diff --git a/arch/xtensa/src/esp32/Kconfig b/arch/xtensa/src/esp32/Kconfig
index ddcb46d44e9..29e0f980f2b 100644
--- a/arch/xtensa/src/esp32/Kconfig
+++ b/arch/xtensa/src/esp32/Kconfig
@@ -233,6 +233,12 @@ config ESP32_RUN_IRAM
 
 config ESP32_RTC_HEAP
 	bool "Use the RTC memory as a separate heap"
+	select ARCH_HAVE_EXTRA_HEAPS
+	default n
+
+config ESP32_IRAM_HEAP
+	bool "Use the rest of IRAM as a separate heap"
+	select ARCH_HAVE_EXTRA_HEAPS
 	default n
 
 menu "ESP32 Peripheral Selection"
diff --git a/arch/xtensa/src/esp32/Make.defs b/arch/xtensa/src/esp32/Make.defs
index 7c31b94cdaa..89ac4fa68de 100644
--- a/arch/xtensa/src/esp32/Make.defs
+++ b/arch/xtensa/src/esp32/Make.defs
@@ -97,10 +97,6 @@ ifeq ($(CONFIG_XTENSA_IMEM_USE_SEPARATE_HEAP),y)
 CHIP_CSRCS += esp32_imm.c
 endif
 
-ifeq ($(CONFIG_ESP32_RTC_HEAP),y)
-CHIP_CSRCS += esp32_rtcheap.c
-endif
-
 ifeq ($(CONFIG_ESP32_I2C),y)
 CHIP_CSRCS += esp32_i2c.c
 endif
@@ -184,8 +180,19 @@ CHIP_CSRCS += esp32_wdt_lowerhalf.c
 endif
 endif
 
-ifeq ($(CONFIG_ARCH_USE_TEXT_HEAP),y)
+ifeq ($(CONFIG_ARCH_HAVE_EXTRA_HEAPS),y)
+CHIP_CSRCS += esp32_extraheaps.c
+endif
+
+ifeq ($(CONFIG_ESP32_RTC_HEAP),y)
+CHIP_CSRCS += esp32_rtcheap.c
+endif
+
+ifeq ($(CONFIG_ESP32_IRAM_HEAP),y)
 CHIP_CSRCS += esp32_iramheap.c
+endif
+
+ifeq ($(CONFIG_ARCH_USE_TEXT_HEAP),y)
 CHIP_CSRCS += esp32_textheap.c
 CMN_ASRCS += xtensa_loadstore.S
 endif
diff --git a/arch/xtensa/src/esp32/esp32_extraheaps.c b/arch/xtensa/src/esp32/esp32_extraheaps.c
new file mode 100644
index 00000000000..9b0caac9576
--- /dev/null
+++ b/arch/xtensa/src/esp32/esp32_extraheaps.c
@@ -0,0 +1,65 @@
+/****************************************************************************
+ * arch/xtensa/src/esp32/esp32_extraheaps.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <nuttx/arch.h>
+#include <nuttx/mm/mm.h>
+
+#include <sys/types.h>
+#include <debug.h>
+
+#include "hardware/esp32_soc.h"
+
+#ifdef CONFIG_ESP32_IRAM_HEAP
+#include "esp32_iramheap.h"
+#endif
+
+#ifdef CONFIG_ESP32_RTC_HEAP
+#include "esp32_rtcheap.h"
+#endif
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: up_extraheaps_init
+ *
+ * Description:
+ *   Initialize any extra heap.
+ *
+ ****************************************************************************/
+
+void up_extraheaps_init(void)
+{
+#ifdef CONFIG_ESP32_RTC_HEAP
+  esp32_rtcheap_initialize();
+#endif
+
+#ifdef CONFIG_ESP32_IRAM_HEAP
+  esp32_iramheap_initialize();
+#endif
+}
+
diff --git a/arch/xtensa/src/esp32/esp32_textheap.c b/arch/xtensa/src/esp32/esp32_textheap.c
index 8f7a497fa82..7e29c2f3617 100644
--- a/arch/xtensa/src/esp32/esp32_textheap.c
+++ b/arch/xtensa/src/esp32/esp32_textheap.c
@@ -32,31 +32,25 @@
 
 #include "hardware/esp32_soc.h"
 
+#ifdef CONFIG_ESP32_IRAM_HEAP
 #include "esp32_iramheap.h"
+#endif
+
 #ifdef CONFIG_ESP32_RTC_HEAP
 #include "esp32_rtcheap.h"
 #endif
 
 /****************************************************************************
- * Public Functions
+ * Pre-processor Definitions
  ****************************************************************************/
 
-/****************************************************************************
- * Name: up_textheap_init
- *
- * Description:
- *   Initialize the text heap.
- *
- ****************************************************************************/
-
-void up_textheap_init()
-{
-#ifdef CONFIG_ESP32_RTC_HEAP
-  esp32_rtcheap_initialize();
+#if !defined(CONFIG_ESP32_IRAM_HEAP) && !defined(CONFIG_ESP32_RTC_HEAP)
+#error "No suitable heap available. Enable ESP32_IRAM_HEAP or ESP32_RTC_HEAP"
 #endif
 
-  esp32_iramheap_initialize();
-}
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
 
 /****************************************************************************
  * Name: up_textheap_memalign