diff --git a/components/hal/esp32c2/include/hal/i2c_ll.h b/components/hal/esp32c2/include/hal/i2c_ll.h
index 83837dab56..a327130142 100644
--- a/components/hal/esp32c2/include/hal/i2c_ll.h
+++ b/components/hal/esp32c2/include/hal/i2c_ll.h
@@ -10,6 +10,7 @@
 
 #include <stdbool.h>
 #include "hal/misc.h"
+#include "hal/assert.h"
 #include "soc/i2c_periph.h"
 #include "soc/soc_caps.h"
 #include "soc/i2c_struct.h"
@@ -92,12 +93,16 @@ static inline void i2c_ll_cal_bus_clk(uint32_t source_clk, uint32_t bus_freq, i2
     clk_cal->scl_wait_high = (bus_freq >= 80*1000) ? (half_cycle / 2 - 2) : (half_cycle / 4);
     clk_cal->scl_high = half_cycle - clk_cal->scl_wait_high;
     clk_cal->sda_hold = half_cycle / 4;
-    clk_cal->sda_sample = half_cycle / 2 + clk_cal->scl_wait_high;
+    clk_cal->sda_sample = half_cycle / 2;
     clk_cal->setup = half_cycle;
     clk_cal->hold = half_cycle;
     //default we set the timeout value to about 10 bus cycles
     // log(20*half_cycle)/log(2) = log(half_cycle)/log(2) +  log(20)/log(2)
     clk_cal->tout = (int)(sizeof(half_cycle) * 8 - __builtin_clz(5 * half_cycle)) + 2;
+
+    /* Verify the assumptions made by the hardware */
+    HAL_ASSERT(clk_cal->scl_wait_high < clk_cal->sda_sample &&
+               clk_cal->sda_sample < clk_cal->scl_high);
 }
 
 /**
diff --git a/components/hal/esp32c3/include/hal/i2c_ll.h b/components/hal/esp32c3/include/hal/i2c_ll.h
index c103594038..a65aa00a81 100644
--- a/components/hal/esp32c3/include/hal/i2c_ll.h
+++ b/components/hal/esp32c3/include/hal/i2c_ll.h
@@ -10,6 +10,7 @@
 
 #include "stdbool.h"
 #include "hal/misc.h"
+#include "hal/assert.h"
 #include "soc/i2c_periph.h"
 #include "soc/soc_caps.h"
 #include "soc/i2c_struct.h"
@@ -93,12 +94,16 @@ static inline void i2c_ll_cal_bus_clk(uint32_t source_clk, uint32_t bus_freq, i2
     clk_cal->scl_wait_high = (bus_freq >= 80*1000) ? (half_cycle / 2 - 2) : (half_cycle / 4);
     clk_cal->scl_high = half_cycle - clk_cal->scl_wait_high;
     clk_cal->sda_hold = half_cycle / 4;
-    clk_cal->sda_sample = half_cycle / 2 + clk_cal->scl_wait_high;
+    clk_cal->sda_sample = half_cycle / 2;
     clk_cal->setup = half_cycle;
     clk_cal->hold = half_cycle;
     //default we set the timeout value to about 10 bus cycles
     // log(20*half_cycle)/log(2) = log(half_cycle)/log(2) +  log(20)/log(2)
     clk_cal->tout = (int)(sizeof(half_cycle) * 8 - __builtin_clz(5 * half_cycle)) + 2;
+
+    /* Verify the assumptions made by the hardware */
+    HAL_ASSERT(clk_cal->scl_wait_high < clk_cal->sda_sample &&
+               clk_cal->sda_sample < clk_cal->scl_high);
 }
 
 /**
diff --git a/components/hal/esp32c6/include/hal/i2c_ll.h b/components/hal/esp32c6/include/hal/i2c_ll.h
index c7bbc8f189..bb7ce9e4b2 100644
--- a/components/hal/esp32c6/include/hal/i2c_ll.h
+++ b/components/hal/esp32c6/include/hal/i2c_ll.h
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2022-2023 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -10,6 +10,7 @@
 
 #include <stdbool.h>
 #include "hal/misc.h"
+#include "hal/assert.h"
 #include "soc/i2c_periph.h"
 #include "soc/soc_caps.h"
 #include "soc/i2c_struct.h"
@@ -91,12 +92,16 @@ static inline void i2c_ll_cal_bus_clk(uint32_t source_clk, uint32_t bus_freq, i2
     clk_cal->scl_wait_high = (bus_freq >= 80*1000) ? (half_cycle / 2 - 2) : (half_cycle / 4);
     clk_cal->scl_high = half_cycle - clk_cal->scl_wait_high;
     clk_cal->sda_hold = half_cycle / 4;
-    clk_cal->sda_sample = half_cycle / 2 + clk_cal->scl_wait_high;
+    clk_cal->sda_sample = half_cycle / 2;
     clk_cal->setup = half_cycle;
     clk_cal->hold = half_cycle;
     //default we set the timeout value to about 10 bus cycles
     // log(20*half_cycle)/log(2) = log(half_cycle)/log(2) +  log(20)/log(2)
     clk_cal->tout = (int)(sizeof(half_cycle) * 8 - __builtin_clz(5 * half_cycle)) + 2;
+
+    /* Verify the assumptions made by the hardware */
+    HAL_ASSERT(clk_cal->scl_wait_high < clk_cal->sda_sample &&
+               clk_cal->sda_sample < clk_cal->scl_high);
 }
 
 /**
diff --git a/components/hal/esp32h2/include/hal/i2c_ll.h b/components/hal/esp32h2/include/hal/i2c_ll.h
index 9e8fece199..4266d93e52 100644
--- a/components/hal/esp32h2/include/hal/i2c_ll.h
+++ b/components/hal/esp32h2/include/hal/i2c_ll.h
@@ -10,6 +10,7 @@
 
 #include <stdbool.h>
 #include "hal/misc.h"
+#include "hal/assert.h"
 #include "soc/i2c_periph.h"
 #include "soc/soc_caps.h"
 #include "soc/i2c_struct.h"
@@ -92,12 +93,16 @@ static inline void i2c_ll_cal_bus_clk(uint32_t source_clk, uint32_t bus_freq, i2
     clk_cal->scl_wait_high = (bus_freq >= 80*1000) ? (half_cycle / 2 - 2) : (half_cycle / 4);
     clk_cal->scl_high = half_cycle - clk_cal->scl_wait_high;
     clk_cal->sda_hold = half_cycle / 4;
-    clk_cal->sda_sample = half_cycle / 2 + clk_cal->scl_wait_high;
+    clk_cal->sda_sample = half_cycle / 2;
     clk_cal->setup = half_cycle;
     clk_cal->hold = half_cycle;
     //default we set the timeout value to about 10 bus cycles
     // log(20*half_cycle)/log(2) = log(half_cycle)/log(2) +  log(20)/log(2)
     clk_cal->tout = (int)(sizeof(half_cycle) * 8 - __builtin_clz(5 * half_cycle)) + 2;
+
+    /* Verify the assumptions made by the hardware */
+    HAL_ASSERT(clk_cal->scl_wait_high < clk_cal->sda_sample &&
+               clk_cal->sda_sample < clk_cal->scl_high);
 }
 
 /**
diff --git a/components/hal/esp32h4/include/hal/i2c_ll.h b/components/hal/esp32h4/include/hal/i2c_ll.h
index f5af47eefc..3ab1ccd670 100644
--- a/components/hal/esp32h4/include/hal/i2c_ll.h
+++ b/components/hal/esp32h4/include/hal/i2c_ll.h
@@ -10,6 +10,7 @@
 
 #include "stdbool.h"
 #include "hal/misc.h"
+#include "hal/assert.h"
 #include "soc/i2c_periph.h"
 #include "soc/soc_caps.h"
 #include "soc/i2c_struct.h"
@@ -95,12 +96,16 @@ static inline void i2c_ll_cal_bus_clk(uint32_t source_clk, uint32_t bus_freq, i2
     clk_cal->scl_wait_high = (bus_freq >= 80*1000) ? (half_cycle / 2 - 2) : (half_cycle / 4);
     clk_cal->scl_high = half_cycle - clk_cal->scl_wait_high;
     clk_cal->sda_hold = half_cycle / 4;
-    clk_cal->sda_sample = half_cycle / 2 + clk_cal->scl_wait_high;
+    clk_cal->sda_sample = half_cycle / 2;
     clk_cal->setup = half_cycle;
     clk_cal->hold = half_cycle;
     //default we set the timeout value to about 10 bus cycles
     // log(20*half_cycle)/log(2) = log(half_cycle)/log(2) +  log(20)/log(2)
     clk_cal->tout = (int)(sizeof(half_cycle) * 8 - __builtin_clz(5 * half_cycle)) + 2;
+
+    /* Verify the assumptions made by the hardware */
+    HAL_ASSERT(clk_cal->scl_wait_high < clk_cal->sda_sample &&
+               clk_cal->sda_sample < clk_cal->scl_high);
 }
 
 /**
diff --git a/components/hal/esp32s3/include/hal/i2c_ll.h b/components/hal/esp32s3/include/hal/i2c_ll.h
index db84a72eac..b6c3689b49 100644
--- a/components/hal/esp32s3/include/hal/i2c_ll.h
+++ b/components/hal/esp32s3/include/hal/i2c_ll.h
@@ -10,6 +10,7 @@
 
 #include "stdbool.h"
 #include "hal/misc.h"
+#include "hal/assert.h"
 #include "soc/i2c_periph.h"
 #include "soc/soc_caps.h"
 #include "soc/i2c_struct.h"
@@ -92,12 +93,16 @@ static inline void i2c_ll_cal_bus_clk(uint32_t source_clk, uint32_t bus_freq, i2
     clk_cal->scl_wait_high = (bus_freq >= 80*1000) ? (half_cycle / 2 - 2) : (half_cycle / 4);
     clk_cal->scl_high = half_cycle - clk_cal->scl_wait_high;
     clk_cal->sda_hold = half_cycle / 4;
-    clk_cal->sda_sample = half_cycle / 2 + clk_cal->scl_wait_high;
+    clk_cal->sda_sample = half_cycle / 2;
     clk_cal->setup = half_cycle;
     clk_cal->hold = half_cycle;
     //default we set the timeout value to about 10 bus cycles
     // log(20*half_cycle)/log(2) = log(half_cycle)/log(2) +  log(20)/log(2)
     clk_cal->tout = (int)(sizeof(half_cycle) * 8 - __builtin_clz(5 * half_cycle)) + 2;
+
+    /* Verify the assumptions made by the hardware */
+    HAL_ASSERT(clk_cal->scl_wait_high < clk_cal->sda_sample &&
+               clk_cal->sda_sample < clk_cal->scl_high);
 }
 
 /**