diff --git a/components/bt/CMakeLists.txt b/components/bt/CMakeLists.txt
index 52411786737d..6a87a3e177e7 100644
--- a/components/bt/CMakeLists.txt
+++ b/components/bt/CMakeLists.txt
@@ -67,37 +67,40 @@ if(CONFIG_IDF_DOC_BUILD)
          ${nimble_hci_include_dirs})
 endif()
 
-
 if(CONFIG_BT_ENABLED)
 
     set(srcs "")
     set(include_dirs "")
-    set(ldfragments "linker.lf")
+    set(ldscripts "linker_common.lf")
     if(CONFIG_BT_CONTROLLER_ENABLED)
         if(CONFIG_IDF_TARGET_ESP32)
             list(APPEND srcs "controller/esp32/bt.c"
                              "controller/esp32/hli_api.c"
                              "controller/esp32/hli_vectors.S")
+            list(APPEND ldscripts "linker_rw_bt_controller.lf")
 
         elseif(CONFIG_IDF_TARGET_ESP32C3)
             list(APPEND srcs "controller/esp32c3/bt.c")
+            list(APPEND ldscripts "linker_rw_bt_controller.lf")
 
         elseif(CONFIG_IDF_TARGET_ESP32S3)
             list(APPEND srcs "controller/esp32c3/bt.c")
+            list(APPEND ldscripts "linker_rw_bt_controller.lf")
 
         elseif(CONFIG_IDF_TARGET_ESP32C2)
-            set(ldfragments "linker.lf.esp32c2")
             list(APPEND srcs "controller/esp32c2/bt.c")
+            set(ldscripts "linker_esp32c2.lf")
 
         elseif(CONFIG_IDF_TARGET_ESP32C6)
             list(APPEND srcs "controller/esp32c6/bt.c")
+            list(APPEND ldscripts "linker_esp_ble_controller.lf")
 
         elseif(CONFIG_IDF_TARGET_ESP32H2)
             list(APPEND srcs "controller/esp32h2/bt.c")
+            list(APPEND ldscripts "linker_esp_ble_controller.lf")
         endif()
 
         list(APPEND include_dirs ${target_specific_include_dirs})
-
     endif()
 
     # Common
@@ -820,7 +823,7 @@ idf_component_register(SRCS "${srcs}"
                        PRIV_INCLUDE_DIRS "${priv_include_dirs}"
                        REQUIRES esp_timer esp_wifi
                        PRIV_REQUIRES nvs_flash soc esp_pm esp_phy esp_coex mbedtls driver vfs
-                       LDFRAGMENTS "${ldfragments}")
+                       LDFRAGMENTS "${ldscripts}")
 
 if(CONFIG_BT_ENABLED)
     target_compile_options(${COMPONENT_LIB} PRIVATE -Wno-implicit-fallthrough -Wno-unused-const-variable)
diff --git a/components/bt/controller/esp32/bt.c b/components/bt/controller/esp32/bt.c
index 10604e9d98bf..f2489b837a27 100644
--- a/components/bt/controller/esp32/bt.c
+++ b/components/bt/controller/esp32/bt.c
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2015-2023 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2015-2024 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -233,16 +233,12 @@ extern uint32_t _data_end_btdm_rom;
 
 extern uint32_t _bt_bss_start;
 extern uint32_t _bt_bss_end;
-extern uint32_t _nimble_bss_start;
-extern uint32_t _nimble_bss_end;
-extern uint32_t _btdm_bss_start;
-extern uint32_t _btdm_bss_end;
+extern uint32_t _bt_controller_bss_start;
+extern uint32_t _bt_controller_bss_end;
 extern uint32_t _bt_data_start;
 extern uint32_t _bt_data_end;
-extern uint32_t _nimble_data_start;
-extern uint32_t _nimble_data_end;
-extern uint32_t _btdm_data_start;
-extern uint32_t _btdm_data_end;
+extern uint32_t _bt_controller_data_start;
+extern uint32_t _bt_controller_data_end;
 
 extern void config_bt_funcs_reset(void);
 extern void config_ble_funcs_reset(void);
@@ -760,7 +756,7 @@ static int32_t queue_send_hlevel_wrapper(void *queue, void *item, uint32_t block
  * @param  item  The message which will be send
  * @param  hptw  need do task yield or not
  * @return       send success or not
- *               There is an issue here:  When the queue is full, it may reture true but it send fail to the queue, sometimes.
+ *               There is an issue here:  When the queue is full, it may return true but it send fail to the queue, sometimes.
  *               But in Bluetooth controller's isr, We don't care about the return value.
  *               It only required tp send success when the queue is empty all the time.
  *               So, this function meets the requirement.
@@ -1281,7 +1277,45 @@ static esp_err_t try_heap_caps_add_region(intptr_t start, intptr_t end)
     return ret;
 }
 
-esp_err_t esp_bt_controller_mem_release(esp_bt_mode_t mode)
+typedef struct {
+    intptr_t start;
+    intptr_t end;
+    const char* name;
+} bt_area_t;
+
+
+static esp_err_t esp_bt_mem_release_area(const bt_area_t *area)
+{
+    esp_err_t ret = ESP_OK;
+    intptr_t mem_start = area->start;
+    intptr_t mem_end = area->end;
+    if (mem_start != mem_end) {
+        ESP_LOGD(BTDM_LOG_TAG, "Release %s [0x%08x] - [0x%08x], len %d", area->name, mem_start, mem_end, mem_end - mem_start);
+        ret = try_heap_caps_add_region(mem_start, mem_end);
+    }
+    return ret;
+}
+
+static esp_err_t esp_bt_mem_release_areas(const bt_area_t *area1, const bt_area_t *area2)
+{
+    esp_err_t ret = ESP_OK;
+
+    if (area1->end == area2->start) {
+        bt_area_t merged_area = {
+            .start = area1->start,
+            .end = area2->end,
+            .name = area1->name
+        };
+        ret = esp_bt_mem_release_area(&merged_area);
+    } else {
+        esp_bt_mem_release_area(area1);
+        ret = esp_bt_mem_release_area(area2);
+    }
+
+    return ret;
+}
+
+static esp_err_t esp_bt_controller_rom_mem_release(esp_bt_mode_t mode)
 {
     bool update = true;
     intptr_t mem_start=(intptr_t) NULL, mem_end=(intptr_t) NULL;
@@ -1332,61 +1366,86 @@ esp_err_t esp_bt_controller_mem_release(esp_bt_mode_t mode)
         }
     }
 
+    return ESP_OK;
+}
+
+esp_err_t esp_bt_controller_mem_release(esp_bt_mode_t mode)
+{
+    esp_err_t ret = ESP_OK;
+
+    if (btdm_controller_status != ESP_BT_CONTROLLER_STATUS_IDLE) {
+        return ESP_ERR_INVALID_STATE;
+    }
+
     if (mode == ESP_BT_MODE_BTDM) {
-        mem_start = (intptr_t)&_btdm_bss_start;
-        mem_end = (intptr_t)&_btdm_bss_end;
-        if (mem_start != mem_end) {
-            ESP_LOGD(BTDM_LOG_TAG, "Release BTDM BSS [0x%08x] - [0x%08x]", mem_start, mem_end);
-            ESP_ERROR_CHECK(try_heap_caps_add_region(mem_start, mem_end));
-        }
-        mem_start = (intptr_t)&_btdm_data_start;
-        mem_end = (intptr_t)&_btdm_data_end;
-        if (mem_start != mem_end) {
-            ESP_LOGD(BTDM_LOG_TAG, "Release BTDM Data [0x%08x] - [0x%08x]", mem_start, mem_end);
-            ESP_ERROR_CHECK(try_heap_caps_add_region(mem_start, mem_end));
-        }
+        bt_area_t cont_bss = {
+            .start = (intptr_t)&_bt_controller_bss_start,
+            .end   = (intptr_t)&_bt_controller_bss_end,
+            .name  = "BT Controller BSS",
+        };
+        bt_area_t cont_data = {
+            .start = (intptr_t)&_bt_controller_data_start,
+            .end   = (intptr_t)&_bt_controller_data_end,
+            .name  = "BT Controller Data"
+        };
+
+        ret = esp_bt_mem_release_areas(&cont_data, &cont_bss);
     }
-    return ESP_OK;
+
+    if (ret == ESP_OK) {
+        ret = esp_bt_controller_rom_mem_release(mode);
+    }
+
+    return ret;
 }
 
 esp_err_t esp_bt_mem_release(esp_bt_mode_t mode)
 {
-    int ret;
-    intptr_t mem_start, mem_end;
+    esp_err_t ret = ESP_OK;
 
-    ret = esp_bt_controller_mem_release(mode);
-    if (ret != ESP_OK) {
-        return ret;
+    if (btdm_controller_status != ESP_BT_CONTROLLER_STATUS_IDLE) {
+        return ESP_ERR_INVALID_STATE;
     }
 
+    bt_area_t bss = {
+        .start = (intptr_t)&_bt_bss_start,
+        .end   = (intptr_t)&_bt_bss_end,
+        .name  = "BT BSS",
+    };
+    bt_area_t cont_bss = {
+        .start = (intptr_t)&_bt_controller_bss_start,
+        .end   = (intptr_t)&_bt_controller_bss_end,
+        .name  = "BT Controller BSS",
+    };
+    bt_area_t data = {
+        .start = (intptr_t)&_bt_data_start,
+        .end   = (intptr_t)&_bt_data_end,
+        .name  = "BT Data",
+    };
+    bt_area_t cont_data = {
+        .start = (intptr_t)&_bt_controller_data_start,
+        .end   = (intptr_t)&_bt_controller_data_end,
+        .name  = "BT Controller Data"
+    };
+
     if (mode == ESP_BT_MODE_BTDM) {
-        mem_start = (intptr_t)&_bt_bss_start;
-        mem_end = (intptr_t)&_bt_bss_end;
-        if (mem_start != mem_end) {
-            ESP_LOGD(BTDM_LOG_TAG, "Release BT BSS [0x%08x] - [0x%08x]", mem_start, mem_end);
-            ESP_ERROR_CHECK(try_heap_caps_add_region(mem_start, mem_end));
-        }
-        mem_start = (intptr_t)&_bt_data_start;
-        mem_end = (intptr_t)&_bt_data_end;
-        if (mem_start != mem_end) {
-            ESP_LOGD(BTDM_LOG_TAG, "Release BT Data [0x%08x] - [0x%08x]", mem_start, mem_end);
-            ESP_ERROR_CHECK(try_heap_caps_add_region(mem_start, mem_end));
+        /* Start by freeing Bluetooth BSS section */
+        if (ret == ESP_OK) {
+            ret = esp_bt_mem_release_areas(&bss, &cont_bss);
         }
 
-        mem_start = (intptr_t)&_nimble_bss_start;
-        mem_end = (intptr_t)&_nimble_bss_end;
-        if (mem_start != mem_end) {
-            ESP_LOGD(BTDM_LOG_TAG, "Release NimBLE BSS [0x%08x] - [0x%08x]", mem_start, mem_end);
-            ESP_ERROR_CHECK(try_heap_caps_add_region(mem_start, mem_end));
-        }
-        mem_start = (intptr_t)&_nimble_data_start;
-        mem_end = (intptr_t)&_nimble_data_end;
-        if (mem_start != mem_end) {
-            ESP_LOGD(BTDM_LOG_TAG, "Release NimBLE Data [0x%08x] - [0x%08x]", mem_start, mem_end);
-            ESP_ERROR_CHECK(try_heap_caps_add_region(mem_start, mem_end));
+        /* Do the same thing with the Bluetooth data section */
+        if (ret == ESP_OK) {
+            ret = esp_bt_mem_release_areas(&data, &cont_data);
         }
     }
-    return ESP_OK;
+
+    /* free data and BSS section for Bluetooth controller ROM code */
+    if (ret == ESP_OK) {
+        ret = esp_bt_controller_rom_mem_release(mode);
+    }
+
+    return ret;
 }
 
 #if CONFIG_BTDM_CTRL_HLI
@@ -1695,7 +1754,7 @@ esp_err_t esp_bt_controller_enable(esp_bt_mode_t mode)
 
     sdk_config_set_bt_pll_track_enable(true);
 
-    // inititalize bluetooth baseband
+    // initialize bluetooth baseband
     btdm_check_and_init_bb();
 
     ret = btdm_controller_enable(mode);
@@ -1858,7 +1917,7 @@ esp_err_t esp_ble_scan_dupilcate_list_flush(void)
 
 /**
  * This function re-write controller's function,
- * As coredump can not show paramerters in function which is in a .a file.
+ * As coredump can not show parameters in function which is in a .a file.
  *
  * After coredump fixing this issue, just delete this function.
  */
diff --git a/components/bt/controller/esp32c2/bt.c b/components/bt/controller/esp32c2/bt.c
index ae699b380f65..b89e9535993d 100644
--- a/components/bt/controller/esp32c2/bt.c
+++ b/components/bt/controller/esp32c2/bt.c
@@ -168,10 +168,16 @@ extern const char *r_ble_controller_get_rom_compile_version(void);
 #if CONFIG_BT_RELEASE_IRAM
 extern uint32_t _iram_bt_text_start;
 extern uint32_t _bss_bt_end;
-#else
+#endif
+
+extern uint32_t _bt_bss_start;
 extern uint32_t _bt_bss_end;
+extern uint32_t _bt_controller_bss_start;
+extern uint32_t _bt_controller_bss_end;
+extern uint32_t _bt_data_start;
+extern uint32_t _bt_data_end;
 extern uint32_t _bt_controller_data_start;
-#endif
+extern uint32_t _bt_controller_data_end;
 
 /* Local Function Declaration
  *********************************************************************
@@ -900,9 +906,48 @@ static esp_err_t try_heap_caps_add_region(intptr_t start, intptr_t end)
     return ret;
 }
 
+typedef struct {
+    intptr_t start;
+    intptr_t end;
+    const char* name;
+} bt_area_t;
+
+static esp_err_t esp_bt_mem_release_area(const bt_area_t *area)
+{
+    esp_err_t ret = ESP_OK;
+    intptr_t mem_start = area->start;
+    intptr_t mem_end = area->end;
+    if (mem_start != mem_end) {
+        ESP_LOGD(NIMBLE_PORT_LOG_TAG, "Release %s [0x%08x] - [0x%08x], len %d", area->name, mem_start, mem_end, mem_end - mem_start);
+        ret = try_heap_caps_add_region(mem_start, mem_end);
+    }
+    return ret;
+}
+
+#ifndef CONFIG_BT_RELEASE_IRAM
+static esp_err_t esp_bt_mem_release_areas(const bt_area_t *area1, const bt_area_t *area2)
+{
+    esp_err_t ret = ESP_OK;
+
+    if(area1->end == area2->start) {
+        bt_area_t merged_area = {
+            .start = area1->start,
+            .end = area2->end,
+            .name = area1->name
+        };
+        ret = esp_bt_mem_release_area(&merged_area);
+    } else {
+        esp_bt_mem_release_area(area1);
+        ret = esp_bt_mem_release_area(area2);
+    }
+
+    return ret;
+}
+#endif
+
 esp_err_t esp_bt_mem_release(esp_bt_mode_t mode)
 {
-    intptr_t mem_start, mem_end;
+    esp_err_t ret = ESP_OK;
 
 #if CONFIG_BT_RELEASE_IRAM && CONFIG_ESP_SYSTEM_PMP_IDRAM_SPLIT
     /* Release Bluetooth text section and merge Bluetooth data, bss & text into a large free heap
@@ -911,26 +956,58 @@ esp_err_t esp_bt_mem_release(esp_bt_mode_t mode)
      * memory into 3 different regions (IRAM, BLE-IRAM, DRAM). So `ESP_SYSTEM_PMP_IDRAM_SPLIT` needs
      * to be disabled.
      */
-    ESP_LOGE(NIMBLE_PORT_LOG_TAG, "`ESP_SYSTEM_PMP_IDRAM_SPLIT` should be disabled!");
-    assert(0);
+    #error "ESP_SYSTEM_PMP_IDRAM_SPLIT should be disabled to allow BT to be released"
 #endif // CONFIG_BT_RELEASE_IRAM && CONFIG_ESP_SYSTEM_PMP_IDRAM_SPLIT
 
-    if (mode & ESP_BT_MODE_BLE) {
+    if (ble_controller_status != ESP_BT_CONTROLLER_STATUS_IDLE) {
+        return ESP_ERR_INVALID_STATE;
+    }
+
+    if ((mode & ESP_BT_MODE_BLE) == 0) {
+        return ret;
+    }
+
 #if CONFIG_BT_RELEASE_IRAM
-        mem_start = (intptr_t)MAP_IRAM_TO_DRAM((intptr_t)&_iram_bt_text_start);
-        mem_end = (intptr_t)&_bss_bt_end;
+    bt_area_t merged_region = {
+        .start = (intptr_t)MAP_IRAM_TO_DRAM((intptr_t)&_iram_bt_text_start),
+        .end = (intptr_t)&_bss_bt_end,
+        .name = "BT Text, BSS and Data"
+    };
+    ret = esp_bt_mem_release_area(&merged_region);
 #else
-        mem_start = (intptr_t)&_bt_controller_data_start;
-        mem_end = (intptr_t)&_bt_bss_end;
-#endif // CONFIG_BT_RELEASE_IRAM
-        if (mem_start != mem_end) {
-            ESP_LOGI(NIMBLE_PORT_LOG_TAG, "Release BLE [0x%08x] - [0x%08x], len %d", mem_start,
-                     mem_end, mem_end - mem_start);
-            ESP_ERROR_CHECK(try_heap_caps_add_region(mem_start, mem_end));
-        }
+    bt_area_t bss = {
+        .start = (intptr_t)&_bt_bss_start,
+        .end   = (intptr_t)&_bt_bss_end,
+        .name  = "BT BSS",
+    };
+    bt_area_t cont_bss = {
+        .start = (intptr_t)&_bt_controller_bss_start,
+        .end   = (intptr_t)&_bt_controller_bss_end,
+        .name  = "BT Controller BSS",
+    };
+    bt_area_t data = {
+        .start = (intptr_t)&_bt_data_start,
+        .end   = (intptr_t)&_bt_data_end,
+        .name  = "BT Data",
+    };
+    bt_area_t cont_data = {
+        .start = (intptr_t)&_bt_controller_data_start,
+        .end   = (intptr_t)&_bt_controller_data_end,
+        .name  = "BT Controller Data"
+    };
+
+    /* Start by freeing Bluetooth BSS section */
+    if (ret == ESP_OK) {
+        ret = esp_bt_mem_release_areas(&bss, &cont_bss);
     }
 
-    return ESP_OK;
+    /* Do the same thing with the Bluetooth data section */
+    if (ret == ESP_OK) {
+        ret = esp_bt_mem_release_areas(&data, &cont_data);
+    }
+#endif
+
+    return ret;
 }
 
 
diff --git a/components/bt/controller/esp32c3/bt.c b/components/bt/controller/esp32c3/bt.c
index 8f94c1e875ad..a9e839b444e6 100644
--- a/components/bt/controller/esp32c3/bt.c
+++ b/components/bt/controller/esp32c3/bt.c
@@ -263,16 +263,12 @@ extern void btdm_cca_feature_enable(void);
 
 extern uint32_t _bt_bss_start;
 extern uint32_t _bt_bss_end;
-extern uint32_t _btdm_bss_start;
-extern uint32_t _btdm_bss_end;
-extern uint32_t _nimble_bss_start;
-extern uint32_t _nimble_bss_end;
+extern uint32_t _bt_controller_bss_start;
+extern uint32_t _bt_controller_bss_end;
 extern uint32_t _bt_data_start;
 extern uint32_t _bt_data_end;
-extern uint32_t _btdm_data_start;
-extern uint32_t _btdm_data_end;
-extern uint32_t _nimble_data_start;
-extern uint32_t _nimble_data_end;
+extern uint32_t _bt_controller_data_start;
+extern uint32_t _bt_controller_data_end;
 
 /* Local Function Declare
  *********************************************************************
@@ -984,145 +980,175 @@ static void btdm_controller_mem_init(void)
     btdm_controller_rom_data_init();
 }
 
-esp_err_t esp_bt_controller_mem_release(esp_bt_mode_t mode)
+/**
+ * Release two memory areas to the heap. If both areas are consecutive, they will be released as
+ * a single area.
+ */
+typedef struct {
+    intptr_t start;
+    intptr_t end;
+    const char* name;
+} bt_area_t;
+
+static esp_err_t esp_bt_mem_release_area(const bt_area_t *area)
 {
-    intptr_t mem_start=(intptr_t) NULL, mem_end=(intptr_t) NULL;
+    esp_err_t ret = ESP_OK;
+    intptr_t mem_start = area->start;
+    intptr_t mem_end = area->end;
+    if (mem_start != mem_end) {
+        ESP_LOGD(BT_LOG_TAG, "Release %s [0x%08x] - [0x%08x], len %d", area->name, mem_start, mem_end, mem_end - mem_start);
+        ret = try_heap_caps_add_region(mem_start, mem_end);
+    }
+    return ret;
+}
+
+static esp_err_t esp_bt_mem_release_areas(const bt_area_t *area1, const bt_area_t *area2)
+{
+    esp_err_t ret = ESP_OK;
+
+    if (area1->end == area2->start) {
+        bt_area_t merged_area = {
+            .start = area1->start,
+            .end = area2->end,
+            .name = area1->name
+        };
+        ret = esp_bt_mem_release_area(&merged_area);
+    } else {
+        esp_bt_mem_release_area(area1);
+        ret = esp_bt_mem_release_area(area2);
+    }
+
+    return ret;
+}
+
+esp_err_t esp_bt_controller_rom_mem_release(esp_bt_mode_t mode)
+{
+    esp_err_t ret = ESP_OK;
+
     if (btdm_controller_status != ESP_BT_CONTROLLER_STATUS_IDLE) {
         return ESP_ERR_INVALID_STATE;
     }
 
-    if (mode & ESP_BT_MODE_BLE) {
-        /* if the addresses of rom btdm .data and .bss are consecutive,
-           they are registered in the system heap as a piece of memory
-        */
-        if(ets_rom_layout_p->data_end_btdm == ets_rom_layout_p->bss_start_btdm) {
-            mem_start = (intptr_t)ets_rom_layout_p->data_start_btdm;
-            mem_end = (intptr_t)ets_rom_layout_p->bss_end_btdm;
-            if (mem_start != mem_end) {
-                ESP_LOGD(BT_LOG_TAG, "Release rom btdm [0x%08x] - [0x%08x], len %d", mem_start, mem_end, mem_end - mem_start);
-                ESP_ERROR_CHECK(try_heap_caps_add_region(mem_start, mem_end));
-            }
-        } else {
-            mem_start = (intptr_t)ets_rom_layout_p->bss_start_btdm;
-            mem_end = (intptr_t)ets_rom_layout_p->bss_end_btdm;
-            if (mem_start != mem_end) {
-                ESP_LOGD(BT_LOG_TAG, "Release rom btdm BSS [0x%08x] - [0x%08x], len %d", mem_start, mem_end, mem_end - mem_start);
-                ESP_ERROR_CHECK(try_heap_caps_add_region(mem_start, mem_end));
-            }
+    bt_area_t rom_btdm_data = {
+        .start = (intptr_t) ets_rom_layout_p->data_start_btdm,
+        .end   = (intptr_t) ets_rom_layout_p->data_end_btdm,
+        .name  = "ROM btdm data",
+    };
+    bt_area_t rom_btdm_bss = {
+        .start = (intptr_t)ets_rom_layout_p->bss_start_btdm,
+        .end   = (intptr_t)ets_rom_layout_p->bss_end_btdm,
+        .name  = "ROM btdm BSS",
+    };
+    bt_area_t rom_btdm_inter_data = {
+        .start = (intptr_t) ets_rom_layout_p->data_start_interface_btdm,
+        .end   = (intptr_t) ets_rom_layout_p->data_end_interface_btdm,
+        .name  = "ROM interface btdm data",
+    };
+    bt_area_t rom_btdm_inter_bss = {
+        .start = (intptr_t)ets_rom_layout_p->bss_start_interface_btdm,
+        .end   = (intptr_t)ets_rom_layout_p->bss_end_interface_btdm,
+        .name  = "ROM interface btdm BSS",
+    };
 
-            mem_start = (intptr_t)ets_rom_layout_p->data_start_btdm;
-            mem_end = (intptr_t)ets_rom_layout_p->data_end_btdm;
-            if (mem_start != mem_end) {
-                ESP_LOGD(BT_LOG_TAG, "Release rom btdm Data [0x%08x] - [0x%08x], len %d", mem_start, mem_end, mem_end - mem_start);
-                ESP_ERROR_CHECK(try_heap_caps_add_region(mem_start, mem_end));
-            }
+    if (btdm_controller_status != ESP_BT_CONTROLLER_STATUS_IDLE) {
+        ret = ESP_ERR_INVALID_STATE;
+    }
+
+    if (mode & ESP_BT_MODE_BLE) {
+        /* Free BTDM memory used by the ROM */
+        if (ret == ESP_OK) {
+            ret = esp_bt_mem_release_areas(&rom_btdm_data, &rom_btdm_bss);
         }
-        /* if the addresses of rom interface btdm .data and .bss are consecutive,
-           they are registered in the system heap as a piece of memory
-        */
-        if(ets_rom_layout_p->data_end_interface_btdm == ets_rom_layout_p->bss_start_interface_btdm) {
-            mem_start = (intptr_t)ets_rom_layout_p->data_start_interface_btdm;
-            mem_end = (intptr_t)ets_rom_layout_p->bss_end_interface_btdm;
-            if (mem_start != mem_end) {
-                ESP_LOGD(BT_LOG_TAG, "Release rom interface btdm [0x%08x] - [0x%08x], len %d", mem_start, mem_end, mem_end - mem_start);
-                ESP_ERROR_CHECK(try_heap_caps_add_region(mem_start, mem_end));
-            }
-        } else {
-            mem_start = (intptr_t)ets_rom_layout_p->data_start_interface_btdm;
-            mem_end = (intptr_t)ets_rom_layout_p->data_end_interface_btdm;
-            if (mem_start != mem_end) {
-                ESP_LOGD(BT_LOG_TAG, "Release rom interface btdm Data [0x%08x] - [0x%08x], len %d", mem_start, mem_end, mem_end - mem_start);
-                ESP_ERROR_CHECK(try_heap_caps_add_region(mem_start, mem_end));
-            }
 
-            mem_start = (intptr_t)ets_rom_layout_p->bss_start_interface_btdm;
-            mem_end = (intptr_t)ets_rom_layout_p->bss_end_interface_btdm;
-            if (mem_start != mem_end) {
-                ESP_LOGD(BT_LOG_TAG, "Release rom interface btdm BSS [0x%08x] - [0x%08x], len %d", mem_start, mem_end, mem_end - mem_start);
-                ESP_ERROR_CHECK(try_heap_caps_add_region(mem_start, mem_end));
-            }
+        if (ret == ESP_OK) {
+            ret = esp_bt_mem_release_areas(&rom_btdm_inter_data, &rom_btdm_inter_bss);
         }
+    }
+
+    return ret;
+}
+
+esp_err_t esp_bt_controller_mem_release(esp_bt_mode_t mode)
+{
+    esp_err_t ret = ESP_OK;
 
+    if (btdm_controller_status != ESP_BT_CONTROLLER_STATUS_IDLE) {
+        return ESP_ERR_INVALID_STATE;
     }
-    return ESP_OK;
+
+    bt_area_t cont_bss = {
+        .start = (intptr_t)&_bt_controller_bss_start,
+        .end   = (intptr_t)&_bt_controller_bss_end,
+        .name  = "BT Controller BSS",
+    };
+
+    bt_area_t cont_data = {
+        .start = (intptr_t)&_bt_controller_data_start,
+        .end   = (intptr_t)&_bt_controller_data_end,
+        .name  = "BT Controller Data"
+    };
+
+    if (mode & ESP_BT_MODE_BLE) {
+        /* free data and BSS section for libbtdm_app.a */
+        if (ret == ESP_OK) {
+            ret = esp_bt_mem_release_areas(&cont_data, &cont_bss);
+        }
+        /* free data and BSS section for Bluetooth controller ROM code */
+        if (ret == ESP_OK) {
+            ret = esp_bt_controller_rom_mem_release(mode);
+        }
+    }
+
+    return ret;
 }
 
 esp_err_t esp_bt_mem_release(esp_bt_mode_t mode)
 {
-    int ret;
-    intptr_t mem_start, mem_end;
+    esp_err_t ret = ESP_OK;
 
-    ret = esp_bt_controller_mem_release(mode);
-    if (ret != ESP_OK) {
-        return ret;
+    if (btdm_controller_status != ESP_BT_CONTROLLER_STATUS_IDLE) {
+        return ESP_ERR_INVALID_STATE;
     }
 
-    if (mode & ESP_BT_MODE_BLE) {
-        /* if the addresses of btdm .bss and bt .bss are consecutive,
-           they are registered in the system heap as a piece of memory
-        */
-        if(_bt_bss_end == _btdm_bss_start) {
-            mem_start = (intptr_t)&_bt_bss_start;
-            mem_end = (intptr_t)&_btdm_bss_end;
-            if (mem_start != mem_end) {
-                ESP_LOGD(BT_LOG_TAG, "Release BSS [0x%08x] - [0x%08x], len %d", mem_start, mem_end, mem_end - mem_start);
-                ESP_ERROR_CHECK(try_heap_caps_add_region(mem_start, mem_end));
-            }
-        } else {
-            mem_start = (intptr_t)&_bt_bss_start;
-            mem_end = (intptr_t)&_bt_bss_end;
-            if (mem_start != mem_end) {
-                ESP_LOGD(BT_LOG_TAG, "Release BT BSS [0x%08x] - [0x%08x], len %d", mem_start, mem_end, mem_end - mem_start);
-                ESP_ERROR_CHECK(try_heap_caps_add_region(mem_start, mem_end));
-            }
+    bt_area_t bss = {
+        .start = (intptr_t)&_bt_bss_start,
+        .end   = (intptr_t)&_bt_bss_end,
+        .name  = "BT BSS",
+    };
+    bt_area_t cont_bss = {
+        .start = (intptr_t)&_bt_controller_bss_start,
+        .end   = (intptr_t)&_bt_controller_bss_end,
+        .name  = "BT Controller BSS",
+    };
+    bt_area_t data = {
+        .start = (intptr_t)&_bt_data_start,
+        .end   = (intptr_t)&_bt_data_end,
+        .name  = "BT Data",
+    };
+    bt_area_t cont_data = {
+        .start = (intptr_t)&_bt_controller_data_start,
+        .end   = (intptr_t)&_bt_controller_data_end,
+        .name  = "BT Controller Data"
+    };
 
-            mem_start = (intptr_t)&_btdm_bss_start;
-            mem_end = (intptr_t)&_btdm_bss_end;
-            if (mem_start != mem_end) {
-                ESP_LOGD(BT_LOG_TAG, "Release BTDM BSS [0x%08x] - [0x%08x], len %d", mem_start, mem_end, mem_end - mem_start);
-                ESP_ERROR_CHECK(try_heap_caps_add_region(mem_start, mem_end));
-            }
+    if (mode & ESP_BT_MODE_BLE) {
+        /* Start by freeing Bluetooth BSS section */
+        if (ret == ESP_OK) {
+            ret = esp_bt_mem_release_areas(&bss, &cont_bss);
         }
-        /* if the addresses of btdm .data and bt .data are consecutive,
-           they are registered in the system heap as a piece of memory
-        */
-        if(_bt_data_end == _btdm_data_start) {
-            mem_start = (intptr_t)&_bt_data_start;
-            mem_end = (intptr_t)&_btdm_data_end;
-            if (mem_start != mem_end) {
-                ESP_LOGD(BT_LOG_TAG, "Release data [0x%08x] - [0x%08x], len %d", mem_start, mem_end, mem_end - mem_start);
-                ESP_ERROR_CHECK(try_heap_caps_add_region(mem_start, mem_end));
-            }
-        } else {
-            mem_start = (intptr_t)&_bt_data_start;
-            mem_end = (intptr_t)&_bt_data_end;
-            if (mem_start != mem_end) {
-                ESP_LOGD(BT_LOG_TAG, "Release BT Data [0x%08x] - [0x%08x], len %d", mem_start, mem_end, mem_end - mem_start);
-                ESP_ERROR_CHECK(try_heap_caps_add_region(mem_start, mem_end));
-            }
 
-            mem_start = (intptr_t)&_btdm_data_start;
-            mem_end = (intptr_t)&_btdm_data_end;
-            if (mem_start != mem_end) {
-                ESP_LOGD(BT_LOG_TAG, "Release BTDM Data [0x%08x] - [0x%08x], len %d", mem_start, mem_end, mem_end - mem_start);
-                ESP_ERROR_CHECK(try_heap_caps_add_region(mem_start, mem_end));
-            }
+        /* Do the same thing with the Bluetooth data section */
+        if (ret == ESP_OK) {
+            ret = esp_bt_mem_release_areas(&data, &cont_data);
         }
 
-        mem_start = (intptr_t)&_nimble_bss_start;
-        mem_end = (intptr_t)&_nimble_bss_end;
-        if (mem_start != mem_end) {
-            ESP_LOGD(BT_LOG_TAG, "Release NimBLE BSS [0x%08x] - [0x%08x], len %d", mem_start, mem_end, mem_end - mem_start);
-            ESP_ERROR_CHECK(try_heap_caps_add_region(mem_start, mem_end));
-        }
-        mem_start = (intptr_t)&_nimble_data_start;
-        mem_end = (intptr_t)&_nimble_data_end;
-        if (mem_start != mem_end) {
-            ESP_LOGD(BT_LOG_TAG, "Release NimBLE Data [0x%08x] - [0x%08x], len %d", mem_start, mem_end, mem_end - mem_start);
-            ESP_ERROR_CHECK(try_heap_caps_add_region(mem_start, mem_end));
+        /* free data and BSS section for Bluetooth controller ROM code */
+        if (ret == ESP_OK) {
+            ret = esp_bt_controller_rom_mem_release(mode);
         }
     }
-    return ESP_OK;
+
+    return ret;
 }
 
 static esp_err_t try_heap_caps_add_region(intptr_t start, intptr_t end)
diff --git a/components/bt/controller/esp32c6/bt.c b/components/bt/controller/esp32c6/bt.c
index a9f9a3ba5b62..b00e135399fe 100644
--- a/components/bt/controller/esp32c6/bt.c
+++ b/components/bt/controller/esp32c6/bt.c
@@ -1003,70 +1003,86 @@ static esp_err_t try_heap_caps_add_region(intptr_t start, intptr_t end)
     return ret;
 }
 
+
+typedef struct {
+    intptr_t start;
+    intptr_t end;
+    const char* name;
+} bt_area_t;
+
+static esp_err_t esp_bt_mem_release_area(const bt_area_t *area)
+{
+    esp_err_t ret = ESP_OK;
+    intptr_t mem_start = area->start;
+    intptr_t mem_end = area->end;
+    if (mem_start != mem_end) {
+        ESP_LOGD(NIMBLE_PORT_LOG_TAG, "Release %s [0x%08x] - [0x%08x], len %d", area->name, mem_start, mem_end, mem_end - mem_start);
+        ret = try_heap_caps_add_region(mem_start, mem_end);
+    }
+    return ret;
+}
+
+static esp_err_t esp_bt_mem_release_areas(const bt_area_t *area1, const bt_area_t *area2)
+{
+    esp_err_t ret = ESP_OK;
+
+    if (area1->end == area2->start) {
+        bt_area_t merged_area = {
+            .start = area1->start,
+            .end = area2->end,
+            .name = area1->name
+        };
+        ret = esp_bt_mem_release_area(&merged_area);
+    } else {
+        esp_bt_mem_release_area(area1);
+        ret = esp_bt_mem_release_area(area2);
+    }
+
+    return ret;
+}
+
 esp_err_t esp_bt_mem_release(esp_bt_mode_t mode)
 {
-    intptr_t mem_start, mem_end;
+    esp_err_t ret = ESP_OK;
 
-    if (mode & ESP_BT_MODE_BLE) {
-        /* If the addresses of btdm .bss and bt .bss are consecutive,
-         * they are registered in the system heap as a piece of memory
-         */
-        if(_bt_bss_end == _bt_controller_bss_start) {
-            mem_start = (intptr_t)&_bt_bss_start;
-            mem_end = (intptr_t)&_bt_controller_bss_end;
-            if (mem_start != mem_end) {
-                ESP_LOGD(NIMBLE_PORT_LOG_TAG, "Release BSS [0x%08x] - [0x%08x], len %d",
-                         mem_start, mem_end, mem_end - mem_start);
-                ESP_ERROR_CHECK(try_heap_caps_add_region(mem_start, mem_end));
-            }
-        } else {
-            mem_start = (intptr_t)&_bt_bss_start;
-            mem_end = (intptr_t)&_bt_bss_end;
-            if (mem_start != mem_end) {
-                ESP_LOGD(NIMBLE_PORT_LOG_TAG, "Release BT BSS [0x%08x] - [0x%08x], len %d",
-                         mem_start, mem_end, mem_end - mem_start);
-                ESP_ERROR_CHECK(try_heap_caps_add_region(mem_start, mem_end));
-            }
+    if (ble_controller_status != ESP_BT_CONTROLLER_STATUS_IDLE) {
+        return ESP_ERR_INVALID_STATE;
+    }
 
-            mem_start = (intptr_t)&_bt_controller_bss_start;
-            mem_end = (intptr_t)&_bt_controller_bss_end;
-            if (mem_start != mem_end) {
-                ESP_LOGD(NIMBLE_PORT_LOG_TAG, "Release Controller BSS [0x%08x] - [0x%08x], len %d",
-                         mem_start, mem_end, mem_end - mem_start);
-                ESP_ERROR_CHECK(try_heap_caps_add_region(mem_start, mem_end));
-            }
+    bt_area_t bss = {
+        .start = (intptr_t)&_bt_bss_start,
+        .end   = (intptr_t)&_bt_bss_end,
+        .name  = "BT BSS",
+    };
+    bt_area_t cont_bss = {
+        .start = (intptr_t)&_bt_controller_bss_start,
+        .end   = (intptr_t)&_bt_controller_bss_end,
+        .name  = "BT Controller BSS",
+    };
+    bt_area_t data = {
+        .start = (intptr_t)&_bt_data_start,
+        .end   = (intptr_t)&_bt_data_end,
+        .name  = "BT Data",
+    };
+    bt_area_t cont_data = {
+        .start = (intptr_t)&_bt_controller_data_start,
+        .end   = (intptr_t)&_bt_controller_data_end,
+        .name  = "BT Controller Data"
+    };
+
+    if (mode & ESP_BT_MODE_BLE) {
+        /* Start by freeing Bluetooth BSS section */
+        if (ret == ESP_OK) {
+            ret = esp_bt_mem_release_areas(&bss, &cont_bss);
         }
-        /* If the addresses of btdm .data and bt .data are consecutive,
-         * they are registered in the system heap as a piece of memory
-         */
-        if(_bt_data_end == _bt_controller_data_start) {
-            mem_start = (intptr_t)&_bt_data_start;
-            mem_end = (intptr_t)&_bt_controller_data_end;
-            if (mem_start != mem_end) {
-                ESP_LOGD(NIMBLE_PORT_LOG_TAG, "Release data [0x%08x] - [0x%08x], len %d",
-                         mem_start, mem_end, mem_end - mem_start);
-                ESP_ERROR_CHECK(try_heap_caps_add_region(mem_start, mem_end));
-            }
-        } else {
-            mem_start = (intptr_t)&_bt_data_start;
-            mem_end = (intptr_t)&_bt_data_end;
-            if (mem_start != mem_end) {
-                ESP_LOGD(NIMBLE_PORT_LOG_TAG, "Release BT Data [0x%08x] - [0x%08x], len %d",
-                         mem_start, mem_end, mem_end - mem_start);
-                ESP_ERROR_CHECK(try_heap_caps_add_region(mem_start, mem_end));
-            }
 
-            mem_start = (intptr_t)&_bt_controller_data_start;
-            mem_end = (intptr_t)&_bt_controller_data_end;
-            if (mem_start != mem_end) {
-                ESP_LOGD(NIMBLE_PORT_LOG_TAG, "Release Controller Data [0x%08x] - [0x%08x], len %d",
-                         mem_start, mem_end, mem_end - mem_start);
-                ESP_ERROR_CHECK(try_heap_caps_add_region(mem_start, mem_end));
-            }
+        /* Do the same thing with the Bluetooth data section */
+        if (ret == ESP_OK) {
+            ret = esp_bt_mem_release_areas(&data, &cont_data);
         }
     }
 
-    return ESP_OK;
+    return ret;
 }
 
 
diff --git a/components/bt/controller/esp32h2/bt.c b/components/bt/controller/esp32h2/bt.c
index aecc3b2ab844..b4557e815362 100644
--- a/components/bt/controller/esp32h2/bt.c
+++ b/components/bt/controller/esp32h2/bt.c
@@ -976,70 +976,86 @@ static esp_err_t try_heap_caps_add_region(intptr_t start, intptr_t end)
     return ret;
 }
 
+
+typedef struct {
+    intptr_t start;
+    intptr_t end;
+    const char* name;
+} bt_area_t;
+
+static esp_err_t esp_bt_mem_release_area(const bt_area_t *area)
+{
+    esp_err_t ret = ESP_OK;
+    intptr_t mem_start = area->start;
+    intptr_t mem_end = area->end;
+    if (mem_start != mem_end) {
+        ESP_LOGD(NIMBLE_PORT_LOG_TAG, "Release %s [0x%08x] - [0x%08x], len %d", area->name, mem_start, mem_end, mem_end - mem_start);
+        ret = try_heap_caps_add_region(mem_start, mem_end);
+    }
+    return ret;
+}
+
+static esp_err_t esp_bt_mem_release_areas(const bt_area_t *area1, const bt_area_t *area2)
+{
+    esp_err_t ret = ESP_OK;
+
+    if (area1->end == area2->start) {
+        bt_area_t merged_area = {
+            .start = area1->start,
+            .end = area2->end,
+            .name = area1->name
+        };
+        ret = esp_bt_mem_release_area(&merged_area);
+    } else {
+        esp_bt_mem_release_area(area1);
+        ret = esp_bt_mem_release_area(area2);
+    }
+
+    return ret;
+}
+
 esp_err_t esp_bt_mem_release(esp_bt_mode_t mode)
 {
-    intptr_t mem_start, mem_end;
+    esp_err_t ret = ESP_OK;
+
+    if (ble_controller_status != ESP_BT_CONTROLLER_STATUS_IDLE) {
+        return ESP_ERR_INVALID_STATE;
+    }
+
+    bt_area_t bss = {
+        .start = (intptr_t)&_bt_bss_start,
+        .end   = (intptr_t)&_bt_bss_end,
+        .name  = "BT BSS",
+    };
+    bt_area_t cont_bss = {
+        .start = (intptr_t)&_bt_controller_bss_start,
+        .end   = (intptr_t)&_bt_controller_bss_end,
+        .name  = "BT Controller BSS",
+    };
+    bt_area_t data = {
+        .start = (intptr_t)&_bt_data_start,
+        .end   = (intptr_t)&_bt_data_end,
+        .name  = "BT Data",
+    };
+    bt_area_t cont_data = {
+        .start = (intptr_t)&_bt_controller_data_start,
+        .end   = (intptr_t)&_bt_controller_data_end,
+        .name  = "BT Controller Data"
+    };
 
     if (mode & ESP_BT_MODE_BLE) {
-        /* If the addresses of btdm .bss and bt .bss are consecutive,
-         * they are registered in the system heap as a piece of memory
-         */
-        if(_bt_bss_end == _bt_controller_bss_start) {
-            mem_start = (intptr_t)&_bt_bss_start;
-            mem_end = (intptr_t)&_bt_controller_bss_end;
-            if (mem_start != mem_end) {
-                ESP_LOGD(NIMBLE_PORT_LOG_TAG, "Release BSS [0x%08x] - [0x%08x], len %d",
-                         mem_start, mem_end, mem_end - mem_start);
-                ESP_ERROR_CHECK(try_heap_caps_add_region(mem_start, mem_end));
-            }
-        } else {
-            mem_start = (intptr_t)&_bt_bss_start;
-            mem_end = (intptr_t)&_bt_bss_end;
-            if (mem_start != mem_end) {
-                ESP_LOGD(NIMBLE_PORT_LOG_TAG, "Release BT BSS [0x%08x] - [0x%08x], len %d",
-                         mem_start, mem_end, mem_end - mem_start);
-                ESP_ERROR_CHECK(try_heap_caps_add_region(mem_start, mem_end));
-            }
-
-            mem_start = (intptr_t)&_bt_controller_bss_start;
-            mem_end = (intptr_t)&_bt_controller_bss_end;
-            if (mem_start != mem_end) {
-                ESP_LOGD(NIMBLE_PORT_LOG_TAG, "Release Controller BSS [0x%08x] - [0x%08x], len %d",
-                         mem_start, mem_end, mem_end - mem_start);
-                ESP_ERROR_CHECK(try_heap_caps_add_region(mem_start, mem_end));
-            }
+        /* Start by freeing Bluetooth BSS section */
+        if (ret == ESP_OK) {
+            ret = esp_bt_mem_release_areas(&bss, &cont_bss);
         }
-        /* If the addresses of btdm .data and bt .data are consecutive,
-         * they are registered in the system heap as a piece of memory
-         */
-        if(_bt_data_end == _bt_controller_data_start) {
-            mem_start = (intptr_t)&_bt_data_start;
-            mem_end = (intptr_t)&_bt_controller_data_end;
-            if (mem_start != mem_end) {
-                ESP_LOGD(NIMBLE_PORT_LOG_TAG, "Release data [0x%08x] - [0x%08x], len %d",
-                         mem_start, mem_end, mem_end - mem_start);
-                ESP_ERROR_CHECK(try_heap_caps_add_region(mem_start, mem_end));
-            }
-        } else {
-            mem_start = (intptr_t)&_bt_data_start;
-            mem_end = (intptr_t)&_bt_data_end;
-            if (mem_start != mem_end) {
-                ESP_LOGD(NIMBLE_PORT_LOG_TAG, "Release BT Data [0x%08x] - [0x%08x], len %d",
-                         mem_start, mem_end, mem_end - mem_start);
-                ESP_ERROR_CHECK(try_heap_caps_add_region(mem_start, mem_end));
-            }
-
-            mem_start = (intptr_t)&_bt_controller_data_start;
-            mem_end = (intptr_t)&_bt_controller_data_end;
-            if (mem_start != mem_end) {
-                ESP_LOGD(NIMBLE_PORT_LOG_TAG, "Release Controller Data [0x%08x] - [0x%08x], len %d",
-                         mem_start, mem_end, mem_end - mem_start);
-                ESP_ERROR_CHECK(try_heap_caps_add_region(mem_start, mem_end));
-            }
+
+        /* Do the same thing with the Bluetooth data section */
+        if (ret == ESP_OK) {
+            ret = esp_bt_mem_release_areas(&data, &cont_data);
         }
     }
 
-    return ESP_OK;
+    return ret;
 }
 
 
diff --git a/components/bt/linker.lf b/components/bt/linker.lf
deleted file mode 100644
index debff10af3ee..000000000000
--- a/components/bt/linker.lf
+++ /dev/null
@@ -1,57 +0,0 @@
-[sections:bt_bss]
-entries:
-    .bss+
-
-[sections:bt_common]
-entries:
-    COMMON
-
-[scheme:bt_start_end]
-entries:
-    bt_bss -> dram0_bss
-    bt_common -> dram0_bss
-    data -> dram0_data
-
-# For the following fragments, order matters for
-# 'ALIGN(4) ALIGN(4, post) SURROUND(sym)', which generates:
-#
-#   . = ALIGN(4)
-#   _sym_start
-#   ...
-#   . = ALIGN(4)
-#   _sym_end
-
-[mapping:bt]
-archive: libbt.a
-entries:
-    if ESP_ALLOW_BSS_SEG_EXTERNAL_MEMORY = y:
-        * (extram_bss)
-    else:
-        * (bt_start_end);
-            bt_bss -> dram0_bss ALIGN(4) ALIGN(4, post) SURROUND(bt_bss),
-            bt_common -> dram0_bss ALIGN(4) ALIGN(4, post) SURROUND(bt_common),
-            data -> dram0_data  ALIGN(4) ALIGN(4, post) SURROUND(bt_data)
-
-[mapping:btdm]
-archive: libbtdm_app.a
-entries:
-    * (bt_start_end);
-        bt_bss -> dram0_bss ALIGN(4) ALIGN(4, post) SURROUND(btdm_bss),
-        bt_common -> dram0_bss ALIGN(4) ALIGN(4, post) SURROUND(btdm_common),
-        data -> dram0_data ALIGN(4) ALIGN(4, post) SURROUND(btdm_data)
-
-[mapping:bt_controller]
-archive: libble_app.a
-entries:
-    * (bt_start_end);
-        bt_bss -> dram0_bss ALIGN(4) ALIGN(4, post) SURROUND(bt_controller_bss),
-        bt_common -> dram0_bss ALIGN(4) ALIGN(4, post) SURROUND(bt_controller_common),
-        data -> dram0_data ALIGN(4) ALIGN(4, post) SURROUND(bt_controller_data)
-
-[mapping:nimble]
-archive: libnimble.a
-entries:
-    * (bt_start_end);
-        bt_bss -> dram0_bss ALIGN(4) ALIGN(4, post) SURROUND(nimble_bss),
-        bt_common -> dram0_bss ALIGN(4) ALIGN(4, post) SURROUND(nimble_common),
-        data -> dram0_data ALIGN(4) ALIGN(4, post) SURROUND(nimble_data)
diff --git a/components/bt/linker_common.lf b/components/bt/linker_common.lf
new file mode 100644
index 000000000000..501acd950542
--- /dev/null
+++ b/components/bt/linker_common.lf
@@ -0,0 +1,42 @@
+[sections:bt_bss]
+entries:
+    .bss+
+
+[sections:bt_common]
+entries:
+    COMMON
+
+[scheme:bt_default]
+entries:
+    bt_bss -> dram0_bss
+    bt_common -> dram0_bss
+    data -> dram0_data
+
+[scheme:bt_extram_bss]
+entries:
+    bt_bss -> extern_ram
+    bt_common -> extern_ram
+    data -> dram0_data
+
+# For the following fragments, order matters for
+# 'ALIGN(4) ALIGN(4, post) SURROUND(sym)', which generates:
+#
+#   . = ALIGN(4)
+#   _sym_start
+#   ...
+#   . = ALIGN(4)
+#   _sym_end
+
+[mapping:bt]
+archive: libbt.a
+entries:
+    if ESP_ALLOW_BSS_SEG_EXTERNAL_MEMORY = y:
+        * (bt_extram_bss);
+            bt_bss -> extern_ram ALIGN(4) ALIGN(4, post) SURROUND(bt_bss),
+            bt_common -> extern_ram ALIGN(4) ALIGN(4, post) SURROUND(bt_common),
+            data -> dram0_data  ALIGN(4) ALIGN(4, post) SURROUND(bt_data)
+    else:
+        * (bt_default);
+            bt_bss -> dram0_bss ALIGN(4) ALIGN(4, post) SURROUND(bt_bss),
+            bt_common -> dram0_bss ALIGN(4) ALIGN(4, post) SURROUND(bt_common),
+            data -> dram0_data  ALIGN(4) ALIGN(4, post) SURROUND(bt_data)
diff --git a/components/bt/linker.lf.esp32c2 b/components/bt/linker_esp32c2.lf
similarity index 66%
rename from components/bt/linker.lf.esp32c2
rename to components/bt/linker_esp32c2.lf
index 40d8a5630330..7178420a00a0 100644
--- a/components/bt/linker.lf.esp32c2
+++ b/components/bt/linker_esp32c2.lf
@@ -1,4 +1,4 @@
-[sections:bt_text]
+[sections:bt_iram_text]
 entries:
     .iram1+
 
@@ -17,9 +17,9 @@ entries:
 entries:
     COMMON
 
-[scheme:bt_start_end]
+[scheme:bt_default]
 entries:
-    bt_text -> iram0_bt_text
+    bt_iram_text -> iram0_bt_text
     bt_bss -> dram0_bt_bss
     bt_common -> dram0_bt_bss
     bt_data -> dram0_bt_data
@@ -36,25 +36,15 @@ entries:
 [mapping:bt]
 archive: libbt.a
 entries:
-    * (bt_start_end);
+    * (bt_default);
         bt_bss -> dram0_bt_bss ALIGN(4) ALIGN(4, post) SURROUND(bt_bss),
         bt_common -> dram0_bt_bss ALIGN(4) ALIGN(4, post) SURROUND(bt_common),
         bt_data -> dram0_bt_data  ALIGN(4) ALIGN(4, post) SURROUND(bt_data)
-    if ESP_ALLOW_BSS_SEG_EXTERNAL_MEMORY = y:
-        * (extram_bss)
 
-[mapping:btdm]
-archive: libbtdm_app.a
-entries:
-    * (bt_start_end);
-        bt_bss -> dram0_bt_bss ALIGN(4) ALIGN(4, post) SURROUND(btdm_bss),
-        bt_common -> dram0_bt_bss ALIGN(4) ALIGN(4, post) SURROUND(btdm_common),
-        bt_data -> dram0_bt_data ALIGN(4) ALIGN(4, post) SURROUND(btdm_data)
-
-[mapping:bt_controller]
+[mapping:ble_app]
 archive: libble_app.a
 entries:
-    * (bt_start_end);
+    * (bt_default);
         bt_bss -> dram0_bt_bss ALIGN(4) ALIGN(4, post) SURROUND(bt_controller_bss),
         bt_common -> dram0_bt_bss ALIGN(4) ALIGN(4, post) SURROUND(bt_controller_common),
         bt_data -> dram0_bt_data ALIGN(4) ALIGN(4, post) SURROUND(bt_controller_data)
diff --git a/components/bt/linker_esp_ble_controller.lf b/components/bt/linker_esp_ble_controller.lf
new file mode 100644
index 000000000000..fe8598112bed
--- /dev/null
+++ b/components/bt/linker_esp_ble_controller.lf
@@ -0,0 +1,7 @@
+[mapping:ble_app]
+archive: libble_app.a
+entries:
+    * (bt_default);
+        bt_bss -> dram0_bss ALIGN(4) ALIGN(4, post) SURROUND(bt_controller_bss),
+        bt_common -> dram0_bss ALIGN(4) ALIGN(4, post) SURROUND(bt_controller_common),
+        data -> dram0_data ALIGN(4) ALIGN(4, post) SURROUND(bt_controller_data)
diff --git a/components/bt/linker_rw_bt_controller.lf b/components/bt/linker_rw_bt_controller.lf
new file mode 100644
index 000000000000..083d6e90b799
--- /dev/null
+++ b/components/bt/linker_rw_bt_controller.lf
@@ -0,0 +1,7 @@
+[mapping:btdm]
+archive: libbtdm_app.a
+entries:
+    * (bt_default);
+        bt_bss -> dram0_bss ALIGN(4) ALIGN(4, post) SURROUND(bt_controller_bss),
+        bt_common -> dram0_bss ALIGN(4) ALIGN(4, post) SURROUND(bt_controller_common),
+        data -> dram0_data ALIGN(4) ALIGN(4, post) SURROUND(bt_controller_data)
diff --git a/components/bt/test_apps/.build-test-rules.yml b/components/bt/test_apps/.build-test-rules.yml
index f96777d2dabc..9b434736336d 100644
--- a/components/bt/test_apps/.build-test-rules.yml
+++ b/components/bt/test_apps/.build-test-rules.yml
@@ -1,8 +1,17 @@
 # Documentation: .gitlab/ci/README.md#manifest-file-to-control-the-buildtest-apps
 
-components/bt/test_apps:
+components/bt/test_apps/basic_unit_test:
   disable:
     - if: IDF_TARGET not in ["esp32", "esp32c3"]
       reason: Sufficient to run the tests on one chip of each architecture
   depends_components:
     - bt
+
+components/bt/test_apps/memory_release:
+  disable:
+    - if: IDF_TARGET not in ["esp32", "esp32c2"]
+    - if: CONFIG_NAME == "iram" and IDF_TARGET != "esp32c2"
+    - if: CONFIG_NAME == "psram" and SOC_SPIRAM_SUPPORTED != 1
+      reason: Sufficient to run the tests on one chip of each architecture
+  depends_components:
+    - bt
diff --git a/components/bt/test_apps/CMakeLists.txt b/components/bt/test_apps/basic_unit_test/CMakeLists.txt
similarity index 100%
rename from components/bt/test_apps/CMakeLists.txt
rename to components/bt/test_apps/basic_unit_test/CMakeLists.txt
diff --git a/components/bt/test_apps/README.md b/components/bt/test_apps/basic_unit_test/README.md
similarity index 100%
rename from components/bt/test_apps/README.md
rename to components/bt/test_apps/basic_unit_test/README.md
diff --git a/components/bt/test_apps/main/CMakeLists.txt b/components/bt/test_apps/basic_unit_test/main/CMakeLists.txt
similarity index 100%
rename from components/bt/test_apps/main/CMakeLists.txt
rename to components/bt/test_apps/basic_unit_test/main/CMakeLists.txt
diff --git a/components/bt/test_apps/main/test_bt_common.c b/components/bt/test_apps/basic_unit_test/main/test_bt_common.c
similarity index 100%
rename from components/bt/test_apps/main/test_bt_common.c
rename to components/bt/test_apps/basic_unit_test/main/test_bt_common.c
diff --git a/components/bt/test_apps/main/test_bt_main.c b/components/bt/test_apps/basic_unit_test/main/test_bt_main.c
similarity index 100%
rename from components/bt/test_apps/main/test_bt_main.c
rename to components/bt/test_apps/basic_unit_test/main/test_bt_main.c
diff --git a/components/bt/test_apps/main/test_smp.c b/components/bt/test_apps/basic_unit_test/main/test_smp.c
similarity index 100%
rename from components/bt/test_apps/main/test_smp.c
rename to components/bt/test_apps/basic_unit_test/main/test_smp.c
diff --git a/components/bt/test_apps/pytest_bt.py b/components/bt/test_apps/basic_unit_test/pytest_basic_unit_test.py
similarity index 77%
rename from components/bt/test_apps/pytest_bt.py
rename to components/bt/test_apps/basic_unit_test/pytest_basic_unit_test.py
index 74b0a76afc77..de3d235bb52e 100644
--- a/components/bt/test_apps/pytest_bt.py
+++ b/components/bt/test_apps/basic_unit_test/pytest_basic_unit_test.py
@@ -1,6 +1,5 @@
-# SPDX-FileCopyrightText: 2022-2023 Espressif Systems (Shanghai) CO LTD
+# SPDX-FileCopyrightText: 2022-2024 Espressif Systems (Shanghai) CO LTD
 # SPDX-License-Identifier: CC0-1.0
-
 import pytest
 from pytest_embedded import Dut
 
diff --git a/components/bt/test_apps/sdkconfig.defaults b/components/bt/test_apps/basic_unit_test/sdkconfig.defaults
similarity index 61%
rename from components/bt/test_apps/sdkconfig.defaults
rename to components/bt/test_apps/basic_unit_test/sdkconfig.defaults
index 5847dd3c63f5..dc2d7ca08b55 100644
--- a/components/bt/test_apps/sdkconfig.defaults
+++ b/components/bt/test_apps/basic_unit_test/sdkconfig.defaults
@@ -1,3 +1,2 @@
 CONFIG_BT_ENABLED=y
-CONFIG_UNITY_FREERTOS_STACK_SIZE=12288
 CONFIG_ESP_TASK_WDT_CHECK_IDLE_TASK_CPU0=n
diff --git a/components/bt/test_apps/memory_release/CMakeLists.txt b/components/bt/test_apps/memory_release/CMakeLists.txt
new file mode 100644
index 000000000000..f3d75bb43586
--- /dev/null
+++ b/components/bt/test_apps/memory_release/CMakeLists.txt
@@ -0,0 +1,5 @@
+# This is the project CMakeLists.txt file for the test subproject
+cmake_minimum_required(VERSION 3.16)
+
+include($ENV{IDF_PATH}/tools/cmake/project.cmake)
+project(test_bt_memory_release)
diff --git a/components/bt/test_apps/memory_release/README.md b/components/bt/test_apps/memory_release/README.md
new file mode 100644
index 000000000000..2975ce8f21cb
--- /dev/null
+++ b/components/bt/test_apps/memory_release/README.md
@@ -0,0 +1,4 @@
+| Supported Targets | ESP32 | ESP32-C2 |
+| ----------------- | ----- | -------- |
+
+This test app is used to test esp_bt_memory_release function
diff --git a/components/bt/test_apps/memory_release/main/CMakeLists.txt b/components/bt/test_apps/memory_release/main/CMakeLists.txt
new file mode 100644
index 000000000000..660eb5875dd2
--- /dev/null
+++ b/components/bt/test_apps/memory_release/main/CMakeLists.txt
@@ -0,0 +1,3 @@
+idf_component_register(SRCS "test_app_main.c"
+                       INCLUDE_DIRS "."
+                       PRIV_REQUIRES bt nvs_flash)
diff --git a/components/bt/test_apps/memory_release/main/test_app_main.c b/components/bt/test_apps/memory_release/main/test_app_main.c
new file mode 100644
index 000000000000..562d1d97ddd6
--- /dev/null
+++ b/components/bt/test_apps/memory_release/main/test_app_main.c
@@ -0,0 +1,131 @@
+/*
+ * SPDX-FileCopyrightText: 2015-2024 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+#include <stdio.h>
+#include <unistd.h>
+#include <assert.h>
+
+#include "esp_log.h"
+#include "nvs_flash.h"
+
+#include "multi_heap.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+
+#include "esp_bt.h"
+#include "nimble/nimble_port.h"
+#include "nimble/nimble_port_freertos.h"
+#include "host/ble_hs.h"
+#include "host/util/util.h"
+#include "services/gap/ble_svc_gap.h"
+
+#define FAIL() do { printf("FAILURE\n"); return; } while(0)
+
+extern uint8_t _bt_bss_start;
+extern uint8_t _bt_bss_end;
+extern uint8_t _bt_controller_bss_start;
+extern uint8_t _bt_controller_bss_end;
+
+extern void ble_store_config_init(void);
+
+static const char *tag = "MEM_RELEASE_APP";
+
+static void nimble_host_on_reset(int reason)
+{
+    ESP_LOGI(tag, "Resetting state; reason=%d", reason);
+}
+
+static void nimble_host_on_sync(void)
+{
+    ESP_LOGI(tag, "NimBLE host synchronized");
+}
+
+static void nimble_host_task_fn(void *param)
+{
+    ESP_LOGI(tag, "BLE Host Task Started");
+    /* This function will return only when nimble_port_stop() is executed */
+    nimble_port_run();
+
+    nimble_port_freertos_deinit();
+}
+
+static void bt_stack_init(void)
+{
+    esp_err_t ret = nimble_port_init();
+    ESP_ERROR_CHECK(ret);
+
+    /* Initialize the NimBLE host configuration. */
+    ble_hs_cfg.reset_cb = nimble_host_on_reset;
+    ble_hs_cfg.sync_cb = nimble_host_on_sync;
+    ble_hs_cfg.store_status_cb = ble_store_util_status_rr;
+
+    /* Set the default device name. */
+    int rc = ble_svc_gap_device_name_set(tag);
+    assert(rc == 0);
+
+    /* XXX Need to have template for store */
+    ble_store_config_init();
+
+    nimble_port_freertos_init(nimble_host_task_fn);
+}
+
+static void bt_stack_deinit(void)
+{
+    int rc = nimble_port_stop();
+    assert(rc == 0);
+
+    nimble_port_deinit();
+    ESP_LOGI(tag, "BLE Host Task Stopped");
+}
+
+void app_main(void)
+{
+    esp_err_t ret = ESP_OK;
+
+    /* Initialize NVS — it is used to store PHY calibration data */
+    ret = nvs_flash_init();
+    if (ret == ESP_ERR_NVS_NO_FREE_PAGES || ret == ESP_ERR_NVS_NEW_VERSION_FOUND) {
+        ESP_ERROR_CHECK(nvs_flash_erase());
+        ret = nvs_flash_init();
+    }
+    ESP_ERROR_CHECK(ret);
+
+    /* initialize and then deinitialize bluetooth stack */
+    bt_stack_init();
+
+    vTaskDelay(pdMS_TO_TICKS(200));
+
+    bt_stack_deinit();
+
+    /* Get the size of heap located in external RAM */
+    const uint32_t free_before = heap_caps_get_free_size(MALLOC_CAP_DEFAULT);
+    ESP_LOGI(tag, "Free size in external RAM heap: %"PRIu32, free_before);
+
+    /* Make sure at least one of the Bluetooth BSS section that can be used as a heap */
+    const uint32_t heap_size = sizeof(multi_heap_info_t);
+    const uint32_t bt_bss_size = &_bt_bss_end - &_bt_bss_start;
+    const uint32_t bt_ctrl_bss_size = &_bt_controller_bss_end - &_bt_controller_bss_start;
+
+    ESP_LOGI(tag, "bt_bss_size %"PRIu32", bt_ctrl_bss_size %"PRIu32, bt_bss_size, bt_ctrl_bss_size);
+    if (bt_bss_size < heap_size && bt_ctrl_bss_size < heap_size)
+    {
+        ESP_LOGW(tag, "Bluetooth BSS sections are too small!");
+        FAIL();
+    }
+
+    /* Release the BSS sections to use them as heap */
+    ret = esp_bt_mem_release(ESP_BT_MODE_BTDM);
+    ESP_ERROR_CHECK(ret);
+
+    /* Check that we have more available memory in the external RAM heap */
+    const uint32_t free_after = heap_caps_get_free_size(MALLOC_CAP_DEFAULT);
+    ESP_LOGI(tag, "Free size in external RAM after releasing: %"PRIu32, free_after);
+    if (free_after <= free_before) {
+        FAIL();
+    }
+    ESP_LOGI(tag, "Free heap size increased by %"PRIu32" bytes", free_after - free_before);
+
+    ESP_LOGI(tag, "SUCCESS");
+}
diff --git a/components/bt/test_apps/memory_release/pytest_memory_release.py b/components/bt/test_apps/memory_release/pytest_memory_release.py
new file mode 100644
index 000000000000..dbefc908a63c
--- /dev/null
+++ b/components/bt/test_apps/memory_release/pytest_memory_release.py
@@ -0,0 +1,15 @@
+# SPDX-FileCopyrightText: 2022-2024 Espressif Systems (Shanghai) CO LTD
+# SPDX-License-Identifier: Apache-2.0
+import pytest
+from pytest_embedded import Dut
+
+
+@pytest.mark.parametrize('config', [
+    pytest.param('default', marks=[pytest.mark.esp32, pytest.mark.esp32c2, pytest.mark.generic]),
+    pytest.param('iram', marks=[pytest.mark.esp32c2, pytest.mark.generic]),
+    pytest.param('psram', marks=[pytest.mark.esp32, pytest.mark.psram]),
+], indirect=True)
+def test_bt_memory_release(dut: Dut) -> None:
+    dut.expect_exact('BLE Host Task Started', timeout=6)
+    dut.expect_exact('BLE Host Task Stopped', timeout=8)
+    dut.expect_exact('SUCCESS', timeout=10)
diff --git a/components/bt/test_apps/memory_release/sdkconfig.ci.iram b/components/bt/test_apps/memory_release/sdkconfig.ci.iram
new file mode 100644
index 000000000000..36e7ceb92a90
--- /dev/null
+++ b/components/bt/test_apps/memory_release/sdkconfig.ci.iram
@@ -0,0 +1,2 @@
+CONFIG_ESP_SYSTEM_PMP_IDRAM_SPLIT=n
+CONFIG_BT_RELEASE_IRAM=y
diff --git a/components/bt/test_apps/memory_release/sdkconfig.ci.psram b/components/bt/test_apps/memory_release/sdkconfig.ci.psram
new file mode 100644
index 000000000000..4090a49eafab
--- /dev/null
+++ b/components/bt/test_apps/memory_release/sdkconfig.ci.psram
@@ -0,0 +1,2 @@
+CONFIG_SPIRAM=y
+CONFIG_SPIRAM_ALLOW_BSS_SEG_EXTERNAL_MEMORY=y
diff --git a/components/bt/test_apps/memory_release/sdkconfig.defaults b/components/bt/test_apps/memory_release/sdkconfig.defaults
new file mode 100644
index 000000000000..a22d8109d7d5
--- /dev/null
+++ b/components/bt/test_apps/memory_release/sdkconfig.defaults
@@ -0,0 +1,2 @@
+CONFIG_BT_ENABLED=y
+CONFIG_BT_NIMBLE_ENABLED=y