub_obj_t *self = mp_obj_malloc(hubs_VirtualHub_obj_t, type);
     self->battery = MP_OBJ_FROM_PTR(&pb_module_battery);
+
+    #if PYBRICKS_PY_COMMON_BLE
+    self->ble = pb_type_BLE_new(broadcast_channel_in, observe_channels_in);
+    #endif
+
     self->buttons = pb_type_Keypad_obj_new(MP_OBJ_FROM_PTR(self), pb_type_button_pressed_hub_single_button);
     // FIXME: Implement lights.
     // self->light = common_ColorLight_internal_obj_new(pbsys_status_light_main);
@@ -41,6 +67,9 @@ static mp_obj_t hubs_VirtualHub_make_new(const mp_obj_type_t *type, size_t n_arg
 
 static const pb_attr_dict_entry_t hubs_VirtualHub_attr_dict[] = {
     PB_DEFINE_CONST_ATTR_RO(MP_QSTR_battery, hubs_VirtualHub_obj_t, battery),
+    #if PYBRICKS_PY_COMMON_BLE
+    PB_DEFINE_CONST_ATTR_RO(MP_QSTR_ble, hubs_VirtualHub_obj_t, ble),
+    #endif
     PB_DEFINE_CONST_ATTR_RO(MP_QSTR_buttons, hubs_VirtualHub_obj_t, buttons),
     // PB_DEFINE_CONST_ATTR_RO(MP_QSTR_light, hubs_VirtualHub_obj_t, light),
     PB_DEFINE_CONST_ATTR_RO(MP_QSTR_screen, hubs_VirtualHub_obj_t, screen),