diff --git a/arch/xtensa/src/common/espressif/Kconfig b/arch/xtensa/src/common/espressif/Kconfig
index 4ee5ab0ab31..88f71c879b3 100644
--- a/arch/xtensa/src/common/espressif/Kconfig
+++ b/arch/xtensa/src/common/espressif/Kconfig
@@ -28,9 +28,24 @@ config ESPRESSIF_TEMP
 	---help---
 		A built-in sensor used to measure the chip's internal temperature.
 
-config ESPRESSIF_I2C_PERIPH
+config ESPRESSIF_I2C_PERIPH_MASTER_MODE
 	bool
-	depends on (ESP32S3_I2C0 || ESP32S3_I2C1) || (ESP32_I2C0 || ESP32_I2C1) || (ESP32S2_I2C0 || ESP32S2_I2C1)
+	depends on (ESP32S3_I2C_PERIPH_MASTER_MODE || ESP32S2_I2C_PERIPH_MASTER_MODE || ESP32_I2C_PERIPH_MASTER_MODE)
+	default n
+
+config ESPRESSIF_I2C_PERIPH_SLAVE_MODE
+	bool
+	depends on (ESP32S3_I2C_PERIPH_SLAVE_MODE || ESP32S2_I2C_PERIPH_SLAVE_MODE || ESP32_I2C_PERIPH_SLAVE_MODE)
+	default n
+
+config ESPRESSIF_I2C0_SLAVE
+	bool
+	depends on (ESP32S3_I2C0_SLAVE_MODE || ESP32S2_I2C0_SLAVE_MODE || ESP32_I2C0_SLAVE_MODE)
+	default n
+
+config ESPRESSIF_I2C1_SLAVE
+	bool
+	depends on (ESP32S3_I2C1_SLAVE_MODE || ESP32S2_I2C1_SLAVE_MODE || ESP32_I2C1_SLAVE_MODE)
 	default n
 
 config ESPRESSIF_I2C_BITBANG
diff --git a/arch/xtensa/src/common/espressif/Make.defs b/arch/xtensa/src/common/espressif/Make.defs
index 2b6447fc14b..066a7277806 100644
--- a/arch/xtensa/src/common/espressif/Make.defs
+++ b/arch/xtensa/src/common/espressif/Make.defs
@@ -64,6 +64,10 @@ CHIP_CSRCS += esp_spiflash_mtd.c
 endif
 endif
 
+ifeq ($(CONFIG_ESPRESSIF_I2C_PERIPH_SLAVE_MODE),y)
+CHIP_CSRCS += esp_i2c_slave.c
+endif
+
 ifeq ($(CONFIG_SYSTEM_NXDIAG_ESPRESSIF_CHIP_WO_TOOL),y)
 CHIP_CSRCS += esp_nxdiag.c
 endif
diff --git a/arch/xtensa/src/esp32/Kconfig b/arch/xtensa/src/esp32/Kconfig
index e258742aa96..b04fc2a9784 100644
--- a/arch/xtensa/src/esp32/Kconfig
+++ b/arch/xtensa/src/esp32/Kconfig
@@ -831,13 +831,59 @@ config ESP32_I2C0
 	bool "I2C 0"
 	default n
 	select ESP32_I2C
-	select ESPRESSIF_I2C_PERIPH
 
 config ESP32_I2C1
 	bool "I2C 1"
 	default n
 	select ESP32_I2C
-	select ESPRESSIF_I2C_PERIPH
+
+	config ESP32_I2C_PERIPH_MASTER_MODE
+	bool
+	depends on (ESP32_I2C0_MASTER_MODE || ESP32_I2C1_MASTER_MODE)
+	default n
+	select ESPRESSIF_I2C_PERIPH_MASTER_MODE
+
+config ESP32_I2C_PERIPH_SLAVE_MODE
+	bool
+	depends on (ESP32_I2C0_SLAVE_MODE || ESP32_I2C1_SLAVE_MODE)
+	default n
+	select ESPRESSIF_I2C_PERIPH_SLAVE_MODE
+	select ESPRESSIF_I2C0_SLAVE if ESP32_I2C0_SLAVE_MODE
+	select ESPRESSIF_I2C1_SLAVE if ESP32_I2C1_SLAVE_MODE
+
+choice ESP32_I2C0_MODE
+	prompt "I2C0 Mode"
+	depends on ESP32_I2C0
+	default ESP32_I2C0_MASTER_MODE
+
+config ESP32_I2C0_MASTER_MODE
+	bool "I2C0 Master Mode"
+	select ESP32_I2C_PERIPH_MASTER_MODE
+
+config ESP32_I2C0_SLAVE_MODE
+	bool "I2C0 Slave Mode"
+	select I2C_SLAVE
+	select I2C_SLAVE_DRIVER
+	select ESP32_I2C_PERIPH_SLAVE_MODE
+
+endchoice # ESP32_I2C0_MODE
+
+choice ESP32_I2C1_MODE
+	prompt "I2C1 Mode"
+	depends on ESP32_I2C1
+	default ESP32_I2C1_MASTER_MODE
+
+config ESP32_I2C1_MASTER_MODE
+	bool "I2C1 Master Mode"
+	select ESP32_I2C_PERIPH_MASTER_MODE
+
+config ESP32_I2C1_SLAVE_MODE
+	bool "I2C1 Slave Mode"
+	select I2C_SLAVE
+	select I2C_SLAVE_DRIVER
+	select ESP32_I2C_PERIPH_SLAVE_MODE
+
+endchoice # ESP32_I2C1_MODE
 
 config ESP32_TWAI0
 	bool "TWAI (CAN) 0"
@@ -1202,12 +1248,12 @@ endif # ESP32_I2C1
 config ESP32_I2CTIMEOSEC
 	int "Timeout seconds"
 	default 0
-	depends on ESPRESSIF_I2C_PERIPH
+	depends on ESP32_I2C_PERIPH_MASTER_MODE
 
 config ESP32_I2CTIMEOMS
 	int "Timeout milliseconds"
 	default 500
-	depends on ESPRESSIF_I2C_PERIPH
+	depends on ESP32_I2C_PERIPH_MASTER_MODE
 
 endmenu # I2C configuration
 
diff --git a/arch/xtensa/src/esp32/Make.defs b/arch/xtensa/src/esp32/Make.defs
index a3f532271d2..873bf50f7b1 100644
--- a/arch/xtensa/src/esp32/Make.defs
+++ b/arch/xtensa/src/esp32/Make.defs
@@ -75,7 +75,7 @@ CHIP_CSRCS += esp32_ledc.c
 endif
 
 ifeq ($(CONFIG_ESP32_I2C),y)
-ifeq ($(CONFIG_ESPRESSIF_I2C_PERIPH),y)
+ifeq ($(CONFIG_ESPRESSIF_I2C_PERIPH_MASTER_MODE),y)
 CHIP_CSRCS += esp32_i2c.c
 endif
 endif
diff --git a/arch/xtensa/src/esp32/esp32_i2c.c b/arch/xtensa/src/esp32/esp32_i2c.c
index 211081c8fec..dd0b1a640db 100644
--- a/arch/xtensa/src/esp32/esp32_i2c.c
+++ b/arch/xtensa/src/esp32/esp32_i2c.c
@@ -24,7 +24,7 @@
 
 #include <nuttx/config.h>
 
-#ifdef CONFIG_ESPRESSIF_I2C_PERIPH
+#ifdef CONFIG_ESPRESSIF_I2C_PERIPH_MASTER_MODE
 
 #include <sys/types.h>
 #include <stdio.h>
@@ -1569,4 +1569,4 @@ int esp32_i2cbus_uninitialize(struct i2c_master_s *dev)
   return OK;
 }
 
-#endif /* CONFIG_ESPRESSIF_I2C_PERIPH */
+#endif /* CONFIG_ESPRESSIF_I2C_PERIPH_MASTER_MODE */
diff --git a/arch/xtensa/src/esp32/esp32_i2c.h b/arch/xtensa/src/esp32/esp32_i2c.h
index 32687318ef3..bb540dfed5a 100644
--- a/arch/xtensa/src/esp32/esp32_i2c.h
+++ b/arch/xtensa/src/esp32/esp32_i2c.h
@@ -55,7 +55,7 @@ extern "C"
  * Public Function Prototypes
  ****************************************************************************/
 
-#ifdef CONFIG_ESPRESSIF_I2C_PERIPH
+#ifdef CONFIG_ESPRESSIF_I2C_PERIPH_MASTER_MODE
 /****************************************************************************
  * Name: esp32_i2cbus_initialize
  *
@@ -91,7 +91,7 @@ struct i2c_master_s *esp32_i2cbus_initialize(int port);
  ****************************************************************************/
 
 int esp32_i2cbus_uninitialize(struct i2c_master_s *dev);
-#endif /* CONFIG_ESPRESSIF_I2C_PERIPH */
+#endif /* CONFIG_ESPRESSIF_I2C_PERIPH_MASTER_MODE */
 
 #ifdef __cplusplus
 }
diff --git a/arch/xtensa/src/esp32/hal.mk b/arch/xtensa/src/esp32/hal.mk
index d9819b6eb30..ef96969c022 100644
--- a/arch/xtensa/src/esp32/hal.mk
+++ b/arch/xtensa/src/esp32/hal.mk
@@ -115,12 +115,14 @@ CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)hal$
 CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)hal$(DELIM)uart_hal_iram.c
 CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)hal$(DELIM)uart_hal.c
 CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)hal$(DELIM)mmu_hal.c
+CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)hal$(DELIM)i2c_hal.c
 CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)log$(DELIM)log_noos.c
 CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)log$(DELIM)log.c
 CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)soc$(DELIM)$(CHIP_SERIES)$(DELIM)gpio_periph.c
 CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)soc$(DELIM)$(CHIP_SERIES)$(DELIM)ledc_periph.c
 CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)soc$(DELIM)$(CHIP_SERIES)$(DELIM)pcnt_periph.c
 CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)soc$(DELIM)$(CHIP_SERIES)$(DELIM)rmt_periph.c
+CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)soc$(DELIM)$(CHIP_SERIES)$(DELIM)i2c_periph.c
 CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)soc$(DELIM)$(CHIP_SERIES)$(DELIM)mcpwm_periph.c
 
 ifeq ($(CONFIG_ESPRESSIF_SIMPLE_BOOT),y)
diff --git a/arch/xtensa/src/esp32s2/Kconfig b/arch/xtensa/src/esp32s2/Kconfig
index 895eeb49566..327dad56f90 100644
--- a/arch/xtensa/src/esp32s2/Kconfig
+++ b/arch/xtensa/src/esp32s2/Kconfig
@@ -473,14 +473,60 @@ config ESP32S2_I2C0
 	default n
 	select ESP32S2_I2C
 	select I2C
-	select ESPRESSIF_I2C_PERIPH
 
 config ESP32S2_I2C1
 	bool "I2C 1"
 	default n
 	select ESP32S2_I2C
 	select I2C
-	select ESPRESSIF_I2C_PERIPH
+
+config ESP32S2_I2C_PERIPH_MASTER_MODE
+	bool
+	depends on (ESP32S2_I2C0_MASTER_MODE || ESP32S2_I2C1_MASTER_MODE)
+	default n
+	select ESPRESSIF_I2C_PERIPH_MASTER_MODE
+
+config ESP32S2_I2C_PERIPH_SLAVE_MODE
+	bool
+	depends on (ESP32S2_I2C0_SLAVE_MODE || ESP32S2_I2C1_SLAVE_MODE)
+	default n
+	select ESPRESSIF_I2C_PERIPH_SLAVE_MODE
+	select ESPRESSIF_I2C0_SLAVE if ESP32S2_I2C0_SLAVE_MODE
+	select ESPRESSIF_I2C1_SLAVE if ESP32S2_I2C1_SLAVE_MODE
+
+choice ESP32S2_I2C0_MODE
+	prompt "I2C0 Mode"
+	depends on ESP32S2_I2C0
+	default ESP32S2_I2C0_MASTER_MODE
+
+config ESP32S2_I2C0_MASTER_MODE
+	bool "I2C0 Master Mode"
+	select ESP32S2_I2C_PERIPH_MASTER_MODE
+
+config ESP32S2_I2C0_SLAVE_MODE
+	bool "I2C0 Slave Mode"
+	select I2C_SLAVE
+	select I2C_SLAVE_DRIVER
+	select ESP32S2_I2C_PERIPH_SLAVE_MODE
+
+endchoice # ESP32S2_I2C0_MODE
+
+choice ESP32S2_I2C1_MODE
+	prompt "I2C1 Mode"
+	depends on ESP32S2_I2C1
+	default ESP32S2_I2C1_MASTER_MODE
+
+config ESP32S2_I2C1_MASTER_MODE
+	bool "I2C1 Master Mode"
+	select ESP32S2_I2C_PERIPH_MASTER_MODE
+
+config ESP32S2_I2C1_SLAVE_MODE
+	bool "I2C1 Slave Mode"
+	select I2C_SLAVE
+	select I2C_SLAVE_DRIVER
+	select ESP32S2_I2C_PERIPH_SLAVE_MODE
+
+endchoice # ESP32S2_I2C1_MODE
 
 config ESP32S2_TWAI
 	bool "TWAI (CAN)"
@@ -790,17 +836,17 @@ config ESP32S2_I2C1_SDAPIN
 	default 7
 	range 0 46
 
-endif # ESP32S2_I2C1
+endif # ESPRESSIF_I2C1
 
 config ESP32S2_I2CTIMEOSEC
 	int "Timeout seconds"
 	default 0
-	depends on ESPRESSIF_I2C_PERIPH
+	depends on ESP32S2_I2C_PERIPH_MASTER_MODE
 
 config ESP32S2_I2CTIMEOMS
 	int "Timeout milliseconds"
 	default 500
-	depends on ESPRESSIF_I2C_PERIPH
+	depends on ESP32S2_I2C_PERIPH_MASTER_MODE
 
 endmenu # I2C Configuration
 
diff --git a/arch/xtensa/src/esp32s2/Make.defs b/arch/xtensa/src/esp32s2/Make.defs
index c9c534cfd74..b1423db2c19 100644
--- a/arch/xtensa/src/esp32s2/Make.defs
+++ b/arch/xtensa/src/esp32s2/Make.defs
@@ -54,7 +54,7 @@ CHIP_CSRCS += esp32s2_rng.c
 endif
 
 ifeq ($(CONFIG_ESP32S2_I2C),y)
-ifeq ($(CONFIG_ESPRESSIF_I2C_PERIPH),y)
+ifeq ($(CONFIG_ESPRESSIF_I2C_PERIPH_MASTER_MODE),y)
 CHIP_CSRCS += esp32s2_i2c.c
 endif
 endif
diff --git a/arch/xtensa/src/esp32s2/esp32s2_i2c.c b/arch/xtensa/src/esp32s2/esp32s2_i2c.c
index d0c4f323ce0..1bd19ab5b0b 100644
--- a/arch/xtensa/src/esp32s2/esp32s2_i2c.c
+++ b/arch/xtensa/src/esp32s2/esp32s2_i2c.c
@@ -24,7 +24,7 @@
 
 #include <nuttx/config.h>
 
-#ifdef CONFIG_ESPRESSIF_I2C_PERIPH
+#ifdef CONFIG_ESPRESSIF_I2C_PERIPH_MASTER_MODE
 
 #include <assert.h>
 #include <debug.h>
@@ -1613,4 +1613,4 @@ int esp32s2_i2cbus_uninitialize(struct i2c_master_s *dev)
   return OK;
 }
 
-#endif /* CONFIG_ESPRESSIF_I2C_PERIPH */
+#endif /* CONFIG_ESPRESSIF_I2C_PERIPH_MASTER_MODE */
diff --git a/arch/xtensa/src/esp32s2/esp32s2_i2c.h b/arch/xtensa/src/esp32s2/esp32s2_i2c.h
index 1e480a9ad51..4b83c33c076 100644
--- a/arch/xtensa/src/esp32s2/esp32s2_i2c.h
+++ b/arch/xtensa/src/esp32s2/esp32s2_i2c.h
@@ -51,7 +51,7 @@
  * Public Function Prototypes
  ****************************************************************************/
 
-#ifdef CONFIG_ESPRESSIF_I2C_PERIPH
+#ifdef CONFIG_ESPRESSIF_I2C_PERIPH_MASTER_MODE
 /****************************************************************************
  * Name: esp32s2_i2cbus_initialize
  *
@@ -87,7 +87,7 @@ struct i2c_master_s *esp32s2_i2cbus_initialize(int port);
  ****************************************************************************/
 
 int esp32s2_i2cbus_uninitialize(struct i2c_master_s *dev);
-#endif /* CONFIG_ESPRESSIF_I2C_PERIPH */
+#endif /* CONFIG_ESPRESSIF_I2C_PERIPH_MASTER_MODE */
 
 #endif /* __ASSEMBLY__ */
 #endif /* __ARCH_XTENSA_SRC_ESP32S2_ESP32S2_I2C_H */
diff --git a/arch/xtensa/src/esp32s2/hal.mk b/arch/xtensa/src/esp32s2/hal.mk
index 07b8755621f..d04648c8dd3 100644
--- a/arch/xtensa/src/esp32s2/hal.mk
+++ b/arch/xtensa/src/esp32s2/hal.mk
@@ -100,6 +100,7 @@ CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)hal$
 CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)hal$(DELIM)cache_hal.c
 CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)hal$(DELIM)mpu_hal.c
 CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)hal$(DELIM)mmu_hal.c
+CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)hal$(DELIM)i2c_hal.c
 CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)hal$(DELIM)brownout_hal.c
 CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)hal$(DELIM)efuse_hal.c
 CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)hal$(DELIM)gpio_hal.c
@@ -116,6 +117,7 @@ CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)soc$
 CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)soc$(DELIM)$(CHIP_SERIES)$(DELIM)ledc_periph.c
 CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)soc$(DELIM)$(CHIP_SERIES)$(DELIM)pcnt_periph.c
 CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)soc$(DELIM)$(CHIP_SERIES)$(DELIM)rmt_periph.c
+CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)soc$(DELIM)$(CHIP_SERIES)$(DELIM)i2c_periph.c
 CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)soc$(DELIM)$(CHIP_SERIES)$(DELIM)temperature_sensor_periph.c
 CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)spi_flash$(DELIM)flash_ops.c
 
diff --git a/arch/xtensa/src/esp32s3/Kconfig b/arch/xtensa/src/esp32s3/Kconfig
index 38cf7d35b49..c321799d47c 100644
--- a/arch/xtensa/src/esp32s3/Kconfig
+++ b/arch/xtensa/src/esp32s3/Kconfig
@@ -660,14 +660,60 @@ config ESP32S3_I2C0
 	default n
 	select ESP32S3_I2C
 	select I2C
-	select ESPRESSIF_I2C_PERIPH
 
 config ESP32S3_I2C1
 	bool "I2C 1"
 	default n
 	select ESP32S3_I2C
 	select I2C
-	select ESPRESSIF_I2C_PERIPH
+
+config ESP32S3_I2C_PERIPH_MASTER_MODE
+	bool
+	depends on (ESP32S3_I2C0_MASTER_MODE || ESP32S3_I2C1_MASTER_MODE)
+	default n
+	select ESPRESSIF_I2C_PERIPH_MASTER_MODE
+
+config ESP32S3_I2C_PERIPH_SLAVE_MODE
+	bool
+	depends on (ESP32S3_I2C0_SLAVE_MODE || ESP32S3_I2C1_SLAVE_MODE)
+	default n
+	select ESPRESSIF_I2C_PERIPH_SLAVE_MODE
+	select ESPRESSIF_I2C0_SLAVE if ESP32S3_I2C0_SLAVE_MODE
+	select ESPRESSIF_I2C1_SLAVE if ESP32S3_I2C1_SLAVE_MODE
+
+choice ESP32S3_I2C0_MODE
+	prompt "I2C0 Mode"
+	depends on ESP32S3_I2C0
+	default ESP32S3_I2C0_MASTER_MODE
+
+config ESP32S3_I2C0_MASTER_MODE
+	bool "I2C0 Master Mode"
+	select ESP32S3_I2C_PERIPH_MASTER_MODE
+
+config ESP32S3_I2C0_SLAVE_MODE
+	bool "I2C0 Slave Mode"
+	select I2C_SLAVE
+	select I2C_SLAVE_DRIVER
+	select ESP32S3_I2C_PERIPH_SLAVE_MODE
+
+endchoice # ESP32S3_I2C0_MODE
+
+choice ESP32S3_I2C1_MODE
+	prompt "I2C1 Mode"
+	depends on ESP32S3_I2C1
+	default ESP32S3_I2C1_MASTER_MODE
+
+config ESP32S3_I2C1_MASTER_MODE
+	bool "I2C1 Master Mode"
+	select ESP32S3_I2C_PERIPH_MASTER_MODE
+
+config ESP32S3_I2C1_SLAVE_MODE
+	bool "I2C1 Slave Mode"
+	select I2C_SLAVE
+	select I2C_SLAVE_DRIVER
+	select ESP32S3_I2C_PERIPH_SLAVE_MODE
+
+endchoice # ESP32S3_I2C1_MODE
 
 config ESP32S3_TWAI
 	bool "TWAI (CAN)"
@@ -1402,12 +1448,12 @@ endif # ESP32S3_I2C1
 config ESP32S3_I2CTIMEOSEC
 	int "Timeout seconds"
 	default 0
-	depends on ESPRESSIF_I2C_PERIPH
+	depends on ESP32S3_I2C_PERIPH_MASTER_MODE
 
 config ESP32S3_I2CTIMEOMS
 	int "Timeout milliseconds"
 	default 500
-	depends on ESPRESSIF_I2C_PERIPH
+	depends on ESP32S3_I2C_PERIPH_MASTER_MODE
 
 endmenu # I2C Configuration
 
diff --git a/arch/xtensa/src/esp32s3/Make.defs b/arch/xtensa/src/esp32s3/Make.defs
index 669a4500dae..8cb8077d0dc 100644
--- a/arch/xtensa/src/esp32s3/Make.defs
+++ b/arch/xtensa/src/esp32s3/Make.defs
@@ -110,7 +110,7 @@ CHIP_CSRCS += esp32s3_adc.c
 endif
 
 ifeq ($(CONFIG_ESP32S3_I2C),y)
-ifeq ($(CONFIG_ESPRESSIF_I2C_PERIPH),y)
+ifeq ($(CONFIG_ESPRESSIF_I2C_PERIPH_MASTER_MODE),y)
 CHIP_CSRCS += esp32s3_i2c.c
 endif
 endif
diff --git a/arch/xtensa/src/esp32s3/esp32s3_i2c.c b/arch/xtensa/src/esp32s3/esp32s3_i2c.c
index f78532181b4..1a36db003f2 100644
--- a/arch/xtensa/src/esp32s3/esp32s3_i2c.c
+++ b/arch/xtensa/src/esp32s3/esp32s3_i2c.c
@@ -24,7 +24,7 @@
 
 #include <nuttx/config.h>
 
-#ifdef CONFIG_ESPRESSIF_I2C_PERIPH
+#ifdef CONFIG_ESPRESSIF_I2C_PERIPH_MASTER_MODE
 
 #include <assert.h>
 #include <debug.h>
@@ -1647,4 +1647,4 @@ int esp32s3_i2cbus_uninitialize(struct i2c_master_s *dev)
   return OK;
 }
 
-#endif /* CONFIG_ESPRESSIF_I2C_PERIPH */
+#endif /* CONFIG_ESPRESSIF_I2C_PERIPH_MASTER_MODE */
diff --git a/arch/xtensa/src/esp32s3/esp32s3_i2c.h b/arch/xtensa/src/esp32s3/esp32s3_i2c.h
index e4edaeca876..b5b253745d3 100644
--- a/arch/xtensa/src/esp32s3/esp32s3_i2c.h
+++ b/arch/xtensa/src/esp32s3/esp32s3_i2c.h
@@ -51,7 +51,7 @@
  * Public Function Prototypes
  ****************************************************************************/
 
-#ifdef CONFIG_ESPRESSIF_I2C_PERIPH
+#ifdef CONFIG_ESPRESSIF_I2C_PERIPH_MASTER_MODE
 /****************************************************************************
  * Name: esp32s3_i2cbus_initialize
  *
@@ -87,7 +87,7 @@ struct i2c_master_s *esp32s3_i2cbus_initialize(int port);
  ****************************************************************************/
 
 int esp32s3_i2cbus_uninitialize(struct i2c_master_s *dev);
-#endif /* CONFIG_ESPRESSIF_I2C_PERIPH */
+#endif /* CONFIG_ESPRESSIF_I2C_PERIPH_MASTER_MODE */
 
 #endif /* __ASSEMBLY__ */
 #endif /* __ARCH_XTENSA_SRC_ESP32S3_ESP32S3_I2C_H */
diff --git a/arch/xtensa/src/esp32s3/hal.mk b/arch/xtensa/src/esp32s3/hal.mk
index 17ff6c043ae..d3637d21f3c 100644
--- a/arch/xtensa/src/esp32s3/hal.mk
+++ b/arch/xtensa/src/esp32s3/hal.mk
@@ -117,6 +117,7 @@ CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)hal$
 CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)hal$(DELIM)cache_hal.c
 CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)hal$(DELIM)mpu_hal.c
 CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)hal$(DELIM)mmu_hal.c
+CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)hal$(DELIM)i2c_hal.c
 CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)hal$(DELIM)uart_hal_iram.c
 CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)hal$(DELIM)uart_hal.c
 CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)log$(DELIM)log_noos.c
@@ -125,6 +126,7 @@ CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)soc$
 CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)soc$(DELIM)$(CHIP_SERIES)$(DELIM)ledc_periph.c
 CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)soc$(DELIM)$(CHIP_SERIES)$(DELIM)pcnt_periph.c
 CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)soc$(DELIM)$(CHIP_SERIES)$(DELIM)rmt_periph.c
+CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)soc$(DELIM)$(CHIP_SERIES)$(DELIM)i2c_periph.c
 CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)soc$(DELIM)$(CHIP_SERIES)$(DELIM)mcpwm_periph.c
 CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)soc$(DELIM)$(CHIP_SERIES)$(DELIM)temperature_sensor_periph.c