diff --git a/cpu/esp32/esp-idf/Kconfig b/cpu/esp32/esp-idf/Kconfig
index feff3a103e..6e4a813a6c 100644
--- a/cpu/esp32/esp-idf/Kconfig
+++ b/cpu/esp32/esp-idf/Kconfig
@@ -27,6 +27,7 @@ rsource "event/Kconfig"
 rsource "gpio/Kconfig"
 rsource "heap/Kconfig"
 rsource "nvs_flash/Kconfig"
+rsource "rmt/Kconfig"
 rsource "spi_flash/Kconfig"
 rsource "spi_ram/Kconfig"
 rsource "usb/Kconfig"
diff --git a/cpu/esp32/esp-idf/Makefile b/cpu/esp32/esp-idf/Makefile
index 21ccf13245..baf5c761a6 100644
--- a/cpu/esp32/esp-idf/Makefile
+++ b/cpu/esp32/esp-idf/Makefile
@@ -40,6 +40,10 @@ ifneq (,$(filter esp_idf_nvs_flash,$(USEMODULE)))
   DIRS += nvs_flash
 endif
 
+ifneq (,$(filter esp_idf_rmt,$(USEMODULE)))
+  DIRS += rmt
+endif
+
 ifneq (,$(filter esp_idf_spi_flash,$(USEMODULE)))
   DIRS += spi_flash
 endif
diff --git a/cpu/esp32/esp-idf/rmt/Kconfig b/cpu/esp32/esp-idf/rmt/Kconfig
new file mode 100644
index 0000000000..6cd90fe495
--- /dev/null
+++ b/cpu/esp32/esp-idf/rmt/Kconfig
@@ -0,0 +1,16 @@
+# Copyright (c) 2022 Gunar Schorcht
+#
+# This file is subject to the terms and conditions of the GNU Lesser
+# General Public License v2.1. See the file LICENSE in the top level
+# directory for more details.
+#
+
+config MODULE_ESP_IDF_RMT
+    bool
+    depends on TEST_KCONFIG
+    depends on MODULE_ESP_IDF && HAS_ESP_RMT
+
+    default y if MODULE_WS281X_ESP32 && MODULE_WS281X_ESP32_HW
+
+    help
+        ESP-IDF code for peripheral GPIO.
diff --git a/cpu/esp32/esp-idf/rmt/Makefile b/cpu/esp32/esp-idf/rmt/Makefile
new file mode 100644
index 0000000000..ccc2bfba72
--- /dev/null
+++ b/cpu/esp32/esp-idf/rmt/Makefile
@@ -0,0 +1,15 @@
+MODULE = esp_idf_rmt
+
+# source files to be compiled for this module
+ESP32_SDK_SRC = \
+  components/driver/rmt.c \
+  components/soc/$(CPU_FAM)/rmt_periph.c \
+  components/hal/rmt_hal.c \
+  #
+
+include $(RIOTBASE)/Makefile.base
+
+ESP32_SDK_BIN = $(BINDIR)/$(MODULE)
+
+include ../esp_idf.mk
+include ../esp_idf_cflags.mk