diff --git a/components/bootloader_support/src/bootloader_random_esp32c6.c b/components/bootloader_support/src/bootloader_random_esp32c6.c
index 682e48544c8..0efd9d4c086 100644
--- a/components/bootloader_support/src/bootloader_random_esp32c6.c
+++ b/components/bootloader_support/src/bootloader_random_esp32c6.c
@@ -53,7 +53,7 @@ void bootloader_random_enable(void)
 
     // create patterns and set them in pattern table
     uint32_t pattern_one = (SAR2_CHANNEL << 2) | SAR2_ATTEN; // we want channel 9 with max attenuation
-    uint32_t pattern_two = SAR1_ATTEN; // we want channel 0 with max attenuation, channel doesn't really matter here
+    uint32_t pattern_two = (SAR2_CHANNEL << 2) | SAR1_ATTEN; // we want channel 9 with max attenuation
     uint32_t pattern_table = 0 | (pattern_two << 3 * PATTERN_BIT_WIDTH) | pattern_one << 2 * PATTERN_BIT_WIDTH;
     REG_WRITE(APB_SARADC_SAR_PATT_TAB1_REG, pattern_table);
 
diff --git a/components/bt/controller/lib_esp32c2/esp32c2-bt-lib b/components/bt/controller/lib_esp32c2/esp32c2-bt-lib
index 8ddd8acac49..e597ae52976 160000
--- a/components/bt/controller/lib_esp32c2/esp32c2-bt-lib
+++ b/components/bt/controller/lib_esp32c2/esp32c2-bt-lib
@@ -1 +1 @@
-Subproject commit 8ddd8acac498fcbb76b5a39c5c7d4025238298ab
+Subproject commit e597ae529761d270f10d0616c375faa0e4b7ca13
diff --git a/components/bt/controller/lib_esp32c6/esp32c6-bt-lib b/components/bt/controller/lib_esp32c6/esp32c6-bt-lib
index ed6c0b4e0ab..4a63b2963a8 160000
--- a/components/bt/controller/lib_esp32c6/esp32c6-bt-lib
+++ b/components/bt/controller/lib_esp32c6/esp32c6-bt-lib
@@ -1 +1 @@
-Subproject commit ed6c0b4e0ab3b8ddce5d8bc65e417b1adcbca5b4
+Subproject commit 4a63b2963a8a75958db680df4ace64bbd3d6c618
diff --git a/components/bt/controller/lib_esp32h2/esp32h2-bt-lib b/components/bt/controller/lib_esp32h2/esp32h2-bt-lib
index 2d69367e13a..96b48749e24 160000
--- a/components/bt/controller/lib_esp32h2/esp32h2-bt-lib
+++ b/components/bt/controller/lib_esp32h2/esp32h2-bt-lib
@@ -1 +1 @@
-Subproject commit 2d69367e13a928afb73d1a8c579c0dad98eb9393
+Subproject commit 96b48749e249d0752f196007b008212cb8b28e07
diff --git a/components/bt/esp_ble_mesh/common/atomic.c b/components/bt/esp_ble_mesh/common/atomic.c
index 723ce7e3ac1..9c856cc3372 100644
--- a/components/bt/esp_ble_mesh/common/atomic.c
+++ b/components/bt/esp_ble_mesh/common/atomic.c
@@ -13,7 +13,7 @@
 /*
  * SPDX-FileCopyrightText: 2016 Intel Corporation
  * SPDX-FileCopyrightText: 2011-2014 Wind River Systems, Inc.
- * SPDX-FileContributor: 2018-2021 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileContributor: 2018-2024 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -170,4 +170,18 @@ bt_mesh_atomic_val_t bt_mesh_atomic_inc(bt_mesh_atomic_t *target)
     return ret;
 }
 
+bool bt_mesh_atomic_cas(bt_mesh_atomic_t *target, bt_mesh_atomic_val_t excepted, bt_mesh_atomic_val_t new_val)
+{
+    bt_mesh_atomic_lock();
+
+    if (*target == excepted) {
+        *target = new_val;
+        bt_mesh_atomic_unlock();
+        return true;
+    }
+
+    bt_mesh_atomic_unlock();
+    return false;
+}
+
 #endif /* #ifndef CONFIG_ATOMIC_OPERATIONS_BUILTIN */
diff --git a/components/bt/esp_ble_mesh/common/include/mesh/atomic.h b/components/bt/esp_ble_mesh/common/include/mesh/atomic.h
index f72834369fc..b284974363a 100644
--- a/components/bt/esp_ble_mesh/common/include/mesh/atomic.h
+++ b/components/bt/esp_ble_mesh/common/include/mesh/atomic.h
@@ -147,6 +147,33 @@ static inline bt_mesh_atomic_val_t bt_mesh_atomic_and(bt_mesh_atomic_t *target,
 extern bt_mesh_atomic_val_t bt_mesh_atomic_and(bt_mesh_atomic_t *target, bt_mesh_atomic_val_t value);
 #endif
 
+/**
+ * @brief Atomic CAS operation.
+ *
+ * This compares the contents of @a *target
+ * with the contents of @a excepted. If equal,
+ * the operation is a read-modify-write operation
+ * that writes @a new_val into @a *target and return true.
+ * If they are not equal, the operation is a read
+ * and return false.
+ *
+ * @param target Address of atomic variable.
+ * @param excepted Value of excepted.
+ * @param new_val Write if target value is equal to expected one.
+ *
+ * @return
+ *         - true: Target value updated.
+ *         - false: Target value not updated.
+ */
+#ifdef CONFIG_ATOMIC_OPERATIONS_BUILTIN
+static inline bool bt_mesh_atomic_cas(bt_mesh_atomic_t *target, bt_mesh_atomic_val_t excepted, bt_mesh_atomic_val_t new_val)
+{
+    return __atomic_compare_exchange_n(target, &excepted, &new_val, false, __ATOMIC_SEQ_CST, __ATOMIC_SEQ_CST);
+}
+#else
+extern bool bt_mesh_atomic_cas(bt_mesh_atomic_t *target, bt_mesh_atomic_val_t excepted, bt_mesh_atomic_val_t new_val);
+#endif
+
 /**
  * @cond INTERNAL_HIDDEN
  */
diff --git a/components/bt/esp_ble_mesh/core/adv.c b/components/bt/esp_ble_mesh/core/adv.c
index dbbda0ab147..79932a05829 100644
--- a/components/bt/esp_ble_mesh/core/adv.c
+++ b/components/bt/esp_ble_mesh/core/adv.c
@@ -2,7 +2,7 @@
 
 /*
  * SPDX-FileCopyrightText: 2017 Intel Corporation
- * SPDX-FileContributor: 2018-2022 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileContributor: 2018-2024 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -335,8 +335,7 @@ static void adv_thread(void *p)
         }
 
         /* busy == 0 means this was canceled */
-        if (BLE_MESH_ADV(*buf)->busy) {
-            BLE_MESH_ADV(*buf)->busy = 0U;
+        if (bt_mesh_atomic_cas(&BLE_MESH_ADV_BUSY(*buf), 1, 0)) {
 #if !CONFIG_BLE_MESH_RELAY_ADV_BUF
             if (adv_send(*buf)) {
                 BT_WARN("Failed to send adv packet");
@@ -449,7 +448,7 @@ static void bt_mesh_unref_buf(bt_mesh_msg_t *msg)
 
     if (msg->arg) {
         buf = (struct net_buf *)msg->arg;
-        BLE_MESH_ADV(buf)->busy = 0U;
+        bt_mesh_atomic_set(&BLE_MESH_ADV_BUSY(buf), 0);
         if (buf->ref > 1U) {
             buf->ref = 1U;
         }
@@ -490,7 +489,7 @@ void bt_mesh_adv_send(struct net_buf *buf, uint8_t xmit,
 
     BLE_MESH_ADV(buf)->cb = cb;
     BLE_MESH_ADV(buf)->cb_data = cb_data;
-    BLE_MESH_ADV(buf)->busy = 1U;
+    bt_mesh_atomic_set(&BLE_MESH_ADV_BUSY(buf), 1);
     BLE_MESH_ADV(buf)->xmit = xmit;
 
     bt_mesh_adv_buf_ref_debug(__func__, buf, 3U, BLE_MESH_BUF_REF_SMALL);
@@ -589,7 +588,7 @@ void bt_mesh_relay_adv_send(struct net_buf *buf, uint8_t xmit,
 
     BLE_MESH_ADV(buf)->cb = cb;
     BLE_MESH_ADV(buf)->cb_data = cb_data;
-    BLE_MESH_ADV(buf)->busy = 1U;
+    bt_mesh_atomic_set(&BLE_MESH_ADV_BUSY(buf), 1);
     BLE_MESH_ADV(buf)->xmit = xmit;
 
     msg.arg = (void *)net_buf_ref(buf);
@@ -753,7 +752,7 @@ static void bt_mesh_ble_adv_send(struct net_buf *buf, const struct bt_mesh_send_
 
     BLE_MESH_ADV(buf)->cb = cb;
     BLE_MESH_ADV(buf)->cb_data = cb_data;
-    BLE_MESH_ADV(buf)->busy = 1U;
+    bt_mesh_atomic_set(&BLE_MESH_ADV_BUSY(buf), 1);
 
     bt_mesh_adv_buf_ref_debug(__func__, buf, 3U, BLE_MESH_BUF_REF_SMALL);
 
@@ -772,7 +771,7 @@ static void ble_adv_tx_reset(struct ble_adv_tx *tx, bool unref)
     }
     bt_mesh_atomic_set(tx->flags, 0);
     memset(&tx->param, 0, sizeof(tx->param));
-    BLE_MESH_ADV(tx->buf)->busy = 0U;
+    bt_mesh_atomic_set(&BLE_MESH_ADV_BUSY(tx->buf), 0);
     if (unref) {
         net_buf_unref(tx->buf);
     }
@@ -961,7 +960,8 @@ int bt_mesh_stop_ble_advertising(uint8_t index)
     /* busy 1, ref 1; busy 1, ref 2;
      * busy 0, ref 0; busy 0, ref 1;
      */
-    if (BLE_MESH_ADV(tx->buf)->busy == 1U &&
+
+    if (bt_mesh_atomic_get(&BLE_MESH_ADV_BUSY(tx->buf)) &&
         tx->buf->ref == 1U) {
         unref = false;
     }
diff --git a/components/bt/esp_ble_mesh/core/adv.h b/components/bt/esp_ble_mesh/core/adv.h
index ab37ec3cda8..33224d78b11 100644
--- a/components/bt/esp_ble_mesh/core/adv.h
+++ b/components/bt/esp_ble_mesh/core/adv.h
@@ -10,6 +10,7 @@
 #ifndef _ADV_H_
 #define _ADV_H_
 
+#include "mesh/atomic.h"
 #include "mesh/access.h"
 #include "mesh/adapter.h"
 
@@ -24,6 +25,7 @@ extern "C" {
 #define BLE_MESH_ADV_USER_DATA_SIZE     4
 
 #define BLE_MESH_ADV(buf)               (*(struct bt_mesh_adv **)net_buf_user_data(buf))
+#define BLE_MESH_ADV_BUSY(buf)          (BLE_MESH_ADV(buf)->busy)
 
 uint16_t bt_mesh_pdu_duration(uint8_t xmit);
 
@@ -48,8 +50,10 @@ struct bt_mesh_adv {
     const struct bt_mesh_send_cb *cb;
     void *cb_data;
 
-    uint8_t type:3,
-            busy:1;
+    uint8_t type:3;
+
+    bt_mesh_atomic_t busy;
+
     uint8_t xmit;
 };
 
diff --git a/components/bt/esp_ble_mesh/core/friend.c b/components/bt/esp_ble_mesh/core/friend.c
index fca3cf1358a..b1a298d5a97 100644
--- a/components/bt/esp_ble_mesh/core/friend.c
+++ b/components/bt/esp_ble_mesh/core/friend.c
@@ -183,7 +183,7 @@ static void friend_clear(struct bt_mesh_friend *frnd, uint8_t reason)
         /* Cancel the sending if necessary */
         if (frnd->pending_buf) {
             bt_mesh_adv_buf_ref_debug(__func__, frnd->last, 2U, BLE_MESH_BUF_REF_EQUAL);
-            BLE_MESH_ADV(frnd->last)->busy = 0U;
+            bt_mesh_atomic_set(&BLE_MESH_ADV_BUSY(frnd->last), 0);
         } else {
             bt_mesh_adv_buf_ref_debug(__func__, frnd->last, 1U, BLE_MESH_BUF_REF_EQUAL);
         }
diff --git a/components/bt/esp_ble_mesh/core/prov_common.c b/components/bt/esp_ble_mesh/core/prov_common.c
index 655c4712f24..bc75b447d25 100644
--- a/components/bt/esp_ble_mesh/core/prov_common.c
+++ b/components/bt/esp_ble_mesh/core/prov_common.c
@@ -359,7 +359,7 @@ static void free_segments(struct bt_mesh_prov_link *link)
         link->tx.buf[i] = NULL;
         bt_mesh_adv_buf_ref_debug(__func__, buf, 3U, BLE_MESH_BUF_REF_SMALL);
         /* Mark as canceled */
-        BLE_MESH_ADV(buf)->busy = 0U;
+        bt_mesh_atomic_set(&BLE_MESH_ADV_BUSY(buf), 0);
         net_buf_unref(buf);
     }
 }
@@ -474,7 +474,7 @@ static void prov_retransmit(struct k_work *work)
             break;
         }
 
-        if (BLE_MESH_ADV(buf)->busy) {
+        if (bt_mesh_atomic_get(&BLE_MESH_ADV_BUSY(buf))) {
             continue;
         }
 
diff --git a/components/bt/esp_ble_mesh/core/transport.c b/components/bt/esp_ble_mesh/core/transport.c
index 64ac566aced..70589706dae 100644
--- a/components/bt/esp_ble_mesh/core/transport.c
+++ b/components/bt/esp_ble_mesh/core/transport.c
@@ -2,7 +2,7 @@
 
 /*
  * SPDX-FileCopyrightText: 2017 Intel Corporation
- * SPDX-FileContributor: 2018-2021 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileContributor: 2018-2024 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -310,7 +310,15 @@ static void seg_tx_done(struct seg_tx *tx, uint8_t seg_idx)
 {
     bt_mesh_adv_buf_ref_debug(__func__, tx->seg[seg_idx], 3U, BLE_MESH_BUF_REF_SMALL);
 
-    BLE_MESH_ADV(tx->seg[seg_idx])->busy = 0U;
+    /**
+     * When cancelling a segment that is still in the adv sending queue, `tx->seg_pending`
+     * must else be decremented by one. More detailed information
+     * can be found in BLEMESH24-26.
+     */
+    if (bt_mesh_atomic_cas(&BLE_MESH_ADV_BUSY(tx->seg[seg_idx]), 1, 0)) {
+        tx->seg_pending--;
+    }
+
     net_buf_unref(tx->seg[seg_idx]);
     tx->seg[seg_idx] = NULL;
     tx->nack_count--;
@@ -443,7 +451,7 @@ static void seg_tx_send_unacked(struct seg_tx *tx)
             continue;
         }
 
-        if (BLE_MESH_ADV(seg)->busy) {
+        if (bt_mesh_atomic_get(&BLE_MESH_ADV_BUSY(seg))) {
             BT_DBG("Skipping segment that's still advertising");
             continue;
         }
diff --git a/components/bt/esp_ble_mesh/core/transport.enh.c b/components/bt/esp_ble_mesh/core/transport.enh.c
index 6ef6c0a55db..a4a5130e215 100644
--- a/components/bt/esp_ble_mesh/core/transport.enh.c
+++ b/components/bt/esp_ble_mesh/core/transport.enh.c
@@ -350,7 +350,7 @@ static void seg_tx_done(struct seg_tx *tx, uint8_t seg_idx)
      */
     bt_mesh_adv_buf_ref_debug(__func__, tx->seg[seg_idx], 4U, BLE_MESH_BUF_REF_SMALL);
 
-    BLE_MESH_ADV(tx->seg[seg_idx])->busy = 0U;
+    bt_mesh_atomic_set(&BLE_MESH_ADV_BUSY(tx->seg[seg_idx]), 0);
     net_buf_unref(tx->seg[seg_idx]);
 
     tx->seg[seg_idx] = NULL;
@@ -498,7 +498,7 @@ static bool send_next_segment(struct seg_tx *tx, int *result)
     /* The segment may have already been transmitted, for example, the
      * Segment Retransmission timer is expired earlier.
      */
-    if (BLE_MESH_ADV(seg)->busy) {
+    if (bt_mesh_atomic_get(&BLE_MESH_ADV_BUSY(seg))) {
         return false;
     }
 
@@ -768,7 +768,7 @@ static bool resend_unacked_seg(struct seg_tx *tx, int *result)
      * A is still going to be retransmitted, but at this moment we could
      * find that the "busy" flag of Segment A is 1.
      */
-    if (BLE_MESH_ADV(seg)->busy) {
+    if (bt_mesh_atomic_get(&BLE_MESH_ADV_BUSY(seg))) {
         return false;
     }
 
diff --git a/components/bt/host/nimble/esp-hci/src/esp_nimble_hci.c b/components/bt/host/nimble/esp-hci/src/esp_nimble_hci.c
index 4fa8a1090b8..605b831211c 100644
--- a/components/bt/host/nimble/esp-hci/src/esp_nimble_hci.c
+++ b/components/bt/host/nimble/esp-hci/src/esp_nimble_hci.c
@@ -217,7 +217,6 @@ static int host_rcv_pkt(uint8_t *data, uint16_t len)
             evbuf = ble_transport_alloc_evt(1);
             /* Skip advertising report if we're out of memory */
             if (!evbuf) {
-                ESP_LOGI(TAG, "Skipping advertising report due to low memory");
                 return 0;
             }
         } else {
diff --git a/components/driver/i2c/i2c.c b/components/driver/i2c/i2c.c
index 1177ebca8b1..658abff1e9f 100644
--- a/components/driver/i2c/i2c.c
+++ b/components/driver/i2c/i2c.c
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2015-2023 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2015-2024 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -110,6 +110,18 @@ static const char *I2C_TAG = "i2c";
 #endif
 #define I2C_MEM_ALLOC_CAPS_DEFAULT      MALLOC_CAP_DEFAULT
 
+#if SOC_PERIPH_CLK_CTRL_SHARED
+#define I2C_CLOCK_SRC_ATOMIC() PERIPH_RCC_ATOMIC()
+#else
+#define I2C_CLOCK_SRC_ATOMIC()
+#endif
+
+#if !SOC_RCC_IS_INDEPENDENT
+#define I2C_RCC_ATOMIC() PERIPH_RCC_ATOMIC()
+#else
+#define I2C_RCC_ATOMIC()
+#endif
+
 /**
  * I2C bus are defined in the header files, let's check that the values are correct
  */
@@ -240,7 +252,9 @@ static void i2c_hw_disable(i2c_port_t i2c_num)
 {
     I2C_ENTER_CRITICAL(&(i2c_context[i2c_num].spinlock));
     if (i2c_context[i2c_num].hw_enabled != false) {
-        periph_module_disable(i2c_periph_signal[i2c_num].module);
+        I2C_RCC_ATOMIC() {
+            i2c_ll_enable_bus_clock(i2c_num, false);
+        }
         i2c_context[i2c_num].hw_enabled = false;
     }
     I2C_EXIT_CRITICAL(&(i2c_context[i2c_num].spinlock));
@@ -250,7 +264,10 @@ static void i2c_hw_enable(i2c_port_t i2c_num)
 {
     I2C_ENTER_CRITICAL(&(i2c_context[i2c_num].spinlock));
     if (i2c_context[i2c_num].hw_enabled != true) {
-        periph_module_enable(i2c_periph_signal[i2c_num].module);
+        I2C_RCC_ATOMIC() {
+            i2c_ll_enable_bus_clock(i2c_num, true);
+            i2c_ll_reset_register(i2c_num);
+        }
         i2c_context[i2c_num].hw_enabled = true;
     }
     I2C_EXIT_CRITICAL(&(i2c_context[i2c_num].spinlock));
@@ -375,7 +392,9 @@ esp_err_t i2c_driver_install(i2c_port_t i2c_num, i2c_mode_t mode, size_t slv_rx_
         return ESP_FAIL;
     }
     i2c_hw_enable(i2c_num);
-    i2c_hal_init(&i2c_context[i2c_num].hal, i2c_num);
+    I2C_CLOCK_SRC_ATOMIC() {
+        i2c_hal_init(&i2c_context[i2c_num].hal, i2c_num);
+    }
     //Disable I2C interrupt.
     i2c_ll_disable_intr_mask(i2c_context[i2c_num].hal.dev, I2C_LL_INTR_MASK);
     i2c_ll_clear_intr_mask(i2c_context[i2c_num].hal.dev, I2C_LL_INTR_MASK);
@@ -478,7 +497,9 @@ esp_err_t i2c_driver_delete(i2c_port_t i2c_num)
     }
 #endif
 
-    i2c_hal_deinit(&i2c_context[i2c_num].hal);
+    I2C_CLOCK_SRC_ATOMIC() {
+        i2c_hal_deinit(&i2c_context[i2c_num].hal);
+    }
     free(p_i2c_obj[i2c_num]);
     p_i2c_obj[i2c_num] = NULL;
 
@@ -746,7 +767,9 @@ esp_err_t i2c_param_config(i2c_port_t i2c_num, const i2c_config_t *i2c_conf)
         return ret;
     }
     i2c_hw_enable(i2c_num);
-    i2c_hal_init(&i2c_context[i2c_num].hal, i2c_num);
+    I2C_CLOCK_SRC_ATOMIC() {
+        i2c_hal_init(&i2c_context[i2c_num].hal, i2c_num);
+    }
     I2C_ENTER_CRITICAL(&(i2c_context[i2c_num].spinlock));
     i2c_ll_disable_intr_mask(i2c_context[i2c_num].hal.dev, I2C_LL_INTR_MASK);
     i2c_ll_clear_intr_mask(i2c_context[i2c_num].hal.dev, I2C_LL_INTR_MASK);
@@ -754,7 +777,9 @@ esp_err_t i2c_param_config(i2c_port_t i2c_num, const i2c_config_t *i2c_conf)
     if (i2c_conf->mode == I2C_MODE_SLAVE) {  //slave mode
         i2c_hal_slave_init(&(i2c_context[i2c_num].hal));
         i2c_ll_slave_tx_auto_start_en(i2c_context[i2c_num].hal.dev, true);
-        i2c_ll_set_source_clk(i2c_context[i2c_num].hal.dev, src_clk);
+        I2C_CLOCK_SRC_ATOMIC() {
+            i2c_ll_set_source_clk(i2c_context[i2c_num].hal.dev, src_clk);
+        }
         i2c_ll_set_slave_addr(i2c_context[i2c_num].hal.dev, i2c_conf->slave.slave_addr, i2c_conf->slave.addr_10bit_en);
         i2c_ll_set_rxfifo_full_thr(i2c_context[i2c_num].hal.dev, I2C_FIFO_FULL_THRESH_VAL);
         i2c_ll_set_txfifo_empty_thr(i2c_context[i2c_num].hal.dev, I2C_FIFO_EMPTY_THRESH_VAL);
@@ -768,7 +793,9 @@ esp_err_t i2c_param_config(i2c_port_t i2c_num, const i2c_config_t *i2c_conf)
         i2c_hal_master_init(&(i2c_context[i2c_num].hal));
         //Default, we enable hardware filter
         i2c_ll_master_set_filter(i2c_context[i2c_num].hal.dev, I2C_FILTER_CYC_NUM_DEF);
-        i2c_hal_set_bus_timing(&(i2c_context[i2c_num].hal), i2c_conf->master.clk_speed, src_clk, s_get_src_clk_freq(src_clk));
+        I2C_CLOCK_SRC_ATOMIC() {
+            i2c_hal_set_bus_timing(&(i2c_context[i2c_num].hal), i2c_conf->master.clk_speed, src_clk, s_get_src_clk_freq(src_clk));
+        }
     }
     i2c_ll_update(i2c_context[i2c_num].hal.dev);
     I2C_EXIT_CRITICAL(&(i2c_context[i2c_num].spinlock));
diff --git a/components/driver/i2c/i2c_common.c b/components/driver/i2c/i2c_common.c
index f9cb44da594..70a3f824146 100644
--- a/components/driver/i2c/i2c_common.c
+++ b/components/driver/i2c/i2c_common.c
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2023 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2023-2024 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -56,9 +56,13 @@ static esp_err_t s_i2c_bus_handle_aquire(i2c_port_num_t port_num, i2c_bus_handle
             bus->bus_mode = mode;
 
             // Enable the I2C module
-            periph_module_enable(i2c_periph_signal[port_num].module);
-            periph_module_reset(i2c_periph_signal[port_num].module);
-            i2c_hal_init(&bus->hal, port_num);
+            I2C_RCC_ATOMIC() {
+                i2c_ll_enable_bus_clock(bus->port_num, true);
+                i2c_ll_reset_register(bus->port_num);
+            }
+            I2C_CLOCK_SRC_ATOMIC() {
+                i2c_hal_init(&bus->hal, port_num);
+            }
         }
     } else {
         ESP_LOGE(TAG, "I2C bus id(%d) has already been acquired", port_num);
@@ -131,7 +135,9 @@ esp_err_t i2c_release_bus_handle(i2c_bus_handle_t i2c_bus)
                 ESP_RETURN_ON_ERROR(esp_pm_lock_delete(i2c_bus->pm_lock), TAG, "delete pm_lock failed");
             }
             // Disable I2C module
-            periph_module_disable(i2c_periph_signal[port_num].module);
+            I2C_RCC_ATOMIC() {
+                i2c_ll_enable_bus_clock(port_num, false);
+            }
             free(i2c_bus);
         }
     }
diff --git a/components/driver/i2c/i2c_master.c b/components/driver/i2c/i2c_master.c
index 13954c805d0..fbd5d4c5bc7 100644
--- a/components/driver/i2c/i2c_master.c
+++ b/components/driver/i2c/i2c_master.c
@@ -92,8 +92,9 @@ static esp_err_t s_i2c_hw_fsm_reset(i2c_master_bus_handle_t i2c_master)
 
     //to reset the I2C hw module, we need re-enable the hw
     s_i2c_master_clear_bus(i2c_master->base);
-    periph_module_disable(i2c_periph_signal[i2c_master->base->port_num].module);
-    periph_module_enable(i2c_periph_signal[i2c_master->base->port_num].module);
+    I2C_RCC_ATOMIC() {
+        i2c_ll_reset_register(i2c_master->base->port_num);
+    }
 
     i2c_hal_master_init(hal);
     i2c_ll_disable_intr_mask(hal->dev, I2C_LL_INTR_MASK);
@@ -107,6 +108,18 @@ static esp_err_t s_i2c_hw_fsm_reset(i2c_master_bus_handle_t i2c_master)
     return ESP_OK;
 }
 
+static void s_i2c_err_log_print(i2c_master_event_t event, bool bypass_nack_log)
+{
+    if (event == I2C_EVENT_TIMEOUT) {
+        ESP_LOGE(TAG, "I2C transaction timeout detected");
+    }
+    if (bypass_nack_log != true) {
+        if (event == I2C_EVENT_NACK) {
+            ESP_LOGE(TAG, "I2C transaction unexpected nack detected");
+        }
+    }
+}
+
 //////////////////////////////////////I2C operation functions////////////////////////////////////////////
 /**
  * @brief This function is used to send I2C write command, which is divided in two parts.
@@ -405,6 +418,9 @@ static void s_i2c_send_commands(i2c_master_bus_handle_t i2c_master, TickType_t t
             // Software timeout, clear the command link and finish this transaction.
             i2c_master->cmd_idx = 0;
             i2c_master->trans_idx = 0;
+            atomic_store(&i2c_master->status, I2C_STATUS_TIMEOUT);
+            ESP_LOGE(TAG, "I2C software timeout");
+            xSemaphoreGive(i2c_master->cmd_semphr);
             return;
         }
 
@@ -424,7 +440,9 @@ static void s_i2c_send_commands(i2c_master_bus_handle_t i2c_master, TickType_t t
             };
             i2c_ll_master_write_cmd_reg(hal->dev, hw_stop_cmd, 0);
             i2c_hal_master_trans_start(hal);
-            return;
+            // The master trans start would start a transaction.
+            // Queue wait for the event instead of return directly.
+            break;
         }
 
         i2c_operation_t *i2c_operation = &i2c_master->i2c_trans.ops[i2c_master->trans_idx];
@@ -446,6 +464,7 @@ static void s_i2c_send_commands(i2c_master_bus_handle_t i2c_master, TickType_t t
         if (event == I2C_EVENT_DONE) {
             atomic_store(&i2c_master->status, I2C_STATUS_DONE);
         }
+        s_i2c_err_log_print(event, i2c_master->bypass_nack_log);
     } else {
         i2c_master->cmd_idx = 0;
         i2c_master->trans_idx = 0;
@@ -530,7 +549,11 @@ static esp_err_t s_i2c_transaction_start(i2c_master_dev_handle_t i2c_dev, int xf
     i2c_master->read_len_static = 0;
 
     i2c_hal_master_set_scl_timeout_val(hal, i2c_dev->scl_wait_us, i2c_master->base->clk_src_freq_hz);
-    i2c_hal_set_bus_timing(hal, i2c_dev->scl_speed_hz, i2c_master->base->clk_src, i2c_master->base->clk_src_freq_hz);
+
+    I2C_CLOCK_SRC_ATOMIC() {
+        i2c_ll_set_source_clk(hal->dev, i2c_master->base->clk_src);
+        i2c_hal_set_bus_timing(hal, i2c_dev->scl_speed_hz, i2c_master->base->clk_src, i2c_master->base->clk_src_freq_hz);
+    }
     i2c_ll_master_set_fractional_divider(hal->dev, 0, 0);
     i2c_ll_update(hal->dev);
 
@@ -563,7 +586,6 @@ static esp_err_t s_i2c_transaction_start(i2c_master_dev_handle_t i2c_dev, int xf
 IRAM_ATTR static void i2c_isr_receive_handler(i2c_master_bus_t *i2c_master)
 {
     i2c_hal_context_t *hal = &i2c_master->base->hal;
-    while(i2c_ll_is_bus_busy(hal->dev)){}
     if (i2c_master->status == I2C_STATUS_READ) {
         i2c_operation_t *i2c_operation = &i2c_master->i2c_trans.ops[i2c_master->trans_idx];
         portENTER_CRITICAL_ISR(&i2c_master->base->spinlock);
@@ -624,7 +646,9 @@ static void IRAM_ATTR i2c_master_isr_handler_default(void *arg)
         xQueueSendFromISR(i2c_master->event_queue, (void *)&i2c_master->event, &HPTaskAwoken);
     }
     if (i2c_master->contains_read == true) {
-        i2c_isr_receive_handler(i2c_master);
+        if (int_mask & I2C_LL_INTR_MST_COMPLETE || int_mask & I2C_LL_INTR_END_DETECT) {
+            i2c_isr_receive_handler(i2c_master);
+        }
     }
 
     if (i2c_master->async_trans) {
@@ -1092,6 +1116,8 @@ esp_err_t i2c_master_probe(i2c_master_bus_handle_t bus_handle, uint16_t address,
     bus_handle->cmd_idx = 0;
     bus_handle->trans_idx = 0;
     bus_handle->trans_done = false;
+    bus_handle->status = I2C_STATUS_IDLE;
+    bus_handle->bypass_nack_log = true;
     i2c_hal_context_t *hal = &bus_handle->base->hal;
     i2c_operation_t i2c_ops[] = {
         {.hw_cmd = I2C_TRANS_START_COMMAND},
@@ -1106,7 +1132,10 @@ esp_err_t i2c_master_probe(i2c_master_bus_handle_t bus_handle, uint16_t address,
 
     // I2C probe does not have i2c device module. So set the clock parameter independently
     // This will not influence device transaction.
-    i2c_hal_set_bus_timing(hal, 100000, bus_handle->base->clk_src, bus_handle->base->clk_src_freq_hz);
+    I2C_CLOCK_SRC_ATOMIC() {
+        i2c_ll_set_source_clk(hal->dev, bus_handle->base->clk_src);
+        i2c_hal_set_bus_timing(hal, 100000, bus_handle->base->clk_src, bus_handle->base->clk_src_freq_hz);
+    }
     i2c_ll_master_set_fractional_divider(hal->dev, 0, 0);
     i2c_ll_enable_intr_mask(hal->dev, I2C_LL_MASTER_EVENT_INTR);
     i2c_ll_update(hal->dev);
@@ -1121,6 +1150,7 @@ esp_err_t i2c_master_probe(i2c_master_bus_handle_t bus_handle, uint16_t address,
 
     // Reset the status to done, in order not influence next time transaction.
     bus_handle->status = I2C_STATUS_DONE;
+    bus_handle->bypass_nack_log = false;
     i2c_ll_disable_intr_mask(hal->dev, I2C_LL_MASTER_EVENT_INTR);
     xSemaphoreGive(bus_handle->bus_lock_mux);
     return ret;
diff --git a/components/driver/i2c/i2c_private.h b/components/driver/i2c/i2c_private.h
index fde194dacbf..38776d3b9ad 100644
--- a/components/driver/i2c/i2c_private.h
+++ b/components/driver/i2c/i2c_private.h
@@ -17,12 +17,25 @@
 #include "freertos/task.h"
 #include "freertos/ringbuf.h"
 #include "driver/i2c_slave.h"
+#include "esp_private/periph_ctrl.h"
 #include "esp_pm.h"
 
 #ifdef __cplusplus
 extern "C" {
 #endif
 
+#if SOC_PERIPH_CLK_CTRL_SHARED
+#define I2C_CLOCK_SRC_ATOMIC() PERIPH_RCC_ATOMIC()
+#else
+#define I2C_CLOCK_SRC_ATOMIC()
+#endif
+
+#if !SOC_RCC_IS_INDEPENDENT
+#define I2C_RCC_ATOMIC() PERIPH_RCC_ATOMIC()
+#else
+#define I2C_RCC_ATOMIC()
+#endif
+
 #if CONFIG_I2C_ISR_IRAM_SAFE
 #define I2C_MEM_ALLOC_CAPS    (MALLOC_CAP_INTERNAL | MALLOC_CAP_8BIT)
 #else
@@ -126,7 +139,8 @@ struct i2c_master_bus_t {
     bool trans_over_buffer;                                          // Data length is more than hardware fifo length, needs interrupt.
     bool async_trans;                                                // asynchronous transaction, true after callback is installed.
     bool ack_check_disable;                                          // Disable ACK check
-    volatile bool trans_done;                                                 // transaction command finish
+    volatile bool trans_done;                                        // transaction command finish
+    bool bypass_nack_log;                                             // Bypass the error log. Sometimes the error is expected.
     SLIST_HEAD(i2c_master_device_list_head, i2c_master_device_list) device_list;      // I2C device (instance) list
     // asnyc trans members
     bool async_break;                                                // break transaction loop flag.
diff --git a/components/driver/i2c/i2c_slave.c b/components/driver/i2c/i2c_slave.c
index 0376b6bbfdd..32070ebd78f 100644
--- a/components/driver/i2c/i2c_slave.c
+++ b/components/driver/i2c/i2c_slave.c
@@ -247,7 +247,9 @@ esp_err_t i2c_new_slave_device(const i2c_slave_config_t *slave_config, i2c_slave
 #endif
 
     //Default, we enable hardware filter
-    i2c_ll_set_source_clk(hal->dev, slave_config->clk_source);
+    I2C_CLOCK_SRC_ATOMIC() {
+        i2c_ll_set_source_clk(hal->dev, slave_config->clk_source);
+    }
     bool addr_10bit_en = slave_config->addr_bit_len != I2C_ADDR_BIT_LEN_7;
     i2c_ll_set_slave_addr(hal->dev, slave_config->slave_addr, addr_10bit_en);
 #if SOC_I2C_SLAVE_SUPPORT_BROADCAST
diff --git a/components/driver/test_apps/i2c_test_apps/main/test_i2c_common.c b/components/driver/test_apps/i2c_test_apps/main/test_i2c_common.c
index b3e5a15e6fe..53ad7f4326f 100644
--- a/components/driver/test_apps/i2c_test_apps/main/test_i2c_common.c
+++ b/components/driver/test_apps/i2c_test_apps/main/test_i2c_common.c
@@ -167,6 +167,41 @@ TEST_CASE("I2C master probe device test", "[i2c]")
     TEST_ESP_OK(i2c_del_master_bus(bus_handle));
 }
 
+TEST_CASE("probe test after general call (0x00 0x06)", "[i2c]")
+{
+    uint8_t data_wr[1] = { 0x06 };
+
+    i2c_master_bus_config_t i2c_mst_config = {
+        .clk_source = I2C_CLK_SRC_DEFAULT,
+        .i2c_port = TEST_I2C_PORT,
+        .scl_io_num = I2C_MASTER_SCL_IO,
+        .sda_io_num = I2C_MASTER_SDA_IO,
+        .flags.enable_internal_pullup = true,
+    };
+    i2c_master_bus_handle_t bus_handle;
+
+    TEST_ESP_OK(i2c_new_master_bus(&i2c_mst_config, &bus_handle));
+
+    i2c_device_config_t dev_cfg1 = {
+        .dev_addr_length = I2C_ADDR_BIT_LEN_7,
+        .device_address = 0x00,
+        .scl_speed_hz = 100000,
+    };
+
+    i2c_master_dev_handle_t dev_handle1;
+    TEST_ESP_OK(i2c_master_bus_add_device(bus_handle, &dev_cfg1, &dev_handle1));
+
+    TEST_ESP_ERR(ESP_ERR_INVALID_STATE, i2c_master_transmit(dev_handle1, data_wr, 1, 200));
+
+    for (int i = 1; i < 0x7f; i++) {
+        TEST_ESP_ERR(ESP_ERR_NOT_FOUND, i2c_master_probe(bus_handle, i, 800));
+    }
+
+    TEST_ESP_OK(i2c_master_bus_rm_device(dev_handle1));
+
+    TEST_ESP_OK(i2c_del_master_bus(bus_handle));
+}
+
 #define LENGTH 48
 
 static IRAM_ATTR bool test_master_tx_done_callback(i2c_master_dev_handle_t i2c_dev, const i2c_master_event_data_t *evt_data, void *arg)
diff --git a/components/esp_rom/esp32c2/ld/esp32c2.rom.ld b/components/esp_rom/esp32c2/ld/esp32c2.rom.ld
index a3ac43639a7..2ce2111a817 100644
--- a/components/esp_rom/esp32c2/ld/esp32c2.rom.ld
+++ b/components/esp_rom/esp32c2/ld/esp32c2.rom.ld
@@ -1048,7 +1048,6 @@ r_ble_lll_adv_coex_dpc_update_on_event_scheduled = 0x40001418;
 r_ble_lll_adv_done = 0x4000141c;
 r_ble_lll_adv_event_done = 0x40001424;
 r_ble_lll_adv_event_rmvd_from_sched = 0x40001428;
-r_ble_lll_adv_ext_estimate_data_itvl = 0x4000142c;
 r_ble_lll_adv_get_sec_pdu_len = 0x40001430;
 r_ble_lll_adv_make_done = 0x40001438;
 r_ble_lll_adv_periodic_done = 0x4000143c;
@@ -1926,7 +1925,7 @@ ieee80211_send_deauth = 0x40002120;
 ieee80211_alloc_deauth = 0x40002124;
 ieee80211_send_proberesp = 0x40002128;
 ieee80211_getcapinfo = 0x40002130;
-sta_rx_csa = 0x40002134;
+/* sta_rx_csa = 0x40002134; */
 /* sta_recv_sa_query_resp = 0x40002144; */
 ieee80211_set_max_rate = 0x4000214c;
 ic_set_sta = 0x40002150;
diff --git a/components/esp_system/port/brownout.c b/components/esp_system/port/brownout.c
index d2cf744975b..5472303fdf5 100644
--- a/components/esp_system/port/brownout.c
+++ b/components/esp_system/port/brownout.c
@@ -29,7 +29,7 @@
 #define BROWNOUT_DET_LVL 0
 #endif
 
-static __attribute__((unused)) DRAM_ATTR const char *TAG = "BOD";
+static __attribute__((unused)) DRAM_ATTR const char TAG[] = "BOD";
 
 #if CONFIG_ESP_SYSTEM_BROWNOUT_INTR
 IRAM_ATTR static void rtc_brownout_isr_handler(void *arg)
diff --git a/components/esp_wifi/Kconfig b/components/esp_wifi/Kconfig
index 5754189a00d..b134d0844cd 100644
--- a/components/esp_wifi/Kconfig
+++ b/components/esp_wifi/Kconfig
@@ -327,17 +327,30 @@ menu "Wi-Fi"
         int "Minimum active time"
         range 8 60
         default 50
-        depends on ESP_WIFI_SLP_IRAM_OPT
         help
-            The minimum timeout for waiting to receive data, unit: milliseconds.
+            Only for station in WIFI_PS_MIN_MODEM or WIFI_PS_MAX_MODEM. When the station enters the active state,
+            it will work for at least ESP_WIFI_SLP_DEFAULT_MIN_ACTIVE_TIME. If a data packet is received or sent
+            during this period, the time will be refreshed. If the time is up, but the station still has packets
+            to receive or send, the time will also be refreshed. unit: milliseconds.
 
     config ESP_WIFI_SLP_DEFAULT_MAX_ACTIVE_TIME
         int "Maximum keep alive time"
         range 10 60
         default 10
-        depends on ESP_WIFI_SLP_IRAM_OPT
         help
-            The maximum time that wifi keep alive, unit: seconds.
+            Only for station in WIFI_PS_MIN_MODEM or WIFI_PS_MAX_MODEM. If no packet has been
+            sent within ESP_WIFI_SLP_DEFAULT_MAX_ACTIVE_TIME, a null data packet will be sent
+            to maintain the connection with the AP. unit: seconds.
+
+    config ESP_WIFI_SLP_DEFAULT_WAIT_BROADCAST_DATA_TIME
+        int "Minimum wait broadcast data time"
+        range 10 30
+        default 15
+        help
+            Only for station in WIFI_PS_MIN_MODEM or WIFI_PS_MAX_MODEM. When the station knows through the beacon
+            that AP will send broadcast packet, it will wait for ESP_WIFI_SLP_DEFAULT_WAIT_BROADCAST_DATA_TIME
+            before entering the sleep process. If a broadcast packet is received with more data bits, the time
+            will refreshed. unit: milliseconds.
 
     config ESP_WIFI_FTM_ENABLE
         bool "WiFi FTM"
diff --git a/components/esp_wifi/include/esp_private/wifi.h b/components/esp_wifi/include/esp_private/wifi.h
index 12c4122f945..ec9f2fae1ff 100644
--- a/components/esp_wifi/include/esp_private/wifi.h
+++ b/components/esp_wifi/include/esp_private/wifi.h
@@ -618,13 +618,13 @@ esp_err_t esp_wifi_internal_set_spp_amsdu(wifi_interface_t ifidx, bool spp_cap,
 void esp_wifi_internal_update_light_sleep_default_params(int min_freq_mhz, int max_freq_mhz);
 
 /**
- * @brief   Set the delay time for wifi to enter the sleep state when light sleep
+ * @brief   Set the min active time for wifi to enter the sleep state when light sleep
  *
- * @param   return_to_sleep_delay: minimum timeout time  for waiting to receive
+ * @param   min_active_time: minimum timeout time  for waiting to receive
  *                      data, when no data is received during the timeout period,
  *                      the wifi enters the sleep process.
  */
-void esp_wifi_set_sleep_delay_time(uint32_t return_to_sleep_delay);
+void esp_wifi_set_sleep_min_active_time(uint32_t min_active_time);
 
 /**
  * @brief   Set wifi keep alive time
@@ -633,6 +633,17 @@ void esp_wifi_set_sleep_delay_time(uint32_t return_to_sleep_delay);
  */
 void esp_wifi_set_keep_alive_time(uint32_t keep_alive_time);
 
+/**
+  * @brief      Set the min broadcast data wait time for wifi to enter the sleep state
+  *
+  * @attention  Default sleep wait broadcast data time is 15000, Uint µs.
+  *
+  * @param      time: When the station knows through the beacon that the AP
+  *                   will send broadcast packet, it will wait for a minimum of
+  *                   wait_broadcast_data_time before entering the sleep process.
+  */
+void esp_wifi_set_sleep_wait_broadcast_data_time(uint32_t time);
+
 /**
  * @brief   Configure wifi beacon montior default parameters
  *
diff --git a/components/esp_wifi/include/esp_wifi.h b/components/esp_wifi/include/esp_wifi.h
index 6d49a1de9f5..5bb4d4d28a8 100644
--- a/components/esp_wifi/include/esp_wifi.h
+++ b/components/esp_wifi/include/esp_wifi.h
@@ -347,7 +347,7 @@ esp_err_t esp_wifi_get_mode(wifi_mode_t *mode);
   * @return
   *    - ESP_OK: succeed
   *    - ESP_ERR_WIFI_NOT_INIT: WiFi is not initialized by esp_wifi_init
-  *    - ESP_ERR_INVALID_ARG: invalid argument
+  *    - ESP_ERR_INVALID_ARG: It doesn't normally happen, the function called inside the API was passed invalid argument, user should check if the wifi related config is correct
   *    - ESP_ERR_NO_MEM: out of memory
   *    - ESP_ERR_WIFI_CONN: WiFi internal error, station or soft-AP control block wrong
   *    - ESP_FAIL: other WiFi internal errors
@@ -538,7 +538,7 @@ esp_err_t esp_wifi_scan_get_ap_record(wifi_ap_record_t *ap_record);
   *    - ESP_ERR_WIFI_NOT_INIT: WiFi is not initialized by esp_wifi_init
   *    - ESP_ERR_WIFI_NOT_STARTED: WiFi is not started by esp_wifi_start
   *    - ESP_ERR_WIFI_MODE: WiFi mode is wrong
-  *    - ESP_ERR_INVALID_ARG: invalid argument
+  *    - ESP_ERR_INVALID_ARG: It doesn't normally happen, the function called inside the API was passed invalid argument, user should check if the wifi related config is correct
   */
 esp_err_t esp_wifi_clear_ap_list(void);
 
diff --git a/components/esp_wifi/include/esp_wifi_types.h b/components/esp_wifi/include/esp_wifi_types.h
index 95dbc8d9447..25e6d73e4fa 100644
--- a/components/esp_wifi/include/esp_wifi_types.h
+++ b/components/esp_wifi/include/esp_wifi_types.h
@@ -298,6 +298,8 @@ typedef struct {
     uint8_t ssid_hidden;        /**< Broadcast SSID or not, default 0, broadcast the SSID */
     uint8_t max_connection;     /**< Max number of stations allowed to connect in */
     uint16_t beacon_interval;   /**< Beacon interval which should be multiples of 100. Unit: TU(time unit, 1 TU = 1024 us). Range: 100 ~ 60000. Default value: 100 */
+    uint8_t csa_count;          /**< Channel Switch Announcement Count. Notify the station that the channel will switch after the csa_count beacon intervals. Default value: 3 */
+    uint8_t dtim_period;        /**< Dtim period of soft-AP. Default value: 2 */
     wifi_cipher_type_t pairwise_cipher;   /**< Pairwise cipher of SoftAP, group cipher will be derived using this. Cipher values are valid starting from WIFI_CIPHER_TYPE_TKIP, enum values before that will be considered as invalid and default cipher suites(TKIP+CCMP) will be used. Valid cipher suites in softAP mode are WIFI_CIPHER_TYPE_TKIP, WIFI_CIPHER_TYPE_CCMP and WIFI_CIPHER_TYPE_TKIP_CCMP. */
     bool ftm_responder;         /**< Enable FTM Responder mode */
     wifi_pmf_config_t pmf_cfg;  /**< Configuration for Protected Management Frame */
diff --git a/components/esp_wifi/lib b/components/esp_wifi/lib
index 97850a86466..21b94ecb030 160000
--- a/components/esp_wifi/lib
+++ b/components/esp_wifi/lib
@@ -1 +1 @@
-Subproject commit 97850a864669fe1e98c7d812984e2d5ab70ccc5c
+Subproject commit 21b94ecb0303ca880c16585d7f5948ea615c2223
diff --git a/components/esp_wifi/src/wifi_init.c b/components/esp_wifi/src/wifi_init.c
index e70facdca01..89746ef82f9 100644
--- a/components/esp_wifi/src/wifi_init.c
+++ b/components/esp_wifi/src/wifi_init.c
@@ -320,12 +320,16 @@ esp_err_t esp_wifi_init(const wifi_init_config_t *config)
 
     esp_pm_register_light_sleep_default_params_config_callback(esp_wifi_internal_update_light_sleep_default_params);
 
-    uint32_t sleep_delay_us = CONFIG_ESP_WIFI_SLP_DEFAULT_MIN_ACTIVE_TIME * 1000;
-    esp_wifi_set_sleep_delay_time(sleep_delay_us);
+#endif
+
+    uint32_t min_active_time_us = CONFIG_ESP_WIFI_SLP_DEFAULT_MIN_ACTIVE_TIME * 1000;
+    esp_wifi_set_sleep_min_active_time(min_active_time_us);
 
     uint32_t keep_alive_time_us = CONFIG_ESP_WIFI_SLP_DEFAULT_MAX_ACTIVE_TIME * 1000 * 1000;
     esp_wifi_set_keep_alive_time(keep_alive_time_us);
-#endif
+
+    uint32_t wait_broadcast_data_time_us = CONFIG_ESP_WIFI_SLP_DEFAULT_WAIT_BROADCAST_DATA_TIME * 1000;
+    esp_wifi_set_sleep_wait_broadcast_data_time(wait_broadcast_data_time_us);
 
 #if CONFIG_FREERTOS_USE_TICKLESS_IDLE
 #if SOC_PM_MODEM_RETENTION_BY_REGDMA
diff --git a/components/hal/esp32/include/hal/i2c_ll.h b/components/hal/esp32/include/hal/i2c_ll.h
index e78a7ff32d9..243f732756f 100644
--- a/components/hal/esp32/include/hal/i2c_ll.h
+++ b/components/hal/esp32/include/hal/i2c_ll.h
@@ -13,6 +13,7 @@
 #include "soc/i2c_periph.h"
 #include "soc/i2c_struct.h"
 #include "soc/clk_tree_defs.h"
+#include "soc/dport_reg.h"
 #include "hal/i2c_types.h"
 #include "esp_attr.h"
 #include "hal/assert.h"
@@ -709,6 +710,51 @@ static inline void i2c_ll_update(i2c_dev_t *hw)
     ;// ESP32 do not support
 }
 
+/**
+ * @brief Enable the bus clock for I2C module
+ *
+ * @param i2c_port I2C port id
+ * @param enable true to enable, false to disable
+ */
+static inline void i2c_ll_enable_bus_clock(int i2c_port, bool enable)
+{
+    if (i2c_port == 0) {
+        uint32_t reg_val = DPORT_READ_PERI_REG(DPORT_PERIP_CLK_EN_REG);
+        reg_val &= ~DPORT_I2C_EXT0_CLK_EN;
+        reg_val |= enable << 7;
+        DPORT_WRITE_PERI_REG(DPORT_PERIP_CLK_EN_REG, reg_val);
+    } else if (i2c_port == 1) {
+        uint32_t reg_val = DPORT_READ_PERI_REG(DPORT_PERIP_CLK_EN_REG);
+        reg_val &= ~DPORT_I2C_EXT1_CLK_EN;
+        reg_val |= enable << 18;
+        DPORT_WRITE_PERI_REG(DPORT_PERIP_CLK_EN_REG, reg_val);
+    }
+}
+
+/// use a macro to wrap the function, force the caller to use it in a critical section
+/// the critical section needs to declare the __DECLARE_RCC_ATOMIC_ENV variable in advance
+#define i2c_ll_enable_bus_clock(...) do {(void)__DECLARE_RCC_ATOMIC_ENV; i2c_ll_enable_bus_clock(__VA_ARGS__);} while(0)
+
+/**
+ * @brief Reset the I2C module
+ *
+ * @param i2c_port Group ID
+ */
+static inline void i2c_ll_reset_register(int i2c_port)
+{
+    if (i2c_port == 0) {
+        DPORT_WRITE_PERI_REG(DPORT_PERIP_RST_EN_REG, DPORT_I2C_EXT0_RST);
+        DPORT_WRITE_PERI_REG(DPORT_PERIP_RST_EN_REG, 0);
+    } else if (i2c_port == 1) {
+        DPORT_WRITE_PERI_REG(DPORT_PERIP_RST_EN_REG, DPORT_I2C_EXT1_RST);
+        DPORT_WRITE_PERI_REG(DPORT_PERIP_RST_EN_REG, 0);
+    }
+}
+
+/// use a macro to wrap the function, force the caller to use it in a critical section
+/// the critical section needs to declare the __DECLARE_RCC_ATOMIC_ENV variable in advance
+#define i2c_ll_reset_register(...) do {(void)__DECLARE_RCC_ATOMIC_ENV; i2c_ll_reset_register(__VA_ARGS__);} while(0)
+
 /**
  * @brief Set whether slave should auto start, or only start with start signal from master
  *
diff --git a/components/hal/esp32c2/include/hal/i2c_ll.h b/components/hal/esp32c2/include/hal/i2c_ll.h
index a7550cab691..8fa30c22569 100644
--- a/components/hal/esp32c2/include/hal/i2c_ll.h
+++ b/components/hal/esp32c2/include/hal/i2c_ll.h
@@ -17,6 +17,7 @@
 #include "hal/i2c_types.h"
 #include "soc/rtc_cntl_reg.h"
 #include "soc/clk_tree_defs.h"
+#include "soc/system_struct.h"
 #include "esp_attr.h"
 
 #ifdef __cplusplus
@@ -112,6 +113,38 @@ static inline void i2c_ll_update(i2c_dev_t *hw)
     hw->ctr.conf_upgate = 1;
 }
 
+/**
+ * @brief Enable the bus clock for I2C module
+ *
+ * @param i2c_port I2C port id
+ * @param enable true to enable, false to disable
+ */
+static inline void i2c_ll_enable_bus_clock(int i2c_port, bool enable)
+{
+    (void)i2c_port;
+    SYSTEM.perip_clk_en0.i2c_ext0_clk_en = enable;
+}
+
+/// use a macro to wrap the function, force the caller to use it in a critical section
+/// the critical section needs to declare the __DECLARE_RCC_ATOMIC_ENV variable in advance
+#define i2c_ll_enable_bus_clock(...) do {(void)__DECLARE_RCC_ATOMIC_ENV; i2c_ll_enable_bus_clock(__VA_ARGS__);} while(0)
+
+/**
+ * @brief Reset the I2C module
+ *
+ * @param i2c_port Group ID
+ */
+static inline void i2c_ll_reset_register(int i2c_port)
+{
+    (void)i2c_port;
+    SYSTEM.perip_rst_en0.i2c_ext0_rst = 1;
+    SYSTEM.perip_rst_en0.i2c_ext0_rst = 0;
+}
+
+/// use a macro to wrap the function, force the caller to use it in a critical section
+/// the critical section needs to declare the __DECLARE_RCC_ATOMIC_ENV variable in advance
+#define i2c_ll_reset_register(...) do {(void)__DECLARE_RCC_ATOMIC_ENV; i2c_ll_reset_register(__VA_ARGS__);} while(0)
+
 /**
  * @brief  Configure the I2C bus timing related register.
  *
diff --git a/components/hal/esp32c3/include/hal/i2c_ll.h b/components/hal/esp32c3/include/hal/i2c_ll.h
index 11091748eed..f22d15947f7 100644
--- a/components/hal/esp32c3/include/hal/i2c_ll.h
+++ b/components/hal/esp32c3/include/hal/i2c_ll.h
@@ -17,6 +17,7 @@
 #include "hal/i2c_types.h"
 #include "soc/rtc_cntl_reg.h"
 #include "soc/clk_tree_defs.h"
+#include "soc/system_struct.h"
 #include "esp_attr.h"
 #include "hal/misc.h"
 
@@ -126,6 +127,38 @@ static inline void i2c_ll_update(i2c_dev_t *hw)
     hw->ctr.conf_upgate = 1;
 }
 
+/**
+ * @brief Enable the bus clock for I2C module
+ *
+ * @param i2c_port I2C port id
+ * @param enable true to enable, false to disable
+ */
+static inline void i2c_ll_enable_bus_clock(int i2c_port, bool enable)
+{
+    (void)i2c_port;
+    SYSTEM.perip_clk_en0.reg_i2c_ext0_clk_en = enable;
+}
+
+/// use a macro to wrap the function, force the caller to use it in a critical section
+/// the critical section needs to declare the __DECLARE_RCC_ATOMIC_ENV variable in advance
+#define i2c_ll_enable_bus_clock(...) do {(void)__DECLARE_RCC_ATOMIC_ENV; i2c_ll_enable_bus_clock(__VA_ARGS__);} while(0)
+
+/**
+ * @brief Reset the I2C module
+ *
+ * @param i2c_port Group ID
+ */
+static inline void i2c_ll_reset_register(int i2c_port)
+{
+    (void)i2c_port;
+    SYSTEM.perip_rst_en0.reg_i2c_ext0_rst = 1;
+    SYSTEM.perip_rst_en0.reg_i2c_ext0_rst = 0;
+}
+
+/// use a macro to wrap the function, force the caller to use it in a critical section
+/// the critical section needs to declare the __DECLARE_RCC_ATOMIC_ENV variable in advance
+#define i2c_ll_reset_register(...) do {(void)__DECLARE_RCC_ATOMIC_ENV; i2c_ll_reset_register(__VA_ARGS__);} while(0)
+
 /**
  * @brief  Configure the I2C bus timing related register.
  *
diff --git a/components/hal/esp32c6/include/hal/i2c_ll.h b/components/hal/esp32c6/include/hal/i2c_ll.h
index 6b6aa120f15..2d465c20a43 100644
--- a/components/hal/esp32c6/include/hal/i2c_ll.h
+++ b/components/hal/esp32c6/include/hal/i2c_ll.h
@@ -128,6 +128,30 @@ static inline void i2c_ll_update(i2c_dev_t *hw)
     hw->ctr.conf_upgate = 1;
 }
 
+/**
+ * @brief Enable the bus clock for I2C module
+ *
+ * @param i2c_port I2C port id
+ * @param enable true to enable, false to disable
+ */
+static inline void i2c_ll_enable_bus_clock(int i2c_port, bool enable)
+{
+    (void)i2c_port;
+    PCR.i2c_conf.i2c_clk_en = enable;
+}
+
+/**
+ * @brief Reset the I2C module
+ *
+ * @param i2c_port Group ID
+ */
+static inline void i2c_ll_reset_register(int i2c_port)
+{
+    (void)i2c_port;
+    PCR.i2c_conf.i2c_rst_en = 1;
+    PCR.i2c_conf.i2c_rst_en = 0;
+}
+
 /**
  * @brief  Configure the I2C bus timing related register.
  *
diff --git a/components/hal/esp32h2/include/hal/i2c_ll.h b/components/hal/esp32h2/include/hal/i2c_ll.h
index 26ff59a11aa..1f21cae77c9 100644
--- a/components/hal/esp32h2/include/hal/i2c_ll.h
+++ b/components/hal/esp32h2/include/hal/i2c_ll.h
@@ -127,6 +127,28 @@ static inline void i2c_ll_update(i2c_dev_t *hw)
     hw->ctr.conf_upgate = 1;
 }
 
+/**
+ * @brief Enable the bus clock for I2C module
+ *
+ * @param i2c_port I2C port id
+ * @param enable true to enable, false to disable
+ */
+static inline void i2c_ll_enable_bus_clock(int i2c_port, bool enable)
+{
+    PCR.i2c[i2c_port].i2c_conf.i2c_clk_en = enable;
+}
+
+/**
+ * @brief Reset the I2C module
+ *
+ * @param i2c_port Group ID
+ */
+static inline void i2c_ll_reset_register(int i2c_port)
+{
+    PCR.i2c[i2c_port].i2c_conf.i2c_rst_en = 1;
+    PCR.i2c[i2c_port].i2c_conf.i2c_rst_en = 0;
+}
+
 /**
  * @brief  Configure the I2C bus timing related register.
  *
diff --git a/components/hal/esp32p4/include/hal/i2c_ll.h b/components/hal/esp32p4/include/hal/i2c_ll.h
index 88940be813d..cb2a0af0cd5 100644
--- a/components/hal/esp32p4/include/hal/i2c_ll.h
+++ b/components/hal/esp32p4/include/hal/i2c_ll.h
@@ -132,6 +132,45 @@ static inline void i2c_ll_update(i2c_dev_t *hw)
     hw->ctr.conf_upgate = 1;
 }
 
+/**
+ * @brief Enable the bus clock for I2C module
+ *
+ * @param i2c_port I2C port id
+ * @param enable true to enable, false to disable
+ */
+static inline void i2c_ll_enable_bus_clock(int i2c_port, bool enable)
+{
+    if (i2c_port == 0) {
+        HP_SYS_CLKRST.soc_clk_ctrl2.reg_i2c0_apb_clk_en = enable;
+    } else if (i2c_port == 1) {
+        HP_SYS_CLKRST.soc_clk_ctrl2.reg_i2c1_apb_clk_en = enable;
+    }
+}
+
+/// use a macro to wrap the function, force the caller to use it in a critical section
+/// the critical section needs to declare the __DECLARE_RCC_ATOMIC_ENV variable in advance
+#define i2c_ll_enable_bus_clock(...) do {(void)__DECLARE_RCC_ATOMIC_ENV; i2c_ll_enable_bus_clock(__VA_ARGS__);} while(0)
+
+/**
+ * @brief Reset the I2C module
+ *
+ * @param i2c_port Group ID
+ */
+static inline void i2c_ll_reset_register(int i2c_port)
+{
+    if (i2c_port == 0) {
+        HP_SYS_CLKRST.hp_rst_en1.reg_rst_en_i2c0 = 1;
+        HP_SYS_CLKRST.hp_rst_en1.reg_rst_en_i2c0 = 0;
+    } else if (i2c_port == 1) {
+        HP_SYS_CLKRST.hp_rst_en1.reg_rst_en_i2c1 = 1;
+        HP_SYS_CLKRST.hp_rst_en1.reg_rst_en_i2c1 = 0;
+    }
+}
+
+/// use a macro to wrap the function, force the caller to use it in a critical section
+/// the critical section needs to declare the __DECLARE_RCC_ATOMIC_ENV variable in advance
+#define i2c_ll_reset_register(...) do {(void)__DECLARE_RCC_ATOMIC_ENV; i2c_ll_reset_register(__VA_ARGS__);} while(0)
+
 /**
  * @brief  Configure the I2C bus timing related register.
  *
@@ -754,6 +793,10 @@ static inline void i2c_ll_set_source_clk(i2c_dev_t *hw, i2c_clock_source_t src_c
 
 }
 
+/// use a macro to wrap the function, force the caller to use it in a critical section
+/// the critical section needs to declare the __DECLARE_RCC_ATOMIC_ENV variable in advance
+#define i2c_ll_set_source_clk(...) do {(void)__DECLARE_RCC_ATOMIC_ENV; i2c_ll_set_source_clk(__VA_ARGS__);} while(0)
+
 /**
  * @brief Enable I2C peripheral controller clock
  *
@@ -763,10 +806,8 @@ static inline void i2c_ll_set_source_clk(i2c_dev_t *hw, i2c_clock_source_t src_c
 static inline void i2c_ll_enable_controller_clock(i2c_dev_t *hw, bool en)
 {
     if (hw == &I2C0) {
-        HP_SYS_CLKRST.soc_clk_ctrl2.reg_i2c0_apb_clk_en = en;
         HP_SYS_CLKRST.peri_clk_ctrl10.reg_i2c0_clk_en = en;
     } else if (hw == &I2C1) {
-        HP_SYS_CLKRST.soc_clk_ctrl2.reg_i2c1_apb_clk_en = en;
         HP_SYS_CLKRST.peri_clk_ctrl10.reg_i2c1_clk_en = en;
     } else if (hw == &LP_I2C) {
         // Do nothing
diff --git a/components/hal/esp32s2/include/hal/i2c_ll.h b/components/hal/esp32s2/include/hal/i2c_ll.h
index f0685129968..f22accc1847 100644
--- a/components/hal/esp32s2/include/hal/i2c_ll.h
+++ b/components/hal/esp32s2/include/hal/i2c_ll.h
@@ -11,6 +11,7 @@
 #include "soc/i2c_periph.h"
 #include "soc/i2c_struct.h"
 #include "soc/clk_tree_defs.h"
+#include "soc/system_reg.h"
 #include "hal/i2c_types.h"
 #include "esp_attr.h"
 #include "hal/misc.h"
@@ -758,6 +759,51 @@ static inline void i2c_ll_update(i2c_dev_t *hw)
     ;// ESP32S2 do not support
 }
 
+/**
+ * @brief Enable the bus clock for I2C module
+ *
+ * @param i2c_port I2C port id
+ * @param enable true to enable, false to disable
+ */
+static inline void i2c_ll_enable_bus_clock(int i2c_port, bool enable)
+{
+    if (i2c_port == 0) {
+        uint32_t reg_val = READ_PERI_REG(DPORT_PERIP_CLK_EN0_REG);
+        reg_val &= ~DPORT_I2C_EXT0_CLK_EN_M;
+        reg_val |= enable << DPORT_I2C_EXT0_CLK_EN_S;
+        WRITE_PERI_REG(DPORT_PERIP_CLK_EN0_REG, reg_val);
+    } else if (i2c_port == 1) {
+        uint32_t reg_val = READ_PERI_REG(DPORT_PERIP_CLK_EN0_REG);
+        reg_val &= ~DPORT_I2C_EXT1_CLK_EN_M;
+        reg_val |= enable << DPORT_I2C_EXT1_CLK_EN_S;
+        WRITE_PERI_REG(DPORT_PERIP_CLK_EN0_REG, reg_val);
+    }
+}
+
+/// use a macro to wrap the function, force the caller to use it in a critical section
+/// the critical section needs to declare the __DECLARE_RCC_ATOMIC_ENV variable in advance
+#define i2c_ll_enable_bus_clock(...) do {(void)__DECLARE_RCC_ATOMIC_ENV; i2c_ll_enable_bus_clock(__VA_ARGS__);} while(0)
+
+/**
+ * @brief Reset the I2C module
+ *
+ * @param i2c_port Group ID
+ */
+static inline void i2c_ll_reset_register(int i2c_port)
+{
+    if (i2c_port == 0) {
+        WRITE_PERI_REG(DPORT_PERIP_RST_EN0_REG, DPORT_I2C_EXT0_RST_M);
+        WRITE_PERI_REG(DPORT_PERIP_RST_EN0_REG, 0);
+    } else if (i2c_port == 1) {
+        WRITE_PERI_REG(DPORT_PERIP_RST_EN0_REG, DPORT_I2C_EXT1_RST_M);
+        WRITE_PERI_REG(DPORT_PERIP_RST_EN0_REG, 0);
+    }
+}
+
+/// use a macro to wrap the function, force the caller to use it in a critical section
+/// the critical section needs to declare the __DECLARE_RCC_ATOMIC_ENV variable in advance
+#define i2c_ll_reset_register(...) do {(void)__DECLARE_RCC_ATOMIC_ENV; i2c_ll_reset_register(__VA_ARGS__);} while(0)
+
 /**
  * @brief Set whether slave should auto start, or only start with start signal from master
  *
diff --git a/components/hal/esp32s3/include/hal/i2c_ll.h b/components/hal/esp32s3/include/hal/i2c_ll.h
index f833cf9aa53..97131a888b6 100644
--- a/components/hal/esp32s3/include/hal/i2c_ll.h
+++ b/components/hal/esp32s3/include/hal/i2c_ll.h
@@ -15,6 +15,7 @@
 #include "soc/soc_caps.h"
 #include "soc/i2c_struct.h"
 #include "soc/clk_tree_defs.h"
+#include "soc/system_struct.h"
 #include "hal/i2c_types.h"
 #include "esp_attr.h"
 #include "esp_assert.h"
@@ -126,6 +127,46 @@ static inline void i2c_ll_update(i2c_dev_t *hw)
     hw->ctr.conf_upgate = 1;
 }
 
+/**
+ * @brief Enable the bus clock for I2C module
+ *
+ * @param i2c_port I2C port id
+ * @param enable true to enable, false to disable
+ */
+static inline void i2c_ll_enable_bus_clock(int i2c_port, bool enable)
+{
+    if (i2c_port == 0) {
+        SYSTEM.perip_clk_en0.i2c_ext0_clk_en = enable;
+    } else if (i2c_port == 1) {
+        SYSTEM.perip_clk_en0.i2c_ext1_clk_en = enable;
+    }
+}
+
+/// use a macro to wrap the function, force the caller to use it in a critical section
+/// the critical section needs to declare the __DECLARE_RCC_ATOMIC_ENV variable in advance
+#define i2c_ll_enable_bus_clock(...) do {(void)__DECLARE_RCC_ATOMIC_ENV; i2c_ll_enable_bus_clock(__VA_ARGS__);} while(0)
+
+/**
+ * @brief Reset the I2C module
+ *
+ * @param i2c_port Group ID
+ */
+static inline void i2c_ll_reset_register(int i2c_port)
+{
+    if (i2c_port == 0) {
+        SYSTEM.perip_rst_en0.i2c_ext0_rst = 1;
+        SYSTEM.perip_rst_en0.i2c_ext0_rst = 0;
+    } else if (i2c_port == 1) {
+        SYSTEM.perip_rst_en0.i2c_ext1_rst = 1;
+        SYSTEM.perip_rst_en0.i2c_ext1_rst = 0;
+    }
+
+}
+
+/// use a macro to wrap the function, force the caller to use it in a critical section
+/// the critical section needs to declare the __DECLARE_RCC_ATOMIC_ENV variable in advance
+#define i2c_ll_reset_register(...) do {(void)__DECLARE_RCC_ATOMIC_ENV; i2c_ll_reset_register(__VA_ARGS__);} while(0)
+
 /**
  * @brief  Configure the I2C bus timing related register.
  *
diff --git a/components/hal/i2c_hal.c b/components/hal/i2c_hal.c
index 3e43f560278..2daa902bb72 100644
--- a/components/hal/i2c_hal.c
+++ b/components/hal/i2c_hal.c
@@ -22,9 +22,8 @@ void i2c_hal_slave_init(i2c_hal_context_t *hal)
 }
 #endif
 
-void i2c_hal_set_bus_timing(i2c_hal_context_t *hal, int scl_freq, i2c_clock_source_t src_clk, int source_freq)
+void _i2c_hal_set_bus_timing(i2c_hal_context_t *hal, int scl_freq, i2c_clock_source_t src_clk, int source_freq)
 {
-    i2c_ll_set_source_clk(hal->dev, src_clk);
     i2c_hal_clk_config_t clk_cal = {0};
     i2c_ll_master_cal_bus_clk(source_freq, scl_freq, &clk_cal);
     i2c_ll_master_set_bus_timing(hal->dev, &clk_cal);
@@ -45,7 +44,7 @@ void i2c_hal_master_init(i2c_hal_context_t *hal)
     i2c_ll_rxfifo_rst(hal->dev);
 }
 
-void i2c_hal_init(i2c_hal_context_t *hal, int i2c_port)
+void _i2c_hal_init(i2c_hal_context_t *hal, int i2c_port)
 {
     if (hal->dev == NULL) {
         hal->dev = I2C_LL_GET_HW(i2c_port);
@@ -53,7 +52,7 @@ void i2c_hal_init(i2c_hal_context_t *hal, int i2c_port)
     i2c_ll_enable_controller_clock(hal->dev, true);
 }
 
-void i2c_hal_deinit(i2c_hal_context_t *hal)
+void _i2c_hal_deinit(i2c_hal_context_t *hal)
 {
     i2c_ll_enable_controller_clock(hal->dev, false);
     hal->dev = NULL;
diff --git a/components/hal/include/hal/i2c_hal.h b/components/hal/include/hal/i2c_hal.h
index 831c7b6f528..b7f7518e1f4 100644
--- a/components/hal/include/hal/i2c_hal.h
+++ b/components/hal/include/hal/i2c_hal.h
@@ -93,7 +93,15 @@ void i2c_hal_master_init(i2c_hal_context_t *hal);
  *
  * @return None
  */
-void i2c_hal_set_bus_timing(i2c_hal_context_t *hal, int scl_freq, i2c_clock_source_t src_clk, int source_freq);
+void _i2c_hal_set_bus_timing(i2c_hal_context_t *hal, int scl_freq, i2c_clock_source_t src_clk, int source_freq);
+
+#if SOC_PERIPH_CLK_CTRL_SHARED
+/// use a macro to wrap the function, force the caller to use it in a critical section
+/// the critical section needs to declare the __DECLARE_RCC_ATOMIC_ENV variable in advance
+#define i2c_hal_set_bus_timing(...) do {(void)__DECLARE_RCC_ATOMIC_ENV; _i2c_hal_set_bus_timing(__VA_ARGS__);} while(0)
+#else
+#define i2c_hal_set_bus_timing(...)   _i2c_hal_set_bus_timing(__VA_ARGS__)
+#endif
 
 /**
  * @brief  I2C hardware FSM reset
@@ -139,14 +147,30 @@ void i2c_hal_master_set_scl_timeout_val(i2c_hal_context_t *hal, uint32_t timeout
  * @param hal Context of the HAL
  * @param i2c_port I2C port number.
  */
-void i2c_hal_init(i2c_hal_context_t *hal, int i2c_port);
+void _i2c_hal_init(i2c_hal_context_t *hal, int i2c_port);
+
+#if SOC_PERIPH_CLK_CTRL_SHARED
+/// use a macro to wrap the function, force the caller to use it in a critical section
+/// the critical section needs to declare the __DECLARE_RCC_ATOMIC_ENV variable in advance
+#define i2c_hal_init(...) do {(void)__DECLARE_RCC_ATOMIC_ENV; _i2c_hal_init(__VA_ARGS__);} while(0)
+#else
+#define i2c_hal_init(...)   _i2c_hal_init(__VA_ARGS__)
+#endif
 
 /**
  * @brief Deinit I2C hal layer
  *
  * @param hal Context of the HAL
  */
-void i2c_hal_deinit(i2c_hal_context_t *hal);
+void _i2c_hal_deinit(i2c_hal_context_t *hal);
+
+#if SOC_PERIPH_CLK_CTRL_SHARED
+/// use a macro to wrap the function, force the caller to use it in a critical section
+/// the critical section needs to declare the __DECLARE_RCC_ATOMIC_ENV variable in advance
+#define i2c_hal_deinit(...) do {(void)__DECLARE_RCC_ATOMIC_ENV; _i2c_hal_deinit(__VA_ARGS__);} while(0)
+#else
+#define i2c_hal_deinit(...)   _i2c_hal_deinit(__VA_ARGS__)
+#endif
 
 /**
  * @brief Start I2C master transaction
diff --git a/components/openthread/src/port/esp_openthread_uart.c b/components/openthread/src/port/esp_openthread_uart.c
index 9c8ef64cde6..ba532af6962 100644
--- a/components/openthread/src/port/esp_openthread_uart.c
+++ b/components/openthread/src/port/esp_openthread_uart.c
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2021-2023 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2021-2024 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -61,6 +61,16 @@ otError otPlatUartSend(const uint8_t *buf, uint16_t buf_length)
 
 esp_err_t esp_openthread_uart_init_port(const esp_openthread_uart_config_t *config)
 {
+#ifndef CONFIG_ESP_CONSOLE_UART
+    // If UART console is used, UART vfs devices should be registered during startup.
+    // Otherwise we need to register them here.
+    DIR *uart_dir = opendir("/dev/uart");
+    if (!uart_dir) {
+        esp_vfs_dev_uart_register();
+    } else {
+        closedir(uart_dir);
+    }
+#endif
     ESP_RETURN_ON_ERROR(uart_param_config(config->port, &config->uart_config), OT_PLAT_LOG_TAG,
                         "uart_param_config failed");
     ESP_RETURN_ON_ERROR(
@@ -90,7 +100,6 @@ esp_err_t esp_openthread_host_cli_usb_init(const esp_openthread_platform_config_
 
     ret = usb_serial_jtag_driver_install((usb_serial_jtag_driver_config_t *)&config->host_config.host_usb_config);
     esp_vfs_usb_serial_jtag_use_driver();
-    esp_vfs_dev_uart_register();
     return ret;
 }
 #endif
diff --git a/components/pthread/pthread_local_storage.c b/components/pthread/pthread_local_storage.c
index abb547675bd..8d015813ee9 100644
--- a/components/pthread/pthread_local_storage.c
+++ b/components/pthread/pthread_local_storage.c
@@ -147,7 +147,9 @@ static void pthread_cleanup_thread_specific_data_callback(int index, void *v_tls
     free(tls);
 }
 
-/* this function called from pthread_task_func for "early" cleanup of TLS in a pthread */
+/* this function called from pthread_task_func for "early" cleanup of TLS in a pthread
+   and from pthread_join/pthread_detach for cleanup of TLS after pthread exit
+*/
 void pthread_internal_local_storage_destructor_callback(TaskHandle_t handle)
 {
     void *tls = pvTaskGetThreadLocalStoragePointer(handle, PTHREAD_TLS_INDEX);
@@ -157,9 +159,9 @@ void pthread_internal_local_storage_destructor_callback(TaskHandle_t handle)
            calling it again...
         */
 #if !defined(CONFIG_FREERTOS_TLSP_DELETION_CALLBACKS)
-        vTaskSetThreadLocalStoragePointer(NULL, PTHREAD_TLS_INDEX, NULL);
+        vTaskSetThreadLocalStoragePointer(handle, PTHREAD_TLS_INDEX, NULL);
 #else
-        vTaskSetThreadLocalStoragePointerAndDelCallback(NULL,
+        vTaskSetThreadLocalStoragePointerAndDelCallback(handle,
                                                         PTHREAD_TLS_INDEX,
                                                         NULL,
                                                         NULL);
diff --git a/components/spiffs/include/spiffs_config.h b/components/spiffs/include/spiffs_config.h
index b245a5d1b54..3281619256b 100644
--- a/components/spiffs/include/spiffs_config.h
+++ b/components/spiffs/include/spiffs_config.h
@@ -71,7 +71,7 @@ extern void spiffs_api_unlock(struct spiffs_t *fs);
 
 // Defines spiffs debug print formatters
 // some general signed number
-#define _SPIPRIi   "%"PRIdMAX
+#define _SPIPRIi   "%" PRIdMAX
 // address
 #define _SPIPRIad  "%08x"
 // block
diff --git a/docs/_static/itwt_10s_current.png b/docs/_static/itwt_10s_current.png
new file mode 100644
index 00000000000..bfd315c042e
Binary files /dev/null and b/docs/_static/itwt_10s_current.png differ
diff --git a/docs/_static/itwt_30s_current.png b/docs/_static/itwt_30s_current.png
new file mode 100644
index 00000000000..7b8890149f4
Binary files /dev/null and b/docs/_static/itwt_30s_current.png differ
diff --git a/docs/_static/itwt_setup.png b/docs/_static/itwt_setup.png
new file mode 100644
index 00000000000..0aa68878e1b
Binary files /dev/null and b/docs/_static/itwt_setup.png differ
diff --git a/docs/_static/itwt_suspend.png b/docs/_static/itwt_suspend.png
new file mode 100644
index 00000000000..c49403313e3
Binary files /dev/null and b/docs/_static/itwt_suspend.png differ
diff --git a/docs/_static/itwt_teardown.png b/docs/_static/itwt_teardown.png
new file mode 100644
index 00000000000..c3c6805e32b
Binary files /dev/null and b/docs/_static/itwt_teardown.png differ
diff --git a/docs/zh_CN/api-guides/low-power-mode.rst b/docs/zh_CN/api-guides/low-power-mode.rst
index 2dcf30dd909..4d6851ef64f 100644
--- a/docs/zh_CN/api-guides/low-power-mode.rst
+++ b/docs/zh_CN/api-guides/low-power-mode.rst
@@ -731,3 +731,293 @@ Deep-sleep 有如下可配置选项：
   .. only:: esp32c2
 
     平均电流约 4.9 μA
+
+.. only:: esp32c6
+
+  目标唤醒时间 (TWT)
+  ----------------------------------
+
+  目标唤醒时间 (Target Wake Time, TWT) 是 Wi-Fi 6 中引入的一项特性，旨在降低设备功耗和提高网络效率。
+
+  在以往的 Wi-Fi 节能机制中，设备可能需要在每个 DTIM 周期醒来与 AP 交换数据，而在 TWT 机制中支持 AP 和设备协商得到特定的唤醒时间，设备会在这些时间点醒来与 AP 进行数据交换，而其余时间则处于休眠状态。TWT 协商的唤醒和休眠时间取决于设备具体的应用需求。例如，有些传感器设备需要定时上传数据，在该场景下设备可以与 AP 建立 TWT 协商，相隔多个小时交换一次数据。实际应用中可根据具体需求定制唤醒时间，在不影响设备正常工作的情况下降低功耗。
+
+  AP 可以与多个设备建立 TWT 协商。利用 Wi-Fi 6 的多用户特性，AP 可以对上行和下行数据传输做出合理协调，从而减少信道竞争，提高传输效率。
+
+  TWT 类型
+  ++++++++++
+
+  根据协商类型和工作模式，可以把 TWT 分为：
+
+  - **Individual TWT (iTWT)**
+
+    iTWT 模式下，AP 与终端设备建立的是一对一的 TWT 协商。
+
+  - **Broadcast TWT (bTWT)**
+
+    在 bTWT 模式下，AP 通过 Beacon 帧广播 TWT 信息，以组的形式来管理多个终端设备的 TWT 过程。终端设备可以根据 Beacon 中的 TWT 信息选择执行加组操作。
+
+  .. note::
+      在建立 TWT 协商前，需要确认 AP 是否支持并开启了 TWT 功能。{IDF_TARGET_NAME} 当前只支持 iTWT 模式。
+
+  TWT 工作流程
+  ++++++++++++
+  TWT 工作流程一般分为 TWT 协商建立、TWT 协商暂停/恢复、TWT 协商终止。TWT 协商建立后，Station 就可以按照协商的参数进入休眠状态，直到约定好的下一个 TWT 时间点到来时苏醒。
+  对已经建立的 TWT，用户可以根据需求协商暂停/恢复 TWT 或者终止 TWT。
+
+  - TWT 协商建立
+
+    - Individual TWT 协商建立
+
+      在 iTWT 协商建立过程中，通常由 Station 充当请求发起方发送 TWT 请求，而后 AP 作为接收方对该请求做出回应。AP 也可以主动向 Station 发起 TWT 协商建立过程。
+      在成功建立起 iTWT 协商后，Station 可以进入休眠状态，直到约定好的下一个 TWT 时间点到来时苏醒，该时间点通过和 AP 间的协商得到。Station 醒来后和 AP 进行数据交换，这段时间被称为 TWT 服务时间 (Service Period, SP)。
+      TWT SP 的持续时间被称为 TWT Wake Duration，其最小值为 256 微秒。当一次 TWT SP 结束后，Station 进入休眠状态直到下次 TWT SP 醒来进行数据传输。本次 TWT SP 的起始到下次 TWT SP 的起始的时间间隔被称为 TWT Wake Interval。下图为基本的 iTWT 示例：
+
+      .. figure:: ../../_static/itwt_setup.png
+          :align: center
+
+          Individual TWT 协商建立过程示例
+
+      Station 在 iTWT 协商建立时可以发送不同类型的请求，AP 会根据请求类型及参数做出对应的回复。用户需要根据 AP 回复中的类型和具体参数决定后续的操作逻辑。Station 所发送的请求类型有 ``Request``、``Suggest`` 和 ``Demand``。
+      AP 的回复类型可分为 ``Accept``、``Alternate`` 和 ``Dictate``。下表描述了发送不同请求时 AP 可能的回复以及不同情况下对应的含义：
+
+      .. list-table::
+        :header-rows: 1
+        :widths: 20 10 40
+
+        * - 请求类型
+          - AP 回复
+          - 含义
+        * - Request, Suggest or Demand
+          - No response
+          - 在该情况下 AP 不会与 Station 建立 iTWT 协商。
+        * - Suggest or Request
+          - Accept
+          - AP 同意建立 iTWT 协商，其使用的参数以回复中 TWT 参数为准。回复中的 TWT 参数有可能与请求中不一致。
+        * - Demand
+          - Accept
+          - AP 同意建立 iTWT 协商，且回复中的 TWT 参数与请求中的一致。
+        * - Demand or Suggest
+          - Alternate
+          - AP 使用该回复类型代表给 Station提供一组备选 TWT 参数，此时不会建立 iTWT 协商。后续 Station 可以发送新的请求，但 AP 仍有可能使用该组参数。
+        * - Demand or Suggest
+          - Dictate
+          - AP 使用该回复类型代表给 Station 提供一组备选 TWT 参数，此时不会建立 iTWT 协商，同时也表明 AP 不接受除该组参数以外的其他参数。后续 Station 可以发送新的请求，但只有参数与所提供的备选参数一致才会收到 Accept 回复。
+        * - Request, Suggest or Demand
+          - Reject
+          - 在该情况下 AP 不会与 station 建立 iTWT 协商。后续 Station 可以更改 TWT 参数发送新的请求。
+
+      在 TWT SP 中依照数据交互时的操作可以将 TWT 进一步地细分为多种类型，下表描述了这些类型间的差异：
+
+      .. list-table::
+        :header-rows: 1
+        :widths: 10 20
+
+        * - Types
+          - 含义
+        * - Trigger-enabled
+          - AP 会在 SP 中使用 Trigger 帧来协调 Station 的数据传输。
+        * - Non trigger-enabled
+          - 在 SP 中不需要使用 Trigger 帧。
+        * - Announced
+          - Station 会发送 QoS Null 帧告知 AP 其唤醒状态。
+        * - Unannounced
+          - 不需要发送 QoS Null 帧。
+
+    - Broadcast TWT 协商建立
+
+      与 iTWT 不同的是，在 bTWT 模式下 AP 将 TWT 信息放在 Beacon 帧中进行广播宣告。Station 接收到 Beacon 后，可以向 AP 发送请求申请选择加入某个 TWT。
+      当建立起 bTWT 协商后， Station 和 AP 会在协商好的 TWT SP 中进行数据传输。
+
+      与 iTWT 类似，可以把 bTWT 进一步分成 Trigger-enabled 和 Non trigger-enabled 类型，以及 Announced 和 Unannounced 类型，具体的行为差异可以参考 iTWT 中的描述。
+
+  - TWT 协商暂停/恢复
+
+    建立起 TWT 协商后， Station 可以通过向 AP 发送 TWT Information 帧暂停或者恢复指定的 TWT 协商。由 flow_id 来标识需要暂停或者恢复的 TWT 协商，具体可以参考 TWT 参数配置。
+
+    .. figure:: ../../_static/itwt_suspend.png
+        :align: center
+
+        Individual TWT 协商暂停/恢复过程示例
+
+  - TWT 协商终止
+
+    建立起 TWT 协商后， Station 可以通过向 AP 发送 TWT Teardown 帧终止指定的 TWT 协商。由 flow_id 来标识需要终止的 TWT 协商，具体可以参考 TWT 参数配置。
+
+    .. figure:: ../../_static/itwt_teardown.png
+        :align: center
+
+        Individual TWT 协商终止过程示例
+
+  TWT 参数配置
+  ++++++++++++
+
+  在使用过程中，需要配置 TWT 和低功耗模式的相关参数，其中低功耗模式相关参数决定了设备在休眠状态下的行为模式。本小节将主要阐述如何配置 TWT，有关低功耗模式下的参数配置，请参考 `如何配置 Wi-Fi 场景下低功耗模式`_。
+
+  - Individual TWT 参数配置
+
+    在建立 Station 和 AP 间的 iTWT 时，使用 :component_file:`esp_wifi/include/esp_wifi_he_types.h` 中定义的结构体 :cpp:type:`wifi_twt_setup_config_t` 来配置 TWT 的相关参数，其定义如下：
+
+    .. code-block:: C
+
+      typedef struct
+      {
+        wifi_twt_setup_cmds_t setup_cmd;
+        uint16_t trigger :1;
+        uint16_t flow_type :1;
+        uint16_t flow_id :3;
+        uint16_t wake_invl_expn :5;
+        uint16_t wake_duration_unit :1;
+        uint16_t reserved :5;
+        uint8_t min_wake_dura;
+        uint16_t wake_invl_mant;
+        uint16_t twt_id;
+        uint16_t timeout_time_ms;
+      } wifi_twt_setup_config_t;
+
+    :cpp:type:`wifi_twt_setup_config_t` 中各个字段的含义如下：
+
+    .. list-table::
+      :header-rows: 1
+      :widths: 15 45
+      :align: center
+
+      * - 字段
+        - 描述
+      * - setup_cmd
+        - 指示了 TWT 建立时请求和回复使用的命令类型，具体类型请参阅 :cpp:type:`wifi_twt_setup_cmds_t` 。
+      * - trigger
+        - 值为 1 时配置 TWT 类型为 Trigger-enabled，值为 0 时配置为 Non trigger-enabled。
+      * - flow_type
+        - 值为 1 时配置 TWT 类型为 Unannounced，值为 0 时配置为 Announced。
+      * - flow_id
+        - 当建立起一个 iTWT 协商后，AP 会为其分配 flow_id。Station 在协商建立请求中可以指定 flow_id，但在 AP 的回复中该字段可能会被改变。
+      * - wake_invl_expn
+        - TWT Wake Interval 指数部分。
+      * - wake_duration_unit
+        - TWT Wake Duration 计数单元。为 0 代表 256 微秒，为 1 代表以 TU (1024 微秒) 为单位。
+      * - reserved
+        - 保留字段。
+      * - min_wake_dura
+        - 该字段代表 Station 期望处于唤醒状态的时间，以 ``wake_duration_unit`` 作为基本单位。
+      * - wake_invl_mant
+        - TWT Wake Interval 尾数部分。
+      * - twt_id
+        - TWT 配置标识。在发起多个 TWT 请求时，该字段用于在 handler 中区分不同的 TWT 参数配置。
+      * - timeout_time_ms
+        - TWT 请求超时时间，单位为毫秒。
+
+    需要指出的是，Station 在协商中所期望的 TWT Wake Interval 为 wake_invl_mant * 2\ :sup:`wake_invl_expn`\，单位是微秒。
+    而所期望的 TWT Wake Duration 为 min_wake_dura * wake_duration_unit。
+
+    .. note::
+        注意， TWT Wake Interval 和 TWT Wake Duration 的差值需要大于 10 毫秒。
+
+    配置示例如下：
+
+    .. code-block:: C
+
+      wifi_twt_setup_config_t setup_config = {
+        .setup_cmd = TWT_REQUEST,
+        .flow_id = 0,
+        .twt_id = 0,
+        .flow_type = 0,
+        .min_wake_dura = 255,
+        .wake_duration_unit = 0,
+        .wake_invl_expn = 10,
+        .wake_invl_mant = 512,
+        .trigger = 1,
+        .timeout_time_ms = 5000,
+      };
+
+    以上配置指定建立 TWT 请求时使用的类型为 Trigger-enabled，Announced，期望的 TWT Wake Interval 为 524288 微秒， TWT Wake Duration 为 65280 微秒。配置好 :cpp:type:`wifi_twt_setup_config_t` 后，调用 API :cpp:func:`esp_wifi_sta_itwt_setup` 向 AP 发起 iTWT 建立请求。
+
+    .. note::
+        {IDF_TARGET_NAME} 支持用户调用 API :cpp:func:`esp_wifi_sta_itwt_set_target_wake_time_offset` 配置相对于目标唤醒时间的偏移时间。
+
+  TWT 事件
+  ++++++++++
+
+  - WIFI_EVENT_ITWT_SETUP
+
+    发送请求后，用户可以在 :cpp:enumerator:`WIFI_EVENT_ITWT_SETUP` 事件的对应处理程序中获取请求结果并自定义处理逻辑。事件结果保存在 :cpp:type:`wifi_event_sta_itwt_setup_t` 结构体中，其成员变量 status 指示了此次事件的状态。
+    当 status 为 :c:macro:`ITWT_SETUP_SUCCESS` 时代表请求成功收到了对应回复，为其他值代表请求失败。在得到请求成功的状态后，用户可以从该结构体中的 config 成员变量中得到 AP 回复中的具体参数，并根据具体参数决定后续的处理逻辑。
+    例如，Station 发送了类型为 Demand 的 TWT 请求，收到 AP 的回复类型为 Dictate，用户此时可以考察回复中的 TWT 参数是否可行，若可行便可以发送一个新的 TWT 请求与 AP 继续建立 TWT 协商，并且该请求中的 TWT 参数需要与 AP 回复中一致。
+
+    在 Station 未主动发送请求时也有可能触发 :cpp:enumerator:`WIFI_EVENT_ITWT_SETUP` 事件，这种情况下对应的是 AP 主动向 Station 发起 iTWT 协商建立过程，此时 AP 向 Station 发送的帧中会带有 TWT 参数。同样地，用户可以在 :cpp:enumerator:`WIFI_EVENT_ITWT_SETUP` 事件的对应处理程序中获取结果并自定义处理逻辑。
+    用户需要检查 config 成员变量中 AP 发送的 TWT 参数类型，一般有两种情况：
+    1. AP 发送的 TWT 参数为 Accept 类型，此时 Station 会与 AP 建立起使用该 TWT 参数的 iTWT 协商。若用户不希望建立此 iTWT 协商，可以向 AP 发送 Teardown 帧。
+    2. AP 发送的 TWT 参数为 Alternate 或 Dictate 类型，此时 Station 不会与 AP 建立起 iTWT 协商，但可以在接下来使用该参数向 AP 发起 iTWT 协商建立请求。
+
+  - WIFI_EVENT_ITWT_SUSPEND
+
+    在调用 API :cpp:func:`esp_wifi_sta_itwt_suspend` 请求暂停已经建立的 iTWT 协商时， 用户可以在 :cpp:enumerator:`WIFI_EVENT_ITWT_SUSPEND` 事件的对应处理程序中获取请求结果并自定义处理逻辑。事件结果保存在 :cpp:type:`wifi_event_sta_itwt_suspend_t` 结构体中，其成员变量 status 指示了此次事件的状态。
+    当 status 为 :c:macro:`ESP_OK` 时代表成功暂停了指定的 iTWT 协商，为其他值代表请求暂停失败。
+
+    .. note::
+        注意，调用 API :cpp:func:`esp_wifi_sta_itwt_suspend` 请求暂停 iTWT 时，用户需要指定对应 iTWT 的 flow_id 以及暂停时间。需要注意的是，当暂停时间大于 0 时，对应 iTWT 会在暂停指定时间后恢复，而当暂停时间为 0 时，对应的 iTWT 会暂停，直到被用户调用 API 手动恢复为止。
+
+  - WIFI_EVENT_ITWT_TEARDOWN
+
+    在调用 API :cpp:func:`esp_wifi_sta_itwt_teardown` 请求终止 iTWT 时，用户可以在 :cpp:enumerator:`WIFI_EVENT_ITWT_TEARDOWN` 事件的对应处理程序中获取请求结果并自定义处理逻辑。事件结果保存在 :cpp:type:`wifi_event_sta_itwt_teardown_t` 结构体中，其成员变量 status 指示了此次事件的状态。
+    当 status 为 :cpp:enumerator:`ITWT_TEARDOWN_SUCCESS` 时代表成功终止了指定的 iTWT 协商，为其他值代表终止 iTWT 失败。调用 API 时用户需要指定需要终止的 iTWT 的 flow_id。
+
+  - WIFI_EVENT_TWT_WAKEUP
+
+    当 Station 在休眠中醒来时，Wi-Fi 驱动程序将会上报 :cpp:enumerator:`WIFI_EVENT_TWT_WAKEUP` 事件，用户可以在该事件的对应处理程序中自定义处理逻辑。事件结果保存在 :cpp:type:`wifi_event_sta_twt_wakeup_t` 结构体中，成员变量 twt_type 指示了此次事件 TWT 的类型，成员变量 flow_id 指示了此次醒来的具体的 TWT。
+
+  - WIFI_EVENT_ITWT_PROBE
+
+    调用 API :cpp:func:`esp_wifi_sta_itwt_send_probe_req` 在 iTWT 期间发送 probe request 时，用户可以在 :cpp:enumerator:`WIFI_EVENT_ITWT_PROBE` 事件的对应处理程序中获取请求结果并自定义处理逻辑。事件结果保存在 :cpp:type:`wifi_event_sta_itwt_probe_t` 结构体中，其成员变量 status 指示了此次事件的状态。
+    当 status 为 :cpp:enumerator:`ITWT_PROBE_SUCCESS` 时代表成功发送 probe request 并且接收到 AP 回复的 probe response，为其他值代表发送或者接收 probe 失败。
+
+
+  有关 iTWT 使用的更多信息，可以参考示例 :example:`wifi/itwt` 。
+
+  TWT 功耗分析
+  +++++++++++++
+
+  为了展现 TWT 在节省设备功耗方面的优势，我们使用功率分析仪追踪了 {IDF_TARGET_NAME} 在不同模式下的电流情况。如下图所示，{IDF_TARGET_NAME} 首先处于 DTIM 模式，接着与 AP 建立起 iTWT 协商，TWT Wake Interval 为 10 s，在 TWT SP 结束后，{IDF_TARGET_NAME} 会进入 Light-sleep 状态直到下个 SP 到来时唤醒。
+  其中 :cpp:type:`wifi_twt_setup_config_t` 配置示例如下：
+
+  .. code-block:: C
+
+    wifi_twt_setup_config_t setup_config = {
+      .setup_cmd = TWT_REQUEST,
+      .flow_id = 0,
+      .twt_id = 0,
+      .flow_type = 0,
+      .min_wake_dura = 255,
+      .wake_duration_unit = 0,
+      .wake_invl_expn = 10,
+      .wake_invl_mant = 10000,
+      .trigger = 1,
+      .timeout_time_ms = 5000,
+    };
+
+  .. figure:: ../../_static/itwt_10s_current.png
+      :align: center
+
+      DTIM 与 iTWT 模式下的电流图
+
+  进一步，将 TWT 协商中的 TWT Wake Interval 参数更改为 30 s，下图展现了参数变化对于电流的影响。
+  其中 :cpp:type:`wifi_twt_setup_config_t` 配置示例如下：
+
+  .. code-block:: C
+
+    wifi_twt_setup_config_t setup_config = {
+      .setup_cmd = TWT_REQUEST,
+      .flow_id = 0,
+      .twt_id = 0,
+      .flow_type = 0,
+      .min_wake_dura = 255,
+      .wake_duration_unit = 0,
+      .wake_invl_expn = 10,
+      .wake_invl_mant = 30000,
+      .trigger = 1,
+      .timeout_time_ms = 5000,
+    };
+
+  .. figure:: ../../_static/itwt_30s_current.png
+      :align: center
+
+      更改参数后的 DTIM 与 iTWT 模式下的电流图