esp-idf/examples/protocols/coap_server/sdkconfig.defaults

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CONFIG_MBEDTLS_SSL_PROTO_DTLS=y
CONFIG_MBEDTLS_PSK_MODES=y
CONFIG_MBEDTLS_KEY_EXCHANGE_PSK=y
CONFIG_LWIP_NETBUF_RECVINFO=y
CONFIG_COAP_SERVER_SUPPORT=y