diff --git a/components/driver/mcpwm/mcpwm_fault.c b/components/driver/mcpwm/mcpwm_fault.c
index 44936d7215..e8b21f43e1 100644
--- a/components/driver/mcpwm/mcpwm_fault.c
+++ b/components/driver/mcpwm/mcpwm_fault.c
@@ -177,9 +177,8 @@ esp_err_t mcpwm_new_soft_fault(const mcpwm_soft_fault_config_t *config, mcpwm_fa
     return ESP_OK;
 
 err:
-    if (soft_fault) {
-        free(soft_fault);
-    }
+    // soft_fault must be NULL in the error handling path, and it's a determined behaviour to free a NULL pointer in esp-idf
+    free(soft_fault);
     return ret;
 }
 
diff --git a/components/driver/mcpwm/mcpwm_sync.c b/components/driver/mcpwm/mcpwm_sync.c
index 164c36d9ee..c8b7e1bcc3 100644
--- a/components/driver/mcpwm/mcpwm_sync.c
+++ b/components/driver/mcpwm/mcpwm_sync.c
@@ -252,9 +252,8 @@ esp_err_t mcpwm_new_soft_sync_src(const mcpwm_soft_sync_config_t *config, mcpwm_
     return ESP_OK;
 
 err:
-    if (soft_sync) {
-        free(soft_sync);
-    }
+    // soft_sync must be NULL in the error handling path, and it's a determined behaviour to free a NULL pointer in esp-idf
+    free(soft_sync);
     return ret;
 }
 
diff --git a/components/driver/test_apps/mcpwm/main/CMakeLists.txt b/components/driver/test_apps/mcpwm/main/CMakeLists.txt
index a6eebbfd72..69804189bb 100644
--- a/components/driver/test_apps/mcpwm/main/CMakeLists.txt
+++ b/components/driver/test_apps/mcpwm/main/CMakeLists.txt
@@ -8,6 +8,10 @@ set(srcs "test_app_main.c"
          "test_mcpwm_timer.c"
          "test_mcpwm_utils.c")
 
+if(CONFIG_MCPWM_ISR_IRAM_SAFE)
+    list(APPEND srcs "test_mcpwm_iram.c")
+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}
diff --git a/components/driver/test_apps/mcpwm/main/test_mcpwm_iram.c b/components/driver/test_apps/mcpwm/main/test_mcpwm_iram.c
new file mode 100644
index 0000000000..29ed573d50
--- /dev/null
+++ b/components/driver/test_apps/mcpwm/main/test_mcpwm_iram.c
@@ -0,0 +1,90 @@
+/*
+ * SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+#include <stdio.h>
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "freertos/event_groups.h"
+#include "unity.h"
+#include "soc/soc_caps.h"
+#include "esp_private/esp_clk.h"
+#include "esp_private/spi_flash_os.h"
+#include "driver/mcpwm_cap.h"
+#include "driver/mcpwm_sync.h"
+#include "driver/gpio.h"
+#include "test_mcpwm_utils.h"
+
+static bool IRAM_ATTR test_capture_callback_iram_safe(mcpwm_cap_channel_handle_t cap_channel, const mcpwm_capture_event_data_t *edata, void *user_data)
+{
+    uint32_t *cap_value = (uint32_t *)user_data;
+    if (edata->cap_edge == MCPWM_CAP_EDGE_NEG) {
+        cap_value[1] = edata->cap_value;
+    } else {
+        cap_value[0] = edata->cap_value;
+    }
+    return false;
+}
+
+static void IRAM_ATTR test_mcpwm_capture_gpio_simulate(int gpio_sig)
+{
+    // disable flash cache
+    spi_flash_guard_get()->start();
+    gpio_set_level(gpio_sig, 1);
+    esp_rom_delay_us(1000);
+    gpio_set_level(gpio_sig, 0);
+    // enable flash cache
+    spi_flash_guard_get()->end();
+}
+
+TEST_CASE("mcpwm_capture_iram_safe", "[mcpwm]")
+{
+    printf("install mcpwm capture timer\r\n");
+    mcpwm_cap_timer_handle_t cap_timer = NULL;
+    mcpwm_capture_timer_config_t cap_timer_config = {
+        .clk_src = MCPWM_CAPTURE_CLK_SRC_APB,
+        .group_id = 0,
+    };
+    TEST_ESP_OK(mcpwm_new_capture_timer(&cap_timer_config, &cap_timer));
+
+    const int cap_gpio = 0;
+    // put the GPIO into a preset state
+    gpio_set_level(cap_gpio, 0);
+
+    printf("install mcpwm capture channel\r\n");
+    mcpwm_cap_channel_handle_t pps_channel;
+    mcpwm_capture_channel_config_t cap_chan_config = {
+        .gpio_num = cap_gpio,
+        .prescale = 1,
+        .flags.pos_edge = true,
+        .flags.neg_edge = true,
+        .flags.io_loop_back = true, // so we can use GPIO functions to simulate the external capture signal
+        .flags.pull_up = true,
+    };
+    TEST_ESP_OK(mcpwm_new_capture_channel(cap_timer, &cap_chan_config, &pps_channel));
+
+    printf("install callback for capture channel\r\n");
+    mcpwm_capture_event_callbacks_t cbs = {
+        .on_cap = test_capture_callback_iram_safe,
+    };
+    uint32_t cap_value[2] = {0};
+    TEST_ESP_OK(mcpwm_capture_channel_register_event_callbacks(pps_channel, &cbs, cap_value));
+
+    printf("enable and start capture timer\r\n");
+    TEST_ESP_OK(mcpwm_capture_timer_enable(cap_timer));
+    TEST_ESP_OK(mcpwm_capture_timer_start(cap_timer));
+
+    printf("disable cache, simulate GPIO capture signal\r\n");
+    test_mcpwm_capture_gpio_simulate(cap_gpio);
+
+    printf("capture value: Pos=%u, Neg=%u\r\n", cap_value[0], cap_value[1]);
+    // Capture timer is clocked from APB by default
+    uint32_t clk_src_res = esp_clk_apb_freq();
+    TEST_ASSERT_UINT_WITHIN(2000, clk_src_res / 1000, cap_value[1] - cap_value[0]);
+
+    printf("uninstall capture channel and timer\r\n");
+    TEST_ESP_OK(mcpwm_del_capture_channel(pps_channel));
+    TEST_ESP_OK(mcpwm_capture_timer_disable(cap_timer));
+    TEST_ESP_OK(mcpwm_del_capture_timer(cap_timer));
+}
diff --git a/components/driver/test_apps/mcpwm/sdkconfig.ci.iram_safe b/components/driver/test_apps/mcpwm/sdkconfig.ci.iram_safe
index f5e68a8539..9f7355c8cb 100644
--- a/components/driver/test_apps/mcpwm/sdkconfig.ci.iram_safe
+++ b/components/driver/test_apps/mcpwm/sdkconfig.ci.iram_safe
@@ -1,5 +1,6 @@
 CONFIG_COMPILER_DUMP_RTL_FILES=y
 CONFIG_MCPWM_ISR_IRAM_SAFE=y
-
+CONFIG_GPIO_CTRL_FUNC_IN_IRAM=y
+CONFIG_COMPILER_OPTIMIZATION_NONE=y
 # silent the error check, as the error string are stored in rodata, causing RTL check failure
 CONFIG_COMPILER_OPTIMIZATION_CHECKS_SILENT=y