diff --git a/hw/bsp/esp32-s3-arduino/Kconfig b/hw/bsp/esp32-s3-arduino/Kconfig
new file mode 100644
index 00000000..e69de29b
diff --git a/hw/bsp/esp32-s3-arduino/board.cmake b/hw/bsp/esp32-s3-arduino/board.cmake
new file mode 100644
index 00000000..6f7a1de2
--- /dev/null
+++ b/hw/bsp/esp32-s3-arduino/board.cmake
@@ -0,0 +1,57 @@
+cmake_minimum_required(VERSION 3.16)
+
+# Include for ESP-IDF build system functions
+include($ENV{IDF_PATH}/tools/cmake/idf.cmake)
+
+add_compile_options(-Wno-missing-field-initializers -Wno-write-strings)
+add_compile_definitions(ARDUINO_USB_CDC_ON_BOOT=1 ARDUINO_USB_MODE=1)
+
+# Create idf::{target} and idf::freertos static libraries
+idf_build_process("esp32s3"
+                # try and trim the build; additional components
+                # will be included as needed based on dependency tree
+                #
+                # although esptool_py does not generate static library,
+                # processing the component is needed for flashing related
+                # targets and file generation
+                COMPONENTS freertos esptool_py driver nvs_flash bt esp_http_client esp_https_ota arduino-esp32
+                SDKCONFIG ${BOARD_DIR}/sdkconfig
+                BUILD_DIR ${CMAKE_BINARY_DIR})
+
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+
+set(elf_file ${CMAKE_PROJECT_NAME}.elf)
+add_executable(${elf_file} ${BOARD_DIR}/main.cpp)
+
+# Link the static libraries to the executable
+target_link_libraries(
+  ${elf_file}
+  idf::bt
+  idf::freertos
+  idf::spi_flash
+  idf::driver
+  idf::nvs_flash
+  idf::esp_wifi
+  idf::esp_http_client
+  idf::esp_https_ota
+  idf::arduino-esp32
+  bsp
+  system
+  robot
+)
+# Attach additional targets to the executable file for flashing,
+# linker script generation, partition_table generation, etc.
+idf_build_executable(${elf_file})
+
+add_subdirectory(${BOARD_DIR}/drivers)
+
+# add_compile_options(-Wno-missing-field-initializers)
+
+target_include_directories(
+  ${PROJECT_NAME}.elf
+  PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}
+  PRIVATE $ENV{IDF_PATH}/components/esp_http_client/include
+  PRIVATE $<TARGET_PROPERTY:bsp,INTERFACE_INCLUDE_DIRECTORIES>
+  PRIVATE $<TARGET_PROPERTY:system,INTERFACE_INCLUDE_DIRECTORIES>
+  PRIVATE $<TARGET_PROPERTY:robot,INTERFACE_INCLUDE_DIRECTORIES>
+)
diff --git a/hw/bsp/esp32-s3-arduino/config/ble_net_config.config b/hw/bsp/esp32-s3-arduino/config/ble_net_config.config
new file mode 100644
index 00000000..5f619a6b
--- /dev/null
+++ b/hw/bsp/esp32-s3-arduino/config/ble_net_config.config
@@ -0,0 +1,94 @@
+# CONFIG_auto_generated_config_prefix_board-esp32-c3-idf is not set
+# CONFIG_auto_generated_config_prefix_board-c-mini is not set
+# CONFIG_auto_generated_config_prefix_board-raspi_4b_with_ch348 is not set
+# CONFIG_auto_generated_config_prefix_board-node_imu is not set
+CONFIG_auto_generated_config_prefix_board-esp32-s3-arduino=y
+# CONFIG_auto_generated_config_prefix_board-f103_can is not set
+# CONFIG_auto_generated_config_prefix_board-MiniPC is not set
+# CONFIG_auto_generated_config_prefix_board-rm-c is not set
+# CONFIG_auto_generated_config_prefix_board-microswitch is not set
+# CONFIG_auto_generated_config_prefix_board-Webots is not set
+# CONFIG_auto_generated_config_prefix_board-wl_f103_can is not set
+# CONFIG_auto_generated_config_prefix_board-demo-board is not set
+# CONFIG_auto_generated_config_prefix_system-Linux_Webots is not set
+CONFIG_auto_generated_config_prefix_system-FreeRTOS=y
+# CONFIG_auto_generated_config_prefix_system-None is not set
+# CONFIG_auto_generated_config_prefix_system-Linux is not set
+CONFIG_INIT_TASK_STACK_DEPTH=4096
+
+#
+# FreeRTOS
+#
+CONFIG_FREERTOS_TIMER_TASK_STACK_DEPTH=2048
+CONFIG_FREERTOS_USB_TASK_STACK_DEPTH=1024
+CONFIG_FREERTOS_TERM_TASK_STACK_DEPTH=1024
+# end of FreeRTOS
+
+# CONFIG_auto_generated_config_prefix_robot-udp_to_uart is not set
+# CONFIG_auto_generated_config_prefix_robot-hero is not set
+# CONFIG_auto_generated_config_prefix_robot-balance_infantry is not set
+# CONFIG_auto_generated_config_prefix_robot-sentry is not set
+# CONFIG_auto_generated_config_prefix_robot-dart is not set
+CONFIG_auto_generated_config_prefix_robot-ble_net_config=y
+# CONFIG_auto_generated_config_prefix_robot-can_to_uart is not set
+# CONFIG_auto_generated_config_prefix_robot-infantry is not set
+# CONFIG_auto_generated_config_prefix_robot-sim_mecanum is not set
+# CONFIG_auto_generated_config_prefix_robot-blink is not set
+# CONFIG_auto_generated_config_prefix_robot-microswitch is not set
+# CONFIG_auto_generated_config_prefix_robot-sim_balance is not set
+# CONFIG_auto_generated_config_prefix_robot-engineer is not set
+# CONFIG_auto_generated_config_prefix_robot-wearlab_imu is not set
+# CONFIG_auto_generated_config_prefix_robot-demo-robot is not set
+
+#
+# 组件
+#
+# CONFIG_auto_generated_config_prefix_component-demo-component is not set
+# end of 组件
+
+#
+# 设备
+#
+# CONFIG_auto_generated_config_prefix_device-servo is not set
+# CONFIG_auto_generated_config_prefix_device-simulator is not set
+# CONFIG_auto_generated_config_prefix_device-cap is not set
+# CONFIG_auto_generated_config_prefix_device-led_rgb is not set
+# CONFIG_auto_generated_config_prefix_device-referee is not set
+# CONFIG_auto_generated_config_prefix_device-laser is not set
+# CONFIG_auto_generated_config_prefix_device-can is not set
+# CONFIG_auto_generated_config_prefix_device-motor is not set
+# CONFIG_auto_generated_config_prefix_device-bmi088 is not set
+# CONFIG_auto_generated_config_prefix_device-mech is not set
+# CONFIG_auto_generated_config_prefix_device-buzzer is not set
+# CONFIG_auto_generated_config_prefix_device-tof is not set
+CONFIG_auto_generated_config_prefix_device-blink_led=y
+# CONFIG_auto_generated_config_prefix_device-dr16 is not set
+# CONFIG_auto_generated_config_prefix_device-ahrs is not set
+# CONFIG_auto_generated_config_prefix_device-ai is not set
+CONFIG_auto_generated_config_prefix_device-net_config=y
+# CONFIG_auto_generated_config_prefix_device-wearlab is not set
+# CONFIG_auto_generated_config_prefix_device-imu is not set
+# CONFIG_auto_generated_config_prefix_device-microswitch is not set
+# CONFIG_auto_generated_config_prefix_device-demo-device is not set
+# end of 设备
+
+#
+# 模块
+#
+# CONFIG_auto_generated_config_prefix_module-gimbal is not set
+# CONFIG_auto_generated_config_prefix_module-balance is not set
+# CONFIG_auto_generated_config_prefix_module-chassis is not set
+# CONFIG_auto_generated_config_prefix_module-dart_launcher is not set
+CONFIG_auto_generated_config_prefix_module-ble_net_config=y
+# CONFIG_auto_generated_config_prefix_module-launcher is not set
+# CONFIG_auto_generated_config_prefix_module-ore_collect is not set
+# CONFIG_auto_generated_config_prefix_module-can_usart is not set
+# CONFIG_auto_generated_config_prefix_module-uart_udp is not set
+CONFIG_auto_generated_config_prefix_module-topic_share_uart=y
+# CONFIG_auto_generated_config_prefix_module-microswitch is not set
+# CONFIG_auto_generated_config_prefix_module-can_imu is not set
+# CONFIG_auto_generated_config_prefix_module-wheel_leg is not set
+# CONFIG_auto_generated_config_prefix_module-dart_gimbal is not set
+# CONFIG_auto_generated_config_prefix_module-wl_can_usart is not set
+# CONFIG_auto_generated_config_prefix_module-demo-module is not set
+# end of 模块
diff --git a/hw/bsp/esp32-s3-arduino/config/blink.config b/hw/bsp/esp32-s3-arduino/config/blink.config
new file mode 100644
index 00000000..11549796
--- /dev/null
+++ b/hw/bsp/esp32-s3-arduino/config/blink.config
@@ -0,0 +1,58 @@
+CONFIG_auto_generated_config_prefix_board-esp32-s3-arduino=y
+# CONFIG_auto_generated_config_prefix_board-node_imu is not set
+# CONFIG_auto_generated_config_prefix_board-MiniPC is not set
+# CONFIG_auto_generated_config_prefix_board-rm-c is not set
+# CONFIG_auto_generated_config_prefix_board-Webots is not set
+# CONFIG_auto_generated_config_prefix_system-Linux_Webots is not set
+CONFIG_auto_generated_config_prefix_system-FreeRTOS=y
+# CONFIG_auto_generated_config_prefix_system-Linux is not set
+CONFIG_INIT_TASK_STACK_DEPTH=2048
+
+#
+# FreeRTOS
+#
+CONFIG_FREERTOS_TIMER_TASK_STACK_DEPTH=1024
+CONFIG_FREERTOS_USB_TASK_STACK_DEPTH=1024
+CONFIG_FREERTOS_TERM_TASK_STACK_DEPTH=1024
+# end of FreeRTOS
+
+# CONFIG_auto_generated_config_prefix_robot-balance_infantry is not set
+# CONFIG_auto_generated_config_prefix_robot-infantry is not set
+# CONFIG_auto_generated_config_prefix_robot-sim_mecanum is not set
+CONFIG_auto_generated_config_prefix_robot-blink=y
+CONFIG_auto_generated_config_prefix_module-performance=y
+# CONFIG_auto_generated_config_prefix_robot-sim_balance is not set
+# CONFIG_auto_generated_config_prefix_robot-wearlab_imu is not set
+
+#
+# 设备
+#
+# CONFIG_auto_generated_config_prefix_device-servo is not set
+# CONFIG_auto_generated_config_prefix_device-simulator is not set
+# CONFIG_auto_generated_config_prefix_device-cap is not set
+# CONFIG_auto_generated_config_prefix_device-led_rgb is not set
+# CONFIG_auto_generated_config_prefix_device-referee is not set
+# CONFIG_auto_generated_config_prefix_device-laser is not set
+# CONFIG_auto_generated_config_prefix_device-can is not set
+# CONFIG_auto_generated_config_prefix_device-motor is not set
+# CONFIG_auto_generated_config_prefix_device-bmi088 is not set
+# CONFIG_auto_generated_config_prefix_device-buzzer is not set
+# CONFIG_auto_generated_config_prefix_device-tof is not set
+CONFIG_auto_generated_config_prefix_device-blink_led=y
+# CONFIG_auto_generated_config_prefix_device-dr16 is not set
+# CONFIG_auto_generated_config_prefix_device-ahrs is not set
+# CONFIG_auto_generated_config_prefix_device-ai is not set
+# CONFIG_auto_generated_config_prefix_device-wearlab is not set
+# CONFIG_auto_generated_config_prefix_device-imu is not set
+# end of 设备
+
+#
+# 模块
+#
+# CONFIG_auto_generated_config_prefix_module-gimbal is not set
+# CONFIG_auto_generated_config_prefix_module-balance is not set
+# CONFIG_auto_generated_config_prefix_module-chassis is not set
+# CONFIG_auto_generated_config_prefix_module-launcher is not set
+# CONFIG_auto_generated_config_prefix_module-can_imu is not set
+# CONFIG_auto_generated_config_prefix_module-wheel_leg is not set
+# end of 模块
diff --git a/hw/bsp/esp32-s3-arduino/debug/launch.json b/hw/bsp/esp32-s3-arduino/debug/launch.json
new file mode 100644
index 00000000..b4cdf0cc
--- /dev/null
+++ b/hw/bsp/esp32-s3-arduino/debug/launch.json
@@ -0,0 +1,36 @@
+{
+    // 使用 IntelliSense 了解相关属性。
+    // 悬停以查看现有属性的描述。
+    // 欲了解更多信息，请访问: https://go.microsoft.com/fwlink/?linkid=830387
+    "version": "0.2.0",
+    "liveWatch": {
+        "enabled": true,
+        "samplesPerSecond": 4
+    },
+    "configurations": [
+        {
+            "cwd": "${workspaceRoot}",
+            "executable": "${workspaceRoot}/build/xrobot.elf",
+            "name": "Debug with OpenOCD",
+            "request": "launch",
+            "type": "cortex-debug",
+            "servertype": "openocd",
+            "configFiles": [
+                "board/esp32c3-builtin.cfg"
+            ],
+            "gdbPath": "riscv32-esp-elf-gdb",
+            "searchDir": [],
+            "runToEntryPoint": "app_main",
+            "postLaunchCommands": [
+                "mon reset halt",
+                "flushregs",
+                "mon program_esp build/bootloader/bootloader.bin 0x0 verify",
+                "mon program_esp build/partition_table/partition-table.bin 0x8000 verify",
+                "mon program_esp build/xrobot.bin 0x10000 verify",
+                "set remote hardware-watchpoint-limit 2",
+                "mon reset halt",
+                "flushregs"
+            ]
+        }
+    ]
+}
diff --git a/hw/bsp/esp32-s3-arduino/drivers/CMakeLists.txt b/hw/bsp/esp32-s3-arduino/drivers/CMakeLists.txt
new file mode 100644
index 00000000..1392a21d
--- /dev/null
+++ b/hw/bsp/esp32-s3-arduino/drivers/CMakeLists.txt
@@ -0,0 +1,35 @@
+project(bsp)
+
+file(GLOB ${PROJECT_NAME}_SOURCES "${CMAKE_CURRENT_SOURCE_DIR}/*.c")
+
+file(GLOB ${PROJECT_NAME}_SOURCES_CPP "${CMAKE_CURRENT_SOURCE_DIR}/*.cpp")
+
+add_library(${PROJECT_NAME} STATIC)
+
+target_sources(${PROJECT_NAME}
+  PRIVATE ${${PROJECT_NAME}_SOURCES}
+  PRIVATE ${${PROJECT_NAME}_SOURCES_CPP}
+)
+
+include(${MCU_DIR}/default/CMakeLists.txt)
+
+target_link_libraries(${PROJECT_NAME}
+  PUBLIC idf::arduino-esp32
+  PUBLIC idf::bt
+)
+
+target_include_directories(
+  ${PROJECT_NAME}
+  PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}
+  PUBLIC $<TARGET_PROPERTY:OneMessage,INTERFACE_INCLUDE_DIRECTORIES>
+  PUBLIC $<TARGET_PROPERTY:idf::freertos,INTERFACE_INCLUDE_DIRECTORIES>
+  PUBLIC $<TARGET_PROPERTY:idf::driver,INTERFACE_INCLUDE_DIRECTORIES>
+  PUBLIC $<TARGET_PROPERTY:idf::nvs_flash,INTERFACE_INCLUDE_DIRECTORIES>
+  PUBLIC $<TARGET_PROPERTY:idf::esp_timer,INTERFACE_INCLUDE_DIRECTORIES>
+  PUBLIC $<TARGET_PROPERTY:idf::bt,INTERFACE_INCLUDE_DIRECTORIES>
+  PUBLIC $<TARGET_PROPERTY:idf::arduino-esp32,INTERFACE_INCLUDE_DIRECTORIES>
+  PUBLIC $ENV{IDF_PATH}/components/freertos/include/freertos
+  PUBLIC $ENV{IDF_PATH}/components/freertos/FreeRTOS-Kernel/include/freertos
+)
+
+# add_dependencies(${PROJECT_NAME})
diff --git a/hw/bsp/esp32-s3-arduino/drivers/bsp.cpp b/hw/bsp/esp32-s3-arduino/drivers/bsp.cpp
new file mode 100644
index 00000000..4d37dc9f
--- /dev/null
+++ b/hw/bsp/esp32-s3-arduino/drivers/bsp.cpp
@@ -0,0 +1,12 @@
+#include "bsp.h"
+
+#include "bsp_time.h"
+#include "bsp_uart.h"
+#include "driver/gpio.h"
+
+void bsp_init() {
+  bsp_time_init();
+  gpio_reset_pin(GPIO_NUM_8);
+  gpio_set_direction(GPIO_NUM_8, GPIO_MODE_OUTPUT);
+  bsp_uart_init();
+}
diff --git a/hw/bsp/esp32-s3-arduino/drivers/bsp.h b/hw/bsp/esp32-s3-arduino/drivers/bsp.h
new file mode 100644
index 00000000..3141bcb4
--- /dev/null
+++ b/hw/bsp/esp32-s3-arduino/drivers/bsp.h
@@ -0,0 +1,18 @@
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "bsp_def.h"
+
+typedef struct {
+  void (*fn)(void *);
+  void *arg;
+} bsp_callback_t;
+
+void bsp_init(void);
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/hw/bsp/esp32-s3-arduino/drivers/bsp_ble_server.cpp b/hw/bsp/esp32-s3-arduino/drivers/bsp_ble_server.cpp
new file mode 100644
index 00000000..afed0f2c
--- /dev/null
+++ b/hw/bsp/esp32-s3-arduino/drivers/bsp_ble_server.cpp
@@ -0,0 +1,57 @@
+#include "bsp_ble_server.h"
+
+#include <stdint.h>
+
+#include "Arduino.h"
+#include "BLEDevice.h"
+#include "om.h"
+#include "om_fifo.h"
+
+#define SERVICE_UUID "4fafc201-1fb5-459e-8fcc-c5c9c331914b"
+#define WIFI_CONFIG_UUID "5fafc202-2fb5-469e-8fcc-c5c9c332914b"
+
+static om_fifo_t rx_fifo;
+static uint8_t buff[100];
+static BLECharacteristic *p_wifi_config_characteristic;
+
+class WifiConfigCallback : public BLECharacteristicCallbacks {
+  void onWrite(BLECharacteristic *pCharacteristic) {
+    om_fifo_writes(&rx_fifo, pCharacteristic->getData(),
+                   pCharacteristic->getLength());
+  }
+};
+
+void bsp_ble_server_init(const char *name) {
+  om_fifo_create(&rx_fifo, buff, sizeof(buff), sizeof(uint8_t));
+  BLEDevice::init(name);
+  BLEServer *p_server = BLEDevice::createServer();
+  BLEService *p_service = p_server->createService(SERVICE_UUID);
+  p_wifi_config_characteristic = p_service->createCharacteristic(
+      WIFI_CONFIG_UUID,
+      BLECharacteristic::PROPERTY_READ | BLECharacteristic::PROPERTY_WRITE);
+
+  p_wifi_config_characteristic->setCallbacks(new WifiConfigCallback());
+
+  p_service->start();
+  BLEAdvertising *p_advertising = BLEDevice::getAdvertising();
+  p_advertising->addServiceUUID(SERVICE_UUID);
+  p_advertising->setScanResponse(true);
+  p_advertising->setMinPreferred(0x06);
+  p_advertising->setMinPreferred(0x12);
+
+  BLEDevice::startAdvertising();
+}
+
+uint32_t bsp_ble_server_avaliable() {
+  return om_fifo_readable_item_count(&rx_fifo);
+}
+
+bsp_status_t bsp_ble_server_transmit(const uint8_t *data, size_t size) {
+  memcpy(buff, data, size);
+  p_wifi_config_characteristic->setValue(buff, size);
+  return BSP_OK;
+}
+
+uint32_t bsp_ble_server_receive(uint8_t *data, size_t size) {
+  return om_fifo_reads(&rx_fifo, data, size) == OM_OK ? 0 : size;
+}
diff --git a/hw/bsp/esp32-s3-arduino/drivers/bsp_ble_server.h b/hw/bsp/esp32-s3-arduino/drivers/bsp_ble_server.h
new file mode 100644
index 00000000..bb246ae3
--- /dev/null
+++ b/hw/bsp/esp32-s3-arduino/drivers/bsp_ble_server.h
@@ -0,0 +1,11 @@
+#pragma once
+
+#include "bsp.h"
+
+void bsp_ble_server_init(const char *name);
+
+uint32_t bsp_ble_server_avaliable();
+
+bsp_status_t bsp_ble_server_transmit(const uint8_t *data, size_t size);
+
+uint32_t bsp_ble_server_receive(uint8_t *data, size_t size);
diff --git a/hw/bsp/esp32-s3-arduino/drivers/bsp_flash.c b/hw/bsp/esp32-s3-arduino/drivers/bsp_flash.c
new file mode 100644
index 00000000..e77e5c8d
--- /dev/null
+++ b/hw/bsp/esp32-s3-arduino/drivers/bsp_flash.c
@@ -0,0 +1,75 @@
+#include "bsp_flash.h"
+
+#include "nvs.h"
+#include "nvs_flash.h"
+
+#define STORAGE_NAMESPACE "storage"
+
+bsp_status_t bsp_flash_init() {
+  esp_err_t err = nvs_flash_init();
+  if (err == ESP_ERR_NVS_NO_FREE_PAGES ||
+      err == ESP_ERR_NVS_NEW_VERSION_FOUND) {
+    // NVS partition was truncated and needs to be erased
+    // Retry nvs_flash_init
+    ESP_ERROR_CHECK(nvs_flash_erase());
+    err = nvs_flash_init();
+  }
+  ESP_ERROR_CHECK(err);
+
+  return err == ESP_OK ? BSP_OK : BSP_ERR;
+}
+
+size_t bsp_flash_check_blog(const char* name) {
+  nvs_handle_t my_handle = 0;
+  esp_err_t err = ESP_OK;
+  size_t required_size = 0;
+
+  // Open
+  err = nvs_open(STORAGE_NAMESPACE, NVS_READWRITE, &my_handle);
+  if (err != ESP_OK) {
+    return err;
+  }
+
+  nvs_get_blob(my_handle, name, NULL, &required_size);
+
+  nvs_close(my_handle);
+
+  return required_size;
+}
+
+void bsp_flash_get_blog(const char* name, uint8_t* buff, uint32_t len) {
+  nvs_handle_t my_handle = 0;
+  esp_err_t err = ESP_OK;
+
+  if (bsp_flash_check_blog(name) != len) {
+    return;
+  }
+
+  // Open
+  err = nvs_open(STORAGE_NAMESPACE, NVS_READWRITE, &my_handle);
+  if (err != ESP_OK) {
+    return;
+  }
+
+  nvs_get_blob(my_handle, name, buff, (size_t*)(&len));
+
+  nvs_close(my_handle);
+}
+
+void bsp_flash_set_blog(const char* name, const uint8_t* buff, uint32_t len) {
+  nvs_handle_t my_handle = 0;
+  esp_err_t err = ESP_OK;
+  size_t required_size = 0;
+
+  // Open
+  err = nvs_open(STORAGE_NAMESPACE, NVS_READWRITE, &my_handle);
+  if (err != ESP_OK) {
+    return;
+  }
+
+  nvs_set_blob(my_handle, name, buff, len);
+
+  err = nvs_commit(my_handle);
+
+  nvs_close(my_handle);
+}
diff --git a/hw/bsp/esp32-s3-arduino/drivers/bsp_flash.h b/hw/bsp/esp32-s3-arduino/drivers/bsp_flash.h
new file mode 100644
index 00000000..0928f152
--- /dev/null
+++ b/hw/bsp/esp32-s3-arduino/drivers/bsp_flash.h
@@ -0,0 +1,17 @@
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "bsp.h"
+
+bsp_status_t bsp_flash_init();
+
+size_t bsp_flash_check_blog(const char* name);
+
+void bsp_flash_get_blog(const char* name, uint8_t* buff, uint32_t len);
+
+void bsp_flash_set_blog(const char* name, const uint8_t* buff, uint32_t len);
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/hw/bsp/esp32-s3-arduino/drivers/bsp_gpio.c b/hw/bsp/esp32-s3-arduino/drivers/bsp_gpio.c
new file mode 100644
index 00000000..16214d7f
--- /dev/null
+++ b/hw/bsp/esp32-s3-arduino/drivers/bsp_gpio.c
@@ -0,0 +1,18 @@
+#include "bsp_gpio.h"
+
+#include <stdlib.h>
+
+#include "bsp.h"
+#include "driver/gpio.h"
+
+inline bsp_status_t bsp_gpio_write_pin(bsp_gpio_t gpio, bool value) {
+  switch (gpio) {
+    case BSP_GPIO_LED:
+      gpio_set_level(GPIO_NUM_8, value);
+      return BSP_OK;
+    default:
+      break;
+  }
+
+  return BSP_ERR;
+}
diff --git a/hw/bsp/esp32-s3-arduino/drivers/bsp_gpio.h b/hw/bsp/esp32-s3-arduino/drivers/bsp_gpio.h
new file mode 100644
index 00000000..740a31ed
--- /dev/null
+++ b/hw/bsp/esp32-s3-arduino/drivers/bsp_gpio.h
@@ -0,0 +1,18 @@
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "bsp.h"
+
+typedef enum {
+  BSP_GPIO_LED,
+  BSP_GPIO_NUM,
+} bsp_gpio_t;
+
+bsp_status_t bsp_gpio_write_pin(bsp_gpio_t gpio, bool value);
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/hw/bsp/esp32-s3-arduino/drivers/bsp_sys.h b/hw/bsp/esp32-s3-arduino/drivers/bsp_sys.h
new file mode 100644
index 00000000..bbf5558e
--- /dev/null
+++ b/hw/bsp/esp32-s3-arduino/drivers/bsp_sys.h
@@ -0,0 +1,32 @@
+#pragma once
+
+#include "bsp_def.h"
+#include "esp_sleep.h"
+#include "esp_system.h"
+#include "portable.h"
+
+/* 软件复位 */
+__attribute__((always_inline, unused)) static inline void bsp_sys_reset(void) {
+  esp_restart();
+}
+
+/* 关机 */
+__attribute__((always_inline, unused)) static inline void bsp_sys_shutdown(
+    void) {
+  esp_deep_sleep_start();
+}
+
+/* 睡眠模式 */
+__attribute__((always_inline, unused)) static inline void bsp_sys_sleep(void) {
+  esp_light_sleep_start();
+}
+
+/* 停止模式 */
+__attribute__((always_inline, unused)) static inline void bsp_sys_stop(void) {
+  esp_deep_sleep_start();
+}
+
+/* 中断状态 */
+__attribute__((always_inline, unused)) static inline bool bsp_sys_in_isr(void) {
+  return xPortInIsrContext();
+}
diff --git a/hw/bsp/esp32-s3-arduino/drivers/bsp_time.c b/hw/bsp/esp32-s3-arduino/drivers/bsp_time.c
new file mode 100644
index 00000000..79fa9622
--- /dev/null
+++ b/hw/bsp/esp32-s3-arduino/drivers/bsp_time.c
@@ -0,0 +1,26 @@
+#include "bsp_time.h"
+
+#include <stdint.h>
+#include <sys/time.h>
+
+static struct timeval start_time;
+
+void bsp_time_init() { gettimeofday(&start_time, NULL); }
+
+uint32_t bsp_time_get_ms() {
+  struct timeval tv;
+  gettimeofday(&tv, NULL);
+  return ((tv.tv_sec - start_time.tv_sec) * 1000 +
+          (tv.tv_usec - start_time.tv_usec) / 1000) %
+         UINT32_MAX;
+}
+
+uint64_t bsp_time_get_us() {
+  struct timeval tv;
+  gettimeofday(&tv, NULL);
+  return ((tv.tv_sec - start_time.tv_sec) * 1000000 +
+          (tv.tv_usec - start_time.tv_usec)) %
+         UINT32_MAX;
+}
+
+uint64_t bsp_time_get() __attribute__((alias("bsp_time_get_us")));
diff --git a/hw/bsp/esp32-s3-arduino/drivers/bsp_time.h b/hw/bsp/esp32-s3-arduino/drivers/bsp_time.h
new file mode 100644
index 00000000..ea82bac6
--- /dev/null
+++ b/hw/bsp/esp32-s3-arduino/drivers/bsp_time.h
@@ -0,0 +1,19 @@
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "bsp.h"
+
+void bsp_time_init();
+
+uint32_t bsp_time_get_ms();
+
+uint64_t bsp_time_get_us();
+
+uint64_t bsp_time_get();
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/hw/bsp/esp32-s3-arduino/drivers/bsp_uart.cpp b/hw/bsp/esp32-s3-arduino/drivers/bsp_uart.cpp
new file mode 100644
index 00000000..5f55ae03
--- /dev/null
+++ b/hw/bsp/esp32-s3-arduino/drivers/bsp_uart.cpp
@@ -0,0 +1,29 @@
+#include "bsp_uart.h"
+
+#include "Arduino.h"
+#include "HardwareSerial.h"
+
+static size_t uart_count;
+
+void bsp_uart_init() { Serial1.begin(115200, SERIAL_8N1, 7, 6); }
+
+bsp_status_t bsp_uart_transmit(bsp_uart_t uart, uint8_t *data, size_t size,
+                               bool block) {
+  (void)uart;
+  (void)block;
+  Serial1.write(data, size);
+  return BSP_OK;
+}
+
+bsp_status_t bsp_uart_receive(bsp_uart_t uart, uint8_t *buff, size_t size,
+                              bool block) {
+  (void)uart;
+  (void)block;
+  uart_count = Serial1.readBytes(buff, size);
+  return BSP_OK;
+}
+
+uint32_t bsp_uart_get_count(bsp_uart_t uart) {
+  (void)uart;
+  return uart_count;
+}
diff --git a/hw/bsp/esp32-s3-arduino/drivers/bsp_uart.h b/hw/bsp/esp32-s3-arduino/drivers/bsp_uart.h
new file mode 100644
index 00000000..40ba5918
--- /dev/null
+++ b/hw/bsp/esp32-s3-arduino/drivers/bsp_uart.h
@@ -0,0 +1,24 @@
+#include "bsp.h"
+
+typedef enum {
+  BSP_UART_MCU,
+  /* BSP_UART_XXX, */
+  BSP_UART_NUM,
+  BSP_UART_ERR,
+} bsp_uart_t;
+
+typedef enum {
+  BSP_UART_TX_CPLT_CB,
+  BSP_UART_RX_CPLT_CB,
+  BSP_UART_IDLE_LINE_CB,
+  BSP_UART_CB_NUM,
+} bsp_uart_callback_t;
+
+void bsp_uart_init();
+
+bsp_status_t bsp_uart_transmit(bsp_uart_t uart, uint8_t *data, size_t size,
+                               bool block);
+bsp_status_t bsp_uart_receive(bsp_uart_t uart, uint8_t *buff, size_t size,
+                              bool block);
+
+uint32_t bsp_uart_get_count(bsp_uart_t uart);
diff --git a/hw/bsp/esp32-s3-arduino/drivers/bsp_usb.cpp b/hw/bsp/esp32-s3-arduino/drivers/bsp_usb.cpp
new file mode 100644
index 00000000..5b96a8ca
--- /dev/null
+++ b/hw/bsp/esp32-s3-arduino/drivers/bsp_usb.cpp
@@ -0,0 +1,31 @@
+#include "bsp_usb.h"
+
+#include <stdio.h>
+
+#include "Arduino.h"
+#include "FreeRTOS.h"
+#include "HWCDC.h"
+#include "task.h"
+
+static bool connected = false;
+
+bsp_status_t bsp_usb_transmit(const uint8_t *buffer, uint32_t len) {
+  Serial.write(buffer, len);
+  return BSP_OK;
+}
+
+char bsp_usb_read_char(void) { return Serial.read(); }
+
+bool bsp_usb_connect(void) {
+  if (!connected) {
+    connected = Serial.available() != 0;
+  }
+
+  return connected;
+}
+
+size_t bsp_usb_avail(void) { return Serial.available(); }
+
+void bsp_usb_init() { Serial.begin(); }
+
+void bsp_usb_update() { vTaskSuspend(xTaskGetCurrentTaskHandle()); }
diff --git a/hw/bsp/esp32-s3-arduino/drivers/bsp_usb.h b/hw/bsp/esp32-s3-arduino/drivers/bsp_usb.h
new file mode 100644
index 00000000..6425a772
--- /dev/null
+++ b/hw/bsp/esp32-s3-arduino/drivers/bsp_usb.h
@@ -0,0 +1,35 @@
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "bsp.h"
+
+/* Exported constants ------------------------------------------------------- */
+/* Exported macro ----------------------------------------------------------- */
+/* Exported types ----------------------------------------------------------- */
+
+typedef enum {
+  BSP_USB_CDC,
+  /* BSP_USB_XXX, */
+  BSP_USB_NUM,
+  BSP_USB_ERR,
+} bsp_usb_t;
+
+/* USB支持的中断回调函数类型 */
+typedef enum {
+  BSP_USB_RX_CPLT_CB,
+  BSP_USB_CB_NUM,
+} bsp_usb_callback_t;
+/* Exported functions prototypes -------------------------------------------- */
+bool bsp_usb_connect(void); /* USB已连接 */
+size_t bsp_usb_avail(void); /* USB有数据 */
+char bsp_usb_read_char();   /* 获取缓存数据 */
+size_t bsp_usb_read(uint8_t *buffer, uint32_t len);
+bsp_status_t bsp_usb_transmit(const uint8_t *buffer, uint32_t len);
+void bsp_usb_init(void);
+void bsp_usb_update(void);
+#ifdef __cplusplus
+}
+#endif
diff --git a/hw/bsp/esp32-s3-arduino/drivers/bsp_wifi_client.cpp b/hw/bsp/esp32-s3-arduino/drivers/bsp_wifi_client.cpp
new file mode 100644
index 00000000..ff32ee5b
--- /dev/null
+++ b/hw/bsp/esp32-s3-arduino/drivers/bsp_wifi_client.cpp
@@ -0,0 +1,25 @@
+#include "bsp_wifi_client.h"
+
+#include <cstring>
+
+#include "Arduino.h"
+#include "WiFi.h"
+#include "WiFiClient.h"
+
+static WiFiClient* wifi;
+
+void bsp_wifi_client_init() { wifi = new WiFiClient; }
+
+bsp_status_t bsp_wifi_connect(const char* name, const char* password) {
+  WiFi.begin(name, password);
+  return BSP_OK;
+}
+
+bsp_status_t bsp_wifi_delete(const char* name) {
+  if (strcmp(name, WiFi.SSID().c_str()) == 0) {
+    WiFi.disconnect();
+  }
+  return BSP_OK;
+}
+
+bool bsp_wifi_connected() { return WiFi.isConnected(); }
diff --git a/hw/bsp/esp32-s3-arduino/drivers/bsp_wifi_client.h b/hw/bsp/esp32-s3-arduino/drivers/bsp_wifi_client.h
new file mode 100644
index 00000000..5f4952a3
--- /dev/null
+++ b/hw/bsp/esp32-s3-arduino/drivers/bsp_wifi_client.h
@@ -0,0 +1,11 @@
+#pragma once
+
+#include "bsp.h"
+
+void bsp_wifi_client_init();
+
+bsp_status_t bsp_wifi_connect(const char* name, const char* password);
+
+bsp_status_t bsp_wifi_delete(const char* name);
+
+bool bsp_wifi_connected();
diff --git a/hw/bsp/esp32-s3-arduino/main.cpp b/hw/bsp/esp32-s3-arduino/main.cpp
new file mode 100644
index 00000000..d7cb37cd
--- /dev/null
+++ b/hw/bsp/esp32-s3-arduino/main.cpp
@@ -0,0 +1,18 @@
+#include "FreeRTOS.h"
+#include "bsp.h"
+#include "robot.hpp"
+
+#undef LOW
+
+#include "Arduino.h"
+#include "main.ino"
+
+extern "C" void app_main(void) {
+  initArduino();
+  setup();
+  bsp_init();
+  robot_init();
+  while (1) {
+    loop();
+  }
+}
diff --git a/hw/bsp/esp32-s3-arduino/main.ino b/hw/bsp/esp32-s3-arduino/main.ino
new file mode 100644
index 00000000..50e59d78
--- /dev/null
+++ b/hw/bsp/esp32-s3-arduino/main.ino
@@ -0,0 +1,5 @@
+#include "Arduino.h"
+
+void setup() {}
+
+void loop() { delay(1000); }
diff --git a/hw/bsp/esp32-s3-arduino/sdkconfig b/hw/bsp/esp32-s3-arduino/sdkconfig
new file mode 100644
index 00000000..ac3642af
--- /dev/null
+++ b/hw/bsp/esp32-s3-arduino/sdkconfig
@@ -0,0 +1,1787 @@
+#
+# Automatically generated file. DO NOT EDIT.
+# Espressif IoT Development Framework (ESP-IDF) Project Configuration
+#
+CONFIG_IDF_CMAKE=y
+CONFIG_IDF_TARGET_ARCH_XTENSA=y
+CONFIG_IDF_TARGET="esp32s3"
+CONFIG_IDF_TARGET_ESP32S3=y
+CONFIG_IDF_FIRMWARE_CHIP_ID=0x0009
+
+#
+# SDK tool configuration
+#
+CONFIG_SDK_TOOLPREFIX="xtensa-esp32s3-elf-"
+# CONFIG_SDK_TOOLCHAIN_SUPPORTS_TIME_WIDE_64_BITS is not set
+# end of SDK tool configuration
+
+#
+# Build type
+#
+CONFIG_APP_BUILD_TYPE_APP_2NDBOOT=y
+# CONFIG_APP_BUILD_TYPE_ELF_RAM is not set
+CONFIG_APP_BUILD_GENERATE_BINARIES=y
+CONFIG_APP_BUILD_BOOTLOADER=y
+CONFIG_APP_BUILD_USE_FLASH_SECTIONS=y
+# end of Build type
+
+#
+# Application manager
+#
+CONFIG_APP_COMPILE_TIME_DATE=y
+# CONFIG_APP_EXCLUDE_PROJECT_VER_VAR is not set
+# CONFIG_APP_EXCLUDE_PROJECT_NAME_VAR is not set
+# CONFIG_APP_PROJECT_VER_FROM_CONFIG is not set
+CONFIG_APP_RETRIEVE_LEN_ELF_SHA=16
+# end of Application manager
+
+#
+# Arduino Configuration
+#
+CONFIG_ARDUINO_VARIANT="esp32s3"
+CONFIG_ENABLE_ARDUINO_DEPENDS=y
+# CONFIG_AUTOSTART_ARDUINO is not set
+CONFIG_ARDUINO_RUN_CORE0=y
+# CONFIG_ARDUINO_RUN_CORE1 is not set
+# CONFIG_ARDUINO_RUN_NO_AFFINITY is not set
+CONFIG_ARDUINO_RUNNING_CORE=0
+CONFIG_ARDUINO_LOOP_STACK_SIZE=8192
+CONFIG_ARDUINO_EVENT_RUN_CORE0=y
+# CONFIG_ARDUINO_EVENT_RUN_CORE1 is not set
+# CONFIG_ARDUINO_EVENT_RUN_NO_AFFINITY is not set
+CONFIG_ARDUINO_EVENT_RUNNING_CORE=0
+CONFIG_ARDUINO_SERIAL_EVENT_RUN_CORE0=y
+# CONFIG_ARDUINO_SERIAL_EVENT_RUN_CORE1 is not set
+# CONFIG_ARDUINO_SERIAL_EVENT_RUN_NO_AFFINITY is not set
+CONFIG_ARDUINO_SERIAL_EVENT_TASK_RUNNING_CORE=0
+CONFIG_ARDUINO_SERIAL_EVENT_TASK_STACK_SIZE=2048
+CONFIG_ARDUINO_SERIAL_EVENT_TASK_PRIORITY=24
+CONFIG_ARDUINO_UDP_RUN_CORE0=y
+# CONFIG_ARDUINO_UDP_RUN_CORE1 is not set
+# CONFIG_ARDUINO_UDP_RUN_NO_AFFINITY is not set
+CONFIG_ARDUINO_UDP_RUNNING_CORE=0
+CONFIG_ARDUINO_UDP_TASK_PRIORITY=3
+# CONFIG_ARDUINO_ISR_IRAM is not set
+# CONFIG_DISABLE_HAL_LOCKS is not set
+
+#
+# Debug Log Configuration
+#
+# CONFIG_ARDUHAL_LOG_DEFAULT_LEVEL_NONE is not set
+CONFIG_ARDUHAL_LOG_DEFAULT_LEVEL_ERROR=y
+# CONFIG_ARDUHAL_LOG_DEFAULT_LEVEL_WARN is not set
+# CONFIG_ARDUHAL_LOG_DEFAULT_LEVEL_INFO is not set
+# CONFIG_ARDUHAL_LOG_DEFAULT_LEVEL_DEBUG is not set
+# CONFIG_ARDUHAL_LOG_DEFAULT_LEVEL_VERBOSE is not set
+CONFIG_ARDUHAL_LOG_DEFAULT_LEVEL=1
+# CONFIG_ARDUHAL_LOG_COLORS is not set
+# CONFIG_ARDUHAL_ESP_LOG is not set
+# end of Debug Log Configuration
+
+CONFIG_ARDUHAL_PARTITION_SCHEME_DEFAULT=y
+# CONFIG_ARDUHAL_PARTITION_SCHEME_MINIMAL is not set
+# CONFIG_ARDUHAL_PARTITION_SCHEME_NO_OTA is not set
+# CONFIG_ARDUHAL_PARTITION_SCHEME_HUGE_APP is not set
+# CONFIG_ARDUHAL_PARTITION_SCHEME_MIN_SPIFFS is not set
+CONFIG_ARDUHAL_PARTITION_SCHEME="default"
+# CONFIG_ARDUINO_SELECTIVE_COMPILATION is not set
+# end of Arduino Configuration
+
+#
+# Bootloader config
+#
+CONFIG_BOOTLOADER_OFFSET_IN_FLASH=0x0
+CONFIG_BOOTLOADER_COMPILER_OPTIMIZATION_SIZE=y
+# CONFIG_BOOTLOADER_COMPILER_OPTIMIZATION_DEBUG is not set
+# CONFIG_BOOTLOADER_COMPILER_OPTIMIZATION_PERF is not set
+# CONFIG_BOOTLOADER_COMPILER_OPTIMIZATION_NONE is not set
+# CONFIG_BOOTLOADER_LOG_LEVEL_NONE is not set
+# CONFIG_BOOTLOADER_LOG_LEVEL_ERROR is not set
+# CONFIG_BOOTLOADER_LOG_LEVEL_WARN is not set
+CONFIG_BOOTLOADER_LOG_LEVEL_INFO=y
+# CONFIG_BOOTLOADER_LOG_LEVEL_DEBUG is not set
+# CONFIG_BOOTLOADER_LOG_LEVEL_VERBOSE is not set
+CONFIG_BOOTLOADER_LOG_LEVEL=3
+CONFIG_BOOTLOADER_VDDSDIO_BOOST_1_9V=y
+# CONFIG_BOOTLOADER_FACTORY_RESET is not set
+# CONFIG_BOOTLOADER_APP_TEST is not set
+CONFIG_BOOTLOADER_REGION_PROTECTION_ENABLE=y
+# CONFIG_BOOTLOADER_WDT_ENABLE is not set
+# CONFIG_BOOTLOADER_APP_ROLLBACK_ENABLE is not set
+# CONFIG_BOOTLOADER_SKIP_VALIDATE_IN_DEEP_SLEEP is not set
+# CONFIG_BOOTLOADER_SKIP_VALIDATE_ON_POWER_ON is not set
+# CONFIG_BOOTLOADER_SKIP_VALIDATE_ALWAYS is not set
+CONFIG_BOOTLOADER_RESERVE_RTC_SIZE=0
+# CONFIG_BOOTLOADER_CUSTOM_RESERVE_RTC is not set
+CONFIG_BOOTLOADER_FLASH_XMC_SUPPORT=y
+# end of Bootloader config
+
+#
+# Security features
+#
+CONFIG_SECURE_BOOT_SUPPORTS_RSA=y
+CONFIG_SECURE_TARGET_HAS_SECURE_ROM_DL_MODE=y
+# CONFIG_SECURE_SIGNED_APPS_NO_SECURE_BOOT is not set
+# CONFIG_SECURE_BOOT is not set
+# CONFIG_SECURE_FLASH_ENC_ENABLED is not set
+# end of Security features
+
+#
+# Boot ROM Behavior
+#
+CONFIG_BOOT_ROM_LOG_ALWAYS_ON=y
+# CONFIG_BOOT_ROM_LOG_ALWAYS_OFF is not set
+# CONFIG_BOOT_ROM_LOG_ON_GPIO_HIGH is not set
+# CONFIG_BOOT_ROM_LOG_ON_GPIO_LOW is not set
+# end of Boot ROM Behavior
+
+#
+# Serial flasher config
+#
+CONFIG_ESPTOOLPY_BAUD_OTHER_VAL=115200
+# CONFIG_ESPTOOLPY_NO_STUB is not set
+# CONFIG_ESPTOOLPY_OCT_FLASH is not set
+CONFIG_ESPTOOLPY_FLASHMODE_QIO=y
+# CONFIG_ESPTOOLPY_FLASHMODE_QOUT is not set
+# CONFIG_ESPTOOLPY_FLASHMODE_DIO is not set
+# CONFIG_ESPTOOLPY_FLASHMODE_DOUT is not set
+CONFIG_ESPTOOLPY_FLASH_SAMPLE_MODE_STR=y
+CONFIG_ESPTOOLPY_FLASHMODE="dio"
+# CONFIG_ESPTOOLPY_FLASHFREQ_120M is not set
+CONFIG_ESPTOOLPY_FLASHFREQ_80M=y
+# CONFIG_ESPTOOLPY_FLASHFREQ_40M is not set
+# CONFIG_ESPTOOLPY_FLASHFREQ_20M is not set
+CONFIG_ESPTOOLPY_FLASHFREQ="80m"
+# CONFIG_ESPTOOLPY_FLASHSIZE_1MB is not set
+# CONFIG_ESPTOOLPY_FLASHSIZE_2MB is not set
+CONFIG_ESPTOOLPY_FLASHSIZE_4MB=y
+# CONFIG_ESPTOOLPY_FLASHSIZE_8MB is not set
+# CONFIG_ESPTOOLPY_FLASHSIZE_16MB is not set
+# CONFIG_ESPTOOLPY_FLASHSIZE_32MB is not set
+# CONFIG_ESPTOOLPY_FLASHSIZE_64MB is not set
+# CONFIG_ESPTOOLPY_FLASHSIZE_128MB is not set
+CONFIG_ESPTOOLPY_FLASHSIZE="4MB"
+CONFIG_ESPTOOLPY_FLASHSIZE_DETECT=y
+CONFIG_ESPTOOLPY_BEFORE_RESET=y
+# CONFIG_ESPTOOLPY_BEFORE_NORESET is not set
+CONFIG_ESPTOOLPY_BEFORE="default_reset"
+CONFIG_ESPTOOLPY_AFTER_RESET=y
+# CONFIG_ESPTOOLPY_AFTER_NORESET is not set
+CONFIG_ESPTOOLPY_AFTER="hard_reset"
+# CONFIG_ESPTOOLPY_MONITOR_BAUD_CONSOLE is not set
+# CONFIG_ESPTOOLPY_MONITOR_BAUD_9600B is not set
+# CONFIG_ESPTOOLPY_MONITOR_BAUD_57600B is not set
+CONFIG_ESPTOOLPY_MONITOR_BAUD_115200B=y
+# CONFIG_ESPTOOLPY_MONITOR_BAUD_230400B is not set
+# CONFIG_ESPTOOLPY_MONITOR_BAUD_921600B is not set
+# CONFIG_ESPTOOLPY_MONITOR_BAUD_2MB is not set
+# CONFIG_ESPTOOLPY_MONITOR_BAUD_OTHER is not set
+CONFIG_ESPTOOLPY_MONITOR_BAUD_OTHER_VAL=115200
+CONFIG_ESPTOOLPY_MONITOR_BAUD=115200
+# end of Serial flasher config
+
+#
+# Partition Table
+#
+CONFIG_PARTITION_TABLE_SINGLE_APP=y
+# CONFIG_PARTITION_TABLE_SINGLE_APP_LARGE is not set
+# CONFIG_PARTITION_TABLE_TWO_OTA is not set
+# CONFIG_PARTITION_TABLE_CUSTOM is not set
+CONFIG_PARTITION_TABLE_CUSTOM_FILENAME="partitions.csv"
+CONFIG_PARTITION_TABLE_FILENAME="partitions_singleapp.csv"
+CONFIG_PARTITION_TABLE_OFFSET=0x8000
+CONFIG_PARTITION_TABLE_MD5=y
+# end of Partition Table
+
+#
+# Compiler options
+#
+CONFIG_COMPILER_OPTIMIZATION_DEFAULT=y
+# CONFIG_COMPILER_OPTIMIZATION_SIZE is not set
+# CONFIG_COMPILER_OPTIMIZATION_PERF is not set
+# CONFIG_COMPILER_OPTIMIZATION_NONE is not set
+# CONFIG_COMPILER_OPTIMIZATION_ASSERTIONS_ENABLE is not set
+CONFIG_COMPILER_OPTIMIZATION_ASSERTIONS_SILENT=y
+# CONFIG_COMPILER_OPTIMIZATION_ASSERTIONS_DISABLE is not set
+CONFIG_COMPILER_OPTIMIZATION_ASSERTION_LEVEL=1
+CONFIG_COMPILER_OPTIMIZATION_CHECKS_SILENT=y
+CONFIG_COMPILER_HIDE_PATHS_MACROS=y
+# CONFIG_COMPILER_CXX_EXCEPTIONS is not set
+# CONFIG_COMPILER_CXX_RTTI is not set
+CONFIG_COMPILER_STACK_CHECK_MODE_NONE=y
+# CONFIG_COMPILER_STACK_CHECK_MODE_NORM is not set
+# CONFIG_COMPILER_STACK_CHECK_MODE_STRONG is not set
+# CONFIG_COMPILER_STACK_CHECK_MODE_ALL is not set
+# CONFIG_COMPILER_WARN_WRITE_STRINGS is not set
+# CONFIG_COMPILER_DISABLE_GCC8_WARNINGS is not set
+# CONFIG_COMPILER_DUMP_RTL_FILES is not set
+# end of Compiler options
+
+#
+# Component config
+#
+
+#
+# Application Level Tracing
+#
+# CONFIG_APPTRACE_DEST_JTAG is not set
+CONFIG_APPTRACE_DEST_NONE=y
+CONFIG_APPTRACE_LOCK_ENABLE=y
+# end of Application Level Tracing
+
+#
+# Bluetooth
+#
+CONFIG_BT_ENABLED=y
+CONFIG_BT_SOC_SUPPORT_5_0=y
+
+#
+# Bluetooth controller
+#
+CONFIG_BT_CTRL_MODE_EFF=1
+CONFIG_BT_CTRL_BLE_MAX_ACT=10
+CONFIG_BT_CTRL_BLE_MAX_ACT_EFF=10
+CONFIG_BT_CTRL_BLE_STATIC_ACL_TX_BUF_NB=0
+CONFIG_BT_CTRL_PINNED_TO_CORE_0=y
+# CONFIG_BT_CTRL_PINNED_TO_CORE_1 is not set
+CONFIG_BT_CTRL_PINNED_TO_CORE=0
+CONFIG_BT_CTRL_HCI_MODE_VHCI=y
+# CONFIG_BT_CTRL_HCI_MODE_UART_H4 is not set
+CONFIG_BT_CTRL_HCI_TL=1
+CONFIG_BT_CTRL_ADV_DUP_FILT_MAX=30
+# CONFIG_BT_CTRL_HW_CCA is not set
+CONFIG_BT_CTRL_HW_CCA_VAL=20
+CONFIG_BT_CTRL_HW_CCA_EFF=0
+CONFIG_BT_CTRL_CE_LENGTH_TYPE_ORIG=y
+# CONFIG_BT_CTRL_CE_LENGTH_TYPE_CE is not set
+# CONFIG_BT_CTRL_CE_LENGTH_TYPE_SD is not set
+CONFIG_BT_CTRL_CE_LENGTH_TYPE_EFF=0
+CONFIG_BT_CTRL_TX_ANTENNA_INDEX_0=y
+# CONFIG_BT_CTRL_TX_ANTENNA_INDEX_1 is not set
+CONFIG_BT_CTRL_TX_ANTENNA_INDEX_EFF=0
+CONFIG_BT_CTRL_RX_ANTENNA_INDEX_0=y
+# CONFIG_BT_CTRL_RX_ANTENNA_INDEX_1 is not set
+CONFIG_BT_CTRL_RX_ANTENNA_INDEX_EFF=0
+# CONFIG_BT_CTRL_DFT_TX_POWER_LEVEL_N24 is not set
+# CONFIG_BT_CTRL_DFT_TX_POWER_LEVEL_N21 is not set
+# CONFIG_BT_CTRL_DFT_TX_POWER_LEVEL_N18 is not set
+# CONFIG_BT_CTRL_DFT_TX_POWER_LEVEL_N15 is not set
+# CONFIG_BT_CTRL_DFT_TX_POWER_LEVEL_N12 is not set
+# CONFIG_BT_CTRL_DFT_TX_POWER_LEVEL_N9 is not set
+# CONFIG_BT_CTRL_DFT_TX_POWER_LEVEL_N6 is not set
+# CONFIG_BT_CTRL_DFT_TX_POWER_LEVEL_N3 is not set
+# CONFIG_BT_CTRL_DFT_TX_POWER_LEVEL_N0 is not set
+# CONFIG_BT_CTRL_DFT_TX_POWER_LEVEL_P3 is not set
+# CONFIG_BT_CTRL_DFT_TX_POWER_LEVEL_P6 is not set
+CONFIG_BT_CTRL_DFT_TX_POWER_LEVEL_P9=y
+# CONFIG_BT_CTRL_DFT_TX_POWER_LEVEL_P12 is not set
+# CONFIG_BT_CTRL_DFT_TX_POWER_LEVEL_P15 is not set
+# CONFIG_BT_CTRL_DFT_TX_POWER_LEVEL_P18 is not set
+CONFIG_BT_CTRL_DFT_TX_POWER_LEVEL_EFF=11
+CONFIG_BT_CTRL_BLE_ADV_REPORT_FLOW_CTRL_SUPP=y
+CONFIG_BT_CTRL_BLE_ADV_REPORT_FLOW_CTRL_NUM=100
+CONFIG_BT_CTRL_BLE_ADV_REPORT_DISCARD_THRSHOLD=20
+CONFIG_BT_CTRL_BLE_SCAN_DUPL=y
+CONFIG_BT_CTRL_SCAN_DUPL_TYPE_DEVICE=y
+# CONFIG_BT_CTRL_SCAN_DUPL_TYPE_DATA is not set
+# CONFIG_BT_CTRL_SCAN_DUPL_TYPE_DATA_DEVICE is not set
+CONFIG_BT_CTRL_SCAN_DUPL_TYPE=0
+CONFIG_BT_CTRL_SCAN_DUPL_CACHE_SIZE=100
+# CONFIG_BT_CTRL_BLE_MESH_SCAN_DUPL_EN is not set
+# CONFIG_BT_CTRL_COEX_PHY_CODED_TX_RX_TLIM_EN is not set
+CONFIG_BT_CTRL_COEX_PHY_CODED_TX_RX_TLIM_DIS=y
+CONFIG_BT_CTRL_COEX_PHY_CODED_TX_RX_TLIM_EFF=0
+
+#
+# MODEM SLEEP Options
+#
+# CONFIG_BT_CTRL_MODEM_SLEEP is not set
+# end of MODEM SLEEP Options
+
+CONFIG_BT_CTRL_SLEEP_MODE_EFF=0
+CONFIG_BT_CTRL_SLEEP_CLOCK_EFF=0
+CONFIG_BT_CTRL_HCI_TL_EFF=1
+# CONFIG_BT_CTRL_AGC_RECORRECT_EN is not set
+# CONFIG_BT_CTRL_SCAN_BACKOFF_UPPERLIMITMAX is not set
+# end of Bluetooth controller
+
+CONFIG_BT_BLUEDROID_ENABLED=y
+# CONFIG_BT_NIMBLE_ENABLED is not set
+# CONFIG_BT_CONTROLLER_ONLY is not set
+
+#
+# Bluedroid Options
+#
+CONFIG_BT_BTC_TASK_STACK_SIZE=3072
+CONFIG_BT_BLUEDROID_PINNED_TO_CORE_0=y
+# CONFIG_BT_BLUEDROID_PINNED_TO_CORE_1 is not set
+CONFIG_BT_BLUEDROID_PINNED_TO_CORE=0
+CONFIG_BT_BTU_TASK_STACK_SIZE=4096
+# CONFIG_BT_BLUEDROID_MEM_DEBUG is not set
+CONFIG_BT_BLE_ENABLED=y
+CONFIG_BT_GATTS_ENABLE=y
+# CONFIG_BT_GATTS_PPCP_CHAR_GAP is not set
+# CONFIG_BT_BLE_BLUFI_ENABLE is not set
+CONFIG_BT_GATT_MAX_SR_PROFILES=8
+CONFIG_BT_GATT_MAX_SR_ATTRIBUTES=100
+# CONFIG_BT_GATTS_SEND_SERVICE_CHANGE_MANUAL is not set
+CONFIG_BT_GATTS_SEND_SERVICE_CHANGE_AUTO=y
+CONFIG_BT_GATTS_SEND_SERVICE_CHANGE_MODE=0
+CONFIG_BT_GATTC_ENABLE=y
+CONFIG_BT_GATTC_MAX_CACHE_CHAR=40
+# CONFIG_BT_GATTC_CACHE_NVS_FLASH is not set
+CONFIG_BT_GATTC_CONNECT_RETRY_COUNT=3
+CONFIG_BT_BLE_SMP_ENABLE=y
+# CONFIG_BT_SMP_SLAVE_CON_PARAMS_UPD_ENABLE is not set
+# CONFIG_BT_STACK_NO_LOG is not set
+
+#
+# BT DEBUG LOG LEVEL
+#
+# CONFIG_BT_LOG_HCI_TRACE_LEVEL_NONE is not set
+# CONFIG_BT_LOG_HCI_TRACE_LEVEL_ERROR is not set
+CONFIG_BT_LOG_HCI_TRACE_LEVEL_WARNING=y
+# CONFIG_BT_LOG_HCI_TRACE_LEVEL_API is not set
+# CONFIG_BT_LOG_HCI_TRACE_LEVEL_EVENT is not set
+# CONFIG_BT_LOG_HCI_TRACE_LEVEL_DEBUG is not set
+# CONFIG_BT_LOG_HCI_TRACE_LEVEL_VERBOSE is not set
+CONFIG_BT_LOG_HCI_TRACE_LEVEL=2
+# CONFIG_BT_LOG_BTM_TRACE_LEVEL_NONE is not set
+# CONFIG_BT_LOG_BTM_TRACE_LEVEL_ERROR is not set
+CONFIG_BT_LOG_BTM_TRACE_LEVEL_WARNING=y
+# CONFIG_BT_LOG_BTM_TRACE_LEVEL_API is not set
+# CONFIG_BT_LOG_BTM_TRACE_LEVEL_EVENT is not set
+# CONFIG_BT_LOG_BTM_TRACE_LEVEL_DEBUG is not set
+# CONFIG_BT_LOG_BTM_TRACE_LEVEL_VERBOSE is not set
+CONFIG_BT_LOG_BTM_TRACE_LEVEL=2
+# CONFIG_BT_LOG_L2CAP_TRACE_LEVEL_NONE is not set
+# CONFIG_BT_LOG_L2CAP_TRACE_LEVEL_ERROR is not set
+CONFIG_BT_LOG_L2CAP_TRACE_LEVEL_WARNING=y
+# CONFIG_BT_LOG_L2CAP_TRACE_LEVEL_API is not set
+# CONFIG_BT_LOG_L2CAP_TRACE_LEVEL_EVENT is not set
+# CONFIG_BT_LOG_L2CAP_TRACE_LEVEL_DEBUG is not set
+# CONFIG_BT_LOG_L2CAP_TRACE_LEVEL_VERBOSE is not set
+CONFIG_BT_LOG_L2CAP_TRACE_LEVEL=2
+# CONFIG_BT_LOG_RFCOMM_TRACE_LEVEL_NONE is not set
+# CONFIG_BT_LOG_RFCOMM_TRACE_LEVEL_ERROR is not set
+CONFIG_BT_LOG_RFCOMM_TRACE_LEVEL_WARNING=y
+# CONFIG_BT_LOG_RFCOMM_TRACE_LEVEL_API is not set
+# CONFIG_BT_LOG_RFCOMM_TRACE_LEVEL_EVENT is not set
+# CONFIG_BT_LOG_RFCOMM_TRACE_LEVEL_DEBUG is not set
+# CONFIG_BT_LOG_RFCOMM_TRACE_LEVEL_VERBOSE is not set
+CONFIG_BT_LOG_RFCOMM_TRACE_LEVEL=2
+# CONFIG_BT_LOG_SDP_TRACE_LEVEL_NONE is not set
+# CONFIG_BT_LOG_SDP_TRACE_LEVEL_ERROR is not set
+CONFIG_BT_LOG_SDP_TRACE_LEVEL_WARNING=y
+# CONFIG_BT_LOG_SDP_TRACE_LEVEL_API is not set
+# CONFIG_BT_LOG_SDP_TRACE_LEVEL_EVENT is not set
+# CONFIG_BT_LOG_SDP_TRACE_LEVEL_DEBUG is not set
+# CONFIG_BT_LOG_SDP_TRACE_LEVEL_VERBOSE is not set
+CONFIG_BT_LOG_SDP_TRACE_LEVEL=2
+# CONFIG_BT_LOG_GAP_TRACE_LEVEL_NONE is not set
+# CONFIG_BT_LOG_GAP_TRACE_LEVEL_ERROR is not set
+CONFIG_BT_LOG_GAP_TRACE_LEVEL_WARNING=y
+# CONFIG_BT_LOG_GAP_TRACE_LEVEL_API is not set
+# CONFIG_BT_LOG_GAP_TRACE_LEVEL_EVENT is not set
+# CONFIG_BT_LOG_GAP_TRACE_LEVEL_DEBUG is not set
+# CONFIG_BT_LOG_GAP_TRACE_LEVEL_VERBOSE is not set
+CONFIG_BT_LOG_GAP_TRACE_LEVEL=2
+# CONFIG_BT_LOG_BNEP_TRACE_LEVEL_NONE is not set
+# CONFIG_BT_LOG_BNEP_TRACE_LEVEL_ERROR is not set
+CONFIG_BT_LOG_BNEP_TRACE_LEVEL_WARNING=y
+# CONFIG_BT_LOG_BNEP_TRACE_LEVEL_API is not set
+# CONFIG_BT_LOG_BNEP_TRACE_LEVEL_EVENT is not set
+# CONFIG_BT_LOG_BNEP_TRACE_LEVEL_DEBUG is not set
+# CONFIG_BT_LOG_BNEP_TRACE_LEVEL_VERBOSE is not set
+CONFIG_BT_LOG_BNEP_TRACE_LEVEL=2
+# CONFIG_BT_LOG_PAN_TRACE_LEVEL_NONE is not set
+# CONFIG_BT_LOG_PAN_TRACE_LEVEL_ERROR is not set
+CONFIG_BT_LOG_PAN_TRACE_LEVEL_WARNING=y
+# CONFIG_BT_LOG_PAN_TRACE_LEVEL_API is not set
+# CONFIG_BT_LOG_PAN_TRACE_LEVEL_EVENT is not set
+# CONFIG_BT_LOG_PAN_TRACE_LEVEL_DEBUG is not set
+# CONFIG_BT_LOG_PAN_TRACE_LEVEL_VERBOSE is not set
+CONFIG_BT_LOG_PAN_TRACE_LEVEL=2
+# CONFIG_BT_LOG_A2D_TRACE_LEVEL_NONE is not set
+# CONFIG_BT_LOG_A2D_TRACE_LEVEL_ERROR is not set
+CONFIG_BT_LOG_A2D_TRACE_LEVEL_WARNING=y
+# CONFIG_BT_LOG_A2D_TRACE_LEVEL_API is not set
+# CONFIG_BT_LOG_A2D_TRACE_LEVEL_EVENT is not set
+# CONFIG_BT_LOG_A2D_TRACE_LEVEL_DEBUG is not set
+# CONFIG_BT_LOG_A2D_TRACE_LEVEL_VERBOSE is not set
+CONFIG_BT_LOG_A2D_TRACE_LEVEL=2
+# CONFIG_BT_LOG_AVDT_TRACE_LEVEL_NONE is not set
+# CONFIG_BT_LOG_AVDT_TRACE_LEVEL_ERROR is not set
+CONFIG_BT_LOG_AVDT_TRACE_LEVEL_WARNING=y
+# CONFIG_BT_LOG_AVDT_TRACE_LEVEL_API is not set
+# CONFIG_BT_LOG_AVDT_TRACE_LEVEL_EVENT is not set
+# CONFIG_BT_LOG_AVDT_TRACE_LEVEL_DEBUG is not set
+# CONFIG_BT_LOG_AVDT_TRACE_LEVEL_VERBOSE is not set
+CONFIG_BT_LOG_AVDT_TRACE_LEVEL=2
+# CONFIG_BT_LOG_AVCT_TRACE_LEVEL_NONE is not set
+# CONFIG_BT_LOG_AVCT_TRACE_LEVEL_ERROR is not set
+CONFIG_BT_LOG_AVCT_TRACE_LEVEL_WARNING=y
+# CONFIG_BT_LOG_AVCT_TRACE_LEVEL_API is not set
+# CONFIG_BT_LOG_AVCT_TRACE_LEVEL_EVENT is not set
+# CONFIG_BT_LOG_AVCT_TRACE_LEVEL_DEBUG is not set
+# CONFIG_BT_LOG_AVCT_TRACE_LEVEL_VERBOSE is not set
+CONFIG_BT_LOG_AVCT_TRACE_LEVEL=2
+# CONFIG_BT_LOG_AVRC_TRACE_LEVEL_NONE is not set
+# CONFIG_BT_LOG_AVRC_TRACE_LEVEL_ERROR is not set
+CONFIG_BT_LOG_AVRC_TRACE_LEVEL_WARNING=y
+# CONFIG_BT_LOG_AVRC_TRACE_LEVEL_API is not set
+# CONFIG_BT_LOG_AVRC_TRACE_LEVEL_EVENT is not set
+# CONFIG_BT_LOG_AVRC_TRACE_LEVEL_DEBUG is not set
+# CONFIG_BT_LOG_AVRC_TRACE_LEVEL_VERBOSE is not set
+CONFIG_BT_LOG_AVRC_TRACE_LEVEL=2
+# CONFIG_BT_LOG_MCA_TRACE_LEVEL_NONE is not set
+# CONFIG_BT_LOG_MCA_TRACE_LEVEL_ERROR is not set
+CONFIG_BT_LOG_MCA_TRACE_LEVEL_WARNING=y
+# CONFIG_BT_LOG_MCA_TRACE_LEVEL_API is not set
+# CONFIG_BT_LOG_MCA_TRACE_LEVEL_EVENT is not set
+# CONFIG_BT_LOG_MCA_TRACE_LEVEL_DEBUG is not set
+# CONFIG_BT_LOG_MCA_TRACE_LEVEL_VERBOSE is not set
+CONFIG_BT_LOG_MCA_TRACE_LEVEL=2
+# CONFIG_BT_LOG_HID_TRACE_LEVEL_NONE is not set
+# CONFIG_BT_LOG_HID_TRACE_LEVEL_ERROR is not set
+CONFIG_BT_LOG_HID_TRACE_LEVEL_WARNING=y
+# CONFIG_BT_LOG_HID_TRACE_LEVEL_API is not set
+# CONFIG_BT_LOG_HID_TRACE_LEVEL_EVENT is not set
+# CONFIG_BT_LOG_HID_TRACE_LEVEL_DEBUG is not set
+# CONFIG_BT_LOG_HID_TRACE_LEVEL_VERBOSE is not set
+CONFIG_BT_LOG_HID_TRACE_LEVEL=2
+# CONFIG_BT_LOG_APPL_TRACE_LEVEL_NONE is not set
+# CONFIG_BT_LOG_APPL_TRACE_LEVEL_ERROR is not set
+CONFIG_BT_LOG_APPL_TRACE_LEVEL_WARNING=y
+# CONFIG_BT_LOG_APPL_TRACE_LEVEL_API is not set
+# CONFIG_BT_LOG_APPL_TRACE_LEVEL_EVENT is not set
+# CONFIG_BT_LOG_APPL_TRACE_LEVEL_DEBUG is not set
+# CONFIG_BT_LOG_APPL_TRACE_LEVEL_VERBOSE is not set
+CONFIG_BT_LOG_APPL_TRACE_LEVEL=2
+# CONFIG_BT_LOG_GATT_TRACE_LEVEL_NONE is not set
+# CONFIG_BT_LOG_GATT_TRACE_LEVEL_ERROR is not set
+CONFIG_BT_LOG_GATT_TRACE_LEVEL_WARNING=y
+# CONFIG_BT_LOG_GATT_TRACE_LEVEL_API is not set
+# CONFIG_BT_LOG_GATT_TRACE_LEVEL_EVENT is not set
+# CONFIG_BT_LOG_GATT_TRACE_LEVEL_DEBUG is not set
+# CONFIG_BT_LOG_GATT_TRACE_LEVEL_VERBOSE is not set
+CONFIG_BT_LOG_GATT_TRACE_LEVEL=2
+# CONFIG_BT_LOG_SMP_TRACE_LEVEL_NONE is not set
+# CONFIG_BT_LOG_SMP_TRACE_LEVEL_ERROR is not set
+CONFIG_BT_LOG_SMP_TRACE_LEVEL_WARNING=y
+# CONFIG_BT_LOG_SMP_TRACE_LEVEL_API is not set
+# CONFIG_BT_LOG_SMP_TRACE_LEVEL_EVENT is not set
+# CONFIG_BT_LOG_SMP_TRACE_LEVEL_DEBUG is not set
+# CONFIG_BT_LOG_SMP_TRACE_LEVEL_VERBOSE is not set
+CONFIG_BT_LOG_SMP_TRACE_LEVEL=2
+# CONFIG_BT_LOG_BTIF_TRACE_LEVEL_NONE is not set
+# CONFIG_BT_LOG_BTIF_TRACE_LEVEL_ERROR is not set
+CONFIG_BT_LOG_BTIF_TRACE_LEVEL_WARNING=y
+# CONFIG_BT_LOG_BTIF_TRACE_LEVEL_API is not set
+# CONFIG_BT_LOG_BTIF_TRACE_LEVEL_EVENT is not set
+# CONFIG_BT_LOG_BTIF_TRACE_LEVEL_DEBUG is not set
+# CONFIG_BT_LOG_BTIF_TRACE_LEVEL_VERBOSE is not set
+CONFIG_BT_LOG_BTIF_TRACE_LEVEL=2
+# CONFIG_BT_LOG_BTC_TRACE_LEVEL_NONE is not set
+# CONFIG_BT_LOG_BTC_TRACE_LEVEL_ERROR is not set
+CONFIG_BT_LOG_BTC_TRACE_LEVEL_WARNING=y
+# CONFIG_BT_LOG_BTC_TRACE_LEVEL_API is not set
+# CONFIG_BT_LOG_BTC_TRACE_LEVEL_EVENT is not set
+# CONFIG_BT_LOG_BTC_TRACE_LEVEL_DEBUG is not set
+# CONFIG_BT_LOG_BTC_TRACE_LEVEL_VERBOSE is not set
+CONFIG_BT_LOG_BTC_TRACE_LEVEL=2
+# CONFIG_BT_LOG_OSI_TRACE_LEVEL_NONE is not set
+# CONFIG_BT_LOG_OSI_TRACE_LEVEL_ERROR is not set
+CONFIG_BT_LOG_OSI_TRACE_LEVEL_WARNING=y
+# CONFIG_BT_LOG_OSI_TRACE_LEVEL_API is not set
+# CONFIG_BT_LOG_OSI_TRACE_LEVEL_EVENT is not set
+# CONFIG_BT_LOG_OSI_TRACE_LEVEL_DEBUG is not set
+# CONFIG_BT_LOG_OSI_TRACE_LEVEL_VERBOSE is not set
+CONFIG_BT_LOG_OSI_TRACE_LEVEL=2
+# CONFIG_BT_LOG_BLUFI_TRACE_LEVEL_NONE is not set
+# CONFIG_BT_LOG_BLUFI_TRACE_LEVEL_ERROR is not set
+CONFIG_BT_LOG_BLUFI_TRACE_LEVEL_WARNING=y
+# CONFIG_BT_LOG_BLUFI_TRACE_LEVEL_API is not set
+# CONFIG_BT_LOG_BLUFI_TRACE_LEVEL_EVENT is not set
+# CONFIG_BT_LOG_BLUFI_TRACE_LEVEL_DEBUG is not set
+# CONFIG_BT_LOG_BLUFI_TRACE_LEVEL_VERBOSE is not set
+CONFIG_BT_LOG_BLUFI_TRACE_LEVEL=2
+# end of BT DEBUG LOG LEVEL
+
+CONFIG_BT_ACL_CONNECTIONS=4
+CONFIG_BT_MULTI_CONNECTION_ENBALE=y
+# CONFIG_BT_ALLOCATION_FROM_SPIRAM_FIRST is not set
+# CONFIG_BT_BLE_DYNAMIC_ENV_MEMORY is not set
+# CONFIG_BT_BLE_HOST_QUEUE_CONG_CHECK is not set
+CONFIG_BT_SMP_ENABLE=y
+# CONFIG_BT_BLE_ACT_SCAN_REP_ADV_SCAN is not set
+CONFIG_BT_BLE_ESTAB_LINK_CONN_TOUT=30
+CONFIG_BT_MAX_DEVICE_NAME_LEN=32
+CONFIG_BT_BLE_RPA_SUPPORTED=y
+CONFIG_BT_BLE_50_FEATURES_SUPPORTED=y
+CONFIG_BT_BLE_42_FEATURES_SUPPORTED=y
+# end of Bluedroid Options
+# end of Bluetooth
+
+# CONFIG_BLE_MESH is not set
+
+#
+# Driver configurations
+#
+
+#
+# ADC configuration
+#
+# CONFIG_ADC_FORCE_XPD_FSM is not set
+CONFIG_ADC_DISABLE_DAC=y
+# end of ADC configuration
+
+#
+# MCPWM configuration
+#
+# CONFIG_MCPWM_ISR_IN_IRAM is not set
+# end of MCPWM configuration
+
+#
+# SPI configuration
+#
+CONFIG_SPI_MASTER_IN_IRAM=y
+CONFIG_SPI_MASTER_ISR_IN_IRAM=y
+CONFIG_SPI_SLAVE_IN_IRAM=y
+CONFIG_SPI_SLAVE_ISR_IN_IRAM=y
+# end of SPI configuration
+
+#
+# TWAI configuration
+#
+CONFIG_TWAI_ISR_IN_IRAM=y
+# end of TWAI configuration
+
+#
+# UART configuration
+#
+CONFIG_UART_ISR_IN_IRAM=y
+# end of UART configuration
+
+#
+# GDMA Configuration
+#
+CONFIG_GDMA_CTRL_FUNC_IN_IRAM=y
+# CONFIG_GDMA_ISR_IRAM_SAFE is not set
+# end of GDMA Configuration
+# end of Driver configurations
+
+#
+# eFuse Bit Manager
+#
+# CONFIG_EFUSE_CUSTOM_TABLE is not set
+# CONFIG_EFUSE_VIRTUAL is not set
+CONFIG_EFUSE_MAX_BLK_LEN=256
+# end of eFuse Bit Manager
+
+#
+# ESP-TLS
+#
+CONFIG_ESP_TLS_USING_MBEDTLS=y
+CONFIG_ESP_TLS_USE_DS_PERIPHERAL=y
+# CONFIG_ESP_TLS_CLIENT_SESSION_TICKETS is not set
+# CONFIG_ESP_TLS_SERVER is not set
+# CONFIG_ESP_TLS_PSK_VERIFICATION is not set
+# CONFIG_ESP_TLS_INSECURE is not set
+# end of ESP-TLS
+
+#
+# ESP32S3-Specific
+#
+# CONFIG_ESP32S3_DEFAULT_CPU_FREQ_80 is not set
+# CONFIG_ESP32S3_DEFAULT_CPU_FREQ_160 is not set
+CONFIG_ESP32S3_DEFAULT_CPU_FREQ_240=y
+CONFIG_ESP32S3_DEFAULT_CPU_FREQ_MHZ=240
+
+#
+# Cache config
+#
+CONFIG_ESP32S3_INSTRUCTION_CACHE_16KB=y
+# CONFIG_ESP32S3_INSTRUCTION_CACHE_32KB is not set
+CONFIG_ESP32S3_INSTRUCTION_CACHE_SIZE=0x4000
+# CONFIG_ESP32S3_INSTRUCTION_CACHE_4WAYS is not set
+CONFIG_ESP32S3_INSTRUCTION_CACHE_8WAYS=y
+CONFIG_ESP32S3_ICACHE_ASSOCIATED_WAYS=8
+# CONFIG_ESP32S3_INSTRUCTION_CACHE_LINE_16B is not set
+CONFIG_ESP32S3_INSTRUCTION_CACHE_LINE_32B=y
+CONFIG_ESP32S3_INSTRUCTION_CACHE_LINE_SIZE=32
+# CONFIG_ESP32S3_INSTRUCTION_CACHE_WRAP is not set
+# CONFIG_ESP32S3_DATA_CACHE_16KB is not set
+CONFIG_ESP32S3_DATA_CACHE_32KB=y
+# CONFIG_ESP32S3_DATA_CACHE_64KB is not set
+CONFIG_ESP32S3_DATA_CACHE_SIZE=0x8000
+# CONFIG_ESP32S3_DATA_CACHE_4WAYS is not set
+CONFIG_ESP32S3_DATA_CACHE_8WAYS=y
+CONFIG_ESP32S3_DCACHE_ASSOCIATED_WAYS=8
+# CONFIG_ESP32S3_DATA_CACHE_LINE_16B is not set
+CONFIG_ESP32S3_DATA_CACHE_LINE_32B=y
+# CONFIG_ESP32S3_DATA_CACHE_LINE_64B is not set
+CONFIG_ESP32S3_DATA_CACHE_LINE_SIZE=32
+# CONFIG_ESP32S3_DATA_CACHE_WRAP is not set
+# end of Cache config
+
+# CONFIG_ESP32S3_SPIRAM_SUPPORT is not set
+# CONFIG_ESP32S3_TRAX is not set
+CONFIG_ESP32S3_TRACEMEM_RESERVE_DRAM=0x0
+# CONFIG_ESP32S3_ULP_COPROC_ENABLED is not set
+CONFIG_ESP32S3_ULP_COPROC_RESERVE_MEM=0
+CONFIG_ESP32S3_DEBUG_OCDAWARE=y
+CONFIG_ESP32S3_BROWNOUT_DET=y
+CONFIG_ESP32S3_BROWNOUT_DET_LVL_SEL_7=y
+# CONFIG_ESP32S3_BROWNOUT_DET_LVL_SEL_6 is not set
+# CONFIG_ESP32S3_BROWNOUT_DET_LVL_SEL_5 is not set
+# CONFIG_ESP32S3_BROWNOUT_DET_LVL_SEL_4 is not set
+# CONFIG_ESP32S3_BROWNOUT_DET_LVL_SEL_3 is not set
+# CONFIG_ESP32S3_BROWNOUT_DET_LVL_SEL_2 is not set
+# CONFIG_ESP32S3_BROWNOUT_DET_LVL_SEL_1 is not set
+CONFIG_ESP32S3_BROWNOUT_DET_LVL=7
+CONFIG_ESP32S3_TIME_SYSCALL_USE_RTC_FRC1=y
+# CONFIG_ESP32S3_TIME_SYSCALL_USE_RTC is not set
+# CONFIG_ESP32S3_TIME_SYSCALL_USE_FRC1 is not set
+# CONFIG_ESP32S3_TIME_SYSCALL_USE_NONE is not set
+CONFIG_ESP32S3_RTC_CLK_SRC_INT_RC=y
+# CONFIG_ESP32S3_RTC_CLK_SRC_EXT_CRYS is not set
+# CONFIG_ESP32S3_RTC_CLK_SRC_EXT_OSC is not set
+# CONFIG_ESP32S3_RTC_CLK_SRC_INT_8MD256 is not set
+CONFIG_ESP32S3_RTC_CLK_CAL_CYCLES=1024
+CONFIG_ESP32S3_DEEP_SLEEP_WAKEUP_DELAY=2000
+# CONFIG_ESP32S3_RTCDATA_IN_FAST_MEM is not set
+# CONFIG_ESP32S3_USE_FIXED_STATIC_RAM_SIZE is not set
+# end of ESP32S3-Specific
+
+#
+# ADC-Calibration
+#
+# end of ADC-Calibration
+
+#
+# Common ESP-related
+#
+CONFIG_ESP_ERR_TO_NAME_LOOKUP=y
+# end of Common ESP-related
+
+#
+# Ethernet
+#
+CONFIG_ETH_ENABLED=y
+CONFIG_ETH_USE_SPI_ETHERNET=y
+# CONFIG_ETH_SPI_ETHERNET_DM9051 is not set
+# CONFIG_ETH_SPI_ETHERNET_W5500 is not set
+# CONFIG_ETH_SPI_ETHERNET_KSZ8851SNL is not set
+# CONFIG_ETH_USE_OPENETH is not set
+# end of Ethernet
+
+#
+# Event Loop Library
+#
+# CONFIG_ESP_EVENT_LOOP_PROFILING is not set
+CONFIG_ESP_EVENT_POST_FROM_ISR=y
+CONFIG_ESP_EVENT_POST_FROM_IRAM_ISR=y
+# end of Event Loop Library
+
+#
+# GDB Stub
+#
+# end of GDB Stub
+
+#
+# ESP HTTP client
+#
+CONFIG_ESP_HTTP_CLIENT_ENABLE_HTTPS=y
+# CONFIG_ESP_HTTP_CLIENT_ENABLE_BASIC_AUTH is not set
+CONFIG_ESP_HTTP_CLIENT_ENABLE_DIGEST_AUTH=y
+# end of ESP HTTP client
+
+#
+# HTTP Server
+#
+CONFIG_HTTPD_MAX_REQ_HDR_LEN=512
+CONFIG_HTTPD_MAX_URI_LEN=512
+CONFIG_HTTPD_ERR_RESP_NO_DELAY=y
+CONFIG_HTTPD_PURGE_BUF_LEN=32
+# CONFIG_HTTPD_LOG_PURGE_DATA is not set
+# CONFIG_HTTPD_WS_SUPPORT is not set
+# end of HTTP Server
+
+#
+# ESP HTTPS OTA
+#
+# CONFIG_OTA_ALLOW_HTTP is not set
+# end of ESP HTTPS OTA
+
+#
+# Hardware Settings
+#
+
+#
+# MAC Config
+#
+CONFIG_ESP_MAC_ADDR_UNIVERSE_WIFI_STA=y
+CONFIG_ESP_MAC_ADDR_UNIVERSE_WIFI_AP=y
+CONFIG_ESP_MAC_ADDR_UNIVERSE_BT=y
+CONFIG_ESP_MAC_ADDR_UNIVERSE_ETH=y
+# CONFIG_ESP32S3_UNIVERSAL_MAC_ADDRESSES_TWO is not set
+CONFIG_ESP32S3_UNIVERSAL_MAC_ADDRESSES_FOUR=y
+CONFIG_ESP32S3_UNIVERSAL_MAC_ADDRESSES=4
+# end of MAC Config
+
+#
+# Sleep Config
+#
+# CONFIG_ESP_SLEEP_POWER_DOWN_FLASH is not set
+CONFIG_ESP_SLEEP_RTC_BUS_ISO_WORKAROUND=y
+CONFIG_ESP_SLEEP_GPIO_RESET_WORKAROUND=y
+CONFIG_ESP_SLEEP_FLASH_LEAKAGE_WORKAROUND=y
+CONFIG_ESP_SLEEP_MSPI_NEED_ALL_IO_PU=y
+# end of Sleep Config
+
+#
+# RTC Clock Config
+#
+CONFIG_RTC_CLOCK_BBPLL_POWER_ON_WITH_USB=y
+# end of RTC Clock Config
+# end of Hardware Settings
+
+#
+# IPC (Inter-Processor Call)
+#
+CONFIG_ESP_IPC_TASK_STACK_SIZE=1536
+# CONFIG_ESP_IPC_USES_CALLERS_PRIORITY is not set
+CONFIG_ESP_IPC_ISR_ENABLE=y
+# end of IPC (Inter-Processor Call)
+
+#
+# ESP NETIF Adapter
+#
+CONFIG_ESP_NETIF_IP_LOST_TIMER_INTERVAL=120
+CONFIG_ESP_NETIF_TCPIP_LWIP=y
+# CONFIG_ESP_NETIF_LOOPBACK is not set
+CONFIG_ESP_NETIF_TCPIP_ADAPTER_COMPATIBLE_LAYER=y
+# end of ESP NETIF Adapter
+
+#
+# PHY
+#
+CONFIG_ESP_PHY_CALIBRATION_AND_DATA_STORAGE=y
+# CONFIG_ESP_PHY_INIT_DATA_IN_PARTITION is not set
+CONFIG_ESP_PHY_MAX_WIFI_TX_POWER=20
+CONFIG_ESP_PHY_MAX_TX_POWER=20
+CONFIG_ESP_PHY_ENABLE_USB=y
+# end of PHY
+
+#
+# Power Management
+#
+# CONFIG_PM_ENABLE is not set
+CONFIG_PM_POWER_DOWN_CPU_IN_LIGHT_SLEEP=y
+CONFIG_PM_POWER_DOWN_TAGMEM_IN_LIGHT_SLEEP=y
+# end of Power Management
+
+#
+# ESP Ringbuf
+#
+# CONFIG_RINGBUF_PLACE_FUNCTIONS_INTO_FLASH is not set
+# CONFIG_RINGBUF_PLACE_ISR_FUNCTIONS_INTO_FLASH is not set
+# end of ESP Ringbuf
+
+#
+# ESP System Settings
+#
+# CONFIG_ESP_SYSTEM_PANIC_PRINT_HALT is not set
+CONFIG_ESP_SYSTEM_PANIC_PRINT_REBOOT=y
+# CONFIG_ESP_SYSTEM_PANIC_SILENT_REBOOT is not set
+# CONFIG_ESP_SYSTEM_PANIC_GDBSTUB is not set
+# CONFIG_ESP_SYSTEM_GDBSTUB_RUNTIME is not set
+CONFIG_ESP_SYSTEM_RTC_FAST_MEM_AS_HEAP_DEPCHECK=y
+CONFIG_ESP_SYSTEM_ALLOW_RTC_FAST_MEM_AS_HEAP=y
+
+#
+# Memory protection
+#
+# end of Memory protection
+
+CONFIG_ESP_SYSTEM_EVENT_QUEUE_SIZE=32
+CONFIG_ESP_SYSTEM_EVENT_TASK_STACK_SIZE=2304
+CONFIG_ESP_MAIN_TASK_STACK_SIZE=3584
+CONFIG_ESP_MAIN_TASK_AFFINITY_CPU0=y
+# CONFIG_ESP_MAIN_TASK_AFFINITY_CPU1 is not set
+# CONFIG_ESP_MAIN_TASK_AFFINITY_NO_AFFINITY is not set
+CONFIG_ESP_MAIN_TASK_AFFINITY=0x0
+CONFIG_ESP_MINIMAL_SHARED_STACK_SIZE=2048
+# CONFIG_ESP_CONSOLE_UART_DEFAULT is not set
+# CONFIG_ESP_CONSOLE_USB_CDC is not set
+CONFIG_ESP_CONSOLE_USB_SERIAL_JTAG=y
+# CONFIG_ESP_CONSOLE_UART_CUSTOM is not set
+# CONFIG_ESP_CONSOLE_NONE is not set
+CONFIG_ESP_CONSOLE_SECONDARY_NONE=y
+CONFIG_ESP_CONSOLE_MULTIPLE_UART=y
+CONFIG_ESP_CONSOLE_UART_NUM=-1
+# CONFIG_ESP_INT_WDT is not set
+CONFIG_ESP_TASK_WDT=y
+# CONFIG_ESP_TASK_WDT_PANIC is not set
+CONFIG_ESP_TASK_WDT_TIMEOUT_S=5
+CONFIG_ESP_TASK_WDT_CHECK_IDLE_TASK_CPU0=y
+# CONFIG_ESP_TASK_WDT_CHECK_IDLE_TASK_CPU1 is not set
+# CONFIG_ESP_PANIC_HANDLER_IRAM is not set
+# CONFIG_ESP_DEBUG_STUBS_ENABLE is not set
+CONFIG_ESP_SYSTEM_CHECK_INT_LEVEL_4=y
+# end of ESP System Settings
+
+#
+# High resolution timer (esp_timer)
+#
+# CONFIG_ESP_TIMER_PROFILING is not set
+CONFIG_ESP_TIME_FUNCS_USE_RTC_TIMER=y
+CONFIG_ESP_TIME_FUNCS_USE_ESP_TIMER=y
+CONFIG_ESP_TIMER_TASK_STACK_SIZE=3584
+CONFIG_ESP_TIMER_INTERRUPT_LEVEL=1
+# CONFIG_ESP_TIMER_SUPPORTS_ISR_DISPATCH_METHOD is not set
+CONFIG_ESP_TIMER_IMPL_SYSTIMER=y
+# end of High resolution timer (esp_timer)
+
+#
+# Wi-Fi
+#
+CONFIG_ESP32_WIFI_ENABLED=y
+CONFIG_ESP32_WIFI_SW_COEXIST_ENABLE=y
+CONFIG_ESP32_WIFI_STATIC_RX_BUFFER_NUM=24
+CONFIG_ESP32_WIFI_DYNAMIC_RX_BUFFER_NUM=6
+CONFIG_ESP32_WIFI_STATIC_TX_BUFFER=y
+# CONFIG_ESP32_WIFI_DYNAMIC_TX_BUFFER is not set
+CONFIG_ESP32_WIFI_TX_BUFFER_TYPE=0
+CONFIG_ESP32_WIFI_STATIC_TX_BUFFER_NUM=16
+# CONFIG_ESP32_WIFI_CSI_ENABLED is not set
+CONFIG_ESP32_WIFI_AMPDU_TX_ENABLED=y
+CONFIG_ESP32_WIFI_TX_BA_WIN=6
+CONFIG_ESP32_WIFI_AMPDU_RX_ENABLED=y
+CONFIG_ESP32_WIFI_RX_BA_WIN=6
+CONFIG_ESP32_WIFI_NVS_ENABLED=y
+CONFIG_ESP32_WIFI_TASK_PINNED_TO_CORE_0=y
+# CONFIG_ESP32_WIFI_TASK_PINNED_TO_CORE_1 is not set
+CONFIG_ESP32_WIFI_SOFTAP_BEACON_MAX_LEN=752
+CONFIG_ESP32_WIFI_MGMT_SBUF_NUM=32
+CONFIG_ESP32_WIFI_IRAM_OPT=y
+CONFIG_ESP32_WIFI_RX_IRAM_OPT=y
+CONFIG_ESP32_WIFI_ENABLE_WPA3_SAE=y
+# CONFIG_ESP_WIFI_SLP_IRAM_OPT is not set
+# CONFIG_ESP_WIFI_FTM_ENABLE is not set
+# CONFIG_ESP_WIFI_STA_DISCONNECTED_PM_ENABLE is not set
+# CONFIG_ESP_WIFI_GCMP_SUPPORT is not set
+# CONFIG_ESP_WIFI_GMAC_SUPPORT is not set
+CONFIG_ESP_WIFI_SOFTAP_SUPPORT=y
+# CONFIG_ESP_WIFI_SLP_BEACON_LOST_OPT is not set
+CONFIG_ESP_WIFI_ESPNOW_MAX_ENCRYPT_NUM=7
+# end of Wi-Fi
+
+#
+# Core dump
+#
+# CONFIG_ESP_COREDUMP_ENABLE_TO_FLASH is not set
+# CONFIG_ESP_COREDUMP_ENABLE_TO_UART is not set
+CONFIG_ESP_COREDUMP_ENABLE_TO_NONE=y
+# end of Core dump
+
+#
+# FAT Filesystem support
+#
+# CONFIG_FATFS_CODEPAGE_DYNAMIC is not set
+CONFIG_FATFS_CODEPAGE_437=y
+# CONFIG_FATFS_CODEPAGE_720 is not set
+# CONFIG_FATFS_CODEPAGE_737 is not set
+# CONFIG_FATFS_CODEPAGE_771 is not set
+# CONFIG_FATFS_CODEPAGE_775 is not set
+# CONFIG_FATFS_CODEPAGE_850 is not set
+# CONFIG_FATFS_CODEPAGE_852 is not set
+# CONFIG_FATFS_CODEPAGE_855 is not set
+# CONFIG_FATFS_CODEPAGE_857 is not set
+# CONFIG_FATFS_CODEPAGE_860 is not set
+# CONFIG_FATFS_CODEPAGE_861 is not set
+# CONFIG_FATFS_CODEPAGE_862 is not set
+# CONFIG_FATFS_CODEPAGE_863 is not set
+# CONFIG_FATFS_CODEPAGE_864 is not set
+# CONFIG_FATFS_CODEPAGE_865 is not set
+# CONFIG_FATFS_CODEPAGE_866 is not set
+# CONFIG_FATFS_CODEPAGE_869 is not set
+# CONFIG_FATFS_CODEPAGE_932 is not set
+# CONFIG_FATFS_CODEPAGE_936 is not set
+# CONFIG_FATFS_CODEPAGE_949 is not set
+# CONFIG_FATFS_CODEPAGE_950 is not set
+CONFIG_FATFS_CODEPAGE=437
+CONFIG_FATFS_LFN_NONE=y
+# CONFIG_FATFS_LFN_HEAP is not set
+# CONFIG_FATFS_LFN_STACK is not set
+CONFIG_FATFS_FS_LOCK=0
+CONFIG_FATFS_TIMEOUT_MS=10000
+CONFIG_FATFS_PER_FILE_CACHE=y
+# CONFIG_FATFS_USE_FASTSEEK is not set
+# end of FAT Filesystem support
+
+#
+# FreeRTOS
+#
+# CONFIG_FREERTOS_UNICORE is not set
+CONFIG_FREERTOS_NO_AFFINITY=0x7FFFFFFF
+CONFIG_FREERTOS_TICK_SUPPORT_SYSTIMER=y
+CONFIG_FREERTOS_CORETIMER_SYSTIMER_LVL1=y
+# CONFIG_FREERTOS_CORETIMER_SYSTIMER_LVL3 is not set
+CONFIG_FREERTOS_SYSTICK_USES_SYSTIMER=y
+CONFIG_FREERTOS_HZ=1000
+CONFIG_FREERTOS_ASSERT_ON_UNTESTED_FUNCTION=y
+# CONFIG_FREERTOS_CHECK_STACKOVERFLOW_NONE is not set
+# CONFIG_FREERTOS_CHECK_STACKOVERFLOW_PTRVAL is not set
+CONFIG_FREERTOS_CHECK_STACKOVERFLOW_CANARY=y
+CONFIG_FREERTOS_WATCHPOINT_END_OF_STACK=y
+CONFIG_FREERTOS_INTERRUPT_BACKTRACE=y
+CONFIG_FREERTOS_THREAD_LOCAL_STORAGE_POINTERS=1
+CONFIG_FREERTOS_ASSERT_FAIL_ABORT=y
+# CONFIG_FREERTOS_ASSERT_FAIL_PRINT_CONTINUE is not set
+# CONFIG_FREERTOS_ASSERT_DISABLE is not set
+CONFIG_FREERTOS_IDLE_TASK_STACKSIZE=1536
+CONFIG_FREERTOS_ISR_STACKSIZE=1536
+# CONFIG_FREERTOS_LEGACY_HOOKS is not set
+CONFIG_FREERTOS_MAX_TASK_NAME_LEN=16
+CONFIG_FREERTOS_SUPPORT_STATIC_ALLOCATION=y
+# CONFIG_FREERTOS_ENABLE_STATIC_TASK_CLEAN_UP is not set
+CONFIG_FREERTOS_TIMER_TASK_PRIORITY=1
+CONFIG_FREERTOS_TIMER_TASK_STACK_DEPTH=2048
+CONFIG_FREERTOS_TIMER_QUEUE_LENGTH=10
+CONFIG_FREERTOS_QUEUE_REGISTRY_SIZE=0
+CONFIG_FREERTOS_USE_TRACE_FACILITY=y
+CONFIG_FREERTOS_USE_STATS_FORMATTING_FUNCTIONS=y
+CONFIG_FREERTOS_VTASKLIST_INCLUDE_COREID=y
+CONFIG_FREERTOS_GENERATE_RUN_TIME_STATS=y
+CONFIG_FREERTOS_RUN_TIME_STATS_USING_ESP_TIMER=y
+CONFIG_FREERTOS_TASK_FUNCTION_WRAPPER=y
+# CONFIG_FREERTOS_CHECK_MUTEX_GIVEN_BY_OWNER is not set
+# CONFIG_FREERTOS_CHECK_PORT_CRITICAL_COMPLIANCE is not set
+# CONFIG_FREERTOS_PLACE_FUNCTIONS_INTO_FLASH is not set
+CONFIG_FREERTOS_DEBUG_OCDAWARE=y
+CONFIG_FREERTOS_ENABLE_TASK_SNAPSHOT=y
+# CONFIG_FREERTOS_PLACE_SNAPSHOT_FUNS_INTO_FLASH is not set
+# end of FreeRTOS
+
+#
+# Hardware Abstraction Layer (HAL) and Low Level (LL)
+#
+CONFIG_HAL_ASSERTION_EQUALS_SYSTEM=y
+# CONFIG_HAL_ASSERTION_DISABLE is not set
+# CONFIG_HAL_ASSERTION_SILIENT is not set
+CONFIG_HAL_DEFAULT_ASSERTION_LEVEL=1
+# end of Hardware Abstraction Layer (HAL) and Low Level (LL)
+
+#
+# Heap memory debugging
+#
+CONFIG_HEAP_POISONING_DISABLED=y
+# CONFIG_HEAP_POISONING_LIGHT is not set
+# CONFIG_HEAP_POISONING_COMPREHENSIVE is not set
+CONFIG_HEAP_TRACING_OFF=y
+# CONFIG_HEAP_TRACING_STANDALONE is not set
+# CONFIG_HEAP_TRACING_TOHOST is not set
+# CONFIG_HEAP_ABORT_WHEN_ALLOCATION_FAILS is not set
+# end of Heap memory debugging
+
+#
+# Log output
+#
+# CONFIG_LOG_DEFAULT_LEVEL_NONE is not set
+# CONFIG_LOG_DEFAULT_LEVEL_ERROR is not set
+# CONFIG_LOG_DEFAULT_LEVEL_WARN is not set
+CONFIG_LOG_DEFAULT_LEVEL_INFO=y
+# CONFIG_LOG_DEFAULT_LEVEL_DEBUG is not set
+# CONFIG_LOG_DEFAULT_LEVEL_VERBOSE is not set
+CONFIG_LOG_DEFAULT_LEVEL=3
+CONFIG_LOG_MAXIMUM_EQUALS_DEFAULT=y
+# CONFIG_LOG_MAXIMUM_LEVEL_DEBUG is not set
+# CONFIG_LOG_MAXIMUM_LEVEL_VERBOSE is not set
+CONFIG_LOG_MAXIMUM_LEVEL=3
+CONFIG_LOG_COLORS=y
+CONFIG_LOG_TIMESTAMP_SOURCE_RTOS=y
+# CONFIG_LOG_TIMESTAMP_SOURCE_SYSTEM is not set
+# end of Log output
+
+#
+# LWIP
+#
+CONFIG_LWIP_LOCAL_HOSTNAME="espressif"
+# CONFIG_LWIP_NETIF_API is not set
+# CONFIG_LWIP_TCPIP_CORE_LOCKING is not set
+CONFIG_LWIP_DNS_SUPPORT_MDNS_QUERIES=y
+# CONFIG_LWIP_L2_TO_L3_COPY is not set
+# CONFIG_LWIP_IRAM_OPTIMIZATION is not set
+CONFIG_LWIP_TIMERS_ONDEMAND=y
+CONFIG_LWIP_MAX_SOCKETS=10
+# CONFIG_LWIP_USE_ONLY_LWIP_SELECT is not set
+# CONFIG_LWIP_SO_LINGER is not set
+CONFIG_LWIP_SO_REUSE=y
+CONFIG_LWIP_SO_REUSE_RXTOALL=y
+CONFIG_LWIP_SO_RCVBUF=y
+# CONFIG_LWIP_NETBUF_RECVINFO is not set
+CONFIG_LWIP_IP4_FRAG=y
+CONFIG_LWIP_IP6_FRAG=y
+# CONFIG_LWIP_IP4_REASSEMBLY is not set
+# CONFIG_LWIP_IP6_REASSEMBLY is not set
+# CONFIG_LWIP_IP_FORWARD is not set
+# CONFIG_LWIP_STATS is not set
+# CONFIG_LWIP_ETHARP_TRUST_IP_MAC is not set
+CONFIG_LWIP_ESP_GRATUITOUS_ARP=y
+CONFIG_LWIP_GARP_TMR_INTERVAL=60
+CONFIG_LWIP_TCPIP_RECVMBOX_SIZE=32
+CONFIG_LWIP_DHCP_DOES_ARP_CHECK=y
+# CONFIG_LWIP_DHCP_DISABLE_CLIENT_ID is not set
+CONFIG_LWIP_DHCP_DISABLE_VENDOR_CLASS_ID=y
+# CONFIG_LWIP_DHCP_RESTORE_LAST_IP is not set
+CONFIG_LWIP_DHCP_OPTIONS_LEN=68
+
+#
+# DHCP server
+#
+CONFIG_LWIP_DHCPS=y
+CONFIG_LWIP_DHCPS_LEASE_UNIT=60
+CONFIG_LWIP_DHCPS_MAX_STATION_NUM=8
+# end of DHCP server
+
+# CONFIG_LWIP_AUTOIP is not set
+CONFIG_LWIP_IPV6=y
+# CONFIG_LWIP_IPV6_AUTOCONFIG is not set
+CONFIG_LWIP_IPV6_NUM_ADDRESSES=3
+# CONFIG_LWIP_IPV6_FORWARD is not set
+# CONFIG_LWIP_NETIF_STATUS_CALLBACK is not set
+CONFIG_LWIP_NETIF_LOOPBACK=y
+CONFIG_LWIP_LOOPBACK_MAX_PBUFS=8
+
+#
+# TCP
+#
+CONFIG_LWIP_MAX_ACTIVE_TCP=16
+CONFIG_LWIP_MAX_LISTENING_TCP=16
+CONFIG_LWIP_TCP_HIGH_SPEED_RETRANSMISSION=y
+CONFIG_LWIP_TCP_MAXRTX=12
+CONFIG_LWIP_TCP_SYNMAXRTX=12
+CONFIG_LWIP_TCP_MSS=1440
+CONFIG_LWIP_TCP_TMR_INTERVAL=250
+CONFIG_LWIP_TCP_MSL=60000
+CONFIG_LWIP_TCP_FIN_WAIT_TIMEOUT=20000
+CONFIG_LWIP_TCP_SND_BUF_DEFAULT=5744
+CONFIG_LWIP_TCP_WND_DEFAULT=5744
+CONFIG_LWIP_TCP_RECVMBOX_SIZE=6
+CONFIG_LWIP_TCP_QUEUE_OOSEQ=y
+# CONFIG_LWIP_TCP_SACK_OUT is not set
+# CONFIG_LWIP_TCP_KEEP_CONNECTION_WHEN_IP_CHANGES is not set
+CONFIG_LWIP_TCP_OVERSIZE_MSS=y
+# CONFIG_LWIP_TCP_OVERSIZE_QUARTER_MSS is not set
+# CONFIG_LWIP_TCP_OVERSIZE_DISABLE is not set
+CONFIG_LWIP_TCP_RTO_TIME=1500
+# end of TCP
+
+#
+# UDP
+#
+CONFIG_LWIP_MAX_UDP_PCBS=16
+CONFIG_LWIP_UDP_RECVMBOX_SIZE=6
+# end of UDP
+
+#
+# Checksums
+#
+# CONFIG_LWIP_CHECKSUM_CHECK_IP is not set
+# CONFIG_LWIP_CHECKSUM_CHECK_UDP is not set
+CONFIG_LWIP_CHECKSUM_CHECK_ICMP=y
+# end of Checksums
+
+CONFIG_LWIP_TCPIP_TASK_STACK_SIZE=3072
+CONFIG_LWIP_TCPIP_TASK_AFFINITY_NO_AFFINITY=y
+# CONFIG_LWIP_TCPIP_TASK_AFFINITY_CPU0 is not set
+# CONFIG_LWIP_TCPIP_TASK_AFFINITY_CPU1 is not set
+CONFIG_LWIP_TCPIP_TASK_AFFINITY=0x7FFFFFFF
+# CONFIG_LWIP_PPP_SUPPORT is not set
+CONFIG_LWIP_IPV6_MEMP_NUM_ND6_QUEUE=3
+CONFIG_LWIP_IPV6_ND6_NUM_NEIGHBORS=5
+# CONFIG_LWIP_SLIP_SUPPORT is not set
+
+#
+# ICMP
+#
+CONFIG_LWIP_ICMP=y
+# CONFIG_LWIP_MULTICAST_PING is not set
+# CONFIG_LWIP_BROADCAST_PING is not set
+# end of ICMP
+
+#
+# LWIP RAW API
+#
+CONFIG_LWIP_MAX_RAW_PCBS=16
+# end of LWIP RAW API
+
+#
+# SNTP
+#
+CONFIG_LWIP_SNTP_MAX_SERVERS=1
+# CONFIG_LWIP_DHCP_GET_NTP_SRV is not set
+CONFIG_LWIP_SNTP_UPDATE_DELAY=3600000
+# end of SNTP
+
+CONFIG_LWIP_ESP_LWIP_ASSERT=y
+
+#
+# Hooks
+#
+# CONFIG_LWIP_HOOK_TCP_ISN_NONE is not set
+CONFIG_LWIP_HOOK_TCP_ISN_DEFAULT=y
+# CONFIG_LWIP_HOOK_TCP_ISN_CUSTOM is not set
+CONFIG_LWIP_HOOK_IP6_ROUTE_NONE=y
+# CONFIG_LWIP_HOOK_IP6_ROUTE_DEFAULT is not set
+# CONFIG_LWIP_HOOK_IP6_ROUTE_CUSTOM is not set
+CONFIG_LWIP_HOOK_ND6_GET_GW_NONE=y
+# CONFIG_LWIP_HOOK_ND6_GET_GW_DEFAULT is not set
+# CONFIG_LWIP_HOOK_ND6_GET_GW_CUSTOM is not set
+CONFIG_LWIP_HOOK_NETCONN_EXT_RESOLVE_NONE=y
+# CONFIG_LWIP_HOOK_NETCONN_EXT_RESOLVE_DEFAULT is not set
+# CONFIG_LWIP_HOOK_NETCONN_EXT_RESOLVE_CUSTOM is not set
+# end of Hooks
+
+# CONFIG_LWIP_DEBUG is not set
+# end of LWIP
+
+#
+# mbedTLS
+#
+CONFIG_MBEDTLS_INTERNAL_MEM_ALLOC=y
+# CONFIG_MBEDTLS_DEFAULT_MEM_ALLOC is not set
+# CONFIG_MBEDTLS_CUSTOM_MEM_ALLOC is not set
+CONFIG_MBEDTLS_ASYMMETRIC_CONTENT_LEN=y
+CONFIG_MBEDTLS_SSL_IN_CONTENT_LEN=16384
+CONFIG_MBEDTLS_SSL_OUT_CONTENT_LEN=4096
+# CONFIG_MBEDTLS_DYNAMIC_BUFFER is not set
+# CONFIG_MBEDTLS_DEBUG is not set
+
+#
+# mbedTLS v2.28.x related
+#
+# CONFIG_MBEDTLS_SSL_VARIABLE_BUFFER_LENGTH is not set
+# CONFIG_MBEDTLS_X509_TRUSTED_CERT_CALLBACK is not set
+# CONFIG_MBEDTLS_SSL_CONTEXT_SERIALIZATION is not set
+CONFIG_MBEDTLS_SSL_KEEP_PEER_CERTIFICATE=y
+# end of mbedTLS v2.28.x related
+
+#
+# Certificate Bundle
+#
+CONFIG_MBEDTLS_CERTIFICATE_BUNDLE=y
+CONFIG_MBEDTLS_CERTIFICATE_BUNDLE_DEFAULT_FULL=y
+# CONFIG_MBEDTLS_CERTIFICATE_BUNDLE_DEFAULT_CMN is not set
+# CONFIG_MBEDTLS_CERTIFICATE_BUNDLE_DEFAULT_NONE is not set
+# CONFIG_MBEDTLS_CUSTOM_CERTIFICATE_BUNDLE is not set
+CONFIG_MBEDTLS_CERTIFICATE_BUNDLE_MAX_CERTS=200
+# end of Certificate Bundle
+
+# CONFIG_MBEDTLS_ECP_RESTARTABLE is not set
+# CONFIG_MBEDTLS_CMAC_C is not set
+CONFIG_MBEDTLS_HARDWARE_AES=y
+CONFIG_MBEDTLS_AES_USE_INTERRUPT=y
+CONFIG_MBEDTLS_HARDWARE_MPI=y
+CONFIG_MBEDTLS_HARDWARE_SHA=y
+CONFIG_MBEDTLS_ROM_MD5=y
+# CONFIG_MBEDTLS_ATCA_HW_ECDSA_SIGN is not set
+# CONFIG_MBEDTLS_ATCA_HW_ECDSA_VERIFY is not set
+CONFIG_MBEDTLS_HAVE_TIME=y
+# CONFIG_MBEDTLS_HAVE_TIME_DATE is not set
+CONFIG_MBEDTLS_ECDSA_DETERMINISTIC=y
+CONFIG_MBEDTLS_SHA512_C=y
+CONFIG_MBEDTLS_TLS_SERVER_AND_CLIENT=y
+# CONFIG_MBEDTLS_TLS_SERVER_ONLY is not set
+# CONFIG_MBEDTLS_TLS_CLIENT_ONLY is not set
+# CONFIG_MBEDTLS_TLS_DISABLED is not set
+CONFIG_MBEDTLS_TLS_SERVER=y
+CONFIG_MBEDTLS_TLS_CLIENT=y
+CONFIG_MBEDTLS_TLS_ENABLED=y
+
+#
+# TLS Key Exchange Methods
+#
+CONFIG_MBEDTLS_PSK_MODES=y
+CONFIG_MBEDTLS_KEY_EXCHANGE_PSK=y
+CONFIG_MBEDTLS_KEY_EXCHANGE_DHE_PSK=y
+CONFIG_MBEDTLS_KEY_EXCHANGE_ECDHE_PSK=y
+CONFIG_MBEDTLS_KEY_EXCHANGE_RSA_PSK=y
+CONFIG_MBEDTLS_KEY_EXCHANGE_RSA=y
+CONFIG_MBEDTLS_KEY_EXCHANGE_DHE_RSA=y
+CONFIG_MBEDTLS_KEY_EXCHANGE_ELLIPTIC_CURVE=y
+CONFIG_MBEDTLS_KEY_EXCHANGE_ECDHE_RSA=y
+CONFIG_MBEDTLS_KEY_EXCHANGE_ECDHE_ECDSA=y
+CONFIG_MBEDTLS_KEY_EXCHANGE_ECDH_ECDSA=y
+CONFIG_MBEDTLS_KEY_EXCHANGE_ECDH_RSA=y
+# end of TLS Key Exchange Methods
+
+CONFIG_MBEDTLS_SSL_RENEGOTIATION=y
+# CONFIG_MBEDTLS_SSL_PROTO_SSL3 is not set
+CONFIG_MBEDTLS_SSL_PROTO_TLS1=y
+CONFIG_MBEDTLS_SSL_PROTO_TLS1_1=y
+CONFIG_MBEDTLS_SSL_PROTO_TLS1_2=y
+# CONFIG_MBEDTLS_SSL_PROTO_GMTSSL1_1 is not set
+# CONFIG_MBEDTLS_SSL_PROTO_DTLS is not set
+CONFIG_MBEDTLS_SSL_ALPN=y
+CONFIG_MBEDTLS_CLIENT_SSL_SESSION_TICKETS=y
+CONFIG_MBEDTLS_X509_CHECK_KEY_USAGE=y
+CONFIG_MBEDTLS_X509_CHECK_EXTENDED_KEY_USAGE=y
+CONFIG_MBEDTLS_SERVER_SSL_SESSION_TICKETS=y
+
+#
+# Symmetric Ciphers
+#
+CONFIG_MBEDTLS_AES_C=y
+# CONFIG_MBEDTLS_CAMELLIA_C is not set
+# CONFIG_MBEDTLS_DES_C is not set
+CONFIG_MBEDTLS_RC4_DISABLED=y
+# CONFIG_MBEDTLS_RC4_ENABLED_NO_DEFAULT is not set
+# CONFIG_MBEDTLS_RC4_ENABLED is not set
+# CONFIG_MBEDTLS_BLOWFISH_C is not set
+# CONFIG_MBEDTLS_XTEA_C is not set
+CONFIG_MBEDTLS_CCM_C=y
+CONFIG_MBEDTLS_GCM_C=y
+# CONFIG_MBEDTLS_NIST_KW_C is not set
+# end of Symmetric Ciphers
+
+# CONFIG_MBEDTLS_RIPEMD160_C is not set
+
+#
+# Certificates
+#
+CONFIG_MBEDTLS_PEM_PARSE_C=y
+CONFIG_MBEDTLS_PEM_WRITE_C=y
+CONFIG_MBEDTLS_X509_CRL_PARSE_C=y
+CONFIG_MBEDTLS_X509_CSR_PARSE_C=y
+# end of Certificates
+
+CONFIG_MBEDTLS_ECP_C=y
+CONFIG_MBEDTLS_ECDH_C=y
+CONFIG_MBEDTLS_ECDSA_C=y
+# CONFIG_MBEDTLS_ECJPAKE_C is not set
+CONFIG_MBEDTLS_ECP_DP_SECP192R1_ENABLED=y
+CONFIG_MBEDTLS_ECP_DP_SECP224R1_ENABLED=y
+CONFIG_MBEDTLS_ECP_DP_SECP256R1_ENABLED=y
+CONFIG_MBEDTLS_ECP_DP_SECP384R1_ENABLED=y
+CONFIG_MBEDTLS_ECP_DP_SECP521R1_ENABLED=y
+CONFIG_MBEDTLS_ECP_DP_SECP192K1_ENABLED=y
+CONFIG_MBEDTLS_ECP_DP_SECP224K1_ENABLED=y
+CONFIG_MBEDTLS_ECP_DP_SECP256K1_ENABLED=y
+CONFIG_MBEDTLS_ECP_DP_BP256R1_ENABLED=y
+CONFIG_MBEDTLS_ECP_DP_BP384R1_ENABLED=y
+CONFIG_MBEDTLS_ECP_DP_BP512R1_ENABLED=y
+CONFIG_MBEDTLS_ECP_DP_CURVE25519_ENABLED=y
+CONFIG_MBEDTLS_ECP_NIST_OPTIM=y
+# CONFIG_MBEDTLS_POLY1305_C is not set
+# CONFIG_MBEDTLS_CHACHA20_C is not set
+# CONFIG_MBEDTLS_HKDF_C is not set
+# CONFIG_MBEDTLS_THREADING_C is not set
+# CONFIG_MBEDTLS_LARGE_KEY_SOFTWARE_MPI is not set
+# CONFIG_MBEDTLS_SECURITY_RISKS is not set
+# end of mbedTLS
+
+#
+# mDNS
+#
+CONFIG_MDNS_MAX_SERVICES=10
+CONFIG_MDNS_TASK_PRIORITY=1
+CONFIG_MDNS_TASK_STACK_SIZE=4096
+# CONFIG_MDNS_TASK_AFFINITY_NO_AFFINITY is not set
+CONFIG_MDNS_TASK_AFFINITY_CPU0=y
+# CONFIG_MDNS_TASK_AFFINITY_CPU1 is not set
+CONFIG_MDNS_TASK_AFFINITY=0x0
+CONFIG_MDNS_SERVICE_ADD_TIMEOUT_MS=2000
+# CONFIG_MDNS_STRICT_MODE is not set
+CONFIG_MDNS_TIMER_PERIOD_MS=100
+# CONFIG_MDNS_NETWORKING_SOCKET is not set
+CONFIG_MDNS_MULTIPLE_INSTANCE=y
+# end of mDNS
+
+#
+# Newlib
+#
+CONFIG_NEWLIB_STDOUT_LINE_ENDING_CRLF=y
+# CONFIG_NEWLIB_STDOUT_LINE_ENDING_LF is not set
+# CONFIG_NEWLIB_STDOUT_LINE_ENDING_CR is not set
+# CONFIG_NEWLIB_STDIN_LINE_ENDING_CRLF is not set
+# CONFIG_NEWLIB_STDIN_LINE_ENDING_LF is not set
+CONFIG_NEWLIB_STDIN_LINE_ENDING_CR=y
+# CONFIG_NEWLIB_NANO_FORMAT is not set
+# end of Newlib
+
+#
+# NVS
+#
+# CONFIG_NVS_ASSERT_ERROR_CHECK is not set
+# end of NVS
+
+#
+# OpenSSL
+#
+# CONFIG_OPENSSL_DEBUG is not set
+CONFIG_OPENSSL_ERROR_STACK=y
+# CONFIG_OPENSSL_ASSERT_DO_NOTHING is not set
+CONFIG_OPENSSL_ASSERT_EXIT=y
+# end of OpenSSL
+
+#
+# OpenThread
+#
+# CONFIG_OPENTHREAD_ENABLED is not set
+# end of OpenThread
+
+#
+# PThreads
+#
+CONFIG_PTHREAD_TASK_PRIO_DEFAULT=5
+CONFIG_PTHREAD_TASK_STACK_SIZE_DEFAULT=3072
+CONFIG_PTHREAD_STACK_MIN=768
+CONFIG_PTHREAD_DEFAULT_CORE_NO_AFFINITY=y
+# CONFIG_PTHREAD_DEFAULT_CORE_0 is not set
+# CONFIG_PTHREAD_DEFAULT_CORE_1 is not set
+CONFIG_PTHREAD_TASK_CORE_DEFAULT=-1
+CONFIG_PTHREAD_TASK_NAME_DEFAULT="pthread"
+# end of PThreads
+
+#
+# SPI Flash driver
+#
+# CONFIG_SPI_FLASH_VERIFY_WRITE is not set
+# CONFIG_SPI_FLASH_ENABLE_COUNTERS is not set
+CONFIG_SPI_FLASH_ROM_DRIVER_PATCH=y
+# CONFIG_SPI_FLASH_ROM_IMPL is not set
+CONFIG_SPI_FLASH_DANGEROUS_WRITE_ABORTS=y
+# CONFIG_SPI_FLASH_DANGEROUS_WRITE_FAILS is not set
+# CONFIG_SPI_FLASH_DANGEROUS_WRITE_ALLOWED is not set
+# CONFIG_SPI_FLASH_USE_LEGACY_IMPL is not set
+# CONFIG_SPI_FLASH_SHARE_SPI1_BUS is not set
+# CONFIG_SPI_FLASH_BYPASS_BLOCK_ERASE is not set
+CONFIG_SPI_FLASH_YIELD_DURING_ERASE=y
+CONFIG_SPI_FLASH_ERASE_YIELD_DURATION_MS=20
+CONFIG_SPI_FLASH_ERASE_YIELD_TICKS=1
+CONFIG_SPI_FLASH_WRITE_CHUNK_SIZE=8192
+# CONFIG_SPI_FLASH_SIZE_OVERRIDE is not set
+# CONFIG_SPI_FLASH_CHECK_ERASE_TIMEOUT_DISABLED is not set
+# CONFIG_SPI_FLASH_OVERRIDE_CHIP_DRIVER_LIST is not set
+
+#
+# Auto-detect flash chips
+#
+CONFIG_SPI_FLASH_SUPPORT_ISSI_CHIP=y
+CONFIG_SPI_FLASH_SUPPORT_MXIC_CHIP=y
+CONFIG_SPI_FLASH_SUPPORT_GD_CHIP=y
+CONFIG_SPI_FLASH_SUPPORT_WINBOND_CHIP=y
+CONFIG_SPI_FLASH_SUPPORT_BOYA_CHIP=y
+CONFIG_SPI_FLASH_SUPPORT_TH_CHIP=y
+CONFIG_SPI_FLASH_SUPPORT_MXIC_OPI_CHIP=y
+# end of Auto-detect flash chips
+
+CONFIG_SPI_FLASH_ENABLE_ENCRYPTED_READ_WRITE=y
+# end of SPI Flash driver
+
+#
+# SPIFFS Configuration
+#
+CONFIG_SPIFFS_MAX_PARTITIONS=3
+
+#
+# SPIFFS Cache Configuration
+#
+CONFIG_SPIFFS_CACHE=y
+CONFIG_SPIFFS_CACHE_WR=y
+# CONFIG_SPIFFS_CACHE_STATS is not set
+# end of SPIFFS Cache Configuration
+
+CONFIG_SPIFFS_PAGE_CHECK=y
+CONFIG_SPIFFS_GC_MAX_RUNS=10
+# CONFIG_SPIFFS_GC_STATS is not set
+CONFIG_SPIFFS_PAGE_SIZE=256
+CONFIG_SPIFFS_OBJ_NAME_LEN=32
+# CONFIG_SPIFFS_FOLLOW_SYMLINKS is not set
+CONFIG_SPIFFS_USE_MAGIC=y
+CONFIG_SPIFFS_USE_MAGIC_LENGTH=y
+CONFIG_SPIFFS_META_LENGTH=4
+CONFIG_SPIFFS_USE_MTIME=y
+
+#
+# Debug Configuration
+#
+# CONFIG_SPIFFS_DBG is not set
+# CONFIG_SPIFFS_API_DBG is not set
+# CONFIG_SPIFFS_GC_DBG is not set
+# CONFIG_SPIFFS_CACHE_DBG is not set
+# CONFIG_SPIFFS_CHECK_DBG is not set
+# CONFIG_SPIFFS_TEST_VISUALISATION is not set
+# end of Debug Configuration
+# end of SPIFFS Configuration
+
+#
+# TCP Transport
+#
+
+#
+# Websocket
+#
+CONFIG_WS_TRANSPORT=y
+CONFIG_WS_BUFFER_SIZE=1024
+# end of Websocket
+# end of TCP Transport
+
+#
+# Virtual file system
+#
+CONFIG_VFS_SUPPORT_IO=y
+CONFIG_VFS_SUPPORT_DIR=y
+CONFIG_VFS_SUPPORT_SELECT=y
+CONFIG_VFS_SUPPRESS_SELECT_DEBUG_OUTPUT=y
+CONFIG_VFS_SUPPORT_TERMIOS=y
+
+#
+# Host File System I/O (Semihosting)
+#
+CONFIG_VFS_SEMIHOSTFS_MAX_MOUNT_POINTS=1
+# end of Host File System I/O (Semihosting)
+# end of Virtual file system
+
+#
+# Wear Levelling
+#
+# CONFIG_WL_SECTOR_SIZE_512 is not set
+CONFIG_WL_SECTOR_SIZE_4096=y
+CONFIG_WL_SECTOR_SIZE=4096
+# end of Wear Levelling
+
+#
+# Wi-Fi Provisioning Manager
+#
+CONFIG_WIFI_PROV_SCAN_MAX_ENTRIES=16
+CONFIG_WIFI_PROV_AUTOSTOP_TIMEOUT=30
+# CONFIG_WIFI_PROV_BLE_BONDING is not set
+# CONFIG_WIFI_PROV_BLE_FORCE_ENCRYPTION is not set
+# CONFIG_WIFI_PROV_KEEP_BLE_ON_AFTER_PROV is not set
+# end of Wi-Fi Provisioning Manager
+
+#
+# Supplicant
+#
+CONFIG_WPA_MBEDTLS_CRYPTO=y
+# CONFIG_WPA_WAPI_PSK is not set
+# CONFIG_WPA_SUITE_B_192 is not set
+# CONFIG_WPA_DEBUG_PRINT is not set
+# CONFIG_WPA_TESTING_OPTIONS is not set
+# CONFIG_WPA_WPS_STRICT is not set
+# CONFIG_WPA_11KV_SUPPORT is not set
+# CONFIG_WPA_MBO_SUPPORT is not set
+# CONFIG_WPA_DPP_SUPPORT is not set
+# end of Supplicant
+# end of Component config
+
+#
+# Compatibility options
+#
+# CONFIG_LEGACY_INCLUDE_COMMON_HEADERS is not set
+# end of Compatibility options
+
+# Deprecated options for backward compatibility
+CONFIG_TOOLPREFIX="xtensa-esp32s3-elf-"
+# CONFIG_LOG_BOOTLOADER_LEVEL_NONE is not set
+# CONFIG_LOG_BOOTLOADER_LEVEL_ERROR is not set
+# CONFIG_LOG_BOOTLOADER_LEVEL_WARN is not set
+CONFIG_LOG_BOOTLOADER_LEVEL_INFO=y
+# CONFIG_LOG_BOOTLOADER_LEVEL_DEBUG is not set
+# CONFIG_LOG_BOOTLOADER_LEVEL_VERBOSE is not set
+CONFIG_LOG_BOOTLOADER_LEVEL=3
+# CONFIG_APP_ROLLBACK_ENABLE is not set
+# CONFIG_FLASH_ENCRYPTION_ENABLED is not set
+CONFIG_FLASHMODE_QIO=y
+# CONFIG_FLASHMODE_QOUT is not set
+# CONFIG_FLASHMODE_DIO is not set
+# CONFIG_FLASHMODE_DOUT is not set
+# CONFIG_MONITOR_BAUD_9600B is not set
+# CONFIG_MONITOR_BAUD_57600B is not set
+CONFIG_MONITOR_BAUD_115200B=y
+# CONFIG_MONITOR_BAUD_230400B is not set
+# CONFIG_MONITOR_BAUD_921600B is not set
+# CONFIG_MONITOR_BAUD_2MB is not set
+# CONFIG_MONITOR_BAUD_OTHER is not set
+CONFIG_MONITOR_BAUD_OTHER_VAL=115200
+CONFIG_MONITOR_BAUD=115200
+CONFIG_COMPILER_OPTIMIZATION_LEVEL_DEBUG=y
+# CONFIG_COMPILER_OPTIMIZATION_LEVEL_RELEASE is not set
+# CONFIG_OPTIMIZATION_ASSERTIONS_ENABLED is not set
+CONFIG_OPTIMIZATION_ASSERTIONS_SILENT=y
+# CONFIG_OPTIMIZATION_ASSERTIONS_DISABLED is not set
+CONFIG_OPTIMIZATION_ASSERTION_LEVEL=1
+# CONFIG_CXX_EXCEPTIONS is not set
+CONFIG_STACK_CHECK_NONE=y
+# CONFIG_STACK_CHECK_NORM is not set
+# CONFIG_STACK_CHECK_STRONG is not set
+# CONFIG_STACK_CHECK_ALL is not set
+# CONFIG_WARN_WRITE_STRINGS is not set
+# CONFIG_DISABLE_GCC8_WARNINGS is not set
+# CONFIG_ESP32_APPTRACE_DEST_TRAX is not set
+CONFIG_ESP32_APPTRACE_DEST_NONE=y
+CONFIG_ESP32_APPTRACE_LOCK_ENABLE=y
+CONFIG_BLUEDROID_ENABLED=y
+# CONFIG_NIMBLE_ENABLED is not set
+CONFIG_BTC_TASK_STACK_SIZE=3072
+CONFIG_BLUEDROID_PINNED_TO_CORE_0=y
+# CONFIG_BLUEDROID_PINNED_TO_CORE_1 is not set
+CONFIG_BLUEDROID_PINNED_TO_CORE=0
+CONFIG_BTU_TASK_STACK_SIZE=4096
+# CONFIG_BLUEDROID_MEM_DEBUG is not set
+CONFIG_GATTS_ENABLE=y
+# CONFIG_GATTS_SEND_SERVICE_CHANGE_MANUAL is not set
+CONFIG_GATTS_SEND_SERVICE_CHANGE_AUTO=y
+CONFIG_GATTS_SEND_SERVICE_CHANGE_MODE=0
+CONFIG_GATTC_ENABLE=y
+# CONFIG_GATTC_CACHE_NVS_FLASH is not set
+CONFIG_BLE_SMP_ENABLE=y
+# CONFIG_SMP_SLAVE_CON_PARAMS_UPD_ENABLE is not set
+# CONFIG_HCI_TRACE_LEVEL_NONE is not set
+# CONFIG_HCI_TRACE_LEVEL_ERROR is not set
+CONFIG_HCI_TRACE_LEVEL_WARNING=y
+# CONFIG_HCI_TRACE_LEVEL_API is not set
+# CONFIG_HCI_TRACE_LEVEL_EVENT is not set
+# CONFIG_HCI_TRACE_LEVEL_DEBUG is not set
+# CONFIG_HCI_TRACE_LEVEL_VERBOSE is not set
+CONFIG_HCI_INITIAL_TRACE_LEVEL=2
+# CONFIG_BTM_TRACE_LEVEL_NONE is not set
+# CONFIG_BTM_TRACE_LEVEL_ERROR is not set
+CONFIG_BTM_TRACE_LEVEL_WARNING=y
+# CONFIG_BTM_TRACE_LEVEL_API is not set
+# CONFIG_BTM_TRACE_LEVEL_EVENT is not set
+# CONFIG_BTM_TRACE_LEVEL_DEBUG is not set
+# CONFIG_BTM_TRACE_LEVEL_VERBOSE is not set
+CONFIG_BTM_INITIAL_TRACE_LEVEL=2
+# CONFIG_L2CAP_TRACE_LEVEL_NONE is not set
+# CONFIG_L2CAP_TRACE_LEVEL_ERROR is not set
+CONFIG_L2CAP_TRACE_LEVEL_WARNING=y
+# CONFIG_L2CAP_TRACE_LEVEL_API is not set
+# CONFIG_L2CAP_TRACE_LEVEL_EVENT is not set
+# CONFIG_L2CAP_TRACE_LEVEL_DEBUG is not set
+# CONFIG_L2CAP_TRACE_LEVEL_VERBOSE is not set
+CONFIG_L2CAP_INITIAL_TRACE_LEVEL=2
+# CONFIG_RFCOMM_TRACE_LEVEL_NONE is not set
+# CONFIG_RFCOMM_TRACE_LEVEL_ERROR is not set
+CONFIG_RFCOMM_TRACE_LEVEL_WARNING=y
+# CONFIG_RFCOMM_TRACE_LEVEL_API is not set
+# CONFIG_RFCOMM_TRACE_LEVEL_EVENT is not set
+# CONFIG_RFCOMM_TRACE_LEVEL_DEBUG is not set
+# CONFIG_RFCOMM_TRACE_LEVEL_VERBOSE is not set
+CONFIG_RFCOMM_INITIAL_TRACE_LEVEL=2
+# CONFIG_SDP_TRACE_LEVEL_NONE is not set
+# CONFIG_SDP_TRACE_LEVEL_ERROR is not set
+CONFIG_SDP_TRACE_LEVEL_WARNING=y
+# CONFIG_SDP_TRACE_LEVEL_API is not set
+# CONFIG_SDP_TRACE_LEVEL_EVENT is not set
+# CONFIG_SDP_TRACE_LEVEL_DEBUG is not set
+# CONFIG_SDP_TRACE_LEVEL_VERBOSE is not set
+CONFIG_BTH_LOG_SDP_INITIAL_TRACE_LEVEL=2
+# CONFIG_GAP_TRACE_LEVEL_NONE is not set
+# CONFIG_GAP_TRACE_LEVEL_ERROR is not set
+CONFIG_GAP_TRACE_LEVEL_WARNING=y
+# CONFIG_GAP_TRACE_LEVEL_API is not set
+# CONFIG_GAP_TRACE_LEVEL_EVENT is not set
+# CONFIG_GAP_TRACE_LEVEL_DEBUG is not set
+# CONFIG_GAP_TRACE_LEVEL_VERBOSE is not set
+CONFIG_GAP_INITIAL_TRACE_LEVEL=2
+CONFIG_BNEP_INITIAL_TRACE_LEVEL=2
+# CONFIG_PAN_TRACE_LEVEL_NONE is not set
+# CONFIG_PAN_TRACE_LEVEL_ERROR is not set
+CONFIG_PAN_TRACE_LEVEL_WARNING=y
+# CONFIG_PAN_TRACE_LEVEL_API is not set
+# CONFIG_PAN_TRACE_LEVEL_EVENT is not set
+# CONFIG_PAN_TRACE_LEVEL_DEBUG is not set
+# CONFIG_PAN_TRACE_LEVEL_VERBOSE is not set
+CONFIG_PAN_INITIAL_TRACE_LEVEL=2
+# CONFIG_A2D_TRACE_LEVEL_NONE is not set
+# CONFIG_A2D_TRACE_LEVEL_ERROR is not set
+CONFIG_A2D_TRACE_LEVEL_WARNING=y
+# CONFIG_A2D_TRACE_LEVEL_API is not set
+# CONFIG_A2D_TRACE_LEVEL_EVENT is not set
+# CONFIG_A2D_TRACE_LEVEL_DEBUG is not set
+# CONFIG_A2D_TRACE_LEVEL_VERBOSE is not set
+CONFIG_A2D_INITIAL_TRACE_LEVEL=2
+# CONFIG_AVDT_TRACE_LEVEL_NONE is not set
+# CONFIG_AVDT_TRACE_LEVEL_ERROR is not set
+CONFIG_AVDT_TRACE_LEVEL_WARNING=y
+# CONFIG_AVDT_TRACE_LEVEL_API is not set
+# CONFIG_AVDT_TRACE_LEVEL_EVENT is not set
+# CONFIG_AVDT_TRACE_LEVEL_DEBUG is not set
+# CONFIG_AVDT_TRACE_LEVEL_VERBOSE is not set
+CONFIG_AVDT_INITIAL_TRACE_LEVEL=2
+# CONFIG_AVCT_TRACE_LEVEL_NONE is not set
+# CONFIG_AVCT_TRACE_LEVEL_ERROR is not set
+CONFIG_AVCT_TRACE_LEVEL_WARNING=y
+# CONFIG_AVCT_TRACE_LEVEL_API is not set
+# CONFIG_AVCT_TRACE_LEVEL_EVENT is not set
+# CONFIG_AVCT_TRACE_LEVEL_DEBUG is not set
+# CONFIG_AVCT_TRACE_LEVEL_VERBOSE is not set
+CONFIG_AVCT_INITIAL_TRACE_LEVEL=2
+# CONFIG_AVRC_TRACE_LEVEL_NONE is not set
+# CONFIG_AVRC_TRACE_LEVEL_ERROR is not set
+CONFIG_AVRC_TRACE_LEVEL_WARNING=y
+# CONFIG_AVRC_TRACE_LEVEL_API is not set
+# CONFIG_AVRC_TRACE_LEVEL_EVENT is not set
+# CONFIG_AVRC_TRACE_LEVEL_DEBUG is not set
+# CONFIG_AVRC_TRACE_LEVEL_VERBOSE is not set
+CONFIG_AVRC_INITIAL_TRACE_LEVEL=2
+# CONFIG_MCA_TRACE_LEVEL_NONE is not set
+# CONFIG_MCA_TRACE_LEVEL_ERROR is not set
+CONFIG_MCA_TRACE_LEVEL_WARNING=y
+# CONFIG_MCA_TRACE_LEVEL_API is not set
+# CONFIG_MCA_TRACE_LEVEL_EVENT is not set
+# CONFIG_MCA_TRACE_LEVEL_DEBUG is not set
+# CONFIG_MCA_TRACE_LEVEL_VERBOSE is not set
+CONFIG_MCA_INITIAL_TRACE_LEVEL=2
+# CONFIG_HID_TRACE_LEVEL_NONE is not set
+# CONFIG_HID_TRACE_LEVEL_ERROR is not set
+CONFIG_HID_TRACE_LEVEL_WARNING=y
+# CONFIG_HID_TRACE_LEVEL_API is not set
+# CONFIG_HID_TRACE_LEVEL_EVENT is not set
+# CONFIG_HID_TRACE_LEVEL_DEBUG is not set
+# CONFIG_HID_TRACE_LEVEL_VERBOSE is not set
+CONFIG_HID_INITIAL_TRACE_LEVEL=2
+# CONFIG_APPL_TRACE_LEVEL_NONE is not set
+# CONFIG_APPL_TRACE_LEVEL_ERROR is not set
+CONFIG_APPL_TRACE_LEVEL_WARNING=y
+# CONFIG_APPL_TRACE_LEVEL_API is not set
+# CONFIG_APPL_TRACE_LEVEL_EVENT is not set
+# CONFIG_APPL_TRACE_LEVEL_DEBUG is not set
+# CONFIG_APPL_TRACE_LEVEL_VERBOSE is not set
+CONFIG_APPL_INITIAL_TRACE_LEVEL=2
+# CONFIG_GATT_TRACE_LEVEL_NONE is not set
+# CONFIG_GATT_TRACE_LEVEL_ERROR is not set
+CONFIG_GATT_TRACE_LEVEL_WARNING=y
+# CONFIG_GATT_TRACE_LEVEL_API is not set
+# CONFIG_GATT_TRACE_LEVEL_EVENT is not set
+# CONFIG_GATT_TRACE_LEVEL_DEBUG is not set
+# CONFIG_GATT_TRACE_LEVEL_VERBOSE is not set
+CONFIG_GATT_INITIAL_TRACE_LEVEL=2
+# CONFIG_SMP_TRACE_LEVEL_NONE is not set
+# CONFIG_SMP_TRACE_LEVEL_ERROR is not set
+CONFIG_SMP_TRACE_LEVEL_WARNING=y
+# CONFIG_SMP_TRACE_LEVEL_API is not set
+# CONFIG_SMP_TRACE_LEVEL_EVENT is not set
+# CONFIG_SMP_TRACE_LEVEL_DEBUG is not set
+# CONFIG_SMP_TRACE_LEVEL_VERBOSE is not set
+CONFIG_SMP_INITIAL_TRACE_LEVEL=2
+# CONFIG_BTIF_TRACE_LEVEL_NONE is not set
+# CONFIG_BTIF_TRACE_LEVEL_ERROR is not set
+CONFIG_BTIF_TRACE_LEVEL_WARNING=y
+# CONFIG_BTIF_TRACE_LEVEL_API is not set
+# CONFIG_BTIF_TRACE_LEVEL_EVENT is not set
+# CONFIG_BTIF_TRACE_LEVEL_DEBUG is not set
+# CONFIG_BTIF_TRACE_LEVEL_VERBOSE is not set
+CONFIG_BTIF_INITIAL_TRACE_LEVEL=2
+# CONFIG_BTC_TRACE_LEVEL_NONE is not set
+# CONFIG_BTC_TRACE_LEVEL_ERROR is not set
+CONFIG_BTC_TRACE_LEVEL_WARNING=y
+# CONFIG_BTC_TRACE_LEVEL_API is not set
+# CONFIG_BTC_TRACE_LEVEL_EVENT is not set
+# CONFIG_BTC_TRACE_LEVEL_DEBUG is not set
+# CONFIG_BTC_TRACE_LEVEL_VERBOSE is not set
+CONFIG_BTC_INITIAL_TRACE_LEVEL=2
+# CONFIG_OSI_TRACE_LEVEL_NONE is not set
+# CONFIG_OSI_TRACE_LEVEL_ERROR is not set
+CONFIG_OSI_TRACE_LEVEL_WARNING=y
+# CONFIG_OSI_TRACE_LEVEL_API is not set
+# CONFIG_OSI_TRACE_LEVEL_EVENT is not set
+# CONFIG_OSI_TRACE_LEVEL_DEBUG is not set
+# CONFIG_OSI_TRACE_LEVEL_VERBOSE is not set
+CONFIG_OSI_INITIAL_TRACE_LEVEL=2
+# CONFIG_BLUFI_TRACE_LEVEL_NONE is not set
+# CONFIG_BLUFI_TRACE_LEVEL_ERROR is not set
+CONFIG_BLUFI_TRACE_LEVEL_WARNING=y
+# CONFIG_BLUFI_TRACE_LEVEL_API is not set
+# CONFIG_BLUFI_TRACE_LEVEL_EVENT is not set
+# CONFIG_BLUFI_TRACE_LEVEL_DEBUG is not set
+# CONFIG_BLUFI_TRACE_LEVEL_VERBOSE is not set
+CONFIG_BLUFI_INITIAL_TRACE_LEVEL=2
+# CONFIG_BLE_HOST_QUEUE_CONGESTION_CHECK is not set
+CONFIG_SMP_ENABLE=y
+# CONFIG_BLE_ACTIVE_SCAN_REPORT_ADV_SCAN_RSP_INDIVIDUALLY is not set
+CONFIG_BLE_ESTABLISH_LINK_CONNECTION_TIMEOUT=30
+CONFIG_ADC2_DISABLE_DAC=y
+# CONFIG_EVENT_LOOP_PROFILING is not set
+CONFIG_POST_EVENTS_FROM_ISR=y
+CONFIG_POST_EVENTS_FROM_IRAM_ISR=y
+# CONFIG_ESP_SYSTEM_PD_FLASH is not set
+CONFIG_ESP32C3_LIGHTSLEEP_GPIO_RESET_WORKAROUND=y
+CONFIG_IPC_TASK_STACK_SIZE=1536
+CONFIG_ESP32_PHY_CALIBRATION_AND_DATA_STORAGE=y
+# CONFIG_ESP32_PHY_INIT_DATA_IN_PARTITION is not set
+CONFIG_ESP32_PHY_MAX_WIFI_TX_POWER=20
+CONFIG_ESP32_PHY_MAX_TX_POWER=20
+CONFIG_ESP_SYSTEM_PM_POWER_DOWN_CPU=y
+# CONFIG_ESP32S2_PANIC_PRINT_HALT is not set
+CONFIG_ESP32S2_PANIC_PRINT_REBOOT=y
+# CONFIG_ESP32S2_PANIC_SILENT_REBOOT is not set
+# CONFIG_ESP32S2_PANIC_GDBSTUB is not set
+CONFIG_ESP32S2_ALLOW_RTC_FAST_MEM_AS_HEAP=y
+CONFIG_SYSTEM_EVENT_QUEUE_SIZE=32
+CONFIG_SYSTEM_EVENT_TASK_STACK_SIZE=2304
+CONFIG_MAIN_TASK_STACK_SIZE=3584
+# CONFIG_CONSOLE_UART_DEFAULT is not set
+# CONFIG_CONSOLE_UART_CUSTOM is not set
+# CONFIG_ESP_CONSOLE_UART_NONE is not set
+CONFIG_CONSOLE_UART_NUM=-1
+# CONFIG_INT_WDT is not set
+CONFIG_TASK_WDT=y
+# CONFIG_TASK_WDT_PANIC is not set
+CONFIG_TASK_WDT_TIMEOUT_S=5
+CONFIG_TASK_WDT_CHECK_IDLE_TASK_CPU0=y
+# CONFIG_TASK_WDT_CHECK_IDLE_TASK_CPU1 is not set
+# CONFIG_ESP32_DEBUG_STUBS_ENABLE is not set
+CONFIG_TIMER_TASK_STACK_SIZE=3584
+CONFIG_SW_COEXIST_ENABLE=y
+# CONFIG_ESP32_ENABLE_COREDUMP_TO_FLASH is not set
+# CONFIG_ESP32_ENABLE_COREDUMP_TO_UART is not set
+CONFIG_ESP32_ENABLE_COREDUMP_TO_NONE=y
+# CONFIG_ENABLE_STATIC_TASK_CLEAN_UP_HOOK is not set
+CONFIG_TIMER_TASK_PRIORITY=1
+CONFIG_TIMER_TASK_STACK_DEPTH=2048
+CONFIG_TIMER_QUEUE_LENGTH=10
+# CONFIG_L2_TO_L3_COPY is not set
+# CONFIG_USE_ONLY_LWIP_SELECT is not set
+CONFIG_ESP_GRATUITOUS_ARP=y
+CONFIG_GARP_TMR_INTERVAL=60
+CONFIG_TCPIP_RECVMBOX_SIZE=32
+CONFIG_TCP_MAXRTX=12
+CONFIG_TCP_SYNMAXRTX=12
+CONFIG_TCP_MSS=1440
+CONFIG_TCP_MSL=60000
+CONFIG_TCP_SND_BUF_DEFAULT=5744
+CONFIG_TCP_WND_DEFAULT=5744
+CONFIG_TCP_RECVMBOX_SIZE=6
+CONFIG_TCP_QUEUE_OOSEQ=y
+# CONFIG_ESP_TCP_KEEP_CONNECTION_WHEN_IP_CHANGES is not set
+CONFIG_TCP_OVERSIZE_MSS=y
+# CONFIG_TCP_OVERSIZE_QUARTER_MSS is not set
+# CONFIG_TCP_OVERSIZE_DISABLE is not set
+CONFIG_UDP_RECVMBOX_SIZE=6
+CONFIG_TCPIP_TASK_STACK_SIZE=3072
+CONFIG_TCPIP_TASK_AFFINITY_NO_AFFINITY=y
+# CONFIG_TCPIP_TASK_AFFINITY_CPU0 is not set
+# CONFIG_TCPIP_TASK_AFFINITY_CPU1 is not set
+CONFIG_TCPIP_TASK_AFFINITY=0x7FFFFFFF
+# CONFIG_PPP_SUPPORT is not set
+CONFIG_ESP32_PTHREAD_TASK_PRIO_DEFAULT=5
+CONFIG_ESP32_PTHREAD_TASK_STACK_SIZE_DEFAULT=3072
+CONFIG_ESP32_PTHREAD_STACK_MIN=768
+CONFIG_ESP32_DEFAULT_PTHREAD_CORE_NO_AFFINITY=y
+# CONFIG_ESP32_DEFAULT_PTHREAD_CORE_0 is not set
+# CONFIG_ESP32_DEFAULT_PTHREAD_CORE_1 is not set
+CONFIG_ESP32_PTHREAD_TASK_CORE_DEFAULT=-1
+CONFIG_ESP32_PTHREAD_TASK_NAME_DEFAULT="pthread"
+CONFIG_SPI_FLASH_WRITING_DANGEROUS_REGIONS_ABORTS=y
+# CONFIG_SPI_FLASH_WRITING_DANGEROUS_REGIONS_FAILS is not set
+# CONFIG_SPI_FLASH_WRITING_DANGEROUS_REGIONS_ALLOWED is not set
+CONFIG_SUPPRESS_SELECT_DEBUG_OUTPUT=y
+CONFIG_SUPPORT_TERMIOS=y
+CONFIG_SEMIHOSTFS_MAX_MOUNT_POINTS=1
+# End of deprecated options
diff --git a/hw/bsp/esp32-s3-arduino/toolchain.cmake b/hw/bsp/esp32-s3-arduino/toolchain.cmake
new file mode 100644
index 00000000..fec37e54
--- /dev/null
+++ b/hw/bsp/esp32-s3-arduino/toolchain.cmake
@@ -0,0 +1,23 @@
+set(CMAKE_EXE_LINKER_FLAGS
+    "-Wl,--cref,--print-memory-usage,-Map=${CMAKE_PROJECT_NAME}.map"
+)
+
+set(GENERAL_FLAGS
+    "-fno-exceptions -ffunction-sections -fdata-sections"
+    CACHE INTERNAL "" FORCE)
+
+set(CMAKE_C_FLAGS
+    " ${GENERAL_FLAGS} -fdiagnostics-color=auto"
+    CACHE INTERNAL "" FORCE)
+
+set(CMAKE_CXX_FLAGS
+    " ${GENERAL_FLAGS} -fno-threadsafe-statics -fno-rtti -fdiagnostics-color=auto"
+    CACHE INTERNAL "" FORCE)
+
+set(CMAKE_ASM_FLAGS
+    "-x assembler-with-cpp"
+    CACHE INTERNAL "" FORCE)
+
+add_link_options(-fstack-usage)
+
+include($ENV{IDF_PATH}/tools/cmake/toolchain-esp32s3.cmake)
diff --git a/hw/mcu/esp/Shell/install_esp-idf.sh b/hw/mcu/esp/Shell/install_esp-idf.sh
index c58925ea..5356a76b 100755
--- a/hw/mcu/esp/Shell/install_esp-idf.sh
+++ b/hw/mcu/esp/Shell/install_esp-idf.sh
@@ -5,5 +5,5 @@ cd esp
 git clone --depth 1 --branch v4.4.4 https://github.com/espressif/esp-idf.git
 cd ./esp-idf
 git submodule update --init --recursive --recommend-shallow --depth 1
-bash ./install.sh esp32-c3
-cd components && git clone --depth 1 --branch idf-release/v4.4 https://github.com/espressif/arduino-esp32.git --depth 1
+bash ./install.sh && rm -rf .git
+cd components && git clone https://github.com/espressif/arduino-esp32.git && cd arduino-esp32 && git checkout 5bf60b74261e0eb9cd2001d46508580dd97868d4 && rm -rf .git
diff --git a/project.py b/project.py
index bd96c716..acc4d5ed 100755
--- a/project.py
+++ b/project.py
@@ -1,4 +1,4 @@
-#!python3
+#!/usr/bin/env python3
 import random
 import sys
 import os
diff --git a/src/component/comp_cmd.hpp b/src/component/comp_cmd.hpp
index b96c9c6d..be3b97e0 100644
--- a/src/component/comp_cmd.hpp
+++ b/src/component/comp_cmd.hpp
@@ -9,7 +9,7 @@ class CMD {
   typedef enum { GIMBAL_ABSOLUTE_CTRL, GIMBAL_RELATIVE_CTRL } GimbalCommandMode;
 
   typedef enum {
-    CTRL_SOURCE_RC,
+    CTRL_SOURCE_RC, /* 键鼠控制源 */
     CTRL_SOURCE_AI,
     CTRL_SOURCE_TERM,
     CTRL_SOURCE_EXT,
@@ -101,6 +101,7 @@ class CMD {
     self_->ctrl_source_ = source;
   }
   static ControlSource GetCtrlSource() { return self_->ctrl_source_; }
+  static Mode GetCtrlMode() { return self_->mode_; }
 
   static bool Online() { return self_->online_; }
 
diff --git a/src/component/comp_mixer.cpp b/src/component/comp_mixer.cpp
index 301ed737..ead64bac 100644
--- a/src/component/comp_mixer.cpp
+++ b/src/component/comp_mixer.cpp
@@ -78,11 +78,14 @@ bool Mixer::Apply(Component::Type::MoveVector &move_vec, float *out) {
       out[3] = -move_vec.vx - move_vec.vy + move_vec.wz;
       break;
     case OMNIPLUS:
+      XB_ASSERT(this->len_ == 4);
+      out[0] = move_vec.vx + move_vec.wz;
+      out[1] = move_vec.vy + move_vec.wz;
+      out[2] = -move_vec.vx + move_vec.wz;
+      out[3] = -move_vec.vy + move_vec.wz;
       break;
 
     case NONE:
-      break;
-
     default:
       break;
   }
diff --git a/src/device/ai/dev_ai.cpp b/src/device/ai/dev_ai.cpp
index 4e2fb2a8..a5b309cc 100644
--- a/src/device/ai/dev_ai.cpp
+++ b/src/device/ai/dev_ai.cpp
@@ -16,10 +16,11 @@ static uint8_t txbuf[AI_LEN_TX_BUFF];
 
 using namespace Device;
 
-AI::AI()
-    : data_ready_(false),
+AI::AI(bool autoscan_enable)
+    : autoscan_enable_(autoscan_enable),
       event_(Message::Event::FindEvent("cmd_event")),
-      cmd_tp_("cmd_ai") {
+      cmd_tp_("cmd_ai"),
+      data_ready_(false) {
   auto rx_cplt_callback = [](void *arg) {
     AI *ai = static_cast<AI *>(arg);
     ai->data_ready_.Post();
@@ -34,29 +35,37 @@ AI::AI()
     auto quat_sub =
         Message::Subscriber<Component::Type::Quaternion>("imu_quat");
     auto ref_sub = Message::Subscriber<Device::Referee::Data>("referee");
+    auto gimbal_sub = Message::Subscriber<float>("gimbal_data");
+
+    auto eulr_sub = Message::Subscriber<Component::Type::Eulr>("imu_eulr");
 
     while (1) {
-      /* 接收指令 */
-      ai->StartRecv();
+      /* 接收云台数据 */
+      gimbal_sub.DumpData(ai->chassis_yaw_offset_);
+      eulr_sub.DumpData(ai->eulr_); /* imu */
 
+      /* 接收裁判系统数据 */
+      if (ref_sub.DumpData(ai->raw_ref_)) {
+        ai->PraseRef();
+        ai->PackRef();
+      }
+      /* 接收上位机数据 */
+      ai->StartRecv();
       if (ai->data_ready_.Wait(0)) {
         ai->PraseHost();
       } else {
         ai->Offline();
       }
 
-      /* 发布控制命令 */
+      /* 决策与命令发布 */
+      ai->DecideAction();
       ai->PackCMD();
+      ai->ai_tp_.Publish(ai->cmd_for_ref_);
 
       /* 发送数据到上位机 */
       quat_sub.DumpData(ai->quat_);
       ai->PackMCU();
 
-      if (ref_sub.DumpData(ai->raw_ref_)) {
-        ai->PraseRef();
-        ai->PackRef();
-      }
-
       ai->StartTrans();
 
       System::Thread::Sleep(2);
@@ -101,7 +110,11 @@ bool AI::Offline() {
   /* 离线移交控制权 */
   if (bsp_time_get_ms() - this->last_online_time_ > 200) {
     memset(&this->cmd_, 0, sizeof(cmd_));
-    this->cmd_.online = false;
+    if (!this->autoscan_enable_) {
+      this->cmd_.online = true;
+    } else {
+      this->cmd_.online = false;
+    }
     this->cmd_.ctrl_source = Component::CMD::CTRL_SOURCE_AI;
     this->cmd_tp_.Publish(this->cmd_);
   }
@@ -112,6 +125,7 @@ bool AI::PackMCU() {
   this->to_host_.mcu.id = AI_ID_MCU;
   memcpy(&(this->to_host_.mcu.package.data.quat), &(this->quat_),
          sizeof(this->quat_));
+  this->to_host_.mcu.package.data.notice = this->notice_for_ai_;
   this->to_host_.mcu.package.crc16 = Component::CRC16::Calculate(
       reinterpret_cast<const uint8_t *>(&(this->to_host_.mcu.package)),
       sizeof(this->to_host_.mcu.package) - sizeof(uint16_t), CRC16_INIT);
@@ -135,50 +149,208 @@ bool AI::PackRef() {
   return true;
 }
 
-bool AI::PackCMD() {
+void AI::DecideAction() {
   memcpy(&(this->cmd_.gimbal.eulr), &(this->from_host_.data.gimbal),
          sizeof(this->cmd_.gimbal.eulr));
+  this->notice_ = this->from_host_.data.notice;
+  /* AI自瞄数据不更新，重置notice_ */
+  // TODO:检测更新方式不合理
+  if (this->cmd_.gimbal.eulr.yaw == this->last_auto_aim_eulr_.yaw ||
+      this->cmd_.gimbal.eulr.pit == this->last_auto_aim_eulr_.pit) {
+    this->notice_ = 0;
+  } else {
+    this->aim_time_ = bsp_time_get_ms(); /* 自瞄锁定时刻 */
+  }
+  memcpy(&(this->last_auto_aim_eulr_), &(this->cmd_.gimbal.eulr),
+         sizeof(this->cmd_.gimbal.eulr));
 
-  memcpy(&(this->cmd_.ext.extern_channel),
-         &(this->from_host_.data.extern_channel),
-         sizeof(this->cmd_.ext.extern_channel));
+  /* 判定是否受击打，一定时间内第一次受击打方向优先级最高 */
+  if (this->raw_ref_.robot_damage.damage_type == 0x0 &&
+      (this->raw_ref_.robot_damage.damage_type != damage_.type_) &&
+      (damage_.is_damaged_ == false)) {
+    this->damage_.is_damaged_ = true;
+    this->damage_.id_ = this->raw_ref_.robot_damage.armor_id;
+    this->damage_.yaw_offset_ = this->chassis_yaw_offset_;
+    this->damage_.gimbal_yaw_ = this->eulr_.yaw;
+    this->damage_.time_ = bsp_time_get_ms();
+  }
+  if (bsp_time_get_ms() - this->damage_.time_ > 1500) {
+    this->damage_.is_damaged_ = false;
+  }
 
-  memcpy(&(this->cmd_.chassis), &(this->from_host_.data.chassis_move_vec),
-         sizeof(this->from_host_.data.chassis_move_vec));
+  /* 判定是否可以开始导航 */
+  if (this->from_host_.data.chassis_move_vec.vx == 0 && damage_.is_damaged_) {
+    navigation_enable_ = false;
+  } else {
+    navigation_enable_ = true;
+  }
 
-  this->notice_ = this->from_host_.data.notice;
+  /* 裁判系统行为：确认复活、购买发弹量 */
+  if (this->ref_.hp == 0) {
+    this->action_.ai_to_referee = CONFIRM_RESURRECTION;
+  } else if (this->ref_.bullet_num == 0 && this->ref_.coin_num > 200) {
+    this->action_.ai_to_referee = EXCHANGE_BULLETS;
+  } else {
+    this->action_.ai_to_referee = NOTHING;
+  }
 
-  memcpy(&(this->last_eulr_), &(this->cmd_.gimbal.eulr),
-         sizeof(this->cmd_.gimbal.eulr));
+  /* 底盘行为*/
+  if (navigation_enable_) {
+    if (this->ref_.outpost_hp > 200) { /* 认为哨兵&基地无敌 */
+      this->action_.ai_chassis = AI::Action::TO_HIGHWAY;
+      this->notice_for_ai_ = AI::Action::TO_HIGHWAY;
+    } else {
+      if (this->ref_.hp < 100 ||
+          (this->action_.ai_to_referee == EXCHANGE_BULLETS)) { /* max = 400 */
+        this->action_.ai_chassis = AI::Action::TO_SUPPLY;
+        this->notice_for_ai_ = AI::Action::TO_SUPPLY;
+      } else {
+        this->action_.ai_chassis = AI::Action::TO_PATROL_AREA;
+        this->notice_for_ai_ = AI::Action::TO_PATROL_AREA;
+      }
+    }
+  } else {
+    this->action_.ai_chassis = AI::Action::ROTOR;
+  }
 
-  this->cmd_.ctrl_source = Component::CMD::CTRL_SOURCE_AI;
+  /* 云台行为 */
+  if (this->notice_ == AI_NOTICE_AUTO_AIM || this->notice_ == AI_NOTICE_FIRE ||
+      bsp_time_get_ms() - this->aim_time_ < 1000) {
+    /* 自瞄/丢失目标1000ms内，进行视觉暂留 */
+    this->action_.ai_gimbal = AI::Action::AUTO_AIM;
+    this->cmd_.gimbal.mode = Component::CMD::GIMBAL_ABSOLUTE_CTRL;
+  } else if (damage_.is_damaged_) {
+    this->cmd_.gimbal.mode = Component::CMD::GIMBAL_ABSOLUTE_CTRL;
+    this->action_.ai_gimbal = AI::Action::AFFECTED;
+  } else {
+    this->cmd_.gimbal.mode = Component::CMD::GIMBAL_ABSOLUTE_CTRL;
+    this->action_.ai_gimbal = AI::Action::SCANF;
+  }
 
-  this->cmd_tp_.Publish(this->cmd_);
+  /* 发射机构行为 */
+  if (this->notice_ == AI_NOTICE_FIRE) { /* 开火 */
+    this->action_.ai_launcher = AI::Action::FIRE;
+  } else {
+    this->action_.ai_launcher = AI::Action::CEASEFIRE; /* 不发弹 */
+  }
+}
 
+bool AI::PackCMD() {
+  /* 确保遥控器开关最高控制权，关遥控器即断控 */
   if (!Component::CMD::Online()) {
     return false;
   }
 
-  /* 控制权在AI */
+  /* 控制源：AI */
   if (Component::CMD::GetCtrlSource() == Component::CMD::CTRL_SOURCE_AI) {
-    if (this->cmd_.online) {
-      if (this->notice_ == AI_NOTICE_AUTO_AIM) {
-        this->cmd_.gimbal.mode = Component::CMD::GIMBAL_ABSOLUTE_CTRL;
-        this->event_.Active(AI_FIND_TARGET);
-      } else if (this->notice_ == AI_NOTICE_FIRE) {
-        this->cmd_.gimbal.mode = Component::CMD::GIMBAL_ABSOLUTE_CTRL;
-        this->event_.Active(AI_FIND_TARGET);
-        this->event_.Active(AI_FIRE_COMMAND);
-      } else {
-        this->event_.Active(AI_AUTOPATROL);
+    /* AUTO控制模式，用于全自动机器人 */
+    if (Component::CMD::GetCtrlMode() == Component::CMD::CMD_AUTO_CTRL) {
+      switch (this->action_.ai_chassis) {
+        case TO_PATROL_AREA:
+        case TO_HIGHWAY:
+        case TO_OUTPOST:
+        case TO_SUPPLY:
+          memcpy(&(this->cmd_.chassis),
+                 &(this->from_host_.data.chassis_move_vec),
+                 sizeof(this->from_host_.data.chassis_move_vec));
+          break;
+        case ROTOR:
+          this->event_.Active(AI_ROTOR);
+          break;
+      }
+
+      switch (this->action_.ai_gimbal) {
+        case AUTO_AIM:
+          memcpy(&(this->cmd_.gimbal.eulr), &(this->from_host_.data.gimbal),
+                 sizeof(this->cmd_.gimbal.eulr));
+          break;
+        case AFFECTED:
+          this->cmd_.gimbal.eulr.yaw = this->damage_.gimbal_yaw_ +
+                                       this->damage_.id_ * (M_2PI / 4.0) -
+                                       this->damage_.yaw_offset_;
+          this->cmd_.gimbal.eulr.pit = 0.0f;
+          this->gimbal_scan_start_angle_ =
+              this->eulr_.yaw;            /* 更新yaw扫描的起始位置 */
+          this->target_scan_angle_ = 0.0; /* 置零yaw扫描的位置增量 */
+          break;
+        case SCANF:
+          this->target_scan_angle_ += this->scanf_mode_.scanf_yaw_rate;
+          this->cmd_.gimbal.eulr.yaw =
+              this->target_scan_angle_ + this->gimbal_scan_start_angle_;
+          this->cmd_.gimbal.eulr.pit =
+              this->scanf_mode_.scanf_pit_center +
+              this->scanf_mode_.scanf_pit_range *
+                  sinf(this->scanf_mode_.scanf_pit_omega *
+                       static_cast<float>(bsp_time_get_ms()) / 1000.0f);
+          break;
+      }
+
+      switch (this->action_.ai_launcher) {
+        case FIRE:
+          this->event_.Active(AI_FIRE_COMMAND); /* 发弹指令，采用连发模式 */
+          break;
+        case CEASEFIRE:
+          this->event_.Active(AI_STOP_FIRE);
+          break;
+      }
+
+      switch (this->action_.ai_to_referee) {
+        case CONFIRM_RESURRECTION:
+          cmd_for_ref_.confirm_resurrection = 1;
+          cmd_for_ref_.buy_resurrection = 0;
+          cmd_for_ref_.buy_bullet_num = 0;
+          cmd_for_ref_.remote_buy_bullet_times = 0;
+          cmd_for_ref_.romote_buy_hp_times = 0;
+          break;
+        case EXCHANGE_BULLETS:
+          cmd_for_ref_.confirm_resurrection = 0;
+          cmd_for_ref_.buy_resurrection = 0;
+          cmd_for_ref_.buy_bullet_num = this->last_buy_bullet_num_ + 50;
+          cmd_for_ref_.remote_buy_bullet_times = 0;
+          cmd_for_ref_.romote_buy_hp_times = 0;
+          break;
+        case NOTHING:
+          cmd_for_ref_.confirm_resurrection = 0;
+          cmd_for_ref_.buy_resurrection = 0;
+          cmd_for_ref_.buy_bullet_num = this->last_buy_bullet_num_;
+          cmd_for_ref_.remote_buy_bullet_times = 0;
+          cmd_for_ref_.romote_buy_hp_times = 0;
+          break;
+      }
+      this->last_buy_bullet_num_ = cmd_for_ref_.buy_bullet_num;
+
+      /* 比赛开始前不运行 */
+      if (this->ref_.game_progress == GAMING ||
+          this->ref_.game_progress == PREPARATION ||
+          this->ref_.game_progress == WAITTING) {
+        this->cmd_tp_.Publish(this->cmd_);
       }
-    } else {
-      this->event_.Active(AI_OFFLINE);
     }
-  }
+    /* OP控制模式，用于鼠标右键自瞄 */
+    else if (Component::CMD::GetCtrlMode() == Component::CMD::CMD_OP_CTRL) {
+      memcpy(&(this->cmd_.gimbal.eulr), &(this->from_host_.data.gimbal),
+             sizeof(this->cmd_.gimbal.eulr));
+
+      memcpy(&(this->cmd_.ext.extern_channel),
+             &(this->from_host_.data.extern_channel),
+             sizeof(this->cmd_.ext.extern_channel));
+
+      memcpy(&(this->cmd_.chassis), &(this->from_host_.data.chassis_move_vec),
+             sizeof(this->from_host_.data.chassis_move_vec));
 
-  this->notice_ = 0;
+      memcpy(&(this->cmd_.ext.extern_channel),
+             &(this->from_host_.data.extern_channel),
+             sizeof(this->cmd_.ext.extern_channel));
 
+      this->notice_ = this->from_host_.data.notice;
+
+      this->cmd_.ctrl_source = Component::CMD::CTRL_SOURCE_AI;
+
+      this->cmd_tp_.Publish(this->cmd_);
+      this->cmd_tp_.Publish(this->cmd_);
+      this->cmd_tp_.Publish(this->cmd_);
+    }
+  }
   return true;
 }
 
@@ -245,4 +417,29 @@ void AI::PraseRef() {
     default:
       this->ref_.robot_id = AI_ARM_INFANTRY;
   }
+
+  this->ref_.game_progress = this->raw_ref_.game_status.game_progress;
+
+  if (this->raw_ref_.robot_status.robot_id < 100) {
+    this->ref_.base_hp = this->raw_ref_.game_robot_hp.red_base;
+    this->ref_.outpost_hp = this->raw_ref_.game_robot_hp.red_outpose;
+    this->ref_.own_virtual_shield_value =
+        this->raw_ref_.field_event.virtual_shield_value;
+  } else {
+    this->ref_.base_hp = this->raw_ref_.game_robot_hp.blue_base;
+    this->ref_.outpost_hp = this->raw_ref_.game_robot_hp.blue_outpose;
+    this->ref_.own_virtual_shield_value =
+        this->raw_ref_.field_event.virtual_shield_value;
+  }
+  this->ref_.coin_num = this->raw_ref_.bullet_remain.coin_remain;
+  this->ref_.pos_x = this->raw_ref_.robot_pos.x;
+  this->ref_.pos_y = this->raw_ref_.robot_pos.y;
+  this->ref_.pos_angle = this->raw_ref_.robot_pos.angle;
+
+  this->ref_.target_pos_x = this->raw_ref_.client_map.position_x;
+  this->ref_.target_pos_y = this->raw_ref_.client_map.position_y;
+
+  if (this->raw_ref_.robot_damage.damage_type == 0) {
+    this->ref_.damaged_armor_id = this->raw_ref_.robot_damage.armor_id;
+  }
 }
diff --git a/src/device/ai/dev_ai.hpp b/src/device/ai/dev_ai.hpp
index bdbc56a6..8f25773d 100644
--- a/src/device/ai/dev_ai.hpp
+++ b/src/device/ai/dev_ai.hpp
@@ -29,17 +29,81 @@ class AI {
     uint32_t ball_speed;
     uint32_t max_hp;
     uint32_t hp;
+
+    uint8_t game_progress;
+    uint16_t base_hp;
+    uint16_t outpost_hp;
+    uint16_t bullet_num;
+    uint16_t coin_num;
+    uint8_t own_virtual_shield_value;
+    float pos_x;
+    float pos_y;
+    float pos_angle;
+    float target_pos_x;
+    float target_pos_y;
+    uint8_t damaged_armor_id;
   } RefForAI;
 
+  typedef struct {
+    float scanf_yaw_rate;
+    float scanf_pit_center;
+    float scanf_pit_range;
+    float scanf_pit_omega;
+  } ScanfMode;
+
   typedef enum {
-    AI_OFFLINE = 128,
-    AI_FIND_TARGET,
-    AI_AUTOPATROL,
-    AI_TURN,
+    AI_OFFLINE = 127,
+    AI_INDENPENDENT,
+    AI_FOLLOW,
+    AI_ROTOR,
     AI_FIRE_COMMAND,
+    AI_STOP_FIRE,
   } AIControlData;
 
-  AI();
+  typedef enum {
+    WAITTING = 0,
+    PREPARATION = 1,
+    REF_INSPECTION = 2,
+    COUNTDOWN_5S = 3,
+    GAMING = 4,
+    GAME_END = 5,
+  } GameProgress;
+  typedef enum {
+    TO_PATROL_AREA = 0, /* 哨兵巡逻区 */
+    TO_SUPPLY = 1,      /* 补给区 */
+    TO_HIGHWAY = 2,     /* 公路区 */
+    TO_OUTPOST = 3,     /* 前哨站 */
+    ROTOR = 4,
+
+    SCANF = 5,
+    AUTO_AIM = 6,
+    AFFECTED = 7, /* 反击*/
+
+    CEASEFIRE = 8, /* 停火 */
+    FIRE = 9,
+
+    NOTHING = 10,
+    CONFIRM_RESURRECTION = 11, /* 确认复活 */
+    EXCHANGE_BULLETS = 12,     /* 兑换弹丸 */
+    /* 其他行为暂不考虑 */
+  } Action;
+
+  typedef struct __attribute__((packed)) {
+    uint32_t confirm_resurrection : 1;
+    uint32_t buy_resurrection : 1;
+    uint32_t buy_bullet_num : 11;
+    uint32_t remote_buy_bullet_times : 4;
+    uint32_t romote_buy_hp_times : 4;
+    uint32_t res : 11;
+  } SentryDecisionData;
+  typedef struct {
+    uint8_t ai_chassis;    /* 小陀螺、导航 */
+    uint8_t ai_gimbal;     /* 扫描、自瞄、反击 */
+    uint8_t ai_launcher;   /* 不发弹丸、开火 */
+    uint8_t ai_to_referee; /* 确认复活、购买发弹量、购买血量 */
+  } AICtrlAction;
+
+  AI(bool autoscan_enable = false);
 
   bool StartRecv();
 
@@ -57,39 +121,84 @@ class AI {
 
   bool PackCMD();
 
+  void DecideAction();
+
  private:
+  /* function */
+  bool autoscan_enable_ = true; /* AI自动扫描，不启用则默认AI全程在线 */
+
+  /* run status */
+  bool navigation_enable_ = 0;
   bool ref_updated_ = false;
+  uint8_t last_buy_bullet_num_ = 0;
 
+  /* time record */
   uint32_t last_online_time_ = 0;
+  uint32_t aim_time_;
+
+  /* angle record */
+  float chassis_yaw_offset_ = 0;
+  float gimbal_scan_start_angle_;
+  Component::Type::Eulr eulr_;
+  Component::Type::Quaternion quat_;
+  Component::Type::CycleValue target_scan_angle_ = 0.0;
+  struct {
+    float yaw; /* 偏航角（Yaw angle） */
+    float pit; /* 俯仰角（Pitch angle） */
+    float rol; /* 翻滚角（Roll angle） */
+  } last_auto_aim_eulr_;
 
-  Protocol_DownPackage_t from_host_{};
-
+  /* notice */
   uint8_t notice_;
+  uint8_t notice_for_ai_;
+
+  /* Damage Status */
+  struct {
+    uint8_t type_;
+    bool is_damaged_;
+    uint8_t id_;
+    uint32_t time_;
+    Component::Type::CycleValue yaw_offset_;
+    Component::Type::CycleValue gimbal_yaw_;
+  } damage_;
+
+  /* Data */
+  Protocol_DownPackage_t from_host_{};
 
   struct {
     RefereePckage ref{};
     MCUPckage mcu{};
   } to_host_;
 
-  RefForAI ref_{};
+  RefForAI ref_;
 
-  System::Thread thread_;
+  Component::CMD::Data cmd_{};
 
-  System::Semaphore data_ready_;
+  AICtrlAction action_;
+
+  ScanfMode scanf_mode_ = {
+      .scanf_yaw_rate = 0.0025f,
+      .scanf_pit_center = 0.04f,
+      .scanf_pit_range = 0.22f,
+      .scanf_pit_omega = 5.0f,
+  };
+
+  SentryDecisionData cmd_for_ref_;
+
+  /* Topic & Event */
 
   Message::Event event_;
 
   Message::Topic<Component::CMD::Data> cmd_tp_;
 
-  Component::CMD::Data cmd_{};
+  Message::Topic<SentryDecisionData> ai_tp_ =
+      Message::Topic<SentryDecisionData>("sentry_cmd_for_ref");
 
-  struct {
-    float yaw; /* 偏航角（Yaw angle） */
-    float pit; /* 俯仰角（Pitch angle） */
-    float rol; /* 翻滚角（Roll angle） */
-  } last_eulr_;
-
-  Component::Type::Quaternion quat_{};
   Device::Referee::Data raw_ref_{};
+
+  /* Task Control */
+  System::Thread thread_;
+
+  System::Semaphore data_ready_;
 };
 }  // namespace Device
diff --git a/src/device/referee/dev_referee.cpp b/src/device/referee/dev_referee.cpp
index 5f200910..29159e96 100644
--- a/src/device/referee/dev_referee.cpp
+++ b/src/device/referee/dev_referee.cpp
@@ -37,6 +37,8 @@ using namespace Device;
 static uint8_t rxbuf[REF_LEN_RX_BUFF];
 
 Referee::UIPack Referee::ui_pack_;
+Referee::SentryPack Referee::sentry_pack_;
+
 Referee *Referee::self_;
 
 Referee::Referee() : event_(Message::Event::FindEvent("cmd_event")) {
@@ -97,11 +99,13 @@ Referee::Referee() : event_(Message::Event::FindEvent("cmd_event")) {
   this->recv_thread_.Create(ref_recv_thread, this, "ref_recv_thread",
                             DEVICE_REF_RECV_TASK_STACK_DEPTH,
                             System::Thread::REALTIME);
+
   auto ref_trans_thread = [](Referee *ref) {
     uint32_t last_online_time = bsp_time_get_ms();
-
+    auto ai_sub = Message::Subscriber<SentryDecisionData>("sentry_cmd_for_ref");
     while (1) {
-      ref->UpdateUI();
+      ai_sub.DumpData(ref->data_from_sentry_);
+      ref->Update(); /* 更新UI */
       ref->trans_thread_.SleepUntil(40, last_online_time);
     }
   };
@@ -309,7 +313,7 @@ void Referee::Prase() {
   memset(rxbuf, 0, data_length);
 }
 
-bool Referee::UpdateUI() {
+bool Referee::Update() {
   this->packet_sent_.Wait(UINT32_MAX);
 
   this->ui_lock_.Wait(UINT32_MAX);
@@ -318,6 +322,7 @@ bool Referee::UpdateUI() {
   uint32_t ele_counter = 0;
   uint32_t pack_size = 0;
   CMDID cmd_id = REF_STDNT_CMD_ID_UI_DEL;
+
   Component::UI::GraphicOperation op = Component::UI::UI_GRAPHIC_OP_NOTHING;
 
   if (!done && this->static_del_data_.Size() > 0) {
@@ -436,7 +441,7 @@ bool Referee::UpdateUI() {
     return false;
   }
 
-  this->ui_pack_.raw.cmd_id = REF_CMD_ID_INTER_STUDENT;
+  this->ui_pack_.raw.cmd_id = REF_CMD_ID_INTER_STUDENT; /* 0x0301 */
 
   SetUIHeader(this->ui_pack_.raw.student_header, cmd_id,
               static_cast<RobotID>(this->ref_data_.robot_status.robot_id));
@@ -530,6 +535,17 @@ void Referee::SetUIHeader(Referee::InterStudentHeader &header,
     header.id_receiver = robot_id + 0x0100;
   }
 }
+void Referee::SetSentryHeader(Referee::InterStudentHeader &header,
+                              const Referee::CMDID CMD_ID,
+                              Referee::RobotID robot_id) {
+  header.cmd_id = CMD_ID;
+  if (robot_id > 100) {
+    header.id_sender = 0x0107;
+  } else {
+    header.id_sender = 0x0007;
+  }
+  header.id_receiver = 0x8080;
+}
 
 void Referee::SetPacketHeader(Referee::Header &header, uint16_t data_length) {
   static uint8_t seq = 0;
diff --git a/src/device/referee/dev_referee.hpp b/src/device/referee/dev_referee.hpp
index a7a76e12..304b509f 100644
--- a/src/device/referee/dev_referee.hpp
+++ b/src/device/referee/dev_referee.hpp
@@ -1,6 +1,6 @@
 /*
   裁判系统抽象。
-  2024_03_21 已修改。
+  2024_05_04 已更新至1.6.2版。
 */
 
 #pragma once
@@ -76,11 +76,11 @@ class Referee {
     REF_CMD_ID_RADAR_MARK = 0X020C,
     REF_CMD_ID_SENTRY_DECISION = 0x020D, /* 哨兵自主决策相关信息同步 */
     REF_CMD_ID_RADAR_DECISION = 0x020E, /* 雷达自主决策相关信息同步 */
-    REF_CMD_ID_INTER_STUDENT = 0x0301,
-    REF_CMD_ID_INTER_STUDENT_CUSTOM = 0x0302,
+    REF_CMD_ID_INTER_STUDENT = 0x0301,        /* 机器人交互数据 */
+    REF_CMD_ID_INTER_STUDENT_CUSTOM = 0x0302, /* 自定义控制器和机器人 */
     REF_CMD_ID_CLIENT_MAP = 0x0303,
     REF_CMD_ID_KEYBOARD_MOUSE = 0x0304,
-    REF_CMD_ID_MAP_ROBOT_DATA = 0x0305,  // 0x0305
+    REF_CMD_ID_MAP_ROBOT_DATA = 0x0305,
     REF_CMD_ID_CUSTOM_KEYBOARD_MOUSE = 0X0306,
     REF_CMD_ID_SENTRY_POS_DATA = 0x0307,
     REF_CMD_ID_ROBOT_POS_DATA = 0x0308, /* 选手端小地图接受机器人消息 */
@@ -288,11 +288,11 @@ class Referee {
     uint8_t res : 5;
   } RadarInfo; /* 0x020E */
   typedef struct __attribute__((packed)) {
-    uint16_t data_cmd_id;
+    uint16_t data_cmd_id; /* 子内容ID */
     uint16_t sender_id;
     uint16_t receiver_id;
-    std::array<int8_t, 113> user_data;
-    /*最大值113*/
+    std::array<int8_t, 112> user_data;
+    /*最大值112*/
   } RobotInteractionData; /* 0x0301 */
 
   typedef struct __attribute__((packed)) {
@@ -355,7 +355,10 @@ class Referee {
     REF_BOT_RED_INFANTRY_3 = 5,
     REF_BOT_RED_DRONE = 6,
     REF_BOT_RED_SENTRY = 7,
+    REF_BOT_RED_DART = 8,
     REF_BOT_RED_RADER = 9,
+    REF_BOT_RED_OUTPOST = 10,
+    REF_BOT_RED_BASE = 11,
     REF_BOT_BLU_HERO = 101,
     REF_BOT_BLU_ENGINEER = 102,
     REF_BOT_BLU_INFANTRY_1 = 103,
@@ -363,7 +366,10 @@ class Referee {
     REF_BOT_BLU_INFANTRY_3 = 105,
     REF_BOT_BLU_DRONE = 106,
     REF_BOT_BLU_SENTRY = 107,
+    REF_BOT_BLU_DART = 108,
     REF_BOT_BLU_RADER = 109,
+    REF_BOT_BLU_OUTPOST = 110,
+    REF_BOT_BLU_BASE = 111,
   } RobotID;
 
   typedef enum {
@@ -379,7 +385,8 @@ class Referee {
     REF_CL_BLU_INFANTRY_2 = 0x0168,
     REF_CL_BLU_INFANTRY_3 = 0x0169,
     REF_CL_BLU_DRONE = 0x016A,
-  } ClientID;
+    REF_CL_REFEREE_SERVER = 0x8080, /* 裁判系统服务器，用于哨兵和雷达自主决策 */
+  } ClientID;                       /* 子内容ID */
 
   typedef enum {
     REF_STDNT_CMD_ID_UI_DEL = 0x0100,
@@ -389,8 +396,8 @@ class Referee {
     REF_STDNT_CMD_ID_UI_DRAW7 = 0x0104,
     REF_STDNT_CMD_ID_UI_STR = 0x0110,
     REF_STDNT_CMD_ID_CUSTOM = 0x0200,
-    REF_STDNT_CMD_ID_SENTRY_COMMAND = 0X0120,
-    REF_STDNT_CMD_ID_RADAR_COMMAND = 0X0121,
+    REF_STDNT_CMD_ID_SENTRY_CMD = 0X0120,
+    REF_STDNT_CMD_ID_RADAR_CMD = 0X0121,
   } CMDID;
 
   typedef struct __attribute__((packed)) {
@@ -487,10 +494,35 @@ class Referee {
     struct __attribute__((packed)) {
       Header frame_header;
       uint16_t cmd_id;
-      Referee::InterStudentHeader student_header;
+      Referee::InterStudentHeader student_header;  //字命令、发送者、接受者
     } raw;
   };
 
+  typedef struct __attribute__((packed)) {
+    uint32_t confirm_resurrection : 1;
+    uint32_t buy_resurrection : 1;
+    uint32_t buy_bullet_num : 11;
+    uint32_t remote_buy_bullet_times : 4;
+    uint32_t romote_buy_hp_times : 4;
+    uint32_t res : 11;
+  } SentryDecisionData;
+
+  typedef struct __attribute__((packed)) {
+    Header frame_header;  // 0x0301
+    uint16_t cmd_id;
+    Referee::InterStudentHeader student_header;  //含0x0120
+    uint32_t data_cmd;
+    uint16_t crc16;
+  } SentryPack;
+
+  typedef struct __attribute__((packed)) {
+    Header frame_header;
+    uint16_t cmd_id;
+    Referee::InterStudentHeader student_header;
+    uint8_t radar_cmd;
+    uint16_t crc16;
+  } RadarPack;
+
   Referee();
 
   bool UIStackEmpty();
@@ -501,7 +533,7 @@ class Referee {
 
   void Prase();
 
-  bool UpdateUI();
+  bool Update();
 
   static bool AddUI(Component::UI::Ele ui_data);
   static bool AddUI(Component::UI::Del ui_data);
@@ -516,6 +548,8 @@ class Referee {
 
   void SetUIHeader(InterStudentHeader &header, const CMDID CMD_ID,
                    RobotID robot_id);
+  void SetSentryHeader(InterStudentHeader &header, const CMDID CMD_ID,
+                       RobotID robot_id);
 
   void SetPacketHeader(Referee::Header &header, uint16_t data_length);
 
@@ -546,8 +580,13 @@ class Referee {
   System::Queue<Component::UI::Del> static_del_data_ =
       System::Queue<Component::UI::Del>(10);
 
+  System::Queue<SentryDecisionData> sentry_data_ =
+      System::Queue<SentryDecisionData>(10);
+
   System::Semaphore ui_lock_ = System::Semaphore(true);
 
+  System::Semaphore sentry_lock_ = System::Semaphore(true);
+
   Data ref_data_;
 
   Data last_data_;
@@ -556,6 +595,9 @@ class Referee {
 
   static UIPack ui_pack_;
 
+  static SentryPack sentry_pack_;
+
   static Referee *self_;
+  SentryDecisionData data_from_sentry_;
 };
 }  // namespace Device
diff --git a/src/module/chassis/mod_chassis.cpp b/src/module/chassis/mod_chassis.cpp
index f4c8c190..ffad075c 100644
--- a/src/module/chassis/mod_chassis.cpp
+++ b/src/module/chassis/mod_chassis.cpp
@@ -95,7 +95,7 @@ Chassis<Motor, MotorParam>::Chassis(Param& param, float control_freq)
     auto cmd_sub =
         Message::Subscriber<Component::CMD::ChassisCMD>("cmd_chassis");
 
-    auto yaw_sub = Message::Subscriber<float>("chassis_yaw");
+    auto yaw_sub = Message::Subscriber<GimbalData>("gimbal_data");
 
     auto cap_sub = Message::Subscriber<Device::Cap::Info>("cap_info");
 
@@ -105,7 +105,7 @@ Chassis<Motor, MotorParam>::Chassis(Param& param, float control_freq)
       /* 读取控制指令、电容、裁判系统、电机反馈 */
       cmd_sub.DumpData(chassis->cmd_);
       raw_ref_sub.DumpData(chassis->raw_ref_);
-      yaw_sub.DumpData(chassis->yaw_);
+      yaw_sub.DumpData(chassis->gimbal_data_);
       cap_sub.DumpData(chassis->cap_);
 
       /* 更新反馈值 */
@@ -163,7 +163,7 @@ void Chassis<Motor, MotorParam>::Control() {
     case Chassis::FOLLOW_GIMBAL: /* 按照云台方向换算运动向量
                                   */
     case Chassis::ROTOR: {
-      float beta = this->yaw_;
+      float beta = this->gimbal_data_.yaw_;
       float cos_beta = cosf(beta);
       float sin_beta = sinf(beta);
       this->move_vec_.vx = cos_beta * this->cmd_.x - sin_beta * this->cmd_.y;
@@ -185,7 +185,7 @@ void Chassis<Motor, MotorParam>::Control() {
     case Chassis::FOLLOW_GIMBAL: /* 跟随模式通过PID控制使车头跟随云台
                                   */
       this->move_vec_.wz =
-          this->follow_pid_.Calculate(0.0f, this->yaw_, this->dt_);
+          this->follow_pid_.Calculate(0.0f, this->gimbal_data_.yaw_, this->dt_);
       break;
 
     case Chassis::ROTOR: { /* 小陀螺模式使底盘以一定速度旋转
@@ -222,11 +222,11 @@ void Chassis<Motor, MotorParam>::Control() {
       clampf(&percentage, 0.0f, 1.0f);
 
       for (unsigned i = 0; i < this->mixer_.len_; i++) {
-        float out = this->actuator_[i]->Calculate(
+        out_.motor3508_out[i] = this->actuator_[i]->Calculate(
             this->setpoint_.motor_rotational_speed[i] *
                 MOTOR_MAX_ROTATIONAL_SPEED,
             this->motor_[i]->GetSpeed(), this->dt_);
-        this->motor_[i]->Control(out * percentage);
+        this->motor_[i]->Control(out_.motor3508_out[i]);
       }
 
       break;
diff --git a/src/module/chassis/mod_chassis.hpp b/src/module/chassis/mod_chassis.hpp
index f5f435c4..ecb110dd 100644
--- a/src/module/chassis/mod_chassis.hpp
+++ b/src/module/chassis/mod_chassis.hpp
@@ -43,6 +43,11 @@ class Chassis {
     SET_MODE_INDENPENDENT,
   } ChassisEvent;
 
+  typedef struct {
+    float yaw_;
+    Component::Type::Eulr mech_zero;
+  } GimbalData;
+
   /* 底盘参数的结构体，包含所有初始Component化用的参数，通常是const，存好几组 */
   typedef struct Param {
     Component::Mixer::Mode type =
@@ -115,14 +120,18 @@ class Chassis {
 
   /* 反馈控制用的PID */
 
+  struct {
+    float motor3508_out[4];
+  } out_;
   Component::PID follow_pid_; /* 跟随云台用的PID */
 
   System::Thread thread_;
 
   System::Semaphore ctrl_lock_;
 
-  float yaw_;
+  GimbalData gimbal_data_;
   Device::Referee::Data raw_ref_;
+
   Component::CMD::ChassisCMD cmd_;
 
   Component::UI::String string_;
diff --git a/src/module/gimbal/mod_gimbal.cpp b/src/module/gimbal/mod_gimbal.cpp
index f7e76372..b0b494c8 100644
--- a/src/module/gimbal/mod_gimbal.cpp
+++ b/src/module/gimbal/mod_gimbal.cpp
@@ -33,9 +33,6 @@ Gimbal::Gimbal(Param& param, float control_freq)
       case STOP_AUTO_AIM:
         Component::CMD::SetCtrlSource(Component::CMD::CTRL_SOURCE_RC);
         break;
-      case SET_AUTOPATROL:
-        gimbal->SetMode(static_cast<Mode>(AUTOPATROL));
-        break;
     }
     gimbal->ctrl_lock_.Post();
   };
@@ -81,21 +78,8 @@ Gimbal::Gimbal(Param& param, float control_freq)
 void Gimbal::UpdateFeedback() {
   this->pit_motor_.Update();
   this->yaw_motor_.Update();
-  switch (this->mode_) {
-    case RELAX:
-    case ABSOLUTE:
-      this->yaw_ = this->yaw_motor_.GetAngle() - this->param_.mech_zero.yaw;
-      break;
-    case AUTOPATROL:
-      this->yaw_ = this->yaw_motor_.GetAngle() - this->param_.mech_zero.yaw -
-                   this->param_.patrol_range *
-                       sinf(this->param_.patrol_omega *
-                            static_cast<float>(bsp_time_get_ms() -
-                                               autopatrol_start_time_) /
-                            1000.0f);
 
-      break;
-  }
+  this->yaw_ = this->yaw_motor_.GetAngle() - this->param_.mech_zero.yaw;
 }
 
 void Gimbal::Control() {
@@ -118,7 +102,6 @@ void Gimbal::Control() {
     gimbal_pit_cmd = Component::Type::CycleValue(this->cmd_.eulr.pit) -
                      this->setpoint_.eulr_.pit;
   }
-
   /* 处理yaw控制命令，软件限位  */
   /* 某个轴max=min时不进行限位,配置文件默认不写 */
   if (param_.limit.yaw_max != param_.limit.yaw_min) {
@@ -149,7 +132,6 @@ void Gimbal::Control() {
   /* 控制相关逻辑 */
   float yaw_out = 0;
   float pit_out = 0;
-  float autopatrol_yaw = 0;
   switch (this->mode_) {
     case RELAX:
       this->yaw_motor_.Relax();
@@ -167,24 +149,6 @@ void Gimbal::Control() {
       this->pit_motor_.Control(pit_out);
 
       break;
-
-    case AUTOPATROL:
-      /* 以sin变化左右摆头 */
-      autopatrol_yaw = this->setpoint_.eulr_.yaw +
-                       this->param_.patrol_range *
-                           sinf(this->param_.patrol_omega *
-                                static_cast<float>(bsp_time_get_ms() -
-                                                   autopatrol_start_time_) /
-                                1000.0f);
-
-      yaw_out = this->yaw_actuator_.Calculate(autopatrol_yaw, this->gyro_.z,
-                                              this->eulr_.yaw, this->dt_);
-      pit_out = this->pit_actuator_.Calculate(
-          this->param_.patrol_hight, this->gyro_.x, this->eulr_.pit, this->dt_);
-
-      this->yaw_motor_.Control(yaw_out);
-      this->pit_motor_.Control(pit_out);
-      break;
   }
 }
 
@@ -204,11 +168,6 @@ void Gimbal::SetMode(Mode mode) {
       this->setpoint_.eulr_.yaw = this->eulr_.yaw;
     }
   }
-
-  if (mode == AUTOPATROL) {
-    autopatrol_start_time_ = bsp_time_get_ms();
-  }
-
   this->mode_ = mode;
 }
 
diff --git a/src/module/gimbal/mod_gimbal.hpp b/src/module/gimbal/mod_gimbal.hpp
index 953677f2..378c063d 100644
--- a/src/module/gimbal/mod_gimbal.hpp
+++ b/src/module/gimbal/mod_gimbal.hpp
@@ -20,8 +20,7 @@ class Gimbal {
   /* 云台运行模式 */
   typedef enum {
     RELAX, /* 放松模式，电机不输出。一般情况云台初始化之后的模式 */
-    ABSOLUTE,   /* 绝对坐标系控制，控制在空间内的绝对姿态 */
-    AUTOPATROL, /* 自动巡逻模式，云台yaw轴按sin曲线进行扫描 */
+    ABSOLUTE, /* 绝对坐标系控制，控制在空间内的绝对姿态 */
   } Mode;
 
   enum {
@@ -37,7 +36,6 @@ class Gimbal {
     SET_MODE_ABSOLUTE,
     START_AUTO_AIM,
     STOP_AUTO_AIM,
-    SET_AUTOPATROL,
   } GimbalEvent;
 
   typedef struct {
@@ -52,10 +50,6 @@ class Gimbal {
 
     Component::Type::Eulr mech_zero;
 
-    float patrol_range;
-    float patrol_omega;
-    float patrol_hight;
-
     struct {
       Component::Type::CycleValue pitch_max;
       Component::Type::CycleValue pitch_min;
@@ -86,8 +80,6 @@ class Gimbal {
 
   float dt_ = 0.0f;
 
-  uint32_t autopatrol_start_time_ = 0;
-
   Param param_;
 
   Gimbal::Mode mode_ = RELAX; /* 云台模式 */
diff --git a/src/module/launcher/mod_launcher.cpp b/src/module/launcher/mod_launcher.cpp
index 961485ce..838cb9ab 100644
--- a/src/module/launcher/mod_launcher.cpp
+++ b/src/module/launcher/mod_launcher.cpp
@@ -31,9 +31,13 @@ Launcher::Launcher(Param& param, float control_freq)
     launcher->ctrl_lock_.Wait(UINT32_MAX);
     switch (event) { /* 根据event设置模式 */
       case CHANGE_FIRE_MODE_RELAX:
+        launcher->SetFireMode(static_cast<FireMode>(RELAX));
+        break;
       case CHANGE_FIRE_MODE_SAFE:
+        launcher->SetFireMode(static_cast<FireMode>(SAFE));
+        break;
       case CHANGE_FIRE_MODE_LOADED:
-        launcher->SetFireMode(static_cast<FireMode>(event));
+        launcher->SetFireMode(static_cast<FireMode>(LOADED));
         break;
       case LAUNCHER_START_FIRE: /* 摩擦轮开启条件下，开火控制fire为ture */
         if (launcher->fire_ctrl_.fire_mode_ == LOADED) {
@@ -51,12 +55,17 @@ Launcher::Launcher(Param& param, float control_freq)
         launcher->SetTrigMode(static_cast<TrigMode>(
             (launcher->fire_ctrl_.trig_mode_ + 1) % CONTINUED));
         break;
+      case LAUNCHER_STOP_TRIG:
+        launcher->SetTrigMode(static_cast<TrigMode>(STOP));
+        break;
+
       case OPEN_COVER:
         launcher->cover_mode_ = OPEN;
         break;
       case CLOSE_COVER:
         launcher->cover_mode_ = CLOSE;
         break;
+
       default:
         break;
     }
@@ -133,6 +142,9 @@ void Launcher::Control() {
     case BURST: /* 爆发开火模式 */
       max_burst = 5;
       break;
+    case STOP:
+      max_burst = 0;
+      break;
     default:
       max_burst = 1;
       break;
@@ -141,6 +153,7 @@ void Launcher::Control() {
   switch (this->fire_ctrl_.trig_mode_) {
     case SINGLE: /* 点射开火模式 */
     case BURST:  /* 爆发开火模式 */
+    case STOP:
 
       /* 计算是否是第一次按下开火键 */
       this->fire_ctrl_.first_pressed_fire =
@@ -168,10 +181,13 @@ void Launcher::Control() {
     case CONTINUED: { /* 持续开火模式 */
       float launch_freq = this->LimitLauncherFreq();
       this->fire_ctrl_.launch_delay =
-          (launch_freq == 0.0f) ? UINT32_MAX
-                                : static_cast<uint32_t>(1000.f / launch_freq);
+          (launch_freq == 0.0f)
+              ? UINT32_MAX
+              : static_cast<uint32_t>(1000.f / launch_freq); /* 毫秒级延时 */
+
       break;
     }
+
     default:
       break;
   }
@@ -198,6 +214,7 @@ void Launcher::Control() {
     if ((fire_ctrl_.last_trig_angle - trig_angle_) / M_2PI *
             this->param_.num_trig_tooth >
         0.9) {
+      /* 判定为未卡弹 */
       if (!fire_ctrl_.stall) {
         fire_ctrl_.last_trig_angle = this->setpoint_.trig_angle_;
         /* 将拨弹电机角度进行循环加法，每次加(减)射出一颗弹丸的弧度变化 */
@@ -306,8 +323,7 @@ void Launcher::HeatLimit() {
           this->ref_.robot_status.shooter_cooling_value;
       this->heat_ctrl_.heat_increase = GAME_HEAT_INCREASE_17MM;
     }
-    /* 检测热量更新后,计算可发射弹丸 */
-
+    /* 检测热量更新后,计算可发射弹丸（裁判系统数据更新有延迟） */
     if ((this->heat_ctrl_.heat != this->heat_ctrl_.last_heat) ||
         this->heat_ctrl_.available_shot == 0 || (this->heat_ctrl_.heat == 0)) {
       this->heat_ctrl_.available_shot = static_cast<uint32_t>(
@@ -335,8 +351,8 @@ void Launcher::PraseRef() {
 
 float Launcher::LimitLauncherFreq() { /* 热量限制计算 */
   float heat_percent = this->heat_ctrl_.heat / this->heat_ctrl_.heat_limit;
-  float stable_freq =
-      this->heat_ctrl_.cooling_rate / this->heat_ctrl_.heat_increase;
+  float stable_freq = this->heat_ctrl_.cooling_rate /
+                      this->heat_ctrl_.heat_increase; /* 每秒可发弹量 */
   if (this->param_.model == LAUNCHER_MODEL_42MM) {
     return stable_freq;
   } else {
diff --git a/src/module/launcher/mod_launcher.hpp b/src/module/launcher/mod_launcher.hpp
index b7e0c773..05808e9a 100644
--- a/src/module/launcher/mod_launcher.hpp
+++ b/src/module/launcher/mod_launcher.hpp
@@ -24,6 +24,7 @@ class Launcher {
     SINGLE,    /* 单发开火模式  */
     BURST,     /* N爆发开火模式 */
     CONTINUED, /* 持续开火模式 */
+    STOP,
   } TrigMode;
 
   typedef enum { OPEN, CLOSE } CoverMode;
@@ -32,12 +33,15 @@ class Launcher {
     CHANGE_FIRE_MODE_RELAX,
     CHANGE_FIRE_MODE_SAFE,
     CHANGE_FIRE_MODE_LOADED,
+    LAUNCHER_START_FIRE, /* 开火，拨弹盘开始发弹 */
+
     CHANGE_TRIG_MODE_SINGLE,
     CHANGE_TRIG_MODE_BURST,
     CHANGE_TRIG_MODE,
+    LAUNCHER_STOP_TRIG,
+
     OPEN_COVER,
     CLOSE_COVER,
-    LAUNCHER_START_FIRE, /* 开火，拨弹盘开始发弹 */
   } LauncherEvent;
 
   enum {
diff --git a/src/robot/sentry/robot.cpp b/src/robot/sentry/robot.cpp
index fa5183f5..ac36e47a 100644
--- a/src/robot/sentry/robot.cpp
+++ b/src/robot/sentry/robot.cpp
@@ -12,7 +12,7 @@ Robot::Sentry::Param param = {
       .type = Component::Mixer::OMNICROSS,
 
       .follow_pid_param = {
-      .k = 0.8f,
+      .k = 0.5f,
       .p = 1.0f,
       .i = 0.0f,
       .d = 0.0f,
@@ -29,30 +29,18 @@ Robot::Sentry::Param param = {
       },
       Component::CMD::EventMapItem{
         Device::DR16::DR16_SW_L_POS_TOP,
-        Module::RMChassis::SET_MODE_RELAX,
+        Module::RMChassis::SET_MODE_INDENPENDENT
       },
       Component::CMD::EventMapItem{
-        Device::DR16::DR16_SW_L_POS_MID,/* 模拟找到目标模式，云台绝对 */
-        Module::RMChassis::SET_MODE_FOLLOW,
+        Device::DR16::DR16_SW_L_POS_MID,
+        Module::RMChassis::SET_MODE_FOLLOW
       },
       Component::CMD::EventMapItem{
-        Device::DR16::DR16_SW_L_POS_BOT,/* 模拟未找到目标，巡逻模式 */
-        Module::RMChassis::SET_MODE_ROTOR,
-      },
-      Component::CMD::EventMapItem{
-        Device::AI::AI_OFFLINE,
-        Module::RMChassis::SET_MODE_ROTOR
-      },
-      Component::CMD::EventMapItem{
-        Device::AI::AI_FIND_TARGET,
+        Device::DR16::DR16_SW_L_POS_BOT,
         Module::RMChassis::SET_MODE_ROTOR
       },
-      Component::CMD::EventMapItem{
-        Device::AI::AI_AUTOPATROL,
-        Module::RMChassis::SET_MODE_ROTOR
-      },
-      Component::CMD::EventMapItem{
-        Device::AI::AI_TURN,
+       Component::CMD::EventMapItem{
+        Device::AI::AIControlData::AI_ROTOR,
         Module::RMChassis::SET_MODE_ROTOR
       }
     },
@@ -60,7 +48,7 @@ Robot::Sentry::Param param = {
     .actuator_param = {
       Component::SpeedActuator::Param{
         .speed = {
-          .k = 0.00020f,
+          .k = 0.00015f,
           .p = 1.0f,
           .i = 0.0f,
           .d = 0.0f,
@@ -93,7 +81,7 @@ Robot::Sentry::Param param = {
       },
       Component::SpeedActuator::Param{
         .speed = {
-          .k = 0.00020f,
+          .k = 0.00015f,
           .p = 1.0f,
           .i = 0.0f,
           .d = 0.0f,
@@ -109,7 +97,7 @@ Robot::Sentry::Param param = {
       },
       Component::SpeedActuator::Param{
         .speed = {
-          .k = 0.00022f,
+          .k = 0.00015f,
           .p = 1.0f,
           .i = 0.0f,
           .d = 0.0f,
@@ -175,11 +163,11 @@ Robot::Sentry::Param param = {
     .yaw_actr = {
       .speed = {
           /* GIMBAL_CTRL_YAW_OMEGA_IDX */
-          .k = 1.2f,
-          .p = 1.0f,
-          .i = 0.1f,
+          .k = 0.28f,
+          .p = 1.f,
+          .i = 1.f,
           .d = 0.f,
-          .i_limit = 0.6f,
+          .i_limit = 0.2f,
           .out_limit = 1.0f,
           .d_cutoff_freq = -1.0f,
           .cycle = false,
@@ -187,12 +175,12 @@ Robot::Sentry::Param param = {
 
         .position = {
           /* GIMBAL_CTRL_YAW_ANGLE_IDX */
-          .k = 8.0f,
+          .k = 25.0f,
           .p = 1.0f,
           .i = 0.0f,
           .d = 0.0f,
           .i_limit = 0.0f,
-          .out_limit = 20.0f,
+          .out_limit = 10.0f,
           .d_cutoff_freq = -1.0f,
           .cycle = true,
         },
@@ -201,12 +189,12 @@ Robot::Sentry::Param param = {
 
         .out_cutoff_freq = -1.0f,
     },
-    .pit_actr = {
+   .pit_actr = {
         .speed = {
           /* GIMBAL_CTRL_PIT_OMEGA_IDX */
-          .k = 0.3f,
+          .k = 0.1f,
           .p = 1.0f,
-          .i = 0.5f,
+          .i = 0.0f,
           .d = 0.f,
           .i_limit = 0.8f,
           .out_limit = 1.0f,
@@ -216,7 +204,7 @@ Robot::Sentry::Param param = {
 
         .position = {
           /* GIMBAL_CTRL_PIT_ANGLE_IDX */
-          .k = 10.0f,
+          .k = 25.0f,
           .p = 1.0f,
           .i = 0.0f,
           .d = 0.0f,
@@ -230,7 +218,6 @@ Robot::Sentry::Param param = {
 
         .out_cutoff_freq = -1.0f,
     },
-
     .yaw_motor = {
       .id_feedback = 0x206,
       .id_control = GM6020_CTRL_ID_BASE,
@@ -246,18 +233,14 @@ Robot::Sentry::Param param = {
     },
 
     .mech_zero = {
-      .yaw = 5.55f,
-      .pit = 0.50f,
+      .yaw = 1.58f,
+      .pit = 4.6f,
       .rol = 0.0f,
     },
 
-    .patrol_range = 0.4f,
-    .patrol_omega = 2.0f,
-    .patrol_hight = 6.0,
-
     .limit = {
-      .pitch_max = 0.60f,
-      .pitch_min = 0.19f,
+      .pitch_max = 4.9f,
+      .pitch_min = 4.46f,
     },
 
     .EVENT_MAP = {
@@ -270,24 +253,12 @@ Robot::Sentry::Param param = {
         Module::Gimbal::SET_MODE_ABSOLUTE
       },
       Component::CMD::EventMapItem{
-        Device::DR16::DR16_SW_L_POS_MID,/* 模拟找到目标模式，云台绝对 */
+        Device::DR16::DR16_SW_R_POS_MID,
         Module::Gimbal::SET_MODE_ABSOLUTE
       },
       Component::CMD::EventMapItem{
-        Device::DR16::DR16_SW_L_POS_BOT,/* 模拟未找到目标，巡逻模式 */
-        Module::Gimbal::SET_AUTOPATROL
-      },
-      Component::CMD::EventMapItem{
-        Device::AI::AI_OFFLINE,
-        Module::Gimbal::SET_AUTOPATROL
-      },
-      Component::CMD::EventMapItem{
-        Device::AI::AI_FIND_TARGET,
+        Device::DR16::DR16_SW_R_POS_BOT,
         Module::Gimbal::SET_MODE_ABSOLUTE
-      },
-      Component::CMD::EventMapItem{
-        Device::AI::AI_AUTOPATROL,
-        Module::Gimbal::SET_AUTOPATROL
       }
     },
 
@@ -308,7 +279,7 @@ Robot::Sentry::Param param = {
         .speed = {
           .k = 3.0f,
           .p = 1.0f,
-          .i = 0.5f,
+          .i = 0.0f,
           .d = 0.0f,
           .i_limit = 0.5f,
           .out_limit = 1.0f,
@@ -370,10 +341,11 @@ Robot::Sentry::Param param = {
 
     .trig_motor = {
       Device::RMMotor::Param{
-        .id_feedback = 0x206,
+        .id_feedback = 0x207,
         .id_control = M3508_M2006_CTRL_ID_EXTAND,
         .model = Device::RMMotor::MOTOR_M2006,
         .can = BSP_CAN_2,
+        .reverse = true,
       }
     },
 
@@ -393,7 +365,7 @@ Robot::Sentry::Param param = {
     },
 
     .EVENT_MAP = {
-      Component::CMD::EventMapItem{
+       Component::CMD::EventMapItem{
         Component::CMD::CMD_EVENT_LOST_CTRL,
         Module::Launcher::CHANGE_FIRE_MODE_RELAX
       },
@@ -402,28 +374,24 @@ Robot::Sentry::Param param = {
         Module::Launcher::CHANGE_FIRE_MODE_SAFE
       },
       Component::CMD::EventMapItem{
-        Device::DR16::DR16_SW_R_POS_MID,/* 模拟找到目标模式，云台绝对 */
+        Device::DR16::DR16_SW_R_POS_MID,
         Module::Launcher::CHANGE_FIRE_MODE_LOADED
       },
       Component::CMD::EventMapItem{
-        Device::DR16::DR16_SW_R_POS_BOT,/* 模拟未找到目标，巡逻模式 */
+        Device::DR16::DR16_SW_R_POS_BOT,
         Module::Launcher::CHANGE_FIRE_MODE_LOADED
       },
       Component::CMD::EventMapItem{
-        Device::DR16::DR16_SW_R_POS_BOT,/* 模拟未找到目标，巡逻模式 */
+        Device::DR16::DR16_SW_R_POS_BOT,
         Module::Launcher::LAUNCHER_START_FIRE
       },
       Component::CMD::EventMapItem{
-        Device::AI::AIControlData::AI_AUTOPATROL,
-        Module::Launcher::CHANGE_FIRE_MODE_RELAX
-      },
-        Component::CMD::EventMapItem{
         Device::AI::AIControlData::AI_FIRE_COMMAND,
-        Module::Launcher::LAUNCHER_START_FIRE
+        Module::Launcher::CHANGE_TRIG_MODE_BURST
       },
       Component::CMD::EventMapItem{
-        Device::AI::AIControlData::AI_FIRE_COMMAND,
-        Module::Launcher::CHANGE_TRIG_MODE_SINGLE
+        Device::AI::AIControlData::AI_STOP_FIRE,
+        Module::Launcher::LAUNCHER_STOP_TRIG
       }
 
     },
@@ -443,7 +411,7 @@ Robot::Sentry::Param param = {
         .speed = {
           .k = 3.0f,
           .p = 1.0f,
-          .i = 0.5f,
+          .i = 0.0f,
           .d = 0.0f,
           .i_limit = 0.5f,
           .out_limit = 1.0f,
@@ -505,7 +473,7 @@ Robot::Sentry::Param param = {
 
     .trig_motor = {
       Device::RMMotor::Param{
-        .id_feedback =0x207,
+        .id_feedback =0x206,
         .id_control = M3508_M2006_CTRL_ID_EXTAND,
         .model = Device::RMMotor::MOTOR_M2006,
         .can = BSP_CAN_2,
@@ -519,19 +487,19 @@ Robot::Sentry::Param param = {
           .id_control = M3508_M2006_CTRL_ID_BASE,
           .model = Device::RMMotor::MOTOR_M3508,
           .can = BSP_CAN_2,
-          .reverse = true,
+          .reverse = false,
       },
       Device::RMMotor::Param{
           .id_feedback = 0x201,
           .id_control = M3508_M2006_CTRL_ID_BASE,
           .model = Device::RMMotor::MOTOR_M3508,
           .can = BSP_CAN_2,
-          .reverse = true,
+          .reverse = false,
       },
     },
 
-    .EVENT_MAP = {
-     Component::CMD::EventMapItem{
+     .EVENT_MAP = {
+       Component::CMD::EventMapItem{
         Component::CMD::CMD_EVENT_LOST_CTRL,
         Module::Launcher::CHANGE_FIRE_MODE_RELAX
       },
@@ -540,28 +508,24 @@ Robot::Sentry::Param param = {
         Module::Launcher::CHANGE_FIRE_MODE_SAFE
       },
       Component::CMD::EventMapItem{
-        Device::DR16::DR16_SW_R_POS_MID,/* 模拟找到目标模式，云台绝对 */
+        Device::DR16::DR16_SW_R_POS_MID,
         Module::Launcher::CHANGE_FIRE_MODE_LOADED
       },
       Component::CMD::EventMapItem{
-        Device::DR16::DR16_SW_R_POS_BOT,/* 模拟未找到目标，巡逻模式 */
+        Device::DR16::DR16_SW_R_POS_BOT,
         Module::Launcher::CHANGE_FIRE_MODE_LOADED
       },
       Component::CMD::EventMapItem{
-        Device::DR16::DR16_SW_R_POS_BOT,/* 模拟未找到目标，巡逻模式 */
+        Device::DR16::DR16_SW_R_POS_BOT,
         Module::Launcher::LAUNCHER_START_FIRE
       },
       Component::CMD::EventMapItem{
-        Device::AI::AIControlData::AI_AUTOPATROL,
-        Module::Launcher::CHANGE_FIRE_MODE_RELAX
-      },
-        Component::CMD::EventMapItem{
         Device::AI::AIControlData::AI_FIRE_COMMAND,
-        Module::Launcher::LAUNCHER_START_FIRE
+        Module::Launcher::CHANGE_TRIG_MODE_BURST
       },
       Component::CMD::EventMapItem{
-        Device::AI::AIControlData::AI_FIRE_COMMAND,
-        Module::Launcher::CHANGE_TRIG_MODE_SINGLE
+        Device::AI::AIControlData::AI_STOP_FIRE,
+        Module::Launcher::LAUNCHER_STOP_TRIG
       }
 
     },
diff --git a/src/robot/sentry/robot.hpp b/src/robot/sentry/robot.hpp
index 0694c301..95e1b8cb 100644
--- a/src/robot/sentry/robot.hpp
+++ b/src/robot/sentry/robot.hpp
@@ -27,6 +27,7 @@ class Sentry {
   Component::CMD cmd_;
 
   Device::AI ai_;
+
   Device::AHRS ahrs_;
   Device::BMI088 bmi088_;
   Device::Can can_;
@@ -40,7 +41,8 @@ class Sentry {
   Module::Launcher launcher1_;
   Module::Launcher launcher2_;
   Sentry(Param& param, float control_freq)
-      : cmd_(Component::CMD::CMD_OP_CTRL),
+      : cmd_(Component::CMD::CMD_AUTO_CTRL),
+        ai_(false),
         bmi088_(param.bmi088_rot),
         cap_(param.cap),
         chassis_(param.chassis, control_freq),