diff --git a/components/esp_driver_isp/include/esp_private/isp_private.h b/components/esp_driver_isp/include/esp_private/isp_private.h
index a0e6913ca5..34d3a0bdb7 100644
--- a/components/esp_driver_isp/include/esp_private/isp_private.h
+++ b/components/esp_driver_isp/include/esp_private/isp_private.h
@@ -111,6 +111,7 @@ bool esp_isp_ae_isr(isp_proc_handle_t proc, uint32_t ae_events);
 bool esp_isp_awb_isr(isp_proc_handle_t proc, uint32_t awb_events);
 bool esp_isp_sharpen_isr(isp_proc_handle_t proc, uint32_t sharp_events);
 bool esp_isp_hist_isr(isp_proc_handle_t proc, uint32_t hist_events);
+esp_err_t esp_isp_enable_yuv_submodules(isp_proc_handle_t proc, bool en);
 
 #ifdef __cplusplus
 }
diff --git a/components/esp_driver_isp/src/isp_af.c b/components/esp_driver_isp/src/isp_af.c
index 28c2055328..2257103bb5 100644
--- a/components/esp_driver_isp/src/isp_af.c
+++ b/components/esp_driver_isp/src/isp_af.c
@@ -81,6 +81,7 @@ esp_err_t esp_isp_new_af_controller(isp_proc_handle_t isp_proc, const esp_isp_af
 {
     esp_err_t ret = ESP_FAIL;
     ESP_RETURN_ON_FALSE(isp_proc && af_config && ret_hdl, ESP_ERR_INVALID_ARG, TAG, "invalid argument: null pointer");
+    ESP_RETURN_ON_ERROR(esp_isp_enable_yuv_submodules(isp_proc, true), TAG, "failed to enable YUV submodules");
 
     bool rgb2yuv_en = isp_ll_is_rgb2yuv_enabled(isp_proc->hal.hw);
     bool demosaic_en = isp_ll_is_demosaic_enabled(isp_proc->hal.hw);
@@ -154,6 +155,7 @@ esp_err_t esp_isp_del_af_controller(isp_af_ctlr_t af_ctlr)
 
     // Deregister the AF ISR
     ESP_RETURN_ON_FALSE(esp_isp_deregister_isr(af_ctlr->isp_proc, ISP_SUBMODULE_AF) == ESP_OK, ESP_FAIL, TAG, "fail to deregister ISR");
+    ESP_RETURN_ON_ERROR(esp_isp_enable_yuv_submodules(af_ctlr->isp_proc, false), TAG, "failed to disable YUV submodules");
 
     s_isp_declaim_af_controller(af_ctlr);
     s_isp_af_free_controller(af_ctlr);
diff --git a/components/esp_driver_isp/src/isp_color.c b/components/esp_driver_isp/src/isp_color.c
index 09e118c626..f2430d1eb8 100644
--- a/components/esp_driver_isp/src/isp_color.c
+++ b/components/esp_driver_isp/src/isp_color.c
@@ -49,6 +49,7 @@ esp_err_t esp_isp_color_enable(isp_proc_handle_t proc)
 {
     ESP_RETURN_ON_FALSE(proc, ESP_ERR_INVALID_ARG, TAG, "invalid argument: null pointer");
     ESP_RETURN_ON_FALSE(proc->color_fsm == ISP_FSM_INIT, ESP_ERR_INVALID_STATE, TAG, "color is enabled already");
+    ESP_RETURN_ON_ERROR(esp_isp_enable_yuv_submodules(proc, true), TAG, "failed to enable YUV submodules");
 
     isp_ll_color_clk_enable(proc->hal.hw, true);
     isp_ll_color_enable(proc->hal.hw, true);
@@ -61,6 +62,7 @@ esp_err_t esp_isp_color_disable(isp_proc_handle_t proc)
 {
     ESP_RETURN_ON_FALSE(proc, ESP_ERR_INVALID_ARG, TAG, "invalid argument: null pointer");
     ESP_RETURN_ON_FALSE(proc->color_fsm == ISP_FSM_ENABLE, ESP_ERR_INVALID_STATE, TAG, "color isn't enabled yet");
+    ESP_RETURN_ON_ERROR(esp_isp_enable_yuv_submodules(proc, false), TAG, "failed to disable YUV submodules");
 
     isp_ll_color_enable(proc->hal.hw, false);
     isp_ll_color_clk_enable(proc->hal.hw, false);
diff --git a/components/esp_driver_isp/src/isp_core.c b/components/esp_driver_isp/src/isp_core.c
index f964aaa1cc..b39865ce29 100644
--- a/components/esp_driver_isp/src/isp_core.c
+++ b/components/esp_driver_isp/src/isp_core.c
@@ -390,3 +390,29 @@ esp_err_t esp_isp_deregister_isr(isp_proc_handle_t proc, isp_submodule_t submodu
 
     return ESP_OK;
 }
+
+esp_err_t esp_isp_enable_yuv_submodules(isp_proc_handle_t proc, bool en)
+{
+    ESP_RETURN_ON_FALSE(proc, ESP_ERR_INVALID_ARG, TAG, "invalid argument: null pointer");
+
+    bool rgb2yuv = false;
+    bool yuv2rgb = false;
+
+    if (proc->out_color_format.color_space == COLOR_SPACE_RGB) {
+        rgb2yuv = true;
+        yuv2rgb = true;
+    } else if (proc->out_color_format.color_space == COLOR_SPACE_YUV) {
+        rgb2yuv = true;
+    }
+
+    portENTER_CRITICAL(&proc->spinlock);
+    if (rgb2yuv) {
+        isp_ll_enable_rgb2yuv(proc->hal.hw, en);
+    }
+    if (yuv2rgb) {
+        isp_ll_enable_yuv2rgb(proc->hal.hw, en);
+    }
+    portEXIT_CRITICAL(&proc->spinlock);
+
+    return ESP_OK;
+}
diff --git a/components/esp_driver_isp/src/isp_sharpen.c b/components/esp_driver_isp/src/isp_sharpen.c
index abd88956ce..84722aa884 100644
--- a/components/esp_driver_isp/src/isp_sharpen.c
+++ b/components/esp_driver_isp/src/isp_sharpen.c
@@ -51,6 +51,7 @@ esp_err_t esp_isp_sharpen_enable(isp_proc_handle_t proc)
 {
     ESP_RETURN_ON_FALSE(proc, ESP_ERR_INVALID_ARG, TAG, "invalid argument: null pointer");
     ESP_RETURN_ON_FALSE(proc->sharpen_fsm == ISP_FSM_INIT, ESP_ERR_INVALID_STATE, TAG, "sharpen is enabled already");
+    ESP_RETURN_ON_ERROR(esp_isp_enable_yuv_submodules(proc, true), TAG, "failed to enable YUV submodules");
 
     isp_ll_sharp_clk_enable(proc->hal.hw, true);
     isp_ll_enable_intr(proc->hal.hw, ISP_LL_EVENT_SHARP_FRAME, true);
@@ -64,6 +65,7 @@ esp_err_t esp_isp_sharpen_disable(isp_proc_handle_t proc)
 {
     ESP_RETURN_ON_FALSE(proc, ESP_ERR_INVALID_ARG, TAG, "invalid argument: null pointer");
     ESP_RETURN_ON_FALSE(proc->sharpen_fsm == ISP_FSM_ENABLE, ESP_ERR_INVALID_STATE, TAG, "sharpen isn't enabled yet");
+    ESP_RETURN_ON_ERROR(esp_isp_enable_yuv_submodules(proc, false), TAG, "failed to disable YUV submodules");
 
     isp_ll_sharp_enable(proc->hal.hw, false);
     isp_ll_enable_intr(proc->hal.hw, ISP_LL_EVENT_SHARP_FRAME, false);
diff --git a/components/hal/esp32p4/include/hal/isp_ll.h b/components/hal/esp32p4/include/hal/isp_ll.h
index bcb5312d07..9eb827208d 100644
--- a/components/hal/esp32p4/include/hal/isp_ll.h
+++ b/components/hal/esp32p4/include/hal/isp_ll.h
@@ -456,6 +456,28 @@ static inline void isp_ll_enable_line_end_packet_exist(isp_dev_t *hw, bool en)
     hw->frame_cfg.hsync_end_exist = en;
 }
 
+/**
+ * @brief Enable rgb2yuv
+ *
+ * @param[in] hw  Hardware instance address
+ * @param[in] en  Enable / Disable
+ */
+static inline void isp_ll_enable_rgb2yuv(isp_dev_t *hw, bool en)
+{
+    hw->cntl.rgb2yuv_en = en;
+}
+
+/**
+ * @brief Enable yuv2rgb
+ *
+ * @param[in] hw  Hardware instance address
+ * @param[in] en  Enable / Disable
+ */
+static inline void isp_ll_enable_yuv2rgb(isp_dev_t *hw, bool en)
+{
+    hw->cntl.yuv2rgb_en = en;
+}
+
 /**
  * @brief Get if demosaic is enabled
  *
diff --git a/examples/peripherals/isp/multi_pipelines/main/example_config.h b/examples/peripherals/isp/multi_pipelines/main/example_config.h
index 00775fd4c4..9c5482fe39 100644
--- a/examples/peripherals/isp/multi_pipelines/main/example_config.h
+++ b/examples/peripherals/isp/multi_pipelines/main/example_config.h
@@ -14,6 +14,26 @@ extern "C" {
 #define EXAMPLE_MIPI_SCCB_FREQ                  (100000)
 #define EXAMPLE_MIPI_CSI_LANE_BITRATE_MBPS      200 //line_rate = pclk * 4
 
+#define EXAMPLE_MIPI_CSI_CAM_SCCB_SCL_IO        (8)
+#define EXAMPLE_MIPI_CSI_CAM_SCCB_SDA_IO        (7)
+
+#if CONFIG_EXAMPLE_MIPI_CSI_HRES_800
+
+#if CONFIG_EXAMPLE_MIPI_CSI_VRES_640
+#define EXAMPLE_CAM_FORMAT                     "MIPI_2lane_24Minput_RAW8_800x640_50fps"
+#elif CONFIG_EXAMPLE_MIPI_CSI_VRES_800
+#define EXAMPLE_CAM_FORMAT                     "MIPI_2lane_24Minput_RAW8_800x800_50fps"
+#elif CONFIG_EXAMPLE_MIPI_CSI_VRES_1280
+#define EXAMPLE_CAM_FORMAT                     "MIPI_2lane_24Minput_RAW8_800x1280_50fps"
+#endif
+
+#elif CONFIG_EXAMPLE_MIPI_CSI_HRES_1024
+
+#if CONFIG_EXAMPLE_MIPI_CSI_VRES_600
+#define EXAMPLE_CAM_FORMAT                     "MIPI_2lane_24Minput_RAW8_1024x600_30fps"
+#endif
+
+#endif
 #define EXAMPLE_DW9714_DEV_ADDR                 0xC
 #ifdef __cplusplus
 }
diff --git a/examples/peripherals/isp/multi_pipelines/main/idf_component.yml b/examples/peripherals/isp/multi_pipelines/main/idf_component.yml
index 678ac3c33b..3081b5cd82 100644
--- a/examples/peripherals/isp/multi_pipelines/main/idf_component.yml
+++ b/examples/peripherals/isp/multi_pipelines/main/idf_component.yml
@@ -1,5 +1,5 @@
 dependencies:
-  espressif/esp_cam_sensor: "^0.5.*"
+  espressif/esp_cam_sensor: ">=0.5.*"
   idf:
     version: ">=5.3.0"
   isp_af_schemes:
diff --git a/examples/peripherals/isp/multi_pipelines/main/isp_dsi_main.c b/examples/peripherals/isp/multi_pipelines/main/isp_dsi_main.c
index 3f2db636db..67d1a3d857 100644
--- a/examples/peripherals/isp/multi_pipelines/main/isp_dsi_main.c
+++ b/examples/peripherals/isp/multi_pipelines/main/isp_dsi_main.c
@@ -224,7 +224,14 @@ void app_main(void)
 
     //--------Camera Sensor and SCCB Init-----------//
     i2c_master_bus_handle_t i2c_bus_handle = NULL;
-    example_sensor_init(I2C_NUM_0, &i2c_bus_handle);
+    example_sensor_config_t cam_sensor_config = {
+        .i2c_port_num = I2C_NUM_0,
+        .i2c_sda_io_num = EXAMPLE_MIPI_CSI_CAM_SCCB_SDA_IO,
+        .i2c_scl_io_num = EXAMPLE_MIPI_CSI_CAM_SCCB_SCL_IO,
+        .port = ESP_CAM_SENSOR_MIPI_CSI,
+        .format_name = EXAMPLE_CAM_FORMAT,
+    };
+    example_sensor_init(&cam_sensor_config, &i2c_bus_handle);
 
     //---------------VCM SCCB Init------------------//
     esp_sccb_io_handle_t dw9714_io_handle = NULL;