diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 41be53a8..86711f05 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -16,6 +16,10 @@ on:
     paths-ignore:
       - "**/*.md"
 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
+  cancel-in-progress: true
+
 jobs:
   build-bhaptics:
     name: Build ${{ matrix.target }} ${{ matrix.coverage && 'with coverage' || 'without coverage' }}, -D ${{ matrix.battery_flag }} -D ${{ matrix.nimble_flag }}
@@ -131,7 +135,7 @@ jobs:
       - name: Change memory segments
         if: matrix.coverage
         run: |
-          sed -i "s/len\s=\s0x2c200\s-\s0xdb5c/len = 2898880/" ~/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/ld/memory.ld
+          sed -i "s/len\s=\s0x2c200\s-\s0xdb5c/len = 2898880/" ~/.platformio/packages/framework-arduinoespressif32-libs/esp32/ld/memory.ld
           sed -i "/\[env\]/p; s/\[env\]/board_build.partitions = huge_app.csv/" platformio.ini
 
       - name: Build
@@ -271,7 +275,7 @@ jobs:
       - name: Change memory segments
         if: matrix.coverage
         run: |
-          sed -i "s/len\s=\s0x2c200\s-\s0xdb5c/len = 2898880/" ~/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/ld/memory.ld
+          sed -i "s/len\s=\s0x2c200\s-\s0xdb5c/len = 2898880/" ~/.platformio/packages/framework-arduinoespressif32-libs/esp32/ld/memory.ld
           sed -i "/\[env\]/p; s/\[env\]/board_build.partitions = huge_app.csv/" platformio.ini
 
       - name: Build
diff --git a/.github/workflows/codeql-analysis.yml b/.github/workflows/codeql-analysis.yml
index 93b31adf..9263ccb3 100644
--- a/.github/workflows/codeql-analysis.yml
+++ b/.github/workflows/codeql-analysis.yml
@@ -13,6 +13,10 @@ on:
   schedule:
     - cron: '0 16 * * 6'
 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
+  cancel-in-progress: true
+
 jobs:
   analyze:
     name: Analyze
diff --git a/.github/workflows/lint.yml b/.github/workflows/lint.yml
index 18755c7f..c2ef1716 100644
--- a/.github/workflows/lint.yml
+++ b/.github/workflows/lint.yml
@@ -14,6 +14,10 @@ on:
     paths-ignore:
       - '**/*.md'
 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
+  cancel-in-progress: true
+
 jobs:
   clang-format:
     name: clang-format - `${{ matrix.path }}`
diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml
index 12fe53c4..8515cd38 100644
--- a/.github/workflows/release.yml
+++ b/.github/workflows/release.yml
@@ -13,6 +13,10 @@ on:
     paths:
       - '.github/workflows/release.yml'
 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
+  cancel-in-progress: true
+
 jobs:
   build-bhaptics:
     runs-on: ubuntu-latest
diff --git a/.wokwi/lucidgloves-prototype4+serial/test.yaml b/.wokwi/lucidgloves-prototype4+serial/test.yaml
index d3a1f656..ed6807fb 100644
--- a/.wokwi/lucidgloves-prototype4+serial/test.yaml
+++ b/.wokwi/lucidgloves-prototype4+serial/test.yaml
@@ -3,7 +3,7 @@ version: 1
 author: Leonid Meleshin
 
 steps:
-    - delay: 2000ms
+    - delay: 3000ms
 
     # Press calibration button
     - set-control:
@@ -11,8 +11,9 @@ steps:
           control: pressed
           value: 1
 
-    - delay: 250ms
+    - delay: 500ms
 
+      # Release calibration button
     - set-control:
           part-id: btn3
           control: pressed
diff --git a/ini/bhaptics.ini b/ini/bhaptics.ini
index a9dc121b..7bcd9daf 100644
--- a/ini/bhaptics.ini
+++ b/ini/bhaptics.ini
@@ -1,7 +1,8 @@
 [bhaptics]
-platform          = platformio/espressif32@^6.1.0
+platform          = platformio/espressif32@^6.7.0
 platform_packages =
-    platformio/framework-arduinoespressif32@^3.20014.231204
+  framework-arduinoespressif32 @ https://github.com/espressif/arduino-esp32.git#3.0.2
+  framework-arduinoespressif32-libs @ https://github.com/espressif/arduino-esp32/releases/download/3.0.2/esp32-arduino-libs-3.0.2.zip
 framework         = arduino
 board             = esp32doit-devkit-v1
 upload_speed      = 921600
diff --git a/ini/opengloves.ini b/ini/opengloves.ini
index 763fa00f..bd89da7e 100644
--- a/ini/opengloves.ini
+++ b/ini/opengloves.ini
@@ -1,7 +1,8 @@
 [opengloves]
-platform          = platformio/espressif32@^6.1.0
+platform          = platformio/espressif32@^6.7.0
 platform_packages =
-    platformio/framework-arduinoespressif32@^3.20014.231204
+  framework-arduinoespressif32 @ https://github.com/espressif/arduino-esp32.git#3.0.2
+  framework-arduinoespressif32-libs @ https://github.com/espressif/arduino-esp32/releases/download/3.0.2/esp32-arduino-libs-3.0.2.zip
 framework         = arduino
 board             = esp32doit-devkit-v1
 upload_speed      = 921600
diff --git a/lib/arduino/library.json b/lib/arduino/library.json
index b906817b..844417f9 100644
--- a/lib/arduino/library.json
+++ b/lib/arduino/library.json
@@ -8,6 +8,6 @@
     "adafruit/Adafruit PWM Servo Driver Library": "^2.4.0",
     "adafruit/Adafruit INA219": "^1.2.1",
     "sparkfun/SparkFun MAX1704x Fuel Gauge Arduino Library": "^1.0.4",
-    "madhephaestus/ESP32Servo": "^1.1.2"
+    "madhephaestus/ESP32Servo": "^3.0.0"
   }
 }
diff --git a/lib/arduino_esp32/senseshift/arduino/output/ledc.hpp b/lib/arduino_esp32/senseshift/arduino/output/ledc.hpp
index 6c29efed..064890ba 100644
--- a/lib/arduino_esp32/senseshift/arduino/output/ledc.hpp
+++ b/lib/arduino_esp32/senseshift/arduino/output/ledc.hpp
@@ -20,13 +20,14 @@ namespace SenseShift::Arduino::Output {
         {
         }
 
+        ~LedcOutput() override { ledcDetach(this->pin_); }
+
         void init() override
         {
             pinMode(this->pin_, OUTPUT);
-            this->channel_ = findChannel(this->pin_);
 
             LOG_D(TAG, "GPIO %d - Setting up Channel %d", this->pin_, this->channel_);
-            if (ledcSetup(this->channel_, this->analog_frequency_, this->analog_resolution_) == 0) {
+            if (!ledcAttach(this->pin_, this->analog_frequency_, this->analog_resolution_)) {
                 LOG_E(
                   TAG,
                   "setup failed (freq = %u, resolution = %u). Try setting different resolution or frequency",
@@ -35,26 +36,19 @@ namespace SenseShift::Arduino::Output {
                 );
                 return;
             }
-            ledcAttachPin(this->pin_, this->channel_);
         }
 
-        [[nodiscard]] auto getMaxValue() const -> std::uint32_t { return (1 << analog_resolution_) - 1; }
+        [[nodiscard]] inline auto getMaxValue() const -> std::uint32_t { return (1 << this->analog_resolution_) - 1; }
 
         void writeState(const float value) override
         {
             const auto duty = static_cast<std::uint32_t>(value * this->getMaxValue());
             LOG_V(TAG, "GPIO %d - Writing %d to Channel %d", this->pin_, duty, this->channel_);
-            ledcWrite(this->channel_, duty);
+            ledcWrite(this->pin_, duty);
         };
 
-      protected:
-        static auto findChannel(std::uint8_t /*pin*/) -> std::int8_t { return CHANNELS++; }
-
       private:
-        static inline std::uint8_t CHANNELS = 0;
-
         std::uint8_t pin_;
-        std::int8_t channel_ = -1;
         std::uint8_t analog_resolution_;
         std::uint32_t analog_frequency_;
     };
diff --git a/lib/bhaptics_ble/senseshift/bh/ble/connection.cpp b/lib/bhaptics_ble/senseshift/bh/ble/connection.cpp
index 0fd40054..f926a314 100644
--- a/lib/bhaptics_ble/senseshift/bh/ble/connection.cpp
+++ b/lib/bhaptics_ble/senseshift/bh/ble/connection.cpp
@@ -103,9 +103,10 @@ namespace SenseShift::BH::BLE {
 
         void onWrite(BLECharacteristic* pCharacteristic) override
         {
-            std::string value = pCharacteristic->getValue();
+            auto value = pCharacteristic->getValue();
+            std::string valueStr(value.begin(), value.end());
 
-            this->motorTransformer(value);
+            this->motorTransformer(valueStr);
         };
     };
 
diff --git a/lib/bhaptics_ble/senseshift/bh/ble/connection.hpp b/lib/bhaptics_ble/senseshift/bh/ble/connection.hpp
index c35810b4..ebba352b 100644
--- a/lib/bhaptics_ble/senseshift/bh/ble/connection.hpp
+++ b/lib/bhaptics_ble/senseshift/bh/ble/connection.hpp
@@ -20,7 +20,11 @@ namespace SenseShift::BH::BLE {
     struct ConnectionConfig {
         static constexpr size_t SN_LENGTH = 10;
 
+#if defined(SS_BLE_USE_NIMBLE) && SS_BLE_USE_NIMBLE == true
         std::string deviceName;
+#else
+        String deviceName;
+#endif
         uint16_t appearance;
         uint8_t serialNumber[SN_LENGTH];
     };
diff --git a/lib/ble_serial/BLESerial.hpp b/lib/ble_serial/BLESerial.hpp
index 090ecb75..de7c1d7b 100644
--- a/lib/ble_serial/BLESerial.hpp
+++ b/lib/ble_serial/BLESerial.hpp
@@ -237,7 +237,7 @@ class BLESerialCharacteristicCallbacks : public BLECharacteristicCallbacks {
             return;
         }
 
-        std::string rxValue = pCharacteristic->getValue();
+        auto rxValue = pCharacteristic->getValue();
         for (int i = 0; i < rxValue.length(); i++) {
             bleSerial->m_receiveBuffer.push(rxValue[i]);
         }
diff --git a/platformio.ini b/platformio.ini
index fb8423bb..cd54ac00 100644
--- a/platformio.ini
+++ b/platformio.ini
@@ -30,6 +30,7 @@ build_flags   =
 ;   -D DEBUG_ESP_PORT=Serial
 ;   -D SS_BATTERY_ENABLED=true
 ;   -D SS_BLE_USE_NIMBLE=true
+    -D SOC_WIFI_SUPPORTED=1
 
 build_src_filter =
     +<*>