该问题通过设置IDF_PATH = /ESP32/esp-adf/esp-idf已经解决，重新编译还是出现如下问题，正在按照提示解决中....
WARNING: Toolchain version is not supported: esp32-2019r1
Expected to see version: crosstool-ng-1.22.0-80-g6c4433a
Please check ESP-IDF setup instructions and update the toolchain, or proceed at your own risk.
WARNING: Compiler ...

CC build/audio_board/lyrat_v4_3/board.o
In file included from /home/ESP32/esp-adf/components/audio_pipeline/include/audio_event_iface.h:30,
from /home/ESP32/esp-adf/components/esp_peripherals/include/esp_peripherals.h:29,
from /home/ESP32/esp-adf/components/audio_board/lyrat_v4_3/board.h:31,
from ...