diff --git a/.gitignore b/.gitignore
index 5950895ba6002cc0980dbb71b9f74c6e72dcca46..9d2c198ef0ca236a75377d647a6be9a8d5fa783e 100644
--- a/.gitignore
+++ b/.gitignore
@@ -15,3 +15,4 @@ etctmp.c
 chips/r528/**/*.ddc
 Make.dep
 apps/Kconfig
+*.su
\ No newline at end of file
diff --git a/apps/bt_instance/gattc_op.c b/apps/bt_instance/gattc_op.c
index b9f9394d671ba946f94ea7996a92aa736e17afcd..f9714617ca743f6a9b7365c130f79b2c1650b30f 100644
--- a/apps/bt_instance/gattc_op.c
+++ b/apps/bt_instance/gattc_op.c
@@ -16,6 +16,7 @@
 #include <getopt.h>
 #include <stdio.h>
 #include <stdlib.h>
+#include <stdatomic.h>
 #include <string.h>
 #include <unistd.h>
 
diff --git a/boards/r528/drivers/realtek_ieee80211/realtek_netdev.c b/boards/r528/drivers/realtek_ieee80211/realtek_netdev.c
index 2f86dec2d2f49018a10a2f2174609e5fe738b32d..87c607da70dcdf77b31580d6c46ad44a5a51aaf9 100755
--- a/boards/r528/drivers/realtek_ieee80211/realtek_netdev.c
+++ b/boards/r528/drivers/realtek_ieee80211/realtek_netdev.c
@@ -6,6 +6,7 @@
 #include <nuttx/kmalloc.h>
 #include <nuttx/kthread.h>
 #include <nuttx/wireless/wireless.h>
+#include <stdatomic.h>
 #include <wireless.h>
 #include <nuttx/net/net.h>
 #include "net_stack_intf.h"
@@ -13,6 +14,15 @@
 #include <stdio.h>
 #include <wifi_conf.h>
 #include <osdep_service.h>
+
+#ifdef atomic_set
+#undef atomic_set
+#endif
+
+#ifdef atomic_read
+#undef atomic_read
+#endif
+
 /* Get index from dev pointer. */
 
 #define DEVIDX(p) ((struct realtek_dev_s *)(p) - g_realtek_dev)
@@ -381,7 +391,6 @@ int   realtek_netdev_init(void)
   for (devidx = 0; devidx < 2; devidx++)
     {
       dev = &g_realtek_dev[devidx].dev;
-      
       atomic_init(&dev->quota[NETPKT_TX], 100);
       atomic_init(&dev->quota[NETPKT_RX], 200);
 
diff --git a/boards/r528/r528s3-gemini-s1/configs/nsh/defconfig b/boards/r528/r528s3-gemini-s1/configs/nsh/defconfig
index f54af75262d8ea00d23461785ef0af88bc414875..c6c27fe3574057f92f751fe7d4979265cdad322f 100644
--- a/boards/r528/r528s3-gemini-s1/configs/nsh/defconfig
+++ b/boards/r528/r528s3-gemini-s1/configs/nsh/defconfig
@@ -12,6 +12,7 @@
 # CONFIG_DISABLE_MQUEUE is not set
 # CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
 # CONFIG_DISABLE_PTHREAD is not set
+# CONFIG_DISABLE_SIGNALS is not set
 # CONFIG_FS_PROCFS_EXCLUDE_BLOCKS is not set
 # CONFIG_FS_PROCFS_EXCLUDE_CPUINFO is not set
 # CONFIG_FS_PROCFS_EXCLUDE_ENVIRON is not set
@@ -199,7 +200,6 @@ CONFIG_BT_PRIVACY=y
 CONFIG_BT_RX_STACK_SIZE=4096
 CONFIG_BT_SAMPLE=y
 CONFIG_BUILTIN=y
-CONFIG_CM_KVDB_TEST=y
 CONFIG_COMPONENTS_AW_ALSA_UTILS=y
 CONFIG_COMPONENTS_AW_ALSA_UTILS_ALOOP=y
 CONFIG_COMPONENTS_AW_EQ_TEST=y
@@ -318,6 +318,7 @@ CONFIG_LCD_SUPPORT_T070S140B=y
 CONFIG_LED_RGB_TEST=y
 CONFIG_LED_RGB_WS2812=y
 CONFIG_LIBCXXTOOLCHAIN=y
+CONFIG_LIBC_LOCALE=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBM=y
 CONFIG_LIBSUPCXX=y
@@ -331,7 +332,6 @@ CONFIG_LIB_PNG=y
 CONFIG_LIB_SSH=y
 CONFIG_LIB_ZLIB=y
 CONFIG_LINE_MAX=256
-CONFIG_LTO_FULL=y
 CONFIG_LV_BIN_DECODER_RAM_LOAD=y
 CONFIG_LV_CACHE_DEF_SIZE=1048576
 CONFIG_LV_CALENDAR_WEEK_STARTS_MONDAY=y
@@ -461,7 +461,6 @@ CONFIG_NSH_PROMPT_MAX=256
 CONFIG_NSH_QUOTE=y
 CONFIG_NXPLAYER_MAINTHREAD_STACKSIZE=3072
 CONFIG_NXRECORDER_MAINTHREAD_STACKSIZE=3072
-CONFIG_PSEUDOFS_SOFTLINKS=y
 CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_DEFAULT=4096
 CONFIG_PWM=y
diff --git a/boards/r528/r528s3-gemini-s1/configs/nsh_minidisplay/defconfig b/boards/r528/r528s3-gemini-s1/configs/nsh_minidisplay/defconfig
index 1d4f8151f03a590e8c6a55d79221e1cc9d448d81..b688da6b08f5a30ed6f10352dba0da8641a241da 100644
--- a/boards/r528/r528s3-gemini-s1/configs/nsh_minidisplay/defconfig
+++ b/boards/r528/r528s3-gemini-s1/configs/nsh_minidisplay/defconfig
@@ -14,6 +14,7 @@
 # CONFIG_DISABLE_POSIX_TIMERS is not set
 # CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
 # CONFIG_DISABLE_PTHREAD is not set
+# CONFIG_DISABLE_SIGNALS is not set
 # CONFIG_FS_PROCFS_EXCLUDE_BLOCKS is not set
 # CONFIG_FS_PROCFS_EXCLUDE_CPUINFO is not set
 # CONFIG_FS_PROCFS_EXCLUDE_ENVIRON is not set
@@ -465,7 +466,6 @@ CONFIG_NSH_PROMPT_MAX=256
 CONFIG_NSH_QUOTE=y
 CONFIG_NXPLAYER_MAINTHREAD_STACKSIZE=3072
 CONFIG_NXRECORDER_MAINTHREAD_STACKSIZE=3072
-CONFIG_PSEUDOFS_SOFTLINKS=y
 CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_DEFAULT=4096
 CONFIG_PWM=y
diff --git a/boards/r528/r528s3-gemini-s1/scripts/sdram.ld.S b/boards/r528/r528s3-gemini-s1/scripts/sdram.ld.S
index f29ad00383197ea29325f84b18b96c132576a4f8..a467810a54e05ddd17baa9cdb7456348e02b8d58 100644
--- a/boards/r528/r528s3-gemini-s1/scripts/sdram.ld.S
+++ b/boards/r528/r528s3-gemini-s1/scripts/sdram.ld.S
@@ -70,10 +70,14 @@ SECTIONS
         *(.gnu.linkonce.r.*)
         *(.gnu.linkonce.armextab.*)
         *(.ARM.extab*)
+        _etext = ABSOLUTE(.);
+    } > sdram
+
+    .ARM.exidx : ALIGN(4)
+    {
         PROVIDE_HIDDEN (__exidx_start = .);
         *(.ARM.exidx* .gnu.linkonce.armexidx.*)
         PROVIDE_HIDDEN (__exidx_end = .);
-        _etext = ABSOLUTE(.);
     } > sdram
 
     .init_section :
diff --git a/boards/r528/r528s3-gemini-s1/src/etc/init.d/rcS.nsh b/boards/r528/r528s3-gemini-s1/src/etc/init.d/rcS.nsh
index a9d386b77ec249fb7a947a0c74c025103d064187..a8e4fde60c2a9d1c074ac07aec1dd95e044db791 100644
--- a/boards/r528/r528s3-gemini-s1/src/etc/init.d/rcS.nsh
+++ b/boards/r528/r528s3-gemini-s1/src/etc/init.d/rcS.nsh
@@ -57,9 +57,6 @@ then
   reboot
 fi
 
-echo "Starting bluetoothd..." 
-bluetoothd &
-
 #ifndef CONFIG_LCD_DEV
 #ifdef CONFIG_SHOW_LOGO
 /* Do not show logo if system crashed or during silient OTA. */
@@ -91,6 +88,11 @@ fi
 luncher_mini &
 #endif
 
-echo "Boot nsh ok"
-
+#ifdef CONFIG_BLUETOOTH_SERVER
+sleep 8
+echo "Starting bluetoothd..." 
+bluetoothd &
 #endif
+
+echo "Boot nsh ok"
+#endif /* CONFIG_GEMINI_S1_NSH */
diff --git a/boards/r528/r528s3-gemini-s1/src/shim_binary_compat.c b/boards/r528/r528s3-gemini-s1/src/shim_binary_compat.c
index 67b655d1f3fc66f57054ee10843921ddb2ba50d8..55edcf583f4477abf2f539eb623a797a94003b99 100644
--- a/boards/r528/r528s3-gemini-s1/src/shim_binary_compat.c
+++ b/boards/r528/r528s3-gemini-s1/src/shim_binary_compat.c
@@ -1,3 +1,4 @@
+#include <nuttx/config.h>
 #include <stddef.h>
 #include <stdint.h>
 
@@ -6,6 +7,8 @@ void up_perf_init(void *arg) { }
 
 /* Bluetooth AVRCP stubs needed by frameworks/connectivity/bluetooth/service/stacks/zephyr/sal_avrcp_interface.c */
 
+#ifndef CONFIG_BLUETOOTH_STACK_BREDR_ZBLUE
+
 void bt_avrcp_cttg_register_cb(void *cb) { }
 int bt_avrcp_cttg_connect(void *conn) { return 0; }
 int bt_avrcp_cttg_disconnect(void *conn) { return 0; }
@@ -14,3 +17,4 @@ int bt_avrcp_ct_pass_through_cmd(void *conn, int op_id, int state) { return 0; }
 int bt_avrcp_ct_get_play_status(void *conn) { return 0; }
 int bt_avrcp_ct_get_id3_info(void *conn) { return 0; }
 int bt_pts_avrcp_ct_get_capabilities(void *conn) { return 0; }
+#endif
diff --git a/chips/r528/components/bluetooth/rtk_hci.c b/chips/r528/components/bluetooth/rtk_hci.c
index 4d26df55907ed398ada05e47a3e06e1c4cedb6e2..035ad1d5c472526b63898b6687cc6b76cc4fd7bf 100644
--- a/chips/r528/components/bluetooth/rtk_hci.c
+++ b/chips/r528/components/bluetooth/rtk_hci.c
@@ -98,6 +98,17 @@ struct bt_hci_evt_hdr
 
 static struct rtk_bt_priv_s g_bthci_dev = { 0 };
 
+static FAR struct rtk_bt_priv_s *bthci_from_drv(FAR struct bt_driver_s *drv)
+{
+  if (drv != &g_bthci_dev.drv)
+    {
+      wlerr("invalid drv:%p expect:%p", drv, &g_bthci_dev.drv);
+      return NULL;
+    }
+
+  return &g_bthci_dev;
+}
+
 /****************************************************************************
  * Private Function Prototypes
  ****************************************************************************/
@@ -148,6 +159,19 @@ static void bthci_poll_cb(FAR struct rtk_bt_priv_s *dev, void *userdata)
   FAR uint8_t *pstart;
   FAR uint8_t *pend;
 
+  if (dev->filep_uart.f_inode == NULL)
+    {
+      wlerr("%s: uart file closed", __func__);
+      return;
+    }
+
+  if (dev->rxlen >= sizeof(dev->rxbuf))
+    {
+      wlerr("%s: rxlen overflow:%u", __func__, dev->rxlen);
+      dev->rxlen = 0;
+      return;
+    }
+
   do
     {
       ret = file_read(&dev->filep_uart, &dev->rxbuf[dev->rxlen],
@@ -239,7 +263,12 @@ static int btuart_rx_task(int argc, FAR char **argv)
 
 static int bthci_open(FAR struct bt_driver_s *drv)
 {
-  FAR struct rtk_bt_priv_s *dev = (struct rtk_bt_priv_s *)drv;
+  FAR struct rtk_bt_priv_s *dev = bthci_from_drv(drv);
+
+  if (dev == NULL)
+    {
+      return -EINVAL;
+    }
 
   wlinfo("%s, id:%d", __func__, dev->id);
   return OK;
@@ -248,9 +277,20 @@ static int bthci_open(FAR struct bt_driver_s *drv)
 static int bthci_send(FAR struct bt_driver_s *drv, enum bt_buf_type_e type,
                       FAR void *data, size_t len)
 {
-  FAR struct rtk_bt_priv_s *dev = (struct rtk_bt_priv_s *)drv;
+  FAR struct rtk_bt_priv_s *dev = bthci_from_drv(drv);
   int ret;
 
+  if (dev == NULL)
+    {
+      return -EINVAL;
+    }
+
+  if (dev->filep_uart.f_inode == NULL)
+    {
+      wlerr("%s: uart file closed, state:%u", __func__, dev->state);
+      return -ENODEV;
+    }
+
   bt_dump("bthci tx", data, len);
 
   do
@@ -274,6 +314,11 @@ static int bthci_ioctl(FAR struct bt_driver_s *driver, int cmd, unsigned long ar
 
 static void bthci_close(struct bt_driver_s *drv)
 {
+  if (bthci_from_drv(drv) == NULL)
+    {
+      return;
+    }
+
   wlinfo("%s", __func__);
 }
 
diff --git a/chips/r528/r528_boot.c b/chips/r528/r528_boot.c
index 1cc1fe245cfa95a1b27f4389b62476084377bc15..5fc5de0a7c80ae2e4912117d6e3172c9eabd79d7 100755
--- a/chips/r528/r528_boot.c
+++ b/chips/r528/r528_boot.c
@@ -41,7 +41,20 @@
 #include <sys/mount.h>
 #include <nuttx/config.h>
 #include <nuttx/audio/audio.h>
-#include <nuttx/lib/modlib.h>
+#if defined(__has_include)
+#  if __has_include(<nuttx/lib/modlib.h>)
+#    include <nuttx/lib/modlib.h>
+#    define R528_USE_MODLIB 1
+#  elif __has_include(<nuttx/lib/elf.h>)
+#    include <nuttx/lib/elf.h>
+#    define R528_USE_LIBELF 1
+#  else
+#    error "Neither <nuttx/lib/modlib.h> nor <nuttx/lib/elf.h> is available"
+#  endif
+#else
+#  include <nuttx/lib/modlib.h>
+#  define R528_USE_MODLIB 1
+#endif
 #ifdef CONFIG_VIDEO_FB
 #include <nuttx/video/fb.h>
 #endif
@@ -155,6 +168,25 @@ int r528_read_resetflag(void);
 extern uint32_t _vector_start; /* Beginning of vector block */
 extern uint32_t _vector_end;   /* End+1 of vector block */
 
+static int r528_module_initialize(FAR const char *path,
+                                  FAR struct mod_loadinfo_s *loadinfo)
+{
+#ifdef R528_USE_MODLIB
+  return modlib_initialize(path, loadinfo);
+#else
+  return libelf_initialize(path, loadinfo);
+#endif
+}
+
+static int r528_module_load(FAR struct mod_loadinfo_s *loadinfo)
+{
+#ifdef R528_USE_MODLIB
+  return modlib_load(loadinfo);
+#else
+  return libelf_load(loadinfo);
+#endif
+}
+
 /****************************************************************************
  * Private Data
  ****************************************************************************/
@@ -984,7 +1016,7 @@ int board_boot_image(const char *path, uint32_t hdr_size)
 #ifdef CONFIG_ARCH_TRUSTZONE_SECURE
   up_irq_enable();
 #endif
-  uint32_t ret;
+  int ret;
 
   struct mod_loadinfo_s loadinfo;
 
@@ -993,20 +1025,20 @@ int board_boot_image(const char *path, uint32_t hdr_size)
   /* Initialize the ELF library to load the program binary. */
   syslog(LOG_INFO, "elf_init...\n");
 
-  ret = modlib_initialize(path, &loadinfo);
+  ret = r528_module_initialize(path, &loadinfo);
   if (ret != 0)
     {
-      syslog(LOG_ERR, "Failed to modlib_initialize: %ld\n", ret);
+      syslog(LOG_ERR, "Failed to initialize module image: %d\n", ret);
       syslog_flush();
       return -1;
     }
 
   /* Load the program binary */
   syslog(LOG_INFO, "elf_load...\n");
-  ret = modlib_load(&loadinfo);
+  ret = r528_module_load(&loadinfo);
   if (ret != 0)
     {
-      syslog(LOG_ERR, "Failed to modlib_load: %ld\n", ret);
+      syslog(LOG_ERR, "Failed to load module image: %d\n", ret);
       syslog_flush();
     }