diff --git a/components/esp_rom/CMakeLists.txt b/components/esp_rom/CMakeLists.txt
index dd4cc19a9a..9b9872b1da 100644
--- a/components/esp_rom/CMakeLists.txt
+++ b/components/esp_rom/CMakeLists.txt
@@ -49,6 +49,11 @@ else()
         list(APPEND sources "patches/esp_rom_tlsf.c")
     endif()
 
+    if(CONFIG_HEAP_TLSF_USE_ROM_IMPL AND CONFIG_ESP_ROM_MULTI_HEAP_WALK_PATCH)
+        # This file shall be included in the build if TLSF in ROM is activated
+        list(APPEND sources "patches/esp_rom_multi_heap.c")
+    endif()
+
     list(APPEND private_required_comp soc hal)
 endif()
 
@@ -64,6 +69,8 @@ if(CONFIG_HAL_WDT_USE_ROM_IMPL)
     list(APPEND sources "patches/esp_rom_wdt.c")
 endif()
 
+
+
 if(CONFIG_ESP_ROM_HAS_FLASH_COUNT_PAGES_BUG OR CONFIG_ESP_ROM_HAS_CACHE_WRITEBACK_BUG)
     list(APPEND sources "patches/esp_rom_cache_esp32s2_esp32s3.c")
 endif()
@@ -216,6 +223,10 @@ else() # Regular app build
             target_link_libraries(${COMPONENT_LIB} PRIVATE "-u tlsf_set_rom_patches")
         endif()
 
+        if((CONFIG_ESP_ROM_TLSF_CHECK_PATCH OR CONFIG_ESP_ROM_MULTI_HEAP_WALK_PATCH))
+            target_link_libraries(${COMPONENT_LIB} PRIVATE "-u esp_rom_include_multi_heap_patch")
+        endif()
+
         rom_linker_script("heap")
     endif()
 
diff --git a/components/esp_rom/esp32c2/Kconfig.soc_caps.in b/components/esp_rom/esp32c2/Kconfig.soc_caps.in
index ca4d67e28a..19913c950b 100644
--- a/components/esp_rom/esp32c2/Kconfig.soc_caps.in
+++ b/components/esp_rom/esp32c2/Kconfig.soc_caps.in
@@ -39,6 +39,10 @@ config ESP_ROM_HAS_HEAP_TLSF
     bool
     default y
 
+config ESP_ROM_MULTI_HEAP_WALK_PATCH
+    bool
+    default y
+
 config ESP_ROM_HAS_LAYOUT_TABLE
     bool
     default y
diff --git a/components/esp_rom/esp32c2/esp_rom_caps.h b/components/esp_rom/esp32c2/esp_rom_caps.h
index eb7284de4c..9c71f9b9e2 100644
--- a/components/esp_rom/esp32c2/esp_rom_caps.h
+++ b/components/esp_rom/esp32c2/esp_rom_caps.h
@@ -15,6 +15,7 @@
 #define ESP_ROM_HAS_HAL_WDT                 (1) // ROM has the implementation of Watchdog HAL driver
 #define ESP_ROM_HAS_HAL_SYSTIMER            (1) // ROM has the implementation of Systimer HAL driver
 #define ESP_ROM_HAS_HEAP_TLSF               (1) // ROM has the implementation of the tlsf and multi-heap library
+#define ESP_ROM_MULTI_HEAP_WALK_PATCH       (1) // ROM does not contain the patch of multi_heap_walk()
 #define ESP_ROM_HAS_LAYOUT_TABLE            (1) // ROM has the layout table
 #define ESP_ROM_HAS_SPI_FLASH               (1) // ROM has the implementation of SPI Flash driver
 #define ESP_ROM_HAS_NEWLIB                  (1) // ROM has newlib (at least parts of it) functions included
diff --git a/components/esp_rom/esp32c5/Kconfig.soc_caps.in b/components/esp_rom/esp32c5/Kconfig.soc_caps.in
index 20c519bbcb..4f1584f9b3 100644
--- a/components/esp_rom/esp32c5/Kconfig.soc_caps.in
+++ b/components/esp_rom/esp32c5/Kconfig.soc_caps.in
@@ -7,6 +7,84 @@ if IDF_TARGET_ESP32C5_BETA3_VERSION
     source "$IDF_PATH/components/esp_rom/esp32c5/beta3/esp32c5/Kconfig.soc_caps.in"
 endif
 
+<<<<<<< HEAD
 if IDF_TARGET_ESP32C5_MP_VERSION
     source "$IDF_PATH/components/esp_rom/esp32c5/mp/esp32c5/Kconfig.soc_caps.in"
 endif
+=======
+config ESP_ROM_HAS_CRC_BE
+    bool
+    default y
+
+config ESP_ROM_HAS_JPEG_DECODE
+    bool
+    default y
+
+config ESP_ROM_UART_CLK_IS_XTAL
+    bool
+    default y
+
+config ESP_ROM_USB_SERIAL_DEVICE_NUM
+    int
+    default 3
+
+config ESP_ROM_HAS_RETARGETABLE_LOCKING
+    bool
+    default y
+
+config ESP_ROM_GET_CLK_FREQ
+    bool
+    default y
+
+config ESP_ROM_HAS_RVFPLIB
+    bool
+    default y
+
+config ESP_ROM_HAS_HAL_WDT
+    bool
+    default y
+
+config ESP_ROM_HAS_HAL_SYSTIMER
+    bool
+    default y
+
+config ESP_ROM_HAS_HEAP_TLSF
+    bool
+    default y
+
+config ESP_ROM_TLSF_CHECK_PATCH
+    bool
+    default y
+
+config ESP_ROM_MULTI_HEAP_WALK_PATCH
+    bool
+    default y
+
+config ESP_ROM_HAS_LAYOUT_TABLE
+    bool
+    default y
+
+config ESP_ROM_HAS_SPI_FLASH
+    bool
+    default y
+
+config ESP_ROM_WITHOUT_REGI2C
+    bool
+    default y
+
+config ESP_ROM_HAS_NEWLIB_NORMAL_FORMAT
+    bool
+    default y
+
+config ESP_ROM_WDT_INIT_PATCH
+    bool
+    default y
+
+config ESP_ROM_RAM_APP_NEEDS_MMU_INIT
+    bool
+    default y
+
+config ESP_ROM_USB_OTG_NUM
+    int
+    default -1
+>>>>>>> 9468f4df09 (feat(heap): Add walker to the heap component)
diff --git a/components/esp_rom/esp32c5/beta3/esp32c5/esp_rom_caps.h b/components/esp_rom/esp32c5/beta3/esp32c5/esp_rom_caps.h
index 00e7cfed2e..d6ecb2c6a9 100644
--- a/components/esp_rom/esp32c5/beta3/esp32c5/esp_rom_caps.h
+++ b/components/esp_rom/esp32c5/beta3/esp32c5/esp_rom_caps.h
@@ -18,6 +18,7 @@
 #define ESP_ROM_HAS_HAL_SYSTIMER            (1) // ROM has the implementation of Systimer HAL driver
 #define ESP_ROM_HAS_HEAP_TLSF               (1) // ROM has the implementation of the tlsf and multi-heap library
 #define ESP_ROM_TLSF_CHECK_PATCH            (1) // ROM does not contain the patch of tlsf_check_pool()
+#define ESP_ROM_MULTI_HEAP_WALK_PATCH       (1) // ROM does not contain the patch of multi_heap_walk()
 #define ESP_ROM_HAS_LAYOUT_TABLE            (1) // ROM has the layout table
 #define ESP_ROM_HAS_SPI_FLASH               (1) // ROM has the implementation of SPI Flash driver
 #define ESP_ROM_WITHOUT_REGI2C              (1) // ROM has no regi2c APIs
diff --git a/components/esp_rom/esp32c6/Kconfig.soc_caps.in b/components/esp_rom/esp32c6/Kconfig.soc_caps.in
index 3a2a837056..f117be963f 100644
--- a/components/esp_rom/esp32c6/Kconfig.soc_caps.in
+++ b/components/esp_rom/esp32c6/Kconfig.soc_caps.in
@@ -51,6 +51,10 @@ config ESP_ROM_TLSF_CHECK_PATCH
     bool
     default y
 
+config ESP_ROM_MULTI_HEAP_WALK_PATCH
+    bool
+    default y
+
 config ESP_ROM_HAS_LAYOUT_TABLE
     bool
     default y
diff --git a/components/esp_rom/esp32c6/esp_rom_caps.h b/components/esp_rom/esp32c6/esp_rom_caps.h
index 1fb9480849..2b448d3d70 100644
--- a/components/esp_rom/esp32c6/esp_rom_caps.h
+++ b/components/esp_rom/esp32c6/esp_rom_caps.h
@@ -18,6 +18,7 @@
 #define ESP_ROM_HAS_HAL_SYSTIMER            (1) // ROM has the implementation of Systimer HAL driver
 #define ESP_ROM_HAS_HEAP_TLSF               (1) // ROM has the implementation of the tlsf and multi-heap library
 #define ESP_ROM_TLSF_CHECK_PATCH            (1) // ROM does not contain the patch of tlsf_check_pool()
+#define ESP_ROM_MULTI_HEAP_WALK_PATCH       (1) // ROM does not contain the patch of multi_heap_walk()
 #define ESP_ROM_HAS_LAYOUT_TABLE            (1) // ROM has the layout table
 #define ESP_ROM_HAS_SPI_FLASH               (1) // ROM has the implementation of SPI Flash driver
 #define ESP_ROM_HAS_REGI2C_BUG              (1) // ROM has the regi2c bug
diff --git a/components/esp_rom/esp32h2/Kconfig.soc_caps.in b/components/esp_rom/esp32h2/Kconfig.soc_caps.in
index e6a8376ae5..d43ea1a707 100644
--- a/components/esp_rom/esp32h2/Kconfig.soc_caps.in
+++ b/components/esp_rom/esp32h2/Kconfig.soc_caps.in
@@ -43,6 +43,10 @@ config ESP_ROM_TLSF_CHECK_PATCH
     bool
     default y
 
+config ESP_ROM_MULTI_HEAP_WALK_PATCH
+    bool
+    default y
+
 config ESP_ROM_HAS_LAYOUT_TABLE
     bool
     default y
diff --git a/components/esp_rom/esp32h2/esp_rom_caps.h b/components/esp_rom/esp32h2/esp_rom_caps.h
index 186b94a09a..4ff14f74ac 100644
--- a/components/esp_rom/esp32h2/esp_rom_caps.h
+++ b/components/esp_rom/esp32h2/esp_rom_caps.h
@@ -16,6 +16,7 @@
 #define ESP_ROM_HAS_HAL_SYSTIMER            (1) // ROM has the implementation of Systimer HAL driver
 #define ESP_ROM_HAS_HEAP_TLSF               (1) // ROM has the implementation of the tlsf and multi-heap library
 #define ESP_ROM_TLSF_CHECK_PATCH            (1) // ROM does not contain the patch of tlsf_check_pool()
+#define ESP_ROM_MULTI_HEAP_WALK_PATCH       (1) // ROM does not contain the patch of multi_heap_walk()
 #define ESP_ROM_HAS_LAYOUT_TABLE            (1) // ROM has the layout table
 #define ESP_ROM_HAS_SPI_FLASH               (1) // ROM has the implementation of SPI Flash driver
 #define ESP_ROM_WITHOUT_REGI2C              (1) // ROM has no regi2c APIs
diff --git a/components/esp_rom/include/esp_rom_multi_heap.h b/components/esp_rom/include/esp_rom_multi_heap.h
new file mode 100644
index 0000000000..c7dfa493ae
--- /dev/null
+++ b/components/esp_rom/include/esp_rom_multi_heap.h
@@ -0,0 +1,40 @@
+/*
+ * SPDX-FileCopyrightText: 2022-2024 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+#pragma once
+#include <stdint.h>
+#include <stddef.h>
+#include <stdbool.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/** @brief Opaque handle to a registered heap */
+typedef struct multi_heap_info *multi_heap_handle_t;
+
+/**
+ * @brief Callback called when walking the given heap blocks of memory
+ *
+ * @param block_ptr Pointer to the block data
+ * @param block_size The size of the block
+ * @param block_used Block status. True if free, false if used
+ * @param user_data Opaque pointer to user defined data
+ */
+typedef void (*multi_heap_walker_cb_t)(void *block_ptr, size_t block_size, int block_used, void *user_data);
+
+/**
+ * @brief Call the tlsf_walk_pool function of the heap given as parameter with
+ * the walker function passed as parameter
+ *
+ * @param heap The heap to traverse
+ * @param walker_func The walker to trigger on each block of the heap
+ * @param user_data Opaque pointer to user defined data
+ */
+void multi_heap_walk(multi_heap_handle_t heap, multi_heap_walker_cb_t walker_func, void *user_data);
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/components/esp_rom/patches/esp_rom_multi_heap.c b/components/esp_rom/patches/esp_rom_multi_heap.c
new file mode 100644
index 0000000000..4690bfe4e4
--- /dev/null
+++ b/components/esp_rom/patches/esp_rom_multi_heap.c
@@ -0,0 +1,58 @@
+/*
+ * SPDX-FileCopyrightText: 2024 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+/*
+ * This file is a patch for the multi_heap.c file stored in ROM
+ * - added function multi_heap_walk
+ * - added function multi_heap_walker
+ * - added structure walker_data_t
+ */
+
+#include <stddef.h>
+#include <stdbool.h>
+#include <string.h>
+
+#include "esp_rom_multi_heap.h"
+
+// Hook to force the linker to include this file
+void esp_rom_include_multi_heap_patch(void)
+{
+}
+
+/*!
+ * @brief Opaque types for TLSF implementation
+ */
+typedef void* tlsf_t;
+typedef void* pool_t;
+typedef void* tlsf_walker;
+
+typedef struct multi_heap_info {
+    void *lock;
+    size_t free_bytes;
+    size_t minimum_free_bytes;
+    size_t pool_size;
+    void* heap_data;
+} heap_t;
+
+typedef struct walker_data {
+        void *opaque_ptr;
+        multi_heap_walker_cb_t walker;
+        multi_heap_handle_t heap;
+} walker_data_t;
+
+extern void tlsf_walk_pool(pool_t pool, tlsf_walker walker, void* user);
+extern pool_t tlsf_get_pool(tlsf_t tlsf);
+extern void multi_heap_internal_lock(multi_heap_handle_t heap);
+extern void multi_heap_internal_unlock(multi_heap_handle_t heap);
+
+void multi_heap_walk(multi_heap_handle_t heap, multi_heap_walker_cb_t walker_func, void *user_data)
+{
+    assert(heap != NULL);
+
+    multi_heap_internal_lock(heap);
+    tlsf_walk_pool(tlsf_get_pool(heap->heap_data), walker_func, user_data);
+    multi_heap_internal_unlock(heap);
+}
diff --git a/components/heap/heap_caps.c b/components/heap/heap_caps.c
index ca5ec1338f..72d88ccaa8 100644
--- a/components/heap/heap_caps.c
+++ b/components/heap/heap_caps.c
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2015-2023 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2015-2024 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -15,6 +15,10 @@
 #include "heap_private.h"
 #include "esp_system.h"
 
+#if CONFIG_HEAP_TLSF_USE_ROM_IMPL
+#include "esp_rom_multi_heap.h"
+#endif
+
 #ifdef CONFIG_HEAP_USE_HOOKS
 #define CALL_HOOK(hook, ...) {      \
     if (hook != NULL) {             \
@@ -860,3 +864,46 @@ void *heap_caps_aligned_calloc(size_t alignment, size_t n, size_t size, uint32_t
 
     return ptr;
 }
+
+typedef struct walker_data {
+        void *opaque_ptr;
+        heap_caps_walker_cb_t cb_func;
+        heap_t *heap;
+} walker_data_t;
+
+__attribute__((noinline)) static void heap_caps_walker(void* block_ptr, size_t block_size, int block_used, void *user_data)
+{
+    walker_data_t *walker_data = (walker_data_t*)user_data;
+
+    walker_heap_into_t heap_info = {
+        (intptr_t)walker_data->heap->start,
+        (intptr_t)walker_data->heap->end
+    };
+    walker_block_info_t block_info = {
+        block_ptr,
+        block_size,
+        (bool)block_used
+    };
+
+    walker_data->cb_func(heap_info, block_info, walker_data->opaque_ptr);
+}
+
+void heap_caps_walk(uint32_t caps, heap_caps_walker_cb_t walker_func, void *user_data)
+{
+    assert(walker_func != NULL);
+
+    bool all_heaps = caps & MALLOC_CAP_INVALID;
+    heap_t *heap;
+    SLIST_FOREACH(heap, &registered_heaps, next) {
+        if (heap->heap != NULL
+            && (all_heaps || (get_all_caps(heap) & caps) == caps)) {
+            walker_data_t walker_data = {user_data, walker_func, heap};
+            multi_heap_walk(heap->heap, heap_caps_walker, &walker_data);
+        }
+    }
+}
+
+void heap_caps_walk_all(heap_caps_walker_cb_t walker_func, void *user_data)
+{
+    heap_caps_walk(MALLOC_CAP_INVALID, walker_func, user_data);
+}
diff --git a/components/heap/include/esp_heap_caps.h b/components/heap/include/esp_heap_caps.h
index ec202359a3..17101424b4 100644
--- a/components/heap/include/esp_heap_caps.h
+++ b/components/heap/include/esp_heap_caps.h
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2019-2023 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2019-2024 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -444,6 +444,48 @@ void heap_caps_dump_all(void);
  */
 size_t heap_caps_get_allocated_size( void *ptr );
 
+/**
+ * @brief Structure used to store heap related data passed to
+ * the walker callback function
+ */
+typedef struct walker_heap_info {
+    intptr_t start; ///< Start address of the heap in which the block is located
+    intptr_t end; ///< End address of the heap in which the block is located
+} walker_heap_into_t;
+
+/**
+ * @brief Structure used to store block related data passed to
+ * the walker callback function
+ */
+typedef struct walker_block_info {
+    void *ptr; ///< Pointer to the block data
+    size_t size; ///< The size of the block
+    bool used; ///< Block status. True if free, false if used
+} walker_block_info_t;
+
+/**
+ * @brief Function callback used to walk the heaps
+ * @see Definition in multi_heap.h
+ */
+typedef void (*heap_caps_walker_cb_t)(walker_heap_into_t heap_info, walker_block_info_t block_info, void *user_data);
+
+/**
+ * @brief Function called to walk through the heaps with the given set of capabilities
+ *
+ * @param caps The set of capabilities assigned to the heaps to walk through
+ * @param walker_func Callback called for each block of the heaps being traversed
+ * @param user_data Opaque pointer to user defined data
+ */
+void heap_caps_walk(uint32_t caps, heap_caps_walker_cb_t walker_func, void *user_data);
+
+/**
+ * @brief Function called to walk through all heaps defined by the heap component
+ *
+ * @param walker_func Callback called for each block of the heaps being traversed
+ * @param user_data Opaque pointer to user defined data
+ */
+void heap_caps_walk_all(heap_caps_walker_cb_t walker_func, void *user_data);
+
 #ifdef __cplusplus
 }
 #endif
diff --git a/components/heap/include/multi_heap.h b/components/heap/include/multi_heap.h
index 9fa1e090a2..b7a2170b2f 100644
--- a/components/heap/include/multi_heap.h
+++ b/components/heap/include/multi_heap.h
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2015-2023 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2015-2024 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -207,6 +207,26 @@ size_t multi_heap_reset_minimum_free_bytes(multi_heap_handle_t heap);
  */
 void multi_heap_restore_minimum_free_bytes(multi_heap_handle_t heap, const size_t new_minimum_free_bytes_value);
 
+/**
+ * @brief Callback called when walking the given heap blocks of memory
+ *
+ * @param block_ptr Pointer to the block data
+ * @param block_size The size of the block
+ * @param block_used Block status. 0 if free, else, false
+ * @param user_data Opaque pointer to user defined data
+ */
+typedef void (*multi_heap_walker_cb_t)(void *block_ptr, size_t block_size, int block_used, void *user_data);
+
+/**
+ * @brief Call the tlsf_walk_pool function of the heap given as parameter with
+ * the walker function passed as parameter
+ *
+ * @param heap The heap to traverse
+ * @param walker_func The walker to trigger on each block of the heap
+ * @param user_data Opaque pointer to user defined data
+ */
+void multi_heap_walk(multi_heap_handle_t heap, multi_heap_walker_cb_t walker_func, void *user_data);
+
 #ifdef __cplusplus
 }
 #endif
diff --git a/components/heap/multi_heap.c b/components/heap/multi_heap.c
index 151113ac05..f112f36a61 100644
--- a/components/heap/multi_heap.c
+++ b/components/heap/multi_heap.c
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2015-2023 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2015-2024 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -355,13 +355,10 @@ bool multi_heap_check(multi_heap_handle_t heap, bool print_errors)
     return valid;
 }
 
-__attribute__((noinline)) static void multi_heap_dump_tlsf(void* ptr, size_t size, int used, void* user)
+__attribute__((noinline)) static void multi_heap_dump_tlsf(void *ptr, size_t size, int used, void *user)
 {
     (void)user;
-    MULTI_HEAP_STDERR_PRINTF("Block %p data, size: %d bytes, Free: %s \n",
-                            (void *)ptr,
-                            size,
-                            used ? "No" : "Yes");
+    MULTI_HEAP_STDERR_PRINTF("Block %p data, size: %d bytes, Free: %s \n", (void *)ptr, size, used ? "No" : "Yes");
 }
 
 void multi_heap_dump(multi_heap_handle_t heap)
@@ -431,6 +428,15 @@ void multi_heap_get_info_impl(multi_heap_handle_t heap, multi_heap_info_t *info)
     multi_heap_internal_unlock(heap);
 }
 
+void multi_heap_walk(multi_heap_handle_t heap, multi_heap_walker_cb_t walker_func, void *user_data)
+{
+    assert(heap != NULL);
+
+    multi_heap_internal_lock(heap);
+    tlsf_walk_pool(tlsf_get_pool(heap->heap_data), walker_func, user_data);
+    multi_heap_internal_unlock(heap);
+}
+
 #endif // CONFIG_HEAP_TLSF_USE_ROM_IMPL
 
 size_t multi_heap_reset_minimum_free_bytes(multi_heap_handle_t heap)
diff --git a/components/heap/test_apps/heap_tests/main/CMakeLists.txt b/components/heap/test_apps/heap_tests/main/CMakeLists.txt
index 0ed19610ce..1803d9f193 100644
--- a/components/heap/test_apps/heap_tests/main/CMakeLists.txt
+++ b/components/heap/test_apps/heap_tests/main/CMakeLists.txt
@@ -8,7 +8,8 @@ set(src_test "test_heap_main.c"
              "test_malloc.c"
              "test_realloc.c"
              "test_runtime_heap_reg.c"
-             "test_task_tracking.c")
+             "test_task_tracking.c"
+             "test_walker.c")
 
 idf_component_register(SRCS ${src_test}
                        INCLUDE_DIRS "."
diff --git a/components/heap/test_apps/heap_tests/main/test_walker.c b/components/heap/test_apps/heap_tests/main/test_walker.c
new file mode 100644
index 0000000000..fdabc5bb85
--- /dev/null
+++ b/components/heap/test_apps/heap_tests/main/test_walker.c
@@ -0,0 +1,55 @@
+/*
+ * SPDX-FileCopyrightText: 2022-2024 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Unlicense OR CC0-1.0
+ */
+#include "unity.h"
+#include "stdio.h"
+
+#include "esp_heap_caps.h"
+
+#define PASS_CODE 0x9876BAAB
+#define ALLOC_SIZE 16
+
+static bool block_found = false;
+static void heap_walker(walker_heap_into_t heap_info, walker_block_info_t block_info, void* user_data)
+{
+    TEST_ASSERT(*(uint32_t*)user_data == PASS_CODE);
+    TEST_ASSERT_NOT_NULL(block_info.ptr);
+
+    uint32_t metadata_size_head = 0;
+    uint32_t metadata_size_tail = 0;
+#if !CONFIG_HEAP_POISONING_DISABLED
+    metadata_size_head += 8; // sizeof(poison_head_t)
+    metadata_size_tail += 4; // sizeof(poison_tail_t)
+#endif
+#if CONFIG_HEAP_TASK_TRACKING
+    metadata_size_head += 4; // sizeof(TaskHandle_t)
+#endif
+
+    /* look for the first 4 bytes pass code to identify the memory allocated in the test */
+    const uint32_t pass_code = *((uint32_t*)block_info.ptr + (metadata_size_head / sizeof(uint32_t)));
+    if (pass_code == PASS_CODE) {
+        TEST_ASSERT(block_info.size == ALLOC_SIZE + metadata_size_head + metadata_size_tail);
+        TEST_ASSERT_TRUE(block_info.used);
+        block_found = true;
+    }
+}
+
+/* This test assures the proper functioning of heap_caps_walk and heap_caps_walk_all
+ */
+TEST_CASE("heap walker", "[heap]")
+{
+    /* Allocate memory using the MALLOC_CAP_DEFAULT capability */
+    void *default_ptr = heap_caps_malloc(ALLOC_SIZE, MALLOC_CAP_DEFAULT);
+    TEST_ASSERT_NOT_NULL(default_ptr);
+
+    /* Write the pass code in the first word of the allocated memory */
+    *((uint32_t*)default_ptr) = (uint32_t)PASS_CODE;
+
+    /* call the heap_caps_walker to make sure the hook function is triggered
+     * and check that the allocated memory is found while walking the heap */
+    uint32_t user_code = PASS_CODE;
+    heap_caps_walk_all(heap_walker, &user_code);
+    TEST_ASSERT_TRUE(block_found);
+}