diff --git a/components/bt/controller/esp32c3/Kconfig.in b/components/bt/controller/esp32c3/Kconfig.in
index e04dc4bfe0..402a244340 100644
--- a/components/bt/controller/esp32c3/Kconfig.in
+++ b/components/bt/controller/esp32c3/Kconfig.in
@@ -23,7 +23,7 @@ config BT_CTRL_BLE_STATIC_ACL_TX_BUF_NB
     default 0
     help
         BLE ACL buffer have two methods to be allocated. One is persistent allocating
-        (alloate when controller initialise, never free until controller de-initialise)
+        (allocate when controller initialise, never free until controller de-initialise)
         another is dynamically allocating (allocate before TX and free after TX).
 
 choice BT_CTRL_PINNED_TO_CORE_CHOICE
@@ -72,11 +72,11 @@ config BT_CTRL_HCI_TL
         HCI mode as VHCI or UART(H4)
 
 config BT_CTRL_ADV_DUP_FILT_MAX
-    int "The maxinum number of 5.0 extend duplicate scan filter"
+    int "The maximum number of 5.0 extend duplicate scan filter"
     range 1 500
     default 30
     help
-        The maxinum number of suplicate scan filter
+        The maximum number of suplicate scan filter
 
 choice BT_BLE_CCA_MODE
     prompt "BLE CCA mode"
@@ -475,3 +475,17 @@ config BT_BLE_ADV_DATA_LENGTH_ZERO_AUX
         When this option is enabled, auxiliary packets will be present in the events of
         'Non-Connectable and Non-Scannable' regardless of whether the advertising length is 0.
         If this option is not enabled, auxiliary packets will only be present when the advertising length is not 0.
+
+config BT_CTRL_CHAN_ASS_EN
+    bool "Enable channel assessment"
+    default y
+    help
+        If this option is enabled, The Controller will records the communication quality
+        for each channel and then start a timer to check and update the channel map every 4 seconds.
+
+config BT_CTRL_LE_PING_EN
+    bool "Enable LE Ping procedure"
+    default y
+    help
+        If this option is disabled, The Controller will not start the LE authenticated payload timer.
+        This option is used for some compatibility problems related to LE ping procedure.
diff --git a/components/bt/controller/lib_esp32c3_family b/components/bt/controller/lib_esp32c3_family
index 0698a0dac0..70f95a1b6f 160000
--- a/components/bt/controller/lib_esp32c3_family
+++ b/components/bt/controller/lib_esp32c3_family
@@ -1 +1 @@
-Subproject commit 0698a0dac04e7762ec555dca86bbfa2a631cefa3
+Subproject commit 70f95a1b6f8f232018b17c687cc819044501774c
diff --git a/components/bt/include/esp32c3/include/esp_bt.h b/components/bt/include/esp32c3/include/esp_bt.h
index 3114aee58a..8beb1d178c 100644
--- a/components/bt/include/esp32c3/include/esp_bt.h
+++ b/components/bt/include/esp32c3/include/esp_bt.h
@@ -19,7 +19,7 @@ extern "C" {
 #endif
 
 #define ESP_BT_CTRL_CONFIG_MAGIC_VAL    0x5A5AA5A5
-#define ESP_BT_CTRL_CONFIG_VERSION      0x02401120
+#define ESP_BT_CTRL_CONFIG_VERSION      0x02404010
 
 #define ESP_BT_HCI_TL_MAGIC_VALUE   0xfadebead
 #define ESP_BT_HCI_TL_VERSION       0x00010000
@@ -194,6 +194,18 @@ typedef void (* esp_bt_hci_tl_callback_t) (void *arg, uint8_t status);
 #define BT_BLE_ADV_DATA_LENGTH_ZERO_AUX (0)
 #endif
 
+#if defined(CONFIG_BT_CTRL_CHAN_ASS_EN)
+#define BT_CTRL_CHAN_ASS_EN (CONFIG_BT_CTRL_CHAN_ASS_EN)
+#else
+#define BT_CTRL_CHAN_ASS_EN (0)
+#endif
+
+#if defined(CONFIG_BT_CTRL_LE_PING_EN)
+#define BT_CTRL_LE_PING_EN (CONFIG_BT_CTRL_LE_PING_EN)
+#else
+#define BT_CTRL_LE_PING_EN (0)
+#endif
+
 #define AGC_RECORRECT_EN       ((BT_CTRL_AGC_RECORRECT_EN << 0) | (BT_CTRL_CODED_AGC_RECORRECT <<1) | (BT_CTRL_AGC_RECORRECT_NEW << 2))
 
 #define CFG_MASK_BIT_SCAN_DUPLICATE_OPTION    (1<<0)
@@ -241,6 +253,8 @@ typedef void (* esp_bt_hci_tl_callback_t) (void *arg, uint8_t status);
     .ble_50_feat_supp  = BT_CTRL_50_FEATURE_SUPPORT,                       \
     .ble_cca_mode = BT_BLE_CCA_MODE,                                       \
     .ble_data_lenth_zero_aux = BT_BLE_ADV_DATA_LENGTH_ZERO_AUX,            \
+    .ble_chan_ass_en = BT_CTRL_CHAN_ASS_EN,                                \
+    .ble_ping_en = BT_CTRL_LE_PING_EN,                                     \
 }
 
 #else
@@ -312,7 +326,9 @@ typedef struct {
     uint16_t dup_list_refresh_period;       /*!< duplicate scan list refresh time */
     bool ble_50_feat_supp;                  /*!< BLE 5.0 feature support */
     uint8_t ble_cca_mode;                   /*!< BLE CCA mode */
-    uint8_t ble_data_lenth_zero_aux;        /*!< Config ext adv aux option*/
+    uint8_t ble_data_lenth_zero_aux;        /*!< Config ext adv aux option */
+    uint8_t ble_chan_ass_en;                /*!< BLE channel assessment enable */
+    uint8_t ble_ping_en;                    /*!< BLE ping procedure enable */
 } esp_bt_controller_config_t;
 
 /**
diff --git a/components/esp_rom/esp32c3/ld/esp32c3.rom.eco7.ld b/components/esp_rom/esp32c3/ld/esp32c3.rom.eco7.ld
index ba3406f990..9942545c50 100644
--- a/components/esp_rom/esp32c3/ld/esp32c3.rom.eco7.ld
+++ b/components/esp_rom/esp32c3/ld/esp32c3.rom.eco7.ld
@@ -113,7 +113,6 @@ r_lld_con_start_eco = 0x40001d10;
 r_lld_con_frm_isr_eco = 0x40001d14;
 r_lld_con_tx_eco = 0x40001d18;
 r_lld_scan_evt_start_cbk_eco = 0x40001d20;
-r_lld_scan_start_eco = 0x40001d24;
 r_lld_ext_scan_dynamic_pti_process_eco = 0x40001d28;
 r_lld_scan_frm_eof_isr_eco = 0x40001d2c;
 r_lld_sync_start_eco = 0x40001d30;
@@ -211,6 +210,8 @@ r_lld_adv_ext_chain_none_construct = 0x40001b50;
 r_llc_llcp_send_eco = 0x40001cf4;
 r_llc_llcp_channel_map_ind_ack = 0x40001d68;
 r_rwble_isr = 0x40001464;
+r_lld_scan_start_eco = 0x40001d24;
+r_lld_scan_try_sched_eco = 0x40001dac;
 */
 
 
diff --git a/components/esp_rom/esp32c3/ld/esp32c3.rom.ld b/components/esp_rom/esp32c3/ld/esp32c3.rom.ld
index 82bf93833c..7104cf2be1 100644
--- a/components/esp_rom/esp32c3/ld/esp32c3.rom.ld
+++ b/components/esp_rom/esp32c3/ld/esp32c3.rom.ld
@@ -922,7 +922,7 @@ r_llc_init_term_proc = 0x40000f1c;
 r_llc_iv_skd_rand_gen = 0x40000f20;
 r_llc_le_ping_proc_continue = 0x40000f24;
 r_llc_le_ping_proc_err_cb = 0x40000f28;
-r_llc_le_ping_restart = 0x40000f2c;
+/* r_llc_le_ping_restart = 0x40000f2c; */
 r_llc_le_ping_set = 0x40000f30;
 r_llc_ll_pause_enc_rsp_ack_handler = 0x40000f34;
 r_llc_ll_reject_ind_ack_handler = 0x40000f38;
diff --git a/components/esp_rom/esp32s3/ld/esp32s3.rom.ld b/components/esp_rom/esp32s3/ld/esp32s3.rom.ld
index c5d28d2d13..d899d3851b 100644
--- a/components/esp_rom/esp32s3/ld/esp32s3.rom.ld
+++ b/components/esp_rom/esp32s3/ld/esp32s3.rom.ld
@@ -1195,7 +1195,7 @@ r_llc_init_term_proc = 0x40003d38;
 r_llc_iv_skd_rand_gen = 0x40003d44;
 r_llc_le_ping_proc_continue = 0x40003d50;
 r_llc_le_ping_proc_err_cb = 0x40003d5c;
-r_llc_le_ping_restart = 0x40003d68;
+/* r_llc_le_ping_restart = 0x40003d68; */
 r_llc_le_ping_set = 0x40003d74;
 r_llc_ll_pause_enc_rsp_ack_handler = 0x40003d80;
 r_llc_ll_reject_ind_ack_handler = 0x40003d8c;