diff --git a/components/esp_adc/CMakeLists.txt b/components/esp_adc/CMakeLists.txt
index b37b5d0682a..6ef38b83bdf 100644
--- a/components/esp_adc/CMakeLists.txt
+++ b/components/esp_adc/CMakeLists.txt
@@ -6,6 +6,15 @@ endif()
 
 set(includes "include" "interface" "${target}/include")
 
+# TODO(IDF-15983): potentially remove __ULP_BUILD handling from esp_adc
+if(__ULP_BUILD)
+    # LP-core ADC shared code includes esp_adc/adc_oneshot.h from
+    # ulp/lp_core/shared/include/ulp_lp_core_lp_adc_shared.h.
+    idf_component_register(INCLUDE_DIRS ${includes}
+                           REQUIRES esp_hal_ana_conv)
+    return()
+endif()
+
 set(srcs)
 
 if(CONFIG_SOC_ADC_SUPPORTED)
diff --git a/components/esp_driver_i2s/CMakeLists.txt b/components/esp_driver_i2s/CMakeLists.txt
index 0bb943517d5..3cb4e904fda 100644
--- a/components/esp_driver_i2s/CMakeLists.txt
+++ b/components/esp_driver_i2s/CMakeLists.txt
@@ -8,6 +8,15 @@ set(srcs)
 set(include "include")
 set(priv_requires esp_driver_gpio esp_driver_dma esp_pm esp_mm esp_hal_clock)
 
+# TODO(IDF-15984): potentially remove __ULP_BUILD handling from esp_driver_i2s
+if(__ULP_BUILD)
+    # LP-core VAD shared code includes driver/lp_i2s_vad.h from
+    # ulp/lp_core/shared/include/ulp_lp_core_lp_vad_shared.h.
+    idf_component_register(INCLUDE_DIRS ${include}
+                           REQUIRES esp_hal_i2s)
+    return()
+endif()
+
 if(${target} STREQUAL "esp32")
     # ADC on esp32 is routed to I2S0, I2S driver needs to operate ADC to ensure the I2S function.
     list(APPEND priv_requires esp_hal_ana_conv)
diff --git a/components/esp_hal_ana_conv/CMakeLists.txt b/components/esp_hal_ana_conv/CMakeLists.txt
index de34f6d6344..89d06ddafff 100644
--- a/components/esp_hal_ana_conv/CMakeLists.txt
+++ b/components/esp_hal_ana_conv/CMakeLists.txt
@@ -4,7 +4,9 @@ if(${target} STREQUAL "linux")
     return() # This component is not supported by the POSIX/Linux simulator
 endif()
 
-set(requires soc hal esp_hal_dma)
+# Public ADC and temperature sensor HAL headers include hal/regi2c_ctrl.h on
+# several targets, so CMake v2 builds need esp_hal_regi2c explicitly.
+set(requires soc hal esp_hal_dma esp_hal_regi2c)
 if(${target} STREQUAL "esp32")
     list(APPEND requires esp_hal_i2s)
 endif()
@@ -15,6 +17,17 @@ if(EXISTS "${CMAKE_CURRENT_LIST_DIR}/${target}/include")
     list(APPEND includes "${target}/include")
 endif()
 
+# TODO(IDF-15985): potentially remove __ULP_BUILD handling from esp_hal_ana_conv
+if(__ULP_BUILD)
+    # ULP ADC code includes ADC HAL headers from
+    # ulp/ulp_riscv/ulp_core/ulp_riscv_adc.c and
+    # ulp/lp_core/shared/include/ulp_lp_core_lp_adc_shared.h. Some target
+    # ADC/temperature sensor headers include hal/regi2c_ctrl.h.
+    idf_component_register(INCLUDE_DIRS ${includes}
+                           REQUIRES ${requires})
+    return()
+endif()
+
 # ADC related source files
 if(CONFIG_SOC_ADC_SUPPORTED)
     list(APPEND srcs "${target}/adc_periph.c" "adc_hal_common.c" "adc_oneshot_hal.c")
diff --git a/components/esp_hal_dma/CMakeLists.txt b/components/esp_hal_dma/CMakeLists.txt
index c1b259b7efe..ee49cc52e67 100644
--- a/components/esp_hal_dma/CMakeLists.txt
+++ b/components/esp_hal_dma/CMakeLists.txt
@@ -10,6 +10,15 @@ if(EXISTS "${CMAKE_CURRENT_LIST_DIR}/${target}/include")
     list(APPEND public_include "${target}/include")
 endif()
 
+# TODO(IDF-15991): potentially remove __ULP_BUILD handling from esp_hal_dma
+if(__ULP_BUILD)
+    # LP-core SPI uses components/esp_hal_gpspi/include/hal/spi_slave_hd_hal.h,
+    # whose public headers include DMA HAL descriptor types.
+    idf_component_register(INCLUDE_DIRS ${public_include}
+                           REQUIRES soc hal)
+    return()
+endif()
+
 if(CONFIG_SOC_GDMA_SUPPORTED)
     list(APPEND srcs "gdma_hal_top.c" "${target}/gdma_periph.c")
 
diff --git a/components/esp_hal_gpspi/CMakeLists.txt b/components/esp_hal_gpspi/CMakeLists.txt
index 33c8810b867..d7d7a9c3a19 100644
--- a/components/esp_hal_gpspi/CMakeLists.txt
+++ b/components/esp_hal_gpspi/CMakeLists.txt
@@ -7,6 +7,15 @@ if(EXISTS "${CMAKE_CURRENT_LIST_DIR}/${target}/include")
     list(APPEND includes "${target}/include")
 endif()
 
+# TODO(IDF-15986): potentially remove __ULP_BUILD handling from esp_hal_gpspi
+if(__ULP_BUILD)
+    # LP-core SPI code includes SPI HAL headers from
+    # ulp/lp_core/lp_core/lp_core_spi.c.
+    idf_component_register(INCLUDE_DIRS ${includes}
+                           REQUIRES soc hal esp_hal_dma)
+    return()
+endif()
+
 if(CONFIG_SOC_GPSPI_SUPPORTED)
     list(APPEND srcs
         "${target}/spi_periph.c"
diff --git a/components/esp_hal_i2c/CMakeLists.txt b/components/esp_hal_i2c/CMakeLists.txt
index 0a7a86fa8cf..7beb884e605 100644
--- a/components/esp_hal_i2c/CMakeLists.txt
+++ b/components/esp_hal_i2c/CMakeLists.txt
@@ -8,6 +8,16 @@ if(EXISTS "${CMAKE_CURRENT_LIST_DIR}/${target}/include")
 endif()
 list(APPEND includes "include")
 
+# TODO(IDF-15987): potentially remove __ULP_BUILD handling from esp_hal_i2c
+if(__ULP_BUILD)
+    # ULP I2C code includes hal/i2c_ll.h and hal/i2c_types.h from
+    # ulp/ulp_riscv/ulp_core/ulp_riscv_i2c.c and
+    # ulp/lp_core/lp_core/lp_core_i2c.c.
+    idf_component_register(INCLUDE_DIRS ${includes}
+                           REQUIRES soc hal esp_common)
+    return()
+endif()
+
 set(target_folder "${target}")
 
 # I2C related source files
diff --git a/components/esp_hal_i2s/CMakeLists.txt b/components/esp_hal_i2s/CMakeLists.txt
index 006b098ce7e..ff61f48e1a0 100644
--- a/components/esp_hal_i2s/CMakeLists.txt
+++ b/components/esp_hal_i2s/CMakeLists.txt
@@ -11,6 +11,15 @@ if(EXISTS "${CMAKE_CURRENT_LIST_DIR}/${target}/include")
     list(APPEND includes "${target}/include")
 endif()
 
+# TODO(IDF-15988): potentially remove __ULP_BUILD handling from esp_hal_i2s
+if(__ULP_BUILD)
+    # LP-core VAD shared code includes LP I2S HAL headers from
+    # ulp/lp_core/shared/ulp_lp_core_lp_vad_shared.c.
+    idf_component_register(INCLUDE_DIRS ${includes}
+                           REQUIRES soc hal)
+    return()
+endif()
+
 # I2S related source files
 if(CONFIG_SOC_I2S_SUPPORTED)
     list(APPEND srcs "i2s_hal.c" "${target}/i2s_periph.c")
diff --git a/components/esp_hal_rtc_timer/CMakeLists.txt b/components/esp_hal_rtc_timer/CMakeLists.txt
index 01be7a19d1d..aac57179c06 100644
--- a/components/esp_hal_rtc_timer/CMakeLists.txt
+++ b/components/esp_hal_rtc_timer/CMakeLists.txt
@@ -6,6 +6,15 @@ endif()
 set(srcs)
 set(public_include "include" "${target}/include")
 
+# TODO(IDF-15992): potentially remove __ULP_BUILD handling from esp_hal_rtc_timer
+if(__ULP_BUILD)
+    # LP-core timer shared code includes hal/rtc_timer_ll.h from
+    # ulp/lp_core/shared/ulp_lp_core_lp_timer_shared.c.
+    idf_component_register(INCLUDE_DIRS ${public_include}
+                           REQUIRES soc hal esp_rom)
+    return()
+endif()
+
 idf_component_register(SRCS ${srcs}
                        INCLUDE_DIRS ${public_include}
                        REQUIRES soc hal esp_rom)
diff --git a/components/esp_hal_touch_sens/CMakeLists.txt b/components/esp_hal_touch_sens/CMakeLists.txt
index c9d6cfa9f78..185d5763779 100644
--- a/components/esp_hal_touch_sens/CMakeLists.txt
+++ b/components/esp_hal_touch_sens/CMakeLists.txt
@@ -12,6 +12,16 @@ endif()
 # "include" should be behind "${target}/include", because `include_next` has sequence requirement
 list(APPEND includes "include")
 
+# TODO(IDF-15989): potentially remove __ULP_BUILD handling from esp_hal_touch_sens
+if(__ULP_BUILD)
+    # ULP touch support includes touch sensor HAL headers from
+    # ulp/ulp_riscv/ulp_core/ulp_riscv_touch.c and
+    # ulp/lp_core/lp_core/lp_core_touch.c.
+    idf_component_register(INCLUDE_DIRS ${includes}
+                           REQUIRES soc)
+    return()
+endif()
+
 # Touch Sensor related source files
 if(CONFIG_SOC_TOUCH_SENSOR_SUPPORTED)
     # Source files for the legacy touch hal driver
diff --git a/components/esp_hal_uart/CMakeLists.txt b/components/esp_hal_uart/CMakeLists.txt
index 5661ae080e2..35c0508abd0 100644
--- a/components/esp_hal_uart/CMakeLists.txt
+++ b/components/esp_hal_uart/CMakeLists.txt
@@ -8,6 +8,22 @@ if(EXISTS "${CMAKE_CURRENT_LIST_DIR}/${target}/include")
     list(APPEND includes "${target}/include")
 endif()
 
+# TODO(IDF-15990): potentially remove __ULP_BUILD handling from esp_hal_uart
+if(__ULP_BUILD)
+    # LP-core UART and print code includes UART HAL headers from
+    # ulp/lp_core/lp_core/lp_core_uart.c and
+    # ulp/lp_core/lp_core/lp_core_print.c.
+    set(ulp_srcs)
+    if(ULP_TYPE STREQUAL "lp_core" AND CONFIG_SOC_UART_SUPPORTED)
+        list(APPEND ulp_srcs "uart_hal.c" "uart_hal_iram.c")
+    endif()
+
+    idf_component_register(SRCS ${ulp_srcs}
+                           INCLUDE_DIRS ${includes}
+                           REQUIRES esp_common soc hal)
+    return()
+endif()
+
 if(CONFIG_SOC_UART_SUPPORTED)
     list(APPEND srcs "uart_hal.c" "uart_hal_iram.c" "${target}/uart_periph.c")
 endif()
diff --git a/components/ulp/CMakeLists_v2.txt b/components/ulp/CMakeLists_v2.txt
index 2b187bcf39d..ef277f486bb 100644
--- a/components/ulp/CMakeLists_v2.txt
+++ b/components/ulp/CMakeLists_v2.txt
@@ -6,17 +6,35 @@ set(priv_requires "")
 if(__ULP_BUILD)
     if(ULP_TYPE STREQUAL "riscv")
         list(APPEND includes
+            ulp_common/include
+            ulp_riscv/include
             ulp_riscv/shared/include
             ulp_riscv/ulp_core/include)
         list(APPEND srcs
             "ulp_riscv/ulp_core/ulp_riscv_vectors.S"
             "ulp_riscv/ulp_core/start.S"
-            "ulp_riscv/ulp_core/ulp_riscv_utils.c")
+            "ulp_riscv/ulp_core/ulp_riscv_adc.c"
+            "ulp_riscv/ulp_core/ulp_riscv_lock.c"
+            "ulp_riscv/ulp_core/ulp_riscv_uart.c"
+            "ulp_riscv/ulp_core/ulp_riscv_print.c"
+            "ulp_riscv/ulp_core/ulp_riscv_i2c.c"
+            "ulp_riscv/ulp_core/ulp_riscv_utils.c"
+            "ulp_riscv/ulp_core/ulp_riscv_touch.c"
+            "ulp_riscv/ulp_core/ulp_riscv_gpio.c"
+            "ulp_riscv/ulp_core/ulp_riscv_interrupt.c")
         list(APPEND requires
+            esp_common
+            esp_hal_ana_conv
+            esp_hal_gpio
+            esp_hal_i2c
+            esp_hal_touch_sens
+            esp_hw_support
             riscv
             soc)
     elseif(ULP_TYPE STREQUAL "lp_core")
         list(APPEND includes
+            ulp_common/include
+            lp_core/include
             lp_core/lp_core/include
             lp_core/shared/include)
         list(APPEND srcs
@@ -27,16 +45,15 @@ if(__ULP_BUILD)
             "lp_core/lp_core/lp_core_startup.c"
             "lp_core/lp_core/lp_core_pmp.c"
             "lp_core/lp_core/lp_core_utils.c"
+            "lp_core/lp_core/lp_core_print.c"
             "lp_core/lp_core/lp_core_panic.c"
             "lp_core/lp_core/lp_core_interrupt.c"
-            "lp_core/shared/ulp_lp_core_lp_uart_shared.c"
-            "lp_core/lp_core/lp_core_uart.c"
-            "lp_core/shared/ulp_lp_core_lp_timer_shared.c"
+            "lp_core/lp_core/lp_core_ubsan.c"
+            "lp_core/lp_core/lp_core_mailbox.c"
             "lp_core/shared/ulp_lp_core_critical_section_shared.c")
 
         list(APPEND requires
             esp_common
-            esp_driver_uart
             esp_hal_gpio
             esp_hal_uart
             esp_rom
@@ -44,12 +61,55 @@ if(__ULP_BUILD)
             riscv
             soc)
         list(APPEND priv_requires
-            esp_hal_clock
-            esp_hal_i2s
-            esp_hal_rtc_timer
             esp_hal_pmu
             esp_hw_support)
 
+        if(CONFIG_SOC_RTC_TIMER_V2 OR CONFIG_SOC_RTC_TIMER_V3)
+            list(APPEND srcs "lp_core/shared/ulp_lp_core_lp_timer_shared.c")
+            list(APPEND priv_requires
+                esp_hal_clock
+                esp_hal_rtc_timer)
+        endif()
+
+        if(CONFIG_SOC_LP_CORE_SUPPORT_I2C)
+            list(APPEND srcs "lp_core/lp_core/lp_core_i2c.c")
+            list(APPEND requires esp_hal_i2c)
+        endif()
+
+        if(CONFIG_SOC_LP_SPI_SUPPORTED)
+            list(APPEND srcs "lp_core/lp_core/lp_core_spi.c")
+            list(APPEND priv_requires esp_hal_gpspi)
+        endif()
+
+        if(CONFIG_SOC_ULP_LP_UART_SUPPORTED)
+            list(APPEND srcs
+                "lp_core/shared/ulp_lp_core_lp_uart_shared.c"
+                "lp_core/lp_core/lp_core_uart.c")
+            list(APPEND requires esp_driver_uart)
+        endif()
+
+        if(CONFIG_SOC_LP_MAILBOX_SUPPORTED)
+            list(APPEND srcs "lp_core/lp_core/port/lp_core_mailbox_impl_hw.c")
+        else()
+            list(APPEND srcs "lp_core/lp_core/port/lp_core_mailbox_impl_sw.c")
+        endif()
+
+        if(CONFIG_SOC_TOUCH_SENSOR_SUPPORTED)
+            list(APPEND srcs "lp_core/lp_core/lp_core_touch.c")
+            list(APPEND requires esp_hal_touch_sens)
+        endif()
+
+        if(CONFIG_SOC_LP_ADC_SUPPORTED)
+            list(APPEND srcs "lp_core/shared/ulp_lp_core_lp_adc_shared.c")
+            list(APPEND requires
+                esp_adc
+                esp_hal_ana_conv)
+        endif()
+
+        if(CONFIG_SOC_LP_VAD_SUPPORTED)
+            list(APPEND srcs "lp_core/shared/ulp_lp_core_lp_vad_shared.c")
+            list(APPEND requires esp_driver_i2s)
+        endif()
     elseif(ULP_TYPE STREQUAL "fsm")
         list(APPEND includes
             ulp_common/include
@@ -60,7 +120,13 @@ if(__ULP_BUILD)
         message(FATAL_ERROR "__ULP_BUILD requires ULP_TYPE to be one of: riscv, lp_core, fsm.")
     endif()
 else()
-    if(CONFIG_ULP_COPROC_ENABLED)
+    # TODO(IDF-15993): Keep esp_driver_gpio and esp_adc public for compatibility
+    # with the CMake v1 dependency graph until downstream users are fixed.
+    list(APPEND requires
+        esp_adc
+        esp_driver_gpio)
+
+    if(CONFIG_ULP_COPROC_ENABLED OR CONFIG_IDF_DOC_BUILD)
         list(APPEND includes
             ulp_common/include)
         list(APPEND requires
@@ -68,49 +134,127 @@ else()
             soc)
     endif()
 
-    if(CONFIG_ULP_COPROC_TYPE_FSM)
+    if(CONFIG_ULP_COPROC_TYPE_FSM OR (CONFIG_IDF_DOC_BUILD AND CONFIG_SOC_ULP_FSM_SUPPORTED))
         list(APPEND includes
             ulp_fsm/include
             ulp_fsm/include/${target})
-        list(APPEND srcs
-            "ulp_common/ulp_common.c"
-            "ulp_fsm/ulp.c"
-            "ulp_fsm/ulp_macro.c")
         list(APPEND requires esp_hw_support)
     endif()
 
-    if(CONFIG_ULP_COPROC_TYPE_RISCV)
+    if(CONFIG_ULP_COPROC_TYPE_RISCV OR CONFIG_IDF_DOC_BUILD)
         list(APPEND includes
             ulp_riscv/include
             ulp_riscv/shared/include
             ulp_riscv/ulp_core/include)
+        list(APPEND requires esp_hw_support)
+    endif()
+
+    if(CONFIG_ULP_COPROC_TYPE_LP_CORE OR CONFIG_IDF_DOC_BUILD)
+        list(APPEND includes
+             lp_core/include
+             lp_core/lp_core/include
+             lp_core/shared/include)
+    endif()
+
+    if(CONFIG_ULP_COPROC_TYPE_FSM OR CONFIG_ULP_COPROC_TYPE_RISCV)
         list(APPEND srcs
             "ulp_common/ulp_common.c"
-            "ulp_riscv/ulp_riscv.c")
-        list(APPEND requires
-            esp_hw_support
-            esp_hal_pmu)
+            "ulp_common/ulp_adc.c")
+
+        if(CONFIG_ULP_COPROC_TYPE_FSM)
+            list(APPEND srcs
+                "ulp_fsm/ulp.c"
+                "ulp_fsm/ulp_macro.c")
+        endif()
+
+        if(CONFIG_ULP_COPROC_TYPE_RISCV)
+            list(APPEND srcs
+                "ulp_riscv/ulp_riscv.c"
+                "ulp_riscv/ulp_riscv_lock.c"
+                "ulp_riscv/ulp_riscv_i2c.c")
+            list(APPEND priv_requires esp_driver_gpio)
+            list(APPEND requires
+                # ulp/ulp_riscv/ulp_core/include/ulp_riscv_touch_ulp_core.h
+                # includes hal/touch_sens_types.h.
+                esp_hal_touch_sens
+                esp_hal_i2c
+                hal)
+        endif()
     endif()
 
     if(CONFIG_ULP_COPROC_TYPE_LP_CORE)
-        list(APPEND includes
-            lp_core/include
-            lp_core/lp_core/include
-            lp_core/shared/include)
         list(APPEND srcs
             "lp_core/lp_core.c"
             "lp_core/shared/ulp_lp_core_memory_shared.c"
-            "lp_core/shared/ulp_lp_core_lp_timer_shared.c"
             "lp_core/shared/ulp_lp_core_critical_section_shared.c")
         list(APPEND requires
-            esp_hw_support
-            esp_hal_clock
+            esp_common
             esp_hal_pmu
-            esp_hal_rtc_timer
             esp_rom
             hal
             riscv
             soc)
+
+        if(CONFIG_SOC_ULP_LP_UART_SUPPORTED)
+            list(APPEND srcs
+            "lp_core/lp_core_uart.c"
+            "lp_core/shared/ulp_lp_core_lp_uart_shared.c")
+            list(APPEND requires
+                esp_driver_gpio
+                esp_driver_uart)
+        endif()
+
+        if(CONFIG_SOC_LP_CORE_SUPPORT_I2C)
+            list(APPEND srcs "lp_core/lp_core_i2c.c")
+            list(APPEND requires
+                esp_driver_gpio
+                esp_hal_i2c)
+        endif()
+
+        if(CONFIG_SOC_RTC_TIMER_V2 OR CONFIG_SOC_RTC_TIMER_V3)
+            list(APPEND srcs "lp_core/shared/ulp_lp_core_lp_timer_shared.c")
+            list(APPEND requires
+                esp_hal_clock
+                esp_hal_rtc_timer)
+        endif()
+
+        if(CONFIG_SOC_LP_SPI_SUPPORTED)
+            list(APPEND srcs "lp_core/lp_core_spi.c")
+            list(APPEND requires
+                esp_driver_gpio
+                esp_hal_gpspi)
+        endif()
+
+        if(CONFIG_SOC_LP_CORE_SUPPORT_ETM)
+            list(APPEND srcs "lp_core/lp_core_etm.c")
+        endif()
+
+        if(CONFIG_SOC_TOUCH_SENSOR_SUPPORTED)
+            list(APPEND requires esp_hal_touch_sens)
+        endif()
+
+        if(CONFIG_SOC_LP_ADC_SUPPORTED)
+            list(APPEND srcs "lp_core/shared/ulp_lp_core_lp_adc_shared.c")
+            list(APPEND priv_requires esp_hw_support)
+        endif()
+
+        if(CONFIG_SOC_LP_VAD_SUPPORTED)
+            list(APPEND srcs "lp_core/shared/ulp_lp_core_lp_vad_shared.c")
+            list(APPEND requires esp_driver_i2s)
+        endif()
+
+        list(APPEND srcs "lp_core/lp_core_mailbox.c")
+        if(CONFIG_SOC_LP_MAILBOX_SUPPORTED)
+            list(APPEND srcs "lp_core/lp_core_mailbox_impl_hw.c")
+        else()
+            list(APPEND srcs "lp_core/lp_core_mailbox_impl_sw.c")
+        endif()
+    endif()
+
+    if(srcs)
+        list(APPEND priv_requires
+            bootloader_support
+            esp_mm)
     endif()
 endif()
 
diff --git a/components/ulp/cmake/legacy_project/CMakeLists.txt.in b/components/ulp/cmake/legacy_project/CMakeLists.txt.in
new file mode 100644
index 00000000000..5513a51459f
--- /dev/null
+++ b/components/ulp/cmake/legacy_project/CMakeLists.txt.in
@@ -0,0 +1,10 @@
+cmake_minimum_required(VERSION 3.22)
+
+include(${IDF_PATH}/components/ulp/cmake/ulp_project.cmake)
+if("${ULP_TYPE}" STREQUAL "fsm")
+    project(${IDF_DEFAULT_PROJECT_NAME} ASM)
+else()
+    project(${IDF_DEFAULT_PROJECT_NAME} C CXX ASM)
+endif()
+
+ulp_project_default()
diff --git a/components/ulp/cmake/legacy_project/main/CMakeLists.txt.in b/components/ulp/cmake/legacy_project/main/CMakeLists.txt.in
new file mode 100644
index 00000000000..07df636601b
--- /dev/null
+++ b/components/ulp/cmake/legacy_project/main/CMakeLists.txt.in
@@ -0,0 +1,17 @@
+include(${CMAKE_CURRENT_LIST_DIR}/ulp_legacy_inputs.cmake)
+
+if(ULP_LEGACY_PARENT_SDKCONFIG_HEADER)
+    add_compile_options(-include "${ULP_LEGACY_PARENT_SDKCONFIG_HEADER}")
+endif()
+
+idf_component_register(SRCS ${ULP_LEGACY_SOURCES}
+                       INCLUDE_DIRS ${ULP_LEGACY_INCLUDE_DIRS}
+                       REQUIRES ulp
+                       # Match CMake v1-compatible idf_component_register(WHOLE_ARCHIVE)
+                       # semantics used by existing ULP test/example components.
+                       WHOLE_ARCHIVE)
+# This generated compatibility component intentionally uses parent app sources
+# and include directories. Skip __component_validation_check_sources() and
+# __component_validation_check_include_dirs(), which validate native CMake v2
+# component ownership in tools/cmakev2/component_validation.cmake.
+idf_component_set_property("${COMPONENT_NAME}" __SKIP_COMPONENT_PATH_OWNERSHIP_VALIDATION YES)
diff --git a/components/ulp/cmake/legacy_project/main/ulp_legacy_inputs.cmake.in b/components/ulp/cmake/legacy_project/main/ulp_legacy_inputs.cmake.in
new file mode 100644
index 00000000000..646532d88a4
--- /dev/null
+++ b/components/ulp/cmake/legacy_project/main/ulp_legacy_inputs.cmake.in
@@ -0,0 +1,16 @@
+set(ULP_LEGACY_SOURCES
+@ULP_LEGACY_SOURCES@
+)
+
+set(ULP_LEGACY_INCLUDE_DIR_CANDIDATES
+@ULP_LEGACY_INCLUDE_DIR_CANDIDATES@
+)
+
+set(ULP_LEGACY_PARENT_SDKCONFIG_HEADER [=[@ULP_LEGACY_PARENT_SDKCONFIG_HEADER@]=])
+
+set(ULP_LEGACY_INCLUDE_DIRS)
+foreach(include IN LISTS ULP_LEGACY_INCLUDE_DIR_CANDIDATES)
+    if(IS_DIRECTORY "${include}")
+        list(APPEND ULP_LEGACY_INCLUDE_DIRS "${include}")
+    endif()
+endforeach()
diff --git a/components/ulp/cmake/ulp_project.cmake b/components/ulp/cmake/ulp_project.cmake
index 072d46522f7..5c23d940a04 100644
--- a/components/ulp/cmake/ulp_project.cmake
+++ b/components/ulp/cmake/ulp_project.cmake
@@ -9,6 +9,13 @@
 include(${IDF_PATH}/tools/cmakev2/idf.cmake)
 include(${CMAKE_CURRENT_LIST_DIR}/IDFULPProjectCommon.cmake)
 
+if(__ULP_BUILD)
+    set(NON_OS_BUILD 1)
+    # Clearing common components below only prevents automatic app-component closure.
+    # Explicitly included ULP dependencies still read NON_OS_BUILD to select their no-OS shape.
+    idf_build_set_property(NON_OS_BUILD 1)
+endif()
+
 # Reset the compile/link state inherited from the parent app build and select
 # ULP-specific build behavior. Idempotent within a child configure.
 function(__ulp_prepare_build)
diff --git a/components/ulp/project_include.cmake b/components/ulp/project_include.cmake
index 0d68833185c..4d2b0612111 100644
--- a/components/ulp/project_include.cmake
+++ b/components/ulp/project_include.cmake
@@ -6,8 +6,88 @@ endif()
 #
 # Create ULP binary and embed into the application.
 
+# Generate a minimal CMake v2 ULP project in the parent build directory for
+# legacy ulp_embed_binary() callers. This lets the v2 ULP component graph build
+# legacy source lists without writing into the application source tree.
+function(__ulp_write_legacy_project project_dir sources component_dir)
+    set(template_dir "${CMAKE_CURRENT_FUNCTION_LIST_DIR}/cmake/legacy_project")
+    set(main_dir "${project_dir}/main")
+    file(MAKE_DIRECTORY "${main_dir}")
+
+    set_property(DIRECTORY APPEND PROPERTY CMAKE_CONFIGURE_DEPENDS
+        "${template_dir}/CMakeLists.txt.in"
+        "${template_dir}/main/CMakeLists.txt.in"
+        "${template_dir}/main/ulp_legacy_inputs.cmake.in")
+
+    file(GENERATE OUTPUT "${project_dir}/CMakeLists.txt"
+                  INPUT "${template_dir}/CMakeLists.txt.in")
+    file(GENERATE OUTPUT "${main_dir}/CMakeLists.txt"
+                  INPUT "${template_dir}/main/CMakeLists.txt.in")
+
+    set(ULP_LEGACY_SOURCES)
+    foreach(source IN LISTS sources)
+        string(APPEND ULP_LEGACY_SOURCES "    [=[${source}]=]\n")
+    endforeach()
+
+    set(ULP_LEGACY_INCLUDE_DIR_CANDIDATES)
+    if(DEFINED COMPONENT_NAME)
+        set(legacy_include_components "${COMPONENT_NAME}")
+        foreach(require_property IN ITEMS REQUIRES PRIV_REQUIRES)
+            idf_component_get_property(component_requires "${COMPONENT_NAME}" ${require_property})
+            list(APPEND legacy_include_components ${component_requires})
+        endforeach()
+        list(REMOVE_DUPLICATES legacy_include_components)
+
+        foreach(component IN LISTS legacy_include_components)
+            if(component STREQUAL "ulp")
+                continue()
+            endif()
+            idf_component_get_property(include_component_dir "${component}" COMPONENT_DIR)
+            set(include_properties INCLUDE_DIRS)
+            if(component STREQUAL COMPONENT_NAME)
+                list(APPEND include_properties PRIV_INCLUDE_DIRS)
+            endif()
+            foreach(include_property IN LISTS include_properties)
+                idf_component_get_property(component_includes "${component}" ${include_property})
+                foreach(include IN LISTS component_includes)
+                    if(IS_ABSOLUTE "${include}")
+                        string(APPEND ULP_LEGACY_INCLUDE_DIR_CANDIDATES "    [=[${include}]=]\n")
+                    elseif(include_component_dir)
+                        string(APPEND ULP_LEGACY_INCLUDE_DIR_CANDIDATES
+                            "    [=[${include_component_dir}/${include}]=]\n")
+                    endif()
+                endforeach()
+            endforeach()
+        endforeach()
+    endif()
+    if(component_dir)
+        string(APPEND ULP_LEGACY_INCLUDE_DIR_CANDIDATES "    [=[${component_dir}]=]\n")
+    endif()
+
+    set(ULP_LEGACY_PARENT_SDKCONFIG_HEADER)
+    if(SDKCONFIG_HEADER AND EXISTS "${SDKCONFIG_HEADER}")
+        set(ULP_LEGACY_PARENT_SDKCONFIG_HEADER "${main_dir}/ulp_parent_sdkconfig.h")
+        file(STRINGS "${SDKCONFIG_HEADER}" parent_sdkconfig_lines)
+        set(parent_sdkconfig_content
+            "/* Generated from the parent project sdkconfig for legacy ULP sources. */\n")
+        foreach(parent_sdkconfig_line IN LISTS parent_sdkconfig_lines)
+            if(parent_sdkconfig_line MATCHES "^#define CONFIG_IDF_TOOLCHAIN(_[A-Z]+)?[ \t]")
+                continue()
+            endif()
+            string(APPEND parent_sdkconfig_content "${parent_sdkconfig_line}\n")
+        endforeach()
+        file(GENERATE OUTPUT "${ULP_LEGACY_PARENT_SDKCONFIG_HEADER}"
+                      CONTENT "${parent_sdkconfig_content}")
+    endif()
+
+    file(READ "${template_dir}/main/ulp_legacy_inputs.cmake.in" inputs_template)
+    string(CONFIGURE "${inputs_template}" inputs_content @ONLY)
+    file(GENERATE OUTPUT "${main_dir}/ulp_legacy_inputs.cmake"
+                  CONTENT "${inputs_content}")
+endfunction()
+
 function(__setup_ulp_project app_name project_path prefix prefix_append_bin_name type binary_names
-                             s_sources exp_dep_srcs)
+                             legacy_project s_sources exp_dep_srcs)
 
     if(NOT CMAKE_BUILD_EARLY_EXPANSION)
         set(ulp_cmake_dir "${CMAKE_CURRENT_FUNCTION_LIST_DIR}/cmake")
@@ -131,7 +211,9 @@ function(__setup_ulp_project app_name project_path prefix prefix_append_bin_name
                 # subprojects). Do not warn about the ones a given child ignores.
                 --no-warn-unused-cli
                 -DIDF_DEFAULT_PROJECT_NAME=${app_name}
+                -DULP_APP_NAME=${app_name}
                 -DIDF_BUILD_V2=y
+                -DCMAKE_MODULE_PATH=${ulp_cmake_dir}
                 # Internal marker for the ULP child project component graph.
                 -D__ULP_BUILD=1
                 -DIDF_PARENT_BUILD_DIR=${build_dir}
@@ -147,21 +229,27 @@ function(__setup_ulp_project app_name project_path prefix prefix_append_bin_name
                 # share more of the normal IDF app toolchain response-file
                 # setup, but keep them under IDF_CUSTOM_TOOLCHAIN for now.
                 -DIDF_CUSTOM_TOOLCHAIN=1)
-            if(s_sources)
+            if(legacy_project)
+                set(generated_project_dir "${ulp_binary_dir}/legacy_project")
+                __ulp_write_legacy_project("${generated_project_dir}" "${sources}" "${COMPONENT_DIR}")
+                set(project_path "${generated_project_dir}")
+            elseif(s_sources)
                 list(APPEND ulp_project_args
                     -DULP_S_SOURCES=$<TARGET_PROPERTY:${app_name},ULP_SOURCES>)
             endif()
-            if(DEFINED COMPONENT_TARGET AND TARGET ${COMPONENT_TARGET})
-                # Backward compatibility for existing ULP subprojects that
-                # include headers from the parent component. New full
-                # subprojects should declare their own component include
-                # directories and dependencies instead.
-                list(APPEND ulp_project_args
-                    -DCOMPONENT_INCLUDES=$<TARGET_PROPERTY:${COMPONENT_TARGET},INTERFACE_INCLUDE_DIRECTORIES>)
-            endif()
-            if(COMPONENT_DIR)
-                list(APPEND ulp_project_args
-                    -DCOMPONENT_DIR=${COMPONENT_DIR})
+            if(NOT legacy_project)
+                if(DEFINED COMPONENT_TARGET AND TARGET ${COMPONENT_TARGET})
+                    # Backward compatibility for existing ULP subprojects that
+                    # include headers from the parent component. New full
+                    # subprojects should declare their own component include
+                    # directories and dependencies instead.
+                    list(APPEND ulp_project_args
+                        -DCOMPONENT_INCLUDES=$<TARGET_PROPERTY:${COMPONENT_TARGET},INTERFACE_INCLUDE_DIRECTORIES>)
+                endif()
+                if(COMPONENT_DIR)
+                    list(APPEND ulp_project_args
+                        -DCOMPONENT_DIR=${COMPONENT_DIR})
+                endif()
             endif()
         else()
             list(APPEND ulp_project_args
@@ -196,6 +284,22 @@ function(__setup_ulp_project app_name project_path prefix prefix_append_bin_name
             BUILD_ALWAYS 1
             )
 
+        if(IDF_BUILD_V2)
+            foreach(binary_name IN LISTS binary_names)
+                set(ulp_compat_dir "${CMAKE_CURRENT_BINARY_DIR}/${binary_name}")
+                foreach(extension IN ITEMS bin ld h map sym elf)
+                    set(ulp_compat_artifact "${ulp_compat_dir}/${binary_name}.${extension}")
+                    set(ulp_source_artifact "${ulp_binary_dir}/${binary_name}.${extension}")
+                    add_custom_command(OUTPUT "${ulp_compat_artifact}"
+                        COMMAND ${CMAKE_COMMAND} -E make_directory "${ulp_compat_dir}"
+                        COMMAND ${CMAKE_COMMAND} -E copy_if_different
+                                "${ulp_source_artifact}" "${ulp_compat_artifact}"
+                        DEPENDS "${ulp_source_artifact}"
+                        VERBATIM)
+                endforeach()
+            endforeach()
+        endif()
+
         # Only the CMake v1 path reads this property when passing ULP_S_SOURCES
         # to the child project. Leaving it set for v2 is harmless and keeps the
         # post-ExternalProject artifact wiring common. Can be dropped when
@@ -273,7 +377,7 @@ function(ulp_embed_binary app_name s_sources exp_dep_srcs)
     __setup_ulp_project("${app_name}" "${ulp_cmake_dir}"
                         "${ULP_PREFIX}" FALSE "${ULP_TYPE}"
                         "${app_name}"
-                        "${s_sources}" "${exp_dep_srcs}")
+                        TRUE "${s_sources}" "${exp_dep_srcs}")
 endfunction()
 
 function(ulp_add_project app_name project_path)
@@ -298,5 +402,5 @@ function(ulp_add_project app_name project_path)
     endif()
 
     __setup_ulp_project("${app_name}" "${project_path}" "${ULP_PREFIX}"
-                        "${ULP_PREFIX_APPEND_BIN_NAME}" "${ULP_TYPE}" "${ULP_BINARIES}" "" "")
+                        "${ULP_PREFIX_APPEND_BIN_NAME}" "${ULP_TYPE}" "${ULP_BINARIES}" FALSE "" "")
 endfunction()
diff --git a/components/ulp/test_apps/lp_core/lp_core_basic_tests/main/CMakeLists.txt b/components/ulp/test_apps/lp_core/lp_core_basic_tests/main/CMakeLists.txt
index e1aa2f2e134..838dc1e55b7 100644
--- a/components/ulp/test_apps/lp_core/lp_core_basic_tests/main/CMakeLists.txt
+++ b/components/ulp/test_apps/lp_core/lp_core_basic_tests/main/CMakeLists.txt
@@ -72,7 +72,7 @@ idf_component_register(SRCS ${app_sources}
                        INCLUDE_DIRS "lp_core"
                        REQUIRES ulp unity esp_timer test_utils
                        PRIV_REQUIRES esp_driver_gptimer esp_driver_i2c esp_driver_tsens esp_hal_rtc_timer
-                                     esp_driver_gpio hal
+                                     esp_driver_gpio esp_hal_pmu hal
                        WHOLE_ARCHIVE
                        EMBED_FILES "test_vad_8k.pcm")
 
diff --git a/examples/system/ulp/lp_core/debugging/main/ulp/CMakeLists.txt b/examples/system/ulp/lp_core/debugging/main/ulp/CMakeLists.txt
index 7fe900fb7c6..7ca8d93dae2 100644
--- a/examples/system/ulp/lp_core/debugging/main/ulp/CMakeLists.txt
+++ b/examples/system/ulp/lp_core/debugging/main/ulp/CMakeLists.txt
@@ -30,8 +30,16 @@ ulp_add_build_binary_targets(${ULP_APP_NAME})
 # Therefore '-Os' can be overridden here with '-O0' for this example for convenient debugging.
 target_compile_options(${ULP_APP_NAME} PRIVATE -fsanitize=undefined -fno-sanitize=shift-base)
 
+if(IDF_PARENT_BUILD_DIR)
+    set(ulp_gdbinit_dir "${IDF_PARENT_BUILD_DIR}/gdbinit")
+else()
+    set(ulp_gdbinit_dir "$<TARGET_FILE_DIR:${ULP_APP_NAME}>/../../../gdbinit")
+endif()
+
 add_custom_command(
     TARGET ${ULP_APP_NAME} POST_BUILD
+    COMMAND ${CMAKE_COMMAND} -E make_directory
+        ${ulp_gdbinit_dir}
     COMMAND ${CMAKE_COMMAND} -E copy $<TARGET_FILE:${ULP_APP_NAME}>
-        $<TARGET_FILE_DIR:${ULP_APP_NAME}>/../../../gdbinit/$<TARGET_FILE_NAME:${ULP_APP_NAME}>
+        ${ulp_gdbinit_dir}/$<TARGET_FILE_NAME:${ULP_APP_NAME}>
 )
diff --git a/examples/system/ulp/ulp_fsm_riscv_combined/counter/main/CMakeLists.txt b/examples/system/ulp/ulp_fsm_riscv_combined/counter/main/CMakeLists.txt
index 944da33b8d2..3500fb7a262 100644
--- a/examples/system/ulp/ulp_fsm_riscv_combined/counter/main/CMakeLists.txt
+++ b/examples/system/ulp/ulp_fsm_riscv_combined/counter/main/CMakeLists.txt
@@ -1,5 +1,6 @@
 idf_component_register(SRCS "ulp_fsm_riscv_combined_main.c"
-                    INCLUDE_DIRS "")
+                       INCLUDE_DIRS ""
+                       REQUIRES ulp)
 
 #
 # ULP FSM support additions to component CMakeLists.txt.
diff --git a/tools/cmakev2/component.cmake b/tools/cmakev2/component.cmake
index 9c4fae0bb6f..e1569ed1fe3 100644
--- a/tools/cmakev2/component.cmake
+++ b/tools/cmakev2/component.cmake
@@ -1111,6 +1111,10 @@ function(idf_component_include name)
                 target_link_options("${component_interface}" INTERFACE
                     "SHELL:-Wl,-force_load $<TARGET_FILE:${component_real_target}>")
                 target_link_libraries("${component_interface}" INTERFACE "${component_real_target}")
+            elseif(linker_type STREQUAL "ULP_FSM")
+                target_link_options("${component_interface}" INTERFACE
+                    "SHELL:--whole-archive $<TARGET_FILE:${component_real_target}> --no-whole-archive")
+                target_link_libraries("${component_interface}" INTERFACE "${component_real_target}")
             endif()
         else()
             target_link_libraries("${component_interface}" INTERFACE "${component_real_target}")
diff --git a/tools/cmakev2/component_validation.cmake b/tools/cmakev2/component_validation.cmake
index 436be2e9ec7..b98d9b4b3e2 100644
--- a/tools/cmakev2/component_validation.cmake
+++ b/tools/cmakev2/component_validation.cmake
@@ -170,6 +170,11 @@ function(__component_validation_run_checks)
 
     # Run validation checks for each component
     foreach(component_interface ${component_interfaces})
+        __idf_component_get_property_unchecked(skip_path_ownership_validation ${component_interface}
+                                               __SKIP_COMPONENT_PATH_OWNERSHIP_VALIDATION)
+        if(skip_path_ownership_validation)
+            continue()
+        endif()
         __component_validation_check_sources(${component_interface})
         __component_validation_check_include_dirs(${component_interface})
     endforeach()