diff --git a/boards.txt b/boards.txt
index e0523a326fe..92d6ae599c2 100644
--- a/boards.txt
+++ b/boards.txt
@@ -531,7 +531,15 @@ esp32h2.menu.ZigbeeMode.zczr.build.zigbee_libs=-lesp_zb_api_zczr -lesp_zb_cli_co
 esp32h2.menu.ZigbeeMode.rcp=Zigbee RCP (radio co-processor)
 esp32h2.menu.ZigbeeMode.rcp.build.zigbee_mode=-DZIGBEE_MODE_RCP
 esp32h2.menu.ZigbeeMode.rcp.build.zigbee_libs=-lesp_zb_api_rcp -lesp_zb_cli_command -lzboss_stack.rcp -lzboss_port
-
+esp32h2.menu.ZigbeeMode.ed_debug=Zigbee ED (end device) - Debug
+esp32h2.menu.ZigbeeMode.ed_debug.build.zigbee_mode=-DZIGBEE_MODE_ED
+esp32h2.menu.ZigbeeMode.ed_debug.build.zigbee_libs=-lesp_zb_api_ed.debug -lesp_zb_cli_command -lzboss_stack.ed.debug -lzboss_port.debug
+esp32h2.menu.ZigbeeMode.zczr_debug=Zigbee ZCZR (coordinator/router) - Debug
+esp32h2.menu.ZigbeeMode.zczr_debug.build.zigbee_mode=-DZIGBEE_MODE_ZCZR
+esp32h2.menu.ZigbeeMode.zczr_debug.build.zigbee_libs=-lesp_zb_api_zczr.debug -lesp_zb_cli_command -lzboss_stack.zczr.debug -lzboss_port.debug
+esp32h2.menu.ZigbeeMode.rcp_debug=Zigbee RCP (radio co-processor) - Debug
+esp32h2.menu.ZigbeeMode.rcp_debug.build.zigbee_mode=-DZIGBEE_MODE_RCP
+esp32h2.menu.ZigbeeMode.rcp_debug.build.zigbee_libs=-lesp_zb_api_rcp.debug -lesp_zb_cli_command -lzboss_stack.rcp.debug -lzboss_port.debug
 
 ##############################################################
 
@@ -723,6 +731,15 @@ esp32c6.menu.ZigbeeMode.zczr.build.zigbee_libs=-lesp_zb_api_zczr -lesp_zb_cli_co
 esp32c6.menu.ZigbeeMode.rcp=Zigbee RCP (radio co-processor)
 esp32c6.menu.ZigbeeMode.rcp.build.zigbee_mode=-DZIGBEE_MODE_RCP
 esp32c6.menu.ZigbeeMode.rcp.build.zigbee_libs=-lesp_zb_api_rcp -lesp_zb_cli_command -lzboss_stack.rcp -lzboss_port
+esp32c6.menu.ZigbeeMode.ed_debug=Zigbee ED (end device) - Debug
+esp32c6.menu.ZigbeeMode.ed_debug.build.zigbee_mode=-DZIGBEE_MODE_ED
+esp32c6.menu.ZigbeeMode.ed_debug.build.zigbee_libs=-lesp_zb_api_ed.debug -lesp_zb_cli_command -lzboss_stack.ed.debug -lzboss_port.debug
+esp32c6.menu.ZigbeeMode.zczr_debug=Zigbee ZCZR (coordinator/router) - Debug
+esp32c6.menu.ZigbeeMode.zczr_debug.build.zigbee_mode=-DZIGBEE_MODE_ZCZR
+esp32c6.menu.ZigbeeMode.zczr_debug.build.zigbee_libs=-lesp_zb_api_zczr.debug -lesp_zb_cli_command -lzboss_stack.zczr.debug -lzboss_port.debug
+esp32c6.menu.ZigbeeMode.rcp_debug=Zigbee RCP (radio co-processor) - Debug
+esp32c6.menu.ZigbeeMode.rcp_debug.build.zigbee_mode=-DZIGBEE_MODE_RCP
+esp32c6.menu.ZigbeeMode.rcp_debug.build.zigbee_libs=-lesp_zb_api_rcp.debug -lesp_zb_cli_command -lzboss_stack.rcp.debug -lzboss_port.debug
 
 ##############################################################
 
diff --git a/cores/esp32/esp32-hal-uart.c b/cores/esp32/esp32-hal-uart.c
index fb8444484dd..34a2660e3a3 100644
--- a/cores/esp32/esp32-hal-uart.c
+++ b/cores/esp32/esp32-hal-uart.c
@@ -33,8 +33,8 @@
 #include "hal/gpio_hal.h"
 #include "esp_rom_gpio.h"
 
-static int s_uart_debug_nr = 0;  // UART number for debug output
-#define REF_TICK_BAUDRATE_LIMIT 250000 // this is maximum UART badrate using REF_TICK as clock
+static int s_uart_debug_nr = 0;         // UART number for debug output
+#define REF_TICK_BAUDRATE_LIMIT 250000  // this is maximum UART badrate using REF_TICK as clock
 
 struct uart_struct_t {
 
diff --git a/libraries/AsyncUDP/keywords.txt b/libraries/AsyncUDP/keywords.txt
index 67c0b97a715..1401ea66c72 100644
--- a/libraries/AsyncUDP/keywords.txt
+++ b/libraries/AsyncUDP/keywords.txt
@@ -8,6 +8,7 @@
 
 AsyncUDP	KEYWORD1
 AsyncUDPPacket	KEYWORD1
+AsyncUDPMessage	KEYWORD1
 
 #######################################
 # Methods and Functions (KEYWORD2)
@@ -19,6 +20,21 @@ listen	KEYWORD2
 listenMulticast	KEYWORD2
 close	KEYWORD2
 write	KEYWORD2
+space	KEYWORD2
+flush	KEYWORD2
+isBroadcast	KEYWORD2
+isMulticast	KEYWORD2
+isIPv6	KEYWORD2
+interface	KEYWORD2
+localIPv6	KEYWORD2
+remoteIPv6	KEYWORD2
+remoteMac	KEYWORD2
+send	KEYWORD2
+peek	KEYWORD2
+available	KEYWORD2
+writeTo	KEYWORD2
+broadcastTo	KEYWORD2
+sendTo	KEYWORD2
 broadcast	KEYWORD2
 onPacket	KEYWORD2
 data	KEYWORD2
@@ -27,7 +43,17 @@ localIP	KEYWORD2
 localPort	KEYWORD2
 remoteIP	KEYWORD2
 remotePort	KEYWORD2
+listenIP	KEYWORD2
+listenIPv6	KEYWORD2
+lastErr	KEYWORD2
+_s_recv	KEYWORD2
 
 #######################################
 # Constants (LITERAL1)
 #######################################
+
+TCPIP_ADAPTER_IF_STA	LITERAL1
+TCPIP_ADAPTER_IF_STA	LITERAL1
+TCPIP_ADAPTER_IF_AP	LITERAL1
+TCPIP_ADAPTER_IF_ETH	LITERAL1
+TCPIP_ADAPTER_IF_PPP	LITERAL1
diff --git a/libraries/Matter/examples/MatterMinimum/MatterMinimum.ino b/libraries/Matter/examples/MatterMinimum/MatterMinimum.ino
new file mode 100644
index 00000000000..719c91db23b
--- /dev/null
+++ b/libraries/Matter/examples/MatterMinimum/MatterMinimum.ino
@@ -0,0 +1,81 @@
+// Copyright 2024 Espressif Systems (Shanghai) PTE LTD
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+/*
+ * This example is the smallest code that will create a Matter Device which can be
+ * commissioned and controlled from a Matter Environment APP.
+ * It controls a GPIO that could be attached to a LED for visualization.
+ * Additionally the ESP32 will send debug messages indicating the Matter activity.
+ * Turning DEBUG Level ON may be useful to following Matter Accessory and Controller messages.
+ */
+
+// Matter Manager
+#include <Matter.h>
+#include <WiFi.h>
+
+// List of Matter Endpoints for this Node
+// Single On/Off Light Endpoint - at least one per node
+MatterOnOffLight OnOffLight;
+
+// Light GPIO that can be controlled by Matter APP
+#ifdef LED_BUILTIN
+const uint8_t ledPin = LED_BUILTIN;
+#else
+const uint8_t ledPin = 2;  // Set your pin here if your board has not defined LED_BUILTIN
+#endif
+
+// Matter Protocol Endpoint (On/OFF Light) Callback
+bool matterCB(bool state) {
+  digitalWrite(ledPin, state ? HIGH : LOW);
+  // This callback must return the success state to Matter core
+  return true;
+}
+
+// WiFi is manually set and started
+const char *ssid = "your-ssid";          // Change this to your WiFi SSID
+const char *password = "your-password";  // Change this to your WiFi password
+
+void setup() {
+  // Initialize the LED GPIO
+  pinMode(ledPin, OUTPUT);
+
+  WiFi.enableIPv6(true);
+  // Manually connect to WiFi
+  WiFi.begin(ssid, password);
+  // Wait for connection
+  while (WiFi.status() != WL_CONNECTED) {
+    delay(500);
+  }
+
+  // Initialize at least one Matter EndPoint
+  OnOffLight.begin();
+
+  // Associate a callback to the Matter Controller
+  OnOffLight.onChange(matterCB);
+
+  // Matter beginning - Last step, after all EndPoints are initialized
+  Matter.begin();
+
+  if (!Matter.isDeviceCommissioned()) {
+    log_i("Matter Node is not commissioned yet.");
+    log_i("Initiate the device discovery in your Matter environment.");
+    log_i("Commission it to your Matter hub with the manual pairing code or QR code");
+    log_i("Manual pairing code: %s\r\n", Matter.getManualPairingCode().c_str());
+    log_i("QR code URL: %s\r\n", Matter.getOnboardingQRCodeUrl().c_str());
+  }
+}
+
+void loop() {
+  delay(500);
+}
diff --git a/libraries/Matter/examples/MatterMinimum/ci.json b/libraries/Matter/examples/MatterMinimum/ci.json
new file mode 100644
index 00000000000..556a8a9ee6b
--- /dev/null
+++ b/libraries/Matter/examples/MatterMinimum/ci.json
@@ -0,0 +1,7 @@
+{
+  "fqbn_append": "PartitionScheme=huge_app",
+  "requires": [
+    "CONFIG_SOC_WIFI_SUPPORTED=y",
+    "CONFIG_ESP_MATTER_ENABLE_DATA_MODEL=y"
+  ]
+}
diff --git a/libraries/Update/src/Update.h b/libraries/Update/src/Update.h
index 5e9323fa138..67189da2f02 100644
--- a/libraries/Update/src/Update.h
+++ b/libraries/Update/src/Update.h
@@ -7,7 +7,9 @@
 #ifndef ESP32UPDATER_H
 #define ESP32UPDATER_H
 
+#ifndef UPDATE_NOCRYPT
 #define UPDATE_NOCRYPT
+#endif
 
 #include <Arduino.h>
 #include <MD5Builder.h>
@@ -145,11 +147,13 @@ class UpdateClass {
       sets the expected MD5 for the firmware (hexString)
       If calc_post_decryption is true, the update library will calculate the MD5 after the decryption, if false the calculation occurs before the decryption
     */
-  bool setMD5(const char *expected_md5
+  bool setMD5(
+    const char *expected_md5
 #ifndef UPDATE_NOCRYPT
-, bool calc_post_decryption = true
+    ,
+    bool calc_post_decryption = true
 #endif /* #ifdef UPDATE_NOCRYPT */
-);
+  );
 
   /*
       returns the MD5 String of the successfully ended firmware
diff --git a/libraries/Update/src/Updater.cpp b/libraries/Update/src/Updater.cpp
index 6f4d3c08210..3b0c517431d 100644
--- a/libraries/Update/src/Updater.cpp
+++ b/libraries/Update/src/Updater.cpp
@@ -73,13 +73,15 @@ bool UpdateClass::_enablePartition(const esp_partition_t *partition) {
 UpdateClass::UpdateClass()
   : _error(0),
 #ifndef UPDATE_NOCRYPT
-_cryptKey(0), _cryptBuffer(0),
+    _cryptKey(0), _cryptBuffer(0),
 #endif /* UPDATE_NOCRYPT */
-_buffer(0), _skipBuffer(0), _bufferLen(0), _size(0), _progress_callback(NULL), _progress(0), _paroffset(0), _command(U_FLASH), _partition(NULL)
+    _buffer(0), _skipBuffer(0), _bufferLen(0), _size(0), _progress_callback(NULL), _progress(0), _paroffset(0), _command(U_FLASH), _partition(NULL)
 #ifndef UPDATE_NOCRYPT
-, _cryptMode(U_AES_DECRYPT_AUTO), _cryptAddress(0), _cryptCfg(0xf)
+    ,
+    _cryptMode(U_AES_DECRYPT_AUTO), _cryptAddress(0), _cryptCfg(0xf)
 #endif /* UPDATE_NOCRYPT */
-{}
+{
+}
 
 UpdateClass &UpdateClass::onProgress(THandlerFunction_Progress fn) {
   _progress_callback = fn;
@@ -378,7 +380,7 @@ bool UpdateClass::_writeBuffer() {
       return false;
     }
   }
-  #endif /* UPDATE_NOCRYPT */
+#endif /* UPDATE_NOCRYPT */
   //first bytes of new firmware
   uint8_t skip = 0;
   if (!_progress && _command == U_FLASH) {
@@ -476,9 +478,11 @@ bool UpdateClass::_verifyEnd() {
   return false;
 }
 
-bool UpdateClass::setMD5(const char *expected_md5
+bool UpdateClass::setMD5(
+  const char *expected_md5
 #ifndef UPDATE_NOCRYPT
-,bool calc_post_decryption
+  ,
+  bool calc_post_decryption
 #endif /* UPDATE_NOCRYPT */
 ) {
   if (strlen(expected_md5) != 32) {
diff --git a/libraries/Zigbee/examples/Zigbee_Color_Dimmable_Light/Zigbee_Color_Dimmable_Light.ino b/libraries/Zigbee/examples/Zigbee_Color_Dimmable_Light/Zigbee_Color_Dimmable_Light.ino
index 7acf6e362df..7ff7a020632 100644
--- a/libraries/Zigbee/examples/Zigbee_Color_Dimmable_Light/Zigbee_Color_Dimmable_Light.ino
+++ b/libraries/Zigbee/examples/Zigbee_Color_Dimmable_Light/Zigbee_Color_Dimmable_Light.ino
@@ -64,6 +64,11 @@ void identify(uint16_t time) {
 
 /********************* Arduino functions **************************/
 void setup() {
+  Serial.begin(115200);
+  while (!Serial) {
+    delay(10);
+  }
+
   // Init RMT and leave light OFF
   rgbLedWrite(LED_PIN, 0, 0, 0);
 
@@ -80,12 +85,21 @@ void setup() {
   zbColorLight.setManufacturerAndModel("Espressif", "ZBColorLightBulb");
 
   // Add endpoint to Zigbee Core
-  log_d("Adding ZigbeeLight endpoint to Zigbee Core");
+  Serial.println("Adding ZigbeeLight endpoint to Zigbee Core");
   Zigbee.addEndpoint(&zbColorLight);
 
-  // When all EPs are registered, start Zigbee. By default acts as ZIGBEE_END_DEVICE
-  log_d("Calling Zigbee.begin()");
-  Zigbee.begin();
+  // When all EPs are registered, start Zigbee in End Device mode
+  if (!Zigbee.begin()) {
+    Serial.println("Zigbee failed to start!");
+    Serial.println("Rebooting...");
+    ESP.restart();
+  }
+  Serial.println("Connecting to network");
+  while (!Zigbee.connected()) {
+    Serial.print(".");
+    delay(100);
+  }
+  Serial.println();
 }
 
 void loop() {
@@ -98,7 +112,8 @@ void loop() {
       delay(50);
       if ((millis() - startTime) > 3000) {
         // If key pressed for more than 3secs, factory reset Zigbee and reboot
-        Serial.printf("Resetting Zigbee to factory settings, reboot.\n");
+        Serial.println("Resetting Zigbee to factory and rebooting in 1s.");
+        delay(1000);
         Zigbee.factoryReset();
       }
     }
diff --git a/libraries/Zigbee/examples/Zigbee_Color_Dimmer_Switch/Zigbee_Color_Dimmer_Switch.ino b/libraries/Zigbee/examples/Zigbee_Color_Dimmer_Switch/Zigbee_Color_Dimmer_Switch.ino
index 6d6c7b163dd..00e3cd170ef 100644
--- a/libraries/Zigbee/examples/Zigbee_Color_Dimmer_Switch/Zigbee_Color_Dimmer_Switch.ino
+++ b/libraries/Zigbee/examples/Zigbee_Color_Dimmer_Switch/Zigbee_Color_Dimmer_Switch.ino
@@ -46,7 +46,6 @@ ZigbeeColorDimmerSwitch zbSwitch = ZigbeeColorDimmerSwitch(SWITCH_ENDPOINT_NUMBE
 
 /********************* Arduino functions **************************/
 void setup() {
-
   Serial.begin(115200);
   while (!Serial) {
     delay(10);
@@ -68,11 +67,15 @@ void setup() {
   Zigbee.setRebootOpenNetwork(180);
 
   //When all EPs are registered, start Zigbee with ZIGBEE_COORDINATOR mode
-  Zigbee.begin(ZIGBEE_COORDINATOR);
+  if (!Zigbee.begin(ZIGBEE_COORDINATOR)) {
+    Serial.println("Zigbee failed to start!");
+    Serial.println("Rebooting...");
+    ESP.restart();
+  }
 
   Serial.println("Waiting for Light to bound to the switch");
   //Wait for switch to bound to a light:
-  while (!zbSwitch.isBound()) {
+  while (!zbSwitch.bound()) {
     Serial.printf(".");
     delay(500);
   }
diff --git a/libraries/Zigbee/examples/Zigbee_On_Off_Light/Zigbee_On_Off_Light.ino b/libraries/Zigbee/examples/Zigbee_On_Off_Light/Zigbee_On_Off_Light.ino
index 53d43895365..92c59044cae 100644
--- a/libraries/Zigbee/examples/Zigbee_On_Off_Light/Zigbee_On_Off_Light.ino
+++ b/libraries/Zigbee/examples/Zigbee_On_Off_Light/Zigbee_On_Off_Light.ino
@@ -45,6 +45,10 @@ void setLED(bool value) {
 
 /********************* Arduino functions **************************/
 void setup() {
+  Serial.begin(115200);
+  while (!Serial) {
+    delay(10);
+  }
   // Init LED and turn it OFF (if LED_PIN == RGB_BUILTIN, the rgbLedWrite() will be used under the hood)
   pinMode(LED_PIN, OUTPUT);
   digitalWrite(LED_PIN, LOW);
@@ -59,12 +63,21 @@ void setup() {
   zbLight.onLightChange(setLED);
 
   //Add endpoint to Zigbee Core
-  log_d("Adding ZigbeeLight endpoint to Zigbee Core");
+  Serial.println("Adding ZigbeeLight endpoint to Zigbee Core");
   Zigbee.addEndpoint(&zbLight);
 
   // When all EPs are registered, start Zigbee. By default acts as ZIGBEE_END_DEVICE
-  log_d("Calling Zigbee.begin()");
-  Zigbee.begin();
+  if (!Zigbee.begin()) {
+    Serial.println("Zigbee failed to start!");
+    Serial.println("Rebooting...");
+    ESP.restart();
+  }
+  Serial.println("Connecting to network");
+  while (!Zigbee.connected()) {
+    Serial.print(".");
+    delay(100);
+  }
+  Serial.println();
 }
 
 void loop() {
@@ -77,7 +90,8 @@ void loop() {
       delay(50);
       if ((millis() - startTime) > 3000) {
         // If key pressed for more than 3secs, factory reset Zigbee and reboot
-        Serial.printf("Resetting Zigbee to factory settings, reboot.\n");
+        Serial.println("Resetting Zigbee to factory and rebooting in 1s.");
+        delay(1000);
         Zigbee.factoryReset();
       }
     }
diff --git a/libraries/Zigbee/examples/Zigbee_On_Off_Switch/Zigbee_On_Off_Switch.ino b/libraries/Zigbee/examples/Zigbee_On_Off_Switch/Zigbee_On_Off_Switch.ino
index 69cf6654a41..e38734a052a 100644
--- a/libraries/Zigbee/examples/Zigbee_On_Off_Switch/Zigbee_On_Off_Switch.ino
+++ b/libraries/Zigbee/examples/Zigbee_On_Off_Switch/Zigbee_On_Off_Switch.ino
@@ -70,6 +70,7 @@ ZigbeeSwitch zbSwitch = ZigbeeSwitch(SWITCH_ENDPOINT_NUMBER);
 static void onZbButton(SwitchData *button_func_pair) {
   if (button_func_pair->func == SWITCH_ONOFF_TOGGLE_CONTROL) {
     // Send toggle command to the light
+    Serial.println("Toggling light");
     zbSwitch.lightToggle();
   }
 }
@@ -93,7 +94,6 @@ static void enableGpioInterrupt(bool enabled) {
 
 /********************* Arduino functions **************************/
 void setup() {
-
   Serial.begin(115200);
   while (!Serial) {
     delay(10);
@@ -106,7 +106,7 @@ void setup() {
   zbSwitch.allowMultipleBinding(true);
 
   //Add endpoint to Zigbee Core
-  log_d("Adding ZigbeeSwitch endpoint to Zigbee Core");
+  Serial.println("Adding ZigbeeSwitch endpoint to Zigbee Core");
   Zigbee.addEndpoint(&zbSwitch);
 
   //Open network for 180 seconds after boot
@@ -118,19 +118,22 @@ void setup() {
     /* create a queue to handle gpio event from isr */
     gpio_evt_queue = xQueueCreate(10, sizeof(SwitchData));
     if (gpio_evt_queue == 0) {
-      log_e("Queue was not created and must not be used");
-      while (1);
+      Serial.println("Queue creating failed, rebooting...");
+      ESP.restart();
     }
     attachInterruptArg(buttonFunctionPair[i].pin, onGpioInterrupt, (void *)(buttonFunctionPair + i), FALLING);
   }
 
   // When all EPs are registered, start Zigbee with ZIGBEE_COORDINATOR mode
-  log_d("Calling Zigbee.begin()");
-  Zigbee.begin(ZIGBEE_COORDINATOR);
+  if (!Zigbee.begin(ZIGBEE_COORDINATOR)) {
+    Serial.println("Zigbee failed to start!");
+    Serial.println("Rebooting...");
+    ESP.restart();
+  }
 
   Serial.println("Waiting for Light to bound to the switch");
   //Wait for switch to bound to a light:
-  while (!zbSwitch.isBound()) {
+  while (!zbSwitch.bound()) {
     Serial.printf(".");
     delay(500);
   }
diff --git a/libraries/Zigbee/examples/Zigbee_Scan_Networks/Zigbee_Scan_Networks.ino b/libraries/Zigbee/examples/Zigbee_Scan_Networks/Zigbee_Scan_Networks.ino
index 7d59fb2907d..c3a74e0aee5 100644
--- a/libraries/Zigbee/examples/Zigbee_Scan_Networks/Zigbee_Scan_Networks.ino
+++ b/libraries/Zigbee/examples/Zigbee_Scan_Networks/Zigbee_Scan_Networks.ino
@@ -32,7 +32,7 @@
 #include "Zigbee.h"
 
 #ifdef ZIGBEE_MODE_ZCZR
-zigbee_role_t role = ZIGBEE_ROUTER;  // or can be ZIGBEE_COORDINATOR, but it wont scan itself
+zigbee_role_t role = ZIGBEE_ROUTER;  // or can be ZIGBEE_COORDINATOR, but it won't scan itself
 #else
 zigbee_role_t role = ZIGBEE_END_DEVICE;
 #endif
@@ -81,14 +81,13 @@ void setup() {
   }
 
   // Initialize Zigbee stack without any EPs just for scanning
-  Zigbee.begin(role);
-
-  // Waint until Zigbee stack is ready
-  while (!Zigbee.isStarted()) {
-    delay(100);
+  if (!Zigbee.begin(role)) {
+    Serial.println("Zigbee failed to start!");
+    Serial.println("Rebooting...");
+    ESP.restart();
   }
 
-  Serial.println("Setup done");
+  Serial.println("Setup done, starting Zigbee network scan...");
   // Start Zigbee Network Scan with default parameters (all channels, scan time 5)
   Zigbee.scanNetworks();
 }
@@ -98,7 +97,7 @@ void loop() {
   int16_t ZigbeeScanStatus = Zigbee.scanComplete();
   if (ZigbeeScanStatus < 0) {  // it is busy scanning or got an error
     if (ZigbeeScanStatus == ZB_SCAN_FAILED) {
-      Serial.println("WiFi Scan has failed. Starting again.");
+      Serial.println("Zigbee scan has failed. Starting again.");
       Zigbee.scanNetworks();
     }
     // other option is status ZB_SCAN_RUNNING - just wait.
diff --git a/libraries/Zigbee/examples/Zigbee_Temp_Hum_Sensor_Sleepy/Zigbee_Temp_Hum_Sensor_Sleepy.ino b/libraries/Zigbee/examples/Zigbee_Temp_Hum_Sensor_Sleepy/Zigbee_Temp_Hum_Sensor_Sleepy.ino
index 530995a8427..e13e6a877a6 100644
--- a/libraries/Zigbee/examples/Zigbee_Temp_Hum_Sensor_Sleepy/Zigbee_Temp_Hum_Sensor_Sleepy.ino
+++ b/libraries/Zigbee/examples/Zigbee_Temp_Hum_Sensor_Sleepy/Zigbee_Temp_Hum_Sensor_Sleepy.ino
@@ -27,7 +27,7 @@
  */
 
 #ifndef ZIGBEE_MODE_ED
-#error "Zigbee coordinator mode is not selected in Tools->Zigbee mode"
+#error "Zigbee end device mode is not selected in Tools->Zigbee mode"
 #endif
 
 #include "Zigbee.h"
@@ -56,14 +56,19 @@ void meausureAndSleep() {
   zbTempSensor.reportTemperature();
   zbTempSensor.reportHumidity();
 
-  log_d("Temperature: %.2f°C, Humidity: %.2f%", temperature, humidity);
+  Serial.printf("Reported temperature: %.2f°C, Humidity: %.2f%%\r\n", temperature, humidity);
 
   // Put device to deep sleep
+  Serial.println("Going to sleep now");
   esp_deep_sleep_start();
 }
 
 /********************* Arduino functions **************************/
 void setup() {
+  Serial.begin(115200);
+  while (!Serial) {
+    delay(10);
+  }
   // Init button switch
   pinMode(BUTTON_PIN, INPUT_PULLUP);
 
@@ -94,14 +99,20 @@ void setup() {
   zigbeeConfig.nwk_cfg.zed_cfg.keep_alive = 10000;
 
   // When all EPs are registered, start Zigbee in End Device mode
-  Zigbee.begin(&zigbeeConfig, false);
-
-  // Wait for Zigbee to start
-  while (!Zigbee.isStarted()) {
+  if (!Zigbee.begin(&zigbeeConfig, false)) {
+    Serial.println("Zigbee failed to start!");
+    Serial.println("Rebooting...");
+    ESP.restart();
+  }
+  Serial.println("Connecting to network");
+  while (!Zigbee.connected()) {
+    Serial.print(".");
     delay(100);
   }
+  Serial.println();
+  Serial.println("Successfully connected to Zigbee network");
 
-  // Delay 5s to allow establishing connection with coordinator, needed for sleepy devices
+  // Delay 5s (may be adjusted) to allow establishing proper connection with coordinator, needed for sleepy devices
   delay(5000);
 }
 
@@ -115,7 +126,8 @@ void loop() {
       delay(50);
       if ((millis() - startTime) > 3000) {
         // If key pressed for more than 3secs, factory reset Zigbee and reboot
-        Zigbee.factoryReset();
+        Serial.println("Resetting Zigbee to factory and rebooting in 1s.");
+        delay(1000);
       }
     }
   }
diff --git a/libraries/Zigbee/examples/Zigbee_Temperature_Sensor/Zigbee_Temperature_Sensor.ino b/libraries/Zigbee/examples/Zigbee_Temperature_Sensor/Zigbee_Temperature_Sensor.ino
index c5ca00decd6..255b074265e 100644
--- a/libraries/Zigbee/examples/Zigbee_Temperature_Sensor/Zigbee_Temperature_Sensor.ino
+++ b/libraries/Zigbee/examples/Zigbee_Temperature_Sensor/Zigbee_Temperature_Sensor.ino
@@ -27,7 +27,7 @@
  */
 
 #ifndef ZIGBEE_MODE_ED
-#error "Zigbee coordinator mode is not selected in Tools->Zigbee mode"
+#error "Zigbee end device mode is not selected in Tools->Zigbee mode"
 #endif
 
 #include "Zigbee.h"
@@ -42,7 +42,7 @@ static void temp_sensor_value_update(void *arg) {
   for (;;) {
     // Read temperature sensor value
     float tsens_value = temperatureRead();
-    log_v("Temperature sensor value: %.2f°C", tsens_value);
+    Serial.printf("Updated temperature sensor value to %.2f°C\r\n", tsens_value);
     // Update temperature value in Temperature sensor EP
     zbTempSensor.setTemperature(tsens_value);
     delay(1000);
@@ -51,12 +51,10 @@ static void temp_sensor_value_update(void *arg) {
 
 /********************* Arduino functions **************************/
 void setup() {
-
   Serial.begin(115200);
   while (!Serial) {
     delay(10);
   }
-
   // Init button switch
   pinMode(BUTTON_PIN, INPUT_PULLUP);
 
@@ -72,8 +70,21 @@ void setup() {
   // Add endpoint to Zigbee Core
   Zigbee.addEndpoint(&zbTempSensor);
 
+  Serial.println("Starting Zigbee...");
   // When all EPs are registered, start Zigbee in End Device mode
-  Zigbee.begin();
+  if (!Zigbee.begin()) {
+    Serial.println("Zigbee failed to start!");
+    Serial.println("Rebooting...");
+    ESP.restart();
+  } else {
+    Serial.println("Zigbee started successfully!");
+  }
+  Serial.println("Connecting to network");
+  while (!Zigbee.connected()) {
+    Serial.print(".");
+    delay(100);
+  }
+  Serial.println();
 
   // Start Temperature sensor reading task
   xTaskCreate(temp_sensor_value_update, "temp_sensor_update", 2048, NULL, 10, NULL);
@@ -96,7 +107,8 @@ void loop() {
       delay(50);
       if ((millis() - startTime) > 3000) {
         // If key pressed for more than 3secs, factory reset Zigbee and reboot
-        Serial.printf("Resetting Zigbee to factory settings, reboot.\n");
+        Serial.println("Resetting Zigbee to factory and rebooting in 1s.");
+        delay(1000);
         Zigbee.factoryReset();
       }
     }
diff --git a/libraries/Zigbee/examples/Zigbee_Thermostat/Zigbee_Thermostat.ino b/libraries/Zigbee/examples/Zigbee_Thermostat/Zigbee_Thermostat.ino
index 565d9e64919..df02f891794 100644
--- a/libraries/Zigbee/examples/Zigbee_Thermostat/Zigbee_Thermostat.ino
+++ b/libraries/Zigbee/examples/Zigbee_Thermostat/Zigbee_Thermostat.ino
@@ -80,19 +80,22 @@ void setup() {
   Zigbee.setRebootOpenNetwork(180);
 
   // When all EPs are registered, start Zigbee with ZIGBEE_COORDINATOR mode
-  Zigbee.begin(ZIGBEE_COORDINATOR);
-
-  Serial.println("Waiting for Temperature sensor to bound to the switch");
+  if (!Zigbee.begin(ZIGBEE_COORDINATOR)) {
+    Serial.println("Zigbee failed to start!");
+    Serial.println("Rebooting...");
+    ESP.restart();
+  }
 
-  //Wait for switch to bound to a light:
-  while (!zbThermostat.isBound()) {
+  Serial.println("Waiting for Temperature sensor to bound to the thermostat");
+  while (!zbThermostat.bound()) {
     Serial.printf(".");
     delay(500);
   }
 
+  Serial.println();
+
   // Get temperature sensor configuration
   zbThermostat.getSensorSettings();
-  Serial.println();
 }
 
 void loop() {
diff --git a/libraries/Zigbee/keywords.txt b/libraries/Zigbee/keywords.txt
index 53ce5fffe2a..1a8b7ae85ba 100644
--- a/libraries/Zigbee/keywords.txt
+++ b/libraries/Zigbee/keywords.txt
@@ -30,14 +30,18 @@ zigbee_scan_result_t	KEYWORD1
 #######################################
 
 # ZigbeeCore
-isStarted	KEYWORD2
+begin	KEYWORD2
+started	KEYWORD2
+connected	KEYWORD2
+getRole	KEYWORD2
 addEndpoint	KEYWORD2
 setRadioConfig	KEYWORD2
-setHostConfig	KEYWORD2
 getRadioConfig	KEYWORD2
+setHostConfig	KEYWORD2
 getHostConfig	KEYWORD2
 setPrimaryChannelMask	KEYWORD2
 setRebootOpenNetwork	KEYWORD2
+openNetwork	KEYWORD2
 scanNetworks	KEYWORD2
 scanComplete	KEYWORD2
 getScanResult	KEYWORD2
@@ -45,21 +49,33 @@ scanDelete	KEYWORD2
 factoryReset	KEYWORD2
 
 # Common ZigbeeEP
+setEpConfig	KEYWORD2
 setVersion	KEYWORD2
-setManufacturerAndModel	KEYWORD2
-is_bound	KEYWORD2
+getEndpoint	KEYWORD2
 printBoundDevices	KEYWORD2
+getBoundDevices	KEYWORD2
+bound	KEYWORD2
 allowMultipleBinding	KEYWORD2
+setManufacturerAndModel	KEYWORD2
+setPowerSource	KEYWORD2
+setBatteryPercentage	KEYWORD2
+reportBatteryPercentage	KEYWORD2
+readManufacturer	KEYWORD2
+readModel	KEYWORD2
+onIdentify	KEYWORD2
 
 # ZigbeeLight + ZigbeeColorDimmableLight
-setOnOff	KEYWORD2
-sceneControl	KEYWORD2
-setOnOffTime	KEYWORD2
-setOffWaitTime	KEYWORD2
-setLevel	KEYWORD2
-setColor	KEYWORD2
-setColorSaturation	KEYWORD2
-setColorHue	KEYWORD2
+onLightChange	KEYWORD2
+restoreLight	KEYWORD2
+setLight	KEYWORD2
+setLightState	KEYWORD2
+setLightLevel	KEYWORD2
+setLightColor	KEYWORD2
+getLightState	KEYWORD2
+getLightLevel	KEYWORD2
+getLightRed	KEYWORD2
+getLightGreen	KEYWORD2
+getLightBlue	KEYWORD2
 
 # ZigbeeSwitch + ZigbeeColorDimmerSwitch
 lightToggle	KEYWORD2
@@ -70,22 +86,23 @@ lightOnWithTimedOff	KEYWORD2
 lightOnWithSceneRecall	KEYWORD2
 setLightLevel	KEYWORD2
 setLightColor	KEYWORD2
-setLightColorSaturation	KEYWORD2
-setLightColorHue	KEYWORD2
 
-# ZigbeeTempSensor
+# ZigbeeTempSensor + humidity
 setTemperature	KEYWORD2
 setMinMaxValue	KEYWORD2
 setTolerance	KEYWORD2
 setReporting	KEYWORD2
 reportTemperature	KEYWORD2
+addHumiditySensor	KEYWORD2
+setHumidity	KEYWORD2
+setHumidityReporting	KEYWORD2
+reportHumidity	KEYWORD2
 
 # ZigbeeThermostat
-temperatureRead	KEYWORD2
-temperatureMin	KEYWORD2
-temperatureMax	KEYWORD2
-temperatureTolerance	KEYWORD2
+onTempRecieve	KEYWORD2
+onConfigRecieve	KEYWORD2
 getTemperature	KEYWORD2
+getSensorSettings	KEYWORD2
 setTemperatureReporting	KEYWORD2
 
 #######################################
diff --git a/libraries/Zigbee/src/ZigbeeCore.cpp b/libraries/Zigbee/src/ZigbeeCore.cpp
index dd84e2a63e4..38ef9b169d5 100644
--- a/libraries/Zigbee/src/ZigbeeCore.cpp
+++ b/libraries/Zigbee/src/ZigbeeCore.cpp
@@ -6,6 +6,8 @@
 #include "ZigbeeHandlers.cpp"
 #include "Arduino.h"
 
+#define ZB_INIT_TIMEOUT 10000  // 10 seconds
+
 extern "C" void zb_set_ed_node_descriptor(bool power_src, bool rx_on_when_idle, bool alloc_addr);
 static bool edBatteryPowered = false;
 
@@ -17,6 +19,13 @@ ZigbeeCore::ZigbeeCore() {
   _open_network = 0;
   _scan_status = ZB_SCAN_FAILED;
   _started = false;
+  _connected = false;
+  if (!lock) {
+    lock = xSemaphoreCreateBinary();
+    if (lock == NULL) {
+      log_e("Semaphore creation failed");
+    }
+  }
 }
 ZigbeeCore::~ZigbeeCore() {}
 
@@ -25,10 +34,14 @@ static esp_err_t zb_action_handler(esp_zb_core_action_callback_id_t callback_id,
 
 bool ZigbeeCore::begin(esp_zb_cfg_t *role_cfg, bool erase_nvs) {
   if (!zigbeeInit(role_cfg, erase_nvs)) {
+    log_e("ZigbeeCore begin failed");
     return false;
   }
   _role = (zigbee_role_t)role_cfg->esp_zb_role;
-  return true;
+  if (xSemaphoreTake(lock, ZB_INIT_TIMEOUT) != pdTRUE) {
+    log_e("ZigbeeCore begin timeout");
+  }
+  return started();
 }
 
 bool ZigbeeCore::begin(zigbee_role_t role, bool erase_nvs) {
@@ -57,7 +70,10 @@ bool ZigbeeCore::begin(zigbee_role_t role, bool erase_nvs) {
     }
     default: log_e("Invalid Zigbee Role"); return false;
   }
-  return status;
+  if (!status || xSemaphoreTake(lock, ZB_INIT_TIMEOUT) != pdTRUE) {
+    log_e("ZigbeeCore begin failed or timeout");
+  }
+  return started();
 }
 
 void ZigbeeCore::addEndpoint(ZigbeeEP *ep) {
@@ -167,7 +183,7 @@ void ZigbeeCore::setRebootOpenNetwork(uint8_t time) {
 }
 
 void ZigbeeCore::openNetwork(uint8_t time) {
-  if (isStarted()) {
+  if (started()) {
     log_v("Opening network for joining for %d seconds", time);
     esp_zb_bdb_open_network(time);
   }
@@ -203,21 +219,24 @@ void esp_zb_app_signal_handler(esp_zb_app_signal_t *signal_struct) {
           } else {
             log_i("Start network steering");
             esp_zb_bdb_start_top_level_commissioning(ESP_ZB_BDB_MODE_NETWORK_STEERING);
+            Zigbee._started = true;
+            xSemaphoreGive(Zigbee.lock);
           }
-          //-----------------
-
         } else {
           log_i("Device rebooted");
           Zigbee._started = true;
+          xSemaphoreGive(Zigbee.lock);
           if ((zigbee_role_t)Zigbee.getRole() == ZIGBEE_COORDINATOR && Zigbee._open_network > 0) {
             log_i("Opening network for joining for %d seconds", Zigbee._open_network);
             esp_zb_bdb_open_network(Zigbee._open_network);
+          } else {
+            Zigbee._connected = true;
           }
         }
       } else {
         /* commissioning failed */
         log_e("Failed to initialize Zigbee stack (status: %s)", esp_err_to_name(err_status));
-        esp_restart();
+        xSemaphoreGive(Zigbee.lock);
       }
       break;
     case ESP_ZB_BDB_SIGNAL_FORMATION:  // Coordinator
@@ -243,6 +262,7 @@ void esp_zb_app_signal_handler(esp_zb_app_signal_t *signal_struct) {
           log_i("Network steering started");
         }
         Zigbee._started = true;
+        xSemaphoreGive(Zigbee.lock);
       } else {
         if (err_status == ESP_OK) {
           esp_zb_ieee_addr_t extended_pan_id;
@@ -252,7 +272,7 @@ void esp_zb_app_signal_handler(esp_zb_app_signal_t *signal_struct) {
             extended_pan_id[7], extended_pan_id[6], extended_pan_id[5], extended_pan_id[4], extended_pan_id[3], extended_pan_id[2], extended_pan_id[1],
             extended_pan_id[0], esp_zb_get_pan_id(), esp_zb_get_current_channel(), esp_zb_get_short_address()
           );
-          Zigbee._started = true;
+          Zigbee._connected = true;
         } else {
           log_i("Network steering was not successful (status: %s)", esp_err_to_name(err_status));
           esp_zb_scheduler_alarm((esp_zb_callback_t)bdb_start_top_level_commissioning_cb, ESP_ZB_BDB_MODE_NETWORK_STEERING, 1000);
@@ -281,7 +301,7 @@ void esp_zb_app_signal_handler(esp_zb_app_signal_t *signal_struct) {
 
         // for each endpoint in the list call the findEndpoint function if not bounded or allowed to bind multiple devices
         for (std::list<ZigbeeEP *>::iterator it = Zigbee.ep_objects.begin(); it != Zigbee.ep_objects.end(); ++it) {
-          if (!(*it)->isBound() || (*it)->epAllowMultipleBinding()) {
+          if (!(*it)->bound() || (*it)->epAllowMultipleBinding()) {
             (*it)->findEndpoint(&cmd_req);
           }
         }
@@ -335,7 +355,7 @@ void ZigbeeCore::scanCompleteCallback(esp_zb_zdp_status_t zdo_status, uint8_t co
 }
 
 void ZigbeeCore::scanNetworks(u_int32_t channel_mask, u_int8_t scan_duration) {
-  if (!isStarted()) {
+  if (!started()) {
     log_e("Zigbee stack is not started, cannot scan networks");
     return;
   }
diff --git a/libraries/Zigbee/src/ZigbeeCore.h b/libraries/Zigbee/src/ZigbeeCore.h
index 08ff059dd51..e068d74430e 100644
--- a/libraries/Zigbee/src/ZigbeeCore.h
+++ b/libraries/Zigbee/src/ZigbeeCore.h
@@ -70,9 +70,11 @@ class ZigbeeCore {
   esp_zb_ep_list_t *_zb_ep_list;
   zigbee_role_t _role;
   bool _started;
+  bool _connected;
 
   uint8_t _open_network;
   zigbee_scan_result_t *_scan_result;
+  SemaphoreHandle_t lock;
 
   bool zigbeeInit(esp_zb_cfg_t *zb_cfg, bool erase_nvs);
   static void scanCompleteCallback(esp_zb_zdp_status_t zdo_status, uint8_t count, esp_zb_network_descriptor_t *nwk_descriptor);
@@ -88,9 +90,12 @@ class ZigbeeCore {
   bool begin(esp_zb_cfg_t *role_cfg, bool erase_nvs = false);
   // bool end();
 
-  bool isStarted() {
+  bool started() {
     return _started;
   }
+  bool connected() {
+    return _connected;
+  }
   zigbee_role_t getRole() {
     return _role;
   }
diff --git a/libraries/Zigbee/src/ZigbeeEP.cpp b/libraries/Zigbee/src/ZigbeeEP.cpp
index cd77b99996b..0a947d3ab9e 100644
--- a/libraries/Zigbee/src/ZigbeeEP.cpp
+++ b/libraries/Zigbee/src/ZigbeeEP.cpp
@@ -19,14 +19,12 @@ ZigbeeEP::ZigbeeEP(uint8_t endpoint) {
   _ep_config.endpoint = 0;
   _cluster_list = nullptr;
   _on_identify = nullptr;
-#if !CONFIG_DISABLE_HAL_LOCKS
   if (!lock) {
     lock = xSemaphoreCreateBinary();
     if (lock == NULL) {
       log_e("Semaphore creation failed");
     }
   }
-#endif
 }
 
 ZigbeeEP::~ZigbeeEP() {}
diff --git a/libraries/Zigbee/src/ZigbeeEP.h b/libraries/Zigbee/src/ZigbeeEP.h
index 1c0c2d983ab..21ed7706d31 100644
--- a/libraries/Zigbee/src/ZigbeeEP.h
+++ b/libraries/Zigbee/src/ZigbeeEP.h
@@ -73,7 +73,7 @@ class ZigbeeEP {
     return _bound_devices;
   }
 
-  static bool isBound() {
+  static bool bound() {
     return _is_bound;
   }
   static void allowMultipleBinding(bool bind) {
diff --git a/libraries/Zigbee/src/ep/ZigbeeColorDimmerSwitch.h b/libraries/Zigbee/src/ep/ZigbeeColorDimmerSwitch.h
index eb854b6c919..9b623d2f8ef 100644
--- a/libraries/Zigbee/src/ep/ZigbeeColorDimmerSwitch.h
+++ b/libraries/Zigbee/src/ep/ZigbeeColorDimmerSwitch.h
@@ -39,14 +39,6 @@ class ZigbeeColorDimmerSwitch : public ZigbeeEP {
   void setLightColor(uint8_t red, uint8_t green, uint8_t blue, uint16_t group_addr);
   void setLightColor(uint8_t red, uint8_t green, uint8_t blue, uint8_t endpoint, uint16_t short_addr);
 
-  void setLightColorSaturation(uint8_t value);
-  void setLightColorSaturation(uint8_t value, uint16_t group_addr);
-  void setLightColorSaturation(uint8_t value, uint8_t endpoint, uint16_t short_addr);
-
-  void setLightColorHue(uint8_t value);
-  void setLightColorHue(uint8_t value, uint16_t group_addr);
-  void setLightColorHue(uint8_t value, uint8_t endpoint, uint16_t short_addr);
-
 private:
   // save instance of the class in order to use it in static functions
   static ZigbeeColorDimmerSwitch *_instance;