diff --git a/cpu/esp32/Makefile.include b/cpu/esp32/Makefile.include
index bef6be9770..a36fb6ae9f 100644
--- a/cpu/esp32/Makefile.include
+++ b/cpu/esp32/Makefile.include
@@ -85,6 +85,7 @@ PSEUDOMODULES += esp_idf_newlib
 PSEUDOMODULES += esp_log_colored
 PSEUDOMODULES += esp_log_tagged
 PSEUDOMODULES += esp_log_startup
+PSEUDOMODULES += esp_rtc_timer
 PSEUDOMODULES += esp_spi_ram
 PSEUDOMODULES += esp_spiffs
 PSEUDOMODULES += esp_wifi_any
diff --git a/cpu/esp32/periph/rtc.c b/cpu/esp32/periph/rtc.c
index 43f9b1d1ef..53eeb519d6 100644
--- a/cpu/esp32/periph/rtc.c
+++ b/cpu/esp32/periph/rtc.c
@@ -20,11 +20,12 @@
  */
 
 /*
- * If RTC_TIMER_USED is 0, the microsecond system timer is used to emulate an
- * RTC, otherwise the RTC timer is used. Advantage of using RTC over system
- * timer is that it also continues in deep sleep and after software reset.
+ * If module esp_rtc_timer is enabled, the 48-bit RTC hardware timer is used
+ * directly. Otherwise the PLL driven 64-bit microsecond system timer is used
+ * to emulate a RTC timer (default). This emulated RTC timer results into much
+ * better accuracy. The Advantage of using RTC hardware timer over sytem timer
+ * is that it would also continue in deep sleep mode.
  */
-#define RTC_TIMER_USED 1
 
 #define ENABLE_DEBUG (0)
 #include "debug.h"
@@ -178,7 +179,7 @@ int rtc_set_alarm(struct tm *time, rtc_alarm_cb_t cb, void *arg)
      * system timer for alarms. The Advantage of using RTC over system timer
      * is that it also continues in deep sleep and after software reset.
      */
-    #if 0 /* TODO should be RTC_TIMER_USED */
+#if 0 /* TODO should be MODULE_ESP_RTC_TIMER */
 
     /* determine the offset of alarm time to current time in RTC time */
     uint64_t _rtc_time_alarm;
@@ -207,7 +208,7 @@ int rtc_set_alarm(struct tm *time, rtc_alarm_cb_t cb, void *arg)
     xt_set_interrupt_handler(CPU_INUM_RTC, _rtc_timer_handler, NULL);
     xt_ints_on(BIT(CPU_INUM_RTC));
 
-    #else
+#else
 
     /* determine the offset of alarm time to the RTC set time */
     uint64_t _rtc_time_alarm;
@@ -246,7 +247,7 @@ int rtc_set_alarm(struct tm *time, rtc_alarm_cb_t cb, void *arg)
     TIMER_SYSTEM.config.level_int_en = 1;
     TIMER_SYSTEM.config.alarm_en = 1;
 
-    #endif
+#endif
 
     return 0;
 }
@@ -256,7 +257,7 @@ void rtc_clear_alarm(void)
     _rtc_alarm_cb = NULL;
     _rtc_alarm_arg = NULL;
 
-    #if 0 /* TODO should be RTC_TIMER_USED, see rtc_set_alarm */
+#if 0 /* TODO should be MODULE_ESP_RTC_TIMER, see rtc_set_alarm */
 
     /* disable RTC timer alarm and disable the RTC timer interrupt */
     RTCCNTL.slp_timer1.main_timer_alarm_en = 0;
@@ -267,7 +268,7 @@ void rtc_clear_alarm(void)
 
     /* disable the the CPU interrupt */
 
-    #else
+#else
 
     /* reset the bit in interrupt enable */
     TIMER_SYSTEM_GROUP.int_ena.val |= TIMER_SYSTEM_INT_MASK;
@@ -281,18 +282,22 @@ void rtc_clear_alarm(void)
 
     xt_ints_on(BIT(CPU_INUM_RTC));
 
-    #endif
+#endif
 }
 
 static time_t _sys_get_time (void)
 {
-    return _sys_time_set + (_rtc_get_time_raw() - _rtc_time_set) / RTC_TIMER_CLK_HZ;
+#if MODULE_ESP_RTC_TIMER
+    return _sys_time_set + 
+           (_rtc_time_to_us(_rtc_get_time_raw() - _rtc_time_set) / US_PER_SEC);
+#else
+    return _sys_time_set + 
+           ((_sys_time_off_us + system_get_time_64() - _sys_time_set_us) / US_PER_SEC);
+#endif
 }
 
 static uint64_t _rtc_get_time_raw(void)
 {
-    #if RTC_TIMER_USED
-
     /* trigger timer register update */
     RTCCNTL.time_update.update = 1;
     /* wait until values in registers are valid */
@@ -314,7 +319,7 @@ static void IRAM_ATTR _rtc_timer_handler(void* arg)
 {
     irq_isr_enter();
 
-    #if 0 /* TODO should be RTC_TIMER_USED */
+#if 0 /* TODO should be MODULE_ESP_RTC_TIMER */
 
      /* check for RTC timer interrupt */
     if (RTCCNTL.int_st.rtc_main_timer) {
@@ -328,7 +333,7 @@ static void IRAM_ATTR _rtc_timer_handler(void* arg)
     /* clear all interrupts */
     RTCCNTL.int_clr.val = 0x1ff;
 
-    #else
+#else
 
     /* check for RTC timer interrupt */
     if (TIMER_SYSTEM_GROUP.int_st_timers.val & TIMER_SYSTEM_INT_MASK) {
@@ -349,7 +354,7 @@ static void IRAM_ATTR _rtc_timer_handler(void* arg)
         }
     }
 
-   #endif
+#endif
 
     irq_isr_exit();
 }