diff --git a/components/esp_hw_support/test_apps/etm/main/CMakeLists.txt b/components/esp_hw_support/test_apps/etm/main/CMakeLists.txt
index 59c600d60f..d4bd70187e 100644
--- a/components/esp_hw_support/test_apps/etm/main/CMakeLists.txt
+++ b/components/esp_hw_support/test_apps/etm/main/CMakeLists.txt
@@ -9,6 +9,10 @@ if(CONFIG_SOC_TIMER_SUPPORT_ETM)
     list(APPEND srcs "test_gptimer_etm.c")
 endif()
 
+if(CONFIG_SOC_SYSTIMER_SUPPORT_ETM)
+    list(APPEND srcs "test_systimer_etm.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/esp_hw_support/test_apps/etm/main/test_systimer_etm.c b/components/esp_hw_support/test_apps/etm/main/test_systimer_etm.c
new file mode 100644
index 0000000000..69bf008e00
--- /dev/null
+++ b/components/esp_hw_support/test_apps/etm/main/test_systimer_etm.c
@@ -0,0 +1,132 @@
+/*
+ * SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include <stdio.h>
+#include <inttypes.h>
+#include "unity.h"
+#include "unity_test_utils.h"
+#include "freertos/FreeRTOS.h"
+#include "esp_attr.h"
+#include "esp_etm.h"
+#include "driver/gpio_etm.h"
+#include "driver/gpio.h"
+#include "esp_timer.h"
+#include "esp_systick_etm.h"
+
+TEST_CASE("rtos_systick_etm_event", "[etm]")
+{
+    // systimer alarm  ---> EMT channel ---> GPIO toggle
+    const uint32_t output_gpio = 1;
+    printf("allocate etm channels\r\n");
+    esp_etm_channel_config_t etm_config = {};
+    esp_etm_channel_handle_t etm_channel_a = NULL;
+    TEST_ESP_OK(esp_etm_new_channel(&etm_config, &etm_channel_a));
+
+    printf("allocate GPIO etm task\r\n");
+    esp_etm_task_handle_t gpio_task = NULL;
+    gpio_etm_task_config_t gpio_task_config = {
+        .action = GPIO_ETM_TASK_ACTION_TOG,
+    };
+    TEST_ESP_OK(gpio_new_etm_task(&gpio_task_config, &gpio_task));
+
+    // bind GPIO to the task
+    TEST_ESP_OK(gpio_etm_task_add_gpio(gpio_task, output_gpio));
+
+    printf("initialize gpio\r\n");
+    gpio_config_t task_gpio_config = {
+        .intr_type = GPIO_INTR_DISABLE,
+        .mode = GPIO_MODE_OUTPUT,
+        .pin_bit_mask = 1ULL << output_gpio,
+    };
+    TEST_ESP_OK(gpio_config(&task_gpio_config));
+
+    printf("acquire systick etm event\r\n");
+    esp_etm_event_handle_t systick_event = NULL;
+    TEST_ESP_OK(esp_systick_new_etm_alarm_event(0, &systick_event));
+
+    printf("connect event and task to the channel\r\n");
+    TEST_ESP_OK(esp_etm_channel_connect(etm_channel_a, systick_event, gpio_task));
+
+    TEST_ESP_OK(esp_etm_channel_enable(etm_channel_a));
+
+    // should see a 500Hz square wave on the GPIO (if RTOS systick is set to 1000Hz)
+    vTaskDelay(pdMS_TO_TICKS(1000));
+
+    // delete etm primitives
+    TEST_ESP_OK(gpio_etm_task_rm_gpio(gpio_task, output_gpio));
+    TEST_ESP_OK(esp_etm_del_task(gpio_task));
+    TEST_ESP_OK(esp_etm_del_event(systick_event));
+    TEST_ESP_OK(esp_etm_channel_disable(etm_channel_a));
+    TEST_ESP_OK(esp_etm_del_channel(etm_channel_a));
+}
+
+static void periodic_timer_callback(void *arg)
+{
+}
+
+TEST_CASE("esp_timer_etm_event", "[etm]")
+{
+    // systimer alarm  ---> EMT channel ---> GPIO toggle
+    const uint32_t output_gpio = 1;
+    printf("allocate etm channels\r\n");
+    esp_etm_channel_config_t etm_config = {};
+    esp_etm_channel_handle_t etm_channel_a = NULL;
+    TEST_ESP_OK(esp_etm_new_channel(&etm_config, &etm_channel_a));
+
+    printf("allocate GPIO etm task\r\n");
+    esp_etm_task_handle_t gpio_task = NULL;
+    gpio_etm_task_config_t gpio_task_config = {
+        .action = GPIO_ETM_TASK_ACTION_TOG,
+    };
+    TEST_ESP_OK(gpio_new_etm_task(&gpio_task_config, &gpio_task));
+
+    // bind GPIO to the task
+    TEST_ESP_OK(gpio_etm_task_add_gpio(gpio_task, output_gpio));
+
+    printf("initialize gpio\r\n");
+    gpio_config_t task_gpio_config = {
+        .intr_type = GPIO_INTR_DISABLE,
+        .mode = GPIO_MODE_INPUT_OUTPUT,
+        .pin_bit_mask = 1ULL << output_gpio,
+    };
+    TEST_ESP_OK(gpio_config(&task_gpio_config));
+
+    // put the GPIO into initial state
+    TEST_ESP_OK(gpio_set_level(output_gpio, 1));
+
+    printf("acquire esp_timer etm event\r\n");
+    esp_etm_event_handle_t esp_timer_event = NULL;
+    TEST_ESP_OK(esp_timer_new_etm_alarm_event(&esp_timer_event));
+
+    printf("connect event and task to the channel\r\n");
+    TEST_ESP_OK(esp_etm_channel_connect(etm_channel_a, esp_timer_event, gpio_task));
+    TEST_ESP_OK(esp_etm_channel_enable(etm_channel_a));
+
+    printf("create a periodic esp_timer\r\b");
+    const esp_timer_create_args_t periodic_timer_args = {
+        .callback = periodic_timer_callback,
+        .name = "periodic"
+    };
+    esp_timer_handle_t periodic_timer = NULL;
+    TEST_ESP_OK(esp_timer_create(&periodic_timer_args, &periodic_timer));
+    TEST_ESP_OK(esp_timer_start_periodic(periodic_timer, 500000));
+
+    // should see a 1Hz square wave on the GPIO
+    vTaskDelay(pdMS_TO_TICKS(1200));
+
+    // check the final GPIO level
+    TEST_ASSERT_EQUAL(1, gpio_get_level(output_gpio));
+
+    TEST_ESP_OK(esp_timer_stop(periodic_timer));
+    TEST_ESP_OK(esp_timer_delete(periodic_timer));
+
+    // delete etm primitives
+    TEST_ESP_OK(gpio_etm_task_rm_gpio(gpio_task, output_gpio));
+    TEST_ESP_OK(esp_etm_del_task(gpio_task));
+    TEST_ESP_OK(esp_etm_del_event(esp_timer_event));
+    TEST_ESP_OK(esp_etm_channel_disable(etm_channel_a));
+    TEST_ESP_OK(esp_etm_del_channel(etm_channel_a));
+}
diff --git a/components/esp_rom/esp32c6/ld/esp32c6.rom.ld b/components/esp_rom/esp32c6/ld/esp32c6.rom.ld
index 88adb38f83..5b5cf26a05 100644
--- a/components/esp_rom/esp32c6/ld/esp32c6.rom.ld
+++ b/components/esp_rom/esp32c6/ld/esp32c6.rom.ld
@@ -192,8 +192,10 @@ wdt_hal_is_enabled = 0x400003bc;
  ***************************************/
 
 /* Functions */
-systimer_hal_init = 0x400003c0;
-systimer_hal_deinit = 0x400003c4;
+/* The following ROM functions are commented out because they're patched in the esp_rom_systimer.c */
+/* systimer_hal_init = 0x400003c0; */
+/* systimer_hal_deinit = 0x400003c4; */
+
 systimer_hal_set_tick_rate_ops = 0x400003c8;
 systimer_hal_get_counter_value = 0x400003cc;
 systimer_hal_get_time = 0x400003d0;
diff --git a/components/esp_rom/patches/esp_rom_systimer.c b/components/esp_rom/patches/esp_rom_systimer.c
index 87cad1e313..bf930139a1 100644
--- a/components/esp_rom/patches/esp_rom_systimer.c
+++ b/components/esp_rom/patches/esp_rom_systimer.c
@@ -64,4 +64,20 @@ void systimer_hal_counter_value_advance(systimer_hal_context_t *hal, uint32_t co
 }
 #endif // CONFIG_IDF_TARGET_ESP32C2
 
+#if CONFIG_IDF_TARGET_ESP32C6
+void systimer_hal_init(systimer_hal_context_t *hal)
+{
+    hal->dev = &SYSTIMER;
+    systimer_ll_enable_clock(hal->dev, true);
+    systimer_ll_enable_etm(&SYSTIMER, true);
+}
+
+void systimer_hal_deinit(systimer_hal_context_t *hal)
+{
+    systimer_ll_enable_etm(&SYSTIMER, false);
+    systimer_ll_enable_clock(hal->dev, false);
+    hal->dev = NULL;
+}
+#endif // CONFIG_IDF_TARGET_ESP32C6
+
 #endif // CONFIG_HAL_SYSTIMER_USE_ROM_IMPL
diff --git a/components/esp_system/CMakeLists.txt b/components/esp_system/CMakeLists.txt
index d8f6072f5f..d362187683 100644
--- a/components/esp_system/CMakeLists.txt
+++ b/components/esp_system/CMakeLists.txt
@@ -49,6 +49,10 @@ else()
         list(APPEND srcs "eh_frame_parser.c")
     endif()
 
+    if(CONFIG_SOC_SYSTIMER_SUPPORT_ETM)
+        list(APPEND srcs "systick_etm.c")
+    endif()
+
     idf_component_register(SRCS "${srcs}"
                         INCLUDE_DIRS include
                         PRIV_REQUIRES spi_flash esp_timer
diff --git a/components/esp_system/include/esp_systick_etm.h b/components/esp_system/include/esp_systick_etm.h
new file mode 100644
index 0000000000..e593fbc8e0
--- /dev/null
+++ b/components/esp_system/include/esp_systick_etm.h
@@ -0,0 +1,31 @@
+/*
+ * SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#pragma once
+
+#include "esp_err.h"
+#include "esp_etm.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @brief Get the ETM event handle of systick hardware's alarm/heartbeat event
+ *
+ * @note The created ETM event object can be deleted later by calling `esp_etm_del_event`
+ *
+ * @param[in] core_id CPU core ID
+ * @param[out] out_event Returned ETM event handle
+ * @return
+ *      - ESP_OK Success
+ *      - ESP_ERR_INVALID_ARG Parameter error
+ */
+esp_err_t esp_systick_new_etm_alarm_event(int core_id, esp_etm_event_handle_t *out_event);
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/components/esp_system/systick_etm.c b/components/esp_system/systick_etm.c
new file mode 100644
index 0000000000..45327eae9e
--- /dev/null
+++ b/components/esp_system/systick_etm.c
@@ -0,0 +1,47 @@
+/*
+ * SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include "esp_log.h"
+#include "esp_check.h"
+#include "esp_heap_caps.h"
+#include "esp_systick_etm.h"
+#include "soc/soc_caps.h"
+#include "soc/soc_etm_source.h"
+#include "hal/systimer_ll.h"
+#include "esp_private/etm_interface.h"
+
+#define ETM_MEM_ALLOC_CAPS   MALLOC_CAP_DEFAULT
+
+static const char *TAG = "systick-etm";
+
+static esp_err_t systick_etm_event_del(esp_etm_event_t *event)
+{
+    free(event);
+    return ESP_OK;
+}
+
+esp_err_t esp_systick_new_etm_alarm_event(int core_id, esp_etm_event_handle_t *out_event)
+{
+    esp_etm_event_t *event = NULL;
+    esp_err_t ret = ESP_OK;
+    ESP_GOTO_ON_FALSE(out_event && core_id < SOC_CPU_CORES_NUM, ESP_ERR_INVALID_ARG, err, TAG, "invalid argument");
+    event = heap_caps_calloc(1, sizeof(esp_etm_event_t), ETM_MEM_ALLOC_CAPS);
+    ESP_GOTO_ON_FALSE(event, ESP_ERR_NO_MEM, err, TAG, "no memory for ETM event");
+
+    // fill the ETM event object
+    uint32_t event_id = SYSTIMER_EVT_CNT_CMP0 + SYSTIMER_LL_ALARM_OS_TICK_CORE0 + core_id;
+    event->event_id = event_id;
+    event->trig_periph = ETM_TRIG_PERIPH_SYSTIMER;
+    event->del = systick_etm_event_del;
+    *out_event = event;
+    return ESP_OK;
+
+err:
+    if (event) {
+        systick_etm_event_del(event);
+    }
+    return ret;
+}
diff --git a/components/esp_timer/CMakeLists.txt b/components/esp_timer/CMakeLists.txt
index 02a93c13dc..f644d63f43 100644
--- a/components/esp_timer/CMakeLists.txt
+++ b/components/esp_timer/CMakeLists.txt
@@ -10,6 +10,10 @@ elseif(CONFIG_ESP_TIMER_IMPL_SYSTIMER)
     list(APPEND srcs "src/esp_timer_impl_systimer.c")
 endif()
 
+if(CONFIG_SOC_SYSTIMER_SUPPORT_ETM)
+    list(APPEND srcs "src/esp_timer_etm.c")
+endif()
+
 idf_component_register(SRCS "${srcs}"
                     INCLUDE_DIRS include
                     PRIV_INCLUDE_DIRS private_include
diff --git a/components/esp_timer/include/esp_timer.h b/components/esp_timer/include/esp_timer.h
index 1fd8e049c4..7ee2c21b91 100644
--- a/components/esp_timer/include/esp_timer.h
+++ b/components/esp_timer/include/esp_timer.h
@@ -34,6 +34,7 @@
 #include <stdio.h>
 #include <stdbool.h>
 #include "esp_err.h"
+#include "esp_etm.h"
 #include "sdkconfig.h"
 
 #ifdef __cplusplus
@@ -311,6 +312,21 @@ void esp_timer_isr_dispatch_need_yield(void);
  */
 bool esp_timer_is_active(esp_timer_handle_t timer);
 
+/**
+ * @brief Get the ETM event handle of esp_timer underlying alarm event
+ *
+ * @note The created ETM event object can be deleted later by calling `esp_etm_del_event`
+ *
+ * @note The ETM event is generated by the underlying hardware -- systimer,
+ *       therefore, if the esp_timer is not clocked by systimer, then no ETM event will be generated.
+ *
+ * @param[out] out_event Returned ETM event handle
+ * @return
+ *      - ESP_OK Success
+ *      - ESP_ERR_INVALID_ARG Parameter error
+ */
+esp_err_t esp_timer_new_etm_alarm_event(esp_etm_event_handle_t *out_event);
+
 #ifdef __cplusplus
 }
 #endif
diff --git a/components/esp_timer/src/esp_timer_etm.c b/components/esp_timer/src/esp_timer_etm.c
new file mode 100644
index 0000000000..3803821582
--- /dev/null
+++ b/components/esp_timer/src/esp_timer_etm.c
@@ -0,0 +1,46 @@
+/*
+ * SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include "esp_log.h"
+#include "esp_check.h"
+#include "esp_heap_caps.h"
+#include "esp_timer.h"
+#include "soc/soc_etm_source.h"
+#include "hal/systimer_ll.h"
+#include "esp_private/etm_interface.h"
+
+#define ETM_MEM_ALLOC_CAPS   MALLOC_CAP_DEFAULT
+
+static const char *TAG = "esptimer-etm";
+
+static esp_err_t esp_timer_etm_event_del(esp_etm_event_t *event)
+{
+    free(event);
+    return ESP_OK;
+}
+
+esp_err_t esp_timer_new_etm_alarm_event(esp_etm_event_handle_t *out_event)
+{
+    esp_etm_event_t *event = NULL;
+    esp_err_t ret = ESP_OK;
+    ESP_GOTO_ON_FALSE(out_event, ESP_ERR_INVALID_ARG, err, TAG, "invalid argument");
+    event = heap_caps_calloc(1, sizeof(esp_etm_event_t), ETM_MEM_ALLOC_CAPS);
+    ESP_GOTO_ON_FALSE(event, ESP_ERR_NO_MEM, err, TAG, "no memory for ETM event");
+
+    // fill the ETM event object
+    uint32_t event_id = SYSTIMER_EVT_CNT_CMP0 + SYSTIMER_LL_ALARM_CLOCK;
+    event->event_id = event_id;
+    event->trig_periph = ETM_TRIG_PERIPH_SYSTIMER;
+    event->del = esp_timer_etm_event_del;
+    *out_event = event;
+    return ESP_OK;
+
+err:
+    if (event) {
+        esp_timer_etm_event_del(event);
+    }
+    return ret;
+}
diff --git a/components/hal/esp32c6/include/hal/systimer_ll.h b/components/hal/esp32c6/include/hal/systimer_ll.h
index 632a8c1191..618787be5d 100644
--- a/components/hal/esp32c6/include/hal/systimer_ll.h
+++ b/components/hal/esp32c6/include/hal/systimer_ll.h
@@ -42,6 +42,13 @@ static inline soc_periph_systimer_clk_src_t systimer_ll_get_clock_source(void)
     return (PCR.systimer_func_clk_conf.systimer_func_clk_sel == 1) ? SYSTIMER_CLK_SRC_RC_FAST : SYSTIMER_CLK_SRC_XTAL;
 }
 
+/********************** ETM *****************************/
+
+__attribute__((always_inline)) static inline void systimer_ll_enable_etm(systimer_dev_t *dev, bool en)
+{
+    dev->conf.etm_en = en;
+}
+
 /******************* Counter *************************/
 
 __attribute__((always_inline)) static inline void systimer_ll_enable_counter(systimer_dev_t *dev, uint32_t counter_id, bool en)
diff --git a/components/hal/systimer_hal.c b/components/hal/systimer_hal.c
index b3b071d413..3ef3337f26 100644
--- a/components/hal/systimer_hal.c
+++ b/components/hal/systimer_hal.c
@@ -16,10 +16,16 @@ void systimer_hal_init(systimer_hal_context_t *hal)
 {
     hal->dev = &SYSTIMER;
     systimer_ll_enable_clock(hal->dev, true);
+#if SOC_SYSTIMER_SUPPORT_ETM
+    systimer_ll_enable_etm(&SYSTIMER, true);
+#endif
 }
 
 void systimer_hal_deinit(systimer_hal_context_t *hal)
 {
+#if SOC_SYSTIMER_SUPPORT_ETM
+    systimer_ll_enable_etm(&SYSTIMER, false);
+#endif
     systimer_ll_enable_clock(hal->dev, false);
     hal->dev = NULL;
 }
diff --git a/components/soc/esp32c6/include/soc/Kconfig.soc_caps.in b/components/soc/esp32c6/include/soc/Kconfig.soc_caps.in
index 2fc9611a6c..483bc56d12 100644
--- a/components/soc/esp32c6/include/soc/Kconfig.soc_caps.in
+++ b/components/soc/esp32c6/include/soc/Kconfig.soc_caps.in
@@ -699,6 +699,10 @@ config SOC_SYSTIMER_ALARM_MISS_COMPENSATE
     bool
     default y
 
+config SOC_SYSTIMER_SUPPORT_ETM
+    bool
+    default y
+
 config SOC_TIMER_GROUPS
     int
     default 2
diff --git a/components/soc/esp32c6/include/soc/soc_caps.h b/components/soc/esp32c6/include/soc/soc_caps.h
index 1ea341d408..af3829b083 100644
--- a/components/soc/esp32c6/include/soc/soc_caps.h
+++ b/components/soc/esp32c6/include/soc/soc_caps.h
@@ -349,6 +349,7 @@
 #define SOC_SYSTIMER_SUPPORT_RC_FAST        1  // Systimer can use RC_FAST clock source
 #define SOC_SYSTIMER_INT_LEVEL              1  // Systimer peripheral uses level interrupt
 #define SOC_SYSTIMER_ALARM_MISS_COMPENSATE  1  // Systimer peripheral can generate interrupt immediately if t(target) > t(current)
+#define SOC_SYSTIMER_SUPPORT_ETM            1  // Systimer comparator can generate ETM event
 
 /*--------------------------- TIMER GROUP CAPS ---------------------------------------*/
 #define SOC_TIMER_GROUPS                  (2)
diff --git a/tools/mocks/esp_hw_support/include/esp_etm.h b/tools/mocks/esp_hw_support/include/esp_etm.h
new file mode 100644
index 0000000000..38963482db
--- /dev/null
+++ b/tools/mocks/esp_hw_support/include/esp_etm.h
@@ -0,0 +1,35 @@
+/*
+ * SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+/**
+ * NOTE: this is not the original header file from the esp_hw_support component.
+ * It is a stripped-down copy to support mocking.
+ */
+
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @brief ETM channel handle
+ */
+typedef struct esp_etm_channel_t *esp_etm_channel_handle_t;
+
+/**
+ * @brief ETM event handle
+ */
+typedef struct esp_etm_event_t *esp_etm_event_handle_t;
+
+/**
+ * @brief ETM task handle
+ */
+typedef struct esp_etm_task_t *esp_etm_task_handle_t;
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/tools/mocks/esp_timer/CMakeLists.txt b/tools/mocks/esp_timer/CMakeLists.txt
index c9dac893d2..39fe5a78f4 100644
--- a/tools/mocks/esp_timer/CMakeLists.txt
+++ b/tools/mocks/esp_timer/CMakeLists.txt
@@ -4,6 +4,10 @@ message(STATUS "building ESP TIMER MOCKS")
 
 idf_component_get_property(original_esp_timer_dir esp_timer COMPONENT_OVERRIDEN_DIR)
 
-idf_component_mock(INCLUDE_DIRS "${original_esp_timer_dir}/include"
+set(include_dirs
+    "${original_esp_timer_dir}/include"
+    "${CMAKE_CURRENT_SOURCE_DIR}/../esp_hw_support/include")
+
+idf_component_mock(INCLUDE_DIRS ${include_dirs}
     REQUIRES esp_common
     MOCK_HEADER_FILES ${original_esp_timer_dir}/include/esp_timer.h)