diff --git a/components/driver/test_apps/.build-test-rules.yml b/components/driver/test_apps/.build-test-rules.yml
index cea2987e20..f9d3c10bb1 100644
--- a/components/driver/test_apps/.build-test-rules.yml
+++ b/components/driver/test_apps/.build-test-rules.yml
@@ -54,10 +54,6 @@ components/driver/test_apps/legacy_mcpwm_driver:
 components/driver/test_apps/legacy_pcnt_driver:
   disable:
     - if: SOC_PCNT_SUPPORTED != 1
-  disable_test:
-    - if: IDF_TARGET == "esp32c5"
-      temporary: true
-      reason: target test failed  # TODO [ESP32C5] IDF-10341
   depends_filepatterns:
     - components/driver/deprecated/**/*pcnt*
 
diff --git a/components/driver/test_apps/legacy_pcnt_driver/main/test_legacy_pcnt.c b/components/driver/test_apps/legacy_pcnt_driver/main/test_legacy_pcnt.c
index 9c2c4a9287..80bd8657f3 100644
--- a/components/driver/test_apps/legacy_pcnt_driver/main/test_legacy_pcnt.c
+++ b/components/driver/test_apps/legacy_pcnt_driver/main/test_legacy_pcnt.c
@@ -30,16 +30,12 @@
 #define PCNT_CTRL_VCC_IO 1
 #define PCNT_CTRL_GND_IO 0
 #else
-#define PULSE_IO 12
+#define PULSE_IO 0
 #define PCNT_INPUT_IO 4
 #define PCNT_CTRL_VCC_IO 5
 #define PCNT_CTRL_GND_IO 2
 #endif
 
-#define HIGHEST_LIMIT 10
-#define LOWEST_LIMIT 0
-#define MAX_THRESHOLD 5
-#define MIN_THRESHOLD 0
 #define PCNT_CTRL_HIGH_LEVEL 1
 #define PCNT_CTRL_LOW_LEVEL 0
 
@@ -407,6 +403,7 @@ TEST_CASE("PCNT_basic_function_test", "[pcnt]")
 
     // use LEDC to produce the pulse, then the PCNT to count it
     produce_pulse();
+    vTaskDelay(10 / portTICK_PERIOD_MS);  // ensure LEDC is working
     pcnt_test_io_config(PCNT_CTRL_HIGH_LEVEL);
 
     // initialize first, the initial value should be 0
diff --git a/components/driver/test_apps/legacy_pcnt_driver/pytest_legacy_pcnt.py b/components/driver/test_apps/legacy_pcnt_driver/pytest_legacy_pcnt.py
index 68f8593a26..46eddeb18e 100644
--- a/components/driver/test_apps/legacy_pcnt_driver/pytest_legacy_pcnt.py
+++ b/components/driver/test_apps/legacy_pcnt_driver/pytest_legacy_pcnt.py
@@ -7,7 +7,7 @@ from pytest_embedded import Dut
 @pytest.mark.esp32
 @pytest.mark.esp32s2
 @pytest.mark.esp32s3
-# @pytest.mark.esp32c5  # TODO [ESP32C5] IDF-10341
+@pytest.mark.esp32c5
 @pytest.mark.esp32c6
 @pytest.mark.esp32h2
 @pytest.mark.esp32p4
diff --git a/docs/en/api-reference/peripherals/pcnt.rst b/docs/en/api-reference/peripherals/pcnt.rst
index d3998235c0..365d6c9f6f 100644
--- a/docs/en/api-reference/peripherals/pcnt.rst
+++ b/docs/en/api-reference/peripherals/pcnt.rst
@@ -163,6 +163,8 @@ It is recommended to remove the unused watch point by :cpp:func:`pcnt_unit_remov
 
         When a watch step and a watch point are triggered at the same time (i.e. at the same absolute point), the callback function only gets called by once.
 
+        The step increment will be reset to 0 when the count reaches the high/low limit value. Please do not rely too much on the exact step interval.
+
     .. code:: c
 
         // add positive direction watch step with 100 step intervals
diff --git a/docs/zh_CN/api-reference/peripherals/pcnt.rst b/docs/zh_CN/api-reference/peripherals/pcnt.rst
index 565a8ddeea..8f47f0b9b8 100644
--- a/docs/zh_CN/api-reference/peripherals/pcnt.rst
+++ b/docs/zh_CN/api-reference/peripherals/pcnt.rst
@@ -163,6 +163,8 @@ PCNT 单元可被设置为观察几个特定的数值，这些被观察的数值
 
         当观察步进和观察点同时被触发时，回调函数只会被调用一次。
 
+        当计数达到上/下限值时，步进增量会被重置为 0，请勿过分依赖于精确的步进间隔。
+
     .. code:: c
 
         // add positive direction step notify with 100 step intervals