diff --git a/docs/esp32/quickref.rst b/docs/esp32/quickref.rst
index f74926c374602..5fb5b3c6a52a6 100644
--- a/docs/esp32/quickref.rst
+++ b/docs/esp32/quickref.rst
@@ -150,7 +150,7 @@ These are working configurations for LAN interfaces of popular boards::
 
     # or with dynamic ref_clk pin configuration
 
-    lan = network.LAN(mdc=machine.Pin(23), mdio=machine.Pin(18), power=machine.Pin(5), 
+    lan = network.LAN(mdc=machine.Pin(23), mdio=machine.Pin(18), power=machine.Pin(5),
                       phy_type=network.PHY_LAN8720, phy_addr=0,
                       ref_clk=machine.Pin(17), ref_clk_mode=machine.Pin.OUT)
 
@@ -577,7 +577,7 @@ See :ref:`machine.WDT <machine.WDT>`. ::
     from machine import WDT
 
     # enable the WDT with a timeout of 5s (1s is the minimum)
-    wdt = WDT(timeout=5000)
+    wdt = WDT(timeout=5000)  # timeout in milliseconds
     wdt.feed()
 
 .. _Deep_sleep_mode:
diff --git a/docs/esp32/tutorial/wdt.rst b/docs/esp32/tutorial/wdt.rst
new file mode 100644
index 0000000000000..25a70cb7144ff
--- /dev/null
+++ b/docs/esp32/tutorial/wdt.rst
@@ -0,0 +1,39 @@
+.. _esp32_wdt:
+
+When the WDT timeout is short, there is a software update issue:
+you don't have enough time to copy the updates to the device.
+ESP32 alows reinitialise the watchdog with a longer timeout - like an hour.
+
+More comprehansive example usage::
+
+    # Save as 'main.py' and it will run automatically after 'boot.py'
+
+    import sys
+    from time import sleep
+    from machine import WDT, reset
+
+    try:
+        print('Press Ctrl-C to break the program.')
+        sleep(5)
+        print('Enable the WDT with a timeout of 5s.')
+        wdt = WDT(timeout=5000)
+
+        seconds = 1
+        while True:  # infinite work loop
+            print('Do something useful in less than 5 seconds.')
+            print(f'Sleep {seconds} seconds.')
+            if seconds >= 5:
+                print(f'WDT will reboot the board.')
+            sleep(seconds)
+            seconds += 1
+            wdt.feed()
+
+            # 1/0  # uncoment this line to raise an runtime exception, then WDT reboot
+
+            # sys.exit()  # uncomment this line for planned program exit
+
+    except SystemExit:
+        wdt = WDT(timeout=1000 * 60 * 60)  # 1 hour before WDT reboot
+        print('Now you have 1 hour to update program on the board.')
+        print('When ready, type reset() on the REPL/WebREPL command line to reboot.')
+
diff --git a/docs/library/machine.WDT.rst b/docs/library/machine.WDT.rst
index 95893cec36be7..1169febbe86aa 100644
--- a/docs/library/machine.WDT.rst
+++ b/docs/library/machine.WDT.rst
@@ -13,7 +13,8 @@ Example usage::
 
     from machine import WDT
     wdt = WDT(timeout=2000)  # enable it with a timeout of 2s
-    wdt.feed()
+    while True:
+        # do something useful in less than 2 seconds
 
 Availability of this class: pyboard, WiPy, esp8266, esp32, rp2040, mimxrt.
 
diff --git a/lib/asf4 b/lib/asf4
index 84f56af13292d..d270f79aa16dd 160000
--- a/lib/asf4
+++ b/lib/asf4
@@ -1 +1 @@
-Subproject commit 84f56af13292d8f32c40acbd949bde698ddd4507
+Subproject commit d270f79aa16dd8fd4ae3b6c14544283dcb992e9c
diff --git a/lib/axtls b/lib/axtls
index 531cab9c278c9..43a6e6bd3bbc0 160000
--- a/lib/axtls
+++ b/lib/axtls
@@ -1 +1 @@
-Subproject commit 531cab9c278c947d268bd4c94ecab9153a961b43
+Subproject commit 43a6e6bd3bbc03dc501e16b89fba0ef042ed3ea0
diff --git a/lib/btstack b/lib/btstack
index 1635e36d06821..c8b9823f68c6a 160000
--- a/lib/btstack
+++ b/lib/btstack
@@ -1 +1 @@
-Subproject commit 1635e36d06821af8b61302509e91bfcc1ade84c4
+Subproject commit c8b9823f68c6af0fa52e2c4e009aba4dbf257232
diff --git a/lib/lwip b/lib/lwip
index 6ca936f6b588c..159e31b689577 160000
--- a/lib/lwip
+++ b/lib/lwip
@@ -1 +1 @@
-Subproject commit 6ca936f6b588cee702c638eee75c2436e6cf75de
+Subproject commit 159e31b689577dbf69cf0683bbaffbd71fa5ee10
diff --git a/lib/mynewt-nimble b/lib/mynewt-nimble
index 42849560ba790..97ce3eacaaa79 160000
--- a/lib/mynewt-nimble
+++ b/lib/mynewt-nimble
@@ -1 +1 @@
-Subproject commit 42849560ba7906f023f61e5f7ff3709ba2c1dfca
+Subproject commit 97ce3eacaaa79e8ed6cf71717149ced4f5328ee7
diff --git a/lib/nxp_driver b/lib/nxp_driver
index fa5a554c7944d..b618cb1d521cc 160000
--- a/lib/nxp_driver
+++ b/lib/nxp_driver
@@ -1 +1 @@
-Subproject commit fa5a554c7944d2a196626f8d3631e44943f9abcc
+Subproject commit b618cb1d521cc9e133bdcd0fca154dee2d925dfe
diff --git a/lib/pico-sdk b/lib/pico-sdk
index f396d05f8252d..bfcbefafc5d2a 160000
--- a/lib/pico-sdk
+++ b/lib/pico-sdk
@@ -1 +1 @@
-Subproject commit f396d05f8252d4670d4ea05c8b7ac938ef0cd381
+Subproject commit bfcbefafc5d2a210551a4d9d80b4303d4ae0adf7
diff --git a/lib/stm32lib b/lib/stm32lib
index a9f8fee7bb0cb..302c52794d2f5 160000
--- a/lib/stm32lib
+++ b/lib/stm32lib
@@ -1 +1 @@
-Subproject commit a9f8fee7bb0cb4ac1b4ff719b6b5b285f613f352
+Subproject commit 302c52794d2f579903f4e49cbad1f5d3a7f401ad
diff --git a/lib/tinyusb b/lib/tinyusb
index 868f2bcda092b..6d3fb7eb98b6c 160000
--- a/lib/tinyusb
+++ b/lib/tinyusb
@@ -1 +1 @@
-Subproject commit 868f2bcda092b0b8d5f7ac55ffaef2c81316d35e
+Subproject commit 6d3fb7eb98b6c0960be152b66b653a3062c7db5e