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esp-idf/examples/security/key_manager/sdkconfig.defaults

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# Enable hardware ECDSA signing
CONFIG_MBEDTLS_HARDWARE_ECDSA_SIGN=y
CONFIG_MBEDTLS_HARDWARE_ECDSA_VERIFY=y
# Enable DS peripheral support
CONFIG_MBEDTLS_HARDWARE_RSA_DS_PERIPHERAL=y
# Enable Key Manager signing examples
CONFIG_EXAMPLE_KEY_MGR_ECDSA_SIGN=y
CONFIG_EXAMPLE_KEY_MGR_RSA_DS_SIGN=y