IDF master b86fe0c66c

tools/sdk/esp32c3/include/asio/port/include/esp_asio_config.h

@@ -18,6 +18,11 @@
 #  define ASIO_NO_TYPEID
 # endif   // CONFIG_COMPILER_RTTI
 
+//
+// Supress OpenSSL deprecation warning, when building ASIO
+//
+#define ESP_OPENSSL_SUPPRESS_LEGACY_WARNING
+
 //
 // LWIP compatibility inet and address macros/functions
 //

tools/sdk/esp32c3/include/coap/libcoap/include/coap3/coap_block_internal.h

@@ -191,6 +191,9 @@ int coap_handle_response_get_block(coap_context_t *context,
 void coap_block_delete_lg_xmit(coap_session_t *session,
                                coap_lg_xmit_t *lg_xmit);
 
+coap_tick_t coap_block_check_lg_xmit_timeouts(coap_session_t *session,
+                                              coap_tick_t now);
+
 /**
  * The function that does all the work for the coap_add_data_large*()
  * functions.

tools/sdk/esp32c3/include/coap/libcoap/include/coap3/coap_dtls.h

@@ -27,6 +27,12 @@ typedef struct coap_dtls_pki_t coap_dtls_pki_t;
 #ifndef COAP_DTLS_HINT_LENGTH
 #define COAP_DTLS_HINT_LENGTH 128
 #endif
+#ifndef COAP_DTLS_MAX_PSK_IDENTITY
+#define COAP_DTLS_MAX_PSK_IDENTITY 64
+#endif
+#ifndef COAP_DTLS_MAX_PSK
+#define COAP_DTLS_MAX_PSK 64
+#endif
 
 typedef enum coap_dtls_role_t {
   COAP_DTLS_ROLE_CLIENT, /**< Internal function invoked for client */

tools/sdk/esp32c3/include/coap/libcoap/include/coap3/coap_event.h

@@ -24,34 +24,34 @@
  * Scalar type to represent different events, e.g. DTLS events or
  * retransmission timeouts.
  */
- typedef unsigned int coap_event_t;
-
+typedef enum coap_event_t {
 /**
  * (D)TLS events for COAP_PROTO_DTLS and COAP_PROTO_TLS
  */
-#define COAP_EVENT_DTLS_CLOSED        0x0000
-#define COAP_EVENT_DTLS_CONNECTED     0x01DE
-#define COAP_EVENT_DTLS_RENEGOTIATE   0x01DF
-#define COAP_EVENT_DTLS_ERROR         0x0200
+  COAP_EVENT_DTLS_CLOSED       = 0x0000,
+  COAP_EVENT_DTLS_CONNECTED    = 0x01DE,
+  COAP_EVENT_DTLS_RENEGOTIATE  = 0x01DF,
+  COAP_EVENT_DTLS_ERROR        = 0x0200,
 
 /**
  * TCP events for COAP_PROTO_TCP and COAP_PROTO_TLS
  */
-#define COAP_EVENT_TCP_CONNECTED      0x1001
-#define COAP_EVENT_TCP_CLOSED         0x1002
-#define COAP_EVENT_TCP_FAILED         0x1003
+  COAP_EVENT_TCP_CONNECTED     = 0x1001,
+  COAP_EVENT_TCP_CLOSED        = 0x1002,
+  COAP_EVENT_TCP_FAILED        = 0x1003,
 
 /**
  * CSM exchange events for reliable protocols only
  */
-#define COAP_EVENT_SESSION_CONNECTED  0x2001
-#define COAP_EVENT_SESSION_CLOSED     0x2002
-#define COAP_EVENT_SESSION_FAILED     0x2003
+  COAP_EVENT_SESSION_CONNECTED = 0x2001,
+  COAP_EVENT_SESSION_CLOSED    = 0x2002,
+  COAP_EVENT_SESSION_FAILED    = 0x2003,
 
 /**
- * BLOCK2 receive errors
+ * (Q-)BLOCK receive errors
  */
-#define COAP_EVENT_PARTIAL_BLOCK      0x3001
+  COAP_EVENT_PARTIAL_BLOCK     = 0x3001
+} coap_event_t;
 
 /**
  * Type for event handler functions that can be registered with a CoAP

tools/sdk/esp32c3/include/coap/libcoap/include/coap3/coap_time.h

@@ -88,7 +88,11 @@ COAP_STATIC_INLINE uint64_t coap_ticks_to_rt_us(coap_tick_t t) {
 #elif defined(RIOT_VERSION)
 #include <xtimer.h>
 
+#ifdef XTIMER_HZ
 #define COAP_TICKS_PER_SECOND (XTIMER_HZ)
+#else /* XTIMER_HZ */
+#define COAP_TICKS_PER_SECOND (XTIMER_HZ_BASE)
+#endif /* XTIMER_HZ */
 
 typedef uint64_t coap_tick_t;
 typedef int64_t coap_tick_diff_t;

tools/sdk/esp32c3/include/coap/libcoap/include/coap3/net.h

@@ -15,6 +15,7 @@
 #include <stdlib.h>
 #include <string.h>
 #ifndef _WIN32
+#include <sys/select.h>
 #include <sys/time.h>
 #endif
 #include <time.h>

tools/sdk/esp32c3/include/coap/libcoap/include/coap3/pdu.h

@@ -299,7 +299,6 @@ typedef enum coap_pdu_code_t {
   COAP_REQUEST_CODE_PATCH  = COAP_REQUEST_PATCH,
   COAP_REQUEST_CODE_IPATCH = COAP_REQUEST_IPATCH,
 
-  COAP_RESPONSE_CODE_OK                         = COAP_RESPONSE_CODE(200),
   COAP_RESPONSE_CODE_CREATED                    = COAP_RESPONSE_CODE(201),
   COAP_RESPONSE_CODE_DELETED                    = COAP_RESPONSE_CODE(202),
   COAP_RESPONSE_CODE_VALID                      = COAP_RESPONSE_CODE(203),

tools/sdk/esp32c3/include/coap/libcoap/include/coap3/resource.h

@@ -83,7 +83,8 @@ typedef void (*coap_method_handler_t)
  * variable of coap_str_const_t has to point to constant text, or point to data
  * within the allocated coap_str_const_t parameter.
  *
- * @param uri_path The string URI path of the new resource.
+ * @param uri_path The string URI path of the new resource. The leading '/' is
+ *                 not normally required - e.g. just "full/path/for/resource".
  * @param flags    Flags for memory management (in particular release of
  *                 memory). Possible values:@n
  *

tools/sdk/esp32c3/include/config/sdkconfig.h

@@ -29,6 +29,7 @@
 #define CONFIG_BOOT_ROM_LOG_ALWAYS_ON 1
 #define CONFIG_ESPTOOLPY_BAUD_OTHER_VAL 115200
 #define CONFIG_ESPTOOLPY_FLASHMODE_DIO 1
+#define CONFIG_ESPTOOLPY_FLASH_SAMPLE_MODE_STR 1
 #define CONFIG_ESPTOOLPY_FLASHMODE "dio"
 #define CONFIG_ESPTOOLPY_FLASHFREQ_80M 1
 #define CONFIG_ESPTOOLPY_FLASHFREQ "80m"
@@ -340,6 +341,7 @@
 #define CONFIG_LWIP_GARP_TMR_INTERVAL 60
 #define CONFIG_LWIP_TCPIP_RECVMBOX_SIZE 32
 #define CONFIG_LWIP_DHCP_DOES_ARP_CHECK 1
+#define CONFIG_LWIP_DHCP_OPTIONS_LEN 68
 #define CONFIG_LWIP_DHCPS 1
 #define CONFIG_LWIP_DHCPS_LEASE_UNIT 60
 #define CONFIG_LWIP_DHCPS_MAX_STATION_NUM 8
@@ -450,6 +452,7 @@
 #define CONFIG_MDNS_TASK_AFFINITY 0x0
 #define CONFIG_MDNS_SERVICE_ADD_TIMEOUT_MS 2000
 #define CONFIG_MDNS_TIMER_PERIOD_MS 100
+#define CONFIG_MDNS_MULTIPLE_INSTANCE 1
 #define CONFIG_MQTT_PROTOCOL_311 1
 #define CONFIG_MQTT_TRANSPORT_SSL 1
 #define CONFIG_MQTT_TRANSPORT_WEBSOCKET 1
@@ -622,5 +625,5 @@
 #define CONFIG_TIMER_TASK_STACK_SIZE CONFIG_ESP_TIMER_TASK_STACK_SIZE
 #define CONFIG_TOOLPREFIX CONFIG_SDK_TOOLPREFIX
 #define CONFIG_UDP_RECVMBOX_SIZE CONFIG_LWIP_UDP_RECVMBOX_SIZE
-#define CONFIG_ARDUINO_IDF_COMMIT "3e370c4296"
+#define CONFIG_ARDUINO_IDF_COMMIT "b86fe0c66c"
 #define CONFIG_ARDUINO_IDF_BRANCH "master"

tools/sdk/esp32c3/include/driver/include/driver/rmt.h

@@ -856,16 +856,35 @@ esp_err_t rmt_remove_channel_from_group(rmt_channel_t channel);
 
 #if SOC_RMT_SUPPORT_TX_LOOP_COUNT
 /**
- * @brief Set loop count for RMT TX channel
+ * @brief Set loop count threshold value for RMT TX channel
+ *
+ * When tx loop count reaches this value, an ISR callback will notify user
  *
  * @param channel RMT channel
- * @param count loop count
+ * @param count loop count, 1 ~ 1023
  * @return
  *      - ESP_ERR_INVALID_ARG Parameter error
  *      - ESP_OK Success
  */
 esp_err_t rmt_set_tx_loop_count(rmt_channel_t channel, uint32_t count);
-#endif
+
+/**
+ * @brief Enable or disable the feature that when loop count reaches the threshold, RMT will stop transmitting.
+ *
+ * - When the loop auto-stop feature is enabled will halt RMT transmission after the loop count reaches a certain threshold
+ * - When disabled, the RMT transmission continue indefinitely until halted by the users
+ *
+ * @note The auto-stop feature is implemented in hardware on particular targets (i.e. those with SOC_RMT_SUPPORT_TX_LOOP_AUTOSTOP defined).
+ *       Otherwise, the auto-stop feature is implemented in software via the interrupt.
+ *
+ * @param channel RMT channel
+ * @param en enable bit
+ * @return
+ *      - ESP_ERR_INVALID_ARG Parameter error
+ *      - ESP_OK Success
+ */
+esp_err_t rmt_enable_tx_loop_autostop(rmt_channel_t channel, bool en);
+#endif // SOC_RMT_SUPPORT_TX_LOOP_COUNT
 
 /**
 * @brief Reset RMT TX/RX memory index.

tools/sdk/esp32c3/include/esp-face/include/detect/dl_detect_define.hpp

@@ -0,0 +1,17 @@
+#pragma once
+
+#include <vector>
+
+namespace dl
+{
+    namespace detect
+    {
+        typedef struct
+        {
+            int category;              /*<! category index */
+            float score;               /*<! score of box */
+            std::vector<int> box;      /*<! [left_up_x, left_up_y, right_down_x, right_down_y] */
+            std::vector<int> keypoint; /*<! [x1, y1, x2, y2, ...] */
+        } result_t;
+    }
+}

tools/sdk/esp32c3/include/esp-face/include/dl_define.hpp

@@ -0,0 +1,99 @@
+#pragma once
+
+#include <climits>
+#include "sdkconfig.h"
+
+#define DL_LOG_LATENCY_UNIT 0  /*<! - 1: cycle */
+                               /*<! - 0: us */
+#define DL_LOG_NN_LATENCY 0    /*<! - 1: print the latency of each parts of nn */
+                               /*<! - 0: mute */
+#define DL_LOG_LAYER_LATENCY 0 /*<! - 1: print the latency of each parts of layer */
+                               /*<! - 0: mute */
+
+#if CONFIG_SPIRAM_SUPPORT || CONFIG_ESP32_SPIRAM_SUPPORT || CONFIG_ESP32S2_SPIRAM_SUPPORT || CONFIG_ESP32S3_SPIRAM_SUPPORT
+#define DL_SPIRAM_SUPPORT 1
+#else
+#define DL_SPIRAM_SUPPORT 0
+#endif
+
+#if CONFIG_IDF_TARGET_ESP32
+#define CONFIG_DEFAULT_ASSIGN_CORE \
+    {                              \
+    } // TODO: 多核 task 完成时，改成默认 0,1
+#elif CONFIG_IDF_TARGET_ESP32S2
+#define CONFIG_DEFAULT_ASSIGN_CORE \
+    {                              \
+    }
+#elif CONFIG_IDF_TARGET_ESP32S3
+#define CONFIG_DEFAULT_ASSIGN_CORE \
+    {                              \
+    } // TODO: 多核 task 完成时，改成默认 0,1
+#elif CONFIG_IDF_TARGET_ESP32C3
+#define CONFIG_DEFAULT_ASSIGN_CORE \
+    {                              \
+    }
+#else
+#define CONFIG_DEFAULT_ASSIGN_CORE \
+    {                              \
+    }
+#endif
+
+#define DL_Q16_MIN (-32768)
+#define DL_Q16_MAX (32767)
+#define DL_Q8_MIN (-128)
+#define DL_Q8_MAX (127)
+
+#ifndef DL_MAX
+#define DL_MAX(x, y) (((x) < (y)) ? (y) : (x))
+#endif
+
+#ifndef DL_MIN
+#define DL_MIN(x, y) (((x) < (y)) ? (x) : (y))
+#endif
+
+#ifndef DL_CLIP
+#define DL_CLIP(x, low, high) ((x) < (low)) ? (low) : (((x) > (high)) ? (high) : (x))
+#endif
+
+#ifndef DL_ABS
+#define DL_ABS(x) ((x) < 0 ? (-(x)) : (x))
+#endif
+
+#ifndef DL_RIGHT_SHIFT
+#define DL_RIGHT_SHIFT(x, shift) ((shift) > 0) ? ((x) >> (shift)) : ((x) << -(shift))
+#endif
+
+#ifndef DL_LEFT_SHIFT
+#define DL_LEFT_SHIFT(x, shift) ((shift) > 0) ? ((x) << (shift)) : ((x) >> -(shift))
+#endif
+
+namespace dl
+{
+    typedef enum
+    {
+        Linear,    /*<! Linear >*/
+        ReLU,      /*<! ReLU >*/
+        LeakyReLU, /*<! LeakyReLU >*/
+        PReLU,     /*<! PReLU >*/
+        // TODO: Sigmoid,   /*<! Sigmoid >*/
+        // TODO: Softmax,    /*<! Softmax*/
+        // TODO: TanH,
+        // TODO: ReLU6
+    } activation_type_t;
+
+    typedef enum
+    {
+        PADDING_NOT_SET,
+        PADDING_VALID,      /*<! no padding >*/
+        PADDING_SAME_BEGIN,  /*<! SAME in MXNET style >*/
+        PADDING_SAME_END,   /*<! SAME in TensorFlow style >*/
+    } padding_type_t;
+    
+    typedef enum
+    {
+        CONSTANT,
+        EDGE, 
+        REFLECT,
+        SYMMETRIC,
+    } padding_mode_t;
+} // namespace dl

tools/sdk/esp32c3/include/esp-face/include/image/dl_image.hpp

@@ -0,0 +1,439 @@
+#pragma once
+
+#include <stdint.h>
+#include <stdlib.h>
+#include <math.h>
+#include <vector>
+#include "dl_define.hpp"
+#include "dl_variable.hpp"
+#include "dl_math_matrix.hpp"
+
+namespace dl
+{
+    namespace image
+    {
+        typedef enum
+        {
+            IMAGE_RESIZE_BILINEAR = 0, /*<! Resize image by taking bilinear of four pixels */
+            IMAGE_RESIZE_MEAN = 1,     /*<! Resize image by taking mean of four pixels */
+            IMAGE_RESIZE_NEAREST = 2   /*<! Resize image by taking the nearest pixel */
+        } resize_type_t;
+
+        /**
+         * @brief Convert RGB888 pixel to Gray.
+         * 
+         * @param red   red value
+         * @param green green value
+         * @param blue  blue value
+         * @return gray value
+         */
+        inline uint8_t convert_pixel_rgb888_to_gray(int red, int green, int blue)
+        {
+            int temp = (red * 38 + green * 75 + blue * 15) >> 7;
+            return DL_CLIP(temp, 0, 255);
+        }
+
+        /**
+         * @brief Convert RGB565 pixel to RGB888.
+         * 
+         * @tparam T supports all integer types
+         * @param input  pixel value in RGB565
+         * @param output pixel value in RGB888
+         */
+        template <typename T>
+        inline void convert_pixel_rgb565_to_rgb888(uint16_t input, T *output)
+        {
+            output[0] = (input & 0x1F00) >> 5;                           // blue
+            output[1] = ((input & 0x7) << 5) | ((input & 0xE000) >> 11); // green
+            output[2] = input & 0xF8;                                    // red
+        }
+
+        /**
+         * @brief Convert RGB565 pixel to Gray.
+         * 
+         * @param input pixel value in RGB565
+         * @return pixel value in Gray
+         */
+        inline uint8_t convert_pixel_rgb565_to_gray(uint16_t input)
+        {
+            int blue = (input & 0x1F00) >> 5;                            // blue
+            int green = ((input & 0x7) << 5) | ((input & 0xE000) >> 11); // green
+            int red = input & 0xF8;                                      // red
+
+            return convert_pixel_rgb888_to_gray(red, green, blue);
+        }
+
+        /**
+         * @brief Crop a patch from image and resize and store to destination image.
+         * If the cropping box is out of image, destination image will be padded with edge.
+         * 
+         * The outer rectangle is the entire output image.
+         * The inner rectangle is where the resized image will be stored.
+         * In other world, this function could help you do padding while resize image.
+         *               ___________________________(dst_w)__________________
+         *              |         ___________________________                |
+         *              |        |(x_start, y_start)         |               | 
+         *              |        |                           |               | 
+         *              |        |                           |               | 
+         *       (dst_h)|        |                           |               | 
+         *              |        |                           |               | 
+         *              |        |                           |               | 
+         *              |        |___________________________|(x_end, y_end) | 
+         *              |____________________________________________________| 
+         * 
+         * @tparam T suppot all integer types
+         * @param dst_image     pointer of destination(output) image
+         * @param dst_width     destination image width
+         * @param dst_channel   destination image channel number
+         * @param dst_y_start   start y of resized image in destination image
+         * @param dst_y_end     end y of resized image in destination image
+         * @param dst_x_start   start x of resized image in destination image
+         * @param dst_x_end     end x of resized image in destination image
+         * @param src_image     pointer of source image
+         * @param src_height    source image height
+         * @param src_width     source image width
+         * @param src_channel   source image channel
+         * @param src_y_start   start y of resized image in source image
+         * @param src_y_end     end y of resized image in source image
+         * @param src_x_start   start x of resized image in source image
+         * @param src_x_end     end x of resized image in source image
+         * @param resize_type   one of IMAGE_RESIZE_BILINEAR or IMAGE_RESIZE_MEAN or IMAGE_RESIZE_NEAREST
+         * @param shift_left    bit left shift number implemented on output
+         */
+        template <typename T>
+        void crop_and_resize(T *dst_image,
+                             int dst_width,
+                             int dst_channel,
+                             int dst_y_start, int dst_y_end,
+                             int dst_x_start, int dst_x_end,
+                             uint16_t *src_image,
+                             int src_height,
+                             int src_width,
+                             int src_channel,
+                             int src_y_start, int src_y_end,
+                             int src_x_start, int src_x_end,
+                             resize_type_t resize_type = IMAGE_RESIZE_NEAREST,
+                             int shift_left = 0);
+
+        /**
+         * @brief Crop a patch from image and resize and store to destination image.
+         * If the cropping box is out of image, destination image will be padded with edge.
+         * 
+         * The outer rectangle is the entire output image.
+         * The inner rectangle is where the resized image will be stored.
+         * In other world, this function could help you do padding while resize image.
+         *               ___________________________(dst_w)__________________
+         *              |         ___________________________                |
+         *              |        |(x_start, y_start)         |               | 
+         *              |        |                           |               | 
+         *              |        |                           |               | 
+         *       (dst_h)|        |                           |               | 
+         *              |        |                           |               | 
+         *              |        |                           |               | 
+         *              |        |___________________________|(x_end, y_end) | 
+         *              |____________________________________________________| 
+         * 
+         * @tparam T suppot all integer types
+         * @param dst_image     pointer of destination(output) image
+         * @param dst_width     destination image width
+         * @param dst_channel   destination image channel number
+         * @param dst_y_start   start y of resized image in destination image
+         * @param dst_y_end     end y of resized image in destination image
+         * @param dst_x_start   start x of resized image in destination image
+         * @param dst_x_end     end x of resized image in destination image
+         * @param src_image     pointer of source image
+         * @param src_height    source image height
+         * @param src_width     source image width
+         * @param src_channel   source image channel
+         * @param src_y_start   start y of resized image in source image
+         * @param src_y_end     end y of resized image in source image
+         * @param src_x_start   start x of resized image in source image
+         * @param src_x_end     end x of resized image in source image
+         * @param resize_type   one of IMAGE_RESIZE_BILINEAR or IMAGE_RESIZE_MEAN or IMAGE_RESIZE_NEAREST
+         * @param shift_left    bit left shift number implemented on output
+         */
+        template <typename T>
+        void crop_and_resize(T *dst_image,
+                             int dst_width,
+                             int dst_channel,
+                             int dst_y_start, int dst_y_end,
+                             int dst_x_start, int dst_x_end,
+                             uint8_t *src_image,
+                             int src_height,
+                             int src_width,
+                             int src_channel,
+                             int src_y_start, int src_y_end,
+                             int src_x_start, int src_x_end,
+                             resize_type_t resize_type = IMAGE_RESIZE_NEAREST,
+                             int shift_left = 0);
+
+        /**
+         * @brief Draw a filled rectangle on RGB888 image.
+         * 
+         * @param image        pointer of input image
+         * @param image_height height of input image
+         * @param image_width  width of input image
+         * @param x1           left up corner x
+         * @param y1           left up corner y
+         * @param x2           right bottom corner x
+         * @param y2           right bottom corner y
+         * @param color        0x    00|       00|       00|       00
+         *                     reserved|channel 0|channel 1|channel 2 
+         */
+        void draw_filled_rectangle(uint8_t *image, const uint32_t image_height, const uint32_t image_width,
+                                   uint32_t x1, uint32_t y1, uint32_t x2, uint32_t y2,
+                                   const uint32_t color = 0x00FF0000);
+
+        /**
+         * @brief Draw a filled rectangle on RGB565 image.
+         * 
+         * @param image        pointer of input image
+         * @param image_height height of input image
+         * @param image_width  width of input image
+         * @param x1           left up corner x
+         * @param y1           left up corner y
+         * @param x2           right bottom corner x
+         * @param y2           right bottom corner y
+         * @param color        0b         000|    00000|    00000|           000
+         *                     channel 1[2:0]|channel 0|channel 2|channel 1[5:3] 
+         */
+        void draw_filled_rectangle(uint16_t *image, const uint32_t image_height, const uint32_t image_width,
+                                   uint32_t x1, uint32_t y1, uint32_t x2, uint32_t y2,
+                                   const uint16_t color = 0b0001111100000000);
+
+        /**
+         * @brief Draw a point on RGB888 image.
+         * 
+         * @param image        pointer of input image
+         * @param image_height height of input image
+         * @param image_width  width of input image
+         * @param x            point x
+         * @param y            point y
+         * @param size         size of point
+         * @param color        0x    00|       00|       00|       00
+         *                     reserved|channel 0|channel 1|channel 2 
+         */
+        void draw_point(uint8_t *image, const uint32_t image_height, const uint32_t image_width,
+                        const uint32_t x, const uint32_t y, const uint32_t size,
+                        const uint32_t color = 0x00FF0000);
+
+        /**
+         * @brief Draw a point on RGB565 image.
+         * 
+         * @param image        pointer of input image
+         * @param image_height height of input image
+         * @param image_width  width of input image
+         * @param x            point x
+         * @param y            point y
+         * @param size         size of point
+         * @param color        0b         000|    00000|    00000|           000
+         *                     channel 1[2:0]|channel 0|channel 2|channel 1[5:3] 
+         */
+        void draw_point(uint16_t *image, const uint32_t image_height, const uint32_t image_width,
+                        const uint32_t x, const uint32_t y, const uint32_t size,
+                        uint16_t color = 0b0001111100000000);
+
+        /**
+         * @brief Draw a hollow rectangle on RGB888 image.
+         * 
+         * @param image        pointer of input image
+         * @param image_height height of input image
+         * @param image_width  width of input image
+         * @param x1           left up corner x
+         * @param y1           left up corner y
+         * @param x2           right bottom corner x
+         * @param y2           right bottom corner y
+         * @param color        0x    00|       00|       00|       00
+         *                     reserved|channel 0|channel 1|channel 2 
+         */
+        void draw_hollow_rectangle(uint8_t *image, const uint32_t image_height, const uint32_t image_width,
+                                   uint32_t x1, uint32_t y1, uint32_t x2, uint32_t y2,
+                                   uint32_t color = 0x00FF0000);
+
+        /**
+         * @brief Draw a hollow rectangle on RGB565 image.
+         * 
+         * @param image        pointer of input image
+         * @param image_height height of input image
+         * @param image_width  width of input image
+         * @param x1           left up corner x
+         * @param y1           left up corner y
+         * @param x2           right bottom corner x
+         * @param y2           right bottom corner y
+         * @param color        0b         000|    00000|    00000|           000
+         *                     channel 1[2:0]|channel 0|channel 2|channel 1[5:3] 
+         */
+        void draw_hollow_rectangle(uint16_t *image, const uint32_t image_height, const uint32_t image_width,
+                                   uint32_t x1, uint32_t y1, uint32_t x2, uint32_t y2,
+                                   const uint16_t color = 0b0001111100000000);
+
+        /**
+         * @brief Detect target moving by activated detection point number. Each cross in the figure below is a detection point.
+         * Once abs(frame_1_detection_point[i] - frame_2_detection_point[i]) > threshold, this detection point is activated.
+         * This function will return the number of activated detection point.
+         * 
+         *         __stride__________________________
+         *         |        |        |        |   |
+         *  stride |        |        |        |   |
+         *         |        |        |        |   |
+         *         |________|________|________|   |
+         *         |        |        |        |   |
+         *         |        |        |        |   |
+         *         |        |        |        |   |
+         *         |________|________|________| height
+         *         |        |        |        |   |
+         *         |        |        |        |   |
+         *         |        |        |        |   |
+         *         |________|________|________|   |
+         *         |        |        |        |   |
+         *         |        |        |        |   |
+         *         |        |        |        |   |
+         *         |________|________|________|___|___
+         *         |                          |
+         *         |__________width___________|
+         *         |                          |
+         * 
+         * Time consumption:
+         * Frame shape = (240, 240)
+         * Both frame are in PSRAM
+         * On ESP32-S3 with CPU 240MHz, QSPI 80MHz
+         * 
+         * stride  latency
+         *      1  28316us
+         *      2   8770us
+         *      4   3622us
+         *      8   1990us
+         *     16    880us
+         *     32    260us
+         * 
+         * 
+         * In a application, outside this function, threshold of activated detection point number is needed.
+         * Once activated detection point number > number_threshold, this two frame are judged target moved.
+         * How to determine the number_threshold?
+         * Let's assume that the minimize shape of target is (target_min_height, target_max_width).
+         * Then, the number_threshold = [target_min_height / stride] * [target_max_width / stride] * ratio,
+         * where ratio is in (0, 1), the smaller the ratio is, the more sensitive the detector is, the more false detected.
+         * 
+         * 
+         * @param f1        one frame in RGB565
+         * @param f2        another frame in RGB565
+         * @param height    height of frame
+         * @param width     width of frame
+         * @param stride    stride of detection point, the smaller the stride is, the more reliable the detector is.
+         * @param threshold activation threshold of each detection point
+         * @return activated detection point number 
+         */
+        uint32_t get_moving_point_number(uint16_t *f1, uint16_t *f2, const uint32_t height, const uint32_t width, const uint32_t stride, const uint32_t threshold = 5);
+
+        /**
+         * @brief Detect target moving by activated detection point number. Each cross in the figure below is a detection point.
+         * Once abs(frame_1_detection_point[i] - frame_2_detection_point[i]) > threshold, this detection point is activated.
+         * This function will return the number of activated detection point.
+         * 
+         *         __stride__________________________
+         *         |        |        |        |   |
+         *  stride |        |        |        |   |
+         *         |        |        |        |   |
+         *         |________|________|________|   |
+         *         |        |        |        |   |
+         *         |        |        |        |   |
+         *         |        |        |        |   |
+         *         |________|________|________| height
+         *         |        |        |        |   |
+         *         |        |        |        |   |
+         *         |        |        |        |   |
+         *         |________|________|________|   |
+         *         |        |        |        |   |
+         *         |        |        |        |   |
+         *         |        |        |        |   |
+         *         |________|________|________|___|___
+         *         |                          |
+         *         |__________width___________|
+         *         |                          |
+         * 
+         * 
+         * In a application, outside this function, threshold of activated detection point number is needed.
+         * Once activated detection point number > number_threshold, this two frame are judged target moved.
+         * How to determine the number_threshold?
+         * Let's assume that the minimize shape of target is (target_min_height, target_max_width).
+         * Then, the number_threshold = [target_min_height / stride] * [target_max_width / stride] * ratio,
+         * where ratio is in (0, 1), the smaller the ratio is, the more sensitive the detector is, the more false detected.
+         * 
+         * 
+         * @param f1        one frame in RGB888
+         * @param f2        another frame in RGB888
+         * @param height    height of frame
+         * @param width     width of frame
+         * @param stride    stride of detection point, the smaller the stride is, the more reliable the detector is.
+         * @param threshold activation threshold of each detection point
+         * @return activated detection point number 
+         */
+        uint32_t get_moving_point_number(uint8_t *f1, uint8_t *f2, const uint32_t height, const uint32_t width, const uint32_t stride, const uint32_t threshold = 5);
+
+        /**
+         * @brief Apply an affine transformation to an image.
+         * 
+         * @tparam T 
+         * @param input     the input image.
+         * @param output    the output image.
+         * @param M_inv     the inverse transformation matrix.
+         */
+        template <typename T>
+        void warp_affine(dl::Tensor<T> *input, dl::Tensor<T> *output, dl::math::Matrix<float> *M_inv);
+
+        /**
+         * @brief Apply an affine transformation to an image.
+         * 
+         * @tparam T 
+         * @param input    the pointer of the input image.
+         * @param shape    the shape of the input image.
+         * @param output   the output image.
+         * @param M_inv    the inverse transformation matrix.
+         */
+        template <typename T>
+        void warp_affine(uint16_t *input, std::vector<int> shape, dl::Tensor<T> *output, dl::math::Matrix<float> *M_inv);
+
+        /**
+         * @brief Get the otsu thresh object.
+         * 
+         * @param image  the gray image.
+         * @return uint8_t the otsu thresh.
+         */
+        uint8_t get_otsu_thresh(Tensor<uint8_t> &image);
+
+        /**
+         * @brief Convert RGB image to gray image
+         * 
+         * @param image  input image
+         * @param bgr    true: the image is in BGR format
+         *               false: the image is in RGB format
+         * @return Tensor<uint8_t>* output image in gray format
+         */
+        Tensor<uint8_t> *rgb2gray(Tensor<uint8_t> &image, bool bgr = false);
+
+        /**
+         * @brief Convert RGB image to LAB image
+         * 
+         * @param image  input image
+         * @param bgr    true: the image is in BGR format
+         *               false: the image is in RGB format 
+         * @param fast   true: use the fast alogrithm， but the accuracy will be reduced
+         *               false: do not use the fast alogrithm
+         * @return Tensor<uint8_t>* output image in LAB foramt
+         */
+        Tensor<uint8_t> *rgb2lab(Tensor<uint8_t> &image, bool bgr = false, bool fast = true);
+
+        /**
+         * @brief Convert RGB image to HSV image
+         * 
+         * @param image   input image
+         * @param bgr     true: the image is in BGR format
+         *                false: the image is in RGB format 
+         * @param fast    true: use the fast alogrithm， but the accuracy will be reduced
+         *                false: do not use the fast alogrithm
+         * @return Tensor<uint8_t>* output image in HSV format
+         */
+        Tensor<uint8_t> *rgb2hsv(Tensor<uint8_t> &image, bool bgr = false, bool fast = true);
+
+    } // namespace image
+} // namespace dl

tools/sdk/esp32c3/include/esp-face/include/layer/dl_layer_add2d.hpp

@@ -0,0 +1,145 @@
+#pragma once
+
+#include "dl_constant.hpp"
+#include "dl_variable.hpp"
+#include "dl_nn_add2d.hpp"
+#include "dl_layer_base.hpp"
+
+namespace dl
+{
+    namespace layer
+    {
+        /**
+         * @brief Activation(Add2D(input0, input1)).
+         * NOTE: addition is element-wise, i.e., output[i,j,k] = input0[i,j,k] + input1[i,j,k]
+         * 
+         * @tparam feature_t supports int16_t and int8_t,
+         *         - int16_t: stands for operation in int16_t quantize
+         *         - int8_t: stands for operation in int8_t quantize
+         */
+        template <typename feature_t>
+        class Add2D : public Layer
+        {
+        private:
+            const Activation<feature_t> *activation; /*<! activation of add2d, if you don't specify anything, no activation is applied >*/
+            const int output_exponent;               /*<! exponent of output >*/
+            Tensor<feature_t> *output;               /*<! output ptr of add2d >*/
+            bool inplace;                            /*<! true: the output will store to input0
+                                                          false: the output will store to a separate memory >*/
+            std::vector<int> output_shape;           /*<! output shape of add2d >*/
+
+        public:
+            /**
+             * @brief Construct a new Add2D object.
+             * 
+             * @param output_exponent exponent of output
+             * @param activation      activation of add2d, if you don't specify anything, no activation is applied
+             * @param name            name of add2d
+             * @param inplace         true: the output will store to input0
+             *                        false: the output will store to a separate memory
+             */
+            Add2D(const int output_exponent, const Activation<feature_t> *activation = NULL, const char *name = "Add2D", bool inplace = false) : Layer(name),
+                                                                                                                                                 activation(activation),
+                                                                                                                                                 output_exponent(output_exponent),
+                                                                                                                                                 output(NULL),
+                                                                                                                                                 inplace(inplace),
+                                                                                                                                                 output_shape({}) {}
+
+            /**
+             * @brief Destroy the Add2D object
+             */
+            ~Add2D()
+            {
+                if ((!this->inplace) && (this->output != NULL))
+                {
+                    delete this->output;
+                }
+            }
+
+            /**
+             * @brief Update output shape.
+             * NOTE: input0.shape must equal to input1.shape.
+             * 
+             * @param input0 as one input
+             * @param input1 as another input
+             * @param print_shape  whether to print the output shape.
+             */
+            void build(Tensor<feature_t> &input0, Tensor<feature_t> &input1, bool print_shape = false)
+            {
+                assert(input0.is_same_shape(input1));
+                this->output_shape = input0.shape;
+
+                if (!this->inplace)
+                {
+                    if (this->output == NULL)
+                    {
+                        this->output = new Tensor<feature_t>;
+                    }
+                    this->output->set_exponent(this->output_exponent);
+                    this->output->set_shape(input0.shape);
+                    this->output->free_element();
+                }
+                else
+                {
+                    this->output = &input0;
+                }
+                if (print_shape)
+                {
+                    std::cout << this->name << " | ";
+                    this->output->print_shape();
+                }
+            }
+
+            /**
+            * @brief Get the output
+            * 
+            * @return Tensor<feature_t>& Add2D result
+            */
+            Tensor<feature_t> &get_output()
+            {
+                return *this->output;
+            }
+
+            /**
+             * @brief Call Add2D operation.
+             * 
+             * @param input0      as one input
+             * @param input1      as another input
+             * @param assign_core not effective yet
+             * @return Tensor<feature_t>& added result
+             */
+            Tensor<feature_t> &call(Tensor<feature_t> &input0, Tensor<feature_t> &input1, const std::vector<int> &assign_core = CONFIG_DEFAULT_ASSIGN_CORE)
+            {
+                DL_LOG_LAYER_LATENCY_INIT();
+
+                if (!this->inplace)
+                {
+                    DL_LOG_LAYER_LATENCY_START();
+                    if (this->output->shape != this->output_shape)
+                    {
+                        this->output->set_shape(this->output_shape);
+                    }
+                    this->output->malloc_element();
+                    this->output->set_exponent(this->output_exponent);
+                    DL_LOG_LAYER_LATENCY_END(this->name, "apply");
+
+                    DL_LOG_LAYER_LATENCY_START();
+                    nn::add2d(*this->output, input0, input1, this->activation, assign_core);
+                    DL_LOG_LAYER_LATENCY_END(this->name, "add2d");
+                }
+                else
+                {
+                    DL_LOG_LAYER_LATENCY_START();
+                    if (this->output->shape != this->output_shape)
+                    {
+                        this->output->set_shape(this->output_shape);
+                    }
+                    nn::add2d(*this->output, input0, input1, this->activation, assign_core, this->output_exponent);
+                    DL_LOG_LAYER_LATENCY_END(this->name, "add2d");
+                }
+
+                return *this->output;
+            }
+        };
+    } // namespace layer
+} // namespace dl

tools/sdk/esp32c3/include/esp-face/include/layer/dl_layer_avg_pool2d.hpp

@@ -0,0 +1,161 @@
+#pragma once
+
+#include <vector>
+#include "dl_constant.hpp"
+#include "dl_variable.hpp"
+#include "dl_nn_avg_pool2d.hpp"
+
+namespace dl
+{
+    namespace layer
+    {
+        /**
+         * @brief AvgPool2D(input).
+         * 
+         * @tparam feature_t supports int16_t and int8_t,
+         *         - int16_t: stands for operation in int16_t quantize
+         *         - int8_t: stands for operation in int8_t quantize
+         */
+        template <typename feature_t>
+        class AvgPool2D : public Layer
+        {
+        private:
+            const int output_exponent;         /*<! exponent of output >*/
+            std::vector<int> filter_shape;     /*<! filter shape in [filter_height, filter_width] >*/
+            const int stride_y;                /*<! stride in height >*/
+            const int stride_x;                /*<! stride in width >*/
+            const padding_type_t padding_type; /*<! one of PADDING_VALID or PADDING_SAME_END or PADDING_SAME_BEGIN >*/
+            std::vector<int> padding;          /*<! padding size needed in [top, bottom, left, right] of this operation >*/
+            Tensor<feature_t> *output;         /*<! output ptr of AvgPool2D >*/
+            std::vector<int> output_shape;     /*<! output shape of AvgPool2D >*/
+
+        public:
+            /**
+             * @brief Construct a new AvgPool2D object.
+             * 
+             * @param output_exponent exponent of output
+             * @param filter_shape    filter shape in [filter_height, filter_width]
+             * @param padding_type    one of PADDING_VALID or PADDING_SAME_END or PADDING_SAME_BEGIN or PADDING_NOT_SET,
+             *                        - PADDING_VALID means no padding
+             *                        PADDING_SAME_END and PADDING_SAME_BEGIN results in padding with zeros evenly to the left/right or up/down of the input 
+             *                        such that output has the same height/width dimension as the input,
+             *                        - PADDING_SAME_END results padding in TensorFlow style
+             *                        - PADDING_SAME_BEGIN results padding in MXNET style
+             *                        - PADDING_NOT_SET means padding with the specific "padding" value below. 
+             * @param padding         if padding_type is PADDING_NOT_SET, this value will be used as padding size. 
+             *                        the shape must be 4, the value of each position is: [padding top, padding bottom, padding left, padding right]
+             * @param stride_y        stride in height
+             * @param stride_x        stride in width
+             * @param name            name of layer
+             */
+            AvgPool2D(const int output_exponent,
+                      const std::vector<int> filter_shape,
+                      const padding_type_t padding_type = PADDING_VALID,
+                      std::vector<int> padding = {},
+                      const int stride_y = 1,
+                      const int stride_x = 1,
+                      const char *name = "AvgPool2D") : Layer(name),
+                                                        output_exponent(output_exponent),
+                                                        filter_shape(filter_shape),
+                                                        padding_type(padding_type),
+                                                        padding(padding),
+                                                        stride_y(stride_y),
+                                                        stride_x(stride_x),
+                                                        output_shape({})
+            {
+                this->output = new Tensor<feature_t>;
+                if (this->padding_type == PADDING_NOT_SET)
+                {
+                    assert(this->padding.size() == 4);
+                }
+            }
+
+            /**
+            * @brief Destroy the AvgPool2D object.
+            * 
+            */
+            ~AvgPool2D()
+            {
+                if (this->output != NULL)
+                {
+                    delete this->output;
+                }
+            }
+
+            /**
+             * @brief Update output shape and padding.
+             * 
+             * @param input as an input
+             * @param print_shape  whether to print the output shape.
+             */
+            void build(Tensor<feature_t> &input, bool print_shape = false)
+            {
+                assert(input.shape[0] > 0);
+                assert(input.shape[1] > 0);
+                assert(input.shape.size() == 3);
+
+                this->output_shape = nn::get_output_shape(input.shape, filter_shape, this->stride_y, this->stride_x, this->padding_type, false, this->padding);
+                this->output->set_shape(this->output_shape);
+                this->output->set_exponent(this->output_exponent);
+
+                if (this->padding_type != PADDING_NOT_SET)
+                {
+                    this->padding = nn::get_pad_size(this->output_shape, input.shape, filter_shape, this->stride_y, this->stride_x, this->padding_type);
+                }
+
+                this->output->free_element();
+
+                if (print_shape)
+                {
+                    std::cout << this->name << " | ";
+                    this->output->print_shape();
+                }
+            }
+
+            /**
+             * @brief Get the output
+             * 
+             * @return Tensor<feature_t>& AvgPool2D result
+             */
+            Tensor<feature_t> &get_output()
+            {
+                return *this->output;
+            }
+
+            /**
+             * @brief Call AvgPool2D operation
+             * 
+             * @param input           as an input
+             * @param autoload_enable one of true or false, 
+             *                        - true: load input and output from PSRAM to CACHE automatically
+             *                        - false: do not
+             * @return AvgPool2D result
+             */
+            Tensor<feature_t> &call(Tensor<feature_t> &input, uint8_t autoload_enable = 0)
+            {
+                DL_LOG_LAYER_LATENCY_INIT();
+
+                DL_LOG_LAYER_LATENCY_START();
+                if (this->output->shape != this->output_shape)
+                {
+                    this->output->set_shape(this->output_shape);
+                }
+                this->output->malloc_element();
+                this->output->set_exponent(this->output_exponent);
+                DL_LOG_LAYER_LATENCY_END(this->name, "apply");
+
+                if (autoload_enable)
+                {
+                    dl::tool::cache::autoload_func((uint32_t)(this->output->element), this->output->get_size() * sizeof(feature_t),
+                                                   (uint32_t)(input.element), input.get_size() * sizeof(feature_t));
+                }
+
+                DL_LOG_LAYER_LATENCY_START();
+                nn::avg_pool2d(*this->output, input, this->padding, this->filter_shape, this->stride_y, this->stride_x);
+                DL_LOG_LAYER_LATENCY_END(this->name, "avg_pool2d");
+
+                return *this->output;
+            }
+        };
+    } // namespace layer
+} // namespace dl

tools/sdk/esp32c3/include/esp-face/include/layer/dl_layer_base.hpp

@@ -0,0 +1,56 @@
+#pragma once
+#include "dl_tool.hpp"
+#include "dl_tool_cache.hpp"
+#include <iostream>
+
+namespace dl
+{
+    namespace layer
+    {
+        /**
+         * @brief Base class for layer.
+         * 
+         */
+        class Layer
+        {
+        public:
+            char *name; /*<! name of layer >*/
+
+            /**
+             * @brief Construct a new Layer object.
+             * 
+             * @param name name of layer.
+             */
+            Layer(const char *name = NULL);
+
+            /**
+             * @brief Destroy the Layer object. Return resource.
+             * 
+             */
+            ~Layer();
+        };
+    } // namespace layer
+} // namespace dl
+
+#if DL_LOG_LAYER_LATENCY
+/**
+ * @brief Initialize.
+ */
+#define DL_LOG_LAYER_LATENCY_INIT() dl::tool::Latency latency
+
+/**
+ * @brief Time starts.
+ */
+#define DL_LOG_LAYER_LATENCY_START() latency.start()
+
+/**
+ * @brief Time ends and printed.
+ */
+#define DL_LOG_LAYER_LATENCY_END(prefix, key) \
+    latency.end();                            \
+    latency.print(prefix, key)
+#else
+#define DL_LOG_LAYER_LATENCY_INIT()
+#define DL_LOG_LAYER_LATENCY_START()
+#define DL_LOG_LAYER_LATENCY_END(prefix, key)
+#endif

tools/sdk/esp32c3/include/esp-face/include/layer/dl_layer_concat.hpp

@@ -0,0 +1,139 @@
+#pragma once
+
+#include <assert.h>
+#include <vector>
+
+#include "dl_constant.hpp"
+#include "dl_variable.hpp"
+#include "dl_tool.hpp"
+#include "dl_layer_base.hpp"
+#include "dl_nn_concat.hpp"
+
+namespace dl
+{
+    namespace layer
+    {
+        /**
+         * @brief Concat(input1, input2, input3, ...).
+         * 
+         * @tparam feature_t support all kinds of integer and float data type
+         */
+        template <typename feature_t>
+        class Concat : Layer
+        {
+        private:
+            int output_exponent;           /*<! exponent of output >*/
+            int axis;                      /*<! The axis along which the Tensor will be concatenated. >*/
+            Tensor<feature_t> *output;     /*<! output ptr of Concat >*/
+            std::vector<int> output_shape; /*<! output shape of Concat >*/
+        public:
+            /**
+             * @brief Construct a new Concat object.
+             * 
+             * @param name name of layer
+             * @param axis The axis along which the Tensor will be concatenated.
+             */
+            Concat(int axis, const char *name = "Concat") : Layer(name), axis(axis), output_shape({})
+            {
+                this->output = new Tensor<feature_t>;
+            }
+
+            /**
+             * @brief Destroy the Concat object
+             */
+            ~Concat()
+            {
+                if (this->output != NULL)
+                {
+                    delete this->output;
+                }
+            }
+
+            /**
+             * @brief Collect inputs' channel and memory offset, called in Model.build().
+             * 
+             * @param args pointers of concatenated Tensor
+             * @param print_shape  whether to print the output shape.
+             */
+            void build(std::vector<Tensor<feature_t> *> args, bool print_shape = false)
+            {
+                assert(args.size() > 1);
+                int shape_size = args[0]->shape.size();
+
+                if (this->axis < 0)
+                {
+                    this->axis = shape_size + this->axis;
+                }
+                assert((this->axis < shape_size) && (this->axis > -1));
+
+                int output_shape_axis = args[0]->shape[this->axis];
+
+                for (int i = 1; i < args.size(); i++)
+                {
+                    assert(shape_size == args[i]->shape.size());
+                    assert(args[i]->exponent == args[i - 1]->exponent);
+                    output_shape_axis += args[i]->shape[this->axis];
+
+                    for (int j = 0; j < shape_size; j++)
+                    {
+                        if (j != this->axis)
+                        {
+                            assert(args[i]->shape[j] == args[i - 1]->shape[j]);
+                        }
+                    }
+                }
+
+                this->output_exponent = args[0]->exponent;
+                this->output_shape = args[0]->shape;
+                this->output_shape[this->axis] = output_shape_axis;
+
+                this->output->set_shape(this->output_shape);
+                this->output->set_exponent(this->output_exponent);
+                this->output->free_element();
+
+                if (print_shape)
+                {
+                    std::cout << this->name << " | ";
+                    this->output->print_shape();
+                }
+            }
+
+            /**
+             * @brief Call Concat operation
+             * 
+             * @param inputs                the pointers of inputs 
+             * @param free_inputs           true: free the inputs after call
+             *                              false: do not free inputs
+             * @return Tensor<feature_t>&   concat result
+             */
+            Tensor<feature_t> &call(std::vector<Tensor<feature_t> *> inputs, bool free_inputs = false)
+            {
+                DL_LOG_LAYER_LATENCY_INIT();
+
+                DL_LOG_LAYER_LATENCY_START();
+                if (this->output->shape != this->output_shape)
+                {
+                    this->output->set_shape(this->output_shape);
+                }
+                this->output->malloc_element();
+                this->output->set_exponent(this->output_exponent);
+                DL_LOG_LAYER_LATENCY_END(this->name, "apply");
+
+                DL_LOG_LAYER_LATENCY_START();
+                nn::concat(*this->output, inputs, this->axis, free_inputs);
+                DL_LOG_LAYER_LATENCY_END(this->name, "concat");
+                return *this->output;
+            }
+
+            /**
+             * @brief Get the output
+             * 
+             * @return Tensor<feature_t>&  Concat result
+             */
+            Tensor<feature_t> &get_output()
+            {
+                return *this->output;
+            }
+        };
+    } // namespace layer
+} // namespace dl

tools/sdk/esp32c3/include/esp-face/include/layer/dl_layer_concat2d.hpp

@@ -0,0 +1,179 @@
+#pragma once
+
+#include <assert.h>
+#include <vector>
+
+#include "dl_constant.hpp"
+#include "dl_variable.hpp"
+#include "dl_tool.hpp"
+#include "dl_layer_base.hpp"
+
+namespace dl
+{
+    namespace layer
+    {
+        /**
+         * @brief Concat2D(input1, input2, input3, ...).
+         * 
+         * @tparam feature_t support all kinds of integer and float data type
+         */
+        template <typename feature_t>
+        class Concat2D : Layer
+        {
+        private:
+            std::vector<Tensor<feature_t> *> output_vec; /*<! pointers of concatenated inputs >*/
+            std::vector<int> offset;                     /*<! memory offset of each concatenated inputs in entire element >*/
+            std::vector<int> channel;                    /*<! channel of concatenated inputs >*/
+            Tensor<feature_t> *output;                  /*<! output ptr of Concat2D >*/
+            int output_exponent;                        /*<! exponent of output >*/
+        public: 
+
+            /**
+             * @brief Construct a new Concat2D object.
+             * 
+             * @param name name of layer
+             */
+            Concat2D(const char *name = NULL) : Layer(name) {
+                this->output = new Tensor<feature_t>;
+            }
+
+            /**
+             * @brief Destroy the Concat2D object
+             */
+            ~Concat2D() 
+            {
+                if (this->output != NULL)
+                {
+                    delete this->output;
+                }
+            }
+
+            /**
+             * @brief Collect inputs' channel and memory offset, called in Model.build().
+             * 
+             * @param args pointers of concatenated Tensor
+             */
+            void build(std::vector<Tensor<feature_t> *> args)
+            {
+                assert(args.size() > 0);
+
+                this->output_vec = args;
+
+                this->offset = std::vector<int>(args.size());
+                this->channel = std::vector<int>(args.size());
+
+                this->output_exponent = args[0]->exponent;
+                this->offset[0] = 0;
+                this->channel[0] = args[0]->shape[2];
+                std::vector<int> output_shape = args[0]->shape;
+
+                for (int i = 1; i < args.size(); i++)
+                {
+                    assert(output_shape[0] == args[i]->shape[0]); // height
+                    assert(output_shape[1] == args[i]->shape[1]); // width
+                    // assert(this->output_exponent == args[i]->exponent); // exponent
+
+                    this->offset[i] = output_shape[2];
+                    this->channel[i] = args[i]->shape[2];
+                    output_shape[2] += args[i]->shape[2];
+                }
+                this->output->set_shape(output_shape);
+                this->output->set_exponent(this->output_exponent);
+                this->output->free_element();
+            }
+
+            /**
+             * @brief Get the output
+             * 
+             * @return Tensor<feature_t>&  Concat2d result
+             */
+            Tensor<feature_t> &get_output()
+            {
+                return *this->output;
+            }
+
+            /**
+             * @brief Get the maximum padding among inputs and output-> Then, set to this->output. Called at the end of Model.build().
+             * NOTE: Some special situations like C = Concat2D_1(A, B), E = Concat2D_2(C, D), where A, B, C, D, E are Tensor.
+             *         For avoiding memory copy, we apply an entire element for E, and take it apart for A, B, D. 
+             *         A, B, C, D and E will become other layer's inputs so that result different size of padding.
+             *         For get the maximum padding, we should call at the end of Model.build(),
+             *              Concat2D_1.backward();  // max_padding_temp = get_max_padding(A, B, C), padding of A, B and C are set to max_padding_temp.
+             *              Concat2D_2.backward();  // max_padding = get_max_padding(max_padding_temp, get_max_padding(D, E)) , padding of C, D and E are set to max_padding.
+             *                                         However, padding of A and B is still max_padding_temp.
+             *              Concat2D_1.backward();  // padding of A and B are set to max_padding.
+             *         Or,
+             *              Concat2D_2.backward();
+             *              Concat2D_1.backward();
+             *              Concat2D_2.backward();
+             */
+            void backward()
+            {
+                std::vector<int> max_padding = this->output->padding;
+                int max_channel_with_padding = this->output->shape_with_padding[2];
+                for (int i = 0; i < this->output_vec.size(); i++)
+                {
+                    for (int j = 0; j < max_padding.size(); j++)
+                    {
+                        max_padding[j] = DL_MAX(max_padding[j], this->output_vec[i]->padding[j]);
+                    }
+                    max_channel_with_padding = DL_MAX(max_channel_with_padding, this->output_vec[i]->shape_with_padding[2]);
+                }
+
+                this->output->set_padding_size(max_padding);
+                this->output->shape_with_padding[2] = max_channel_with_padding;
+                for (int i = 0; i < this->output_vec.size(); i++)
+                {
+                    this->output_vec[i]->set_padding_size(max_padding);
+                    this->output_vec[i]->shape_with_padding[2] = max_channel_with_padding;
+#if CONFIG_DEBUG_MODE
+                    assert(this->output->shape_with_padding[0] == this->output_vec[i]->shape_with_padding[0]);
+                    assert(this->output->shape_with_padding[1] == this->output_vec[i]->shape_with_padding[1]);
+                    assert(this->output->shape_with_padding[2] == this->output_vec[i]->shape_with_padding[2]);
+#endif
+                }
+            }
+
+            /**
+             * @brief Calloc an entire element for concatnate result. Take the entire element apart and deliver element pointers to concatenated layer.
+             * NOTE: For example, C = Concat2D(A, B). We apply an entire element for C and deliver two element pointers to A and B.
+             *       Let's assume that A result is produced first. We should call Concat2D.calloc_element() just before A result is produced
+             *       to make sure the element of A is ready and could be filled.
+             */
+            void calloc_element()
+            {
+                DL_LOG_LAYER_LATENCY_INIT();
+
+                DL_LOG_LAYER_LATENCY_START();
+                this->output->calloc_element();
+                DL_LOG_LAYER_LATENCY_END(this->name, "apply");
+
+                DL_LOG_LAYER_LATENCY_START();
+                for (int i = 0; i < this->offset.size(); i++)
+                {
+                    this->output_vec[i]->element = this->output->element + this->offset[i];
+                    this->output_vec[i]->set_auto_free(false);
+                }
+                DL_LOG_LAYER_LATENCY_END(this->name, "deliver");
+            }
+
+            void apply_element()
+            {
+                DL_LOG_LAYER_LATENCY_INIT();
+
+                DL_LOG_LAYER_LATENCY_START();
+                this->output->apply_element();
+                this->output->set_exponent(this->output_exponent);
+                DL_LOG_LAYER_LATENCY_END(this->name, "apply");
+
+                DL_LOG_LAYER_LATENCY_START();
+                for (int i = 0; i < this->offset.size(); i++)
+                {
+                    this->output_vec[i]->element = this->output->element + this->offset[i];
+                    this->output_vec[i]->set_auto_free(false);
+                }
+                DL_LOG_LAYER_LATENCY_END(this->name, "deliver");
+            }
+        };
+    } // namespace layer
+} // namespace dl

tools/sdk/esp32c3/include/esp-face/include/layer/dl_layer_conv2d.hpp

@@ -0,0 +1,186 @@
+#pragma once
+
+#include "dl_nn_conv2d.hpp"
+#include "dl_layer_base.hpp"
+
+namespace dl
+{
+    namespace layer
+    {
+        /**
+         * @brief Activation(Conv2D(input, filter) + bias).
+         * 
+         * @tparam feature_t supports int16_t and int8_t,
+         *         - int16_t: stands for operation in int16_t quantize
+         *         - int8_t: stands for operation in int8_t quantize
+         * @tparam bias_t supports int16_t and int8_t, must specify when using int8 per-channel quantization
+         *         - int16_t: for int16 quantization and int8 per-channel quantization
+         *         - int8_t: for int8 per-tensor quantization
+         */
+        template <typename feature_t, typename bias_t = feature_t>
+        class Conv2D : public Layer
+        {
+        private:
+            const int output_exponent;               /*<! exponent of output >*/
+            const Filter<feature_t> *filter;         /*<! filter of Conv2D >*/
+            const int stride_y;                      /*<! stride in height >*/
+            const int stride_x;                      /*<! stride in width >*/
+            const padding_type_t padding_type;       /*<! one of PADDING_VALID or PADDING_SAME_END or PADDING_SAME_BEGIN >*/
+            const Bias<bias_t> *bias;                /*<! bias of Conv2D, if you don't specify anything, no bias is added >*/
+            const Activation<feature_t> *activation; /*<! activation of Conv2D, if you don't specify anything, no activation is applied >*/
+            std::vector<int> padding;                /*<! padding size needed in [top, bottom, left, right] of this operation >*/
+            Tensor<feature_t> *output;               /*<! output ptr of Conv2D >*/
+            std::vector<int> output_shape;           /*<! output shape of Conv2D >*/
+
+        public:
+            /**
+             * @brief Construct a new Conv2D object.
+             * 
+             * @param output_exponent exponent of output
+             * @param filter          filter of Conv2D
+             * @param bias            bias of Conv2D, if you don't specify anything, no bias is added
+             * @param activation      activation of Conv2D, if you don't specify anything, no activation is applied
+             * @param padding_type    one of PADDING_VALID or PADDING_SAME_END or PADDING_SAME_BEGIN or PADDING_NOT_SET,
+             *                        - PADDING_VALID means no padding
+             *                        PADDING_SAME_END and PADDING_SAME_BEGIN results in padding with zeros evenly to the left/right or up/down of the input 
+             *                        such that output has the same height/width dimension as the input,
+             *                        - PADDING_SAME_END results padding in TensorFlow style
+             *                        - PADDING_SAME_BEGIN results padding in MXNET style
+             *                        - PADDING_NOT_SET means padding with the specific "padding" value below. 
+             * @param padding         if padding_type is PADDING_NOT_SET, this value will be used as padding size. 
+             *                        the shape must be 4, the value of each position is: [padding top, padding bottom, padding left, padding right]
+             * @param stride_y        stride in height
+             * @param stride_x        stride in width
+             * @param name            name of layer
+             */
+            Conv2D(const int output_exponent,
+                   const Filter<feature_t> *filter,
+                   const Bias<bias_t> *bias = NULL,
+                   const Activation<feature_t> *activation = NULL,
+                   const padding_type_t padding_type = PADDING_VALID,
+                   std::vector<int> padding = {},
+                   const int stride_y = 1,
+                   const int stride_x = 1,
+                   const char *name = "Conv2D") : Layer(name),
+                                                  output_exponent(output_exponent),
+                                                  filter(filter),
+                                                  stride_y(stride_y),
+                                                  stride_x(stride_x),
+                                                  padding_type(padding_type),
+                                                  bias(bias),
+                                                  activation(activation),
+                                                  padding(padding),
+                                                  output_shape({})
+            {
+                this->output = new Tensor<feature_t>;
+                if (this->padding_type == PADDING_NOT_SET)
+                {
+                    assert(this->padding.size() == 4);
+                }
+            }
+
+            /**
+             * @brief Destroy the Conv2D object.
+             * 
+             */
+            ~Conv2D()
+            {
+                if (this->output != NULL)
+                {
+                    delete this->output;
+                }
+            }
+
+            /**
+             * @brief Update output padding and input padding.
+             * 
+             * @param input as an input
+             * @param print_shape  whether to print the output shape.
+             */
+            void build(Tensor<feature_t> &input, bool print_shape = false)
+            {
+                assert(input.shape[0] > 0);
+                assert(input.shape[1] > 0);
+                assert(input.shape.size() == 3);
+                assert(this->filter->shape.size() == 4);
+                assert(input.shape[2] == this->filter->shape[2]);
+
+                this->output_shape = nn::get_output_shape(input.shape, this->filter->shape_with_dilation, this->stride_y, this->stride_x, this->padding_type, true, this->padding);
+                this->output->set_shape(this->output_shape);
+                this->output->set_exponent(this->output_exponent);
+                this->output->free_element();
+                if (this->padding_type != PADDING_NOT_SET)
+                {
+                    this->padding = nn::get_pad_size(this->output_shape, input.shape, this->filter->shape_with_dilation, this->stride_y, this->stride_x, this->padding_type);
+                }
+
+                if (print_shape)
+                {
+                    std::cout << this->name << " | ";
+                    this->output->print_shape();
+                }
+            }
+
+            /**
+             * @brief Get the output
+             * 
+             * @return Tensor<feature_t>& Conv2D result
+             */
+            Tensor<feature_t> &get_output()
+            {
+                return *this->output;
+            }
+
+            /**
+             * @brief Call Conv2D operation
+             * 
+             * @param input           as an input.
+             * @param autoload_enable one of true or false, 
+             *                        - true: load input and output from PSRAM to CACHE automatically
+             *                        - false: do not
+             * @param assign_core     not effective yet
+             * @return Conv2D result
+             */
+            Tensor<feature_t> &call(Tensor<feature_t> &input, bool autoload_enable = false, const std::vector<int> &assign_core = CONFIG_DEFAULT_ASSIGN_CORE)
+            {
+                DL_LOG_LAYER_LATENCY_INIT();
+
+                DL_LOG_LAYER_LATENCY_START();
+                if (this->output->shape != this->output_shape)
+                {
+                    this->output->set_shape(this->output_shape);
+                }
+                this->output->malloc_element();
+                this->output->set_exponent(this->output_exponent);
+                DL_LOG_LAYER_LATENCY_END(this->name, "apply");
+
+                if (autoload_enable)
+                {
+                    dl::tool::cache::autoload_func((uint32_t)(this->output->element), this->output->get_size() * sizeof(feature_t),
+                                                   (uint32_t)(input.element), input.get_size() * sizeof(feature_t));
+                }
+
+                DL_LOG_LAYER_LATENCY_START();
+                nn::conv2d(*this->output, input, this->padding, *(this->filter), this->stride_y, this->stride_x, this->bias, this->activation, assign_core);
+                DL_LOG_LAYER_LATENCY_END(this->name, "conv2d");
+                return *this->output;
+            }
+
+            /**
+             * @brief Preload the filter to Cache.
+             * NOTE: Call this layer's preload() before previous layer's call() such that filter could be loaded while previous layer is doing calculation.
+             */
+            void preload()
+            {
+                size_t size = sizeof(feature_t);
+                int shape_size = this->filter->shape.size();
+                for (int i = 0; i < shape_size; ++i)
+                {
+                    size *= filter->shape[i];
+                }
+                dl::tool::cache::preload_func((uint32_t)(this->filter->element), size);
+            }
+        };
+
+    } // namespace layer
+} // namespace dl

tools/sdk/esp32c3/include/esp-face/include/layer/dl_layer_depthwise_conv2d.hpp

@@ -0,0 +1,188 @@
+#pragma once
+
+#include "dl_nn_depthwise_conv2d.hpp"
+#include "dl_layer_base.hpp"
+
+namespace dl
+{
+    namespace layer
+    {
+        /**
+         * @brief Activation(DepthwiseConv2D(filter, input) + bias).
+         * 
+         * @tparam feature_t supports int16_t and int8_t,
+         *         - int16_t: stands for operation in int16_t quantize
+         *         - int8_t: stands for operation in int8_t quantize
+         * @tparam bias_t supports int16_t and int8_t, must specify when using int8 per-channel quantization
+         *         - int16_t: for int16 quantization and int8 per-channel quantization
+         *         - int8_t: for int8 per-tensor quantization
+         */
+        template <typename feature_t, typename bias_t = feature_t>
+        class DepthwiseConv2D : public Layer
+        {
+        private:
+            const int output_exponent;               /*<! exponent of output >*/
+            const Filter<feature_t> *filter;         /*<! filter of DepthwiseConv2D >*/
+            const int stride_y;                      /*<! stride in height >*/
+            const int stride_x;                      /*<! stride in width >*/
+            const padding_type_t padding_type;       /*<! one of PADDING_VALID or PADDING_SAME_END or PADDING_SAME_BEGIN >*/
+            const Bias<bias_t> *bias;                /*<! bias of DepthwiseConv2D, if you don't specify anything, no bias is added >*/
+            const Activation<feature_t> *activation; /*<! activation of DepthwiseConv2D, if you don't specify anything, no activation is applied >*/
+            std::vector<int> padding;                /*<! padding size needed in [top, bottom, left, right] of this operation >*/
+            Tensor<feature_t> *output;               /*<! output ptr of DepthwiseConv2D >*/
+            std::vector<int> output_shape;           /*<! output shape of DepthwiseConv2D >*/
+
+        public:
+            /**
+             * @brief Construct a new DepthwiseConv2D object.
+             * 
+             * @param output_exponent exponent of output
+             * @param filter          filter of DepthwiseConv2D
+             * @param bias            bias of DepthwiseConv2D, if you don't specify anything, no bias is added
+             * @param activation      activation of DepthwiseConv2D, if you don't specify anything, no activation is applied
+             * @param padding_type    one of PADDING_VALID or PADDING_SAME_END or PADDING_SAME_BEGIN or PADDING_NOT_SET,
+             *                        - PADDING_VALID means no padding
+             *                        PADDING_SAME_END and PADDING_SAME_BEGIN results in padding with zeros evenly to the left/right or up/down of the input 
+             *                        such that output has the same height/width dimension as the input,
+             *                        - PADDING_SAME_END results padding in TensorFlow style
+             *                        - PADDING_SAME_BEGIN results padding in MXNET style
+             *                        - PADDING_NOT_SET means padding with the specific "padding" value below. 
+             * @param padding         if padding_type is PADDING_NOT_SET, this value will be used as padding size. 
+             *                        the shape must be 4, the value of each position is: [padding top, padding bottom, padding left, padding right]
+             * @param stride_y        - stride in height
+             * @param stride_x        - stride in width
+             * @param name            name of layer
+             */
+            DepthwiseConv2D(const int output_exponent,
+                            const Filter<feature_t> *filter,
+                            const Bias<bias_t> *bias = NULL,
+                            const Activation<feature_t> *activation = NULL,
+                            const padding_type_t padding_type = PADDING_VALID,
+                            std::vector<int> padding = {},
+                            const int stride_y = 1,
+                            const int stride_x = 1,
+                            const char *name = "DepthwiseConv2D") : Layer(name),
+                                                                    output_exponent(output_exponent),
+                                                                    filter(filter),
+                                                                    stride_y(stride_y),
+                                                                    stride_x(stride_x),
+                                                                    padding_type(padding_type),
+                                                                    bias(bias),
+                                                                    activation(activation),
+                                                                    padding(padding),
+                                                                    output_shape({})
+            {
+                this->output = new Tensor<feature_t>;
+                if (this->padding_type == PADDING_NOT_SET)
+                {
+                    assert(this->padding.size() == 4);
+                }
+            }
+
+            /**
+             * @brief Destroy the DepthwiseConv2D object.
+             * 
+             */
+            ~DepthwiseConv2D()
+            {
+                if (this->output != NULL)
+                {
+                    delete this->output;
+                }
+            }
+
+            /**
+             * @brief Update output shape and padding.
+             * 
+             * @param input as an input
+             * @param print_shape  whether to print the output shape.
+             */
+            void build(Tensor<feature_t> &input, bool print_shape = false)
+            {
+                assert(input.shape[0] > 0);
+                assert(input.shape[1] > 0);
+                assert(input.shape.size() == 3);
+                assert(this->filter->shape.size() == 4);
+                assert(input.shape[2] == this->filter->shape[2]);
+
+                this->output_shape = nn::get_output_shape(input.shape, this->filter->shape_with_dilation, this->stride_y, this->stride_x, this->padding_type, false, this->padding);
+                this->output->set_shape(this->output_shape);
+                this->output->set_exponent(this->output_exponent);
+
+                if (this->padding_type != PADDING_NOT_SET)
+                {
+                    this->padding = nn::get_pad_size(this->output_shape, input.shape, this->filter->shape_with_dilation, this->stride_y, this->stride_x, this->padding_type);
+                }
+                this->output->free_element();
+
+                if (print_shape)
+                {
+                    std::cout << this->name << " | ";
+                    this->output->print_shape();
+                }
+            }
+
+            /**
+             * @brief Get the output
+             * 
+             * @return Tensor<feature_t>& DepthwiseConv2D result
+             */
+            Tensor<feature_t> &get_output()
+            {
+                return *this->output;
+            }
+
+            /**
+             * @brief Call DepthwiseConv2D operation.
+             * 
+             * @param input           as an input
+             * @param autoload_enable one of true or false,
+             *                        - true: load input and output from PSRAM to CACHE automatically
+             *                        - false: do not 
+             * @param assign_core     not effective yet
+             * @return DepthwiseConv2D result
+             */
+            Tensor<feature_t> &call(Tensor<feature_t> &input, bool autoload_enable = false, const std::vector<int> &assign_core = CONFIG_DEFAULT_ASSIGN_CORE)
+            {
+                DL_LOG_LAYER_LATENCY_INIT();
+
+                DL_LOG_LAYER_LATENCY_START();
+                if (this->output->shape != this->output_shape)
+                {
+                    this->output->set_shape(this->output_shape);
+                }
+
+                this->output->malloc_element();
+                this->output->set_exponent(this->output_exponent);
+                DL_LOG_LAYER_LATENCY_END(this->name, "apply");
+
+                if (autoload_enable)
+                {
+                    dl::tool::cache::autoload_func((uint32_t)(this->output->element), this->output->get_size() * sizeof(feature_t),
+                                                   (uint32_t)(input.element), input.get_size() * sizeof(feature_t));
+                }
+
+                DL_LOG_LAYER_LATENCY_START();
+                nn::depthwise_conv2d(*this->output, input, this->padding, *(this->filter), this->stride_y, this->stride_x, this->bias, this->activation, assign_core);
+                DL_LOG_LAYER_LATENCY_END(this->name, "depthwise_conv2d");
+
+                return *this->output;
+            }
+
+            /**
+             * @brief Preload the filter to Cache. 
+             * NOTE: Call this layer's preload() before previous layer's call() such that filter could be loaded while previous layer is calculating.
+             */
+            void preload()
+            {
+                size_t size = sizeof(feature_t);
+                int shape_size = this->filter->shape.size();
+                for (int i = 0; i < shape_size; ++i)
+                {
+                    size *= filter->shape[i];
+                }
+                dl::tool::cache::preload_func((uint32_t)(this->filter->element), size);
+            }
+        };
+    } // namespace layer
+} // namespace dl

tools/sdk/esp32c3/include/esp-face/include/layer/dl_layer_expand_dims.hpp

@@ -0,0 +1,128 @@
+#pragma once
+
+#include "dl_constant.hpp"
+#include "dl_variable.hpp"
+#include "dl_tool.hpp"
+#include "dl_layer_base.hpp"
+
+namespace dl
+{
+    namespace layer
+    {
+        /**
+         * @brief 
+         * 
+         * @tparam feature_t 
+         */
+        template <typename feature_t>
+        class ExpandDims : public Layer
+        {
+        private:
+            std::vector<int> output_shape; /*<! output shape of ExpandDims >*/
+            std::vector<int> axis;         /*<! position where the new axis is placed. >*/
+            Tensor<feature_t> *output;     /*<! output ptr of ExpandDims >*/
+            bool inplace;                  /*<! true: the output will store to input0
+                                                false: the output will store to a separate memory >*/
+
+        public:
+            int output_exponent;
+
+            /**
+             * @brief Construct a new ExpandDims object
+             * 
+             * @param axis position where the new axis is placed.
+             * @param name name of layer
+             * @param inplace true: the output will store to input
+             *                false: the output will store to a separate memory
+             */
+            ExpandDims(std::vector<int> axis, const char *name = "ExpandDims", bool inplace = false) : Layer(name),
+                                                                                                       axis(axis), inplace(inplace), output_shape({})
+            {
+            }
+
+            /**
+             * @brief Destroy the ExpandDims object
+             * 
+             */
+            ~ExpandDims()
+            {
+                if ((!this->inplace) && (this->output != NULL))
+                {
+                    delete this->output;
+                }
+            }
+
+            /**
+            * @brief  Update output shape.
+            * 
+            * @param input as an input.
+            * @param print_shape  whether to print the output shape.
+            */
+            void build(Tensor<feature_t> &input, bool print_shape = false)
+            {
+                this->output_exponent = input.exponent;
+                if (!this->inplace)
+                {
+                    if (this->output != NULL)
+                    {
+                        this->output = new Tensor<feature_t>;
+                    }
+                    this->output->set_exponent(this->output_exponent);
+                    this->output->set_shape(this->output_shape);
+                    this->output->expand_dims(this->axis);
+                    this->output->free_element();
+                }
+                else
+                {
+                    this->output = &input;
+                    this->output->set_shape(this->output_shape);
+                    this->output->expand_dims(this->axis);
+                }
+                this->output_shape = this->output->shape;
+
+                if (print_shape)
+                {
+                    std::cout << this->name << " | ";
+                    this->output->print_shape();
+                }
+            }
+
+            /**
+             * @brief Get the output
+             * 
+             * @return Tensor<feature_t>& ExpandDims result
+             */
+            Tensor<feature_t> &get_output()
+            {
+                return *this->output;
+            }
+
+            /**
+             * @brief call ExpandDims opeartion
+             * 
+             * @param input 
+             * @return Tensor<feature_t>& ExpandDims result
+             */
+            Tensor<feature_t> &call(Tensor<feature_t> &input)
+            {
+                DL_LOG_LAYER_LATENCY_INIT();
+
+                if (!this->inplace)
+                {
+                    DL_LOG_LAYER_LATENCY_START();
+                    this->output->set_exponent(input.exponent);
+                    this->output->set_shape(this->output_shape);
+                    this->output->copy_element(input, true);
+                    DL_LOG_LAYER_LATENCY_END(this->name, "ExpandDims");
+                }
+                else
+                {
+                    DL_LOG_LAYER_LATENCY_START();
+                    this->output->set_shape(this->output_shape);
+                    DL_LOG_LAYER_LATENCY_END(this->name, "ExpandDims");
+                }
+                return *this->output;
+            }
+        };
+    } // namespace layer
+} // namespace dl

tools/sdk/esp32c3/include/esp-face/include/layer/dl_layer_flatten.hpp

@@ -0,0 +1,120 @@
+#pragma once
+
+#include "dl_constant.hpp"
+#include "dl_variable.hpp"
+#include "dl_tool.hpp"
+#include "dl_layer_base.hpp"
+
+namespace dl
+{
+    namespace layer
+    {
+        /**
+         * @brief 
+         * 
+         * @tparam feature_t 
+         */
+        template <typename feature_t>
+        class Flatten : public Layer
+        {
+        private:
+            int output_exponent;           /*<! exponent of output >*/
+            Tensor<feature_t> *output;     /*<! output ptr of Flatten >*/
+            bool inplace;                  /*<! true: the output will store to input0
+                                                false: the output will store to a separate memory >*/
+            std::vector<int> output_shape; /*<! output shape of Flatten >*/
+
+        public:
+            /**
+             * @brief Construct a new Flatten object
+             * 
+             * @param name name of layer
+             * @param inplace true: the output will store to input0
+             *                false: the output will store to a separate memory
+             */
+            Flatten(const char *name = "Flatten", bool inplace = false) : Layer(name), inplace(inplace), output_shape({})
+            {}
+
+            /**
+             * @brief Destroy the Flatten object
+             * 
+             */
+            ~Flatten()
+            {
+                if ((!this->inplace) && (this->output != NULL))
+                {
+                    delete this->output;
+                }
+            }
+
+            /**
+            * @brief  Update output shape.
+            * 
+            * @param input as an input
+            * @param print_shape  whether to print the output shape. 
+            */
+            void build(Tensor<feature_t> &input, bool print_shape = false)
+            {
+                this->output_exponent = input.exponent;
+                this->output_shape = {input.get_size()};
+                if (!this->inplace)
+                {
+                    if (this->output != NULL)
+                    {
+                        this->output = new Tensor<feature_t>;
+                    }
+                    this->output->set_exponent(this->output_exponent);
+                    this->output->set_shape(this->output_shape);
+                    this->output->free_element();
+                }
+                else
+                {
+                    this->output = &input;
+                    this->output->set_shape(this->output_shape);
+                }
+                if (print_shape)
+                {
+                    std::cout << this->name << " | ";
+                    this->output->print_shape();
+                }
+            }
+
+            /**
+             * @brief Get the output
+             * 
+             * @return Tensor<feature_t>& Flatten result
+             */
+            Tensor<feature_t> &get_output()
+            {
+                return *this->output;
+            }
+
+            /**
+             * @brief Call Flatten operation.
+             * 
+             * @param input as an input
+             * @return Tensor<feature_t>& Flatten result
+             */
+            Tensor<feature_t> &call(Tensor<feature_t> &input)
+            {
+                DL_LOG_LAYER_LATENCY_INIT();
+
+                if (!this->inplace)
+                {
+                    DL_LOG_LAYER_LATENCY_START();
+                    this->output->set_exponent(input.exponent);
+                    this->output->flatten();
+                    this->output->copy_element(input, true);
+                    DL_LOG_LAYER_LATENCY_END(this->name, "flatten");
+                }
+                else
+                {
+                    DL_LOG_LAYER_LATENCY_START();
+                    this->output->flatten();
+                    DL_LOG_LAYER_LATENCY_END(this->name, "flatten");
+                }
+                return *this->output;
+            }
+        };
+    } // namespace layer
+} // namespace dl

tools/sdk/esp32c3/include/esp-face/include/layer/dl_layer_fullyconnected.hpp

@@ -0,0 +1,167 @@
+#pragma once
+
+#include "dl_nn_fully_connected.hpp"
+#include "dl_layer_base.hpp"
+
+namespace dl
+{
+    namespace layer
+    {
+        /**
+         * @brief Activation(FullyConnected(input, filter) + bias).
+         * 
+         * @tparam feature_t supports int16_t and int8_t,
+         *         - int16_t: stands for operation in int16_t quantize
+         *         - int8_t: stands for operation in int8_t quantize
+         * @tparam bias_t supports int16_t and int8_t, must specify when using int8 per-channel quantization
+         *         - int16_t: for int16 quantization and int8 per-channel quantization
+         *         - int8_t: for int8 per-tensor quantization
+         */
+        template <typename feature_t, typename bias_t = feature_t>
+        class FullyConnected : public Layer
+        {
+        private:
+            const int output_exponent;               /*<! exponent of output >*/
+            const bool flatten;                      /*<! true: input shape is [x1, x2, ..., xn], filter shape is [1, 1, x1 * x2 * ... * xn, output_dim], output shape is [output_dim]
+                                                          false: input shape is [x1, x2, ..., xn, input_dim], filter shape is [1, 1, input_dim, output_dim], output shape is [x1, x2, ...., xn, output_dim] >*/
+            const Filter<feature_t> *filter;         /*<! filter of FullyConnected >*/
+            const Bias<bias_t> *bias;                /*<! bias of FullyConnected, if you don't specify anything, no bias is added >*/
+            const Activation<feature_t> *activation; /*<! activation of FullyConnected, if you don't specify anything, no activation is applied >*/
+            Tensor<feature_t> *output;               /*<! output ptr of FullyConnected >*/
+            std::vector<int> output_shape;           /*<! output shape of FullyConnected >*/
+
+        public:
+            /**
+             * @brief Construct a new FullyConnected object.
+             * 
+             * @param output_exponent exponent of output
+             * @param filter          filter of FullyConnected
+             * @param bias            bias of FullyConnected, if you don't specify anything, no bias is added
+             * @param activation      activation of FullyConnected, if you don't specify anything, no activation is applied
+             * @param flatten         true: input shape is [x1, x2, ..., xn], filter shape is [1, 1, x1 * x2 * ... * xn, output_dim], output shape is [output_dim]
+                                      false: input shape is [x1, x2, ..., xn, input_dim], filter shape is [1, 1, input_dim, output_dim], output shape is [x1, x2, ...., xn, output_dim]
+             * @param name            name of layer
+             */
+            FullyConnected(const int output_exponent,
+                           const Filter<feature_t> *filter,
+                           const Bias<bias_t> *bias = NULL,
+                           const Activation<feature_t> *activation = NULL,
+                           const bool flatten = true,
+                           const char *name = "FullyConnected") : Layer(name),
+                                                                  output_exponent(output_exponent),
+                                                                  flatten(flatten),
+                                                                  filter(filter),
+                                                                  bias(bias),
+                                                                  activation(activation),
+                                                                  output_shape({})
+            {
+                this->output = new Tensor<feature_t>;
+            }
+
+            /**
+             * @brief Destroy the FullyConnected object.
+             * 
+             */
+            ~FullyConnected()
+            {
+                if (this->output != NULL)
+                {
+                    delete this->output;
+                }
+            }
+
+            /**
+             * @brief Update output padding and input padding.
+             * 
+             * @param input as an input
+             * @param print_shape  whether to print the output shape.
+             */
+            void build(Tensor<feature_t> &input, bool print_shape = false)
+            {
+                assert(this->filter->shape.size() == 4);
+                assert(this->filter->shape[0] == 1);
+                assert(this->filter->shape[1] == 1);
+                if (this->flatten)
+                {
+                    assert(input.get_size() == this->filter->shape[2]);
+                    this->output_shape = {this->filter->shape[3]};
+                }
+                else
+                {
+                    assert(input.shape.back() == this->filter->shape[2]);
+                    this->output_shape = input.shape;
+                    this->output_shape[this->output_shape.size() - 1] = this->filter->shape[3];
+                }
+                this->output->set_shape(this->output_shape);
+                this->output->set_exponent(this->output_exponent);
+                this->output->free_element();
+
+                if (print_shape)
+                {
+                    std::cout << this->name << " | ";
+                    this->output->print_shape();
+                }
+            }
+
+            /**
+             * @brief Get the output
+             * 
+             * @return Tensor<feature_t>& FullyConnected result
+             */
+            Tensor<feature_t> &get_output()
+            {
+                return *this->output;
+            }
+
+            /**
+             * @brief Call FullyConnected operation
+             * 
+             * @param input           as an input.
+             * @param autoload_enable one of true or false, 
+             *                        - true: load input and output from PSRAM to CACHE automatically
+             *                        - false: do not
+             * @param assign_core     not effective yet
+             * @return FullyConnected result
+             */
+            Tensor<feature_t> &call(Tensor<feature_t> &input, bool autoload_enable = false, const std::vector<int> &assign_core = CONFIG_DEFAULT_ASSIGN_CORE)
+            {
+                DL_LOG_LAYER_LATENCY_INIT();
+
+                DL_LOG_LAYER_LATENCY_START();
+                if (this->output->shape != this->output_shape)
+                {
+                    this->output->set_shape(this->output_shape);
+                }
+                this->output->malloc_element();
+                this->output->set_exponent(this->output_exponent);
+                DL_LOG_LAYER_LATENCY_END(this->name, "apply");
+
+                if (autoload_enable)
+                {
+                    dl::tool::cache::autoload_func((uint32_t)(this->output->element), this->output->get_size() * sizeof(feature_t),
+                                                   (uint32_t)(input.element), input.get_size() * sizeof(feature_t));
+                }
+
+                DL_LOG_LAYER_LATENCY_START();
+                nn::fully_connected(*this->output, input, *(this->filter), this->bias, this->activation, this->flatten, assign_core);
+                DL_LOG_LAYER_LATENCY_END(this->name, "fully_connected");
+                return *this->output;
+            }
+
+            /**
+             * @brief Preload the filter to Cache.
+             * NOTE: Call this layer's preload() before previous layer's call() such that filter could be loaded while previous layer is doing calculation.
+             */
+            void preload()
+            {
+                size_t size = sizeof(feature_t);
+                int shape_size = this->filter->shape.size();
+                for (int i = 0; i < shape_size; ++i)
+                {
+                    size *= filter->shape[i];
+                }
+                dl::tool::cache::preload_func((uint32_t)(this->filter->element), size);
+            }
+        };
+    } // namespace layer
+} // namespace dl

tools/sdk/esp32c3/include/esp-face/include/layer/dl_layer_global_avg_pool2d.hpp

@@ -0,0 +1,126 @@
+#pragma once
+
+#include <vector>
+#include "dl_constant.hpp"
+#include "dl_variable.hpp"
+#include "dl_nn_global_avg_pool2d.hpp"
+
+namespace dl
+{
+    namespace layer
+    {
+        /**
+         * @brief GlobalAveragePool2D(input).
+         * 
+         * @tparam feature_t supports int16_t and int8_t,
+         *         - int16_t: stands for operation in int16_t quantize
+         *         - int8_t: stands for operation in int8_t quantize
+         */
+        template <typename feature_t>
+        class GlobalAveragePool2D : public Layer
+        {
+        private:
+            const int output_exponent;     /*<! exponent of output >*/
+            std::vector<int> output_shape; /*<! output shape of GlobalAveragePool2D >*/
+            Tensor<feature_t> *output;     /*<! output ptr of GlobalAveragePool2D >*/
+        public:
+            /**
+             * @brief Construct a new GlobalAveragePool2D object.
+             * 
+             * @param output_exponent exponent of output
+             * @param name            name of layer
+             */
+            GlobalAveragePool2D(const int output_exponent, const char *name = "GlobalAveragePool2D") : Layer(name),
+                                                                                                       output_exponent(output_exponent),
+                                                                                                       output_shape({})
+
+            {
+                this->output = new Tensor<feature_t>;
+            }
+
+            /**
+            * @brief Destroy the GlobalAveragePool2D object.
+            * 
+            */
+            ~GlobalAveragePool2D()
+            {
+                if (this->output != NULL)
+                {
+                    delete this->output;
+                }
+            }
+
+            /**
+             * @brief Update output shape.
+             * 
+             * @param input as an input
+             * @param print_shape  whether to print the output shape.
+             */
+            void build(Tensor<feature_t> &input, bool print_shape = false)
+            {
+                assert(input.shape[0] > 0);
+                assert(input.shape[1] > 0);
+                assert(input.shape.size() == 3);
+
+                std::vector<int> output_shape(input.shape.size(), 1);
+                output_shape[2] = input.shape[2];
+                this->output_shape = output_shape;
+                this->output->set_shape(this->output_shape);
+                this->output->set_exponent(this->output_exponent);
+                this->output->free_element();
+
+                if (print_shape)
+                {
+                    std::cout << this->name << " | ";
+                    this->output->print_shape();
+                }
+            }
+
+            /**
+             * @brief Get the output
+             * 
+             * @return Tensor<feature_t>& GlobalAveragePool2D result
+             */
+            Tensor<feature_t> &get_output()
+            {
+                return *this->output;
+            }
+
+            /**
+             * @brief Call GlobalAveragePool2D operation
+             * 
+             * @param input           as an input
+             * @param autoload_enable one of true or false, 
+             *                        - true: load input and output from PSRAM to CACHE automatically
+             *                        - false: do not
+             * @param assign_core     not effective yet
+             * @return GlobalAveragePool2D result
+             */
+            Tensor<feature_t> &call(Tensor<feature_t> &input, uint8_t autoload_enable = 0)
+            {
+                DL_LOG_LAYER_LATENCY_INIT();
+
+                DL_LOG_LAYER_LATENCY_START();
+                if (this->output->shape != this->output_shape)
+                {
+                    this->output->set_shape(this->output_shape);
+                }
+                this->output->malloc_element();
+                this->output->set_exponent(this->output_exponent);
+                DL_LOG_LAYER_LATENCY_END(this->name, "apply");
+
+                if (autoload_enable)
+                {
+                    dl::tool::cache::autoload_func((uint32_t)(this->output->element), this->output->get_size() * sizeof(feature_t),
+                                                   (uint32_t)(input.element), input.get_size() * sizeof(feature_t));
+                }
+
+                DL_LOG_LAYER_LATENCY_START();
+                nn::global_avg_pool2d(*this->output, input);
+                DL_LOG_LAYER_LATENCY_END(this->name, "global_avg_pool2d");
+
+                return *this->output;
+            }
+        };
+    } // namespace layer
+} // namespace dl

tools/sdk/esp32c3/include/esp-face/include/layer/dl_layer_global_max_pool2d.hpp

@@ -0,0 +1,121 @@
+#pragma once
+
+#include <vector>
+#include "dl_constant.hpp"
+#include "dl_variable.hpp"
+#include "dl_nn_global_max_pool2d.hpp"
+
+namespace dl
+{
+    namespace layer
+    {
+        /**
+         * @brief GlobalMaxPool2D(input).
+         * 
+         * @tparam feature_t supports int16_t and int8_t,
+         *         - int16_t: stands for operation in int16_t quantize
+         *         - int8_t: stands for operation in int8_t quantize
+         */
+        template <typename feature_t>
+        class GlobalMaxPool2D : public Layer
+        {
+        private:
+            Tensor<feature_t> *output;     /*<! output ptr of GlobalMaxPool2D >*/
+            std::vector<int> output_shape; /*<! output shape of GlobalMaxPool2D >*/
+        public:
+            /**
+             * @brief Construct a new GlobalMaxPool2D object.
+             * 
+             * @param name         name of layer
+             */
+            GlobalMaxPool2D(const char *name = "GlobalMaxPool2D") : Layer(name), output_shape({})
+            {
+                this->output = new Tensor<feature_t>;
+            }
+
+            /**
+             * @brief Destroy the GlobalMaxPool2D object.
+             * 
+             */
+            ~GlobalMaxPool2D()
+            {
+                if (this->output != NULL)
+                {
+                    delete this->output;
+                }
+            }
+
+            /**
+             * @brief Update output shape and exponent.
+             * 
+             * @param input as an input
+             * @param print_shape  whether to print the output shape.
+             */
+            void build(Tensor<feature_t> &input, bool print_shape = false)
+            {
+                assert(input.shape[0] > 0);
+                assert(input.shape[1] > 0);
+                assert(input.shape.size() == 3);
+                this->output->set_exponent(input.exponent);
+
+                std::vector<int> output_shape(input.shape.size(), 1);
+                output_shape[2] = input.shape[2];
+                this->output_shape = output_shape;
+                this->output->set_shape(this->output_shape);
+                this->output->free_element();
+
+                if (print_shape)
+                {
+                    std::cout << this->name << " | ";
+                    this->output->print_shape();
+                }
+            }
+
+            /**
+             * @brief Get the output 
+             * 
+             * @return Tensor<feature_t>& GlobalMaxPool2D result
+             */
+            Tensor<feature_t> &get_output()
+            {
+                return *this->output;
+            }
+
+            /**
+             * @brief Call GlobalMaxPool2D operation
+             * 
+             * @param input           as an input
+             * @param autoload_enable one of true or false, 
+             *                        - true: load input and output from PSRAM to CACHE automatically
+             *                        - false: do not
+             * @param assign_core     not effective yet
+             * @return GlobalMaxPool2D result
+             */
+            Tensor<feature_t> &call(Tensor<feature_t> &input, uint8_t autoload_enable = 0)
+            {
+                DL_LOG_LAYER_LATENCY_INIT();
+
+                DL_LOG_LAYER_LATENCY_START();
+                if (this->output->shape != this->output_shape)
+                {
+                    this->output->set_shape(this->output_shape);
+                }
+                this->output->malloc_element();
+                this->output->set_exponent(input.exponent);
+                DL_LOG_LAYER_LATENCY_END(this->name, "apply");
+
+                if (autoload_enable)
+                {
+                    dl::tool::cache::autoload_func((uint32_t)(this->output->element), this->output->get_size() * sizeof(feature_t),
+                                                   (uint32_t)(input.element), input.get_size() * sizeof(feature_t));
+                }
+
+                DL_LOG_LAYER_LATENCY_START();
+                nn::global_max_pool2d(*this->output, input);
+                DL_LOG_LAYER_LATENCY_END(this->name, "global_max_pool2d");
+
+                return *this->output;
+            }
+        };
+    } // namespace layer
+} // namespace dl

tools/sdk/esp32c3/include/esp-face/include/layer/dl_layer_leakyrelu.hpp

@@ -0,0 +1,141 @@
+#pragma once
+
+#include "dl_constant.hpp"
+#include "dl_variable.hpp"
+#include "dl_nn_leakyrelu.hpp"
+#include "dl_layer_base.hpp"
+
+namespace dl
+{
+    namespace layer
+    {
+        /**
+         * @brief LeakyReLU(input).
+         * 
+         * @tparam feature_t supports int16_t and int8_t,
+         *         - int16_t: stands for operation in int16_t quantize
+         *         - int8_t: stands for operation in int8_t quantize
+         */
+        template <typename feature_t>
+        class LeakyReLU : public Layer
+        {
+        private:
+            feature_t activation_alpha;    /*<! quantized alpha >*/
+            int activation_exponent;       /*<! exponent of quantized alpha >*/
+            Tensor<feature_t> *output;     /*<! output ptr of leakyrelu>*/
+            bool inplace;                  /*<! true: the output will store to input0
+                                                false: the output will store to a separate memory >*/
+            std::vector<int> output_shape; /*<! output shape of leakyrelu >*/
+        public:
+            /**
+             * @brief Construct a new LeakyReLU object
+             * 
+             * @param activation_alpha     quantized alpha
+             * @param activation_exponent  exponent of quantized alpha
+             * @param name                 name of leakyrelu
+             * @param inplace              true: the output will store to input0
+             *                             false: the output will store to a separate memory
+             */
+            LeakyReLU(const int activation_alpha, const int activation_exponent, const char *name = "LeakyReLU", bool inplace = false) : Layer(name), output(NULL), output_shape({})
+            {
+                this->activation_alpha = activation_alpha;
+                this->activation_exponent = activation_exponent;
+                this->inplace = inplace;
+            }
+
+            /**
+             * @brief Destroy the LeakyReLU object
+             * 
+             */
+            ~LeakyReLU()
+            {
+                if ((!this->inplace) && (this->output != NULL))
+                {
+                    delete this->output;
+                }
+            }
+
+            /**
+             * @brief Update output shape and exponent
+             * 
+             * @param input       as an input
+             * @param print_shape  whether to print the output shape.
+             */
+            void build(Tensor<feature_t> &input, bool print_shape = false)
+            {
+                this->output_shape = input.shape;
+                if (!this->inplace)
+                {
+                    if (this->output != NULL)
+                    {
+                        this->output = new Tensor<feature_t>;
+                    }
+                    this->output->set_shape(this->output_shape);
+                    this->output->set_exponent(input.exponent);
+                    this->output->free_element();
+                }
+                else
+                {
+                    this->output = &input;
+                    this->output->set_shape(this->output_shape);
+                }
+
+                if (print_shape)
+                {
+                    std::cout << this->name << " | ";
+                    this->output->print_shape();
+                }
+            }
+
+            /**
+             * @brief Get the output 
+             * 
+             * @return Tensor<feature_t>& LeakyReLU result
+             */
+            Tensor<feature_t> &get_output()
+            {
+                return *this->output;
+            }
+
+            /**
+             * @brief Call LeakyReLU operation.
+             * 
+             * @param input       as an input
+             * @param assign_core not effective yet
+             * @return LeakyReLU result
+             */
+            Tensor<feature_t> &call(Tensor<feature_t> &input, const std::vector<int> &assign_core = CONFIG_DEFAULT_ASSIGN_CORE)
+            {
+                DL_LOG_LAYER_LATENCY_INIT();
+
+                if (!this->inplace)
+                {
+                    DL_LOG_LAYER_LATENCY_START();
+                    if (this->output->shape != this->output_shape)
+                    {
+                        this->output->set_shape(this->output_shape);
+                    }
+                    this->output->malloc_element();
+                    this->output->set_exponent(input.exponent);
+                    DL_LOG_LAYER_LATENCY_END(this->name, "apply");
+
+                    DL_LOG_LAYER_LATENCY_START();
+                    nn::leakyrelu(*this->output, input, this->activation_alpha, this->activation_exponent, assign_core);
+                    DL_LOG_LAYER_LATENCY_END(this->name, "leakyrelu");
+                }
+                else
+                {
+                    DL_LOG_LAYER_LATENCY_START();
+                    if (this->output->shape != this->output_shape)
+                    {
+                        this->output->set_shape(this->output_shape);
+                    }
+                    nn::leakyrelu<true>(*this->output, input, this->activation_alpha, this->activation_exponent, assign_core);
+                    DL_LOG_LAYER_LATENCY_END(this->name, "leakyrelu");
+                }
+
+                return *this->output;
+            }
+        };
+    } // namespace layer
+} // namespace dl

tools/sdk/esp32c3/include/esp-face/include/layer/dl_layer_max2d.hpp

@@ -0,0 +1,143 @@
+#pragma once
+
+#include "dl_constant.hpp"
+#include "dl_variable.hpp"
+#include "dl_tool.hpp"
+#include "dl_nn_max2d.hpp"
+#include "dl_layer_base.hpp"
+
+namespace dl
+{
+    namespace layer
+    {
+        /**
+         * @brief Max2D(input0, input1).
+         * NOTE: maximum is element-wise, i.e., output[i,j,k] = max(input0[i,j,k], input1[i,j,k])
+         * 
+         * @tparam feature_t supports int16_t and int8_t,
+         *         - int16_t: stands for operation in int16_t quantize
+         *         - int8_t: stands for operation in int8_t quantize
+         */
+        template <typename feature_t>
+        class Max2D : public Layer
+        {
+        private:
+            Tensor<feature_t> *output;     /*<! output ptr of max2d >*/
+            bool inplace;                  /*<! true: the output will store to input0
+                                                false: the output will store to a separate memory >*/
+            std::vector<int> output_shape; /*<! output shape of max2d >*/
+        public:
+            /**
+             * @brief Construct a new Max2D object.
+             * 
+             * @param name            name of max2d
+             * @param inplace         true: the output will store to input0
+             *                        false: the output will store to a separate memory
+             */
+            Max2D(const char *name = "Max2D", bool inplace = false) : Layer(name),
+                                                                      output(NULL), inplace(inplace), output_shape({})
+            {
+            }
+
+            /**
+             * @brief Destroy the Max2D object
+             * 
+             */
+            ~Max2D()
+            {
+                if ((!this->inplace) && (this->output != NULL))
+                {
+                    delete this->output;
+                }
+            }
+
+            /**
+             * @brief Update output shape and exponent
+             * NOTE: input0.shape must equal to input1.shape.
+             *       input0.exponent must equal to input1.exponent.
+             * 
+             * @param input0 as one input
+             * @param input1 as another input
+             * @param print_shape  whether to print the output shape.
+             */
+            void build(Tensor<feature_t> &input0, Tensor<feature_t> &input1, bool print_shape = false)
+            {
+                assert(input0.is_same_shape(input1));
+                assert(input0.exponent == input1.exponent);
+                this->output_shape = input0.shape;
+
+                if (!this->inplace)
+                {
+                    if (this->output != NULL)
+                    {
+                        this->output = new Tensor<feature_t>;
+                    }
+                    this->output->set_exponent(this->output_exponent);
+                    this->output->set_shape(this->output_shape);
+                    this->output->free_element();
+                }
+                else
+                {
+                    this->output = &input0;
+                }
+
+                if (print_shape)
+                {
+                    std::cout << this->name << " | ";
+                    this->output->print_shape();
+                }
+            }
+
+            /**
+             * @brief Get the output
+             * 
+             * @return Tensor<feature_t>& Max2D result
+             */
+            Tensor<feature_t> &get_output()
+            {
+                return *this->output;
+            }
+
+            /**
+             * @brief Call Max2D operation.
+             * 
+             * @param input0      as one input
+             * @param input1      as another input
+             * @param assign_core not effective yet
+             * @return Max2D result
+             */
+            Tensor<feature_t> &call(Tensor<feature_t> &input0, Tensor<feature_t> &input1, const std::vector<int> &assign_core = CONFIG_DEFAULT_ASSIGN_CORE)
+            {
+                DL_LOG_LAYER_LATENCY_INIT();
+
+                if (!this->inplace)
+                {
+                    DL_LOG_LAYER_LATENCY_START();
+                    if (this->output->shape != this->output_shape)
+                    {
+                        this->output->set_shape(this->output_shape);
+                    }
+                    this->output->malloc_element();
+                    this->output->set_exponent(input0.exponent);
+                    DL_LOG_LAYER_LATENCY_END(this->name, "apply");
+
+                    DL_LOG_LAYER_LATENCY_START();
+                    nn::max2d(*this->output, input0, input1, assign_core);
+                    DL_LOG_LAYER_LATENCY_END(this->name, "max2d");
+                }
+                else
+                {
+                    DL_LOG_LAYER_LATENCY_START();
+                    if (this->output->shape != this->output_shape)
+                    {
+                        this->output->set_shape(this->output_shape);
+                    }
+                    nn::max2d<true>(*this->output, input0, input1, assign_core);
+                    DL_LOG_LAYER_LATENCY_END(this->name, "max2d");
+                }
+
+                return *this->output;
+            }
+        };
+    } // namespace layer
+} // namespace dl

tools/sdk/esp32c3/include/esp-face/include/layer/dl_layer_max_pool2d.hpp

@@ -0,0 +1,157 @@
+#pragma once
+
+#include <vector>
+#include "dl_constant.hpp"
+#include "dl_variable.hpp"
+#include "dl_nn_max_pool2d.hpp"
+
+namespace dl
+{
+    namespace layer
+    {
+        /**
+         * @brief MaxPool2D(input).
+         * 
+         * @tparam feature_t supports int16_t and int8_t,
+         *         - int16_t: stands for operation in int16_t quantize
+         *         - int8_t: stands for operation in int8_t quantize
+         */
+        template <typename feature_t>
+        class MaxPool2D : public Layer
+        {
+        private:
+            std::vector<int> filter_shape;     /*<! filter shape in [filter_height, filter_width] >*/
+            const int stride_y;                /*<! stride in height >*/
+            const int stride_x;                /*<! stride in width >*/
+            const padding_type_t padding_type; /*<! one of PADDING_VALID or PADDING_SAME_END or PADDING_SAME_BEGIN >*/
+            std::vector<int> padding;          /*<! padding size needed in [top, bottom, left, right] of this operation >*/
+            Tensor<feature_t> *output;         /*<! output ptr of MaxPool2D >*/
+            std::vector<int> output_shape;     /*<! output shape of MaxPool2D >*/
+
+        public:
+            /**
+             * @brief Construct a new MaxPool2D object.
+             * 
+             * @param filter_shape filter shape in [filter_height, filter_width]
+             * @param padding_type one of PADDING_VALID or PADDING_SAME_END or PADDING_SAME_BEGIN or PADDING_NOT_SET,
+             *                     - PADDING_VALID means no padding
+             *                     PADDING_SAME_END and PADDING_SAME_BEGIN results in padding with zeros evenly to the left/right or up/down of the input 
+             *                     such that output has the same height/width dimension as the input,
+             *                     - PADDING_SAME_END results padding in TensorFlow style
+             *                     - PADDING_SAME_BEGIN results padding in MXNET style
+             *                     - PADDING_NOT_SET means padding with the specific "padding" value below. 
+             * @param padding      if padding_type is PADDING_NOT_SET, this value will be used as padding size. 
+             *                     the shape must be 4, the value of each position is: [padding top, padding bottom, padding left, padding right]
+             * @param stride_y     stride in height
+             * @param stride_x     stride in width
+             * @param name         name of layer
+             */
+            MaxPool2D(const std::vector<int> filter_shape,
+                      const padding_type_t padding_type = PADDING_VALID,
+                      std::vector<int> padding = {},
+                      const int stride_y = 1,
+                      const int stride_x = 1,
+                      const char *name = "MaxPool2D") : Layer(name),
+                                                        filter_shape(filter_shape),
+                                                        padding_type(padding_type),
+                                                        padding(padding),
+                                                        stride_y(stride_y),
+                                                        stride_x(stride_x),
+                                                        output_shape({})
+            {
+                this->output = new Tensor<feature_t>;
+                if (this->padding_type == PADDING_NOT_SET)
+                {
+                    assert(this->padding.size() == 4);
+                }
+            }
+
+            /**
+             * @brief Destroy the MaxPool2D object.
+             * 
+             */
+            ~MaxPool2D()
+            {
+                if (this->output != NULL)
+                {
+                    delete this->output;
+                }
+            }
+
+            /**
+             * @brief Update output shape and padding.
+             * 
+             * @param input as an input
+             * @param print_shape  whether to print the output shape.
+             */
+            void build(Tensor<feature_t> &input, bool print_shape = false)
+            {
+                assert(input.shape[0] > 0);
+                assert(input.shape[1] > 0);
+                assert(input.shape.size() == 3);
+
+                this->output->set_exponent(input.exponent);
+                this->output_shape = nn::get_output_shape(input.shape, filter_shape, this->stride_y, this->stride_x, this->padding_type, false, this->padding);
+                this->output->set_shape(this->output_shape);
+
+                if (this->padding_type != PADDING_NOT_SET)
+                {
+                    this->padding = nn::get_pad_size(this->output_shape, input.shape, filter_shape, this->stride_y, this->stride_x, this->padding_type);
+                }
+                this->output->free_element();
+
+                if (print_shape)
+                {
+                    std::cout << this->name << " | ";
+                    this->output->print_shape();
+                }
+            }
+
+            /**
+             * @brief Get the output
+             * 
+             * @return Tensor<feature_t>& MaxPool2D result
+             */
+            Tensor<feature_t> &get_output()
+            {
+                return *this->output;
+            }
+
+            /**
+             * @brief Call MaxPool2D operation
+             * 
+             * @param input           as an input
+             * @param autoload_enable one of true or false, 
+             *                        - true: load input and output from PSRAM to CACHE automatically
+             *                        - false: do not
+             * @param assign_core     not effective yet
+             * @return MaxPool2D result
+             */
+            Tensor<feature_t> &call(Tensor<feature_t> &input, uint8_t autoload_enable = 0)
+            {
+                DL_LOG_LAYER_LATENCY_INIT();
+
+                DL_LOG_LAYER_LATENCY_START();
+                if (this->output->shape != this->output_shape)
+                {
+                    this->output->set_shape(this->output_shape);
+                }
+                this->output->malloc_element();
+                this->output->set_exponent(input.exponent);
+                DL_LOG_LAYER_LATENCY_END(this->name, "apply");
+
+                if (autoload_enable)
+                {
+                    dl::tool::cache::autoload_func((uint32_t)(this->output->element), this->output->get_size() * sizeof(feature_t),
+                                                   (uint32_t)(input.element), input.get_size() * sizeof(feature_t));
+                }
+
+                DL_LOG_LAYER_LATENCY_START();
+                nn::max_pool2d(*this->output, input, this->padding, this->filter_shape, this->stride_y, this->stride_x);
+                DL_LOG_LAYER_LATENCY_END(this->name, "max_pool2d");
+
+                return *this->output;
+            }
+        };
+    } // namespace layer
+} // namespace dl

tools/sdk/esp32c3/include/esp-face/include/layer/dl_layer_min2d.hpp

@@ -0,0 +1,143 @@
+#pragma once
+
+#include "dl_constant.hpp"
+#include "dl_variable.hpp"
+#include "dl_tool.hpp"
+#include "dl_nn_min2d.hpp"
+#include "dl_layer_base.hpp"
+
+namespace dl
+{
+    namespace layer
+    {
+        /**
+         * @brief Min2D(input0, input1).
+         * NOTE: minimum is element-wise, i.e., output[i,j,k] = min(input0[i,j,k], input1[i,j,k])
+         * 
+         * @tparam feature_t supports int16_t and int8_t,
+         *         - int16_t: stands for operation in int16_t quantize
+         *         - int8_t: stands for operation in int8_t quantize
+         */
+        template <typename feature_t>
+        class Min2D : public Layer
+        {
+        private:
+            Tensor<feature_t> *output;     /*<! output of ptr min2d>*/
+            bool inplace;                  /*<! true: the output will store to input0
+                                                false: the output will store to a separate memory >*/
+            std::vector<int> output_shape; /*<! output shape of min2d >*/
+        public:
+            /**
+             * @brief Construct a new Min2D object
+             * 
+             * @param name            name of min2d
+             * @param inplace         true: the output will store to input0
+             *                        false: the output will store to a separate memory
+             */
+            Min2D(const char *name = "Min2D", bool inplace = false) : Layer(name),
+                                                                      output(NULL),
+                                                                      inplace(inplace),
+                                                                      output_shape({}) {}
+
+            /**
+             * @brief Destroy the Min2D object
+             * 
+             */
+            ~Min2D()
+            {
+                if ((!this->inplace) && (this->output != NULL))
+                {
+                    delete this->output;
+                }
+            }
+
+            /**
+             * @brief Update output shape and exponent
+             * NOTE: input0.shape must equal to input1.shape.
+             *       input0.exponent must equal to input1.exponent.
+             * 
+             * @param input0 as one input
+             * @param input1 as another input
+             * @param print_shape  whether to print the output shape.
+             */
+            void build(Tensor<feature_t> &input0, Tensor<feature_t> &input1, bool print_shape = false)
+            {
+                assert(input0.is_same_shape(input1));
+                assert(input0.exponent == input1.exponent);
+                this->output_shape = input0.shape;
+
+                if (!this->inplace)
+                {
+                    if (this->output != NULL)
+                    {
+                        this->output = new Tensor<feature_t>;
+                    }
+                    this->output->set_shape(this->output_shape);
+                    this->output->set_exponent(input0.exponent);
+                    this->output->free_element();
+                }
+                else
+                {
+                    this->output = &input0;
+                }
+
+                if (print_shape)
+                {
+                    std::cout << this->name << " | ";
+                    this->output->print_shape();
+                }
+            }
+
+            /**
+             * @brief Get the output
+             * 
+             * @return Tensor<feature_t>& Min2D result
+             */
+            Tensor<feature_t> &get_output()
+            {
+                return *this->output;
+            }
+
+            /**
+             * @brief Call Min2D operation
+             * 
+             * @param input0      as one input
+             * @param input1      as another input
+             * @param assign_core not effective yet
+             * @return Min2D result
+             */
+            Tensor<feature_t> &call(Tensor<feature_t> &input0, Tensor<feature_t> &input1, const std::vector<int> &assign_core = CONFIG_DEFAULT_ASSIGN_CORE)
+            {
+                DL_LOG_LAYER_LATENCY_INIT();
+
+                if (!this->inplace)
+                {
+                    DL_LOG_LAYER_LATENCY_START();
+                    if (this->output->shape != this->output_shape)
+                    {
+                        this->output->set_shape(this->output_shape);
+                    }
+                    this->output->malloc_element();
+                    this->output->set_exponent(input0.exponent);
+                    DL_LOG_LAYER_LATENCY_END(this->name, "apply");
+
+                    DL_LOG_LAYER_LATENCY_START();
+                    nn::min2d(*this->output, input0, input1, assign_core);
+                    DL_LOG_LAYER_LATENCY_END(this->name, "min2d");
+                }
+                else
+                {
+                    DL_LOG_LAYER_LATENCY_START();
+                    if (this->output->shape != this->output_shape)
+                    {
+                        this->output->set_shape(this->output_shape);
+                    }
+                    nn::min2d<true>(*this->output, input0, input1, assign_core);
+                    DL_LOG_LAYER_LATENCY_END(this->name, "min2d");
+                }
+
+                return *this->output;
+            }
+        };
+    } // namespace layer
+} // namespace dl

tools/sdk/esp32c3/include/esp-face/include/layer/dl_layer_model.hpp

@@ -0,0 +1,52 @@
+#pragma once
+
+#include "dl_constant.hpp"
+#include "dl_variable.hpp"
+
+namespace dl
+{
+    namespace layer
+    {
+        /**
+         * @brief Neural Network Model.
+         * 
+         * @tparam feature_t supports int16_t and int8_t,
+         *         - int16_t: stands for operation in int16_t quantize
+         *         - int8_t: stands for operation in int8_t quantize
+         */
+        template <typename feature_t>
+        class Model
+        {
+        private:
+            std::vector<int> input_shape; /*<! input shape in [height, width, channel] >*/
+
+        public:
+            /**
+             * @brief Destroy the Model object.
+             * 
+             */
+            virtual ~Model() {}
+
+            /**
+             * @brief Build a model including update output shape and input padding of each layer.
+             * 
+             * @param input as an input
+             */
+            virtual void build(Tensor<feature_t> &input) = 0;
+
+            /**
+             * @brief Call the model layer by layer.
+             * 
+             * @param input as an input.
+             */
+            virtual void call(Tensor<feature_t> &input) = 0;
+
+            /**
+             * @brief If input.shape changes, call Model.build(), otherwise, do not. Then call Model.call().
+             * 
+             * @param input as an input
+             */
+            void forward(Tensor<feature_t> &input);
+        };
+    } // namespace layer
+} // namespace dl

tools/sdk/esp32c3/include/esp-face/include/layer/dl_layer_mul2d.hpp

@@ -0,0 +1,151 @@
+#pragma once
+
+#include "dl_constant.hpp"
+#include "dl_variable.hpp"
+#include "dl_nn_mul2d.hpp"
+#include "dl_layer_base.hpp"
+
+namespace dl
+{
+    namespace layer
+    {
+        /**
+         * @brief Activation(Multiply2D(input0, input1)).
+         * NOTE: multiplication is element-wise, i.e., output[i,j,k] = input0[i,j,k] * input1[i,j,k]
+         * 
+         * @tparam feature_t supports int16_t and int8_t,
+         *         - int16_t: stands for operation in int16_t quantize
+         *         - int8_t: stands for operation in int8_t quantize
+         */
+        template <typename feature_t>
+        class Mul2D : public Layer
+        {
+        private:
+            const int output_exponent;               /*<! exponent of output >*/
+            const Activation<feature_t> *activation; /*<! activation of Mul2D, if you don't specify anything, no activation is applied >*/
+            Tensor<feature_t> *output;               /*<! output ptr of Mul2D >*/
+            bool inplace;                            /*<! true: the output will store to input0
+                                                            false: the output will store to a separate memory >*/
+            std::vector<int> output_shape;           /*<! output shape of Mul2D >*/
+        public:
+            /**
+             * @brief Construct a new Mul2D object.
+             * 
+             * @param output_exponent exponent of output
+             * @param activation      activation of Mul2D, if you don't specify anything, no activation is applied
+             * @param name            name of layer
+             * @param inplace         true: the output will store to input0
+             *                        false: the output will store to a separate memory
+             */
+            Mul2D(const int output_exponent,
+                  const Activation<feature_t> *activation = NULL,
+                  const char *name = "Mul2D",
+                  bool inplace = false) : Layer(name),
+                                          output_exponent(output_exponent),
+                                          activation(activation),
+                                          output(NULL),
+                                          inplace(inplace),
+                                          output_shape({})
+            {
+            }
+
+            /**
+             * @brief Destroy the Multiply2D object.
+             */
+            ~Mul2D()
+            {
+                if ((!this->inplace) && (this->output != NULL))
+                {
+                    delete this->output;
+                }
+            }
+
+            /**
+             * @brief Update output shape.
+             * NOTE: input0.shape must equal to input1.shape.
+             * 
+             * @param input0 as one input
+             * @param input1 as another input
+             * @param print_shape  whether to print the output shape.
+             */
+            void build(Tensor<feature_t> &input0, Tensor<feature_t> &input1, bool print_shape = false)
+            {
+                assert(input0.is_same_shape(input1));
+                this->output_shape = input0.shape;
+
+                if (!this->inplace)
+                {
+                    if (this->output != NULL)
+                    {
+                        this->output = new Tensor<feature_t>;
+                    }
+                    this->output->set_exponent(this->output_exponent);
+                    this->output->set_shape(this->output_shape);
+                    this->output->free_element();
+                }
+
+                else
+                {
+                    this->output = &input0;
+                }
+
+                if (print_shape)
+                {
+                    std::cout << this->name << " | ";
+                    this->output->print_shape();
+                }
+            }
+
+            /**
+             * @brief Get the output
+             * 
+             * @return Tensor<feature_t>& Mul2D result
+             */
+            Tensor<feature_t> &get_output()
+            {
+                return *this->output;
+            }
+
+            /**
+             * @brief Call Mul2D operation.
+             * 
+             * @param input0      as one input
+             * @param input1      as another input
+             * @param assign_core not effective yet
+             * @return Mul2D result
+             */
+            Tensor<feature_t> &call(Tensor<feature_t> &input0, Tensor<feature_t> &input1, const std::vector<int> &assign_core = CONFIG_DEFAULT_ASSIGN_CORE)
+            {
+                DL_LOG_LAYER_LATENCY_INIT();
+
+                if (!this->inplace)
+                {
+                    DL_LOG_LAYER_LATENCY_START();
+                    if (this->output->shape != this->output_shape)
+                    {
+                        this->output->set_shape(this->output_shape);
+                    }
+                    this->output->malloc_element();
+                    this->output->set_exponent(this->output_exponent);
+                    DL_LOG_LAYER_LATENCY_END(this->name, "apply");
+
+                    DL_LOG_LAYER_LATENCY_START();
+                    nn::mul2d(*this->output, input0, input1, this->activation, assign_core);
+                    DL_LOG_LAYER_LATENCY_END(this->name, "mul2d");
+                }
+                else
+                {
+                    DL_LOG_LAYER_LATENCY_START();
+                    if (this->output->shape != this->output_shape)
+                    {
+                        this->output->set_shape(this->output_shape);
+                    }
+                    nn::mul2d<true>(*this->output, input0, input1, this->activation, assign_core);
+                    DL_LOG_LAYER_LATENCY_END(this->name, "mul2d");
+                }
+
+                return *this->output;
+            }
+        };
+    } // namespace layer
+} // namespace dl

tools/sdk/esp32c3/include/esp-face/include/layer/dl_layer_prelu.hpp

@@ -0,0 +1,145 @@
+#pragma once
+
+#include "dl_constant.hpp"
+#include "dl_variable.hpp"
+#include "dl_nn_prelu.hpp"
+#include "dl_layer_base.hpp"
+
+namespace dl
+{
+    namespace layer
+    {
+        /**
+         * @brief PReLU(input).
+         * 
+         * @tparam feature_t supports int16_t and int8_t,
+         *         - int16_t: stands for operation in int16_t quantize
+         *         - int8_t: stands for operation in int8_t quantize
+         */
+        template <typename feature_t>
+        class PReLU : public Layer
+        {
+        private:
+            feature_t *activation_element; /*<! quantized alpha elements along channel axis >*/
+            int activation_exponent;       /*<! exponent of quantized alpha elements >*/
+            Tensor<feature_t> *output;     /*<! output ptr of prelu >*/
+            bool inplace;                  /*<! true: the output will store to input0
+                                                false: the output will store to a separate memory >*/
+            std::vector<int> output_shape; /*<! output shape of prelu >*/
+        public:
+            /**
+             * @brief Construct a new PReLU object
+             * 
+             * @param activation_element   quantized alpha elements along channel axis
+             * @param activation_exponent  exponent of quantized alpha elements
+             * @param name                 name of prelu
+             * @param inplace              true: the output will store to input0
+             *                             false: the output will store to a separate memory
+             */
+            PReLU(const feature_t *activation_element,
+                  const int activation_exponent = 0,
+                  const char *name = NULL,
+                  bool inplace = "PReLU") : Layer(name),
+                                            activation_element(activation_element),
+                                            activation_exponent(activation_exponent),
+                                            output(NULL),
+                                            inplace(inplace),
+                                            output_shape({})
+            {
+            }
+
+            /**
+             * @brief Destroy the PReLU object
+             * 
+             */
+            ~PReLU()
+            {
+                if ((!this->inplace) && (this->output != NULL))
+                {
+                    delete this->output;
+                }
+            }
+
+            /**
+             * @brief Update output shape and exponent
+             * 
+             * @param input       as an input
+             * @param print_shape  whether to print the output shape.
+             */
+            void build(Tensor<feature_t> &input, bool print_shape = false)
+            {
+                this->output_shape = input.shape;
+                if (!this->inplace)
+                {
+                    if (this->output != NULL)
+                    {
+                        this->output = new Tensor<feature_t>;
+                    }
+                    this->output->set_exponent(input.exponent);
+                    this->output->set_shape(this->output_shape);
+                    this->output->free_element();
+                }
+                else
+                {
+                    this->output = &input;
+                }
+
+                if (print_shape)
+                {
+                    std::cout << this->name << " | ";
+                    this->output->print_shape();
+                }
+            }
+
+            /**
+             * @brief Get the output
+             * 
+             * @return Tensor<feature_t>& PReLU result
+             */
+            Tensor<feature_t> &get_output()
+            {
+                return *this->output;
+            }
+
+            /**
+             * @brief Call PReLU operation.
+             * 
+             * @param input       as an input
+             * @param assign_core not effective yet
+             * @return PReLU result
+             */
+            Tensor<feature_t> &call(Tensor<feature_t> &input, const std::vector<int> &assign_core = CONFIG_DEFAULT_ASSIGN_CORE)
+            {
+                DL_LOG_LAYER_LATENCY_INIT();
+
+                if (!this->inplace)
+                {
+                    DL_LOG_LAYER_LATENCY_START();
+                    if (this->output->shape != this->output_shape)
+                    {
+                        this->output->set_shape(this->output_shape);
+                    }
+                    this->output->set_exponent(input.exponent);
+                    this->output->malloc_element();
+                    DL_LOG_LAYER_LATENCY_END(this->name, "apply");
+
+                    DL_LOG_LAYER_LATENCY_START();
+                    nn::prelu(*this->output, input, this->activation_element, this->activation_exponent, assign_core);
+                    DL_LOG_LAYER_LATENCY_END(this->name, "leakyrelu");
+                }
+                else
+                {
+                    DL_LOG_LAYER_LATENCY_START();
+                    if (this->output->shape != this->output_shape)
+                    {
+                        this->output->set_shape(this->output_shape);
+                    }
+                    nn::prelu(*this->output, input, this->activation_element, this->activation_exponent, assign_core);
+                    DL_LOG_LAYER_LATENCY_END(this->name, "leakyrelu");
+                }
+
+                return *this->output;
+            }
+        };
+    } // namespace layer
+} // namespace dl

tools/sdk/esp32c3/include/esp-face/include/layer/dl_layer_relu.hpp

@@ -0,0 +1,135 @@
+#pragma once
+
+#include "dl_constant.hpp"
+#include "dl_variable.hpp"
+#include "dl_tool.hpp"
+#include "dl_nn_relu.hpp"
+#include "dl_layer_base.hpp"
+
+namespace dl
+{
+    namespace layer
+    {
+        /**
+         * @brief ReLU(input).
+         * 
+         * @tparam feature_t supports int16_t and int8_t,
+         *         - int16_t: stands for operation in int16_t quantize
+         *         - int8_t: stands for operation in int8_t quantize
+         */
+        template <typename feature_t>
+        class ReLU : public Layer
+        {
+        private:
+            Tensor<feature_t> *output;     /*<! output ptr of relu >*/
+            bool inplace;                  /*<! true: the output will store to input0
+                                                false: the output will store to a separate memory >*/
+            std::vector<int> output_shape; /*<! output shape of relu >*/
+        public:
+            /**
+             * @brief Construct a new ReLU object
+             * 
+             * @param name            name of relu
+             * @param inplace         true: the output will store to input0
+             *                        false: the output will store to a separate memory
+             */
+            ReLU(const char *name = "ReLU", bool inplace = false) : Layer(name),
+                                                                    output(NULL), inplace(inplace), output_shape({})
+            {
+            }
+
+            /**
+             * @brief Destroy the ReLU object
+             * 
+             */
+            ~ReLU()
+            {
+                if ((!this->inplace) && (this->output != NULL))
+                {
+                    delete this->output;
+                }
+            }
+
+            /**
+             * @brief Update output shape and exponent
+             * 
+             * @param input       as an input
+             * @param print_shape  whether to print the output shape.
+             */
+            void build(Tensor<feature_t> &input, bool print_shape = false)
+            {
+                this->output_shape = input.shape;
+                if (!this->inplace)
+                {
+                    if (this->output != NULL)
+                    {
+                        this->output = new Tensor<feature_t>;
+                    }
+                    this->output->set_exponent(input.exponent);
+                    this->output->set_shape(this->output_shape);
+                    this->output->free_element();
+                }
+                else
+                {
+                    this->output = &input;
+                }
+
+                if (print_shape)
+                {
+                    std::cout << this->name << " | ";
+                    this->output->print_shape();
+                }
+            }
+
+            /**
+             * @brief Get the output
+             * 
+             * @return Tensor<feature_t>& ReLU result
+             */
+            Tensor<feature_t> &get_output()
+            {
+                return *this->output;
+            }
+
+            /**
+             * @brief Call ReLU operation.
+             * 
+             * @param input       as an input
+             * @param assign_core not effective yet
+             * @return ReLU result
+             */
+            Tensor<feature_t> &call(Tensor<feature_t> &input, const std::vector<int> &assign_core = CONFIG_DEFAULT_ASSIGN_CORE)
+            {
+                DL_LOG_LAYER_LATENCY_INIT();
+
+                if (!this->inplace)
+                {
+                    DL_LOG_LAYER_LATENCY_START();
+                    if (this->output->shape != this->output_shape)
+                    {
+                        this->output->set_shape(this->output_shape);
+                    }
+                    this->output->malloc_element();
+                    this->output->set_exponent(input.exponent);
+                    DL_LOG_LAYER_LATENCY_END(this->name, "apply");
+
+                    DL_LOG_LAYER_LATENCY_START();
+                    nn::relu(*this->output, input, assign_core);
+                    DL_LOG_LAYER_LATENCY_END(this->name, "relu");
+                }
+                else
+                {
+                    DL_LOG_LAYER_LATENCY_START();
+                    if (this->output->shape != this->output_shape)
+                    {
+                        this->output->set_shape(this->output_shape);
+                    }
+                    nn::relu(*this->output, input, assign_core);
+                    DL_LOG_LAYER_LATENCY_END(this->name, "relu");
+                }
+
+                return *this->output;
+            }
+        };
+    } // namespace layer
+} // namespace dl

tools/sdk/esp32c3/include/esp-face/include/layer/dl_layer_reshape.hpp

@@ -0,0 +1,124 @@
+#pragma once
+
+#include "dl_constant.hpp"
+#include "dl_variable.hpp"
+#include "dl_tool.hpp"
+#include "dl_layer_base.hpp"
+
+namespace dl
+{
+    namespace layer
+    {
+        /**
+         * @brief  Reshape(input)
+         * 
+         * @tparam feature_t supports int16_t and int8_t,
+         *         - int16_t: stands for operation in int16_t quantize
+         *         - int8_t: stands for operation in int8_t quantize
+         */
+        template <typename feature_t>
+        class Reshape : public Layer
+        {
+        private:
+            int output_exponent;           /*<! exponent of output >*/
+            Tensor<feature_t> *output;     /*<! output ptr of Reshape >*/
+            bool inplace;                  /*<! true: the output will store to input0
+                                                false: the output will store to a separate memory >*/
+            std::vector<int> output_shape; /*<! output shape of Reshape >*/
+        public:
+            /**
+             * @brief Construct a new Reshape object
+             * 
+             * @param shape      the target shape
+             * @param name       name of Reshape layer
+             * @param inplace    true: the output will store to input0
+             *                   false: the output will store to a separate memory
+             */
+            Reshape(std::vector<int> shape, const char *name = "Reshape", bool inplace = false) : Layer(name),
+                                                                                                  output_shape(shape), inplace(inplace)
+            {
+            }
+
+            /**
+             * @brief Destroy the Reshape object
+             * 
+             */
+            ~Reshape()
+            {
+                if ((!this->inplace) && (this->output != NULL))
+                {
+                    delete this->output;
+                }
+            }
+
+            /**
+            * @brief             Update output shape and exponent
+            * 
+            * @param input        as an input
+            * @param print_shape  whether to print the output shape.
+            */
+            void build(Tensor<feature_t> &input, bool print_shape = false)
+            {
+                this->output_exponent = input.exponent;
+                if (!this->inplace)
+                {
+                    if (this->output != NULL)
+                    {
+                        this->output = new Tensor<feature_t>;
+                    }
+                    this->output->set_exponent(this->output_exponent);
+                    this->output->set_shape(this->output_shape);
+                    this->output->free_element();
+                }
+                else
+                {
+                    this->output = &input;
+                    this->output->set_shape(this->output_shape);
+                }
+
+                if (print_shape)
+                {
+                    std::cout << this->name << " | ";
+                    this->output->print_shape();
+                }
+            }
+
+            /**
+             * @brief Get the output
+             * 
+             * @return Tensor<feature_t>& Reshape result
+             */
+            Tensor<feature_t> &get_output()
+            {
+                return *this->output;
+            }
+
+            /**
+             * @brief Call Reshape operation.
+             * 
+             * @param input  as an input
+             * @return Tensor<feature_t>& Reshape result
+             */
+            Tensor<feature_t> &call(Tensor<feature_t> &input)
+            {
+                DL_LOG_LAYER_LATENCY_INIT();
+
+                if (!this->inplace)
+                {
+                    DL_LOG_LAYER_LATENCY_START();
+                    this->output->set_exponent(input.exponent);
+                    this->output->reshape(this->output_shape);
+                    this->output->copy_element(input, true);
+                    DL_LOG_LAYER_LATENCY_END(this->name, "reshape");
+                }
+                else
+                {
+                    DL_LOG_LAYER_LATENCY_START();
+                    this->output->reshape(this->output_shape);
+                    DL_LOG_LAYER_LATENCY_END(this->name, "reshape");
+                }
+                return *this->output;
+            }
+        };
+    } // namespace layer
+} // namespace dl

tools/sdk/esp32c3/include/esp-face/include/layer/dl_layer_squeeze.hpp

@@ -0,0 +1,127 @@
+#pragma once
+
+#include "dl_constant.hpp"
+#include "dl_variable.hpp"
+#include "dl_tool.hpp"
+#include "dl_layer_base.hpp"
+
+namespace dl
+{
+    namespace layer
+    {
+        /**
+         * @brief 
+         * 
+         * @tparam feature_t 
+         */
+        template <typename feature_t>
+        class Squeeze : public Layer
+        {
+        private:
+            int output_exponent;           /*<! exponent of output >*/
+            Tensor<feature_t> *output;     /*<! output ptr of Squeeze >*/
+            bool inplace;                  /*<! true: the output will store to input0
+                                                 false: the output will store to a separate memory >*/
+            int axis;                      /*<! the dim to to be remove. make sure the length of the dim is equal to 1.
+                                            if axis == INT32_MAX, all the dims with length==1 will be removed. >*/
+            std::vector<int> output_shape; /*<! output shape of AvgPool2D >*/
+        public:
+            /**
+             * @brief Construct a new Squeeze object
+             * 
+             * @param axis the dim to to be remove. make sure the length of the dim is equal to 1.
+             *             if axis == INT32_MAX, all the dims with length==1 will be removed.
+             * @param name      name of Squeeze layer
+             * @param inplace   true: the output will store to input0
+             *                  false: the output will store to a separate memory
+             */
+            Squeeze(int axis = INT32_MAX, const char *name = "Squeeze", bool inplace = false) : Layer(name), axis(axis), inplace(inplace), output_shape({})
+            {
+            }
+
+            /**
+             * @brief Destroy the Squeeze object
+             * 
+             */
+            ~Squeeze()
+            {
+                if ((!this->inplace) && (this->output != NULL))
+                {
+                    delete this->output;
+                }
+            }
+
+            /**
+            * @brief Update output shape and exponent
+            * 
+            * @param input as an input
+            * @param print_shape  whether to print the output shape.
+            */
+            void build(Tensor<feature_t> &input, bool print_shape = false)
+            {
+                this->output_exponent = input.exponent;
+                if (!this->inplace)
+                {
+                    if (this->output != NULL)
+                    {
+                        this->output = new Tensor<feature_t>;
+                    }
+                    this->output->set_exponent(this->output_exponent);
+                    this->output->set_shape(input.shape);
+                    this->output->squeeze(this->axis);
+                    this->output->free_element();
+                }
+                else
+                {
+                    this->output = &input;
+                    this->output->set_shape(input.shape);
+                    this->output->squeeze(this->axis);
+                }
+                this->output_shape = this->output->shape;
+
+                if (print_shape)
+                {
+                    std::cout << this->name << " | ";
+                    this->output->print_shape();
+                }
+            }
+
+            /**
+             * @brief Get the output
+             * 
+             * @return Tensor<feature_t>& Squeeze result
+             */
+            Tensor<feature_t> &get_output()
+            {
+                return *this->output;
+            }
+
+            /**
+             * @brief  Call Squeeze operation.
+             * 
+             * @param input as an input
+             * @return Tensor<feature_t>& Squeeze result
+             */
+            Tensor<feature_t> &call(Tensor<feature_t> &input)
+            {
+                DL_LOG_LAYER_LATENCY_INIT();
+
+                if (!this->inplace)
+                {
+                    DL_LOG_LAYER_LATENCY_START();
+                    this->output->set_exponent(input.exponent);
+                    this->output->set_shape(this->output_shape);
+                    this->output->copy_element(input, true);
+                    DL_LOG_LAYER_LATENCY_END(this->name, "Squeeze");
+                }
+                else
+                {
+                    DL_LOG_LAYER_LATENCY_START();
+                    this->output->set_shape(this->output_shape);
+                    DL_LOG_LAYER_LATENCY_END(this->name, "Squeeze");
+                }
+                return *this->output;
+            }
+        };
+    } // namespace layer
+} // namespace dl

tools/sdk/esp32c3/include/esp-face/include/layer/dl_layer_sub2d.hpp

@@ -0,0 +1,141 @@
+#pragma once
+
+#include "dl_constant.hpp"
+#include "dl_variable.hpp"
+#include "dl_nn_sub2d.hpp"
+#include "dl_layer_base.hpp"
+
+namespace dl
+{
+    namespace layer
+    {
+        /**
+         * @brief Activation(Sub2D(input0, input1)).
+         * NOTE: subtraction is element-wise, i.e., output[i,j,k] = input0[i,j,k] - input1[i,j,k]
+         * 
+         * @tparam feature_t supports int16_t and int8_t,
+         *         - int16_t: stands for operation in int16_t quantize
+         *         - int8_t: stands for operation in int8_t quantize
+         */
+        template <typename feature_t>
+        class Sub2D : public Layer
+        {
+        private:
+            const int output_exponent;               /*<! exponent of output >*/
+            const Activation<feature_t> *activation; /*<! activation of Sub2D, if you don't specify anything, no activation is applied >*/
+            Tensor<feature_t> *output;               /*<! output ptr of Sub2D >*/
+            bool inplace;                            /*<! true: the output will store to input0
+                                                            false: the output will store to a separate memory >*/
+            std::vector<int> output_shape;           /*<! output shape of Sub2D >*/
+        public:
+            /**
+             * @brief Construct a new Sub2D object.
+             * 
+             * @param output_exponent exponent of output
+             * @param activation      activation of Mul2D, if you don't specify anything, no activation is applied
+             * @param name            name of layer
+             * @param inplace         true: the output will store to input0
+             *                        false: the output will store to a separate memory
+             */
+            Sub2D(const int output_exponent, const Activation<feature_t> *activation = NULL, const char *name = "Sub2D", bool inplace = false) : Layer(name),
+                                                                                                                                                 output_exponent(output_exponent), activation(activation), output(NULL), inplace(inplace), output_shape({})
+            {
+            }
+
+            /**
+             * @brief Destroy the Sub2D object.
+             */
+            ~Sub2D()
+            {
+                if ((!this->inplace) && (this->output != NULL))
+                {
+                    delete this->output;
+                }
+            }
+
+            /**
+             * @brief Update output shape.
+             * NOTE: input0.shape must equal to input1.shape.
+             * 
+             * @param input0 as one input
+             * @param input1 as another input
+             * @param print_shape  whether to print the output shape.
+             */
+            void build(Tensor<feature_t> &input0, Tensor<feature_t> &input1, bool print_shape = false)
+            {
+                assert(input0.is_same_shape(input1));
+                this->output_shape = input0.shape;
+                if (!this->inplace)
+                {
+                    if (this->output != NULL)
+                    {
+                        this->output = new Tensor<feature_t>;
+                    }
+                    this->output->set_exponent(this->output_exponent);
+                    this->output->set_shape(this->output_shape);
+                    this->output->free_element();
+                }
+                else
+                {
+                    this->output = &input0;
+                }
+
+                if (print_shape)
+                {
+                    std::cout << this->name << " | ";
+                    this->output->print_shape();
+                }
+            }
+
+            /**
+             * @brief Get the output
+             * 
+             * @return Tensor<feature_t>& Sub2D result
+             */
+            Tensor<feature_t> &get_output()
+            {
+                return *this->output;
+            }
+
+            /**
+             * @brief Call Sub2D operation.
+             * 
+             * @param input0      as one input
+             * @param input1      as another input
+             * @param assign_core not effective yet
+             * @return Sub2D result
+             */
+            Tensor<feature_t> &call(Tensor<feature_t> &input0, Tensor<feature_t> &input1, const std::vector<int> &assign_core = CONFIG_DEFAULT_ASSIGN_CORE)
+            {
+                DL_LOG_LAYER_LATENCY_INIT();
+
+                if (!this->inplace)
+                {
+                    DL_LOG_LAYER_LATENCY_START();
+                    if (this->output->shape != this->output_shape)
+                    {
+                        this->output->set_shape(this->output_shape);
+                    }
+                    this->output.malloc_element();
+                    this->output->set_exponent(input0.exponent);
+                    DL_LOG_LAYER_LATENCY_END(this->name, "apply");
+
+                    DL_LOG_LAYER_LATENCY_START();
+                    nn::sub2d(this->output, input0, input1, this->activation, assign_core);
+                    DL_LOG_LAYER_LATENCY_END(this->name, "sub2d");
+                }
+                else
+                {
+                    DL_LOG_LAYER_LATENCY_START();
+                    if (this->output->shape != this->output_shape)
+                    {
+                        this->output->set_shape(this->output_shape);
+                    }
+                    nn::sub2d<true>(this->output, input0, input1, this->activation, assign_core, this->output_exponent);
+                    DL_LOG_LAYER_LATENCY_END(this->name, "sub2d");
+                }
+                return *this->output;
+            }
+        };
+    } // namespace layer
+} // namespace dl

tools/sdk/esp32c3/include/esp-face/include/layer/dl_layer_transpose.hpp

@@ -0,0 +1,126 @@
+#pragma once
+
+#include "dl_constant.hpp"
+#include "dl_variable.hpp"
+#include "dl_tool.hpp"
+#include "dl_layer_base.hpp"
+
+namespace dl
+{
+    namespace layer
+    {
+        /**
+         * @brief 
+         * 
+         * @tparam feature_t 
+         */
+        template <typename feature_t>
+        class Transpose : public Layer
+        {
+        private:
+            int output_exponent;           /*<! exponent of output >*/
+            Tensor<feature_t> *output;     /*<! output ptr of Transpose >*/
+            bool inplace;                  /*<! true: the output will store to input0
+                                                false: the output will store to a separate memory >*/
+            std::vector<int> perm;         /*<! the new arangement of the dims. if perm == {}, the dims arangement will be reversed. >*/
+            std::vector<int> output_shape; /*<! output shape of Transpose >*/
+        public:
+            /**
+             * @brief Construct a new Transpose object
+             * 
+             * @param perm          the new arangement of the dims. if perm == {}, the dims arangement will be reversed.
+             * @param name          name of Transpose layer
+             * @param inplace       true: the output will store to input
+             *                      false: the output will store to a separate memory
+             */
+            Transpose(std::vector<int> perm = {}, const char *name = "Transpose", bool inplace = false) : Layer(name), perm(perm), inplace(inplace), output_shape({})
+            {
+            }
+
+            /**
+             * @brief Destroy the Transpose object
+             * 
+             */
+            ~Transpose()
+            {
+                if ((!this->inplace) && (this->output != NULL))
+                {
+                    delete this->output;
+                }
+            }
+
+            /**
+            * @brief Update output shape and exponent
+            * 
+            * @param input as an input
+            * @param print_shape  whether to print the output shape.
+            */
+            void build(Tensor<feature_t> &input, bool print_shape = false)
+            {
+                this->output_exponent = input.exponent;
+                this->output_shape = input.shape;
+                for (int i = 0; i < this->perm.size(); i++)
+                {
+                    this->output_shape[i] = input.shape[this->perm[i]];
+                }
+                if (!this->inplace)
+                {
+                    if (this->output != NULL)
+                    {
+                        this->output = new Tensor<feature_t>;
+                    }
+                    this->output->set_exponent(this->output_exponent);
+                    this->output->set_shape(this->output_shape);
+                    this->output->free_element();
+                }
+                else
+                {
+                    this->output = &input;
+                    this->output->set_shape(this->output_shape);
+                }
+
+                if (print_shape)
+                {
+                    std::cout << this->name << " | ";
+                    this->output->print_shape();
+                }
+            }
+
+            /**
+             * @brief Get the output
+             * 
+             * @return Tensor<feature_t>& Transpose result
+             */
+            Tensor<feature_t> &get_output()
+            {
+                return *this->output;
+            }
+
+            /**
+             * @brief Call Transpose operation.
+             * 
+             * @param input as an input.
+             * @return Tensor<feature_t>& Transpose result.
+             */
+            Tensor<feature_t> &call(Tensor<feature_t> &input)
+            {
+                DL_LOG_LAYER_LATENCY_INIT();
+
+                if (!this->inplace)
+                {
+                    DL_LOG_LAYER_LATENCY_START();
+                    this->output->set_exponent(input.exponent);
+                    this->output->transpose(input, this->perm);
+                    DL_LOG_LAYER_LATENCY_END(this->name, "transpose");
+                }
+                else
+                {
+                    DL_LOG_LAYER_LATENCY_START();
+                    this->output->transpose(this->perm);
+                    DL_LOG_LAYER_LATENCY_END(this->name, "transpose");
+                }
+                return *this->output;
+            }
+        };
+    } // namespace layer
+} // namespace dl

tools/sdk/esp32c3/include/esp-face/include/math/dl_math.hpp

@@ -0,0 +1,188 @@
+#pragma once
+
+#include "dl_define.hpp"
+
+namespace dl
+{
+    namespace math
+    {
+        /**
+         * @brief x^a.
+         * 
+         * @param x as a base
+         * @param a as an exponent
+         * @return x^a
+         */
+        inline float power(float x, int a)
+        {
+            if (a > 0)
+            {
+                return x * power(x, a - 1);
+            }
+            else if (a < 0)
+            {
+                return 1 / (x * power(x, -a - 1));
+            }
+            else
+            {
+                return 1.f;
+            }
+        }
+
+        /**
+         * @brief sqrt(x).
+         * 
+         * @param x as a base
+         * @return sqrt(x)
+         */
+        inline float sqrt_quick(float x)
+        {
+            const int result = 0x1fbb4000 + (*(int *)&x >> 1);
+            return *(float *)&result;
+        }
+
+        /**
+         * @brief 1/sqrt(x).
+         * 
+         * @param x as a base
+         * @return 1/sqrt(x)
+         */
+        inline float sqrt_reciprocal_quick(float x)
+        {
+            float xhalf = 0.5f * x;
+            int i = *(int *)&x;             // get bits for floating value
+            i = 0x5f375a86 - (i >> 1);      // gives initial guess y0
+            x = *(float *)&i;               // convert bits back to float
+            x = x * (1.5f - xhalf * x * x); // Newton step, repeating increases accuracy
+            return x;
+        }
+
+        static const float EN = 0.00001f;
+
+        /**
+         * @brief sqrt(x).
+         * 
+         * @param x as a base
+         * @return sqrt(x)
+         */
+        inline float sqrt_newton(float x)
+        {
+            /**
+            * Use Newton iteration method to find the square root
+            * */
+            if (x == 0.f)
+                return 0.f;
+            float result = x;
+            float last_value;
+            do
+            {
+                last_value = result;
+                result = (last_value + x / last_value) * 0.5;
+            } while (DL_ABS(result - last_value) > EN);
+            return result;
+        }
+
+        /**
+         * @brief n-th root of x.
+         * 
+         * @param x as a base
+         * @param n root times
+         * @return n-th root of x
+         */
+        inline float root_newton(float x, int n)
+        {
+            if (n == 2)
+                return sqrt_newton(x);
+            if (n == 0)
+                return 1.f;
+            if (n == 1)
+                return x;
+            if (x == 0.f)
+                return 0.f;
+            float result = x;
+            float last_value;
+            float _n = (float)((n - 1) * n);
+            do
+            {
+                last_value = result;
+                result = _n * last_value + x / (n * power(last_value, n - 1));
+            } while (DL_ABS(result - last_value) > EN);
+            return result;
+        }
+
+        /**
+         * @brief atan(x).
+         * 
+         * @param x as an input
+         * @return atan(x) in range [-pi/2, pi/2]
+         */
+        inline float atan(float x)
+        {
+            return x * (0.78539816 - (DL_ABS(x) - 1) * (0.2447 + 0.0663 * DL_ABS(x)));
+            // float s = x*x;
+            // return ((-0.0464964749 * s + 0.15931422) * s - 0.327622764) * s * x + x;
+        }
+
+        // TODO:@yuanjiong
+        /**
+         * @brief 
+         * 
+         * @param x
+         * @param y 
+         * @return in range [-pi, pi]
+         */
+        inline float atan2(float x, float y)
+        {
+            float ax = DL_ABS(x);
+            float ay = DL_ABS(y);
+            float eps = 1e-8;
+            float a = DL_MIN(ax, ay) / (DL_MAX(ax, ay) + eps);
+            float r = atan(a); //[0, pi/2]
+            if (ay > ax)
+                r = 1.57079633 - r;
+            if (x < 0)
+                r = 3.14159265 - r;
+            if (y < 0)
+                r = -r;
+
+            return r;
+        }
+
+        /**
+         * @brief acos(x).
+         * 
+         * @param x as an input
+         * @return acos(x) in range [-pi/2, pi/2]
+         */
+        inline float acos(float x)
+        {
+            return atan2(x, sqrt_newton(1.0 - x * x));
+        }
+
+        /**
+         * @brief asin(x).
+         * 
+         * @param x as an input
+         * @return asin(x) in range [0, pi]
+         */
+        inline float asin(float x)
+        {
+            return atan2(sqrt_newton(1.0 - x * x), x);
+        }
+
+        /**
+         * @brief e^x
+         * 
+         * @param x     exponent
+         * @param steps iteration steps
+         * @return e^x
+         */
+        inline float exp_fast(double x, int steps)
+        {
+            x = 1.0 + x / (1 << steps);
+            for (int i = 0; i < steps; i++)
+                x *= x;
+            return x;
+        }
+    }
+}

tools/sdk/esp32c3/include/esp-face/include/math/dl_math_matrix.hpp

@@ -0,0 +1,397 @@
+#pragma once
+
+#include <stdint.h>
+#include <stdio.h>
+#include <math.h>
+#include <vector>
+#include "dl_define.hpp"
+#include "dl_tool.hpp"
+#include "dl_variable.hpp"
+#include "esp_timer.h"
+
+namespace dl
+{
+    namespace math
+    {
+        /**
+         * @brief the Matrix class
+         * 
+         * @tparam T 
+         */
+        template <typename T>
+        class Matrix
+        {
+        public:
+            T **array;
+            int h;
+            int w;
+            Matrix() : h(0), w(0)
+            {
+                this->array = NULL;
+            }
+
+            Matrix(int h, int w) : h(h), w(w)
+            {
+                this->calloc_element();
+            }
+
+            Matrix(int h, int w, T s) : h(h), w(w)
+            {
+                this->calloc_element();
+                this->set_value(s);
+            }
+
+            Matrix(const Matrix<T> &mat) : h(mat.h), w(mat.w)
+            {
+                this->calloc_element();
+                this->set_value(mat);
+            }
+            virtual ~Matrix()
+            {
+                if (this->array != NULL)
+                {
+                    for (int i = 0; i < this->h; i++)
+                    {
+                        free(this->array[i]);
+                    }
+                    free(this->array);
+                    this->array = NULL;
+                }
+            }
+
+            /**
+             * @brief calloc the matrix element 
+             * 
+             */
+            void calloc_element()
+            {
+                if ((this->h > 0) && (this->w > 0))
+                {
+                    this->array = (T **)calloc(this->h, sizeof(T *));
+                    for (int i = 0; i < this->h; i++)
+                    {
+                        this->array[i] = (T *)calloc(this->w, sizeof(T));
+                    }
+                }
+                else
+                {
+                    this->array = NULL;
+                }
+            }
+
+            /**
+             * @brief Set the matrix element to random number.
+             * 
+             * @param thresh the max abs value of the element. 
+             */
+            void set_random(T thresh = 1)
+            {
+                unsigned int seed = esp_timer_get_time();
+                srand(seed);
+                for (int i = 0; i < this->h; i++)
+                {
+                    for (int j = 0; j < this->w; j++)
+                    {
+                        this->array[i][j] = ((T)rand()) / (T)(RAND_MAX)*thresh;
+                    }
+                }
+            }
+
+            /**
+             * @brief Set the small value to zero
+             * 
+             * @param thresh the threshold of small value 
+             */
+            void set_zero(T thresh = 1e-8)
+            {
+                for (int i = 0; i < this->h; i++)
+                {
+                    for (int j = 0; j < this->w; j++)
+                    {
+                        if (DL_ABS(this->array[i][j]) < thresh)
+                        {
+                            this->array[i][j] = 0;
+                        }
+                    }
+                }
+            }
+
+            /**
+             * @brief Set the matrix value from a vector
+             * 
+             * @tparam TT 
+             * @param mat   the input vector
+             */
+            template <typename TT>
+            void set_value(std::vector<TT> mat)
+            {
+                int area = this->w * this->h;
+                assert(area == mat.size());
+                int index = 0;
+                for (int i = 0; i < this->h; i++)
+                {
+                    for (int j = 0; j < this->w; j++)
+                    {
+                        this->array[i][j] = (T)(mat[index++]);
+                    }
+                }
+            }
+
+            /**
+             * @brief Set the matrix value from another matrix.
+             * 
+             * @tparam TT 
+             * @param mat the input matrix.
+             */
+            template <typename TT>
+            void set_value(const Matrix<TT> &mat)
+            {
+                assert((this->h == mat.h) && (this->w == mat.w));
+                for (int i = 0; i < this->h; i++)
+                {
+                    for (int j = 0; j < this->w; j++)
+                    {
+                        this->array[i][j] = (T)(mat.array[i][j]);
+                    }
+                }
+            }
+
+            /**
+             * @brief Set a part of the matrix value from another matrix.
+             * 
+             * @param h_start    the start index of height
+             * @param h_end      the end index of height
+             * @param w_start    the start index of width
+             * @param w_end      the end index of width
+             * @param mat        the input matrix
+             */
+            void set_value(int h_start, int h_end, int w_start, int w_end, const Matrix<T> &mat)
+            {
+                int h = h_end - h_start;
+                int w = w_end - w_start;
+
+                assert((h == mat.h) && (w == mat.w));
+                assert((h_end <= this->h) && (w_end <= this->w) && (h_start >= 0) && (w_start >= 0));
+                for (int i = 0; i < h; i++)
+                {
+                    for (int j = 0; j < w; j++)
+                    {
+                        this->array[i + h_start][j + w_start] = mat.array[i][j];
+                    }
+                }
+            }
+
+            /**
+             * @brief Set the matrix value to a constant.
+             * 
+             * @tparam TT 
+             * @param s  the input value.
+             */
+            template <typename TT>
+            void set_value(TT s)
+            {
+                for (int i = 0; i < this->h; i++)
+                {
+                    for (int j = 0; j < this->w; j++)
+                    {
+                        this->array[i][j] = (T)s;
+                    }
+                }
+            }
+
+            /**
+             * @brief print the matrix element.
+             * 
+             */
+            void print_value() const
+            {
+                printf("h: %d, w: %d\n", this->h, this->w);
+                for (int i = 0; i < this->h; i++)
+                {
+                    for (int j = 0; j < this->w; j++)
+                    {
+                        printf("%f ", (float)(this->array[i][j]));
+                    }
+                    printf("\n");
+                }
+            }
+
+            /**
+             * @brief  do matrix multiply
+             * 
+             * @param input     the input matrix
+             * @return Matrix<T> the output matrix
+             */
+            Matrix<T> matmul(const Matrix<T> &input) const;
+
+            /**
+             * @brief transpose the matrix
+             * 
+             * @return Matrix<T> the transposed matrix
+             */
+            Matrix<T> transpose() const;
+
+            /**
+             * @brief get the inverse matrix
+             * 
+             * @return Matrix<T> the output matrix
+             */
+            Matrix<T> inverse() const;
+
+            /**
+             * @brief get the diagonal of the matrix
+             * 
+             * @return Matrix<T> the diagonal
+             */
+            Matrix<T> diagonal() const;
+
+            /**
+             * @brief slice the matrix
+             * 
+             * @param h_start   the start index of height
+             * @param h_end     the end index of height
+             * @param w_start   the start index of width
+             * @param w_end     the end index of width
+             * @return Matrix<T> the output.
+             */
+            Matrix<T> slice(int h_start, int h_end, int w_start, int w_end) const;
+
+            /**
+             * @brief get an identity matrix
+             * 
+             * @param n     the dim of the identity matrix
+             * @return Matrix<T>  the output
+             */
+            static Matrix<T> identity(int n)
+            {
+                Matrix<T> A(n, n);
+                for (int i = 0; i < n; ++i)
+                {
+                    A.array[i][i] = 1;
+                }
+                return A;
+            }
+
+            /**
+             * @brief get a diag matrix
+             * 
+             * @param d  the diagonal value.
+             * @return Matrix<T>  the output
+             */
+            static Matrix<T> diag(const Matrix<T> &d)
+            {
+                assert(d.h == 1);
+                Matrix<T> A(d.w, d.w);
+                for (int i = 0; i < d.w; ++i)
+                {
+                    A.array[i][i] = d.array[0][i];
+                }
+                return A;
+            }
+
+
+            static Matrix<T> arange(uint32_t n)
+            {
+                Matrix<T> A(1, n);
+                for (int i = 0; i < n; ++i)
+                {
+                    A.array[0][i] = i;
+                }
+                return A;
+            }
+
+            static Matrix<T> arange(uint32_t n1, uint32_t n2)
+            {
+                int len = n2 - n1;
+                assert(len > 0);
+                Matrix<T> A(1, len);
+                for (int i = 0; i < len; ++i)
+                {
+                    A.array[0][i] = n1 + i;
+                }
+
+                return A;
+            }
+
+            /**
+             * @brief get the F_norm of the matrix
+             * 
+             * @return T the output F_norm
+             */
+            T F_norm() const
+            {
+                T f_n = 0.0;
+                for (int i = 0; i < this->h; ++i)
+                {
+                    for (int j = 0; j < this->w; ++j)
+                    {
+                        f_n += (this->array[i][j] * this->array[i][j]);
+                    }
+                }
+                f_n = sqrt_newton(f_n);
+                return f_n;
+            }
+
+            Matrix<T> &operator=(const Matrix<T> &A)
+            {
+                if ((A.h == this->h) && (A.w == this->w))
+                {
+                    for (int i = 0; i < A.h; ++i)
+                    {
+                        for (int j = 0; j < A.w; ++j)
+                        {
+                            this->array[i][j] = A.array[i][j];
+                        }
+                    }
+                }
+                else
+                {
+                    if (this->array != NULL)
+                    {
+                        for (int i = 0; i < this->h; ++i)
+                        {
+                            free(this->array[i]);
+                        }
+                        free(this->array);
+                        this->array = NULL;
+                    }
+                    this->h = A.h;
+                    this->w = A.w;
+                    if ((A.h > 0) && (A.w > 0))
+                    {
+                        this->calloc_element();
+                        this->set_value(A);
+                    }
+                }
+                return *this;
+            }
+        };
+
+        /**
+         * @brief Get the affine transform matrix
+         * 
+         * @param source_coord the source coordinates
+         * @param dest_coord   the target coordinates
+         * @return Matrix<float> the output matrix
+         */
+        Matrix<float> get_affine_transform(Matrix<float> &source_coord, Matrix<float> &dest_coord);
+        
+        /**
+         * @brief Get the similarity transform matrix
+         * 
+         * @param source_coord the source coordinates
+         * @param dest_coord the target coordinates
+         * @return Matrix<float> the output matrix
+         */
+        Matrix<float> get_similarity_transform(Matrix<float> &source_coord, Matrix<float> &dest_coord);
+        
+        /**
+         * @brief Get the perspective transform matrix
+         * 
+         * @param source_coord the source coordinates
+         * @param dest_coord   the target coordinates
+         * @return Matrix<float> the output matrix
+         */
+        Matrix<float> get_perspective_transform(Matrix<float> &source_coord, Matrix<float> &dest_coord);
+    } // namespace math
+} // namespace dl

tools/sdk/esp32c3/include/esp-face/include/model_zoo/cat_face_detect_mn03.hpp

@@ -0,0 +1,47 @@
+#pragma once
+
+#include <stdint.h>
+#include <vector>
+#include <list>
+#include "dl_detect_define.hpp"
+
+/**
+ * @brief Hardware Requirement.
+ *        - flash 310kB
+ */
+
+class CatFaceDetectMN03
+{
+private:
+    void *model;
+
+public:
+    /**
+     * @brief Construct a new Cat Face Detect MN03 object.
+     * 
+     * @param score_threshold predicted boxes with score lower than the threshold will be filtered out
+     * @param nms_threshold   predicted boxes with IoU higher than the threshold will be filtered out
+     * @param top_k           first k highest score boxes will be remained
+     * @param resize_scale    resize scale to implement on input image
+     */
+    CatFaceDetectMN03(const float score_threshold, const float nms_threshold, const int top_k, const float resize_scale);
+
+    /**
+     * @brief Destroy the Cat Face Detect MN03 object.
+     * 
+     */
+    ~CatFaceDetectMN03();
+
+    /**
+     * @brief Inference.
+     * 
+     * @tparam T supports uint8_t and uint16_t
+     *         - uint8_t: input image is RGB888
+     *         - uint16_t: input image is RGB565
+     * @param input_element pointer of input image
+     * @param input_shape   shape of input image
+     * @return detection result
+     */
+    template <typename T>
+    std::list<dl::detect::result_t> &infer(T *input_element, std::vector<int> input_shape);
+};

tools/sdk/esp32c3/include/esp-face/include/model_zoo/color_detector.hpp

@@ -0,0 +1,68 @@
+#pragma once
+
+#include "dl_image.hpp"
+
+typedef struct
+{
+    int area;                /*!< Area of connected domains >*/
+    std::vector<int> center; /*<! centroid of connected domains [x, y] >*/
+    std::vector<int> box;    /*<! [left_up_x, left_up_y, right_down_x, right_down_y] >*/
+} components_stats_t;
+
+class ColorDetector
+{
+private:
+    std::vector<std::vector<components_stats_t>> results; /*!< detection results >*/
+
+public:
+    std::vector<std::vector<uint8_t>> color_thresh; /*!< threshold of colors, The threshold of each color is composed of 6 numbers >*/
+    std::vector<int> area_thresh;                   /*!< the area threshold of each color, 
+                                                                the area that is smaller than the threshold is filtered >*/
+    bool bgr;                                       /*!< true: the input image is in BGR format
+                                                                false: the input image is in RGB format >*/
+
+    /**
+     * @brief get the color threshold of rectangular region in the image
+     * 
+     * @param image the input image
+     * @param box   the coordinates of the rectanglar region : [left_up_x, left_up_y, right_down_x, right_down_y]
+     * @return std::vector<uint8_t> the threshold.
+     */
+    std::vector<uint8_t> cal_color_thresh(dl::Tensor<uint8_t> &image, std::vector<int> box);
+
+    /**
+     * @brief detect the colors based on the color thresholds
+     * 
+     * @param image the input image.
+     * @return std::vector<std::vector<components_stats_t>>&  detection result.
+     */
+    std::vector<std::vector<components_stats_t>> &detect(dl::Tensor<uint8_t> &image);
+
+    /**
+     * @brief Construct a new Color Detector object
+     * 
+     * @param color_thresh  threshold of colors, The threshold of each color is composed of 6 numbers
+     * @param area_thresh   the area threshold of each color,the area that is smaller than the threshold is filtered
+     * @param bgr           true: the input image is in BGR format
+     *                      false: the input image is in RGB format
+     */
+    ColorDetector(std::vector<std::vector<uint8_t>> color_thresh, std::vector<int> area_thresh, bool bgr = false) : color_thresh(color_thresh), area_thresh(area_thresh), bgr(bgr)
+    {
+    }
+
+    /**
+     * @brief Destroy the Color Detector object
+     * 
+     */
+    ~ColorDetector() {}
+
+    /**
+     * @brief Get the results object
+     * 
+     * @return std::vector<std::vector<components_stats_t>>& the detection result.
+     */
+    std::vector<std::vector<components_stats_t>> &get_results()
+    {
+        return this->results;
+    }
+};

tools/sdk/esp32c3/include/esp-face/include/model_zoo/face_recognition_112_v1_s16.hpp

@@ -0,0 +1,30 @@
+#pragma once
+
+#include "dl_variable.hpp"
+#include "face_recognition_tool.hpp"
+#include "face_recognizer.hpp"
+#include <vector>
+
+using namespace dl;
+
+/**
+ * @brief face recognition model v1
+ * input size: 112 x 112 x 3
+ * quantization mode: S16
+ * 
+ */
+class FaceRecognition112V1S16 : public FaceRecognizer<int16_t>
+{       
+    public:
+        /**
+         * @brief Construct a new Face_Recognition_112_V1_S16 object
+         * 
+         */
+        FaceRecognition112V1S16();
+        
+        /**
+         * @brief Destroy the Face_Recognition_112_V1_S16 object
+         * 
+         */
+        ~FaceRecognition112V1S16();
+};

tools/sdk/esp32c3/include/esp-face/include/model_zoo/face_recognition_112_v1_s8.hpp

@@ -0,0 +1,30 @@
+#pragma once
+
+#include "dl_variable.hpp"
+#include "face_recognition_tool.hpp"
+#include "face_recognizer.hpp"
+#include <vector>
+
+using namespace dl;
+
+/**
+ * @brief face recognition model v1
+ * input size: 112 x 112 x 3
+ * quantization mode: S8
+ * 
+ */
+class FaceRecognition112V1S8 : public FaceRecognizer<int8_t>
+{       
+    public:
+        /**
+         * @brief Construct a new Face_Recognition_112_V1_S8 object
+         * 
+         */
+        FaceRecognition112V1S8();
+
+        /**
+         * @brief Destroy the Face Recognition_112_V1_S8 object
+         * 
+         */
+        ~FaceRecognition112V1S8();
+};

tools/sdk/esp32c3/include/esp-face/include/model_zoo/face_recognition_tool.hpp

@@ -0,0 +1,162 @@
+#pragma once
+
+#include "dl_variable.hpp"
+#include "dl_define.hpp"
+#include "dl_tool.hpp"
+#include "dl_math.hpp"
+#include "dl_math_matrix.hpp"
+#include <vector>
+#include <list>
+#include <algorithm>
+#include <math.h>
+#include <string>
+
+/**
+ * @brief struct of face similarity
+ * 
+ */
+typedef struct
+{
+    int id;
+    std::string name;
+    float similarity;
+} face_info_t;
+
+
+/**
+ * @brief Face ID
+ * 
+ * @tparam feature_t 
+ */
+template <typename feature_t>
+class FaceID
+{
+public:
+    int id;     /*<! id index >*/
+    dl::Tensor<feature_t> id_emb;   /*<! id embedding >*/
+    std::string name;                /*<! id name >*/
+
+    /**
+     * @brief Construct a new Face ID object
+     * 
+     * @param id        id index
+     * @param id_emb    id embedding
+     * @param name      id name
+     */
+    FaceID(int id, dl::Tensor<feature_t> &id_emb, std::string name = "");
+
+    /**
+     * @brief Destroy the Face ID object
+     * 
+     */
+    ~FaceID() {}
+
+    /**
+     * @brief print the face id information
+     * 
+     */
+    void print();
+};
+
+namespace face_recognition_tool
+{
+    /**
+     * @brief l2 normalize the feautre
+     * 
+     * @param feature 
+     */
+    void l2_norm(dl::Tensor<float> &feature);
+
+    /**
+     * @brief calculate the cosine distance of the input ids
+     * 
+     * @param id_1  id 1
+     * @param id_2  id 2
+     * @param normalized_ids true: the input ids have been normalized.
+     *                       false: the input ids have not been normlized 
+     * @param type           0: cos dist: [-1, 1]
+     *                       1: normalzied cos dist: [0, 1]
+     * @return float  the cosine distance
+     */
+    float cos_distance(dl::Tensor<float> &id_1, dl::Tensor<float> &id_2, bool normalized_ids = true, int8_t type = 0);
+
+    /**
+     * @brief transform the image to the input of a mfn model 
+     * 
+     * @tparam T 
+     * @param image             the input image.
+     * @param free_input        true: free the input image.
+     *                          false: do not free the input image.
+     * @param do_padding        true: pad the result.
+     *                          false: do not pad the result. 
+     * @return dl::Tensor<T>* 
+     */
+    template <typename T>
+    dl::Tensor<T> *transform_mfn_input(dl::Tensor<uint8_t> &image, bool free_input = false);
+
+    /**
+     * @brief  transform the image to the input of a mfn model 
+     * 
+     * @tparam T 
+     * @param image                the input image.
+     * @param output               the preprocessed image.
+     * @param free_input           true: free the input image.
+     *                             false: do not free the input image.
+     * @param do_padding           true: pad the result.
+     *                             false: do not pad the result
+     */
+    template <typename T>
+    void transform_mfn_input(dl::Tensor<uint8_t> &image, dl::Tensor<T> &output, bool free_input = false);
+
+    /**
+     * @brief transform the mfn output embedding to a floating embedding
+     * 
+     * @tparam T 
+     * @param input the input embedding. 
+     * @param norm   true: normalize the output embedding.
+     *               false: do not normalize the output embedding.
+     * @param free_input true: free the input embedding.
+     *                   false: do not free the input embedding.
+     * @return dl::Tensor<float>* 
+     */
+    template <typename T>
+    dl::Tensor<float> *transform_mfn_output(dl::Tensor<T> &input, bool norm = true, bool free_input = false);
+
+    /**
+     * @brief transform the mfn output embedding to a floating embedding
+     * 
+     * @tparam T 
+     * @param input         the input embedding. 
+     * @param output        the output embedding.
+     * @param norm          true: normalize the output embedding.
+     *                      false: do not normalize the output embedding.
+     * @param free_input    true: free the input embedding.
+     *                      false: do not free the input embedding.
+     */
+    template <typename T>
+    void transform_mfn_output(dl::Tensor<T> &input, dl::Tensor<float> &output, bool norm = true, bool free_input = false);
+
+    /**
+     * @brief get the aligned face.
+     * 
+     * @tparam T 
+     * @param input     input tensor 
+     * @param output    the output aligned face.
+     * @param landmarks the landmarks of the face.
+     */
+    template <typename T>
+    void align_face(dl::Tensor<T> *input, dl::Tensor<T> *output, std::vector<int> &landmarks);
+
+    /**
+     * @brief get the aligned face.
+     * 
+     * @tparam T 
+     * @param input     input image with rgb565 format.
+     * @param shape     the shape of the input image.
+     * @param output    the output aligned face.
+     * @param landmarks the landmarks of the face.
+     */
+    template <typename T>
+    void align_face(uint16_t *input, std::vector<int> shape, dl::Tensor<T> *output, std::vector<int> &landmarks);
+
+} // namespace face_recognition_tool

tools/sdk/esp32c3/include/esp-face/include/model_zoo/face_recognizer.hpp

@@ -0,0 +1,220 @@
+#pragma once
+
+#include "dl_variable.hpp"
+#include "face_recognition_tool.hpp"
+#include <vector>
+
+using namespace dl;
+
+/**
+ * @brief 
+ * 
+ * @tparam feature_t 
+ */
+template<typename feature_t>
+class FaceRecognizer
+{
+    public:
+        /**
+         * @brief Construct a new Face Recognizer object
+         * 
+         */
+        FaceRecognizer();
+
+        /**
+         * @brief Destroy the Face Recognizer object
+         * 
+         */
+        virtual ~FaceRecognizer();
+
+        void *model;
+
+        /**
+         * @brief Set the face recognition threshold [-1, 1], default thresh: 0.55
+         * Note: If the similarity of two faces is greater than the threshold, they will be judged as the same person
+         * 
+         * @param thresh 
+         */
+        void set_thresh(float thresh);
+
+        /**
+         * @brief Get the current threshold of recognizer.
+         * 
+         * @return float current threshold.
+         */
+        float get_thresh();
+
+        /**
+         * @brief Get the input shape of the recognizer.
+         * 
+         * @return std::vector<int> the input shape of the recognizer. 
+         */
+        std::vector<int> get_input_shape();
+
+        /**
+         * @brief do forward
+         * 
+         * @param model_input            the input data of the face recognition model. 
+         * Note: the input data should have been preprocessed.
+         * @return Tensor<feature_t>&    the output of the face recognition model.
+         */
+        Tensor<feature_t> &forward(Tensor<feature_t> &model_input);
+
+        /**
+         * @brief recognize face
+         * 
+         * @param image_input       the pointer of the input image with format bgr565.
+         * @param shape             the shape of the input image
+         * @param landmarks         face landmarks coordinates
+         * @return face_info_t      the recognition result.
+         */
+        face_info_t recognize(uint16_t *image_input, std::vector<int> shape, std::vector<int> &landmarks);
+        
+        /**
+         * @brief recognize face
+         * 
+         * @param image_input        the pointer of the input image with format bgr565.
+         * @param shape              the shape of the input image  
+         * @param aligned_face       the Tensor to store the intermeidate aligned face.
+         * @param landmarks          face landmarks coordinates
+         * @return face_info_t       the recognition result.
+         */
+        face_info_t recognize(uint16_t *image_input, std::vector<int> shape, Tensor<uint8_t> &aligned_face, std::vector<int> &landmarks);
+
+        /**
+         * @brief recognize face
+         * 
+         * @param image_input         the Tensor of input image with format bgr888.
+         * @param landmarks           face landmarks coordinates
+         * @return face_info_t        the recognition result.
+         */
+        face_info_t recognize(Tensor<uint8_t> &image_input, std::vector<int> &landmarks);
+
+        /**
+         * @brief recognize face
+         * 
+         * @param image_input           the Tensor of input image with format bgr888.
+         * @param aligned_face          the Tensor to store the intermeidate aligned face.
+         * @param landmarks             face landmarks coordinates
+         * @return face_info_t          the recognition result.
+         */
+        face_info_t recognize(Tensor<uint8_t> &image_input, Tensor<uint8_t> &aligned_face, std::vector<int> &landmarks);
+
+        /**
+         * @brief recognize face
+         * 
+         * @param aligned_face          the Tensor of the input aligned face with format bgr888.
+         * @return face_info_t          the recognition result.
+         */
+        face_info_t recognize(Tensor<uint8_t> &aligned_face);
+
+        /**
+         * @brief recognize the face embedding.
+         * 
+         * @param emb  the normalized face embbeding.
+         * @return face_info_t  the recognition result.
+         */
+        face_info_t recognize(Tensor<float> &emb);
+
+        /**
+         * @brief Get the index of the enrolled ids 
+         * 
+         * @return std::vector<int> a vector of face ids index
+         */
+        std::vector<face_info_t> get_enrolled_ids();
+
+        /**
+         * @brief Get the face embedding 
+         * 
+         * @param id the face id index
+         * @return Tensor<float>  the face embedding of the face id index. 
+         *                        if there is no matched id return the embedding of last input image.
+         */
+        Tensor<float> &get_face_emb(int id=-1);
+
+        /**
+         * @brief Get the number of enrolled id
+         * 
+         * @return int the number of enrolled id
+         */
+        int get_enrolled_id_num();
+
+        /**
+         * @brief enroll face id
+         * 
+         * @param image_input       the pointer of the input image with format bgr565.
+         * @param shape             the shape of the input image
+         * @param landmarks         face landmarks coordinates
+         * @param name              name of the face id.
+         * @return  int             the face id index of the enrolled embedding.
+         */
+        int enroll_id(uint16_t *image_input, std::vector<int> shape, std::vector<int> &landmarks, std::string name="");
+        
+        /**
+         * @brief enroll face id
+         * 
+         * @param image_input        the pointer of the input image with format bgr565.
+         * @param shape              the shape of the input image  
+         * @param aligned_face       the Tensor to store the intermeidate aligned face.
+         * @param landmarks          face landmarks coordinates
+         * @param name               name of the face id.
+         * @return  int              the face id index of the enrolled embedding.
+         */
+        int enroll_id(uint16_t *image_input, std::vector<int> shape, Tensor<uint8_t> &aligned_face, std::vector<int> &landmarks, std::string name="");
+
+        /**
+         * @brief enroll face id
+         * 
+         * @param image_input         the Tensor of input image with format bgr888.
+         * @param landmarks           face landmarks coordinates
+         * @param name                name of the face id.
+         * @return  int               the face id index of the enrolled embedding.
+         */
+        int enroll_id(Tensor<uint8_t> &image_input, std::vector<int> &landmarks, std::string name="");
+
+        /**
+         * @brief enroll face id
+         * 
+         * @param image_input           the Tensor of input image with format bgr888.
+         * @param aligned_face          the Tensor to store the intermeidate aligned face.
+         * @param landmarks             face landmarks coordinates
+         * @param name                  name of the face id.
+         * @return  int                 the face id index of the enrolled embedding.
+         */
+        int enroll_id(Tensor<uint8_t> &image_input, Tensor<uint8_t> &aligned_face, std::vector<int> &landmarks, std::string name="");
+
+        /**
+         * @brief enroll face id
+         * 
+         * @param aligned_face          the Tensor of the input aligned face with format bgr888.
+         * @param name                  name of the face id.
+         * @return  int                 the face id index of the enrolled embedding.
+         */
+        int enroll_id(Tensor<uint8_t> &aligned_face, std::string name="");
+        
+        /**
+         * @brief       enroll the normalzied face embedding.
+         * 
+         * @param emb   the normalized face embbeding.
+         * @param name  name of the face id.
+         * @return int  the face id index of the enrolled embedding.
+         */
+        int enroll_id(Tensor<float> &emb, std::string name="");
+
+        /**
+         * @brief       delete the last enrolled face id.
+         * 
+         * @return int  the number of remained face ids.
+         *              if the face ids list is empty, return -1
+         */
+        int delete_id();
+
+        /**
+         * @brief       delete the face id with id index.
+         * 
+         * @param id    face id index.
+         * @return int  the number of remained face ids.
+         *              if there is no matched id return -1
+         */
+        int delete_id(int id);
+};

tools/sdk/esp32c3/include/esp-face/include/model_zoo/human_face_detect_mnp01.hpp

@@ -0,0 +1,41 @@
+#pragma once
+
+#include <vector>
+#include <list>
+#include "dl_detect_define.hpp"
+
+class HumanFaceDetectMNP01
+{
+private:
+    void *model;
+
+public:
+    /**
+     * @brief Construct a new Human Face Detect MNP01 object.
+     * 
+     * @param score_threshold predicted boxes with score lower than the threshold will be filtered out
+     * @param nms_threshold   predicted boxes with IoU higher than the threshold will be filtered out
+     * @param top_k           first k highest score boxes will be remained
+     */
+    HumanFaceDetectMNP01(const float score_threshold, const float nms_threshold, const int top_k);
+
+    /**
+     * @brief Destroy the Human Face Detect MNP01 object.
+     * 
+     */
+    ~HumanFaceDetectMNP01();
+
+    /**
+     * @brief Inference.
+     * 
+     * @tparam T supports uint16_t and uint8_t,
+     *         - uint16_t: input image is RGB565
+     *         - uint8_t: input image is RGB888
+     * @param input_element pointer of input image
+     * @param input_shape   shape of input image
+     * @param candidates    candidate boxes on input image
+     * @return detection result
+     */
+    template <typename T>
+    std::list<dl::detect::result_t> &infer(T *input_element, std::vector<int> input_shape, std::list<dl::detect::result_t> &candidates);
+};

tools/sdk/esp32c3/include/esp-face/include/model_zoo/human_face_detect_msr01.hpp

@@ -0,0 +1,40 @@
+#pragma once
+
+#include <list>
+#include <vector>
+#include "dl_detect_define.hpp"
+
+class HumanFaceDetectMSR01
+{
+private:
+    void *model;
+
+public:
+    /**
+     * @brief Construct a new Human Face Detect MSR01 object
+     * 
+     * @param score_threshold   predicted boxes with score lower than the threshold will be filtered out
+     * @param nms_threshold     predicted boxes with IoU higher than the threshold will be filtered out
+     * @param top_k             first k highest score boxes will be remained
+     * @param resize_scale      resize scale to implement on input image
+     */
+    HumanFaceDetectMSR01(const float score_threshold, const float nms_threshold, const int top_k, float resize_scale);
+
+    /**
+     * @brief Destroy the Human Face Detect MSR01 object
+     */
+    ~HumanFaceDetectMSR01();
+
+    /**
+     * @brief Inference.
+     * 
+     * @tparam T supports uint8_t and uint16_t
+     *         - uint8_t: input image is RGB888
+     *         - uint16_t: input image is RGB565
+     * @param input_element pointer of input image
+     * @param input_shape   shape of input image
+     * @return detection result
+     */
+    template <typename T>
+    std::list<dl::detect::result_t> &infer(T *input_element, std::vector<int> input_shape);
+};

tools/sdk/esp32c3/include/esp-face/include/nn/dl_nn.hpp

@@ -0,0 +1,61 @@
+#pragma once
+#include <vector>
+#include "dl_define.hpp"
+#include "dl_tool.hpp"
+
+namespace dl
+{
+    namespace nn
+    {
+        /**
+         * @brief Get the output shape object
+         * 
+         * @param input_shape  input shape
+         * @param filter_shape filter shape with dilation
+         * @param stride_y     stride in height
+         * @param stride_x     stride in width
+         * @param pad_type     one of PADDING_VALID or PADDING_SAME_END or PADDING_SAME_BEGIN
+         * @param is_conv2d    one of true or false,
+         *                     - true: serve for Conv2D
+         *                     - false: serve for other operations
+         * @return std::vector<int> 
+         */
+        std::vector<int> get_output_shape(const std::vector<int> &input_shape, const std::vector<int> &filter_shape, const int stride_y, const int stride_x, const padding_type_t pad_type, const bool is_conv2d = false, std::vector<int> padding = {});
+
+        /**
+         * @brief Get the pad size object
+         * 
+         * @param output_shape output shape
+         * @param input_shape  input shape
+         * @param filter_shape filter shape with dilation
+         * @param stride_y     stride in height
+         * @param stride_x     stride in width
+         * @param padding_type one of PADDING_VALID or PADDING_SAME_END or PADDING_SAME_BEGIN
+         * @return padding size
+         */
+        std::vector<int> get_pad_size(const std::vector<int> &output_shape, const std::vector<int> &input_shape, const std::vector<int> &filter_shape, const int stride_y, const int stride_x, const padding_type_t padding_type);
+    } // namespace nn
+} // namespace dl
+
+#if DL_LOG_NN_LATENCY
+/**
+ * @brief Initialize.
+ */
+#define DL_LOG_NN_LATENCY_INIT() dl::tool::Latency latency
+
+/**
+ * @brief Time starts.
+ */
+#define DL_LOG_NN_LATENCY_START() latency.start()
+
+/**
+ * @brief Time ends and printed.
+ */
+#define DL_LOG_NN_LATENCY_END(key) \
+    latency.end();                 \
+    latency.print("nn", key)
+#else
+#define DL_LOG_NN_LATENCY_INIT()
+#define DL_LOG_NN_LATENCY_START()
+#define DL_LOG_NN_LATENCY_END(key)
+#endif

tools/sdk/esp32c3/include/esp-face/include/nn/dl_nn_add2d.hpp

@@ -0,0 +1,91 @@
+#pragma once
+
+#include "dl_constant.hpp"
+#include "dl_variable.hpp"
+#include "dl_nn.hpp"
+
+namespace dl
+{
+    namespace nn
+    {
+        /**
+         * @brief activation(add2d(input0, input1)).
+         * 
+         * @param output            as an output
+         * @param input0            as one input
+         * @param input1            as another input
+         * @param activation        activation of add2d, if you don't specify anything, no activation is applied
+         * @param assign_core       not effective yet
+         * @param output_exponent   exponent of output, only and must specify if inplace operation happens 
+         */
+        void add2d(Tensor<int16_t> &output,
+                   Tensor<int16_t> &input0,
+                   Tensor<int16_t> &input1,
+                   const Activation<int16_t> *const activation = NULL,
+                   const std::vector<int> &assign_core = CONFIG_DEFAULT_ASSIGN_CORE,
+                   const int output_exponent = INT_MIN);
+
+        /**
+         * @brief activation(add2d(input0, input1)).
+         * 
+         * @param output            as an output
+         * @param input0            as one input
+         * @param input1            as another input
+         * @param activation        activation of add2d, if you don't specify anything, no activation is applied
+         * @param assign_core       not effective yet
+         * @param output_exponent   exponent of output, only and must specify if inplace operation happens 
+         */
+        void add2d(Tensor<int8_t> &output,
+                   Tensor<int8_t> &input0,
+                   Tensor<int8_t> &input1,
+                   const Activation<int8_t> *const activation = NULL,
+                   const std::vector<int> &assign_core = CONFIG_DEFAULT_ASSIGN_CORE, const int output_exponent = INT_MIN);
+
+        /**
+         * @brief activation(add2d(input0, input1))
+         * 
+         * @tparam inplace: whether directly store the output to input0
+         * @tparam feature_t supports int16_t and int8_t,
+         *         - int16_t: stands for operation in int16_t quantize
+         *         - int8_t: stands for operation in int8_t quantize
+         * @param output_exponent exponent of output
+         * @param input0          as one input
+         * @param input1          as another input
+         * @param activation      activation of add2d, if you don't specify anything, no activation is applied
+         * @param assign_core     not effective yet
+         * @param inplace         whether directly store the output to input0
+         * @return add2d result or no return(result store to input0)
+         */
+        template <bool inplace = false, typename feature_t>
+        auto add2d(const int output_exponent,
+                   Tensor<feature_t> &input0,
+                   Tensor<feature_t> &input1,
+                   const Activation<feature_t> *activation,
+                   const std::vector<int> &assign_core = CONFIG_DEFAULT_ASSIGN_CORE) -> typename std::conditional<inplace, void, Tensor<feature_t>>::type
+        {
+            assert(input0.is_same_shape(input1));
+
+            DL_LOG_NN_LATENCY_INIT();
+
+            Tensor<feature_t> output;
+            if constexpr (!inplace)
+            {
+                DL_LOG_NN_LATENCY_START();
+                output.set_exponent(output_exponent).set_shape(input0.shape).malloc_element();
+                DL_LOG_NN_LATENCY_END("apply");
+
+                DL_LOG_NN_LATENCY_START();
+                add2d(output, input0, input1, activation, assign_core);
+                DL_LOG_NN_LATENCY_END("add2d");
+                return output;
+            }
+            else
+            {
+                DL_LOG_NN_LATENCY_START();
+                add2d(input0, input0, input1, activation, assign_core, output_exponent);
+                input0.set_exponent(output_exponent);
+                DL_LOG_NN_LATENCY_END("add2d");
+            }
+        }
+    } // namespace nn
+} // namespace dl

tools/sdk/esp32c3/include/esp-face/include/nn/dl_nn_avg_pool2d.hpp

@@ -0,0 +1,102 @@
+#pragma once
+
+#include "dl_constant.hpp"
+#include "dl_variable.hpp"
+#include "dl_nn.hpp"
+#include <stdint.h>
+
+namespace dl
+{
+    namespace nn
+    {
+        /**
+         * @brief avg_pool2d(input).
+         * 
+         * @param output        as an output
+         * @param input         as an input
+         * @param padding       padding size needed in [top, bottom, left, right] of this operation
+         * @param filter_shape  filter_shape in [filter_height, filter_width]
+         * @param stride_y      stride in height
+         * @param stride_x      stride in width
+         * @param assign_core   not effective yet
+         */
+        void avg_pool2d(Tensor<int16_t> &output,
+                        Tensor<int16_t> &input,
+                        std::vector<int> &padding,
+                        std::vector<int> &filter_shape,
+                        const int stride_y,
+                        const int stride_x,
+                        const std::vector<int> &assign_core = CONFIG_DEFAULT_ASSIGN_CORE);
+
+        /**
+         * @brief avg_pool2d(input).
+         * 
+         * @param output        as an output
+         * @param input         as an input
+         * @param padding       padding size needed in [top, bottom, left, right] of this operation
+         * @param filter_shape  filter_shape in [filter_height, filter_width]
+         * @param stride_y      stride in height
+         * @param stride_x      stride in width
+         * @param assign_core   not effective yet
+         */
+        void avg_pool2d(Tensor<int8_t> &output,
+                        Tensor<int8_t> &input,
+                        std::vector<int> &padding,
+                        std::vector<int> &filter_shape,
+                        const int stride_y,
+                        const int stride_x,
+                        const std::vector<int> &assign_core = CONFIG_DEFAULT_ASSIGN_CORE);
+
+        /**
+         * @brief avg_pool2d(input).
+         * 
+         * @tparam feature_t supports int16_t and int8_t,
+         *         - int16_t: stands for operation in int16_t quantize
+         *         - int8_t: stands for operation in int8_t quantize
+         * @param output_exponent exponent of output
+         * @param input           as an input
+         * @param filter_shape    filter_shape in [filter_height, filter_width]
+         * @param stride_y        stride in height
+         * @param stride_x        stride in width
+         * @param padding_type    one of PADDING_VALID or PADDING_SAME_END or PADDING_SAME_BEGIN,
+         *                        - PADDING_VALID: no padding
+         *                        PADDING_SAME_END and PADDING_SAME_BEGIN results in padding with zeros evenly to the left/right or up/down of the input 
+         *                        such that output has the same height/width dimension as the input,
+         *                        - PADDING_SAME_END results padding in TensorFlow style
+         *                        - PADDING_SAME_BEGIN results padding in MXNET style
+         * @param assign_core     not effective yet
+         * @return avg_pool2d result
+         */
+        template <typename feature_t>
+        Tensor<feature_t> avg_pool2d(const int output_exponent,
+                                     Tensor<feature_t> &input,
+                                     std::vector<int> filter_shape,
+                                     const int stride_y,
+                                     const int stride_x,
+                                     const padding_type_t padding_type,
+                                     const std::vector<int> &assign_core = CONFIG_DEFAULT_ASSIGN_CORE)
+        {
+            DL_LOG_NN_LATENCY_INIT();
+
+            DL_LOG_NN_LATENCY_START();
+            std::vector<int> output_shape = get_output_shape(input.shape, filter_shape, stride_y, stride_x, padding_type);
+            Tensor<feature_t> output;
+            output.set_exponent(output_exponent).set_shape(output_shape).malloc_element();
+            DL_LOG_NN_LATENCY_END("apply");
+            std::vector<int> padding(4, 0);
+
+            DL_LOG_NN_LATENCY_START();
+            if (padding_type == PADDING_SAME_END || padding_type == PADDING_SAME_BEGIN)
+            {
+                padding = get_pad_size(output_shape, input.shape, filter_shape, stride_y, stride_x, padding_type);
+            }
+            DL_LOG_NN_LATENCY_END("padding");
+
+            DL_LOG_NN_LATENCY_START();
+            avg_pool2d(output, input, padding, filter_shape, stride_y, stride_x, assign_core);
+            DL_LOG_NN_LATENCY_END("avg_pool2d");
+
+            return output;
+        }
+    } // namespace nn
+} // namespace dl

tools/sdk/esp32c3/include/esp-face/include/nn/dl_nn_concat.hpp

@@ -0,0 +1,63 @@
+#pragma once
+
+#include <vector>
+#include "dl_variable.hpp"
+#include "dl_nn.hpp"
+
+namespace dl
+{
+    namespace nn
+    {
+        template <typename feature_t>
+        void concat(Tensor<feature_t> &output, std::vector<Tensor<feature_t> *> &inputs, int axis, bool free_inputs = false);
+
+        template <typename feature_t>
+        Tensor<feature_t> concat(std::vector<Tensor<feature_t> *> &inputs, int axis, bool free_inputs = false)
+        {
+            DL_LOG_NN_LATENCY_INIT();
+
+            DL_LOG_NN_LATENCY_START();
+            assert(inputs.size() > 1);
+            int shape_size = inputs[0]->shape.size();
+
+            if (axis < 0)
+            {
+                axis = shape_size + axis;
+            }
+
+            assert((axis < shape_size) && (axis > -1));
+
+            int output_shape_axis = inputs[0]->shape[axis];
+
+            for (int i = 1; i < inputs.size(); i++)
+            {
+                assert(shape_size == inputs[i]->shape.size());
+                assert(inputs[i]->exponent == inputs[i - 1]->exponent);
+                output_shape_axis += inputs[i]->shape[axis];
+
+                for (int j = 0; j < shape_size; j++)
+                {
+                    if (j != axis)
+                    {
+                        assert(inputs[i]->shape[j] == inputs[i - 1]->shape[j]);
+                    }
+                }
+            }
+            DL_LOG_NN_LATENCY_END("assert");
+
+            DL_LOG_NN_LATENCY_START();
+            Tensor<feature_t> output;
+            std::vector<int> output_shape = inputs[0]->shape;
+            output_shape[axis] = output_shape_axis;
+            output.set_shape(output_shape);
+            output.set_exponent(inputs[0]->exponent);
+            output.malloc_element();
+            DL_LOG_NN_LATENCY_END("malloc");
+
+            DL_LOG_NN_LATENCY_START();
+            concat(output, inputs, axis, free_inputs);
+            DL_LOG_NN_LATENCY_END("concat");
+            return output;
+        }
+    } // namespace nn
+} // namespace dl

tools/sdk/esp32c3/include/esp-face/include/nn/dl_nn_concat2d.hpp

@@ -0,0 +1,22 @@
+#pragma once
+
+#include <vector>
+#include "dl_variable.hpp"
+
+namespace dl
+{
+    namespace nn
+    {
+        /**
+         * @brief concat2d(input_1, input_2, ...)
+         * 
+         * @tparam feature_t supports int16_t and int8_t,
+         *         - int16_t: stands for operation in int16_t quantize
+         *         - int8_t: stands for operation in int8_t quantize
+         * @param output as an output
+         * @param inputs a bundle of inputs to be concatenated
+         */
+        template <typename feature_t>
+        void concat2d(Tensor<feature_t> &output, std::vector<Tensor<feature_t>> inputs);
+    } // namespace nn
+} // namespace dl

tools/sdk/esp32c3/include/esp-face/include/nn/dl_nn_conv2d.hpp

@@ -0,0 +1,136 @@
+#pragma once
+
+#include "dl_constant.hpp"
+#include "dl_variable.hpp"
+#include "dl_nn.hpp"
+
+namespace dl
+{
+    namespace nn
+    {
+        /**
+         * @brief activation(conv2d(input, filter) + bias).
+         * 
+         * @param output      as an output
+         * @param input       as an input
+         * @param padding     padding size needed in [top, bottom, left, right] of this operation
+         * @param filter      filter of conv2d
+         * @param stride_y    stride in height
+         * @param stride_x    stride in width
+         * @param bias        bias of conv2d, if you don't specify anything, no bias is added
+         * @param activation  activation of conv2d, if you don't specify anything, no activation is applied
+         * @param assign_core not effective yet
+         */
+        void conv2d(Tensor<int16_t> &output,
+                    Tensor<int16_t> &input,
+                    std::vector<int> &padding,
+                    const Filter<int16_t> &filter,
+                    const int stride_y,
+                    const int stride_x,
+                    const Bias<int16_t> *const bias = NULL,
+                    const Activation<int16_t> *const activation = NULL,
+                    const std::vector<int> &assign_core = CONFIG_DEFAULT_ASSIGN_CORE);
+
+        /**
+         * @brief activation(conv2d(input, filter) + bias).
+         * 
+         * @param output      as an output
+         * @param input       as an input
+         * @param padding     padding size needed in [top, bottom, left, right] of this operation
+         * @param filter      filter of conv2d
+         * @param stride_y    stride in height
+         * @param stride_x    stride in width
+         * @param bias        bias of conv2d, if you don't specify anything, no bias is added
+         * @param activation  activation of conv2d, if you don't specify anything, no activation is applied
+         * @param assign_core not effective yet
+         */
+        void conv2d(Tensor<int8_t> &output,
+                    Tensor<int8_t> &input,
+                    std::vector<int> &padding,
+                    const Filter<int8_t> &filter,
+                    const int stride_y,
+                    const int stride_x,
+                    const Bias<int8_t> *const bias = NULL,
+                    const Activation<int8_t> *const activation = NULL,
+                    const std::vector<int> &assign_core = CONFIG_DEFAULT_ASSIGN_CORE);
+
+        /**
+         * @brief activation(conv2d(input, filter) + bias).
+         * 
+         * @param output      as an output
+         * @param input       as an input
+         * @param padding     padding size needed in [top, bottom, left, right] of this operation
+         * @param filter      filter of conv2d
+         * @param stride_y    stride in height
+         * @param stride_x    stride in width
+         * @param bias        bias of conv2d, if you don't specify anything, no bias is added
+         * @param activation  activation of conv2d, if you don't specify anything, no activation is applied
+         * @param assign_core not effective yet
+         */
+        void conv2d(Tensor<int8_t> &output,
+                    Tensor<int8_t> &input,
+                    std::vector<int> &padding,
+                    const Filter<int8_t> &filter,
+                    const int stride_y,
+                    const int stride_x,
+                    const Bias<int16_t> *const bias = NULL,
+                    const Activation<int8_t> *const activation = NULL,
+                    const std::vector<int> &assign_core = CONFIG_DEFAULT_ASSIGN_CORE);
+
+        /**
+         * @brief activation(conv2d(input, filter) + bias).
+         * 
+         * @tparam feature_t supports int16_t and int8_t,
+         *         - int16_t: stands for operation in int16_t quantize
+         *         - int8_t: stands for operation in int8_t quantize
+         * @param output_exponent exponent of output
+         * @param input           as an input
+         * @param filter          Filter of conv2d
+         * @param stride_y        stride in height
+         * @param stride_x        stride in width
+         * @param padding_type    one of PADDING_VALID or PADDING_SAME_END or PADDING_SAME_BEGIN,
+         *                        - PADDING_VALID: no padding
+         *                        PADDING_SAME_END and PADDING_SAME_BEGIN results in padding with zeros evenly to the left/right or up/down of the input 
+         *                        such that output has the same height/width dimension as the input,
+         *                        - PADDING_SAME_END results padding in TensorFlow style
+         *                        - PADDING_SAME_BEGIN results padding in MXNET style
+         * @param bias            bias of conv2d, if you don't specify anything, no bias is added
+         * @param activation      activation of conv2d, if you don't specify anything, no activation is applied
+         * @param assign_core     not effective yet
+         * @return conv2d result
+         */
+        template <typename feature_t, typename bias_t>
+        Tensor<feature_t> conv2d(const int output_exponent,
+                                 Tensor<feature_t> &input,
+                                 const Filter<feature_t> &filter,
+                                 const int stride_y,
+                                 const int stride_x,
+                                 const padding_type_t padding_type,
+                                 const Bias<bias_t> *bias,
+                                 const Activation<feature_t> *activation,
+                                 const std::vector<int> &assign_core = CONFIG_DEFAULT_ASSIGN_CORE)
+        {
+            DL_LOG_NN_LATENCY_INIT();
+
+            DL_LOG_NN_LATENCY_START();
+            std::vector<int> output_shape = get_output_shape(input.shape, filter.shape_with_dilation, stride_y, stride_x, padding_type, true);
+            Tensor<feature_t> output;
+            output.set_exponent(output_exponent).set_shape(output_shape).malloc_element();
+            DL_LOG_NN_LATENCY_END("apply");
+
+            std::vector<int> padding(4, 0);
+            DL_LOG_NN_LATENCY_START();
+            if (padding_type == PADDING_SAME_END || padding_type == PADDING_SAME_BEGIN)
+            {
+                padding = get_pad_size(output_shape, input.shape, filter.shape_with_dilation, stride_y, stride_x, padding_type);
+            }
+            DL_LOG_NN_LATENCY_END("padding");
+
+            DL_LOG_NN_LATENCY_START();
+            conv2d(output, input, padding, filter, stride_y, stride_x, bias, activation, assign_core);
+            DL_LOG_NN_LATENCY_END("conv2d");
+
+            return output;
+        }
+    } // namespace nn
+} // namespace dl

tools/sdk/esp32c3/include/esp-face/include/nn/dl_nn_depthwise_conv2d.hpp

@@ -0,0 +1,137 @@
+#pragma once
+
+#include "dl_constant.hpp"
+#include "dl_variable.hpp"
+#include "dl_nn.hpp"
+
+namespace dl
+{
+    namespace nn
+    {
+        /**
+         * @brief activate(depthwise_conv2d(input, filter) + bias)
+         * 
+         * @param output      as an output
+         * @param input       as an input
+         * @param padding     padding size needed in [top, bottom, left, right] of this operation
+         * @param filter      Filter of depthwise_conv2d
+         * @param stride_y    stride in height
+         * @param stride_x    stride in width
+         * @param bias        bias of depthwise_conv2d, if you don't specify anything, no bias is added
+         * @param activation  activation of depthwise_conv2d, if you don't specify anything, no activation is applied
+         * @param assign_core not effective yet
+         */
+        void depthwise_conv2d(Tensor<int16_t> &output,
+                              Tensor<int16_t> &input,
+                              std::vector<int> &padding,
+                              const Filter<int16_t> &filter,
+                              const int stride_y,
+                              const int stride_x,
+                              const Bias<int16_t> *bias = NULL,
+                              const Activation<int16_t> *activation = NULL,
+                              const std::vector<int> &assign_core = CONFIG_DEFAULT_ASSIGN_CORE);
+
+        /**
+         * @brief activate(depthwise_conv2d(input, filter) + bias)
+         * 
+         * @param output      as an output
+         * @param input       as an input
+         * @param padding     padding size needed in [top, bottom, left, right] of this operation
+         * @param filter      filter of depthwise_conv2d
+         * @param stride_y    stride in height
+         * @param stride_x    stride in width
+         * @param bias        bias of depthwise_conv2d, if you don't specify anything, no bias is added
+         * @param activation  activation of depthwise_conv2d, if you don't specify anything, no activation is applied
+         * @param assign_core not effective yet
+         */
+        void depthwise_conv2d(Tensor<int8_t> &output,
+                              Tensor<int8_t> &input,
+                              std::vector<int> &padding,
+                              const Filter<int8_t> &filter,
+                              const int stride_y,
+                              const int stride_x,
+                              const Bias<int8_t> *bias = NULL,
+                              const Activation<int8_t> *activation = NULL,
+                              const std::vector<int> &assign_core = CONFIG_DEFAULT_ASSIGN_CORE);
+
+        /**
+         * @brief activate(depthwise_conv2d(input, filter) + bias)
+         * 
+         * @param output      as an output
+         * @param input       as an input
+         * @param padding     padding size needed in [top, bottom, left, right] of this operation
+         * @param filter      Filter of depthwise_conv2d
+         * @param stride_y    stride in height
+         * @param stride_x    stride in width
+         * @param bias        bias of depthwise_conv2d, if you don't specify anything, no bias is added
+         * @param activation  activation of depthwise_conv2d, if you don't specify anything, no activation is applied
+         * @param assign_core not effective yet
+         */
+        void depthwise_conv2d(Tensor<int8_t> &output,
+                              Tensor<int8_t> &input,
+                              std::vector<int> &padding,
+                              const Filter<int8_t> &filter,
+                              const int stride_y,
+                              const int stride_x,
+                              const Bias<int16_t> *bias = NULL,
+                              const Activation<int8_t> *activation = NULL,
+                              const std::vector<int> &assign_core = CONFIG_DEFAULT_ASSIGN_CORE);
+
+        /**
+         * @brief activation(depthwise_conv2d(input, filter) + bias)
+         * 
+         * @tparam feature_t supports int16_t and int8_t,
+         *         - int16_t: stands for operation in int16_t quantize
+         *         - int8_t: stands for operation in int8_t quantize
+         * @param output_exponent exponent of output
+         * @param input           as an input
+         * @param filter          filter of depthwise_conv2d
+         * @param stride_y        stride in height
+         * @param stride_x        stride in width
+         * @param pad_type        one of PADDING_VALID or PADDING_SAME_END or PADDING_SAME_BEGIN,
+         *                        - PADDING_VALID means no padding
+         *                        PADDING_SAME_END and PADDING_SAME_BEGIN results in padding with zeros evenly to the left/right or up/down of the input 
+         *                        such that output has the same height/width dimension as the input,
+         *                        - PADDING_SAME_END results padding in TensorFlow style
+         *                        - PADDING_SAME_BEGIN results padding in MXNET style
+         * @param bias            bias of depthwise_conv2d, if you don't specify anything, no bias is added
+         * @param activation      activation of depthwise_conv2d, if you don't specify anything, no activation is applied
+         * @param assign_core     not effective yet
+         * @return depthwise_conv2d result
+         */
+        template <typename feature_t, typename bias_t>
+        Tensor<feature_t> depthwise_conv2d(const int output_exponent,
+                                           Tensor<feature_t> &input,
+                                           const Filter<feature_t> &filter,
+                                           const int stride_y,
+                                           const int stride_x,
+                                           const padding_type_t padding_type,
+                                           const Bias<bias_t> *bias,
+                                           const Activation<feature_t> *activation,
+                                           const std::vector<int> &assign_core = CONFIG_DEFAULT_ASSIGN_CORE)
+        {
+            DL_LOG_NN_LATENCY_INIT();
+
+            DL_LOG_NN_LATENCY_START();
+            std::vector<int> output_shape = get_output_shape(input.shape, filter.shape_with_dilation, stride_y, stride_x, padding_type);
+            Tensor<feature_t> output;
+            output.set_exponent(output_exponent).set_shape(output_shape).malloc_element();
+            DL_LOG_NN_LATENCY_END("apply");
+
+            std::vector<int> padding(4, 0);
+
+            DL_LOG_NN_LATENCY_START();
+            if (padding_type == PADDING_SAME_END || padding_type == PADDING_SAME_BEGIN)
+            {
+                padding = get_pad_size(output_shape, input.shape, filter.shape_with_dilation, stride_y, stride_x, padding_type);
+            }
+            DL_LOG_NN_LATENCY_END("padding");
+
+            DL_LOG_NN_LATENCY_START();
+            depthwise_conv2d(output, input, padding, filter, stride_y, stride_x, bias, activation, assign_core);
+            DL_LOG_NN_LATENCY_END("depthwise_conv2d");
+
+            return output;
+        }
+    } // namespace nn
+} // namespace dl

tools/sdk/esp32c3/include/esp-face/include/nn/dl_nn_fully_connected.hpp

@@ -0,0 +1,126 @@
+#pragma once
+
+#include "dl_constant.hpp"
+#include "dl_variable.hpp"
+#include "dl_nn.hpp"
+
+namespace dl
+{
+    namespace nn
+    {
+        /**
+         * @brief activation(FullyConnected(input, filter) + bias).
+         * 
+         * @param output      as an output
+         * @param input       as an input
+         * @param filter      filter of FullyConnected
+         * @param bias        bias of FullyConnected, if you don't specify anything, no bias is added
+         * @param activation  activation of FullyConnected, if you don't specify anything, no activation is applied
+         * @param flatten     true: input shape is [x1, x2, ..., xn], filter shape is [1, 1, x1 * x2 * ... * xn, output_dim], output shape is [output_dim]
+         *                    false: input shape is [x1, x2, ..., xn, input_dim], filter shape is [1, 1, input_dim, output_dim], output shape is [x1, x2, ...., xn, output_dim]
+         * @param assign_core not effective yet
+         */
+        void fully_connected(Tensor<int16_t> &output,
+                             Tensor<int16_t> &input,
+                             const Filter<int16_t> &filter,
+                             const Bias<int16_t> *const bias = NULL,
+                             const Activation<int16_t> *const activation = NULL,
+                             const bool flatten = true,
+                             const std::vector<int> &assign_core = CONFIG_DEFAULT_ASSIGN_CORE);
+
+        /**
+         * @brief activation(FullyConnected(input, filter) + bias).
+         * 
+         * @param output      as an output
+         * @param input       as an input
+         * @param filter      filter of FullyConnected
+         * @param bias        bias of FullyConnected, if you don't specify anything, no bias is added
+         * @param activation  activation of FullyConnected, if you don't specify anything, no activation is applied
+         * @param flatten     true: input shape is [x1, x2, ..., xn], filter shape is [1, 1, x1 * x2 * ... * xn, output_dim], output shape is [output_dim]
+         *                    false: input shape is [x1, x2, ..., xn, input_dim], filter shape is [1, 1, input_dim, output_dim], output shape is [x1, x2, ...., xn, output_dim]
+         * @param assign_core not effective yet
+         */
+        void fully_connected(Tensor<int8_t> &output,
+                             Tensor<int8_t> &input,
+                             const Filter<int8_t> &filter,
+                             const Bias<int8_t> *const bias = NULL,
+                             const Activation<int8_t> *const activation = NULL,
+                             const bool flatten = true,
+                             const std::vector<int> &assign_core = CONFIG_DEFAULT_ASSIGN_CORE);
+
+        /**
+         * @brief activation(FullyConnected(input, filter) + bias).
+         * 
+         * @param output      as an output
+         * @param input       as an input
+         * @param filter      filter of FullyConnected
+         * @param bias        bias of FullyConnected, if you don't specify anything, no bias is added
+         * @param activation  activation of FullyConnected, if you don't specify anything, no activation is applied
+         * @param flatten     true: input shape is [x1, x2, ..., xn], filter shape is [1, 1, x1 * x2 * ... * xn, output_dim], output shape is [output_dim]
+         *                    false: input shape is [x1, x2, ..., xn, input_dim], filter shape is [1, 1, input_dim, output_dim], output shape is [x1, x2, ...., xn, output_dim]
+         * @param assign_core not effective yet
+         */
+        void fully_connected(Tensor<int8_t> &output,
+                             Tensor<int8_t> &input,
+                             const Filter<int8_t> &filter,
+                             const Bias<int16_t> *const bias = NULL,
+                             const Activation<int8_t> *const activation = NULL,
+                             const bool flatten = true,
+                             const std::vector<int> &assign_core = CONFIG_DEFAULT_ASSIGN_CORE);
+
+        /**
+         * @brief activation(FullyConnected(input, filter) + bias).
+         * 
+         * @tparam feature_t supports int16_t and int8_t,
+         *         - int16_t: stands for operation in int16_t quantize
+         *         - int8_t: stands for operation in int8_t quantize
+         * @param output_exponent exponent of output
+         * @param input           as an input
+         * @param filter          Filter of FullyConnected
+         * @param bias            bias of FullyConnected, if you don't specify anything, no bias is added
+         * @param activation      activation of FullyConnected, if you don't specify anything, no activation is applied
+         * @param flatten         true: input shape is [x1, x2, ..., xn], filter shape is [1, 1, x1 * x2 * ... * xn, output_dim], output shape is [output_dim]
+         *                        false: input shape is [x1, x2, ..., xn, input_dim], filter shape is [1, 1, input_dim, output_dim], output shape is [x1, x2, ...., xn, output_dim]
+         * @param assign_core     not effective yet
+         * @return FullyConnected result
+         */
+        template <typename feature_t>
+        Tensor<feature_t> fully_connected(const int output_exponent,
+                                          Tensor<feature_t> &input,
+                                          const Filter<feature_t> &filter,
+                                          const Bias<feature_t> *bias,
+                                          const Activation<feature_t> *activation,
+                                          const bool flatten,
+                                          const std::vector<int> &assign_core = CONFIG_DEFAULT_ASSIGN_CORE)
+        {
+            DL_LOG_NN_LATENCY_INIT();
+
+            DL_LOG_NN_LATENCY_START();
+            assert(filter.shape.size() == 4);
+            assert(filter.shape[0] == 1);
+            assert(filter.shape[1] == 1);
+
+            std::vector<int> output_shape;
+            if (flatten)
+            {
+                assert(input.get_size() == filter.shape[2]);
+                output_shape = {filter.shape.back()};
+            }
+            else
+            {
+                assert(input.shape.back() == filter->shape[2]);
+                output_shape = input.shape;
+                output_shape[output_shape.size() - 1] = filter.shape.back();
+            }
+            Tensor<feature_t> output;
+            output.set_exponent(output_exponent).set_shape(output_shape).malloc_element();
+            DL_LOG_NN_LATENCY_END("apply");
+
+            DL_LOG_NN_LATENCY_START();
+            fully_connected(output, input, filter, bias, activation, flatten, assign_core);
+            DL_LOG_NN_LATENCY_END("fully_connected");
+
+            return output;
+        }
+    } // namespace nn
+} // namespace dl

tools/sdk/esp32c3/include/esp-face/include/nn/dl_nn_global_avg_pool2d.hpp

@@ -0,0 +1,66 @@
+#pragma once
+
+#include "dl_constant.hpp"
+#include "dl_variable.hpp"
+#include "dl_nn.hpp"
+#include <stdint.h>
+
+namespace dl
+{
+    namespace nn
+    {
+        /**
+         * @brief global_avg_pool2d(input).
+         * 
+         * @param output        as an output
+         * @param input         as an input
+         * @param assign_core   not effective yet
+         */
+        void global_avg_pool2d(Tensor<int16_t> &output,
+                               Tensor<int16_t> &input,
+                               const std::vector<int> &assign_core = CONFIG_DEFAULT_ASSIGN_CORE);
+
+        /**
+         * @brief global_avg_pool2d(input).
+         * 
+         * @param output        as an output
+         * @param input         as an input
+         * @param assign_core   not effective yet
+         */
+        void global_avg_pool2d(Tensor<int8_t> &output,
+                               Tensor<int8_t> &input,
+                               const std::vector<int> &assign_core = CONFIG_DEFAULT_ASSIGN_CORE);
+
+        /**
+         * @brief global_avg_pool2d(input).
+         * 
+         * @tparam feature_t supports int16_t and int8_t,
+         *         - int16_t: stands for operation in int16_t quantize
+         *         - int8_t: stands for operation in int8_t quantize
+         * @param output_exponent exponent of output
+         * @param input           as an input
+         * @param assign_core     not effective yet
+         * @return global_avg_pool2d result
+         */
+        template <typename feature_t>
+        Tensor<feature_t> global_avg_pool2d(const int output_exponent,
+                                            Tensor<feature_t> &input,
+                                            const std::vector<int> &assign_core = CONFIG_DEFAULT_ASSIGN_CORE)
+        {
+            DL_LOG_NN_LATENCY_INIT();
+
+            DL_LOG_NN_LATENCY_START();
+            std::vector<int> output_shape(input.shape.size(), 1);
+            output_shape[2] = input.shape[2];
+            Tensor<feature_t> output;
+            output.set_exponent(output_exponent).set_shape(output_shape).malloc_element();
+            DL_LOG_NN_LATENCY_END("apply");
+
+            DL_LOG_NN_LATENCY_START();
+            global_avg_pool2d(output, input, assign_core);
+            DL_LOG_NN_LATENCY_END("global_avg_pool2d");
+
+            return output;
+        }
+    } // namespace nn
+} // namespace dl

tools/sdk/esp32c3/include/esp-face/include/nn/dl_nn_global_max_pool2d.hpp

@@ -0,0 +1,64 @@
+#pragma once
+
+#include "dl_constant.hpp"
+#include "dl_variable.hpp"
+#include "dl_nn.hpp"
+#include <stdint.h>
+
+namespace dl
+{
+    namespace nn
+    {
+        /**
+         * @brief global_max_pool2d(input).
+         * 
+         * @param output       as an output
+         * @param input        as an input
+         * @param assign_core  not effective yet
+         */
+        void global_max_pool2d(Tensor<int16_t> &output,
+                               Tensor<int16_t> &input,
+                               const std::vector<int> &assign_core = CONFIG_DEFAULT_ASSIGN_CORE);
+
+        /**
+         * @brief global_max_pool2d(input).
+         * 
+         * @param output       as an output
+         * @param input        as an input
+         * @param assign_core  not effective yet
+         */
+        void global_max_pool2d(Tensor<int8_t> &output,
+                               Tensor<int8_t> &input,
+                               const std::vector<int> &assign_core = CONFIG_DEFAULT_ASSIGN_CORE);
+
+        /**
+         * @brief global_max_pool2d(input).
+         * 
+         * @tparam feature_t supports int16_t and int8_t,
+         *         - int16_t: stands for operation in int16_t quantize
+         *         - int8_t: stands for operation in int8_t quantize
+         * @param input        as an input
+         * @param assign_core  not effective yet
+         * @return global_max_pool2d result
+         */
+        template <typename feature_t>
+        Tensor<feature_t> global_max_pool2d(Tensor<feature_t> &input,
+                                            const std::vector<int> &assign_core = CONFIG_DEFAULT_ASSIGN_CORE)
+        {
+            DL_LOG_NN_LATENCY_INIT();
+
+            DL_LOG_NN_LATENCY_START();
+            std::vector<int> output_shape(input.shape.size(), 1);
+            output_shape[2] = input.shape[2];
+            Tensor<feature_t> output;
+            output.set_exponent(input.exponent).set_shape(output_shape).malloc_element();
+            DL_LOG_NN_LATENCY_END("apply");
+
+            DL_LOG_NN_LATENCY_START();
+            global_max_pool2d(output, input, assign_core);
+            DL_LOG_NN_LATENCY_END("global_max_pool2d");
+
+            return output;
+        }
+    } // namespace nn
+} // namespace dl

tools/sdk/esp32c3/include/esp-face/include/nn/dl_nn_leakyrelu.hpp

@@ -0,0 +1,82 @@
+#pragma once
+
+#include "dl_constant.hpp"
+#include "dl_variable.hpp"
+#include "dl_nn.hpp"
+
+namespace dl
+{
+    namespace nn
+    {
+        /**
+         * @brief leakyrelu(input).
+         * 
+         * @param output                as an output
+         * @param input                 as an input
+         * @param activation_alpha      quantized alpha
+         * @param activation_exponent   exponent of quantized alpha
+         * @param assign_core not effective yet
+         */
+        void leakyrelu(Tensor<int16_t> &output,
+                       Tensor<int16_t> &input,
+                       const int16_t activation_alpha,
+                       const int activation_exponent,
+                       const std::vector<int> &assign_core = CONFIG_DEFAULT_ASSIGN_CORE);
+
+        /**
+         * @brief leakyrelu(input).
+         * 
+         * @param output                as an output
+         * @param input                 as an input
+         * @param activation_alpha      quantized alpha
+         * @param activation_exponent   exponent of quantized alpha
+         * @param assign_core not effective yet
+         */
+        void leakyrelu(Tensor<int8_t> &output,
+                       Tensor<int8_t> &input,
+                       const int8_t activation_alpha,
+                       const int activation_exponent,
+                       const std::vector<int> &assign_core = CONFIG_DEFAULT_ASSIGN_CORE);
+
+        /**
+         * @brief leakyrelu(input)
+         * 
+         * @tparam inplace: whether directly store the output to input
+         * @tparam feature_t supports int16_t and int8_t,
+         *         - int16_t: stands for operation in int16_t quantize
+         *         - int8_t: stands for operation in int8_t quantize
+         * @param input                 as an input
+         * @param activation_alpha      quantized alpha
+         * @param activation_exponent   exponent of quantized alpha
+         * @param assign_core           not effective yet
+         * @return leakyrelu result or no return(result store to input)
+         */
+        template <bool inplace = false, typename feature_t>
+        auto leakyrelu(Tensor<feature_t> &input,
+                       const int activation_alpha,
+                       const int activation_exponent,
+                       const std::vector<int> &assign_core = CONFIG_DEFAULT_ASSIGN_CORE) -> typename std::conditional<inplace, void, Tensor<feature_t>>::type
+        {
+            DL_LOG_NN_LATENCY_INIT();
+            Tensor<feature_t> output;
+            if constexpr (!inplace)
+            {
+                DL_LOG_NN_LATENCY_START();
+                output.set_exponent(input.exponent).set_shape(input.shape).malloc_element();
+                DL_LOG_NN_LATENCY_END("apply");
+
+                DL_LOG_NN_LATENCY_START();
+                leakyrelu(output, input, activation_alpha, activation_exponent, assign_core);
+                DL_LOG_NN_LATENCY_END("leakyrelu");
+
+                return output;
+            }
+            else
+            {
+                DL_LOG_NN_LATENCY_START();
+                leakyrelu(input, input, activation_alpha, activation_exponent, assign_core);
+                DL_LOG_NN_LATENCY_END("leakyrelu");
+            }
+        }
+    } // namespace nn
+} // namespace dl

tools/sdk/esp32c3/include/esp-face/include/nn/dl_nn_max2d.hpp

@@ -0,0 +1,81 @@
+#pragma once
+
+#include "dl_constant.hpp"
+#include "dl_variable.hpp"
+#include "dl_nn.hpp"
+
+namespace dl
+{
+    namespace nn
+    {
+        /**
+         * @brief max2d(input0, input1) 
+         * 
+         * @param output            as an output
+         * @param input0            as one input
+         * @param input1            as another input
+         * @param assign_core       not effective yet
+         */
+        void max2d(Tensor<int16_t> &output,
+                   Tensor<int16_t> &input0,
+                   Tensor<int16_t> &input1,
+                   const std::vector<int> &assign_core = CONFIG_DEFAULT_ASSIGN_CORE);
+
+        /**
+         * @brief max2d(input0, input1)  
+         * 
+         * @param output            as an output
+         * @param input0            as one input
+         * @param input1            as another input
+         * @param assign_core       not effective yet 
+         * @param output_exponent   exponent of output, only and must specify if inplace operation happens
+         */
+        void max2d(Tensor<int8_t> &output,
+                   Tensor<int8_t> &input0,
+                   Tensor<int8_t> &input1,
+                   const std::vector<int> &assign_core = CONFIG_DEFAULT_ASSIGN_CORE);
+
+        /**
+         * @brief max2d(input0, input1)
+         *
+         * @tparam inplace: whether directly store the output to input0 
+         * @tparam feature_t supports int16_t and int8_t,
+         *         - int16_t: stands for operation in int16_t quantize
+         *         - int8_t: stands for operation in int8_t quantize
+         * @param input0          as one input
+         * @param input1          as another input
+         * @param assign_core     not effective yet
+         * @return max2d result or no return(result store to input0)
+         */
+        template <bool inplace = false, typename feature_t>
+        auto max2d(Tensor<feature_t> &input0,
+                   Tensor<feature_t> &input1,
+                   const std::vector<int> &assign_core = CONFIG_DEFAULT_ASSIGN_CORE) -> typename std::conditional<inplace, void, Tensor<feature_t>>::type
+        {
+            assert(input0.is_same_shape(input1));
+            assert(input0.exponent == input1.exponent);
+
+            DL_LOG_NN_LATENCY_INIT();
+            Tensor<feature_t> output;
+
+            if constexpr (!inplace)
+            {
+                DL_LOG_NN_LATENCY_START();
+                output.set_exponent(input0.exponent).set_shape(input0.shape).malloc_element();
+                DL_LOG_NN_LATENCY_END("apply");
+
+                DL_LOG_NN_LATENCY_START();
+                max2d(output, input0, input1, assign_core);
+                DL_LOG_NN_LATENCY_END("max2d");
+
+                return output;
+            }
+            else
+            {
+                DL_LOG_NN_LATENCY_START();
+                max2d(input0, input0, input1, assign_core);
+                DL_LOG_NN_LATENCY_END("max2d");
+            }
+        }
+    } // namespace nn
+} // namespace dl

tools/sdk/esp32c3/include/esp-face/include/nn/dl_nn_max_pool2d.hpp

@@ -0,0 +1,101 @@
+#pragma once
+
+#include "dl_constant.hpp"
+#include "dl_variable.hpp"
+#include "dl_nn.hpp"
+#include <stdint.h>
+
+namespace dl
+{
+    namespace nn
+    {
+        /**
+         * @brief max_pool2d(input).
+         * 
+         * @param output       as an output
+         * @param input        as an input
+         * @param padding      padding size needed in [top, bottom, left, right] of this operation
+         * @param filter_shape filter shape in [filter_height, filter_width]
+         * @param stride_y     stride in height
+         * @param stride_x     stride in width
+         * @param assign_core  not effective yet
+         */
+        void max_pool2d(Tensor<int16_t> &output,
+                        Tensor<int16_t> &input,
+                        std::vector<int> &padding,
+                        std::vector<int> &filter_shape,
+                        const int stride_y,
+                        const int stride_x,
+                        const std::vector<int> &assign_core = CONFIG_DEFAULT_ASSIGN_CORE);
+
+        /**
+         * @brief max_pool2d(input).
+         * 
+         * @param output       as an output
+         * @param input        as an input
+         * @param padding      padding size needed in [top, bottom, left, right] of this operation
+         * @param filter_shape filter shape in [filter_height, filter_width]
+         * @param stride_y     stride in height
+         * @param stride_x     stride in width
+         * @param assign_core  not effective yet
+         */
+        void max_pool2d(Tensor<int8_t> &output,
+                        Tensor<int8_t> &input,
+                        std::vector<int> &padding,
+                        std::vector<int> &filter_shape,
+                        const int stride_y,
+                        const int stride_x,
+                        const std::vector<int> &assign_core = CONFIG_DEFAULT_ASSIGN_CORE);
+
+        /**
+         * @brief max_pool2d(input).
+         * 
+         * @tparam feature_t supports int16_t and int8_t,
+         *         - int16_t: stands for operation in int16_t quantize
+         *         - int8_t: stands for operation in int8_t quantize
+         * @param input        as an input
+         * @param filter_shape filter shape in [filter_height, filter_width]
+         * @param stride_y     stride in height
+         * @param stride_x     stride in width
+         * @param padding_type one of PADDING_VALID or PADDING_SAME_END or PADDING_SAME_BEGIN,
+         *                     - PADDING_VALID: no padding
+         *                     PADDING_SAME_END and PADDING_SAME_BEGIN results in padding with zeros evenly to the left/right or up/down of the input 
+         *                     such that output has the same height/width dimension as the input,
+         *                     - PADDING_SAME_END results padding in TensorFlow style
+         *                     - PADDING_SAME_BEGIN results padding in MXNET style
+         * @param assign_core  not effective yet
+         * @return max_pool2d result
+         */
+        template <typename feature_t>
+        Tensor<feature_t> max_pool2d(Tensor<feature_t> &input,
+                                     std::vector<int> filter_shape,
+                                     const int stride_y,
+                                     const int stride_x,
+                                     const padding_type_t padding_type,
+                                     const std::vector<int> &assign_core = CONFIG_DEFAULT_ASSIGN_CORE)
+        {
+            DL_LOG_NN_LATENCY_INIT();
+
+            DL_LOG_NN_LATENCY_START();
+            std::vector<int> output_shape = get_output_shape(input.shape, filter_shape, stride_y, stride_x, padding_type);
+            Tensor<feature_t> output;
+            output.set_exponent(input.exponent).set_shape(output_shape).malloc_element();
+            DL_LOG_NN_LATENCY_END("apply");
+
+            std::vector<int> padding(4, 0);
+
+            DL_LOG_NN_LATENCY_START();
+            if (padding_type == PADDING_SAME_END || padding_type == PADDING_SAME_BEGIN)
+            {
+                padding = get_pad_size(output_shape, input.shape, filter_shape, stride_y, stride_x, padding_type);
+            }
+            DL_LOG_NN_LATENCY_END("padding");
+
+            DL_LOG_NN_LATENCY_START();
+            max_pool2d(output, input, padding, filter_shape, stride_y, stride_x, assign_core);
+            DL_LOG_NN_LATENCY_END("max_pool2d");
+
+            return output;
+        }
+    } // namespace nn
+} // namespace dl

tools/sdk/esp32c3/include/esp-face/include/nn/dl_nn_min2d.hpp

@@ -0,0 +1,80 @@
+#pragma once
+
+#include "dl_constant.hpp"
+#include "dl_variable.hpp"
+#include "dl_nn.hpp"
+
+namespace dl
+{
+    namespace nn
+    {
+        /**
+         * @brief min2d(input0, input1) 
+         * 
+         * @param output      as an output
+         * @param input0      as one input
+         * @param input1      as another input
+         * @param assign_core 
+         */
+        void min2d(Tensor<int16_t> &output,
+                   Tensor<int16_t> &input0,
+                   Tensor<int16_t> &input1,
+                   const std::vector<int> &assign_core = CONFIG_DEFAULT_ASSIGN_CORE);
+
+        /**
+         * @brief min2d(input0, input1)  
+         * 
+         * @param output      as an output
+         * @param input0      as one input
+         * @param input1      as another input
+         * @param assign_core 
+         */
+        void min2d(Tensor<int8_t> &output,
+                   Tensor<int8_t> &input0,
+                   Tensor<int8_t> &input1,
+                   const std::vector<int> &assign_core = CONFIG_DEFAULT_ASSIGN_CORE);
+
+        /**
+         * @brief min2d(input0, input1)
+         * 
+         * @tparam inplace: whether directly store the output to input0
+         * @tparam feature_t supports int16_t and int8_t,
+         *         - int16_t: stands for operation in int16_t quantize
+         *         - int8_t: stands for operation in int8_t quantize
+         * @param input0          as one input
+         * @param input1          as another input
+         * @param assign_core     not effective yet
+         * @return min2d result or no return(result store to input0)
+         */
+        template <bool inplace = false, typename feature_t>
+        auto min2d(Tensor<feature_t> &input0,
+                   Tensor<feature_t> &input1,
+                   const std::vector<int> &assign_core = CONFIG_DEFAULT_ASSIGN_CORE) -> typename std::conditional<inplace, void, Tensor<feature_t>>::type
+        {
+            assert(input0.is_same_shape(input1));
+            assert(input0.exponent == input1.exponent);
+
+            DL_LOG_NN_LATENCY_INIT();
+            Tensor<feature_t> output;
+
+            if constexpr (!inplace)
+            {
+                DL_LOG_NN_LATENCY_START();
+                output.set_exponent(input0.exponent).set_shape(input0.shape).malloc_element();
+                DL_LOG_NN_LATENCY_END("apply");
+
+                DL_LOG_NN_LATENCY_START();
+                min2d(output, input0, input1, assign_core);
+                DL_LOG_NN_LATENCY_END("min2d");
+
+                return output;
+            }
+            else
+            {
+                DL_LOG_NN_LATENCY_START();
+                min2d(input0, input0, input1, assign_core);
+                DL_LOG_NN_LATENCY_END("min2d");
+            }
+        }
+    } // namespace nn
+} // namespace dl

tools/sdk/esp32c3/include/esp-face/include/nn/dl_nn_mul2d.hpp

@@ -0,0 +1,91 @@
+#pragma once
+
+#include "dl_constant.hpp"
+#include "dl_variable.hpp"
+#include "dl_nn.hpp"
+
+namespace dl
+{
+    namespace nn
+    {
+        /**
+         * @brief activation(mul2d(input0, input1)).
+         * 
+         * @param output            as an output
+         * @param input0            as one input
+         * @param input1            as another input
+         * @param activation        activation of mul2d, if you don't specify anything, no activation is applied
+         * @param assign_core       not effective yet
+         * @param output_exponent   exponent of output, only and must specify if inplace operation happens
+         */
+        void mul2d(Tensor<int16_t> &output,
+                   Tensor<int16_t> &input0,
+                   Tensor<int16_t> &input1,
+                   const Activation<int16_t> *const activation = NULL,
+                   const std::vector<int> &assign_core = CONFIG_DEFAULT_ASSIGN_CORE,
+                   const int output_exponent = INT_MIN);
+
+        /**
+         * @brief activation(mul2d(input0, input1)).
+         * 
+         * @param output            as an output
+         * @param input0            as one input
+         * @param input1            as another input
+         * @param activation        activation of mul2d, if you don't specify anything, no activation is applied
+         * @param assign_core       not effective yet
+         * @param output_exponent   exponent of output, only and must specify if inplace operation happens
+         */
+        void mul2d(Tensor<int8_t> &output,
+                   Tensor<int8_t> &input0,
+                   Tensor<int8_t> &input1,
+                   const Activation<int8_t> *const activation = NULL,
+                   const std::vector<int> &assign_core = CONFIG_DEFAULT_ASSIGN_CORE,
+                   const int output_exponent = INT_MIN);
+
+        /**
+         * @brief activation(mul2d(input0, input1)).
+         * 
+         * @tparam inplace: whether directly store the output to input0
+         * @tparam feature_t supports int16_t and int8_t,
+         *         - int16_t: stands for operation in int16_t quantize
+         *         - int8_t: stands for operation in int8_t quantize
+         * @param output_exponent exponent of output
+         * @param input0          as one input
+         * @param input1          as another input
+         * @param activation      activation of mul2d, if you don't specify anything, no activation is applied
+         * @param assign_core     not effective yet
+         * @return mul2d result or no return(result store to input0)
+         */
+        template <bool inplace = false, typename feature_t>
+        auto mul2d(const int output_exponent,
+                   Tensor<feature_t> &input0,
+                   Tensor<feature_t> &input1,
+                   const Activation<feature_t> *activation,
+                   const std::vector<int> &assign_core = CONFIG_DEFAULT_ASSIGN_CORE) -> typename std::conditional<inplace, void, Tensor<feature_t>>::type
+        {
+            assert(input0.is_same_shape(input1));
+
+            DL_LOG_NN_LATENCY_INIT();
+            Tensor<feature_t> output;
+
+            if constexpr (!inplace)
+            {
+                DL_LOG_NN_LATENCY_START();
+                output.set_exponent(output_exponent).set_shape(input0.shape).malloc_element();
+                DL_LOG_NN_LATENCY_END("apply");
+
+                DL_LOG_NN_LATENCY_START();
+                mul2d(output, input0, input1, activation, assign_core);
+                DL_LOG_NN_LATENCY_END("mul2d");
+
+                return output;
+            }
+            else
+            {
+                DL_LOG_NN_LATENCY_START();
+                mul2d(input0, input0, input1, activation, assign_core, output_exponent);
+                DL_LOG_NN_LATENCY_END("mul2d");
+            }
+        }
+    } // namespace nn
+} // namespace dl

tools/sdk/esp32c3/include/esp-face/include/nn/dl_nn_prelu.hpp

@@ -0,0 +1,82 @@
+#pragma once
+
+#include "dl_constant.hpp"
+#include "dl_variable.hpp"
+#include "dl_nn.hpp"
+
+namespace dl
+{
+    namespace nn
+    {
+        /**
+         * @brief prelu(input).
+         * 
+         * @param output                as an output
+         * @param input                 as an input
+         * @param activation_element    quantized alpha elements along channel axis
+         * @param activation_exponent   exponent of quantized alpha elements
+         * @param assign_core not effective yet
+         */
+        void prelu(Tensor<int16_t> &output,
+                   Tensor<int16_t> &input,
+                   const int16_t *activation_element,
+                   const int activation_exponent,
+                   const std::vector<int> &assign_core = CONFIG_DEFAULT_ASSIGN_CORE);
+
+        /**
+         * @brief prelu(input).
+         * 
+         * @param output                as an output
+         * @param input                 as an input
+         * @param activation_element    quantized alpha elements along channel axis
+         * @param activation_exponent   exponent of quantized alpha elements
+         * @param assign_core not effective yet
+         */
+        void prelu(Tensor<int8_t> &output,
+                   Tensor<int8_t> &input,
+                   const int8_t *activation_element,
+                   const int activation_exponent,
+                   const std::vector<int> &assign_core = CONFIG_DEFAULT_ASSIGN_CORE);
+
+        /**
+         * @brief prelu(input)
+         * 
+         * @tparam inplace: whether directly store the output to input
+         * @tparam feature_t supports int16_t and int8_t,
+         *         - int16_t: stands for operation in int16_t quantize
+         *         - int8_t: stands for operation in int8_t quantize
+         * @param input                 as an input
+         * @param activation_element    quantized alpha elements along channel axis
+         * @param activation_exponent   exponent of quantized alpha elements
+         * @param assign_core           not effective yet
+         * @return prelu result or no return(result store to input)
+         */
+        template <bool inplace = false, typename feature_t>
+        auto prelu(Tensor<feature_t> &input,
+                   const feature_t *activation_element,
+                   const int activation_exponent,
+                   const std::vector<int> &assign_core = CONFIG_DEFAULT_ASSIGN_CORE) -> typename std::conditional<inplace, void, Tensor<feature_t>>::type
+        {
+            DL_LOG_NN_LATENCY_INIT();
+            Tensor<feature_t> output;
+            if constexpr (!inplace)
+            {
+                DL_LOG_NN_LATENCY_START();
+                output.set_exponent(input.exponent).set_shape(input.shape).malloc_element();
+                DL_LOG_NN_LATENCY_END("apply");
+
+                DL_LOG_NN_LATENCY_START();
+                prelu(output, input, activation_element, activation_exponent, assign_core);
+                DL_LOG_NN_LATENCY_END("prelu");
+
+                return output;
+            }
+            else
+            {
+                DL_LOG_NN_LATENCY_START();
+                prelu(input, input, activation_element, activation_exponent, assign_core);
+                DL_LOG_NN_LATENCY_END("prelu");
+            }
+        }
+    } // namespace nn
+} // namespace dl

tools/sdk/esp32c3/include/esp-face/include/nn/dl_nn_relu.hpp

@@ -0,0 +1,70 @@
+#pragma once
+
+#include "dl_constant.hpp"
+#include "dl_variable.hpp"
+#include "dl_nn.hpp"
+
+namespace dl
+{
+    namespace nn
+    {
+        /**
+         * @brief relu(input).
+         * 
+         * @param output      as an output
+         * @param input       as an input
+         * @param assign_core not effective yet
+         */
+        void relu(Tensor<int16_t> &output,
+                  Tensor<int16_t> &input,
+                  const std::vector<int> &assign_core = CONFIG_DEFAULT_ASSIGN_CORE);
+
+        /**
+         * @brief relu(input).
+         * 
+         * @param output      as an output
+         * @param input       as an input
+         * @param assign_core not effective yet
+         */
+        void relu(Tensor<int8_t> &output,
+                  Tensor<int8_t> &input,
+                  const std::vector<int> &assign_core = CONFIG_DEFAULT_ASSIGN_CORE);
+
+        /**
+         * @brief relu(input)
+         * 
+         * @tparam inplace: whether directly store the output to input
+         * @tparam feature_t supports int16_t and int8_t,
+         *         - int16_t: stands for operation in int16_t quantize
+         *         - int8_t: stands for operation in int8_t quantize
+         * @param input           as an input
+         * @param assign_core     not effective yet
+         * @return relu result or no return(result store to input)
+         */
+        template <bool inplace = false, typename feature_t>
+        auto relu(Tensor<feature_t> &input, const std::vector<int> &assign_core = CONFIG_DEFAULT_ASSIGN_CORE) -> typename std::conditional<inplace, void, Tensor<feature_t>>::type
+        {
+            DL_LOG_NN_LATENCY_INIT();
+            Tensor<feature_t> output;
+
+            if constexpr (!inplace)
+            {
+                DL_LOG_NN_LATENCY_START();
+                output.set_exponent(input.exponent).set_shape(input.shape).malloc_element();
+                DL_LOG_NN_LATENCY_END("apply");
+
+                DL_LOG_NN_LATENCY_START();
+                relu(output, input, assign_core);
+                DL_LOG_NN_LATENCY_END("relu");
+
+                return output;
+            }
+            else
+            {
+                DL_LOG_NN_LATENCY_START();
+                relu(input, input, assign_core);
+                DL_LOG_NN_LATENCY_END("relu");
+            }
+        }
+    } // namespace nn
+} // namespace dl

tools/sdk/esp32c3/include/esp-face/include/nn/dl_nn_sub2d.hpp

@@ -0,0 +1,90 @@
+#pragma once
+
+#include "dl_constant.hpp"
+#include "dl_variable.hpp"
+#include "dl_nn.hpp"
+
+namespace dl
+{
+    namespace nn
+    {
+        /**
+         * @brief activation(sub2d(input0, input1)).
+         * 
+         * @param output      as an output
+         * @param input0      as one input
+         * @param input1      as another input
+         * @param activation  activation of sub2d, if you don't specify anything, no activation is applied
+         * @param assign_core not effective yet
+         * @param output_exponent   exponent of output, only and must specify if inplace operation happens 
+         */
+        void sub2d(Tensor<int16_t> &output,
+                   Tensor<int16_t> &input0,
+                   Tensor<int16_t> &input1,
+                   const Activation<int16_t> *const activation = NULL,
+                   const std::vector<int> &assign_core = CONFIG_DEFAULT_ASSIGN_CORE,
+                   const int output_exponent = INT_MIN);
+
+        /**
+         * @brief activation(sub2d(input0, input1)).
+         * 
+         * @param output      as an output
+         * @param input0      as one input
+         * @param input1      as another input
+         * @param activation  activation of sub2d, if you don't specify anything, no activation is applied
+         * @param assign_core not effective yet
+         * @param output_exponent   exponent of output, only and must specify if inplace operation happens
+         */
+        void sub2d(Tensor<int8_t> &output,
+                   Tensor<int8_t> &input0,
+                   Tensor<int8_t> &input1,
+                   const Activation<int8_t> *const activation = NULL,
+                   const std::vector<int> &assign_core = CONFIG_DEFAULT_ASSIGN_CORE,
+                   const int output_exponent = INT_MIN);
+
+        /**
+         * @brief activation(sub2d(input0, input1)).
+         * 
+         * @tparam inplace: whether directly store the output to input0
+         * @tparam feature_t supports int16_t and int8_t,
+         *         - int16_t: stands for operation in int16_t quantize
+         *         - int8_t: stands for operation in int8_t quantize
+         * @param output_exponent exponent of output
+         * @param input0          as one input
+         * @param input1          as another input
+         * @param activation      activation of sub2d, if you don't specify anything, no activation is applied
+         * @param assign_core     not effective yet
+         * @return sub2d result or no return(result store to input0)
+         */
+        template <bool inplace = false, typename feature_t>
+        auto sub2d(const int output_exponent,
+                   Tensor<feature_t> &input0,
+                   Tensor<feature_t> &input1,
+                   const Activation<feature_t> *activation,
+                   const std::vector<int> &assign_core = CONFIG_DEFAULT_ASSIGN_CORE) -> typename std::conditional<inplace, void, Tensor<feature_t>>::type
+        {
+            assert(input0.is_same_shape(input1));
+
+            DL_LOG_NN_LATENCY_INIT();
+            Tensor<feature_t> output;
+            if constexpr (!inplace)
+            {
+                DL_LOG_NN_LATENCY_START();
+                output.set_exponent(output_exponent).set_shape(input0.shape).malloc_element();
+                DL_LOG_NN_LATENCY_END("apply");
+
+                DL_LOG_NN_LATENCY_START();
+                sub2d(output, input0, input1, activation, assign_core);
+                DL_LOG_NN_LATENCY_END("sub2d");
+
+                return output;
+            }
+            else
+            {
+                DL_LOG_NN_LATENCY_START();
+                sub2d(input0, input0, input1, activation, assign_core, output_exponent);
+                DL_LOG_NN_LATENCY_END("sub2d");
+            }
+        }
+    } // namespace nn
+} // namespace dl

tools/sdk/esp32c3/include/esp-face/include/tool/dl_tool.hpp

@@ -0,0 +1,427 @@
+#pragma once
+
+#include <vector>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+
+#include "esp_system.h"
+#include "esp_timer.h"
+#include "freertos/FreeRTOS.h"
+
+#include "dl_define.hpp"
+
+extern "C"
+{
+#if CONFIG_TIE728_BOOST
+    void dl_tie728_memset_8b(void *ptr, const int value, const int n);
+    void dl_tie728_memset_16b(void *ptr, const int value, const int n);
+    void dl_tie728_memset_32b(void *ptr, const int value, const int n);
+#endif
+}
+
+namespace dl
+{
+    namespace tool
+    {
+        /**
+         * @brief Set memory zero.
+         * 
+         * @param ptr pointer of memory
+         * @param n   byte number
+         */
+        void set_zero(void *ptr, const int n);
+
+        /**
+         * @brief Set array value.
+         * 
+         * @tparam T supports all data type, sizeof(T) equals to 1, 2 and 4 will boost by instruction 
+         * @param ptr   pointer of array
+         * @param value value to set
+         * @param len   length of array
+         */
+        template <typename T>
+        void set_value(T *ptr, const T value, const int len)
+        {
+#if CONFIG_TIE728_BOOST
+            int *temp = (int *)&value;
+            if (sizeof(T) == 1)
+                dl_tie728_memset_8b(ptr, *temp, len);
+            else if (sizeof(T) == 2)
+                dl_tie728_memset_16b(ptr, *temp, len);
+            else if (sizeof(T) == 4)
+                dl_tie728_memset_32b(ptr, *temp, len);
+            else
+#endif
+                for (size_t i = 0; i < len; i++)
+                    ptr[i] = value;
+        }
+
+        /**
+         * @brief Copy memory.
+         * 
+         * @param dst pointer of destination
+         * @param src pointer of source
+         * @param n   byte number
+         */
+        void copy_memory(void *dst, void *src, const int n);
+
+        /**
+         * @brief Apply memory without initialized. Can use free_aligned() to free the memory.
+         * 
+         * @param number number of elements
+         * @param size   size of element
+         * @param align  number of byte aligned, e.g., 16 means 16-byte aligned
+         * @return pointer of allocated memory. NULL for failed
+         */
+        inline void *malloc_aligned(int number, int size, int align = 4)
+        {
+            assert((align > 0) && (((align & (align-1)) == 0)));
+            int total_size = number * size;
+
+            void *res = heap_caps_aligned_alloc(align, total_size, MALLOC_CAP_8BIT | MALLOC_CAP_INTERNAL);
+#if DL_SPIRAM_SUPPORT
+            if (NULL == res)
+                res = heap_caps_aligned_alloc(align, total_size, MALLOC_CAP_SPIRAM);
+#endif
+            if (NULL == res)
+            {
+                printf("Fail to malloc %d bytes from DRAM(%d bytyes) and PSRAM(%d bytes), PSRAM is %s.\n",
+                       total_size,
+                       heap_caps_get_free_size(MALLOC_CAP_8BIT | MALLOC_CAP_INTERNAL),
+                       heap_caps_get_free_size(MALLOC_CAP_SPIRAM),
+                       DL_SPIRAM_SUPPORT ? "on" : "off");
+                return NULL;
+            }
+
+            return (void *)res;
+        }
+
+        /**
+         * @brief Apply memory with zero-initialized. Can use free_aligned() to free the memory.
+         * 
+         * @param number number of elements
+         * @param size   size of element
+         * @param align  number of byte aligned, e.g., 16 means 16-byte aligned
+         * @return pointer of allocated memory. NULL for failed
+         */
+        inline void *calloc_aligned(int number, int size, int align = 4)
+        {
+
+            void *aligned = malloc_aligned(number, size, align);
+            set_zero(aligned, number * size);
+
+            return (void *)aligned;
+        }
+
+        /**
+         * @brief Free the calloc_aligned() and malloc_aligned() memory
+         * 
+         * @param address pointer of memory to free
+         */
+        inline void free_aligned(void *address)
+        {
+            if (NULL == address)
+                return;
+
+            heap_caps_free(address);
+        }
+
+        /**
+         * @brief Apply memory without initialized in preference order: internal aligned, internal, external aligned
+         * 
+         * @param number number of elements
+         * @param size   size of element
+         * @param align  number of byte aligned, e.g., 16 means 16-byte aligned
+         * @return pointer of allocated memory. NULL for failed
+         */
+        inline void *malloc_aligned_prefer(int number, int size, int align = 4)
+        {
+            assert((align > 0) && (((align & (align-1)) == 0)));
+            int total_size = number * size;
+            void *res = heap_caps_aligned_alloc(align, total_size, MALLOC_CAP_8BIT | MALLOC_CAP_INTERNAL);
+            if (NULL == res){
+                res = heap_caps_malloc(total_size, MALLOC_CAP_8BIT | MALLOC_CAP_INTERNAL);
+            }
+#if DL_SPIRAM_SUPPORT
+            if (NULL == res){
+                res = heap_caps_aligned_alloc(align, total_size, MALLOC_CAP_SPIRAM);
+            }
+#endif
+            if (NULL == res)
+            {
+                printf("Fail to malloc %d bytes from DRAM(%d bytyes) and PSRAM(%d bytes), PSRAM is %s.\n",
+                       total_size,
+                       heap_caps_get_free_size(MALLOC_CAP_8BIT | MALLOC_CAP_INTERNAL),
+                       heap_caps_get_free_size(MALLOC_CAP_SPIRAM),
+                       DL_SPIRAM_SUPPORT ? "on" : "off");
+                return NULL;
+            }
+
+            return res;
+        }
+
+        /**
+         * @brief Apply memory with zero-initialized in preference order: internal aligned, internal, external aligned
+         * 
+         * @param number number of elements
+         * @param size   size of element
+         * @param align  number of byte aligned, e.g., 16 means 16-byte aligned
+         * @return pointer of allocated memory. NULL for failed
+         */
+        inline void *calloc_aligned_prefer(int number, int size, int align = 4)
+        {
+            void *res = malloc_aligned_prefer(number, size, align);
+            set_zero(res, number * size);
+
+            return (void *)res;
+        }
+
+        /**
+         * @brief Free the calloc_aligned_prefer() and malloc_aligned_prefer() memory
+         * 
+         * @param address pointer of memory to free
+         */
+        inline void free_aligned_prefer(void *address)
+        {
+            if (NULL == address)
+                return;
+
+            heap_caps_free(address);
+        }
+
+        /**
+         * @brief Truncate the input into int8_t range.
+         * 
+         * @tparam T supports all integer types
+         * @param output as an output
+         * @param input  as an input
+         */
+        template <typename T>
+        void truncate(int8_t &output, T input)
+        {
+            if (input >= DL_Q8_MAX)
+                output = DL_Q8_MAX;
+            else if (input <= DL_Q8_MIN)
+                output = DL_Q8_MIN;
+            else
+                output = input;
+        }
+
+        /**
+         * @brief Truncate the input into int16_t range.
+         * 
+         * @tparam T supports all integer types
+         * @param output as an output
+         * @param input  as an input
+         */
+        template <typename T>
+        void truncate(int16_t &output, T input)
+        {
+            if (input >= DL_Q16_MAX)
+                output = DL_Q16_MAX;
+            else if (input <= DL_Q16_MIN)
+                output = DL_Q16_MIN;
+            else
+                output = input;
+        }
+
+        /**
+         * @brief Calculate the exponent of quantizing 1/n into max_value range.
+         * 
+         * @param n          1/n: value to be quantized
+         * @param max_value  the max_range
+         */
+        inline int calculate_exponent(int n, int max_value)
+        {
+            int exp = 0;
+            int tmp = 1 / n;
+            while (tmp < max_value)
+            {
+                exp += 1;
+                tmp = (1 << exp) / n;
+            }
+            exp -= 1;
+
+            return exp;
+        }
+
+        /**
+         * @brief Print vector in format "[x1, x2, ...]\n".
+         * 
+         * @param array to print
+         */
+        inline void print_vector(std::vector<int> &array, const char *message = NULL)
+        {
+            if (message)
+                printf("%s: ", message);
+
+            printf("[");
+            for (int i = 0; i < array.size(); i++)
+            {
+                printf(", %d" + (i ? 0 : 2), array[i]);
+            }
+            printf("]\n");
+        }
+
+        /**
+         * @brief Get the cycle object
+         * 
+         * @return cycle count
+         */
+        inline uint32_t get_cycle()
+        {
+            uint32_t ccount;
+            __asm__ __volatile__("rsr %0, ccount"
+                                 : "=a"(ccount)
+                                 :
+                                 : "memory");
+            return ccount;
+        }
+
+        class Latency
+        {
+        private:
+            const uint32_t size; /*<! size of queue */
+            uint32_t *queue;     /*<! queue for storing history period */
+            uint32_t period;     /*<! current period */
+            uint32_t sum;        /*<! sum of period */
+            uint32_t count;      /*<! the number of added period */
+            uint32_t next;       /*<! point to next element in queue */
+            uint32_t timestamp;  /*<! record the start >*/
+
+        public:
+            /**
+             * @brief Construct a new Latency object.
+             * 
+             * @param size 
+             */
+            Latency(const uint32_t size = 1) : size(size),
+                                               period(0),
+                                               sum(0),
+                                               count(0),
+                                               next(0)
+            {
+                this->queue = (this->size > 1) ? (uint32_t *)calloc(this->size, sizeof(uint32_t)) : NULL;
+            }
+
+            /**
+             * @brief Destroy the Latency object.
+             * 
+             */
+            ~Latency()
+            {
+                if (this->queue)
+                    free(this->queue);
+            }
+
+            /**
+             * @brief Record the start timestamp.
+             * 
+             */
+            void start()
+            {
+#if DL_LOG_LATENCY_UNIT
+                this->timestamp = get_cycle();
+#else
+                this->timestamp = esp_timer_get_time();
+#endif
+            }
+
+            /**
+             * @brief Record the period.
+             * 
+             */
+            void end()
+            {
+#if DL_LOG_LATENCY_UNIT
+                this->period = get_cycle() - this->timestamp;
+#else
+                this->period = esp_timer_get_time() - this->timestamp;
+#endif
+                if (this->queue)
+                {
+                    this->sum -= this->queue[this->next];
+                    this->queue[this->next] = this->period;
+                    this->sum += this->queue[this->next];
+                    this->next++;
+                    this->next = this->next % this->size;
+                    if (this->count < this->size)
+                    {
+                        this->count++;
+                    }
+                }
+            }
+
+            /**
+             * @brief Return the period.
+             * 
+             * @return this->timestamp_end - this->timestamp
+             */
+            uint32_t get_period()
+            {
+                return this->period;
+            }
+
+            /**
+             * @brief Get the average period.
+             * 
+             * @return average latency 
+             */
+            uint32_t get_average_period()
+            {
+                return this->queue ? (this->sum / this->count) : this->period;
+            }
+
+            /**
+             * @brief Clear the period
+             * 
+             */
+            void clear_period()
+            {
+                this->period = 0;
+            }
+
+            /**
+             * @brief Print in format "latency: {this->period} {unit}\n".
+             */
+            void print()
+            {
+#if DL_LOG_LATENCY_UNIT
+                printf("latency: %15u cycle\n", this->get_average_period());
+#else
+                printf("latency: %15u us\n", this->get_average_period());
+#endif
+            }
+
+            /**
+             * @brief Print in format "{message}: {this->period} {unit}\n".
+             * 
+             * @param message message of print
+             */
+            void print(const char *message)
+            {
+#if DL_LOG_LATENCY_UNIT
+                printf("%s: %15u cycle\n", message, this->get_average_period());
+#else
+                printf("%s: %15u us\n", message, this->get_average_period());
+#endif
+            }
+
+            /**
+             * @brief Print in format "{prefix}::{key}: {this->period} {unit}\n".
+             * 
+             * @param prefix prefix of print
+             * @param key    key of print
+             */
+            void print(const char *prefix, const char *key)
+            {
+#if DL_LOG_LATENCY_UNIT
+                printf("%s::%s: %u cycle\n", prefix, key, this->get_average_period());
+#else
+                printf("%s::%s: %u us\n", prefix, key, this->get_average_period());
+#endif
+            }
+        };
+    } // namespace tool
+} // namespace dl

tools/sdk/esp32c3/include/esp-face/include/tool/dl_tool_cache.hpp

@@ -0,0 +1,74 @@
+#pragma once
+
+#include <stdint.h>
+
+#if CONFIG_IDF_TARGET_ESP32S3
+#include "esp32s3/rom/cache.h"
+#include "soc/extmem_reg.h"
+#endif
+
+namespace dl
+{
+    namespace tool
+    {
+        namespace cache
+        {
+            /**
+             * @brief Initialize preload.
+             * 
+             * @param preload One of 1 or 0,
+             *                - 1: turn on the preload
+             *                - 0: turn off the preload
+             * @return 
+             *         - 1: Initialize successfully
+             *         - 0: Initialize successfully, autoload has been turned off
+             *         - -1: Initialize failed, the chip does not support preload
+             */
+            int8_t preload_init(uint8_t preload = 1);
+
+            /**
+             * @brief Preload memory.
+             * 
+             * @param addr the start address of data to be preloaded
+             * @param size the size of the data in byte to be preloaded
+             */
+            void preload_func(uint32_t addr, uint32_t size);
+
+            /**
+             * @brief Initialize autoload. 
+             * 
+             * @param autoload  One of 1 or 0,
+             *                  - 1: turn on the autoload
+             *                  - 0: turn off the autoload
+             * @param trigger   One of 0 or 1 or 2,
+             *                  - 0: miss, TODO:@yuanjiong
+             *                  - 1: hit, TODO:@yuanjiong
+             *                  - 2: both,TODO:@yuanjiong
+             * @param line_size the number of cache lines to be autoloaded
+             * @return status,
+             *         - 1: Initialize sucessfully
+             *         - 0: Initialize suceesfully, preload has been turned off
+             *         - -1: Initialize failed, the chip does not support autoload
+             */
+            int8_t autoload_init(uint8_t autoload = 1, uint8_t trigger = 2, uint8_t line_size = 0);
+
+            /**
+             * @brief Autoload memory.           
+             * 
+             * @param addr1 the start address of data1 to be autoloaded
+             * @param size1 the size of the data1 in byte to be preloaded
+             * @param addr2 the start address of data2 to be autoloaded
+             * @param size2 the size of the data2 in byte to be preloaded
+             */
+            void autoload_func(uint32_t addr1, uint32_t size1, uint32_t addr2, uint32_t size2);
+
+            /**
+             * @brief Autoload memory.
+             * 
+             * @param addr1 the start address of data1 to be autoloaded
+             * @param size1 the size of the data1 in byte to be preloaded
+             */
+            void autoload_func(uint32_t addr1, uint32_t size1);
+        }
+    } // namespace tool
+} // namespace dl

tools/sdk/esp32c3/include/esp-face/include/typedef/dl_constant.hpp

@@ -0,0 +1,129 @@
+#pragma once
+
+#include "dl_define.hpp"
+#include <vector>
+
+namespace dl
+{
+    /**
+     * @brief Base class of Filter, Bias, Activation.
+     * 
+     * @tparam T supports int16_t and int8_t,
+     *         - int16_t: stands for operation in int16_t quantize,
+     *         - int8_t: stands for operation in int8_t quantize.
+     */
+    template <typename T>
+    class Constant
+    {
+    public:
+        const T *element;             /*<! point to element. >*/
+        const int exponent;           /*<! exponent of element. >*/
+        const std::vector<int> shape; /*<! shape of element. >*/
+
+        /**
+         * @brief Construct a new Constant object.
+         * 
+         * @param element  point to element.
+         * @param exponent exponent of element.
+         * @param shape    shape of Constant.
+         */
+        Constant(const T *element, const int exponent, const std::vector<int> shape);
+    };
+
+    /**
+     * @brief Filter.
+     * NOTE: The shape format of filter is fixed, but the element sequence depands on optimization method.
+     *       - 1D: reserved
+     *       - 2D: shape format is [filter_height, filter_width, input_channel, output_channel]. dilation format is [height, width]
+     *  
+     * @tparam T supports int16_t and int8_t,
+     *         - int16_t: stands for operation in int16_t quantize,
+     *         - int8_t: stands for operation in int8_t quantize.
+     */
+    template <typename T>
+    class Filter : public Constant<T>
+    {
+    public:
+        const std::vector<int> dilation;      /*<! - 1D: reserved >*/
+                                              /*<! - 2D: [dilation_in_height, dilation_in_width] >*/
+        std::vector<int> shape_with_dilation; /*<! - 1D: reserved >*/
+                                              /*<! - 2D: [filter_height_with_dilation, filter_width_with_dilation, input_channel, output_channel] >*/
+        std::vector<int> channel_exponent;    /*<! exponent for per-channel >*/
+
+        /**
+         * @brief Construct a new Filter object.
+         * 
+         * @param element  point to element
+         * @param exponent exponent of element
+         * @param shape    shape of Filter,
+         *                 - 1D: reserved
+         *                 - 2D: for convolution is [filter_height, filter_width, input_channel, output_channel],
+         *                       for depthwise convolution is [filter_height, filter_width, input_channel, 1]
+         * @param dilation dilation of Filter
+         *                 - 1D: reserved
+         *                 - 2D: [dilation_in_height, dilation_in_width]
+         */
+        Filter(const T *element, const int exponent, const std::vector<int> shape, const std::vector<int> dilation = {1, 1});
+
+        /**
+         * @brief Construct a new Filter object.
+         * 
+         * @param element          point to element
+         * @param channel_exponent exponent for per-channel
+         * @param shape            shape of element
+         * @param dilation         dilation of Filter
+         *                         - 1D: reserved
+         *                         - 2D: [dilation_in_height, dilation_in_width]
+         */
+        Filter(const T *element, const std::vector<int> channel_exponent, const std::vector<int> shape, const std::vector<int> dilation = {1, 1});
+
+        /**
+         * @brief Print the n-th filter.
+         * 
+         * @param n       index of output_channel
+         * @param message to print
+         */
+        void print2d_n(const int n, const char *message) const;
+    };
+
+    /**
+     * @brief Bias.
+     * 
+     * @tparam T supports int16_t and int8_t
+     *         - int16_t: stands for operation in int16_t quantize
+     *         - int8_t: stands for operation in int8_t quantize
+     */
+    template <typename T>
+    class Bias : public Constant<T>
+    {
+    public:
+        using Constant<T>::Constant;
+        std::vector<int> channel_exponent;    /*<! exponent for per-channel >*/
+
+        Bias(const T *element, const std::vector<int> channel_exponent, const std::vector<int> shape);
+    };
+
+    /**
+     * @brief Activation.
+     * 
+     * @tparam T supports int16_t and int8_t
+     *         - int16_t: stands for operation in int16_t quantize
+     *         - int8_t: stands for operation in int8_t quantize
+     */
+    template <typename T>
+    class Activation : public Constant<T>
+    {
+    public:
+        const activation_type_t type; /*<! One of Linear or ReLU or LeakyReLU or PReLU */
+
+        /**
+         * @brief Construct a new Activation object.
+         * 
+         * @param type      One of Linear or ReLU or LeakyReLU or PReLU
+         * @param element   point to element of activation
+         * @param exponent  exponent of element
+         * @param shape     shape of element
+         */
+        Activation(const activation_type_t type, const T *element = NULL, const int exponent = 0, const std::vector<int> shape = {0});
+    };
+} // namespace dl

tools/sdk/esp32c3/include/esp-face/include/typedef/dl_variable.hpp

@@ -0,0 +1,495 @@
+#pragma once
+
+#include <stdio.h>
+#include <vector>
+#include <assert.h>
+#include <iostream>
+
+#include "dl_tool.hpp"
+
+namespace dl
+{
+    /**
+     * @brief Tensor
+     * 
+     * @tparam T support uint8_t, int8_t, int16_t and float.
+     */
+    template <typename T>
+    class Tensor
+    {
+    private:
+        int size;                     /*<! size of element including padding */
+        bool auto_free;               /*<! free element when object destroy */
+        std::vector<int> axis_offset; /*<! element offset of each axis */
+
+    public:
+        T *element;             /*<! point to element */
+        int exponent;           /*<! exponent of element */
+        std::vector<int> shape; /*<! shape of Tensor */
+
+        /**
+         * @brief Construct a new Tensor object
+         * 
+         */
+        Tensor() : auto_free(true), element(NULL), exponent(0) { this->set_shape({0}); }
+
+        /**
+         * @brief Construct a new Tensor object by copying from input.
+         * 
+         * @param input an input Tensor
+         * @param deep  one of true or false
+         *              - true: apply a new memory, copy value from input.element to this new memory
+         *              - false: take over input.element to this->element
+         */
+        Tensor(Tensor<T> &input, bool deep) : size(input.size),
+                                              auto_free(input.auto_free),
+                                              exponent(input.exponent)
+        {
+            this->set_shape(input.shape);
+            if (deep && (input.element != NULL))
+            {
+                int size_real = input.get_size();
+                T *new_element = (T *)tool::calloc_aligned_prefer(size_real, sizeof(T), 16);
+                tool::copy_memory(new_element, input.element, size_real * sizeof(T));
+                this->element = new_element;
+            }
+            else
+            {
+                this->element = input.element;
+                this->auto_free = false;
+            }
+        }
+
+        /**
+         * @brief Destroy the Tensor object
+         * 
+         */
+        ~Tensor()
+        {
+            if (this->auto_free)
+                this->free_element();
+        }
+
+        /**
+         * @brief 
+         * 
+         * @param input an input Tensor
+         * @param deep one of true or false
+         *              - true: apply a new memory, copy value from input.element to this new memory
+         *              - false: take over input.element to this->element
+         * @return Tensor<T>& self
+         */
+        Tensor<T> &copy_element(Tensor<T> &input, bool deep)
+        {
+            assert(this->get_size() == input.get_size());
+            assert(input.element != NULL);
+
+            this->malloc_element();
+            if (deep)
+            {
+                tool::copy_memory(this->element, input.element, this->get_size() * sizeof(T));
+            }
+            else
+            {
+                this->element = input.element;
+                this->auto_free = false;
+            }
+            return *this;
+        }
+
+        /**
+         * @brief Set the auto free object.
+         * 
+         * @param auto_free one of true or false
+         *                  - true: free element when object destroyed
+         *                  - false: do not
+         * @return self
+         */
+        Tensor<T> &set_auto_free(const bool auto_free)
+        {
+            this->auto_free = auto_free;
+            return *this;
+        }
+
+        /**
+         * @brief Set the element.
+         * 
+         * @param element point to element memory
+         * @return self
+         */
+        Tensor<T> &set_element(T *element, const bool auto_free = false)
+        {
+            assert(this->element == NULL);
+            this->element = element;
+            this->auto_free = auto_free;
+
+            return *this;
+        }
+
+        /**
+         * @brief Set the exponent.
+         * 
+         * @param exponent exponent of element
+         * @return self
+         */
+        Tensor<T> &set_exponent(const int exponent)
+        {
+            this->exponent = exponent;
+
+            return *this;
+        }
+
+        /**
+         * @brief Set the shape of Tensor.
+         * 
+         * @param shape the target shape 
+         *        
+         * @return self
+         */
+        Tensor<T> &set_shape(const std::vector<int> shape);
+
+        /**
+         * @brief print the shape of the Tensor
+         * 
+         */
+        void print_shape()
+        {
+            if (this->shape.size())
+            {
+                printf("shape = (");
+                for (int i = 0; i < this->shape.size() - 1; i++)
+                {
+                    printf("%d, ", this->shape[i]);
+                }
+                printf("%d)\n", this->shape.back());
+            }
+            else
+            {
+                printf("shape = ()\n");
+            }
+        }
+
+        /**
+         * @brief flatten the Tensor
+         * 
+         * @return Tensor<T>& self
+         */
+        Tensor<T> &flatten();
+
+        /**
+         * @brief Change a new shape to the Tensor without changing its data.
+         * 
+         * @param shape  the target shape
+         * @return Tensor<T>&  self
+         */
+        Tensor<T> &reshape(std::vector<int> shape);
+
+        /**
+         * @brief Remove dims with length==1 from Tensor
+         * 
+         * @param axis the dim to to be remove. make sure the length of the dim is equal to 1.
+         *              if axis == INT32_MAX, all the dims with length==1 will be removed.
+         * @return Tensor<T>& self 
+         */
+        Tensor<T> &squeeze(int axis = INT32_MAX);
+
+        /**
+         * @brief Insert a new dim that will appear at the axis position in the expanded Tensor shape.
+         * 
+         * @param axis the dim to be inserted
+         * @return Tensor<T>& self
+         */
+        Tensor<T> &expand_dims(int axis);
+
+        /**
+         * @brief Insert a new dim that will appear at the axis position in the expanded Tensor shape.
+         * 
+         * @param axis  the dim to be inserted
+         * @return Tensor<T>& self
+         */
+        Tensor<T> &expand_dims(std::vector<int> axis);
+
+        /**
+         * @brief Reverse or permute the axes of the Tensor
+         * 
+         * @param perm the new arangement of the dims. if perm == {}, the dims arangement will be reversed. 
+         * @return Tensor<T>& self
+         */
+        Tensor<T> &transpose(std::vector<int> perm = {});
+
+        /**
+         * @brief Reverse or permute the axes of the input Tensor
+         * 
+         * @param input the input Tensor
+         * @param perm the new arangement of the dims. if perm == {}, the dims arangement will be reversed. 
+         * @return Tensor<T>& self
+         */
+        Tensor<T> &transpose(Tensor<T> &input, std::vector<int> perm = {});
+
+        /**
+         * @brief Get the element pointer.
+         * 
+         * @return pointer to memory
+         */
+        T *get_element_ptr()
+        {
+            return this->element;
+        }
+
+        /**
+         * @brief Get the element value.
+         * 
+         * @param index   the index of each dim. 
+         * @return T element value
+         */
+        T get_element_value(const std::vector<int> index)
+        {
+            return this->element[this->get_element_index(index)];
+        }
+
+        /**
+         * @brief Get the element value.
+         * 
+         * @param index  the index of the element.
+         * @return T  element value
+         */
+        T get_element_value(int index)
+        {
+            return this->element[index];
+        }
+
+        /**
+         * @brief Get the size of Tensor.
+         * 
+         * @return  the size of Tensor.
+         */
+        int get_size()
+        {
+            return this->size;
+        }
+
+        /**
+         * @brief Get the axis offset
+         * 
+         * @return std::vector<int> the axis offset
+         */
+        std::vector<int> get_axis_offset()
+        {
+            return this->axis_offset;
+        }
+
+        /**
+         * @brief Apply memory with zero-initialized only if this->element is NULL.
+         * 
+         * @param auto_free one of true or false
+         *                  - true: free element when object destroyed
+         *                  - false: do not
+         * @return 
+         *         - true: on success
+         *         - false: if applying failed
+         */
+        bool calloc_element(const bool auto_free = true)
+        {
+            if (this->element != NULL)
+                return false;
+
+            this->element = (T *)dl::tool::calloc_aligned_prefer(this->get_size(), sizeof(T), 16);
+            this->auto_free = auto_free;
+
+            return true;
+        }
+
+        /**
+         * @brief Apply memory without initialized only if this->element is NULL.
+         * 
+         * @param auto_free one of true or false
+         *                  - true: free element when object destroyed
+         *                  - false: do not
+         * @return 
+         *         - true: on success
+         *         - false: if applying failed
+         */
+        bool malloc_element(const bool auto_free = true)
+        {
+            if (this->element != NULL)
+                return false;
+
+            this->element = (T *)tool::malloc_aligned_prefer(this->get_size(), sizeof(T), 16);
+            this->auto_free = auto_free;
+
+            return true;
+        }
+
+        /**
+         * @brief free element only if this->element != NULL
+         * set this->element to NULL, after free
+         * @brief Free element if this->element is not NULL.
+         */
+        void free_element()
+        {
+            if (this->auto_free && this->element)
+            {
+                tool::free_aligned_prefer(this->element);
+                this->element = NULL;
+            }
+        }
+
+        /**
+         * @brief print the element of the tensor
+         * 
+         * @param axis_index_range  the element range of each dims to be print. if axis_index_range == {}, all the element will be print. 
+         * @param message  to print  
+         */
+        void print(std::vector<int> axis_index_range = {}, const char *message = "");
+
+        /**
+         * @brief  print all the element of the Tensor.
+         * 
+         * @param message to print  
+         * @param with_padding one of true or false,
+         *                     - true: the padding element will also be ed
+         *                     - false: the padding element will not be ed
+         */
+        void print_all(const char *message = "")
+        {
+            std::cout << "\n"
+                      << message << " | ";
+            this->print_shape();
+
+            for (int i = 0; i < this->get_size(); i++)
+            {
+                std::cout << this->element[i] << " ";
+            }
+            std::cout << "\n";
+            return;
+        }
+
+        /**
+         * @brief Get the index of each dims
+         * 
+         * @param element_index the index of the element
+         * @return std::vector<int> the index of each dims
+         */
+        std::vector<int> get_axis_index(int element_index);
+
+        /**
+         * @brief Get the index of element 
+         * 
+         * @param axis_index the index of each dims
+         * @return int the index of element 
+         */
+        int get_element_index(const std::vector<int> axis_index);
+
+        /**
+         * @brief Check the element value with input ground-truth.
+         * 
+         * @param gt_element ground-truth value of element
+         * @param bias permissible error
+         * @param info one of true or false
+         *             - true:  shape and result
+         *             - false: do not
+         * @param failed_number maximum number of wrong element that will be printed
+         * 
+         * @return 
+         *         - true: in permissible error
+         *         - false: not 
+         */
+        bool check_element(T *gt_element, int bias = 2, bool info = true, int failed_number = 0)
+        {
+            int count = 0;
+            if (info)
+                this->print_shape();
+            int size = this->get_size();
+            for (int i = 0; i < size; i++)
+            {
+                if (DL_ABS(this->element[i] - gt_element[i]) > bias)
+                {
+                    std::vector<int> index = get_axis_index(i);
+                    std::cout << "element[";
+                    for (int j = 0; j < index.size() - 1; j++)
+                    {
+                        std::cout << index[j] << ", ";
+                    }
+                    std::cout << index.back() << "]: ";
+                    std::cout << +this->element[i] << " v.s. " << +gt_element[i] << "\n";
+                    count++;
+                    if (count > failed_number)
+                        return false;
+                }
+            }
+            if (count)
+                return false;
+
+            if (info)
+                printf("PASS\n");
+
+            return true;
+        }
+
+        /**
+         * @brief Check the shape is the same as the shape of input.
+         * 
+         * @param input an input tensor 
+         * @return 
+         *         - true: same shape 
+         *         - false: not 
+         */
+        bool is_same_shape(Tensor<T> &input)
+        {
+            if (input.shape.size() != this->shape.size())
+            {
+                return false;
+            }
+            for (int i = 0; i < this->shape.size(); i++)
+            {
+                if (input.shape[i] != this->shape[i])
+                {
+                    return false;
+                }
+            }
+            return true;
+        }
+
+        Tensor<T> &operator=(const Tensor<T> &input)
+        {
+            this->auto_free = input.auto_free;
+            this->exponent = input.exponent;
+            int size_real_tmp = this->size;
+            int size_input_real = input.size;
+            this->set_shape(input.shape);
+            if (input.element)
+            {
+                if (this->element)
+                {
+                    if (size_real_tmp != size_input_real)
+                    {
+                        tool::free_aligned_prefer(this->element);
+                        T *new_element = (T *)tool::malloc_aligned_prefer(size_input_real, sizeof(T), 16);
+                        tool::copy_memory(new_element, input.element, size_input_real * sizeof(T));
+                        this->element = new_element;
+                    }
+                    else
+                    {
+                        tool::copy_memory(this->element, input.element, size_input_real * sizeof(T));
+                    }
+                }
+                else
+                {
+                    T *new_element = (T *)tool::malloc_aligned_prefer(size_input_real, sizeof(T), 16);
+                    tool::copy_memory(new_element, input.element, size_input_real * sizeof(T));
+                    this->element = new_element;
+                }
+                return *this;
+            }
+            else
+            {
+                if (this->element)
+                {
+                    tool::free_aligned_prefer(this->element);
+                    this->element = NULL;
+                }
+                return *this;
+            }
+        }
+    };
+} // namespace dl

tools/sdk/esp32c3/include/esp_https_server/include/esp_https_server.h

@@ -10,6 +10,7 @@
 #include <stdbool.h>
 #include "esp_err.h"
 #include "esp_http_server.h"
+#include "esp_tls.h"
 
 #ifdef __cplusplus
 extern "C" {
@@ -20,6 +21,22 @@ typedef enum {
     HTTPD_SSL_TRANSPORT_INSECURE     // SSL disabled
 } httpd_ssl_transport_mode_t;
 
+/**
+ * @brief Callback data struct, contains the ESP-TLS connection handle
+ */
+typedef struct esp_https_server_user_cb_arg {
+    const esp_tls_t *tls;
+} esp_https_server_user_cb_arg_t;
+
+/**
+ * @brief Callback function prototype
+ * Can be used to get connection or client information (SSL context)
+ * E.g. Client certificate, Socket FD, Connection state, etc.
+ *
+ * @param user_cb Callback data struct
+ */
+typedef void esp_https_server_user_cb(esp_https_server_user_cb_arg_t *user_cb);
+
 /**
  * HTTPS server config struct
  *
@@ -66,6 +83,9 @@ struct httpd_ssl_config {
 
     /** Enable tls session tickets */
     bool session_tickets;
+
+    /** User callback for esp_https_server */
+    esp_https_server_user_cb *user_cb;
 };
 
 typedef struct httpd_ssl_config httpd_ssl_config_t;
@@ -113,6 +133,7 @@ typedef struct httpd_ssl_config httpd_ssl_config_t;
     .port_secure = 443,                           \
     .port_insecure = 80,                          \
     .session_tickets = false,                     \
+    .user_cb = NULL,                              \
 }
 
 /**

tools/sdk/esp32c3/include/esp_hw_support/include/esp_sleep.h

@@ -44,6 +44,7 @@ typedef enum {
 #if SOC_PM_SUPPORT_CPU_PD
     ESP_PD_DOMAIN_CPU,             //!< CPU core
 #endif
+    ESP_PD_DOMAIN_RTC8M,           //!< Internal 8M oscillator
     ESP_PD_DOMAIN_VDDSDIO,         //!< VDD_SDIO
     ESP_PD_DOMAIN_MAX              //!< Number of domains
 } esp_sleep_pd_domain_t;

tools/sdk/esp32c3/include/esp_lcd/include/esp_lcd_panel_io.h

@@ -65,6 +65,22 @@ esp_err_t esp_lcd_panel_io_tx_color(esp_lcd_panel_io_handle_t io, int lcd_cmd, c
  */
 esp_err_t esp_lcd_panel_io_del(esp_lcd_panel_io_handle_t io);
 
+/**
+ * @brief Type of LCD panel IO event data
+ */
+typedef struct {
+} esp_lcd_panel_io_event_data_t;
+
+/**
+ * @brief Declare the prototype of the function that will be invoked when panel IO finishes transferring color data
+ *
+ * @param[in] panel_io LCD panel IO handle, which is created by factory API like `esp_lcd_new_panel_io_spi()`
+ * @param[in] edata Panel IO event data, fed by driver
+ * @param[in] user_ctx User data, passed from `esp_lcd_panel_io_xxx_config_t`
+ * @return Whether a high priority task has been waken up by this function
+ */
+typedef bool (*esp_lcd_panel_io_color_trans_done_cb_t)(esp_lcd_panel_io_handle_t panel_io, esp_lcd_panel_io_event_data_t *edata, void *user_ctx);
+
 /**
  * @brief Panel IO configuration structure, for SPI interface
  */
@@ -74,8 +90,8 @@ typedef struct {
     int spi_mode;    /*!< Traditional SPI mode (0~3) */
     unsigned int pclk_hz;    /*!< Frequency of pixel clock */
     size_t trans_queue_depth; /*!< Size of internal transaction queue */
-    bool (*on_color_trans_done)(esp_lcd_panel_io_handle_t panel_io, void *user_data, void *event_data); /*!< Callback, invoked when color data transfer has finished */
-    void *user_data;    /*!< User private data, passed directly to on_trans_frame_done's user_data */
+    esp_lcd_panel_io_color_trans_done_cb_t on_color_trans_done; /*!< Callback invoked when color data transfer has finished */
+    void *user_ctx;    /*!< User private data, passed directly to on_color_trans_done's user_ctx */
     int lcd_cmd_bits;   /*!< Bit-width of LCD command */
     int lcd_param_bits; /*!< Bit-width of LCD parameter */
     struct {
@@ -100,8 +116,8 @@ esp_err_t esp_lcd_new_panel_io_spi(esp_lcd_spi_bus_handle_t bus, const esp_lcd_p
 
 typedef struct {
     uint32_t dev_addr; /*!< I2C device address */
-    bool (*on_color_trans_done)(esp_lcd_panel_io_handle_t panel_io, void *user_data, void *event_data); /*!< Callback, invoked when color data transfer has finished */
-    void *user_data; /*!< User private data, passed directly to on_trans_frame_done's user_data */
+    esp_lcd_panel_io_color_trans_done_cb_t on_color_trans_done; /*!< Callback invoked when color data transfer has finished */
+    void *user_ctx; /*!< User private data, passed directly to on_color_trans_done's user_ctx */
     size_t control_phase_bytes; /*!< I2C LCD panel will encode control information (e.g. D/C seclection) into control phase, in several bytes */
     unsigned int dc_bit_offset; /*!< Offset of the D/C selection bit in control phase */
     int lcd_cmd_bits;           /*!< Bit-width of LCD command */
@@ -168,8 +184,8 @@ typedef struct {
     int cs_gpio_num;         /*!< GPIO used for CS line, set to -1 will declaim exclusively use of I80 bus */
     unsigned int pclk_hz;    /*!< Frequency of pixel clock */
     size_t trans_queue_depth; /*!< Transaction queue size, larger queue, higher throughput */
-    bool (*on_color_trans_done)(esp_lcd_panel_io_handle_t panel_io, void *user_data, void *event_data); /*!< Callback, invoked when color data was tranferred done */
-    void *user_data;    /*!< User private data, passed directly to on_trans_done's user_data */
+    esp_lcd_panel_io_color_trans_done_cb_t on_color_trans_done; /*!< Callback invoked when color data was tranferred done */
+    void *user_ctx;    /*!< User private data, passed directly to on_color_trans_done's user_ctx */
     int lcd_cmd_bits;   /*!< Bit-width of LCD command */
     int lcd_param_bits; /*!< Bit-width of LCD parameter */
     struct {

tools/sdk/esp32c3/include/esp_lcd/include/esp_lcd_panel_rgb.h

@@ -18,6 +18,37 @@ extern "C" {
 #if SOC_LCD_RGB_SUPPORTED
 /**
  * @brief LCD RGB timing structure
+ *
+ *                                                 Total Width
+ *                             <--------------------------------------------------->
+ *                       Hsync width HBP             Active Width                HFP
+ *                             <---><--><--------------------------------------><--->
+ *                         ____    ____|_______________________________________|____|
+ *                             |___|   |                                       |    |
+ *                                     |                                       |    |
+ *                         __|         |                                       |    |
+ *            /|\    /|\  |            |                                       |    |
+ *             | VSYNC|   |            |                                       |    |
+ *             |Width\|/  |__          |                                       |    |
+ *             |     /|\     |         |                                       |    |
+ *             |  VBP |      |         |                                       |    |
+ *             |     \|/_____|_________|_______________________________________|    |
+ *             |     /|\     |         | / / / / / / / / / / / / / / / / / / / |    |
+ *             |      |      |         |/ / / / / / / / / / / / / / / / / / / /|    |
+ *    Total    |      |      |         |/ / / / / / / / / / / / / / / / / / / /|    |
+ *    Heigh    |      |      |         |/ / / / / / / / / / / / / / / / / / / /|    |
+ *             |Active|      |         |/ / / / / / / / / / / / / / / / / / / /|    |
+ *             |Heigh |      |         |/ / / / / / Active Display Area / / / /|    |
+ *             |      |      |         |/ / / / / / / / / / / / / / / / / / / /|    |
+ *             |      |      |         |/ / / / / / / / / / / / / / / / / / / /|    |
+ *             |      |      |         |/ / / / / / / / / / / / / / / / / / / /|    |
+ *             |      |      |         |/ / / / / / / / / / / / / / / / / / / /|    |
+ *             |      |      |         |/ / / / / / / / / / / / / / / / / / / /|    |
+ *             |     \|/_____|_________|_______________________________________|    |
+ *             |     /|\     |                                                      |
+ *             |  VFP |      |                                                      |
+ *            \|/    \|/_____|______________________________________________________|
+ *
  */
 typedef struct {
     unsigned int pclk_hz;           /*!< Frequency of pixel clock */
@@ -38,6 +69,22 @@ typedef struct {
     } flags;
 } esp_lcd_rgb_timing_t;
 
+/**
+ * @brief Type of RGB LCD panel event data
+ */
+typedef struct {
+} esp_lcd_rgb_panel_event_data_t;
+
+/**
+ * @brief Declare the prototype of the function that will be invoked when panel IO finishes transferring color data
+ *
+ * @param[in] panel LCD panel handle, returned from `esp_lcd_new_rgb_panel`
+ * @param[in] edata Panel event data, fed by driver
+ * @param[in] user_ctx User data, passed from `esp_lcd_rgb_panel_config_t`
+ * @return Whether a high priority task has been waken up by this function
+ */
+typedef bool (*esp_lcd_rgb_panel_frame_trans_done_cb_t)(esp_lcd_panel_handle_t panel, esp_lcd_rgb_panel_event_data_t *edata, void *user_ctx);
+
 /**
  * @brief LCD RGB panel configuration structure
  */
@@ -51,8 +98,8 @@ typedef struct {
     int pclk_gpio_num;            /*!< GPIO used for PCLK signal */
     int data_gpio_nums[SOC_LCD_RGB_DATA_WIDTH]; /*!< GPIOs used for data lines */
     int disp_gpio_num; /*!< GPIO used for display control signal, set to -1 if it's not used */
-    bool (*on_frame_trans_done)(esp_lcd_panel_handle_t panel, void *user_data); /*!< Callback, invoked when one frame buffer has transferred done */
-    void *user_data; /*!< User data which would be passed to on_frame_trans_done's user_data */
+    esp_lcd_rgb_panel_frame_trans_done_cb_t on_frame_trans_done; /*!< Callback invoked when one frame buffer has transferred done */
+    void *user_ctx; /*!< User data which would be passed to on_frame_trans_done's user_ctx */
     struct {
         unsigned int disp_active_low: 1; /*!< If this flag is enabled, a low level of display control signal can turn the screen on; vice versa */
         unsigned int relax_on_idle: 1;   /*!< If this flag is enabled, the host won't refresh the LCD if nothing changed in host's frame buffer (this is usefull for LCD with built-in GRAM) */

tools/sdk/esp32c3/include/esp_littlefs/include/esp_littlefs.h

@@ -14,7 +14,7 @@
 #include <sys/stat.h>
 #include <sys/time.h>
 #include <sys/poll.h>
-#include <dirent.h>
+#include <sys/dirent.h>
 #include <string.h>
 #include "sdkconfig.h"
 

tools/sdk/esp32c3/include/esp_wifi/include/esp_coexist.h

@@ -1,16 +1,8 @@
-// Copyright 2015-2018 Espressif Systems (Shanghai) PTE LTD
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
+/*
+ * SPDX-FileCopyrightText: 2015-2021 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
 
 #ifndef __ESP_COEXIST_H__
 #define __ESP_COEXIST_H__
@@ -32,6 +24,13 @@ typedef enum {
     ESP_COEX_PREFER_NUM,            /*!< Prefer value numbers */
 } esp_coex_prefer_t;
 
+typedef enum {
+    EXTERN_COEX_WIRE_1 = 0,
+    EXTERN_COEX_WIRE_2,
+    EXTERN_COEX_WIRE_3,
+    EXTERN_COEX_WIRE_NUM,
+} external_coex_wire_t;
+
 /**
  * @brief coex status type
  */
@@ -41,6 +40,36 @@ typedef enum {
     ESP_COEX_ST_TYPE_BT,
 } esp_coex_status_type_t;
 
+/**
+ * @brief external coex gpio pti
+ */
+typedef struct {
+    int32_t in_pin0;
+    int32_t in_pin1;
+    int32_t out_pin0;
+} esp_external_coex_gpio_set_t;
+
+/**
+ * @brief external coex pti level
+ */
+typedef enum {
+    EXTERN_COEX_PTI_MID = 0,
+    EXTERN_COEX_PTI_HIGH,
+    EXTERN_COEX_PTI_NUM,
+} esp_coex_pti_level_t;
+
+/**
+ * @brief external coex pti
+ */
+typedef struct {
+    uint32_t in_pti1;
+    uint32_t in_pti2;
+    uint32_t in_pti3;
+    uint32_t out_pti1;
+    uint32_t out_pti2;
+    uint32_t out_pti3;
+} esp_external_coex_pti_set_t;
+
 #define ESP_COEX_BLE_ST_MESH_CONFIG        0x08
 #define ESP_COEX_BLE_ST_MESH_TRAFFIC       0x10
 #define ESP_COEX_BLE_ST_MESH_STANDBY       0x20
@@ -84,6 +113,18 @@ esp_err_t esp_coex_status_bit_set(esp_coex_status_type_t type, uint32_t status);
  */
 esp_err_t esp_coex_status_bit_clear(esp_coex_status_type_t type, uint32_t status);
 
+#if CONFIG_EXTERNAL_COEX_ENABLE
+/**
+ * @brief Setup gpio pin and corresponding pti level, start external coex.
+ * @param wire_type : to select the whole external coex gpio number.
+ * @param gpio_pin : gpio pin number to choose.
+ * @return : ESP_OK - success, other - failed
+ */
+esp_err_t esp_enable_extern_coex_gpio_pin(external_coex_wire_t wire_type,
+                    esp_external_coex_gpio_set_t gpio_pin);
+
+esp_err_t esp_disable_extern_coex_gpio_pin();
+#endif
 
 #ifdef __cplusplus
 }

tools/sdk/esp32c3/include/esp_wifi/include/esp_coexist_internal.h

@@ -1,21 +1,14 @@
-// Copyright 2018-2018 Espressif Systems (Shanghai) PTE LTD
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
+/*
+ * SPDX-FileCopyrightText: 2018-2021 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
 
 #ifndef __ESP_COEXIST_INTERNAL_H__
 #define __ESP_COEXIST_INTERNAL_H__
 
 #include <stdbool.h>
+#include "esp_coexist.h"
 #include "esp_coexist_adapter.h"
 
 #ifdef __cplusplus
@@ -210,6 +203,29 @@ int coex_schm_curr_phase_idx_get(void);
  */
 esp_err_t esp_coex_adapter_register(coex_adapter_funcs_t *funcs);
 
+#if CONFIG_EXTERNAL_COEX_ENABLE
+/**
+  * @brief     Set external coexistence pti level and enable it.
+  *
+  * @param     level1    external coex low pti
+  * @param     level2    external coex mid pti
+  * @param     level3    external coex high pti
+  *
+  * @return
+  *    - ESP_OK: succeed
+  */
+esp_err_t esp_coex_external_set(esp_coex_pti_level_t level1,
+         esp_coex_pti_level_t level2, esp_coex_pti_level_t level3);
+
+/**
+  * @brief     Disable external coexist
+  *
+  * @return
+  *    - ESP_OK: succeed
+  */
+void esp_coex_external_stop(void);
+#endif    /*External Coex*/
+
 /**
   * @brief     Check the MD5 values of the coexistence adapter header files in IDF and WiFi library
   *

tools/sdk/esp32c3/include/esp_wifi/include/esp_wifi_types.h

@@ -1,16 +1,8 @@
-// Copyright 2015-2016 Espressif Systems (Shanghai) PTE LTD
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
+/*
+ * SPDX-FileCopyrightText: 2015-2021 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
 
 
 #ifndef __ESP_WIFI_TYPES_H__
@@ -80,6 +72,7 @@ typedef enum {
     WIFI_REASON_ASSOC_NOT_AUTHED         = 9,
     WIFI_REASON_DISASSOC_PWRCAP_BAD      = 10,
     WIFI_REASON_DISASSOC_SUPCHAN_BAD     = 11,
+    WIFI_REASON_BSS_TRANSITION_DISASSOC  = 12,
     WIFI_REASON_IE_INVALID               = 13,
     WIFI_REASON_MIC_FAILURE              = 14,
     WIFI_REASON_4WAY_HANDSHAKE_TIMEOUT   = 15,
@@ -250,7 +243,8 @@ typedef struct {
     wifi_pmf_config_t pmf_cfg;    /**< Configuration for Protected Management Frame. Will be advertized in RSN Capabilities in RSN IE. */
     uint32_t rm_enabled:1;        /**< Whether Radio Measurements are enabled for the connection */
     uint32_t btm_enabled:1;       /**< Whether BSS Transition Management is enabled for the connection */
-    uint32_t reserved:30;         /**< Reserved for future feature set */
+    uint32_t mbo_enabled:1;       /**< Whether MBO is enabled for the connection */
+    uint32_t reserved:29;         /**< Reserved for future feature set */
 } wifi_sta_config_t;
 
 /** @brief Configuration data for ESP32 AP or STA.

tools/sdk/esp32c3/include/freertos/include/esp_additions/freertos/FreeRTOSConfig.h

@@ -90,7 +90,6 @@
 #define portNUM_PROCESSORS                              1
 #endif
 
-#define configASSERT_2                                  0
 #define portUSING_MPU_WRAPPERS                          0
 #define configUSE_MUTEX                                 1
 
@@ -206,7 +205,6 @@
 #define configGENERATE_RUN_TIME_STATS                   1       /* Used by vTaskGetRunTimeStats() */
 #endif
 
-#define configUSE_TRACE_FACILITY_2                      0
 #define configBENCHMARK                                 0
 #define configUSE_16_BIT_TICKS                          0
 #define configIDLE_SHOULD_YIELD                         0
@@ -306,4 +304,9 @@ extern void vPortCleanUpTCB ( void *pxTCB );
 
 #define configTASK_NOTIFICATION_ARRAY_ENTRIES           1
 
+// backward compatibility for 4.4
+#define xTaskRemoveFromUnorderedEventList vTaskRemoveFromUnorderedEventList
+
+#define configNUM_CORES                                 portNUM_PROCESSORS
+
 #endif /* FREERTOS_CONFIG_H */

tools/sdk/esp32c3/include/freertos/include/freertos/event_groups.h

@@ -64,7 +64,7 @@
  * used to create a synchronisation point between multiple tasks (a
  * 'rendezvous').
  *
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup EventGroup EventGroup
  * @endcond
  */
@@ -78,7 +78,7 @@
  * xEventGroupCreate() returns an EventGroupHandle_t variable that can then
  * be used as a parameter to other event group functions.
  *
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup EventGroupHandle_t EventGroupHandle_t
  * @endcond
  * \ingroup EventGroup
@@ -94,7 +94,7 @@ typedef struct EventGroupDef_t * EventGroupHandle_t;
  * number of bits it holds is set by configUSE_16_BIT_TICKS (16 bits if set to 1,
  * 32 bits if set to 0.
  *
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup EventBits_t EventBits_t
  * @endcond
  * \ingroup EventGroup
@@ -102,7 +102,7 @@ typedef struct EventGroupDef_t * EventGroupHandle_t;
 typedef TickType_t               EventBits_t;
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * event_groups.h
  * @code{c}
  * EventGroupHandle_t xEventGroupCreate( void );
@@ -152,7 +152,7 @@ typedef TickType_t               EventBits_t;
  *      // The event group was created.
  *  }
  * @endcode
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup xEventGroupCreate xEventGroupCreate
  * @endcond
  * \ingroup EventGroup
@@ -162,7 +162,7 @@ typedef TickType_t               EventBits_t;
 #endif
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * event_groups.h
  * @code{c}
  * EventGroupHandle_t xEventGroupCreateStatic( EventGroupHandle_t * pxEventGroupBuffer );
@@ -217,7 +217,7 @@ typedef TickType_t               EventBits_t;
 #endif
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * event_groups.h
  * @code{c}
  *  EventBits_t xEventGroupWaitBits(    EventGroupHandle_t xEventGroup,
@@ -307,7 +307,7 @@ typedef TickType_t               EventBits_t;
  *      }
  * }
  * @endcode
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup xEventGroupWaitBits xEventGroupWaitBits
  * @endcond
  * \ingroup EventGroup
@@ -319,7 +319,7 @@ EventBits_t xEventGroupWaitBits( EventGroupHandle_t xEventGroup,
                                  TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * event_groups.h
  * @code{c}
  *  EventBits_t xEventGroupClearBits( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToClear );
@@ -372,7 +372,7 @@ EventBits_t xEventGroupWaitBits( EventGroupHandle_t xEventGroup,
  *      }
  * }
  * @endcode
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup xEventGroupClearBits xEventGroupClearBits
  * @endcond
  * \ingroup EventGroup
@@ -381,7 +381,7 @@ EventBits_t xEventGroupClearBits( EventGroupHandle_t xEventGroup,
                                   const EventBits_t uxBitsToClear ) PRIVILEGED_FUNCTION;
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * event_groups.h
  * @code{c}
  *  BaseType_t xEventGroupClearBitsFromISR( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet );
@@ -432,7 +432,7 @@ EventBits_t xEventGroupClearBits( EventGroupHandle_t xEventGroup,
  *      }
  * }
  * @endcode
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup xEventGroupClearBitsFromISR xEventGroupClearBitsFromISR
  * @endcond
  * \ingroup EventGroup
@@ -446,7 +446,7 @@ EventBits_t xEventGroupClearBits( EventGroupHandle_t xEventGroup,
 #endif
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * event_groups.h
  * @code{c}
  *  EventBits_t xEventGroupSetBits( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet );
@@ -516,7 +516,7 @@ EventBits_t xEventGroupClearBits( EventGroupHandle_t xEventGroup,
  *      }
  * }
  * @endcode
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup xEventGroupSetBits xEventGroupSetBits
  * @endcond
  * \ingroup EventGroup
@@ -525,7 +525,7 @@ EventBits_t xEventGroupSetBits( EventGroupHandle_t xEventGroup,
                                 const EventBits_t uxBitsToSet ) PRIVILEGED_FUNCTION;
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * event_groups.h
  * @code{c}
  *  BaseType_t xEventGroupSetBitsFromISR( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet, BaseType_t *pxHigherPriorityTaskWoken );
@@ -595,7 +595,7 @@ EventBits_t xEventGroupSetBits( EventGroupHandle_t xEventGroup,
  *      }
  * }
  * @endcode
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup xEventGroupSetBitsFromISR xEventGroupSetBitsFromISR
  * @endcond
  * \ingroup EventGroup
@@ -610,7 +610,7 @@ EventBits_t xEventGroupSetBits( EventGroupHandle_t xEventGroup,
 #endif
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * event_groups.h
  * @code{c}
  *  EventBits_t xEventGroupSync(    EventGroupHandle_t xEventGroup,
@@ -732,7 +732,7 @@ EventBits_t xEventGroupSetBits( EventGroupHandle_t xEventGroup,
  * }
  *
  * @endcode
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup xEventGroupSync xEventGroupSync
  * @endcond
  * \ingroup EventGroup
@@ -744,7 +744,7 @@ EventBits_t xEventGroupSync( EventGroupHandle_t xEventGroup,
 
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * event_groups.h
  * @code{c}
  *  EventBits_t xEventGroupGetBits( EventGroupHandle_t xEventGroup );
@@ -758,7 +758,7 @@ EventBits_t xEventGroupSync( EventGroupHandle_t xEventGroup,
  *
  * @return The event group bits at the time xEventGroupGetBits() was called.
  *
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup xEventGroupGetBits xEventGroupGetBits
  * @endcond
  * \ingroup EventGroup
@@ -766,7 +766,7 @@ EventBits_t xEventGroupSync( EventGroupHandle_t xEventGroup,
 #define xEventGroupGetBits( xEventGroup )    xEventGroupClearBits( xEventGroup, 0 )
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * event_groups.h
  * @code{c}
  *  EventBits_t xEventGroupGetBitsFromISR( EventGroupHandle_t xEventGroup );
@@ -779,7 +779,7 @@ EventBits_t xEventGroupSync( EventGroupHandle_t xEventGroup,
  *
  * @return The event group bits at the time xEventGroupGetBitsFromISR() was called.
  *
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup xEventGroupGetBitsFromISR xEventGroupGetBitsFromISR
  * @endcond
  * \ingroup EventGroup
@@ -787,7 +787,7 @@ EventBits_t xEventGroupSync( EventGroupHandle_t xEventGroup,
 EventBits_t xEventGroupGetBitsFromISR( EventGroupHandle_t xEventGroup ) PRIVILEGED_FUNCTION;
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * event_groups.h
  * @code{c}
  *  void xEventGroupDelete( EventGroupHandle_t xEventGroup );
@@ -802,7 +802,7 @@ EventBits_t xEventGroupGetBitsFromISR( EventGroupHandle_t xEventGroup ) PRIVILEG
  */
 void vEventGroupDelete( EventGroupHandle_t xEventGroup ) PRIVILEGED_FUNCTION;
 
-/** @cond */
+/** @cond !DOC_EXCLUDE_HEADER_SECTION */
 
 /* For internal use only. */
 void vEventGroupSetBitsCallback( void * pvEventGroup,

tools/sdk/esp32c3/include/freertos/include/freertos/message_buffer.h

@@ -85,7 +85,7 @@ typedef void * MessageBufferHandle_t;
 /*-----------------------------------------------------------*/
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * message_buffer.h
  *
  * @code{c}
@@ -139,7 +139,7 @@ typedef void * MessageBufferHandle_t;
  *  }
  *
  * @endcode
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup xMessageBufferCreate xMessageBufferCreate
  * @endcond
  * \ingroup MessageBufferManagement
@@ -148,7 +148,7 @@ typedef void * MessageBufferHandle_t;
     ( MessageBufferHandle_t ) xStreamBufferGenericCreate( xBufferSizeBytes, ( size_t ) 0, pdTRUE )
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * message_buffer.h
  *
  * @code{c}
@@ -210,7 +210,7 @@ typedef void * MessageBufferHandle_t;
  * }
  *
  * @endcode
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup xMessageBufferCreateStatic xMessageBufferCreateStatic
  * @endcond
  * \ingroup MessageBufferManagement
@@ -219,7 +219,7 @@ typedef void * MessageBufferHandle_t;
     ( MessageBufferHandle_t ) xStreamBufferGenericCreateStatic( xBufferSizeBytes, 0, pdTRUE, pucMessageBufferStorageArea, pxStaticMessageBuffer )
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * message_buffer.h
  *
  * @code{c}
@@ -314,7 +314,7 @@ typedef void * MessageBufferHandle_t;
  *  }
  * }
  * @endcode
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup xMessageBufferSend xMessageBufferSend
  * @endcond
  * \ingroup MessageBufferManagement
@@ -323,7 +323,7 @@ typedef void * MessageBufferHandle_t;
     xStreamBufferSend( ( StreamBufferHandle_t ) xMessageBuffer, pvTxData, xDataLengthBytes, xTicksToWait )
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * message_buffer.h
  *
  * @code{c}
@@ -423,7 +423,7 @@ typedef void * MessageBufferHandle_t;
  *  portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
  * }
  * @endcode
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup xMessageBufferSendFromISR xMessageBufferSendFromISR
  * @endcond
  * \ingroup MessageBufferManagement
@@ -432,7 +432,7 @@ typedef void * MessageBufferHandle_t;
     xStreamBufferSendFromISR( ( StreamBufferHandle_t ) xMessageBuffer, pvTxData, xDataLengthBytes, pxHigherPriorityTaskWoken )
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * message_buffer.h
  *
  * @code{c}
@@ -516,7 +516,7 @@ typedef void * MessageBufferHandle_t;
  *  }
  * }
  * @endcode
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup xMessageBufferReceive xMessageBufferReceive
  * @endcond
  * \ingroup MessageBufferManagement
@@ -526,7 +526,7 @@ typedef void * MessageBufferHandle_t;
 
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * message_buffer.h
  *
  * @code{c}
@@ -622,7 +622,7 @@ typedef void * MessageBufferHandle_t;
  *  portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
  * }
  * @endcode
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup xMessageBufferReceiveFromISR xMessageBufferReceiveFromISR
  * @endcond
  * \ingroup MessageBufferManagement
@@ -631,7 +631,7 @@ typedef void * MessageBufferHandle_t;
     xStreamBufferReceiveFromISR( ( StreamBufferHandle_t ) xMessageBuffer, pvRxData, xBufferLengthBytes, pxHigherPriorityTaskWoken )
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * message_buffer.h
  *
  * @code{c}
@@ -654,7 +654,7 @@ typedef void * MessageBufferHandle_t;
     vStreamBufferDelete( ( StreamBufferHandle_t ) xMessageBuffer )
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * message_buffer.h
  * @code{c}
  * BaseType_t xMessageBufferIsFull( MessageBufferHandle_t xMessageBuffer ) );
@@ -674,7 +674,7 @@ typedef void * MessageBufferHandle_t;
     xStreamBufferIsFull( ( StreamBufferHandle_t ) xMessageBuffer )
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * message_buffer.h
  * @code{c}
  * BaseType_t xMessageBufferIsEmpty( MessageBufferHandle_t xMessageBuffer ) );
@@ -693,7 +693,7 @@ typedef void * MessageBufferHandle_t;
     xStreamBufferIsEmpty( ( StreamBufferHandle_t ) xMessageBuffer )
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * message_buffer.h
  * @code{c}
  * BaseType_t xMessageBufferReset( MessageBufferHandle_t xMessageBuffer );
@@ -712,7 +712,7 @@ typedef void * MessageBufferHandle_t;
  * the message queue to wait for space to become available, or to wait for a
  * a message to be available, then pdFAIL is returned.
  *
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup xMessageBufferReset xMessageBufferReset
  * @endcond
  * \ingroup MessageBufferManagement
@@ -722,7 +722,7 @@ typedef void * MessageBufferHandle_t;
 
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * message_buffer.h
  * @code{c}
  * size_t xMessageBufferSpaceAvailable( MessageBufferHandle_t xMessageBuffer ) );
@@ -740,7 +740,7 @@ typedef void * MessageBufferHandle_t;
  * architecture, so if xMessageBufferSpacesAvailable() returns 10, then the size
  * of the largest message that can be written to the message buffer is 6 bytes.
  *
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup xMessageBufferSpaceAvailable xMessageBufferSpaceAvailable
  * @endcond
  * \ingroup MessageBufferManagement
@@ -751,7 +751,7 @@ typedef void * MessageBufferHandle_t;
     xStreamBufferSpacesAvailable( ( StreamBufferHandle_t ) xMessageBuffer ) /* Corrects typo in original macro name. */
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * message_buffer.h
  * @code{c}
  * size_t xMessageBufferNextLengthBytes( MessageBufferHandle_t xMessageBuffer ) );
@@ -767,7 +767,7 @@ typedef void * MessageBufferHandle_t;
  * @return The length (in bytes) of the next message in the message buffer, or 0
  * if the message buffer is empty.
  *
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup xMessageBufferNextLengthBytes xMessageBufferNextLengthBytes
  * @endcond
  * \ingroup MessageBufferManagement
@@ -776,7 +776,7 @@ typedef void * MessageBufferHandle_t;
     xStreamBufferNextMessageLengthBytes( ( StreamBufferHandle_t ) xMessageBuffer ) PRIVILEGED_FUNCTION;
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * message_buffer.h
  *
  * @code{c}
@@ -811,7 +811,7 @@ typedef void * MessageBufferHandle_t;
  * @return If a task was removed from the Blocked state then pdTRUE is returned.
  * Otherwise pdFALSE is returned.
  *
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup xMessageBufferSendCompletedFromISR xMessageBufferSendCompletedFromISR
  * @endcond
  * \ingroup StreamBufferManagement
@@ -820,7 +820,7 @@ typedef void * MessageBufferHandle_t;
     xStreamBufferSendCompletedFromISR( ( StreamBufferHandle_t ) xMessageBuffer, pxHigherPriorityTaskWoken )
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * message_buffer.h
  *
  * @code{c}
@@ -856,7 +856,7 @@ typedef void * MessageBufferHandle_t;
  * @return If a task was removed from the Blocked state then pdTRUE is returned.
  * Otherwise pdFALSE is returned.
  *
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup xMessageBufferReceiveCompletedFromISR xMessageBufferReceiveCompletedFromISR
  * @endcond
  * \ingroup StreamBufferManagement

tools/sdk/esp32c3/include/freertos/include/freertos/queue.h

@@ -62,7 +62,7 @@ typedef struct QueueDefinition   * QueueSetHandle_t;
  */
 typedef struct QueueDefinition   * QueueSetMemberHandle_t;
 
-/** @cond */
+/** @cond !DOC_EXCLUDE_HEADER_SECTION */
 
 /* For internal use only. */
 #define queueSEND_TO_BACK                     ( ( BaseType_t ) 0 )
@@ -80,7 +80,7 @@ typedef struct QueueDefinition   * QueueSetMemberHandle_t;
 /** @endcond */
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * queue. h
  * @code{c}
  * QueueHandle_t xQueueCreate(
@@ -146,7 +146,7 @@ typedef struct QueueDefinition   * QueueSetMemberHandle_t;
  *  // ... Rest of task code.
  * }
  * @endcode
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup xQueueCreate xQueueCreate
  * @endcond
  * \ingroup QueueManagement
@@ -156,7 +156,7 @@ typedef struct QueueDefinition   * QueueSetMemberHandle_t;
 #endif
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * queue. h
  * @code{c}
  * QueueHandle_t xQueueCreateStatic(
@@ -235,7 +235,7 @@ typedef struct QueueDefinition   * QueueSetMemberHandle_t;
  *  // ... Rest of task code.
  * }
  * @endcode
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup xQueueCreateStatic xQueueCreateStatic
  * @endcond
  * \ingroup QueueManagement
@@ -245,7 +245,7 @@ typedef struct QueueDefinition   * QueueSetMemberHandle_t;
 #endif /* configSUPPORT_STATIC_ALLOCATION */
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * queue. h
  * @code{c}
  * BaseType_t xQueueSendToToFront(
@@ -321,7 +321,7 @@ typedef struct QueueDefinition   * QueueSetMemberHandle_t;
  *  // ... Rest of task code.
  * }
  * @endcode
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup xQueueSend xQueueSend
  * @endcond
  * \ingroup QueueManagement
@@ -330,7 +330,7 @@ typedef struct QueueDefinition   * QueueSetMemberHandle_t;
     xQueueGenericSend( ( xQueue ), ( pvItemToQueue ), ( xTicksToWait ), queueSEND_TO_FRONT )
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * queue. h
  * @code{c}
  * BaseType_t xQueueSendToBack(
@@ -408,7 +408,7 @@ typedef struct QueueDefinition   * QueueSetMemberHandle_t;
  *  // ... Rest of task code.
  * }
  * @endcode
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup xQueueSend xQueueSend
  * @endcond
  * \ingroup QueueManagement
@@ -417,7 +417,7 @@ typedef struct QueueDefinition   * QueueSetMemberHandle_t;
     xQueueGenericSend( ( xQueue ), ( pvItemToQueue ), ( xTicksToWait ), queueSEND_TO_BACK )
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * queue. h
  * @code{c}
  * BaseType_t xQueueSend(
@@ -497,7 +497,7 @@ typedef struct QueueDefinition   * QueueSetMemberHandle_t;
  *  // ... Rest of task code.
  * }
  * @endcode
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup xQueueSend xQueueSend
  * @endcond
  * \ingroup QueueManagement
@@ -506,7 +506,7 @@ typedef struct QueueDefinition   * QueueSetMemberHandle_t;
     xQueueGenericSend( ( xQueue ), ( pvItemToQueue ), ( xTicksToWait ), queueSEND_TO_BACK )
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * queue. h
  * @code{c}
  * BaseType_t xQueueOverwrite(
@@ -585,7 +585,7 @@ typedef struct QueueDefinition   * QueueSetMemberHandle_t;
  *  // ...
  * }
  * @endcode
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup xQueueOverwrite xQueueOverwrite
  * @endcond
  * \ingroup QueueManagement
@@ -595,7 +595,7 @@ typedef struct QueueDefinition   * QueueSetMemberHandle_t;
 
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * queue. h
  * @code{c}
  * BaseType_t xQueueGenericSend(
@@ -678,7 +678,7 @@ typedef struct QueueDefinition   * QueueSetMemberHandle_t;
  *  // ... Rest of task code.
  * }
  * @endcode
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup xQueueSend xQueueSend
  * @endcond
  * \ingroup QueueManagement
@@ -689,7 +689,7 @@ BaseType_t xQueueGenericSend( QueueHandle_t xQueue,
                               const BaseType_t xCopyPosition ) PRIVILEGED_FUNCTION;
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * queue. h
  * @code{c}
  * BaseType_t xQueuePeek(
@@ -780,7 +780,7 @@ BaseType_t xQueueGenericSend( QueueHandle_t xQueue,
  *  // ... Rest of task code.
  * }
  * @endcode
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup xQueuePeek xQueuePeek
  * @endcond
  * \ingroup QueueManagement
@@ -790,7 +790,7 @@ BaseType_t xQueuePeek( QueueHandle_t xQueue,
                        TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * queue. h
  * @code{c}
  * BaseType_t xQueuePeekFromISR(
@@ -820,7 +820,7 @@ BaseType_t xQueuePeek( QueueHandle_t xQueue,
  * @return pdTRUE if an item was successfully received from the queue,
  * otherwise pdFALSE.
  *
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup xQueuePeekFromISR xQueuePeekFromISR
  * @endcond
  * \ingroup QueueManagement
@@ -829,7 +829,7 @@ BaseType_t xQueuePeekFromISR( QueueHandle_t xQueue,
                               void * const pvBuffer ) PRIVILEGED_FUNCTION;
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * queue. h
  * @code{c}
  * BaseType_t xQueueReceive(
@@ -917,7 +917,7 @@ BaseType_t xQueuePeekFromISR( QueueHandle_t xQueue,
  *  // ... Rest of task code.
  * }
  * @endcode
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup xQueueReceive xQueueReceive
  * @endcond
  * \ingroup QueueManagement
@@ -927,7 +927,7 @@ BaseType_t xQueueReceive( QueueHandle_t xQueue,
                           TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * queue. h
  * @code{c}
  * UBaseType_t uxQueueMessagesWaiting( const QueueHandle_t xQueue );
@@ -940,7 +940,7 @@ BaseType_t xQueueReceive( QueueHandle_t xQueue,
  *
  * @return The number of messages available in the queue.
  *
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup uxQueueMessagesWaiting uxQueueMessagesWaiting
  * @endcond
  * \ingroup QueueManagement
@@ -948,7 +948,7 @@ BaseType_t xQueueReceive( QueueHandle_t xQueue,
 UBaseType_t uxQueueMessagesWaiting( const QueueHandle_t xQueue ) PRIVILEGED_FUNCTION;
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * queue. h
  * @code{c}
  * UBaseType_t uxQueueSpacesAvailable( const QueueHandle_t xQueue );
@@ -963,7 +963,7 @@ UBaseType_t uxQueueMessagesWaiting( const QueueHandle_t xQueue ) PRIVILEGED_FUNC
  *
  * @return The number of spaces available in the queue.
  *
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup uxQueueMessagesWaiting uxQueueMessagesWaiting
  * @endcond
  * \ingroup QueueManagement
@@ -971,7 +971,7 @@ UBaseType_t uxQueueMessagesWaiting( const QueueHandle_t xQueue ) PRIVILEGED_FUNC
 UBaseType_t uxQueueSpacesAvailable( const QueueHandle_t xQueue ) PRIVILEGED_FUNCTION;
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * queue. h
  * @code{c}
  * void vQueueDelete( QueueHandle_t xQueue );
@@ -983,7 +983,7 @@ UBaseType_t uxQueueSpacesAvailable( const QueueHandle_t xQueue ) PRIVILEGED_FUNC
  *
  * @param xQueue A handle to the queue to be deleted.
  *
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup vQueueDelete vQueueDelete
  * @endcond
  * \ingroup QueueManagement
@@ -991,7 +991,7 @@ UBaseType_t uxQueueSpacesAvailable( const QueueHandle_t xQueue ) PRIVILEGED_FUNC
 void vQueueDelete( QueueHandle_t xQueue ) PRIVILEGED_FUNCTION;
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * queue. h
  * @code{c}
  * BaseType_t xQueueSendToFrontFromISR(
@@ -1057,7 +1057,7 @@ void vQueueDelete( QueueHandle_t xQueue ) PRIVILEGED_FUNCTION;
  * }
  * @endcode
  *
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup xQueueSendFromISR xQueueSendFromISR
  * @endcond
  * \ingroup QueueManagement
@@ -1067,7 +1067,7 @@ void vQueueDelete( QueueHandle_t xQueue ) PRIVILEGED_FUNCTION;
 
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * queue. h
  * @code{c}
  * BaseType_t xQueueSendToBackFromISR(
@@ -1133,7 +1133,7 @@ void vQueueDelete( QueueHandle_t xQueue ) PRIVILEGED_FUNCTION;
  * }
  * @endcode
  *
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup xQueueSendFromISR xQueueSendFromISR
  * @endcond
  * \ingroup QueueManagement
@@ -1142,7 +1142,7 @@ void vQueueDelete( QueueHandle_t xQueue ) PRIVILEGED_FUNCTION;
     xQueueGenericSendFromISR( ( xQueue ), ( pvItemToQueue ), ( pxHigherPriorityTaskWoken ), queueSEND_TO_BACK )
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * queue. h
  * @code{c}
  * BaseType_t xQueueOverwriteFromISR(
@@ -1225,7 +1225,7 @@ void vQueueDelete( QueueHandle_t xQueue ) PRIVILEGED_FUNCTION;
  *  }
  * }
  * @endcode
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup xQueueOverwriteFromISR xQueueOverwriteFromISR
  * @endcond
  * \ingroup QueueManagement
@@ -1234,7 +1234,7 @@ void vQueueDelete( QueueHandle_t xQueue ) PRIVILEGED_FUNCTION;
     xQueueGenericSendFromISR( ( xQueue ), ( pvItemToQueue ), ( pxHigherPriorityTaskWoken ), queueOVERWRITE )
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * queue. h
  * @code{c}
  * BaseType_t xQueueSendFromISR(
@@ -1304,7 +1304,7 @@ void vQueueDelete( QueueHandle_t xQueue ) PRIVILEGED_FUNCTION;
  * }
  * @endcode
  *
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup xQueueSendFromISR xQueueSendFromISR
  * @endcond
  * \ingroup QueueManagement
@@ -1312,10 +1312,10 @@ void vQueueDelete( QueueHandle_t xQueue ) PRIVILEGED_FUNCTION;
 #define xQueueSendFromISR( xQueue, pvItemToQueue, pxHigherPriorityTaskWoken ) \
     xQueueGenericSendFromISR( ( xQueue ), ( pvItemToQueue ), ( pxHigherPriorityTaskWoken ), queueSEND_TO_BACK )
 
-/** @cond */
+/** @cond !DOC_EXCLUDE_HEADER_SECTION */
 /**@{*/
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * queue. h
  * @code{c}
  * BaseType_t xQueueGenericSendFromISR(
@@ -1402,7 +1402,7 @@ BaseType_t xQueueGiveFromISR( QueueHandle_t xQueue,
 /** @endcond */
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * queue. h
  * @code{c}
  * BaseType_t xQueueReceiveFromISR(
@@ -1487,7 +1487,7 @@ BaseType_t xQueueGiveFromISR( QueueHandle_t xQueue,
  *  }
  * }
  * @endcode
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup xQueueReceiveFromISR xQueueReceiveFromISR
  * @endcond
  * \ingroup QueueManagement
@@ -1504,7 +1504,7 @@ BaseType_t xQueueIsQueueEmptyFromISR( const QueueHandle_t xQueue ) PRIVILEGED_FU
 BaseType_t xQueueIsQueueFullFromISR( const QueueHandle_t xQueue ) PRIVILEGED_FUNCTION;
 UBaseType_t uxQueueMessagesWaitingFromISR( const QueueHandle_t xQueue ) PRIVILEGED_FUNCTION;
 
-/** @cond */
+/** @cond !DOC_EXCLUDE_HEADER_SECTION */
 /*
  * The functions defined above are for passing data to and from tasks.  The
  * functions below are the equivalents for passing data to and from
@@ -1778,7 +1778,7 @@ QueueSetMemberHandle_t xQueueSelectFromSet( QueueSetHandle_t xQueueSet,
  */
 QueueSetMemberHandle_t xQueueSelectFromSetFromISR( QueueSetHandle_t xQueueSet ) PRIVILEGED_FUNCTION;
 
-/** @cond */
+/** @cond !DOC_EXCLUDE_HEADER_SECTION */
 
 /* Not public API functions. */
 void vQueueWaitForMessageRestricted( QueueHandle_t xQueue,

tools/sdk/esp32c3/include/freertos/include/freertos/semphr.h

@@ -39,7 +39,7 @@ typedef QueueHandle_t SemaphoreHandle_t;
 #define semSEMAPHORE_QUEUE_ITEM_LENGTH      ( ( uint8_t ) 0U )
 #define semGIVE_BLOCK_TIME                  ( ( TickType_t ) 0U )
 
-/** @cond */
+/** @cond !DOC_EXCLUDE_HEADER_SECTION */
 /**
  * semphr. h
  * @code{c}
@@ -88,7 +88,7 @@ typedef QueueHandle_t SemaphoreHandle_t;
  *  }
  * }
  * @endcode
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup vSemaphoreCreateBinary vSemaphoreCreateBinary
  * @endcond
  * \ingroup Semaphores
@@ -106,7 +106,7 @@ typedef QueueHandle_t SemaphoreHandle_t;
 /** @endcond */
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * semphr. h
  * @code{c}
  * SemaphoreHandle_t xSemaphoreCreateBinary( void );
@@ -163,7 +163,7 @@ typedef QueueHandle_t SemaphoreHandle_t;
  *  }
  * }
  * @endcode
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup xSemaphoreCreateBinary xSemaphoreCreateBinary
  * @endcond
  * \ingroup Semaphores
@@ -173,7 +173,7 @@ typedef QueueHandle_t SemaphoreHandle_t;
 #endif
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * semphr. h
  * @code{c}
  * SemaphoreHandle_t xSemaphoreCreateBinaryStatic( StaticSemaphore_t *pxSemaphoreBuffer );
@@ -229,7 +229,7 @@ typedef QueueHandle_t SemaphoreHandle_t;
  *  // Rest of task code goes here.
  * }
  * @endcode
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup xSemaphoreCreateBinaryStatic xSemaphoreCreateBinaryStatic
  * @endcond
  * \ingroup Semaphores
@@ -239,7 +239,7 @@ typedef QueueHandle_t SemaphoreHandle_t;
 #endif /* configSUPPORT_STATIC_ALLOCATION */
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * semphr. h
  * @code{c}
  * xSemaphoreTake(
@@ -304,7 +304,7 @@ typedef QueueHandle_t SemaphoreHandle_t;
  *  }
  * }
  * @endcode
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup xSemaphoreTake xSemaphoreTake
  * @endcond
  * \ingroup Semaphores
@@ -312,7 +312,7 @@ typedef QueueHandle_t SemaphoreHandle_t;
 #define xSemaphoreTake( xSemaphore, xBlockTime )    xQueueSemaphoreTake( ( xSemaphore ), ( xBlockTime ) )
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * semphr. h
  * @code{c}
  * xSemaphoreTakeRecursive(
@@ -403,7 +403,7 @@ typedef QueueHandle_t SemaphoreHandle_t;
  *  }
  * }
  * @endcode
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup xSemaphoreTakeRecursive xSemaphoreTakeRecursive
  * @endcond
  * \ingroup Semaphores
@@ -465,7 +465,7 @@ typedef QueueHandle_t SemaphoreHandle_t;
  *  }
  * }
  * @endcode
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup xSemaphoreGive xSemaphoreGive
  * @endcond
  * \ingroup Semaphores
@@ -473,7 +473,7 @@ typedef QueueHandle_t SemaphoreHandle_t;
 #define xSemaphoreGive( xSemaphore )    xQueueGenericSend( ( QueueHandle_t ) ( xSemaphore ), NULL, semGIVE_BLOCK_TIME, queueSEND_TO_BACK )
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * semphr. h
  * @code{c}
  * xSemaphoreGiveRecursive( SemaphoreHandle_t xMutex );
@@ -555,7 +555,7 @@ typedef QueueHandle_t SemaphoreHandle_t;
  *  }
  * }
  * @endcode
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup xSemaphoreGiveRecursive xSemaphoreGiveRecursive
  * @endcond
  * \ingroup Semaphores
@@ -641,7 +641,7 @@ typedef QueueHandle_t SemaphoreHandle_t;
  *  }
  * }
  * @endcode
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup xSemaphoreGiveFromISR xSemaphoreGiveFromISR
  * @endcond
  * \ingroup Semaphores
@@ -649,7 +649,7 @@ typedef QueueHandle_t SemaphoreHandle_t;
 #define xSemaphoreGiveFromISR( xSemaphore, pxHigherPriorityTaskWoken )    xQueueGiveFromISR( ( QueueHandle_t ) ( xSemaphore ), ( pxHigherPriorityTaskWoken ) )
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * semphr. h
  * @code{c}
  * xSemaphoreTakeFromISR(
@@ -686,7 +686,7 @@ typedef QueueHandle_t SemaphoreHandle_t;
 #define xSemaphoreTakeFromISR( xSemaphore, pxHigherPriorityTaskWoken )    xQueueReceiveFromISR( ( QueueHandle_t ) ( xSemaphore ), NULL, ( pxHigherPriorityTaskWoken ) )
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * semphr. h
  * @code{c}
  * SemaphoreHandle_t xSemaphoreCreateMutex( void );
@@ -741,7 +741,7 @@ typedef QueueHandle_t SemaphoreHandle_t;
  *  }
  * }
  * @endcode
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup xSemaphoreCreateMutex xSemaphoreCreateMutex
  * @endcond
  * \ingroup Semaphores
@@ -751,7 +751,7 @@ typedef QueueHandle_t SemaphoreHandle_t;
 #endif
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * semphr. h
  * @code{c}
  * SemaphoreHandle_t xSemaphoreCreateMutexStatic( StaticSemaphore_t *pxMutexBuffer );
@@ -808,7 +808,7 @@ typedef QueueHandle_t SemaphoreHandle_t;
  *  // so there is no need to check it.
  * }
  * @endcode
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup xSemaphoreCreateMutexStatic xSemaphoreCreateMutexStatic
  * @endcond
  * \ingroup Semaphores
@@ -951,7 +951,7 @@ typedef QueueHandle_t SemaphoreHandle_t;
 #endif /* configSUPPORT_STATIC_ALLOCATION */
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * semphr. h
  * @code{c}
  * SemaphoreHandle_t xSemaphoreCreateCounting( UBaseType_t uxMaxCount, UBaseType_t uxInitialCount );
@@ -1027,7 +1027,7 @@ typedef QueueHandle_t SemaphoreHandle_t;
  *  }
  * }
  * @endcode
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup xSemaphoreCreateCounting xSemaphoreCreateCounting
  * @endcond
  * \ingroup Semaphores
@@ -1037,7 +1037,7 @@ typedef QueueHandle_t SemaphoreHandle_t;
 #endif
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * semphr. h
  * @code{c}
  * SemaphoreHandle_t xSemaphoreCreateCountingStatic( UBaseType_t uxMaxCount, UBaseType_t uxInitialCount, StaticSemaphore_t *pxSemaphoreBuffer );
@@ -1118,7 +1118,7 @@ typedef QueueHandle_t SemaphoreHandle_t;
  *  // is no need to check its value.
  * }
  * @endcode
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup xSemaphoreCreateCountingStatic xSemaphoreCreateCountingStatic
  * @endcond
  * \ingroup Semaphores
@@ -1128,7 +1128,7 @@ typedef QueueHandle_t SemaphoreHandle_t;
 #endif /* configSUPPORT_STATIC_ALLOCATION */
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * semphr. h
  * @code{c}
  * void vSemaphoreDelete( SemaphoreHandle_t xSemaphore );
@@ -1140,7 +1140,7 @@ typedef QueueHandle_t SemaphoreHandle_t;
  *
  * @param xSemaphore A handle to the semaphore to be deleted.
  *
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * \defgroup vSemaphoreDelete vSemaphoreDelete
  * @endcond
  * \ingroup Semaphores
@@ -1148,7 +1148,7 @@ typedef QueueHandle_t SemaphoreHandle_t;
 #define vSemaphoreDelete( xSemaphore )                   vQueueDelete( ( QueueHandle_t ) ( xSemaphore ) )
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * semphr.h
  * @code{c}
  * TaskHandle_t xSemaphoreGetMutexHolder( SemaphoreHandle_t xMutex );
@@ -1167,7 +1167,7 @@ typedef QueueHandle_t SemaphoreHandle_t;
 #define xSemaphoreGetMutexHolder( xSemaphore )           xQueueGetMutexHolder( ( xSemaphore ) )
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * semphr.h
  * @code{c}
  * TaskHandle_t xSemaphoreGetMutexHolderFromISR( SemaphoreHandle_t xMutex );
@@ -1182,7 +1182,7 @@ typedef QueueHandle_t SemaphoreHandle_t;
 #define xSemaphoreGetMutexHolderFromISR( xSemaphore )    xQueueGetMutexHolderFromISR( ( xSemaphore ) )
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * semphr.h
  * @code{c}
  * UBaseType_t uxSemaphoreGetCount( SemaphoreHandle_t xSemaphore );

tools/sdk/esp32c3/include/freertos/include/freertos/stream_buffer.h

@@ -71,7 +71,7 @@ typedef struct StreamBufferDef_t * StreamBufferHandle_t;
 
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * message_buffer.h
  *
  * @code{c}
@@ -134,7 +134,7 @@ typedef struct StreamBufferDef_t * StreamBufferHandle_t;
  *  }
  * }
  * @endcode
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup xStreamBufferCreate xStreamBufferCreate
  * @endcond
  * \ingroup StreamBufferManagement
@@ -142,7 +142,7 @@ typedef struct StreamBufferDef_t * StreamBufferHandle_t;
 #define xStreamBufferCreate( xBufferSizeBytes, xTriggerLevelBytes )    xStreamBufferGenericCreate( xBufferSizeBytes, xTriggerLevelBytes, pdFALSE )
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * stream_buffer.h
  *
  * @code{c}
@@ -220,7 +220,7 @@ typedef struct StreamBufferDef_t * StreamBufferHandle_t;
  * }
  *
  * @endcode
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup xStreamBufferCreateStatic xStreamBufferCreateStatic
  * @endcond
  * \ingroup StreamBufferManagement
@@ -229,7 +229,7 @@ typedef struct StreamBufferDef_t * StreamBufferHandle_t;
     xStreamBufferGenericCreateStatic( xBufferSizeBytes, xTriggerLevelBytes, pdFALSE, pucStreamBufferStorageArea, pxStaticStreamBuffer )
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * stream_buffer.h
  *
  * @code{c}
@@ -319,7 +319,7 @@ typedef struct StreamBufferDef_t * StreamBufferHandle_t;
  *  }
  * }
  * @endcode
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup xStreamBufferSend xStreamBufferSend
  * @endcond
  * \ingroup StreamBufferManagement
@@ -330,7 +330,7 @@ size_t xStreamBufferSend( StreamBufferHandle_t xStreamBuffer,
                           TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * stream_buffer.h
  *
  * @code{c}
@@ -424,7 +424,7 @@ size_t xStreamBufferSend( StreamBufferHandle_t xStreamBuffer,
  *  taskYIELD_FROM_ISR( xHigherPriorityTaskWoken );
  * }
  * @endcode
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup xStreamBufferSendFromISR xStreamBufferSendFromISR
  * @endcond
  * \ingroup StreamBufferManagement
@@ -435,7 +435,7 @@ size_t xStreamBufferSendFromISR( StreamBufferHandle_t xStreamBuffer,
                                  BaseType_t * const pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * stream_buffer.h
  *
  * @code{c}
@@ -517,7 +517,7 @@ size_t xStreamBufferSendFromISR( StreamBufferHandle_t xStreamBuffer,
  *  }
  * }
  * @endcode
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup xStreamBufferReceive xStreamBufferReceive
  * @endcond
  * \ingroup StreamBufferManagement
@@ -528,7 +528,7 @@ size_t xStreamBufferReceive( StreamBufferHandle_t xStreamBuffer,
                              TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * stream_buffer.h
  *
  * @code{c}
@@ -607,7 +607,7 @@ size_t xStreamBufferReceive( StreamBufferHandle_t xStreamBuffer,
  *  taskYIELD_FROM_ISR( xHigherPriorityTaskWoken );
  * }
  * @endcode
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup xStreamBufferReceiveFromISR xStreamBufferReceiveFromISR
  * @endcond
  * \ingroup StreamBufferManagement
@@ -618,7 +618,7 @@ size_t xStreamBufferReceiveFromISR( StreamBufferHandle_t xStreamBuffer,
                                     BaseType_t * const pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * stream_buffer.h
  *
  * @code{c}
@@ -636,7 +636,7 @@ size_t xStreamBufferReceiveFromISR( StreamBufferHandle_t xStreamBuffer,
  *
  * @param xStreamBuffer The handle of the stream buffer to be deleted.
  *
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup vStreamBufferDelete vStreamBufferDelete
  * @endcond
  * \ingroup StreamBufferManagement
@@ -644,7 +644,7 @@ size_t xStreamBufferReceiveFromISR( StreamBufferHandle_t xStreamBuffer,
 void vStreamBufferDelete( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION;
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * stream_buffer.h
  *
  * @code{c}
@@ -660,7 +660,7 @@ void vStreamBufferDelete( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTI
  * @return If the stream buffer is full then pdTRUE is returned.  Otherwise
  * pdFALSE is returned.
  *
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup xStreamBufferIsFull xStreamBufferIsFull
  * @endcond
  * \ingroup StreamBufferManagement
@@ -668,7 +668,7 @@ void vStreamBufferDelete( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTI
 BaseType_t xStreamBufferIsFull( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION;
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * stream_buffer.h
  *
  * @code{c}
@@ -684,7 +684,7 @@ BaseType_t xStreamBufferIsFull( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_
  * @return If the stream buffer is empty then pdTRUE is returned.  Otherwise
  * pdFALSE is returned.
  *
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup xStreamBufferIsEmpty xStreamBufferIsEmpty
  * @endcond
  * \ingroup StreamBufferManagement
@@ -692,7 +692,7 @@ BaseType_t xStreamBufferIsFull( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_
 BaseType_t xStreamBufferIsEmpty( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION;
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * stream_buffer.h
  *
  * @code{c}
@@ -711,7 +711,7 @@ BaseType_t xStreamBufferIsEmpty( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED
  * a task blocked waiting to send to or read from the stream buffer then the
  * stream buffer is not reset and pdFAIL is returned.
  *
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup xStreamBufferReset xStreamBufferReset
  * @endcond
  * \ingroup StreamBufferManagement
@@ -719,7 +719,7 @@ BaseType_t xStreamBufferIsEmpty( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED
 BaseType_t xStreamBufferReset( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION;
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * stream_buffer.h
  *
  * @code{c}
@@ -736,7 +736,7 @@ BaseType_t xStreamBufferReset( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_F
  * @return The number of bytes that can be written to the stream buffer before
  * the stream buffer would be full.
  *
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup xStreamBufferSpacesAvailable xStreamBufferSpacesAvailable
  * @endcond
  * \ingroup StreamBufferManagement
@@ -744,7 +744,7 @@ BaseType_t xStreamBufferReset( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_F
 size_t xStreamBufferSpacesAvailable( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION;
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * stream_buffer.h
  *
  * @code{c}
@@ -761,7 +761,7 @@ size_t xStreamBufferSpacesAvailable( StreamBufferHandle_t xStreamBuffer ) PRIVIL
  * @return The number of bytes that can be read from the stream buffer before
  * the stream buffer would be empty.
  *
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup xStreamBufferBytesAvailable xStreamBufferBytesAvailable
  * @endcond
  * \ingroup StreamBufferManagement
@@ -769,7 +769,7 @@ size_t xStreamBufferSpacesAvailable( StreamBufferHandle_t xStreamBuffer ) PRIVIL
 size_t xStreamBufferBytesAvailable( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION;
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * stream_buffer.h
  *
  * @code{c}
@@ -802,7 +802,7 @@ size_t xStreamBufferBytesAvailable( StreamBufferHandle_t xStreamBuffer ) PRIVILE
  * then the trigger level will be updated and pdTRUE is returned.  Otherwise
  * pdFALSE is returned.
  *
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup xStreamBufferSetTriggerLevel xStreamBufferSetTriggerLevel
  * @endcond
  * \ingroup StreamBufferManagement
@@ -811,7 +811,7 @@ BaseType_t xStreamBufferSetTriggerLevel( StreamBufferHandle_t xStreamBuffer,
                                          size_t xTriggerLevel ) PRIVILEGED_FUNCTION;
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * stream_buffer.h
  *
  * @code{c}
@@ -846,7 +846,7 @@ BaseType_t xStreamBufferSetTriggerLevel( StreamBufferHandle_t xStreamBuffer,
  * @return If a task was removed from the Blocked state then pdTRUE is returned.
  * Otherwise pdFALSE is returned.
  *
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup xStreamBufferSendCompletedFromISR xStreamBufferSendCompletedFromISR
  * @endcond
  * \ingroup StreamBufferManagement
@@ -855,7 +855,7 @@ BaseType_t xStreamBufferSendCompletedFromISR( StreamBufferHandle_t xStreamBuffer
                                               BaseType_t * pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * stream_buffer.h
  *
  * @code{c}
@@ -891,7 +891,7 @@ BaseType_t xStreamBufferSendCompletedFromISR( StreamBufferHandle_t xStreamBuffer
  * @return If a task was removed from the Blocked state then pdTRUE is returned.
  * Otherwise pdFALSE is returned.
  *
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup xStreamBufferReceiveCompletedFromISR xStreamBufferReceiveCompletedFromISR
  * @endcond
  * \ingroup StreamBufferManagement
@@ -899,7 +899,7 @@ BaseType_t xStreamBufferSendCompletedFromISR( StreamBufferHandle_t xStreamBuffer
 BaseType_t xStreamBufferReceiveCompletedFromISR( StreamBufferHandle_t xStreamBuffer,
                                                  BaseType_t * pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
 
-/** @cond */
+/** @cond !DOC_EXCLUDE_HEADER_SECTION */
 /* Functions below here are not part of the public API. */
 StreamBufferHandle_t xStreamBufferGenericCreate( size_t xBufferSizeBytes,
                                                  size_t xTriggerLevelBytes,

tools/sdk/esp32c3/include/freertos/include/freertos/task.h

@@ -76,7 +76,7 @@
  * returns (via a pointer parameter) an TaskHandle_t variable that can then
  * be used as a parameter to vTaskDelete to delete the task.
  *
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup TaskHandle_t TaskHandle_t
  * @endcond
  * \ingroup Tasks
@@ -114,7 +114,7 @@ typedef enum
     eSetValueWithoutOverwrite     /* Set the task's notification value if the previous value has been read by the task. */
 } eNotifyAction;
 
-/** @cond */
+/** @cond !DOC_EXCLUDE_HEADER_SECTION */
 /**
  * Used internally only.
  */
@@ -189,11 +189,13 @@ typedef enum
 #define tskIDLE_PRIORITY    ( ( UBaseType_t ) 0U )
 
 /**
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * task. h
+ * @endcond
  *
  * Macro for forcing a context switch.
  *
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup taskYIELD taskYIELD
  * @endcond
  * \ingroup SchedulerControl
@@ -201,7 +203,9 @@ typedef enum
 #define taskYIELD()                        portYIELD()
 
 /**
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * task. h
+ * @endcond
  *
  * Macro to mark the start of a critical code region.  Preemptive context
  * switches cannot occur when in a critical region.
@@ -209,7 +213,7 @@ typedef enum
  * @note This may alter the stack (depending on the portable implementation)
  * so must be used with care!
  *
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup taskENTER_CRITICAL taskENTER_CRITICAL
  * @endcond
  * \ingroup SchedulerControl
@@ -228,7 +232,9 @@ typedef enum
 #endif //  ESP_PLATFORM
 
 /**
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * task. h
+ * @endcond
  *
  * Macro to mark the end of a critical code region.  Preemptive context
  * switches cannot occur when in a critical region.
@@ -236,7 +242,7 @@ typedef enum
  * @note This may alter the stack (depending on the portable implementation)
  * so must be used with care!
  *
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup taskEXIT_CRITICAL taskEXIT_CRITICAL
  * @endcond
  * \ingroup SchedulerControl
@@ -255,11 +261,13 @@ typedef enum
 #define taskEXIT_CRITICAL_ISR( )        portEXIT_CRITICAL_ISR( )
 #endif // ESP_PLATFORM
 /**
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * task. h
+ * @endcond
  *
  * Macro to disable all maskable interrupts.
  *
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup taskDISABLE_INTERRUPTS taskDISABLE_INTERRUPTS
  * @endcond
  * \ingroup SchedulerControl
@@ -267,11 +275,13 @@ typedef enum
 #define taskDISABLE_INTERRUPTS()           portDISABLE_INTERRUPTS()
 
 /**
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * task. h
+ * @endcond
  *
  * Macro to enable microcontroller interrupts.
  *
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup taskENABLE_INTERRUPTS taskENABLE_INTERRUPTS
  * @endcond
  * \ingroup SchedulerControl
@@ -422,7 +432,7 @@ typedef enum
  *   }
  * }
  * @endcode
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup xTaskCreate xTaskCreate
  * @endcond
  * \ingroup Tasks
@@ -430,14 +440,14 @@ typedef enum
 #if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
 
     static inline IRAM_ATTR BaseType_t xTaskCreate(
-            TaskFunction_t pvTaskCode,
-            const char * const pcName,
-            const uint32_t usStackDepth,
-            void * const pvParameters,
-            UBaseType_t uxPriority,
-            TaskHandle_t * const pvCreatedTask)
+                            TaskFunction_t pvTaskCode,
+                            const char * const pcName,     /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
+                            const uint32_t usStackDepth,
+                            void * const pvParameters,
+                            UBaseType_t uxPriority,
+                            TaskHandle_t * const pxCreatedTask) PRIVILEGED_FUNCTION
     {
-        return xTaskCreatePinnedToCore( pvTaskCode, pcName, usStackDepth, pvParameters, uxPriority, pvCreatedTask, tskNO_AFFINITY );
+        return xTaskCreatePinnedToCore( pvTaskCode, pcName, usStackDepth, pvParameters, uxPriority, pxCreatedTask, tskNO_AFFINITY );
     }
 
 #endif
@@ -599,20 +609,20 @@ typedef enum
 
 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
     static inline IRAM_ATTR TaskHandle_t xTaskCreateStatic(
-            TaskFunction_t pvTaskCode,
-            const char * const pcName,
-            const uint32_t ulStackDepth,
-            void * const pvParameters,
-            UBaseType_t uxPriority,
-            StackType_t * const pxStackBuffer,
-            StaticTask_t * const pxTaskBuffer)
+                                    TaskFunction_t pvTaskCode,
+                                    const char * const pcName,     /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
+                                    const uint32_t ulStackDepth,
+                                    void * const pvParameters,
+                                    UBaseType_t uxPriority,
+                                    StackType_t * const puxStackBuffer,
+                                    StaticTask_t * const pxTaskBuffer) PRIVILEGED_FUNCTION
     {
-        return xTaskCreateStaticPinnedToCore( pvTaskCode, pcName, ulStackDepth, pvParameters, uxPriority, pxStackBuffer, pxTaskBuffer, tskNO_AFFINITY );
+        return xTaskCreateStaticPinnedToCore( pvTaskCode, pcName, ulStackDepth, pvParameters, uxPriority, puxStackBuffer, pxTaskBuffer, tskNO_AFFINITY );
     }
 #endif /* configSUPPORT_STATIC_ALLOCATION */
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * task. h
  * @code{c}
  * BaseType_t xTaskCreateRestricted( TaskParameters_t *pxTaskDefinition, TaskHandle_t *pxCreatedTask );
@@ -683,18 +693,18 @@ typedef enum
  *  for( ;; );
  * }
  * @endcode
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup xTaskCreateRestricted xTaskCreateRestricted
  * @endcond
  * \ingroup Tasks
  */
 #if ( portUSING_MPU_WRAPPERS == 1 )
     BaseType_t xTaskCreateRestricted( const TaskParameters_t * const pxTaskDefinition,
-                                      TaskHandle_t * pxCreatedTask );
+                                      TaskHandle_t * pxCreatedTask ) PRIVILEGED_FUNCTION;
 #endif
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * task. h
  * @code{c}
  * BaseType_t xTaskCreateRestrictedStatic( TaskParameters_t *pxTaskDefinition, TaskHandle_t *pxCreatedTask );
@@ -777,7 +787,7 @@ typedef enum
  *  for( ;; );
  * }
  * @endcode
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup xTaskCreateRestrictedStatic xTaskCreateRestrictedStatic
  * @endcond
  * \ingroup Tasks
@@ -788,7 +798,7 @@ typedef enum
 #endif
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * task. h
  * @code{c}
  * void vTaskAllocateMPURegions( TaskHandle_t xTask, const MemoryRegion_t * const pxRegions );
@@ -833,7 +843,7 @@ typedef enum
  *  // defined or shared regions have been declared elsewhere).
  * }
  * @endcode
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup xTaskCreateRestricted xTaskCreateRestricted
  * @endcond
  * \ingroup Tasks
@@ -842,7 +852,7 @@ void vTaskAllocateMPURegions( TaskHandle_t xTask,
                               const MemoryRegion_t * const pxRegions ) PRIVILEGED_FUNCTION;
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * task. h
  * @code{c}
  * void vTaskDelete( TaskHandle_t xTask );
@@ -881,7 +891,7 @@ void vTaskAllocateMPURegions( TaskHandle_t xTask,
  *   vTaskDelete( xHandle );
  * }
  * @endcode
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup vTaskDelete vTaskDelete
  * @endcond
  * \ingroup Tasks
@@ -893,10 +903,12 @@ void vTaskDelete( TaskHandle_t xTaskToDelete ) PRIVILEGED_FUNCTION;
  *----------------------------------------------------------*/
 
 /**
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * task. h
  * @code{c}
  * void vTaskDelay( const TickType_t xTicksToDelay );
  * @endcode
+ * @endcond
  *
  * Delay a task for a given number of ticks.  The actual time that the
  * task remains blocked depends on the tick rate.  The constant
@@ -938,7 +950,7 @@ void vTaskDelete( TaskHandle_t xTaskToDelete ) PRIVILEGED_FUNCTION;
  * }
  * @endcode
  *
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup vTaskDelay vTaskDelay
  * @endcond
  * \ingroup TaskCtrl
@@ -946,10 +958,12 @@ void vTaskDelete( TaskHandle_t xTaskToDelete ) PRIVILEGED_FUNCTION;
 void vTaskDelay( const TickType_t xTicksToDelay ) PRIVILEGED_FUNCTION;
 
 /**
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * task. h
  * @code{c}
  * BaseType_t xTaskDelayUntil( TickType_t *pxPreviousWakeTime, const TickType_t xTimeIncrement );
  * @endcode
+ * @endcond
  *
  * INCLUDE_xTaskDelayUntil must be defined as 1 for this function to be available.
  * See the configuration section for more information.
@@ -1007,7 +1021,7 @@ void vTaskDelay( const TickType_t xTicksToDelay ) PRIVILEGED_FUNCTION;
  *     }
  * }
  * @endcode
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup xTaskDelayUntil xTaskDelayUntil
  * @endcond
  * \ingroup TaskCtrl
@@ -1026,7 +1040,7 @@ BaseType_t xTaskDelayUntil( TickType_t * const pxPreviousWakeTime,
 
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * task. h
  * @code{c}
  * BaseType_t xTaskAbortDelay( TaskHandle_t xTask );
@@ -1054,7 +1068,7 @@ BaseType_t xTaskDelayUntil( TickType_t * const pxPreviousWakeTime,
  * @return If the task referenced by xTask was not in the Blocked state then
  * pdFAIL is returned.  Otherwise pdPASS is returned.
  *
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup xTaskAbortDelay xTaskAbortDelay
  * @endcond
  * \ingroup TaskCtrl
@@ -1062,7 +1076,7 @@ BaseType_t xTaskDelayUntil( TickType_t * const pxPreviousWakeTime,
 BaseType_t xTaskAbortDelay( TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * task. h
  * @code{c}
  * UBaseType_t uxTaskPriorityGet( const TaskHandle_t xTask );
@@ -1107,7 +1121,7 @@ BaseType_t xTaskAbortDelay( TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
  *   }
  * }
  * @endcode
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup uxTaskPriorityGet uxTaskPriorityGet
  * @endcond
  * \ingroup TaskCtrl
@@ -1115,7 +1129,7 @@ BaseType_t xTaskAbortDelay( TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
 UBaseType_t uxTaskPriorityGet( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * task. h
  * @code{c}
  * UBaseType_t uxTaskPriorityGetFromISR( const TaskHandle_t xTask );
@@ -1127,7 +1141,7 @@ UBaseType_t uxTaskPriorityGet( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
 UBaseType_t uxTaskPriorityGetFromISR( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * task. h
  * @code{c}
  * eTaskState eTaskGetState( TaskHandle_t xTask );
@@ -1149,7 +1163,7 @@ UBaseType_t uxTaskPriorityGetFromISR( const TaskHandle_t xTask ) PRIVILEGED_FUNC
 eTaskState eTaskGetState( TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * task. h
  * @code{c}
  * void vTaskGetInfo( TaskHandle_t xTask, TaskStatus_t *pxTaskStatus, BaseType_t xGetFreeStackSpace, eTaskState eState );
@@ -1203,7 +1217,7 @@ eTaskState eTaskGetState( TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
  *                eInvalid ); // Include the task state in xTaskDetails.
  * }
  * @endcode
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup vTaskGetInfo vTaskGetInfo
  * @endcond
  * \ingroup TaskCtrl
@@ -1214,7 +1228,7 @@ void vTaskGetInfo( TaskHandle_t xTask,
                    eTaskState eState ) PRIVILEGED_FUNCTION;
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * task. h
  * @code{c}
  * void vTaskPrioritySet( TaskHandle_t xTask, UBaseType_t uxNewPriority );
@@ -1254,7 +1268,7 @@ void vTaskGetInfo( TaskHandle_t xTask,
  *   vTaskPrioritySet( NULL, tskIDLE_PRIORITY + 1 );
  * }
  * @endcode
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup vTaskPrioritySet vTaskPrioritySet
  * @endcond
  * \ingroup TaskCtrl
@@ -1263,7 +1277,7 @@ void vTaskPrioritySet( TaskHandle_t xTask,
                        UBaseType_t uxNewPriority ) PRIVILEGED_FUNCTION;
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * task. h
  * @code{c}
  * void vTaskSuspend( TaskHandle_t xTaskToSuspend );
@@ -1312,7 +1326,7 @@ void vTaskPrioritySet( TaskHandle_t xTask,
  *   // with our handle as the parameter.
  * }
  * @endcode
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup vTaskSuspend vTaskSuspend
  * @endcond
  * \ingroup TaskCtrl
@@ -1320,7 +1334,7 @@ void vTaskPrioritySet( TaskHandle_t xTask,
 void vTaskSuspend( TaskHandle_t xTaskToSuspend ) PRIVILEGED_FUNCTION;
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * task. h
  * @code{c}
  * void vTaskResume( TaskHandle_t xTaskToResume );
@@ -1367,7 +1381,7 @@ void vTaskSuspend( TaskHandle_t xTaskToSuspend ) PRIVILEGED_FUNCTION;
  *   // time in accordance with its priority within the system.
  * }
  * @endcode
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup vTaskResume vTaskResume
  * @endcond
  * \ingroup TaskCtrl
@@ -1375,7 +1389,7 @@ void vTaskSuspend( TaskHandle_t xTaskToSuspend ) PRIVILEGED_FUNCTION;
 void vTaskResume( TaskHandle_t xTaskToResume ) PRIVILEGED_FUNCTION;
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * task. h
  * @code{c}
  * void xTaskResumeFromISR( TaskHandle_t xTaskToResume );
@@ -1402,7 +1416,7 @@ void vTaskResume( TaskHandle_t xTaskToResume ) PRIVILEGED_FUNCTION;
  * otherwise pdFALSE. This is used by the ISR to determine if a context switch
  * may be required following the ISR.
  *
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup vTaskResumeFromISR vTaskResumeFromISR
  * @endcond
  * \ingroup TaskCtrl
@@ -1412,9 +1426,9 @@ BaseType_t xTaskResumeFromISR( TaskHandle_t xTaskToResume ) PRIVILEGED_FUNCTION;
 /*-----------------------------------------------------------
  * SCHEDULER CONTROL
  *----------------------------------------------------------*/
-/** @cond */
+/** @cond !DOC_EXCLUDE_HEADER_SECTION */
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * task. h
  * @code{c}
  * void vTaskStartScheduler( void );
@@ -1445,7 +1459,7 @@ BaseType_t xTaskResumeFromISR( TaskHandle_t xTaskToResume ) PRIVILEGED_FUNCTION;
  * }
  * @endcode
  *
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup vTaskStartScheduler vTaskStartScheduler
  * @endcond
  * \ingroup SchedulerControl
@@ -1453,7 +1467,7 @@ BaseType_t xTaskResumeFromISR( TaskHandle_t xTaskToResume ) PRIVILEGED_FUNCTION;
 void vTaskStartScheduler( void ) PRIVILEGED_FUNCTION;
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * task. h
  * @code{c}
  * void vTaskEndScheduler( void );
@@ -1507,7 +1521,7 @@ void vTaskStartScheduler( void ) PRIVILEGED_FUNCTION;
  * }
  * @endcode
  *
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup vTaskEndScheduler vTaskEndScheduler
  * @endcond
  * \ingroup SchedulerControl
@@ -1517,7 +1531,7 @@ void vTaskEndScheduler( void ) PRIVILEGED_FUNCTION;
 /** @endcond */
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * task. h
  * @code{c}
  * void vTaskSuspendAll( void );
@@ -1566,7 +1580,7 @@ void vTaskEndScheduler( void ) PRIVILEGED_FUNCTION;
  *   }
  * }
  * @endcode
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup vTaskSuspendAll vTaskSuspendAll
  * @endcond
  * \ingroup SchedulerControl
@@ -1574,7 +1588,7 @@ void vTaskEndScheduler( void ) PRIVILEGED_FUNCTION;
 void vTaskSuspendAll( void ) PRIVILEGED_FUNCTION;
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * task. h
  * @code{c}
  * BaseType_t xTaskResumeAll( void );
@@ -1626,7 +1640,7 @@ void vTaskSuspendAll( void ) PRIVILEGED_FUNCTION;
  *   }
  * }
  * @endcode
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup xTaskResumeAll xTaskResumeAll
  * @endcond
  * \ingroup SchedulerControl
@@ -1638,7 +1652,7 @@ BaseType_t xTaskResumeAll( void ) PRIVILEGED_FUNCTION;
  *----------------------------------------------------------*/
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * task. h
  * @code{c}
  * TickType_t xTaskGetTickCount( void );
@@ -1647,7 +1661,7 @@ BaseType_t xTaskResumeAll( void ) PRIVILEGED_FUNCTION;
  *
  * @return The count of ticks since vTaskStartScheduler was called.
  *
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup xTaskGetTickCount xTaskGetTickCount
  * @endcond
  * \ingroup TaskUtils
@@ -1655,7 +1669,7 @@ BaseType_t xTaskResumeAll( void ) PRIVILEGED_FUNCTION;
 TickType_t xTaskGetTickCount( void ) PRIVILEGED_FUNCTION;
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * task. h
  * @code{c}
  * TickType_t xTaskGetTickCountFromISR( void );
@@ -1669,7 +1683,7 @@ TickType_t xTaskGetTickCount( void ) PRIVILEGED_FUNCTION;
  * microcontroller being used or interrupt nesting is either not supported or
  * not being used.
  *
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup xTaskGetTickCountFromISR xTaskGetTickCountFromISR
  * @endcond
  * \ingroup TaskUtils
@@ -1677,7 +1691,7 @@ TickType_t xTaskGetTickCount( void ) PRIVILEGED_FUNCTION;
 TickType_t xTaskGetTickCountFromISR( void ) PRIVILEGED_FUNCTION;
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * task. h
  * @code{c}
  * uint16_t uxTaskGetNumberOfTasks( void );
@@ -1689,7 +1703,7 @@ TickType_t xTaskGetTickCountFromISR( void ) PRIVILEGED_FUNCTION;
  * has been deleted but not yet freed by the idle task will also be
  * included in the count.
  *
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup uxTaskGetNumberOfTasks uxTaskGetNumberOfTasks
  * @endcond
  * \ingroup TaskUtils
@@ -1697,7 +1711,7 @@ TickType_t xTaskGetTickCountFromISR( void ) PRIVILEGED_FUNCTION;
 UBaseType_t uxTaskGetNumberOfTasks( void ) PRIVILEGED_FUNCTION;
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * task. h
  * @code{c}
  * char *pcTaskGetName( TaskHandle_t xTaskToQuery );
@@ -1708,7 +1722,7 @@ UBaseType_t uxTaskGetNumberOfTasks( void ) PRIVILEGED_FUNCTION;
  * xTaskToQuery.  A task can query its own name by either passing in its own
  * handle, or by setting xTaskToQuery to NULL.
  *
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup pcTaskGetName pcTaskGetName
  * @endcond
  * \ingroup TaskUtils
@@ -1716,7 +1730,7 @@ UBaseType_t uxTaskGetNumberOfTasks( void ) PRIVILEGED_FUNCTION;
 char * pcTaskGetName( TaskHandle_t xTaskToQuery ) PRIVILEGED_FUNCTION;     /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * task. h
  * @code{c}
  * TaskHandle_t xTaskGetHandle( const char *pcNameToQuery );
@@ -1730,7 +1744,7 @@ char * pcTaskGetName( TaskHandle_t xTaskToQuery ) PRIVILEGED_FUNCTION;     /*lin
  * NULL is returned if no matching name is found.  INCLUDE_xTaskGetHandle
  * must be set to 1 in FreeRTOSConfig.h for pcTaskGetHandle() to be available.
  *
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup pcTaskGetHandle pcTaskGetHandle
  * @endcond
  * \ingroup TaskUtils
@@ -1813,7 +1827,7 @@ uint8_t* pxTaskGetStackStart( TaskHandle_t xTask) PRIVILEGED_FUNCTION;
 #ifdef configUSE_APPLICATION_TASK_TAG
     #if configUSE_APPLICATION_TASK_TAG == 1
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * task.h
  * @code{c}
  * void vTaskSetApplicationTaskTag( TaskHandle_t xTask, TaskHookFunction_t pxHookFunction );
@@ -1830,7 +1844,7 @@ uint8_t* pxTaskGetStackStart( TaskHandle_t xTask) PRIVILEGED_FUNCTION;
                                          TaskHookFunction_t pxHookFunction ) PRIVILEGED_FUNCTION;
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * task.h
  * @code{c}
  * void xTaskGetApplicationTaskTag( TaskHandle_t xTask );
@@ -1844,7 +1858,7 @@ uint8_t* pxTaskGetStackStart( TaskHandle_t xTask) PRIVILEGED_FUNCTION;
         TaskHookFunction_t xTaskGetApplicationTaskTag( TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * task.h
  * @code{c}
  * void xTaskGetApplicationTaskTagFromISR( TaskHandle_t xTask );
@@ -1932,7 +1946,7 @@ uint8_t* pxTaskGetStackStart( TaskHandle_t xTask) PRIVILEGED_FUNCTION;
 #if ( configCHECK_FOR_STACK_OVERFLOW > 0 )
 
      /**
-      * @cond
+      * @cond !DOC_EXCLUDE_HEADER_SECTION
       * task.h
       * @code{c}
       * void vApplicationStackOverflowHook( TaskHandle_t xTask char *pcTaskName);
@@ -1952,7 +1966,7 @@ uint8_t* pxTaskGetStackStart( TaskHandle_t xTask) PRIVILEGED_FUNCTION;
 
 #if  (  configUSE_TICK_HOOK > 0 )
     /**
-     * @cond
+     * @cond !DOC_EXCLUDE_HEADER_SECTION
      *  task.h
      * @code{c}
      * void vApplicationTickHook( void );
@@ -1967,7 +1981,7 @@ uint8_t* pxTaskGetStackStart( TaskHandle_t xTask) PRIVILEGED_FUNCTION;
 
 #if ( configSUPPORT_STATIC_ALLOCATION == 1 )
     /**
-     * @cond
+     * @cond !DOC_EXCLUDE_HEADER_SECTION
      * task.h
      * @code{c}
      * void vApplicationGetIdleTaskMemory( StaticTask_t ** ppxIdleTaskTCBBuffer, StackType_t ** ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize )
@@ -1986,7 +2000,7 @@ uint8_t* pxTaskGetStackStart( TaskHandle_t xTask) PRIVILEGED_FUNCTION;
 #endif
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * task.h
  * @code{c}
  * BaseType_t xTaskCallApplicationTaskHook( TaskHandle_t xTask, void *pvParameter );
@@ -2155,7 +2169,7 @@ UBaseType_t uxTaskGetSystemState( TaskStatus_t * const pxTaskStatusArray,
  * enough to contain the generated report.  Approximately 40 bytes per
  * task should be sufficient.
  *
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup vTaskList vTaskList
  * @endcond
  * \ingroup TaskUtils
@@ -2210,7 +2224,7 @@ void vTaskList( char * pcWriteBuffer ) PRIVILEGED_FUNCTION;     /*lint !e971 Unq
  * contain the generated report.  Approximately 40 bytes per task should
  * be sufficient.
  *
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup vTaskGetRunTimeStats vTaskGetRunTimeStats
  * @endcond
  * \ingroup TaskUtils
@@ -2218,7 +2232,7 @@ void vTaskList( char * pcWriteBuffer ) PRIVILEGED_FUNCTION;     /*lint !e971 Unq
 void vTaskGetRunTimeStats( char * pcWriteBuffer ) PRIVILEGED_FUNCTION;     /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * task. h
  * @code
  * uint32_t ulTaskGetIdleRunTimeCounter( void );
@@ -2246,7 +2260,7 @@ void vTaskGetRunTimeStats( char * pcWriteBuffer ) PRIVILEGED_FUNCTION;     /*lin
  * frequency configured using the portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() and
  * portGET_RUN_TIME_COUNTER_VALUE() macros.
  *
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup ulTaskGetIdleRunTimeCounter ulTaskGetIdleRunTimeCounter
  * @endcond
  * \ingroup TaskUtils
@@ -2254,11 +2268,13 @@ void vTaskGetRunTimeStats( char * pcWriteBuffer ) PRIVILEGED_FUNCTION;     /*lin
 uint32_t ulTaskGetIdleRunTimeCounter( void ) PRIVILEGED_FUNCTION;
 
 /**
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * task. h
  * @code{c}
  * BaseType_t xTaskNotifyIndexed( TaskHandle_t xTaskToNotify, UBaseType_t uxIndexToNotify, uint32_t ulValue, eNotifyAction eAction );
  * BaseType_t xTaskNotify( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction );
  * @endcode
+ * @endcond
  *
  * See https://www.FreeRTOS.org/RTOS-task-notifications.html for details.
  *
@@ -2359,7 +2375,9 @@ uint32_t ulTaskGetIdleRunTimeCounter( void ) PRIVILEGED_FUNCTION;
  * @return Dependent on the value of eAction.  See the description of the
  * eAction parameter.
  *
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup xTaskNotifyIndexed xTaskNotifyIndexed
+ * @endcond
  * \ingroup TaskNotifications
  */
 BaseType_t xTaskGenericNotify( TaskHandle_t xTaskToNotify,
@@ -2373,11 +2391,13 @@ BaseType_t xTaskGenericNotify( TaskHandle_t xTaskToNotify,
     xTaskGenericNotify( ( xTaskToNotify ), ( uxIndexToNotify ), ( ulValue ), ( eAction ), NULL )
 
 /**
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * task. h
  * @code{c}
  * BaseType_t xTaskNotifyAndQueryIndexed( TaskHandle_t xTaskToNotify, UBaseType_t uxIndexToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotifyValue );
  * BaseType_t xTaskNotifyAndQuery( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotifyValue );
  * @endcode
+ * @endcond
  *
  * See https://www.FreeRTOS.org/RTOS-task-notifications.html for details.
  *
@@ -2393,7 +2413,9 @@ BaseType_t xTaskGenericNotify( TaskHandle_t xTaskToNotify,
  * than when the function returns) in the additional pulPreviousNotifyValue
  * parameter.
  *
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup xTaskNotifyAndQueryIndexed xTaskNotifyAndQueryIndexed
+ * @endcond
  * \ingroup TaskNotifications
  */
 #define xTaskNotifyAndQuery( xTaskToNotify, ulValue, eAction, pulPreviousNotifyValue ) \
@@ -2402,11 +2424,13 @@ BaseType_t xTaskGenericNotify( TaskHandle_t xTaskToNotify,
     xTaskGenericNotify( ( xTaskToNotify ), ( uxIndexToNotify ), ( ulValue ), ( eAction ), ( pulPreviousNotifyValue ) )
 
 /**
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * task. h
  * @code{c}
  * BaseType_t xTaskNotifyIndexedFromISR( TaskHandle_t xTaskToNotify, UBaseType_t uxIndexToNotify, uint32_t ulValue, eNotifyAction eAction, BaseType_t *pxHigherPriorityTaskWoken );
  * BaseType_t xTaskNotifyFromISR( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, BaseType_t *pxHigherPriorityTaskWoken );
  * @endcode
+ * @endcond
  *
  * See https://www.FreeRTOS.org/RTOS-task-notifications.html for details.
  *
@@ -2511,7 +2535,9 @@ BaseType_t xTaskGenericNotify( TaskHandle_t xTaskToNotify,
  * @return Dependent on the value of eAction.  See the description of the
  * eAction parameter.
  *
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup xTaskNotifyIndexedFromISR xTaskNotifyIndexedFromISR
+ * @endcond
  * \ingroup TaskNotifications
  */
 BaseType_t xTaskGenericNotifyFromISR( TaskHandle_t xTaskToNotify,
@@ -2526,11 +2552,13 @@ BaseType_t xTaskGenericNotifyFromISR( TaskHandle_t xTaskToNotify,
     xTaskGenericNotifyFromISR( ( xTaskToNotify ), ( uxIndexToNotify ), ( ulValue ), ( eAction ), NULL, ( pxHigherPriorityTaskWoken ) )
 
 /**
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * task. h
  * @code{c}
  * BaseType_t xTaskNotifyAndQueryIndexedFromISR( TaskHandle_t xTaskToNotify, UBaseType_t uxIndexToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue, BaseType_t *pxHigherPriorityTaskWoken );
  * BaseType_t xTaskNotifyAndQueryFromISR( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue, BaseType_t *pxHigherPriorityTaskWoken );
  * @endcode
+ * @endcond
  *
  * See https://www.FreeRTOS.org/RTOS-task-notifications.html for details.
  *
@@ -2546,7 +2574,9 @@ BaseType_t xTaskGenericNotifyFromISR( TaskHandle_t xTaskToNotify,
  * function is called rather than at the time the function returns) in the
  * additional pulPreviousNotifyValue parameter.
  *
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup xTaskNotifyAndQueryIndexedFromISR xTaskNotifyAndQueryIndexedFromISR
+ * @endcond
  * \ingroup TaskNotifications
  */
 #define xTaskNotifyAndQueryIndexedFromISR( xTaskToNotify, uxIndexToNotify, ulValue, eAction, pulPreviousNotificationValue, pxHigherPriorityTaskWoken ) \
@@ -2555,12 +2585,14 @@ BaseType_t xTaskGenericNotifyFromISR( TaskHandle_t xTaskToNotify,
     xTaskGenericNotifyFromISR( ( xTaskToNotify ), ( tskDEFAULT_INDEX_TO_NOTIFY ), ( ulValue ), ( eAction ), ( pulPreviousNotificationValue ), ( pxHigherPriorityTaskWoken ) )
 
 /**
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * task. h
  * @code{c}
  * BaseType_t xTaskNotifyWaitIndexed( UBaseType_t uxIndexToWaitOn, uint32_t ulBitsToClearOnEntry, uint32_t ulBitsToClearOnExit, uint32_t *pulNotificationValue, TickType_t xTicksToWait );
  *
  * BaseType_t xTaskNotifyWait( uint32_t ulBitsToClearOnEntry, uint32_t ulBitsToClearOnExit, uint32_t *pulNotificationValue, TickType_t xTicksToWait );
  * @endcode
+ * @endcond
  *
  * Waits for a direct to task notification to be pending at a given index within
  * an array of direct to task notifications.
@@ -2655,7 +2687,9 @@ BaseType_t xTaskGenericNotifyFromISR( TaskHandle_t xTaskToNotify,
  * already pending when xTaskNotifyWait was called) then pdPASS is
  * returned.  Otherwise pdFAIL is returned.
  *
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup xTaskNotifyWaitIndexed xTaskNotifyWaitIndexed
+ * @endcond
  * \ingroup TaskNotifications
  */
 BaseType_t xTaskGenericNotifyWait( UBaseType_t uxIndexToWaitOn,
@@ -2669,11 +2703,13 @@ BaseType_t xTaskGenericNotifyWait( UBaseType_t uxIndexToWaitOn,
     xTaskGenericNotifyWait( ( uxIndexToWaitOn ), ( ulBitsToClearOnEntry ), ( ulBitsToClearOnExit ), ( pulNotificationValue ), ( xTicksToWait ) )
 
 /**
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * task. h
  * @code{c}
  * BaseType_t xTaskNotifyGiveIndexed( TaskHandle_t xTaskToNotify, UBaseType_t uxIndexToNotify );
  * BaseType_t xTaskNotifyGive( TaskHandle_t xTaskToNotify );
  * @endcode
+ * @endcond
  *
  * Sends a direct to task notification to a particular index in the target
  * task's notification array in a manner similar to giving a counting semaphore.
@@ -2737,7 +2773,9 @@ BaseType_t xTaskGenericNotifyWait( UBaseType_t uxIndexToWaitOn,
  * @return xTaskNotifyGive() is a macro that calls xTaskNotify() with the
  * eAction parameter set to eIncrement - so pdPASS is always returned.
  *
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup xTaskNotifyGiveIndexed xTaskNotifyGiveIndexed
+ * @endcond
  * \ingroup TaskNotifications
  */
 #define xTaskNotifyGive( xTaskToNotify ) \
@@ -2746,11 +2784,13 @@ BaseType_t xTaskGenericNotifyWait( UBaseType_t uxIndexToWaitOn,
     xTaskGenericNotify( ( xTaskToNotify ), ( uxIndexToNotify ), ( 0 ), eIncrement, NULL )
 
 /**
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * task. h
  * @code{c}
  * void vTaskNotifyGiveIndexedFromISR( TaskHandle_t xTaskHandle, UBaseType_t uxIndexToNotify, BaseType_t *pxHigherPriorityTaskWoken );
  * void vTaskNotifyGiveFromISR( TaskHandle_t xTaskHandle, BaseType_t *pxHigherPriorityTaskWoken );
  * @endcode
+ * @endcond
  *
  * A version of xTaskNotifyGiveIndexed() that can be called from an interrupt
  * service routine (ISR).
@@ -2821,7 +2861,9 @@ BaseType_t xTaskGenericNotifyWait( UBaseType_t uxIndexToWaitOn,
  * requested from an ISR is dependent on the port - see the documentation page
  * for the port in use.
  *
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup vTaskNotifyGiveIndexedFromISR vTaskNotifyGiveIndexedFromISR
+ * @endcond
  * \ingroup TaskNotifications
  */
 void vTaskGenericNotifyGiveFromISR( TaskHandle_t xTaskToNotify,
@@ -2833,12 +2875,14 @@ void vTaskGenericNotifyGiveFromISR( TaskHandle_t xTaskToNotify,
     vTaskGenericNotifyGiveFromISR( ( xTaskToNotify ), ( uxIndexToNotify ), ( pxHigherPriorityTaskWoken ) );
 
 /**
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * task. h
  * @code{c}
  * uint32_t ulTaskNotifyTakeIndexed( UBaseType_t uxIndexToWaitOn, BaseType_t xClearCountOnExit, TickType_t xTicksToWait );
  *
  * uint32_t ulTaskNotifyTake( BaseType_t xClearCountOnExit, TickType_t xTicksToWait );
  * @endcode
+ * @endcond
  *
  * Waits for a direct to task notification on a particular index in the calling
  * task's notification array in a manner similar to taking a counting semaphore.
@@ -2927,7 +2971,9 @@ void vTaskGenericNotifyGiveFromISR( TaskHandle_t xTaskToNotify,
  * @return The task's notification count before it is either cleared to zero or
  * decremented (see the xClearCountOnExit parameter).
  *
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup ulTaskNotifyTakeIndexed ulTaskNotifyTakeIndexed
+ * @endcond
  * \ingroup TaskNotifications
  */
 uint32_t ulTaskGenericNotifyTake( UBaseType_t uxIndexToWaitOn,
@@ -2939,12 +2985,14 @@ uint32_t ulTaskGenericNotifyTake( UBaseType_t uxIndexToWaitOn,
     ulTaskGenericNotifyTake( ( uxIndexToWaitOn ), ( xClearCountOnExit ), ( xTicksToWait ) )
 
 /**
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * task. h
  * @code{c}
  * BaseType_t xTaskNotifyStateClearIndexed( TaskHandle_t xTask, UBaseType_t uxIndexToCLear );
  *
  * BaseType_t xTaskNotifyStateClear( TaskHandle_t xTask );
  * @endcode
+ * @endcond
  *
  * See https://www.FreeRTOS.org/RTOS-task-notifications.html for details.
  *
@@ -2992,7 +3040,9 @@ uint32_t ulTaskGenericNotifyTake( UBaseType_t uxIndexToWaitOn,
  * @return pdTRUE if the task's notification state was set to
  * eNotWaitingNotification, otherwise pdFALSE.
  *
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup xTaskNotifyStateClearIndexed xTaskNotifyStateClearIndexed
+ * @endcond
  * \ingroup TaskNotifications
  */
 BaseType_t xTaskGenericNotifyStateClear( TaskHandle_t xTask,
@@ -3003,12 +3053,14 @@ BaseType_t xTaskGenericNotifyStateClear( TaskHandle_t xTask,
     xTaskGenericNotifyStateClear( ( xTask ), ( uxIndexToClear ) )
 
 /**
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * task. h
  * @code{c}
  * uint32_t ulTaskNotifyValueClearIndexed( TaskHandle_t xTask, UBaseType_t uxIndexToClear, uint32_t ulBitsToClear );
  *
  * uint32_t ulTaskNotifyValueClear( TaskHandle_t xTask, uint32_t ulBitsToClear );
  * @endcode
+ * @endcond
  *
  * See https://www.FreeRTOS.org/RTOS-task-notifications.html for details.
  *
@@ -3057,7 +3109,9 @@ BaseType_t xTaskGenericNotifyStateClear( TaskHandle_t xTask,
  *
  * @return The value of the target task's notification value before the bits
  * specified by ulBitsToClear were cleared.
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup ulTaskNotifyValueClear ulTaskNotifyValueClear
+ * @endcond
  * \ingroup TaskNotifications
  */
 uint32_t ulTaskGenericNotifyValueClear( TaskHandle_t xTask,
@@ -3069,7 +3123,7 @@ uint32_t ulTaskGenericNotifyValueClear( TaskHandle_t xTask,
     ulTaskGenericNotifyValueClear( ( xTask ), ( uxIndexToClear ), ( ulBitsToClear ) )
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * task.h
  * @code{c}
  * void vTaskSetTimeOutState( TimeOut_t * const pxTimeOut );
@@ -3082,14 +3136,14 @@ uint32_t ulTaskGenericNotifyValueClear( TaskHandle_t xTask,
  * is to be captured.  The captured time includes the tick count and the number
  * of times the tick count has overflowed since the system first booted.
  * \defgroup vTaskSetTimeOutState vTaskSetTimeOutState
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \ingroup TaskCtrl
  * @endcond
  */
 void vTaskSetTimeOutState( TimeOut_t * const pxTimeOut ) PRIVILEGED_FUNCTION;
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * task.h
  * @code
  * BaseType_t xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut, TickType_t * const pxTicksToWait );
@@ -3170,7 +3224,7 @@ void vTaskSetTimeOutState( TimeOut_t * const pxTimeOut ) PRIVILEGED_FUNCTION;
  *      return uxReceived;
  *  }
  * @endcode
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \defgroup xTaskCheckForTimeOut xTaskCheckForTimeOut
  * @endcond
  * \ingroup TaskCtrl
@@ -3179,7 +3233,7 @@ BaseType_t xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut,
                                  TickType_t * const pxTicksToWait ) PRIVILEGED_FUNCTION;
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * task.h
  * @code{c}
  * BaseType_t xTaskCatchUpTicks( TickType_t xTicksToCatchUp );
@@ -3204,7 +3258,7 @@ BaseType_t xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut,
  * blocked state and a context switch being performed.  Otherwise pdFALSE.
  *
  * \defgroup xTaskCatchUpTicks xTaskCatchUpTicks
- * @cond
+ * @cond !DOC_SINGLE_GROUP
  * \ingroup TaskCtrl
  * @endcond
  */
@@ -3214,7 +3268,7 @@ BaseType_t xTaskCatchUpTicks( TickType_t xTicksToCatchUp ) PRIVILEGED_FUNCTION;
 /*-----------------------------------------------------------
  * SCHEDULER INTERNALS AVAILABLE FOR PORTING PURPOSES
  *----------------------------------------------------------*/
-/** @cond */
+/** @cond !DOC_EXCLUDE_HEADER_SECTION */
 /*
  * Return the handle of the task running on a certain CPU. Because of
  * the nature of SMP processing, there is no guarantee that this
@@ -3335,8 +3389,8 @@ void vTaskPlaceOnEventListRestricted( List_t * const pxEventList,
  * making the call, otherwise pdFALSE.
  */
 BaseType_t xTaskRemoveFromEventList( const List_t * const pxEventList ) PRIVILEGED_FUNCTION;
-BaseType_t xTaskRemoveFromUnorderedEventList( ListItem_t * pxEventListItem,
-                                              const TickType_t xItemValue ) PRIVILEGED_FUNCTION;
+void vTaskRemoveFromUnorderedEventList( ListItem_t * pxEventListItem,
+                                        const TickType_t xItemValue ) PRIVILEGED_FUNCTION;
 
 /*
  * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE.  IT IS ONLY
@@ -3399,11 +3453,6 @@ void vTaskPriorityDisinheritAfterTimeout( TaskHandle_t const pxMutexHolder,
  */
 UBaseType_t uxTaskGetTaskNumber( TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
 
-/*
- * Get the current core affinity of a task
- */
-BaseType_t xTaskGetAffinity( TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
-
 /*
  * Set the uxTaskNumber of the task referenced by the xTask parameter to
  * uxHandle.

tools/sdk/esp32c3/include/freertos/include/freertos/timers.h

@@ -450,7 +450,7 @@ void vTimerSetTimerID( TimerHandle_t xTimer,
 BaseType_t xTimerIsTimerActive( TimerHandle_t xTimer ) PRIVILEGED_FUNCTION;
 
 /**
- * @cond
+ * @cond !DOC_EXCLUDE_HEADER_SECTION
  * TaskHandle_t xTimerGetTimerDaemonTaskHandle( void );
  * @endcond
  *
@@ -1315,7 +1315,7 @@ TickType_t xTimerGetPeriod( TimerHandle_t xTimer ) PRIVILEGED_FUNCTION;
  */
 TickType_t xTimerGetExpiryTime( TimerHandle_t xTimer ) PRIVILEGED_FUNCTION;
 
-/** @cond */
+/** @cond !DOC_EXCLUDE_HEADER_SECTION */
 
 /*
  * Functions beyond this part are not part of the public API and are intended
@@ -1339,7 +1339,7 @@ BaseType_t xTimerGenericCommand( TimerHandle_t xTimer,
 #if ( configSUPPORT_STATIC_ALLOCATION == 1 )
 
     /**
-     * @cond
+     * @cond !DOC_EXCLUDE_HEADER_SECTION
      * task.h
      * @code{c}
      * void vApplicationGetTimerTaskMemory( StaticTask_t ** ppxTimerTaskTCBBuffer, StackType_t ** ppxTimerTaskStackBuffer, uint32_t *pulTimerTaskStackSize )

tools/sdk/esp32c3/include/freertos/port/riscv/include/freertos/portmacro.h

@@ -24,89 +24,465 @@
  *
  * 1 tab == 4 spaces!
  */
+
 #ifndef PORTMACRO_H
 #define PORTMACRO_H
 
+#ifndef __ASSEMBLER__
+
+#include "sdkconfig.h"
+#include <stdint.h>
+#include <stdlib.h>
+#include <stdbool.h>
+#include <stdio.h>
+#include "soc/spinlock.h"
+#include "soc/interrupt_core0_reg.h"
+#include "soc/cpu.h"
+#include "esp_attr.h"
+#include "esp_rom_sys.h"
+#include "esp_timer.h"              /* required for FreeRTOS run time stats */
+#include "esp_heap_caps.h"
+#include "esp_system.h"             /* required by esp_get_...() functions in portable.h. [refactor-todo] Update portable.h */
+#include "esp_newlib.h"
+#include "portbenchmark.h"
+
+/* [refactor-todo] These includes are not directly used in this file. They are kept into to prevent a breaking change. Remove these. */
+#include <limits.h>
+#ifdef CONFIG_LEGACY_INCLUDE_COMMON_HEADERS
+#include "soc/soc_memory_layout.h"
+#endif
+
 #ifdef __cplusplus
 extern "C" {
 #endif
 
-#ifndef __ASSEMBLER__
 
-#include <stdint.h>
-#include <stdlib.h>
-#include <stdbool.h>
-#include <stdio.h>
-#include <limits.h>
-#include "esp_timer.h"              /* required for FreeRTOS run time stats */
 
-#include "sdkconfig.h"
-#include "esp_attr.h"
-#include "esp_heap_caps.h"
-#ifdef CONFIG_LEGACY_INCLUDE_COMMON_HEADERS
-#include "soc/soc_memory_layout.h"
-#endif
-#include "soc/spinlock.h"
-#include "soc/interrupt_core0_reg.h"
-#include "esp_rom_sys.h"
-#include "soc/cpu.h"
-#include "esp_system.h"
-#include "esp_newlib.h"
+/* --------------------------------------------------- Port Types ------------------------------------------------------
+ * - Port specific types.
+ * - The settings in this file configure FreeRTOS correctly for the given hardware and compiler.
+ * - These settings should not be altered.
+ * - The port types must come first as they are used further down in this file
+ * ------------------------------------------------------------------------------------------------------------------ */
 
-/*-----------------------------------------------------------
- * Port specific definitions.
- *
- * The settings in this file configure FreeRTOS correctly for the
- * given hardware and compiler.
- *
- * These settings should not be altered.
- *-----------------------------------------------------------
- */
+#define portCHAR                    uint8_t
+#define portFLOAT                   float
+#define portDOUBLE                  double
+#define portLONG                    int32_t
+#define portSHORT                   int16_t
+#define portSTACK_TYPE              uint8_t
+#define portBASE_TYPE               int
 
-/* Type definitions. */
-#define portCHAR		uint8_t
-#define portFLOAT		float
-#define portDOUBLE		double
-#define portLONG		int32_t
-#define portSHORT		int16_t
-#define portSTACK_TYPE	uint8_t
-#define portBASE_TYPE	int
-// interrupt module will mask interrupt with priority less than threshold
-#define RVHAL_EXCM_LEVEL    4
+typedef portSTACK_TYPE              StackType_t;
+typedef portBASE_TYPE               BaseType_t;
+typedef unsigned portBASE_TYPE      UBaseType_t;
 
-typedef portSTACK_TYPE			StackType_t;
-typedef portBASE_TYPE			BaseType_t;
-typedef unsigned portBASE_TYPE	UBaseType_t;
-
-#if( configUSE_16_BIT_TICKS == 1 )
-	typedef uint16_t TickType_t;
-	#define portMAX_DELAY ( TickType_t ) 0xffff
+#if (configUSE_16_BIT_TICKS == 1)
+typedef uint16_t TickType_t;
+#define portMAX_DELAY (TickType_t)  0xffff
 #else
-	typedef uint32_t TickType_t;
-	#define portMAX_DELAY ( TickType_t ) 0xffffffffUL
+typedef uint32_t TickType_t;
+#define portMAX_DELAY (TickType_t)  0xffffffffUL
 #endif
-/*------------------------------------------------------*/
 
-/* Architecture specifics. */
-#define portSTACK_GROWTH			( -1 )
-#define portTICK_PERIOD_MS			( ( TickType_t ) (1000 / configTICK_RATE_HZ) )
-#define portBYTE_ALIGNMENT			16
-/*-----------------------------------------------------------*/
-#include "portbenchmark.h"
+/* Task function macros as described on the FreeRTOS.org WEB site. */
+#define portTASK_FUNCTION_PROTO(vFunction, pvParameters) void vFunction(void *pvParameters)
+#define portTASK_FUNCTION(vFunction, pvParameters) void vFunction(void *pvParameters)
 
-static inline BaseType_t IRAM_ATTR xPortGetCoreID(void) {
-    return cpu_hal_get_core_id();
+// interrupt module will mask interrupt with priority less than threshold
+#define RVHAL_EXCM_LEVEL            4
+
+
+/* ----------------------------------------------- Port Configurations -------------------------------------------------
+ * - Configurations values supplied by each port
+ * - Required by FreeRTOS
+ * ------------------------------------------------------------------------------------------------------------------ */
+
+#define portCRITICAL_NESTING_IN_TCB     0
+#define portSTACK_GROWTH                (-1)
+#define portTICK_PERIOD_MS              ((TickType_t) (1000 / configTICK_RATE_HZ))
+#define portBYTE_ALIGNMENT              16
+#define portNOP() __asm volatile        (" nop ")
+
+
+
+/* ---------------------------------------------- Forward Declarations -------------------------------------------------
+ * - Forward declarations of all the port functions and macros need to implement the FreeRTOS porting interface
+ * - These must come before definition/declaration of the FreeRTOS porting interface
+ * ------------------------------------------------------------------------------------------------------------------ */
+
+// --------------------- Interrupts ------------------------
+
+/**
+ * @brief Checks if the current core is in an ISR context
+ *
+ * - ISR context consist of Low/Mid priority ISR, or time tick ISR
+ * - High priority ISRs aren't detected here, but they normally cannot call C code, so that should not be an issue anyway.
+ *
+ * @note [refactor-todo] Check if this should be inlined
+ * @return
+ *  - pdTRUE if in ISR
+ *  - pdFALSE otherwise
+ */
+BaseType_t xPortInIsrContext(void);
+
+/**
+ * @brief Check if in ISR context from High priority ISRs
+ *
+ * - Called from High priority ISR
+ * - Checks if the previous context (before high priority interrupt) was in ISR context (meaning low/med priority)
+ *
+ * @note [refactor-todo] Check if this should be inlined
+ * @return
+ *  - pdTRUE if in previous in ISR context
+ *  - pdFALSE otherwise
+ */
+BaseType_t xPortInterruptedFromISRContext(void);
+
+/**
+ * @brief Disable interrupts in a nested manner
+ *
+ * - Cleaner solution allows nested interrupts disabling and restoring via local registers or stack.
+ * - They can be called from interrupts too.
+ * - WARNING Only applies to current CPU.
+ *
+ * @note [refactor-todo] Define this as portSET_INTERRUPT_MASK_FROM_ISR() instead
+ * @return unsigned Previous interrupt state
+ */
+static inline unsigned portENTER_CRITICAL_NESTED(void);
+
+/* ---------------------- Spinlocks ------------------------
+ - Spinlocks added to match API with SMP FreeRTOS. Single core RISC-V does not need spin locks
+ - Because single core does not have a primitive spinlock data type, we have to implement one here
+ * @note [refactor-todo] Refactor critical section API so that this is no longer required
+ * ------------------------------------------------------ */
+
+/**
+ * @brief Spinlock object
+ * Owner:
+ *  - Set to 0 if uninitialized
+ *  - Set to portMUX_FREE_VAL when free
+ *  - Set to CORE_ID_REGVAL_PRO or CORE_ID_REGVAL_AP when locked
+ *  - Any other value indicates corruption
+ * Count:
+ *  - 0 if unlocked
+ *  - Recursive count if locked
+ *
+ * @note Not a true spinlock as single core RISC-V does not have atomic compare and set instruction
+ * @note Keep portMUX_INITIALIZER_UNLOCKED in sync with this struct
+ */
+typedef struct {
+    uint32_t owner;
+    uint32_t count;
+#ifdef CONFIG_FREERTOS_PORTMUX_DEBUG
+    const char *lastLockedFn;
+    int lastLockedLine;
+#endif
+} portMUX_TYPE;
+/**< Spinlock initializer */
+#ifndef CONFIG_FREERTOS_PORTMUX_DEBUG
+#define portMUX_INITIALIZER_UNLOCKED {                  \
+            .owner = portMUX_FREE_VAL,                      \
+            .count = 0,                                     \
+        }
+#else
+#define portMUX_INITIALIZER_UNLOCKED {                  \
+            .owner = portMUX_FREE_VAL,                      \
+            .count = 0,                                     \
+            .lastLockedFn = "(never locked)",               \
+            .lastLockedLine = -1                            \
+        }
+#endif /* CONFIG_FREERTOS_PORTMUX_DEBUG */
+#define portMUX_FREE_VAL        SPINLOCK_FREE           /**< Spinlock is free. [refactor-todo] check if this is still required */
+#define portMUX_NO_TIMEOUT      SPINLOCK_WAIT_FOREVER   /**< When passed for 'timeout_cycles', spin forever if necessary. [refactor-todo] check if this is still required */
+#define portMUX_TRY_LOCK        SPINLOCK_NO_WAIT        /**< Try to acquire the spinlock a single time only. [refactor-todo] check if this is still required */
+
+/**
+ * @brief Initialize a spinlock
+ *
+ * - Initializes a spinlock that is used by FreeRTOS SMP critical sections
+ *
+ * @note [refactor-todo] We can make this inline or consider making it a macro
+ * @param[in] mux Spinlock
+ */
+void vPortCPUInitializeMutex(portMUX_TYPE *mux);
+
+/**
+ * @brief Acquire a spinlock
+ *
+ * @note [refactor-todo] check if we still need this
+ * @note [refactor-todo] Check if this should be inlined
+ * @param[in] mux Spinlock
+ */
+void vPortCPUAcquireMutex(portMUX_TYPE *mux);
+
+/**
+ * @brief Acquire a spinlock but with a specified timeout
+ *
+ * @note [refactor-todo] Check if we still need this
+ * @note [refactor-todo] Check if this should be inlined
+ * @note [refactor-todo] Check if this function should be renamed (due to bool return type)
+ * @param[in] mux Spinlock
+ * @param[in] timeout Timeout in number of CPU cycles
+ * @return true Spinlock acquired
+ * @return false Timed out
+ */
+bool vPortCPUAcquireMutexTimeout(portMUX_TYPE *mux, int timeout_cycles);
+
+/**
+ * @brief Release a spinlock
+ *
+ * @note [refactor-todo] check if we still need this
+ * @note [refactor-todo] Check if this should be inlined
+ * @param[in] mux Spinlock
+ */
+void vPortCPUReleaseMutex(portMUX_TYPE *mux);
+
+/**
+ * @brief Wrapper for atomic compare-and-set instruction
+ *
+ * @note Isn't a real atomic CAS.
+ * @note [refactor-todo] check if we still need this
+ * @note [refactor-todo] Check if this function should be renamed (due to void return type)
+ *
+ * @param[inout] addr Pointer to target address
+ * @param[in] compare Compare value
+ * @param[inout] set Pointer to set value
+ */
+static inline void __attribute__((always_inline)) uxPortCompareSet(volatile uint32_t *addr, uint32_t compare, uint32_t *set);
+
+/**
+ * @brief Wrapper for atomic compare-and-set instruction in external RAM
+ *
+ * @note Isn't a real atomic CAS.
+ * @note [refactor-todo] check if we still need this
+ * @note [refactor-todo] Check if this function should be renamed (due to void return type)
+ *
+ * @param[inout] addr Pointer to target address
+ * @param[in] compare Compare value
+ * @param[inout] set Pointer to set value
+ */
+static inline void uxPortCompareSetExtram(volatile uint32_t *addr, uint32_t compare, uint32_t *set);
+
+// ------------------ Critical Sections --------------------
+
+/**
+ * @brief Enter a critical section
+ *
+ * - Simply disable interrupts
+ * - Can be nested
+ */
+void vPortEnterCritical(void);
+
+/**
+ * @brief Exit a critical section
+ *
+ * - Reenables interrupts
+ * - Can be nested
+ */
+void vPortExitCritical(void);
+
+// ---------------------- Yielding -------------------------
+
+/**
+ * @brief Set interrupt mask and return current interrupt enable register
+ *
+ * @note [refactor-todo] Check if this function should be renamed (due to int return type)
+ * @return int Current interrupt enable register before set
+ */
+int vPortSetInterruptMask(void);
+
+/**
+ * @brief Clear current interrupt mask and set given mask
+ *
+ * @param mask Interrupt mask
+ */
+void vPortClearInterruptMask(int mask);
+
+/**
+ * @brief Perform a context switch from a task
+ *
+ * @note [refactor-todo] The rest of ESP-IDF should call taskYield() instead
+ */
+void vPortYield(void);
+
+/**
+ * @brief Perform a context switch from an ISR
+ */
+void vPortYieldFromISR(void);
+
+/**
+ * @brief Yields the other core
+ *
+ * @note Added to be compatible with SMP API
+ * @note [refactor-todo] Put this into private macros as its only called from task.c and is not public API
+ * @param coreid ID of core to yield
+ */
+void vPortYieldOtherCore(BaseType_t coreid);
+
+/**
+ * @brief Checks if the current core can yield
+ *
+ * - A core cannot yield if its in an ISR or in a critical section
+ *
+ * @note [refactor-todo] See if this can be separated from port macro
+ * @note [refactor-todo] Check if this function should be renamed (due to bool return type)
+ * @return true Core can yield
+ * @return false Core cannot yield
+ */
+static inline bool IRAM_ATTR xPortCanYield(void);
+
+// ------------------- Hook Functions ----------------------
+
+extern void esp_vApplicationIdleHook(void);
+extern void esp_vApplicationTickHook(void);
+
+/**
+ * @brief Hook function called on entry to tickless idle
+ *
+ * - Implemented in pm_impl.c
+ *
+ * @param xExpectedIdleTime Expected idle time
+ */
+void vApplicationSleep(TickType_t xExpectedIdleTime);
+
+// ----------------------- System --------------------------
+
+/**
+ * @brief Get the tick rate per second
+ *
+ * @note [refactor-todo] make this inline
+ * @note [refactor-todo] Check if this function should be renamed (due to uint return type)
+ * @return uint32_t Tick rate in Hz
+ */
+uint32_t xPortGetTickRateHz(void);
+
+/**
+ * @brief Set a watchpoint to watch the last 32 bytes of the stack
+ *
+ * Callback to set a watchpoint on the end of the stack. Called every context switch to change the stack watchpoint
+ * around.
+ *
+ * @param pxStackStart Pointer to the start of the stack
+ */
+void vPortSetStackWatchpoint(void *pxStackStart);
+
+/**
+ * @brief Get the current core's ID
+ *
+ * @note Added to be compatible with SMP API
+ * @note [refactor-todo] IDF should call a FreeRTOS like macro instead of port function directly
+ * @return BaseType_t Core ID
+ */
+static inline BaseType_t IRAM_ATTR xPortGetCoreID(void)
+{
+    return (uint32_t) cpu_hal_get_core_id();
 }
 
 
-static inline bool IRAM_ATTR xPortCanYield(void)
+
+/* ------------------------------------------- FreeRTOS Porting Interface ----------------------------------------------
+ * - Contains all the mappings of the macros required by FreeRTOS
+ * - Most come after forward declare as porting macros map to declared functions
+ * - Maps to forward declared functions
+ * ------------------------------------------------------------------------------------------------------------------ */
+
+// ----------------------- Memory --------------------------
+
+/**
+ * @brief Task memory allocation macros
+ *
+ * @note Because the ROM routines don't necessarily handle a stack in external RAM correctly, we force the stack
+ * memory to always be internal.
+ * @note [refactor-todo] Update portable.h to match v10.4.3 to use new malloc prototypes
+ */
+#define portTcbMemoryCaps               (MALLOC_CAP_INTERNAL|MALLOC_CAP_8BIT)
+#define portStackMemoryCaps             (MALLOC_CAP_INTERNAL|MALLOC_CAP_8BIT)
+#define pvPortMallocTcbMem(size)        pvPortMalloc(size)
+#define pvPortMallocStackMem(size)      pvPortMalloc(size)
+
+// --------------------- Interrupts ------------------------
+
+#define portEXIT_CRITICAL_NESTED(state)     do { portCLEAR_INTERRUPT_MASK_FROM_ISR(state);} while(0);
+#define portDISABLE_INTERRUPTS()            portSET_INTERRUPT_MASK_FROM_ISR()
+#define portENABLE_INTERRUPTS()             portCLEAR_INTERRUPT_MASK_FROM_ISR(1)
+#define portSET_INTERRUPT_MASK_FROM_ISR()                       vPortSetInterruptMask()
+#define portCLEAR_INTERRUPT_MASK_FROM_ISR(uxSavedStatusValue) vPortClearInterruptMask(uxSavedStatusValue)
+
+// ------------------ Critical Sections --------------------
+
+#define portENTER_CRITICAL(mux)         {(void)mux;  vPortEnterCritical();}
+#define portEXIT_CRITICAL(mux)          {(void)mux;  vPortExitCritical();}
+//In single-core RISC-V, we can use the same critical section API
+#define portENTER_CRITICAL_ISR(mux)     portENTER_CRITICAL(mux)
+#define portEXIT_CRITICAL_ISR(mux)      portEXIT_CRITICAL(mux)
+/* [refactor-todo] on RISC-V, both ISR and non-ISR cases result in the same call. We can redefine this macro */
+#define portENTER_CRITICAL_SAFE(mux)    ({  \
+    if (xPortInIsrContext()) {              \
+        portENTER_CRITICAL_ISR(mux);        \
+    } else {                                \
+        portENTER_CRITICAL(mux);            \
+    }                                       \
+})
+#define portEXIT_CRITICAL_SAFE(mux)     ({  \
+    if (xPortInIsrContext()) {              \
+        portEXIT_CRITICAL_ISR(mux);         \
+    } else {                                \
+        portEXIT_CRITICAL(mux);             \
+    }                                       \
+})
+
+// ---------------------- Yielding -------------------------
+
+#define portYIELD() vPortYield()
+#define portYIELD_FROM_ISR() vPortYieldFromISR()
+#define portEND_SWITCHING_ISR(xSwitchRequired) if(xSwitchRequired) vPortYield()
+/* Yielding within an API call (when interrupts are off), means the yield should be delayed
+   until interrupts are re-enabled.
+   To do this, we use the "cross-core" interrupt as a trigger to yield on this core when interrupts are re-enabled.This
+   is the same interrupt & code path which is used to trigger a yield between CPUs, although in this case the yield is
+   happening on the same CPU.
+*/
+#define portYIELD_WITHIN_API() portYIELD()
+
+// ------------------- Hook Functions ----------------------
+
+#ifndef CONFIG_FREERTOS_LEGACY_HOOKS
+#define vApplicationIdleHook    esp_vApplicationIdleHook
+#define vApplicationTickHook    esp_vApplicationTickHook
+#endif /* !CONFIG_FREERTOS_LEGACY_HOOKS */
+#define portSUPPRESS_TICKS_AND_SLEEP(idleTime) vApplicationSleep(idleTime)
+
+// ------------------- Run Time Stats ----------------------
+
+#define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS()
+#define portGET_RUN_TIME_COUNTER_VALUE() 0
+#ifdef CONFIG_FREERTOS_RUN_TIME_STATS_USING_ESP_TIMER
+/* Coarse resolution time (us) */
+#define portALT_GET_RUN_TIME_COUNTER_VALUE(x)    do {x = (uint32_t)esp_timer_get_time();} while(0)
+#endif
+
+
+
+/* --------------------------------------------- Inline Implementations ------------------------------------------------
+ * - Implementation of inline functions of the forward declares
+ * - Should come after forward declare and FreeRTOS Porting interface, as implementation may use both.
+ * - For implementation of non-inlined functions, see port.c, port_common.c, or other assembly files
+ * ------------------------------------------------------------------------------------------------------------------ */
+
+// --------------------- Interrupts ------------------------
+
+static inline unsigned portENTER_CRITICAL_NESTED(void)
 {
-    uint32_t threshold = REG_READ(INTERRUPT_CORE0_CPU_INT_THRESH_REG);
-    /* when enter critical code, freertos will mask threshold to RVHAL_EXCM_LEVEL
-     * and exit critical code, will recover threshold value (1). so threshold <= 1
-     * means not in critical code
-     */
-    return (threshold <= 1);
+    unsigned state = portSET_INTERRUPT_MASK_FROM_ISR();
+    return state;
+}
+
+// ---------------------- Spinlocks ------------------------
+
+static inline void __attribute__((always_inline)) uxPortCompareSet(volatile uint32_t *addr, uint32_t compare, uint32_t *set)
+{
+    compare_and_set_native(addr, compare, set);
 }
 
 static inline void uxPortCompareSetExtram(volatile uint32_t *addr, uint32_t compare, uint32_t *set)
@@ -116,199 +492,56 @@ static inline void uxPortCompareSetExtram(volatile uint32_t *addr, uint32_t comp
 #endif
 }
 
-static inline void __attribute__((always_inline)) uxPortCompareSet(volatile uint32_t *addr, uint32_t compare, uint32_t *set) {
-    compare_and_set_native(addr, compare, set);
+// ---------------------- Yielding -------------------------
+
+static inline bool IRAM_ATTR xPortCanYield(void)
+{
+    uint32_t threshold = REG_READ(INTERRUPT_CORE0_CPU_INT_THRESH_REG);
+    /* when enter critical code, FreeRTOS will mask threshold to RVHAL_EXCM_LEVEL
+     * and exit critical code, will recover threshold value (1). so threshold <= 1
+     * means not in critical code
+     */
+    return (threshold <= 1);
 }
 
-#define portCRITICAL_NESTING_IN_TCB 0
 
-/*
- * Send an interrupt to another core in order to make the task running
- * on it yield for a higher-priority task.
+
+/* ------------------------------------------------------ Misc ---------------------------------------------------------
+ * - Miscellaneous porting macros
+ * - These are not port of the FreeRTOS porting interface, but are used by other FreeRTOS dependent components
+ * ------------------------------------------------------------------------------------------------------------------ */
+
+// -------------------- Heap Related -----------------------
+
+/**
+ * @brief Checks if a given piece of memory can be used to store a task's TCB
+ *
+ * - Defined in port_common.c
+ *
+ * @param ptr Pointer to memory
+ * @return true Memory can be used to store a TCB
+ * @return false Otherwise
  */
-void vPortYieldOtherCore( BaseType_t coreid);
+bool xPortCheckValidTCBMem(const void *ptr);
 
-/*
- Callback to set a watchpoint on the end of the stack. Called every context switch to change the stack
- watchpoint around.
+/**
+ * @brief Checks if a given piece of memory can be used to store a task's stack
+ *
+ * - Defined in port_common.c
+ *
+ * @param ptr Pointer to memory
+ * @return true Memory can be used to store a task stack
+ * @return false Otherwise
  */
-void vPortSetStackWatchpoint( void* pxStackStart );
+bool xPortcheckValidStackMem(const void *ptr);
 
-/*
- * Returns true if the current core is in ISR context; low prio ISR, med prio ISR or timer tick ISR. High prio ISRs
- * aren't detected here, but they normally cannot call C code, so that should not be an issue anyway.
- */
-BaseType_t xPortInIsrContext(void);
-
-/*
- * This function will be called in High prio ISRs. Returns true if the current core was in ISR context
- * before calling into high prio ISR context.
- */
-BaseType_t xPortInterruptedFromISRContext(void);
-
-/* "mux" data structure (spinlock) */
-typedef struct {
-	/* owner field values:
-	 * 0				- Uninitialized (invalid)
-	 * portMUX_FREE_VAL - Mux is free, can be locked by either CPU
-	 * CORE_ID_REGVAL_PRO / CORE_ID_REGVAL_APP - Mux is locked to the particular core
-	 *
-	 *
-	 * Any value other than portMUX_FREE_VAL, CORE_ID_REGVAL_PRO, CORE_ID_REGVAL_APP indicates corruption
-	 */
-	uint32_t owner;
-	/* count field:
-	 * If mux is unlocked, count should be zero.
-	 * If mux is locked, count is non-zero & represents the number of recursive locks on the mux.
-	 */
-	uint32_t count;
-#ifdef CONFIG_FREERTOS_PORTMUX_DEBUG
-	const char *lastLockedFn;
-	int lastLockedLine;
-#endif
-} portMUX_TYPE;
-
-#define portMUX_FREE_VAL		SPINLOCK_FREE
-
-/* Special constants for vPortCPUAcquireMutexTimeout() */
-#define portMUX_NO_TIMEOUT      SPINLOCK_WAIT_FOREVER  /* When passed for 'timeout_cycles', spin forever if necessary */
-#define portMUX_TRY_LOCK        SPINLOCK_NO_WAIT     /* Try to acquire the spinlock a single time only */
-
-// Keep this in sync with the portMUX_TYPE struct definition please.
-#ifndef CONFIG_FREERTOS_PORTMUX_DEBUG
-#define portMUX_INITIALIZER_UNLOCKED {					\
-		.owner = portMUX_FREE_VAL,						\
-		.count = 0,										\
-	}
-#else
-#define portMUX_INITIALIZER_UNLOCKED {					\
-		.owner = portMUX_FREE_VAL,						\
-		.count = 0,										\
-		.lastLockedFn = "(never locked)",				\
-		.lastLockedLine = -1							\
-	}
-#endif
-
-/* Scheduler utilities. */
-extern void vPortYield( void );
-extern void vPortYieldFromISR( void );
-
-#define portYIELD()			    vPortYield()
-#define portYIELD_FROM_ISR()    vPortYieldFromISR()
-
-/* Yielding within an API call (when interrupts are off), means the yield should be delayed
-   until interrupts are re-enabled.
-   To do this, we use the "cross-core" interrupt as a trigger to yield on this core when interrupts are re-enabled.This
-   is the same interrupt & code path which is used to trigger a yield between CPUs, although in this case the yield is
-   happening on the same CPU.
-*/
-#define portYIELD_WITHIN_API() portYIELD()
-/*-----------------------------------------------------------*/
-
-/* Critical section management. */
-extern int vPortSetInterruptMask(void);
-extern void vPortClearInterruptMask( int );
-
-void vPortCPUInitializeMutex(portMUX_TYPE *mux);
-void vPortCPUAcquireMutex(portMUX_TYPE *mux);
-bool vPortCPUAcquireMutexTimeout(portMUX_TYPE *mux, int timeout_cycles);
-void vPortCPUReleaseMutex(portMUX_TYPE *mux);
-
-extern void vPortEnterCritical( void );
-extern void vPortExitCritical( void );
-
-#define portDISABLE_INTERRUPTS()				portSET_INTERRUPT_MASK_FROM_ISR()
-#define portENABLE_INTERRUPTS()					portCLEAR_INTERRUPT_MASK_FROM_ISR(1)
-
-#define portENTER_CRITICAL(mux)		{(void)mux;  vPortEnterCritical();}
-#define portEXIT_CRITICAL(mux)		{(void)mux;  vPortExitCritical();}
-
-#define portENTER_CRITICAL_ISR(mux)    portENTER_CRITICAL(mux)
-#define portEXIT_CRITICAL_ISR(mux)     portEXIT_CRITICAL(mux)
-
-#define portENTER_CRITICAL_SAFE(mux)  do {                                             \
-                                         if (xPortInIsrContext()) {                    \
-                                             portENTER_CRITICAL_ISR(mux);              \
-                                         } else {                                      \
-                                             portENTER_CRITICAL(mux);                  \
-                                         }                                             \
-                                      } while(0)
-
-#define portEXIT_CRITICAL_SAFE(mux)  do {                                              \
-                                         if (xPortInIsrContext()) {                    \
-                                             portEXIT_CRITICAL_ISR(mux);               \
-                                         } else {                                      \
-                                             portEXIT_CRITICAL(mux);                   \
-                                         }                                             \
-                                      } while(0)
-
-/*------------------------------------------------------------*/
-#define portSET_INTERRUPT_MASK_FROM_ISR()       vPortSetInterruptMask()
-#define portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedStatusValue )       vPortClearInterruptMask( uxSavedStatusValue )
-#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) vPortYield()
-
-// Cleaner solution allows nested interrupts disabling and restoring via local registers or stack.
-// They can be called from interrupts too.
-static inline unsigned portENTER_CRITICAL_NESTED(void) {
-    unsigned state = portSET_INTERRUPT_MASK_FROM_ISR();
-	return state;
-}
-
-#define portEXIT_CRITICAL_NESTED(state)   do { portCLEAR_INTERRUPT_MASK_FROM_ISR( state );} while(0);
-/*-----------------------------------------------------------*/
-
-//Because the ROM routines don't necessarily handle a stack in external RAM correctly, we force
-//the stack memory to always be internal.
-#define portTcbMemoryCaps (MALLOC_CAP_INTERNAL|MALLOC_CAP_8BIT)
-#define portStackMemoryCaps (MALLOC_CAP_INTERNAL|MALLOC_CAP_8BIT)
-
-#define pvPortMallocTcbMem(size) pvPortMalloc(size)
-#define pvPortMallocStackMem(size)  pvPortMalloc(size)
-
-/* Fine resolution time */
-#define portGET_RUN_TIME_COUNTER_VALUE() 0
-#define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS()
-
-#ifdef CONFIG_FREERTOS_RUN_TIME_STATS_USING_ESP_TIMER
-/* Coarse resolution time (us) */
-#define portALT_GET_RUN_TIME_COUNTER_VALUE(x)    do {x = (uint32_t)esp_timer_get_time();} while(0)
-#endif
-
-extern void esp_vApplicationIdleHook( void );
-extern void esp_vApplicationTickHook( void );
-
-#ifndef CONFIG_FREERTOS_LEGACY_HOOKS
-#define vApplicationIdleHook    esp_vApplicationIdleHook
-#define vApplicationTickHook    esp_vApplicationTickHook
-#endif /* !CONFIG_FREERTOS_LEGACY_HOOKS */
-
-/* Task function macros as described on the FreeRTOS.org WEB site. */
-#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters )
-#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters )
-
-void vApplicationSleep( TickType_t xExpectedIdleTime );
-#define portSUPPRESS_TICKS_AND_SLEEP( idleTime ) vApplicationSleep( idleTime )
-
-#define portNOP() __asm volatile 	( " nop " )
-
-#define portVALID_TCB_MEM(ptr) esp_ptr_byte_accessible(ptr)
-#define portVALID_STACK_MEM(ptr) esp_ptr_byte_accessible(ptr)
-
-/* Get tick rate per second */
-uint32_t xPortGetTickRateHz(void);
-
-// configASSERT_2 if requested
-#if configASSERT_2
-#include <stdio.h>
-void exit(int);
-#define configASSERT( x )   if (!(x)) { porttracePrint(-1); printf("\nAssertion failed in %s:%d\n", __FILE__, __LINE__); exit(-1); }
-#endif
-
-
-#endif //__ASSEMBLER__
+#define portVALID_TCB_MEM(ptr) xPortCheckValidTCBMem(ptr)
+#define portVALID_STACK_MEM(ptr) xPortcheckValidStackMem(ptr)
 
 #ifdef __cplusplus
 }
 #endif
 
+#endif //__ASSEMBLER__
+
 #endif /* PORTMACRO_H */

tools/sdk/esp32c3/include/hal/esp32c3/include/hal/i2s_ll.h

@@ -1,16 +1,8 @@
-// Copyright 2021 Espressif Systems (Shanghai) PTE LTD
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
+/*
+ * SPDX-FileCopyrightText: 2021 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
 
 // The LL layer for I2S register operations
 /*******************************************************************************
@@ -86,6 +78,26 @@ static inline void i2s_ll_rx_enable_clock(i2s_dev_t *hw)
     hw->rx_clkm_conf.rx_clk_active = 1;
 }
 
+/**
+ * @brief Disable I2S tx module clock
+ *
+ * @param hw Peripheral I2S hardware instance address.
+ */
+static inline void i2s_ll_tx_disable_clock(i2s_dev_t *hw)
+{
+    hw->tx_clkm_conf.tx_clk_active = 0;
+}
+
+/**
+ * @brief Disable I2S rx module clock
+ *
+ * @param hw Peripheral I2S hardware instance address.
+ */
+static inline void i2s_ll_rx_disable_clock(i2s_dev_t *hw)
+{
+    hw->rx_clkm_conf.rx_clk_active = 0;
+}
+
 /**
  * @brief I2S mclk use tx module clock
  *

tools/sdk/esp32c3/include/hal/esp32c3/include/hal/rmt_ll.h

@@ -1,16 +1,9 @@
-// Copyright 2020 Espressif Systems (Shanghai) PTE LTD
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
+/*
+ * SPDX-FileCopyrightText: 2020-2021 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
 #pragma once
 
 #include <stdint.h>
@@ -23,6 +16,9 @@
 extern "C" {
 #endif
 
+
+#define RMT_LL_MAX_LOOP_COUNT           (1023)/*!< Max loop count that hardware is supported */
+
 #define RMT_LL_HW_BASE  (&RMT)
 #define RMT_LL_MEM_BASE (&RMTMEM)
 

tools/sdk/esp32c3/include/hal/include/hal/i2s_hal.h

@@ -1,16 +1,8 @@
-// Copyright 2020 Espressif Systems (Shanghai) PTE LTD
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
+/*
+ * SPDX-FileCopyrightText: 2020-2021 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
 
 /*******************************************************************************
  * NOTICE
@@ -176,28 +168,28 @@ void i2s_hal_enable_slave_fd_mode(i2s_hal_context_t *hal);
  *
  * @param hal Context of the HAL layer
  */
-#define i2s_hal_start_tx(hal)               i2s_ll_tx_start((hal)->dev)
+void i2s_hal_start_tx(i2s_hal_context_t *hal);
 
 /**
  * @brief Start I2S rx
  *
  * @param hal Context of the HAL layer
  */
-#define i2s_hal_start_rx(hal)               i2s_ll_rx_start((hal)->dev)
+void i2s_hal_start_rx(i2s_hal_context_t *hal);
 
 /**
  * @brief Stop I2S tx
  *
  * @param hal Context of the HAL layer
  */
-#define i2s_hal_stop_tx(hal)                i2s_ll_tx_stop((hal)->dev)
+void i2s_hal_stop_tx(i2s_hal_context_t *hal);
 
 /**
  * @brief Stop I2S rx
  *
  * @param hal Context of the HAL layer
  */
-#define i2s_hal_stop_rx(hal)                i2s_ll_rx_stop((hal)->dev)
+void i2s_hal_stop_rx(i2s_hal_context_t *hal);
 
 /**
  * @brief Set the received data length to trigger `in_suc_eof` interrupt.

tools/sdk/esp32c3/include/hal/include/hal/lcd_hal.h

@@ -1,22 +1,8 @@
-// Copyright 2021 Espressif Systems (Shanghai) PTE LTD
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-/*******************************************************************************
- * NOTICE
- * The HAL is not public api, don't use in application code.
- * See readme.md in soc/README.md
- ******************************************************************************/
+/*
+ * SPDX-FileCopyrightText: 2021 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
 
 #pragma once
 

tools/sdk/esp32c3/include/hal/include/hal/lcd_types.h

@@ -1,16 +1,8 @@
-// Copyright 2021 Espressif Systems (Shanghai) PTE LTD
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
+/*
+ * SPDX-FileCopyrightText: 2021 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
 
 #pragma once
 
@@ -21,15 +13,12 @@ extern "C" {
 /**
  * @brief LCD clock source
  * @note User should select the clock source based on the real requirement:
- * ╔═════════════════════╦══════════════════════════╦════════════════════════════╗
- * ║ LCD clock source    ║ Features                 ║ Power Management           ║
- * ╠═════════════════════╬══════════════════════════╬════════════════════════════╣
- * ║ LCD_CLK_SRC_PLL160M ║ High resolution, fixed   ║ ESP_PM_APB_FREQ_MAX lock   ║
- * ╠═════════════════════╬══════════════════════════╬════════════════════════════╣
- * ║ LCD_CLK_SRC_APLL    ║ Configurable resolution  ║ ESP_PM_NO_LIGHT_SLEEP lock ║
- * ╠═════════════════════╬══════════════════════════╬════════════════════════════╣
- * ║ LCD_CLK_SRC_XTAL    ║ Medium resolution, fixed ║ No PM lock                 ║
- * ╚═════════════════════╩══════════════════════════╩════════════════════════════╝
+ *
+ * | LCD clock source    | Features                 | Power Management           |
+ * |---------------------|--------------------------|----------------------------|
+ * | LCD_CLK_SRC_PLL160M | High resolution, fixed   | ESP_PM_APB_FREQ_MAX lock   |
+ * | LCD_CLK_SRC_APLL    | Configurable resolution  | ESP_PM_NO_LIGHT_SLEEP lock |
+ * | LCD_CLK_SRC_XTAL    | Medium resolution, fixed | No PM lock                 |
  */
 typedef enum {
     LCD_CLK_SRC_PLL160M, /*!< Select PLL160M as the source clock */

tools/sdk/esp32c3/include/hal/include/hal/touch_sensor_types.h

@@ -1,16 +1,8 @@
-// Copyright 2015-2020 Espressif Systems (Shanghai) PTE LTD
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
+/*
+ * SPDX-FileCopyrightText: 2015-2021 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
 
 #pragma once
 
@@ -155,12 +147,23 @@ typedef enum {
     TOUCH_PAD_INTR_MASK_INACTIVE = BIT(2),  /*!<Inactive for one of the enabled channels. */
     TOUCH_PAD_INTR_MASK_SCAN_DONE = BIT(3), /*!<Measurement done for all the enabled channels. */
     TOUCH_PAD_INTR_MASK_TIMEOUT = BIT(4),   /*!<Timeout for one of the enabled channels. */
+#if SOC_TOUCH_PROXIMITY_MEAS_DONE_SUPPORTED
+    TOUCH_PAD_INTR_MASK_PROXI_MEAS_DONE = BIT(5),   /*!<For proximity sensor, when the number of measurements reaches the set count of measurements, an interrupt will be generated. */
+    TOUCH_PAD_INTR_MASK_MAX
+#define TOUCH_PAD_INTR_MASK_ALL (TOUCH_PAD_INTR_MASK_TIMEOUT    \
+                                | TOUCH_PAD_INTR_MASK_SCAN_DONE \
+                                | TOUCH_PAD_INTR_MASK_INACTIVE  \
+                                | TOUCH_PAD_INTR_MASK_ACTIVE    \
+                                | TOUCH_PAD_INTR_MASK_DONE      \
+                                | TOUCH_PAD_INTR_MASK_PROXI_MEAS_DONE) /*!<All touch interrupt type enable. */
+#else
     TOUCH_PAD_INTR_MASK_MAX
 #define TOUCH_PAD_INTR_MASK_ALL (TOUCH_PAD_INTR_MASK_TIMEOUT    \
                                 | TOUCH_PAD_INTR_MASK_SCAN_DONE \
                                 | TOUCH_PAD_INTR_MASK_INACTIVE  \
                                 | TOUCH_PAD_INTR_MASK_ACTIVE    \
                                 | TOUCH_PAD_INTR_MASK_DONE) /*!<All touch interrupt type enable. */
+#endif
 } touch_pad_intr_mask_t;
 FLAG_ATTR(touch_pad_intr_mask_t)
 

tools/sdk/esp32c3/include/lwip/port/esp32/include/lwipopts.h

@@ -266,6 +266,12 @@
 
 #endif
 
+/**
+ * CONFIG_LWIP_DHCP_OPTIONS_LEN: The total length of outgoing DHCP option msg. If you have many options
+ * and options value is too long, you can configure the length according to your requirements
+ */
+#define DHCP_OPTIONS_LEN                CONFIG_LWIP_DHCP_OPTIONS_LEN
+
 /*
    ------------------------------------
    ---------- AUTOIP options ----------

tools/sdk/esp32c3/include/mdns/include/mdns.h

@@ -187,7 +187,10 @@ esp_err_t mdns_instance_name_set(const char * instance_name);
  * @note The value length of txt items will be automatically decided by strlen
  *
  * @param  instance_name    instance name to set. If NULL,
- *                          global instance name or hostname will be used
+ *                          global instance name or hostname will be used.
+ *                          Note that MDNS_MULTIPLE_INSTANCE config option
+ *                          needs to be enabled for adding multiple instances
+ *                          with the same instance type.
  * @param  service_type     service type (_http, _ftp, etc)
  * @param  proto            service protocol (_tcp, _udp)
  * @param  port             service port
@@ -209,6 +212,9 @@ esp_err_t mdns_service_add(const char * instance_name, const char * service_type
  *
  * @param  instance_name    instance name to set. If NULL,
  *                          global instance name or hostname will be used
+ *                          Note that MDNS_MULTIPLE_INSTANCE config option
+ *                          needs to be enabled for adding multiple instances
+ *                          with the same instance type.
  * @param  service_type     service type (_http, _ftp, etc)
  * @param  proto            service protocol (_tcp, _udp)
  * @param  hostname         service hostname. If NULL, local hostname will be used.
@@ -238,6 +244,22 @@ esp_err_t mdns_service_add_for_host(const char * instance_name, const char * ser
  */
 bool mdns_service_exists(const char * service_type, const char * proto, const char * hostname);
 
+
+/**
+ * @brief  Check whether a service has been added.
+ *
+ * @param  instance         instance name
+ * @param  service_type     service type (_http, _ftp, etc)
+ * @param  proto            service protocol (_tcp, _udp)
+ * @param  hostname         service hostname. If NULL, checks for the local hostname.
+ *
+ * @return
+ *     - true   Correspondding service has been added.
+ *     - false  Service not found.
+ */
+bool mdns_service_exists_with_instance(const char *instance, const char *service_type, const char *proto,
+                                       const char *hostname);
+
 /**
  * @brief  Remove service from mDNS server
  *

tools/sdk/esp32c3/include/mqtt/esp-mqtt/include/mqtt_client.h

@@ -206,6 +206,7 @@ typedef struct {
     int network_timeout_ms;                 /*!< Abort network operation if it is not completed after this value, in milliseconds (defaults to 10s) */
     bool disable_keepalive;                 /*!< Set disable_keepalive=true to turn off keep-alive mechanism, false by default (keepalive is active by default). Note: setting the config value `keepalive` to `0` doesn't disable keepalive feature, but uses a default keepalive period */
     const char *path;                       /*!< Path in the URI*/
+    int message_retransmit_timeout;         /*!< timeout for retansmit of failded packet */
 } esp_mqtt_client_config_t;
 
 /**
@@ -375,6 +376,7 @@ esp_err_t esp_mqtt_client_destroy(esp_mqtt_client_handle_t client);
  * @param config    mqtt configuration structure
  *
  * @return ESP_ERR_NO_MEM if failed to allocate
+ *         ESP_ERR_INVALID_ARG if conflicts on transport configuration.
  *         ESP_OK on success
  */
 esp_err_t esp_mqtt_set_config(esp_mqtt_client_handle_t client, const esp_mqtt_client_config_t *config);

tools/sdk/esp32c3/include/openssl/include/openssl/ssl.h

@@ -1,16 +1,13 @@
-// Copyright 2015-2016 Espressif Systems (Shanghai) PTE LTD
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
+/*
+ * SPDX-FileCopyrightText: 2015-2021 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
 
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
+// Allow for this warning suppression only in IDF_CI_BUILD
+#if !defined(ESP_OPENSSL_SUPPRESS_LEGACY_WARNING) || !defined(IDF_CI_BUILD)
+#warning "OpenSSL component will be removed from ESP-IDF in v5.0, please use esp_tls instead"
+#endif
 
 #ifndef _SSL_H_
 #define _SSL_H_

tools/sdk/esp32c3/include/protocomm/include/transports/protocomm_ble.h

@@ -1,16 +1,8 @@
-// Copyright 2018 Espressif Systems (Shanghai) PTE LTD
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
+/*
+ * SPDX-FileCopyrightText: 2018-2021 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
 
 #pragma once
 
@@ -86,6 +78,10 @@ typedef struct protocomm_ble_config {
      * Pointer to the Name-UUID lookup table
      */
     protocomm_ble_name_uuid_t *nu_lookup;
+
+    /* BLE bonding */
+    unsigned ble_bonding:1;
+
 } protocomm_ble_config_t;
 
 /**

tools/sdk/esp32c3/include/soc/esp32c3/include/soc/rtc.h

@@ -114,11 +114,14 @@ extern "C" {
 set sleep_init default param
 */
 #define RTC_CNTL_DBG_ATTEN_LIGHTSLEEP_DEFAULT  3
+#define RTC_CNTL_DBG_ATTEN_LIGHTSLEEP_NODROP  0
 #define RTC_CNTL_DBG_ATTEN_DEEPSLEEP_DEFAULT  15
 #define RTC_CNTL_DBG_ATTEN_MONITOR_DEFAULT  0
 #define RTC_CNTL_BIASSLP_MONITOR_DEFAULT  0
+#define RTC_CNTL_BIASSLP_SLEEP_ON  0
 #define RTC_CNTL_BIASSLP_SLEEP_DEFAULT  1
 #define RTC_CNTL_PD_CUR_MONITOR_DEFAULT  0
+#define RTC_CNTL_PD_CUR_SLEEP_ON  0
 #define RTC_CNTL_PD_CUR_SLEEP_DEFAULT  1
 #define RTC_CNTL_DG_VDD_DRV_B_SLP_DEFAULT 254
 
@@ -639,7 +642,8 @@ typedef struct {
     uint32_t rtc_peri_pd_en : 1;        //!< power down RTC peripherals
     uint32_t wifi_pd_en : 1;            //!< power down WiFi
     uint32_t bt_pd_en : 1;              //!< power down BT
-    uint32_t cpu_pd_en : 1;              //!< power down CPU, but not restart when lightsleep.
+    uint32_t cpu_pd_en : 1;             //!< power down CPU, but not restart when lightsleep.
+    uint32_t int_8m_pd_en : 1;          //!< Power down Internal 8M oscillator
     uint32_t dig_peri_pd_en : 1;        //!< power down digital peripherals
     uint32_t deep_slp : 1;              //!< power down digital domain
     uint32_t wdt_flashboot_mod_en : 1;  //!< enable WDT flashboot mode
@@ -648,6 +652,7 @@ typedef struct {
     uint32_t rtc_dbias_wak : 5;         //!< set bias for RTC domain, in active mode
     uint32_t rtc_dbias_slp : 5;         //!< set bias for RTC domain, in sleep mode
     uint32_t vddsdio_pd_en : 1;         //!< power down VDDSDIO regulator
+    uint32_t xtal_fpu : 1;              //!< keep main XTAL powered up in sleep
     uint32_t deep_slp_reject : 1;
     uint32_t light_slp_reject : 1;
 } rtc_sleep_config_t;
@@ -660,6 +665,7 @@ typedef struct {
  *
  * @param RTC_SLEEP_PD_x flags combined using bitwise OR
  */
+#define is_dslp(pd_flags)   ((pd_flags) & RTC_SLEEP_PD_DIG)
 #define RTC_SLEEP_CONFIG_DEFAULT(sleep_flags) { \
     .lslp_mem_inf_fpu = 0, \
     .rtc_mem_inf_follow_cpu = ((sleep_flags) & RTC_SLEEP_PD_RTC_MEM_FOLLOW_CPU) ? 1 : 0, \
@@ -669,14 +675,20 @@ typedef struct {
     .wifi_pd_en = ((sleep_flags) & RTC_SLEEP_PD_WIFI) ? 1 : 0, \
     .bt_pd_en = ((sleep_flags) & RTC_SLEEP_PD_BT) ? 1 : 0, \
     .cpu_pd_en = ((sleep_flags) & RTC_SLEEP_PD_CPU) ? 1 : 0, \
+    .int_8m_pd_en = is_dslp(sleep_flags) ? 1 : ((sleep_flags) & RTC_SLEEP_PD_INT_8M) ? 1 : 0, \
     .dig_peri_pd_en = ((sleep_flags) & RTC_SLEEP_PD_DIG_PERIPH) ? 1 : 0, \
     .deep_slp = ((sleep_flags) & RTC_SLEEP_PD_DIG) ? 1 : 0, \
     .wdt_flashboot_mod_en = 0, \
     .dig_dbias_wak = RTC_CNTL_DBIAS_1V10, \
-    .dig_dbias_slp = RTC_CNTL_DBIAS_SLP, \
+    .dig_dbias_slp = is_dslp(sleep_flags)                   ? RTC_CNTL_DBIAS_SLP  \
+                   : !((sleep_flags) & RTC_SLEEP_PD_INT_8M) ? RTC_CNTL_DBIAS_1V10 \
+                   : RTC_CNTL_DBIAS_SLP, \
     .rtc_dbias_wak = RTC_CNTL_DBIAS_1V10, \
-    .rtc_dbias_slp = RTC_CNTL_DBIAS_SLP, \
+    .rtc_dbias_slp = is_dslp(sleep_flags)                   ? RTC_CNTL_DBIAS_SLP  \
+                   : !((sleep_flags) & RTC_SLEEP_PD_INT_8M) ? RTC_CNTL_DBIAS_1V10 \
+                   : RTC_CNTL_DBIAS_SLP, \
     .vddsdio_pd_en = ((sleep_flags) & RTC_SLEEP_PD_VDDSDIO) ? 1 : 0, \
+    .xtal_fpu = is_dslp(sleep_flags) ? 0 : ((sleep_flags) & RTC_SLEEP_PD_XTAL) ? 0 : 1, \
     .deep_slp_reject = 1, \
     .light_slp_reject = 1 \
 };
@@ -691,6 +703,8 @@ typedef struct {
 #define RTC_SLEEP_PD_BT                 BIT(7)  //!< Power down BT
 #define RTC_SLEEP_PD_CPU                BIT(8)  //!< Power down CPU when in lightsleep, but not restart
 #define RTC_SLEEP_PD_DIG_PERIPH         BIT(9)  //!< Power down DIG peripherals
+#define RTC_SLEEP_PD_INT_8M             BIT(10) //!< Power down Internal 8M oscillator
+#define RTC_SLEEP_PD_XTAL               BIT(11) //!< Power down main XTAL
 
 /**
  * @brief Prepare the chip to enter sleep mode

tools/sdk/esp32c3/include/soc/include/soc/lcd_periph.h

@@ -1,16 +1,8 @@
-// Copyright 2021 Espressif Systems (Shanghai) PTE LTD
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
+/*
+ * SPDX-FileCopyrightText: 2021 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
 
 #pragma once
 

tools/sdk/esp32c3/include/spi_flash/include/esp_partition.h

@@ -181,7 +181,9 @@ esp_partition_iterator_t esp_partition_next(esp_partition_iterator_t iterator);
 /**
  * @brief Release partition iterator
  *
- * @param iterator Iterator obtained using esp_partition_find. Must be non-NULL.
+ * @param iterator Iterator obtained using esp_partition_find.
+ *                 The iterator is allowed to be NULL, so it is not necessary to check its value
+ *                 before calling this function.
  *
  */
 void esp_partition_iterator_release(esp_partition_iterator_t iterator);