diff --git a/boards/common/esp32.board.cmake b/boards/common/esp32.board.cmake
index 5b726d8768..ee5bb0d6c3 100644
--- a/boards/common/esp32.board.cmake
+++ b/boards/common/esp32.board.cmake
@@ -10,7 +10,7 @@ board_runner_args(openocd  --gdb-init "flushregs")
 board_runner_args(openocd  --gdb-init "mon reset halt")
 board_runner_args(openocd  --gdb-init "thb main")
 
-set(ESP_IDF_PATH ${ZEPHYR_ESPRESSIF_MODULE_DIR})
+set(ESP_IDF_PATH ${ZEPHYR_HAL_ESPRESSIF_MODULE_DIR})
 assert(ESP_IDF_PATH "ESP_IDF_PATH is not set")
 
 board_finalize_runner_args(esp32 "--esp-idf-path=${ESP_IDF_PATH}")
diff --git a/drivers/pwm/pwm_mc_esp32.c b/drivers/pwm/pwm_mc_esp32.c
index a9920d1323..6412d5f95d 100644
--- a/drivers/pwm/pwm_mc_esp32.c
+++ b/drivers/pwm/pwm_mc_esp32.c
@@ -8,6 +8,7 @@
 
 #include <hal/mcpwm_hal.h>
 #include <hal/mcpwm_ll.h>
+#include "driver/mcpwm.h"
 
 #include <soc.h>
 #include <errno.h>
diff --git a/drivers/spi/spi_esp32_spim.c b/drivers/spi/spi_esp32_spim.c
index 43438e1bf0..b69fa95394 100644
--- a/drivers/spi/spi_esp32_spim.c
+++ b/drivers/spi/spi_esp32_spim.c
@@ -131,24 +131,24 @@ static int spi_esp32_init(const struct device *dev)
 	return 0;
 }
 
-static inline spi_ll_io_mode_t spi_esp32_get_io_mode(uint16_t operation)
+static inline uint8_t spi_esp32_get_line_mode(uint16_t operation)
 {
 	if (IS_ENABLED(CONFIG_SPI_EXTENDED_MODES)) {
 		switch (operation & SPI_LINES_MASK) {
 		case SPI_LINES_SINGLE:
-			return SPI_LL_IO_MODE_NORMAL;
+			return 1;
 		case SPI_LINES_DUAL:
-			return SPI_LL_IO_MODE_DUAL;
+			return 2;
 		case SPI_LINES_OCTAL:
-			return SPI_LL_IO_MODE_QIO;
+			return 8;
 		case SPI_LINES_QUAD:
-			return SPI_LL_IO_MODE_QUAD;
+			return 4;
 		default:
 			break;
 		}
 	}
 
-	return SPI_LL_IO_MODE_NORMAL;
+	return 1;
 }
 
 static int IRAM_ATTR spi_esp32_configure(const struct device *dev,
@@ -206,6 +206,7 @@ static int IRAM_ATTR spi_esp32_configure(const struct device *dev,
 		.duty_cycle = cfg->duty_cycle == 0 ? 128 : cfg->duty_cycle,
 		.input_delay_ns = cfg->input_delay_ns,
 		.use_gpio = !cfg->use_iomux,
+
 	};
 
 	spi_hal_cal_clock_conf(&timing_param, &freq, &hal_dev->timing_conf);
@@ -215,7 +216,14 @@ static int IRAM_ATTR spi_esp32_configure(const struct device *dev,
 	hal_dev->tx_lsbfirst = spi_cfg->operation & SPI_TRANSFER_LSB ? 1 : 0;
 	hal_dev->rx_lsbfirst = spi_cfg->operation & SPI_TRANSFER_LSB ? 1 : 0;
 
-	data->trans_config.io_mode = spi_esp32_get_io_mode(spi_cfg->operation);
+	data->trans_config.line_mode.data_lines = spi_esp32_get_line_mode(spi_cfg->operation);
+
+	/* multiline for command and address not supported */
+	data->trans_config.line_mode.addr_lines = 1;
+	data->trans_config.line_mode.cmd_lines = 1;
+
+	/* keep cs line after transmission not supported */
+	data->trans_config.cs_keep_active = 0;
 
 	/* SPI mode */
 	hal_dev->mode = 0;
diff --git a/drivers/timer/esp32c3_sys_timer.c b/drivers/timer/esp32c3_sys_timer.c
index bc8a7e751e..7fb3e71bcd 100644
--- a/drivers/timer/esp32c3_sys_timer.c
+++ b/drivers/timer/esp32c3_sys_timer.c
@@ -34,25 +34,30 @@ const int32_t z_sys_timer_irq_for_test = DT_IRQN(DT_NODELABEL(systimer0));
 static struct k_spinlock lock;
 static uint64_t last_count;
 
+/* Systimer HAL layer object */
+static systimer_hal_context_t systimer_hal;
+
 static void set_systimer_alarm(uint64_t time)
 {
-	systimer_hal_select_alarm_mode(SYSTIMER_ALARM_0, SYSTIMER_ALARM_MODE_ONESHOT);
-	systimer_hal_set_alarm_target(SYSTIMER_ALARM_0, time);
-	systimer_hal_enable_alarm_int(SYSTIMER_ALARM_0);
+	systimer_hal_select_alarm_mode(&systimer_hal,
+		SYSTIMER_LL_ALARM_OS_TICK_CORE0, SYSTIMER_ALARM_MODE_ONESHOT);
+
+	systimer_hal_set_alarm_target(&systimer_hal, SYSTIMER_LL_ALARM_OS_TICK_CORE0, time);
+	systimer_hal_enable_alarm_int(&systimer_hal, SYSTIMER_LL_ALARM_OS_TICK_CORE0);
 }
 
-static uint64_t systimer_alarm(void)
+static uint64_t get_systimer_alarm(void)
 {
-	return systimer_hal_get_time(SYSTIMER_COUNTER_1);
+	return systimer_hal_get_time(&systimer_hal, SYSTIMER_LL_COUNTER_OS_TICK);
 }
 
 static void sys_timer_isr(const void *arg)
 {
 	ARG_UNUSED(arg);
-	systimer_ll_clear_alarm_int(SYSTIMER_ALARM_0);
+	systimer_ll_clear_alarm_int(systimer_hal.dev, SYSTIMER_LL_ALARM_OS_TICK_CORE0);
 
 	k_spinlock_key_t key = k_spin_lock(&lock);
-	uint64_t now = systimer_alarm();
+	uint64_t now = get_systimer_alarm();
 
 	uint32_t dticks = (uint32_t)((now - last_count) / CYC_PER_TICK);
 
@@ -80,7 +85,7 @@ void sys_clock_set_timeout(int32_t ticks, bool idle)
 	ticks = CLAMP(ticks - 1, 0, (int32_t)MAX_TICKS);
 
 	k_spinlock_key_t key = k_spin_lock(&lock);
-	uint64_t now = systimer_alarm();
+	uint64_t now = get_systimer_alarm();
 	uint32_t adj, cyc = ticks * CYC_PER_TICK;
 
 	/* Round up to next tick boundary. */
@@ -108,7 +113,7 @@ uint32_t sys_clock_elapsed(void)
 	}
 
 	k_spinlock_key_t key = k_spin_lock(&lock);
-	uint32_t ret = ((uint32_t)systimer_alarm() - (uint32_t)last_count) / CYC_PER_TICK;
+	uint32_t ret = ((uint32_t)get_systimer_alarm() - (uint32_t)last_count) / CYC_PER_TICK;
 
 	k_spin_unlock(&lock, key);
 	return ret;
@@ -116,12 +121,12 @@ uint32_t sys_clock_elapsed(void)
 
 uint32_t sys_clock_cycle_get_32(void)
 {
-	return (uint32_t)systimer_alarm();
+	return (uint32_t)get_systimer_alarm();
 }
 
 uint64_t sys_clock_cycle_get_64(void)
 {
-	return systimer_alarm();
+	return get_systimer_alarm();
 }
 
 static int sys_clock_driver_init(const struct device *dev)
@@ -134,13 +139,14 @@ static int sys_clock_driver_init(const struct device *dev)
 		NULL,
 		NULL);
 
-	systimer_hal_init();
-	systimer_hal_connect_alarm_counter(SYSTIMER_ALARM_0, SYSTIMER_COUNTER_1);
-	systimer_hal_enable_counter(SYSTIMER_COUNTER_1);
-	systimer_hal_counter_can_stall_by_cpu(SYSTIMER_COUNTER_1, 0, true);
-	last_count = systimer_alarm();
-	set_systimer_alarm(last_count + CYC_PER_TICK);
+	systimer_hal_init(&systimer_hal);
+	systimer_hal_connect_alarm_counter(&systimer_hal,
+		SYSTIMER_LL_ALARM_OS_TICK_CORE0, SYSTIMER_LL_COUNTER_OS_TICK);
 
+	systimer_hal_enable_counter(&systimer_hal, SYSTIMER_LL_COUNTER_OS_TICK);
+	systimer_hal_counter_can_stall_by_cpu(&systimer_hal, SYSTIMER_LL_COUNTER_OS_TICK, 0, true);
+	last_count = get_systimer_alarm();
+	set_systimer_alarm(last_count + CYC_PER_TICK);
 	return 0;
 }
 
diff --git a/west.yml b/west.yml
index 2f54953193..e4ea5da409 100644
--- a/west.yml
+++ b/west.yml
@@ -62,7 +62,7 @@ manifest:
       groups:
         - hal
     - name: hal_espressif
-      revision: a85cf740929b7537e0bb07572b6c4f3456b04420
+      revision: 1e29548e4492807eb18cbaa77d3e78801cc7d07e
       path: modules/hal/espressif
       west-commands: west/west-commands.yml
       groups: