diff --git a/components/driver/CMakeLists.txt b/components/driver/CMakeLists.txt
index 7e87587368..9b95625fd9 100644
--- a/components/driver/CMakeLists.txt
+++ b/components/driver/CMakeLists.txt
@@ -15,7 +15,6 @@ set(includes "include"
              "i2c/include"
              "i2s/include"
              "ledc/include"
-             "mcpwm/include"
              "parlio/include"
              "rmt/include"
              "sdio_slave/include"
@@ -103,21 +102,9 @@ if(CONFIG_SOC_LEDC_SUPPORTED)
     list(APPEND ldfragments "ledc/linker.lf")
 endif()
 
-# MCPWM related source files
+# MCPWM legacy driver
 if(CONFIG_SOC_MCPWM_SUPPORTED)
-    list(APPEND srcs "mcpwm/mcpwm_cap.c"
-                     "mcpwm/mcpwm_cmpr.c"
-                     "mcpwm/mcpwm_com.c"
-                     "mcpwm/mcpwm_fault.c"
-                     "mcpwm/mcpwm_gen.c"
-                     "mcpwm/mcpwm_oper.c"
-                     "mcpwm/mcpwm_sync.c"
-                     "mcpwm/mcpwm_timer.c"
-                     "deprecated/mcpwm_legacy.c")
-    if(CONFIG_SOC_MCPWM_SUPPORT_ETM)
-        list(APPEND srcs "mcpwm/mcpwm_etm.c")
-    endif()
-    list(APPEND ldfragments "mcpwm/linker.lf")
+    list(APPEND srcs "deprecated/mcpwm_legacy.c")
 endif()
 
 # PCNT legacy driver
@@ -211,7 +198,7 @@ else()
                            REQUIRES esp_pm esp_ringbuf freertos soc hal esp_hw_support
                            # for backward compatibility, the driver component needs to
                            # have a public dependency on other "esp_driver_foo" components
-                                    esp_driver_gpio esp_driver_pcnt esp_driver_gptimer esp_driver_spi
+                                    esp_driver_gpio esp_driver_pcnt esp_driver_gptimer esp_driver_spi esp_driver_mcpwm
                            LDFRAGMENTS ${ldfragments}
                           )
 endif()
diff --git a/components/driver/Kconfig b/components/driver/Kconfig
index 85cc0e3254..63365b40ae 100644
--- a/components/driver/Kconfig
+++ b/components/driver/Kconfig
@@ -147,8 +147,6 @@ menu "Driver Configurations"
 
     orsource "./rmt/Kconfig.rmt"
 
-    orsource "./mcpwm/Kconfig.mcpwm"
-
     menu "I2S Configuration"
         depends on SOC_I2S_SUPPORTED
         config I2S_ISR_IRAM_SAFE
diff --git a/components/driver/test_apps/.build-test-rules.yml b/components/driver/test_apps/.build-test-rules.yml
index b7da4d17f1..e1509edc22 100644
--- a/components/driver/test_apps/.build-test-rules.yml
+++ b/components/driver/test_apps/.build-test-rules.yml
@@ -74,10 +74,14 @@ components/driver/test_apps/legacy_i2c_driver:
 components/driver/test_apps/legacy_mcpwm_driver:
   disable:
     - if: SOC_MCPWM_SUPPORTED != 1
+  depends_filepatterns:
+    - components/driver/deprecated/**/*mcpwm*
 
 components/driver/test_apps/legacy_pcnt_driver:
   disable:
     - if: SOC_PCNT_SUPPORTED != 1
+  depends_filepatterns:
+    - components/driver/deprecated/**/*pcnt*
 
 components/driver/test_apps/legacy_rmt_driver:
   disable:
@@ -98,10 +102,8 @@ components/driver/test_apps/legacy_sigma_delta_driver:
 components/driver/test_apps/legacy_timer_driver:
   disable:
     - if: SOC_GPTIMER_SUPPORTED != 1
-
-components/driver/test_apps/mcpwm:
-  disable:
-    - if: SOC_MCPWM_SUPPORTED != 1
+  depends_filepatterns:
+    - components/driver/deprecated/**/*timer*
 
 components/driver/test_apps/parlio:
   disable:
diff --git a/components/esp_driver_gptimer/test_apps/gptimer/main/CMakeLists.txt b/components/esp_driver_gptimer/test_apps/gptimer/main/CMakeLists.txt
index 7e2ef128f4..2768a1f04e 100644
--- a/components/esp_driver_gptimer/test_apps/gptimer/main/CMakeLists.txt
+++ b/components/esp_driver_gptimer/test_apps/gptimer/main/CMakeLists.txt
@@ -8,5 +8,5 @@ endif()
 # In order for the cases defined by `TEST_CASE` to be linked into the final elf,
 # the component can be registered as WHOLE_ARCHIVE
 idf_component_register(SRCS ${srcs}
-                       PRIV_REQUIRES unity driver
+                       PRIV_REQUIRES unity esp_driver_gptimer
                        WHOLE_ARCHIVE)
diff --git a/components/esp_driver_mcpwm/CMakeLists.txt b/components/esp_driver_mcpwm/CMakeLists.txt
new file mode 100644
index 0000000000..15483918a4
--- /dev/null
+++ b/components/esp_driver_mcpwm/CMakeLists.txt
@@ -0,0 +1,21 @@
+set(srcs)
+set(public_include "include")
+if(CONFIG_SOC_MCPWM_SUPPORTED)
+    list(APPEND srcs "src/mcpwm_cap.c"
+                     "src/mcpwm_cmpr.c"
+                     "src/mcpwm_com.c"
+                     "src/mcpwm_fault.c"
+                     "src/mcpwm_gen.c"
+                     "src/mcpwm_oper.c"
+                     "src/mcpwm_sync.c"
+                     "src/mcpwm_timer.c")
+    if(CONFIG_SOC_MCPWM_SUPPORT_ETM)
+        list(APPEND srcs "src/mcpwm_etm.c")
+    endif()
+endif()
+
+idf_component_register(SRCS ${srcs}
+                       INCLUDE_DIRS ${public_include}
+                       PRIV_REQUIRES "esp_pm" "esp_driver_gpio"
+                       LDFRAGMENTS "linker.lf"
+                      )
diff --git a/components/driver/mcpwm/Kconfig.mcpwm b/components/esp_driver_mcpwm/Kconfig
similarity index 96%
rename from components/driver/mcpwm/Kconfig.mcpwm
rename to components/esp_driver_mcpwm/Kconfig
index b1a7fd8c81..0b5bb37bdd 100644
--- a/components/driver/mcpwm/Kconfig.mcpwm
+++ b/components/esp_driver_mcpwm/Kconfig
@@ -1,4 +1,4 @@
-menu "MCPWM Configuration"
+menu "ESP-Driver:MCPWM Configurations"
     depends on SOC_MCPWM_SUPPORTED
     config MCPWM_ISR_IRAM_SAFE
         bool "Place MCPWM ISR function into IRAM"
@@ -30,4 +30,4 @@ menu "MCPWM Configuration"
         help
             Wether to enable the debug log message for MCPWM driver.
             Note that, this option only controls the MCPWM driver log, won't affect other drivers.
-endmenu # MCPWM Configuration
+endmenu
diff --git a/components/driver/mcpwm/include/driver/mcpwm_cap.h b/components/esp_driver_mcpwm/include/driver/mcpwm_cap.h
similarity index 100%
rename from components/driver/mcpwm/include/driver/mcpwm_cap.h
rename to components/esp_driver_mcpwm/include/driver/mcpwm_cap.h
diff --git a/components/driver/mcpwm/include/driver/mcpwm_cmpr.h b/components/esp_driver_mcpwm/include/driver/mcpwm_cmpr.h
similarity index 100%
rename from components/driver/mcpwm/include/driver/mcpwm_cmpr.h
rename to components/esp_driver_mcpwm/include/driver/mcpwm_cmpr.h
diff --git a/components/driver/mcpwm/include/driver/mcpwm_etm.h b/components/esp_driver_mcpwm/include/driver/mcpwm_etm.h
similarity index 100%
rename from components/driver/mcpwm/include/driver/mcpwm_etm.h
rename to components/esp_driver_mcpwm/include/driver/mcpwm_etm.h
diff --git a/components/driver/mcpwm/include/driver/mcpwm_fault.h b/components/esp_driver_mcpwm/include/driver/mcpwm_fault.h
similarity index 100%
rename from components/driver/mcpwm/include/driver/mcpwm_fault.h
rename to components/esp_driver_mcpwm/include/driver/mcpwm_fault.h
diff --git a/components/driver/mcpwm/include/driver/mcpwm_gen.h b/components/esp_driver_mcpwm/include/driver/mcpwm_gen.h
similarity index 100%
rename from components/driver/mcpwm/include/driver/mcpwm_gen.h
rename to components/esp_driver_mcpwm/include/driver/mcpwm_gen.h
diff --git a/components/driver/mcpwm/include/driver/mcpwm_oper.h b/components/esp_driver_mcpwm/include/driver/mcpwm_oper.h
similarity index 100%
rename from components/driver/mcpwm/include/driver/mcpwm_oper.h
rename to components/esp_driver_mcpwm/include/driver/mcpwm_oper.h
diff --git a/components/driver/mcpwm/include/driver/mcpwm_prelude.h b/components/esp_driver_mcpwm/include/driver/mcpwm_prelude.h
similarity index 100%
rename from components/driver/mcpwm/include/driver/mcpwm_prelude.h
rename to components/esp_driver_mcpwm/include/driver/mcpwm_prelude.h
diff --git a/components/driver/mcpwm/include/driver/mcpwm_sync.h b/components/esp_driver_mcpwm/include/driver/mcpwm_sync.h
similarity index 100%
rename from components/driver/mcpwm/include/driver/mcpwm_sync.h
rename to components/esp_driver_mcpwm/include/driver/mcpwm_sync.h
diff --git a/components/driver/mcpwm/include/driver/mcpwm_timer.h b/components/esp_driver_mcpwm/include/driver/mcpwm_timer.h
similarity index 100%
rename from components/driver/mcpwm/include/driver/mcpwm_timer.h
rename to components/esp_driver_mcpwm/include/driver/mcpwm_timer.h
diff --git a/components/driver/mcpwm/include/driver/mcpwm_types.h b/components/esp_driver_mcpwm/include/driver/mcpwm_types.h
similarity index 100%
rename from components/driver/mcpwm/include/driver/mcpwm_types.h
rename to components/esp_driver_mcpwm/include/driver/mcpwm_types.h
diff --git a/components/driver/include/esp_private/mcpwm.h b/components/esp_driver_mcpwm/include/esp_private/mcpwm.h
similarity index 100%
rename from components/driver/include/esp_private/mcpwm.h
rename to components/esp_driver_mcpwm/include/esp_private/mcpwm.h
diff --git a/components/driver/mcpwm/linker.lf b/components/esp_driver_mcpwm/linker.lf
similarity index 85%
rename from components/driver/mcpwm/linker.lf
rename to components/esp_driver_mcpwm/linker.lf
index ccc448ea74..7729fa00f1 100644
--- a/components/driver/mcpwm/linker.lf
+++ b/components/esp_driver_mcpwm/linker.lf
@@ -1,5 +1,5 @@
 [mapping:mcpwm_driver]
-archive: libdriver.a
+archive: libesp_driver_mcpwm.a
 entries:
     if MCPWM_CTRL_FUNC_IN_IRAM = y:
         mcpwm_cmpr: mcpwm_comparator_set_compare_value (noflash)
diff --git a/components/driver/mcpwm/mcpwm_cap.c b/components/esp_driver_mcpwm/src/mcpwm_cap.c
similarity index 98%
rename from components/driver/mcpwm/mcpwm_cap.c
rename to components/esp_driver_mcpwm/src/mcpwm_cap.c
index fda51f38c8..d369530005 100644
--- a/components/driver/mcpwm/mcpwm_cap.c
+++ b/components/esp_driver_mcpwm/src/mcpwm_cap.c
@@ -392,8 +392,8 @@ esp_err_t mcpwm_capture_channel_register_event_callbacks(mcpwm_cap_channel_handl
         int isr_flags = MCPWM_INTR_ALLOC_FLAG;
         isr_flags |= mcpwm_get_intr_priority_flag(group);
         ESP_RETURN_ON_ERROR(esp_intr_alloc_intrstatus(mcpwm_periph_signals.groups[group_id].irq_id, isr_flags,
-                            (uint32_t)mcpwm_ll_intr_get_status_reg(hal->dev), MCPWM_LL_EVENT_CAPTURE(cap_chan_id),
-                            mcpwm_capture_default_isr, cap_channel, &cap_channel->intr), TAG, "install interrupt service for cap channel failed");
+                                                      (uint32_t)mcpwm_ll_intr_get_status_reg(hal->dev), MCPWM_LL_EVENT_CAPTURE(cap_chan_id),
+                                                      mcpwm_capture_default_isr, cap_channel, &cap_channel->intr), TAG, "install interrupt service for cap channel failed");
     }
 
     portENTER_CRITICAL(&group->spinlock);
diff --git a/components/driver/mcpwm/mcpwm_cmpr.c b/components/esp_driver_mcpwm/src/mcpwm_cmpr.c
similarity index 97%
rename from components/driver/mcpwm/mcpwm_cmpr.c
rename to components/esp_driver_mcpwm/src/mcpwm_cmpr.c
index 1fccdc7d06..307d0b026c 100644
--- a/components/driver/mcpwm/mcpwm_cmpr.c
+++ b/components/esp_driver_mcpwm/src/mcpwm_cmpr.c
@@ -255,8 +255,8 @@ esp_err_t mcpwm_comparator_register_event_callbacks(mcpwm_cmpr_handle_t cmpr, co
         int isr_flags = MCPWM_INTR_ALLOC_FLAG & ~ ESP_INTR_FLAG_INTRDISABLED;
         isr_flags |= mcpwm_get_intr_priority_flag(group);
         ESP_RETURN_ON_ERROR(esp_intr_alloc_intrstatus(mcpwm_periph_signals.groups[group_id].irq_id, isr_flags,
-                            (uint32_t)mcpwm_ll_intr_get_status_reg(hal->dev), MCPWM_LL_EVENT_CMP_EQUAL(oper_id, cmpr_id),
-                            mcpwm_comparator_default_isr, oper_cmpr, &oper_cmpr->intr), TAG, "install interrupt service for comparator failed");
+                                                      (uint32_t)mcpwm_ll_intr_get_status_reg(hal->dev), MCPWM_LL_EVENT_CMP_EQUAL(oper_id, cmpr_id),
+                                                      mcpwm_comparator_default_isr, oper_cmpr, &oper_cmpr->intr), TAG, "install interrupt service for comparator failed");
     }
 
     portENTER_CRITICAL(&group->spinlock);
diff --git a/components/driver/mcpwm/mcpwm_com.c b/components/esp_driver_mcpwm/src/mcpwm_com.c
similarity index 100%
rename from components/driver/mcpwm/mcpwm_com.c
rename to components/esp_driver_mcpwm/src/mcpwm_com.c
diff --git a/components/driver/mcpwm/mcpwm_etm.c b/components/esp_driver_mcpwm/src/mcpwm_etm.c
similarity index 100%
rename from components/driver/mcpwm/mcpwm_etm.c
rename to components/esp_driver_mcpwm/src/mcpwm_etm.c
diff --git a/components/driver/mcpwm/mcpwm_fault.c b/components/esp_driver_mcpwm/src/mcpwm_fault.c
similarity index 97%
rename from components/driver/mcpwm/mcpwm_fault.c
rename to components/esp_driver_mcpwm/src/mcpwm_fault.c
index 52070ca712..5961b1eec8 100644
--- a/components/driver/mcpwm/mcpwm_fault.c
+++ b/components/esp_driver_mcpwm/src/mcpwm_fault.c
@@ -255,8 +255,8 @@ esp_err_t mcpwm_fault_register_event_callbacks(mcpwm_fault_handle_t fault, const
         int isr_flags = MCPWM_INTR_ALLOC_FLAG & ~ESP_INTR_FLAG_INTRDISABLED;
         isr_flags |= mcpwm_get_intr_priority_flag(group);
         ESP_RETURN_ON_ERROR(esp_intr_alloc_intrstatus(mcpwm_periph_signals.groups[group_id].irq_id, isr_flags,
-                            (uint32_t)mcpwm_ll_intr_get_status_reg(hal->dev), MCPWM_LL_EVENT_FAULT_MASK(fault_id),
-                            mcpwm_gpio_fault_default_isr, gpio_fault, &gpio_fault->intr), TAG, "install interrupt service for gpio fault failed");
+                                                      (uint32_t)mcpwm_ll_intr_get_status_reg(hal->dev), MCPWM_LL_EVENT_FAULT_MASK(fault_id),
+                                                      mcpwm_gpio_fault_default_isr, gpio_fault, &gpio_fault->intr), TAG, "install interrupt service for gpio fault failed");
     }
 
     // different mcpwm events share the same interrupt control register
diff --git a/components/driver/mcpwm/mcpwm_gen.c b/components/esp_driver_mcpwm/src/mcpwm_gen.c
similarity index 95%
rename from components/driver/mcpwm/mcpwm_gen.c
rename to components/esp_driver_mcpwm/src/mcpwm_gen.c
index 47db3f176f..fd7eaf3267 100644
--- a/components/driver/mcpwm/mcpwm_gen.c
+++ b/components/esp_driver_mcpwm/src/mcpwm_gen.c
@@ -167,7 +167,7 @@ esp_err_t mcpwm_generator_set_action_on_timer_event(mcpwm_gen_handle_t gen, mcpw
         ESP_RETURN_ON_FALSE(false, ESP_ERR_INVALID_ARG, TAG, "UTEP and DTEZ can't be reached under MCPWM_TIMER_COUNT_MODE_UP_DOWN mode");
     }
     mcpwm_ll_generator_set_action_on_timer_event(group->hal.dev, oper->oper_id, gen->gen_id,
-            ev_act.direction, ev_act.event, ev_act.action);
+                                                 ev_act.direction, ev_act.event, ev_act.action);
     return ESP_OK;
 }
 
@@ -195,7 +195,7 @@ esp_err_t mcpwm_generator_set_actions_on_timer_event(mcpwm_gen_handle_t gen, mcp
             ESP_RETURN_ON_FALSE(false, ESP_ERR_INVALID_ARG, TAG, "UTEP and DTEZ can't be reached under MCPWM_TIMER_COUNT_MODE_UP_DOWN mode");
         }
         mcpwm_ll_generator_set_action_on_timer_event(group->hal.dev, oper->oper_id, gen->gen_id,
-                ev_act_itor.direction, ev_act_itor.event, ev_act_itor.action);
+                                                     ev_act_itor.direction, ev_act_itor.event, ev_act_itor.action);
         ev_act_itor = va_arg(it, mcpwm_gen_timer_event_action_t);
     }
     va_end(it);
@@ -209,7 +209,7 @@ esp_err_t mcpwm_generator_set_action_on_compare_event(mcpwm_gen_handle_t gen, mc
     mcpwm_oper_t *oper = gen->oper;
     mcpwm_group_t *group = oper->group;
     mcpwm_ll_generator_set_action_on_compare_event(group->hal.dev, oper->oper_id, gen->gen_id,
-            ev_act.direction, ev_act.comparator->cmpr_id, ev_act.action);
+                                                   ev_act.direction, ev_act.comparator->cmpr_id, ev_act.action);
     return ESP_OK;
 }
 
@@ -223,7 +223,7 @@ esp_err_t mcpwm_generator_set_actions_on_compare_event(mcpwm_gen_handle_t gen, m
     va_start(it, ev_act);
     while (ev_act_itor.comparator) {
         mcpwm_ll_generator_set_action_on_compare_event(group->hal.dev, oper->oper_id, gen->gen_id,
-                ev_act_itor.direction, ev_act_itor.comparator->cmpr_id, ev_act_itor.action);
+                                                       ev_act_itor.direction, ev_act_itor.comparator->cmpr_id, ev_act_itor.action);
         ev_act_itor = va_arg(it, mcpwm_gen_compare_event_action_t);
     }
     va_end(it);
@@ -237,7 +237,7 @@ esp_err_t mcpwm_generator_set_action_on_brake_event(mcpwm_gen_handle_t gen, mcpw
     mcpwm_oper_t *oper = gen->oper;
     mcpwm_group_t *group = oper->group;
     mcpwm_ll_generator_set_action_on_brake_event(group->hal.dev, oper->oper_id, gen->gen_id,
-            ev_act.direction, ev_act.brake_mode, ev_act.action);
+                                                 ev_act.direction, ev_act.brake_mode, ev_act.action);
     return ESP_OK;
 }
 
@@ -251,7 +251,7 @@ esp_err_t mcpwm_generator_set_actions_on_brake_event(mcpwm_gen_handle_t gen, mcp
     va_start(it, ev_act);
     while (ev_act_itor.brake_mode != MCPWM_OPER_BRAKE_MODE_INVALID) {
         mcpwm_ll_generator_set_action_on_brake_event(group->hal.dev, oper->oper_id, gen->gen_id,
-                ev_act_itor.direction, ev_act_itor.brake_mode, ev_act_itor.action);
+                                                     ev_act_itor.direction, ev_act_itor.brake_mode, ev_act_itor.action);
         ev_act_itor = va_arg(it, mcpwm_gen_brake_event_action_t);
     }
     va_end(it);
@@ -280,7 +280,7 @@ esp_err_t mcpwm_generator_set_action_on_fault_event(mcpwm_gen_handle_t gen, mcpw
     mcpwm_gpio_fault_t *gpio_fault = __containerof(fault, mcpwm_gpio_fault_t, base);
     mcpwm_ll_operator_set_trigger_from_gpio_fault(group->hal.dev, oper->oper_id, trigger_id, gpio_fault->fault_id);
     mcpwm_ll_generator_set_action_on_trigger_event(group->hal.dev, oper->oper_id, gen->gen_id,
-            ev_act.direction, trigger_id, ev_act.action);
+                                                   ev_act.direction, trigger_id, ev_act.action);
     return ESP_OK;
 }
 
@@ -308,7 +308,7 @@ esp_err_t mcpwm_generator_set_action_on_sync_event(mcpwm_gen_handle_t gen, mcpwm
     ESP_RETURN_ON_FALSE(trigger_id >= 0, ESP_ERR_NOT_FOUND, TAG, "no free trigger in operator (%d,%d)", group->group_id, oper->oper_id);
     mcpwm_ll_operator_set_trigger_from_sync(group->hal.dev, oper->oper_id, trigger_id);
     mcpwm_ll_generator_set_action_on_trigger_event(group->hal.dev, oper->oper_id, gen->gen_id,
-            ev_act.direction, trigger_id, ev_act.action);
+                                                   ev_act.direction, trigger_id, ev_act.action);
     return ESP_OK;
 }
 
diff --git a/components/driver/mcpwm/mcpwm_oper.c b/components/esp_driver_mcpwm/src/mcpwm_oper.c
similarity index 98%
rename from components/driver/mcpwm/mcpwm_oper.c
rename to components/esp_driver_mcpwm/src/mcpwm_oper.c
index 27167d477e..ce8d3a7f09 100644
--- a/components/driver/mcpwm/mcpwm_oper.c
+++ b/components/esp_driver_mcpwm/src/mcpwm_oper.c
@@ -258,8 +258,8 @@ esp_err_t mcpwm_operator_register_event_callbacks(mcpwm_oper_handle_t oper, cons
         int isr_flags = MCPWM_INTR_ALLOC_FLAG & ~ ESP_INTR_FLAG_INTRDISABLED;
         isr_flags |= mcpwm_get_intr_priority_flag(group);
         ESP_RETURN_ON_ERROR(esp_intr_alloc_intrstatus(mcpwm_periph_signals.groups[group_id].irq_id, isr_flags,
-                            (uint32_t)mcpwm_ll_intr_get_status_reg(hal->dev), MCPWM_LL_EVENT_OPER_MASK(oper_id),
-                            mcpwm_operator_default_isr, oper, &oper->intr), TAG, "install interrupt service for operator failed");
+                                                      (uint32_t)mcpwm_ll_intr_get_status_reg(hal->dev), MCPWM_LL_EVENT_OPER_MASK(oper_id),
+                                                      mcpwm_operator_default_isr, oper, &oper->intr), TAG, "install interrupt service for operator failed");
     }
 
     // enable/disable interrupt events
diff --git a/components/driver/mcpwm/mcpwm_private.h b/components/esp_driver_mcpwm/src/mcpwm_private.h
similarity index 100%
rename from components/driver/mcpwm/mcpwm_private.h
rename to components/esp_driver_mcpwm/src/mcpwm_private.h
diff --git a/components/driver/mcpwm/mcpwm_sync.c b/components/esp_driver_mcpwm/src/mcpwm_sync.c
similarity index 100%
rename from components/driver/mcpwm/mcpwm_sync.c
rename to components/esp_driver_mcpwm/src/mcpwm_sync.c
diff --git a/components/driver/mcpwm/mcpwm_timer.c b/components/esp_driver_mcpwm/src/mcpwm_timer.c
similarity index 100%
rename from components/driver/mcpwm/mcpwm_timer.c
rename to components/esp_driver_mcpwm/src/mcpwm_timer.c
diff --git a/components/esp_driver_mcpwm/test_apps/.build-test-rules.yml b/components/esp_driver_mcpwm/test_apps/.build-test-rules.yml
new file mode 100644
index 0000000000..cbc941233c
--- /dev/null
+++ b/components/esp_driver_mcpwm/test_apps/.build-test-rules.yml
@@ -0,0 +1,7 @@
+# Documentation: .gitlab/ci/README.md#manifest-file-to-control-the-buildtest-apps
+
+components/esp_driver_mcpwm/test_apps/mcpwm:
+  disable:
+    - if: SOC_MCPWM_SUPPORTED != 1
+  depends_components:
+    - esp_driver_mcpwm
diff --git a/components/driver/test_apps/mcpwm/CMakeLists.txt b/components/esp_driver_mcpwm/test_apps/mcpwm/CMakeLists.txt
similarity index 87%
rename from components/driver/test_apps/mcpwm/CMakeLists.txt
rename to components/esp_driver_mcpwm/test_apps/mcpwm/CMakeLists.txt
index 9e9a606d46..9bd915a8ce 100644
--- a/components/driver/test_apps/mcpwm/CMakeLists.txt
+++ b/components/esp_driver_mcpwm/test_apps/mcpwm/CMakeLists.txt
@@ -10,7 +10,7 @@ project(mcpwm_test)
 if(CONFIG_COMPILER_DUMP_RTL_FILES)
     add_custom_target(check_test_app_sections ALL
                       COMMAND ${PYTHON} $ENV{IDF_PATH}/tools/ci/check_callgraph.py
-                      --rtl-dirs ${CMAKE_BINARY_DIR}/esp-idf/driver/,${CMAKE_BINARY_DIR}/esp-idf/hal/
+                      --rtl-dirs ${CMAKE_BINARY_DIR}/esp-idf/esp_driver_mcpwm/,${CMAKE_BINARY_DIR}/esp-idf/hal/
                       --elf-file ${CMAKE_BINARY_DIR}/mcpwm_test.elf
                       find-refs
                       --from-sections=.iram0.text
diff --git a/components/driver/test_apps/mcpwm/README.md b/components/esp_driver_mcpwm/test_apps/mcpwm/README.md
similarity index 100%
rename from components/driver/test_apps/mcpwm/README.md
rename to components/esp_driver_mcpwm/test_apps/mcpwm/README.md
diff --git a/components/driver/test_apps/mcpwm/main/CMakeLists.txt b/components/esp_driver_mcpwm/test_apps/mcpwm/main/CMakeLists.txt
similarity index 88%
rename from components/driver/test_apps/mcpwm/main/CMakeLists.txt
rename to components/esp_driver_mcpwm/test_apps/mcpwm/main/CMakeLists.txt
index 6cf3fe2cf4..119892a0b4 100644
--- a/components/driver/test_apps/mcpwm/main/CMakeLists.txt
+++ b/components/esp_driver_mcpwm/test_apps/mcpwm/main/CMakeLists.txt
@@ -16,5 +16,5 @@ endif()
 # In order for the cases defined by `TEST_CASE` to be linked into the final elf,
 # the component can be registered as WHOLE_ARCHIVE
 idf_component_register(SRCS ${srcs}
-                       PRIV_REQUIRES unity driver
+                       PRIV_REQUIRES unity esp_driver_mcpwm esp_driver_gpio
                        WHOLE_ARCHIVE)
diff --git a/components/driver/test_apps/mcpwm/main/test_app_main.c b/components/esp_driver_mcpwm/test_apps/mcpwm/main/test_app_main.c
similarity index 100%
rename from components/driver/test_apps/mcpwm/main/test_app_main.c
rename to components/esp_driver_mcpwm/test_apps/mcpwm/main/test_app_main.c
diff --git a/components/driver/test_apps/mcpwm/main/test_mcpwm_cap.c b/components/esp_driver_mcpwm/test_apps/mcpwm/main/test_mcpwm_cap.c
similarity index 100%
rename from components/driver/test_apps/mcpwm/main/test_mcpwm_cap.c
rename to components/esp_driver_mcpwm/test_apps/mcpwm/main/test_mcpwm_cap.c
diff --git a/components/driver/test_apps/mcpwm/main/test_mcpwm_cmpr.c b/components/esp_driver_mcpwm/test_apps/mcpwm/main/test_mcpwm_cmpr.c
similarity index 100%
rename from components/driver/test_apps/mcpwm/main/test_mcpwm_cmpr.c
rename to components/esp_driver_mcpwm/test_apps/mcpwm/main/test_mcpwm_cmpr.c
diff --git a/components/driver/test_apps/mcpwm/main/test_mcpwm_common.c b/components/esp_driver_mcpwm/test_apps/mcpwm/main/test_mcpwm_common.c
similarity index 99%
rename from components/driver/test_apps/mcpwm/main/test_mcpwm_common.c
rename to components/esp_driver_mcpwm/test_apps/mcpwm/main/test_mcpwm_common.c
index f31efcc65a..7ec047b454 100644
--- a/components/driver/test_apps/mcpwm/main/test_mcpwm_common.c
+++ b/components/esp_driver_mcpwm/test_apps/mcpwm/main/test_mcpwm_common.c
@@ -163,7 +163,6 @@ TEST_CASE("mcpwm_group_set_prescale_dynamically", "[mcpwm]")
     carrier_config.first_pulse_duration_us = 5;
     TEST_ESP_OK(mcpwm_operator_apply_carrier(oper, &carrier_config));
 
-
     TEST_ESP_OK(mcpwm_del_generator(generator));
     TEST_ESP_OK(mcpwm_del_operator(oper));
     TEST_ESP_OK(mcpwm_del_timer(timer));
diff --git a/components/driver/test_apps/mcpwm/main/test_mcpwm_fault.c b/components/esp_driver_mcpwm/test_apps/mcpwm/main/test_mcpwm_fault.c
similarity index 100%
rename from components/driver/test_apps/mcpwm/main/test_mcpwm_fault.c
rename to components/esp_driver_mcpwm/test_apps/mcpwm/main/test_mcpwm_fault.c
diff --git a/components/driver/test_apps/mcpwm/main/test_mcpwm_gen.c b/components/esp_driver_mcpwm/test_apps/mcpwm/main/test_mcpwm_gen.c
similarity index 79%
rename from components/driver/test_apps/mcpwm/main/test_mcpwm_gen.c
rename to components/esp_driver_mcpwm/test_apps/mcpwm/main/test_mcpwm_gen.c
index f4a6fef386..dcfc749e6e 100644
--- a/components/driver/test_apps/mcpwm/main/test_mcpwm_gen.c
+++ b/components/esp_driver_mcpwm/test_apps/mcpwm/main/test_mcpwm_gen.c
@@ -170,7 +170,7 @@ TEST_CASE("mcpwm_generator_force_level_recovery", "[mcpwm]")
     TEST_ESP_OK(mcpwm_generator_set_force_level(generator, 0, false));
     TEST_ASSERT_EQUAL(0, gpio_get_level(gen_gpio));
     TEST_ESP_OK(mcpwm_generator_set_action_on_timer_event(generator,
-                MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH)));
+                                                          MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH)));
     // generator should output high level on tez event, the previous force level should disappear
     TEST_ESP_OK(mcpwm_timer_start_stop(timer, MCPWM_TIMER_START_NO_STOP));
     vTaskDelay(pdMS_TO_TICKS(200));
@@ -181,7 +181,7 @@ TEST_CASE("mcpwm_generator_force_level_recovery", "[mcpwm]")
     TEST_ESP_OK(mcpwm_generator_set_force_level(generator, 1, false));
     TEST_ASSERT_EQUAL(1, gpio_get_level(gen_gpio));
     TEST_ESP_OK(mcpwm_generator_set_action_on_timer_event(generator,
-                MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_LOW)));
+                                                          MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_LOW)));
     // generator should output low level on tez event, the previous force level should disappear
     TEST_ESP_OK(mcpwm_timer_start_stop(timer, MCPWM_TIMER_START_NO_STOP));
     vTaskDelay(pdMS_TO_TICKS(200));
@@ -230,9 +230,9 @@ TEST_CASE("mcpwm_generator_action_on_timer_event", "[mcpwm]")
 
     printf("set generator to output high on timer full\r\n");
     TEST_ESP_OK(mcpwm_generator_set_actions_on_timer_event(gen,
-                MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_FULL, MCPWM_GEN_ACTION_HIGH),
-                MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_KEEP),
-                MCPWM_GEN_TIMER_EVENT_ACTION_END()));
+                                                           MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_FULL, MCPWM_GEN_ACTION_HIGH),
+                                                           MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_KEEP),
+                                                           MCPWM_GEN_TIMER_EVENT_ACTION_END()));
     printf("start timer\r\n");
     TEST_ESP_OK(mcpwm_timer_start_stop(timer, MCPWM_TIMER_START_NO_STOP));
     vTaskDelay(pdMS_TO_TICKS(100));
@@ -242,9 +242,9 @@ TEST_CASE("mcpwm_generator_action_on_timer_event", "[mcpwm]")
 
     printf("set generator to output low on timer full\r\n");
     TEST_ESP_OK(mcpwm_generator_set_actions_on_timer_event(gen,
-                MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_FULL, MCPWM_GEN_ACTION_LOW),
-                MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_KEEP),
-                MCPWM_GEN_TIMER_EVENT_ACTION_END()));
+                                                           MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_FULL, MCPWM_GEN_ACTION_LOW),
+                                                           MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_KEEP),
+                                                           MCPWM_GEN_TIMER_EVENT_ACTION_END()));
     printf("start timer\r\n");
     TEST_ESP_OK(mcpwm_timer_start_stop(timer, MCPWM_TIMER_START_NO_STOP));
     vTaskDelay(pdMS_TO_TICKS(100));
@@ -262,7 +262,7 @@ TEST_CASE("mcpwm_generator_action_on_timer_event", "[mcpwm]")
 typedef void (*set_gen_actions_cb_t)(mcpwm_gen_handle_t gena, mcpwm_gen_handle_t genb, mcpwm_cmpr_handle_t cmpa, mcpwm_cmpr_handle_t cmpb);
 
 static void mcpwm_gen_action_test_template(uint32_t timer_resolution, uint32_t period, mcpwm_timer_count_mode_t count_mode,
-        uint32_t cmpa, uint32_t cmpb, int gpioa, int gpiob, set_gen_actions_cb_t set_generator_actions)
+                                           uint32_t cmpa, uint32_t cmpb, int gpioa, int gpiob, set_gen_actions_cb_t set_generator_actions)
 {
     mcpwm_timer_config_t timer_config = {
         .group_id = 0,
@@ -321,72 +321,72 @@ static void mcpwm_gen_action_test_template(uint32_t timer_resolution, uint32_t p
 static void single_edge_active_high(mcpwm_gen_handle_t gena, mcpwm_gen_handle_t genb, mcpwm_cmpr_handle_t cmpa, mcpwm_cmpr_handle_t cmpb)
 {
     TEST_ESP_OK(mcpwm_generator_set_action_on_timer_event(gena,
-                MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH)));
+                                                          MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH)));
     TEST_ESP_OK(mcpwm_generator_set_action_on_compare_event(gena,
-                MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpa, MCPWM_GEN_ACTION_LOW)));
+                                                            MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpa, MCPWM_GEN_ACTION_LOW)));
     TEST_ESP_OK(mcpwm_generator_set_action_on_timer_event(genb,
-                MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH)));
+                                                          MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH)));
     TEST_ESP_OK(mcpwm_generator_set_action_on_compare_event(genb,
-                MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpb, MCPWM_GEN_ACTION_LOW)));
+                                                            MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpb, MCPWM_GEN_ACTION_LOW)));
 }
 
 static void single_edge_active_low(mcpwm_gen_handle_t gena, mcpwm_gen_handle_t genb, mcpwm_cmpr_handle_t cmpa, mcpwm_cmpr_handle_t cmpb)
 {
     TEST_ESP_OK(mcpwm_generator_set_action_on_timer_event(gena,
-                MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_FULL, MCPWM_GEN_ACTION_LOW)));
+                                                          MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_FULL, MCPWM_GEN_ACTION_LOW)));
     TEST_ESP_OK(mcpwm_generator_set_action_on_compare_event(gena,
-                MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpa, MCPWM_GEN_ACTION_HIGH)));
+                                                            MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpa, MCPWM_GEN_ACTION_HIGH)));
     TEST_ESP_OK(mcpwm_generator_set_action_on_timer_event(genb,
-                MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_FULL, MCPWM_GEN_ACTION_LOW)));
+                                                          MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_FULL, MCPWM_GEN_ACTION_LOW)));
     TEST_ESP_OK(mcpwm_generator_set_action_on_compare_event(genb,
-                MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpb, MCPWM_GEN_ACTION_HIGH)));
+                                                            MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpb, MCPWM_GEN_ACTION_HIGH)));
 }
 
 static void pulse_placement(mcpwm_gen_handle_t gena, mcpwm_gen_handle_t genb, mcpwm_cmpr_handle_t cmpa, mcpwm_cmpr_handle_t cmpb)
 {
     TEST_ESP_OK(mcpwm_generator_set_actions_on_compare_event(gena,
-                MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpa, MCPWM_GEN_ACTION_HIGH),
-                MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpb, MCPWM_GEN_ACTION_LOW),
-                MCPWM_GEN_COMPARE_EVENT_ACTION_END()));
+                                                             MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpa, MCPWM_GEN_ACTION_HIGH),
+                                                             MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpb, MCPWM_GEN_ACTION_LOW),
+                                                             MCPWM_GEN_COMPARE_EVENT_ACTION_END()));
     TEST_ESP_OK(mcpwm_generator_set_actions_on_timer_event(genb,
-                MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_TOGGLE),
-                MCPWM_GEN_TIMER_EVENT_ACTION_END()));
+                                                           MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_TOGGLE),
+                                                           MCPWM_GEN_TIMER_EVENT_ACTION_END()));
 }
 
 static void dual_edge_active_low_asym(mcpwm_gen_handle_t gena, mcpwm_gen_handle_t genb, mcpwm_cmpr_handle_t cmpa, mcpwm_cmpr_handle_t cmpb)
 {
     TEST_ESP_OK(mcpwm_generator_set_actions_on_compare_event(gena,
-                MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpa, MCPWM_GEN_ACTION_HIGH),
-                MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_DOWN, cmpb, MCPWM_GEN_ACTION_LOW),
-                MCPWM_GEN_COMPARE_EVENT_ACTION_END()));
+                                                             MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpa, MCPWM_GEN_ACTION_HIGH),
+                                                             MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_DOWN, cmpb, MCPWM_GEN_ACTION_LOW),
+                                                             MCPWM_GEN_COMPARE_EVENT_ACTION_END()));
     TEST_ESP_OK(mcpwm_generator_set_actions_on_timer_event(genb,
-                MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_LOW),
-                MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_DOWN, MCPWM_TIMER_EVENT_FULL, MCPWM_GEN_ACTION_HIGH),
-                MCPWM_GEN_TIMER_EVENT_ACTION_END()));
+                                                           MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_LOW),
+                                                           MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_DOWN, MCPWM_TIMER_EVENT_FULL, MCPWM_GEN_ACTION_HIGH),
+                                                           MCPWM_GEN_TIMER_EVENT_ACTION_END()));
 }
 
 static void dual_edge_active_low_sym(mcpwm_gen_handle_t gena, mcpwm_gen_handle_t genb, mcpwm_cmpr_handle_t cmpa, mcpwm_cmpr_handle_t cmpb)
 {
     TEST_ESP_OK(mcpwm_generator_set_actions_on_compare_event(gena,
-                MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpa, MCPWM_GEN_ACTION_HIGH),
-                MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_DOWN, cmpa, MCPWM_GEN_ACTION_LOW),
-                MCPWM_GEN_COMPARE_EVENT_ACTION_END()));
+                                                             MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpa, MCPWM_GEN_ACTION_HIGH),
+                                                             MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_DOWN, cmpa, MCPWM_GEN_ACTION_LOW),
+                                                             MCPWM_GEN_COMPARE_EVENT_ACTION_END()));
     TEST_ESP_OK(mcpwm_generator_set_actions_on_compare_event(genb,
-                MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpb, MCPWM_GEN_ACTION_HIGH),
-                MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_DOWN, cmpb, MCPWM_GEN_ACTION_LOW),
-                MCPWM_GEN_COMPARE_EVENT_ACTION_END()));
+                                                             MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpb, MCPWM_GEN_ACTION_HIGH),
+                                                             MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_DOWN, cmpb, MCPWM_GEN_ACTION_LOW),
+                                                             MCPWM_GEN_COMPARE_EVENT_ACTION_END()));
 }
 
 static void dual_edge_complementary(mcpwm_gen_handle_t gena, mcpwm_gen_handle_t genb, mcpwm_cmpr_handle_t cmpa, mcpwm_cmpr_handle_t cmpb)
 {
     TEST_ESP_OK(mcpwm_generator_set_actions_on_compare_event(gena,
-                MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpa, MCPWM_GEN_ACTION_HIGH),
-                MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_DOWN, cmpa, MCPWM_GEN_ACTION_LOW),
-                MCPWM_GEN_COMPARE_EVENT_ACTION_END()));
+                                                             MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpa, MCPWM_GEN_ACTION_HIGH),
+                                                             MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_DOWN, cmpa, MCPWM_GEN_ACTION_LOW),
+                                                             MCPWM_GEN_COMPARE_EVENT_ACTION_END()));
     TEST_ESP_OK(mcpwm_generator_set_actions_on_compare_event(genb,
-                MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpb, MCPWM_GEN_ACTION_LOW),
-                MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_DOWN, cmpb, MCPWM_GEN_ACTION_HIGH),
-                MCPWM_GEN_COMPARE_EVENT_ACTION_END()));
+                                                             MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpb, MCPWM_GEN_ACTION_LOW),
+                                                             MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_DOWN, cmpb, MCPWM_GEN_ACTION_HIGH),
+                                                             MCPWM_GEN_COMPARE_EVENT_ACTION_END()));
 }
 
 TEST_CASE("mcpwm_generator_action_on_compare_event", "[mcpwm]")
@@ -425,7 +425,7 @@ TEST_CASE("mcpwm_generator_action_on_compare_event", "[mcpwm]")
 typedef void (*set_dead_time_cb_t)(mcpwm_gen_handle_t gena, mcpwm_gen_handle_t genb);
 
 static void mcpwm_deadtime_test_template(uint32_t timer_resolution, uint32_t period, uint32_t cmpa, uint32_t cmpb, int gpioa, int gpiob,
-        set_gen_actions_cb_t set_generator_actions, set_dead_time_cb_t set_dead_time)
+                                         set_gen_actions_cb_t set_generator_actions, set_dead_time_cb_t set_dead_time)
 {
     mcpwm_timer_config_t timer_config = {
         .group_id = 0,
@@ -485,9 +485,9 @@ static void mcpwm_deadtime_test_template(uint32_t timer_resolution, uint32_t per
 static void ahc_set_generator_actions(mcpwm_gen_handle_t gena, mcpwm_gen_handle_t genb, mcpwm_cmpr_handle_t cmpa, mcpwm_cmpr_handle_t cmpb)
 {
     TEST_ESP_OK(mcpwm_generator_set_action_on_timer_event(gena,
-                MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH)));
+                                                          MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH)));
     TEST_ESP_OK(mcpwm_generator_set_action_on_compare_event(gena,
-                MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpa, MCPWM_GEN_ACTION_LOW)));
+                                                            MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpa, MCPWM_GEN_ACTION_LOW)));
 }
 
 static void ahc_set_dead_time(mcpwm_gen_handle_t gena, mcpwm_gen_handle_t genb)
@@ -506,9 +506,9 @@ static void ahc_set_dead_time(mcpwm_gen_handle_t gena, mcpwm_gen_handle_t genb)
 static void alc_set_generator_actions(mcpwm_gen_handle_t gena, mcpwm_gen_handle_t genb, mcpwm_cmpr_handle_t cmpa, mcpwm_cmpr_handle_t cmpb)
 {
     TEST_ESP_OK(mcpwm_generator_set_action_on_timer_event(gena,
-                MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH)));
+                                                          MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH)));
     TEST_ESP_OK(mcpwm_generator_set_action_on_compare_event(gena,
-                MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpa, MCPWM_GEN_ACTION_LOW)));
+                                                            MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpa, MCPWM_GEN_ACTION_LOW)));
 }
 
 static void alc_set_dead_time(mcpwm_gen_handle_t gena, mcpwm_gen_handle_t genb)
@@ -528,9 +528,9 @@ static void alc_set_dead_time(mcpwm_gen_handle_t gena, mcpwm_gen_handle_t genb)
 static void ah_set_generator_actions(mcpwm_gen_handle_t gena, mcpwm_gen_handle_t genb, mcpwm_cmpr_handle_t cmpa, mcpwm_cmpr_handle_t cmpb)
 {
     TEST_ESP_OK(mcpwm_generator_set_action_on_timer_event(gena,
-                MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH)));
+                                                          MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH)));
     TEST_ESP_OK(mcpwm_generator_set_action_on_compare_event(gena,
-                MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpa, MCPWM_GEN_ACTION_LOW)));
+                                                            MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpa, MCPWM_GEN_ACTION_LOW)));
 }
 
 static void ah_set_dead_time(mcpwm_gen_handle_t gena, mcpwm_gen_handle_t genb)
@@ -548,9 +548,9 @@ static void ah_set_dead_time(mcpwm_gen_handle_t gena, mcpwm_gen_handle_t genb)
 static void al_set_generator_actions(mcpwm_gen_handle_t gena, mcpwm_gen_handle_t genb, mcpwm_cmpr_handle_t cmpa, mcpwm_cmpr_handle_t cmpb)
 {
     TEST_ESP_OK(mcpwm_generator_set_action_on_timer_event(gena,
-                MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH)));
+                                                          MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH)));
     TEST_ESP_OK(mcpwm_generator_set_action_on_compare_event(gena,
-                MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpa, MCPWM_GEN_ACTION_LOW)));
+                                                            MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpa, MCPWM_GEN_ACTION_LOW)));
 }
 
 static void al_set_dead_time(mcpwm_gen_handle_t gena, mcpwm_gen_handle_t genb)
@@ -569,13 +569,13 @@ static void al_set_dead_time(mcpwm_gen_handle_t gena, mcpwm_gen_handle_t genb)
 static void reda_only_set_generator_actions(mcpwm_gen_handle_t gena, mcpwm_gen_handle_t genb, mcpwm_cmpr_handle_t cmpa, mcpwm_cmpr_handle_t cmpb)
 {
     TEST_ESP_OK(mcpwm_generator_set_action_on_timer_event(gena,
-                MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH)));
+                                                          MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH)));
     TEST_ESP_OK(mcpwm_generator_set_action_on_compare_event(gena,
-                MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpa, MCPWM_GEN_ACTION_LOW)));
+                                                            MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpa, MCPWM_GEN_ACTION_LOW)));
     TEST_ESP_OK(mcpwm_generator_set_action_on_timer_event(genb,
-                MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH)));
+                                                          MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH)));
     TEST_ESP_OK(mcpwm_generator_set_action_on_compare_event(genb,
-                MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpb, MCPWM_GEN_ACTION_LOW)));
+                                                            MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpb, MCPWM_GEN_ACTION_LOW)));
 }
 
 static void reda_only_set_dead_time(mcpwm_gen_handle_t gena, mcpwm_gen_handle_t genb)
@@ -594,13 +594,13 @@ static void reda_only_set_dead_time(mcpwm_gen_handle_t gena, mcpwm_gen_handle_t
 static void fedb_only_set_generator_actions(mcpwm_gen_handle_t gena, mcpwm_gen_handle_t genb, mcpwm_cmpr_handle_t cmpa, mcpwm_cmpr_handle_t cmpb)
 {
     TEST_ESP_OK(mcpwm_generator_set_action_on_timer_event(gena,
-                MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH)));
+                                                          MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH)));
     TEST_ESP_OK(mcpwm_generator_set_action_on_compare_event(gena,
-                MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpa, MCPWM_GEN_ACTION_LOW)));
+                                                            MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpa, MCPWM_GEN_ACTION_LOW)));
     TEST_ESP_OK(mcpwm_generator_set_action_on_timer_event(genb,
-                MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH)));
+                                                          MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH)));
     TEST_ESP_OK(mcpwm_generator_set_action_on_compare_event(genb,
-                MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpb, MCPWM_GEN_ACTION_LOW)));
+                                                            MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpb, MCPWM_GEN_ACTION_LOW)));
 }
 
 static void fedb_only_set_dead_time(mcpwm_gen_handle_t gena, mcpwm_gen_handle_t genb)
@@ -620,13 +620,13 @@ static void fedb_only_set_dead_time(mcpwm_gen_handle_t gena, mcpwm_gen_handle_t
 static void redfedb_only_set_generator_actions(mcpwm_gen_handle_t gena, mcpwm_gen_handle_t genb, mcpwm_cmpr_handle_t cmpa, mcpwm_cmpr_handle_t cmpb)
 {
     TEST_ESP_OK(mcpwm_generator_set_action_on_timer_event(gena,
-                MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH)));
+                                                          MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH)));
     TEST_ESP_OK(mcpwm_generator_set_action_on_compare_event(gena,
-                MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpa, MCPWM_GEN_ACTION_LOW)));
+                                                            MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpa, MCPWM_GEN_ACTION_LOW)));
     TEST_ESP_OK(mcpwm_generator_set_action_on_timer_event(genb,
-                MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH)));
+                                                          MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH)));
     TEST_ESP_OK(mcpwm_generator_set_action_on_compare_event(genb,
-                MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpb, MCPWM_GEN_ACTION_LOW)));
+                                                            MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpb, MCPWM_GEN_ACTION_LOW)));
 }
 
 static void redfedb_only_set_dead_time(mcpwm_gen_handle_t gena, mcpwm_gen_handle_t genb)
@@ -727,9 +727,9 @@ TEST_CASE("mcpwm_duty_empty_full", "[mcpwm]")
 
     printf("set generator actions on timer and compare events\r\n");
     TEST_ESP_OK(mcpwm_generator_set_action_on_timer_event(gen,
-                MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH)));
+                                                          MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH)));
     TEST_ESP_OK(mcpwm_generator_set_action_on_compare_event(gen,
-                MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, comparator, MCPWM_GEN_ACTION_LOW)));
+                                                            MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, comparator, MCPWM_GEN_ACTION_LOW)));
 
     printf("start timer\r\n");
     TEST_ESP_OK(mcpwm_timer_enable(timer));
@@ -800,12 +800,12 @@ TEST_CASE("mcpwm_generator_action_on_fault_trigger_event", "[mcpwm]")
 
     printf("set generator to output high on trigger0 and low on trigger1\r\n");
     TEST_ESP_OK(mcpwm_generator_set_action_on_fault_event(gen,
-                MCPWM_GEN_FAULT_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, gpio_faults[0], MCPWM_GEN_ACTION_HIGH)));
+                                                          MCPWM_GEN_FAULT_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, gpio_faults[0], MCPWM_GEN_ACTION_HIGH)));
     TEST_ESP_OK(mcpwm_generator_set_action_on_fault_event(gen,
-                MCPWM_GEN_FAULT_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, gpio_faults[1], MCPWM_GEN_ACTION_LOW)));
+                                                          MCPWM_GEN_FAULT_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, gpio_faults[1], MCPWM_GEN_ACTION_LOW)));
     // no free trigger
     TEST_ESP_ERR(ESP_ERR_NOT_FOUND, mcpwm_generator_set_action_on_fault_event(gen,
-                 MCPWM_GEN_FAULT_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, gpio_faults[2], MCPWM_GEN_ACTION_LOW)));
+                                                                              MCPWM_GEN_FAULT_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, gpio_faults[2], MCPWM_GEN_ACTION_LOW)));
 
     TEST_ASSERT_EQUAL(0, gpio_get_level(generator_gpio));
     gpio_set_level(fault_gpio_num[0], 1);
@@ -872,13 +872,13 @@ TEST_CASE("mcpwm_generator_action_on_soft_sync_trigger_event", "[mcpwm]")
 
     printf("set generator to output high on soft sync trigger\r\n");
     TEST_ESP_OK(mcpwm_generator_set_action_on_sync_event(gen,
-                MCPWM_GEN_SYNC_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, soft_sync, MCPWM_GEN_ACTION_HIGH)));
+                                                         MCPWM_GEN_SYNC_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, soft_sync, MCPWM_GEN_ACTION_HIGH)));
 
     //more than 1 sync is not supported
     mcpwm_sync_handle_t invalid_soft_sync = NULL;
     TEST_ESP_OK(mcpwm_new_soft_sync_src(&soft_sync_config, &invalid_soft_sync));
     TEST_ESP_ERR(ESP_ERR_INVALID_STATE, mcpwm_generator_set_action_on_sync_event(gen,
-                 MCPWM_GEN_SYNC_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, invalid_soft_sync, MCPWM_GEN_ACTION_LOW)));
+                                                                                 MCPWM_GEN_SYNC_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, invalid_soft_sync, MCPWM_GEN_ACTION_LOW)));
 
     TEST_ASSERT_EQUAL(0, gpio_get_level(generator_gpio));
     mcpwm_soft_sync_activate(soft_sync);
@@ -941,7 +941,7 @@ TEST_CASE("mcpwm_generator_action_on_timer_sync_trigger_event", "[mcpwm]")
 
     printf("set generator to output high on timer sync trigger\r\n");
     TEST_ESP_OK(mcpwm_generator_set_action_on_sync_event(gen,
-                MCPWM_GEN_SYNC_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, timer_sync, MCPWM_GEN_ACTION_HIGH)));
+                                                         MCPWM_GEN_SYNC_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, timer_sync, MCPWM_GEN_ACTION_HIGH)));
 
     TEST_ESP_OK(mcpwm_timer_enable(timer));
 
@@ -1011,7 +1011,7 @@ TEST_CASE("mcpwm_generator_action_on_gpio_sync_trigger_event", "[mcpwm]")
 
     printf("set generator to output high on gpio sync trigger\r\n");
     TEST_ESP_OK(mcpwm_generator_set_action_on_sync_event(gen,
-                MCPWM_GEN_SYNC_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, gpio_sync, MCPWM_GEN_ACTION_HIGH)));
+                                                         MCPWM_GEN_SYNC_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, gpio_sync, MCPWM_GEN_ACTION_HIGH)));
 
     TEST_ASSERT_EQUAL(0, gpio_get_level(generator_gpio));
     gpio_set_level(gpio_sync_config.gpio_num, 1);
diff --git a/components/driver/test_apps/mcpwm/main/test_mcpwm_iram.c b/components/esp_driver_mcpwm/test_apps/mcpwm/main/test_mcpwm_iram.c
similarity index 95%
rename from components/driver/test_apps/mcpwm/main/test_mcpwm_iram.c
rename to components/esp_driver_mcpwm/test_apps/mcpwm/main/test_mcpwm_iram.c
index cc60e467c5..0a0ae2fd88 100644
--- a/components/driver/test_apps/mcpwm/main/test_mcpwm_iram.c
+++ b/components/esp_driver_mcpwm/test_apps/mcpwm/main/test_mcpwm_iram.c
@@ -146,9 +146,9 @@ TEST_CASE("mcpwm_comparator_iram_safe", "[mcpwm]")
 
     printf("set generator actions on timer and compare events\r\n");
     TEST_ESP_OK(mcpwm_generator_set_action_on_timer_event(gen,
-                MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH)));
+                                                          MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH)));
     TEST_ESP_OK(mcpwm_generator_set_action_on_compare_event(gen,
-                MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, comparator, MCPWM_GEN_ACTION_LOW)));
+                                                            MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, comparator, MCPWM_GEN_ACTION_LOW)));
 
     printf("register compare event callback\r\n");
     mcpwm_comparator_event_callbacks_t cbs = {
diff --git a/components/driver/test_apps/mcpwm/main/test_mcpwm_oper.c b/components/esp_driver_mcpwm/test_apps/mcpwm/main/test_mcpwm_oper.c
similarity index 91%
rename from components/driver/test_apps/mcpwm/main/test_mcpwm_oper.c
rename to components/esp_driver_mcpwm/test_apps/mcpwm/main/test_mcpwm_oper.c
index c201d4147c..1c138a63bc 100644
--- a/components/driver/test_apps/mcpwm/main/test_mcpwm_oper.c
+++ b/components/esp_driver_mcpwm/test_apps/mcpwm/main/test_mcpwm_oper.c
@@ -193,15 +193,15 @@ TEST_CASE("mcpwm_operator_brake_on_gpio_fault", "[mcpwm]")
 
     printf("set generator actions on timer event\r\n");
     TEST_ESP_OK(mcpwm_generator_set_action_on_timer_event(gen_a,
-                MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_LOW)));
+                                                          MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_LOW)));
     TEST_ESP_OK(mcpwm_generator_set_action_on_timer_event(gen_b,
-                MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_LOW)));
+                                                          MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_LOW)));
 
     printf("set generator actions on brake event\r\n");
     TEST_ESP_OK(mcpwm_generator_set_action_on_brake_event(gen_a,
-                MCPWM_GEN_BRAKE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_OPER_BRAKE_MODE_CBC, MCPWM_GEN_ACTION_HIGH)));
+                                                          MCPWM_GEN_BRAKE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_OPER_BRAKE_MODE_CBC, MCPWM_GEN_ACTION_HIGH)));
     TEST_ESP_OK(mcpwm_generator_set_action_on_brake_event(gen_b,
-                MCPWM_GEN_BRAKE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_OPER_BRAKE_MODE_OST, MCPWM_GEN_ACTION_HIGH)));
+                                                          MCPWM_GEN_BRAKE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_OPER_BRAKE_MODE_OST, MCPWM_GEN_ACTION_HIGH)));
 
     printf("enable and start timer\r\n");
     TEST_ESP_OK(mcpwm_timer_enable(timer));
@@ -299,15 +299,15 @@ TEST_CASE("mcpwm_operator_brake_on_soft_fault", "[mcpwm]")
 
     printf("set generator actions on timer event\r\n");
     TEST_ESP_OK(mcpwm_generator_set_action_on_timer_event(gen_a,
-                MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_LOW)));
+                                                          MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_LOW)));
     TEST_ESP_OK(mcpwm_generator_set_action_on_timer_event(gen_b,
-                MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_LOW)));
+                                                          MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_LOW)));
 
     printf("set generator actions on brake event\r\n");
     TEST_ESP_OK(mcpwm_generator_set_action_on_brake_event(gen_a,
-                MCPWM_GEN_BRAKE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_OPER_BRAKE_MODE_CBC, MCPWM_GEN_ACTION_HIGH)));
+                                                          MCPWM_GEN_BRAKE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_OPER_BRAKE_MODE_CBC, MCPWM_GEN_ACTION_HIGH)));
     TEST_ESP_OK(mcpwm_generator_set_action_on_brake_event(gen_b,
-                MCPWM_GEN_BRAKE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_OPER_BRAKE_MODE_OST, MCPWM_GEN_ACTION_HIGH)));
+                                                          MCPWM_GEN_BRAKE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_OPER_BRAKE_MODE_OST, MCPWM_GEN_ACTION_HIGH)));
 
     printf("enable and start timer\r\n");
     TEST_ESP_OK(mcpwm_timer_enable(timer));
diff --git a/components/driver/test_apps/mcpwm/main/test_mcpwm_sync.c b/components/esp_driver_mcpwm/test_apps/mcpwm/main/test_mcpwm_sync.c
similarity index 100%
rename from components/driver/test_apps/mcpwm/main/test_mcpwm_sync.c
rename to components/esp_driver_mcpwm/test_apps/mcpwm/main/test_mcpwm_sync.c
diff --git a/components/driver/test_apps/mcpwm/main/test_mcpwm_timer.c b/components/esp_driver_mcpwm/test_apps/mcpwm/main/test_mcpwm_timer.c
similarity index 100%
rename from components/driver/test_apps/mcpwm/main/test_mcpwm_timer.c
rename to components/esp_driver_mcpwm/test_apps/mcpwm/main/test_mcpwm_timer.c
diff --git a/components/driver/test_apps/mcpwm/main/test_mcpwm_utils.c b/components/esp_driver_mcpwm/test_apps/mcpwm/main/test_mcpwm_utils.c
similarity index 100%
rename from components/driver/test_apps/mcpwm/main/test_mcpwm_utils.c
rename to components/esp_driver_mcpwm/test_apps/mcpwm/main/test_mcpwm_utils.c
diff --git a/components/driver/test_apps/mcpwm/main/test_mcpwm_utils.h b/components/esp_driver_mcpwm/test_apps/mcpwm/main/test_mcpwm_utils.h
similarity index 100%
rename from components/driver/test_apps/mcpwm/main/test_mcpwm_utils.h
rename to components/esp_driver_mcpwm/test_apps/mcpwm/main/test_mcpwm_utils.h
diff --git a/components/driver/test_apps/mcpwm/pytest_mcpwm.py b/components/esp_driver_mcpwm/test_apps/mcpwm/pytest_mcpwm.py
similarity index 100%
rename from components/driver/test_apps/mcpwm/pytest_mcpwm.py
rename to components/esp_driver_mcpwm/test_apps/mcpwm/pytest_mcpwm.py
diff --git a/components/driver/test_apps/mcpwm/sdkconfig.ci.iram_safe b/components/esp_driver_mcpwm/test_apps/mcpwm/sdkconfig.ci.iram_safe
similarity index 100%
rename from components/driver/test_apps/mcpwm/sdkconfig.ci.iram_safe
rename to components/esp_driver_mcpwm/test_apps/mcpwm/sdkconfig.ci.iram_safe
diff --git a/components/driver/test_apps/mcpwm/sdkconfig.ci.release b/components/esp_driver_mcpwm/test_apps/mcpwm/sdkconfig.ci.release
similarity index 100%
rename from components/driver/test_apps/mcpwm/sdkconfig.ci.release
rename to components/esp_driver_mcpwm/test_apps/mcpwm/sdkconfig.ci.release
diff --git a/components/driver/test_apps/mcpwm/sdkconfig.defaults b/components/esp_driver_mcpwm/test_apps/mcpwm/sdkconfig.defaults
similarity index 100%
rename from components/driver/test_apps/mcpwm/sdkconfig.defaults
rename to components/esp_driver_mcpwm/test_apps/mcpwm/sdkconfig.defaults
diff --git a/components/esp_driver_pcnt/test_apps/pulse_cnt/main/CMakeLists.txt b/components/esp_driver_pcnt/test_apps/pulse_cnt/main/CMakeLists.txt
index 82fd921095..67bb690c46 100644
--- a/components/esp_driver_pcnt/test_apps/pulse_cnt/main/CMakeLists.txt
+++ b/components/esp_driver_pcnt/test_apps/pulse_cnt/main/CMakeLists.txt
@@ -9,6 +9,5 @@ endif()
 # In order for the cases defined by `TEST_CASE` to be linked into the final elf,
 # the component can be registered as WHOLE_ARCHIVE
 idf_component_register(SRCS ${srcs}
-                       PRIV_REQUIRES unity esp_driver_pcnt spi_flash
-                                     driver # will be replaced by esp_driver_gpio
+                       PRIV_REQUIRES unity esp_driver_pcnt esp_driver_gpio spi_flash
                        WHOLE_ARCHIVE)
diff --git a/components/esp_hw_support/test_apps/.build-test-rules.yml b/components/esp_hw_support/test_apps/.build-test-rules.yml
index badd45f01a..7db7e32420 100644
--- a/components/esp_hw_support/test_apps/.build-test-rules.yml
+++ b/components/esp_hw_support/test_apps/.build-test-rules.yml
@@ -16,8 +16,9 @@ components/esp_hw_support/test_apps/etm:
   depends_components:
     - esp_driver_gptimer
     - esp_driver_gpio
+    - esp_driver_mcpwm
     - esp_timer
-    - driver # TODO: replace with esp_driver_mcpwm, esp_driver_ana_cmpr
+    - driver # TODO: replace with esp_driver_ana_cmpr (IDF-8521)
 
 components/esp_hw_support/test_apps/host_test_linux:
   enable:
diff --git a/components/esp_hw_support/test_apps/etm/main/CMakeLists.txt b/components/esp_hw_support/test_apps/etm/main/CMakeLists.txt
index 7b84296f73..93692b32fd 100644
--- a/components/esp_hw_support/test_apps/etm/main/CMakeLists.txt
+++ b/components/esp_hw_support/test_apps/etm/main/CMakeLists.txt
@@ -29,6 +29,6 @@ endif()
 # In order for the cases defined by `TEST_CASE` to be linked into the final elf,
 # the component can be registered as WHOLE_ARCHIVE
 idf_component_register(SRCS ${srcs}
-                       PRIV_REQUIRES unity esp_timer esp_driver_gptimer esp_driver_gpio
-                                     driver # TODO: replace with esp_driver_mcpwm (IDF-8379), esp_driver_ana_cmpr
+                       PRIV_REQUIRES unity esp_timer esp_driver_gptimer esp_driver_gpio esp_driver_mcpwm
+                                     driver # TODO: replace with esp_driver_ana_cmpr (IDF-8521)
                        WHOLE_ARCHIVE)
diff --git a/components/hal/include/hal/color_types.h b/components/hal/include/hal/color_types.h
index 5ccd6b4ad3..b9cdc60344 100644
--- a/components/hal/include/hal/color_types.h
+++ b/components/hal/include/hal/color_types.h
@@ -92,7 +92,7 @@ typedef union {
                       Color Conversion
 ---------------------------------------------------------------*/
 /**
- * @brief LCD color range
+ * @brief Color range
  * @note The difference between a full range color and a limited range color is
  *       the amount of shades of black and white that they can display.
  */
diff --git a/docs/doxygen/Doxyfile b/docs/doxygen/Doxyfile
index 68ab27e866..a56cbec54a 100644
--- a/docs/doxygen/Doxyfile
+++ b/docs/doxygen/Doxyfile
@@ -89,15 +89,6 @@ INPUT = \
     $(PROJECT_PATH)/components/driver/i2s/include/driver/i2s_tdm.h \
     $(PROJECT_PATH)/components/driver/i2s/include/driver/i2s_types.h \
     $(PROJECT_PATH)/components/driver/ledc/include/driver/ledc.h \
-    $(PROJECT_PATH)/components/driver/mcpwm/include/driver/mcpwm_cap.h \
-    $(PROJECT_PATH)/components/driver/mcpwm/include/driver/mcpwm_cmpr.h \
-    $(PROJECT_PATH)/components/driver/mcpwm/include/driver/mcpwm_etm.h \
-    $(PROJECT_PATH)/components/driver/mcpwm/include/driver/mcpwm_fault.h \
-    $(PROJECT_PATH)/components/driver/mcpwm/include/driver/mcpwm_gen.h \
-    $(PROJECT_PATH)/components/driver/mcpwm/include/driver/mcpwm_oper.h \
-    $(PROJECT_PATH)/components/driver/mcpwm/include/driver/mcpwm_sync.h \
-    $(PROJECT_PATH)/components/driver/mcpwm/include/driver/mcpwm_timer.h \
-    $(PROJECT_PATH)/components/driver/mcpwm/include/driver/mcpwm_types.h \
     $(PROJECT_PATH)/components/driver/parlio/include/driver/parlio_tx.h \
     $(PROJECT_PATH)/components/driver/parlio/include/driver/parlio_types.h \
     $(PROJECT_PATH)/components/driver/rmt/include/driver/rmt_common.h \
@@ -142,6 +133,15 @@ INPUT = \
     $(PROJECT_PATH)/components/esp_driver_gptimer/include/driver/gptimer.h \
     $(PROJECT_PATH)/components/esp_driver_gptimer/include/driver/gptimer_etm.h \
     $(PROJECT_PATH)/components/esp_driver_gptimer/include/driver/gptimer_types.h \
+    $(PROJECT_PATH)/components/esp_driver_mcpwm/include/driver/mcpwm_cap.h \
+    $(PROJECT_PATH)/components/esp_driver_mcpwm/include/driver/mcpwm_cmpr.h \
+    $(PROJECT_PATH)/components/esp_driver_mcpwm/include/driver/mcpwm_etm.h \
+    $(PROJECT_PATH)/components/esp_driver_mcpwm/include/driver/mcpwm_fault.h \
+    $(PROJECT_PATH)/components/esp_driver_mcpwm/include/driver/mcpwm_gen.h \
+    $(PROJECT_PATH)/components/esp_driver_mcpwm/include/driver/mcpwm_oper.h \
+    $(PROJECT_PATH)/components/esp_driver_mcpwm/include/driver/mcpwm_sync.h \
+    $(PROJECT_PATH)/components/esp_driver_mcpwm/include/driver/mcpwm_timer.h \
+    $(PROJECT_PATH)/components/esp_driver_mcpwm/include/driver/mcpwm_types.h \
     $(PROJECT_PATH)/components/esp_driver_pcnt/include/driver/pulse_cnt.h \
     $(PROJECT_PATH)/components/esp_eth/include/esp_eth_com.h \
     $(PROJECT_PATH)/components/esp_eth/include/esp_eth_driver.h \
diff --git a/docs/en/api-reference/peripherals/mcpwm.rst b/docs/en/api-reference/peripherals/mcpwm.rst
index 0179156215..9d6acedd8b 100644
--- a/docs/en/api-reference/peripherals/mcpwm.rst
+++ b/docs/en/api-reference/peripherals/mcpwm.rst
@@ -1044,7 +1044,7 @@ API Reference
 .. include-build-file:: inc/mcpwm_sync.inc
 .. include-build-file:: inc/mcpwm_cap.inc
 .. include-build-file:: inc/mcpwm_etm.inc
-.. include-build-file:: inc/components/driver/mcpwm/include/driver/mcpwm_types.inc
+.. include-build-file:: inc/components/esp_driver_mcpwm/include/driver/mcpwm_types.inc
 .. include-build-file:: inc/components/hal/include/hal/mcpwm_types.inc
 
 
diff --git a/docs/en/migration-guides/release-5.x/5.3/peripherals.rst b/docs/en/migration-guides/release-5.x/5.3/peripherals.rst
index 492fef863e..25e7641e9d 100644
--- a/docs/en/migration-guides/release-5.x/5.3/peripherals.rst
+++ b/docs/en/migration-guides/release-5.x/5.3/peripherals.rst
@@ -9,6 +9,7 @@ In order to control the dependence of other components on drivers at a smaller g
 - `esp_driver_pcnt` - Driver for pulse counter
 - `esp_driver_gpio` - Driver for GPIO
 - `esp_driver_spi` - Driver for GPSPI
+- `esp_driver_mcpwm` - Driver for Motor Control PWM
 
 For compatibility, the original `driver`` component is still treated as an all-in-one component by registering these `esp_driver_xyz`` components as its public dependencies. In other words, you do not need to modify the CMake file of an existing project, but you now have a way to specify the specific peripheral driver that your project depends on.
 
diff --git a/docs/zh_CN/api-reference/peripherals/mcpwm.rst b/docs/zh_CN/api-reference/peripherals/mcpwm.rst
index 0fc6d89b0c..a0a96de9dc 100644
--- a/docs/zh_CN/api-reference/peripherals/mcpwm.rst
+++ b/docs/zh_CN/api-reference/peripherals/mcpwm.rst
@@ -1044,7 +1044,7 @@ API Reference
 .. include-build-file:: inc/mcpwm_sync.inc
 .. include-build-file:: inc/mcpwm_cap.inc
 .. include-build-file:: inc/mcpwm_etm.inc
-.. include-build-file:: inc/components/driver/mcpwm/include/driver/mcpwm_types.inc
+.. include-build-file:: inc/components/esp_driver_mcpwm/include/driver/mcpwm_types.inc
 .. include-build-file:: inc/components/hal/include/hal/mcpwm_types.inc
 
 
diff --git a/docs/zh_CN/migration-guides/release-5.x/5.3/peripherals.rst b/docs/zh_CN/migration-guides/release-5.x/5.3/peripherals.rst
index 2d9a5c7449..e5a8d8a23e 100644
--- a/docs/zh_CN/migration-guides/release-5.x/5.3/peripherals.rst
+++ b/docs/zh_CN/migration-guides/release-5.x/5.3/peripherals.rst
@@ -9,6 +9,7 @@
 - `esp_driver_pcnt` - 脉冲计数器驱动
 - `esp_driver_gpio` - GPIO 驱动
 - `esp_driver_spi` - 通用 SPI 驱动
+- `esp_driver_mcpwm` - 电机控制 PWM 驱动
 
 为了兼容性，原来的 `driver` 组件仍然存在，并作为一个 “all-in-one" 的组件，将以上这些 `esp_driver_xyz` 组件注册成自己的公共依赖。换句话说，你无需修改既有项目的 CMake 文件，但是你现在多了一个途径去指定你项目依赖的具体的外设驱动。
 
diff --git a/examples/peripherals/.build-test-rules.yml b/examples/peripherals/.build-test-rules.yml
index bb0d996384..b73f3068e2 100644
--- a/examples/peripherals/.build-test-rules.yml
+++ b/examples/peripherals/.build-test-rules.yml
@@ -151,10 +151,14 @@ examples/peripherals/ledc/ledc_gamma_curve_fade:
 examples/peripherals/mcpwm:
   disable:
     - if: SOC_MCPWM_SUPPORTED != 1
+  depends_components:
+    - esp_driver_mcpwm
 
 examples/peripherals/mcpwm/mcpwm_bdc_speed_control:
   disable:
     - if: SOC_MCPWM_SUPPORTED != 1
+  depends_components:
+    - esp_driver_mcpwm
   disable_test:
     - if: IDF_TARGET != "esp32s3"
       temporary: true
@@ -163,6 +167,8 @@ examples/peripherals/mcpwm/mcpwm_bdc_speed_control:
 examples/peripherals/mcpwm/mcpwm_bldc_hall_control:
   disable:
     - if: SOC_MCPWM_SUPPORTED != 1
+  depends_components:
+    - esp_driver_mcpwm
   disable_test:
     - if: IDF_TARGET != "esp32s3"
       temporary: true
@@ -171,6 +177,8 @@ examples/peripherals/mcpwm/mcpwm_bldc_hall_control:
 examples/peripherals/mcpwm/mcpwm_foc_svpwm_open_loop:
   disable:
     - if: SOC_MCPWM_SUPPORTED != 1
+  depends_components:
+    - esp_driver_mcpwm
   disable_test:
     - if: IDF_TARGET != "esp32s3"
       temporary: true
diff --git a/tools/test_apps/system/g1_components/CMakeLists.txt b/tools/test_apps/system/g1_components/CMakeLists.txt
index 357a81a635..ef31eac5b8 100644
--- a/tools/test_apps/system/g1_components/CMakeLists.txt
+++ b/tools/test_apps/system/g1_components/CMakeLists.txt
@@ -35,7 +35,7 @@ set(extra_components_which_shouldnt_be_included
     cxx
     # [refactor-todo]: driver is a dependency of esp_pm, spi_flash, vfs, esp_wifi
     #   all of these should be removed from G1 except for spi_flash.
-    driver esp_driver_gpio esp_driver_pcnt esp_driver_gptimer esp_driver_spi
+    driver esp_driver_gpio esp_driver_pcnt esp_driver_gptimer esp_driver_spi esp_driver_mcpwm
     # esp_app_format is dependency of bootloader_support, app_update
     esp_app_format
     # esp_bootloader_format is dependency of bootloader_support, app_update