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I would like to get a list of the built-in a(and frozen) modules using micropython, running on the board (ESP32) itself.

help('modules') will give you a list of all modules, but this is only send to the terminal. I have not been able to capture it on any other way.

also see micropython forum where the only option seems to be to use dupterm which unfortunately is not available on ESP32

Jos Verlinde
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