diff --git a/components/driver/CMakeLists.txt b/components/driver/CMakeLists.txt
index 2c37813d1a..d81b1e2f90 100644
--- a/components/driver/CMakeLists.txt
+++ b/components/driver/CMakeLists.txt
@@ -58,6 +58,7 @@ if(${target} STREQUAL "esp32s3")
     list(APPEND srcs "adc_common.c"
                      "dac_common.c"
                      "dedic_gpio.c"
+                     "gdma.c"
                      "spi_slave_hd.c"
                      "touch_sensor_common.c"
                      "twai.c"
@@ -65,7 +66,8 @@ if(${target} STREQUAL "esp32s3")
 endif()
 
 if(IDF_TARGET STREQUAL "esp32c3")
-    list(APPEND srcs "spi_slave_hd.c"
+    list(APPEND srcs "gdma.c"
+                     "spi_slave_hd.c"
                      "esp32c3/adc.c")
 endif()
 
diff --git a/components/driver/component.mk b/components/driver/component.mk
index 6da3a56f15..02d0a8e647 100644
--- a/components/driver/component.mk
+++ b/components/driver/component.mk
@@ -2,7 +2,7 @@
 # Component Makefile
 #
 COMPONENT_SRCDIRS := . $(IDF_TARGET)
-COMPONENT_OBJEXCLUDE += spi_slave_hd.o dedic_gpio.o
+COMPONENT_OBJEXCLUDE += spi_slave_hd.o dedic_gpio.o gdma.o
 
 COMPONENT_ADD_INCLUDEDIRS := include $(IDF_TARGET)/include $(IDF_TARGET)/include/driver
 
diff --git a/components/driver/gdma.c b/components/driver/gdma.c
new file mode 100644
index 0000000000..ae777b8019
--- /dev/null
+++ b/components/driver/gdma.c
@@ -0,0 +1,642 @@
+// Copyright 2020 Espressif Systems (Shanghai) PTE LTD
+//
+// Licensed 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.
+
+// #define LOG_LOCAL_LEVEL ESP_LOG_DEBUG
+
+#include <stdlib.h>
+#include <sys/cdefs.h>
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "soc/soc_caps.h"
+#include "soc/periph_defs.h"
+#include "esp_intr_alloc.h"
+#include "esp_log.h"
+#include "driver/periph_ctrl.h"
+#include "esp_private/gdma.h"
+#include "hal/gdma_hal.h"
+#include "hal/gdma_ll.h"
+#include "soc/gdma_periph.h"
+
+static const char *TAG = "gdma";
+
+#define DMA_CHECK(a, msg, tag, ret, ...)                                          \
+    do {                                                                          \
+        if (unlikely(!(a))) {                                                     \
+            ESP_LOGE(TAG, "%s(%d): " msg, __FUNCTION__, __LINE__, ##__VA_ARGS__); \
+            ret_code = ret;                                                       \
+            goto tag;                                                             \
+        }                                                                         \
+    } while (0)
+
+#define GDMA_INVALID_PERIPH_TRIG  (0x3F)
+#define SEARCH_REQUEST_RX_CHANNEL (1 << 0)
+#define SEARCH_REQUEST_TX_CHANNEL (1 << 1)
+
+typedef struct gdma_platform_t gdma_platform_t;
+typedef struct gdma_group_t gdma_group_t;
+typedef struct gdma_pair_t gdma_pair_t;
+typedef struct gdma_channel_t gdma_channel_t;
+typedef struct gdma_tx_channel_t gdma_tx_channel_t;
+typedef struct gdma_rx_channel_t gdma_rx_channel_t;
+
+struct gdma_platform_t {
+    portMUX_TYPE spinlock;                 // platform level spinlock
+    gdma_group_t *groups[SOC_GDMA_GROUPS]; // array of GDMA group instances
+};
+
+struct gdma_group_t {
+    int group_id;           // Group ID, index from 0
+    gdma_hal_context_t hal; // HAL instance is at group level
+    portMUX_TYPE spinlock;  // group level spinlock
+    int ref_count;          // reference count
+    gdma_pair_t *pairs[SOC_GDMA_PAIRS_PER_GROUP]; // handles of GDMA pairs
+};
+
+struct gdma_pair_t {
+    gdma_group_t *group;        // which group the pair belongs to
+    int pair_id;                // Pair ID, index from 0
+    gdma_tx_channel_t *tx_chan; // pointer of tx channel in the pair
+    gdma_rx_channel_t *rx_chan; // pointer of rx channel in the pair
+    int occupy_code;            // each bit indicates which channel has been occupied (an occupied channel will be skipped during channel search)
+    intr_handle_t intr;         // Interrupt is at pair level
+    portMUX_TYPE spinlock;      // pair level spinlock
+    int ref_count;              // reference count
+};
+
+struct gdma_channel_t {
+    gdma_pair_t *pair;  // which pair the channel belongs to
+    gdma_channel_direction_t direction; // channel direction
+    int periph_id; // Peripheral instance ID, indicates which peripheral is connected to this GDMA channel
+    esp_err_t (*del)(gdma_channel_t *channel); // channel deletion function, it's polymorphic, see `gdma_del_tx_channel` or `gdma_del_rx_channel`
+};
+
+struct gdma_tx_channel_t {
+    gdma_channel_t base; // GDMA channel, base class
+    void *user_data;     // user registered DMA event data
+    gdma_event_callback_t on_trans_eof; // TX EOF callback
+};
+
+struct gdma_rx_channel_t {
+    gdma_channel_t base; // GDMA channel, base class
+    void *user_data;     // user registered DMA event data
+    gdma_event_callback_t on_recv_eof; // RX EOF callback
+};
+
+static gdma_group_t *gdma_acquire_group_handle(int group_id);
+static void gdma_release_group_handle(gdma_group_t *group);
+static gdma_pair_t *gdma_acquire_pair_handle(gdma_group_t *group, int pair_id);
+static void gdma_release_pair_handle(gdma_pair_t *pair);
+static void gdma_uninstall_pair(gdma_pair_t *pair);
+static void gdma_uninstall_group(gdma_group_t *group);
+static esp_err_t gdma_del_tx_channel(gdma_channel_t *dma_channel);
+static esp_err_t gdma_del_rx_channel(gdma_channel_t *dma_channel);
+static esp_err_t gdma_install_interrupt(gdma_pair_t *pair);
+
+// gdma driver platform
+static gdma_platform_t s_platform = {
+    .spinlock = (portMUX_TYPE)portMUX_INITIALIZER_UNLOCKED,
+    .groups = {} // groups will be lazy installed
+};
+
+esp_err_t gdma_new_channel(const gdma_channel_alloc_config_t *config, gdma_channel_handle_t *ret_chan)
+{
+    esp_err_t ret_code = ESP_OK;
+    gdma_tx_channel_t *alloc_tx_channel = NULL;
+    gdma_rx_channel_t *alloc_rx_channel = NULL;
+    int search_code = 0;
+    gdma_pair_t *pair = NULL;
+    gdma_group_t *group = NULL;
+    DMA_CHECK(config && ret_chan, "invalid argument", err, ESP_ERR_INVALID_ARG);
+
+    if (config->flags.reserve_sibling) {
+        search_code = SEARCH_REQUEST_RX_CHANNEL | SEARCH_REQUEST_TX_CHANNEL; // search for a pair of channels
+    }
+    if (config->direction == GDMA_CHANNEL_DIRECTION_TX) {
+        search_code |= SEARCH_REQUEST_TX_CHANNEL; // search TX only
+        alloc_tx_channel = calloc(1, sizeof(gdma_tx_channel_t));
+        DMA_CHECK(alloc_tx_channel, "no mem for gdma tx channel", err, ESP_ERR_NO_MEM);
+    } else if (config->direction == GDMA_CHANNEL_DIRECTION_RX) {
+        search_code |= SEARCH_REQUEST_RX_CHANNEL; // search RX only
+        alloc_rx_channel = calloc(1, sizeof(gdma_rx_channel_t));
+        DMA_CHECK(alloc_rx_channel, "no mem for gdma rx channel", err, ESP_ERR_NO_MEM);
+    }
+
+    if (config->sibling_chan) {
+        pair = config->sibling_chan->pair;
+        DMA_CHECK(pair, "invalid sibling channel", err, ESP_ERR_INVALID_ARG);
+        DMA_CHECK(config->sibling_chan->direction != config->direction,
+                  "sibling channel should have a different direction", err, ESP_ERR_INVALID_ARG);
+        group = pair->group;
+        portENTER_CRITICAL(&pair->spinlock);
+        pair->ref_count++; // channel obtains a reference to pair
+        portEXIT_CRITICAL(&pair->spinlock);
+        goto search_done; // skip the search path below if user has specify a sibling channel
+    }
+
+    for (int i = 0; i < SOC_GDMA_GROUPS && search_code; i++) { // loop to search group
+        group = gdma_acquire_group_handle(i);
+        for (int j = 0; j < SOC_GDMA_PAIRS_PER_GROUP && search_code && group; j++) { // loop to search pair
+            pair = gdma_acquire_pair_handle(group, j);
+            if (pair) {
+                portENTER_CRITICAL(&pair->spinlock);
+                if (!(search_code & pair->occupy_code)) { // pair has suitable position for acquired channel(s)
+                    pair->occupy_code |= search_code;
+                    pair->ref_count++; // channel obtains a reference to pair
+                    search_code = 0; // exit search loop
+                }
+                portEXIT_CRITICAL(&pair->spinlock);
+            }
+            gdma_release_pair_handle(pair);
+        } // loop used to search pair
+        gdma_release_group_handle(group);
+    } // loop used to search group
+    DMA_CHECK(search_code == 0, "no free gdma channel, search code=%d", err, ESP_ERR_NOT_FOUND, search_code);
+
+search_done:
+    // register TX channel
+    if (alloc_tx_channel) {
+        pair->tx_chan = alloc_tx_channel;
+        alloc_tx_channel->base.pair = pair;
+        alloc_tx_channel->base.direction = GDMA_CHANNEL_DIRECTION_TX;
+        alloc_tx_channel->base.periph_id = GDMA_INVALID_PERIPH_TRIG;
+        alloc_tx_channel->base.del = gdma_del_tx_channel; // set channel deletion function
+        *ret_chan = &alloc_tx_channel->base; // return the installed channel
+    }
+
+    // register RX channel
+    if (alloc_rx_channel) {
+        pair->rx_chan = alloc_rx_channel;
+        alloc_rx_channel->base.pair = pair;
+        alloc_rx_channel->base.direction = GDMA_CHANNEL_DIRECTION_RX;
+        alloc_rx_channel->base.periph_id = GDMA_INVALID_PERIPH_TRIG;
+        alloc_rx_channel->base.del = gdma_del_rx_channel; // set channel deletion function
+        *ret_chan = &alloc_rx_channel->base; // return the installed channel
+    }
+
+    ESP_LOGD(TAG, "new %s channel (%d,%d) at %p", (config->direction == GDMA_CHANNEL_DIRECTION_TX) ? "tx" : "rx",
+             group->group_id, pair->pair_id, *ret_chan);
+    return ESP_OK;
+
+err:
+    if (alloc_tx_channel) {
+        free(alloc_tx_channel);
+    }
+    if (alloc_rx_channel) {
+        free(alloc_rx_channel);
+    }
+    return ret_code;
+}
+
+esp_err_t gdma_del_channel(gdma_channel_handle_t dma_chan)
+{
+    esp_err_t ret_code = ESP_OK;
+    DMA_CHECK(dma_chan, "invalid argument", err, ESP_ERR_INVALID_ARG);
+
+    ret_code = dma_chan->del(dma_chan); // call `gdma_del_tx_channel` or `gdma_del_rx_channel`
+
+err:
+    return ret_code;
+}
+
+esp_err_t gdma_get_channel_id(gdma_channel_handle_t dma_chan, int *channel_id)
+{
+    esp_err_t ret_code = ESP_OK;
+    gdma_pair_t *pair = NULL;
+    DMA_CHECK(dma_chan, "invalid argument", err, ESP_ERR_INVALID_ARG);
+    pair = dma_chan->pair;
+    *channel_id = pair->pair_id;
+err:
+    return ret_code;
+}
+
+esp_err_t gdma_connect(gdma_channel_handle_t dma_chan, gdma_trigger_t trig_periph)
+{
+    esp_err_t ret_code = ESP_OK;
+    gdma_pair_t *pair = NULL;
+    gdma_group_t *group = NULL;
+    DMA_CHECK(dma_chan, "invalid argument", err, ESP_ERR_INVALID_ARG);
+    DMA_CHECK(dma_chan->periph_id == GDMA_INVALID_PERIPH_TRIG, "channel is using by peripheral: %d", err, ESP_ERR_INVALID_STATE, dma_chan->periph_id);
+    pair = dma_chan->pair;
+    group = pair->group;
+
+    dma_chan->periph_id = trig_periph.instance_id;
+    // enable/disable m2m mode
+    gdma_ll_enable_m2m_mode(group->hal.dev, pair->pair_id, trig_periph.periph == GDMA_TRIG_PERIPH_M2M);
+
+    if (dma_chan->direction == GDMA_CHANNEL_DIRECTION_TX) {
+        gdma_ll_tx_reset_channel(group->hal.dev, pair->pair_id); // reset channel
+        if (trig_periph.periph != GDMA_TRIG_PERIPH_M2M) {
+            gdma_ll_tx_connect_to_periph(group->hal.dev, pair->pair_id, trig_periph.instance_id);
+        }
+    } else {
+        gdma_ll_rx_reset_channel(group->hal.dev, pair->pair_id); // reset channel
+        if (trig_periph.periph != GDMA_TRIG_PERIPH_M2M) {
+            gdma_ll_rx_connect_to_periph(group->hal.dev, pair->pair_id, trig_periph.instance_id);
+        }
+    }
+
+err:
+    return ret_code;
+}
+
+esp_err_t gdma_disconnect(gdma_channel_handle_t dma_chan)
+{
+    esp_err_t ret_code = ESP_OK;
+    gdma_pair_t *pair = NULL;
+    gdma_group_t *group = NULL;
+    DMA_CHECK(dma_chan, "invalid argument", err, ESP_ERR_INVALID_ARG);
+    DMA_CHECK(dma_chan->periph_id != GDMA_INVALID_PERIPH_TRIG, "no peripheral is connected to the channel", err, ESP_ERR_INVALID_STATE);
+    pair = dma_chan->pair;
+    group = pair->group;
+
+    dma_chan->periph_id = GDMA_INVALID_PERIPH_TRIG;
+    if (dma_chan->direction == GDMA_CHANNEL_DIRECTION_TX) {
+        gdma_ll_tx_connect_to_periph(group->hal.dev, pair->pair_id, GDMA_INVALID_PERIPH_TRIG);
+    } else {
+        gdma_ll_rx_connect_to_periph(group->hal.dev, pair->pair_id, GDMA_INVALID_PERIPH_TRIG);
+    }
+
+err:
+    return ret_code;
+}
+
+esp_err_t gdma_apply_strategy(gdma_channel_handle_t dma_chan, const gdma_strategy_config_t *config)
+{
+    esp_err_t ret_code = ESP_OK;
+    gdma_pair_t *pair = NULL;
+    gdma_group_t *group = NULL;
+    DMA_CHECK(dma_chan, "invalid argument", err, ESP_ERR_INVALID_ARG);
+    pair = dma_chan->pair;
+    group = pair->group;
+
+    if (dma_chan->direction == GDMA_CHANNEL_DIRECTION_TX) {
+        gdma_ll_tx_enable_owner_check(group->hal.dev, pair->pair_id, config->owner_check);
+        gdma_ll_tx_enable_auto_write_back(group->hal.dev, pair->pair_id, config->auto_update_desc);
+    } else {
+        gdma_ll_rx_enable_owner_check(group->hal.dev, pair->pair_id, config->owner_check);
+    }
+
+err:
+    return ret_code;
+}
+
+esp_err_t gdma_register_tx_event_callbacks(gdma_channel_handle_t dma_chan, gdma_tx_event_callbacks_t *cbs, void *user_data)
+{
+    esp_err_t ret_code = ESP_OK;
+    gdma_pair_t *pair = NULL;
+    gdma_group_t *group = NULL;
+    DMA_CHECK(dma_chan && dma_chan->direction == GDMA_CHANNEL_DIRECTION_TX, "invalid argument", err, ESP_ERR_INVALID_ARG);
+    pair = dma_chan->pair;
+    group = pair->group;
+    gdma_tx_channel_t *tx_chan = __containerof(dma_chan, gdma_tx_channel_t, base);
+
+    // lazy install interrupt service
+    DMA_CHECK(gdma_install_interrupt(pair) == ESP_OK, "install interrupt service failed", err, ESP_FAIL);
+
+    // enable/disable GDMA interrupt events for TX channel
+    portENTER_CRITICAL(&pair->spinlock);
+    gdma_ll_enable_interrupt(group->hal.dev, pair->pair_id, GDMA_LL_EVENT_TX_EOF, cbs->on_trans_eof != NULL);
+    portEXIT_CRITICAL(&pair->spinlock);
+
+    tx_chan->on_trans_eof = cbs->on_trans_eof;
+    tx_chan->user_data = user_data;
+
+err:
+    return ret_code;
+}
+
+esp_err_t gdma_register_rx_event_callbacks(gdma_channel_handle_t dma_chan, gdma_rx_event_callbacks_t *cbs, void *user_data)
+{
+    esp_err_t ret_code = ESP_OK;
+    gdma_pair_t *pair = NULL;
+    gdma_group_t *group = NULL;
+    DMA_CHECK(dma_chan && dma_chan->direction == GDMA_CHANNEL_DIRECTION_RX, "invalid argument", err, ESP_ERR_INVALID_ARG);
+    pair = dma_chan->pair;
+    group = pair->group;
+    gdma_rx_channel_t *rx_chan = __containerof(dma_chan, gdma_rx_channel_t, base);
+
+    // lazy install interrupt service
+    DMA_CHECK(gdma_install_interrupt(pair) == ESP_OK, "install interrupt service failed", err, ESP_FAIL);
+
+    // enable/disable GDMA interrupt events for RX channel
+    portENTER_CRITICAL(&pair->spinlock);
+    gdma_ll_enable_interrupt(group->hal.dev, pair->pair_id, GDMA_LL_EVENT_RX_SUC_EOF, cbs->on_recv_eof != NULL);
+    portEXIT_CRITICAL(&pair->spinlock);
+
+    rx_chan->on_recv_eof = cbs->on_recv_eof;
+    rx_chan->user_data = user_data;
+
+err:
+    return ret_code;
+}
+
+esp_err_t gdma_start(gdma_channel_handle_t dma_chan, intptr_t desc_base_addr)
+{
+    esp_err_t ret_code = ESP_OK;
+    gdma_pair_t *pair = NULL;
+    gdma_group_t *group = NULL;
+    DMA_CHECK(dma_chan, "invalid argument", err, ESP_ERR_INVALID_ARG);
+    pair = dma_chan->pair;
+    group = pair->group;
+
+    if (dma_chan->direction == GDMA_CHANNEL_DIRECTION_RX) {
+        gdma_ll_rx_set_desc_addr(group->hal.dev, pair->pair_id, desc_base_addr);
+        gdma_ll_rx_start(group->hal.dev, pair->pair_id);
+    } else {
+        gdma_ll_tx_set_desc_addr(group->hal.dev, pair->pair_id, desc_base_addr);
+        gdma_ll_tx_start(group->hal.dev, pair->pair_id);
+    }
+
+err:
+    return ret_code;
+}
+
+esp_err_t gdma_stop(gdma_channel_handle_t dma_chan)
+{
+    esp_err_t ret_code = ESP_OK;
+    gdma_pair_t *pair = NULL;
+    gdma_group_t *group = NULL;
+    DMA_CHECK(dma_chan, "invalid argument", err, ESP_ERR_INVALID_ARG);
+    pair = dma_chan->pair;
+    group = pair->group;
+
+    if (dma_chan->direction == GDMA_CHANNEL_DIRECTION_RX) {
+        gdma_ll_rx_stop(group->hal.dev, pair->pair_id);
+    } else {
+        gdma_ll_tx_stop(group->hal.dev, pair->pair_id);
+    }
+
+err:
+    return ret_code;
+}
+
+esp_err_t gdma_append(gdma_channel_handle_t dma_chan)
+{
+    esp_err_t ret_code = ESP_OK;
+    gdma_pair_t *pair = NULL;
+    gdma_group_t *group = NULL;
+    DMA_CHECK(dma_chan, "invalid argument", err, ESP_ERR_INVALID_ARG);
+    pair = dma_chan->pair;
+    group = pair->group;
+
+    if (dma_chan->direction == GDMA_CHANNEL_DIRECTION_RX) {
+        gdma_ll_rx_restart(group->hal.dev, pair->pair_id);
+    } else {
+        gdma_ll_tx_restart(group->hal.dev, pair->pair_id);
+    }
+
+err:
+    return ret_code;
+}
+
+static inline bool gdma_is_group_busy(gdma_group_t *group)
+{
+    return group->ref_count;
+}
+
+static void gdma_uninstall_group(gdma_group_t *group)
+{
+    int group_id = group->group_id;
+    bool do_deinitialize = false;
+
+    if (s_platform.groups[group_id] && !gdma_is_group_busy(group)) {
+        portENTER_CRITICAL(&s_platform.spinlock);
+        if (s_platform.groups[group_id] && !gdma_is_group_busy(group)) {
+            do_deinitialize = true;
+            s_platform.groups[group_id] = NULL; // deregister from platfrom
+            gdma_ll_enable_clock(group->hal.dev, false);
+            periph_module_disable(gdma_periph_signals.groups[group_id].module);
+        }
+        portEXIT_CRITICAL(&s_platform.spinlock);
+    }
+
+    if (do_deinitialize) {
+        free(group);
+        ESP_LOGD(TAG, "del group %d", group_id);
+    }
+}
+
+static gdma_group_t *gdma_acquire_group_handle(int group_id)
+{
+    gdma_group_t *group = NULL;
+    bool new_group = false;
+    portENTER_CRITICAL(&s_platform.spinlock);
+    if (!s_platform.groups[group_id]) {
+        // lazy install group
+        group = calloc(1, sizeof(gdma_group_t));
+        if (group) {
+            new_group = true;
+            s_platform.groups[group_id] = group; // register to platform
+            group->group_id = group_id;
+            group->spinlock = (portMUX_TYPE)portMUX_INITIALIZER_UNLOCKED;
+            periph_module_enable(gdma_periph_signals.groups[group_id].module); // enable APB to access GDMA registers
+            gdma_hal_init(&group->hal, group_id);       // initialize HAL context
+            gdma_ll_enable_clock(group->hal.dev, true); // enable gdma clock
+        }
+    } else {
+        group = s_platform.groups[group_id];
+    }
+    if (group) {
+        // someone acquired the group handle means we have a new object that refer to this group
+        group->ref_count++;
+    }
+    portEXIT_CRITICAL(&s_platform.spinlock);
+
+    if (new_group) {
+        ESP_LOGD(TAG, "new group (%d) at %p", group->group_id, group);
+    }
+    return group;
+}
+
+static void gdma_release_group_handle(gdma_group_t *group)
+{
+    if (group) {
+        portENTER_CRITICAL(&group->spinlock);
+        group->ref_count--;
+        portEXIT_CRITICAL(&group->spinlock);
+        gdma_uninstall_group(group);
+    }
+}
+
+static inline bool gdma_is_pair_busy(gdma_pair_t *pair)
+{
+    return pair->ref_count;
+}
+
+static void gdma_uninstall_pair(gdma_pair_t *pair)
+{
+    gdma_group_t *group = pair->group;
+    int pair_id = pair->pair_id;
+    bool do_deinitialize = false;
+
+    if (group->pairs[pair_id] && !gdma_is_pair_busy(pair)) {
+        portENTER_CRITICAL(&group->spinlock);
+        if (group->pairs[pair_id] && !gdma_is_pair_busy(pair)) {
+            do_deinitialize = true;
+            group->pairs[pair_id] = NULL; // deregister from pair
+            group->ref_count--; // decrease reference count, because this pair won't refer to the group
+        }
+        portEXIT_CRITICAL(&group->spinlock);
+    }
+    if (do_deinitialize) {
+        if (pair->intr) {
+            esp_intr_free(pair->intr); // free interrupt resource
+            ESP_LOGD(TAG, "uninstall interrupt service for pair (%d,%d)", group->group_id, pair_id);
+        }
+        free(pair);
+        ESP_LOGD(TAG, "del pair (%d,%d)", group->group_id, pair_id);
+        gdma_uninstall_group(group);
+    }
+}
+
+static gdma_pair_t *gdma_acquire_pair_handle(gdma_group_t *group, int pair_id)
+{
+    gdma_pair_t *pair = NULL;
+    bool new_pair = false;
+    portENTER_CRITICAL(&group->spinlock);
+    if (!group->pairs[pair_id]) {
+        // lazy install pair
+        pair = calloc(1, sizeof(gdma_pair_t));
+        if (pair) {
+            new_pair = true;
+            group->pairs[pair_id] = pair; // register to group
+            group->ref_count++; // pair obtains a reference to group
+            pair->group = group;
+            pair->pair_id = pair_id;
+            pair->spinlock = (portMUX_TYPE)portMUX_INITIALIZER_UNLOCKED;
+        }
+    } else {
+        pair = group->pairs[pair_id];
+    }
+    if (pair) {
+        // someone acquired the pair handle means we have a new object that refer to this pair
+        pair->ref_count++;
+    }
+    portEXIT_CRITICAL(&group->spinlock);
+
+    if (new_pair) {
+        ESP_LOGD(TAG, "new pair (%d,%d) at %p", group->group_id, pair->pair_id, pair);
+    }
+    return pair;
+}
+
+static void gdma_release_pair_handle(gdma_pair_t *pair)
+{
+    if (pair) {
+        portENTER_CRITICAL(&pair->spinlock);
+        pair->ref_count--;
+        portEXIT_CRITICAL(&pair->spinlock);
+        gdma_uninstall_pair(pair);
+    }
+}
+
+static esp_err_t gdma_del_tx_channel(gdma_channel_t *dma_channel)
+{
+    gdma_pair_t *pair = dma_channel->pair;
+    gdma_tx_channel_t *tx_chan = __containerof(dma_channel, gdma_tx_channel_t, base);
+    portENTER_CRITICAL(&pair->spinlock);
+    pair->tx_chan = NULL;
+    pair->ref_count--; // decrease reference count, because this channel won't refer to the pair
+    pair->occupy_code &= ~SEARCH_REQUEST_TX_CHANNEL;
+    portEXIT_CRITICAL(&pair->spinlock);
+
+    ESP_LOGD(TAG, "del tx channel (%d,%d)", pair->group->group_id, pair->pair_id);
+    free(tx_chan);
+
+    gdma_uninstall_pair(pair);
+    return ESP_OK;
+}
+
+static esp_err_t gdma_del_rx_channel(gdma_channel_t *dma_channel)
+{
+    gdma_pair_t *pair = dma_channel->pair;
+    gdma_rx_channel_t *rx_chan = __containerof(dma_channel, gdma_rx_channel_t, base);
+    portENTER_CRITICAL(&pair->spinlock);
+    pair->rx_chan = NULL;
+    pair->ref_count--; // decrease reference count, because this channel won't refer to the pair
+    pair->occupy_code &= ~SEARCH_REQUEST_RX_CHANNEL;
+    portEXIT_CRITICAL(&pair->spinlock);
+
+    ESP_LOGD(TAG, "del rx channel (%d,%d)", pair->group->group_id, pair->pair_id);
+    free(rx_chan);
+
+    gdma_uninstall_pair(pair);
+    return ESP_OK;
+}
+
+static void IRAM_ATTR gdma_default_isr(void *args)
+{
+    gdma_pair_t *pair = (gdma_pair_t *)args;
+    gdma_group_t *group = pair->group;
+    gdma_rx_channel_t *rx_chan = pair->rx_chan;
+    gdma_tx_channel_t *tx_chan = pair->tx_chan;
+    bool need_yield = false;
+    // clear pending interrupt event
+    uint32_t intr_status = gdma_ll_get_interrupt_status(group->hal.dev, pair->pair_id);
+    gdma_ll_clear_interrupt_status(group->hal.dev, pair->pair_id, intr_status);
+
+    if (intr_status & GDMA_LL_EVENT_RX_SUC_EOF) {
+        if (rx_chan && rx_chan->on_recv_eof) {
+            uint32_t eof_addr = gdma_ll_rx_get_success_eof_desc_addr(group->hal.dev, pair->pair_id);
+            gdma_event_data_t edata = {
+                .rx_eof_desc_addr = eof_addr
+            };
+            if (rx_chan->on_recv_eof(&rx_chan->base, &edata, rx_chan->user_data)) {
+                need_yield = true;
+            }
+        }
+    }
+
+    if (intr_status & GDMA_LL_EVENT_TX_EOF) {
+        if (tx_chan && tx_chan->on_trans_eof) {
+            uint32_t eof_addr = gdma_ll_tx_get_eof_desc_addr(group->hal.dev, pair->pair_id);
+            gdma_event_data_t edata = {
+                .tx_eof_desc_addr = eof_addr
+            };
+            if (tx_chan->on_trans_eof(&tx_chan->base, &edata, tx_chan->user_data)) {
+                need_yield = true;
+            }
+        }
+    }
+
+    if (need_yield) {
+        portYIELD_FROM_ISR();
+    }
+}
+
+static esp_err_t gdma_install_interrupt(gdma_pair_t *pair)
+{
+    esp_err_t ret_code = ESP_OK;
+    gdma_group_t *group = pair->group;
+    int isr_flags = 0;
+    bool do_install_isr = false;
+
+    if (!pair->intr) {
+        portENTER_CRITICAL(&pair->spinlock);
+        if (!pair->intr) {
+            do_install_isr = true;
+            ret_code = esp_intr_alloc(gdma_periph_signals.groups[group->group_id].pairs[pair->pair_id].irq_id, isr_flags, gdma_default_isr, pair, &pair->intr);
+            gdma_ll_enable_interrupt(group->hal.dev, pair->pair_id, UINT32_MAX, false); // disable all interupt events
+            gdma_ll_clear_interrupt_status(group->hal.dev, pair->pair_id, UINT32_MAX);  // clear all pending events
+        }
+        portEXIT_CRITICAL(&pair->spinlock);
+    }
+    if (do_install_isr) {
+        DMA_CHECK(ret_code == ESP_OK, "alloc interrupt failed", err, ret_code);
+        ESP_LOGD(TAG, "install interrupt service for pair (%d,%d)", group->group_id, pair->pair_id);
+    }
+
+err:
+    return ret_code;
+}
diff --git a/components/driver/include/esp_private/gdma.h b/components/driver/include/esp_private/gdma.h
new file mode 100644
index 0000000000..ee954bd769
--- /dev/null
+++ b/components/driver/include/esp_private/gdma.h
@@ -0,0 +1,285 @@
+// Copyright 2020 Espressif Systems (Shanghai) PTE LTD
+//
+// Licensed 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.
+
+// DO NOT USE THESE APIS IN ANY APPLICATIONS
+// GDMA driver is not public for end users, but for ESP-IDF developpers.
+
+#pragma once
+
+#include <stdbool.h>
+#include "soc/gdma_channel.h"
+#include "esp_err.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @brief Type of GDMA channel handle
+ *
+ */
+typedef struct gdma_channel_t *gdma_channel_handle_t;
+
+/**
+ * @brief Enumeration of peripherals which have the DMA capability
+ * @note Some peripheral might not be available on certain chip, please refer to `soc_caps.h` for detail.
+ *
+ */
+typedef enum {
+    GDMA_TRIG_PERIPH_M2M,  /*!< GDMA trigger peripheral: M2M */
+    GDMA_TRIG_PERIPH_UART, /*!< GDMA trigger peripheral: UART */
+    GDMA_TRIG_PERIPH_SPI,  /*!< GDMA trigger peripheral: SPI */
+    GDMA_TRIG_PERIPH_I2S,  /*!< GDMA trigger peripheral: I2S */
+    GDMA_TRIG_PERIPH_AES,  /*!< GDMA trigger peripheral: AES */
+    GDMA_TRIG_PERIPH_SHA,  /*!< GDMA trigger peripheral: SHA */
+    GDMA_TRIG_PERIPH_ADC,  /*!< GDMA trigger peripheral: ADC */
+    GDMA_TRIG_PERIPH_DAC,  /*!< GDMA trigger peripheral: DAC */
+    GDMA_TRIG_PERIPH_LCD,  /*!< GDMA trigger peripheral: LCD */
+    GDMA_TRIG_PERIPH_CAM   /*!< GDMA trigger peripheral: CAM */
+} gdma_trigger_peripheral_t;
+
+/**
+ * @brief Enumeration of GDMA channel direction
+ *
+ */
+typedef enum {
+    GDMA_CHANNEL_DIRECTION_TX, /*!< GDMA channel direction: TX */
+    GDMA_CHANNEL_DIRECTION_RX, /*!< GDMA channel direction: RX */
+} gdma_channel_direction_t;
+
+/**
+ * @brief Collection of configuration items that used for allocating GDMA channel
+ *
+ */
+typedef struct {
+    gdma_channel_handle_t sibling_chan; /*!< DMA sibling channel handle (NULL means having sibling is not necessary) */
+    gdma_channel_direction_t direction; /*!< DMA channel direction */
+    struct {
+        int reserve_sibling: 1;   /*!< If set, DMA channel allocator would prefer to allocate new channel in a new pair, and reserve sibling channel for future use */
+    } flags;
+} gdma_channel_alloc_config_t;
+
+/**
+ * @brief Type of GDMA event data
+ *
+ */
+typedef struct {
+    union {
+        intptr_t rx_eof_desc_addr; /*!< EOF descriptor address of RX channel */
+        intptr_t tx_eof_desc_addr; /*!< EOF descriptor address of TX channel */
+    };
+} gdma_event_data_t;
+
+/**
+ * @brief Type of GDMA event callback
+ * @param dma_chan GDMA channel handle, created from `gdma_new_channel`
+ * @param event_data GDMA event data
+ * @param user_data User registered data from `gdma_register_tx_event_callbacks` or `gdma_register_rx_event_callbacks`
+ *
+ */
+typedef bool (*gdma_event_callback_t)(gdma_channel_handle_t dma_chan, gdma_event_data_t *event_data, void *user_data);
+
+/**
+ * @brief Group of supported GDMA TX callbacks
+ * @note The callbacks are all running under ISR environment
+ *
+ */
+typedef struct {
+    gdma_event_callback_t on_trans_eof; /*!< Invoked when TX engine meets EOF descriptor */
+} gdma_tx_event_callbacks_t;
+
+/**
+ * @brief Group of supported GDMA RX callbacks
+ * @note The callbacks are all running under ISR environment
+ *
+ */
+typedef struct {
+    gdma_event_callback_t on_recv_eof; /*!< Invoked when RX engine meets EOF descriptor */
+} gdma_rx_event_callbacks_t;
+
+/**
+ * @brief Type of GDMA engine trigger
+ * @note It's recommended to initialize this structure with `GDMA_MAKE_TRIGGER`.
+ *
+ */
+typedef struct {
+    gdma_trigger_peripheral_t periph; /*!< Target peripheral which will trigger DMA operations */
+    int instance_id;                  /*!< Peripheral instance ID. Supported IDs are listed in `soc/gdma_channel.h`, e.g. SOC_GDMA_TRIG_PERIPH_UART0 */
+} gdma_trigger_t;
+
+/**
+ * @brief Helper macro to initialize GDMA trigger
+ * @note value of `peri` must be selected from `gdma_trigger_peripheral_t` enum.
+ *       e.g. GDMA_MAKE_TRIGGER(GDMA_TRIG_PERIPH_UART,0)
+ *
+ */
+#define GDMA_MAKE_TRIGGER(peri, id) \
+    (gdma_trigger_t) { .periph = peri, .instance_id = SOC_##peri##id }
+
+/**
+ * @brief A collection of strategy item that each GDMA channel could apply
+ *
+ */
+typedef struct {
+    bool owner_check;      /*!< If set / clear, DMA channel enables / disables checking owner validity */
+    bool auto_update_desc; /*!< If set / clear, DMA channel enables / disables hardware to update descriptor automatically (TX channel only) */
+} gdma_strategy_config_t;
+
+/**
+ * @brief Create GDMA channel
+ * @note This API won't install interrupt service for the allocated channel.
+ *       If interrupt service is needed, user has to register GDMA event callback by `gdma_register_tx_event_callbacks` or `gdma_register_rx_event_callbacks`.
+ *
+ * @param[in] config Pointer to a collection of configurations for allocating GDMA channel
+ * @param[out] ret_chan Returnned channel handle
+ * @return
+ *      - ESP_OK: Create DMA channel successfully
+ *      - ESP_ERR_INVALID_ARG: Create DMA channel failed because of invalid argument
+ *      - ESP_ERR_NO_MEM: Create DMA channel failed because out of memory
+ *      - ESP_ERR_TIMEOUT: Create DMA channel failed because of time out
+ *      - ESP_FAIL: Create DMA channel failed because of other error
+ */
+esp_err_t gdma_new_channel(const gdma_channel_alloc_config_t *config, gdma_channel_handle_t *ret_chan);
+
+/**
+ * @brief Connect GDMA channel to trigger peripheral
+ *
+ * @note Suggest to use helper macro `GDMA_MAKE_TRIGGER` to construct parameter `trig_periph`. e.g. GDMA_MAKE_TRIGGER(GDMA_TRIG_PERIPH_SHA,0)
+ *
+ * @param[in] dma_chan GDMA channel handle, allocated by `gdma_new_channel`
+ * @param[in] trig_periph GDMA trigger peripheral
+ * @return
+ *      - ESP_OK: Connect GDMA channel successfully
+ *      - ESP_ERR_INVALID_ARG: Connect GDMA channel failed because of invalid argument
+ *      - ESP_ERR_INVALID_STATE: Connect GDMA channel failed because DMA channel is working with another peripheral
+ *      - ESP_FAIL: Connect GDMA channel failed because of other error
+ */
+esp_err_t gdma_connect(gdma_channel_handle_t dma_chan, gdma_trigger_t trig_periph);
+
+/**
+ * @brief Disconnect GMA channel from peripheral
+ *
+ * @param[in] dma_chan GDMA channel handle, allocated by `gdma_new_channel`
+ * @return
+ *      - ESP_OK: Disconnect GDMA channel successfully
+ *      - ESP_ERR_INVALID_ARG: Disconnect GDMA channel failed because of invalid argument
+ *      - ESP_ERR_INVALID_STATE: Disconnect GDMA channel failed because DMA channel is not connected to any peripheral
+ *      - ESP_FAIL: Disconnect DMA channel failed because of other error
+ */
+esp_err_t gdma_disconnect(gdma_channel_handle_t dma_chan);
+
+/**
+ * @brief Apply channel strategy for GDMA channel
+ *
+ * @param dma_chan GDMA channel handle, allocated by `gdma_new_channel`
+ * @param config Configuration of GDMA channel strategy
+ *      - ESP_OK: Apply channel strategy successfully
+ *      - ESP_ERR_INVALID_ARG: Apply channel strategy failed because of invalid argument
+ *      - ESP_FAIL: Apply channel strategy failed because of other error
+ */
+esp_err_t gdma_apply_strategy(gdma_channel_handle_t dma_chan, const gdma_strategy_config_t *config);
+
+/**
+ * @brief Delete GDMA channel
+ * @note If you call `gdma_new_channel` several times for a same peripheral, make sure you call this API the same times.
+ *
+ * @param[in] dma_chan GDMA channel handle, allocated by `gdma_new_channel`
+ * @return
+ *      - ESP_OK: Delete GDMA channel successfully
+ *      - ESP_ERR_INVALID_ARG: Delete GDMA channel failed because of invalid argument
+ *      - ESP_FAIL: Delete GDMA channel failed because of other error
+ */
+esp_err_t gdma_del_channel(gdma_channel_handle_t dma_chan);
+
+/**
+ * @brief Get the channel ID
+ *
+ * @note This API breaks the encapsulation of GDMA Channel Object.
+ *       With the returned channel ID, you can even bypass all other GDMA driver API and access Low Level API directly.
+ *
+ * @param[in] dma_chan GDMA channel handle, allocated by `gdma_new_channel`
+ * @param[out] channel_id Returned channel ID
+ * @return
+ *      - ESP_OK: Get GDMA channel ID successfully
+ *      - ESP_ERR_INVALID_ARG: Get GDMA channel ID failed because of invalid argument
+ *      - ESP_FAIL: Get GDMA channel ID failed because of other error
+ */
+esp_err_t gdma_get_channel_id(gdma_channel_handle_t dma_chan, int *channel_id);
+
+/**
+ * @brief Set GDMA event callbacks for TX channel
+ * @note This API will install GDMA interrupt service for the channel internally
+ *
+ * @param[in] dma_chan GDMA channel handle, allocated by `gdma_new_channel`
+ * @param[in] cbs Group of callback functions
+ * @param[in] user_data User data, which will be passed to callback functions directly
+ * @return
+ *      - ESP_OK: Set event callbacks successfully
+ *      - ESP_ERR_INVALID_ARG: Set event callbacks failed because of invalid argument
+ *      - ESP_FAIL: Set event callbacks failed because of other error
+ */
+esp_err_t gdma_register_tx_event_callbacks(gdma_channel_handle_t dma_chan, gdma_tx_event_callbacks_t *cbs, void *user_data);
+
+/**
+ * @brief Set GDMA event callbacks for RX channel
+ * @note This API will install GDMA interrupt service for the channel internally
+ *
+ * @param[in] dma_chan GDMA channel handle, allocated by `gdma_new_channel`
+ * @param[in] cbs Group of callback functions
+ * @param[in] user_data User data, which will be passed to callback functions directly
+ * @return
+ *      - ESP_OK: Set event callbacks successfully
+ *      - ESP_ERR_INVALID_ARG: Set event callbacks failed because of invalid argument
+ *      - ESP_FAIL: Set event callbacks failed because of other error
+ */
+esp_err_t gdma_register_rx_event_callbacks(gdma_channel_handle_t dma_chan, gdma_rx_event_callbacks_t *cbs, void *user_data);
+
+/**
+ * @brief Set DMA descriptor address and start engine
+ *
+ * @param[in] dma_chan GDMA channel handle, allocated by `gdma_new_channel`
+ * @param[in] desc_base_addr Base address of descriptors (usually the descriptors are chained into a link or ring)
+ * @return
+ *      - ESP_OK: Start DMA engine successfully
+ *      - ESP_ERR_INVALID_ARG: Start DMA engine failed because of invalid argument
+ *      - ESP_FAIL: Start DMA engine failed because of other error
+ */
+esp_err_t gdma_start(gdma_channel_handle_t dma_chan, intptr_t desc_base_addr);
+
+/**
+ * @brief Stop DMA engine
+ *
+ * @param[in] dma_chan GDMA channel handle, allocated by `gdma_new_channel`
+ * @return
+ *      - ESP_OK: Stop DMA engine successfully
+ *      - ESP_ERR_INVALID_ARG: Stop DMA engine failed because of invalid argument
+ *      - ESP_FAIL: Stop DMA engine failed because of other error
+ */
+esp_err_t gdma_stop(gdma_channel_handle_t dma_chan);
+
+/**
+ * @brief Make the appended descriptors be aware to the DMA engine
+ * @note This API could also resume a paused DMA engine, make sure new descriptors have been appended to the descriptor chain before calling it.
+ *
+ * @param[in] dma_chan GDMA channel handle, allocated by `gdma_new_channel`
+ * @return
+ *      - ESP_OK: Send append command to DMA engine successfully
+ *      - ESP_ERR_INVALID_ARG: Send append command to DMA engine failed because of invalid argument
+ *      - ESP_FAIL: Send append command to DMA engine failed because of other error
+ */
+esp_err_t gdma_append(gdma_channel_handle_t dma_chan);
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/components/driver/spi_common.c b/components/driver/spi_common.c
index 1759c68665..fab0e19709 100644
--- a/components/driver/spi_common.c
+++ b/components/driver/spi_common.c
@@ -39,6 +39,7 @@
 //This GDMA related part will be introduced by GDMA dedicated APIs in the future. Here we temporarily use macros.
 #if SOC_GDMA_SUPPORTED
 #include "hal/gdma_ll.h"
+#include "soc/gdma_channel.h"
 #include "soc/spi_caps.h"
 
 #define spi_dma_set_rx_channel_priority(gdma_chan, priority)       gdma_ll_rx_set_priority(&GDMA, gdma_chan, priority);
@@ -205,11 +206,11 @@ void spicommon_connect_spi_and_dma(spi_host_device_t host, int dma_chan)
     int gdma_chan, periph_id;
     if (dma_chan == 1) {
         gdma_chan = SOC_GDMA_SPI2_DMA_CHANNEL;
-        periph_id = GDMA_LL_TRIG_SRC_SPI2;
-#ifdef GDMA_LL_TRIG_SRC_SPI3
+        periph_id = SOC_GDMA_TRIG_PERIPH_SPI2;
+#ifdef SOC_GDMA_TRIG_PERIPH_SPI3
     } else if (dma_chan == 2) {
         gdma_chan = SOC_GDMA_SPI3_DMA_CHANNEL;
-        periph_id = GDMA_LL_TRIG_SRC_SPI3;
+        periph_id = SOC_GDMA_TRIG_PERIPH_SPI3;
 #endif
     } else {
         abort();
diff --git a/components/driver/test/test_gdma.c b/components/driver/test/test_gdma.c
new file mode 100644
index 0000000000..1f6d0dce26
--- /dev/null
+++ b/components/driver/test/test_gdma.c
@@ -0,0 +1,60 @@
+#include "unity.h"
+#include "esp_private/gdma.h"
+#include "soc/soc_caps.h"
+
+#if SOC_GDMA_SUPPORTED
+
+TEST_CASE("GDMA channel allocation", "[gdma]")
+{
+    gdma_channel_alloc_config_t channel_config = {};
+    gdma_channel_handle_t tx_channels[SOC_GDMA_PAIRS_PER_GROUP] = {};
+    gdma_channel_handle_t rx_channels[SOC_GDMA_PAIRS_PER_GROUP] = {};
+    channel_config.direction = GDMA_CHANNEL_DIRECTION_TX;
+
+    // install TX channels for different peripherals
+    for (int i = 0; i < SOC_GDMA_PAIRS_PER_GROUP; i++) {
+        TEST_ESP_OK(gdma_new_channel(&channel_config, &tx_channels[i]));
+        TEST_ESP_OK(gdma_connect(tx_channels[i], GDMA_MAKE_TRIGGER(GDMA_TRIG_PERIPH_M2M, 0)));
+    };
+    TEST_ASSERT_EQUAL(ESP_ERR_NOT_FOUND, gdma_new_channel(&channel_config, &tx_channels[0]));
+
+    // install RX channels for different peripherals
+    channel_config.direction = GDMA_CHANNEL_DIRECTION_RX;
+    for (int i = 0; i < SOC_GDMA_PAIRS_PER_GROUP; i++) {
+        TEST_ESP_OK(gdma_new_channel(&channel_config, &rx_channels[i]));
+        TEST_ESP_OK(gdma_connect(rx_channels[i], GDMA_MAKE_TRIGGER(GDMA_TRIG_PERIPH_M2M, 0)));
+    }
+    TEST_ASSERT_EQUAL(ESP_ERR_NOT_FOUND, gdma_new_channel(&channel_config, &rx_channels[0]));
+
+    for (int i = 0; i < SOC_GDMA_PAIRS_PER_GROUP; i++) {
+        TEST_ESP_OK(gdma_disconnect(tx_channels[i]));
+        TEST_ESP_OK(gdma_disconnect(rx_channels[i]));
+        TEST_ESP_OK(gdma_del_channel(tx_channels[i]));
+        TEST_ESP_OK(gdma_del_channel(rx_channels[i]));
+    }
+
+    // install single and paired TX/RX channels
+#if SOC_GDMA_PAIRS_PER_GROUP >= 2
+    // single tx channel
+    channel_config.direction = GDMA_CHANNEL_DIRECTION_TX;
+    TEST_ESP_OK(gdma_new_channel(&channel_config, &tx_channels[0]));
+
+    // create tx channel and reserve sibling
+    channel_config.direction = GDMA_CHANNEL_DIRECTION_TX;
+    channel_config.flags.reserve_sibling = 1;
+    TEST_ESP_OK(gdma_new_channel(&channel_config, &tx_channels[1]));
+    // create rx channel and specify sibling channel
+    channel_config.flags.reserve_sibling = 0;
+    channel_config.sibling_chan = tx_channels[1]; // specify sibling channel
+    channel_config.direction = GDMA_CHANNEL_DIRECTION_RX;
+    TEST_ESP_OK(gdma_new_channel(&channel_config, &rx_channels[1]));
+    channel_config.sibling_chan = NULL;
+    TEST_ESP_OK(gdma_new_channel(&channel_config, &rx_channels[0]));
+    for (int i = 0; i < 2; i++) {
+        TEST_ESP_OK(gdma_del_channel(tx_channels[i]));
+        TEST_ESP_OK(gdma_del_channel(rx_channels[i]));
+    }
+#endif
+}
+
+#endif
diff --git a/components/esp_system/esp_async_memcpy.c b/components/esp_system/esp_async_memcpy.c
index 09ec9e9724..dce20ca492 100644
--- a/components/esp_system/esp_async_memcpy.c
+++ b/components/esp_system/esp_async_memcpy.c
@@ -48,6 +48,7 @@ typedef struct {
  */
 typedef struct async_memcpy_context_t {
     async_memcpy_impl_t mcp_impl; // implementation layer
+    portMUX_TYPE spinlock;     // spinlock, prevent operating descriptors concurrently
     intr_handle_t intr_hdl;    // interrupt handle
     uint32_t flags;            // extra driver flags
     dma_descriptor_t *tx_desc; // pointer to the next free TX descriptor
@@ -73,11 +74,6 @@ esp_err_t esp_async_memcpy_install(const async_memcpy_config_t *config, async_me
     mcp_hdl = heap_caps_calloc(1, total_malloc_size, MALLOC_CAP_8BIT | MALLOC_CAP_DMA | MALLOC_CAP_INTERNAL);
     ASMCP_CHECK(mcp_hdl, "allocate context memory failed", err, ESP_ERR_NO_MEM);
 
-    int int_flags = ESP_INTR_FLAG_IRAM; // interrupt can still work when cache is disabled
-    // allocate interrupt handle, it's target dependent
-    ret_code = async_memcpy_impl_allocate_intr(&mcp_hdl->mcp_impl, int_flags, &mcp_hdl->intr_hdl);
-    ASMCP_CHECK(ret_code == ESP_OK, "allocate interrupt handle failed", err, ret_code);
-
     mcp_hdl->flags = config->flags;
     mcp_hdl->out_streams = mcp_hdl->streams_pool;
     mcp_hdl->in_streams = mcp_hdl->streams_pool + config->backlog;
@@ -96,20 +92,18 @@ esp_err_t esp_async_memcpy_install(const async_memcpy_config_t *config, async_me
     mcp_hdl->tx_desc = &mcp_hdl->out_streams[0].desc;
     mcp_hdl->rx_desc = &mcp_hdl->in_streams[0].desc;
     mcp_hdl->next_rx_desc_to_check = &mcp_hdl->in_streams[0].desc;
+    mcp_hdl->spinlock = (portMUX_TYPE)portMUX_INITIALIZER_UNLOCKED;
 
     // initialize implementation layer
-    async_memcpy_impl_init(&mcp_hdl->mcp_impl, &mcp_hdl->out_streams[0].desc, &mcp_hdl->in_streams[0].desc);
+    async_memcpy_impl_init(&mcp_hdl->mcp_impl);
 
     *asmcp = mcp_hdl;
 
-    async_memcpy_impl_start(&mcp_hdl->mcp_impl);
+    async_memcpy_impl_start(&mcp_hdl->mcp_impl, (intptr_t)&mcp_hdl->out_streams[0].desc, (intptr_t)&mcp_hdl->in_streams[0].desc);
 
     return ESP_OK;
 err:
     if (mcp_hdl) {
-        if (mcp_hdl->intr_hdl) {
-            esp_intr_free(mcp_hdl->intr_hdl);
-        }
         free(mcp_hdl);
     }
     if (asmcp) {
@@ -123,7 +117,6 @@ esp_err_t esp_async_memcpy_uninstall(async_memcpy_t asmcp)
     esp_err_t ret_code = ESP_OK;
     ASMCP_CHECK(asmcp, "mcp handle can't be null", err, ESP_ERR_INVALID_ARG);
 
-    esp_intr_free(asmcp->intr_hdl);
     async_memcpy_impl_stop(&asmcp->mcp_impl);
     async_memcpy_impl_deinit(&asmcp->mcp_impl);
     free(asmcp);
@@ -243,7 +236,7 @@ esp_err_t esp_async_memcpy(async_memcpy_t asmcp, void *dst, void *src, size_t n,
     ASMCP_CHECK(n <= DMA_DESCRIPTOR_BUFFER_MAX_SIZE * asmcp->max_stream_num, "buffer size too large", err, ESP_ERR_INVALID_ARG);
 
     // Prepare TX and RX descriptor
-    portENTER_CRITICAL_SAFE(&asmcp->mcp_impl.hal_lock);
+    portENTER_CRITICAL_SAFE(&asmcp->spinlock);
     rx_prepared_size = async_memcpy_prepare_receive(asmcp, dst, n, &rx_start_desc, &rx_end_desc);
     tx_prepared_size = async_memcpy_prepare_transmit(asmcp, src, n, &tx_start_desc, &tx_end_desc);
     if ((rx_prepared_size == n) && (tx_prepared_size == n)) {
@@ -269,7 +262,7 @@ esp_err_t esp_async_memcpy(async_memcpy_t asmcp, void *dst, void *src, size_t n,
         asmcp->tx_desc = desc->next;
         async_memcpy_impl_restart(&asmcp->mcp_impl);
     }
-    portEXIT_CRITICAL_SAFE(&asmcp->mcp_impl.hal_lock);
+    portEXIT_CRITICAL_SAFE(&asmcp->spinlock);
 
     // It's unlikely that we have space for rx descriptor but no space for tx descriptor
     // Both tx and rx descriptor should move in the same pace
@@ -289,14 +282,14 @@ IRAM_ATTR void async_memcpy_isr_on_rx_done_event(async_memcpy_impl_t *impl)
     async_memcpy_context_t *asmcp = __containerof(impl, async_memcpy_context_t, mcp_impl);
 
     // get the RX eof descriptor address
-    dma_descriptor_t *eof = async_memcpy_impl_get_rx_suc_eof_descriptor(impl);
+    dma_descriptor_t *eof = (dma_descriptor_t *)impl->rx_eof_addr;
     // traversal all unchecked descriptors
     do {
-        portENTER_CRITICAL_ISR(&impl->hal_lock);
+        portENTER_CRITICAL_ISR(&asmcp->spinlock);
         // There is an assumption that the usage of rx descriptors are in the same pace as tx descriptors (this is determined by M2M DMA working mechanism)
         // And once the rx descriptor is recycled, the corresponding tx desc is guaranteed to be returned by DMA
         to_continue = async_memcpy_get_next_rx_descriptor(asmcp, eof, &next_desc);
-        portEXIT_CRITICAL_ISR(&impl->hal_lock);
+        portEXIT_CRITICAL_ISR(&asmcp->spinlock);
         if (next_desc) {
             in_stream = __containerof(next_desc, async_memcpy_stream_t, desc);
             // invoke user registered callback if available
diff --git a/components/esp_system/port/async_memcpy_impl_gdma.c b/components/esp_system/port/async_memcpy_impl_gdma.c
index abaa5c30b1..0c3a2f599b 100644
--- a/components/esp_system/port/async_memcpy_impl_gdma.c
+++ b/components/esp_system/port/async_memcpy_impl_gdma.c
@@ -24,76 +24,85 @@
 #include "esp_err.h"
 #include "esp_async_memcpy_impl.h"
 
-IRAM_ATTR static void async_memcpy_impl_default_isr_handler(void *args)
+IRAM_ATTR static bool async_memcpy_impl_rx_eof_callback(gdma_channel_handle_t dma_chan, gdma_event_data_t *event_data, void *user_data)
 {
-    async_memcpy_impl_t *mcp_impl = (async_memcpy_impl_t *)args;
+    async_memcpy_impl_t *mcp_impl = (async_memcpy_impl_t *)user_data;
+    mcp_impl->rx_eof_addr = event_data->rx_eof_desc_addr;
 
-    portENTER_CRITICAL_ISR(&mcp_impl->hal_lock);
-    uint32_t status = gdma_ll_get_interrupt_status(mcp_impl->hal.dev, SOC_GDMA_M2M_DMA_CHANNEL);
-    gdma_ll_clear_interrupt_status(mcp_impl->hal.dev, SOC_GDMA_M2M_DMA_CHANNEL, status);
-    portEXIT_CRITICAL_ISR(&mcp_impl->hal_lock);
-
-    // End-Of-Frame on RX side
-    if (status & GDMA_LL_EVENT_RX_SUC_EOF) {
-        async_memcpy_isr_on_rx_done_event(mcp_impl);
-    }
-
-    if (mcp_impl->isr_need_yield) {
-        mcp_impl->isr_need_yield = false;
-        portYIELD_FROM_ISR();
-    }
+    async_memcpy_isr_on_rx_done_event(mcp_impl);
+    return mcp_impl->isr_need_yield;
 }
 
-esp_err_t async_memcpy_impl_allocate_intr(async_memcpy_impl_t *impl, int int_flags, intr_handle_t *intr)
+esp_err_t async_memcpy_impl_init(async_memcpy_impl_t *impl)
 {
-    return esp_intr_alloc(ETS_DMA_CH0_INTR_SOURCE, int_flags, async_memcpy_impl_default_isr_handler, impl, intr);
-}
+    esp_err_t ret = ESP_OK;
+    // create TX channel and reserve sibling channel for future use
+    gdma_channel_alloc_config_t tx_alloc_config = {
+        .flags.reserve_sibling = 1,
+        .direction = GDMA_CHANNEL_DIRECTION_TX,
+    };
+    ret = gdma_new_channel(&tx_alloc_config, &impl->tx_channel);
+    if (ret != ESP_OK) {
+        goto err;
+    }
 
-esp_err_t async_memcpy_impl_init(async_memcpy_impl_t *impl, dma_descriptor_t *outlink_base, dma_descriptor_t *inlink_base)
-{
-    impl->hal_lock = (portMUX_TYPE)portMUX_INITIALIZER_UNLOCKED;
-    impl->hal.dev = &GDMA;
-    periph_module_enable(PERIPH_GDMA_MODULE);
-    gdma_ll_enable_clock(impl->hal.dev, true);
-    gdma_ll_tx_reset_channel(impl->hal.dev, SOC_GDMA_M2M_DMA_CHANNEL);
-    gdma_ll_rx_reset_channel(impl->hal.dev, SOC_GDMA_M2M_DMA_CHANNEL);
-    gdma_ll_enable_interrupt(impl->hal.dev, SOC_GDMA_M2M_DMA_CHANNEL, UINT32_MAX, true);
-    gdma_ll_clear_interrupt_status(impl->hal.dev, SOC_GDMA_M2M_DMA_CHANNEL, UINT32_MAX);
-    gdma_ll_enable_m2m_mode(impl->hal.dev, SOC_GDMA_M2M_DMA_CHANNEL, true);
-    gdma_ll_tx_enable_auto_write_back(impl->hal.dev, SOC_GDMA_M2M_DMA_CHANNEL, true);
-    gdma_ll_tx_enable_owner_check(impl->hal.dev, SOC_GDMA_M2M_DMA_CHANNEL, true);
-    gdma_ll_rx_enable_owner_check(impl->hal.dev, SOC_GDMA_M2M_DMA_CHANNEL, true);
-    gdma_ll_tx_set_desc_addr(impl->hal.dev, SOC_GDMA_M2M_DMA_CHANNEL, (uint32_t)outlink_base);
-    gdma_ll_rx_set_desc_addr(impl->hal.dev, SOC_GDMA_M2M_DMA_CHANNEL, (uint32_t)inlink_base);
-    return ESP_OK;
+    // create RX channel and specify it should be reside in the same pair as TX
+    gdma_channel_alloc_config_t rx_alloc_config = {
+        .direction = GDMA_CHANNEL_DIRECTION_RX,
+        .sibling_chan = impl->tx_channel,
+    };
+    ret = gdma_new_channel(&rx_alloc_config, &impl->rx_channel);
+    if (ret != ESP_OK) {
+        goto err;
+    }
+
+    gdma_connect(impl->rx_channel, GDMA_MAKE_TRIGGER(GDMA_TRIG_PERIPH_M2M, 0));
+    gdma_connect(impl->tx_channel, GDMA_MAKE_TRIGGER(GDMA_TRIG_PERIPH_M2M, 0));
+
+    gdma_strategy_config_t strategy_config = {
+        .auto_update_desc = true,
+        .owner_check = true
+    };
+
+    gdma_apply_strategy(impl->tx_channel, &strategy_config);
+    gdma_apply_strategy(impl->rx_channel, &strategy_config);
+
+    gdma_rx_event_callbacks_t cbs = {
+        .on_recv_eof = async_memcpy_impl_rx_eof_callback
+    };
+    ret = gdma_register_rx_event_callbacks(impl->rx_channel, &cbs, impl);
+
+err:
+    return ret;
 }
 
 esp_err_t async_memcpy_impl_deinit(async_memcpy_impl_t *impl)
 {
-    periph_module_disable(PERIPH_GDMA_MODULE);
+    gdma_disconnect(impl->rx_channel);
+    gdma_disconnect(impl->tx_channel);
+    gdma_del_channel(impl->rx_channel);
+    gdma_del_channel(impl->tx_channel);
     return ESP_OK;
 }
 
-esp_err_t async_memcpy_impl_start(async_memcpy_impl_t *impl)
+esp_err_t async_memcpy_impl_start(async_memcpy_impl_t *impl, intptr_t outlink_base, intptr_t inlink_base)
 {
-    gdma_ll_rx_start(impl->hal.dev, SOC_GDMA_M2M_DMA_CHANNEL);
-    gdma_ll_tx_start(impl->hal.dev, SOC_GDMA_M2M_DMA_CHANNEL);
-    gdma_ll_enable_interrupt(impl->hal.dev, SOC_GDMA_M2M_DMA_CHANNEL, GDMA_LL_EVENT_RX_SUC_EOF, true);
+    gdma_start(impl->rx_channel, inlink_base);
+    gdma_start(impl->tx_channel, outlink_base);
     return ESP_OK;
 }
 
 esp_err_t async_memcpy_impl_stop(async_memcpy_impl_t *impl)
 {
-    gdma_ll_enable_interrupt(impl->hal.dev, SOC_GDMA_M2M_DMA_CHANNEL, GDMA_LL_EVENT_RX_SUC_EOF, false);
-    gdma_ll_rx_stop(impl->hal.dev, SOC_GDMA_M2M_DMA_CHANNEL);
-    gdma_ll_tx_stop(impl->hal.dev, SOC_GDMA_M2M_DMA_CHANNEL);
+    gdma_stop(impl->rx_channel);
+    gdma_stop(impl->tx_channel);
     return ESP_OK;
 }
 
 esp_err_t async_memcpy_impl_restart(async_memcpy_impl_t *impl)
 {
-    gdma_ll_rx_restart(impl->hal.dev, SOC_GDMA_M2M_DMA_CHANNEL);
-    gdma_ll_tx_restart(impl->hal.dev, SOC_GDMA_M2M_DMA_CHANNEL);
+    gdma_append(impl->rx_channel);
+    gdma_append(impl->tx_channel);
     return ESP_OK;
 }
 
@@ -101,8 +110,3 @@ bool async_memcpy_impl_is_buffer_address_valid(async_memcpy_impl_t *impl, void *
 {
     return true;
 }
-
-dma_descriptor_t *async_memcpy_impl_get_rx_suc_eof_descriptor(async_memcpy_impl_t *impl)
-{
-    return (dma_descriptor_t *)gdma_ll_rx_get_success_eof_desc_addr(impl->hal.dev, SOC_GDMA_M2M_DMA_CHANNEL);
-}
diff --git a/components/esp_system/port/include/esp_async_memcpy_impl.h b/components/esp_system/port/include/esp_async_memcpy_impl.h
index e9dc8d6288..0b3c8b2b8c 100644
--- a/components/esp_system/port/include/esp_async_memcpy_impl.h
+++ b/components/esp_system/port/include/esp_async_memcpy_impl.h
@@ -24,8 +24,7 @@
 #include "hal/cp_dma_ll.h"
 #include "hal/cp_dma_hal.h"
 #elif SOC_GDMA_SUPPORTED
-#include "hal/gdma_ll.h"
-#include "hal/gdma_hal.h"
+#include "esp_private/gdma.h"
 #endif
 
 /**
@@ -33,12 +32,15 @@
  *
  */
 typedef struct {
-    portMUX_TYPE hal_lock;    // spin lock for HAL object
 #if SOC_CP_DMA_SUPPORTED
     cp_dma_hal_context_t hal; // CP DMA hal
+    intr_handle_t intr; // CP DMA interrupt handle
+    portMUX_TYPE hal_lock; // CP DMA HAL level spin lock
 #elif SOC_GDMA_SUPPORTED
-    gdma_hal_context_t hal;   // General DMA hal
+    gdma_channel_handle_t tx_channel;
+    gdma_channel_handle_t rx_channel;
 #endif
+    intptr_t rx_eof_addr;
     bool isr_need_yield;      // if current isr needs a yield for higher priority task
 } async_memcpy_impl_t;
 
@@ -49,28 +51,13 @@ typedef struct {
  */
 void async_memcpy_isr_on_rx_done_event(async_memcpy_impl_t *impl);
 
-/**
- * @brief Allocate interrupt handle, register default isr handler
- *
- * @param impl async mcp implementation layer context pointer
- * @param int_flags interrupt flags
- * @param intr Returned interrupt handle
- * @return
- *      - ESP_OK: Allocate interrupt handle successfully
- *      - ESP_ERR_INVALID_ARG: Allocate interrupt handle failed because of invalid argument
- *      - ESP_FAIL: Allocate interrupt handle failed because of other error
- */
-esp_err_t async_memcpy_impl_allocate_intr(async_memcpy_impl_t *impl, int int_flags, intr_handle_t *intr);
-
 /**
  * @brief Initialize async mcp implementation layer
  *
  * @param impl async mcp implementation layer context pointer
- * @param outlink_base Pointer to the first TX descriptor
- * @param inlink_base Pointer to the first RX descriptor
  * @return Always return ESP_OK
  */
-esp_err_t async_memcpy_impl_init(async_memcpy_impl_t *impl, dma_descriptor_t *outlink_base, dma_descriptor_t *inlink_base);
+esp_err_t async_memcpy_impl_init(async_memcpy_impl_t *impl);
 
 /**
  * @brief Deinitialize async mcp implementation layer
@@ -84,9 +71,11 @@ esp_err_t async_memcpy_impl_deinit(async_memcpy_impl_t *impl);
  * @brief Start async mcp (on implementation layer)
  *
  * @param impl async mcp implementation layer context pointer
+ * @param outlink_base base descriptor address for TX DMA channel
+ * @param inlink_base base descriptor address for RX DMA channel
  * @return Always return ESP_OK
  */
-esp_err_t async_memcpy_impl_start(async_memcpy_impl_t *impl);
+esp_err_t async_memcpy_impl_start(async_memcpy_impl_t *impl, intptr_t outlink_base, intptr_t inlink_base);
 
 /**
  * @brief Stop async mcp (on implementation layer)
@@ -114,11 +103,3 @@ esp_err_t async_memcpy_impl_restart(async_memcpy_impl_t *impl);
  * @return True if both address are valid
  */
 bool async_memcpy_impl_is_buffer_address_valid(async_memcpy_impl_t *impl, void *src, void *dst);
-
-/**
- * @brief Get the EOF RX descriptor address
- *
- * @param impl async mcp implementation layer context pointer
- * @return Pointer to the EOF RX descriptor
- */
-dma_descriptor_t *async_memcpy_impl_get_rx_suc_eof_descriptor(async_memcpy_impl_t *impl);
diff --git a/components/esp_system/port/soc/esp32s2/async_memcpy_impl_cp_dma.c b/components/esp_system/port/soc/esp32s2/async_memcpy_impl_cp_dma.c
index 11f950a490..b468c5efb4 100644
--- a/components/esp_system/port/soc/esp32s2/async_memcpy_impl_cp_dma.c
+++ b/components/esp_system/port/soc/esp32s2/async_memcpy_impl_cp_dma.c
@@ -33,6 +33,7 @@ IRAM_ATTR static void async_memcpy_impl_default_isr_handler(void *args)
 
     // End-Of-Frame on RX side
     if (status & CP_DMA_LL_EVENT_RX_EOF) {
+        mcp_impl->rx_eof_addr = cp_dma_ll_get_rx_eof_descriptor_address(mcp_impl->hal.dev);
         async_memcpy_isr_on_rx_done_event(mcp_impl);
     }
 
@@ -42,30 +43,30 @@ IRAM_ATTR static void async_memcpy_impl_default_isr_handler(void *args)
     }
 }
 
-esp_err_t async_memcpy_impl_allocate_intr(async_memcpy_impl_t *impl, int int_flags, intr_handle_t *intr)
+esp_err_t async_memcpy_impl_init(async_memcpy_impl_t *impl)
 {
-    return esp_intr_alloc(ETS_DMA_COPY_INTR_SOURCE, int_flags, async_memcpy_impl_default_isr_handler, impl, intr);
-}
+    esp_err_t ret = ESP_OK;
 
-esp_err_t async_memcpy_impl_init(async_memcpy_impl_t *impl, dma_descriptor_t *outlink_base, dma_descriptor_t *inlink_base)
-{
     impl->hal_lock = (portMUX_TYPE)portMUX_INITIALIZER_UNLOCKED;
-    cp_dma_hal_config_t config = {
-        .inlink_base = inlink_base,
-        .outlink_base = outlink_base
-    };
+    cp_dma_hal_config_t config = {};
     cp_dma_hal_init(&impl->hal, &config);
-    return ESP_OK;
+
+    ret = esp_intr_alloc(ETS_DMA_COPY_INTR_SOURCE, ESP_INTR_FLAG_IRAM, async_memcpy_impl_default_isr_handler, impl, &impl->intr);
+    return ret;
 }
 
 esp_err_t async_memcpy_impl_deinit(async_memcpy_impl_t *impl)
 {
+    esp_err_t ret = ESP_OK;
+
     cp_dma_hal_deinit(&impl->hal);
-    return ESP_OK;
+    ret = esp_intr_free(impl->intr);
+    return ret;
 }
 
-esp_err_t async_memcpy_impl_start(async_memcpy_impl_t *impl)
+esp_err_t async_memcpy_impl_start(async_memcpy_impl_t *impl, intptr_t outlink_base, intptr_t inlink_base)
 {
+    cp_dma_hal_set_desc_base_addr(&impl->hal, outlink_base, inlink_base);
     cp_dma_hal_start(&impl->hal); // enable DMA and interrupt
     return ESP_OK;
 }
@@ -88,8 +89,3 @@ bool async_memcpy_impl_is_buffer_address_valid(async_memcpy_impl_t *impl, void *
     // CP_DMA can only access SRAM
     return esp_ptr_internal(src) && esp_ptr_internal(dst);
 }
-
-dma_descriptor_t *async_memcpy_impl_get_rx_suc_eof_descriptor(async_memcpy_impl_t *impl)
-{
-    return (dma_descriptor_t *)cp_dma_ll_get_rx_eof_descriptor_address(impl->hal.dev);
-}
diff --git a/components/hal/CMakeLists.txt b/components/hal/CMakeLists.txt
index 56aeaaa340..f80329dd5c 100644
--- a/components/hal/CMakeLists.txt
+++ b/components/hal/CMakeLists.txt
@@ -73,6 +73,7 @@ if(NOT BOOTLOADER_BUILD)
         list(APPEND srcs
             "adc_hal.c"
             "dac_hal.c"
+            "gdma_hal.c"
             "pcnt_hal.c"
             "spi_flash_hal_gpspi.c"
             "spi_slave_hd_hal.c"
@@ -88,6 +89,7 @@ if(NOT BOOTLOADER_BUILD)
     if(${target} STREQUAL "esp32c3")
         list(APPEND srcs
               "ds_hal.c"
+              "gdma_hal.c"
               "esp32c3/adc_hal.c"
               "esp32c3/brownout_hal.c"
               "esp32c3/systimer_hal.c"
diff --git a/components/hal/adc_hal.c b/components/hal/adc_hal.c
index 55576a1e4c..787bc71039 100644
--- a/components/hal/adc_hal.c
+++ b/components/hal/adc_hal.c
@@ -123,7 +123,7 @@ void adc_hal_digi_init(adc_dma_hal_context_t *adc_dma_ctx, adc_dma_hal_config_t
     adc_dma_ctx->dev = &GDMA;
     gdma_ll_enable_clock(adc_dma_ctx->dev, true);
     gdma_ll_clear_interrupt_status(adc_dma_ctx->dev, dma_config->dma_chan, UINT32_MAX);
-    gdma_ll_rx_connect_to_periph(adc_dma_ctx->dev, dma_config->dma_chan, GDMA_LL_TRIG_SRC_ADC_DAC);
+    gdma_ll_rx_connect_to_periph(adc_dma_ctx->dev, dma_config->dma_chan, SOC_GDMA_TRIG_PERIPH_ADC0);
 }
 
 /*---------------------------------------------------------------
diff --git a/components/hal/aes_hal.c b/components/hal/aes_hal.c
index 01c1aa45ab..fc0da87884 100644
--- a/components/hal/aes_hal.c
+++ b/components/hal/aes_hal.c
@@ -25,6 +25,7 @@
 #include "hal/crypto_dma_ll.h"
 #elif SOC_AES_GENERAL_DMA
 #include "hal/gdma_ll.h"
+#include "soc/gdma_channel.h"
 #endif
 
 uint8_t aes_hal_setkey(const uint8_t *key, size_t key_bytes, int mode)
@@ -71,8 +72,8 @@ static inline void aes_hal_dma_init(const lldesc_t *input, const lldesc_t *outpu
     gdma_ll_rx_enable_descriptor_burst(&GDMA, SOC_GDMA_AES_DMA_CHANNEL, false);
     gdma_ll_rx_enable_data_burst(&GDMA, SOC_GDMA_AES_DMA_CHANNEL, false);
 
-    gdma_ll_tx_connect_to_periph(&GDMA, SOC_GDMA_AES_DMA_CHANNEL, GDMA_LL_PERIPH_ID_AES);
-    gdma_ll_rx_connect_to_periph(&GDMA, SOC_GDMA_AES_DMA_CHANNEL, GDMA_LL_PERIPH_ID_AES);
+    gdma_ll_tx_connect_to_periph(&GDMA, SOC_GDMA_AES_DMA_CHANNEL, SOC_GDMA_TRIG_PERIPH_AES0);
+    gdma_ll_rx_connect_to_periph(&GDMA, SOC_GDMA_AES_DMA_CHANNEL, SOC_GDMA_TRIG_PERIPH_AES0);
 
 #if SOC_GDMA_SUPPORT_EXTMEM
     /* An L2 FIFO bigger than 40 bytes is need when accessing external ram */
diff --git a/components/hal/component.mk b/components/hal/component.mk
index 1f9dcf0cfd..e69da1615b 100644
--- a/components/hal/component.mk
+++ b/components/hal/component.mk
@@ -2,7 +2,7 @@ COMPONENT_SRCDIRS := . esp32
 COMPONENT_ADD_INCLUDEDIRS := esp32/include include
 COMPONENT_ADD_LDFRAGMENTS += linker.lf
 
-COMPONENT_OBJEXCLUDE += ./spi_slave_hd_hal.o ./spi_flash_hal_gpspi.o ./spi_slave_hd_hal.o ./ds_hal.o
+COMPONENT_OBJEXCLUDE += ./spi_slave_hd_hal.o ./spi_flash_hal_gpspi.o ./spi_slave_hd_hal.o ./ds_hal.o ./gdma_hal.o
 
 ifndef CONFIG_ETH_USE_ESP32_EMAC
     COMPONENT_OBJEXCLUDE += esp32/emac_hal.o
diff --git a/components/hal/esp32c3/include/hal/gdma_ll.h b/components/hal/esp32c3/include/hal/gdma_ll.h
index 6121aef05d..22410d3bdd 100644
--- a/components/hal/esp32c3/include/hal/gdma_ll.h
+++ b/components/hal/esp32c3/include/hal/gdma_ll.h
@@ -23,6 +23,8 @@
 extern "C" {
 #endif
 
+#define GDMA_LL_GET_HW(id) (((id) == 0) ? (&GDMA) : NULL)
+
 #define GDMA_LL_EVENT_TX_FIFO_UDF   (1<<12)
 #define GDMA_LL_EVENT_TX_FIFO_OVF   (1<<11)
 #define GDMA_LL_EVENT_RX_FIFO_UDF   (1<<10)
@@ -37,22 +39,6 @@ extern "C" {
 #define GDMA_LL_EVENT_RX_SUC_EOF    (1<<1)
 #define GDMA_LL_EVENT_RX_DONE       (1<<0)
 
-#define GDMA_LL_TRIG_SRC_SPI2    (0)
-#define GDMA_LL_TRIG_SRC_UART    (2)
-#define GDMA_LL_TRIG_SRC_I2S0    (3)
-#define GDMA_LL_TRIG_SRC_AES     (6)
-#define GDMA_LL_TRIG_SRC_SHA     (7)
-#define GDMA_LL_TRIG_SRC_ADC_DAC (8)
-
-typedef enum {
-    GDMA_LL_PERIPH_ID_SPI2 = 0,
-    GDMA_LL_PERIPH_ID_UART = 2,
-    GDMA_LL_PERIPH_ID_I2S0 = 3,
-    GDMA_LL_PERIPH_ID_AES = 6,
-    GDMA_LL_PERIPH_ID_SHA = 7,
-    GDMA_LL_PERIPH_ID_ADC_DAC = 8,
-} gdma_ll_periph_id_t;
-
 ///////////////////////////////////// Common /////////////////////////////////////////
 /**
  * @brief Enable DMA channel M2M mode (TX channel n forward data to RX channel n), disabled by default
@@ -256,7 +242,7 @@ static inline void gdma_ll_rx_set_priority(gdma_dev_t *dev, uint32_t channel, ui
 /**
  * @brief Connect DMA RX channel to a given peripheral
  */
-static inline void gdma_ll_rx_connect_to_periph(gdma_dev_t *dev, uint32_t channel, gdma_ll_periph_id_t periph_id)
+static inline void gdma_ll_rx_connect_to_periph(gdma_dev_t *dev, uint32_t channel, int periph_id)
 {
     dev->channel[channel].in.in_peri_sel.sel = periph_id;
 }
@@ -414,7 +400,7 @@ static inline void gdma_ll_tx_set_priority(gdma_dev_t *dev, uint32_t channel, ui
 /**
  * @brief Connect DMA TX channel to a given peripheral
  */
-static inline void gdma_ll_tx_connect_to_periph(gdma_dev_t *dev, uint32_t channel, gdma_ll_periph_id_t periph_id)
+static inline void gdma_ll_tx_connect_to_periph(gdma_dev_t *dev, uint32_t channel, int periph_id)
 {
     dev->channel[channel].out.out_peri_sel.sel = periph_id;
 }
diff --git a/components/hal/esp32s2/cp_dma_hal.c b/components/hal/esp32s2/cp_dma_hal.c
index c841cc518a..014511aeb0 100644
--- a/components/hal/esp32s2/cp_dma_hal.c
+++ b/components/hal/esp32s2/cp_dma_hal.c
@@ -27,10 +27,13 @@ void cp_dma_hal_init(cp_dma_hal_context_t *hal, const cp_dma_hal_config_t *confi
     cp_dma_ll_enable_intr(hal->dev, UINT32_MAX, false);
     cp_dma_ll_clear_intr_status(hal->dev, UINT32_MAX);
     cp_dma_ll_enable_owner_check(hal->dev, true);
+}
 
+void cp_dma_hal_set_desc_base_addr(cp_dma_hal_context_t *hal, intptr_t outlink_base, intptr_t inlink_base)
+{
     /* set base address of the first descriptor */
-    cp_dma_ll_tx_set_descriptor_base_addr(hal->dev, (uint32_t)config->outlink_base);
-    cp_dma_ll_rx_set_descriptor_base_addr(hal->dev, (uint32_t)config->inlink_base);
+    cp_dma_ll_tx_set_descriptor_base_addr(hal->dev, outlink_base);
+    cp_dma_ll_rx_set_descriptor_base_addr(hal->dev, inlink_base);
 }
 
 void cp_dma_hal_deinit(cp_dma_hal_context_t *hal)
diff --git a/components/hal/esp32s2/include/hal/cp_dma_hal.h b/components/hal/esp32s2/include/hal/cp_dma_hal.h
index 03d9173965..a8f7829ae9 100644
--- a/components/hal/esp32s2/include/hal/cp_dma_hal.h
+++ b/components/hal/esp32s2/include/hal/cp_dma_hal.h
@@ -45,8 +45,6 @@ typedef struct {
 } cp_dma_hal_context_t;
 
 typedef struct {
-    dma_descriptor_t *outlink_base; /*!< Address of the first outlink descriptor */
-    dma_descriptor_t *inlink_base;  /*!< Address of the first inlink descriptor */
 } cp_dma_hal_config_t;
 
 /**
@@ -62,6 +60,11 @@ void cp_dma_hal_init(cp_dma_hal_context_t *hal, const cp_dma_hal_config_t *confi
  */
 void cp_dma_hal_deinit(cp_dma_hal_context_t *hal);
 
+/**
+ * @brief Set descriptor base address
+ */
+void cp_dma_hal_set_desc_base_addr(cp_dma_hal_context_t *hal, intptr_t outlink_base, intptr_t inlink_base);
+
 /**
  * @brief Start mem2mem DMA state machine
  */
diff --git a/components/hal/esp32s3/include/hal/gdma_ll.h b/components/hal/esp32s3/include/hal/gdma_ll.h
index 8903c58ea7..5277dea96f 100644
--- a/components/hal/esp32s3/include/hal/gdma_ll.h
+++ b/components/hal/esp32s3/include/hal/gdma_ll.h
@@ -23,6 +23,8 @@
 extern "C" {
 #endif
 
+#define GDMA_LL_GET_HW(id) (((id) == 0) ? (&GDMA) : NULL)
+
 #define GDMA_LL_EVENT_TX_L3_FIFO_UDF (1<<17)
 #define GDMA_LL_EVENT_TX_L3_FIFO_OVF (1<<16)
 #define GDMA_LL_EVENT_TX_L1_FIFO_UDF (1<<15)
@@ -42,29 +44,6 @@ extern "C" {
 #define GDMA_LL_EVENT_RX_SUC_EOF     (1<<1)
 #define GDMA_LL_EVENT_RX_DONE        (1<<0)
 
-#define GDMA_LL_TRIG_SRC_SPI2    (0)
-#define GDMA_LL_TRIG_SRC_SPI3    (1)
-#define GDMA_LL_TRIG_SRC_UART    (2)
-#define GDMA_LL_TRIG_SRC_I2S0    (3)
-#define GDMA_LL_TRIG_SRC_I2S1    (4)
-#define GDMA_LL_TRIG_SRC_LCD_CAM (5)
-#define GDMA_LL_TRIG_SRC_AES     (6)
-#define GDMA_LL_TRIG_SRC_SHA     (7)
-#define GDMA_LL_TRIG_SRC_ADC_DAC (8)
-
-typedef enum {
-    GDMA_LL_PERIPH_ID_SPI2 = 0,
-    GDMA_LL_PERIPH_ID_SPI3,
-    GDMA_LL_PERIPH_ID_UART,
-    GDMA_LL_PERIPH_ID_I2S0,
-    GDMA_LL_PERIPH_ID_I2S1,
-    GDMA_LL_PERIPH_ID_LCD_CAM,
-    GDMA_LL_PERIPH_ID_AES,
-    GDMA_LL_PERIPH_ID_SHA,
-    GDMA_LL_PERIPH_ID_ADC_DAC,
-} gdma_ll_periph_id_t;
-
-
 ///////////////////////////////////// Common /////////////////////////////////////////
 /**
  * @brief Enable DMA channel M2M mode (TX channel n forward data to RX channel n), disabled by default
@@ -300,7 +279,7 @@ static inline void gdma_ll_rx_set_priority(gdma_dev_t *dev, uint32_t channel, ui
 /**
  * @brief Connect DMA RX channel to a given peripheral
  */
-static inline void gdma_ll_rx_connect_to_periph(gdma_dev_t *dev, uint32_t channel, gdma_ll_periph_id_t periph_id)
+static inline void gdma_ll_rx_connect_to_periph(gdma_dev_t *dev, uint32_t channel, int periph_id)
 {
     dev->peri_sel[channel].peri_in_sel = periph_id;
 }
@@ -495,7 +474,7 @@ static inline void gdma_ll_tx_set_priority(gdma_dev_t *dev, uint32_t channel, ui
 /**
  * @brief Connect DMA TX channel to a given peripheral
  */
-static inline void gdma_ll_tx_connect_to_periph(gdma_dev_t *dev, uint32_t channel, gdma_ll_periph_id_t periph_id)
+static inline void gdma_ll_tx_connect_to_periph(gdma_dev_t *dev, uint32_t channel, int periph_id)
 {
     dev->peri_sel[channel].peri_out_sel = periph_id;
 }
diff --git a/components/hal/gdma_hal.c b/components/hal/gdma_hal.c
new file mode 100644
index 0000000000..944d96cc3a
--- /dev/null
+++ b/components/hal/gdma_hal.c
@@ -0,0 +1,21 @@
+// Copyright 2020 Espressif Systems (Shanghai) PTE LTD
+//
+// Licensed 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.
+
+#include "hal/gdma_hal.h"
+#include "hal/gdma_ll.h"
+
+void gdma_hal_init(gdma_hal_context_t *hal, int group_id)
+{
+    hal->dev = GDMA_LL_GET_HW(group_id);
+}
diff --git a/components/hal/include/hal/gdma_hal.h b/components/hal/include/hal/gdma_hal.h
index 65d03da9b7..5f83b483ea 100644
--- a/components/hal/include/hal/gdma_hal.h
+++ b/components/hal/include/hal/gdma_hal.h
@@ -30,6 +30,8 @@ typedef struct {
     gdma_dev_t *dev;
 } gdma_hal_context_t;
 
+void gdma_hal_init(gdma_hal_context_t *hal, int group_id);
+
 #ifdef __cplusplus
 }
 #endif
diff --git a/components/hal/sha_hal.c b/components/hal/sha_hal.c
index b85ff773d0..b42d6533c4 100644
--- a/components/hal/sha_hal.c
+++ b/components/hal/sha_hal.c
@@ -26,6 +26,7 @@
 #include "hal/crypto_dma_ll.h"
 #elif SOC_SHA_GENERAL_DMA
 #include "hal/gdma_ll.h"
+#include "soc/gdma_channel.h"
 #endif
 
 #define SHA1_STATE_LEN_WORDS    (160 / 32)
@@ -106,7 +107,7 @@ static inline void sha_hal_dma_init(lldesc_t *input)
     gdma_ll_tx_enable_data_burst(&GDMA, SOC_GDMA_SHA_DMA_CHANNEL, false);
     gdma_ll_tx_enable_auto_write_back(&GDMA, SOC_GDMA_SHA_DMA_CHANNEL, false);
 
-    gdma_ll_tx_connect_to_periph(&GDMA, SOC_GDMA_SHA_DMA_CHANNEL, GDMA_LL_PERIPH_ID_SHA);
+    gdma_ll_tx_connect_to_periph(&GDMA, SOC_GDMA_SHA_DMA_CHANNEL, SOC_GDMA_TRIG_PERIPH_SHA0);
 
 #if SOC_GDMA_SUPPORT_EXTMEM
     /* Atleast 40 bytes when accessing external RAM */
diff --git a/components/soc/esp32/include/soc/gdma_channel.h b/components/soc/esp32/include/soc/gdma_channel.h
new file mode 100644
index 0000000000..63f53eac9f
--- /dev/null
+++ b/components/soc/esp32/include/soc/gdma_channel.h
@@ -0,0 +1,2 @@
+// ESP32 doesn't feature General DMA peripheral.
+// We keep this file here only for consistency's sake.
diff --git a/components/soc/esp32c3/CMakeLists.txt b/components/soc/esp32c3/CMakeLists.txt
index 9e53c3042f..ce1c7d526f 100644
--- a/components/soc/esp32c3/CMakeLists.txt
+++ b/components/soc/esp32c3/CMakeLists.txt
@@ -1,5 +1,6 @@
 set(srcs
     "adc_periph.c"
+    "gdma_periph.c"
     "gpio_periph.c"
     "interrupts.c"
     "spi_periph.c"
diff --git a/components/soc/esp32c3/gdma_periph.c b/components/soc/esp32c3/gdma_periph.c
new file mode 100644
index 0000000000..2cb49943d1
--- /dev/null
+++ b/components/soc/esp32c3/gdma_periph.c
@@ -0,0 +1,34 @@
+// Copyright 2020 Espressif Systems (Shanghai) PTE LTD
+//
+// Licensed 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.
+
+#include "soc/gdma_periph.h"
+
+const gdma_signal_conn_t gdma_periph_signals = {
+    .groups = {
+        [0] = {
+            .module = PERIPH_GDMA_MODULE,
+            .pairs = {
+                [0]  = {
+                    .irq_id = ETS_DMA_CH0_INTR_SOURCE
+                },
+                [1]  = {
+                    .irq_id = ETS_DMA_CH1_INTR_SOURCE
+                },
+                [2]  = {
+                    .irq_id = ETS_DMA_CH2_INTR_SOURCE
+                }
+            }
+        }
+    }
+};
diff --git a/components/soc/esp32c3/include/soc/gdma_caps.h b/components/soc/esp32c3/include/soc/gdma_caps.h
index 7263c992da..0bd39fe560 100644
--- a/components/soc/esp32c3/include/soc/gdma_caps.h
+++ b/components/soc/esp32c3/include/soc/gdma_caps.h
@@ -14,4 +14,5 @@
 
 #pragma once
 
-#define SOC_GDMA_CHANNELS_NUM (3)       /*!< GDMA has 3 TX and 3 RX */
+#define SOC_GDMA_GROUPS          (1)
+#define SOC_GDMA_PAIRS_PER_GROUP (3)
diff --git a/components/soc/esp32c3/include/soc/gdma_channel.h b/components/soc/esp32c3/include/soc/gdma_channel.h
new file mode 100644
index 0000000000..9108df78f2
--- /dev/null
+++ b/components/soc/esp32c3/include/soc/gdma_channel.h
@@ -0,0 +1,24 @@
+// Copyright 2020 Espressif Systems (Shanghai) PTE LTD
+//
+// Licensed 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.
+
+#pragma once
+
+// The following macros have a format SOC_[periph][instance_id] to make it work with `GDMA_MAKE_TRIGGER`
+#define SOC_GDMA_TRIG_PERIPH_M2M0    (-1)
+#define SOC_GDMA_TRIG_PERIPH_SPI2    (0)
+#define SOC_GDMA_TRIG_PERIPH_UART0   (2)
+#define SOC_GDMA_TRIG_PERIPH_I2S0    (3)
+#define SOC_GDMA_TRIG_PERIPH_AES0    (6)
+#define SOC_GDMA_TRIG_PERIPH_SHA0    (7)
+#define SOC_GDMA_TRIG_PERIPH_ADC0    (8)
diff --git a/components/soc/esp32c3/include/soc/soc_caps.h b/components/soc/esp32c3/include/soc/soc_caps.h
index 56daa5a4ff..29b8d53f57 100644
--- a/components/soc/esp32c3/include/soc/soc_caps.h
+++ b/components/soc/esp32c3/include/soc/soc_caps.h
@@ -12,7 +12,6 @@
 // Attention: These fixed DMA channels are temporarily workaround before we have a centralized DMA controller API to help alloc the channel dynamically
 // Remove them when GDMA driver API is ready
 #define SOC_GDMA_AES_DMA_CHANNEL    (0)
-#define SOC_GDMA_M2M_DMA_CHANNEL    (0)
 #define SOC_GDMA_SHA_DMA_CHANNEL    (1)
 #define SOC_GDMA_SPI2_DMA_CHANNEL   (2)
 #define SOC_GDMA_ADC_DMA_CHANNEL    (0)
diff --git a/components/soc/esp32s2/include/soc/gdma_channel.h b/components/soc/esp32s2/include/soc/gdma_channel.h
new file mode 100644
index 0000000000..3138505283
--- /dev/null
+++ b/components/soc/esp32s2/include/soc/gdma_channel.h
@@ -0,0 +1,2 @@
+// ESP32-S2 doesn't feature General DMA peripheral.
+// We keep this file here only for consistency's sake.
diff --git a/components/soc/esp32s3/CMakeLists.txt b/components/soc/esp32s3/CMakeLists.txt
index 92325f9976..6db89831b6 100644
--- a/components/soc/esp32s3/CMakeLists.txt
+++ b/components/soc/esp32s3/CMakeLists.txt
@@ -2,6 +2,7 @@ set(srcs
     "adc_periph.c"
     "dac_periph.c"
     "dedic_gpio_periph.c"
+    "gdma_periph.c"
     "gpio_periph.c"
     "i2c_periph.c"
     "i2s_periph.c"
diff --git a/components/soc/esp32s3/gdma_periph.c b/components/soc/esp32s3/gdma_periph.c
new file mode 100644
index 0000000000..091deca37b
--- /dev/null
+++ b/components/soc/esp32s3/gdma_periph.c
@@ -0,0 +1,40 @@
+// Copyright 2020 Espressif Systems (Shanghai) PTE LTD
+//
+// Licensed 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.
+
+#include "soc/gdma_periph.h"
+
+const gdma_signal_conn_t gdma_periph_signals = {
+    .groups = {
+        [0] = {
+            .module = PERIPH_GDMA_MODULE,
+            .pairs = {
+                [0]  = {
+                    .irq_id = ETS_DMA_CH0_INTR_SOURCE
+                },
+                [1]  = {
+                    .irq_id = ETS_DMA_CH1_INTR_SOURCE
+                },
+                [2]  = {
+                    .irq_id = ETS_DMA_CH2_INTR_SOURCE
+                },
+                [3]  = {
+                    .irq_id = ETS_DMA_CH3_INTR_SOURCE
+                },
+                [4]  = {
+                    .irq_id = ETS_DMA_CH4_INTR_SOURCE
+                }
+            }
+        }
+    }
+};
diff --git a/components/soc/esp32s3/include/soc/gdma_caps.h b/components/soc/esp32s3/include/soc/gdma_caps.h
index 807de4e34f..7c92fa70ef 100644
--- a/components/soc/esp32s3/include/soc/gdma_caps.h
+++ b/components/soc/esp32s3/include/soc/gdma_caps.h
@@ -14,6 +14,7 @@
 
 #pragma once
 
-#define SOC_GDMA_CHANNELS_NUM (5)       /*!< GDMA has 5 TX and 5 RX  channels in ESP32-S3 */
-#define SOC_GDMA_L2_FIFO_BASE_SIZE (16) /*!< GDMA L2 FIFO basic size is 16 Bytes */
-#define SOC_GDMA_SUPPORT_EXTMEM (1)
+#define SOC_GDMA_GROUPS            (1)
+#define SOC_GDMA_PAIRS_PER_GROUP   (5)
+#define SOC_GDMA_L2_FIFO_BASE_SIZE (16)
+#define SOC_GDMA_SUPPORT_EXTMEM    (1)
diff --git a/components/soc/esp32s3/include/soc/gdma_channel.h b/components/soc/esp32s3/include/soc/gdma_channel.h
new file mode 100644
index 0000000000..d9c820d512
--- /dev/null
+++ b/components/soc/esp32s3/include/soc/gdma_channel.h
@@ -0,0 +1,29 @@
+// Copyright 2020 Espressif Systems (Shanghai) PTE LTD
+//
+// Licensed 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.
+
+#pragma once
+
+// The following macros have a format SOC_[periph][instance_id] to make it work with `GDMA_MAKE_TRIGGER`
+#define SOC_GDMA_TRIG_PERIPH_M2M0    (-1)
+#define SOC_GDMA_TRIG_PERIPH_SPI2    (0)
+#define SOC_GDMA_TRIG_PERIPH_SPI3    (1)
+#define SOC_GDMA_TRIG_PERIPH_UART0   (2)
+#define SOC_GDMA_TRIG_PERIPH_I2S0    (3)
+#define SOC_GDMA_TRIG_PERIPH_I2S1    (4)
+#define SOC_GDMA_TRIG_PERIPH_LCD0    (5)
+#define SOC_GDMA_TRIG_PERIPH_CAM0    (5)
+#define SOC_GDMA_TRIG_PERIPH_AES0    (6)
+#define SOC_GDMA_TRIG_PERIPH_SHA0    (7)
+#define SOC_GDMA_TRIG_PERIPH_ADC0    (8)
+#define SOC_GDMA_TRIG_PERIPH_DAC0    (8)
diff --git a/components/soc/esp32s3/include/soc/soc_caps.h b/components/soc/esp32s3/include/soc/soc_caps.h
index d3e493ac4a..51c01861a8 100644
--- a/components/soc/esp32s3/include/soc/soc_caps.h
+++ b/components/soc/esp32s3/include/soc/soc_caps.h
@@ -151,7 +151,6 @@
 
 // Attention: These fixed DMA channels are temporarily workaround before we have a centralized DMA controller API to help alloc the channel dynamically
 // Remove them when GDMA driver API is ready
-#define SOC_GDMA_M2M_DMA_CHANNEL  (0)
 #define SOC_GDMA_SPI2_DMA_CHANNEL (1)
 #define SOC_GDMA_SPI3_DMA_CHANNEL (2)
 #define SOC_GDMA_SHA_DMA_CHANNEL  (3)
diff --git a/components/soc/include/soc/gdma_periph.h b/components/soc/include/soc/gdma_periph.h
new file mode 100644
index 0000000000..2ccba24480
--- /dev/null
+++ b/components/soc/include/soc/gdma_periph.h
@@ -0,0 +1,37 @@
+// Copyright 2020 Espressif Systems (Shanghai) PTE LTD
+//
+// Licensed 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.
+
+#pragma once
+
+#include "soc/soc_caps.h"
+#include "soc/periph_defs.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+typedef struct {
+    struct {
+        const periph_module_t module;
+        struct {
+            const int irq_id;
+        } pairs[SOC_GDMA_PAIRS_PER_GROUP];
+    } groups[SOC_GDMA_GROUPS];
+} gdma_signal_conn_t;
+
+extern const gdma_signal_conn_t gdma_periph_signals;
+
+#ifdef __cplusplus
+}
+#endif