diff --git a/components/bt/controller/esp32c5/bt.c b/components/bt/controller/esp32c5/bt.c
index c0ed4fff55..de235b3fe0 100644
--- a/components/bt/controller/esp32c5/bt.c
+++ b/components/bt/controller/esp32c5/bt.c
@@ -184,7 +184,6 @@ const static uint32_t log_bufs_size[] = {CONFIG_BT_LE_LOG_CTRL_BUF1_SIZE, CONFIG
 static bool s_ble_active = false;
 #ifdef CONFIG_PM_ENABLE
 static DRAM_ATTR esp_pm_lock_handle_t s_pm_lock = NULL;
-#define BTDM_MIN_TIMER_UNCERTAINTY_US      (200)
 #endif // CONFIG_PM_ENABLE
 static DRAM_ATTR modem_clock_lpclk_src_t s_bt_lpclk_src = MODEM_CLOCK_LPCLK_SRC_INVALID;
 
@@ -404,7 +403,7 @@ static void sleep_modem_ble_mac_modem_state_deinit(void)
     }
 }
 
-void sleep_modem_light_sleep_overhead_set(uint32_t overhead)
+void IRAM_ATTR sleep_modem_light_sleep_overhead_set(uint32_t overhead)
 {
     r_esp_ble_set_wakeup_overhead(overhead);
 }
@@ -424,16 +423,19 @@ esp_err_t controller_sleep_init(void)
                                 BLE_RTC_DELAY_US_MODEM_SLEEP);
 #endif /* FREERTOS_USE_TICKLESS_IDLE */
 #endif // CONFIG_BT_LE_SLEEP_ENABLE
-
 #ifdef CONFIG_PM_ENABLE
     rc = esp_pm_lock_create(ESP_PM_CPU_FREQ_MAX, 0, "bt", &s_pm_lock);
     if (rc != ESP_OK) {
         goto error;
     }
-#if CONFIG_FREERTOS_USE_TICKLESS_IDLE
+#endif // CONFIG_PM_ENABLE
+
+#if CONFIG_BT_LE_SLEEP_ENABLE && CONFIG_FREERTOS_USE_TICKLESS_IDLE
     /* Create a new regdma link for BLE related register restoration */
     rc = sleep_modem_ble_mac_modem_state_init(0);
-    assert(rc == 0);
+    if (rc != ESP_OK) {
+        goto error;
+    }
     esp_sleep_enable_bt_wakeup();
     ESP_LOGW(NIMBLE_PORT_LOG_TAG, "Enable light sleep, the wake up source is BLE timer");
 
@@ -446,19 +448,21 @@ esp_err_t controller_sleep_init(void)
     sleep_modem_register_mac_bb_module_prepare_callback(sleep_modem_mac_bb_power_down_prepare,
                                                    sleep_modem_mac_bb_power_up_prepare);
 #endif // SOC_PM_RETENTION_HAS_CLOCK_BUG && CONFIG_MAC_BB_PD
-#endif /* CONFIG_FREERTOS_USE_TICKLESS_IDLE */
+#endif /* CONFIG_BT_LE_SLEEP_ENABLE && CONFIG_FREERTOS_USE_TICKLESS_IDLE */
     return rc;
 
+#ifdef CONFIG_PM_ENABLE
 error:
-
-#if CONFIG_FREERTOS_USE_TICKLESS_IDLE
+#endif // CONFIG_PM_ENABLE
+#if CONFIG_BT_LE_SLEEP_ENABLE && CONFIG_FREERTOS_USE_TICKLESS_IDLE
 #if SOC_PM_RETENTION_HAS_CLOCK_BUG && CONFIG_MAC_BB_PD
     sleep_modem_unregister_mac_bb_module_prepare_callback(sleep_modem_mac_bb_power_down_prepare,
                                                      sleep_modem_mac_bb_power_up_prepare);
 #endif // SOC_PM_RETENTION_HAS_CLOCK_BUG && CONFIG_MAC_BB_PD
     esp_sleep_disable_bt_wakeup();
     esp_pm_unregister_inform_out_light_sleep_overhead_callback(sleep_modem_light_sleep_overhead_set);
-#endif /* CONFIG_FREERTOS_USE_TICKLESS_IDLE */
+#endif /* CONFIG_BT_LE_SLEEP_ENABLE && CONFIG_FREERTOS_USE_TICKLESS_IDLE */
+#ifdef CONFIG_PM_ENABLE
     /*lock should release first and then delete*/
     if (s_pm_lock != NULL) {
         esp_pm_lock_delete(s_pm_lock);
@@ -471,7 +475,7 @@ error:
 
 void controller_sleep_deinit(void)
 {
-#if CONFIG_FREERTOS_USE_TICKLESS_IDLE
+#if CONFIG_BT_LE_SLEEP_ENABLE && CONFIG_FREERTOS_USE_TICKLESS_IDLE
 #if SOC_PM_RETENTION_HAS_CLOCK_BUG && CONFIG_MAC_BB_PD
     sleep_modem_unregister_mac_bb_module_prepare_callback(sleep_modem_mac_bb_power_down_prepare,
                                                      sleep_modem_mac_bb_power_up_prepare);
diff --git a/components/bt/controller/esp32c6/bt.c b/components/bt/controller/esp32c6/bt.c
index 8bc3992e44..828efa09f6 100644
--- a/components/bt/controller/esp32c6/bt.c
+++ b/components/bt/controller/esp32c6/bt.c
@@ -388,7 +388,6 @@ void esp_bt_read_ctrl_log_from_flash(bool output)
 static bool s_ble_active = false;
 #ifdef CONFIG_PM_ENABLE
 static DRAM_ATTR esp_pm_lock_handle_t s_pm_lock = NULL;
-#define BTDM_MIN_TIMER_UNCERTAINTY_US      (200)
 #endif // CONFIG_PM_ENABLE
 static DRAM_ATTR modem_clock_lpclk_src_t s_bt_lpclk_src = MODEM_CLOCK_LPCLK_SRC_INVALID;
 
@@ -612,7 +611,7 @@ static void sleep_modem_ble_mac_modem_state_deinit(void)
     }
 }
 
-void sleep_modem_light_sleep_overhead_set(uint32_t overhead)
+void IRAM_ATTR sleep_modem_light_sleep_overhead_set(uint32_t overhead)
 {
     r_esp_ble_set_wakeup_overhead(overhead);
 }
@@ -639,17 +638,20 @@ esp_err_t controller_sleep_init(void)
     if (rc != ESP_OK) {
         goto error;
     }
-#if CONFIG_FREERTOS_USE_TICKLESS_IDLE
-#if CONFIG_BT_LE_SLEEP_ENABLE && SOC_PM_RETENTION_HAS_CLOCK_BUG && !CONFIG_MAC_BB_PD
+#endif // CONFIG_PM_ENABLE
+#if CONFIG_BT_LE_SLEEP_ENABLE && CONFIG_FREERTOS_USE_TICKLESS_IDLE
+#if SOC_PM_RETENTION_HAS_CLOCK_BUG && !CONFIG_MAC_BB_PD
 #error "CONFIG_MAC_BB_PD required for BLE light sleep to run properly"
-#endif // CONFIG_BT_LE_SLEEP_ENABLE && SOC_PM_RETENTION_HAS_CLOCK_BUG && !CONFIG_MAC_BB_PD
+#endif // SOC_PM_RETENTION_HAS_CLOCK_BUG && !CONFIG_MAC_BB_PD
     /* Create a new regdma link for BLE related register restoration */
 #if SOC_PM_RETENTION_HAS_CLOCK_BUG
     rc = sleep_modem_ble_mac_modem_state_init(1);
 #else
     rc = sleep_modem_ble_mac_modem_state_init(0);
 #endif // SOC_PM_RETENTION_HAS_CLOCK_BUG
-    assert(rc == 0);
+    if (rc != ESP_OK) {
+        goto error;
+    }
     esp_sleep_enable_bt_wakeup();
     ESP_LOGW(NIMBLE_PORT_LOG_TAG, "Enable light sleep, the wake up source is BLE timer");
 
@@ -662,19 +664,21 @@ esp_err_t controller_sleep_init(void)
     sleep_modem_register_mac_bb_module_prepare_callback(sleep_modem_mac_bb_power_down_prepare,
                                                    sleep_modem_mac_bb_power_up_prepare);
 #endif // SOC_PM_RETENTION_HAS_CLOCK_BUG && CONFIG_MAC_BB_PD
-#endif /* CONFIG_FREERTOS_USE_TICKLESS_IDLE */
+#endif /* CONFIG_BT_LE_SLEEP_ENABLE && CONFIG_FREERTOS_USE_TICKLESS_IDLE */
     return rc;
 
+#ifdef CONFIG_PM_ENABLE
 error:
-
-#if CONFIG_FREERTOS_USE_TICKLESS_IDLE
+#endif // CONFIG_PM_ENABLE
+#if CONFIG_BT_LE_SLEEP_ENABLE && CONFIG_FREERTOS_USE_TICKLESS_IDLE
 #if SOC_PM_RETENTION_HAS_CLOCK_BUG && CONFIG_MAC_BB_PD
     sleep_modem_unregister_mac_bb_module_prepare_callback(sleep_modem_mac_bb_power_down_prepare,
                                                      sleep_modem_mac_bb_power_up_prepare);
 #endif // SOC_PM_RETENTION_HAS_CLOCK_BUG && CONFIG_MAC_BB_PD
     esp_sleep_disable_bt_wakeup();
     esp_pm_unregister_inform_out_light_sleep_overhead_callback(sleep_modem_light_sleep_overhead_set);
-#endif /* CONFIG_FREERTOS_USE_TICKLESS_IDLE */
+#endif /* CONFIG_BT_LE_SLEEP_ENABLE && CONFIG_FREERTOS_USE_TICKLESS_IDLE */
+#ifdef CONFIG_PM_ENABLE
     /*lock should release first and then delete*/
     if (s_pm_lock != NULL) {
         esp_pm_lock_delete(s_pm_lock);
@@ -687,7 +691,7 @@ error:
 
 void controller_sleep_deinit(void)
 {
-#if CONFIG_FREERTOS_USE_TICKLESS_IDLE
+#if CONFIG_BT_LE_SLEEP_ENABLE && CONFIG_FREERTOS_USE_TICKLESS_IDLE
 #if SOC_PM_RETENTION_HAS_CLOCK_BUG && CONFIG_MAC_BB_PD
     sleep_modem_unregister_mac_bb_module_prepare_callback(sleep_modem_mac_bb_power_down_prepare,
                                                      sleep_modem_mac_bb_power_up_prepare);
@@ -696,7 +700,7 @@ void controller_sleep_deinit(void)
     esp_sleep_disable_bt_wakeup();
     sleep_modem_ble_mac_modem_state_deinit();
     esp_pm_unregister_inform_out_light_sleep_overhead_callback(sleep_modem_light_sleep_overhead_set);
-#endif /* CONFIG_FREERTOS_USE_TICKLESS_IDLE */
+#endif /* CONFIG_BT_LE_SLEEP_ENABLE && CONFIG_FREERTOS_USE_TICKLESS_IDLE */
 #ifdef CONFIG_PM_ENABLE
     /* lock should be released first */
     esp_pm_lock_delete(s_pm_lock);
diff --git a/components/bt/controller/esp32h2/bt.c b/components/bt/controller/esp32h2/bt.c
index 9a46b2ca6c..8830a2018e 100644
--- a/components/bt/controller/esp32h2/bt.c
+++ b/components/bt/controller/esp32h2/bt.c
@@ -385,7 +385,6 @@ void esp_bt_read_ctrl_log_from_flash(bool output)
 static bool s_ble_active = false;
 #ifdef CONFIG_PM_ENABLE
 static DRAM_ATTR esp_pm_lock_handle_t s_pm_lock = NULL;
-#define BTDM_MIN_TIMER_UNCERTAINTY_US      (200)
 #endif // CONFIG_PM_ENABLE
 static DRAM_ATTR modem_clock_lpclk_src_t s_bt_lpclk_src = MODEM_CLOCK_LPCLK_SRC_INVALID;
 
@@ -604,7 +603,7 @@ static void sleep_modem_ble_mac_modem_state_deinit(void)
     }
 }
 
-void sleep_modem_light_sleep_overhead_set(uint32_t overhead)
+void IRAM_ATTR sleep_modem_light_sleep_overhead_set(uint32_t overhead)
 {
     r_esp_ble_set_wakeup_overhead(overhead);
 }
@@ -631,13 +630,17 @@ esp_err_t controller_sleep_init(void)
     if (rc != ESP_OK) {
         goto error;
     }
-
     rc = esp_deep_sleep_register_hook(&r_esp_ble_stop_wakeup_timing);
-    assert(rc == 0);
-#if CONFIG_FREERTOS_USE_TICKLESS_IDLE
+    if (rc != ESP_OK) {
+        goto error;
+    }
+#endif //CONFIG_PM_ENABLE
+#if CONFIG_BT_LE_SLEEP_ENABLE && CONFIG_FREERTOS_USE_TICKLESS_IDLE
     /* Create a new regdma link for BLE related register restoration */
     rc = sleep_modem_ble_mac_modem_state_init(0);
-    assert(rc == 0);
+    if (rc != ESP_OK) {
+        goto error;
+    }
     esp_sleep_enable_bt_wakeup();
     ESP_LOGW(NIMBLE_PORT_LOG_TAG, "Enable light sleep, the wake up source is BLE timer");
 
@@ -645,15 +648,17 @@ esp_err_t controller_sleep_init(void)
     if (rc != ESP_OK) {
         goto error;
     }
-#endif /* CONFIG_FREERTOS_USE_TICKLESS_IDLE */
+#endif /* CONFIG_BT_LE_SLEEP_ENABLE && CONFIG_FREERTOS_USE_TICKLESS_IDLE */
     return rc;
 
+#ifdef CONFIG_PM_ENABLE
 error:
-
-#if CONFIG_FREERTOS_USE_TICKLESS_IDLE
+#endif // CONFIG_PM_ENABLE
+#if CONFIG_BT_LE_SLEEP_ENABLE && CONFIG_FREERTOS_USE_TICKLESS_IDLE
     esp_sleep_disable_bt_wakeup();
     esp_pm_unregister_inform_out_light_sleep_overhead_callback(sleep_modem_light_sleep_overhead_set);
-#endif /* CONFIG_FREERTOS_USE_TICKLESS_IDLE */
+#endif /* CONFIG_BT_LE_SLEEP_ENABLE && CONFIG_FREERTOS_USE_TICKLESS_IDLE */
+#ifdef CONFIG_PM_ENABLE
     esp_deep_sleep_deregister_hook(&r_esp_ble_stop_wakeup_timing);
     /*lock should release first and then delete*/
     if (s_pm_lock != NULL) {
@@ -667,12 +672,12 @@ error:
 
 void controller_sleep_deinit(void)
 {
-#if CONFIG_FREERTOS_USE_TICKLESS_IDLE
+#if CONFIG_BT_LE_SLEEP_ENABLE && CONFIG_FREERTOS_USE_TICKLESS_IDLE
     r_ble_rtc_wake_up_state_clr();
     esp_sleep_disable_bt_wakeup();
     sleep_modem_ble_mac_modem_state_deinit();
     esp_pm_unregister_inform_out_light_sleep_overhead_callback(sleep_modem_light_sleep_overhead_set);
-#endif /* CONFIG_FREERTOS_USE_TICKLESS_IDLE */
+#endif /* CONFIG_BT_LE_SLEEP_ENABLE && CONFIG_FREERTOS_USE_TICKLESS_IDLE */
 #ifdef CONFIG_PM_ENABLE
     esp_deep_sleep_deregister_hook(&r_esp_ble_stop_wakeup_timing);
     /* lock should be released first */