From 0c067fcb056bb94e073a59d43995b2a6a773c5c5 Mon Sep 17 00:00:00 2001
From: Marius Vikhammer <marius.vikhammer@espressif.com>
Date: Thu, 2 Nov 2023 16:34:40 +0800
Subject: [PATCH] feat(ulp/lp_core): Added basic support for building and
 running a LP-Core app on ESP32P4

---
 .../esp_rom/esp32p4/Kconfig.soc_caps.in       |   4 +
 components/esp_rom/esp32p4/esp_rom_caps.h     |   1 +
 .../hal/esp32c6/include/hal/lp_core_ll.h      | 114 +++++++++++++
 .../hal/esp32p4/include/hal/lp_core_ll.h      | 138 +++++++++++++++
 .../hal/esp32p4/include/hal/lp_timer_ll.h     |  72 ++++++++
 .../esp32p4/include/soc/Kconfig.soc_caps.in   |  12 ++
 .../soc/esp32p4/include/soc/lp_timer_struct.h | 158 ++++--------------
 components/soc/esp32p4/include/soc/soc_caps.h |   5 +-
 components/ulp/CMakeLists.txt                 |   6 +-
 components/ulp/Kconfig                        |   1 +
 components/ulp/cmake/CMakeLists.txt           |  15 +-
 components/ulp/ld/lp_core_riscv.ld            |   5 +-
 components/ulp/lp_core/lp_core.c              |  66 ++++++--
 components/ulp/lp_core/lp_core/lp_core_i2c.c  |   5 +
 .../ulp/lp_core/lp_core/lp_core_utils.c       |   4 +
 components/ulp/test_apps/lp_core/README.md    |   4 +-
 .../ulp/test_apps/lp_core/main/CMakeLists.txt |  19 ++-
 .../ulp/test_apps/lp_core/main/test_lp_core.c |  54 +++---
 .../include/esp32p4/ulp_common_defs.h         |  19 +++
 docs/doxygen/Doxyfile_esp32p4                 |   9 +
 docs/en/api-reference/peripherals/gpio.rst    |  10 +-
 docs/zh_CN/api-reference/peripherals/gpio.rst |   8 +-
 examples/system/.build-test-rules.yml         |  14 ++
 tools/ci/check_copyright_ignore.txt           |   1 -
 24 files changed, 563 insertions(+), 181 deletions(-)
 create mode 100644 components/hal/esp32c6/include/hal/lp_core_ll.h
 create mode 100644 components/hal/esp32p4/include/hal/lp_core_ll.h
 create mode 100644 components/hal/esp32p4/include/hal/lp_timer_ll.h
 create mode 100644 components/ulp/ulp_common/include/esp32p4/ulp_common_defs.h

diff --git a/components/esp_rom/esp32p4/Kconfig.soc_caps.in b/components/esp_rom/esp32p4/Kconfig.soc_caps.in
index f91659d514..1e974a07aa 100644
--- a/components/esp_rom/esp32p4/Kconfig.soc_caps.in
+++ b/components/esp_rom/esp32p4/Kconfig.soc_caps.in
@@ -46,3 +46,7 @@ config ESP_ROM_HAS_LAYOUT_TABLE
 config ESP_ROM_WDT_INIT_PATCH
     bool
     default y
+
+config ESP_ROM_HAS_LP_ROM
+    bool
+    default y
diff --git a/components/esp_rom/esp32p4/esp_rom_caps.h b/components/esp_rom/esp32p4/esp_rom_caps.h
index 80885d5a96..88dc6bd3b2 100644
--- a/components/esp_rom/esp32p4/esp_rom_caps.h
+++ b/components/esp_rom/esp32p4/esp_rom_caps.h
@@ -17,3 +17,4 @@
 #define ESP_ROM_HAS_HAL_SYSTIMER            (1) // ROM has the implementation of Systimer HAL driver
 #define ESP_ROM_HAS_LAYOUT_TABLE            (1) // ROM has the layout table
 #define ESP_ROM_WDT_INIT_PATCH              (1) // ROM version does not configure the clock
+#define ESP_ROM_HAS_LP_ROM                  (1) // ROM also has a LP ROM placed in LP memory
diff --git a/components/hal/esp32c6/include/hal/lp_core_ll.h b/components/hal/esp32c6/include/hal/lp_core_ll.h
new file mode 100644
index 0000000000..36ac25ba11
--- /dev/null
+++ b/components/hal/esp32c6/include/hal/lp_core_ll.h
@@ -0,0 +1,114 @@
+/*
+ * SPDX-FileCopyrightText: 2023 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+/*******************************************************************************
+ * NOTICE
+ * The hal is not public api, don't use it in application code.
+ ******************************************************************************/
+
+#pragma once
+
+#include <stdbool.h>
+#include "soc/lpperi_struct.h"
+#include "soc/pmu_struct.h"
+#include "soc/lp_aon_struct.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+#define LP_CORE_LL_WAKEUP_SOURCE_HP_CPU    BIT(0) // Started by HP core (1 single wakeup)
+#define LP_CORE_LL_WAKEUP_SOURCE_LP_UART   BIT(1) // Enable wake-up by a certain number of LP UART RX pulses
+#define LP_CORE_LL_WAKEUP_SOURCE_LP_IO     BIT(2) // Enable wake-up by LP IO interrupt
+#define LP_CORE_LL_WAKEUP_SOURCE_ETM       BIT(3) // Enable wake-up by ETM event
+#define LP_CORE_LL_WAKEUP_SOURCE_LP_TIMER  BIT(4) // Enable wake-up by LP timer
+
+/**
+ * @brief Enable the bus clock for LP-core
+ *
+ * @param enable Enable if true, disable if false
+ */
+static inline void lp_core_ll_enable_bus_clock(bool enable)
+{
+    /* ESP32C6 does not have clk/rst periph control for LP-core */
+    (void)enable;
+}
+
+/**
+ * @brief Reset the lp_core module
+ *
+ */
+static inline void lp_core_ll_reset_register(void)
+{
+    /* ESP32C6 does not have clk/rst periph control for LP-core */
+}
+
+/**
+ * @brief Enable fast access of LP memory
+ *
+ * @note When fast access is activated, LP-core cannot access LP mem during deep sleep
+ *
+ * @param enable Enable if true, disable if false
+ */
+static inline void lp_core_ll_fast_lp_mem_enable(bool enable)
+{
+    LP_AON.lpbus.fast_mem_mux_sel = enable;
+    LP_AON.lpbus.fast_mem_mux_sel_update = 1;
+}
+
+/**
+ * @brief Trigger a LP_CORE_LL_WAKEUP_SOURCE_HP_CPU wake-up on the LP-core
+ *
+ */
+static inline void lp_core_ll_hp_wake_lp(void)
+{
+    PMU.hp_lp_cpu_comm.hp_trigger_lp = 1;
+}
+
+/**
+ * @brief Enable the debug module of LP-core, allowing JTAG to connect
+ *
+ * @param enable Enable if true, disable if false
+ */
+static inline void lp_core_ll_debug_module_enable(bool enable)
+{
+    LPPERI.cpu.lpcore_dbgm_unavaliable = !enable;
+}
+
+/**
+ * @brief Enable CPU reset at sleep
+ *
+ * @param enable Enable if true, disable if false
+ */
+static inline void lp_core_ll_rst_at_sleep_enable(bool enable)
+{
+    PMU.lp_ext.pwr0.slp_reset_en = enable;
+}
+
+/**
+ * @brief Stall LP-core at sleep requests
+ *
+ * @param enable Enable if true, disable if false
+ */
+static inline void lp_core_ll_stall_at_sleep_request(bool enable)
+{
+    PMU.lp_ext.pwr0.slp_stall_en = enable;
+}
+
+/**
+ * @brief Set wake-up sources for the LP-core
+ *
+ * @param flags Wake-up sources
+ */
+static inline void lp_core_ll_set_wakeup_source(uint32_t flags)
+{
+    PMU.lp_ext.pwr1.wakeup_en = flags;
+}
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/components/hal/esp32p4/include/hal/lp_core_ll.h b/components/hal/esp32p4/include/hal/lp_core_ll.h
new file mode 100644
index 0000000000..ed9ecdb3e5
--- /dev/null
+++ b/components/hal/esp32p4/include/hal/lp_core_ll.h
@@ -0,0 +1,138 @@
+/*
+ * SPDX-FileCopyrightText: 2023 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+/*******************************************************************************
+ * NOTICE
+ * The hal is not public api, don't use it in application code.
+ ******************************************************************************/
+
+#pragma once
+
+#include <stdbool.h>
+#include "soc/lpperi_struct.h"
+#include "soc/pmu_struct.h"
+#include "soc/lp_system_struct.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+#define LP_CORE_LL_WAKEUP_SOURCE_LP_IO      BIT(9)
+#define LP_CORE_LL_WAKEUP_SOURCE_LP_UART    BIT(10)
+#define LP_CORE_LL_WAKEUP_SOURCE_LP_TIMER_0 BIT(13)
+#define LP_CORE_LL_WAKEUP_SOURCE_LP_BOD     BIT(14)
+#define LP_CORE_LL_WAKEUP_SOURCE_ETM        BIT(17)
+#define LP_CORE_LL_WAKEUP_SOURCE_LP_TIMER_1 BIT(18)
+#define LP_CORE_LL_WAKEUP_SOURCE_LP_I2S     BIT(19)
+#define LP_CORE_LL_WAKEUP_SOURCE_HP_CPU     BIT(22)
+
+/* Use lp timer 1 as the normal wakeup timer, timer 0 is used by deep sleep */
+#define LP_CORE_LL_WAKEUP_SOURCE_LP_TIMER LP_CORE_LL_WAKEUP_SOURCE_LP_TIMER_1
+
+/**
+ * @brief Enable the bus clock for LP-coree
+ *
+ * @param enable true to enable, false to disable
+ */
+static inline void lp_core_ll_enable_bus_clock(bool enable)
+{
+    LPPERI.clk_en.ck_en_lp_core = enable;
+}
+
+/// use a macro to wrap the function, force the caller to use it in a critical section
+/// the critical section needs to declare the __DECLARE_RCC_ATOMIC_ENV variable in advance
+#define lp_core_ll_enable_bus_clock(...) (void)__DECLARE_RCC_ATOMIC_ENV; lp_core_ll_enable_bus_clock(__VA_ARGS__)
+
+/**
+ * @brief Reset the lp_core module
+ *
+ */
+static inline void lp_core_ll_reset_register(void)
+{
+    LPPERI.reset_en.rst_en_lp_core = 1;
+    LPPERI.reset_en.rst_en_lp_core = 0;
+}
+
+/// use a macro to wrap the function, force the caller to use it in a critical section
+/// the critical section needs to declare the __DECLARE_RCC_ATOMIC_ENV variable in advance
+#define lp_core_ll_reset_register(...) (void)__DECLARE_RCC_ATOMIC_ENV; lp_core_ll_reset_register(__VA_ARGS__)
+
+
+/**
+ * @brief Trigger a LP_CORE_LL_WAKEUP_SOURCE_HP_CPU wake-up on the lp core
+ *
+ */
+static inline void lp_core_ll_hp_wake_lp(void)
+{
+    PMU.hp_lp_cpu_comm.hp_trigger_lp = 1;
+}
+
+/**
+ * @brief Enables the LP core debug module, allowing JTAG to connect
+ *
+ * @param enable enable if true, disable if false
+ */
+static inline void lp_core_ll_debug_module_enable(bool enable)
+{
+    LPPERI.cpu.lpcore_dbgm_unavailable = !enable;
+}
+
+/**
+ * @brief Enables CPU reset at sleep
+ *
+ * @param enable enable if true, disable if false
+ */
+static inline void lp_core_ll_rst_at_sleep_enable(bool enable)
+{
+    PMU.lp_cpu_pwr0.lp_cpu_slp_reset_en = enable;
+}
+
+/**
+ * @brief Stall lp core cpu at sleep request
+ *
+ * @param enable enable if true, disable if false
+ */
+static inline void lp_core_ll_stall_at_sleep_request(bool enable)
+{
+    PMU.lp_cpu_pwr0.lp_cpu_slp_stall_en = enable;
+}
+
+/**
+ * @brief Set the wake-up source for the lp-core
+ *
+ * @param flags wake-up sources
+ */
+static inline void lp_core_ll_set_wakeup_source(uint32_t flags)
+{
+    PMU.lp_cpu_pwr2.lp_cpu_wakeup_en = flags;
+}
+
+
+/**
+ * @brief Set boot address for lp core
+ *
+ * @param boot_address address which the lp core will start booting from
+ */
+static inline void lp_core_ll_set_boot_address(intptr_t boot_address)
+{
+    LP_SYS.lp_core_boot_addr.lp_cpu_boot_addr = boot_address;
+}
+
+
+/**
+ * @brief Set address LP-ROM bootloader will jump to after initialization
+ *
+ * @param boot_address address which the LP-ROM bootloader will jump to
+ */
+static inline void lp_core_ll_set_app_boot_address(intptr_t boot_address)
+{
+    LP_SYS.boot_addr_hp_lp_reg.boot_addr_hp_lp = boot_address;
+}
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/components/hal/esp32p4/include/hal/lp_timer_ll.h b/components/hal/esp32p4/include/hal/lp_timer_ll.h
new file mode 100644
index 0000000000..75016c6282
--- /dev/null
+++ b/components/hal/esp32p4/include/hal/lp_timer_ll.h
@@ -0,0 +1,72 @@
+/*
+ * SPDX-FileCopyrightText: 2023 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+// The LL layer for ESP32-P4 LP_Timer register operations
+
+#pragma once
+
+#include <stdlib.h>
+#include "soc/soc.h"
+#include "soc/rtc.h"
+#include "soc/lp_timer_struct.h"
+#include "soc/lp_system_reg.h"
+#include "hal/lp_timer_types.h"
+#include "esp_attr.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+FORCE_INLINE_ATTR void lp_timer_ll_set_alarm_target(lp_timer_dev_t *dev, uint8_t timer_id, uint64_t value)
+{
+    dev->target[timer_id].hi.target_hi = (value >> 32) & 0xFFFF;
+    dev->target[timer_id].lo.target_lo = value & 0xFFFFFFFF;
+}
+
+FORCE_INLINE_ATTR void lp_timer_ll_set_target_enable(lp_timer_dev_t *dev, uint8_t timer_id, bool en)
+{
+    dev->target[timer_id].hi.enable = en;
+}
+
+FORCE_INLINE_ATTR uint32_t lp_timer_ll_get_counter_value_low(lp_timer_dev_t *dev, uint8_t timer_id)
+{
+    return dev->counter[timer_id].lo.counter_lo;
+}
+
+FORCE_INLINE_ATTR uint32_t lp_timer_ll_get_counter_value_high(lp_timer_dev_t *dev, uint8_t timer_id)
+{
+    return dev->counter[timer_id].hi.counter_hi;
+}
+
+FORCE_INLINE_ATTR void lp_timer_ll_counter_snapshot(lp_timer_dev_t *dev)
+{
+    dev->update.main_timer_update = 1;
+}
+
+FORCE_INLINE_ATTR void lp_timer_ll_clear_alarm_intr_status(lp_timer_dev_t *dev)
+{
+    dev->int_clr.soc_wakeup_int_clr = 1;
+}
+
+FORCE_INLINE_ATTR void lp_timer_ll_clear_overflow_intr_status(lp_timer_dev_t *dev)
+{
+    dev->int_clr.overflow_clr = 1;
+}
+
+FORCE_INLINE_ATTR void lp_timer_ll_clear_lp_alarm_intr_status(lp_timer_dev_t *dev)
+{
+    dev->lp_int_clr.main_timer_lp_int_clr = 1;
+}
+
+FORCE_INLINE_ATTR uint64_t lp_timer_ll_time_to_count(uint64_t time_in_us)
+{
+    uint32_t slow_clk_value = REG_READ(LP_SYSTEM_REG_LP_STORE1_REG);
+    return ((time_in_us * (1 << RTC_CLK_CAL_FRACT)) / slow_clk_value);
+}
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/components/soc/esp32p4/include/soc/Kconfig.soc_caps.in b/components/soc/esp32p4/include/soc/Kconfig.soc_caps.in
index 429e2ca648..42b53af3eb 100644
--- a/components/soc/esp32p4/include/soc/Kconfig.soc_caps.in
+++ b/components/soc/esp32p4/include/soc/Kconfig.soc_caps.in
@@ -55,6 +55,14 @@ config SOC_SUPPORTS_SECURE_DL_MODE
     bool
     default y
 
+config SOC_ULP_SUPPORTED
+    bool
+    default y
+
+config SOC_LP_CORE_SUPPORTED
+    bool
+    default y
+
 config SOC_EFUSE_KEY_PURPOSE_FIELD
     bool
     default y
@@ -127,6 +135,10 @@ config SOC_SECURE_BOOT_SUPPORTED
     bool
     default y
 
+config SOC_LP_TIMER_SUPPORTED
+    bool
+    default y
+
 config SOC_LP_GPIO_MATRIX_SUPPORTED
     bool
     default y
diff --git a/components/soc/esp32p4/include/soc/lp_timer_struct.h b/components/soc/esp32p4/include/soc/lp_timer_struct.h
index 11c0aad66e..cfbf2e8df6 100644
--- a/components/soc/esp32p4/include/soc/lp_timer_struct.h
+++ b/components/soc/esp32p4/include/soc/lp_timer_struct.h
@@ -10,68 +10,22 @@
 extern "C" {
 #endif
 
-/** Group: configure_register */
-/** Type of tar0_low register
- *  need_des
- */
-typedef union {
-    struct {
-        /** main_timer_tar_low0 : R/W; bitpos: [31:0]; default: 0;
-         *  need_des
-         */
-        uint32_t main_timer_tar_low0:32;
-    };
-    uint32_t val;
-} lp_timer_tar0_low_reg_t;
-
-/** Type of tar0_high register
- *  need_des
- */
-typedef union {
-    struct {
-        /** main_timer_tar_high0 : R/W; bitpos: [15:0]; default: 0;
-         *  need_des
-         */
-        uint32_t main_timer_tar_high0:16;
-        uint32_t reserved_16:15;
-        /** main_timer_tar_en0 : WT; bitpos: [31]; default: 0;
-         *  need_des
-         */
-        uint32_t main_timer_tar_en0:1;
-    };
-    uint32_t val;
-} lp_timer_tar0_high_reg_t;
-
-/** Type of tar1_low register
- *  need_des
- */
-typedef union {
-    struct {
-        /** main_timer_tar_low1 : R/W; bitpos: [31:0]; default: 0;
-         *  need_des
-         */
-        uint32_t main_timer_tar_low1:32;
-    };
-    uint32_t val;
-} lp_timer_tar1_low_reg_t;
-
-/** Type of tar1_high register
- *  need_des
- */
-typedef union {
-    struct {
-        /** main_timer_tar_high1 : R/W; bitpos: [15:0]; default: 0;
-         *  need_des
-         */
-        uint32_t main_timer_tar_high1:16;
-        uint32_t reserved_16:15;
-        /** main_timer_tar_en1 : WT; bitpos: [31]; default: 0;
-         *  need_des
-         */
-        uint32_t main_timer_tar_en1:1;
-    };
-    uint32_t val;
-} lp_timer_tar1_high_reg_t;
+typedef struct {
+    union {
+        struct {
+            uint32_t target_lo: 32;
+        };
+        uint32_t val;
+    } lo;
+    union {
+        struct {
+            uint32_t target_hi: 16;
+            uint32_t reserved0: 15;
+            uint32_t enable   : 1;
+        };
+        uint32_t val;
+    } hi;
+} lp_timer_target_reg_t;
 
 /** Type of update register
  *  need_des
@@ -99,59 +53,22 @@ typedef union {
     uint32_t val;
 } lp_timer_update_reg_t;
 
-/** Type of main_buf0_low register
- *  need_des
- */
-typedef union {
-    struct {
-        /** main_timer_buf0_low : RO; bitpos: [31:0]; default: 0;
-         *  need_des
-         */
-        uint32_t main_timer_buf0_low:32;
-    };
-    uint32_t val;
-} lp_timer_main_buf0_low_reg_t;
+typedef struct {
+    union {
+        struct {
+            uint32_t counter_lo: 32;
+        };
+        uint32_t val;
+    } lo;
+    union {
+        struct {
+            uint32_t counter_hi: 16;
+            uint32_t reserved0 : 16;
+        };
+        uint32_t val;
+    } hi;
+} lp_timer_counter_reg_t;
 
-/** Type of main_buf0_high register
- *  need_des
- */
-typedef union {
-    struct {
-        /** main_timer_buf0_high : RO; bitpos: [15:0]; default: 0;
-         *  need_des
-         */
-        uint32_t main_timer_buf0_high:16;
-        uint32_t reserved_16:16;
-    };
-    uint32_t val;
-} lp_timer_main_buf0_high_reg_t;
-
-/** Type of main_buf1_low register
- *  need_des
- */
-typedef union {
-    struct {
-        /** main_timer_buf1_low : RO; bitpos: [31:0]; default: 0;
-         *  need_des
-         */
-        uint32_t main_timer_buf1_low:32;
-    };
-    uint32_t val;
-} lp_timer_main_buf1_low_reg_t;
-
-/** Type of main_buf1_high register
- *  need_des
- */
-typedef union {
-    struct {
-        /** main_timer_buf1_high : RO; bitpos: [15:0]; default: 0;
-         *  need_des
-         */
-        uint32_t main_timer_buf1_high:16;
-        uint32_t reserved_16:16;
-    };
-    uint32_t val;
-} lp_timer_main_buf1_high_reg_t;
 
 /** Type of main_overflow register
  *  need_des
@@ -330,15 +247,9 @@ typedef union {
 
 
 typedef struct {
-    volatile lp_timer_tar0_low_reg_t tar0_low;
-    volatile lp_timer_tar0_high_reg_t tar0_high;
-    volatile lp_timer_tar1_low_reg_t tar1_low;
-    volatile lp_timer_tar1_high_reg_t tar1_high;
-    volatile lp_timer_update_reg_t update;
-    volatile lp_timer_main_buf0_low_reg_t main_buf0_low;
-    volatile lp_timer_main_buf0_high_reg_t main_buf0_high;
-    volatile lp_timer_main_buf1_low_reg_t main_buf1_low;
-    volatile lp_timer_main_buf1_high_reg_t main_buf1_high;
+    volatile lp_timer_target_reg_t          target[2];
+    volatile lp_timer_update_reg_t          update;
+    volatile lp_timer_counter_reg_t         counter[2];
     volatile lp_timer_main_overflow_reg_t main_overflow;
     volatile lp_timer_int_raw_reg_t int_raw;
     volatile lp_timer_int_st_reg_t int_st;
@@ -352,6 +263,7 @@ typedef struct {
     volatile lp_timer_date_reg_t date;
 } lp_timer_dev_t;
 
+extern lp_timer_dev_t LP_TIMER;
 
 #ifndef __cplusplus
 _Static_assert(sizeof(lp_timer_dev_t) == 0x400, "Invalid size of lp_timer_dev_t structure");
diff --git a/components/soc/esp32p4/include/soc/soc_caps.h b/components/soc/esp32p4/include/soc/soc_caps.h
index 87b6193b72..8348ff8a14 100644
--- a/components/soc/esp32p4/include/soc/soc_caps.h
+++ b/components/soc/esp32p4/include/soc/soc_caps.h
@@ -43,7 +43,8 @@
 // #define SOC_USB_SERIAL_JTAG_SUPPORTED   1  //TODO: IDF-7496
 // #define SOC_TEMP_SENSOR_SUPPORTED       1  //TODO: IDF-7482
 #define SOC_SUPPORTS_SECURE_DL_MODE     1
-// #define SOC_RISCV_COPROC_SUPPORTED      1
+#define SOC_ULP_SUPPORTED               1
+#define SOC_LP_CORE_SUPPORTED           1
 #define SOC_EFUSE_KEY_PURPOSE_FIELD     1
 #define SOC_EFUSE_SUPPORTED             1
 #define SOC_RTC_FAST_MEM_SUPPORTED      1
@@ -71,7 +72,7 @@
 // #define SOC_APM_SUPPORTED               1  //TODO: IDF-7542
 // #define SOC_PMU_SUPPORTED               1  //TODO: IDF-7531
 // #define SOC_PAU_SUPPORTED               1  //TODO: IDF-7531
-// #define SOC_LP_TIMER_SUPPORTED          1  //TODO: IDF-7532
+#define SOC_LP_TIMER_SUPPORTED          1
 // #define SOC_ULP_LP_UART_SUPPORTED       1  //TODO: IDF-7533
 #define SOC_LP_GPIO_MATRIX_SUPPORTED    1
 #define SOC_LP_PERIPHERALS_SUPPORTED    1
diff --git a/components/ulp/CMakeLists.txt b/components/ulp/CMakeLists.txt
index 42b55d7b43..b70819676a 100644
--- a/components/ulp/CMakeLists.txt
+++ b/components/ulp/CMakeLists.txt
@@ -55,8 +55,12 @@ if(CONFIG_ULP_COPROC_TYPE_LP_CORE)
         "lp_core/lp_core.c"
         "lp_core/shared/ulp_lp_core_memory_shared.c"
         "lp_core/shared/ulp_lp_core_lp_timer_shared.c"
-        "lp_core/lp_core_i2c.c"
         "lp_core/lp_core_uart.c")
+
+    if(CONFIG_IDF_TARGET_ESP32C6)
+        # Add to P4 TODO IDF-7540
+        list(APPEND srcs "lp_core/lp_core_i2c.c")
+    endif()
 endif()
 
 idf_component_register(SRCS ${srcs}
diff --git a/components/ulp/Kconfig b/components/ulp/Kconfig
index 9ed9c43006..fd144a4087 100644
--- a/components/ulp/Kconfig
+++ b/components/ulp/Kconfig
@@ -34,6 +34,7 @@ menu "Ultra Low Power (ULP) Co-processor"
         default 4096 if !IDF_TARGET_ESP32
         range 32 8176 if !IDF_TARGET_ESP32C6
         range 32 16352 if IDF_TARGET_ESP32C6
+        range 32 32768 if IDF_TARGET_ESP32P4
         help
             Bytes of memory to reserve for ULP Co-processor firmware & data.
             Data is reserved at the beginning of RTC slow memory.
diff --git a/components/ulp/cmake/CMakeLists.txt b/components/ulp/cmake/CMakeLists.txt
index 08b5af497f..f2a5ec89ae 100644
--- a/components/ulp/cmake/CMakeLists.txt
+++ b/components/ulp/cmake/CMakeLists.txt
@@ -86,11 +86,12 @@ elseif(ULP_COCPU_IS_LP_CORE)
     "${IDF_PATH}/components/ulp/lp_core/shared/ulp_lp_core_lp_timer_shared.c"
     "${IDF_PATH}/components/ulp/lp_core/lp_core/lp_core_startup.c"
     "${IDF_PATH}/components/ulp/lp_core/lp_core/lp_core_utils.c"
-    "${IDF_PATH}/components/ulp/lp_core/lp_core/lp_core_i2c.c"
+
     "${IDF_PATH}/components/hal/uart_hal_iram.c"
     "${IDF_PATH}/components/hal/uart_hal.c"
     "${IDF_PATH}/components/ulp/lp_core/lp_core/lp_core_uart.c"
-    "${IDF_PATH}/components/ulp/lp_core/lp_core/lp_core_print.c")
+    "${IDF_PATH}/components/ulp/lp_core/lp_core/lp_core_print.c"
+    "${IDF_PATH}/components/ulp/lp_core/lp_core/lp_core_i2c.c")
 
     target_link_options(${ULP_APP_NAME} PRIVATE "-nostartfiles")
     target_link_options(${ULP_APP_NAME} PRIVATE "-Wl,--no-warn-rwx-segments")
@@ -98,6 +99,16 @@ elseif(ULP_COCPU_IS_LP_CORE)
     target_link_options(${ULP_APP_NAME} PRIVATE -Wl,-Map=${CMAKE_CURRENT_BINARY_DIR}/${ULP_APP_NAME}.map)
     target_link_options(${ULP_APP_NAME}
         PRIVATE SHELL:-T ${IDF_PATH}/components/soc/${IDF_TARGET}/ld/${IDF_TARGET}.peripherals.ld)
+
+    if(CONFIG_ESP_ROM_HAS_LP_ROM)
+        target_link_options(${ULP_APP_NAME}
+            PRIVATE SHELL:-T ${IDF_PATH}/components/esp_rom/${IDF_TARGET}/ld/${IDF_TARGET}lp.rom.ld)
+        target_link_options(${ULP_APP_NAME}
+            PRIVATE SHELL:-T ${IDF_PATH}/components/esp_rom/${IDF_TARGET}/ld/${IDF_TARGET}lp.rom.newlib.ld)
+        target_link_options(${ULP_APP_NAME}
+            PRIVATE SHELL:-T ${IDF_PATH}/components/esp_rom/${IDF_TARGET}/ld/${IDF_TARGET}lp.rom.version.ld)
+    endif()
+
     target_sources(${ULP_APP_NAME} PRIVATE ${ULP_S_SOURCES})
     target_include_directories(${ULP_APP_NAME} PRIVATE "${IDF_PATH}/components/ulp/lp_core/lp_core/include"
                                                        "${IDF_PATH}/components/ulp/lp_core/shared/include")
diff --git a/components/ulp/ld/lp_core_riscv.ld b/components/ulp/ld/lp_core_riscv.ld
index ee4371fe33..a3a069c892 100644
--- a/components/ulp/ld/lp_core_riscv.ld
+++ b/components/ulp/ld/lp_core_riscv.ld
@@ -4,14 +4,15 @@
  * SPDX-License-Identifier: Apache-2.0
  */
 #include "sdkconfig.h"
+#include "soc/soc.h"
 
 ENTRY(reset_vector)
 
 MEMORY
 {
     /*first 128byte for exception/interrupt vectors*/
-    vector_table(RX) :   ORIGIN = 0x50000000, LENGTH = 0x80
-    ram(RWX) :           ORIGIN = 0x50000080, LENGTH = CONFIG_ULP_COPROC_RESERVE_MEM - 0x80 - CONFIG_ULP_SHARED_MEM
+    vector_table(RX) :   ORIGIN = SOC_RTC_DRAM_LOW, LENGTH = 0x80
+    ram(RWX) :           ORIGIN = SOC_RTC_DRAM_LOW + 0x80, LENGTH = CONFIG_ULP_COPROC_RESERVE_MEM - 0x80 - CONFIG_ULP_SHARED_MEM
 }
 
 SECTIONS
diff --git a/components/ulp/lp_core/lp_core.c b/components/ulp/lp_core/lp_core.c
index 8513880bb9..08bffc7be7 100644
--- a/components/ulp/lp_core/lp_core.c
+++ b/components/ulp/lp_core/lp_core.c
@@ -5,18 +5,49 @@
  */
 
 #include "sdkconfig.h"
+#include "esp_rom_caps.h"
 #include "esp_log.h"
+#include "esp_assert.h"
 #include "soc/pmu_reg.h"
-#include "soc/lp_aon_reg.h"
-#include "soc/lpperi_reg.h"
 #include "hal/misc.h"
+#include "esp_private/periph_ctrl.h"
 #include "ulp_common.h"
 #include "ulp_lp_core.h"
 #include "ulp_lp_core_memory_shared.h"
 #include "ulp_lp_core_lp_timer_shared.h"
+#include "hal/lp_core_ll.h"
+
+#if CONFIG_IDF_TARGET_ESP32P4
+#define LP_CORE_RCC_ATOMIC() PERIPH_RCC_ATOMIC()
+#else
+#define LP_CORE_RCC_ATOMIC()
+#endif
 
 const static char* TAG = "ulp-lp-core";
 
+#define WAKEUP_SOURCE_MAX_NUMBER 5
+
+/* Maps the flags defined in ulp_lp_core.h e.g. ULP_LP_CORE_WAKEUP_SOURCE_HP_CPU to their actual HW values */
+static uint32_t wakeup_src_sw_to_hw_flag_lookup[WAKEUP_SOURCE_MAX_NUMBER] = {
+    LP_CORE_LL_WAKEUP_SOURCE_HP_CPU,
+    LP_CORE_LL_WAKEUP_SOURCE_LP_UART,
+    LP_CORE_LL_WAKEUP_SOURCE_LP_IO,
+    LP_CORE_LL_WAKEUP_SOURCE_ETM,
+    LP_CORE_LL_WAKEUP_SOURCE_LP_TIMER,
+};
+
+/* Convert the wake-up sources defined in ulp_lp_core.h to the actual HW wake-up source values */
+static uint32_t lp_core_get_wakeup_source_hw_flags(uint32_t flags)
+{
+    uint32_t hw_flags = 0;
+    for(int i = 0; i < WAKEUP_SOURCE_MAX_NUMBER; i++) {
+        if (flags & (1 << i)) {
+            hw_flags |= wakeup_src_sw_to_hw_flag_lookup[i];
+        }
+    }
+    return hw_flags;
+}
+
 esp_err_t ulp_lp_core_run(ulp_lp_core_cfg_t* cfg)
 {
     if (!cfg->wakeup_source) {
@@ -26,27 +57,36 @@ esp_err_t ulp_lp_core_run(ulp_lp_core_cfg_t* cfg)
 
     ulp_lp_core_memory_shared_cfg_t* shared_mem = ulp_lp_core_memory_shared_cfg_get();
 
-    /* Enable LP-Core */
-    REG_CLR_BIT(LP_AON_LPCORE_REG, LP_AON_LPCORE_DISABLE);
+#if ESP_ROM_HAS_LP_ROM
+    /* If we have a LP ROM we boot from it, before jumping to the app code */
+    lp_core_ll_set_boot_address(SOC_LP_ROM_LOW);
+    lp_core_ll_set_app_boot_address(RTC_SLOW_MEM);
+#endif //ESP_ROM_HAS_LP_ROM
 
-    /* Allow LP core to access LP memory during sleep */
-    REG_CLR_BIT(LP_AON_LPBUS_REG, LP_AON_FAST_MEM_MUX_SEL);
-    REG_SET_BIT(LP_AON_LPBUS_REG, LP_AON_FAST_MEM_MUX_SEL_UPDATE);
+    LP_CORE_RCC_ATOMIC() {
+        lp_core_ll_reset_register();
+        lp_core_ll_enable_bus_clock(true);
+    }
+
+#if CONFIG_IDF_TARGET_ESP32C6
+    /* Disable fast LP mem access to allow LP core to access LP memory during sleep */
+    lp_core_ll_fast_lp_mem_enable(false);
+#endif //CONFIG_IDF_TARGET_ESP32C6
 
     /* Enable stall at sleep request*/
-    REG_SET_FIELD(PMU_LP_CPU_PWR0_REG, PMU_LP_CPU_SLP_STALL_EN, 1);
+    lp_core_ll_stall_at_sleep_request(true);
 
-    /* Enable reset after wake-up */
-    REG_SET_BIT(PMU_LP_CPU_PWR0_REG, PMU_LP_CPU_SLP_RESET_EN);
+    /* Enable reset CPU when going to sleep */
+    lp_core_ll_rst_at_sleep_enable(true);
 
     /* Set wake-up sources */
-    REG_SET_FIELD(PMU_LP_CPU_PWR1_REG, PMU_LP_CPU_WAKEUP_EN, cfg->wakeup_source);
+    lp_core_ll_set_wakeup_source(lp_core_get_wakeup_source_hw_flags(cfg->wakeup_source));
 
     /* Enable JTAG debugging */
-    REG_CLR_BIT(LPPERI_CPU_REG, LPPERI_LPCORE_DBGM_UNAVALIABLE);
+    lp_core_ll_debug_module_enable(true);
 
     if (cfg->wakeup_source & ULP_LP_CORE_WAKEUP_SOURCE_HP_CPU) {
-        REG_SET_FIELD(PMU_HP_LP_CPU_COMM_REG, PMU_HP_TRIGGER_LP, 1);
+        lp_core_ll_hp_wake_lp();
     }
 
     if (cfg->wakeup_source & ULP_LP_CORE_WAKEUP_SOURCE_LP_TIMER) {
diff --git a/components/ulp/lp_core/lp_core/lp_core_i2c.c b/components/ulp/lp_core/lp_core/lp_core_i2c.c
index 730618db3b..f0ed013472 100644
--- a/components/ulp/lp_core/lp_core/lp_core_i2c.c
+++ b/components/ulp/lp_core/lp_core/lp_core_i2c.c
@@ -4,6 +4,7 @@
  * SPDX-License-Identifier: Apache-2.0
  */
 
+#include "sdkconfig.h"
 #include "ulp_lp_core_i2c.h"
 #include "ulp_lp_core_utils.h"
 #include "soc/lp_i2c_reg.h"
@@ -18,6 +19,8 @@
 
 #define MIN(x, y) (((x) < (y)) ? (x) : (y))
 
+#if !CONFIG_IDF_TARGET_ESP32P4  // # Add to P4 TODO IDF-7540
+
 /* I2C LL context */
 i2c_dev_t *dev = I2C_LL_GET_HW(LP_I2C_NUM_0);
 
@@ -475,3 +478,5 @@ esp_err_t lp_core_i2c_master_write_read_device(i2c_port_t lp_i2c_num, uint16_t d
 
     return ret;
 }
+
+#endif //!CONFIG_IDF_TARGET_ESP32P4
diff --git a/components/ulp/lp_core/lp_core/lp_core_utils.c b/components/ulp/lp_core/lp_core/lp_core_utils.c
index cfdc68d4f4..90d9c7f62f 100644
--- a/components/ulp/lp_core/lp_core/lp_core_utils.c
+++ b/components/ulp/lp_core/lp_core/lp_core_utils.c
@@ -11,7 +11,11 @@
 #include "soc/pmu_reg.h"
 
 /* LP_FAST_CLK is not very accurate, for now use a rough estimate */
+#if CONFIG_IDF_TARGET_ESP32C6
 #define LP_CORE_CPU_FREQUENCY_HZ 16000000
+#elif CONFIG_IDF_TARGET_ESP32P4
+#define LP_CORE_CPU_FREQUENCY_HZ 20000000
+#endif
 
 /**
  * @brief Wakeup main CPU from sleep or deep sleep.
diff --git a/components/ulp/test_apps/lp_core/README.md b/components/ulp/test_apps/lp_core/README.md
index 65eeecb079..b386444355 100644
--- a/components/ulp/test_apps/lp_core/README.md
+++ b/components/ulp/test_apps/lp_core/README.md
@@ -1,3 +1,3 @@
-| Supported Targets | ESP32-C6 |
-| ----------------- | -------- |
+| Supported Targets | ESP32-C6 | ESP32-P4 |
+| ----------------- | -------- | -------- |
 
diff --git a/components/ulp/test_apps/lp_core/main/CMakeLists.txt b/components/ulp/test_apps/lp_core/main/CMakeLists.txt
index 7920347468..38b91b8d46 100644
--- a/components/ulp/test_apps/lp_core/main/CMakeLists.txt
+++ b/components/ulp/test_apps/lp_core/main/CMakeLists.txt
@@ -1,10 +1,19 @@
-set(app_sources "test_app_main.c" "test_lp_core.c" "test_lp_core_i2c.c")
+set(app_sources "test_app_main.c" "test_lp_core.c")
+
+# Add to P4 TODO IDF-7540
+if(CONFIG_IDF_TARGET_ESP32C6)
+    list(APPEND app_sources "test_lp_core_i2c.c")
+endif()
 
 set(lp_core_sources         "lp_core/test_main.c")
 set(lp_core_sources_counter "lp_core/test_main_counter.c")
 set(lp_core_sources_set_timer_wakeup "lp_core/test_main_set_timer_wakeup.c")
 set(lp_core_sources_gpio "lp_core/test_main_gpio.c")
-set(lp_core_sources_i2c "lp_core/test_main_i2c.c")
+
+# Add to P4 TODO IDF-7540
+if(CONFIG_IDF_TARGET_ESP32C6)
+    set(lp_core_sources_i2c "lp_core/test_main_i2c.c")
+endif()
 
 idf_component_register(SRCS ${app_sources}
                        INCLUDE_DIRS "lp_core"
@@ -17,4 +26,8 @@ ulp_embed_binary(lp_core_test_app "${lp_core_sources}" "${lp_core_exp_dep_srcs}"
 ulp_embed_binary(lp_core_test_app_counter "${lp_core_sources_counter}" "${lp_core_exp_dep_srcs}")
 ulp_embed_binary(lp_core_test_app_set_timer_wakeup "${lp_core_sources_set_timer_wakeup}" "${lp_core_exp_dep_srcs}")
 ulp_embed_binary(lp_core_test_app_gpio "${lp_core_sources_gpio}" "${lp_core_exp_dep_srcs}")
-ulp_embed_binary(lp_core_test_app_i2c "${lp_core_sources_i2c}" "${lp_core_exp_dep_srcs}")
+
+# Add to P4 TODO IDF-7540
+if(CONFIG_IDF_TARGET_ESP32C6)
+    ulp_embed_binary(lp_core_test_app_i2c "${lp_core_sources_i2c}" "${lp_core_exp_dep_srcs}")
+endif()
diff --git a/components/ulp/test_apps/lp_core/main/test_lp_core.c b/components/ulp/test_apps/lp_core/main/test_lp_core.c
index 2729e8da1a..c43b815332 100644
--- a/components/ulp/test_apps/lp_core/main/test_lp_core.c
+++ b/components/ulp/test_apps/lp_core/main/test_lp_core.c
@@ -112,6 +112,10 @@ TEST_CASE("Test LP core delay", "[lp_core]")
     ulp_command_resp = LP_CORE_NO_COMMAND;
 }
 
+#define LP_TIMER_TEST_DURATION_S        (5)
+#define LP_TIMER_TEST_SLEEP_DURATION_US (20000)
+
+#if !TEMPORARY_DISABLED_FOR_TARGETS(ESP32P4)
 
 static void do_ulp_wakeup_deepsleep(lp_core_test_commands_t ulp_cmd)
 {
@@ -158,31 +162,6 @@ TEST_CASE_MULTIPLE_STAGES("LP-core is able to wakeup main CPU from deep sleep af
         do_ulp_wakeup_after_long_delay_deepsleep,
         check_reset_reason_ulp_wakeup);
 
-
-#define LP_TIMER_TEST_DURATION_S        (5)
-#define LP_TIMER_TEST_SLEEP_DURATION_US (20000)
-
-TEST_CASE("LP Timer can wakeup lp core periodically", "[lp_core]")
-{
-    int64_t start, test_duration;
-    /* Load ULP firmware and start the coprocessor */
-    ulp_lp_core_cfg_t cfg = {
-        .wakeup_source = ULP_LP_CORE_WAKEUP_SOURCE_LP_TIMER,
-        .lp_timer_sleep_duration_us = LP_TIMER_TEST_SLEEP_DURATION_US,
-    };
-
-    load_and_start_lp_core_firmware(&cfg, lp_core_main_counter_bin_start, lp_core_main_counter_bin_end);
-
-    start = esp_timer_get_time();
-    vTaskDelay(pdMS_TO_TICKS(LP_TIMER_TEST_DURATION_S*1000));
-
-    test_duration = esp_timer_get_time() - start;
-    uint32_t expected_run_count = test_duration / LP_TIMER_TEST_SLEEP_DURATION_US;
-    printf("LP core ran %"PRIu32" times in %"PRIi64" ms, expected it to run approx %"PRIu32" times\n", ulp_counter, test_duration/1000, expected_run_count);
-
-    TEST_ASSERT_INT_WITHIN_MESSAGE(5, expected_run_count, ulp_counter, "LP Core did not wake up the expected number of times");
-}
-
 RTC_FAST_ATTR static struct timeval tv_start;
 
 #define ULP_COUNTER_WAKEUP_LIMIT_CNT 50
@@ -229,6 +208,31 @@ TEST_CASE_MULTIPLE_STAGES("LP Timer can wakeup lp core periodically during deep
         do_ulp_wakeup_with_lp_timer_deepsleep,
         check_reset_reason_and_sleep_duration);
 
+#endif //#if !TEMPORARY_DISABLED_FOR_TARGETS(ESP32P4)
+
+
+TEST_CASE("LP Timer can wakeup lp core periodically", "[lp_core]")
+{
+    int64_t start, test_duration;
+    /* Load ULP firmware and start the coprocessor */
+    ulp_lp_core_cfg_t cfg = {
+        .wakeup_source = ULP_LP_CORE_WAKEUP_SOURCE_LP_TIMER,
+        .lp_timer_sleep_duration_us = LP_TIMER_TEST_SLEEP_DURATION_US,
+    };
+
+    load_and_start_lp_core_firmware(&cfg, lp_core_main_counter_bin_start, lp_core_main_counter_bin_end);
+
+    start = esp_timer_get_time();
+    vTaskDelay(pdMS_TO_TICKS(LP_TIMER_TEST_DURATION_S*1000));
+
+    test_duration = esp_timer_get_time() - start;
+    uint32_t expected_run_count = test_duration / LP_TIMER_TEST_SLEEP_DURATION_US;
+    printf("LP core ran %"PRIu32" times in %"PRIi64" ms, expected it to run approx %"PRIu32" times\n", ulp_counter, test_duration/1000, expected_run_count);
+
+    TEST_ASSERT_INT_WITHIN_MESSAGE(5, expected_run_count, ulp_counter, "LP Core did not wake up the expected number of times");
+}
+
+
 static bool ulp_is_running(uint32_t *counter_variable)
 {
     uint32_t start_cnt = *counter_variable;
diff --git a/components/ulp/ulp_common/include/esp32p4/ulp_common_defs.h b/components/ulp/ulp_common/include/esp32p4/ulp_common_defs.h
new file mode 100644
index 0000000000..8cbd68ee85
--- /dev/null
+++ b/components/ulp/ulp_common/include/esp32p4/ulp_common_defs.h
@@ -0,0 +1,19 @@
+/*
+ * SPDX-FileCopyrightText: 2023 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+#ifndef __ULP_COMMON_DEFS_H__
+#define __ULP_COMMON_DEFS_H__
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#define RTC_SLOW_MEM (0x50108000)       /*!< LP memory, 32k size */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // __ULP_COMMON_DEFS_H__
diff --git a/docs/doxygen/Doxyfile_esp32p4 b/docs/doxygen/Doxyfile_esp32p4
index 910f295a01..a2f272484f 100644
--- a/docs/doxygen/Doxyfile_esp32p4
+++ b/docs/doxygen/Doxyfile_esp32p4
@@ -1 +1,10 @@
 INPUT += \
+    $(PROJECT_PATH)/components/ulp/lp_core/include/lp_core_i2c.h \
+    $(PROJECT_PATH)/components/ulp/lp_core/include/lp_core_uart.h \
+    $(PROJECT_PATH)/components/ulp/lp_core/include/ulp_lp_core.h \
+    $(PROJECT_PATH)/components/ulp/lp_core/lp_core/include/ulp_lp_core_gpio.h \
+    $(PROJECT_PATH)/components/ulp/lp_core/lp_core/include/ulp_lp_core_i2c.h \
+    $(PROJECT_PATH)/components/ulp/lp_core/lp_core/include/ulp_lp_core_print.h \
+    $(PROJECT_PATH)/components/ulp/lp_core/lp_core/include/ulp_lp_core_uart.h \
+    $(PROJECT_PATH)/components/ulp/lp_core/lp_core/include/ulp_lp_core_utils.h \
+    $(PROJECT_PATH)/components/ulp/ulp_common/include/ulp_common.h \
diff --git a/docs/en/api-reference/peripherals/gpio.rst b/docs/en/api-reference/peripherals/gpio.rst
index a7622fc908..af5d24215e 100644
--- a/docs/en/api-reference/peripherals/gpio.rst
+++ b/docs/en/api-reference/peripherals/gpio.rst
@@ -21,7 +21,7 @@ GPIO driver offers a dump function :cpp:func:`gpio_dump_io_configuration` to sho
       FuncSel: 1 (GPIO)
       GPIO Matrix SigIn ID: (simple GPIO input)
       SleepSelEn: 1
-    
+
     IO[18] -
       Pullup: 0, Pulldown: 0, DriveCap: 2
       InputEn: 0, OutputEn: 1, OpenDrain: 0
@@ -34,7 +34,7 @@ GPIO driver offers a dump function :cpp:func:`gpio_dump_io_configuration` to sho
       InputEn: 1, OutputEn: 0, OpenDrain: 0
       FuncSel: 0 (IOMUX)
       SleepSelEn: 1
-    
+
     =================IO DUMP End==================
 
 If an IO pin is routed to a peripheral signal through the GPIO matrix, the signal ID printed in the dump information is defined in the ``soc/gpio_sig_map.h`` file. The word ``**RESERVED**`` indicates the IO is occupied by either FLASH or PSRAM. It is strongly not recommended to reconfigure them for other application purposes.
@@ -44,7 +44,7 @@ If an IO pin is routed to a peripheral signal through the GPIO matrix, the signa
     .. only:: not SOC_LP_PERIPHERALS_SUPPORTED
 
         There is also separate "RTC GPIO" support, which functions when GPIOs are routed to the "RTC" low-power and analog subsystem. These pin functions can be used when:
-    
+
     .. only:: SOC_LP_PERIPHERALS_SUPPORTED
 
         There is also separate "RTC GPIO" support, which functions when GPIOs are routed to the "RTC" low-power, analog subsystem, and Low-Power(LP) peripherals. These pin functions can be used when:
@@ -52,7 +52,9 @@ If an IO pin is routed to a peripheral signal through the GPIO matrix, the signa
     .. list::
 
         - In Deep-sleep mode
-        :SOC_ULP_SUPPORTED and not esp32c6: - The :doc:`Ultra Low Power co-processor <../../api-reference/system/ulp>` is running
+        :SOC_ULP_FSM_SUPPORTED: - The :doc:`Ultra Low Power FSM co-processor <../../api-reference/system/ulp>` is running
+        :SOC_RISCV_COPROC_SUPPORTED: - The :doc:`Ultra Low Power RISC-V co-processor <../../api-reference/system/ulp-risc-v>` is running
+        :SOC_LP_CORE_SUPPORTED: - The :doc:`Ultra Low Power LP-Core co-processor <../../api-reference/system/ulp-lp-core>` is running
         - Analog functions such as ADC/DAC/etc are in use
         :SOC_LP_PERIPHERALS_SUPPORTED: - LP peripherals, such as LP_UART, LP_I2C, are in use
 
diff --git a/docs/zh_CN/api-reference/peripherals/gpio.rst b/docs/zh_CN/api-reference/peripherals/gpio.rst
index 0cf85c43c6..269769ba2c 100644
--- a/docs/zh_CN/api-reference/peripherals/gpio.rst
+++ b/docs/zh_CN/api-reference/peripherals/gpio.rst
@@ -21,7 +21,7 @@ GPIO 驱动提供了一个函数 :cpp:func:`gpio_dump_io_configuration` 用来
       FuncSel: 1 (GPIO)
       GPIO Matrix SigIn ID: (simple GPIO input)
       SleepSelEn: 1
-    
+
     IO[18] -
       Pullup: 0, Pulldown: 0, DriveCap: 2
       InputEn: 0, OutputEn: 1, OpenDrain: 0
@@ -34,7 +34,7 @@ GPIO 驱动提供了一个函数 :cpp:func:`gpio_dump_io_configuration` 用来
       InputEn: 1, OutputEn: 0, OpenDrain: 0
       FuncSel: 0 (IOMUX)
       SleepSelEn: 1
-    
+
     =================IO DUMP End==================
 
 当 IO 管脚是通过 GPIO 交换矩阵连接到内部外设信号，输出信息打印中的外设信号 ID 定义可以在 ``soc/gpio_sig_map.h`` 文件中查看。``**RESERVED**`` 字样则表示此 IO 被用于连接 FLASH 或 PSRAM，因此该引脚不应该被其他任何应用场景所征用并进行重新配置。
@@ -52,7 +52,9 @@ GPIO 驱动提供了一个函数 :cpp:func:`gpio_dump_io_configuration` 用来
     .. list::
 
         - 处于 Deep-sleep 模式时
-        :SOC_ULP_SUPPORTED and not esp32c6: - :doc:`超低功耗协处理器 (ULP) <../../api-reference/system/ulp>` 运行时
+        :SOC_ULP_FSM_SUPPORTED: - :doc:`超低功耗协处理器 (ULP-FSM) <../../api-reference/system/ulp>` 运行时
+        :SOC_RISCV_COPROC_SUPPORTED: - :doc:`超低功耗协处理器 (ULP-RISC-V) <../../api-reference/system/ulp-risc-v>` 运行时
+        :SOC_LP_CORE_SUPPORTED: - :doc:`超低功耗协处理器 (ULP-LP-Core) <../../api-reference/system/ulp-lp-core>` 运行时
         - 使用 ADC/DAC 等模拟功能时
         :SOC_LP_PERIPHERALS_SUPPORTED: - 使用低功耗外设时，例如： LP_UART ， LP_I2C 等
 
diff --git a/examples/system/.build-test-rules.yml b/examples/system/.build-test-rules.yml
index 9811ec8e62..f7e6b596b4 100644
--- a/examples/system/.build-test-rules.yml
+++ b/examples/system/.build-test-rules.yml
@@ -246,24 +246,38 @@ examples/system/task_watchdog:
 examples/system/ulp/lp_core/gpio:
   enable:
     - if: SOC_LP_CORE_SUPPORTED == 1
+  disable:
+    - if: IDF_TARGET == "esp32p4"
+      temporary: true
+      reason: target esp32p4 is not supported yet, TODO IDF-7536
   depends_components:
     - ulp
 
 examples/system/ulp/lp_core/lp_i2c:
   enable:
     - if: SOC_LP_I2C_SUPPORTED == 1
+  disable:
+    - if: IDF_TARGET == "esp32p4"
+      temporary: true
+      reason: target esp32p4 is not supported yet, TODO IDF-7540
   depends_components:
     - ulp
 
 examples/system/ulp/lp_core/lp_uart/lp_uart_echo:
   disable:
     - if: SOC_ULP_LP_UART_SUPPORTED != 1
+    - if: IDF_TARGET == "esp32p4"
+      temporary: true
+      reason: target esp32p4 is not supported yet TODO IDF-7533
   depends_components:
     - ulp
 
 examples/system/ulp/lp_core/lp_uart/lp_uart_print:
   disable:
     - if: SOC_ULP_LP_UART_SUPPORTED != 1
+    - if: IDF_TARGET == "esp32p4"
+      temporary: true
+      reason: target esp32p4 is not supported yet TODO IDF-7533
   depends_components:
     - ulp
 
diff --git a/tools/ci/check_copyright_ignore.txt b/tools/ci/check_copyright_ignore.txt
index 77229a7ff6..4acc977805 100644
--- a/tools/ci/check_copyright_ignore.txt
+++ b/tools/ci/check_copyright_ignore.txt
@@ -1252,7 +1252,6 @@ examples/system/ota/otatool/main/otatool_main.c
 examples/system/ota/otatool/otatool_example.py
 examples/system/ota/simple_ota_example/main/simple_ota_example.c
 examples/system/perfmon/main/perfmon_example_main.c
-examples/system/pthread/main/pthread_example.c
 examples/system/select/main/select_example.c
 examples/system/startup_time/main/hello_world_main.c
 examples/system/sysview_tracing/main/sysview_tracing.c