diff --git a/components/soc/esp32/CMakeLists.txt b/components/soc/esp32/CMakeLists.txt
index 3814ba716f..438cddd69a 100644
--- a/components/soc/esp32/CMakeLists.txt
+++ b/components/soc/esp32/CMakeLists.txt
@@ -6,6 +6,7 @@ set(srcs
     "i2s_periph.c"
     "interrupts.c"
     "ledc_periph.c"
+    "mcpwm_periph.c"
     "pcnt_periph.c"
     "rmt_periph.c"
     "rtc_io_periph.c"
diff --git a/components/soc/esp32/mcpwm_periph.c b/components/soc/esp32/mcpwm_periph.c
new file mode 100644
index 0000000000..0a30191ff1
--- /dev/null
+++ b/components/soc/esp32/mcpwm_periph.c
@@ -0,0 +1,160 @@
+// Copyright 2020 Espressif Systems (Shanghai) PTE LTD
+//
+// Licensed 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.
+
+#include "soc/soc.h"
+#include "soc/mcpwm_periph.h"
+#include "soc/gpio_sig_map.h"
+
+const mcpwm_signal_conn_t mcpwm_periph_signals = {
+    .groups = {
+        [0] = {
+            .module = PERIPH_PWM0_MODULE,
+            .irq_id = ETS_PWM0_INTR_SOURCE,
+            .operators = {
+                [0] = {
+                    .generators = {
+                        [0] = {
+                            .pwm_sig = PWM0_OUT0A_IDX
+                        },
+                        [1] = {
+                            .pwm_sig = PWM0_OUT0B_IDX
+                        }
+                    }
+                },
+                [1] = {
+                    .generators = {
+                        [0] = {
+                            .pwm_sig = PWM0_OUT1A_IDX
+                        },
+                        [1] = {
+                            .pwm_sig = PWM0_OUT1B_IDX
+                        }
+                    }
+                },
+                [2] = {
+                    .generators = {
+                        [0] = {
+                            .pwm_sig = PWM0_OUT2A_IDX
+                        },
+                        [1] = {
+                            .pwm_sig = PWM0_OUT2B_IDX
+                        }
+                    }
+                }
+            },
+            .detectors = {
+                [0] = {
+                    .fault_sig = PWM0_F0_IN_IDX
+                },
+                [1] = {
+                    .fault_sig = PWM0_F1_IN_IDX
+                },
+                [2] = {
+                    .fault_sig = PWM0_F2_IN_IDX
+                }
+            },
+            .captures = {
+                [0] = {
+                    .cap_sig = PWM0_CAP0_IN_IDX
+                },
+                [1] = {
+                    .cap_sig = PWM0_CAP1_IN_IDX
+                },
+                [2] = {
+                    .cap_sig = PWM0_CAP2_IN_IDX
+                }
+            },
+            .ext_syncers = {
+                [0] = {
+                    .sync_sig = PWM0_SYNC0_IN_IDX
+                },
+                [1] = {
+                    .sync_sig = PWM0_SYNC1_IN_IDX
+                },
+                [2] = {
+                    .sync_sig = PWM0_SYNC2_IN_IDX
+                }
+            }
+        },
+        [1] = {
+            .module = PERIPH_PWM1_MODULE,
+            .irq_id = ETS_PWM1_INTR_SOURCE,
+            .operators = {
+                [0] = {
+                    .generators = {
+                        [0] = {
+                            .pwm_sig = PWM1_OUT0A_IDX
+                        },
+                        [1] = {
+                            .pwm_sig = PWM1_OUT0B_IDX
+                        }
+                    }
+                },
+                [1] = {
+                    .generators = {
+                        [0] = {
+                            .pwm_sig = PWM1_OUT1A_IDX
+                        },
+                        [1] = {
+                            .pwm_sig = PWM1_OUT1B_IDX
+                        }
+                    }
+                },
+                [2] = {
+                    .generators = {
+                        [0] = {
+                            .pwm_sig = PWM1_OUT2A_IDX
+                        },
+                        [1] = {
+                            .pwm_sig = PWM1_OUT2B_IDX
+                        }
+                    }
+                }
+            },
+            .detectors = {
+                [0] = {
+                    .fault_sig = PWM1_F0_IN_IDX
+                },
+                [1] = {
+                    .fault_sig = PWM1_F1_IN_IDX
+                },
+                [2] = {
+                    .fault_sig = PWM1_F2_IN_IDX
+                }
+            },
+            .captures = {
+                [0] = {
+                    .cap_sig = PWM1_CAP0_IN_IDX
+                },
+                [1] = {
+                    .cap_sig = PWM1_CAP1_IN_IDX
+                },
+                [2] = {
+                    .cap_sig = PWM1_CAP2_IN_IDX
+                }
+            },
+            .ext_syncers = {
+                [0] = {
+                    .sync_sig = PWM1_SYNC0_IN_IDX
+                },
+                [1] = {
+                    .sync_sig = PWM1_SYNC1_IN_IDX
+                },
+                [2] = {
+                    .sync_sig = PWM1_SYNC2_IN_IDX
+                }
+            }
+        }
+    }
+};
diff --git a/components/soc/esp32s3/CMakeLists.txt b/components/soc/esp32s3/CMakeLists.txt
index 61312030dd..8016bf6ed8 100644
--- a/components/soc/esp32s3/CMakeLists.txt
+++ b/components/soc/esp32s3/CMakeLists.txt
@@ -9,6 +9,7 @@ set(srcs
     "interrupts.c"
     "lcd_periph.c"
     "ledc_periph.c"
+    "mcpwm_periph.c"
     "pcnt_periph.c"
     "rmt_periph.c"
     "rtc_io_periph.c"
diff --git a/components/soc/esp32s3/mcpwm_periph.c b/components/soc/esp32s3/mcpwm_periph.c
new file mode 100644
index 0000000000..0a30191ff1
--- /dev/null
+++ b/components/soc/esp32s3/mcpwm_periph.c
@@ -0,0 +1,160 @@
+// Copyright 2020 Espressif Systems (Shanghai) PTE LTD
+//
+// Licensed 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.
+
+#include "soc/soc.h"
+#include "soc/mcpwm_periph.h"
+#include "soc/gpio_sig_map.h"
+
+const mcpwm_signal_conn_t mcpwm_periph_signals = {
+    .groups = {
+        [0] = {
+            .module = PERIPH_PWM0_MODULE,
+            .irq_id = ETS_PWM0_INTR_SOURCE,
+            .operators = {
+                [0] = {
+                    .generators = {
+                        [0] = {
+                            .pwm_sig = PWM0_OUT0A_IDX
+                        },
+                        [1] = {
+                            .pwm_sig = PWM0_OUT0B_IDX
+                        }
+                    }
+                },
+                [1] = {
+                    .generators = {
+                        [0] = {
+                            .pwm_sig = PWM0_OUT1A_IDX
+                        },
+                        [1] = {
+                            .pwm_sig = PWM0_OUT1B_IDX
+                        }
+                    }
+                },
+                [2] = {
+                    .generators = {
+                        [0] = {
+                            .pwm_sig = PWM0_OUT2A_IDX
+                        },
+                        [1] = {
+                            .pwm_sig = PWM0_OUT2B_IDX
+                        }
+                    }
+                }
+            },
+            .detectors = {
+                [0] = {
+                    .fault_sig = PWM0_F0_IN_IDX
+                },
+                [1] = {
+                    .fault_sig = PWM0_F1_IN_IDX
+                },
+                [2] = {
+                    .fault_sig = PWM0_F2_IN_IDX
+                }
+            },
+            .captures = {
+                [0] = {
+                    .cap_sig = PWM0_CAP0_IN_IDX
+                },
+                [1] = {
+                    .cap_sig = PWM0_CAP1_IN_IDX
+                },
+                [2] = {
+                    .cap_sig = PWM0_CAP2_IN_IDX
+                }
+            },
+            .ext_syncers = {
+                [0] = {
+                    .sync_sig = PWM0_SYNC0_IN_IDX
+                },
+                [1] = {
+                    .sync_sig = PWM0_SYNC1_IN_IDX
+                },
+                [2] = {
+                    .sync_sig = PWM0_SYNC2_IN_IDX
+                }
+            }
+        },
+        [1] = {
+            .module = PERIPH_PWM1_MODULE,
+            .irq_id = ETS_PWM1_INTR_SOURCE,
+            .operators = {
+                [0] = {
+                    .generators = {
+                        [0] = {
+                            .pwm_sig = PWM1_OUT0A_IDX
+                        },
+                        [1] = {
+                            .pwm_sig = PWM1_OUT0B_IDX
+                        }
+                    }
+                },
+                [1] = {
+                    .generators = {
+                        [0] = {
+                            .pwm_sig = PWM1_OUT1A_IDX
+                        },
+                        [1] = {
+                            .pwm_sig = PWM1_OUT1B_IDX
+                        }
+                    }
+                },
+                [2] = {
+                    .generators = {
+                        [0] = {
+                            .pwm_sig = PWM1_OUT2A_IDX
+                        },
+                        [1] = {
+                            .pwm_sig = PWM1_OUT2B_IDX
+                        }
+                    }
+                }
+            },
+            .detectors = {
+                [0] = {
+                    .fault_sig = PWM1_F0_IN_IDX
+                },
+                [1] = {
+                    .fault_sig = PWM1_F1_IN_IDX
+                },
+                [2] = {
+                    .fault_sig = PWM1_F2_IN_IDX
+                }
+            },
+            .captures = {
+                [0] = {
+                    .cap_sig = PWM1_CAP0_IN_IDX
+                },
+                [1] = {
+                    .cap_sig = PWM1_CAP1_IN_IDX
+                },
+                [2] = {
+                    .cap_sig = PWM1_CAP2_IN_IDX
+                }
+            },
+            .ext_syncers = {
+                [0] = {
+                    .sync_sig = PWM1_SYNC0_IN_IDX
+                },
+                [1] = {
+                    .sync_sig = PWM1_SYNC1_IN_IDX
+                },
+                [2] = {
+                    .sync_sig = PWM1_SYNC2_IN_IDX
+                }
+            }
+        }
+    }
+};
diff --git a/components/soc/include/soc/mcpwm_periph.h b/components/soc/include/soc/mcpwm_periph.h
index d7223da45d..ae5809c91e 100644
--- a/components/soc/include/soc/mcpwm_periph.h
+++ b/components/soc/include/soc/mcpwm_periph.h
@@ -13,5 +13,39 @@
 // limitations under the License.
 
 #pragma once
+
+#include "soc/soc_caps.h"
 #include "soc/mcpwm_reg.h"
 #include "soc/mcpwm_struct.h"
+#include "soc/periph_defs.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+typedef struct {
+    struct {
+        const periph_module_t module; // Peripheral module
+        const int irq_id;
+        struct {
+            struct {
+                const uint32_t pwm_sig;
+            } generators[SOC_MCPWM_GENERATORS_PER_OPERATOR];
+        } operators[SOC_MCPWM_OPERATORS_PER_GROUP];
+        struct {
+            const uint32_t fault_sig;
+        } detectors[SOC_MCPWM_FAULT_DETECTORS_PER_GROUP];
+        struct {
+            const uint32_t cap_sig;
+        } captures[SOC_MCPWM_CAPTURE_CHANNELS_PER_TIMER];
+        struct {
+            const uint32_t sync_sig;
+        } ext_syncers[SOC_MCPWM_EXT_SYNCERS_PER_GROUP];
+    } groups[SOC_MCPWM_GROUPS];
+} mcpwm_signal_conn_t;
+
+extern const mcpwm_signal_conn_t mcpwm_periph_signals;
+
+#ifdef __cplusplus
+}
+#endif