diff --git a/Documentation/platforms/xtensa/esp32/boards/esp32-devkitc/index.rst b/Documentation/platforms/xtensa/esp32/boards/esp32-devkitc/index.rst
index 60fa4f7a4f10a..733be697d89f4 100644
--- a/Documentation/platforms/xtensa/esp32/boards/esp32-devkitc/index.rst
+++ b/Documentation/platforms/xtensa/esp32/boards/esp32-devkitc/index.rst
@@ -294,6 +294,22 @@ the ``buttons`` application and pressing on any of the available board buttons::
     nsh> Sample = 1
     Sample = 0
 
+capture
+--------
+
+The capture configuration enables the capture driver and the capture example, allowing
+the user to measure duty cycle and frequency of a signal. Default pin is GPIO 14 with
+an internal pull-up resistor enabled. When connecting a 50 Hz pulse with 50% duty cycle,
+the following output is expected:
+
+nsh> cap
+cap_main: Hardware initialized. Opening the capture device: /dev/capture0
+cap_main: Number of samples: 0
+pwm duty cycle: 50 % 
+pwm frequence: 50 Hz 
+pwm duty cycle: 50 % 
+pwm frequence: 50 Hz 
+
 coremark
 --------
 
diff --git a/Documentation/platforms/xtensa/esp32/index.rst b/Documentation/platforms/xtensa/esp32/index.rst
index c21d54513b0f8..8d9b97958242d 100644
--- a/Documentation/platforms/xtensa/esp32/index.rst
+++ b/Documentation/platforms/xtensa/esp32/index.rst
@@ -173,7 +173,7 @@ GPIO         Yes
 I2C          Yes
 I2S          Yes
 LED_PWM      Yes
-MCPWM        No
+MCPWM        Yes    Capture
 Pulse_CNT    No
 RMT          Yes
 RNG          Yes
diff --git a/Documentation/platforms/xtensa/esp32s3/boards/esp32s3-devkit/index.rst b/Documentation/platforms/xtensa/esp32s3/boards/esp32s3-devkit/index.rst
index ad5d4dd1de091..44d5c2d6c9534 100644
--- a/Documentation/platforms/xtensa/esp32s3/boards/esp32s3-devkit/index.rst
+++ b/Documentation/platforms/xtensa/esp32s3/boards/esp32s3-devkit/index.rst
@@ -146,6 +146,22 @@ the ``buttons`` application and pressing on any of the available board buttons::
     nsh> Sample = 1
     Sample = 0
 
+capture
+--------
+
+The capture configuration enables the capture driver and the capture example, allowing
+the user to measure duty cycle and frequency of a signal. Default pin is GPIO 12 with
+an internal pull-up resistor enabled. When connecting a 50 Hz pulse with 50% duty cycle,
+the following output is expected:
+
+nsh> cap
+cap_main: Hardware initialized. Opening the capture device: /dev/capture0
+cap_main: Number of samples: 0
+pwm duty cycle: 50 % 
+pwm frequence: 50 Hz 
+pwm duty cycle: 50 % 
+pwm frequence: 50 Hz 
+
 coremark
 --------
 
diff --git a/Documentation/platforms/xtensa/esp32s3/index.rst b/Documentation/platforms/xtensa/esp32s3/index.rst
index 49567599038f1..9aada315f55bc 100644
--- a/Documentation/platforms/xtensa/esp32s3/index.rst
+++ b/Documentation/platforms/xtensa/esp32s3/index.rst
@@ -178,7 +178,7 @@ I2C          No
 I2S          Yes
 LCD          No
 LED_PWM      No
-MCPWM        No
+MCPWM        Yes    Capture
 Pulse_CNT    No
 RMT          No
 RNG          No
diff --git a/arch/xtensa/src/common/espressif/Kconfig b/arch/xtensa/src/common/espressif/Kconfig
index c6cfce8c7fff0..d0f473b46c4ef 100644
--- a/arch/xtensa/src/common/espressif/Kconfig
+++ b/arch/xtensa/src/common/espressif/Kconfig
@@ -7,3 +7,11 @@ config ESP_RMT
 		an infrared transceiver. However, due to the flexibility of its data
 		format, RMT can be extended to a versatile and general-purpose
 		transceiver, transmitting or receiving many other types of signals.
+
+config ESP_MCPWM
+	bool "Motor Control PWM (MCPWM)"
+	default n
+	depends on ARCH_CHIP_ESP32 || ARCH_CHIP_ESP32S3
+	---help---
+		Enable support for timer capture and motor control using
+		the Motor Control PWM peripheral.
diff --git a/arch/xtensa/src/common/espressif/Make.defs b/arch/xtensa/src/common/espressif/Make.defs
index 2034dbeebf84a..7c7db854db298 100644
--- a/arch/xtensa/src/common/espressif/Make.defs
+++ b/arch/xtensa/src/common/espressif/Make.defs
@@ -25,4 +25,8 @@ CHIP_CSRCS += esp_ws2812.c
 endif
 endif
 
+ifeq ($(CONFIG_ESP_MCPWM),y)
+CHIP_CSRCS += esp_mcpwm.c
+endif
+
 INCLUDES += ${INCDIR_PREFIX}$(ARCH_SRCDIR)$(DELIM)common$(DELIM)espressif$(DELIM)platform_include
diff --git a/arch/xtensa/src/common/espressif/esp_mcpwm.c b/arch/xtensa/src/common/espressif/esp_mcpwm.c
new file mode 100644
index 0000000000000..935bf28f84aa3
--- /dev/null
+++ b/arch/xtensa/src/common/espressif/esp_mcpwm.c
@@ -0,0 +1,678 @@
+/****************************************************************************
+ * arch/xtensa/src/common/espressif/esp_mcpwm.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <sys/types.h>
+#include <stdbool.h>
+#include <string.h>
+#include <assert.h>
+#include <errno.h>
+#include <debug.h>
+#include <inttypes.h>
+#include <nuttx/arch.h>
+#include <nuttx/irq.h>
+#include <nuttx/spinlock.h>
+#include <nuttx/timers/capture.h>
+
+#include "xtensa.h"
+#ifdef CONFIG_ARCH_CHIP_ESP32
+#include "hardware/esp32_soc.h"
+#include "esp32_gpio.h"
+#include "esp32_irq.h"
+#elif CONFIG_ARCH_CHIP_ESP32S3
+#include "hardware/esp32s3_soc.h"
+#include "esp32s3_gpio.h"
+#include "esp32s3_irq.h"
+#endif
+
+#include "hal/mcpwm_hal.h"
+#include "hal/mcpwm_ll.h"
+#include "soc/mcpwm_periph.h"
+#include "periph_ctrl.h"
+#include "hal/clk_tree_hal.h"
+
+#ifdef CONFIG_ESP_MCPWM
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+#define MCPWM_CAPTURE_DEFAULT_GROUP 0
+#ifdef CONFIG_ARCH_CHIP_ESP32
+#  define esp_configgpio      esp32_configgpio
+#  define esp_gpio_matrix_in  esp32_gpio_matrix_in
+#  define esp_setup_irq       esp32_setup_irq
+#  define esp_teardown_irq    esp32_teardown_irq
+#  define ESP_CPUINT_LEVEL    ESP32_CPUINT_LEVEL
+#elif CONFIG_ARCH_CHIP_ESP32S3
+#  define esp_configgpio      esp32s3_configgpio
+#  define esp_gpio_matrix_in  esp32s3_gpio_matrix_in
+#  define esp_setup_irq       esp32s3_setup_irq
+#  define esp_teardown_irq    esp32s3_teardown_irq
+#  define ESP_CPUINT_LEVEL    ESP32S3_CPUINT_LEVEL
+#endif
+
+/****************************************************************************
+ * Private Types
+ ****************************************************************************/
+
+/* Capture event data. The 'last_' value is used to calculate frequency */
+
+struct mcpwm_dev_common_s
+{
+  mcpwm_hal_init_config_t group;
+  mcpwm_hal_context_t hal;
+  spinlock_t mcpwm_spinlock;
+  bool initialized;          /* MCPWM periph. and HAL has been initialized */
+#ifdef CONFIG_ESP_MCPWM_CAPTURE
+  bool capture_initialized;  /* Capture submodule has been initialized */
+#endif
+};
+
+#ifdef CONFIG_ESP_MCPWM_CAPTURE
+struct mcpwm_capture_event_data_s
+{
+  uint32_t pos_edge_count;
+  uint32_t neg_edge_count;
+  uint32_t last_pos_edge_count;
+};
+
+enum mcpwm_capture_channel_e
+{
+  MCPWM_CAP_CHANNEL_0,  /* MCPWM capture channel number 0 */
+  MCPWM_CAP_CHANNEL_1,  /* MCPWM capture channel number 1 */
+  MCPWM_CAP_CHANNEL_2,  /* MCPWM capture channel number 2 */
+  MCPWM_CAP_CHANNEL_MAX /* Number of MCPWM capture channels */
+};
+
+struct mcpwm_cap_channel_lowerhalf_s
+{
+  /* The following block is part of the upper-half device struct */
+
+  FAR const struct cap_ops_s *ops;
+
+  /* The following is private to the ESP MCPWM driver */
+
+  struct mcpwm_dev_common_s *common;
+  struct mcpwm_capture_event_data_s *data;
+  int channel_id;
+  int gpio_pin;
+  uint32_t clock;
+  uint32_t freq;
+  uint8_t duty;
+  uint8_t isr_count;
+  bool ready;
+  bool enabled;
+};
+#endif
+
+/****************************************************************************
+ * Private Function Prototypes
+ ****************************************************************************/
+
+static void esp_mcpwm_group_start(void);
+#ifdef CONFIG_ESP_MCPWM_CAPTURE
+static int esp_mcpwm_capture_isr_register(int (*fn)(int, void *, void *),
+                                          void *arg);
+static int IRAM_ATTR mcpwm_capture_driver_isr_default(int irq, void *context,
+                                                      void *arg);
+static int esp_mcpwm_capture_set_gpio(
+  struct mcpwm_cap_channel_lowerhalf_s *lower);
+#endif
+
+/* Lower half methods required by capture driver */
+
+static int esp_capture_start(struct cap_lowerhalf_s *lower);
+static int esp_capture_stop(struct cap_lowerhalf_s *lower);
+static int esp_capture_getduty(struct cap_lowerhalf_s *lower,
+                               uint8_t *duty);
+static int esp_capture_getfreq(struct cap_lowerhalf_s *lower,
+                               uint32_t *freq);
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+static struct mcpwm_dev_common_s g_mcpwm_common =
+{
+  .group.group_id = 0,
+  .initialized = false,
+  .capture_initialized = false,
+};
+
+#ifdef CONFIG_ESP_MCPWM_CAPTURE
+/* Lower half methods required by capture driver */
+
+static const struct cap_ops_s mcpwm_cap_ops =
+{
+  .start       = esp_capture_start,
+  .stop        = esp_capture_stop,
+  .getduty     = esp_capture_getduty,
+  .getfreq     = esp_capture_getfreq,
+};
+
+/* Data structures for the available capture channels */
+
+#ifdef CONFIG_ESP_MCPWM_CAPTURE_CH0
+static struct mcpwm_capture_event_data_s event_data_ch0;
+static struct mcpwm_cap_channel_lowerhalf_s mcpwm_cap_ch0_lowerhalf =
+{
+  .ops = &mcpwm_cap_ops,
+  .common = &g_mcpwm_common,
+  .data = &event_data_ch0,
+  .channel_id = MCPWM_CAP_CHANNEL_0,
+  .ready = false,
+};
+#endif
+
+#ifdef CONFIG_ESP_MCPWM_CAPTURE_CH1
+static struct mcpwm_capture_event_data_s event_data_ch1;
+static struct mcpwm_cap_channel_lowerhalf_s mcpwm_cap_ch1_lowerhalf =
+{
+  .ops = &mcpwm_cap_ops,
+  .common = &g_mcpwm_common,
+  .data = &event_data_ch1,
+  .channel_id = MCPWM_CAP_CHANNEL_1,
+  .ready = false,
+};
+#endif
+
+#ifdef CONFIG_ESP_MCPWM_CAPTURE_CH2
+static struct mcpwm_capture_event_data_s event_data_ch2;
+static struct mcpwm_cap_channel_lowerhalf_s mcpwm_cap_ch2_lowerhalf =
+{
+  .ops = &mcpwm_cap_ops,
+  .common = &g_mcpwm_common,
+  .data = &event_data_ch2,
+  .channel_id = MCPWM_CAP_CHANNEL_2,
+  .ready = false,
+};
+#endif
+#endif  /* CONFIG_ESP_MCPWM_CAPTURE */
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: esp_mcpwm_group_start
+ *
+ * Description:
+ *   Initializes the PWM0 module and the MCPWM HAL.
+ *   Should be called only once for the MCPWM peripheral.
+ *
+ * Input Parameters:
+ *   None.
+ *
+ * Returned Value:
+ *   None.
+ *
+ ****************************************************************************/
+
+static void esp_mcpwm_group_start(void)
+{
+  periph_module_enable(PERIPH_PWM0_MODULE);
+  mcpwm_hal_init(&g_mcpwm_common.hal, &g_mcpwm_common.group);
+  mcpwm_hal_timer_reset(&g_mcpwm_common.hal, 0);
+
+  g_mcpwm_common.initialized = true;
+}
+
+/****************************************************************************
+ * Name: esp_capture_start
+ *
+ * Description:
+ *   This function is a requirement of the upper-half driver. When called,
+ *   enables the capture channel, interruption routine, sets the positive
+ *   edge to trigger this interrupt and resets the frequency and duty
+ *   values. The positive edge is always the first expected.
+ *
+ * Input Parameters:
+ *   lower - Pointer to the capture channel lower-half data structure.
+ *
+ * Returned Value:
+ *   Returns OK on success.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_ESP_MCPWM_CAPTURE
+static int esp_capture_start(struct cap_lowerhalf_s *lower)
+{
+  struct mcpwm_cap_channel_lowerhalf_s *priv = (
+    struct mcpwm_cap_channel_lowerhalf_s *)lower;
+  mcpwm_hal_context_t *hal = &priv->common->hal;
+  irqstate_t flags;
+  flags = spin_lock_irqsave(priv->common->mcpwm_spinlock);
+
+  DEBUGASSERT(priv->common->initialized);
+
+  /* Enable channel and interruption for rising edge */
+
+  mcpwm_ll_capture_enable_channel(hal->dev, priv->channel_id, true);
+  mcpwm_ll_intr_enable(hal->dev,
+                       MCPWM_LL_EVENT_CAPTURE(priv->channel_id),
+                       true);
+  mcpwm_ll_intr_clear_status(hal->dev,
+                             MCPWM_LL_EVENT_CAPTURE(priv->channel_id));
+  mcpwm_ll_capture_enable_posedge(hal->dev, priv->channel_id, true);
+  mcpwm_ll_capture_enable_negedge(hal->dev, priv->channel_id, false);
+
+  /* Reset values of interest */
+
+  priv->freq = 0;
+  priv->duty = 0;
+  priv->isr_count = 0;
+  priv->enabled = true;
+  priv->ready = false;
+
+  cpinfo("Channel enabled: %d\n", priv->channel_id);
+  spin_unlock_irqrestore(priv->common->mcpwm_spinlock, flags);
+
+  return OK;
+}
+#endif
+
+/****************************************************************************
+ * Name: esp_capture_stop
+ *
+ * Description:
+ *   This function is a requirement of the upper-half driver. When called,
+ *   disables the capture channel and the interrupt routine associated.
+ *
+ * Input Parameters:
+ *   lower - Pointer to the capture channel lower-half data structure.
+ *
+ * Returned Value:
+ *   Returns OK on success.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_ESP_MCPWM_CAPTURE
+static int esp_capture_stop(struct cap_lowerhalf_s *lower)
+{
+  struct mcpwm_cap_channel_lowerhalf_s *priv = (
+    struct mcpwm_cap_channel_lowerhalf_s *)lower;
+  mcpwm_hal_context_t *hal = &priv->common->hal;
+  irqstate_t flags;
+  flags = spin_lock_irqsave(priv->common->mcpwm_spinlock);
+
+  /* Disable channel and interrupts */
+
+  mcpwm_ll_capture_enable_channel(hal->dev, priv->channel_id, false);
+  mcpwm_ll_intr_enable(hal->dev,
+                       MCPWM_LL_EVENT_CAPTURE(priv->channel_id),
+                       false);
+  priv->enabled = false;
+
+  cpinfo("Channel disabled: %d\n", priv->channel_id);
+  spin_unlock_irqrestore(priv->common->mcpwm_spinlock, flags);
+
+  return OK;
+}
+#endif
+
+/****************************************************************************
+ * Name: esp_capture_getduty
+ *
+ * Description:
+ *   This function is a requirement of the upper-half driver. Returns
+ *   the last calculated duty cycle value.
+ *
+ * Input Parameters:
+ *   lower - Pointer to the capture channel lower-half data structure.
+ *   duty  - uint8_t pointer where the duty cycle value is written.
+ *
+ * Returned Value:
+ *   Returns OK on success.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_ESP_MCPWM_CAPTURE
+static int esp_capture_getduty(struct cap_lowerhalf_s *lower,
+                                 uint8_t *duty)
+{
+  struct mcpwm_cap_channel_lowerhalf_s *priv = (
+    struct mcpwm_cap_channel_lowerhalf_s *)lower;
+  *duty = priv->duty;
+  cpinfo("Get duty called from channel %d\n", priv->channel_id);
+  return OK;
+}
+#endif
+
+/****************************************************************************
+ * Name: esp_capture_getfreq
+ *
+ * Description:
+ *   This function is a requirement of the upper-half driver. Returns
+ *   the last calculated frequency value.
+ *
+ * Input Parameters:
+ *   lower - Pointer to the capture channel lower-half data structure.
+ *   duty  - uint8_t pointer where the frequency value is written.
+ *
+ * Returned Value:
+ *   Returns OK on success.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_ESP_MCPWM_CAPTURE
+static int esp_capture_getfreq(struct cap_lowerhalf_s *lower,
+                                 uint32_t *freq)
+{
+  struct mcpwm_cap_channel_lowerhalf_s *priv = (
+    struct mcpwm_cap_channel_lowerhalf_s *)lower;
+  *freq = priv->freq;
+  cpinfo("Get freq called from channel %d\n", priv->channel_id);
+  return OK;
+}
+#endif
+
+/****************************************************************************
+ * Name: esp_mcpwm_capture_set_gpio
+ *
+ * Description:
+ *   Configures the lower-half GPIO pin to be used as a capture input.
+ *
+ * Input Parameters:
+ *   lower - Pointer to the capture channel lower-half data structure.
+ *
+ * Returned Value:
+ *   OK on success, otherwise a negated errno value is returned on
+ *   any failure.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_ESP_MCPWM_CAPTURE
+static int esp_mcpwm_capture_set_gpio(
+  struct mcpwm_cap_channel_lowerhalf_s *lower)
+{
+  mcpwm_hal_context_t *hal = &lower->common->hal;
+  int ret;
+
+  ret = esp_configgpio(lower->gpio_pin, INPUT_FUNCTION | INPUT_PULLUP);
+  if (ret < 0)
+    {
+      cperr("Failed configuring GPIO pin\n");
+      return ret;
+    }
+
+  esp_gpio_matrix_in(
+    lower->gpio_pin,
+    mcpwm_periph_signals.groups[MCPWM_CAPTURE_DEFAULT_GROUP].\
+      captures[lower->channel_id].cap_sig,
+    false);
+
+  cpinfo("GPIO: %d configured for channel %d\n", lower->gpio_pin,
+         lower->channel_id);
+  return ret;
+}
+#endif
+
+/****************************************************************************
+ * Name: esp_mcpwm_capture_isr_register
+ *
+ * Description:
+ *   Registers a callback function for a channel interrupt request.
+ *
+ * Input Parameters:
+ *   fn  - Pointer to ISR function that is to be called.
+ *   arg - Pointer to arguments passed to said function.
+ *
+ * Returned Value:
+ *   OK on success, otherwise a negated errno value is returned on
+ *   any failure.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_ESP_MCPWM_CAPTURE
+static int esp_mcpwm_capture_isr_register(int (*fn)(int, void *, void *),
+                                          void *arg)
+{
+  int cpuint;
+  int ret;
+  int cpu = up_cpu_index();
+
+  DEBUGASSERT(fn);
+
+  cpuint = esp_setup_irq(cpu, mcpwm_periph_signals.groups[0].irq_id,
+                         1, ESP_CPUINT_LEVEL);
+  if (cpuint < 0)
+    {
+      cperr("Failed to allocate a CPU interrupt.\n");
+      return -ENOMEM;
+    }
+
+  ret = irq_attach(mcpwm_periph_signals.groups[0].irq_id +
+                   XTENSA_IRQ_FIRSTPERIPH, fn, arg);
+  if (ret < 0)
+    {
+      cperr("Couldn't attach IRQ to handler.\n");
+      esp_teardown_irq(cpu, mcpwm_periph_signals.groups[0].irq_id, cpuint);
+      return ret;
+    }
+
+  return ret;
+}
+#endif
+
+/****************************************************************************
+ * Name: mcpwm_capture_driver_isr_default
+ *
+ * Description:
+ *   Default function called when a capture interrupt occurs.
+ *   It reads the capture timer value and the interrupt edge. When positive
+ *   edge triggered the interrupt, the current capture value is stored and
+ *   the interrupt edge is modified to falling edge.
+ *   When the negative edge triggers the interrupt, the timer count
+ *   difference is calculated and the high time period is obtained.
+ *
+ *   Two pulses are required to properly calculate the frequency.
+ *
+ * Input Parameters:
+ *   irq     - The interrupt request number.
+ *   context - Pointer to the interrupt context.
+ *   arg     - Pointer to the argument to be passed to the ISR.
+ *
+ * Returned Value:
+ *   OK on success, otherwise a negated errno value is returned on
+ *   any failure.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_ESP_MCPWM_CAPTURE
+static int IRAM_ATTR mcpwm_capture_driver_isr_default(int irq, void *context,
+                                                      void *arg)
+{
+  struct mcpwm_dev_common_s *common = (struct mcpwm_dev_common_s *)arg;
+  struct mcpwm_cap_channel_lowerhalf_s *lower = NULL;
+  struct mcpwm_capture_event_data_s *data = NULL;
+  uint32_t status;
+  uint32_t cap_value;
+  mcpwm_capture_edge_t cap_edge;
+  irqstate_t flags;
+
+  flags = spin_lock_irqsave(common->mcpwm_spinlock);
+  status = mcpwm_ll_intr_get_status(common->hal.dev);
+
+  /* Evaluate which channel triggered the capture interrupt */
+
+  if (status & MCPWM_LL_EVENT_CAPTURE(MCPWM_CAP_CHANNEL_0))
+    {
+#ifdef CONFIG_ESP_MCPWM_CAPTURE_CH0
+      lower = &mcpwm_cap_ch0_lowerhalf;
+#endif
+    }
+#ifdef CONFIG_ESP_MCPWM_CAPTURE_CH1
+  else if (status & MCPWM_LL_EVENT_CAPTURE(MCPWM_CAP_CHANNEL_1))
+    {
+      lower = &mcpwm_cap_ch1_lowerhalf;
+    }
+#endif
+#ifdef CONFIG_ESP_MCPWM_CAPTURE_CH2
+  else if (status & MCPWM_LL_EVENT_CAPTURE(MCPWM_CAP_CHANNEL_2))
+    {
+      lower = &mcpwm_cap_ch2_lowerhalf;
+    }
+#endif
+  else
+    {
+      return -ERANGE;
+    }
+
+  mcpwm_ll_intr_clear_status(common->hal.dev,
+                             status &
+                             MCPWM_LL_EVENT_CAPTURE(lower->channel_id));
+
+  /* At least 4 interrupts are required on a channel before a
+   * frequency measurement can be executed, otherwise you can
+   * obtain negative values.
+   */
+
+  if (lower->isr_count < 4)
+    {
+      lower->isr_count++;
+    }
+
+  if (!lower->ready && (lower->isr_count >= 4))
+    {
+      cpinfo("Channel %d ready\n", lower->channel_id);
+      lower->ready = true;
+    }
+
+  data = lower->data;
+  cap_value = mcpwm_ll_capture_get_value(common->hal.dev, lower->channel_id);
+  cap_edge = mcpwm_ll_capture_get_edge(common->hal.dev, lower->channel_id);
+
+  if (cap_edge == MCPWM_CAP_EDGE_POS)
+    {
+      data->last_pos_edge_count = data->pos_edge_count;
+      data->pos_edge_count = cap_value;
+      data->neg_edge_count = data->pos_edge_count;
+      mcpwm_ll_capture_enable_negedge(common->hal.dev,
+                                      lower->channel_id,
+                                      true);
+      mcpwm_ll_capture_enable_posedge(common->hal.dev,
+                                      lower->channel_id,
+                                      false);
+    }
+  else
+    {
+      data->neg_edge_count = cap_value;
+
+      if (lower->ready)
+        {
+          uint32_t high_time = data->neg_edge_count - data->pos_edge_count;
+          uint32_t period = data->pos_edge_count - data->last_pos_edge_count;
+
+          if (period != 0)
+            {
+              lower->freq = lower->clock / period;
+              lower->duty = 100 * high_time / period;
+            }
+        }
+
+      mcpwm_ll_capture_enable_negedge(common->hal.dev,
+                                      lower->channel_id,
+                                      false);
+      mcpwm_ll_capture_enable_posedge(common->hal.dev,
+                                      lower->channel_id,
+                                      true);
+    }
+
+  spin_unlock_irqrestore(common->mcpwm_spinlock, flags);
+
+  return OK;
+}
+#endif
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: esp_mcpwm_capture_initialize
+ *
+ * Description:
+ *   This function initializes the specified MCPWM peripheral and the capture
+ *   submodule with the provided configuration.
+ *
+ * Input Parameters:
+ *   channel - Channel to be initialized [0-3].
+ *   pin     - GPIO pin assigned to this channel.
+ *
+ * Returned Value:
+ *   On success, this function returns a valid pointer to the Capture device
+ *   structure. If the initialization fails, it returns NULL.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_ESP_MCPWM_CAPTURE
+struct cap_lowerhalf_s *esp_mcpwm_capture_initialize(int channel, int pin)
+{
+  struct mcpwm_cap_channel_lowerhalf_s *lower = NULL;
+
+  if (!g_mcpwm_common.initialized)
+    {
+      esp_mcpwm_group_start();
+    }
+
+  if (!g_mcpwm_common.capture_initialized)
+    {
+      esp_mcpwm_capture_isr_register(mcpwm_capture_driver_isr_default,
+                                     &g_mcpwm_common);
+      mcpwm_ll_capture_enable_timer(g_mcpwm_common.hal.dev, true);
+    }
+
+  switch (channel)
+    {
+#ifdef CONFIG_ESP_MCPWM_CAPTURE_CH0
+      case MCPWM_CAP_CHANNEL_0:
+        lower = &mcpwm_cap_ch0_lowerhalf;
+        break;
+#endif
+#ifdef CONFIG_ESP_MCPWM_CAPTURE_CH1
+      case MCPWM_CAP_CHANNEL_1:
+        lower = &mcpwm_cap_ch1_lowerhalf;
+        break;
+#endif
+#ifdef CONFIG_ESP_MCPWM_CAPTURE_CH2
+      case MCPWM_CAP_CHANNEL_2:
+        lower = &mcpwm_cap_ch2_lowerhalf;
+        break;
+#endif
+      default:
+        cperr("Invalid channel selection: %d\n", channel);
+        return NULL;
+    }
+
+  lower->clock = clk_hal_apb_get_freq_hz();
+  lower->gpio_pin = pin;
+  esp_mcpwm_capture_set_gpio(lower);
+
+  return (struct cap_lowerhalf_s *) lower;
+}
+#endif
+
+#endif /* CONFIG_ESP_MCPWM */
diff --git a/arch/xtensa/src/common/espressif/esp_mcpwm.h b/arch/xtensa/src/common/espressif/esp_mcpwm.h
new file mode 100644
index 0000000000000..4bcdfbdf36859
--- /dev/null
+++ b/arch/xtensa/src/common/espressif/esp_mcpwm.h
@@ -0,0 +1,86 @@
+/****************************************************************************
+ * arch/xtensa/src/common/espressif/esp_mcpwm.h
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+#ifndef __ARCH_XTENSA_SRC_COMMON_ESPRESSIF_ESP_MCPWM_H
+#define __ARCH_XTENSA_SRC_COMMON_ESPRESSIF_ESP_MCPWM_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <stdint.h>
+
+#ifdef CONFIG_ESP_MCPWM
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Types
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+#undef EXTERN
+#if defined(__cplusplus)
+#define EXTERN extern "C"
+extern "C"
+{
+#else
+#define EXTERN extern
+#endif
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: esp_mcpwm_capture_initialize
+ *
+ * Description:
+ *   This function initializes the specified MCPWM peripheral and the capture
+ *   submodule with the provided configuration.
+ *
+ * Input Parameters:
+ *   channel - Channel to be initialized [0-3].
+ *   pin     - GPIO pin assigned to this channel.
+ *
+ * Returned Value:
+ *   On success, this function returns a valid pointer to the Capture device
+ *   structure. If the initialization fails, it returns NULL.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_ESP_MCPWM_CAPTURE
+struct cap_lowerhalf_s *esp_mcpwm_capture_initialize(int channel, int pin);
+#endif
+
+#undef EXTERN
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* CONFIG_ESP_MCPWM */
+#endif /* __ARCH_XTENSA_SRC_COMMON_ESPRESSIF_ESP_MCPWM_H */
diff --git a/arch/xtensa/src/esp32/Kconfig b/arch/xtensa/src/esp32/Kconfig
index 6f603ebf1e90c..587a27bbd0981 100644
--- a/arch/xtensa/src/esp32/Kconfig
+++ b/arch/xtensa/src/esp32/Kconfig
@@ -2496,6 +2496,71 @@ config ESP32_LEDC_CHANNEL7_PIN
 
 endmenu # LEDC configuration
 
+menu "MCPWM Configuration"
+	depends on ESP_MCPWM
+
+config ESP_MCPWM_CAPTURE
+	bool "MCPWM Capture Submodule"
+	depends on ESP_MCPWM
+	select CAPTURE
+	default n
+	---help---
+		Enables the use of the MCPWM capture submodule.
+
+if ESP_MCPWM_CAPTURE
+
+config ESP_MCPWM_CAPTURE_CH0
+	bool "Capture Channel 0"
+	default n
+	---help---
+		Enables capture on channel 0.
+
+if ESP_MCPWM_CAPTURE_CH0
+
+config ESP_MCPWM_CAPTURE_CH0_GPIO
+	int "GPIO Pin"
+	default 14
+	---help---
+		GPIO pin assigned to capture channel 0.
+
+endif # ESP_MCPWM_CAPTURE_CH0
+
+config ESP_MCPWM_CAPTURE_CH1
+	bool "Capture Channel 1"
+	default n
+	---help---
+		Enables capture on channel 1.
+
+if ESP_MCPWM_CAPTURE_CH1
+
+config ESP_MCPWM_CAPTURE_CH1_GPIO
+	int "GPIO Pin"
+	default 15
+	---help---
+		GPIO pin assigned to capture channel 1.
+
+endif # ESP_MCPWM_CAPTURE_CH1
+
+config ESP_MCPWM_CAPTURE_CH2
+	bool "Capture Channel 2"
+	default n
+	---help---
+		Enables capture on channel 2.
+
+if ESP_MCPWM_CAPTURE_CH2
+
+config ESP_MCPWM_CAPTURE_CH2_GPIO
+	int "GPIO Pin"
+	default 16
+	---help---
+		GPIO pin assigned to capture channel 2.
+
+endif # ESP_MCPWM_CAPTURE_CH2
+
+endif # ESP_MCPWM_CAPTURE
+
+endmenu # MCPWM Configuration
+
 config ESP32_HAVE_OTA_PARTITION
 	bool
 	default n
diff --git a/arch/xtensa/src/esp32/hal.mk b/arch/xtensa/src/esp32/hal.mk
index 3257f81a46804..b9009a1be79b0 100644
--- a/arch/xtensa/src/esp32/hal.mk
+++ b/arch/xtensa/src/esp32/hal.mk
@@ -97,6 +97,7 @@ CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)hal$
 CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)hal$(DELIM)ledc_hal_iram.c
 CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)hal$(DELIM)ledc_hal.c
 CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)hal$(DELIM)rmt_hal.c
+CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)hal$(DELIM)mcpwm_hal.c
 CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)hal$(DELIM)timer_hal_iram.c
 CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)hal$(DELIM)timer_hal.c
 CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)hal$(DELIM)uart_hal_iram.c
@@ -106,5 +107,6 @@ CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)log$
 CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)soc$(DELIM)$(CHIP_SERIES)$(DELIM)gpio_periph.c
 CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)soc$(DELIM)$(CHIP_SERIES)$(DELIM)ledc_periph.c
 CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)soc$(DELIM)$(CHIP_SERIES)$(DELIM)rmt_periph.c
+CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)soc$(DELIM)$(CHIP_SERIES)$(DELIM)mcpwm_periph.c
 
 CFLAGS += ${DEFINE_PREFIX}ESP_PLATFORM=1
diff --git a/arch/xtensa/src/esp32s3/Kconfig b/arch/xtensa/src/esp32s3/Kconfig
index 48521315dff40..4a980f454002f 100644
--- a/arch/xtensa/src/esp32s3/Kconfig
+++ b/arch/xtensa/src/esp32s3/Kconfig
@@ -2117,6 +2117,71 @@ config ESP32S3_LEDC_CHANNEL7_PIN
 
 endmenu # LEDC configuration
 
+menu "MCPWM Configuration"
+	depends on ESP_MCPWM
+
+config ESP_MCPWM_CAPTURE
+	bool "MCPWM Capture Submodule"
+	depends on ESP_MCPWM
+	select CAPTURE
+	default n
+	---help---
+		Enables the use of the MCPWM capture submodule.
+
+if ESP_MCPWM_CAPTURE
+
+config ESP_MCPWM_CAPTURE_CH0
+	bool "Capture Channel 0"
+	default n
+	---help---
+		Enables capture on channel 0.
+
+if ESP_MCPWM_CAPTURE_CH0
+
+config ESP_MCPWM_CAPTURE_CH0_GPIO
+	int "GPIO Pin"
+	default 12
+	---help---
+		GPIO pin assigned to capture channel 0.
+
+endif # ESP_MCPWM_CAPTURE_CH0
+
+config ESP_MCPWM_CAPTURE_CH1
+	bool "Capture Channel 1"
+	default n
+	---help---
+		Enables capture on channel 1.
+
+if ESP_MCPWM_CAPTURE_CH1
+
+config ESP_MCPWM_CAPTURE_CH1_GPIO
+	int "GPIO Pin"
+	default 15
+	---help---
+		GPIO pin assigned to capture channel 1.
+
+endif # ESP_MCPWM_CAPTURE_CH1
+
+config ESP_MCPWM_CAPTURE_CH2
+	bool "Capture Channel 2"
+	default n
+	---help---
+		Enables capture on channel 2.
+
+if ESP_MCPWM_CAPTURE_CH2
+
+config ESP_MCPWM_CAPTURE_CH2_GPIO
+	int "GPIO Pin"
+	default 16
+	---help---
+		GPIO pin assigned to capture channel 2.
+
+endif # ESP_MCPWM_CAPTURE_CH2
+
+endif # ESP_MCPWM_CAPTURE
+
+endmenu # MCPWM Configuration
+
 menu "USB OTG Configuration"
 	depends on ESP32S3_OTG
 
diff --git a/arch/xtensa/src/esp32s3/hal.mk b/arch/xtensa/src/esp32s3/hal.mk
index 73f79c0b6a02b..d88c6e9cd0193 100644
--- a/arch/xtensa/src/esp32s3/hal.mk
+++ b/arch/xtensa/src/esp32s3/hal.mk
@@ -103,6 +103,7 @@ CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)hal$
 CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)hal$(DELIM)ledc_hal_iram.c
 CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)hal$(DELIM)ledc_hal.c
 CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)hal$(DELIM)rmt_hal.c
+CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)hal$(DELIM)mcpwm_hal.c
 CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)hal$(DELIM)timer_hal_iram.c
 CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)hal$(DELIM)timer_hal.c
 CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)hal$(DELIM)cache_hal.c
@@ -115,6 +116,7 @@ CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)log$
 CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)soc$(DELIM)$(CHIP_SERIES)$(DELIM)gpio_periph.c
 CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)soc$(DELIM)$(CHIP_SERIES)$(DELIM)ledc_periph.c
 CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)soc$(DELIM)$(CHIP_SERIES)$(DELIM)rmt_periph.c
+CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)soc$(DELIM)$(CHIP_SERIES)$(DELIM)mcpwm_periph.c
 
 ifeq ($(CONFIG_ESPRESSIF_SIMPLE_BOOT),y)
   CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)nuttx$(DELIM)src$(DELIM)bootloader_banner_wrap.c
diff --git a/boards/xtensa/esp32/common/include/esp32_board_mcpwm.h b/boards/xtensa/esp32/common/include/esp32_board_mcpwm.h
new file mode 100644
index 0000000000000..fa8ec257e1250
--- /dev/null
+++ b/boards/xtensa/esp32/common/include/esp32_board_mcpwm.h
@@ -0,0 +1,70 @@
+/****************************************************************************
+ * boards/xtensa/esp32/common/include/esp32_board_mcpwm.h
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+#ifndef __BOARDS_XTENSA_ESP32_COMMON_INCLUDE_ESP32_BOARD_MCPWM_H
+#define __BOARDS_XTENSA_ESP32_COMMON_INCLUDE_ESP32_BOARD_MCPWM_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+#ifdef __cplusplus
+#define EXTERN extern "C"
+extern "C"
+{
+#else
+#define EXTERN extern
+#endif
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+#ifdef CONFIG_ESP_MCPWM_CAPTURE
+
+/****************************************************************************
+ * Name: esp32_capture_initialize
+ *
+ * Description:
+ *   Initialize and register the capture driver using the MCPWM peripheral.
+ *
+ * Input Parameters:
+ *   None.
+ *
+ * Returned Value:
+ *   Zero (OK) on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+int board_capture_initialize(void);
+
+#endif /* CONFIG_ESP_MCPWM_CAPTURE */
+#undef EXTERN
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __BOARDS_XTENSA_ESP32_COMMON_INCLUDE_ESP32_BOARD_MCPWM_H */
diff --git a/boards/xtensa/esp32/common/src/Make.defs b/boards/xtensa/esp32/common/src/Make.defs
index 6ff049752f7ac..d4e10c7b03e02 100644
--- a/boards/xtensa/esp32/common/src/Make.defs
+++ b/boards/xtensa/esp32/common/src/Make.defs
@@ -152,6 +152,10 @@ ifeq ($(CONFIG_SENSORS_ZEROCROSS),y)
   CSRCS += esp32_zerocross.c
 endif
 
+ifeq ($(CONFIG_ESP_MCPWM),y)
+  CSRCS += esp32_board_mcpwm.c
+endif
+
 DEPPATH += --dep-path src
 VPATH += :src
 CFLAGS += ${INCDIR_PREFIX}$(TOPDIR)$(DELIM)arch$(DELIM)$(CONFIG_ARCH)$(DELIM)src$(DELIM)board$(DELIM)src
diff --git a/boards/xtensa/esp32/common/src/esp32_board_mcpwm.c b/boards/xtensa/esp32/common/src/esp32_board_mcpwm.c
new file mode 100644
index 0000000000000..0b6992bf5feb9
--- /dev/null
+++ b/boards/xtensa/esp32/common/src/esp32_board_mcpwm.c
@@ -0,0 +1,120 @@
+/****************************************************************************
+ * boards/xtensa/esp32/common/src/esp32_board_mcpwm.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <sys/types.h>
+#include <errno.h>
+#include <debug.h>
+
+#include <nuttx/board.h>
+#include <nuttx/timers/capture.h>
+
+#include <arch/board/board.h>
+
+#include "espressif/esp_mcpwm.h"
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: board_capture_initialize
+ *
+ * Description:
+ *   Initialize MCPWM Capture submodule and register the capture device.
+ *
+ * Input Parameters:
+ *   None.
+ *
+ * Returned Value:
+ *   Zero (OK) on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_ESP_MCPWM_CAPTURE
+int board_capture_initialize(void)
+{
+  int ret;
+  struct cap_lowerhalf_s *cap;
+
+#ifdef CONFIG_ESP_MCPWM_CAPTURE_CH0
+  cap = esp_mcpwm_capture_initialize(0,
+                                     CONFIG_ESP_MCPWM_CAPTURE_CH0_GPIO);
+
+  if (!cap)
+    {
+      syslog(LOG_ERR, "ERROR: Failed to start MCPWM Capture: CH0\n");
+      return -ENODEV;
+    }
+
+  ret = cap_register("/dev/capture0", cap);
+  if (ret < 0)
+    {
+      syslog(LOG_ERR, "ERROR: cap_register failed: %d\n", ret);
+      return ret;
+    }
+#endif
+
+#ifdef CONFIG_ESP_MCPWM_CAPTURE_CH1
+  cap = esp_mcpwm_capture_initialize(1,
+                                     CONFIG_ESP_MCPWM_CAPTURE_CH1_GPIO);
+  if (!cap)
+    {
+      syslog(LOG_ERR, "ERROR: Failed to start MCPWM Capture: CH1\n");
+      return -ENODEV;
+    }
+
+  ret = cap_register("/dev/capture1", cap);
+  if (ret < 0)
+    {
+      syslog(LOG_ERR, "ERROR: cap_register failed: %d\n", ret);
+      return ret;
+    }
+#endif
+
+#ifdef CONFIG_ESP_MCPWM_CAPTURE_CH2
+  cap = esp_mcpwm_capture_initialize(2,
+                                     CONFIG_ESP_MCPWM_CAPTURE_CH2_GPIO);
+  if (!cap)
+    {
+      syslog(LOG_ERR, "ERROR: Failed to start MCPWM Capture: CH2\n");
+      return -ENODEV;
+    }
+
+  ret = cap_register("/dev/capture2", cap);
+  if (ret < 0)
+    {
+      syslog(LOG_ERR, "ERROR: cap_register failed: %d\n", ret);
+      return ret;
+    }
+#endif
+
+  return OK;
+}
+#endif
diff --git a/boards/xtensa/esp32/esp32-devkitc/configs/capture/defconfig b/boards/xtensa/esp32/esp32-devkitc/configs/capture/defconfig
new file mode 100644
index 0000000000000..b277878e61b7f
--- /dev/null
+++ b/boards/xtensa/esp32/esp32-devkitc/configs/capture/defconfig
@@ -0,0 +1,50 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
+# CONFIG_ARCH_LEDS is not set
+# CONFIG_NSH_ARGCAT is not set
+# CONFIG_NSH_CMDOPT_HEXDUMP is not set
+CONFIG_ARCH="xtensa"
+CONFIG_ARCH_BOARD="esp32-devkitc"
+CONFIG_ARCH_BOARD_COMMON=y
+CONFIG_ARCH_BOARD_ESP32_DEVKITC=y
+CONFIG_ARCH_CHIP="esp32"
+CONFIG_ARCH_CHIP_ESP32=y
+CONFIG_ARCH_CHIP_ESP32WROVER=y
+CONFIG_ARCH_STACKDUMP=y
+CONFIG_ARCH_XTENSA=y
+CONFIG_BOARD_LOOPSPERMSEC=16717
+CONFIG_BUILTIN=y
+CONFIG_ESP32_UART0=y
+CONFIG_ESP_MCPWM=y
+CONFIG_ESP_MCPWM_CAPTURE=y
+CONFIG_ESP_MCPWM_CAPTURE_CH0=y
+CONFIG_EXAMPLES_CAPTURE=y
+CONFIG_FS_PROCFS=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_IDLETHREAD_STACKSIZE=3072
+CONFIG_INIT_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=3072
+CONFIG_INTELHEX_BINARY=y
+CONFIG_MM_REGIONS=3
+CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_NSH_FILEIOSIZE=512
+CONFIG_NSH_LINELEN=64
+CONFIG_NSH_READLINE=y
+CONFIG_PREALLOC_TIMERS=4
+CONFIG_RAM_SIZE=114688
+CONFIG_RAM_START=0x20000000
+CONFIG_RR_INTERVAL=200
+CONFIG_SCHED_WAITPID=y
+CONFIG_START_DAY=6
+CONFIG_START_MONTH=12
+CONFIG_START_YEAR=2011
+CONFIG_SYSLOG_BUFFER=y
+CONFIG_SYSTEM_NSH=y
+CONFIG_UART0_SERIAL_CONSOLE=y
diff --git a/boards/xtensa/esp32/esp32-devkitc/src/esp32_bringup.c b/boards/xtensa/esp32/esp32-devkitc/src/esp32_bringup.c
index a4f0bb69b78d3..0d4ed6cda7d22 100644
--- a/boards/xtensa/esp32/esp32-devkitc/src/esp32_bringup.c
+++ b/boards/xtensa/esp32/esp32-devkitc/src/esp32_bringup.c
@@ -169,6 +169,10 @@
 #  include "esp32_board_rmt.h"
 #endif
 
+#ifdef CONFIG_ESP_MCPWM
+#  include "esp32_board_mcpwm.h"
+#endif
+
 #include "esp32-devkitc.h"
 
 /****************************************************************************
@@ -283,6 +287,14 @@ int esp32_bringup(void)
     }
 #endif /* CONFIG_ESP32_LEDC */
 
+#ifdef CONFIG_ESP_MCPWM_CAPTURE
+  ret = board_capture_initialize();
+  if (ret < 0)
+    {
+      syslog(LOG_ERR, "ERROR: board_capture_initialize failed: %d\n", ret);
+    }
+#endif
+
 #ifdef CONFIG_SENSORS_MAX6675
   ret = board_max6675_initialize(0, 2);
   if (ret < 0)
diff --git a/boards/xtensa/esp32s3/common/include/esp32s3_board_mcpwm.h b/boards/xtensa/esp32s3/common/include/esp32s3_board_mcpwm.h
new file mode 100644
index 0000000000000..75cf53e42627d
--- /dev/null
+++ b/boards/xtensa/esp32s3/common/include/esp32s3_board_mcpwm.h
@@ -0,0 +1,70 @@
+/****************************************************************************
+ * boards/xtensa/esp32s3/common/include/esp32s3_board_mcpwm.h
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+#ifndef __BOARDS_XTENSA_ESP32_COMMON_INCLUDE_ESP32S3_BOARD_MCPWM_H
+#define __BOARDS_XTENSA_ESP32_COMMON_INCLUDE_ESP32S3_BOARD_MCPWM_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+#ifdef __cplusplus
+#define EXTERN extern "C"
+extern "C"
+{
+#else
+#define EXTERN extern
+#endif
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+#ifdef CONFIG_ESP_MCPWM_CAPTURE
+
+/****************************************************************************
+ * Name: board_capture_initialize
+ *
+ * Description:
+ *   Initialize and register the capture driver using the MCPWM peripheral.
+ *
+ * Input Parameters:
+ *   None.
+ *
+ * Returned Value:
+ *   Zero (OK) on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+int board_capture_initialize(void);
+
+#endif /* CONFIG_ESP_MCPWM_CAPTURE */
+#undef EXTERN
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __BOARDS_XTENSA_ESP32_COMMON_INCLUDE_ESP32S3_BOARD_MCPWM_H */
diff --git a/boards/xtensa/esp32s3/common/src/Make.defs b/boards/xtensa/esp32s3/common/src/Make.defs
index 67841238c39d4..91c075f817d7e 100644
--- a/boards/xtensa/esp32s3/common/src/Make.defs
+++ b/boards/xtensa/esp32s3/common/src/Make.defs
@@ -72,6 +72,10 @@ ifeq ($(CONFIG_ESP_RMT),y)
   CSRCS += esp32s3_board_rmt.c
 endif
 
+ifeq ($(CONFIG_ESP_MCPWM),y)
+  CSRCS += esp32s3_board_mcpwm.c
+endif
+
 DEPPATH += --dep-path src
 VPATH += :src
 CFLAGS += ${INCDIR_PREFIX}$(TOPDIR)$(DELIM)arch$(DELIM)$(CONFIG_ARCH)$(DELIM)src$(DELIM)board$(DELIM)src
diff --git a/boards/xtensa/esp32s3/common/src/esp32s3_board_mcpwm.c b/boards/xtensa/esp32s3/common/src/esp32s3_board_mcpwm.c
new file mode 100644
index 0000000000000..84be2be059c6d
--- /dev/null
+++ b/boards/xtensa/esp32s3/common/src/esp32s3_board_mcpwm.c
@@ -0,0 +1,118 @@
+/****************************************************************************
+ * boards/xtensa/esp32s3/common/src/esp32s3_board_mcpwm.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <sys/types.h>
+#include <errno.h>
+#include <debug.h>
+
+#include <nuttx/board.h>
+#include <nuttx/timers/capture.h>
+
+#include <arch/board/board.h>
+
+#include "espressif/esp_mcpwm.h"
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: board_capture_initialize
+ *
+ * Description:
+ *   Initialize MCPWM Capture submodule and register the capture device.
+ *
+ * Input Parameters:
+ *   None.
+ *
+ * Returned Value:
+ *   Zero (OK) on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+int board_capture_initialize(void)
+{
+  int ret;
+  struct cap_lowerhalf_s *cap;
+
+#ifdef CONFIG_ESP_MCPWM_CAPTURE_CH0
+  cap = esp_mcpwm_capture_initialize(0,
+                                     CONFIG_ESP_MCPWM_CAPTURE_CH0_GPIO);
+
+  if (!cap)
+    {
+      syslog(LOG_ERR, "ERROR: Failed to start MCPWM Capture: CH0\n");
+      return -ENODEV;
+    }
+
+  ret = cap_register("/dev/capture0", cap);
+  if (ret < 0)
+    {
+      syslog(LOG_ERR, "ERROR: cap_register failed: %d\n", ret);
+      return ret;
+    }
+#endif
+
+#ifdef CONFIG_ESP_MCPWM_CAPTURE_CH1
+  cap = esp_mcpwm_capture_initialize(1,
+                                     CONFIG_ESP_MCPWM_CAPTURE_CH1_GPIO);
+  if (!cap)
+    {
+      syslog(LOG_ERR, "ERROR: Failed to start MCPWM Capture: CH1\n");
+      return -ENODEV;
+    }
+
+  ret = cap_register("/dev/capture1", cap);
+  if (ret < 0)
+    {
+      syslog(LOG_ERR, "ERROR: cap_register failed: %d\n", ret);
+      return ret;
+    }
+#endif
+
+#ifdef CONFIG_ESP_MCPWM_CAPTURE_CH2
+  cap = esp_mcpwm_capture_initialize(2,
+                                     CONFIG_ESP_MCPWM_CAPTURE_CH2_GPIO);
+  if (!cap)
+    {
+      syslog(LOG_ERR, "ERROR: Failed to start MCPWM Capture: CH2\n");
+      return -ENODEV;
+    }
+
+  ret = cap_register("/dev/capture2", cap);
+  if (ret < 0)
+    {
+      syslog(LOG_ERR, "ERROR: cap_register failed: %d\n", ret);
+      return ret;
+    }
+#endif
+
+  return OK;
+}
diff --git a/boards/xtensa/esp32s3/esp32s3-devkit/configs/capture/defconfig b/boards/xtensa/esp32s3/esp32s3-devkit/configs/capture/defconfig
new file mode 100644
index 0000000000000..2391bdab7265d
--- /dev/null
+++ b/boards/xtensa/esp32s3/esp32s3-devkit/configs/capture/defconfig
@@ -0,0 +1,49 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
+# CONFIG_ARCH_LEDS is not set
+# CONFIG_NSH_ARGCAT is not set
+# CONFIG_NSH_CMDOPT_HEXDUMP is not set
+CONFIG_ARCH="xtensa"
+CONFIG_ARCH_BOARD="esp32s3-devkit"
+CONFIG_ARCH_BOARD_COMMON=y
+CONFIG_ARCH_BOARD_ESP32S3_DEVKIT=y
+CONFIG_ARCH_CHIP="esp32s3"
+CONFIG_ARCH_CHIP_ESP32S3=y
+CONFIG_ARCH_CHIP_ESP32S3WROOM1N4=y
+CONFIG_ARCH_INTERRUPTSTACK=2048
+CONFIG_ARCH_STACKDUMP=y
+CONFIG_ARCH_XTENSA=y
+CONFIG_BOARD_LOOPSPERMSEC=16717
+CONFIG_BUILTIN=y
+CONFIG_ESP32S3_UART0=y
+CONFIG_ESP_MCPWM=y
+CONFIG_ESP_MCPWM_CAPTURE=y
+CONFIG_ESP_MCPWM_CAPTURE_CH0=y
+CONFIG_EXAMPLES_CAPTURE=y
+CONFIG_FS_PROCFS=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_IDLETHREAD_STACKSIZE=3072
+CONFIG_INIT_ENTRYPOINT="nsh_main"
+CONFIG_INTELHEX_BINARY=y
+CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_NSH_FILEIOSIZE=512
+CONFIG_NSH_LINELEN=64
+CONFIG_NSH_READLINE=y
+CONFIG_PREALLOC_TIMERS=4
+CONFIG_RAM_SIZE=114688
+CONFIG_RAM_START=0x20000000
+CONFIG_RR_INTERVAL=200
+CONFIG_SCHED_WAITPID=y
+CONFIG_START_DAY=6
+CONFIG_START_MONTH=12
+CONFIG_START_YEAR=2011
+CONFIG_SYSLOG_BUFFER=y
+CONFIG_SYSTEM_NSH=y
+CONFIG_UART0_SERIAL_CONSOLE=y
diff --git a/boards/xtensa/esp32s3/esp32s3-devkit/src/esp32s3_bringup.c b/boards/xtensa/esp32s3/esp32s3-devkit/src/esp32s3_bringup.c
index 408cd913d6e53..eb210bcc6b013 100644
--- a/boards/xtensa/esp32s3/esp32s3-devkit/src/esp32s3_bringup.c
+++ b/boards/xtensa/esp32s3/esp32s3-devkit/src/esp32s3_bringup.c
@@ -100,6 +100,10 @@
 #  include "esp32s3_board_rmt.h"
 #endif
 
+#ifdef CONFIG_ESP_MCPWM
+#  include "esp32s3_board_mcpwm.h"
+#endif
+
 #ifdef CONFIG_ESP32S3_SPI
 #include "esp32s3_spi.h"
 #include "esp32s3_board_spidev.h"
@@ -470,6 +474,14 @@ int esp32s3_bringup(void)
     }
 #endif
 
+#ifdef CONFIG_ESP_MCPWM_CAPTURE
+  ret = board_capture_initialize();
+  if (ret < 0)
+    {
+      syslog(LOG_ERR, "ERROR: board_capture_initialize failed: %d\n", ret);
+    }
+#endif
+
   /* If we got here then perhaps not all initialization was successful, but
    * at least enough succeeded to bring-up NSH with perhaps reduced
    * capabilities.