diff --git a/.gitlab/ci/target-test.yml b/.gitlab/ci/target-test.yml
index 20543f0b6f..cc008e5332 100644
--- a/.gitlab/ci/target-test.yml
+++ b/.gitlab/ci/target-test.yml
@@ -341,7 +341,7 @@ test_app_test_003:
 
 test_app_test_004:
   extends: .test_app_esp32s2_template
-  parallel: 2
+  parallel: 4
   tags:
     - ESP32S2
     - Example_GENERIC
diff --git a/components/esp_gdbstub/esp32c3/gdbstub_esp32c3.c b/components/esp_gdbstub/esp32c3/gdbstub_esp32c3.c
index 102cb322b5..53f98e1fd9 100644
--- a/components/esp_gdbstub/esp32c3/gdbstub_esp32c3.c
+++ b/components/esp_gdbstub/esp32c3/gdbstub_esp32c3.c
@@ -1,16 +1,9 @@
-// Copyright 2015-2020 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.
+/*
+ * SPDX-FileCopyrightText: 2015-2021 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
 
 #include "soc/uart_periph.h"
 #include "soc/gpio_periph.h"
@@ -122,3 +115,26 @@ int esp_gdbstub_readmem(intptr_t addr)
     uint32_t shift = (addr & 3) * 8;
     return (val_aligned >> shift) & 0xff;
 }
+
+int esp_gdbstub_writemem(unsigned int addr, unsigned char data)
+{
+    if (!check_inside_valid_region(addr)) {
+        /* see esp_cpu_configure_region_protection */
+        return -1;
+    }
+
+    int *i = (int *)(addr & (~3));
+    if ((addr & 3) == 0) {
+        *i = (*i & 0xffffff00) | (data << 0);
+    }
+    if ((addr & 3) == 1) {
+        *i = (*i & 0xffff00ff) | (data << 8);
+    }
+    if ((addr & 3) == 2) {
+        *i = (*i & 0xff00ffff) | (data << 16);
+    }
+    if ((addr & 3) == 3) {
+        *i = (*i & 0x00ffffff) | (data << 24);
+    }
+    return 0;
+}
diff --git a/components/esp_gdbstub/esp32h2/gdbstub_esp32h2.c b/components/esp_gdbstub/esp32h2/gdbstub_esp32h2.c
index 102cb322b5..04960eabde 100644
--- a/components/esp_gdbstub/esp32h2/gdbstub_esp32h2.c
+++ b/components/esp_gdbstub/esp32h2/gdbstub_esp32h2.c
@@ -1,16 +1,8 @@
-// Copyright 2015-2020 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.
+/*
+ * SPDX-FileCopyrightText: 2015-2021 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
 
 #include "soc/uart_periph.h"
 #include "soc/gpio_periph.h"
@@ -122,3 +114,26 @@ int esp_gdbstub_readmem(intptr_t addr)
     uint32_t shift = (addr & 3) * 8;
     return (val_aligned >> shift) & 0xff;
 }
+
+int esp_gdbstub_writemem(unsigned int addr, unsigned char data)
+{
+    if (!check_inside_valid_region(addr)) {
+        /* see esp_cpu_configure_region_protection */
+        return -1;
+    }
+
+    int *i = (int *)(addr & (~3));
+    if ((addr & 3) == 0) {
+        *i = (*i & 0xffffff00) | (data << 0);
+    }
+    if ((addr & 3) == 1) {
+        *i = (*i & 0xffff00ff) | (data << 8);
+    }
+    if ((addr & 3) == 2) {
+        *i = (*i & 0xff00ffff) | (data << 16);
+    }
+    if ((addr & 3) == 3) {
+        *i = (*i & 0x00ffffff) | (data << 24);
+    }
+    return 0;
+}
diff --git a/tools/ci/check_copyright_ignore.txt b/tools/ci/check_copyright_ignore.txt
index 3add1447d4..6d810a80e1 100644
--- a/tools/ci/check_copyright_ignore.txt
+++ b/tools/ci/check_copyright_ignore.txt
@@ -784,9 +784,7 @@ components/esp_event/private_include/esp_event_private.h
 components/esp_event/test/test_default_loop.c
 components/esp_event/test/test_event.c
 components/esp_gdbstub/esp32/gdbstub_target_config.h
-components/esp_gdbstub/esp32c3/gdbstub_esp32c3.c
 components/esp_gdbstub/esp32c3/gdbstub_target_config.h
-components/esp_gdbstub/esp32h2/gdbstub_esp32h2.c
 components/esp_gdbstub/esp32h2/gdbstub_target_config.h
 components/esp_gdbstub/esp32s2/gdbstub_target_config.h
 components/esp_gdbstub/esp32s3/gdbstub_target_config.h
diff --git a/tools/test_apps/system/panic/README.md b/tools/test_apps/system/panic/README.md
index c4b585a221..b39f640dc5 100644
--- a/tools/test_apps/system/panic/README.md
+++ b/tools/test_apps/system/panic/README.md
@@ -1,5 +1,5 @@
-| Supported Targets | ESP32 | ESP32-S2 |
-| ----------------- | ----- | -------- |
+| Supported Targets | ESP32 | ESP32-S2 | ESP32-S3 | ESP32-C3 | ESP32-H2 |
+| ----------------- | ----- | -------- | -------- | -------- | -------- |
 
 # Building
 Several configurations are provided as `sdkconfig.ci.XXX` and serve as a template.