diff --git a/components/driver/CMakeLists.txt b/components/driver/CMakeLists.txt
index 74ac9e75cf5..0a168abb5ad 100644
--- a/components/driver/CMakeLists.txt
+++ b/components/driver/CMakeLists.txt
@@ -47,6 +47,9 @@ endif()
 # Analog comparator related source files
 if(CONFIG_SOC_ANA_CMPR_SUPPORTED)
     list(APPEND srcs "analog_comparator/ana_cmpr.c")
+    if(CONFIG_SOC_ANA_CMPR_SUPPORT_ETM)
+        list(APPEND srcs "analog_comparator/ana_cmpr_etm.c")
+    endif()
 endif()
 
 # DAC related source files
diff --git a/components/driver/analog_comparator/ana_cmpr_etm.c b/components/driver/analog_comparator/ana_cmpr_etm.c
new file mode 100644
index 00000000000..0c9494c680d
--- /dev/null
+++ b/components/driver/analog_comparator/ana_cmpr_etm.c
@@ -0,0 +1,108 @@
+/*
+ * SPDX-FileCopyrightText: 2023 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include <stdlib.h>
+#include <string.h>
+#include "sdkconfig.h"
+#if CONFIG_ETM_ENABLE_DEBUG_LOG
+// The local log level must be defined before including esp_log.h
+// Set the maximum log level for this source file
+#define LOG_LOCAL_LEVEL ESP_LOG_DEBUG
+#endif
+#include "freertos/FreeRTOS.h"
+#include "esp_heap_caps.h"
+#include "esp_log.h"
+#include "esp_check.h"
+#include "soc/soc_caps.h"
+#include "hal/ana_cmpr_ll.h"
+#include "driver/ana_cmpr_types.h"
+#include "driver/ana_cmpr_etm.h"
+#include "esp_private/etm_interface.h"
+
+static const char *TAG = "ana-cmpr-etm";
+
+#define ETM_MEM_ALLOC_CAPS   MALLOC_CAP_DEFAULT
+
+typedef struct ana_cmpr_etm_event_t ana_cmpr_etm_event_t;
+
+typedef struct {
+    portMUX_TYPE spinlock;
+    ana_cmpr_etm_event_t *events[SOC_ANA_CMPR_ETM_EVENTS_PER_UNIT];
+} ana_cmpr_etm_unit_t;
+
+struct ana_cmpr_etm_event_t {
+    esp_etm_event_t base;
+    ana_cmpr_unit_t unit;
+    ana_cmpr_event_type_t type;
+};
+
+static ana_cmpr_etm_unit_t s_ana_cmpr_etm_unit[SOC_ANA_CMPR_NUM] = {
+    [0 ... SOC_ANA_CMPR_NUM - 1] = {
+        .spinlock = portMUX_INITIALIZER_UNLOCKED,
+        .events[0 ... SOC_ANA_CMPR_ETM_EVENTS_PER_UNIT - 1] = NULL,
+    },
+};
+
+static esp_err_t ana_cmpr_etm_event_register_to_unit(ana_cmpr_etm_event_t *evt)
+{
+    ESP_RETURN_ON_FALSE(!s_ana_cmpr_etm_unit[evt->unit].events[evt->type],
+                        ESP_ERR_INVALID_STATE, TAG, "this event has been registered on the unit");
+    portENTER_CRITICAL(&s_ana_cmpr_etm_unit[evt->unit].spinlock);
+    s_ana_cmpr_etm_unit[evt->unit].events[evt->type] = evt;
+    portEXIT_CRITICAL(&s_ana_cmpr_etm_unit[evt->unit].spinlock);
+    return ESP_OK;
+}
+
+static esp_err_t ana_cmpr_etm_event_unregister_from_unit(ana_cmpr_etm_event_t *evt)
+{
+    ESP_RETURN_ON_FALSE(s_ana_cmpr_etm_unit[evt->unit].events[evt->type] == evt,
+                        ESP_ERR_INVALID_ARG, TAG, "the event handle is not match to registered handle");
+    portENTER_CRITICAL(&s_ana_cmpr_etm_unit[evt->unit].spinlock);
+    s_ana_cmpr_etm_unit[evt->unit].events[evt->type] = NULL;
+    portEXIT_CRITICAL(&s_ana_cmpr_etm_unit[evt->unit].spinlock);
+    return ESP_OK;
+}
+
+static esp_err_t ana_cmpr_del_etm_event(esp_etm_event_handle_t base_event)
+{
+    ana_cmpr_etm_event_t *event = __containerof(base_event, ana_cmpr_etm_event_t, base);
+    ESP_RETURN_ON_ERROR(ana_cmpr_etm_event_unregister_from_unit(event), TAG, "unregister the event from the unit");
+    free(event);
+    event = NULL;
+    return ESP_OK;
+}
+
+esp_err_t ana_cmpr_new_etm_event(const ana_cmpr_etm_event_config_t *config, esp_etm_event_handle_t *ret_event)
+{
+#if CONFIG_ETM_ENABLE_DEBUG_LOG
+    esp_log_level_set(TAG, ESP_LOG_DEBUG);
+#endif
+    esp_err_t ret = ESP_OK;
+    ana_cmpr_etm_event_t *event = NULL;
+    ESP_GOTO_ON_FALSE(config && ret_event, ESP_ERR_INVALID_ARG, err, TAG, "invalid argument");
+
+    event = heap_caps_calloc(1, sizeof(ana_cmpr_etm_event_t), ETM_MEM_ALLOC_CAPS);
+    ESP_GOTO_ON_FALSE(event, ESP_ERR_NO_MEM, err, TAG, "no mem for analog comparator event");
+    event->unit = config->unit;
+    event->type = config->event_type;
+    // register the event channel to the group
+    ESP_GOTO_ON_ERROR(ana_cmpr_etm_event_register_to_unit(event), err, TAG, "register event channel to group failed");
+
+    uint32_t event_id = ANALOG_CMPR_LL_ETM_SOURCE(config->unit, config->event_type);
+    event->base.del = ana_cmpr_del_etm_event;
+    event->base.event_id = event_id;
+    event->base.trig_periph = ETM_TRIG_PERIPH_ANA_CMPR;
+    ESP_LOGD(TAG, "new event @%p, event_id=%"PRIu32", unit_id=%d", event, event_id, config->unit);
+    *ret_event = &event->base;
+    return ESP_OK;
+
+err:
+    if (event) {
+        free(event);
+        event = NULL;
+    }
+    return ret;
+}
diff --git a/components/driver/analog_comparator/include/driver/ana_cmpr_etm.h b/components/driver/analog_comparator/include/driver/ana_cmpr_etm.h
new file mode 100644
index 00000000000..08b205db860
--- /dev/null
+++ b/components/driver/analog_comparator/include/driver/ana_cmpr_etm.h
@@ -0,0 +1,36 @@
+/*
+ * SPDX-FileCopyrightText: 2023 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#pragma once
+
+#include <stdbool.h>
+#include "esp_err.h"
+#include "esp_etm.h"
+#include "driver/ana_cmpr_types.h"
+
+#if SOC_ANA_CMPR_SUPPORT_ETM
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+typedef enum {
+    ANA_CMPR_EVENT_POS_CROSS,
+    ANA_CMPR_EVENT_NEG_CROSS,
+} ana_cmpr_event_type_t;
+
+typedef struct {
+    ana_cmpr_unit_t unit;
+    ana_cmpr_event_type_t event_type; /*!< Which kind of cross type can trigger the ETM event module */
+} ana_cmpr_etm_event_config_t;
+
+esp_err_t ana_cmpr_new_etm_event(const ana_cmpr_etm_event_config_t *config, esp_etm_event_handle_t *ret_event);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // SOC_ANA_CMPR_SUPPORT_ETM
diff --git a/components/driver/analog_comparator/include/driver/ana_cmpr_types.h b/components/driver/analog_comparator/include/driver/ana_cmpr_types.h
index acafb6ccda9..52a92b5eb14 100644
--- a/components/driver/analog_comparator/include/driver/ana_cmpr_types.h
+++ b/components/driver/analog_comparator/include/driver/ana_cmpr_types.h
@@ -7,6 +7,7 @@
 #pragma once
 
 #include <stdbool.h>
+#include "soc/soc_caps.h"
 #include "soc/clk_tree_defs.h"
 
 #ifdef __cplusplus
@@ -18,7 +19,10 @@ extern "C" {
  *
  */
 typedef enum {
-    ANA_CMPR_UNIT_0,                /*!< Analog Comparator unit */
+    ANA_CMPR_UNIT_0,                /*!< Analog Comparator unit 0 */
+#if SOC_ANA_CMPR_NUM == 2
+    ANA_CMPR_UNIT_1,                /*!< Analog Comparator unit 1 */
+#endif
 } ana_cmpr_unit_t;
 
 /**
diff --git a/components/esp_hw_support/include/esp_private/etm_interface.h b/components/esp_hw_support/include/esp_private/etm_interface.h
index 351f89c7024..47958aa7e60 100644
--- a/components/esp_hw_support/include/esp_private/etm_interface.h
+++ b/components/esp_hw_support/include/esp_private/etm_interface.h
@@ -25,6 +25,7 @@ typedef enum {
     ETM_TRIG_PERIPH_GPTIMER,  /*!< ETM trigger source: GPTimer */
     ETM_TRIG_PERIPH_SYSTIMER, /*!< ETM trigger source: Systimer */
     ETM_TRIG_PERIPH_MCPWM,    /*!< ETM trigger source: MCPWM */
+    ETM_TRIG_PERIPH_ANA_CMPR,     /*!< ETM trigger source: Analog Comparator */
 } etm_trigger_peripheral_t;
 
 /**
diff --git a/components/hal/esp32p4/include/hal/ana_cmpr_ll.h b/components/hal/esp32p4/include/hal/ana_cmpr_ll.h
index 9f4abbf6d37..1ce151c0797 100644
--- a/components/hal/esp32p4/include/hal/ana_cmpr_ll.h
+++ b/components/hal/esp32p4/include/hal/ana_cmpr_ll.h
@@ -10,6 +10,7 @@
 #include "hal/misc.h"
 #include "hal/assert.h"
 #include "soc/ana_cmpr_struct.h"
+#include "soc/soc_etm_source.h"
 
 #ifdef __cplusplus
 extern "C" {
@@ -22,6 +23,8 @@ extern "C" {
 #define ANALOG_CMPR_LL_NEG_CROSS_MASK(unit)   (1UL << ((int)unit * 3))
 #define ANALOG_CMPR_LL_POS_CROSS_MASK(unit)   (1UL << ((int)unit * 3 + 1))
 
+#define ANALOG_CMPR_LL_ETM_SOURCE(unit, type)   (GPIO_EVT_ZERO_DET_POS0 + (unit) * 2 + (type))
+
 /**
  * @brief Enable analog comparator
  *
diff --git a/components/soc/esp32p4/include/soc/Kconfig.soc_caps.in b/components/soc/esp32p4/include/soc/Kconfig.soc_caps.in
index e5e7e61fd51..f93ed20ca74 100644
--- a/components/soc/esp32p4/include/soc/Kconfig.soc_caps.in
+++ b/components/soc/esp32p4/include/soc/Kconfig.soc_caps.in
@@ -395,6 +395,14 @@ config SOC_ANA_CMPR_SUPPORT_MULTI_INTR
     bool
     default y
 
+config SOC_ANA_CMPR_SUPPORT_ETM
+    bool
+    default y
+
+config SOC_ANA_CMPR_ETM_EVENTS_PER_UNIT
+    int
+    default 2
+
 config SOC_I2C_NUM
     int
     default 2
diff --git a/components/soc/esp32p4/include/soc/gpio_struct.h b/components/soc/esp32p4/include/soc/gpio_struct.h
index 748d4c2b7db..052c0b9a6db 100644
--- a/components/soc/esp32p4/include/soc/gpio_struct.h
+++ b/components/soc/esp32p4/include/soc/gpio_struct.h
@@ -553,7 +553,7 @@ typedef union {
     uint32_t val;
 } gpio_clock_gate_reg_t;
 
-/** Type of zero_det0_filter_cnt register
+/** Type of zero_det_filter_cnt register
  *  GPIO analog comparator zero detect filter count
  */
 typedef union {
diff --git a/components/soc/esp32p4/include/soc/soc_caps.h b/components/soc/esp32p4/include/soc/soc_caps.h
index 8cb49267ba9..987b968e658 100644
--- a/components/soc/esp32p4/include/soc/soc_caps.h
+++ b/components/soc/esp32p4/include/soc/soc_caps.h
@@ -221,8 +221,10 @@
 #define SOC_DEDIC_PERIPH_ALWAYS_ENABLE  (1) /*!< The dedicated GPIO (a.k.a. fast GPIO) is featured by some customized CPU instructions, which is always enabled */
 
 /*------------------------- Analog Comparator CAPS ---------------------------*/
-#define SOC_ANA_CMPR_NUM                (2U)
-#define SOC_ANA_CMPR_SUPPORT_MULTI_INTR (1)
+#define SOC_ANA_CMPR_NUM                    (2U)
+#define SOC_ANA_CMPR_SUPPORT_MULTI_INTR     (1)
+#define SOC_ANA_CMPR_SUPPORT_ETM            (1)
+#define SOC_ANA_CMPR_ETM_EVENTS_PER_UNIT    (2)
 
 /*-------------------------- I2C CAPS ----------------------------------------*/
 // ESP32-P4 has 2 I2Cs