В итоге поставил Pulseaudio. Оно регистрирует HSP в SDP сервере.
Гарнитура пытается подключиться и отваливается.

[CHG] Device FC:58:FA:12:C4:E3 Connected: yes
[bluetooth]# bluetoothd[31122]: Endpoint unregistered: sender=:1.112 path=/MediaEndpoint/A2DPSource
bluetoothd[31122]: Endpoint unregistered: sender=:1.112 path=/MediaEndpoint/A2DPSink
[CHG] Controller 5C:F3:70:68:B2:B6 Class: 0x040000
[CHG] Controller 5C:F3:70:68:B2:B6 UUIDs has unsupported type
[CHG] Controller 5C:F3:70:68:B2:B6 Class: 0x000000
[CHG] Controller 5C:F3:70:68:B2:B6 UUIDs has unsupported type
[CHG] Controller 5C:F3:70:68:B2:B6 UUIDs has unsupported type
[CHG] Device FC:58:FA:12:C4:E3 Connected: no

После чего pulseaudio помирает. В логах ничего толком нет. Не понятно "UUIDs has unsupported type" потому что pulseaudio помирло или нет.

Properties changed in device /org/bluez/hci0/dev_FC_58_FA_12_C4_E3
dbus: path=/Profile/HSPAGProfile, interface=org.bluez.Profile1, member=NewConnection
dbus: NewConnection path=/org/bluez/hci0/dev_FC_58_FA_12_C4_E3, fd=20
Transport /org/bluez/hci0/dev_FC_58_FA_12_C4_E3/fd20 state changed from disconnected to idle
Loading module-bluez5-device path=/org/bluez/hci0/dev_FC_58_FA_12_C4_E3

Вот нашел ошибку:
Inconsistency detected by ld.so: dl-open.c: 678: _dl_open: Assertion `_dl_debug_initialize (0, args.nsid)->r_state == RT_CONSISTENT' failed!

И чего с ней делать не догоняю.