diff --git a/ports/esp32/boards/sdkconfig.base b/ports/esp32/boards/sdkconfig.base
index 6b891aa00..138de095b 100644
--- a/ports/esp32/boards/sdkconfig.base
+++ b/ports/esp32/boards/sdkconfig.base
@@ -50,6 +50,10 @@ CONFIG_MBEDTLS_ASYMMETRIC_CONTENT_LEN=y
 # ULP coprocessor support
 CONFIG_ESP32_ULP_COPROC_ENABLED=y
 CONFIG_ESP32_ULP_COPROC_RESERVE_MEM=2040
+CONFIG_ESP32S2_ULP_COPROC_ENABLED=y
+CONFIG_ESP32S2_ULP_COPROC_RESERVE_MEM=2040
+CONFIG_ESP32S3_ULP_COPROC_ENABLED=y
+CONFIG_ESP32S3_ULP_COPROC_RESERVE_MEM=2040
 
 # For cmake build
 CONFIG_ESPTOOLPY_FLASHSIZE_4MB=y
diff --git a/ports/esp32/esp32_ulp.c b/ports/esp32/esp32_ulp.c
index e7962ce1a..439ee3283 100644
--- a/ports/esp32/esp32_ulp.c
+++ b/ports/esp32/esp32_ulp.c
@@ -26,10 +26,15 @@
 
 #include "py/runtime.h"
 
-
 #if CONFIG_IDF_TARGET_ESP32 || CONFIG_IDF_TARGET_ESP32S2 || CONFIG_IDF_TARGET_ESP32S3
 
+#if CONFIG_IDF_TARGET_ESP32
 #include "esp32/ulp.h"
+#elif CONFIG_IDF_TARGET_ESP32S2
+#include "esp32s2/ulp.h"
+#elif CONFIG_IDF_TARGET_ESP32S3
+#include "esp32s3/ulp.h"
+#endif
 #include "esp_err.h"
 
 typedef struct _esp32_ulp_obj_t {
@@ -106,4 +111,4 @@ MP_DEFINE_CONST_OBJ_TYPE(
     locals_dict, &esp32_ulp_locals_dict
     );
 
-#endif // CONFIG_IDF_TARGET_ESP32
+#endif // CONFIG_IDF_TARGET_ESP32 || CONFIG_IDF_TARGET_ESP32S2 || CONFIG_IDF_TARGET_ESP32S3
diff --git a/tools/ci.sh b/tools/ci.sh
index 2f96a5b51..e69558a83 100755
--- a/tools/ci.sh
+++ b/tools/ci.sh
@@ -141,7 +141,7 @@ function ci_esp32_idf402_setup {
 }
 
 function ci_esp32_idf44_setup {
-    ci_esp32_setup_helper v4.4
+    ci_esp32_setup_helper v4.4.2
 }
 
 function ci_esp32_build {