diff --git a/components/bt/controller/esp32c6/Kconfig.in b/components/bt/controller/esp32c6/Kconfig.in
index c4f3bc17cd..81107fd36c 100644
--- a/components/bt/controller/esp32c6/Kconfig.in
+++ b/components/bt/controller/esp32c6/Kconfig.in
@@ -420,6 +420,38 @@ config BT_LE_USE_ESP_TIMER
     help
         Set this option to use Esp Timer which has higher priority timer
         instead of FreeRTOS timer
+config BT_CTRL_BLE_ADV_REPORT_FLOW_CTRL_SUPP
+    bool "BLE adv report flow control supported"
+    default y
+    help
+        The function is mainly used to enable flow control for advertising reports. When it is enabled,
+        advertising reports will be discarded by the controller if the number of unprocessed advertising
+        reports exceeds the size of BLE adv report flow control.
+
+config BT_CTRL_BLE_ADV_REPORT_FLOW_CTRL_NUM
+    int "BLE adv report flow control number"
+    depends on BT_CTRL_BLE_ADV_REPORT_FLOW_CTRL_SUPP
+    range 50 1000
+    default 100
+    help
+        The number of unprocessed advertising report that bluetooth host can save.If you set
+        `BT_CTRL_BLE_ADV_REPORT_FLOW_CTRL_NUM` to a small value, this may cause adv packets lost.
+        If you set `BT_CTRL_BLE_ADV_REPORT_FLOW_CTRL_NUM` to a large value, bluetooth host may cache a
+        lot of adv packets and this may cause system memory run out. For example, if you set
+        it to 50, the maximum memory consumed by host is 35 * 50 bytes. Please set
+        `BT_CTRL_BLE_ADV_REPORT_FLOW_CTRL_NUM` according to your system free memory and handle adv
+        packets as fast as possible, otherwise it will cause adv packets lost.
+
+config BT_CTRL_BLE_ADV_REPORT_DISCARD_THRSHOLD
+    int "BLE adv lost event threshold value"
+    depends on BT_CTRL_BLE_ADV_REPORT_FLOW_CTRL_SUPP
+    range 1 1000
+    default 20
+    help
+        When adv report flow control is enabled, The ADV lost event will be generated when the number
+        of ADV packets lost in the controller reaches this threshold. It is better to set a larger value.
+        If you set `BT_CTRL_BLE_ADV_REPORT_DISCARD_THRSHOLD` to a small value or printf every adv lost event, it
+        may cause adv packets lost more.
 
 config BT_LE_SCAN_DUPL
     bool "BLE Scan Duplicate Options"
diff --git a/components/bt/controller/esp32c6/bt.c b/components/bt/controller/esp32c6/bt.c
index 05981344c5..4525ccd1f3 100644
--- a/components/bt/controller/esp32c6/bt.c
+++ b/components/bt/controller/esp32c6/bt.c
@@ -247,6 +247,9 @@ static void IRAM_ATTR esp_reset_rpa_moudle(void)
 static void IRAM_ATTR osi_assert_wrapper(const uint32_t ln, const char *fn,
                                          uint32_t param1, uint32_t param2)
 {
+#if CONFIG_BT_LE_CONTROLLER_LOG_ENABLED
+    esp_ble_controller_log_dump_all(true);
+#endif // CONFIG_BT_LE_CONTROLLER_LOG_ENABLED
     BT_ASSERT_PRINT("BLE assert: line %d in function %s, param: 0x%x, 0x%x", ln, fn, param1, param2);
     assert(0);
 }
@@ -728,7 +731,7 @@ esp_err_t esp_bt_controller_init(esp_bt_controller_config_t *cfg)
     if (ble_osi_coex_funcs_register((struct osi_coex_funcs_t *)&s_osi_coex_funcs_ro) != 0) {
         ESP_LOGW(NIMBLE_PORT_LOG_TAG, "osi coex funcs reg failed");
         ret = ESP_ERR_INVALID_ARG;
-        goto free_controller;
+        goto modem_deint;
     }
 
 #if CONFIG_SW_COEXIST_ENABLE
@@ -738,7 +741,7 @@ esp_err_t esp_bt_controller_init(esp_bt_controller_config_t *cfg)
     ret = ble_controller_init(cfg);
     if (ret != ESP_OK) {
         ESP_LOGW(NIMBLE_PORT_LOG_TAG, "ble_controller_init failed %d", ret);
-        goto free_controller;
+        goto modem_deint;
     }
 
 #if CONFIG_BT_LE_CONTROLLER_LOG_ENABLED
@@ -751,7 +754,7 @@ esp_err_t esp_bt_controller_init(esp_bt_controller_config_t *cfg)
 #endif // CONFIG_BT_CONTROLLER_LOG_DUMP
     if (ret != ESP_OK) {
         ESP_LOGW(NIMBLE_PORT_LOG_TAG, "ble_controller_log_init failed %d", ret);
-        goto free_controller;
+        goto controller_init_err;
     }
 #endif // CONFIG_BT_CONTROLLER_LOG_ENABLED
 
@@ -775,9 +778,11 @@ esp_err_t esp_bt_controller_init(esp_bt_controller_config_t *cfg)
 free_controller:
     controller_sleep_deinit();
 #if CONFIG_BT_LE_CONTROLLER_LOG_ENABLED
+controller_init_err:
     ble_log_deinit_async();
 #endif // CONFIG_BT_LE_CONTROLLER_LOG_ENABLED
     ble_controller_deinit();
+modem_deint:
     esp_phy_modem_deinit();
     modem_clock_deselect_lp_clock_source(PERIPH_BT_MODULE);
     modem_clock_module_disable(PERIPH_BT_MODULE);
@@ -1120,7 +1125,9 @@ esp_power_level_t esp_ble_tx_power_get_enhanced(esp_ble_enhanced_power_type_t po
 #if CONFIG_BT_LE_CONTROLLER_LOG_ENABLED
 void esp_ble_controller_log_dump_all(bool output)
 {
+    BT_ASSERT_PRINT("\r\n[DUMP_START:");
     ble_log_async_output_dump_all(output);
+    BT_ASSERT_PRINT("]\r\n");
 }
 #endif // CONFIG_BT_LE_CONTROLLER_LOG_ENABLED
 
diff --git a/components/bt/controller/esp32h2/Kconfig.in b/components/bt/controller/esp32h2/Kconfig.in
index 0ca0245b20..17adb6a791 100644
--- a/components/bt/controller/esp32h2/Kconfig.in
+++ b/components/bt/controller/esp32h2/Kconfig.in
@@ -421,6 +421,39 @@ config BT_LE_USE_ESP_TIMER
         Set this option to use Esp Timer which has higher priority timer
         instead of FreeRTOS timer
 
+config BT_CTRL_BLE_ADV_REPORT_FLOW_CTRL_SUPP
+    bool "BLE adv report flow control supported"
+    default y
+    help
+        The function is mainly used to enable flow control for advertising reports. When it is enabled,
+        advertising reports will be discarded by the controller if the number of unprocessed advertising
+        reports exceeds the size of BLE adv report flow control.
+
+config BT_CTRL_BLE_ADV_REPORT_FLOW_CTRL_NUM
+    int "BLE adv report flow control number"
+    depends on BT_CTRL_BLE_ADV_REPORT_FLOW_CTRL_SUPP
+    range 50 1000
+    default 100
+    help
+        The number of unprocessed advertising report that bluetooth host can save.If you set
+        `BT_CTRL_BLE_ADV_REPORT_FLOW_CTRL_NUM` to a small value, this may cause adv packets lost.
+        If you set `BT_CTRL_BLE_ADV_REPORT_FLOW_CTRL_NUM` to a large value, bluetooth host may cache a
+        lot of adv packets and this may cause system memory run out. For example, if you set
+        it to 50, the maximum memory consumed by host is 35 * 50 bytes. Please set
+        `BT_CTRL_BLE_ADV_REPORT_FLOW_CTRL_NUM` according to your system free memory and handle adv
+        packets as fast as possible, otherwise it will cause adv packets lost.
+
+config BT_CTRL_BLE_ADV_REPORT_DISCARD_THRSHOLD
+    int "BLE adv lost event threshold value"
+    depends on BT_CTRL_BLE_ADV_REPORT_FLOW_CTRL_SUPP
+    range 1 1000
+    default 20
+    help
+        When adv report flow control is enabled, The ADV lost event will be generated when the number
+        of ADV packets lost in the controller reaches this threshold. It is better to set a larger value.
+        If you set `BT_CTRL_BLE_ADV_REPORT_DISCARD_THRSHOLD` to a small value or printf every adv lost event, it
+        may cause adv packets lost more.
+
 config BT_LE_SCAN_DUPL
     bool "BLE Scan Duplicate Options"
     default y
diff --git a/components/bt/controller/esp32h2/bt.c b/components/bt/controller/esp32h2/bt.c
index 2584604162..70be325b2a 100644
--- a/components/bt/controller/esp32h2/bt.c
+++ b/components/bt/controller/esp32h2/bt.c
@@ -243,6 +243,9 @@ static void IRAM_ATTR esp_reset_rpa_moudle(void)
 static void IRAM_ATTR osi_assert_wrapper(const uint32_t ln, const char *fn,
                                          uint32_t param1, uint32_t param2)
 {
+#if CONFIG_BT_LE_CONTROLLER_LOG_ENABLED
+    esp_ble_controller_log_dump_all(true);
+#endif // CONFIG_BT_LE_CONTROLLER_LOG_ENABLED
     BT_ASSERT_PRINT("BLE assert: line %d in function %s, param: 0x%x, 0x%x", ln, fn, param1, param2);
     assert(0);
 }
@@ -637,7 +640,6 @@ esp_err_t esp_bt_controller_init(esp_bt_controller_config_t *cfg)
     ble_npl_count_info_t npl_info;
 
     memset(&npl_info, 0, sizeof(ble_npl_count_info_t));
-
     if (ble_controller_status != ESP_BT_CONTROLLER_STATUS_IDLE) {
         ESP_LOGW(NIMBLE_PORT_LOG_TAG, "invalid controller state");
         return ESP_ERR_INVALID_STATE;
@@ -719,7 +721,7 @@ esp_err_t esp_bt_controller_init(esp_bt_controller_config_t *cfg)
     if (ble_osi_coex_funcs_register((struct osi_coex_funcs_t *)&s_osi_coex_funcs_ro) != 0) {
         ESP_LOGW(NIMBLE_PORT_LOG_TAG, "osi coex funcs reg failed");
         ret = ESP_ERR_INVALID_ARG;
-        goto free_controller;
+        goto modem_deint;
     }
 
 #if CONFIG_SW_COEXIST_ENABLE
@@ -729,7 +731,7 @@ esp_err_t esp_bt_controller_init(esp_bt_controller_config_t *cfg)
     ret = ble_controller_init(cfg);
     if (ret != ESP_OK) {
         ESP_LOGW(NIMBLE_PORT_LOG_TAG, "ble_controller_init failed %d", ret);
-        goto free_controller;
+        goto modem_deint;
     }
 
 #if CONFIG_BT_LE_CONTROLLER_LOG_ENABLED
@@ -742,7 +744,7 @@ esp_err_t esp_bt_controller_init(esp_bt_controller_config_t *cfg)
 #endif // CONFIG_BT_CONTROLLER_LOG_DUMP
     if (ret != ESP_OK) {
         ESP_LOGW(NIMBLE_PORT_LOG_TAG, "ble_controller_log_init failed %d", ret);
-        goto free_controller;
+        goto controller_init_err;
     }
 #endif // CONFIG_BT_CONTROLLER_LOG_ENABLED
 
@@ -767,9 +769,11 @@ esp_err_t esp_bt_controller_init(esp_bt_controller_config_t *cfg)
 free_controller:
     controller_sleep_deinit();
 #if CONFIG_BT_LE_CONTROLLER_LOG_ENABLED
+controller_init_err:
     ble_log_deinit_async();
 #endif // CONFIG_BT_LE_CONTROLLER_LOG_ENABLED
     ble_controller_deinit();
+modem_deint:
     modem_clock_deselect_lp_clock_source(PERIPH_BT_MODULE);
     modem_clock_module_disable(PERIPH_BT_MODULE);
 #if CONFIG_BT_NIMBLE_ENABLED
@@ -1110,7 +1114,9 @@ esp_power_level_t esp_ble_tx_power_get_enhanced(esp_ble_enhanced_power_type_t po
 #if CONFIG_BT_LE_CONTROLLER_LOG_ENABLED
 void esp_ble_controller_log_dump_all(bool output)
 {
+    BT_ASSERT_PRINT("\r\n[DUMP_START:");
     ble_log_async_output_dump_all(output);
+    BT_ASSERT_PRINT("]\r\n");
 }
 #endif // CONFIG_BT_LE_CONTROLLER_LOG_ENABLED
 
diff --git a/components/bt/controller/lib_esp32c6/esp32c6-bt-lib b/components/bt/controller/lib_esp32c6/esp32c6-bt-lib
index d785de0a7c..8a951eb29b 160000
--- a/components/bt/controller/lib_esp32c6/esp32c6-bt-lib
+++ b/components/bt/controller/lib_esp32c6/esp32c6-bt-lib
@@ -1 +1 @@
-Subproject commit d785de0a7c46d9badcd73bc83c2e5cb78f7054b2
+Subproject commit 8a951eb29b388d1d80acef5804f6e12e87d862ff
diff --git a/components/bt/controller/lib_esp32h2/esp32h2-bt-lib b/components/bt/controller/lib_esp32h2/esp32h2-bt-lib
index 35bd3cd735..27f93dc1e6 160000
--- a/components/bt/controller/lib_esp32h2/esp32h2-bt-lib
+++ b/components/bt/controller/lib_esp32h2/esp32h2-bt-lib
@@ -1 +1 @@
-Subproject commit 35bd3cd7352014d303a96c46d8ea8446ea0a9a54
+Subproject commit 27f93dc1e673c4f7b7704b65ac68c350615a5289
diff --git a/components/bt/host/bluedroid/common/include/common/bluedroid_user_config.h b/components/bt/host/bluedroid/common/include/common/bluedroid_user_config.h
index d8eac7c99a..bf655540a3 100644
--- a/components/bt/host/bluedroid/common/include/common/bluedroid_user_config.h
+++ b/components/bt/host/bluedroid/common/include/common/bluedroid_user_config.h
@@ -223,7 +223,7 @@
 
 #endif //CONFIG_IDF_TARGET_ESP32
 
-#if (CONFIG_IDF_TARGET_ESP32C3 || CONFIG_IDF_TARGET_ESP32S3)
+#if (CONFIG_IDF_TARGET_ESP32C3 || CONFIG_IDF_TARGET_ESP32S3 || CONFIG_IDF_TARGET_ESP32C6 || CONFIG_IDF_TARGET_ESP32H2)
 //BTDM_BLE_ADV_REPORT_FLOW_CTRL_SUPP
 #ifdef CONFIG_BT_CTRL_BLE_ADV_REPORT_FLOW_CTRL_SUPP
 #define UC_BTDM_BLE_ADV_REPORT_FLOW_CTRL_SUPP  CONFIG_BT_CTRL_BLE_ADV_REPORT_FLOW_CTRL_SUPP
@@ -245,7 +245,7 @@
 #define UC_BTDM_BLE_ADV_REPORT_DISCARD_THRSHOLD     20
 #endif
 
-#endif //(CONFIG_IDF_TARGET_ESP32C3 || CONFIG_IDF_TARGET_ESP32S3)
+#endif //(CONFIG_IDF_TARGET_ESP32C3 || CONFIG_IDF_TARGET_ESP32S3 || CONFIG_IDF_TARGET_ESP32C6 || CONFIG_IDF_TARGET_ESP32H2)
 
 //BT ACL CONNECTIONS
 #ifdef CONFIG_BT_ACL_CONNECTIONS