diff --git a/.gitmodules b/.gitmodules
index 16fdbcf5a1..a0ecce0c75 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -143,6 +143,7 @@
 [submodule "ports/espressif/esp-idf"]
 	path = ports/espressif/esp-idf
 	url = https://github.com/adafruit/esp-idf.git
+	branch = circuitpython-v5.1
 [submodule "ports/espressif/esp-protocols"]
 	path = ports/espressif/esp-protocols
 	url = https://github.com/espressif/esp-protocols.git
diff --git a/ports/espressif/Makefile b/ports/espressif/Makefile
index b400cd06b7..c2ec9e43bc 100644
--- a/ports/espressif/Makefile
+++ b/ports/espressif/Makefile
@@ -32,6 +32,12 @@ IDF_TARGET_ARCH = xtensa
 CROSS_COMPILE = xtensa-$(IDF_TARGET)-elf-
 endif
 
+ifeq ($(IDF_TARGET),esp32s3)
+BT_IDF_TARGET = esp32c3
+else
+BT_IDF_TARGET = $(IDF_TARGET)
+endif
+
 #######################################
 # CFLAGS
 #######################################
@@ -52,19 +58,29 @@ INC += \
 	-isystem esp-idf/components/app_update/include \
 	-isystem esp-idf/components/bootloader_support/include \
 	-isystem esp-idf/components/bootloader_support/bootloader_flash/include \
-	-isystem esp-idf/components/bt/include/$(IDF_TARGET)/include \
+	-isystem esp-idf/components/bt/include/$(BT_IDF_TARGET)/include \
 	-isystem esp-idf/components/bt/host/nimble/esp-hci/include \
 	-isystem esp-idf/components/bt/host/nimble/nimble/nimble/controller/include \
 	-isystem esp-idf/components/bt/host/nimble/nimble/nimble/host/include \
 	-isystem esp-idf/components/bt/host/nimble/nimble/nimble/host/services/gap/include \
 	-isystem esp-idf/components/bt/host/nimble/nimble/nimble/include \
 	-isystem esp-idf/components/bt/host/nimble/nimble/nimble/host/util/include \
+	-isystem esp-idf/components/bt/host/nimble/nimble/nimble/transport/include \
 	-isystem esp-idf/components/bt/host/nimble/nimble/porting/nimble/include \
 	-isystem esp-idf/components/bt/host/nimble/nimble/porting/npl/freertos/include \
 	-isystem esp-idf/components/bt/host/nimble/port/include \
 	-isystem esp-idf/components/driver/include \
 	-isystem esp-idf/components/driver/deprecated \
+	-isystem esp-idf/components/driver/gpio/include \
+	-isystem esp-idf/components/driver/i2c/include \
+	-isystem esp-idf/components/driver/i2s/include \
 	-isystem esp-idf/components/driver/$(IDF_TARGET)/include \
+	-isystem esp-idf/components/driver/ledc/include \
+	-isystem esp-idf/components/driver/spi/include \
+	-isystem esp-idf/components/driver/temperature_sensor/include \
+	-isystem esp-idf/components/driver/touch_sensor/include \
+	-isystem esp-idf/components/driver/touch_sensor/$(IDF_TARGET)/include \
+	-isystem esp-idf/components/driver/twai/include \
 	-isystem esp-idf/components/efuse/include \
 	-isystem esp-idf/components/efuse/$(IDF_TARGET)/include \
 	-isystem esp-idf/components/$(IDF_TARGET)/include \
@@ -85,6 +101,7 @@ INC += \
 	-isystem esp-idf/components/esp_wifi/include \
 	-isystem esp-idf/components/freertos/esp_additions/include \
 	-isystem esp-idf/components/freertos/esp_additions/include/freertos \
+	-isystem esp-idf/components/freertos/esp_additions/arch/$(IDF_TARGET_ARCH)/include \
 	-isystem esp-idf/components/freertos/FreeRTOS-Kernel/include \
 	-isystem esp-idf/components/freertos/FreeRTOS-Kernel/include/freertos \
 	-isystem esp-idf/components/freertos/FreeRTOS-Kernel/portable/$(IDF_TARGET_ARCH)/include \
@@ -95,7 +112,9 @@ INC += \
 	-isystem esp-idf/components/log/include \
 	-isystem esp-idf/components/lwip/include \
 	-isystem esp-idf/components/lwip/lwip/src/include \
-	-isystem esp-idf/components/lwip/port/esp32/include \
+	-isystem esp-idf/components/lwip/port/include \
+	-isystem esp-idf/components/lwip/port/esp32xx/include \
+	-isystem esp-idf/components/lwip/port/freertos/include \
 	-isystem esp-idf/components/mbedtls/esp_crt_bundle/include \
 	-isystem esp-idf/components/mbedtls/mbedtls/include \
 	-isystem esp-idf/components/mbedtls/port/include \
@@ -408,13 +427,13 @@ update-all-sdkconfigs: $(BUILD)/esp-idf/config/sdkconfig.h
 update-board-sdkconfig: $(BUILD)/esp-idf/config/sdkconfig.h
 	python tools/update_sdkconfig.py --board=$(BOARD) --debug=$(DEBUG)
 
-BINARY_WIFI_BLOBS = libcoexist.a libcore.a libespnow.a libmesh.a libnet80211.a libpp.a libsmartconfig.a libwapi.a
-BINARY_BLOBS = esp-idf/components/esp_phy/lib/$(IDF_TARGET)/libphy.a $(addprefix esp-idf/components/esp_wifi/lib/$(IDF_TARGET)/, $(BINARY_WIFI_BLOBS))
+BINARY_WIFI_BLOBS = libcore.a libespnow.a libmesh.a libnet80211.a libpp.a libsmartconfig.a libwapi.a
+BINARY_BLOBS = esp-idf/components/esp_coex/lib/$(IDF_TARGET)/libcoexist.a esp-idf/components/esp_phy/lib/$(IDF_TARGET)/libphy.a $(addprefix esp-idf/components/esp_wifi/lib/$(IDF_TARGET)/, $(BINARY_WIFI_BLOBS))
 ifeq ($(IDF_TARGET),esp32)
 BINARY_BLOBS += esp-idf/components/esp_phy/lib/$(IDF_TARGET)/librtc.a
 endif
 
-ESP_IDF_COMPONENTS_LINK = $(IDF_TARGET_ARCH) app_update bootloader_support driver efuse esp_adc esp_app_format esp_common esp_event esp_hw_support esp_netif esp_partition esp_phy esp_pm esp_ringbuf esp_rom esp_system esp_timer esp-tls esp_wifi freertos hal heap log lwip mbedtls mdns newlib nvs_flash pthread soc spi_flash vfs wpa_supplicant
+ESP_IDF_COMPONENTS_LINK = $(IDF_TARGET_ARCH) app_update bootloader_support driver efuse esp_adc esp_app_format esp_coex esp_common esp_event esp_hw_support esp_mm esp_netif esp_partition esp_phy esp_pm esp_ringbuf esp_rom esp_system esp_timer esp-tls esp_wifi freertos hal heap log lwip mbedtls mdns newlib nvs_flash pthread soc spi_flash vfs wpa_supplicant
 ifneq ($(CIRCUITPY_BLEIO),0)
 	ESP_IDF_COMPONENTS_LINK += bt
 	ifeq ($(IDF_TARGET),esp32)
diff --git a/ports/espressif/bindings/espnow/Peer.c b/ports/espressif/bindings/espnow/Peer.c
index 4cceec1498..6515cb4eeb 100644
--- a/ports/espressif/bindings/espnow/Peer.c
+++ b/ports/espressif/bindings/espnow/Peer.c
@@ -79,11 +79,13 @@ STATIC mp_obj_t espnow_peer_make_new(const mp_obj_type_t *type, size_t n_args, s
     self->peer_info.ifidx = (wifi_interface_t)mp_arg_validate_int_range(args[ARG_interface].u_int, 0, 1, MP_QSTR_interface);
 
     self->peer_info.encrypt = args[ARG_encrypted].u_bool;
+    self->lmk_set = false;
 
     const mp_obj_t lmk = args[ARG_lmk].u_obj;
     if (lmk != mp_const_none) {
+        self->lmk_set = true;
         memcpy(self->peer_info.lmk, common_hal_espnow_get_bytes_len(lmk, ESP_NOW_KEY_LEN), ESP_NOW_KEY_LEN);
-    } else if (self->peer_info.encrypt && !self->peer_info.lmk) {
+    } else if (self->peer_info.encrypt) {
         mp_raise_ValueError_varg(translate("%q is %q"), MP_QSTR_lmk, MP_QSTR_None);
     }
 
@@ -196,7 +198,7 @@ STATIC mp_obj_t espnow_peer_set_encrypted(const mp_obj_t self_in, const mp_obj_t
 
     self->peer_info.encrypt = mp_obj_is_true(value);
 
-    if (!self->peer_info.lmk) {
+    if (!self->lmk_set) {
         mp_raise_ValueError_varg(translate("%q is %q"), MP_QSTR_lmk, MP_QSTR_None);
     }
 
diff --git a/ports/espressif/bindings/espnow/Peer.h b/ports/espressif/bindings/espnow/Peer.h
index 8afab8e493..23a691b3bc 100644
--- a/ports/espressif/bindings/espnow/Peer.h
+++ b/ports/espressif/bindings/espnow/Peer.h
@@ -32,6 +32,7 @@
 typedef struct {
     mp_obj_base_t base;
     esp_now_peer_info_t peer_info;
+    bool lmk_set;
 } espnow_peer_obj_t;
 
 extern const mp_obj_type_t espnow_peer_type;
diff --git a/ports/espressif/boards/adafruit_qualia_s3_rgb666/mpconfigboard.h b/ports/espressif/boards/adafruit_qualia_s3_rgb666/mpconfigboard.h
index 9acfe8cf06..04527bb0a1 100644
--- a/ports/espressif/boards/adafruit_qualia_s3_rgb666/mpconfigboard.h
+++ b/ports/espressif/boards/adafruit_qualia_s3_rgb666/mpconfigboard.h
@@ -32,10 +32,6 @@
 #define DEFAULT_I2C_BUS_SDA (&pin_GPIO8)
 #define DEFAULT_I2C_BUS_SCL (&pin_GPIO18)
 
-// UART pins attached to the USB-serial converter chip
-#define CIRCUITPY_CONSOLE_UART_TX (&pin_GPIO43)
-#define CIRCUITPY_CONSOLE_UART_RX (&pin_GPIO44)
-
 #define MICROPY_HW_NEOPIXEL (&pin_GPIO4) // also DBLTAP
 
 #define DOUBLE_TAP_PIN (&pin_GPIO4) // also NEOPIXEL
diff --git a/ports/espressif/boards/adafruit_qualia_s3_rgb666/sdkconfig b/ports/espressif/boards/adafruit_qualia_s3_rgb666/sdkconfig
index e9dc0663bd..912dd14b11 100644
--- a/ports/espressif/boards/adafruit_qualia_s3_rgb666/sdkconfig
+++ b/ports/espressif/boards/adafruit_qualia_s3_rgb666/sdkconfig
@@ -5,19 +5,6 @@
 # Component config
 #
 
-#
-# ESP System Settings
-#
-CONFIG_ESP_CONSOLE_UART_CUSTOM=y
-# CONFIG_ESP_CONSOLE_NONE is not set
-CONFIG_ESP_CONSOLE_UART=y
-CONFIG_ESP_CONSOLE_UART_CUSTOM_NUM_0=y
-CONFIG_ESP_CONSOLE_UART_NUM=0
-CONFIG_ESP_CONSOLE_UART_TX_GPIO=43
-CONFIG_ESP_CONSOLE_UART_RX_GPIO=44
-CONFIG_ESP_CONSOLE_UART_BAUDRATE=115200
-# end of ESP System Settings
-
 #
 # LWIP
 #
diff --git a/ports/espressif/common-hal/alarm/__init__.c b/ports/espressif/common-hal/alarm/__init__.c
index 6fa205d01f..6590bcc8e4 100644
--- a/ports/espressif/common-hal/alarm/__init__.c
+++ b/ports/espressif/common-hal/alarm/__init__.c
@@ -51,8 +51,8 @@
 #include "esp_sleep.h"
 
 #include "soc/rtc_cntl_reg.h"
-#include "components/driver/include/driver/gpio.h"
-#include "components/driver/include/driver/uart.h"
+#include "components/driver/gpio/include/driver/gpio.h"
+#include "components/driver/uart/include/driver/uart.h"
 
 // Singleton instance of SleepMemory.
 const alarm_sleep_memory_obj_t alarm_sleep_memory_obj = {
@@ -213,6 +213,8 @@ void NORETURN common_hal_alarm_enter_deep_sleep(void) {
     // The ESP-IDF caches the deep sleep settings and applies them before sleep.
     // We don't need to worry about resetting them in the interim.
     esp_deep_sleep_start();
+
+    reset_into_safe_mode(SAFE_MODE_HARD_FAULT);
 }
 
 void common_hal_alarm_gc_collect(void) {
diff --git a/ports/espressif/common-hal/busio/I2C.c b/ports/espressif/common-hal/busio/I2C.c
index 92bd4fb157..b9775adfd7 100644
--- a/ports/espressif/common-hal/busio/I2C.c
+++ b/ports/espressif/common-hal/busio/I2C.c
@@ -28,7 +28,7 @@
 #include "py/mperrno.h"
 #include "py/runtime.h"
 
-#include "components/driver/include/driver/i2c.h"
+#include "components/driver/i2c/include/driver/i2c.h"
 
 #include "shared-bindings/microcontroller/__init__.h"
 #include "shared-bindings/microcontroller/Pin.h"
diff --git a/ports/espressif/common-hal/busio/UART.c b/ports/espressif/common-hal/busio/UART.c
index bee199fb17..797d00697d 100644
--- a/ports/espressif/common-hal/busio/UART.c
+++ b/ports/espressif/common-hal/busio/UART.c
@@ -28,7 +28,7 @@
 #include "shared-bindings/microcontroller/Pin.h"
 #include "shared-bindings/busio/UART.h"
 
-#include "components/driver/include/driver/uart.h"
+#include "components/driver/uart/include/driver/uart.h"
 
 #include "mpconfigport.h"
 #include "shared/readline/readline.h"
diff --git a/ports/espressif/common-hal/digitalio/DigitalInOut.c b/ports/espressif/common-hal/digitalio/DigitalInOut.c
index 61671dadb9..4b6c966da3 100644
--- a/ports/espressif/common-hal/digitalio/DigitalInOut.c
+++ b/ports/espressif/common-hal/digitalio/DigitalInOut.c
@@ -28,7 +28,7 @@
 #include "py/runtime.h"
 #include "supervisor/shared/translate/translate.h"
 
-#include "components/driver/include/driver/gpio.h"
+#include "components/driver/gpio/include/driver/gpio.h"
 
 #include "components/hal/include/hal/gpio_hal.h"
 
diff --git a/ports/espressif/common-hal/dotclockframebuffer/DotClockFramebuffer.c b/ports/espressif/common-hal/dotclockframebuffer/DotClockFramebuffer.c
index 61045d713d..d9e8d97da8 100644
--- a/ports/espressif/common-hal/dotclockframebuffer/DotClockFramebuffer.c
+++ b/ports/espressif/common-hal/dotclockframebuffer/DotClockFramebuffer.c
@@ -48,7 +48,7 @@
 #include "common-hal/espidf/__init__.h"
 #include "shared-bindings/microcontroller/Pin.h"
 #include "py/runtime.h"
-#include "components/driver/include/driver/gpio.h"
+#include "components/driver/gpio/include/driver/gpio.h"
 #include "components/esp_rom/include/esp_rom_gpio.h"
 #include "components/hal/esp32s3/include/hal/lcd_ll.h"
 #include "components/hal/include/hal/gpio_hal.h"
diff --git a/ports/espressif/common-hal/microcontroller/Pin.c b/ports/espressif/common-hal/microcontroller/Pin.c
index eeda6862db..4c01d988a9 100644
--- a/ports/espressif/common-hal/microcontroller/Pin.c
+++ b/ports/espressif/common-hal/microcontroller/Pin.c
@@ -30,7 +30,7 @@
 
 #include "py/mphal.h"
 
-#include "components/driver/include/driver/gpio.h"
+#include "components/driver/gpio/include/driver/gpio.h"
 #include "components/hal/include/hal/gpio_hal.h"
 
 STATIC uint64_t _never_reset_pin_mask;
diff --git a/ports/espressif/common-hal/pwmio/PWMOut.h b/ports/espressif/common-hal/pwmio/PWMOut.h
index cde579ce89..a7711ebf07 100644
--- a/ports/espressif/common-hal/pwmio/PWMOut.h
+++ b/ports/espressif/common-hal/pwmio/PWMOut.h
@@ -28,7 +28,7 @@
 #define MICROPY_INCLUDED_ESPRESSIF_COMMON_HAL_PWMIO_PWMOUT_H
 
 #include "common-hal/microcontroller/Pin.h"
-#include "components/driver/include/driver/ledc.h"
+#include "components/driver/ledc/include/driver/ledc.h"
 
 typedef struct {
     mp_obj_base_t base;
diff --git a/ports/espressif/esp-camera b/ports/espressif/esp-camera
index 75035312ed..8f3f2cc8cf 160000
--- a/ports/espressif/esp-camera
+++ b/ports/espressif/esp-camera
@@ -1 +1 @@
-Subproject commit 75035312ed9427557acfee1cd32af2b8e1f13f72
+Subproject commit 8f3f2cc8cfb2e4371870b0c5a974d40468114a9e
diff --git a/ports/espressif/esp-idf b/ports/espressif/esp-idf
index 6f0c9319c5..fb07ab7f00 160000
--- a/ports/espressif/esp-idf
+++ b/ports/espressif/esp-idf
@@ -1 +1 @@
-Subproject commit 6f0c9319c5b09ce12ef81e6428d3b6f23a9487e5
+Subproject commit fb07ab7f0007549d38081cfc6d83348780526a28
diff --git a/ports/espressif/supervisor/port.c b/ports/espressif/supervisor/port.c
index a18ce77dfb..462cf9e361 100644
--- a/ports/espressif/supervisor/port.c
+++ b/ports/espressif/supervisor/port.c
@@ -284,7 +284,7 @@ safe_mode_t port_init(void) {
     #endif
 
     #if ENABLE_JTAG
-    ESP_LOGI(TAG, "Marking JTAG pins never_reset")
+    ESP_LOGI(TAG, "Marking JTAG pins never_reset");
     // JTAG
     #ifdef CONFIG_IDF_TARGET_ESP32C3
     common_hal_never_reset_pin(&pin_GPIO4);