diff --git a/cpu/esp32/bootloader/Makefile b/cpu/esp32/bootloader/Makefile
index 54b0c7bb92..1cf29cd21d 100644
--- a/cpu/esp32/bootloader/Makefile
+++ b/cpu/esp32/bootloader/Makefile
@@ -18,15 +18,16 @@ BOOTLOADER_BAUD ?= $(BAUD)
 ESP_SDK_BOOTLOADER_SRCS = \
   components/bootloader/subproject/main/bootloader_start.c \
   components/bootloader/subproject/components/micro-ecc/uECC_verify_antifault.c \
+  components/bootloader_support/bootloader_flash/src/bootloader_flash.c \
+  components/bootloader_support/bootloader_flash/src/bootloader_flash_config_$(CPU_FAM).c \
+  components/bootloader_support/bootloader_flash/src/flash_qio_mode.c \
   components/bootloader_support/src/bootloader_clock_init.c \
   components/bootloader_support/src/bootloader_clock_loader.c \
   components/bootloader_support/src/bootloader_common.c \
   components/bootloader_support/src/bootloader_common_loader.c \
   components/bootloader_support/src/bootloader_console.c \
   components/bootloader_support/src/bootloader_console_loader.c \
-  components/bootloader_support/src/bootloader_efuse_$(CPU_FAM).c \
-  components/bootloader_support/src/bootloader_flash.c \
-  components/bootloader_support/src/bootloader_flash_config_$(CPU_FAM).c \
+  components/bootloader_support/src/bootloader_efuse.c \
   components/bootloader_support/src/bootloader_init.c \
   components/bootloader_support/src/bootloader_mem.c \
   components/bootloader_support/src/bootloader_panic.c \
@@ -39,7 +40,6 @@ ESP_SDK_BOOTLOADER_SRCS = \
   components/bootloader_support/src/esp_image_format.c \
   components/bootloader_support/src/flash_encrypt.c \
   components/bootloader_support/src/flash_partitions.c \
-  components/bootloader_support/src/flash_qio_mode.c \
   components/bootloader_support/src/secure_boot.c \
   components/efuse/$(CPU_FAM)/esp_efuse_fields.c \
   components/efuse/$(CPU_FAM)/esp_efuse_table.c \
@@ -47,82 +47,131 @@ ESP_SDK_BOOTLOADER_SRCS = \
   components/efuse/src/esp_efuse_api.c \
   components/efuse/src/esp_efuse_fields.c \
   components/efuse/src/esp_efuse_utility.c \
+  components/esp_bootloader_format/esp_bootloader_desc.c \
   components/esp_common/src/esp_err_to_name.c \
-  components/esp_hw_support/compare_set.c \
-  components/esp_hw_support/cpu_util.c \
+  components/esp_hw_support/cpu.c \
+  components/esp_hw_support/esp_memory_utils.c \
   components/esp_hw_support/port/$(CPU_FAM)/chip_info.c \
+  components/esp_hw_support/port/$(CPU_FAM)/cpu_region_protect.c \
+  components/esp_hw_support/port/$(CPU_FAM)/esp_cpu_intr.c \
   components/esp_hw_support/port/$(CPU_FAM)/rtc_clk.c \
   components/esp_hw_support/port/$(CPU_FAM)/rtc_clk_init.c \
   components/esp_hw_support/port/$(CPU_FAM)/rtc_init.c \
-  components/esp_hw_support/port/$(CPU_FAM)/rtc_pm.c \
   components/esp_hw_support/port/$(CPU_FAM)/rtc_sleep.c \
   components/esp_hw_support/port/$(CPU_FAM)/rtc_time.c \
   components/esp_rom/patches/esp_rom_crc.c \
+  components/esp_rom/patches/esp_rom_efuse.c \
+  components/esp_rom/patches/esp_rom_gpio.c \
+  components/esp_rom/patches/esp_rom_print.c \
+  components/esp_rom/patches/esp_rom_spiflash.c \
   components/esp_rom/patches/esp_rom_sys.c \
-  components/esp_rom/patches/esp_rom_tjpgd.c \
   components/esp_rom/patches/esp_rom_uart.c \
   components/esp_system/esp_err.c \
-  components/hal/cpu_hal.c \
-  components/hal/mpu_hal.c \
-  components/hal/wdt_hal_iram.c \
-  components/log/log_buffers.c \
-  components/log/log.c \
-  components/log/log_noos.c \
-  components/newlib/syscalls.c \
+  components/hal/efuse_hal.c \
+  components/hal/$(CPU_FAM)/efuse_hal.c \
+  components/hal/hal_utils.c \
+  components/hal/mmu_hal.c \
+  components/log/src/log_timestamp_common.c \
+  components/log/src/noos/log_lock.c \
+  components/log/src/noos/log_timestamp.c \
+  components/soc/dport_access_common.c \
   components/soc/$(CPU_FAM)/adc_periph.c \
   components/soc/$(CPU_FAM)/gpio_periph.c \
   components/soc/$(CPU_FAM)/i2c_periph.c \
   components/soc/$(CPU_FAM)/i2s_periph.c \
   components/soc/$(CPU_FAM)/interrupts.c \
   components/soc/$(CPU_FAM)/ledc_periph.c \
+  components/soc/$(CPU_FAM)/mpi_periph.c \
   components/soc/$(CPU_FAM)/rmt_periph.c \
-  components/soc/$(CPU_FAM)/sigmadelta_periph.c \
+  components/soc/$(CPU_FAM)/sdm_periph.c \
   components/soc/$(CPU_FAM)/spi_periph.c \
   components/soc/$(CPU_FAM)/timer_periph.c \
+  components/soc/$(CPU_FAM)/twai_periph.c \
   components/soc/$(CPU_FAM)/uart_periph.c \
+  components/soc/$(CPU_FAM)/wdt_periph.c \
   components/soc/lldesc.c \
-  components/spi_flash/$(CPU_FAM)/spi_flash_rom_patch.c \
+  components/spi_flash/spi_flash_wrap.c \
   #
 
 ifneq (,$(filter xtensa%,$(TARGET_ARCH)))
-  ESP_SDK_BOOTLOADER_SRCS += components/esp_hw_support/port/$(CPU_FAM)/rtc_wdt.c
-  ESP_SDK_BOOTLOADER_SRCS += components/soc/$(CPU_FAM)/lcd_periph.c
-  ESP_SDK_BOOTLOADER_SRCS += components/soc/$(CPU_FAM)/pcnt_periph.c
-  ESP_SDK_BOOTLOADER_SRCS += components/soc/$(CPU_FAM)/rtc_io_periph.c
-  ESP_SDK_BOOTLOADER_SRCS += components/soc/$(CPU_FAM)/touch_sensor_periph.c
+  ESP_SDK_BOOTLOADER_ASMSRC = components/esp_rom/patches/esp_rom_longjmp.S
   ESP_SDK_BOOTLOADER_SRCS += components/xtensa/eri.c
   ESP_SDK_BOOTLOADER_SRCS += components/xtensa/xt_trax.c
 else
-  ESP_SDK_BOOTLOADER_SRCS += components/esp_hw_support/port/$(CPU_FAM)/cpu_util_$(CPU_FAM).c
-endif
-
-ifneq (,$(filter esp32 esp32s2,$(CPU_FAM)))
-  ESP_SDK_BOOTLOADER_SRCS += components/soc/$(CPU_FAM)/dac_periph.c
-endif
-
-ifneq (,$(filter esp32 esp32s3,$(CPU_FAM)))
-  ESP_SDK_BOOTLOADER_SRCS += components/soc/$(CPU_FAM)/mcpwm_periph.c
-  ESP_SDK_BOOTLOADER_SRCS += components/soc/$(CPU_FAM)/sdio_slave_periph.c
-  ESP_SDK_BOOTLOADER_SRCS += components/soc/$(CPU_FAM)/sdmmc_periph.c
-endif
-
-ifneq (,$(filter esp32c3 esp32h2 esp32s3,$(CPU_FAM)))
-  ESP_SDK_BOOTLOADER_SRCS += components/efuse/$(CPU_FAM)/esp_efuse_rtc_calib.c
 endif
 
 ifneq (,$(filter esp32,$(CPU_FAM)))
-  ESP_SDK_BOOTLOADER_SRCS += components/efuse/src/esp_efuse_api_key_esp32.c
-  ESP_SDK_BOOTLOADER_ASMSRC = components/esp_rom/patches/esp_rom_longjmp.S
+  ESP_SDK_BOOTLOADER_SRCS += \
+    components/efuse/src/efuse_controller/keys/without_key_purposes/three_key_blocks/esp_efuse_api_key.c \
+    components/hal/$(CPU_FAM)/cache_hal_$(CPU_FAM).c \
+    components/hal/mpu_hal.c \
+    components/hal/wdt_hal_iram.c \
+    components/soc/$(CPU_FAM)/dac_periph.c \
+    components/soc/$(CPU_FAM)/dport_access.c \
+    components/soc/$(CPU_FAM)/emac_periph.c \
+    components/soc/$(CPU_FAM)/lcd_periph.c \
+    components/soc/$(CPU_FAM)/mcpwm_periph.c \
+    components/soc/$(CPU_FAM)/pcnt_periph.c \
+    components/soc/$(CPU_FAM)/rtc_io_periph.c \
+    components/soc/$(CPU_FAM)/sdio_slave_periph.c \
+    components/soc/$(CPU_FAM)/sdmmc_periph.c \
+    components/soc/$(CPU_FAM)/touch_sensor_periph.c \
+    #
 else ifneq (,$(filter esp32s2,$(CPU_FAM)))
-  ESP_SDK_BOOTLOADER_SRCS += components/efuse/src/esp_efuse_api_key_esp32xx.c
-  ESP_SDK_BOOTLOADER_SRCS += components/esp_hw_support/port/$(CPU_FAM)/regi2c_ctrl.c
-  ESP_SDK_BOOTLOADER_SRCS += components/soc/$(CPU_FAM)/dedic_gpio_periph.c
-  ESP_SDK_BOOTLOADER_SRCS += components/soc/soc_include_legacy_warn.c
+  ESP_SDK_BOOTLOADER_SRCS += \
+    components/efuse/$(CPU_FAM)/esp_efuse_rtc_calib.c \
+    components/efuse/$(CPU_FAM)/esp_efuse_rtc_table.c \
+    components/efuse/src/efuse_controller/keys/with_key_purposes/esp_efuse_api_key.c \
+    components/esp_rom/$(CPU_FAM)/usb_patches.c \
+    components/esp_rom/patches/esp_rom_cache_esp32s2_esp32s3.c \
+    components/esp_rom/patches/esp_rom_regi2c_$(CPU_FAM).c \
+    components/hal/cache_hal.c \
+    components/hal/mpu_hal.c \
+    components/hal/wdt_hal_iram.c \
+    components/esp_rom/patches/esp_rom_systimer.c \
+    components/soc/$(CPU_FAM)/dedic_gpio_periph.c \
+    components/soc/$(CPU_FAM)/lcd_periph.c \
+    components/soc/$(CPU_FAM)/pcnt_periph.c \
+    components/soc/$(CPU_FAM)/rtc_io_periph.c \
+    components/soc/$(CPU_FAM)/temperature_sensor_periph.c \
+    components/soc/$(CPU_FAM)/touch_sensor_periph.c \
+    components/soc/$(CPU_FAM)/usb_dwc_periph.c \
+    #
+else ifneq (,$(filter esp32s3,$(CPU_FAM)))
+  ESP_SDK_BOOTLOADER_ASMSRC += \
+    components/esp_rom/patches/esp_rom_cache_writeback_$(CPU_FAM).S
+  ESP_SDK_BOOTLOADER_SRCS += \
+    components/efuse/$(CPU_FAM)/esp_efuse_rtc_calib.c \
+    components/efuse/src/efuse_controller/keys/with_key_purposes/esp_efuse_api_key.c \
+    components/esp_rom/patches/esp_rom_cache_esp32s2_esp32s3.c \
+    components/esp_rom/patches/esp_rom_systimer.c \
+    components/esp_rom/patches/esp_rom_wdt.c \
+    components/hal/cache_hal.c \
+    components/hal/mpu_hal.c \
+    components/soc/$(CPU_FAM)/dedic_gpio_periph.c \
+    components/soc/$(CPU_FAM)/gdma_periph.c \
+    components/soc/$(CPU_FAM)/lcd_periph.c \
+    components/soc/$(CPU_FAM)/mcpwm_periph.c \
+    components/soc/$(CPU_FAM)/pcnt_periph.c \
+    components/soc/$(CPU_FAM)/rtc_io_periph.c \
+    components/soc/$(CPU_FAM)/sdmmc_periph.c \
+    components/soc/$(CPU_FAM)/temperature_sensor_periph.c \
+    components/soc/$(CPU_FAM)/touch_sensor_periph.c \
+    components/soc/$(CPU_FAM)/usb_dwc_periph.c \
+    #
+else ifneq (,$(filter esp32c3,$(CPU_FAM)))
+  ESP_SDK_BOOTLOADER_SRCS += \
+    components/efuse/$(CPU_FAM)/esp_efuse_rtc_calib.c \
+    components/efuse/src/efuse_controller/keys/with_key_purposes/esp_efuse_api_key.c \
+    components/esp_rom/patches/esp_rom_systimer.c \
+    components/hal/cache_hal.c \
+    components/hal/wdt_hal_iram.c \
+    components/soc/$(CPU_FAM)/dedic_gpio_periph.c \
+    components/soc/$(CPU_FAM)/gdma_periph.c \
+    components/soc/$(CPU_FAM)/temperature_sensor_periph.c \
+    #
 else
-  ESP_SDK_BOOTLOADER_SRCS += components/efuse/src/esp_efuse_api_key_esp32xx.c
-  ESP_SDK_BOOTLOADER_SRCS += components/soc/$(CPU_FAM)/dedic_gpio_periph.c
-  ESP_SDK_BOOTLOADER_SRCS += components/soc/$(CPU_FAM)/gdma_periph.c
-  ESP_SDK_BOOTLOADER_SRCS += components/soc/soc_include_legacy_warn.c
+  $(error Missing make configuration for ESP32x SoC variant (family): $(CPU_FAM))
 endif
 
 # Bootloader sdkconfig.h defined in CURDIR directory.
@@ -134,18 +183,25 @@ INCLUDES = \
   -I$(ESP32_SDK_DIR)/components/bootloader/subproject/components/micro-ecc/micro-ecc \
   -I$(ESP32_SDK_DIR)/components/bootloader_support/bootloader_flash/include \
   -I$(ESP32_SDK_DIR)/components/bootloader_support/include \
-  -I$(ESP32_SDK_DIR)/components/bootloader_support/include_bootloader \
+  -I$(ESP32_SDK_DIR)/components/bootloader_support/private_include \
   -I$(ESP32_SDK_DIR)/components/efuse/include \
   -I$(ESP32_SDK_DIR)/components/efuse/private_include \
   -I$(ESP32_SDK_DIR)/components/efuse/$(CPU_FAM)/include \
   -I$(ESP32_SDK_DIR)/components/efuse/$(CPU_FAM)/private_include \
+  -I$(ESP32_SDK_DIR)/components/esp_app_format/include \
+  -I$(ESP32_SDK_DIR)/components/esp_bootloader_format/include \
   -I$(ESP32_SDK_DIR)/components/esp_common/include \
   -I$(ESP32_SDK_DIR)/components/esp_hw_support/include \
+  -I$(ESP32_SDK_DIR)/components/esp_hw_support/include/esp_private \
   -I$(ESP32_SDK_DIR)/components/esp_hw_support/include/soc \
   -I$(ESP32_SDK_DIR)/components/esp_hw_support/include/soc/$(CPU_FAM) \
+  -I$(ESP32_SDK_DIR)/components/esp_hw_support/port/include \
   -I$(ESP32_SDK_DIR)/components/esp_hw_support/port/$(CPU_FAM) \
+  -I$(ESP32_SDK_DIR)/components/esp_hw_support/port/$(CPU_FAM)/include/ \
   -I$(ESP32_SDK_DIR)/components/esp_hw_support/port/$(CPU_FAM)/private_include \
   -I$(ESP32_SDK_DIR)/components/esp_rom/$(CPU_FAM) \
+  -I$(ESP32_SDK_DIR)/components/esp_rom/$(CPU_FAM)/include \
+  -I$(ESP32_SDK_DIR)/components/esp_rom/$(CPU_FAM)/include/$(CPU_FAM) \
   -I$(ESP32_SDK_DIR)/components/esp_rom/include \
   -I$(ESP32_SDK_DIR)/components/esp_rom/include/$(CPU_FAM) \
   -I$(ESP32_SDK_DIR)/components/hal/$(CPU_FAM)/include \
@@ -153,8 +209,9 @@ INCLUDES = \
   -I$(ESP32_SDK_DIR)/components/hal/platform_port/include \
   -I$(ESP32_SDK_DIR)/components/log/include \
   -I$(ESP32_SDK_DIR)/components/newlib/platform_include \
-  -I$(ESP32_SDK_DIR)/components/soc/$(CPU_FAM)/. \
+  -I$(ESP32_SDK_DIR)/components/soc/$(CPU_FAM) \
   -I$(ESP32_SDK_DIR)/components/soc/$(CPU_FAM)/include \
+  -I$(ESP32_SDK_DIR)/components/soc/$(CPU_FAM)/register \
   -I$(ESP32_SDK_DIR)/components/soc/include \
   -I$(ESP32_SDK_DIR)/components/spi_flash/include \
   -I$(ESP32_SDK_DIR)/components/spi_flash/include/spi_flash \
@@ -171,10 +228,9 @@ CFLAGS += -Wno-format
 ifneq (,$(filter riscv32%,$(TARGET_ARCH)))
   INCLUDES += -I$(ESP32_SDK_DIR)/components/riscv/include
   CFLAGS += -DCONFIG_IDF_TARGET_ARCH_RISCV
-  CFLAGS += -march=rv32imc
+  CFLAGS += -march=rv32imc_zicsr_zifencei
   CFLAGS += -Wno-error=format=
   CFLAGS += -nostartfiles
-  CFLAGS += -Wno-format
   GCC_NEW_RISCV_ISA ?= $(shell echo "typedef int dont_be_pedantic;" | \
                                $(TARGET_ARCH)-gcc -march=rv32imac -mabi=ilp32 \
                                                   -misa-spec=2.2 -E - > /dev/null 2>&1 && \
@@ -187,53 +243,88 @@ endif
 ifneq (,$(filter xtensa%,$(TARGET_ARCH)))
   INCLUDES += -I$(ESP32_SDK_DIR)/components/xtensa/include
   INCLUDES += -I$(ESP32_SDK_DIR)/components/xtensa/$(CPU_FAM)/include
-  CFLAGS += -mlongcalls -mtext-section-literals
+  CFLAGS += -DCONFIG_IDF_TARGET_ARCH_XTENSA
+  CFLAGS += -mlongcalls
+  CFLAGS += -mtext-section-literals
+  CFLAGS += -fno-builtin-memcpy
+  CFLAGS += -fno-builtin-memset
+  CFLAGS += -fno-builtin-bzero
+  CFLAGS += -fno-builtin-stpcpy
+  CFLAGS += -fno-builtin-strncpy
+endif
+
+ifneq (,$(filter esp32,$(CPU_FAM)))
+  CFLAGS += -Wno-frame-address
 endif
 
 # BOOTLOADER_BUILD=1 signals to the SDK that's a bootloader build.
 CFLAGS += \
-  -Wno-frame-address \
-  -ffunction-sections \
-  -fdata-sections \
   -Wall \
+  -Wextra \
   -Werror=all \
+  -Wno-error=deprecated-declarations \
+  -Wno-error=unused-but-set-variable \
   -Wno-error=unused-function \
   -Wno-error=unused-variable \
-  -Wno-error=deprecated-declarations \
-  -Wextra \
-  -Wno-unused-parameter \
+  -Wno-old-style-declaration \
   -Wno-sign-compare \
-  -ggdb \
-  -Os \
-  -freorder-blocks \
-  -fstrict-volatile-bitfields \
-  -Wno-error=unused-but-set-variable \
+  -Wno-unused-parameter \
+  -fdata-sections \
+  -ffunction-sections \
+  -fdiagnostics-color=always \
   -fno-jump-tables \
   -fno-tree-switch-conversion \
   -fno-stack-protector \
+  -freorder-blocks \
+  -fstrict-volatile-bitfields \
+  -ggdb \
+  -Os \
   -std=gnu99 \
-  -Wno-old-style-declaration \
   -D_GNU_SOURCE \
   -DESP_PLATFORM \
   -DBOOTLOADER_BUILD=1 \
+  -DNON_OS_BUILD=1 \
+  -DSOC_MMU_PAGE_SIZE=CONFIG_MMU_PAGE_SIZE \
+  -DSOC_XTAL_FREQ_MHZ=CONFIG_XTAL_FREQ \
+  -D_GLIBCXX_HAVE_POSIX_SEMAPHORE \
+  -D_GLIBCXX_USE_POSIX_SEMAPHORE \
   -DRIOT_BOOTLOADER_BAUD=$(BOOTLOADER_BAUD) \
   -DRIOT_FLASH_SIZE=$(FLASH_SIZE) \
-  -DWITH_POSIX \
   -DHAVE_CONFIG_H \
   -MD \
   -MT \
   #
 
 ifneq (,$(filter xtensa%,$(TARGET_ARCH)))
-  LINKFLAGS = -mlongcalls
+  LINKFLAGS += -mlongcalls
   ESP_SDK_BOOTLOADER_ADD_LINK_FLAGS += -L$(ESP32_SDK_DIR)/components/xtensa/$(CPU_FAM) -lxt_hal
 endif
 
-ifneq (,$(filter esp32 esp32s2,$(CPU_FAM)))
-  LINKFLAGS =
+ifneq (,$(filter esp32,$(CPU_FAM)))
   ESP_SDK_BOOTLOADER_ADD_LINK_FLAGS += \
     -T$(ESP32_SDK_DIR)/components/esp_rom/$(CPU_FAM)/ld/$(CPU_FAM).rom.newlib-funcs.ld \
-    -T$(ESP32_SDK_DIR)/components/esp_rom/$(CPU_FAM)/ld/$(CPU_FAM).rom.spiflash.ld \
+    #
+else ifneq (,$(filter esp32s2,$(CPU_FAM)))
+  ESP_SDK_BOOTLOADER_ADD_LINK_FLAGS += \
+    -T$(ESP32_SDK_DIR)/components/esp_rom/$(CPU_FAM)/ld/$(CPU_FAM).rom.newlib-funcs.ld \
+    -T$(ESP32_SDK_DIR)/components/esp_rom/$(CPU_FAM)/ld/$(CPU_FAM).rom.spiflash_legacy.ld \
+    #
+else ifneq (,$(filter esp32s3,$(CPU_FAM)))
+  ESP_SDK_BOOTLOADER_ADD_LINK_FLAGS += \
+    -T$(ESP32_SDK_DIR)/components/esp_rom/$(CPU_FAM)/ld/$(CPU_FAM).rom.newlib.ld \
+    -T$(ESP32_SDK_DIR)/components/esp_rom/$(CPU_FAM)/ld/$(CPU_FAM).rom.wdt.ld \
+    -T$(ESP32_SDK_DIR)/components/esp_rom/$(CPU_FAM)/ld/$(CPU_FAM).rom.version.ld \
+    -T$(ESP32_SDK_DIR)/components/esp_rom/$(CPU_FAM)/ld/$(CPU_FAM).rom.bt_funcs.ld \
+    #
+else ifneq (,$(filter esp32c3,$(CPU_FAM)))
+  LINKFLAGS += -nostartfiles
+  LINKFLAGS += --specs=nosys.specs
+  ESP_SDK_BOOTLOADER_ADD_LINK_FLAGS += \
+    -T$(ESP32_SDK_DIR)/components/esp_rom/$(CPU_FAM)/ld/$(CPU_FAM).rom.newlib.ld \
+    -T$(ESP32_SDK_DIR)/components/esp_rom/$(CPU_FAM)/ld/$(CPU_FAM).rom.version.ld \
+    -T$(ESP32_SDK_DIR)/components/esp_rom/$(CPU_FAM)/ld/$(CPU_FAM).rom.bt_funcs.ld \
+    -T$(ESP32_SDK_DIR)/components/esp_rom/$(CPU_FAM)/ld/$(CPU_FAM).rom.eco3.ld \
+    -T$(ESP32_SDK_DIR)/components/esp_rom/$(CPU_FAM)/ld/$(CPU_FAM).rom.eco3_bt_funcs.ld \
     #
 endif
 
@@ -255,7 +346,6 @@ LINKFLAGS += \
   $(ESP_SDK_BOOTLOADER_OBJS) \
   $(ESP_SDK_BOOTLOADER_ADDOBJS) \
   $(ESP_SDK_BOOTLOADER_ASMOBJS) \
-  -Lgcc \
   $(ESP_SDK_BOOTLOADER_ADD_LINK_FLAGS) \
   -T$(ESP32_SDK_DIR)/components/bootloader/subproject/main/ld/$(CPU_FAM)/bootloader.ld \
   -T$(ESP32_SDK_DIR)/components/bootloader/subproject/main/ld/$(CPU_FAM)/bootloader.rom.ld \
@@ -265,6 +355,7 @@ LINKFLAGS += \
   -T$(ESP32_SDK_DIR)/components/esp_rom/$(CPU_FAM)/ld/$(CPU_FAM).rom.libgcc.ld \
   -Wl,--end-group \
   -Wl,-EL \
+  #
 
 # Build the bootloader on the application directory as it depends on the current
 # app settings from riotbuild.h.
@@ -278,7 +369,6 @@ ESP_SDK_BOOTLOADER_ELF = $(ESP_SDK_BOOTLOADER_DIR)/bootloader.elf
 ESP_SDK_BOOTLOADER_OBJ_FILTER = \
   components/bootloader/subproject/components/micro-ecc/uECC_verify_antifault.o \
   components/bootloader_support/src/secure_boot.o \
-  components/bootloader_support/src/flash_encrypt.o \
   #
 
 ESP_SDK_BOOTLOADER_OBJS = \
@@ -310,7 +400,8 @@ $(ESP_SDK_BOOTLOADER_DIR)/%.o: $(ESP32_SDK_DIR)/%.c $(OBJ_DEPS)
 $(ESP_SDK_BOOTLOADER_ASMOBJS): \
 $(ESP_SDK_BOOTLOADER_DIR)/%.o: $(ESP32_SDK_DIR)/%.S
 	$(Q)mkdir -p $(dir $@)
-	$(Q)$(AS) $(ASFLAGS) -o $@ $(abspath $<)
+	$(Q)$(CCACHE) $(CC) \
+	  $(CFLAGS) $(INCLUDES) -MMD -MP -c $(abspath $<) -o $@
 
 $(ESP_SDK_BOOTLOADER_ADDOBJS): \
 $(ESP_SDK_BOOTLOADER_DIR)/%.o: $(CURDIR)/stub.c $(OBJ_DEPS)
diff --git a/cpu/esp32/bootloader/sdkconfig.h b/cpu/esp32/bootloader/sdkconfig.h
index 9d16694813..8902e481c8 100644
--- a/cpu/esp32/bootloader/sdkconfig.h
+++ b/cpu/esp32/bootloader/sdkconfig.h
@@ -1,5 +1,6 @@
 /*
  * Copyright (C) 2021 iosabi
+ * Copyright (C) 2024 Gunar Schorcht
  *
  * This file is subject to the terms and conditions of the GNU Lesser
  * General Public License v2.1. See the file LICENSE in the top level
@@ -24,6 +25,7 @@
  * bootloader.
  *
  * @author      iosabi <iosabi@protonmail.com>
+ * @author      Gunar Schorcht <gunar@schorcht.net>
  */
 
 #ifndef DOXYGEN
@@ -48,8 +50,10 @@
 extern "C" {
 #endif
 
+#define CONFIG_BOOTLOADER_PROJECT_VER   1
+
 #if MODULE_ESP_LOG_COLORED
-#define CONFIG_LOG_COLORS   1
+#  define CONFIG_BOOTLOADER_LOG_COLORS  1
 #endif
 
 #ifndef CONFIG_BOOTLOADER_LOG_LEVEL
@@ -104,6 +108,10 @@ extern "C" {
 #define CONFIG_ESP_CONSOLE_UART_NUM         0
 #endif
 
+#define CONFIG_ESP_CONSOLE_ROM_SERIAL_PORT_NUM CONFIG_ESP_CONSOLE_UART_NUM
+
+#define CONFIG_LOG_TAG_LEVEL_IMPL_CACHE_AND_LINKED_LIST 1
+
 #ifdef __cplusplus
 }
 #endif
diff --git a/cpu/esp32/bootloader/sdkconfig_default_common.h b/cpu/esp32/bootloader/sdkconfig_default_common.h
index 203ffc090f..7abc18945e 100644
--- a/cpu/esp32/bootloader/sdkconfig_default_common.h
+++ b/cpu/esp32/bootloader/sdkconfig_default_common.h
@@ -25,7 +25,6 @@ extern "C" {
 #endif
 
 #define CONFIG_BOOTLOADER_COMPILER_OPTIMIZATION_SIZE 1
-#define CONFIG_BOOTLOADER_VDDSDIO_BOOST_1_9V 1
 #define CONFIG_BOOTLOADER_WDT_ENABLE 1
 #define CONFIG_BOOTLOADER_WDT_TIME_MS 9000
 #define CONFIG_BOOTLOADER_RESERVE_RTC_SIZE 0x0
diff --git a/cpu/esp32/bootloader/sdkconfig_default_esp32.h b/cpu/esp32/bootloader/sdkconfig_default_esp32.h
index 5897cdd34d..cfda5ff06f 100644
--- a/cpu/esp32/bootloader/sdkconfig_default_esp32.h
+++ b/cpu/esp32/bootloader/sdkconfig_default_esp32.h
@@ -1,5 +1,5 @@
 /*
- * Copyright (C) 2022 Gunar Schorcht
+ * Copyright (C) 2024 Gunar Schorcht
  *
  * This file is subject to the terms and conditions of the GNU Lesser
  * General Public License v2.1. See the file LICENSE in the top level
@@ -24,17 +24,26 @@
 extern "C" {
 #endif
 
-#ifndef CONFIG_ESP32_DEFAULT_CPU_FREQ_MHZ
-#define CONFIG_ESP32_DEFAULT_CPU_FREQ_MHZ 160
+#ifndef CONFIG_ESP_DEFAULT_CPU_FREQ_MHZ
+#  define CONFIG_ESP_DEFAULT_CPU_FREQ_MHZ 160
 #endif
 
-#define CONFIG_ESP32_DEBUG_OCDAWARE 1
-#define CONFIG_ESP32_XTAL_FREQ 0
+#define CONFIG_XTAL_FREQ 40
+
+#define CONFIG_ESP_DEBUG_OCDAWARE 1
 
 #define CONFIG_BOOTLOADER_OFFSET_IN_FLASH 0x1000
+#define CONFIG_BOOTLOADER_VDDSDIO_BOOST_1_9V 1
 #define CONFIG_EFUSE_CODE_SCHEME_COMPAT_3_4 1
 #define CONFIG_EFUSE_MAX_BLK_LEN 192
 #define CONFIG_IDF_FIRMWARE_CHIP_ID 0x0000
+#define CONFIG_MMU_PAGE_SIZE 0x10000
+
+#define CONFIG_ESP_SYSTEM_CHECK_INT_LEVEL_4 1
+
+#define CONFIG_ESP_INT_WDT 1
+#define CONFIG_ESP_INT_WDT_TIMEOUT_MS 300
+#define CONFIG_ESP_INT_WDT_CHECK_CPU 1
 
 #ifdef __cplusplus
 }
diff --git a/cpu/esp32/bootloader/sdkconfig_default_esp32c3.h b/cpu/esp32/bootloader/sdkconfig_default_esp32c3.h
index 4b4003bfe4..4224be7bc6 100644
--- a/cpu/esp32/bootloader/sdkconfig_default_esp32c3.h
+++ b/cpu/esp32/bootloader/sdkconfig_default_esp32c3.h
@@ -24,16 +24,20 @@
 extern "C" {
 #endif
 
-#ifndef CONFIG_ESP32C3_DEFAULT_CPU_FREQ_MHZ
-#define CONFIG_ESP32C3_DEFAULT_CPU_FREQ_MHZ 160
+#define CONFIG_ESP32C3_REV_MIN 3
+
+#ifndef CONFIG_ESP_DEFAULT_CPU_FREQ_MHZ
+#  define CONFIG_ESP_DEFAULT_CPU_FREQ_MHZ 160
 #endif
 
-#define CONFIG_ESP32C3_DEBUG_OCDAWARE 1
-#define CONFIG_ESP32C3_REV_MIN 3
+#define CONFIG_XTAL_FREQ 40
+
+#define CONFIG_ESP_DEBUG_OCDAWARE 1
 
 #define CONFIG_BOOTLOADER_OFFSET_IN_FLASH 0x0
 #define CONFIG_EFUSE_MAX_BLK_LEN 256
 #define CONFIG_IDF_FIRMWARE_CHIP_ID 0x0005
+#define CONFIG_MMU_PAGE_SIZE 0x10000
 
 #define CONFIG_ESP_CONSOLE_SECONDARY_USB_SERIAL_JTAG 1
 
diff --git a/cpu/esp32/bootloader/sdkconfig_default_esp32s2.h b/cpu/esp32/bootloader/sdkconfig_default_esp32s2.h
index 9c9dc5d263..96d369011b 100644
--- a/cpu/esp32/bootloader/sdkconfig_default_esp32s2.h
+++ b/cpu/esp32/bootloader/sdkconfig_default_esp32s2.h
@@ -24,15 +24,19 @@
 extern "C" {
 #endif
 
-#ifndef CONFIG_ESP32S2_DEFAULT_CPU_FREQ_MHZ
-#define CONFIG_ESP32S2_DEFAULT_CPU_FREQ_MHZ 160
+#ifndef CONFIG_ESP_DEFAULT_CPU_FREQ_MHZ
+#  define CONFIG_ESP_DEFAULT_CPU_FREQ_MHZ 160
 #endif
 
-#define CONFIG_ESP32S2_DEBUG_OCDAWARE 1
+#define CONFIG_XTAL_FREQ 40
+
+#define CONFIG_ESP_DEBUG_OCDAWARE 1
 
 #define CONFIG_BOOTLOADER_OFFSET_IN_FLASH 0x1000
+#define CONFIG_BOOTLOADER_VDDSDIO_BOOST_1_9V 1
 #define CONFIG_EFUSE_MAX_BLK_LEN 256
 #define CONFIG_IDF_FIRMWARE_CHIP_ID 0x0002
+#define CONFIG_MMU_PAGE_SIZE 0x10000
 
 #ifdef __cplusplus
 }
diff --git a/cpu/esp32/bootloader/sdkconfig_default_esp32s3.h b/cpu/esp32/bootloader/sdkconfig_default_esp32s3.h
index 69995fdf62..baabd7185a 100644
--- a/cpu/esp32/bootloader/sdkconfig_default_esp32s3.h
+++ b/cpu/esp32/bootloader/sdkconfig_default_esp32s3.h
@@ -24,15 +24,19 @@
 extern "C" {
 #endif
 
-#ifndef CONFIG_ESP32S3_DEFAULT_CPU_FREQ_MHZ
-#define CONFIG_ESP32S3_DEFAULT_CPU_FREQ_MHZ 160
+#ifndef CONFIG_ESP_DEFAULT_CPU_FREQ_MHZ
+#  define CONFIG_ESP_DEFAULT_CPU_FREQ_MHZ 160
 #endif
 
-#define CONFIG_ESP32S3_DEBUG_OCDAWARE 1
+#define CONFIG_XTAL_FREQ 40
+
+#define CONFIG_ESP_DEBUG_OCDAWARE 1
 
 #define CONFIG_BOOTLOADER_OFFSET_IN_FLASH 0x0
+#define CONFIG_BOOTLOADER_VDDSDIO_BOOST_1_9V 1
 #define CONFIG_EFUSE_MAX_BLK_LEN 256
 #define CONFIG_IDF_FIRMWARE_CHIP_ID 0x0009
+#define CONFIG_MMU_PAGE_SIZE 0x10000
 
 #define CONFIG_ESP_CONSOLE_SECONDARY_USB_SERIAL_JTAG 1