The working 5.4 kernel on Lubuntu 20.04, on Intel compute Stick STCK1A8LFC with 
the rtl8723bs hw.
$ cat btm-54.dmesg

Lubuntu 20.04
$ uname -a
Linux xleef 5.4.0-29-generic #33-Ubuntu SMP Wed Apr 29 14:32:27 UTC 2020 x86_64 
x86_64 x86_64 GNU/Linux
Previously connected generic Bluetooth 2.4G mouse 
Repaired and connected successfully.

dmesg |egrep -i -e "8723|blue|rfcomm|hci|mmc|rtl"
[    0.104388] PCI: MMCONFIG for domain 0000 [bus 00-ff] at [mem 
0xe0000000-0xefffffff] (base 0xe0000000)
[    0.104388] PCI: not using MMCONFIG
[    0.210310] PCI: MMCONFIG for domain 0000 [bus 00-ff] at [mem 
0xe0000000-0xefffffff] (base 0xe0000000)
[    0.229411] [Firmware Info]: PCI: MMCONFIG at [mem 0xe0000000-0xefffffff] 
not reserved in ACPI motherboard resources
[    0.229415] PCI: not using MMCONFIG
[    0.292111] acpi PNP0A08:00: fail to add MMCONFIG information, can't access 
extended PCI configuration space under this bridge.
[    1.543480] ehci_hcd: USB 2.0 'Enhanced' Host Controller (EHCI) Driver
[    1.543511] ehci-pci: EHCI PCI platform driver
[    1.544272] ehci-pci 0000:00:1d.0: EHCI Host Controller
[    1.544289] ehci-pci 0000:00:1d.0: new USB bus registered, assigned bus 
number 1
[    1.544312] ehci-pci 0000:00:1d.0: debug port 2
[    1.548247] ehci-pci 0000:00:1d.0: cache line size of 64 is not supported
[    1.548283] ehci-pci 0000:00:1d.0: irq 23, io mem 0x50811000
[    1.563539] ehci-pci 0000:00:1d.0: USB 2.0 started, EHCI 1.00
[    1.564005] usb usb1: Product: EHCI Host Controller
[    1.564015] usb usb1: Manufacturer: Linux 5.4.0-29-generic ehci_hcd
[    1.567268] ehci-platform: EHCI generic platform driver
[    1.567332] ohci_hcd: USB 1.1 'Open' Host Controller (OHCI) Driver
[    1.567347] ohci-pci: OHCI PCI platform driver
[    1.567374] ohci-platform: OHCI generic platform driver
[    1.567402] uhci_hcd: USB Universal Host Controller Interface driver
[    1.903542] usb 1-1: new high-speed USB device number 2 using ehci-pci
[    2.227544] usb 1-1.1: new high-speed USB device number 3 using ehci-pci
[    2.345714] sdhci: Secure Digital Host Controller Interface driver
[    2.345716] sdhci: Copyright(c) Pierre Ossman
[    2.356478] mmc0: SDHCI controller on ACPI [INT33BB:00] using ADMA
[    2.378627] mmc1: SDHCI controller on ACPI [80860F14:00] using ADMA
[    2.396433] mmc2: SDHCI controller on ACPI [80860F14:02] using ADMA
[    2.400588] mmc0: new high speed SDIO card at address 0001
[    2.462375] mmc2: new high speed SDHC card at address aaaa
[    2.532555] mmcblk2: mmc2:aaaa SC32G 29.7 GiB 
[    2.556562]  mmcblk2: p1 p2 p3
[    2.626522] mmc1: new HS200 MMC card at address 0001
[    2.627096] mmcblk1: mmc1:0001 S10008 7.13 GiB 
[    2.627490] mmcblk1boot0: mmc1:0001 S10008 partition 1 4.00 MiB
[    2.627855] mmcblk1boot1: mmc1:0001 S10008 partition 2 4.00 MiB
[    2.630674] mmcblk1rpmb: mmc1:0001 S10008 partition 3 4.00 MiB, chardev 
(241:0)
[    2.633770]  mmcblk1: p1 p2 p3
[    2.651135] usb 1-1.1.1: new low-speed USB device number 4 using ehci-pci
[    3.127135] usb 1-1.1.2: new low-speed USB device number 5 using ehci-pci
[    3.587544] usb 1-1.1.4: new high-speed USB device number 6 using ehci-pci
[   16.990772] Bluetooth: Core ver 2.22
[   16.990816] Bluetooth: HCI device and connection manager initialized
[   16.990824] Bluetooth: HCI socket layer initialized
[   16.990828] Bluetooth: L2CAP socket layer initialized
[   16.990839] Bluetooth: SCO socket layer initialized
[   17.254051] Bluetooth: HCI UART driver ver 2.3
[   17.254056] Bluetooth: HCI UART protocol H4 registered
[   17.254058] Bluetooth: HCI UART protocol BCSP registered
[   17.254093] Bluetooth: HCI UART protocol LL registered
[   17.254095] Bluetooth: HCI UART protocol ATH3K registered
[   17.254133] Bluetooth: HCI UART protocol Three-wire (H5) registered
[   17.254230] Bluetooth: HCI UART protocol Intel registered
[   17.254370] Bluetooth: HCI UART protocol Broadcom registered
[   17.254396] Bluetooth: HCI UART protocol QCA registered
[   17.254399] Bluetooth: HCI UART protocol AG6XX registered
[   17.254428] Bluetooth: HCI UART protocol Marvell registered
[   17.902380] Bluetooth: hci0: RTL: examining hci_ver=06 hci_rev=000b 
lmp_ver=06 lmp_subver=8723
[   17.906556] Bluetooth: hci0: RTL: rom_version status=0 version=1
[   17.906560] Bluetooth: hci0: RTL: loading rtl_bt/rtl8723bs_fw.bin
[   19.414238] Bluetooth: hci0: RTL: loading 
rtl_bt/rtl8723bs_config-OBDA8723.bin
[   19.443213] Bluetooth: hci0: RTL: cfg_sz 64, total sz 24508
[   20.169068] Bluetooth: hci0: RTL: fw version 0x365d462e
[   20.589782] r8723bs: module is from the staging directory, the quality is 
unknown, you have been warned.
[   20.590613] r8723bs: module verification failed: signature and/or required 
key missing - tainting kernel
[   20.593186] RTL8723BS: module init start
[   20.593190] RTL8723BS: rtl8723bs v4.3.5.5_12290.20140916_BTCOEX20140507-4E40
[   20.593192] RTL8723BS: rtl8723bs BT-Coex version = BTCOEX20140507-4E40
[   20.701451] RTL8723BS: rtw_ndev_init(wlan0)
[   20.702071] RTL8723BS: module init ret =0
[   28.624829] Bluetooth: BNEP (Ethernet Emulation) ver 1.3
[   28.624834] Bluetooth: BNEP filters: protocol multicast
[   28.624842] Bluetooth: BNEP socket layer initialized
[   35.701209] rtl8723bs: acquire FW from file:rtlwifi/rtl8723bs_nic.bin
[   40.054707] RTL8723BS: rtw_set_802_11_connect(wlan0)  fw_state = 0x00000008
[   48.155076] RTL8723BS: rtw_set_802_11_connect(wlan0)  fw_state = 0x00000008
[   56.277371] RTL8723BS: rtw_set_802_11_connect(wlan0)  fw_state = 0x00000008
[   56.650559] RTL8723BS: start auth
[   56.678722] RTL8723BS: auth success, start assoc
[   56.705367] RTL8723BS: rtw_cfg80211_indicate_connect(wlan0) BSS not found !!
[   56.705404] RTL8723BS: assoc success
[   56.719710] RTL8723BS: send eapol packet
[   56.844826] RTL8723BS: send eapol packet
[   56.845331] RTL8723BS: set pairwise key camid:4, addr:c0:56:27:ce:27:40, 
kid:0, type:AES
[   56.848428] RTL8723BS: set group key camid:5, addr:c0:56:27:ce:27:40, kid:2, 
type:AES
[   56.944613] RTL8723BS: send eapol packet
[   61.209104] Bluetooth: RFCOMM TTY layer initialized
[   61.209122] Bluetooth: RFCOMM socket layer initialized
[   61.209143] Bluetooth: RFCOMM ver 1.11
[ 1010.379409] RTL8723BS: send eapol packet
[ 1010.383216] RTL8723BS: set group key camid:6, addr:c0:56:27:ce:27:40, kid:1, 
type:AES
[ 1608.565986] debugfs: File 'le_min_key_size' in directory 'hci0' already 
present!
[ 1608.565997] debugfs: File 'le_max_key_size' in directory 'hci0' already 
present!
[ 1608.566002] debugfs: File 'force_bredr_smp' in directory 'hci0' already 
present!
[ 1727.194338] Bluetooth: HIDP (Human Interface Emulation) ver 1.2
[ 1727.194351] Bluetooth: HIDP socket layer initialized
[ 1764.919483] debugfs: File 'le_min_key_size' in directory 'hci0' already 
present!
[ 1764.919496] debugfs: File 'le_max_key_size' in directory 'hci0' already 
present!
[ 1764.919501] debugfs: File 'force_bredr_smp' in directory 'hci0' already 
present!
[ 1856.301828] Bluetooth: hci0: inquiry failed: status 0x0c
[ 2048.831405] input: Bluetooth Mouse as 
/devices/platform/80860F0A:00/serial0/serial0-0/bluetooth/hci0/hci0:9/0005:0000:0000.0004/input/input10
[ 2048.832273] input: Bluetooth Mouse Consumer Control as 
/devices/platform/80860F0A:00/serial0/serial0-0/bluetooth/hci0/hci0:9/0005:0000:0000.0004/input/input11
[ 2048.833128] input: Bluetooth Mouse System Control as 
/devices/platform/80860F0A:00/serial0/serial0-0/bluetooth/hci0/hci0:9/0005:0000:0000.0004/input/input12
[ 2048.834124] input: Bluetooth Mouse as 
/devices/platform/80860F0A:00/serial0/serial0-0/bluetooth/hci0/hci0:9/0005:0000:0000.0004/input/input13
[ 2048.835145] hid-generic 0005:0000:0000.0004: input,hidraw3: BLUETOOTH HID 
v0.00 Mouse [Bluetooth Mouse] on 28:c2:dd:80:ed:a4
---------------------------------------------------------------
The non-working 5.5 kernel (different Linux distribution, AntiX 19, Debian 
based.
$ cat btm-55.dmesg
On Intel Compute Stick STCK1A8LFC
Antix19 booting from micro SD card
uname -a
Linux antix1 5.5.0-antix.1-amd64-smp #1 SMP PREEMPT Fri Jan31 16:11:13 EET 2020 
x86_64 GNU/Linux

Booting the older 4.19 kernel for AntiX19 succeded in pairing with a bluetooth 
mouse.  
Booting the 5.5 kernel fails with the below dmesg
sudo dmesg |egrep -i -e "blue|8723|rfcomm|hci|mmc|rtl"
 
Same Bluetooth firmware is present and seen, but not loaded.  The bluetooth 
deamon has the --noplugin=sap for
this run, but adding it did not help with pairing the bluetooth mouse.

[    0.595126] PCI: MMCONFIG for domain 0000 [bus 00-ff] at [mem 
0xe0000000-0xefffffff] (base 0xe0000000)
[    0.595145] PCI: not using MMCONFIG
[    1.349049] PCI: MMCONFIG for domain 0000 [bus 00-ff] at [mem 
0xe0000000-0xefffffff] (base 0xe0000000)
[    1.360965] [Firmware Info]: PCI: MMCONFIG at [mem 0xe0000000-0xefffffff] 
not reserved in ACPI motherboard resources
[    1.360970] PCI: not using MMCONFIG
[    1.399971] acpi PNP0A08:00: fail to add MMCONFIG information, can't access 
extended PCI configuration space under this bridge.
[    3.246345] ehci_hcd: USB 2.0 'Enhanced' Host Controller (EHCI) Driver
[    3.246364] ehci-pci: EHCI PCI platform driver
[    3.246643] ehci-pci 0000:00:1d.0: EHCI Host Controller
[    3.246659] ehci-pci 0000:00:1d.0: new USB bus registered, assigned bus 
number 1
[    3.246681] ehci-pci 0000:00:1d.0: debug port 2
[    3.250609] ehci-pci 0000:00:1d.0: cache line size of 64 is not supported
[    3.250640] ehci-pci 0000:00:1d.0: irq 23, io mem 0x50811000
[    3.257065] ehci-pci 0000:00:1d.0: USB 2.0 started, EHCI 1.00
[    3.257210] usb usb1: Product: EHCI Host Controller
[    3.257213] usb usb1: Manufacturer: Linux 5.5.0-antix.1-amd64-smp ehci_hcd
[    3.258283] ohci_hcd: USB 1.1 'Open' Host Controller (OHCI) Driver
[    3.258294] ohci-pci: OHCI PCI platform driver
[    3.258321] ohci-platform: OHCI generic platform driver
[    3.258363] uhci_hcd: USB Universal Host Controller Interface driver
[    3.259672] sdhci: Secure Digital Host Controller Interface driver
[    3.259677] sdhci: Copyright(c) Pierre Ossman
[    3.261416] mmc0: SDHCI controller on ACPI [INT33BB:00] using ADMA
[    3.274342] mmc1: SDHCI controller on ACPI [80860F14:00] using ADMA
[    3.288384] mmc2: SDHCI controller on ACPI [80860F14:02] using ADMA
[    3.288587] wbsd: Winbond W83L51xD SD/MMC card interface driver
[    3.289550] sdhci-pltfm: SDHCI platform and OF driver helper
[    3.309520] mmc0: new high speed SDIO card at address 0001
[    3.353271] mmc2: new high speed SDHC card at address aaaa
[    3.354165] mmcblk2: mmc2:aaaa SC32G 29.7 GiB 
[    3.362863]  mmcblk2: p1 p2 p3
[    3.472672] mmc1: new HS200 MMC card at address 0001
[    3.473129] mmcblk1: mmc1:0001 S10008 7.13 GiB 
[    3.473338] mmcblk1boot0: mmc1:0001 S10008 partition 1 4.00 MiB
[    3.473540] mmcblk1boot1: mmc1:0001 S10008 partition 2 4.00 MiB
[    3.473680] mmcblk1rpmb: mmc1:0001 S10008 partition 3 4.00 MiB, chardev 
(242:0)
[    3.476744]  mmcblk1: p1 p2 p3
[    3.578085] usb 1-1: new high-speed USB device number 2 using ehci-pci
[    3.864104] usb 1-1.1: new high-speed USB device number 3 using ehci-pci
[    4.272118] usb 1-1.1.1: new low-speed USB device number 4 using ehci-pci
[    4.672079] usb 1-1.1.2: new low-speed USB device number 5 using ehci-pci
[    4.946524] EXT4-fs (mmcblk2p2): mounted filesystem without journal. Opts: 
(null)
[    5.040074] usb 1-1.1.4: new high-speed USB device number 6 using ehci-pci
[    7.373525] Bluetooth: Core ver 2.22
[    7.373569] Bluetooth: HCI device and connection manager initialized
[    7.373577] Bluetooth: HCI socket layer initialized
[    7.373581] Bluetooth: L2CAP socket layer initialized
[    7.373593] Bluetooth: SCO socket layer initialized
[    7.565256] Bluetooth: HCI UART driver ver 2.3
[    7.565261] Bluetooth: HCI UART protocol H4 registered
[    7.565262] Bluetooth: HCI UART protocol BCSP registered
[    7.565292] Bluetooth: HCI UART protocol LL registered
[    7.565294] Bluetooth: HCI UART protocol ATH3K registered
[    7.565322] Bluetooth: HCI UART protocol Three-wire (H5) registered
[    7.565406] Bluetooth: HCI UART protocol Intel registered
[    7.565430] Bluetooth: HCI UART protocol QCA registered
[    7.565432] Bluetooth: HCI UART protocol AG6XX registered
[    7.565454] Bluetooth: HCI UART protocol Marvell registered
[    7.581200] r8723bs: module is from the staging directory, the quality is 
unknown, you have been warned.
[    7.594221] RTL8723BS: module init start
[    7.594226] RTL8723BS: rtl8723bs v4.3.5.5_12290.20140916_BTCOEX20140507-4E40
[    7.594227] RTL8723BS: rtl8723bs BT-Coex version = BTCOEX20140507-4E40
[    7.696061] RTL8723BS: rtw_ndev_init(wlan0)
[    7.696573] RTL8723BS: module init ret =0
[   10.137111] Adding 1072124k swap on /dev/mmcblk1p3.  Priority:-2 extents:1 
across:1072124k SSFS
[   10.230678] EXT4-fs (mmcblk2p2): re-mounted. Opts: (null)
[   11.527642] FAT-fs (mmcblk2p1): utf8 is not a recommended IO charset for FAT 
filesystems, filesystem will be case sensitive!
[   11.566332] FAT-fs (mmcblk2p1): Volume was not properly unmounted. Some data 
may be corrupt. Please run fsck.
[   11.570321] EXT4-fs (mmcblk2p3): warning: mounting unchecked fs, running 
e2fsck is recommended
[   11.571890] EXT4-fs (mmcblk2p3): mounted filesystem without journal. Opts: 
(null)
[   18.264994] Bluetooth: BNEP (Ethernet Emulation) ver 1.3
[   18.264999] Bluetooth: BNEP filters: protocol multicast
[   18.265008] Bluetooth: BNEP socket layer initialized
[   18.791465] rtl8723bs: acquire FW from file:rtlwifi/rtl8723bs_nic.bin
[   21.165471] RTL8723BS: rtw_set_802_11_connect(wlan0)  fw_state = 0x00000008
[   21.374016] RTL8723BS: start auth
[   21.405945] RTL8723BS: auth success, start assoc
[   21.436867] RTL8723BS: rtw_cfg80211_indicate_connect(wlan0) BSS not found !!
[   21.436893] RTL8723BS: assoc success
[   21.440330] RTL8723BS: send eapol packet
[   21.452683] RTL8723BS: send eapol packet
[   21.452861] RTL8723BS: set pairwise key camid:4, addr:c0:56:27:ce:27:40, 
kid:0, type:AES
[   21.453999] RTL8723BS: set group key camid:5, addr:c0:56:27:ce:27:40, kid:2, 
type:AES
[  224.569866] Bluetooth: HIDP (Human Interface Emulation) ver 1.2
[  224.569881] Bluetooth: HIDP socket layer initialized
[  237.037261] Bluetooth: RFCOMM TTY layer initialized
[  237.037286] Bluetooth: RFCOMM socket layer initialized
[  237.037310] Bluetooth: RFCOMM ver 1.11
[  426.780986] RTL8723BS: send eapol packet
[  426.781713] RTL8723BS: set group key camid:6, addr:c0:56:27:ce:27:40, kid:1, 
type:AES

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https://bugs.launchpad.net/bugs/1877192

Title:
  RTL8723bs bluetooth not working on 20.04

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