diff --git a/components/esp_hw_support/test_apps/cpu/pytest_cpu.py b/components/esp_hw_support/test_apps/cpu/pytest_cpu.py
index e804f9a4025..5b3f5834d23 100644
--- a/components/esp_hw_support/test_apps/cpu/pytest_cpu.py
+++ b/components/esp_hw_support/test_apps/cpu/pytest_cpu.py
@@ -25,6 +25,7 @@ def _run_non_recoverable_case(dut: IdfDut, test_name: str, expected_reason: str)
     'config,target',
     [
         ('default', 'supported_targets'),
+        ('default', 'esp32h21'),
     ],
     indirect=['config', 'target'],
 )
@@ -37,6 +38,7 @@ def test_cpu(dut: IdfDut) -> None:
     'config,target',
     [
         ('default', 'supported_targets'),
+        ('default', 'esp32h21'),
     ],
     indirect=['config', 'target'],
 )
@@ -49,6 +51,7 @@ def test_cpu_reset(dut: IdfDut) -> None:
     'config,target',
     [
         ('default', 'supported_targets'),
+        ('default', 'esp32h21'),
     ],
     indirect=['config', 'target'],
 )
diff --git a/components/riscv/include/riscv/csr.h b/components/riscv/include/riscv/csr.h
index 715e5cf0409..6bdcc649afd 100644
--- a/components/riscv/include/riscv/csr.h
+++ b/components/riscv/include/riscv/csr.h
@@ -203,7 +203,7 @@ extern "C" {
 #define STPC2       0xBF2
 
 /* Espressif's custom CSR for the current privilege mode */
-#if CONFIG_IDF_TARGET_ESP32C6 || CONFIG_IDF_TARGET_ESP32H2
+#if CONFIG_IDF_TARGET_ESP32C6 || CONFIG_IDF_TARGET_ESP32H2 || CONFIG_IDF_TARGET_ESP32H21
 #define CSR_PRV_MODE   0xC10
 #else
 #define CSR_PRV_MODE   0x810