diff --git a/Libraries/elf_loader/.component_hash b/Libraries/elf_loader/.component_hash
deleted file mode 100644
index 43f1ad39..00000000
--- a/Libraries/elf_loader/.component_hash
+++ /dev/null
@@ -1 +0,0 @@
-ec9b5b8881cf5c38113ed7eab28a71ed7bfc9f477d6faef851f7f59f7a07b536
\ No newline at end of file
diff --git a/Libraries/elf_loader/CHANGELOG.md b/Libraries/elf_loader/CHANGELOG.md
index 77b2772c..3a0651b8 100644
--- a/Libraries/elf_loader/CHANGELOG.md
+++ b/Libraries/elf_loader/CHANGELOG.md
@@ -1,5 +1,11 @@
 # ChangeLog
 
+## v1.0.0 - 2024-12-09
+
+* Added support for the following RISC-V chips: ESP32-P4 and ESP32-C6
+* Added support for linking other components to ELF file
+* Fixed the issue of getting wrong symbol type
+
 ## v0.1.0 - 2023-08-14
 
 * Add basic ELF loader component
diff --git a/Libraries/elf_loader/CMakeLists.txt b/Libraries/elf_loader/CMakeLists.txt
index e6e65016..a6d4edba 100644
--- a/Libraries/elf_loader/CMakeLists.txt
+++ b/Libraries/elf_loader/CMakeLists.txt
@@ -1,8 +1,8 @@
 
 if(CONFIG_ELF_LOADER)
     set(srcs  "src/esp_elf_symbol.c"
-            "src/esp_elf.c"
-            "src/esp_elf_adapter.c")
+              "src/esp_elf.c"
+              "src/esp_elf_adapter.c")
 
     if(CONFIG_IDF_TARGET_ARCH_XTENSA)
         list(APPEND srcs "src/arch/esp_elf_xtensa.c")
@@ -11,14 +11,24 @@ if(CONFIG_ELF_LOADER)
         if(CONFIG_IDF_TARGET_ESP32S2 AND (CONFIG_ELF_LOADER_LOAD_PSRAM))
             list(APPEND srcs "src/soc/esp_elf_esp32s2.c")
         endif()
+    elseif(CONFIG_IDF_TARGET_ARCH_RISCV)
+        list(APPEND srcs "src/arch/esp_elf_riscv.c")
     endif()
 
     set(include_dirs  "include")
+    set(ldfragments "linker.lf")
+endif()
+
+if(CONFIG_IDF_TARGET_ESP32P4)
+    set(priv_req spi_flash esp_mm)
+else()
+    set(priv_req spi_flash)
 endif()
 
 idf_component_register(SRCS ${srcs}
                        INCLUDE_DIRS ${include_dirs}
-                       PRIV_REQUIRES spi_flash)
+                       PRIV_REQUIRES spi_flash ${priv_req}
+                       LDFRAGMENTS ${ldfragments})
 
 include(package_manager)
 if(CONFIG_ELF_LOADER)
diff --git a/Libraries/elf_loader/Kconfig b/Libraries/elf_loader/Kconfig
index 7b0d022d..673df38d 100644
--- a/Libraries/elf_loader/Kconfig
+++ b/Libraries/elf_loader/Kconfig
@@ -1,10 +1,15 @@
 menu "Espressif ELF Loader Configuration"
-    visible if (IDF_TARGET_ESP32 || IDF_TARGET_ESP32S2 || IDF_TARGET_ESP32S3)
+    visible if (IDF_TARGET_ESP32 || IDF_TARGET_ESP32S2 || IDF_TARGET_ESP32S3 || IDF_TARGET_ESP32C6 || IDF_TARGET_ESP32P4)
+
+    config ELF_LOADER_BUS_ADDRESS_MIRROR
+        bool
+        default y if (IDF_TARGET_ESP32 || IDF_TARGET_ESP32S2 || IDF_TARGET_ESP32S3)
+        default n if (IDF_TARGET_ESP32C6 || IDF_TARGET_ESP32P4)
 
     config ELF_LOADER
         bool "Enable Espressif ELF Loader"
         default y
-        depends on (IDF_TARGET_ESP32 || IDF_TARGET_ESP32S2 || IDF_TARGET_ESP32S3)
+        depends on (IDF_TARGET_ESP32 || IDF_TARGET_ESP32S2 || IDF_TARGET_ESP32S3 || IDF_TARGET_ESP32C6 || IDF_TARGET_ESP32P4)
         help
             Select this option to enable ELF Loader and show the submenu with ELF Loader configuration choices.
 
@@ -14,7 +19,7 @@ menu "Espressif ELF Loader Configuration"
             default n
             help
                 Select this option if D-cache and I-cache has different offset to access the same physical address.
-        
+
         config ELF_LOADER_SET_MMU
             bool
             default n
@@ -24,7 +29,7 @@ menu "Espressif ELF Loader Configuration"
         config ELF_LOADER_LOAD_PSRAM
             bool "Load ELF to PSRAM"
             default y
-            depends on (IDF_TARGET_ESP32S2 || IDF_TARGET_ESP32S3) && SPIRAM
+            depends on (IDF_TARGET_ESP32S2 || IDF_TARGET_ESP32S3 || IDF_TARGET_ESP32P4) && SPIRAM
             select ELF_LOADER_CACHE_OFFSET if (IDF_TARGET_ESP32S2 || IDF_TARGET_ESP32S3)
             select ELF_LOADER_SET_MMU if IDF_TARGET_ESP32S2
             help
diff --git a/Libraries/elf_loader/README.md b/Libraries/elf_loader/README.md
index a662f9d1..749ebd93 100644
--- a/Libraries/elf_loader/README.md
+++ b/Libraries/elf_loader/README.md
@@ -11,6 +11,8 @@ This ELF loader supports following SoCs:
 - ESP32
 - ESP32-S2, support running ELF in PSRAM
 - ESP32-S3, support running ELF in PSRAM
+- ESP32-P4, support running ELF in PSRAM
+- ESP32-C6
 
 ### Usage
 
@@ -20,7 +22,7 @@ Add a dependency on this component in your component or project's idf_component.
 
     ```yml
     dependencies:
-      espressif/elf_loader: "0.*"
+      espressif/elf_loader: "1.*"
     ```
 
 Enable ELF loader in the menuconfig:
diff --git a/Libraries/elf_loader/elf_loader.cmake b/Libraries/elf_loader/elf_loader.cmake
index 7999fe35..1880311a 100644
--- a/Libraries/elf_loader/elf_loader.cmake
+++ b/Libraries/elf_loader/elf_loader.cmake
@@ -1,6 +1,6 @@
 # The script is to generate ELF for application
 
-# Trick to temporarily redefine project(). When functions are overriden in CMake, the originals can still be accessed
+# Trick to temporarily redefine project(). When functions are overridden in CMake, the originals can still be accessed
 # using an underscore prefixed function of the same name. The following lines make sure that project  calls
 # the original project(). See https://cmake.org/pipermail/cmake/2015-October/061751.html.
 function(project_elf)
@@ -35,27 +35,35 @@ macro(project_elf project_name)
     # Remove more unused sections
     string(REPLACE "-elf-gcc" "-elf-strip" ${CMAKE_STRIP} ${CMAKE_C_COMPILER})
     set(strip_flags --strip-unneeded
-                    --remove-section=.xt.lit
-                    --remove-section=.xt.prop
                     --remove-section=.comment
-                    --remove-section=.xtensa.info
                     --remove-section=.got.loc
-                    --remove-section=.got)
+                    --remove-section=.dynamic)
 
-    # Link input list of libraries to ELF
-    if(ELF_COMPONENTS)
-        foreach(c "${ELF_COMPONENTS}")
-            set(elf_libs "${elf_libs}" "esp-idf/${c}/lib${c}.a")
-        endforeach()
+    if(CONFIG_IDF_TARGET_ARCH_XTENSA)
+        list(APPEND strip_flags --remove-section=.xt.lit
+                                --remove-section=.xt.prop
+                                --remove-section=.xtensa.info)
+    elseif(CONFIG_IDF_TARGET_ARCH_RISCV)
+        list(APPEND strip_flags --remove-section=.riscv.attributes)
     endif()
 
-    set(elf_libs ${elf_libs} "${ELF_LIBS}" "esp-idf/main/libmain.a")
+    # Link input list of libraries to ELF
+    list(PREPEND ELF_COMPONENTS "main")
+    if(ELF_COMPONENTS)
+        foreach(c ${ELF_COMPONENTS})
+            list(APPEND elf_libs "esp-idf/${c}/lib${c}.a")
+            list(APPEND elf_dependeces "idf::${c}")
+        endforeach()
+    endif()
+    if (ELF_LIBS)
+        list(APPEND elf_libs "${ELF_LIBS}")
+    endif()
     spaces2list(elf_libs)
 
     add_custom_command(OUTPUT elf_app
         COMMAND ${CMAKE_C_COMPILER} ${cflags} ${elf_libs} -o ${elf_app}
         COMMAND ${CMAKE_STRIP} ${strip_flags} ${elf_app}
-        DEPENDS idf::main
+        DEPENDS ${elf_dependeces}
         COMMENT "Build ELF: ${elf_app}"
         )
     add_custom_target(elf ALL DEPENDS elf_app)
diff --git a/Libraries/elf_loader/examples/build_elf_file_example/CMakeLists.txt b/Libraries/elf_loader/examples/build_elf_file_example/CMakeLists.txt
deleted file mode 100644
index 98236462..00000000
--- a/Libraries/elf_loader/examples/build_elf_file_example/CMakeLists.txt
+++ /dev/null
@@ -1,11 +0,0 @@
-# For more information about build system see
-# https://docs.espressif.com/projects/esp-idf/en/latest/api-guides/build-system.html
-# The following five lines of boilerplate have to be in your project's
-# CMakeLists in this exact order for cmake to work correctly
-cmake_minimum_required(VERSION 3.5)
-
-include($ENV{IDF_PATH}/tools/cmake/project.cmake)
-project(hello_world)
-
-include(elf_loader)
-project_elf(hello_world)
diff --git a/Libraries/elf_loader/examples/build_elf_file_example/README.md b/Libraries/elf_loader/examples/build_elf_file_example/README.md
deleted file mode 100644
index a73814cd..00000000
--- a/Libraries/elf_loader/examples/build_elf_file_example/README.md
+++ /dev/null
@@ -1,13 +0,0 @@
-## Build ELF file Example
-
-This example shows how to build ELF file.
-
-## How to Use Example
-
-Before project configuration and build, be sure to set the correct chip target using `idf.py set-target <chip_name>`.
-
-* Note: Only ESP32, ESP32-S2 and ESP32-S3 are supported
-
-### Build and Flash
-
-Run `idf.py build` to build project, and when compiling is done you can see `hello_world.app.elf` in `build` directory.
diff --git a/Libraries/elf_loader/examples/build_elf_file_example/main/CMakeLists.txt b/Libraries/elf_loader/examples/build_elf_file_example/main/CMakeLists.txt
deleted file mode 100644
index 34613e8e..00000000
--- a/Libraries/elf_loader/examples/build_elf_file_example/main/CMakeLists.txt
+++ /dev/null
@@ -1 +0,0 @@
-idf_component_register(SRCS "main.c")
diff --git a/Libraries/elf_loader/examples/build_elf_file_example/main/idf_component.yml b/Libraries/elf_loader/examples/build_elf_file_example/main/idf_component.yml
deleted file mode 100644
index 02899c5f..00000000
--- a/Libraries/elf_loader/examples/build_elf_file_example/main/idf_component.yml
+++ /dev/null
@@ -1,5 +0,0 @@
-dependencies:
-  elf_loader:
-    version: "0.*"
-    override_path: "../../../../components/elf_loader"
-
diff --git a/Libraries/elf_loader/examples/build_elf_file_example/main/main.c b/Libraries/elf_loader/examples/build_elf_file_example/main/main.c
deleted file mode 100644
index a6620b23..00000000
--- a/Libraries/elf_loader/examples/build_elf_file_example/main/main.c
+++ /dev/null
@@ -1,28 +0,0 @@
-/*
- * SPDX-FileCopyrightText: 2023 Espressif Systems (Shanghai) CO LTD
- *
- * SPDX-License-Identifier: Apache-2.0
- */
-
-#include <stdio.h>
-#include <unistd.h>
-
-char buffer[] = "hello world %d\n";
-static int s_cnt;
-
-int try_test(void)
-{
-    for (int i = 0; i < 10; i++) {
-        printf(buffer, s_cnt++);
-        sleep(1);
-    }
-
-    return 0;
-}
-
-int main(int argc, char *argv[])
-{
-    try_test();
-
-    return 0;
-}
diff --git a/Libraries/elf_loader/examples/build_elf_file_example/sdkconfig.defaults b/Libraries/elf_loader/examples/build_elf_file_example/sdkconfig.defaults
deleted file mode 100644
index 12dc1c31..00000000
--- a/Libraries/elf_loader/examples/build_elf_file_example/sdkconfig.defaults
+++ /dev/null
@@ -1 +0,0 @@
-CONFIG_ESP_SYSTEM_MEMPROT_FEATURE_LOCK=n
diff --git a/Libraries/elf_loader/examples/elf_loader_example/CMakeLists.txt b/Libraries/elf_loader/examples/elf_loader_example/CMakeLists.txt
deleted file mode 100644
index 3ed8812c..00000000
--- a/Libraries/elf_loader/examples/elf_loader_example/CMakeLists.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-# The following lines of boilerplate have to be in your project's
-# CMakeLists in this exact order for cmake to work correctly
-cmake_minimum_required(VERSION 3.5)
-
-include($ENV{IDF_PATH}/tools/cmake/project.cmake)
-project(elf-loader)
diff --git a/Libraries/elf_loader/examples/elf_loader_example/README.md b/Libraries/elf_loader/examples/elf_loader_example/README.md
deleted file mode 100644
index 7bec6995..00000000
--- a/Libraries/elf_loader/examples/elf_loader_example/README.md
+++ /dev/null
@@ -1,50 +0,0 @@
-## ELF Loader Example
-
-This example shows how to use ELF loader to run ELF file.
-
-## How to Use Example
-
-Before project configuration and build, be sure to set the correct chip target using `idf.py set-target <chip_name>`.
-
-* Note: Only ESP32, ESP32-S2 and ESP32-S3 are supported
-
-### Hardware Required
-
-* A development board based on espressif ESP32/ESP32-S2/ESP32-S3 SoC
-* A USB cable for power supply and programming
-
-### Configure the Project
-
-Open the project configuration menu (`idf.py menuconfig`).
-
-In the `Example Configuration` menu:
-
-* Enable ELF input arguments in the `Support arguments for ELF main` option if necessary.
-* Set the arguments in the `Arguments of ELF main` option.
-
-### Build and Flash
-
-Run `idf.py -p PORT flash monitor` to build, flash and monitor the project.
-
-(To exit the serial monitor, type ``Ctrl-]``.)
-
-## Example Output
-
-As you run the example, you will see the following log:
-
-```
-I (0) cpu_start: Starting scheduler on APP CPU.
-I (382) elf_loader: Start to relocate ELF
-I (392) elf_loader: Start to run ELF
-hello world 0
-hello world 1
-hello world 2
-hello world 3
-hello world 4
-hello world 5
-hello world 6
-hello world 7
-hello world 8
-hello world 9
-I (10392) elf_loader: Success to exit from APP of ELF
-```
diff --git a/Libraries/elf_loader/examples/elf_loader_example/main/CMakeLists.txt b/Libraries/elf_loader/examples/elf_loader_example/main/CMakeLists.txt
deleted file mode 100644
index 28150054..00000000
--- a/Libraries/elf_loader/examples/elf_loader_example/main/CMakeLists.txt
+++ /dev/null
@@ -1,3 +0,0 @@
-idf_component_register(SRCS "elf_loader_example_main.c"
-                       INCLUDE_DIRS ""
-                       EMBED_TXTFILES "test.elf")
diff --git a/Libraries/elf_loader/examples/elf_loader_example/main/Kconfig.projbuild b/Libraries/elf_loader/examples/elf_loader_example/main/Kconfig.projbuild
deleted file mode 100644
index 1d935c2f..00000000
--- a/Libraries/elf_loader/examples/elf_loader_example/main/Kconfig.projbuild
+++ /dev/null
@@ -1,12 +0,0 @@
-menu "ELF Loader Example Configuration"
-
-    config ELF_LOADER_MAIN_ARGS
-        bool "Support arguments for ELF main"
-        default n
-    
-    config ELF_LOADER_MAIN_ARGS_STRING
-        string "Arguments of ELF main"
-        default "main"
-        depends on ELF_LOADER_MAIN_ARGS
-
-endmenu
diff --git a/Libraries/elf_loader/examples/elf_loader_example/main/elf_loader_example_main.c b/Libraries/elf_loader/examples/elf_loader_example/main/elf_loader_example_main.c
deleted file mode 100644
index 1ee816ad..00000000
--- a/Libraries/elf_loader/examples/elf_loader_example/main/elf_loader_example_main.c
+++ /dev/null
@@ -1,119 +0,0 @@
-/*
- * SPDX-FileCopyrightText: 2023 Espressif Systems (Shanghai) CO LTD
- *
- * SPDX-License-Identifier: Apache-2.0
- */
-
-#include <string.h>
-#include <stdlib.h>
-#include <sys/errno.h>
-
-#include "esp_log.h"
-#include "esp_elf.h"
-
-static const char *TAG = "elf_loader";
-
-extern const uint8_t test_elf_start[] asm("_binary_test_elf_start");
-extern const uint8_t test_elf_end[]   asm("_binary_test_elf_end");
-
-#ifdef CONFIG_ELF_LOADER_MAIN_ARGS
-static int elf_args_decode(const char *str, int *argc, char ***argv)
-{
-    int n;
-    char **argv_buf;
-    char *s;
-    char *pbuf;
-    int len;
-
-    s = (char *)str;
-    n = 1;
-    len = 1;
-    while (*s) {
-        if (*s++ == ' ') {
-            n++;
-        }
-
-        len++;
-    }
-
-    pbuf = malloc(n * sizeof(char *) + len);
-    if (!pbuf) {
-        return -ENOMEM;    
-    }
-
-    argv_buf = (char **)pbuf;
-    s = pbuf + n * sizeof(char *);
-    memcpy(s, str, len);
-    for (int i = 0; i < n; i++) {
-        argv_buf[i] = s;
-
-        while (*s != ' ' || *s == 0) {
-            s++;
-        }
-
-        *s++ = 0;
-    }
-
-    *argc = n;
-    *argv = argv_buf;
-
-    return 0;
-}
-#endif
-
-int app_main(void)
-{
-    int ret;
-    int argc;
-    char **argv;
-    esp_elf_t elf;
-    const uint8_t *buffer = test_elf_start;
-
-    ESP_LOGI(TAG, "Start to relocate ELF file");
-
-#ifdef CONFIG_ELF_LOADER_MAIN_ARGS
-    if (strlen(CONFIG_ELF_LOADER_MAIN_ARGS_STRING) <= 0) {
-        ESP_LOGE(TAG, "Failed to check arguments %s",
-                 CONFIG_ELF_LOADER_MAIN_ARGS_STRING);   
-        return -1;     
-    }
-
-    ret = elf_args_decode(CONFIG_ELF_LOADER_MAIN_ARGS_STRING, &argc, &argv);
-    if (ret < 0) {
-        ESP_LOGE(TAG, "Failed to decode arguments %s errno=%d",
-                 CONFIG_ELF_LOADER_MAIN_ARGS_STRING, ret);
-        return ret; 
-    }
-#else
-    argc = 0;
-    argv = NULL;
-#endif
-
-    ret = esp_elf_init(&elf);
-    if (ret < 0) {
-        ESP_LOGE(TAG, "Failed to initialize ELF file errno=%d", ret);
-        return ret;
-    }
-
-    ret = esp_elf_relocate(&elf, buffer);
-    if (ret < 0) {
-        ESP_LOGE(TAG, "Failed to relocate ELF file errno=%d", ret);
-        return ret;
-    }
-
-    ESP_LOGI(TAG, "Start to run ELF file");
-
-    esp_elf_request(&elf, 0, argc, argv);
-
-    ESP_LOGI(TAG, "Success to exit from ELF file");
-
-    esp_elf_deinit(&elf);
-
-#ifdef CONFIG_ELF_LOADER_MAIN_ARGS
-    if (argv) {
-        free(argv);
-    }
-#endif
-
-    return 0;
-}
diff --git a/Libraries/elf_loader/examples/elf_loader_example/main/idf_component.yml b/Libraries/elf_loader/examples/elf_loader_example/main/idf_component.yml
deleted file mode 100644
index 02899c5f..00000000
--- a/Libraries/elf_loader/examples/elf_loader_example/main/idf_component.yml
+++ /dev/null
@@ -1,5 +0,0 @@
-dependencies:
-  elf_loader:
-    version: "0.*"
-    override_path: "../../../../components/elf_loader"
-
diff --git a/Libraries/elf_loader/examples/elf_loader_example/main/test.elf b/Libraries/elf_loader/examples/elf_loader_example/main/test.elf
deleted file mode 100644
index 9fdd1fb3..00000000
Binary files a/Libraries/elf_loader/examples/elf_loader_example/main/test.elf and /dev/null differ
diff --git a/Libraries/elf_loader/examples/elf_loader_example/sdkconfig.ci.spiram b/Libraries/elf_loader/examples/elf_loader_example/sdkconfig.ci.spiram
deleted file mode 100644
index 23b2a834..00000000
--- a/Libraries/elf_loader/examples/elf_loader_example/sdkconfig.ci.spiram
+++ /dev/null
@@ -1,2 +0,0 @@
-CONFIG_SPIRAM=y
-CONFIG_ELF_LOADER_LOAD_PSRAM=y
\ No newline at end of file
diff --git a/Libraries/elf_loader/examples/elf_loader_example/sdkconfig.ci.sram b/Libraries/elf_loader/examples/elf_loader_example/sdkconfig.ci.sram
deleted file mode 100644
index cde0e63c..00000000
--- a/Libraries/elf_loader/examples/elf_loader_example/sdkconfig.ci.sram
+++ /dev/null
@@ -1 +0,0 @@
-CONFIG_ESP_SYSTEM_MEMPROT_FEATURE=n
\ No newline at end of file
diff --git a/Libraries/elf_loader/examples/elf_loader_example/sdkconfig.defaults b/Libraries/elf_loader/examples/elf_loader_example/sdkconfig.defaults
deleted file mode 100644
index d0ea27a6..00000000
--- a/Libraries/elf_loader/examples/elf_loader_example/sdkconfig.defaults
+++ /dev/null
@@ -1 +0,0 @@
-CONFIG_ESP_SYSTEM_MEMPROT_FEATURE=n
diff --git a/Libraries/elf_loader/idf_component.yml b/Libraries/elf_loader/idf_component.yml
index 6d6fbed3..c5b4e8a6 100644
--- a/Libraries/elf_loader/idf_component.yml
+++ b/Libraries/elf_loader/idf_component.yml
@@ -1,8 +1,12 @@
-dependencies:
-  espressif/cmake_utilities:
-    version: 0.*
-  idf:
-    version: '>=4.4.3'
+version: "1.0.0"
 description: Espressif ELF(Executable and Linkable Format) Loader
 url: https://github.com/espressif/esp-iot-solution/tree/master/components/elf_loader
-version: 0.1.0
+dependencies:
+  idf: ">=4.4.3"
+  espressif/cmake_utilities: "0.*"
+examples:
+  - path:  ../../examples/elf_loader/build_elf_file_example
+  - path:  ../../examples/elf_loader/elf_loader_example
+sbom:
+  supplier: 'Organization: Espressif Systems (Shanghai) CO LTD'
+  originator: 'Organization: Espressif Systems (Shanghai) CO LTD'
diff --git a/Libraries/elf_loader/include/esp_elf.h b/Libraries/elf_loader/include/esp_elf.h
index 646c607b..57fffba8 100644
--- a/Libraries/elf_loader/include/esp_elf.h
+++ b/Libraries/elf_loader/include/esp_elf.h
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2023 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2023-2024 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -17,7 +17,7 @@ extern "C" {
  *
  * @param elf - ELF object pointer
  * @param sym - ELF symbol address
- * 
+ *
  * @return Mapped physic address.
  */
 uintptr_t esp_elf_map_sym(esp_elf_t *elf, uintptr_t sym);
@@ -26,8 +26,8 @@ uintptr_t esp_elf_map_sym(esp_elf_t *elf, uintptr_t sym);
  * @brief Initialize ELF object.
  *
  * @param elf - ELF object pointer
- * 
- * @return ESP_OK if sucess or other if failed.
+ *
+ * @return ESP_OK if success or other if failed.
  */
 int esp_elf_init(esp_elf_t *elf);
 
@@ -36,8 +36,8 @@ int esp_elf_init(esp_elf_t *elf);
  *
  * @param elf - ELF object pointer
  * @param pbuf - ELF data buffer
- * 
- * @return ESP_OK if sucess or other if failed.
+ *
+ * @return ESP_OK if success or other if failed.
  */
 int esp_elf_relocate(esp_elf_t *elf, const uint8_t *pbuf);
 
@@ -48,8 +48,8 @@ int esp_elf_relocate(esp_elf_t *elf, const uint8_t *pbuf);
  * @param opt  - Request options
  * @param argc - Arguments number
  * @param argv - Arguments value array
- * 
- * @return ESP_OK if sucess or other if failed.
+ *
+ * @return ESP_OK if success or other if failed.
  */
 int esp_elf_request(esp_elf_t *elf, int opt, int argc, char *argv[]);
 
@@ -57,7 +57,7 @@ int esp_elf_request(esp_elf_t *elf, int opt, int argc, char *argv[]);
  * @brief Deinitialize ELF object.
  *
  * @param elf - ELF object pointer
- * 
+ *
  * @return None
  */
 void esp_elf_deinit(esp_elf_t *elf);
@@ -66,16 +66,25 @@ void esp_elf_deinit(esp_elf_t *elf);
  * @brief Print header description information of ELF.
  *
  * @param pbuf - ELF data buffer
- * 
+ *
  * @return None
  */
-void esp_elf_print_hdr(const uint8_t *pbuf);
+void esp_elf_print_ehdr(const uint8_t *pbuf);
+
+/**
+ * @brief Print program header description information of ELF.
+ *
+ * @param pbuf - ELF data buffer
+ *
+ * @return None
+ */
+void esp_elf_print_phdr(const uint8_t *pbuf);
 
 /**
  * @brief Print section header description information of ELF.
  *
  * @param pbuf - ELF data buffer
- * 
+ *
  * @return None
  */
 void esp_elf_print_shdr(const uint8_t *pbuf);
@@ -84,7 +93,7 @@ void esp_elf_print_shdr(const uint8_t *pbuf);
  * @brief Print section information of ELF.
  *
  * @param pbuf - ELF data buffer
- * 
+ *
  * @return None
  */
 void esp_elf_print_sec(esp_elf_t *elf);
diff --git a/Libraries/elf_loader/include/private/elf_platform.h b/Libraries/elf_loader/include/private/elf_platform.h
index 8ca092f5..e53e2cb9 100644
--- a/Libraries/elf_loader/include/private/elf_platform.h
+++ b/Libraries/elf_loader/include/private/elf_platform.h
@@ -12,19 +12,17 @@
 extern "C" {
 #endif
 
-#ifndef ELF_ALIGN_SIZE
-#define ELF_ALIGN_SIZE 4
-#endif
+/* Notes: align_size needs to be a power of 2 */
 
-#define ELF_ALIGN(_a)   (((_a) + (ELF_ALIGN_SIZE - 1)) & \
-                         (~(ELF_ALIGN_SIZE - 1)))
+#define ELF_ALIGN(_a, align_size) (((_a) + (align_size - 1)) & \
+                                   ~(align_size - 1))
 
 /**
  * @brief Allocate block of memory.
  *
  * @param n - Memory size in byte
  * @param exec - True: memory can run executable code; False: memory can R/W data
- * 
+ *
  * @return Memory pointer if success or NULL if failed.
  */
 void *esp_elf_malloc(uint32_t n, bool exec);
@@ -33,7 +31,7 @@ void *esp_elf_malloc(uint32_t n, bool exec);
  * @brief Free block of memory.
  *
  * @param ptr - memory block pointer allocated by "esp_elf_malloc"
- * 
+ *
  * @return None
  */
 void esp_elf_free(void *ptr);
@@ -45,18 +43,18 @@ void esp_elf_free(void *ptr);
  * @param rela - Relocated symbol data
  * @param sym  - ELF symbol table
  * @param addr - Jumping target address
- * 
- * @return ESP_OK if sucess or other if failed.
+ *
+ * @return ESP_OK if success or other if failed.
  */
 int esp_elf_arch_relocate(esp_elf_t *elf, const elf32_rela_t *rela,
                           const elf32_sym_t *sym, uint32_t addr);
 
 /**
- * @brief Remap symbol from ".data" to ".text" section. 
+ * @brief Remap symbol from ".data" to ".text" section.
  *
  * @param elf  - ELF object pointer
  * @param sym  - ELF symbol table
- * 
+ *
  * @return Remapped symbol value
  */
 #ifdef CONFIG_ELF_LOADER_CACHE_OFFSET
@@ -67,7 +65,7 @@ uintptr_t elf_remap_text(esp_elf_t *elf, uintptr_t sym);
  * @brief Flush data from cache to external RAM.
  *
  * @param None
- * 
+ *
  * @return None
  */
 #ifdef CONFIG_ELF_LOADER_LOAD_PSRAM
diff --git a/Libraries/elf_loader/include/elf_symbol.h b/Libraries/elf_loader/include/private/elf_symbol.h
similarity index 78%
rename from Libraries/elf_loader/include/elf_symbol.h
rename to Libraries/elf_loader/include/private/elf_symbol.h
index 2a30c169..447756a4 100644
--- a/Libraries/elf_loader/include/elf_symbol.h
+++ b/Libraries/elf_loader/include/private/elf_symbol.h
@@ -6,14 +6,15 @@
 
 #pragma once
 
-#include "private/elf_types.h"
-#include "elf_symbol.h"
+#include <stdint.h>
 
 #ifdef __cplusplus
 extern "C" {
 #endif
 
-#define ESP_ELFSYM_EXPORT(_sym)     { #_sym, (void*)&_sym }
+// Tactility custom -->
+#define ESP_ELFSYM_EXPORT(_sym)     { #_sym, (const void*)&_sym }
+// <-- Tactility custom
 #define ESP_ELFSYM_END              { NULL,  NULL }
 
 /** @brief Function symbol description */
@@ -27,14 +28,14 @@ struct esp_elfsym {
  * @brief Find symbol address by name.
  *
  * @param sym_name - Symbol name
- * 
+ *
  * @return Symbol address if success or 0 if failed.
  */
 uintptr_t elf_find_sym(const char *sym_name);
 
-#ifdef CONFIG_ELF_LOADER_CUSTOMER_SYMBOLS
+// Tactility custom -->
 void elf_set_custom_symbols(const struct esp_elfsym* symbols);
-#endif
+// <-- Tactility custom
 
 #ifdef __cplusplus
 }
diff --git a/Libraries/elf_loader/include/private/elf_types.h b/Libraries/elf_loader/include/private/elf_types.h
index 9b542242..f9a5b1cc 100644
--- a/Libraries/elf_loader/include/private/elf_types.h
+++ b/Libraries/elf_loader/include/private/elf_types.h
@@ -18,6 +18,29 @@ extern "C" {
 
 #define EI_NIDENT       16              /*!< Magic number and other information length */
 
+/** @brief Type of segment */
+
+#define PT_NULL         0               /*!< Program header table entry unused */
+#define PT_LOAD         1               /*!< Loadable program segment */
+#define PT_DYNAMIC      2               /*!< Dynamic linking information */
+#define PT_INTERP       3               /*!< Program interpreter */
+#define PT_NOTE         4               /*!< Auxiliary information */
+#define PT_SHLIB        5               /*!< Reserved */
+#define PT_PHDR         6               /*!< Entry for header table itself */
+#define PT_TLS          7               /*!< Thread-local storage segment */
+#define PT_NUM          8               /*!< Number of defined types */
+#define PT_LOOS         0x60000000      /*!< Start of OS-specific */
+#define PT_GNU_EH_FRAME 0x6474e550      /*!< GCC .eh_frame_hdr segment */
+#define PT_GNU_STACK    0x6474e551      /*!< Indicates stack executability */
+#define PT_GNU_RELRO    0x6474e552      /*!< Read-only after relocation */
+#define PT_LOSUNW       0x6ffffffa
+#define PT_SUNWBSS      0x6ffffffa      /*!< Sun Specific segment */
+#define PT_SUNWSTACK    0x6ffffffb      /*!< Stack segment */
+#define PT_HISUNW       0x6fffffff
+#define PT_HIOS         0x6fffffff      /*!< End of OS-specific */
+#define PT_LOPROC       0x70000000      /*!< Start of processor-specific */
+#define PT_HIPROC       0x7fffffff      /*!< End of processor-specific */
+
 /** @brief Section Type */
 
 #define SHT_NULL        0               /*!< invalid section header */
@@ -82,6 +105,8 @@ extern "C" {
 #define ELF_SYMTAB      ".symtab"       /*!< symbol table */
 #define ELF_TEXT        ".text"         /*!< code */
 #define ELF_DATA_REL_RO ".data.rel.ro"  /*!< dynamic read-only data */
+#define ELF_PLT         ".plt"          /*!< procedure linkage table. */
+#define ELF_GOT_PLT     ".got.plt"      /*!< a table where resolved addresses from external functions are stored */
 
 /** @brief ELF section and symbol operation */
 
@@ -130,6 +155,19 @@ typedef struct elf32_hdr {
     Elf32_Half      shstrndx;           /*!< section header table's "section header string table" entry offset */
 } elf32_hdr_t;
 
+/** @brief Program Header */
+
+typedef struct elf32_phdr {
+    Elf32_Word type;                         /* segment type */
+    Elf32_Off  offset;                       /* segment offset */
+    Elf32_Addr vaddr;                        /* virtual address of segment */
+    Elf32_Addr paddr;                        /* physical address - ignored? */
+    Elf32_Word filesz;                       /* number of bytes in file for seg. */
+    Elf32_Word memsz;                        /* number of bytes in mem. for seg. */
+    Elf32_Word flags;                        /* flags */
+    Elf32_Word align;                        /* memory alignment */
+} elf32_phdr_t;
+
 /** @brief Section Header */
 
 typedef struct elf32_shdr {
@@ -184,16 +222,20 @@ typedef struct esp_elf_sec {
 /** @brief ELF object */
 
 typedef struct esp_elf {
+    unsigned char   *psegment;          /*!< segment buffer pointer */
+
+    uint32_t         svaddr;            /*!< start virtual address of segment */
+
     unsigned char   *ptext;             /*!< instruction buffer pointer */
 
     unsigned char   *pdata;             /*!< data buffer pointer */
 
     esp_elf_sec_t   sec[ELF_SECS];      /*!< ".bss", "data", "rodata", ".text" */
 
-    int             (*entry)(int argc, char *argv[]);   /*!< Entry pointer of ELF */
+    int (*entry)(int argc, char *argv[]);               /*!< Entry pointer of ELF */
 
 #ifdef CONFIG_ELF_LOADER_SET_MMU
-    uint32_t        text_off;           /* .text symbol offset */  
+    uint32_t        text_off;           /* .text symbol offset */
 
     uint32_t        mmu_off;            /* MMU unit offset */
     uint32_t        mmu_num;            /* MMU unit total number */
diff --git a/Libraries/elf_loader/linker.lf b/Libraries/elf_loader/linker.lf
new file mode 100644
index 00000000..a7a88a55
--- /dev/null
+++ b/Libraries/elf_loader/linker.lf
@@ -0,0 +1,14 @@
+[sections:elf_loader_got_plt]
+entries:
+    .got.plt
+    .got
+
+[scheme:elf_loader_default]
+entries:
+    elf_loader_got_plt -> flash_rodata
+
+[mapping:elf_loader]
+archive: *
+entries:
+    * (elf_loader_default);
+        elf_loader_got_plt -> flash_rodata KEEP() SURROUND(_esp_elf_loader_got_plt)
diff --git a/Libraries/elf_loader/src/arch/esp_elf_riscv.c b/Libraries/elf_loader/src/arch/esp_elf_riscv.c
new file mode 100644
index 00000000..ad52e0fb
--- /dev/null
+++ b/Libraries/elf_loader/src/arch/esp_elf_riscv.c
@@ -0,0 +1,112 @@
+/*
+ * SPDX-FileCopyrightText: 2024 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include <assert.h>
+#include <sys/errno.h>
+#include "esp_elf.h"
+#include "esp_log.h"
+#include "private/elf_platform.h"
+
+/** @brief RISC-V relocations defined by the ABIs */
+
+#define R_RISCV_NONE           0
+#define R_RISCV_32             1
+#define R_RISCV_64             2
+#define R_RISCV_RELATIVE       3
+#define R_RISCV_COPY           4
+#define R_RISCV_JUMP_SLOT      5
+#define R_RISCV_TLS_DTPMOD32   6
+#define R_RISCV_TLS_DTPMOD64   7
+#define R_RISCV_TLS_DTPREL32   8
+#define R_RISCV_TLS_DTPREL64   9
+#define R_RISCV_TLS_TPREL32    10
+#define R_RISCV_TLS_TPREL64    11
+#define R_RISCV_TLS_DESC       12
+#define R_RISCV_BRANCH         16
+#define R_RISCV_JAL            17
+#define R_RISCV_CALL           18
+#define R_RISCV_CALL_PLT       19
+#define R_RISCV_GOT_HI20       20
+#define R_RISCV_TLS_GOT_HI20   21
+#define R_RISCV_TLS_GD_HI20    22
+#define R_RISCV_PCREL_HI20     23
+#define R_RISCV_PCREL_LO12_I   24
+#define R_RISCV_PCREL_LO12_S   25
+#define R_RISCV_HI20           26
+#define R_RISCV_LO12_I         27
+#define R_RISCV_LO12_S         28
+#define R_RISCV_TPREL_HI20     29
+#define R_RISCV_TPREL_LO12_I   30
+#define R_RISCV_TPREL_LO12_S   31
+#define R_RISCV_TPREL_ADD      32
+#define R_RISCV_ADD8           33
+#define R_RISCV_ADD16          34
+#define R_RISCV_ADD32          35
+#define R_RISCV_ADD64          36
+#define R_RISCV_SUB8           37
+#define R_RISCV_SUB16          38
+#define R_RISCV_SUB32          39
+#define R_RISCV_SUB64          40
+#define R_RISCV_GNU_VTINHERIT  41
+#define R_RISCV_GNU_VTENTRY    42
+#define R_RISCV_ALIGN          43
+#define R_RISCV_RVC_BRANCH     44
+#define R_RISCV_RVC_JUMP       45
+#define R_RISCV_RVC_LUI        46
+#define R_RISCV_RELAX          51
+#define R_RISCV_SUB6           52
+#define R_RISCV_SET6           53
+#define R_RISCV_SET8           54
+#define R_RISCV_SET16          55
+#define R_RISCV_SET32          56
+#define R_RISCV_32_PCREL       57
+#define R_RISCV_IRELATIVE      58
+#define R_RISCV_PLT32          59
+
+static const char *TAG = "elf_arch";
+
+/**
+ * @brief Relocates target architecture symbol of ELF
+ *
+ * @param elf  - ELF object pointer
+ * @param rela - Relocated symbol data
+ * @param sym  - ELF symbol table
+ * @param addr - Jumping target address
+ *
+ * @return ESP_OK if success or other if failed.
+ */
+int esp_elf_arch_relocate(esp_elf_t *elf, const elf32_rela_t *rela,
+                          const elf32_sym_t *sym, uint32_t addr)
+{
+    uint32_t *where;
+
+    assert(elf && rela);
+
+    where = (uint32_t *)((uint8_t *)elf->psegment + rela->offset + elf->svaddr);
+    ESP_LOGD(TAG, "type: %d, where=%p addr=0x%x offset=0x%x",
+             ELF_R_TYPE(rela->info), where, (int)elf->psegment, (int)rela->offset);
+
+    /* Do relocation based on relocation type */
+
+    switch (ELF_R_TYPE(rela->info)) {
+    case R_RISCV_NONE:
+        break;
+    case R_RISCV_32:
+        *where = addr + rela->addend;
+        break;
+    case R_RISCV_RELATIVE:
+        *where = (Elf32_Addr)((uint8_t *)elf->psegment - elf->svaddr + rela->addend);
+        break;
+    case R_RISCV_JUMP_SLOT:
+        *where = addr;
+        break;
+    default:
+        ESP_LOGE(TAG, "info=%d is not supported\n", ELF_R_TYPE(rela->info));
+        return -EINVAL;
+    }
+
+    return 0;
+}
diff --git a/Libraries/elf_loader/src/arch/esp_elf_xtensa.c b/Libraries/elf_loader/src/arch/esp_elf_xtensa.c
index 6edfe2ef..0e0b03dd 100644
--- a/Libraries/elf_loader/src/arch/esp_elf_xtensa.c
+++ b/Libraries/elf_loader/src/arch/esp_elf_xtensa.c
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2023 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2023-2024 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -69,8 +69,8 @@ static const char *TAG = "elf_arch";
  * @param rela - Relocated symbol data
  * @param sym  - ELF symbol table
  * @param addr - Jumping target address
- * 
- * @return ESP_OK if sucess or other if failed.
+ *
+ * @return ESP_OK if success or other if failed.
  */
 int esp_elf_arch_relocate(esp_elf_t *elf, const elf32_rela_t *rela,
                           const elf32_sym_t *sym, uint32_t addr)
@@ -82,7 +82,8 @@ int esp_elf_arch_relocate(esp_elf_t *elf, const elf32_rela_t *rela,
 
     where = (uint32_t *)esp_elf_map_sym(elf, rela->offset);
 
-    ESP_LOGD(TAG, "where=%p addr=%x offset=%x\n", where, (int)addr, (int)rela->offset);
+    ESP_LOGD(TAG, "type: %d, where=%p addr=0x%x offset=0x%x\n",
+             ELF_R_TYPE(rela->info), where, (int)addr, (int)rela->offset);
 
     switch (ELF_R_TYPE(rela->info)) {
     case R_XTENSA_RELATIVE:
diff --git a/Libraries/elf_loader/src/esp_elf.c b/Libraries/elf_loader/src/esp_elf.c
index 6ced644b..385cefa3 100644
--- a/Libraries/elf_loader/src/esp_elf.c
+++ b/Libraries/elf_loader/src/esp_elf.c
@@ -1,149 +1,111 @@
 /*
- * SPDX-FileCopyrightText: 2023 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2023-2024 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
 
 #include <stdio.h>
+#include <stdlib.h>
 #include <string.h>
 #include <sys/errno.h>
 #include <sys/param.h>
 
 #include "esp_log.h"
+#include "soc/soc_caps.h"
 
-#include "elf_symbol.h"
+#if SOC_CACHE_INTERNAL_MEM_VIA_L1CACHE
+#include "hal/cache_ll.h"
+#endif
+
+#include "private/elf_symbol.h"
 #include "private/elf_platform.h"
 
 #define stype(_s, _t)               ((_s)->type == (_t))
 #define sflags(_s, _f)              (((_s)->flags & (_f)) == (_f))
+#define ADDR_OFFSET                 (0x400)
 
 static const char *TAG = "ELF";
 
-/**
- * @brief Map symbol's address of ELF to physic space.
- *
- * @param elf - ELF object pointer
- * @param sym - ELF symbol address
- * 
- * @return ESP_OK if sucess or other if failed.
- */
-uintptr_t esp_elf_map_sym(esp_elf_t *elf, uintptr_t sym)
-{
-    for (int i = 0; i < ELF_SECS; i++) {
-        if ((sym >= elf->sec[i].v_addr) &&
-                (sym < (elf->sec[i].v_addr + elf->sec[i].size))) {
-            return sym - elf->sec[i].v_addr + elf->sec[i].addr;
-        }
-    }
-
-    return 0;
-}
+#if CONFIG_ELF_LOADER_BUS_ADDRESS_MIRROR
 
 /**
- * @brief Initialize ELF object.
- *
- * @param elf - ELF object pointer
- * 
- * @return ESP_OK if sucess or other if failed.
- */
-int esp_elf_init(esp_elf_t *elf)
-{
-    ESP_LOGI(TAG, "ELF loader version: %d.%d.%d", ELF_LOADER_VER_MAJOR, ELF_LOADER_VER_MINOR, ELF_LOADER_VER_PATCH);
-
-    if (!elf) {
-        return -EINVAL;
-    }
-
-    memset(elf, 0, sizeof(esp_elf_t));
-
-    return 0;
-}
-
-/**
- * @brief Decode and relocate ELF data.
+ * @brief Load ELF section.
  *
  * @param elf - ELF object pointer
  * @param pbuf - ELF data buffer
- * 
- * @return ESP_OK if sucess or other if failed.
+ *
+ * @return ESP_OK if success or other if failed.
  */
-int esp_elf_relocate(esp_elf_t *elf, const uint8_t *pbuf)
+
+static int esp_elf_load_section(esp_elf_t *elf, const uint8_t *pbuf)
 {
     uint32_t entry;
     uint32_t size;
 
-    const elf32_hdr_t *phdr;
-    const elf32_shdr_t *pshdr;
-    const char *shstrab;
-
-    if (!elf || !pbuf) {
-        return -EINVAL;
-    }
-
-    phdr    = (const elf32_hdr_t *)pbuf;
-    pshdr   = (const elf32_shdr_t *)(pbuf + phdr->shoff);
-    shstrab = (const char *)pbuf + pshdr[phdr->shstrndx].offset;
+    const elf32_hdr_t *ehdr = (const elf32_hdr_t *)pbuf;
+    const elf32_shdr_t *shdr = (const elf32_shdr_t *)(pbuf + ehdr->shoff);
+    const char *shstrab = (const char *)pbuf + shdr[ehdr->shstrndx].offset;
 
     /* Calculate ELF image size */
 
-    for (uint32_t i = 0; i < phdr->shnum; i++) {
-        const char *name = shstrab + pshdr[i].name;
+    for (uint32_t i = 0; i < ehdr->shnum; i++) {
+        const char *name = shstrab + shdr[i].name;
 
-        if (stype(&pshdr[i], SHT_PROGBITS) && sflags(&pshdr[i], SHF_ALLOC)) {
-            if (sflags(&pshdr[i], SHF_EXECINSTR) && !strcmp(ELF_TEXT, name)) {
+        if (stype(&shdr[i], SHT_PROGBITS) && sflags(&shdr[i], SHF_ALLOC)) {
+            if (sflags(&shdr[i], SHF_EXECINSTR) && !strcmp(ELF_TEXT, name)) {
                 ESP_LOGD(TAG, ".text   sec addr=0x%08x size=0x%08x offset=0x%08x",
-                         pshdr[i].addr, pshdr[i].size, pshdr[i].offset);
+                         shdr[i].addr, shdr[i].size, shdr[i].offset);
 
-                elf->sec[ELF_SEC_TEXT].v_addr  = pshdr[i].addr;
-                elf->sec[ELF_SEC_TEXT].size    = ELF_ALIGN(pshdr[i].size);
-                elf->sec[ELF_SEC_TEXT].offset  = pshdr[i].offset;
+                elf->sec[ELF_SEC_TEXT].v_addr  = shdr[i].addr;
+                elf->sec[ELF_SEC_TEXT].size    = ELF_ALIGN(shdr[i].size, 4);
+                elf->sec[ELF_SEC_TEXT].offset  = shdr[i].offset;
 
                 ESP_LOGD(TAG, ".text   offset is 0x%lx size is 0x%x",
                          elf->sec[ELF_SEC_TEXT].offset,
                          elf->sec[ELF_SEC_TEXT].size);
-            } else if (sflags(&pshdr[i], SHF_WRITE) && !strcmp(ELF_DATA, name)) {
+            } else if (sflags(&shdr[i], SHF_WRITE) && !strcmp(ELF_DATA, name)) {
                 ESP_LOGD(TAG, ".data   sec addr=0x%08x size=0x%08x offset=0x%08x",
-                         pshdr[i].addr, pshdr[i].size, pshdr[i].offset);
+                         shdr[i].addr, shdr[i].size, shdr[i].offset);
 
-                elf->sec[ELF_SEC_DATA].v_addr  = pshdr[i].addr;
-                elf->sec[ELF_SEC_DATA].size    = pshdr[i].size;
-                elf->sec[ELF_SEC_DATA].offset  = pshdr[i].offset;
+                elf->sec[ELF_SEC_DATA].v_addr  = shdr[i].addr;
+                elf->sec[ELF_SEC_DATA].size    = shdr[i].size;
+                elf->sec[ELF_SEC_DATA].offset  = shdr[i].offset;
 
                 ESP_LOGD(TAG, ".data   offset is 0x%lx size is 0x%x",
                          elf->sec[ELF_SEC_DATA].offset,
                          elf->sec[ELF_SEC_DATA].size);
             } else if (!strcmp(ELF_RODATA, name)) {
                 ESP_LOGD(TAG, ".rodata sec addr=0x%08x size=0x%08x offset=0x%08x",
-                         pshdr[i].addr, pshdr[i].size, pshdr[i].offset);
+                         shdr[i].addr, shdr[i].size, shdr[i].offset);
 
-                elf->sec[ELF_SEC_RODATA].v_addr  = pshdr[i].addr;
-                elf->sec[ELF_SEC_RODATA].size    = pshdr[i].size;
-                elf->sec[ELF_SEC_RODATA].offset  = pshdr[i].offset;
+                elf->sec[ELF_SEC_RODATA].v_addr  = shdr[i].addr;
+                elf->sec[ELF_SEC_RODATA].size    = shdr[i].size;
+                elf->sec[ELF_SEC_RODATA].offset  = shdr[i].offset;
 
                 ESP_LOGD(TAG, ".rodata offset is 0x%lx size is 0x%x",
                          elf->sec[ELF_SEC_RODATA].offset,
                          elf->sec[ELF_SEC_RODATA].size);
             } else if (!strcmp(ELF_DATA_REL_RO, name)) {
                 ESP_LOGD(TAG, ".data.rel.ro sec addr=0x%08x size=0x%08x offset=0x%08x",
-                         pshdr[i].addr, pshdr[i].size, pshdr[i].offset);
+                         shdr[i].addr, shdr[i].size, shdr[i].offset);
 
-                elf->sec[ELF_SEC_DRLRO].v_addr  = pshdr[i].addr;
-                elf->sec[ELF_SEC_DRLRO].size    = pshdr[i].size;
-                elf->sec[ELF_SEC_DRLRO].offset  = pshdr[i].offset;
+                elf->sec[ELF_SEC_DRLRO].v_addr  = shdr[i].addr;
+                elf->sec[ELF_SEC_DRLRO].size    = shdr[i].size;
+                elf->sec[ELF_SEC_DRLRO].offset  = shdr[i].offset;
 
                 ESP_LOGD(TAG, ".data.rel.ro offset is 0x%lx size is 0x%x",
                          elf->sec[ELF_SEC_DRLRO].offset,
                          elf->sec[ELF_SEC_DRLRO].size);
             }
-        } else if (stype(&pshdr[i], SHT_NOBITS) &&
-                   sflags(&pshdr[i], SHF_ALLOC | SHF_WRITE) &&
+        } else if (stype(&shdr[i], SHT_NOBITS) &&
+                   sflags(&shdr[i], SHF_ALLOC | SHF_WRITE) &&
                    !strcmp(ELF_BSS, name)) {
             ESP_LOGD(TAG, ".bss    sec addr=0x%08x size=0x%08x offset=0x%08x",
-                     pshdr[i].addr, pshdr[i].size, pshdr[i].offset);
+                     shdr[i].addr, shdr[i].size, shdr[i].offset);
 
-            elf->sec[ELF_SEC_BSS].v_addr  = pshdr[i].addr;
-            elf->sec[ELF_SEC_BSS].size    = pshdr[i].size;
-            elf->sec[ELF_SEC_BSS].offset  = pshdr[i].offset;
+            elf->sec[ELF_SEC_BSS].v_addr  = shdr[i].addr;
+            elf->sec[ELF_SEC_BSS].size    = shdr[i].size;
+            elf->sec[ELF_SEC_BSS].offset  = shdr[i].offset;
 
             ESP_LOGD(TAG, ".bss    offset is 0x%lx size is 0x%x",
                      elf->sec[ELF_SEC_BSS].offset,
@@ -174,7 +136,7 @@ int esp_elf_relocate(esp_elf_t *elf, const uint8_t *pbuf)
         }
     }
 
-    /* Dump ".text" from ELF to excutable space memory */
+    /* Dump ".text" from ELF to executable space memory */
 
     elf->sec[ELF_SEC_TEXT].addr = (Elf32_Addr)elf->ptext;
     memcpy(elf->ptext, pbuf + elf->sec[ELF_SEC_TEXT].offset,
@@ -183,6 +145,7 @@ int esp_elf_relocate(esp_elf_t *elf, const uint8_t *pbuf)
 #ifdef CONFIG_ELF_LOADER_SET_MMU
     if (esp_elf_arch_init_mmu(elf)) {
         esp_elf_free(elf->ptext);
+        esp_elf_free(elf->pdata);
         return -EIO;
     }
 #endif
@@ -231,8 +194,8 @@ int esp_elf_relocate(esp_elf_t *elf, const uint8_t *pbuf)
 
     /* Set ELF entry */
 
-    entry = phdr->entry + elf->sec[ELF_SEC_TEXT].addr -
-                          elf->sec[ELF_SEC_TEXT].v_addr;
+    entry = ehdr->entry + elf->sec[ELF_SEC_TEXT].addr -
+            elf->sec[ELF_SEC_TEXT].v_addr;
 
 #ifdef CONFIG_ELF_LOADER_CACHE_OFFSET
     elf->entry = (void *)elf_remap_text(elf, (uintptr_t)entry);
@@ -240,21 +203,203 @@ int esp_elf_relocate(esp_elf_t *elf, const uint8_t *pbuf)
     elf->entry = (void *)entry;
 #endif
 
+    return 0;
+}
+
+#else
+
+/**
+ * @brief Load ELF segment.
+ *
+ * @param elf - ELF object pointer
+ * @param pbuf - ELF data buffer
+ *
+ * @return ESP_OK if success or other if failed.
+ */
+
+static int esp_elf_load_segment(esp_elf_t *elf, const uint8_t *pbuf)
+{
+    uint32_t size;
+    bool first_segment = false;
+    Elf32_Addr vaddr_s = 0;
+    Elf32_Addr vaddr_e = 0;
+
+    const elf32_hdr_t *ehdr = (const elf32_hdr_t *)pbuf;
+    const elf32_phdr_t *phdr = (const elf32_phdr_t *)(pbuf + ehdr->phoff);
+
+    for (int i = 0; i < ehdr->phnum; i++) {
+        if (phdr[i].type != PT_LOAD) {
+            continue;
+        }
+
+        if (phdr[i].memsz < phdr[i].filesz) {
+            ESP_LOGE(TAG, "Invalid segment[%d], memsz: %d, filesz: %d",
+                     i, phdr[i].memsz, phdr[i].filesz);
+            return -EINVAL;
+        }
+
+        if (first_segment == true) {
+            vaddr_s = phdr[i].vaddr;
+            vaddr_e = phdr[i].vaddr + phdr[i].memsz;
+            first_segment = true;
+            if (vaddr_e < vaddr_s) {
+                ESP_LOGE(TAG, "Invalid segment[%d], vaddr: 0x%x, memsz: %d",
+                         i, phdr[i].vaddr, phdr[i].memsz);
+                return -EINVAL;
+            }
+        } else {
+            if (phdr[i].vaddr < vaddr_e) {
+                ESP_LOGE(TAG, "Invalid segment[%d], should not overlap, vaddr: 0x%x, vaddr_e: 0x%x\n",
+                         i, phdr[i].vaddr, vaddr_e);
+                return -EINVAL;
+            }
+
+            if (phdr[i].vaddr > vaddr_e + ADDR_OFFSET) {
+                ESP_LOGI(TAG, "Too much padding before segment[%d], padding: %d",
+                         i, phdr[i].vaddr - vaddr_e);
+            }
+
+            vaddr_e = phdr[i].vaddr + phdr[i].memsz;
+            if (vaddr_e < phdr[i].vaddr) {
+                ESP_LOGE(TAG, "Invalid segment[%d], address overflow, vaddr: 0x%x, vaddr_e: 0x%x\n",
+                         i, phdr[i].vaddr, vaddr_e);
+                return -EINVAL;
+            }
+        }
+
+        ESP_LOGD(TAG, "LOAD segment[%d], vaddr: 0x%x, memsize: 0x%08x",
+                 i, phdr[i].vaddr, phdr[i].memsz);
+    }
+
+    size = vaddr_e - vaddr_s;
+    if (size == 0) {
+        return -EINVAL;
+    }
+
+    elf->svaddr = vaddr_s;
+    elf->psegment = esp_elf_malloc(size, true);
+    if (!elf->psegment) {
+        return -ENOMEM;
+    }
+
+    memset(elf->psegment, 0, size);
+
+    /* Dump "PT_LOAD" from ELF to memory space */
+
+    for (int i = 0; i < ehdr->phnum; i++) {
+        if (phdr[i].type == PT_LOAD) {
+            memcpy(elf->psegment + phdr[i].vaddr - vaddr_s,
+                   (uint8_t *)pbuf + phdr[i].offset, phdr[i].filesz);
+            ESP_LOGD(TAG, "Copy segment[%d], mem_addr: 0x%x, vaddr: 0x%x, size: 0x%08x",
+                     i, (int)((uint8_t *)elf->psegment + phdr[i].vaddr - vaddr_s),
+                     phdr[i].vaddr, phdr[i].filesz);
+        }
+    }
+
+#if SOC_CACHE_INTERNAL_MEM_VIA_L1CACHE
+    cache_ll_writeback_all(CACHE_LL_LEVEL_INT_MEM, CACHE_TYPE_DATA, CACHE_LL_ID_ALL);
+#endif
+
+    elf->entry = (void *)((uint8_t *)elf->psegment + ehdr->entry - vaddr_s);
+
+    return 0;
+}
+#endif
+
+/**
+ * @brief Map symbol's address of ELF to physic space.
+ *
+ * @param elf - ELF object pointer
+ * @param sym - ELF symbol address
+ *
+ * @return ESP_OK if success or other if failed.
+ */
+uintptr_t esp_elf_map_sym(esp_elf_t *elf, uintptr_t sym)
+{
+    for (int i = 0; i < ELF_SECS; i++) {
+        if ((sym >= elf->sec[i].v_addr) &&
+                (sym < (elf->sec[i].v_addr + elf->sec[i].size))) {
+            return sym - elf->sec[i].v_addr + elf->sec[i].addr;
+        }
+    }
+
+    return 0;
+}
+
+/**
+ * @brief Initialize ELF object.
+ *
+ * @param elf - ELF object pointer
+ *
+ * @return ESP_OK if success or other if failed.
+ */
+int esp_elf_init(esp_elf_t *elf)
+{
+    ESP_LOGI(TAG, "ELF loader version: %d.%d.%d", ELF_LOADER_VER_MAJOR, ELF_LOADER_VER_MINOR, ELF_LOADER_VER_PATCH);
+
+    if (!elf) {
+        return -EINVAL;
+    }
+
+    memset(elf, 0, sizeof(esp_elf_t));
+
+    return 0;
+}
+
+/**
+ * @brief Decode and relocate ELF data.
+ *
+ * @param elf - ELF object pointer
+ * @param pbuf - ELF data buffer
+ *
+ * @return ESP_OK if success or other if failed.
+ */
+int esp_elf_relocate(esp_elf_t *elf, const uint8_t *pbuf)
+{
+    int ret;
+
+    const elf32_hdr_t *ehdr;
+    const elf32_shdr_t *shdr;
+    const char *shstrab;
+
+    if (!elf || !pbuf) {
+        return -EINVAL;
+    }
+
+    ehdr    = (const elf32_hdr_t *)pbuf;
+    shdr    = (const elf32_shdr_t *)(pbuf + ehdr->shoff);
+    shstrab = (const char *)pbuf + shdr[ehdr->shstrndx].offset;
+
+    /* Load section or segment to memory space */
+
+#if CONFIG_ELF_LOADER_BUS_ADDRESS_MIRROR
+    ret = esp_elf_load_section(elf, pbuf);
+#else
+    ret = esp_elf_load_segment(elf, pbuf);
+#endif
+
+    if (ret) {
+        ESP_LOGE(TAG, "Error to load elf file, ret=%d", ret);
+        return ret;
+    }
+
+    ESP_LOGI(TAG, "elf->entry=%p\n", elf->entry);
+
     /* Relocation section data */
 
-    for (uint32_t i = 0; i < phdr->shnum; i++) {
-        if (stype(&pshdr[i], SHT_RELA)) {
+    for (uint32_t i = 0; i < ehdr->shnum; i++) {
+        if (stype(&shdr[i], SHT_RELA)) {
             uint32_t nr_reloc;
             const elf32_rela_t *rela;
             const elf32_sym_t *symtab;
             const char *strtab;
 
-            nr_reloc = pshdr[i].size / sizeof(elf32_rela_t);
-            rela     = (const elf32_rela_t *)(pbuf + pshdr[i].offset);
-            symtab   = (const elf32_sym_t *)(pbuf + pshdr[pshdr[i].link].offset);
-            strtab   = (const char *)(pbuf + pshdr[pshdr[pshdr[i].link].link].offset);
+            nr_reloc = shdr[i].size / sizeof(elf32_rela_t);
+            rela     = (const elf32_rela_t *)(pbuf + shdr[i].offset);
+            symtab   = (const elf32_sym_t *)(pbuf + shdr[shdr[i].link].offset);
+            strtab   = (const char *)(pbuf + shdr[shdr[shdr[i].link].link].offset);
 
-            ESP_LOGD(TAG, "Section %s has %d symbol tables", shstrab + pshdr[i].name, (int)nr_reloc);
+            ESP_LOGD(TAG, "Section %s has %d symbol tables", shstrab + shdr[i].name, (int)nr_reloc);
 
             for (int i = 0; i < nr_reloc; i++) {
                 int type;
@@ -265,8 +410,8 @@ int esp_elf_relocate(esp_elf_t *elf, const uint8_t *pbuf)
 
                 const elf32_sym_t *sym = &symtab[ELF_R_SYM(rela_buf.info)];
 
-                type = ELF_R_TYPE(rela->info);
-                if (type == STT_COMMON) {
+                type = ELF_R_TYPE(rela_buf.info);
+                if (type == STT_COMMON || type == STT_OBJECT || type == STT_SECTION) {
                     const char *comm_name = strtab + sym->name;
 
                     if (comm_name[0]) {
@@ -274,8 +419,12 @@ int esp_elf_relocate(esp_elf_t *elf, const uint8_t *pbuf)
 
                         if (!addr) {
                             ESP_LOGE(TAG, "Can't find common %s", strtab + sym->name);
+#if CONFIG_ELF_LOADER_BUS_ADDRESS_MIRROR
                             esp_elf_free(elf->pdata);
                             esp_elf_free(elf->ptext);
+#else
+                            esp_elf_free(elf->psegment);
+#endif
                             return -ENOSYS;
                         }
 
@@ -292,8 +441,12 @@ int esp_elf_relocate(esp_elf_t *elf, const uint8_t *pbuf)
 
                     if (!addr) {
                         ESP_LOGE(TAG, "Can't find symbol %s", func_name);
+#if CONFIG_ELF_LOADER_BUS_ADDRESS_MIRROR
                         esp_elf_free(elf->pdata);
                         esp_elf_free(elf->ptext);
+#else
+                        esp_elf_free(elf->psegment);
+#endif
                         return -ENOSYS;
                     }
 
@@ -319,11 +472,15 @@ int esp_elf_relocate(esp_elf_t *elf, const uint8_t *pbuf)
  * @param opt  - Request options
  * @param argc - Arguments number
  * @param argv - Arguments value array
- * 
- * @return ESP_OK if sucess or other if failed.
+ *
+ * @return ESP_OK if success or other if failed.
  */
 int esp_elf_request(esp_elf_t *elf, int opt, int argc, char *argv[])
 {
+    if (!elf || !(elf->entry)) {
+        return -EINVAL;
+    }
+
     elf->entry(argc, argv);
 
     return 0;
@@ -333,11 +490,12 @@ int esp_elf_request(esp_elf_t *elf, int opt, int argc, char *argv[])
  * @brief Deinitialize ELF object.
  *
  * @param elf - ELF object pointer
- * 
+ *
  * @return None
  */
 void esp_elf_deinit(esp_elf_t *elf)
 {
+#if CONFIG_ELF_LOADER_BUS_ADDRESS_MIRROR
     if (elf->pdata) {
         esp_elf_free(elf->pdata);
         elf->pdata = NULL;
@@ -347,6 +505,12 @@ void esp_elf_deinit(esp_elf_t *elf)
         esp_elf_free(elf->ptext);
         elf->ptext = NULL;
     }
+#else
+    if (elf->psegment) {
+        esp_elf_free(elf->ptext);
+        elf->ptext = NULL;
+    }
+#endif
 
 #ifdef CONFIG_ELF_LOADER_SET_MMU
     esp_elf_arch_deinit_mmu(elf);
@@ -357,10 +521,10 @@ void esp_elf_deinit(esp_elf_t *elf)
  * @brief Print header description information of ELF.
  *
  * @param pbuf - ELF data buffer
- * 
+ *
  * @return None
  */
-void esp_elf_print_hdr(const uint8_t *pbuf)
+void esp_elf_print_ehdr(const uint8_t *pbuf)
 {
     const char *s_bits, *s_endian;
     const elf32_hdr_t *hdr = (const elf32_hdr_t *)pbuf;
@@ -411,30 +575,56 @@ void esp_elf_print_hdr(const uint8_t *pbuf)
     ESP_LOGI(TAG, "%-40s %d", "Section header string table i:",     hdr->shstrndx);
 }
 
+/**
+ * @brief Print program header description information of ELF.
+ *
+ * @param pbuf - ELF data buffer
+ *
+ * @return None
+ */
+void esp_elf_print_phdr(const uint8_t *pbuf)
+{
+    const elf32_hdr_t *ehdr = (const elf32_hdr_t *)pbuf;
+    const elf32_phdr_t *phdr = (const elf32_phdr_t *)((size_t)pbuf + ehdr->phoff);
+
+    for (int i = 0; i < ehdr->phnum; i++) {
+        ESP_LOGI(TAG, "%-40s %d", "type:",                          phdr->type);
+        ESP_LOGI(TAG, "%-40s 0x%x", "offset:",                      phdr->offset);
+        ESP_LOGI(TAG, "%-40s 0x%x", "vaddr",                        phdr->vaddr);
+        ESP_LOGI(TAG, "%-40s 0x%x", "paddr:",                       phdr->paddr);
+        ESP_LOGI(TAG, "%-40s %d", "filesz",                         phdr->filesz);
+        ESP_LOGI(TAG, "%-40s %d", "memsz",                          phdr->memsz);
+        ESP_LOGI(TAG, "%-40s %d", "flags",                          phdr->flags);
+        ESP_LOGI(TAG, "%-40s 0x%x", "align",                        phdr->align);
+
+        phdr = (const elf32_phdr_t *)((size_t)phdr + sizeof(elf32_phdr_t));
+    }
+}
+
 /**
  * @brief Print section header description information of ELF.
  *
  * @param pbuf - ELF data buffer
- * 
+ *
  * @return None
  */
 void esp_elf_print_shdr(const uint8_t *pbuf)
 {
-    const elf32_hdr_t *phdr = (const elf32_hdr_t *)pbuf;
-    const elf32_shdr_t *pshdr = (const elf32_shdr_t *)((size_t)pbuf + phdr->shoff);
+    const elf32_hdr_t *ehdr = (const elf32_hdr_t *)pbuf;
+    const elf32_shdr_t *shdr = (const elf32_shdr_t *)((size_t)pbuf + ehdr->shoff);
 
-    for (int i = 0; i < phdr->shnum; i++) {
-        ESP_LOGI(TAG, "%-40s %d", "name:",                          pshdr->name);
-        ESP_LOGI(TAG, "%-40s %d", "type:",                          pshdr->type);
-        ESP_LOGI(TAG, "%-40s 0x%x", "flags:",                       pshdr->flags);
-        ESP_LOGI(TAG, "%-40s %x", "addr",                           pshdr->addr);
-        ESP_LOGI(TAG, "%-40s %x", "offset:",                        pshdr->offset);
-        ESP_LOGI(TAG, "%-40s %d", "size",                           pshdr->size);
-        ESP_LOGI(TAG, "%-40s 0x%x", "link",                         pshdr->link);
-        ESP_LOGI(TAG, "%-40s %d", "addralign",                      pshdr->addralign);
-        ESP_LOGI(TAG, "%-40s %d", "entsize",                        pshdr->entsize);
+    for (int i = 0; i < ehdr->shnum; i++) {
+        ESP_LOGI(TAG, "%-40s %d", "name:",                          shdr->name);
+        ESP_LOGI(TAG, "%-40s %d", "type:",                          shdr->type);
+        ESP_LOGI(TAG, "%-40s 0x%x", "flags:",                       shdr->flags);
+        ESP_LOGI(TAG, "%-40s %x", "addr",                           shdr->addr);
+        ESP_LOGI(TAG, "%-40s %x", "offset:",                        shdr->offset);
+        ESP_LOGI(TAG, "%-40s %d", "size",                           shdr->size);
+        ESP_LOGI(TAG, "%-40s 0x%x", "link",                         shdr->link);
+        ESP_LOGI(TAG, "%-40s %d", "addralign",                      shdr->addralign);
+        ESP_LOGI(TAG, "%-40s %d", "entsize",                        shdr->entsize);
 
-        pshdr = (const elf32_shdr_t *)((size_t)pshdr + sizeof(elf32_shdr_t));
+        shdr = (const elf32_shdr_t *)((size_t)shdr + sizeof(elf32_shdr_t));
     }
 }
 
@@ -442,7 +632,7 @@ void esp_elf_print_shdr(const uint8_t *pbuf)
  * @brief Print section information of ELF.
  *
  * @param pbuf - ELF data buffer
- * 
+ *
  * @return None
  */
 void esp_elf_print_sec(esp_elf_t *elf)
diff --git a/Libraries/elf_loader/src/esp_elf_adapter.c b/Libraries/elf_loader/src/esp_elf_adapter.c
index 93abf54a..7c5dcbd0 100644
--- a/Libraries/elf_loader/src/esp_elf_adapter.c
+++ b/Libraries/elf_loader/src/esp_elf_adapter.c
@@ -23,15 +23,28 @@
  *
  * @param n - Memory size in byte
  * @param exec - True: memory can run executable code; False: memory can R/W data
- * 
+ *
  * @return Memory pointer if success or NULL if failed.
  */
 void *esp_elf_malloc(uint32_t n, bool exec)
 {
+    uint32_t caps;
+
+#if CONFIG_ELF_LOADER_BUS_ADDRESS_MIRROR
 #ifdef CONFIG_ELF_LOADER_LOAD_PSRAM
-    uint32_t caps = MALLOC_CAP_SPIRAM | MALLOC_CAP_8BIT;
+    caps = MALLOC_CAP_SPIRAM | MALLOC_CAP_8BIT;
 #else
-    uint32_t caps = exec ? MALLOC_CAP_EXEC : MALLOC_CAP_8BIT;
+    caps = exec ? MALLOC_CAP_EXEC : MALLOC_CAP_8BIT;
+#endif
+#else
+#ifdef CONFIG_ELF_LOADER_LOAD_PSRAM
+    caps = MALLOC_CAP_SPIRAM | MALLOC_CAP_8BIT;
+#else
+    caps = MALLOC_CAP_8BIT;
+#endif
+#if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(5, 3, 0)
+    caps |= MALLOC_CAP_CACHE_ALIGNED;
+#endif
 #endif
 
     return heap_caps_malloc(n, caps);
@@ -41,7 +54,7 @@ void *esp_elf_malloc(uint32_t n, bool exec)
  * @brief Free block of memory.
  *
  * @param ptr - memory block pointer allocated by "esp_elf_malloc"
- * 
+ *
  * @return None
  */
 void esp_elf_free(void *ptr)
@@ -50,11 +63,11 @@ void esp_elf_free(void *ptr)
 }
 
 /**
- * @brief Remap symbol from ".data" to ".text" section. 
+ * @brief Remap symbol from ".data" to ".text" section.
  *
  * @param elf  - ELF object pointer
  * @param sym  - ELF symbol table
- * 
+ *
  * @return Remapped symbol value
  */
 #ifdef CONFIG_ELF_LOADER_CACHE_OFFSET
@@ -64,7 +77,7 @@ uintptr_t elf_remap_text(esp_elf_t *elf, uintptr_t sym)
     esp_elf_sec_t *sec = &elf->sec[ELF_SEC_TEXT];
 
     if ((sym >= sec->addr) &&
-        (sym < (sec->addr + sec->size))) {
+            (sym < (sec->addr + sec->size))) {
 #ifdef CONFIG_ELF_LOADER_SET_MMU
         mapped_sym = sym + elf->text_off;
 #else
@@ -82,7 +95,7 @@ uintptr_t elf_remap_text(esp_elf_t *elf, uintptr_t sym)
  * @brief Flush data from cache to external RAM.
  *
  * @param None
- * 
+ *
  * @return None
  */
 #ifdef CONFIG_ELF_LOADER_LOAD_PSRAM
@@ -105,4 +118,3 @@ void IRAM_ATTR esp_elf_arch_flush(void)
     spi_flash_enable_interrupts_caches_and_other_cpu();
 }
 #endif
-
diff --git a/Libraries/elf_loader/src/esp_elf_symbol.c b/Libraries/elf_loader/src/esp_elf_symbol.c
index 0a3cf158..66e4862c 100644
--- a/Libraries/elf_loader/src/esp_elf_symbol.c
+++ b/Libraries/elf_loader/src/esp_elf_symbol.c
@@ -19,14 +19,20 @@
 
 #include "rom/ets_sys.h"
 
-#include "elf_symbol.h"
+#include "private/elf_symbol.h"
 
+extern int __ltdf2(double a, double b);
+extern unsigned int __fixunsdfsi(double a);
+extern int __gtdf2(double a, double b);
+extern double __floatunsidf(unsigned int i);
+extern double __divdf3(double a, double b);
 
-extern int __ltdf2 (double a, double b);
-extern unsigned int __fixunsdfsi (double a);
-extern int __gtdf2 (double a, double b);
-extern double __floatunsidf (unsigned int i);
-extern double __divdf3 (double a, double b);
+// Tactility custom -->
+static const struct esp_elfsym* custom_symbols = NULL;
+void elf_set_custom_symbols(const struct esp_elfsym* symbols) {
+    custom_symbols = symbols;
+}
+// <-- Tactility custom
 
 /** @brief Libc public functions symbols look-up table */
 
@@ -150,19 +156,11 @@ static const struct esp_elfsym g_esp_espidf_elfsyms[] = {
     ESP_ELFSYM_END
 };
 
-
-#ifdef CONFIG_ELF_LOADER_CUSTOMER_SYMBOLS
-static const struct esp_elfsym* custom_symbols = NULL;
-void elf_set_custom_symbols(const struct esp_elfsym* symbols) {
-    custom_symbols = symbols;
-}
-#endif
-
 /**
  * @brief Find symbol address by name.
  *
  * @param sym_name - Symbol name
- * 
+ *
  * @return Symbol address if success or 0 if failed.
  */
 uintptr_t elf_find_sym(const char *sym_name)
@@ -198,19 +196,28 @@ uintptr_t elf_find_sym(const char *sym_name)
 #endif
 
 #ifdef CONFIG_ELF_LOADER_CUSTOMER_SYMBOLS
-    syms = custom_symbols;
-    if (syms != NULL) {
-        while (syms->name) {
-            if (!strcmp(syms->name, sym_name)) {
-                return (uintptr_t)syms->sym;
-            }
+    extern const struct esp_elfsym g_customer_elfsyms[];
 
-            syms++;
+    syms = g_customer_elfsyms;
+    while (syms->name) {
+        if (!strcmp(syms->name, sym_name)) {
+            return (uintptr_t)syms->sym;
         }
-    }
 
+        syms++;
+    }
 #endif
 
+// Tactility custom -->
+    syms = custom_symbols;
+    while (syms->name) {
+        if (!strcmp(syms->name, sym_name)) {
+            return (uintptr_t)syms->sym;
+        }
+
+        syms++;
+    }
+// <-- Tactility custom
+
     return 0;
 }
-
diff --git a/Libraries/elf_loader/src/soc/esp_elf_esp32s2.c b/Libraries/elf_loader/src/soc/esp_elf_esp32s2.c
index b3e18eb2..cdf3b649 100644
--- a/Libraries/elf_loader/src/soc/esp_elf_esp32s2.c
+++ b/Libraries/elf_loader/src/soc/esp_elf_esp32s2.c
@@ -16,7 +16,7 @@
 #include "soc/mmu.h"
 #include "private/elf_platform.h"
 
-#if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(5, 0, 0) 
+#if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(5, 0, 0)
 #define PSRAM_VADDR_START   0x3f800000
 #else
 #define PSRAM_VADDR_START   (DRAM0_CACHE_ADDRESS_HIGH - esp_spiram_get_size())
@@ -26,6 +26,12 @@
 #define MMU_UNIT_SIZE       0x10000
 #define MMU_REG             ((volatile uint32_t *)DR_REG_MMU_TABLE)
 
+#if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(5, 2, 0)
+#define IRAM0_ADDRESS_LOW   SOC_IRAM0_ADDRESS_LOW
+#define IRAM0_ADDRESS_HIGH  SOC_IRAM0_ADDRESS_HIGH
+#define MMU_ACCESS_SPIRAM   SOC_MMU_ACCESS_SPIRAM
+#endif
+
 #define ESP_MMU_IBUS_BASE   IRAM0_ADDRESS_LOW
 #define ESP_MMU_IBUS_MAX    ((IRAM0_ADDRESS_HIGH - IRAM0_ADDRESS_LOW) / \
                              MMU_UNIT_SIZE)
diff --git a/TactilityC/Source/tt_init.cpp b/TactilityC/Source/tt_init.cpp
index 83f1f99a..10099bd4 100644
--- a/TactilityC/Source/tt_init.cpp
+++ b/TactilityC/Source/tt_init.cpp
@@ -1,7 +1,5 @@
 #ifdef ESP_PLATFORM
 
-#include "elf_symbol.h"
-
 #include "tt_app.h"
 #include "tt_app_alertdialog.h"
 #include "tt_app_manifest.h"
@@ -16,6 +14,8 @@
 #include "tt_thread.h"
 #include "tt_timer.h"
 
+#include <private/elf_symbol.h>
+
 #include <lvgl.h>
 
 extern "C" {
diff --git a/sdkconfig.board.cyd-2432S024c b/sdkconfig.board.cyd-2432S024c
index 2f8b527a..9b0fd625 100644
--- a/sdkconfig.board.cyd-2432S024c
+++ b/sdkconfig.board.cyd-2432S024c
@@ -24,7 +24,6 @@ CONFIG_FREERTOS_USE_TRACE_FACILITY=y
 CONFIG_PARTITION_TABLE_CUSTOM=y
 CONFIG_PARTITION_TABLE_CUSTOM_FILENAME="partitions.csv"
 CONFIG_PARTITION_TABLE_FILENAME="partitions.csv"
-CONFIG_ELF_LOADER_CUSTOMER_SYMBOLS=y
 CONFIG_FATFS_LFN_HEAP=y
 CONFIG_FATFS_VOLUME_COUNT=3
 
diff --git a/sdkconfig.board.elecrow-crowpanel-advance-28 b/sdkconfig.board.elecrow-crowpanel-advance-28
index 5e00c5a9..2b1a4d25 100644
--- a/sdkconfig.board.elecrow-crowpanel-advance-28
+++ b/sdkconfig.board.elecrow-crowpanel-advance-28
@@ -24,7 +24,6 @@ CONFIG_FREERTOS_USE_TRACE_FACILITY=y
 CONFIG_PARTITION_TABLE_CUSTOM=y
 CONFIG_PARTITION_TABLE_CUSTOM_FILENAME="partitions.csv"
 CONFIG_PARTITION_TABLE_FILENAME="partitions.csv"
-CONFIG_ELF_LOADER_CUSTOMER_SYMBOLS=y
 CONFIG_FATFS_LFN_HEAP=y
 CONFIG_FATFS_VOLUME_COUNT=3
 
diff --git a/sdkconfig.board.elecrow-crowpanel-advance-35 b/sdkconfig.board.elecrow-crowpanel-advance-35
index 7d81b923..3ec9bc82 100644
--- a/sdkconfig.board.elecrow-crowpanel-advance-35
+++ b/sdkconfig.board.elecrow-crowpanel-advance-35
@@ -24,7 +24,6 @@ CONFIG_FREERTOS_USE_TRACE_FACILITY=y
 CONFIG_PARTITION_TABLE_CUSTOM=y
 CONFIG_PARTITION_TABLE_CUSTOM_FILENAME="partitions.csv"
 CONFIG_PARTITION_TABLE_FILENAME="partitions.csv"
-CONFIG_ELF_LOADER_CUSTOMER_SYMBOLS=y
 CONFIG_FATFS_LFN_HEAP=y
 CONFIG_FATFS_VOLUME_COUNT=3
 
diff --git a/sdkconfig.board.elecrow-crowpanel-basic-28 b/sdkconfig.board.elecrow-crowpanel-basic-28
index 6ddc4a98..79bb771e 100644
--- a/sdkconfig.board.elecrow-crowpanel-basic-28
+++ b/sdkconfig.board.elecrow-crowpanel-basic-28
@@ -24,7 +24,6 @@ CONFIG_FREERTOS_USE_TRACE_FACILITY=y
 CONFIG_PARTITION_TABLE_CUSTOM=y
 CONFIG_PARTITION_TABLE_CUSTOM_FILENAME="partitions.csv"
 CONFIG_PARTITION_TABLE_FILENAME="partitions.csv"
-CONFIG_ELF_LOADER_CUSTOMER_SYMBOLS=y
 CONFIG_FATFS_LFN_HEAP=y
 CONFIG_FATFS_VOLUME_COUNT=3
 
diff --git a/sdkconfig.board.elecrow-crowpanel-basic-35 b/sdkconfig.board.elecrow-crowpanel-basic-35
index 49630aaf..d8317bf1 100644
--- a/sdkconfig.board.elecrow-crowpanel-basic-35
+++ b/sdkconfig.board.elecrow-crowpanel-basic-35
@@ -24,7 +24,6 @@ CONFIG_FREERTOS_USE_TRACE_FACILITY=y
 CONFIG_PARTITION_TABLE_CUSTOM=y
 CONFIG_PARTITION_TABLE_CUSTOM_FILENAME="partitions.csv"
 CONFIG_PARTITION_TABLE_FILENAME="partitions.csv"
-CONFIG_ELF_LOADER_CUSTOMER_SYMBOLS=y
 CONFIG_FATFS_LFN_HEAP=y
 CONFIG_FATFS_VOLUME_COUNT=3
 
diff --git a/sdkconfig.board.lilygo-tdeck b/sdkconfig.board.lilygo-tdeck
index 23a2b858..c493b172 100644
--- a/sdkconfig.board.lilygo-tdeck
+++ b/sdkconfig.board.lilygo-tdeck
@@ -24,7 +24,6 @@ CONFIG_FREERTOS_USE_TRACE_FACILITY=y
 CONFIG_PARTITION_TABLE_CUSTOM=y
 CONFIG_PARTITION_TABLE_CUSTOM_FILENAME="partitions.csv"
 CONFIG_PARTITION_TABLE_FILENAME="partitions.csv"
-CONFIG_ELF_LOADER_CUSTOMER_SYMBOLS=y
 CONFIG_FATFS_LFN_HEAP=y
 CONFIG_FATFS_VOLUME_COUNT=3
 
diff --git a/sdkconfig.board.m5stack-core2 b/sdkconfig.board.m5stack-core2
index f32cbe38..698e7ed7 100644
--- a/sdkconfig.board.m5stack-core2
+++ b/sdkconfig.board.m5stack-core2
@@ -24,7 +24,6 @@ CONFIG_FREERTOS_USE_TRACE_FACILITY=y
 CONFIG_PARTITION_TABLE_CUSTOM=y
 CONFIG_PARTITION_TABLE_CUSTOM_FILENAME="partitions.csv"
 CONFIG_PARTITION_TABLE_FILENAME="partitions.csv"
-CONFIG_ELF_LOADER_CUSTOMER_SYMBOLS=y
 CONFIG_FATFS_LFN_HEAP=y
 CONFIG_FATFS_VOLUME_COUNT=3
 
diff --git a/sdkconfig.board.m5stack-cores3 b/sdkconfig.board.m5stack-cores3
index 63cb0df4..e01ac49f 100644
--- a/sdkconfig.board.m5stack-cores3
+++ b/sdkconfig.board.m5stack-cores3
@@ -24,7 +24,6 @@ CONFIG_FREERTOS_USE_TRACE_FACILITY=y
 CONFIG_PARTITION_TABLE_CUSTOM=y
 CONFIG_PARTITION_TABLE_CUSTOM_FILENAME="partitions.csv"
 CONFIG_PARTITION_TABLE_FILENAME="partitions.csv"
-CONFIG_ELF_LOADER_CUSTOMER_SYMBOLS=y
 CONFIG_FATFS_LFN_HEAP=y
 CONFIG_FATFS_VOLUME_COUNT=3
 
diff --git a/sdkconfig.board.unphone b/sdkconfig.board.unphone
index fe0f4401..debf52c5 100644
--- a/sdkconfig.board.unphone
+++ b/sdkconfig.board.unphone
@@ -24,7 +24,6 @@ CONFIG_FREERTOS_USE_TRACE_FACILITY=y
 CONFIG_PARTITION_TABLE_CUSTOM=y
 CONFIG_PARTITION_TABLE_CUSTOM_FILENAME="partitions.csv"
 CONFIG_PARTITION_TABLE_FILENAME="partitions.csv"
-CONFIG_ELF_LOADER_CUSTOMER_SYMBOLS=y
 CONFIG_FATFS_LFN_HEAP=y
 CONFIG_FATFS_VOLUME_COUNT=3
 
diff --git a/sdkconfig.defaults b/sdkconfig.defaults
index 8fb7ba73..4f6afc93 100644
--- a/sdkconfig.defaults
+++ b/sdkconfig.defaults
@@ -24,7 +24,6 @@ CONFIG_FREERTOS_USE_TRACE_FACILITY=y
 CONFIG_PARTITION_TABLE_CUSTOM=y
 CONFIG_PARTITION_TABLE_CUSTOM_FILENAME="partitions.csv"
 CONFIG_PARTITION_TABLE_FILENAME="partitions.csv"
-CONFIG_ELF_LOADER_CUSTOMER_SYMBOLS=y
 CONFIG_FATFS_LFN_HEAP=y
 CONFIG_FATFS_VOLUME_COUNT=3