diff --git a/components/esp_hal_debug_assist/esp32p4/include/hal/riscv_trace_ll.h b/components/esp_hal_debug_assist/esp32p4/include/hal/riscv_trace_ll.h
index 71b85feb29d..ceb6c52d1c3 100644
--- a/components/esp_hal_debug_assist/esp32p4/include/hal/riscv_trace_ll.h
+++ b/components/esp_hal_debug_assist/esp32p4/include/hal/riscv_trace_ll.h
@@ -13,6 +13,7 @@
 #include "soc/trace_struct.h"
 #include "soc/hp_sys_clkrst_struct.h"
 #include "hal/assert.h"
+#include "hal/riscv_trace_types.h"
 
 #ifdef __cplusplus
 extern "C" {
@@ -217,10 +218,15 @@ static inline void riscv_trace_ll_set_filter_control(trace_dev_t *hw, bool match
     hw->filter_control.match_interrupt = match_interrupt;
 }
 
-static inline void riscv_trace_ll_set_filter_match_control(trace_dev_t *hw, bool priv_choice,
+static inline bool riscv_trace_ll_priv_is_supported(uint32_t priv)
+{
+    return priv == RISCV_TRACE_PRIV_USER || priv == RISCV_TRACE_PRIV_MACHINE;
+}
+
+static inline void riscv_trace_ll_set_filter_match_control(trace_dev_t *hw, uint32_t priv_choice,
                                                            bool intr_value, uint32_t ecause_choice)
 {
-    hw->filter_match_control.match_choice_privilege = priv_choice;
+    hw->filter_match_control.match_choice_privilege = (priv_choice == RISCV_TRACE_PRIV_MACHINE);
     hw->filter_match_control.match_value_interrupt = intr_value;
     hw->filter_match_control.match_choice_ecause = ecause_choice;
 }
diff --git a/components/esp_hal_debug_assist/esp32s31/include/hal/riscv_trace_ll.h b/components/esp_hal_debug_assist/esp32s31/include/hal/riscv_trace_ll.h
new file mode 100644
index 00000000000..47fd4f11f60
--- /dev/null
+++ b/components/esp_hal_debug_assist/esp32s31/include/hal/riscv_trace_ll.h
@@ -0,0 +1,265 @@
+/*
+ * SPDX-FileCopyrightText: 2026 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#pragma once
+
+#include <stdint.h>
+#include <stdbool.h>
+
+#include "soc/trace_reg.h"
+#include "soc/trace_struct.h"
+#include "soc/hp_sys_clkrst_struct.h"
+#include "hal/assert.h"
+#include "hal/riscv_trace_types.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/** @brief Return the register block for the given core. */
+static inline trace_dev_t *riscv_trace_ll_get_hw(int core)
+{
+    HAL_ASSERT(core == 0 || core == 1);
+    return core == 0 ? &TRACE0 : &TRACE1;
+}
+
+/*---------------------------------------------------------------------------
+ * Clock and reset
+ *--------------------------------------------------------------------------*/
+
+static inline void _riscv_trace_ll_enable_bus_clock(bool enable)
+{
+    HP_SYS_CLKRST.trace_ctrl0.reg_trace_cpu_clk_en = enable;
+    HP_SYS_CLKRST.trace_ctrl0.reg_trace_sys_clk_en = enable;
+}
+#define riscv_trace_ll_enable_bus_clock(...) do { \
+    (void)__DECLARE_RCC_ATOMIC_ENV; \
+    _riscv_trace_ll_enable_bus_clock(__VA_ARGS__); \
+} while (0)
+
+static inline void _riscv_trace_ll_reset_register(int core)
+{
+    if (core == 0) {
+        HP_SYS_CLKRST.trace_ctrl0.reg_trace0_rst_en = 1;
+        HP_SYS_CLKRST.trace_ctrl0.reg_trace0_rst_en = 0;
+    } else {
+        HP_SYS_CLKRST.trace_ctrl0.reg_trace1_rst_en = 1;
+        HP_SYS_CLKRST.trace_ctrl0.reg_trace1_rst_en = 0;
+    }
+}
+#define riscv_trace_ll_reset_register(...) do { \
+    (void)__DECLARE_RCC_ATOMIC_ENV; \
+    _riscv_trace_ll_reset_register(__VA_ARGS__); \
+} while (0)
+
+/** @brief Enable the per-module register clock gate. */
+static inline void riscv_trace_ll_enable_module_clock(trace_dev_t *hw, bool enable)
+{
+    hw->clock_gate.clk_en = enable;
+}
+
+/*---------------------------------------------------------------------------
+ * Memory configuration
+ *--------------------------------------------------------------------------*/
+
+static inline void riscv_trace_ll_set_mem_start_addr(trace_dev_t *hw, uint32_t addr)
+{
+    hw->mem_start_addr.mem_start_addr = addr;
+}
+
+static inline void riscv_trace_ll_set_mem_end_addr(trace_dev_t *hw, uint32_t addr)
+{
+    hw->mem_end_addr.mem_end_addr = addr;
+}
+
+static inline uint32_t riscv_trace_ll_get_mem_current_addr(trace_dev_t *hw)
+{
+    return hw->mem_current_addr.mem_current_addr;
+}
+
+/** @brief Reload the current address from the start address. */
+static inline void riscv_trace_ll_update_mem_current_addr(trace_dev_t *hw)
+{
+    hw->mem_addr_update.mem_current_addr_update = 1;
+}
+
+/*---------------------------------------------------------------------------
+ * Status
+ *--------------------------------------------------------------------------*/
+
+static inline uint32_t riscv_trace_ll_get_fifo_status(trace_dev_t *hw)
+{
+    return hw->fifo_status.val;
+}
+
+/*---------------------------------------------------------------------------
+ * Trigger, loop mode and restart
+ *--------------------------------------------------------------------------*/
+
+static inline void riscv_trace_ll_trigger_on(trace_dev_t *hw)
+{
+    hw->trigger.trigger_on = 1;
+}
+
+static inline void riscv_trace_ll_trigger_off(trace_dev_t *hw)
+{
+    hw->trigger.trigger_off = 1;
+}
+
+static inline void riscv_trace_ll_set_mem_loop(trace_dev_t *hw, bool loop)
+{
+    hw->trigger.mem_loop = loop;
+}
+
+static inline void riscv_trace_ll_set_restart_ena(trace_dev_t *hw, bool enable)
+{
+    hw->trigger.restart_ena = enable;
+}
+
+/*---------------------------------------------------------------------------
+ * Encoder options (config register)
+ *--------------------------------------------------------------------------*/
+
+static inline void riscv_trace_ll_set_full_address(trace_dev_t *hw, bool full)
+{
+    hw->config.full_address = full;
+}
+
+static inline void riscv_trace_ll_set_stall_ena(trace_dev_t *hw, bool enable)
+{
+    hw->config.stall_ena = enable;
+}
+
+static inline void riscv_trace_ll_set_halt_ena(trace_dev_t *hw, bool enable)
+{
+    hw->config.halt_ena = enable;
+}
+
+static inline void riscv_trace_ll_set_reset_ena(trace_dev_t *hw, bool enable)
+{
+    hw->config.reset_ena = enable;
+}
+
+static inline void riscv_trace_ll_set_dm_trigger_ena(trace_dev_t *hw, bool enable)
+{
+    hw->config.dm_trigger_ena = enable;
+}
+
+/*---------------------------------------------------------------------------
+ * Resynchronization
+ *--------------------------------------------------------------------------*/
+
+static inline void riscv_trace_ll_set_resync_mode(trace_dev_t *hw, uint32_t mode)
+{
+    hw->resync_prolonged.resync_mode = mode;
+}
+
+static inline void riscv_trace_ll_set_resync_threshold(trace_dev_t *hw, uint32_t threshold)
+{
+    hw->resync_prolonged.resync_prolonged = threshold;
+}
+
+/*---------------------------------------------------------------------------
+ * AHB configuration
+ *--------------------------------------------------------------------------*/
+
+static inline void riscv_trace_ll_set_ahb_burst(trace_dev_t *hw, uint32_t hburst)
+{
+    hw->ahb_config.hburst = hburst;
+}
+
+static inline void riscv_trace_ll_set_ahb_max_incr(trace_dev_t *hw, uint32_t max_incr)
+{
+    hw->ahb_config.max_incr = max_incr;
+}
+
+/*---------------------------------------------------------------------------
+ * Interrupts
+ *--------------------------------------------------------------------------*/
+
+static inline void riscv_trace_ll_set_intr_ena(trace_dev_t *hw, uint32_t mask)
+{
+    hw->intr_ena.val = mask;
+}
+
+static inline uint32_t riscv_trace_ll_get_intr_raw(trace_dev_t *hw)
+{
+    return hw->intr_raw.val;
+}
+
+static inline void riscv_trace_ll_clear_intr(trace_dev_t *hw, uint32_t mask)
+{
+    hw->intr_clr.val = mask;
+}
+
+/*---------------------------------------------------------------------------
+ * Filter unit
+ *--------------------------------------------------------------------------*/
+
+static inline void riscv_trace_ll_set_filter_en(trace_dev_t *hw, bool enable)
+{
+    hw->filter_control.filter_en = enable;
+}
+
+static inline void riscv_trace_ll_set_filter_control(trace_dev_t *hw, bool match_comp,
+                                                     bool match_privilege, bool match_ecause,
+                                                     bool match_interrupt)
+{
+    hw->filter_control.match_comp = match_comp;
+    hw->filter_control.match_privilege = match_privilege;
+    hw->filter_control.match_ecause = match_ecause;
+    hw->filter_control.match_interrupt = match_interrupt;
+}
+
+static inline bool riscv_trace_ll_priv_is_supported(uint32_t priv)
+{
+    return priv == RISCV_TRACE_PRIV_USER || priv == RISCV_TRACE_PRIV_SUPERVISOR ||
+           priv == RISCV_TRACE_PRIV_MACHINE;
+}
+
+static inline void riscv_trace_ll_set_filter_match_control(trace_dev_t *hw, uint32_t priv_choice,
+                                                           bool intr_value, uint32_t ecause_choice)
+{
+    // This target implements the full architectural encoding, so no narrowing is needed.
+    hw->filter_match_control.match_choice_privilege = priv_choice;
+    hw->filter_match_control.match_value_interrupt = intr_value;
+    hw->filter_match_control.match_choice_ecause = ecause_choice;
+}
+
+static inline void riscv_trace_ll_set_p_comparator(trace_dev_t *hw, uint32_t input,
+                                                   uint32_t function, bool notify)
+{
+    hw->filter_comparator_control.p_input = input;
+    hw->filter_comparator_control.p_function = function;
+    hw->filter_comparator_control.p_notify = notify;
+}
+
+static inline void riscv_trace_ll_set_s_comparator(trace_dev_t *hw, uint32_t input,
+                                                   uint32_t function, bool notify)
+{
+    hw->filter_comparator_control.s_input = input;
+    hw->filter_comparator_control.s_function = function;
+    hw->filter_comparator_control.s_notify = notify;
+}
+
+static inline void riscv_trace_ll_set_match_mode(trace_dev_t *hw, uint32_t mode)
+{
+    hw->filter_comparator_control.match_mode = mode;
+}
+
+static inline void riscv_trace_ll_set_p_match_value(trace_dev_t *hw, uint32_t value)
+{
+    hw->filter_p_comparator_match.p_match = value;
+}
+
+static inline void riscv_trace_ll_set_s_match_value(trace_dev_t *hw, uint32_t value)
+{
+    hw->filter_s_comparator_match.s_match = value;
+}
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/components/esp_hal_debug_assist/include/hal/riscv_trace_hal.h b/components/esp_hal_debug_assist/include/hal/riscv_trace_hal.h
index a2208f244c9..fedc5992822 100644
--- a/components/esp_hal_debug_assist/include/hal/riscv_trace_hal.h
+++ b/components/esp_hal_debug_assist/include/hal/riscv_trace_hal.h
@@ -53,7 +53,7 @@ typedef struct {
     bool match_privilege;          /*!< Gate matching on the privilege level (match_privilege) */
     bool match_ecause;             /*!< Match from an exception cause (match_ecause) */
     bool match_interrupt;          /*!< Match from an interrupt trap (match_interrupt) */
-    bool privilege_machine;        /*!< match_choice_privilege: true = machine, false = user */
+    uint32_t privilege;            /*!< match_choice_privilege (riscv_trace_priv_t) */
     bool interrupt_itype2;         /*!< match_value_interrupt: true = itype 2, false = itype 1 */
     uint32_t ecause;               /*!< match_choice_ecause (6-bit exception cause code) */
     riscv_trace_hal_comparator_t primary;   /*!< Primary comparator */
diff --git a/components/esp_hal_debug_assist/include/hal/riscv_trace_types.h b/components/esp_hal_debug_assist/include/hal/riscv_trace_types.h
index b3676f20d75..d17c5b5d4e9 100644
--- a/components/esp_hal_debug_assist/include/hal/riscv_trace_types.h
+++ b/components/esp_hal_debug_assist/include/hal/riscv_trace_types.h
@@ -21,6 +21,19 @@ typedef enum {
     RISCV_TRACE_INTR_MEM_FULL      = BIT(1), /*!< Trace memory region became full. */
 } riscv_trace_intr_t;
 
+/**
+ * @brief Privilege level selected by the filter privilege qualifier.
+ *
+ * Values are the RISC-V architectural privilege encoding. Targets whose
+ * match_choice_privilege field is narrower implement only a subset, and their
+ * LL narrows the value when writing the register.
+ */
+typedef enum {
+    RISCV_TRACE_PRIV_USER       = 0, /*!< User mode */
+    RISCV_TRACE_PRIV_SUPERVISOR = 1, /*!< Supervisor mode */
+    RISCV_TRACE_PRIV_MACHINE    = 3, /*!< Machine mode */
+} riscv_trace_priv_t;
+
 /**
  * @brief Trace encoder work-status field.
  *
diff --git a/components/esp_hal_debug_assist/riscv_trace_hal.c b/components/esp_hal_debug_assist/riscv_trace_hal.c
index 87552c91b99..b315fa96cdc 100644
--- a/components/esp_hal_debug_assist/riscv_trace_hal.c
+++ b/components/esp_hal_debug_assist/riscv_trace_hal.c
@@ -163,7 +163,7 @@ void riscv_trace_hal_set_filter(riscv_trace_hal_context_t *ctx, const riscv_trac
 
     riscv_trace_ll_set_filter_control(ctx->dev, config->match_comparators, config->match_privilege,
                                       config->match_ecause, config->match_interrupt);
-    riscv_trace_ll_set_filter_match_control(ctx->dev, config->privilege_machine,
+    riscv_trace_ll_set_filter_match_control(ctx->dev, config->privilege,
                                             config->interrupt_itype2, config->ecause);
 
     riscv_trace_ll_set_p_comparator(ctx->dev, config->primary.input, config->primary.function,
diff --git a/components/esp_riscv_trace/README.md b/components/esp_riscv_trace/README.md
index e931f58fb14..3d1d1ed1b97 100644
--- a/components/esp_riscv_trace/README.md
+++ b/components/esp_riscv_trace/README.md
@@ -39,9 +39,10 @@ the buffer before a stop has completed its cache synchronization.
 ## Buffer and Trace Stream Notes
 
 The trace buffer must be reachable by the trace encoder AHB master. Driver
-allocated buffers are cache-line aligned and placed in internal RAM or PSRAM
-according to configuration. Caller-provided buffers are validated for reachable
-memory and cache-line alignment.
+allocated buffers are placed in internal RAM or PSRAM according to
+configuration, and are cache-line aligned when that memory is reached through a
+data cache. Caller-provided buffers are validated for reachable memory and
+cache-line alignment.
 
 In loop memory mode, wrapped buffers need periodic resynchronization packets to
 remain decodable after the original start sync has been overwritten.
diff --git a/components/esp_riscv_trace/include/esp_riscv_trace.h b/components/esp_riscv_trace/include/esp_riscv_trace.h
index baa6e3e0eee..9d53910c094 100644
--- a/components/esp_riscv_trace/include/esp_riscv_trace.h
+++ b/components/esp_riscv_trace/include/esp_riscv_trace.h
@@ -83,10 +83,15 @@ typedef enum {
     ESP_RISCV_TRACE_FILTER_MODE_RANGE   = 3, /*!< Start when P matches, continue until S matches */
 } esp_riscv_trace_filter_mode_t;
 
-/** @brief Privilege level selected by the privilege qualifier. */
+/**
+ * @brief Privilege level selected by the privilege qualifier.
+ *
+ * Values are the RISC-V architectural privilege encoding, so they stay the same on every target.
+ */
 typedef enum {
-    ESP_RISCV_TRACE_FILTER_PRIV_USER    = 0, /*!< User mode */
-    ESP_RISCV_TRACE_FILTER_PRIV_MACHINE = 1, /*!< Machine mode */
+    ESP_RISCV_TRACE_FILTER_PRIV_USER       = 0, /*!< User mode */
+    ESP_RISCV_TRACE_FILTER_PRIV_SUPERVISOR = 1, /*!< Supervisor mode; needs SOC_RISCV_TRACE_PRIV_WIDTH >= 2 */
+    ESP_RISCV_TRACE_FILTER_PRIV_MACHINE    = 3, /*!< Machine mode */
 } esp_riscv_trace_filter_priv_t;
 
 /** @brief One filter comparator. */
diff --git a/components/esp_riscv_trace/src/esp_riscv_trace.c b/components/esp_riscv_trace/src/esp_riscv_trace.c
index 10e2fdc0cf2..f5e675b6582 100644
--- a/components/esp_riscv_trace/src/esp_riscv_trace.c
+++ b/components/esp_riscv_trace/src/esp_riscv_trace.c
@@ -6,8 +6,10 @@
 
 #include <stdio.h>
 #include <string.h>
+#include <sys/param.h>
 #include "freertos/FreeRTOS.h"
 #include "freertos/task.h"
+#include "esp_heap_caps.h"
 #include "esp_log.h"
 #include "esp_err.h"
 #include "esp_cache.h"
@@ -27,7 +29,7 @@
 #define ESP_RISCV_TRACE_BUFFER_CAPS_INTERNAL  (MALLOC_CAP_DMA | MALLOC_CAP_INTERNAL | MALLOC_CAP_8BIT)
 #define ESP_RISCV_TRACE_BUFFER_CAPS_EXTERNAL  (MALLOC_CAP_SPIRAM | MALLOC_CAP_8BIT)
 
-#define ALIGN_UP(num, align)                  (((num) + ((align) - 1)) & ~((align) - 1))
+#define ESP_RISCV_TRACE_BUFFER_ALIGNMENT      4
 
 static const char *TAG = "esp_riscv_trace";
 
@@ -38,13 +40,15 @@ static uint8_t *alloc_aligned_buffer(size_t requested, uint32_t caps, size_t *ou
 {
     *out_size = 0;
 
-    size_t cache_line = 0;
-    ESP_RETURN_ON_FALSE(esp_cache_get_alignment(caps, &cache_line) == ESP_OK, NULL, TAG,
+    size_t cache_alignment = 0;
+    ESP_RETURN_ON_FALSE(esp_cache_get_alignment(caps, &cache_alignment) == ESP_OK, NULL, TAG,
                         "failed to get buffer alignment");
-    ESP_RETURN_ON_FALSE(requested <= SIZE_MAX - (cache_line - 1), NULL, TAG,
+    size_t alignment = MAX(cache_alignment, ESP_RISCV_TRACE_BUFFER_ALIGNMENT);
+
+    ESP_RETURN_ON_FALSE(requested <= SIZE_MAX - (alignment - 1), NULL, TAG,
                         "trace buffer size too large");
-    size_t size = ALIGN_UP(requested, cache_line);
-    uint8_t *buf = heap_caps_calloc(1, size, caps | MALLOC_CAP_CACHE_ALIGNED);
+    size_t size = ESP_ALIGN_UP(requested, alignment);
+    uint8_t *buf = heap_caps_aligned_calloc(alignment, 1, size, caps);
     ESP_RETURN_ON_FALSE(buf != NULL, NULL, TAG, "failed to allocate buffer");
     *out_size = size;
     return buf;
@@ -140,8 +144,11 @@ static esp_err_t validate_filter_config(const esp_riscv_trace_filter_config_t *c
     }
     if (config->match_privilege) {
         ESP_RETURN_ON_FALSE(config->privilege == ESP_RISCV_TRACE_FILTER_PRIV_USER ||
+                            config->privilege == ESP_RISCV_TRACE_FILTER_PRIV_SUPERVISOR ||
                             config->privilege == ESP_RISCV_TRACE_FILTER_PRIV_MACHINE,
                             ESP_ERR_INVALID_ARG, TAG, "invalid filter privilege");
+        ESP_RETURN_ON_FALSE(riscv_trace_ll_priv_is_supported((uint32_t)config->privilege),
+                            ESP_ERR_NOT_SUPPORTED, TAG, "filter privilege not supported on this target");
     }
     if (config->match_ecause) {
         ESP_RETURN_ON_FALSE(config->ecause <= 0x3F, ESP_ERR_INVALID_ARG, TAG, "filter ecause out of range");
@@ -349,7 +356,7 @@ esp_err_t esp_riscv_trace_set_filter(esp_riscv_trace_core_t core_id, const esp_r
             hal_filter.match_mode = (uint32_t)config->mode;
         }
         if (config->match_privilege) {
-            hal_filter.privilege_machine = (config->privilege == ESP_RISCV_TRACE_FILTER_PRIV_MACHINE);
+            hal_filter.privilege = (uint32_t)config->privilege;
         }
         if (config->match_ecause) {
             hal_filter.ecause = config->ecause;
diff --git a/components/esp_riscv_trace/test_apps/basic/README.md b/components/esp_riscv_trace/test_apps/basic/README.md
index a8fdf5cd5dd..88370737619 100644
--- a/components/esp_riscv_trace/test_apps/basic/README.md
+++ b/components/esp_riscv_trace/test_apps/basic/README.md
@@ -1,5 +1,5 @@
-| Supported Targets | ESP32-P4 |
-| ----------------- | -------- |
+| Supported Targets | ESP32-P4 | ESP32-S31 |
+| ----------------- | -------- | --------- |
 
 # RISC-V Trace Basic Test App
 
diff --git a/components/esp_riscv_trace/test_apps/basic/main/test_riscv_trace_common.c b/components/esp_riscv_trace/test_apps/basic/main/test_riscv_trace_common.c
index 0ebb1574f9d..1a71612ccc6 100644
--- a/components/esp_riscv_trace/test_apps/basic/main/test_riscv_trace_common.c
+++ b/components/esp_riscv_trace/test_apps/basic/main/test_riscv_trace_common.c
@@ -16,12 +16,12 @@ bool decode_sync_pc(const uint8_t *payload, size_t payload_len, uint32_t *pc)
     if ((payload[0] & 0x3) != 3 || ((payload[0] >> 2) & 0x3) != 0) {
         return false;
     }
-    /* Address is 31 bits starting at payload bit 6; byte address is addr << 1. */
+    /* Address is 31 bits starting at TRACE_SYNC_ADDR_BIT_OFFSET; byte address is addr << 1. */
     uint64_t v = 0;
     for (int i = 0; i < TRACE_SYNC_PAYLOAD_BYTES; i++) {
         v |= (uint64_t)payload[i] << (8 * i);
     }
-    *pc = (uint32_t)((v >> 6) & 0x7FFFFFFFu) << 1;
+    *pc = (uint32_t)((v >> TRACE_SYNC_ADDR_BIT_OFFSET) & 0x7FFFFFFFu) << 1;
     return true;
 }
 
diff --git a/components/esp_riscv_trace/test_apps/basic/main/test_riscv_trace_common.h b/components/esp_riscv_trace/test_apps/basic/main/test_riscv_trace_common.h
index 8707c1ae3a8..1e843310e7c 100644
--- a/components/esp_riscv_trace/test_apps/basic/main/test_riscv_trace_common.h
+++ b/components/esp_riscv_trace/test_apps/basic/main/test_riscv_trace_common.h
@@ -9,6 +9,7 @@
 #include <stdint.h>
 #include <stddef.h>
 #include <stdbool.h>
+#include "soc/soc_caps.h"
 #include "esp_riscv_trace.h"
 
 #ifdef __cplusplus
@@ -22,6 +23,9 @@ extern "C" {
 #define TRACE_PACKET_MIN_LEN         4    /* prefix (3) + >=1 payload byte */
 #define TRACE_PACKET_MAX_LEN         13   /* prefix (3) + <=10 payload bytes */
 #define TRACE_SYNC_PAYLOAD_BYTES     5
+/* Sync payload layout: format(2) + subformat(2) + branch(1) + privilege(N) + address(31), where N
+ * is the encoder's privilege_width_p. Targets with supervisor mode push the address up one bit. */
+#define TRACE_SYNC_ADDR_BIT_OFFSET   (2 + 2 + 1 + SOC_RISCV_TRACE_PRIV_WIDTH)
 #define TRACE_ANCHOR_ZERO_RUN_BYTES  14   /* an anchor tag is >=14 zero bytes */
 #define TRACE_TEST_STOP_TIMEOUT_US   1000000
 
diff --git a/components/soc/esp32p4/include/soc/Kconfig.soc_caps.in b/components/soc/esp32p4/include/soc/Kconfig.soc_caps.in
index 012b091ee4f..8bb4089f429 100644
--- a/components/soc/esp32p4/include/soc/Kconfig.soc_caps.in
+++ b/components/soc/esp32p4/include/soc/Kconfig.soc_caps.in
@@ -1950,3 +1950,7 @@ config SOC_RISCV_TRACE_AHB_CONFIGURABLE
 config SOC_RISCV_TRACE_FILTER_SUPPORTED
     bool
     default y
+
+config SOC_RISCV_TRACE_PRIV_WIDTH
+    int
+    default 1
diff --git a/components/soc/esp32p4/include/soc/soc_caps.h b/components/soc/esp32p4/include/soc/soc_caps.h
index 8712f221022..ebc488a1f6a 100644
--- a/components/soc/esp32p4/include/soc/soc_caps.h
+++ b/components/soc/esp32p4/include/soc/soc_caps.h
@@ -746,3 +746,4 @@
 #define SOC_RISCV_TRACE_HAS_CONFIG_REG              (1) /*!< Has the encoder config register */
 #define SOC_RISCV_TRACE_AHB_CONFIGURABLE            (1) /*!< AHB write master is configurable */
 #define SOC_RISCV_TRACE_FILTER_SUPPORTED            (1) /*!< Has the filter unit */
+#define SOC_RISCV_TRACE_PRIV_WIDTH                  (1U) /*!< Bits in the privilege field (privilege_width_p) */
diff --git a/components/soc/esp32s31/include/soc/Kconfig.soc_caps.in b/components/soc/esp32s31/include/soc/Kconfig.soc_caps.in
index 3a0b8d5b8b7..49b47296d69 100644
--- a/components/soc/esp32s31/include/soc/Kconfig.soc_caps.in
+++ b/components/soc/esp32s31/include/soc/Kconfig.soc_caps.in
@@ -359,6 +359,10 @@ config SOC_SPI_EXTERNAL_NOR_FLASH_SUPPORTED
     bool
     default y
 
+config SOC_RISCV_TRACE_SUPPORTED
+    bool
+    default y
+
 config SOC_EMAC_SUPPORT_1000M
     bool
     default y
@@ -1854,3 +1858,19 @@ config SOC_TEMPERATURE_SENSOR_SUPPORT_SLEEP_RETENTION
 config SOC_DEBUG_HAVE_OCD_STUB_BINS
     bool
     default y
+
+config SOC_RISCV_TRACE_HAS_CONFIG_REG
+    bool
+    default y
+
+config SOC_RISCV_TRACE_AHB_CONFIGURABLE
+    bool
+    default y
+
+config SOC_RISCV_TRACE_FILTER_SUPPORTED
+    bool
+    default y
+
+config SOC_RISCV_TRACE_PRIV_WIDTH
+    int
+    default 2
diff --git a/components/soc/esp32s31/include/soc/soc_caps.h b/components/soc/esp32s31/include/soc/soc_caps.h
index a2496e6aa19..0aac0e0b34c 100644
--- a/components/soc/esp32s31/include/soc/soc_caps.h
+++ b/components/soc/esp32s31/include/soc/soc_caps.h
@@ -113,6 +113,7 @@
 #define SOC_JPEG_CODEC_SUPPORTED        1
 #define SOC_EMAC_SUPPORTED              1
 #define SOC_SPI_EXTERNAL_NOR_FLASH_SUPPORTED    1
+#define SOC_RISCV_TRACE_SUPPORTED       1
 
 /*-------------------------- EMAC CAPS ----------------------------------------*/
 #define SOC_EMAC_SUPPORT_1000M                     (1)      /*!< EMAC Supports 1000Mbps mode */
@@ -690,3 +691,9 @@
 
 /*------------------------------------- DEBUG CAPS -------------------------------------*/
 #define SOC_DEBUG_HAVE_OCD_STUB_BINS    (1)
+
+/*-------------------------- RISC-V TRACE CAPS ------------------------------*/
+#define SOC_RISCV_TRACE_HAS_CONFIG_REG              (1) /*!< Has the encoder config register */
+#define SOC_RISCV_TRACE_AHB_CONFIGURABLE            (1) /*!< AHB write master is configurable */
+#define SOC_RISCV_TRACE_FILTER_SUPPORTED            (1) /*!< Has the filter unit */
+#define SOC_RISCV_TRACE_PRIV_WIDTH                  (2U) /*!< Bits in the privilege field (privilege_width_p) */
diff --git a/components/soc/esp32s31/register/soc/trace_struct.h b/components/soc/esp32s31/register/soc/trace_struct.h
index 0b089284492..5540317c8ab 100644
--- a/components/soc/esp32s31/register/soc/trace_struct.h
+++ b/components/soc/esp32s31/register/soc/trace_struct.h
@@ -492,6 +492,8 @@ typedef struct {
     volatile trace_date_reg_t date;
 } trace_dev_t;
 
+extern trace_dev_t TRACE0;
+extern trace_dev_t TRACE1;
 
 #ifndef __cplusplus
 _Static_assert(sizeof(trace_dev_t) == 0x400, "Invalid size of trace_dev_t structure");