diff --git a/.gitlab/ci/rules.yml b/.gitlab/ci/rules.yml
index dc7bda7bf8b..5c2ee7ef98b 100644
--- a/.gitlab/ci/rules.yml
+++ b/.gitlab/ci/rules.yml
@@ -51,8 +51,7 @@
 .patterns-host_test_ulp_linker: &patterns-host_test_ulp_linker
   - ".gitlab/ci/host-test.yml"
 
-  - "components/ulp/ld/**/*"
-  - "components/ulp/cmake/**/*"
+  - "components/ulp/subproject/**/*"
   - "components/ulp/CMakeLists*.txt"
   - "components/ulp/component_ulp_common.cmake"
   - "components/ulp/project_include.cmake"
diff --git a/components/ulp/CMakeLists_v2.txt b/components/ulp/CMakeLists_v2.txt
index 3bdd8fc778f..8f8eb900cb2 100644
--- a/components/ulp/CMakeLists_v2.txt
+++ b/components/ulp/CMakeLists_v2.txt
@@ -1,347 +1,159 @@
+# The application's driver for the ULP coprocessor. The code that runs on the
+# ULP coprocessor is built from the components in subproject/components, whose
+# headers this component also publishes: they are on the application's include
+# path.
+if(__ULP_BUILDV2)
+    idf_die("The ulp component is not built for the ULP coprocessor. A ULP "
+            "program is built against the components in ulp/subproject.")
+endif()
+
 set(srcs "")
 set(includes "")
 set(requires "")
 set(priv_requires "")
 
-if(__ULP_BUILDV2)
-    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_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
-            "lp_core/lp_core/start.S"
-            "lp_core/lp_core/vector.S"
-            "lp_core/lp_core/port/${target}/vector_table.S"
-            "lp_core/shared/ulp_lp_core_memory_shared.c"
-            "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/lp_core/lp_core_ubsan.c"
-            "lp_core/lp_core/lp_core_mailbox.c"
-            "lp_core/shared/ulp_lp_core_critical_section_shared.c")
+# 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)
 
-        list(APPEND requires
-            esp_common
-            esp_hal_gpio
-            esp_hal_uart
-            esp_rom
-            hal
-            riscv
-            soc)
-        list(APPEND priv_requires
-            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
-            ulp_fsm/include
-            ulp_fsm/include/${target})
-        list(APPEND requires soc)
-    else()
-        message(FATAL_ERROR "__ULP_BUILDV2 requires ULP_TYPE to be one of: riscv, lp_core, fsm.")
-    endif()
-else()
-    # TODO(IDF-15993): Keep esp_driver_gpio and esp_adc public for compatibility
-    # with the CMake v1 dependency graph until downstream users are fixed.
+if(CONFIG_ULP_COPROC_ENABLED OR CONFIG_IDF_DOC_BUILD)
+    list(APPEND includes
+        ulp_common/include)
     list(APPEND requires
-        esp_adc
-        esp_driver_gpio)
+        esp_common
+        soc)
+endif()
 
-    if(CONFIG_ULP_COPROC_ENABLED OR CONFIG_IDF_DOC_BUILD)
-        list(APPEND includes
-            ulp_common/include)
-        list(APPEND requires
-            esp_common
-            soc)
-    endif()
+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 requires esp_hw_support)
+endif()
 
-    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 requires esp_hw_support)
-    endif()
+if(CONFIG_ULP_COPROC_TYPE_RISCV OR CONFIG_IDF_DOC_BUILD)
+    list(APPEND includes
+        ulp_riscv/include
+        ulp_riscv/shared/include
+        subproject/components/ulp_riscv/include)
+    list(APPEND requires esp_hw_support)
+endif()
 
-    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
+         subproject/components/lp_core/include
+         lp_core/shared/include)
+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_common/ulp_adc.c")
 
-    if(CONFIG_ULP_COPROC_TYPE_FSM OR CONFIG_ULP_COPROC_TYPE_RISCV)
+    if(CONFIG_ULP_COPROC_TYPE_FSM)
         list(APPEND srcs
-            "ulp_common/ulp_common.c"
-            "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()
+            "ulp_fsm/ulp.c"
+            "ulp_fsm/ulp_macro.c")
     endif()
 
-    if(CONFIG_ULP_COPROC_TYPE_LP_CORE)
+    if(CONFIG_ULP_COPROC_TYPE_RISCV)
         list(APPEND srcs
-            "lp_core/lp_core.c"
-            "lp_core/shared/ulp_lp_core_memory_shared.c"
-            "lp_core/shared/ulp_lp_core_critical_section_shared.c")
+            "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
-            esp_common
-            esp_hal_pmu
-            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)
+            # ulp/subproject/components/ulp_riscv/include/ulp_riscv_touch_ulp_core.h
+            # includes hal/touch_sens_types.h.
+            esp_hal_touch_sens
+            esp_hal_i2c
+            hal)
     endif()
 endif()
 
-if(requires)
-    list(REMOVE_DUPLICATES requires)
+if(CONFIG_ULP_COPROC_TYPE_LP_CORE)
+    list(APPEND srcs
+        "lp_core/lp_core.c"
+        "lp_core/shared/ulp_lp_core_memory_shared.c"
+        "lp_core/shared/ulp_lp_core_critical_section_shared.c")
+    list(APPEND requires
+        esp_common
+        esp_hal_pmu
+        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(priv_requires)
-    list(REMOVE_DUPLICATES priv_requires)
-endif()
-
-set(whole_archive)
-if(__ULP_BUILDV2)
-    # Legacy ULP child builds added the LP-core runtime sources directly to the
-    # executable. Preserve that behavior so strong handlers such as
-    # ulp_lp_core_panic_handler are not dropped in favor of weak defaults from
-    # other runtime objects.
-    set(whole_archive WHOLE_ARCHIVE)
+if(srcs)
+    list(APPEND priv_requires
+        bootloader_support
+        esp_mm)
 endif()
+list(REMOVE_DUPLICATES requires)
+list(REMOVE_DUPLICATES priv_requires)
 
 idf_component_register(SRCS ${srcs}
                        INCLUDE_DIRS ${includes}
                        REQUIRES ${requires}
-                       PRIV_REQUIRES ${priv_requires}
-                       ${whole_archive})
+                       PRIV_REQUIRES ${priv_requires})
 
-# In the parent app build, the ulp component only provides the host-side API.
-# The executable/linker setup below is for native ULP child projects.
-if(NOT __ULP_BUILDV2)
-    idf_define_esp_err_codes(HEADERS ulp_fsm/include/ulp_fsm_common.h)
-    return()
-endif()
-
-# Preprocessor flags shared by every ULP memory-layout template. The template
-# is a ".in" file, so the standard target_linker_script flow runs the C
-# preprocessor on it. -D__ASSEMBLER__ keeps SoC headers to their macro-only
-# form, and the component's own ld directory is available for relative
-# includes.
-set(ulp_ld_flags "-D__ASSEMBLER__ -I\"${CMAKE_CURRENT_SOURCE_DIR}/ld\"")
-
-# Select the linker template and target-specific link options used by the ULP
-# executable created in the child project. The memory-layout template is
-# registered with target_linker_script so the standard build system
-# preprocesses and attaches it; per-type FLAGS supply the include directories
-# its #include lines need.
-if(ULP_TYPE STREQUAL "riscv")
-    target_linker_script(${COMPONENT_LIB} INTERFACE "ld/ulp_riscv.ld.in" MEMORY
-                         FLAGS "${ulp_ld_flags}")
-    target_linker_script(${COMPONENT_LIB} INTERFACE "ld/${target}.peripherals.ld")
-    target_link_options(${COMPONENT_LIB} INTERFACE
-        -nostartfiles
-        -Wl,--gc-sections
-        -Wl,--no-warn-rwx-segments
-        LINKER:-u,main)
-    target_compile_definitions(${COMPONENT_LIB} PUBLIC
-        IS_ULP_COCPU
-        ULP_RISCV_REGISTER_OPS)
-elseif(ULP_TYPE STREQUAL "lp_core")
-    # lp_core_riscv.ld includes soc/soc.h and esp_common headers, which are
-    # resolved automatically from the linked component graph. It also includes
-    # the esp_system ld snippets (ld.common, ld.hp_mem_defs); those live in the
-    # component's ld/ directory, which is not a public include dir, so pass it
-    # via FLAGS.
-    idf_component_get_property(esp_system_dir esp_system COMPONENT_DIR)
-    set(lp_core_ld_flags "${ulp_ld_flags} -I\"${esp_system_dir}/ld\" -I\"${esp_system_dir}/ld/${target}\"")
-    # A user-supplied LINKER layout replaces the default one composed into
-    # lp_core_riscv.ld.in. It reaches this child project as LP_CORE_LINKER_SCRIPT
-    # (passed by __setup_ulp_project, same as the CMake v1 path). Hand it to the
-    # wrapper as the LP_CORE_LINKER_INCLUDE macro it #includes. The escaped quotes
-    # survive separate_arguments() in the linker-script preprocessor so the macro
-    # expands to a quoted header-name token ("/abs/path.ld").
-    if(LP_CORE_LINKER_SCRIPT)
-        message(STATUS "Using custom LP-core linker layout: ${LP_CORE_LINKER_SCRIPT}")
-        string(APPEND lp_core_ld_flags " -DLP_CORE_LINKER_INCLUDE=\\\"${LP_CORE_LINKER_SCRIPT}\\\"")
-    endif()
-    target_linker_script(${COMPONENT_LIB} INTERFACE "ld/lp_core_riscv.ld.in" MEMORY
-                         FLAGS "${lp_core_ld_flags}")
-
-    target_link_options(${COMPONENT_LIB} INTERFACE
-        -nostartfiles
-        -Wl,--gc-sections
-        -Wl,--no-warn-rwx-segments
-        LINKER:-u,main)
-    target_compile_definitions(${COMPONENT_LIB} PUBLIC IS_ULP_COCPU)
-    target_compile_options(${COMPONENT_LIB} PRIVATE -Wno-implicit-fallthrough)
-elseif(ULP_TYPE STREQUAL "fsm")
-    target_linker_script(${COMPONENT_LIB} INTERFACE "ld/ulp_fsm.ld.in" MEMORY
-                         FLAGS "${ulp_ld_flags}")
-    target_link_options(${COMPONENT_LIB} INTERFACE "SHELL:-u entry")
-endif()
+idf_define_esp_err_codes(HEADERS ulp_fsm/include/ulp_fsm_common.h)
diff --git a/components/ulp/Kconfig b/components/ulp/Kconfig
index 029026fc1a3..429e606ddc1 100644
--- a/components/ulp/Kconfig
+++ b/components/ulp/Kconfig
@@ -54,20 +54,8 @@ menu "Ultra Low Power (ULP) Co-processor"
     menu "ULP RISC-V Settings"
         depends on ULP_COPROC_TYPE_RISCV
 
-        config ULP_RISCV_INTERRUPT_ENABLE
-            bool
-            prompt "Enable ULP RISC-V interrupts"
-            default "n"
-            help
-                Turn on this setting to enabled interrupts on the ULP RISC-V core.
-
-        config ULP_RISCV_UART_BAUDRATE
-            int
-            prompt "Baudrate used by the bitbanged ULP RISC-V UART driver"
-            default 9600
-            help
-                The accuracy of the bitbanged UART driver is limited, it is not
-                recommend to increase the value above 19200.
+        # Declared by the component that builds the ULP RISC-V program.
+        rsource "subproject/components/ulp_riscv/Kconfig.ulp_riscv"
 
         config ULP_RISCV_I2C_RW_TIMEOUT
             int
@@ -117,28 +105,8 @@ menu "Ultra Low Power (ULP) Co-processor"
                 HP application.
     endmenu
 
-    config ULP_ROM_PRINT_ENABLE
-        depends on ULP_COPROC_TYPE_LP_CORE && ESP_ROM_HAS_LP_ROM
-        bool
-        prompt "Enable print utilities from LP ROM"
-        default "y"
-        help
-            Set this option to enable printf functionality from LP ROM. This option
-            can help reduce the LP core binary size by not linking printf functionality
-            from RAM code.
-            Note: For LP ROM prints to work properly, make sure that the LP core boots
-            from the LP ROM.
-
-    config ULP_LP_CORE_MEMPROT
-        bool "Enable LP Core memory protection (PMP)"
-        depends on ULP_COPROC_TYPE_LP_CORE && SOC_LP_CORE_HAS_PMP && !ULP_COPROC_RUN_FROM_HP_MEM
-        default n
-        help
-            Configures the LP CPU's PMP entries to enforce memory protection.
-            LP RAM is split into executable (.text) and data (.data/.bss/stack)
-            regions. Regions not explicitly permitted are inaccessible.
-            Not available when "Run LP Core from HP memory" is enabled.
-            Disable this if you need full control over PMP configuration.
+    # Declared by the component that builds the LP core program.
+    rsource "subproject/components/lp_core/Kconfig.lp_core"
 
     config ULP_TRAP_WAKEUP
         depends on ULP_COPROC_TYPE_LP_CORE
@@ -150,38 +118,8 @@ menu "Ultra Low Power (ULP) Co-processor"
             the LP-core encounters an exception.
 
     menu "ULP Debugging Options"
-        config ULP_PANIC_OUTPUT_ENABLE
-            depends on ULP_COPROC_TYPE_LP_CORE && SOC_ULP_LP_UART_SUPPORTED
-            bool
-            prompt "Enable panic handler which outputs over LP UART"
-            default "n"
-            help
-                Set this option to enable panic handler functionality. If this option is
-                enabled then the LP Core will output a panic dump over LP UART,
-                similar to what the main core does. Output depends on LP UART already being
-                initialized and configured.
-                Disabling this option will reduce the LP core binary size by not
-                linking in panic handler functionality.
-
-        config ULP_HP_UART_CONSOLE_PRINT
-            depends on ULP_COPROC_TYPE_LP_CORE
-            bool
-            prompt "Route lp_core_printf to the console HP-UART"
-            help
-                Set this option to route lp_core_printf to the console HP-UART.
-                This allows you to easily view print outputs from the LP core, without
-                having to connect to the LP-UART. This option comes with the following
-                limitations:
-
-                1. There is no mutual exclusion between the HP-Core and the LP-Core accessing
-                the HP-UART, which means that if both cores are logging heavily the output
-                strings might get mangled together.
-                2. The HP-UART can only work while the HP-Core is running, which means that
-                if the HP-Core is in deep sleep, the LP-Core will not be able to print to the
-                console HP-UART.
-
-                Due to these limitations it is only recommended to use this option for easy debugging.
-                For more serious use-cases you should use the LP-UART.
+        # Declared by the component that builds the LP core program.
+        rsource "subproject/components/lp_core/Kconfig.lp_core_debug"
 
         config ULP_NORESET_UNDER_DEBUG
             bool "Avoid resetting LP core when debugger is attached"
diff --git a/components/ulp/project_include.cmake b/components/ulp/project_include.cmake
index 7ef3b4d7ea4..9733568660b 100644
--- a/components/ulp/project_include.cmake
+++ b/components/ulp/project_include.cmake
@@ -10,7 +10,7 @@ function(__setup_ulp_project app_name project_path prefix prefix_append_bin_name
                              s_sources exp_dep_srcs linker_script)
 
     if(NOT CMAKE_BUILD_EARLY_EXPANSION)
-        set(ulp_cmake_dir "${CMAKE_CURRENT_FUNCTION_LIST_DIR}/cmake")
+        set(ulp_subproject_dir "${CMAKE_CURRENT_FUNCTION_LIST_DIR}/subproject")
         set(sources "")
         spaces2list(s_sources)
         foreach(source ${s_sources})
@@ -95,7 +95,7 @@ function(__setup_ulp_project app_name project_path prefix prefix_append_bin_name
                                         "Only FSM type is available for ULP on this target.")
                 endif()
             endif()
-            set(TOOLCHAIN_FLAG ${ulp_cmake_dir}/toolchain-${idf_target}-ulp.cmake)
+            set(TOOLCHAIN_FLAG ${ulp_subproject_dir}/components/ulp_fsm/toolchain-${idf_target}-ulp.cmake)
             set(ULP_IS_RISCV OFF)
         elseif(IDF_TARGET STREQUAL "esp32s2" OR IDF_TARGET STREQUAL "esp32s3")
             # If both FSM and RISC-V are enabled in sdkconfig and a TYPE was
@@ -105,21 +105,21 @@ function(__setup_ulp_project app_name project_path prefix prefix_append_bin_name
                 message(STATUS "Both RISCV and FSM are enabled, using '${type}' toolchain for ${app_name} ULP project.")
                 string(TOLOWER "${type}" type_lower)
                 if(type_lower STREQUAL "riscv")
-                    set(TOOLCHAIN_FLAG ${ulp_cmake_dir}/toolchain-ulp-riscv.cmake)
+                    set(TOOLCHAIN_FLAG ${ulp_subproject_dir}/components/ulp_riscv/toolchain-ulp-riscv.cmake)
                 elseif(type_lower STREQUAL "fsm")
-                    set(TOOLCHAIN_FLAG ${ulp_cmake_dir}/toolchain-${idf_target}-ulp.cmake)
+                    set(TOOLCHAIN_FLAG ${ulp_subproject_dir}/components/ulp_fsm/toolchain-${idf_target}-ulp.cmake)
                 else()
                     message(FATAL_ERROR "Invalid ULP_TYPE '${type}'; expected 'fsm' or 'riscv'.")
                 endif()
             else()
                 if(CONFIG_ULP_COPROC_TYPE_RISCV STREQUAL "y")
-                    set(TOOLCHAIN_FLAG ${ulp_cmake_dir}/toolchain-ulp-riscv.cmake)
+                    set(TOOLCHAIN_FLAG ${ulp_subproject_dir}/components/ulp_riscv/toolchain-ulp-riscv.cmake)
                 else()
-                    set(TOOLCHAIN_FLAG ${ulp_cmake_dir}/toolchain-${idf_target}-ulp.cmake)
+                    set(TOOLCHAIN_FLAG ${ulp_subproject_dir}/components/ulp_fsm/toolchain-${idf_target}-ulp.cmake)
                 endif()
             endif()
         elseif(CONFIG_ULP_COPROC_TYPE_LP_CORE)
-                set(TOOLCHAIN_FLAG ${ulp_cmake_dir}/toolchain-lp-core-riscv.cmake)
+                set(TOOLCHAIN_FLAG ${ulp_subproject_dir}/components/lp_core/toolchain-lp-core-riscv.cmake)
         endif()
 
         set(ulp_project_args)
@@ -133,7 +133,7 @@ function(__setup_ulp_project app_name project_path prefix prefix_append_bin_name
                 -DIDF_DEFAULT_PROJECT_NAME=${app_name}
                 -DULP_APP_NAME=${app_name}
                 -DIDF_BUILD_V2=y
-                -DCMAKE_MODULE_PATH=${ulp_cmake_dir}
+                -DCMAKE_MODULE_PATH=${ulp_subproject_dir}
                 # Internal marker for ULP child component graphs. Only the
                 # IDF_BUILD_V2 path sets it for now.
                 -D__ULP_BUILDV2=1
@@ -176,7 +176,7 @@ function(__setup_ulp_project app_name project_path prefix prefix_append_bin_name
                 -DSDKCONFIG_HEADER=${SDKCONFIG_HEADER}
                 -DSDKCONFIG_CMAKE=${SDKCONFIG_CMAKE}
                 # The v1 ULP child resolves include(IDFULPProject) via the module path.
-                -DCMAKE_MODULE_PATH=${ulp_cmake_dir})
+                -DCMAKE_MODULE_PATH=${ulp_subproject_dir})
         endif()
 
         externalproject_add(${app_name}
@@ -315,9 +315,9 @@ function(ulp_embed_binary app_name s_sources exp_dep_srcs)
         set(ULP_TYPE "${ulp_resolved_type}")
     endif()
     __resolve_lp_core_linker("${ULP_LINKER_LAYOUT}" "${ulp_resolved_type}" LP_CORE_LINKER)
-    set(ulp_cmake_dir "${CMAKE_CURRENT_FUNCTION_LIST_DIR}/cmake")
+    set(ulp_subproject_dir "${CMAKE_CURRENT_FUNCTION_LIST_DIR}/subproject")
 
-    __setup_ulp_project("${app_name}" "${ulp_cmake_dir}"
+    __setup_ulp_project("${app_name}" "${ulp_subproject_dir}"
                         "${ULP_PREFIX}" FALSE "${ULP_TYPE}"
                         "${app_name}"
                         "${s_sources}" "${exp_dep_srcs}" "${LP_CORE_LINKER}")
diff --git a/components/ulp/cmake/CMakeLists.txt b/components/ulp/subproject/CMakeLists.txt
similarity index 100%
rename from components/ulp/cmake/CMakeLists.txt
rename to components/ulp/subproject/CMakeLists.txt
diff --git a/components/ulp/cmake/CMakeLists_v2.txt b/components/ulp/subproject/CMakeLists_v2.txt
similarity index 92%
rename from components/ulp/cmake/CMakeLists_v2.txt
rename to components/ulp/subproject/CMakeLists_v2.txt
index a8e52e733f2..299a20e6c85 100644
--- a/components/ulp/cmake/CMakeLists_v2.txt
+++ b/components/ulp/subproject/CMakeLists_v2.txt
@@ -1,6 +1,6 @@
-# CMake v2 default ULP project for ulp_embed_binary() callers. The ULP runtime
-# is built from the ulp component graph, and the legacy source list is attached
-# directly to the executable, matching the CMake v1 link semantics.
+# CMake v2 default ULP project for ulp_embed_binary() callers. The ULP program
+# is built against the component for its architecture, and the call-site source
+# list is linked before it, matching the build system v1 link semantics.
 include(${CMAKE_CURRENT_LIST_DIR}/ulp_project.cmake)
 
 if("${ULP_TYPE}" STREQUAL "fsm")
@@ -49,7 +49,9 @@ function(__ulp_embed_binary_add_legacy_sources executable)
     __idf_build_link_whole_archive(${executable} PRIVATE ${legacy_sources_lib} BEFORE)
 endfunction()
 
-set(executable_args COMPONENTS ulp)
+__ulp_arch_component(ulp_component)
+
+set(executable_args COMPONENTS ${ulp_component})
 if(NOT BUILD_FSM)
     list(APPEND executable_args MAPFILE_TARGET ${ULP_APP_NAME}_mapfile)
 endif()
diff --git a/components/ulp/cmake/IDFULPProject.cmake b/components/ulp/subproject/IDFULPProject.cmake
similarity index 75%
rename from components/ulp/cmake/IDFULPProject.cmake
rename to components/ulp/subproject/IDFULPProject.cmake
index ed082b1763f..41ac84c7494 100644
--- a/components/ulp/cmake/IDFULPProject.cmake
+++ b/components/ulp/subproject/IDFULPProject.cmake
@@ -1,5 +1,5 @@
 # This is the CMake v1 (legacy) ULP child entry point, used by ulp_embed_binary.
-# CMake v2 full-subproject builds include components/ulp/cmake/ulp_project.cmake
+# CMake v2 full-subproject builds include components/ulp/subproject/ulp_project.cmake
 # instead.
 #
 # Legacy ULP child projects are plain CMake projects, so the parent-provided
@@ -103,11 +103,11 @@ function(ulp_apply_default_sources ulp_app_name)
     # replaces the layout, swapped in by the wrapper. This is supported for the
     # LP-core type only.
     if(BUILD_RISCV)
-        set(ULP_LD_TEMPLATE ${IDF_PATH}/components/ulp/ld/ulp_riscv.ld.in)
+        set(ULP_LD_TEMPLATE ${IDF_PATH}/components/ulp/subproject/components/ulp_riscv/ld/ulp_riscv.ld.in)
     elseif(BUILD_LP_CORE)
-        set(ULP_LD_TEMPLATE ${IDF_PATH}/components/ulp/ld/lp_core_riscv.ld.in)
+        set(ULP_LD_TEMPLATE ${IDF_PATH}/components/ulp/subproject/components/lp_core/ld/lp_core_riscv.ld.in)
     elseif(BUILD_FSM)
-        set(ULP_LD_TEMPLATE ${IDF_PATH}/components/ulp/ld/ulp_fsm.ld.in)
+        set(ULP_LD_TEMPLATE ${IDF_PATH}/components/ulp/subproject/components/ulp_fsm/ld/ulp_fsm.ld.in)
     else()
         message(FATAL_ERROR "Unable to determine ULP type. ")
     endif()
@@ -143,24 +143,27 @@ function(ulp_apply_default_sources ulp_app_name)
     if(BUILD_RISCV)
         #risc-v ulp uses extra files for building:
         list(APPEND ULP_S_SOURCES
-            "${IDF_PATH}/components/ulp/ulp_riscv/ulp_core/ulp_riscv_vectors.S"
-            "${IDF_PATH}/components/ulp/ulp_riscv/ulp_core/start.S"
-            "${IDF_PATH}/components/ulp/ulp_riscv/ulp_core/ulp_riscv_adc.c"
-            "${IDF_PATH}/components/ulp/ulp_riscv/ulp_core/ulp_riscv_lock.c"
-            "${IDF_PATH}/components/ulp/ulp_riscv/ulp_core/ulp_riscv_uart.c"
-            "${IDF_PATH}/components/ulp/ulp_riscv/ulp_core/ulp_riscv_print.c"
-            "${IDF_PATH}/components/ulp/ulp_riscv/ulp_core/ulp_riscv_i2c.c"
-            "${IDF_PATH}/components/ulp/ulp_riscv/ulp_core/ulp_riscv_utils.c"
-            "${IDF_PATH}/components/ulp/ulp_riscv/ulp_core/ulp_riscv_touch.c"
-            "${IDF_PATH}/components/ulp/ulp_riscv/ulp_core/ulp_riscv_gpio.c"
-            "${IDF_PATH}/components/ulp/ulp_riscv/ulp_core/ulp_riscv_interrupt.c")
+            "${IDF_PATH}/components/ulp/subproject/components/ulp_riscv/ulp_riscv_vectors.S"
+            "${IDF_PATH}/components/ulp/subproject/components/ulp_riscv/start.S"
+            "${IDF_PATH}/components/ulp/subproject/components/ulp_riscv/ulp_riscv_adc.c"
+            "${IDF_PATH}/components/ulp/subproject/components/ulp_riscv/ulp_riscv_lock.c"
+            "${IDF_PATH}/components/ulp/subproject/components/ulp_riscv/ulp_riscv_uart.c"
+            "${IDF_PATH}/components/ulp/subproject/components/ulp_riscv/ulp_riscv_print.c"
+            "${IDF_PATH}/components/ulp/subproject/components/ulp_riscv/ulp_riscv_i2c.c"
+            "${IDF_PATH}/components/ulp/subproject/components/ulp_riscv/ulp_riscv_utils.c"
+            "${IDF_PATH}/components/ulp/subproject/components/ulp_riscv/ulp_riscv_touch.c"
+            "${IDF_PATH}/components/ulp/subproject/components/ulp_riscv/ulp_riscv_gpio.c"
+            "${IDF_PATH}/components/ulp/subproject/components/ulp_riscv/ulp_riscv_interrupt.c")
 
         target_sources(${ulp_app_name} PRIVATE ${ULP_S_SOURCES})
         #Makes the csr utillies for riscv visible:
-        target_include_directories(${ulp_app_name} PRIVATE "${IDF_PATH}/components/ulp/ulp_riscv/ulp_core/include"
-                                                        "${IDF_PATH}/components/ulp/ulp_riscv/shared/include"
-                                                        "${IDF_PATH}/components/riscv/include")
-        target_link_options(${ulp_app_name} PRIVATE SHELL:-T ${IDF_PATH}/components/ulp/ld/${IDF_TARGET}.peripherals.ld)
+        target_include_directories(${ulp_app_name} PRIVATE
+            "${IDF_PATH}/components/ulp/subproject/components/ulp_riscv/include"
+            "${IDF_PATH}/components/ulp/ulp_riscv/shared/include"
+            "${IDF_PATH}/components/riscv/include")
+        target_link_options(${ulp_app_name}
+            PRIVATE SHELL:-T
+            ${IDF_PATH}/components/ulp/subproject/components/ulp_riscv/ld/${IDF_TARGET}.peripherals.ld)
         target_compile_definitions(${ulp_app_name} PRIVATE IS_ULP_COCPU)
         target_compile_definitions(${ulp_app_name} PRIVATE ULP_RISCV_REGISTER_OPS)
 
@@ -191,31 +194,31 @@ function(ulp_apply_default_sources ulp_app_name)
 
     elseif(BUILD_LP_CORE)
         list(APPEND ULP_S_SOURCES
-        "${IDF_PATH}/components/ulp/lp_core/lp_core/start.S"
-        "${IDF_PATH}/components/ulp/lp_core/lp_core/vector.S"
-        "${IDF_PATH}/components/ulp/lp_core/lp_core/port/${IDF_TARGET}/vector_table.S"
+        "${IDF_PATH}/components/ulp/subproject/components/lp_core/start.S"
+        "${IDF_PATH}/components/ulp/subproject/components/lp_core/vector.S"
+        "${IDF_PATH}/components/ulp/subproject/components/lp_core/port/${IDF_TARGET}/vector_table.S"
         "${IDF_PATH}/components/ulp/lp_core/shared/ulp_lp_core_memory_shared.c"
         "${IDF_PATH}/components/ulp/lp_core/shared/ulp_lp_core_lp_timer_shared.c"
-        "${IDF_PATH}/components/ulp/lp_core/lp_core/lp_core_startup.c"
-        "${IDF_PATH}/components/ulp/lp_core/lp_core/lp_core_pmp.c"
-        "${IDF_PATH}/components/ulp/lp_core/lp_core/lp_core_utils.c"
-        "${IDF_PATH}/components/ulp/lp_core/lp_core/lp_core_print.c"
-        "${IDF_PATH}/components/ulp/lp_core/lp_core/lp_core_panic.c"
-        "${IDF_PATH}/components/ulp/lp_core/lp_core/lp_core_interrupt.c"
-        "${IDF_PATH}/components/ulp/lp_core/lp_core/lp_core_ubsan.c"
-        "${IDF_PATH}/components/ulp/lp_core/lp_core/lp_core_mailbox.c"
+        "${IDF_PATH}/components/ulp/subproject/components/lp_core/lp_core_startup.c"
+        "${IDF_PATH}/components/ulp/subproject/components/lp_core/lp_core_pmp.c"
+        "${IDF_PATH}/components/ulp/subproject/components/lp_core/lp_core_utils.c"
+        "${IDF_PATH}/components/ulp/subproject/components/lp_core/lp_core_print.c"
+        "${IDF_PATH}/components/ulp/subproject/components/lp_core/lp_core_panic.c"
+        "${IDF_PATH}/components/ulp/subproject/components/lp_core/lp_core_interrupt.c"
+        "${IDF_PATH}/components/ulp/subproject/components/lp_core/lp_core_ubsan.c"
+        "${IDF_PATH}/components/ulp/subproject/components/lp_core/lp_core_mailbox.c"
         "${IDF_PATH}/components/ulp/lp_core/shared/ulp_lp_core_lp_adc_shared.c"
         "${IDF_PATH}/components/ulp/lp_core/shared/ulp_lp_core_lp_vad_shared.c"
         "${IDF_PATH}/components/ulp/lp_core/shared/ulp_lp_core_critical_section_shared.c")
 
         if(CONFIG_SOC_LP_CORE_SUPPORT_I2C)
             list(APPEND ULP_S_SOURCES
-                "${IDF_PATH}/components/ulp/lp_core/lp_core/lp_core_i2c.c")
+                "${IDF_PATH}/components/ulp/subproject/components/lp_core/lp_core_i2c.c")
         endif()
 
         if(CONFIG_SOC_LP_SPI_SUPPORTED)
             list(APPEND ULP_S_SOURCES
-                "${IDF_PATH}/components/ulp/lp_core/lp_core/lp_core_spi.c")
+                "${IDF_PATH}/components/ulp/subproject/components/lp_core/lp_core_spi.c")
         endif()
 
         if(CONFIG_SOC_ULP_LP_UART_SUPPORTED)
@@ -224,20 +227,20 @@ function(ulp_apply_default_sources ulp_app_name)
                 "${IDF_PATH}/components/esp_driver_uart/src/uart_wakeup.c"
                 "${IDF_PATH}/components/esp_hal_uart/uart_hal_iram.c"
                 "${IDF_PATH}/components/esp_hal_uart/uart_hal.c"
-                "${IDF_PATH}/components/ulp/lp_core/lp_core/lp_core_uart.c")
+                "${IDF_PATH}/components/ulp/subproject/components/lp_core/lp_core_uart.c")
         endif()
 
         if(CONFIG_SOC_LP_MAILBOX_SUPPORTED)
             list(APPEND ULP_S_SOURCES
-                "${IDF_PATH}/components/ulp/lp_core/lp_core/port/lp_core_mailbox_impl_hw.c")
+                "${IDF_PATH}/components/ulp/subproject/components/lp_core/port/lp_core_mailbox_impl_hw.c")
         else()
             list(APPEND ULP_S_SOURCES
-                "${IDF_PATH}/components/ulp/lp_core/lp_core/port/lp_core_mailbox_impl_sw.c")
+                "${IDF_PATH}/components/ulp/subproject/components/lp_core/port/lp_core_mailbox_impl_sw.c")
         endif()
 
         if(CONFIG_SOC_TOUCH_SENSOR_SUPPORTED)
             list(APPEND ULP_S_SOURCES
-                "${IDF_PATH}/components/ulp/lp_core/lp_core/lp_core_touch.c")
+                "${IDF_PATH}/components/ulp/subproject/components/lp_core/lp_core_touch.c")
         endif()
 
         set(target_folder ${IDF_TARGET})
@@ -257,8 +260,9 @@ function(ulp_apply_default_sources ulp_app_name)
         endif()
 
         target_sources(${ulp_app_name} PRIVATE ${ULP_S_SOURCES})
-        target_include_directories(${ulp_app_name} PRIVATE "${IDF_PATH}/components/ulp/lp_core/lp_core/include"
-                                                        "${IDF_PATH}/components/ulp/lp_core/shared/include")
+        target_include_directories(${ulp_app_name} PRIVATE
+            "${IDF_PATH}/components/ulp/subproject/components/lp_core/include"
+            "${IDF_PATH}/components/ulp/lp_core/shared/include")
         target_compile_definitions(${ulp_app_name} PRIVATE IS_ULP_COCPU)
 
     endif()
diff --git a/components/ulp/cmake/IDFULPProjectCommon.cmake b/components/ulp/subproject/IDFULPProjectCommon.cmake
similarity index 92%
rename from components/ulp/cmake/IDFULPProjectCommon.cmake
rename to components/ulp/subproject/IDFULPProjectCommon.cmake
index 8579ccbd396..e11097741c6 100644
--- a/components/ulp/cmake/IDFULPProjectCommon.cmake
+++ b/components/ulp/subproject/IDFULPProjectCommon.cmake
@@ -1,3 +1,8 @@
+# The directory of this file, captured while it is being processed:
+# CMAKE_CURRENT_LIST_DIR inside a function resolves at call time, which is the
+# caller's directory, not this one.
+set(__ULP_SUBPROJECT_DIR "${CMAKE_CURRENT_LIST_DIR}")
+
 macro(ulp_detect_build_type)
     # Logic to determine ULP type and set reusable flags
     set(BUILD_RISCV OFF)
@@ -49,7 +54,7 @@ function(ulp_add_build_binary_targets ulp_app_name)
         set(ULP_BASE_ADDR "0x50000000")
     endif()
 
-    set(ULP_MAP_GEN ${PYTHON} ${IDF_PATH}/components/ulp/esp32ulp_mapgen.py)
+    set(ULP_MAP_GEN ${PYTHON} ${__ULP_SUBPROJECT_DIR}/esp32ulp_mapgen.py)
 
     # Dump the list of global symbols in a convenient format
     add_custom_command(OUTPUT ${ulp_app_name}.sym
diff --git a/components/ulp/subproject/components/lp_core/CMakeLists.txt b/components/ulp/subproject/components/lp_core/CMakeLists.txt
new file mode 100644
index 00000000000..32bbe1bcfea
--- /dev/null
+++ b/components/ulp/subproject/components/lp_core/CMakeLists.txt
@@ -0,0 +1,120 @@
+# The code compiled for the LP core.
+#
+# Sources shared with the driver stay in components/ulp and are named by path
+# from here.
+
+idf_build_get_property(target IDF_TARGET)
+get_filename_component(ulp_dir "${CMAKE_CURRENT_LIST_DIR}/../../.." ABSOLUTE)
+
+set(srcs "start.S"
+         "vector.S"
+         "port/${target}/vector_table.S"
+         "${ulp_dir}/lp_core/shared/ulp_lp_core_memory_shared.c"
+         "lp_core_startup.c"
+         "lp_core_pmp.c"
+         "lp_core_utils.c"
+         "lp_core_print.c"
+         "lp_core_panic.c"
+         "lp_core_interrupt.c"
+         "lp_core_ubsan.c"
+         "lp_core_mailbox.c"
+         "${ulp_dir}/lp_core/shared/ulp_lp_core_critical_section_shared.c")
+
+set(requires esp_common
+             esp_hal_gpio
+             esp_hal_uart
+             esp_rom
+             hal
+             riscv
+             soc)
+set(priv_requires esp_hal_pmu
+                  esp_hw_support)
+
+if(CONFIG_SOC_RTC_TIMER_V2 OR CONFIG_SOC_RTC_TIMER_V3)
+    list(APPEND srcs "${ulp_dir}/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_i2c.c")
+    list(APPEND requires esp_hal_i2c)
+endif()
+
+if(CONFIG_SOC_LP_SPI_SUPPORTED)
+    list(APPEND srcs "lp_core_spi.c")
+    list(APPEND priv_requires esp_hal_gpspi)
+endif()
+
+if(CONFIG_SOC_ULP_LP_UART_SUPPORTED)
+    list(APPEND srcs
+        "${ulp_dir}/lp_core/shared/ulp_lp_core_lp_uart_shared.c"
+        "lp_core_uart.c")
+    list(APPEND requires esp_driver_uart)
+endif()
+
+if(CONFIG_SOC_LP_MAILBOX_SUPPORTED)
+    list(APPEND srcs "port/lp_core_mailbox_impl_hw.c")
+else()
+    list(APPEND srcs "port/lp_core_mailbox_impl_sw.c")
+endif()
+
+if(CONFIG_SOC_TOUCH_SENSOR_SUPPORTED)
+    list(APPEND srcs "lp_core_touch.c")
+    list(APPEND requires esp_hal_touch_sens)
+endif()
+
+if(CONFIG_SOC_LP_ADC_SUPPORTED)
+    list(APPEND srcs "${ulp_dir}/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 "${ulp_dir}/lp_core/shared/ulp_lp_core_lp_vad_shared.c")
+    list(APPEND requires esp_driver_i2s)
+endif()
+
+# The ULP subproject in build system v1 adds these sources straight to the
+# executable, so a strong handler such as ulp_lp_core_panic_handler is not
+# dropped in favour of a weak default from another runtime object.
+# WHOLE_ARCHIVE keeps that behaviour here.
+idf_component_register(SRCS ${srcs}
+                       INCLUDE_DIRS "${ulp_dir}/ulp_common/include"
+                                    "${ulp_dir}/lp_core/include"
+                                    "include"
+                                    "${ulp_dir}/lp_core/shared/include"
+                       REQUIRES ${requires}
+                       PRIV_REQUIRES ${priv_requires}
+                       WHOLE_ARCHIVE)
+
+# -D__ASSEMBLER__ keeps the SoC headers to their macro-only form.
+set(ulp_ld_flags "-D__ASSEMBLER__ -I\"${CMAKE_CURRENT_SOURCE_DIR}/ld\"")
+
+# lp_core_riscv.ld includes soc/soc.h and esp_common headers, resolved from the
+# linked component graph. It also includes the esp_system ld snippets
+# (ld.common, ld.hp_mem_defs); those live in that component's ld/ directory,
+# which is not a public include dir, so pass it via FLAGS.
+idf_component_get_property(esp_system_dir esp_system COMPONENT_DIR)
+set(lp_core_ld_flags "${ulp_ld_flags} -I\"${esp_system_dir}/ld\" -I\"${esp_system_dir}/ld/${target}\"")
+
+# A user-supplied LINKER layout replaces the default one composed into
+# lp_core_riscv.ld.in. It reaches this child project as LP_CORE_LINKER_SCRIPT
+# (passed by __setup_ulp_project, same as the build system v1 path). Hand it to
+# the wrapper as the LP_CORE_LINKER_INCLUDE macro it #includes. The escaped
+# quotes survive separate_arguments() in the linker-script preprocessor so the
+# macro expands to a quoted header-name token ("/abs/path.ld").
+if(LP_CORE_LINKER_SCRIPT)
+    message(STATUS "Using custom LP-core linker layout: ${LP_CORE_LINKER_SCRIPT}")
+    string(APPEND lp_core_ld_flags " -DLP_CORE_LINKER_INCLUDE=\\\"${LP_CORE_LINKER_SCRIPT}\\\"")
+endif()
+
+target_linker_script(${COMPONENT_LIB} INTERFACE "ld/lp_core_riscv.ld.in" MEMORY
+                     FLAGS "${lp_core_ld_flags}")
+
+target_link_options(${COMPONENT_LIB} INTERFACE
+    -nostartfiles
+    -Wl,--gc-sections
+    -Wl,--no-warn-rwx-segments
+    LINKER:-u,main)
+
+target_compile_definitions(${COMPONENT_LIB} PUBLIC IS_ULP_COCPU)
+target_compile_options(${COMPONENT_LIB} PRIVATE -Wno-implicit-fallthrough)
diff --git a/components/ulp/subproject/components/lp_core/Kconfig.lp_core b/components/ulp/subproject/components/lp_core/Kconfig.lp_core
new file mode 100644
index 00000000000..51ac0f48e4d
--- /dev/null
+++ b/components/ulp/subproject/components/lp_core/Kconfig.lp_core
@@ -0,0 +1,26 @@
+# Sourced by the ULP coprocessor driver on the HP core, in
+# components/ulp/Kconfig. Not named Kconfig, which would also attach it to
+# this component and define every option twice.
+
+config ULP_ROM_PRINT_ENABLE
+    depends on ULP_COPROC_TYPE_LP_CORE && ESP_ROM_HAS_LP_ROM
+    bool
+    prompt "Enable print utilities from LP ROM"
+    default "y"
+    help
+        Set this option to enable printf functionality from LP ROM. This option
+        can help reduce the LP core binary size by not linking printf functionality
+        from RAM code.
+        Note: For LP ROM prints to work properly, make sure that the LP core boots
+        from the LP ROM.
+
+config ULP_LP_CORE_MEMPROT
+    bool "Enable LP Core memory protection (PMP)"
+    depends on ULP_COPROC_TYPE_LP_CORE && SOC_LP_CORE_HAS_PMP && !ULP_COPROC_RUN_FROM_HP_MEM
+    default n
+    help
+        Configures the LP CPU's PMP entries to enforce memory protection.
+        LP RAM is split into executable (.text) and data (.data/.bss/stack)
+        regions. Regions not explicitly permitted are inaccessible.
+        Not available when "Run LP Core from HP memory" is enabled.
+        Disable this if you need full control over PMP configuration.
diff --git a/components/ulp/subproject/components/lp_core/Kconfig.lp_core_debug b/components/ulp/subproject/components/lp_core/Kconfig.lp_core_debug
new file mode 100644
index 00000000000..ac50e0b4c8d
--- /dev/null
+++ b/components/ulp/subproject/components/lp_core/Kconfig.lp_core_debug
@@ -0,0 +1,36 @@
+# Sourced by the ULP coprocessor driver on the HP core, in
+# components/ulp/Kconfig. Not named Kconfig, which would also attach it to
+# this component and define every option twice.
+
+config ULP_PANIC_OUTPUT_ENABLE
+    depends on ULP_COPROC_TYPE_LP_CORE && SOC_ULP_LP_UART_SUPPORTED
+    bool
+    prompt "Enable panic handler which outputs over LP UART"
+    default "n"
+    help
+        Set this option to enable panic handler functionality. If this option is
+        enabled then the LP Core will output a panic dump over LP UART,
+        similar to what the main core does. Output depends on LP UART already being
+        initialized and configured.
+        Disabling this option will reduce the LP core binary size by not
+        linking in panic handler functionality.
+
+config ULP_HP_UART_CONSOLE_PRINT
+    depends on ULP_COPROC_TYPE_LP_CORE
+    bool
+    prompt "Route lp_core_printf to the console HP-UART"
+    help
+        Set this option to route lp_core_printf to the console HP-UART.
+        This allows you to easily view print outputs from the LP core, without
+        having to connect to the LP-UART. This option comes with the following
+        limitations:
+
+        1. There is no mutual exclusion between the HP-Core and the LP-Core accessing
+        the HP-UART, which means that if both cores are logging heavily the output
+        strings might get mangled together.
+        2. The HP-UART can only work while the HP-Core is running, which means that
+        if the HP-Core is in deep sleep, the LP-Core will not be able to print to the
+        console HP-UART.
+
+        Due to these limitations it is only recommended to use this option for easy debugging.
+        For more serious use-cases you should use the LP-UART.
diff --git a/components/ulp/lp_core/lp_core/include/ulp_lp_core_gpio.h b/components/ulp/subproject/components/lp_core/include/ulp_lp_core_gpio.h
similarity index 100%
rename from components/ulp/lp_core/lp_core/include/ulp_lp_core_gpio.h
rename to components/ulp/subproject/components/lp_core/include/ulp_lp_core_gpio.h
diff --git a/components/ulp/lp_core/lp_core/include/ulp_lp_core_i2c.h b/components/ulp/subproject/components/lp_core/include/ulp_lp_core_i2c.h
similarity index 100%
rename from components/ulp/lp_core/lp_core/include/ulp_lp_core_i2c.h
rename to components/ulp/subproject/components/lp_core/include/ulp_lp_core_i2c.h
diff --git a/components/ulp/lp_core/lp_core/include/ulp_lp_core_interrupts.h b/components/ulp/subproject/components/lp_core/include/ulp_lp_core_interrupts.h
similarity index 100%
rename from components/ulp/lp_core/lp_core/include/ulp_lp_core_interrupts.h
rename to components/ulp/subproject/components/lp_core/include/ulp_lp_core_interrupts.h
diff --git a/components/ulp/lp_core/lp_core/include/ulp_lp_core_mailbox.h b/components/ulp/subproject/components/lp_core/include/ulp_lp_core_mailbox.h
similarity index 100%
rename from components/ulp/lp_core/lp_core/include/ulp_lp_core_mailbox.h
rename to components/ulp/subproject/components/lp_core/include/ulp_lp_core_mailbox.h
diff --git a/components/ulp/lp_core/lp_core/include/ulp_lp_core_pmp.h b/components/ulp/subproject/components/lp_core/include/ulp_lp_core_pmp.h
similarity index 100%
rename from components/ulp/lp_core/lp_core/include/ulp_lp_core_pmp.h
rename to components/ulp/subproject/components/lp_core/include/ulp_lp_core_pmp.h
diff --git a/components/ulp/lp_core/lp_core/include/ulp_lp_core_print.h b/components/ulp/subproject/components/lp_core/include/ulp_lp_core_print.h
similarity index 100%
rename from components/ulp/lp_core/lp_core/include/ulp_lp_core_print.h
rename to components/ulp/subproject/components/lp_core/include/ulp_lp_core_print.h
diff --git a/components/ulp/lp_core/lp_core/include/ulp_lp_core_spi.h b/components/ulp/subproject/components/lp_core/include/ulp_lp_core_spi.h
similarity index 100%
rename from components/ulp/lp_core/lp_core/include/ulp_lp_core_spi.h
rename to components/ulp/subproject/components/lp_core/include/ulp_lp_core_spi.h
diff --git a/components/ulp/lp_core/lp_core/include/ulp_lp_core_touch.h b/components/ulp/subproject/components/lp_core/include/ulp_lp_core_touch.h
similarity index 100%
rename from components/ulp/lp_core/lp_core/include/ulp_lp_core_touch.h
rename to components/ulp/subproject/components/lp_core/include/ulp_lp_core_touch.h
diff --git a/components/ulp/lp_core/lp_core/include/ulp_lp_core_uart.h b/components/ulp/subproject/components/lp_core/include/ulp_lp_core_uart.h
similarity index 100%
rename from components/ulp/lp_core/lp_core/include/ulp_lp_core_uart.h
rename to components/ulp/subproject/components/lp_core/include/ulp_lp_core_uart.h
diff --git a/components/ulp/lp_core/lp_core/include/ulp_lp_core_utils.h b/components/ulp/subproject/components/lp_core/include/ulp_lp_core_utils.h
similarity index 100%
rename from components/ulp/lp_core/lp_core/include/ulp_lp_core_utils.h
rename to components/ulp/subproject/components/lp_core/include/ulp_lp_core_utils.h
diff --git a/components/ulp/ld/lp_core_riscv.ld.in b/components/ulp/subproject/components/lp_core/ld/lp_core_riscv.ld.in
similarity index 100%
rename from components/ulp/ld/lp_core_riscv.ld.in
rename to components/ulp/subproject/components/lp_core/ld/lp_core_riscv.ld.in
diff --git a/components/ulp/ld/lp_core_riscv_base.ld.in b/components/ulp/subproject/components/lp_core/ld/lp_core_riscv_base.ld.in
similarity index 100%
rename from components/ulp/ld/lp_core_riscv_base.ld.in
rename to components/ulp/subproject/components/lp_core/ld/lp_core_riscv_base.ld.in
diff --git a/components/ulp/ld/lp_core_riscv_checks.ld.in b/components/ulp/subproject/components/lp_core/ld/lp_core_riscv_checks.ld.in
similarity index 100%
rename from components/ulp/ld/lp_core_riscv_checks.ld.in
rename to components/ulp/subproject/components/lp_core/ld/lp_core_riscv_checks.ld.in
diff --git a/components/ulp/ld/lp_core_riscv_default_layout.ld.in b/components/ulp/subproject/components/lp_core/ld/lp_core_riscv_default_layout.ld.in
similarity index 100%
rename from components/ulp/ld/lp_core_riscv_default_layout.ld.in
rename to components/ulp/subproject/components/lp_core/ld/lp_core_riscv_default_layout.ld.in
diff --git a/components/ulp/lp_core/lp_core/lp_core_i2c.c b/components/ulp/subproject/components/lp_core/lp_core_i2c.c
similarity index 100%
rename from components/ulp/lp_core/lp_core/lp_core_i2c.c
rename to components/ulp/subproject/components/lp_core/lp_core_i2c.c
diff --git a/components/ulp/lp_core/lp_core/lp_core_interrupt.c b/components/ulp/subproject/components/lp_core/lp_core_interrupt.c
similarity index 100%
rename from components/ulp/lp_core/lp_core/lp_core_interrupt.c
rename to components/ulp/subproject/components/lp_core/lp_core_interrupt.c
diff --git a/components/ulp/lp_core/lp_core/lp_core_mailbox.c b/components/ulp/subproject/components/lp_core/lp_core_mailbox.c
similarity index 100%
rename from components/ulp/lp_core/lp_core/lp_core_mailbox.c
rename to components/ulp/subproject/components/lp_core/lp_core_mailbox.c
diff --git a/components/ulp/lp_core/lp_core/lp_core_panic.c b/components/ulp/subproject/components/lp_core/lp_core_panic.c
similarity index 100%
rename from components/ulp/lp_core/lp_core/lp_core_panic.c
rename to components/ulp/subproject/components/lp_core/lp_core_panic.c
diff --git a/components/ulp/lp_core/lp_core/lp_core_pmp.c b/components/ulp/subproject/components/lp_core/lp_core_pmp.c
similarity index 100%
rename from components/ulp/lp_core/lp_core/lp_core_pmp.c
rename to components/ulp/subproject/components/lp_core/lp_core_pmp.c
diff --git a/components/ulp/lp_core/lp_core/lp_core_print.c b/components/ulp/subproject/components/lp_core/lp_core_print.c
similarity index 100%
rename from components/ulp/lp_core/lp_core/lp_core_print.c
rename to components/ulp/subproject/components/lp_core/lp_core_print.c
diff --git a/components/ulp/lp_core/lp_core/lp_core_spi.c b/components/ulp/subproject/components/lp_core/lp_core_spi.c
similarity index 100%
rename from components/ulp/lp_core/lp_core/lp_core_spi.c
rename to components/ulp/subproject/components/lp_core/lp_core_spi.c
diff --git a/components/ulp/lp_core/lp_core/lp_core_startup.c b/components/ulp/subproject/components/lp_core/lp_core_startup.c
similarity index 100%
rename from components/ulp/lp_core/lp_core/lp_core_startup.c
rename to components/ulp/subproject/components/lp_core/lp_core_startup.c
diff --git a/components/ulp/lp_core/lp_core/lp_core_touch.c b/components/ulp/subproject/components/lp_core/lp_core_touch.c
similarity index 100%
rename from components/ulp/lp_core/lp_core/lp_core_touch.c
rename to components/ulp/subproject/components/lp_core/lp_core_touch.c
diff --git a/components/ulp/lp_core/lp_core/lp_core_uart.c b/components/ulp/subproject/components/lp_core/lp_core_uart.c
similarity index 100%
rename from components/ulp/lp_core/lp_core/lp_core_uart.c
rename to components/ulp/subproject/components/lp_core/lp_core_uart.c
diff --git a/components/ulp/lp_core/lp_core/lp_core_ubsan.c b/components/ulp/subproject/components/lp_core/lp_core_ubsan.c
similarity index 100%
rename from components/ulp/lp_core/lp_core/lp_core_ubsan.c
rename to components/ulp/subproject/components/lp_core/lp_core_ubsan.c
diff --git a/components/ulp/lp_core/lp_core/lp_core_utils.c b/components/ulp/subproject/components/lp_core/lp_core_utils.c
similarity index 100%
rename from components/ulp/lp_core/lp_core/lp_core_utils.c
rename to components/ulp/subproject/components/lp_core/lp_core_utils.c
diff --git a/components/ulp/lp_core/lp_core/port/esp32c5/vector_table.S b/components/ulp/subproject/components/lp_core/port/esp32c5/vector_table.S
similarity index 100%
rename from components/ulp/lp_core/lp_core/port/esp32c5/vector_table.S
rename to components/ulp/subproject/components/lp_core/port/esp32c5/vector_table.S
diff --git a/components/ulp/lp_core/lp_core/port/esp32c6/vector_table.S b/components/ulp/subproject/components/lp_core/port/esp32c6/vector_table.S
similarity index 100%
rename from components/ulp/lp_core/lp_core/port/esp32c6/vector_table.S
rename to components/ulp/subproject/components/lp_core/port/esp32c6/vector_table.S
diff --git a/components/ulp/lp_core/lp_core/port/esp32p4/vector_table.S b/components/ulp/subproject/components/lp_core/port/esp32p4/vector_table.S
similarity index 100%
rename from components/ulp/lp_core/lp_core/port/esp32p4/vector_table.S
rename to components/ulp/subproject/components/lp_core/port/esp32p4/vector_table.S
diff --git a/components/ulp/lp_core/lp_core/port/esp32s31/vector_table.S b/components/ulp/subproject/components/lp_core/port/esp32s31/vector_table.S
similarity index 100%
rename from components/ulp/lp_core/lp_core/port/esp32s31/vector_table.S
rename to components/ulp/subproject/components/lp_core/port/esp32s31/vector_table.S
diff --git a/components/ulp/lp_core/lp_core/port/lp_core_mailbox_impl_hw.c b/components/ulp/subproject/components/lp_core/port/lp_core_mailbox_impl_hw.c
similarity index 100%
rename from components/ulp/lp_core/lp_core/port/lp_core_mailbox_impl_hw.c
rename to components/ulp/subproject/components/lp_core/port/lp_core_mailbox_impl_hw.c
diff --git a/components/ulp/lp_core/lp_core/port/lp_core_mailbox_impl_sw.c b/components/ulp/subproject/components/lp_core/port/lp_core_mailbox_impl_sw.c
similarity index 100%
rename from components/ulp/lp_core/lp_core/port/lp_core_mailbox_impl_sw.c
rename to components/ulp/subproject/components/lp_core/port/lp_core_mailbox_impl_sw.c
diff --git a/components/ulp/lp_core/lp_core/start.S b/components/ulp/subproject/components/lp_core/start.S
similarity index 100%
rename from components/ulp/lp_core/lp_core/start.S
rename to components/ulp/subproject/components/lp_core/start.S
diff --git a/components/ulp/cmake/toolchain-lp-core-riscv.cmake b/components/ulp/subproject/components/lp_core/toolchain-lp-core-riscv.cmake
similarity index 100%
rename from components/ulp/cmake/toolchain-lp-core-riscv.cmake
rename to components/ulp/subproject/components/lp_core/toolchain-lp-core-riscv.cmake
diff --git a/components/ulp/lp_core/lp_core/vector.S b/components/ulp/subproject/components/lp_core/vector.S
similarity index 100%
rename from components/ulp/lp_core/lp_core/vector.S
rename to components/ulp/subproject/components/lp_core/vector.S
diff --git a/components/ulp/subproject/components/ulp_fsm/CMakeLists.txt b/components/ulp/subproject/components/ulp_fsm/CMakeLists.txt
new file mode 100644
index 00000000000..eed8b34db23
--- /dev/null
+++ b/components/ulp/subproject/components/ulp_fsm/CMakeLists.txt
@@ -0,0 +1,21 @@
+# What a ULP FSM program is built against.
+#
+# An FSM program is assembled from the application's own sources, so this
+# component carries no sources of its own: it publishes the headers the program
+# is written against and the memory layout it is linked with.
+
+idf_build_get_property(target IDF_TARGET)
+get_filename_component(ulp_dir "${CMAKE_CURRENT_LIST_DIR}/../../.." ABSOLUTE)
+
+idf_component_register(
+    INCLUDE_DIRS "${ulp_dir}/ulp_common/include"
+                 "${ulp_dir}/ulp_fsm/include"
+                 "${ulp_dir}/ulp_fsm/include/${target}"
+    REQUIRES soc)
+
+# -D__ASSEMBLER__ keeps the SoC headers to their macro-only form.
+set(ulp_ld_flags "-D__ASSEMBLER__ -I\"${CMAKE_CURRENT_SOURCE_DIR}/ld\"")
+
+target_linker_script(${COMPONENT_LIB} INTERFACE "ld/ulp_fsm.ld.in" MEMORY
+                     FLAGS "${ulp_ld_flags}")
+target_link_options(${COMPONENT_LIB} INTERFACE "SHELL:-u entry")
diff --git a/components/ulp/ld/ulp_fsm.ld.in b/components/ulp/subproject/components/ulp_fsm/ld/ulp_fsm.ld.in
similarity index 100%
rename from components/ulp/ld/ulp_fsm.ld.in
rename to components/ulp/subproject/components/ulp_fsm/ld/ulp_fsm.ld.in
diff --git a/components/ulp/cmake/preprocess_fsm_asm.cmake b/components/ulp/subproject/components/ulp_fsm/preprocess_fsm_asm.cmake
similarity index 100%
rename from components/ulp/cmake/preprocess_fsm_asm.cmake
rename to components/ulp/subproject/components/ulp_fsm/preprocess_fsm_asm.cmake
diff --git a/components/ulp/cmake/toolchain-esp32-ulp.cmake b/components/ulp/subproject/components/ulp_fsm/toolchain-esp32-ulp.cmake
similarity index 100%
rename from components/ulp/cmake/toolchain-esp32-ulp.cmake
rename to components/ulp/subproject/components/ulp_fsm/toolchain-esp32-ulp.cmake
diff --git a/components/ulp/cmake/toolchain-esp32s2-ulp.cmake b/components/ulp/subproject/components/ulp_fsm/toolchain-esp32s2-ulp.cmake
similarity index 100%
rename from components/ulp/cmake/toolchain-esp32s2-ulp.cmake
rename to components/ulp/subproject/components/ulp_fsm/toolchain-esp32s2-ulp.cmake
diff --git a/components/ulp/cmake/toolchain-esp32s3-ulp.cmake b/components/ulp/subproject/components/ulp_fsm/toolchain-esp32s3-ulp.cmake
similarity index 100%
rename from components/ulp/cmake/toolchain-esp32s3-ulp.cmake
rename to components/ulp/subproject/components/ulp_fsm/toolchain-esp32s3-ulp.cmake
diff --git a/components/ulp/subproject/components/ulp_riscv/CMakeLists.txt b/components/ulp/subproject/components/ulp_riscv/CMakeLists.txt
new file mode 100644
index 00000000000..fc8a377b64c
--- /dev/null
+++ b/components/ulp/subproject/components/ulp_riscv/CMakeLists.txt
@@ -0,0 +1,53 @@
+# The code compiled for the ULP RISC-V coprocessor.
+#
+# Sources shared with the driver stay in components/ulp and are named by path
+# from here.
+
+idf_build_get_property(target IDF_TARGET)
+get_filename_component(ulp_dir "${CMAKE_CURRENT_LIST_DIR}/../../.." ABSOLUTE)
+
+# The ULP subproject in build system v1 adds these sources straight to the
+# executable, so a strong handler is not dropped in favour of a weak default
+# from another runtime object. WHOLE_ARCHIVE keeps that behaviour here.
+idf_component_register(
+    SRCS "ulp_riscv_vectors.S"
+         "start.S"
+         "ulp_riscv_adc.c"
+         "ulp_riscv_lock.c"
+         "ulp_riscv_uart.c"
+         "ulp_riscv_print.c"
+         "ulp_riscv_i2c.c"
+         "ulp_riscv_utils.c"
+         "ulp_riscv_touch.c"
+         "ulp_riscv_gpio.c"
+         "ulp_riscv_interrupt.c"
+    INCLUDE_DIRS "${ulp_dir}/ulp_common/include"
+                 "${ulp_dir}/ulp_riscv/include"
+                 "${ulp_dir}/ulp_riscv/shared/include"
+                 "include"
+    REQUIRES esp_common
+             esp_hal_ana_conv
+             esp_hal_gpio
+             esp_hal_i2c
+             esp_hal_touch_sens
+             esp_hw_support
+             riscv
+             soc
+    WHOLE_ARCHIVE)
+
+# -D__ASSEMBLER__ keeps the SoC headers to their macro-only form.
+set(ulp_ld_flags "-D__ASSEMBLER__ -I\"${CMAKE_CURRENT_SOURCE_DIR}/ld\"")
+
+target_linker_script(${COMPONENT_LIB} INTERFACE "ld/ulp_riscv.ld.in" MEMORY
+                     FLAGS "${ulp_ld_flags}")
+target_linker_script(${COMPONENT_LIB} INTERFACE "ld/${target}.peripherals.ld")
+
+target_link_options(${COMPONENT_LIB} INTERFACE
+    -nostartfiles
+    -Wl,--gc-sections
+    -Wl,--no-warn-rwx-segments
+    LINKER:-u,main)
+
+target_compile_definitions(${COMPONENT_LIB} PUBLIC
+    IS_ULP_COCPU
+    ULP_RISCV_REGISTER_OPS)
diff --git a/components/ulp/subproject/components/ulp_riscv/Kconfig.ulp_riscv b/components/ulp/subproject/components/ulp_riscv/Kconfig.ulp_riscv
new file mode 100644
index 00000000000..f757731350d
--- /dev/null
+++ b/components/ulp/subproject/components/ulp_riscv/Kconfig.ulp_riscv
@@ -0,0 +1,20 @@
+# Sourced by the ULP coprocessor driver on the HP core, in
+# components/ulp/Kconfig. Not named Kconfig, which would also attach it to
+# this component and define every option twice.
+
+config ULP_RISCV_INTERRUPT_ENABLE
+    depends on ULP_COPROC_TYPE_RISCV
+    bool
+    prompt "Enable ULP RISC-V interrupts"
+    default "n"
+    help
+        Turn on this setting to enable interrupts on the ULP RISC-V core.
+
+config ULP_RISCV_UART_BAUDRATE
+    depends on ULP_COPROC_TYPE_RISCV
+    int
+    prompt "Baudrate used by the bitbanged ULP RISC-V UART driver"
+    default 9600
+    help
+        The accuracy of the bitbanged UART driver is limited, it is not
+        recommended to increase the value above 19200.
diff --git a/components/ulp/ulp_riscv/ulp_core/include/ulp_riscv_adc_ulp_core.h b/components/ulp/subproject/components/ulp_riscv/include/ulp_riscv_adc_ulp_core.h
similarity index 100%
rename from components/ulp/ulp_riscv/ulp_core/include/ulp_riscv_adc_ulp_core.h
rename to components/ulp/subproject/components/ulp_riscv/include/ulp_riscv_adc_ulp_core.h
diff --git a/components/ulp/ulp_riscv/ulp_core/include/ulp_riscv_gpio.h b/components/ulp/subproject/components/ulp_riscv/include/ulp_riscv_gpio.h
similarity index 100%
rename from components/ulp/ulp_riscv/ulp_core/include/ulp_riscv_gpio.h
rename to components/ulp/subproject/components/ulp_riscv/include/ulp_riscv_gpio.h
diff --git a/components/ulp/ulp_riscv/ulp_core/include/ulp_riscv_i2c_ulp_core.h b/components/ulp/subproject/components/ulp_riscv/include/ulp_riscv_i2c_ulp_core.h
similarity index 100%
rename from components/ulp/ulp_riscv/ulp_core/include/ulp_riscv_i2c_ulp_core.h
rename to components/ulp/subproject/components/ulp_riscv/include/ulp_riscv_i2c_ulp_core.h
diff --git a/components/ulp/ulp_riscv/ulp_core/include/ulp_riscv_interrupt.h b/components/ulp/subproject/components/ulp_riscv/include/ulp_riscv_interrupt.h
similarity index 100%
rename from components/ulp/ulp_riscv/ulp_core/include/ulp_riscv_interrupt.h
rename to components/ulp/subproject/components/ulp_riscv/include/ulp_riscv_interrupt.h
diff --git a/components/ulp/ulp_riscv/ulp_core/include/ulp_riscv_interrupt_ops.h b/components/ulp/subproject/components/ulp_riscv/include/ulp_riscv_interrupt_ops.h
similarity index 98%
rename from components/ulp/ulp_riscv/ulp_core/include/ulp_riscv_interrupt_ops.h
rename to components/ulp/subproject/components/ulp_riscv/include/ulp_riscv_interrupt_ops.h
index f902507995a..c354375653f 100644
--- a/components/ulp/ulp_riscv/ulp_core/include/ulp_riscv_interrupt_ops.h
+++ b/components/ulp/subproject/components/ulp_riscv/include/ulp_riscv_interrupt_ops.h
@@ -80,7 +80,7 @@ r_type_insn(0b0000001, 0, regnum_ ## _rs, 0b010, regnum_ ## _qd, 0b0001011)
 
 /**
  * Instruction: retirq
- * Description: This instruction copies the value of Q0 to CPU PC, and renables interrupts
+ * Description: This instruction copies the value of Q0 to CPU PC, and re-enables interrupts
  */
 #define retirq_insn() \
 r_type_insn(0b0000010, 0, 0, 0b000, 0, 0b0001011)
diff --git a/components/ulp/ulp_riscv/ulp_core/include/ulp_riscv_lock_ulp_core.h b/components/ulp/subproject/components/ulp_riscv/include/ulp_riscv_lock_ulp_core.h
similarity index 100%
rename from components/ulp/ulp_riscv/ulp_core/include/ulp_riscv_lock_ulp_core.h
rename to components/ulp/subproject/components/ulp_riscv/include/ulp_riscv_lock_ulp_core.h
diff --git a/components/ulp/ulp_riscv/ulp_core/include/ulp_riscv_print.h b/components/ulp/subproject/components/ulp_riscv/include/ulp_riscv_print.h
similarity index 100%
rename from components/ulp/ulp_riscv/ulp_core/include/ulp_riscv_print.h
rename to components/ulp/subproject/components/ulp_riscv/include/ulp_riscv_print.h
diff --git a/components/ulp/ulp_riscv/ulp_core/include/ulp_riscv_register_ops.h b/components/ulp/subproject/components/ulp_riscv/include/ulp_riscv_register_ops.h
similarity index 100%
rename from components/ulp/ulp_riscv/ulp_core/include/ulp_riscv_register_ops.h
rename to components/ulp/subproject/components/ulp_riscv/include/ulp_riscv_register_ops.h
diff --git a/components/ulp/ulp_riscv/ulp_core/include/ulp_riscv_touch_ulp_core.h b/components/ulp/subproject/components/ulp_riscv/include/ulp_riscv_touch_ulp_core.h
similarity index 100%
rename from components/ulp/ulp_riscv/ulp_core/include/ulp_riscv_touch_ulp_core.h
rename to components/ulp/subproject/components/ulp_riscv/include/ulp_riscv_touch_ulp_core.h
diff --git a/components/ulp/ulp_riscv/ulp_core/include/ulp_riscv_uart_ulp_core.h b/components/ulp/subproject/components/ulp_riscv/include/ulp_riscv_uart_ulp_core.h
similarity index 100%
rename from components/ulp/ulp_riscv/ulp_core/include/ulp_riscv_uart_ulp_core.h
rename to components/ulp/subproject/components/ulp_riscv/include/ulp_riscv_uart_ulp_core.h
diff --git a/components/ulp/ulp_riscv/ulp_core/include/ulp_riscv_utils.h b/components/ulp/subproject/components/ulp_riscv/include/ulp_riscv_utils.h
similarity index 100%
rename from components/ulp/ulp_riscv/ulp_core/include/ulp_riscv_utils.h
rename to components/ulp/subproject/components/ulp_riscv/include/ulp_riscv_utils.h
diff --git a/components/ulp/ld/esp32s2.peripherals.ld b/components/ulp/subproject/components/ulp_riscv/ld/esp32s2.peripherals.ld
similarity index 100%
rename from components/ulp/ld/esp32s2.peripherals.ld
rename to components/ulp/subproject/components/ulp_riscv/ld/esp32s2.peripherals.ld
diff --git a/components/ulp/ld/esp32s3.peripherals.ld b/components/ulp/subproject/components/ulp_riscv/ld/esp32s3.peripherals.ld
similarity index 100%
rename from components/ulp/ld/esp32s3.peripherals.ld
rename to components/ulp/subproject/components/ulp_riscv/ld/esp32s3.peripherals.ld
diff --git a/components/ulp/ld/ulp_riscv.ld.in b/components/ulp/subproject/components/ulp_riscv/ld/ulp_riscv.ld.in
similarity index 100%
rename from components/ulp/ld/ulp_riscv.ld.in
rename to components/ulp/subproject/components/ulp_riscv/ld/ulp_riscv.ld.in
diff --git a/components/ulp/ulp_riscv/ulp_core/start.S b/components/ulp/subproject/components/ulp_riscv/start.S
similarity index 100%
rename from components/ulp/ulp_riscv/ulp_core/start.S
rename to components/ulp/subproject/components/ulp_riscv/start.S
diff --git a/components/ulp/cmake/toolchain-ulp-riscv.cmake b/components/ulp/subproject/components/ulp_riscv/toolchain-ulp-riscv.cmake
similarity index 100%
rename from components/ulp/cmake/toolchain-ulp-riscv.cmake
rename to components/ulp/subproject/components/ulp_riscv/toolchain-ulp-riscv.cmake
diff --git a/components/ulp/ulp_riscv/ulp_core/ulp_riscv_adc.c b/components/ulp/subproject/components/ulp_riscv/ulp_riscv_adc.c
similarity index 100%
rename from components/ulp/ulp_riscv/ulp_core/ulp_riscv_adc.c
rename to components/ulp/subproject/components/ulp_riscv/ulp_riscv_adc.c
diff --git a/components/ulp/ulp_riscv/ulp_core/ulp_riscv_gpio.c b/components/ulp/subproject/components/ulp_riscv/ulp_riscv_gpio.c
similarity index 100%
rename from components/ulp/ulp_riscv/ulp_core/ulp_riscv_gpio.c
rename to components/ulp/subproject/components/ulp_riscv/ulp_riscv_gpio.c
diff --git a/components/ulp/ulp_riscv/ulp_core/ulp_riscv_i2c.c b/components/ulp/subproject/components/ulp_riscv/ulp_riscv_i2c.c
similarity index 100%
rename from components/ulp/ulp_riscv/ulp_core/ulp_riscv_i2c.c
rename to components/ulp/subproject/components/ulp_riscv/ulp_riscv_i2c.c
diff --git a/components/ulp/ulp_riscv/ulp_core/ulp_riscv_interrupt.c b/components/ulp/subproject/components/ulp_riscv/ulp_riscv_interrupt.c
similarity index 100%
rename from components/ulp/ulp_riscv/ulp_core/ulp_riscv_interrupt.c
rename to components/ulp/subproject/components/ulp_riscv/ulp_riscv_interrupt.c
diff --git a/components/ulp/ulp_riscv/ulp_core/ulp_riscv_lock.c b/components/ulp/subproject/components/ulp_riscv/ulp_riscv_lock.c
similarity index 100%
rename from components/ulp/ulp_riscv/ulp_core/ulp_riscv_lock.c
rename to components/ulp/subproject/components/ulp_riscv/ulp_riscv_lock.c
diff --git a/components/ulp/ulp_riscv/ulp_core/ulp_riscv_print.c b/components/ulp/subproject/components/ulp_riscv/ulp_riscv_print.c
similarity index 100%
rename from components/ulp/ulp_riscv/ulp_core/ulp_riscv_print.c
rename to components/ulp/subproject/components/ulp_riscv/ulp_riscv_print.c
diff --git a/components/ulp/ulp_riscv/ulp_core/ulp_riscv_touch.c b/components/ulp/subproject/components/ulp_riscv/ulp_riscv_touch.c
similarity index 100%
rename from components/ulp/ulp_riscv/ulp_core/ulp_riscv_touch.c
rename to components/ulp/subproject/components/ulp_riscv/ulp_riscv_touch.c
diff --git a/components/ulp/ulp_riscv/ulp_core/ulp_riscv_uart.c b/components/ulp/subproject/components/ulp_riscv/ulp_riscv_uart.c
similarity index 100%
rename from components/ulp/ulp_riscv/ulp_core/ulp_riscv_uart.c
rename to components/ulp/subproject/components/ulp_riscv/ulp_riscv_uart.c
diff --git a/components/ulp/ulp_riscv/ulp_core/ulp_riscv_utils.c b/components/ulp/subproject/components/ulp_riscv/ulp_riscv_utils.c
similarity index 100%
rename from components/ulp/ulp_riscv/ulp_core/ulp_riscv_utils.c
rename to components/ulp/subproject/components/ulp_riscv/ulp_riscv_utils.c
diff --git a/components/ulp/ulp_riscv/ulp_core/ulp_riscv_vectors.S b/components/ulp/subproject/components/ulp_riscv/ulp_riscv_vectors.S
similarity index 100%
rename from components/ulp/ulp_riscv/ulp_core/ulp_riscv_vectors.S
rename to components/ulp/subproject/components/ulp_riscv/ulp_riscv_vectors.S
diff --git a/components/ulp/esp32ulp_mapgen.py b/components/ulp/subproject/esp32ulp_mapgen.py
similarity index 100%
rename from components/ulp/esp32ulp_mapgen.py
rename to components/ulp/subproject/esp32ulp_mapgen.py
diff --git a/components/ulp/cmake/ulp_project.cmake b/components/ulp/subproject/ulp_project.cmake
similarity index 83%
rename from components/ulp/cmake/ulp_project.cmake
rename to components/ulp/subproject/ulp_project.cmake
index 96dfe0129ec..b741444f268 100644
--- a/components/ulp/cmake/ulp_project.cmake
+++ b/components/ulp/subproject/ulp_project.cmake
@@ -6,6 +6,11 @@
 # ulp_project_default, the ULP analogs of idf_project_init,
 # idf_build_executable, idf_build_binary and idf_project_default.
 
+# The components a ULP program is built against live inside this subproject, so
+# an application build does not discover them. Added before components are
+# searched for.
+list(APPEND EXTRA_COMPONENT_DIRS "${CMAKE_CURRENT_LIST_DIR}/components")
+
 include(${IDF_PATH}/tools/cmakev2/idf.cmake)
 include(${CMAKE_CURRENT_LIST_DIR}/IDFULPProjectCommon.cmake)
 
@@ -17,6 +22,21 @@ if(__ULP_BUILDV2)
     idf_build_set_property(NON_OS_BUILD 1)
 endif()
 
+# The component a ULP program of the detected architecture is built against.
+function(__ulp_arch_component out_var)
+    if(BUILD_RISCV)
+        set(component ulp_riscv)
+    elseif(BUILD_LP_CORE)
+        set(component lp_core)
+    elseif(BUILD_FSM)
+        set(component ulp_fsm)
+    else()
+        idf_die("Unable to determine the ULP type. Set ULP_TYPE to riscv, lp_core or fsm.")
+    endif()
+
+    set(${out_var} "${component}" PARENT_SCOPE)
+endfunction()
+
 # 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)
@@ -44,11 +64,18 @@ function(__ulp_prepare_build)
         idf_build_set_property(${property} "")
     endforeach()
 
-    # Do not apply the default app component closure to ULP child projects.
-    # ULP components should contribute dependencies explicitly.
-    idf_build_set_property(__COMPONENT_REQUIRES_COMMON "")
-    idf_build_set_property(__COMMON_COMPONENT_INTERFACES "")
+    # A ULP program is built against the component for its architecture, so
+    # every component of the child gets it without naming it. Nothing else of
+    # the application component closure applies, and the interfaces are set
+    # here rather than through __init_common_components, which would also add
+    # the target's architecture component.
+    __ulp_arch_component(ulp_component)
+
+    idf_component_get_property(ulp_component_interface "${ulp_component}" COMPONENT_INTERFACE)
+    idf_build_set_property(__COMPONENT_REQUIRES_COMMON "${ulp_component}")
+    idf_build_set_property(__COMMON_COMPONENT_INTERFACES "${ulp_component_interface}")
     idf_build_set_property(__COMMON_COMPONENTS_INITIALIZED YES)
+    idf_component_include("${ulp_component}")
 
     idf_build_set_property(__ULP_BUILD_PREPARED YES)
 endfunction()
diff --git a/components/ulp/test_apps/lp_core/host_tests/lp_core_custom_linker_v2/main/ulp/CMakeLists.txt b/components/ulp/test_apps/lp_core/host_tests/lp_core_custom_linker_v2/main/ulp/CMakeLists.txt
index 46cc1d8f144..6a89cf6f960 100644
--- a/components/ulp/test_apps/lp_core/host_tests/lp_core_custom_linker_v2/main/ulp/CMakeLists.txt
+++ b/components/ulp/test_apps/lp_core/host_tests/lp_core_custom_linker_v2/main/ulp/CMakeLists.txt
@@ -2,7 +2,7 @@
 # SPDX-License-Identifier: Apache-2.0
 cmake_minimum_required(VERSION 3.22)
 
-include(${IDF_PATH}/components/ulp/cmake/ulp_project.cmake)
+include(${IDF_PATH}/components/ulp/subproject/ulp_project.cmake)
 
 project(${IDF_DEFAULT_PROJECT_NAME} C CXX ASM)
 
diff --git a/components/ulp/test_apps/lp_core/host_tests/lp_core_custom_linker_v2/main/ulp/main/CMakeLists.txt b/components/ulp/test_apps/lp_core/host_tests/lp_core_custom_linker_v2/main/ulp/main/CMakeLists.txt
index 7a031e58974..225c5b9c5b9 100644
--- a/components/ulp/test_apps/lp_core/host_tests/lp_core_custom_linker_v2/main/ulp/main/CMakeLists.txt
+++ b/components/ulp/test_apps/lp_core/host_tests/lp_core_custom_linker_v2/main/ulp/main/CMakeLists.txt
@@ -1,4 +1,3 @@
 # SPDX-FileCopyrightText: 2026 Espressif Systems (Shanghai) CO LTD
 # SPDX-License-Identifier: Apache-2.0
-idf_component_register(SRCS "main.c"
-                       REQUIRES ulp)
+idf_component_register(SRCS "main.c")
diff --git a/components/ulp/test_apps/lp_core/lp_core_basic_tests/main/lp_core/test_shared.h b/components/ulp/test_apps/lp_core/lp_core_basic_tests/main/lp_core/test_shared.h
index 83b5d5747fb..77c669e2b65 100644
--- a/components/ulp/test_apps/lp_core/lp_core_basic_tests/main/lp_core/test_shared.h
+++ b/components/ulp/test_apps/lp_core/lp_core_basic_tests/main/lp_core/test_shared.h
@@ -22,7 +22,7 @@
  * LP UART read_bytes return-value test (HP + LP):
  * The burst must fit in the hardware RX FIFO yet typically exceed the LP UART
  * driver's default RX FIFO full threshold (LP_UART_FULL_THRESH_DEFAULT in
- * components/ulp/lp_core/lp_core/lp_core_uart.c). If either value changes,
+ * components/ulp/subproject/components/lp_core/lp_core_uart.c). If either value changes,
  * revisit this guard.
  */
 #if (SOC_LP_UART_FIFO_LEN) < 12
diff --git a/components/ulp/ulp_fsm/include/ulp_fsm_common.h b/components/ulp/ulp_fsm/include/ulp_fsm_common.h
index 881067d4c30..0536e536a20 100644
--- a/components/ulp/ulp_fsm/include/ulp_fsm_common.h
+++ b/components/ulp/ulp_fsm/include/ulp_fsm_common.h
@@ -80,7 +80,7 @@ esp_err_t ulp_process_macros_and_load(uint32_t load_addr, const ulp_insn_t* prog
  * 7. .text section
  * 8. .data section
  *
- * Linker script in components/ulp/ld/esp32.ulp.ld produces ELF files which
+ * Linker script in components/ulp/subproject/components/ulp_fsm/ld/ulp_fsm.ld produces ELF files which
  * correspond to this format. This linker script produces binaries with load_addr == 0.
  *
  * @param load_addr address where the program should be loaded, expressed in 32-bit words
diff --git a/components/ulp/ulp_riscv/include/ulp_riscv.h b/components/ulp/ulp_riscv/include/ulp_riscv.h
index b77934d9641..59a8833cd84 100644
--- a/components/ulp/ulp_riscv/include/ulp_riscv.h
+++ b/components/ulp/ulp_riscv/include/ulp_riscv.h
@@ -93,7 +93,7 @@ esp_err_t ulp_riscv_run(void);
  * Different than ULP FSM, the binary program has no special format, it is the ELF
  * file generated by RISC-V toolchain converted to binary format using objcopy.
  *
- * Linker script in components/ulp/ld/ulp_riscv.ld produces ELF files which
+ * Linker script in components/ulp/subproject/components/ulp_riscv/ld/ulp_riscv.ld produces ELF files which
  * correspond to this format. This linker script produces binaries with load_addr == 0.
  *
  * @param program_binary pointer to program binary
diff --git a/docs/component_info_ignore_file.txt b/docs/component_info_ignore_file.txt
index 5c9a44e9a8e..909fa9f19d2 100644
--- a/docs/component_info_ignore_file.txt
+++ b/docs/component_info_ignore_file.txt
@@ -1,14 +1,14 @@
 # Header files that will be ignored when generating extra header information
 # For API reference (include path/REQUIRE component)
 # ULP header files for the ULP app do not have an IDF header path/component require
-components/ulp/lp_core/lp_core/include/ulp_lp_core_gpio.h
-components/ulp/lp_core/lp_core/include/ulp_lp_core_i2c.h
-components/ulp/lp_core/lp_core/include/ulp_lp_core_print.h
-components/ulp/lp_core/lp_core/include/ulp_lp_core_uart.h
-components/ulp/lp_core/lp_core/include/ulp_lp_core_utils.h
-components/ulp/lp_core/lp_core/include/ulp_lp_core_interrupts.h
-components/ulp/lp_core/lp_core/include/ulp_lp_core_spi.h
-components/ulp/lp_core/lp_core/include/ulp_lp_core_mailbox.h
+components/ulp/subproject/components/lp_core/include/ulp_lp_core_gpio.h
+components/ulp/subproject/components/lp_core/include/ulp_lp_core_i2c.h
+components/ulp/subproject/components/lp_core/include/ulp_lp_core_print.h
+components/ulp/subproject/components/lp_core/include/ulp_lp_core_uart.h
+components/ulp/subproject/components/lp_core/include/ulp_lp_core_utils.h
+components/ulp/subproject/components/lp_core/include/ulp_lp_core_interrupts.h
+components/ulp/subproject/components/lp_core/include/ulp_lp_core_spi.h
+components/ulp/subproject/components/lp_core/include/ulp_lp_core_mailbox.h
 # ESP-TEE header files
 components/esp_tee/subproject/components/tee_sec_storage/include/esp_tee_sec_storage.h
 components/esp_tee/subproject/components/tee_attestation/esp_tee_attestation.h
diff --git a/docs/doxygen/Doxyfile_esp32c5 b/docs/doxygen/Doxyfile_esp32c5
index 0c487949294..c83752011cc 100644
--- a/docs/doxygen/Doxyfile_esp32c5
+++ b/docs/doxygen/Doxyfile_esp32c5
@@ -4,13 +4,13 @@ INPUT += \
         $(PROJECT_PATH)/components/ulp/lp_core/include/lp_core_uart.h \
         $(PROJECT_PATH)/components/ulp/lp_core/include/lp_core_etm.h \
         $(PROJECT_PATH)/components/ulp/lp_core/include/ulp_lp_core.h \
-        $(PROJECT_PATH)/components/ulp/lp_core/lp_core/include/ulp_lp_core_gpio.h \
-        $(PROJECT_PATH)/components/ulp/lp_core/lp_core/include/ulp_lp_core_i2c.h \
-        $(PROJECT_PATH)/components/ulp/lp_core/lp_core/include/ulp_lp_core_print.h \
-        $(PROJECT_PATH)/components/ulp/lp_core/lp_core/include/ulp_lp_core_uart.h \
-        $(PROJECT_PATH)/components/ulp/lp_core/lp_core/include/ulp_lp_core_utils.h \
-        $(PROJECT_PATH)/components/ulp/lp_core/lp_core/include/ulp_lp_core_interrupts.h \
-		$(PROJECT_PATH)/components/ulp/lp_core/lp_core/include/ulp_lp_core_mailbox.h \
+        $(PROJECT_PATH)/components/ulp/subproject/components/lp_core/include/ulp_lp_core_gpio.h \
+        $(PROJECT_PATH)/components/ulp/subproject/components/lp_core/include/ulp_lp_core_i2c.h \
+        $(PROJECT_PATH)/components/ulp/subproject/components/lp_core/include/ulp_lp_core_print.h \
+        $(PROJECT_PATH)/components/ulp/subproject/components/lp_core/include/ulp_lp_core_uart.h \
+        $(PROJECT_PATH)/components/ulp/subproject/components/lp_core/include/ulp_lp_core_utils.h \
+        $(PROJECT_PATH)/components/ulp/subproject/components/lp_core/include/ulp_lp_core_interrupts.h \
+		$(PROJECT_PATH)/components/ulp/subproject/components/lp_core/include/ulp_lp_core_mailbox.h \
         $(PROJECT_PATH)/components/ulp/ulp_common/include/ulp_common.h \
         $(PROJECT_PATH)/components/ulp/lp_core/shared/include/ulp_lp_core_lp_uart_shared.h \
         $(PROJECT_PATH)/components/bt/include/esp32c5/include/esp_bt.h \
diff --git a/docs/doxygen/Doxyfile_esp32c6 b/docs/doxygen/Doxyfile_esp32c6
index 7b0066b0e31..248121aa588 100644
--- a/docs/doxygen/Doxyfile_esp32c6
+++ b/docs/doxygen/Doxyfile_esp32c6
@@ -3,13 +3,13 @@ INPUT += \
     $(PROJECT_PATH)/components/ulp/lp_core/include/lp_core_uart.h \
     $(PROJECT_PATH)/components/ulp/lp_core/include/lp_core_etm.h \
     $(PROJECT_PATH)/components/ulp/lp_core/include/ulp_lp_core.h \
-    $(PROJECT_PATH)/components/ulp/lp_core/lp_core/include/ulp_lp_core_gpio.h \
-    $(PROJECT_PATH)/components/ulp/lp_core/lp_core/include/ulp_lp_core_i2c.h \
-    $(PROJECT_PATH)/components/ulp/lp_core/lp_core/include/ulp_lp_core_print.h \
-    $(PROJECT_PATH)/components/ulp/lp_core/lp_core/include/ulp_lp_core_uart.h \
-    $(PROJECT_PATH)/components/ulp/lp_core/lp_core/include/ulp_lp_core_utils.h \
-    $(PROJECT_PATH)/components/ulp/lp_core/lp_core/include/ulp_lp_core_interrupts.h \
-	$(PROJECT_PATH)/components/ulp/lp_core/lp_core/include/ulp_lp_core_mailbox.h \
+    $(PROJECT_PATH)/components/ulp/subproject/components/lp_core/include/ulp_lp_core_gpio.h \
+    $(PROJECT_PATH)/components/ulp/subproject/components/lp_core/include/ulp_lp_core_i2c.h \
+    $(PROJECT_PATH)/components/ulp/subproject/components/lp_core/include/ulp_lp_core_print.h \
+    $(PROJECT_PATH)/components/ulp/subproject/components/lp_core/include/ulp_lp_core_uart.h \
+    $(PROJECT_PATH)/components/ulp/subproject/components/lp_core/include/ulp_lp_core_utils.h \
+    $(PROJECT_PATH)/components/ulp/subproject/components/lp_core/include/ulp_lp_core_interrupts.h \
+	$(PROJECT_PATH)/components/ulp/subproject/components/lp_core/include/ulp_lp_core_mailbox.h \
     $(PROJECT_PATH)/components/bt/include/esp32c6/include/esp_bt.h \
     $(PROJECT_PATH)/components/bt/include/$(IDF_TARGET)/include/esp_bt_vs.h \
     $(PROJECT_PATH)/components/esp_phy/include/esp_phy_init.h \
diff --git a/docs/doxygen/Doxyfile_esp32p4 b/docs/doxygen/Doxyfile_esp32p4
index d227fe6adc9..0fa5df75a2a 100644
--- a/docs/doxygen/Doxyfile_esp32p4
+++ b/docs/doxygen/Doxyfile_esp32p4
@@ -45,14 +45,14 @@ INPUT += \
     $(PROJECT_PATH)/components/ulp/lp_core/include/lp_core_spi.h \
     $(PROJECT_PATH)/components/ulp/lp_core/include/lp_core_uart.h \
     $(PROJECT_PATH)/components/ulp/lp_core/include/ulp_lp_core.h \
-    $(PROJECT_PATH)/components/ulp/lp_core/lp_core/include/ulp_lp_core_gpio.h \
-    $(PROJECT_PATH)/components/ulp/lp_core/lp_core/include/ulp_lp_core_i2c.h \
-    $(PROJECT_PATH)/components/ulp/lp_core/lp_core/include/ulp_lp_core_interrupts.h \
-    $(PROJECT_PATH)/components/ulp/lp_core/lp_core/include/ulp_lp_core_mailbox.h \
-    $(PROJECT_PATH)/components/ulp/lp_core/lp_core/include/ulp_lp_core_print.h \
-    $(PROJECT_PATH)/components/ulp/lp_core/lp_core/include/ulp_lp_core_spi.h \
-    $(PROJECT_PATH)/components/ulp/lp_core/lp_core/include/ulp_lp_core_uart.h \
-    $(PROJECT_PATH)/components/ulp/lp_core/lp_core/include/ulp_lp_core_utils.h \
+    $(PROJECT_PATH)/components/ulp/subproject/components/lp_core/include/ulp_lp_core_gpio.h \
+    $(PROJECT_PATH)/components/ulp/subproject/components/lp_core/include/ulp_lp_core_i2c.h \
+    $(PROJECT_PATH)/components/ulp/subproject/components/lp_core/include/ulp_lp_core_interrupts.h \
+    $(PROJECT_PATH)/components/ulp/subproject/components/lp_core/include/ulp_lp_core_mailbox.h \
+    $(PROJECT_PATH)/components/ulp/subproject/components/lp_core/include/ulp_lp_core_print.h \
+    $(PROJECT_PATH)/components/ulp/subproject/components/lp_core/include/ulp_lp_core_spi.h \
+    $(PROJECT_PATH)/components/ulp/subproject/components/lp_core/include/ulp_lp_core_uart.h \
+    $(PROJECT_PATH)/components/ulp/subproject/components/lp_core/include/ulp_lp_core_utils.h \
     $(PROJECT_PATH)/components/ulp/lp_core/shared/include/ulp_lp_core_lp_uart_shared.h \
     $(PROJECT_PATH)/components/ulp/lp_core/shared/include/ulp_lp_core_lp_vad_shared.h \
     $(PROJECT_PATH)/components/ulp/ulp_common/include/ulp_common.h \
diff --git a/docs/doxygen/Doxyfile_esp32s31 b/docs/doxygen/Doxyfile_esp32s31
index 36b6afc8779..3f7f138f2e6 100644
--- a/docs/doxygen/Doxyfile_esp32s31
+++ b/docs/doxygen/Doxyfile_esp32s31
@@ -25,12 +25,12 @@ INPUT += \
     $(PROJECT_PATH)/components/ulp/lp_core/include/lp_core_spi.h \
     $(PROJECT_PATH)/components/ulp/lp_core/include/ulp_lp_core.h \
     $(PROJECT_PATH)/components/ulp/lp_core/shared/include/ulp_lp_core_lp_uart_shared.h \
-    $(PROJECT_PATH)/components/ulp/lp_core/lp_core/include/ulp_lp_core_gpio.h \
-    $(PROJECT_PATH)/components/ulp/lp_core/lp_core/include/ulp_lp_core_i2c.h \
-    $(PROJECT_PATH)/components/ulp/lp_core/lp_core/include/ulp_lp_core_print.h \
-    $(PROJECT_PATH)/components/ulp/lp_core/lp_core/include/ulp_lp_core_uart.h \
-    $(PROJECT_PATH)/components/ulp/lp_core/lp_core/include/ulp_lp_core_utils.h \
-    $(PROJECT_PATH)/components/ulp/lp_core/lp_core/include/ulp_lp_core_interrupts.h \
-    $(PROJECT_PATH)/components/ulp/lp_core/lp_core/include/ulp_lp_core_mailbox.h \
-    $(PROJECT_PATH)/components/ulp/lp_core/lp_core/include/ulp_lp_core_spi.h \
+    $(PROJECT_PATH)/components/ulp/subproject/components/lp_core/include/ulp_lp_core_gpio.h \
+    $(PROJECT_PATH)/components/ulp/subproject/components/lp_core/include/ulp_lp_core_i2c.h \
+    $(PROJECT_PATH)/components/ulp/subproject/components/lp_core/include/ulp_lp_core_print.h \
+    $(PROJECT_PATH)/components/ulp/subproject/components/lp_core/include/ulp_lp_core_uart.h \
+    $(PROJECT_PATH)/components/ulp/subproject/components/lp_core/include/ulp_lp_core_utils.h \
+    $(PROJECT_PATH)/components/ulp/subproject/components/lp_core/include/ulp_lp_core_interrupts.h \
+    $(PROJECT_PATH)/components/ulp/subproject/components/lp_core/include/ulp_lp_core_mailbox.h \
+    $(PROJECT_PATH)/components/ulp/subproject/components/lp_core/include/ulp_lp_core_spi.h \
     $(PROJECT_PATH)/components/ulp/ulp_common/include/ulp_common.h \
diff --git a/docs/en/api-reference/peripherals/cap_touch_sens.rst b/docs/en/api-reference/peripherals/cap_touch_sens.rst
index 580bda0eb61..e3746485457 100644
--- a/docs/en/api-reference/peripherals/cap_touch_sens.rst
+++ b/docs/en/api-reference/peripherals/cap_touch_sens.rst
@@ -415,7 +415,7 @@ Call :cpp:func:`touch_channel_read_data` to read the data with different types.
 
     .. only:: SOC_RISCV_COPROC_SUPPORTED
 
-        If you want to read or configure the touch sensor during the sleep, you can turn to the driver ``components/ulp/ulp_riscv/ulp_core/include/ulp_riscv_touch_ulp_core.h`` which based on the :doc:`Ultra Low Power (ULP) Coprocessor <../system/ulp>`.
+        If you want to read or configure the touch sensor during the sleep, you can turn to the driver ``components/ulp/subproject/components/ulp_riscv/include/ulp_riscv_touch_ulp_core.h`` which based on the :doc:`Ultra Low Power (ULP) Coprocessor <../system/ulp>`.
 
     .. list::
 
diff --git a/docs/en/api-reference/system/ulp-fsm.rst b/docs/en/api-reference/system/ulp-fsm.rst
index f120b0ab9f2..b3cc0c1cbe9 100644
--- a/docs/en/api-reference/system/ulp-fsm.rst
+++ b/docs/en/api-reference/system/ulp-fsm.rst
@@ -75,7 +75,7 @@ The additional PREFIX argument can be a C style prefix (like ``ulp2_``) or a C++
 
     2. **Run preprocessed assembly sources through the assembler.** This produces object (foo.ulp.o) and listing (foo.ulp.lst) files. Listing files are generated for debugging purposes and are not used at later stages of the build process.
 
-    3. **Run the linker script template through the C preprocessor.** The template is located in ``components/ulp/ld`` directory.
+    3. **Run the linker script template through the C preprocessor.** The template is located in ``components/ulp/subproject/components/ulp_fsm/ld`` directory.
 
     4. **Link the object files into an output ELF file** (``ulp_app_name.elf``). The Map file (``ulp_app_name.map``) generated at this stage may be useful for debugging purposes.
 
diff --git a/docs/en/api-reference/system/ulp-lp-core.rst b/docs/en/api-reference/system/ulp-lp-core.rst
index 89544eaed44..2996312d900 100644
--- a/docs/en/api-reference/system/ulp-lp-core.rst
+++ b/docs/en/api-reference/system/ulp-lp-core.rst
@@ -117,7 +117,7 @@ During the build process, the following steps are taken to build ULP program:
 
     1. **Run each source file through the C compiler and assembler.** This step generates the object files ``.obj.c`` or ``.obj.S`` in the component build directory depending on the source file processed.
 
-    2. **Run the linker script template through the C preprocessor.** The template is located in ``components/ulp/ld`` directory.
+    2. **Run the linker script template through the C preprocessor.** The template is located in ``components/ulp/subproject/components/lp_core/ld`` directory.
 
     3. **Link the object files into an output ELF file** (``ulp_app_name.elf``). The Map file ``ulp_app_name.map`` generated at this stage may be useful for debugging purposes.
 
@@ -274,7 +274,7 @@ To enhance the capabilities of the ULP LP core coprocessor, it has access to per
 ULP LP Core Interrupts
 ----------------------
 
-The LP core coprocessor can be configured to handle interrupts from various sources. Examples of such interrupts could be LP IO low/high or LP timer interrupts. To register a handler for an interrupt, simply override any of the weak handlers provided by IDF. A complete list of handlers can be found in :component_file:`ulp_lp_core_interrupts.h <ulp/lp_core/lp_core/include/ulp_lp_core_interrupts.h>`. For details on which interrupts are available on a specific target, please consult **{IDF_TARGET_NAME} Technical Reference Manual** [`PDF <{IDF_TARGET_TRM_EN_URL}#ulp>`__].
+The LP core coprocessor can be configured to handle interrupts from various sources. Examples of such interrupts could be LP IO low/high or LP timer interrupts. To register a handler for an interrupt, simply override any of the weak handlers provided by IDF. A complete list of handlers can be found in :component_file:`ulp_lp_core_interrupts.h <ulp/subproject/components/lp_core/include/ulp_lp_core_interrupts.h>`. For details on which interrupts are available on a specific target, please consult **{IDF_TARGET_NAME} Technical Reference Manual** [`PDF <{IDF_TARGET_TRM_EN_URL}#ulp>`__].
 
 For example, to override the handler for the LP IO interrupt, you can define the following function in your ULP LP core code:
 
diff --git a/docs/en/api-reference/system/ulp-risc-v.rst b/docs/en/api-reference/system/ulp-risc-v.rst
index 2b1ea141362..2fa38a5b406 100644
--- a/docs/en/api-reference/system/ulp-risc-v.rst
+++ b/docs/en/api-reference/system/ulp-risc-v.rst
@@ -116,7 +116,7 @@ During the build process, the following steps are taken to build ULP program:
 
     1. **Run each source file through the C compiler and assembler.** This step generates the object files ``.obj.c`` or ``.obj.S`` in the component build directory depending on the source file processed.
 
-    2. **Run the linker script template through the C preprocessor.** The template is located in ``components/ulp/ld`` directory.
+    2. **Run the linker script template through the C preprocessor.** The template is located in ``components/ulp/subproject/components/ulp_riscv/ld`` directory.
 
     3. **Link the object files into an output ELF file** (``ulp_app_name.elf``). The Map file ``ulp_app_name.map`` generated at this stage may be useful for debugging purposes.
 
diff --git a/docs/zh_CN/api-reference/peripherals/cap_touch_sens.rst b/docs/zh_CN/api-reference/peripherals/cap_touch_sens.rst
index eb3ec0e62cd..6b0b2470070 100644
--- a/docs/zh_CN/api-reference/peripherals/cap_touch_sens.rst
+++ b/docs/zh_CN/api-reference/peripherals/cap_touch_sens.rst
@@ -415,7 +415,7 @@
 
     .. only:: SOC_RISCV_COPROC_SUPPORTED
 
-        若需要在睡眠过程中进行读数、配置等操作，可通过运行在 :doc:`超低功耗协处理器 ULP <../system/ulp>` 上的触摸传感器驱动 ``components/ulp/ulp_riscv/ulp_core/include/ulp_riscv_touch_ulp_core.h`` 实现。
+        若需要在睡眠过程中进行读数、配置等操作，可通过运行在 :doc:`超低功耗协处理器 ULP <../system/ulp>` 上的触摸传感器驱动 ``components/ulp/subproject/components/ulp_riscv/include/ulp_riscv_touch_ulp_core.h`` 实现。
 
     .. list::
 
diff --git a/docs/zh_CN/api-reference/system/ulp-fsm.rst b/docs/zh_CN/api-reference/system/ulp-fsm.rst
index aa827a4953d..b26e4da8ce0 100644
--- a/docs/zh_CN/api-reference/system/ulp-fsm.rst
+++ b/docs/zh_CN/api-reference/system/ulp-fsm.rst
@@ -75,7 +75,7 @@ ULP FSM 协处理器代码由汇编语言编写，使用 `binutils-esp32ulp 工
 
     2. **通过汇编器运行预处理过的汇编源码。** 此步骤会生成目标文件 (foo.ulp.o) 和清单 (foo.ulp.lst)。清单文件仅用于调试，不用于编译进程的后续步骤。
 
-    3. **通过 C 预处理器运行链接器脚本模板。** 模板位于 ``components/ulp/ld`` 目录中。
+    3. **通过 C 预处理器运行链接器脚本模板。** 模板位于 ``components/ulp/subproject/components/ulp_fsm/ld`` 目录中。
 
     4. **将目标文件链接到 ELF 输出文件** (``ulp_app_name.elf``)。此步骤生成的 .map 文件 (``ulp_app_name.map``) 默认用于调试。
 
diff --git a/docs/zh_CN/api-reference/system/ulp-lp-core.rst b/docs/zh_CN/api-reference/system/ulp-lp-core.rst
index 4e345a0d645..d19fa8a6681 100644
--- a/docs/zh_CN/api-reference/system/ulp-lp-core.rst
+++ b/docs/zh_CN/api-reference/system/ulp-lp-core.rst
@@ -117,7 +117,7 @@ ULP LP 内核代码会与 ESP-IDF 项目共同编译，生成一个单独的二
 
     1. **通过 C 编译器和汇编器运行每个源文件。** 此步骤会在组件构建目录中生成目标文件 ``.obj.c`` 或 ``.obj.S``，具体取决于处理的源文件。
 
-    2. **通过 C 预处理器运行链接器脚本模板。** 模板位于 ``components/ulp/ld`` 目录中。
+    2. **通过 C 预处理器运行链接器脚本模板。** 模板位于 ``components/ulp/subproject/components/lp_core/ld`` 目录中。
 
     3. **将对象文件链接到一个 ELF 输出文件中，** 即 ``ulp_app_name.elf``。在此阶段生成的映射文件 ``ulp_app_name.map`` 可用于调试。
 
@@ -274,7 +274,7 @@ ULP LP 内核支持的外设
 ULP LP 内核中断
 ---------------
 
-配置 LP 内核协处理器，可以处理各种类型的中断，例如 LP IO 低/高电平中断或是 LP 定时器中断。只需重写 IDF 提供的任何一个弱处理函数，就可以注册一个中断处理程序。所有处理程序可见 :component_file:`ulp_lp_core_interrupts.h <ulp/lp_core/lp_core/include/ulp_lp_core_interrupts.h>`。有关特定目标可使用的中断的详细信息，请参阅 **{IDF_TARGET_NAME} 技术参考手册** [`PDF <{IDF_TARGET_TRM_CN_URL}#ulp>`__]。
+配置 LP 内核协处理器，可以处理各种类型的中断，例如 LP IO 低/高电平中断或是 LP 定时器中断。只需重写 IDF 提供的任何一个弱处理函数，就可以注册一个中断处理程序。所有处理程序可见 :component_file:`ulp_lp_core_interrupts.h <ulp/subproject/components/lp_core/include/ulp_lp_core_interrupts.h>`。有关特定目标可使用的中断的详细信息，请参阅 **{IDF_TARGET_NAME} 技术参考手册** [`PDF <{IDF_TARGET_TRM_CN_URL}#ulp>`__]。
 
 例如，要重写 LP IO 中断的处理程序，可以在 ULP LP 内核代码中定义以下函数：
 
diff --git a/docs/zh_CN/api-reference/system/ulp-risc-v.rst b/docs/zh_CN/api-reference/system/ulp-risc-v.rst
index a496e9d3fb2..9a91ea18cbf 100644
--- a/docs/zh_CN/api-reference/system/ulp-risc-v.rst
+++ b/docs/zh_CN/api-reference/system/ulp-risc-v.rst
@@ -116,7 +116,7 @@ ULP RISC-V 协处理器代码以 C 语言（或汇编语言）编写，使用基
 
     1. **通过 C 编译器和汇编器运行每个源文件。** 此步骤会在组件构建目录中生成目标文件 ``.obj.c`` 或 ``.obj.S``，具体取决于处理的源文件。
 
-    2. **通过 C 预处理器运行链接器脚本模板。** 模板位于 ``components/ulp/ld`` 目录中。
+    2. **通过 C 预处理器运行链接器脚本模板。** 模板位于 ``components/ulp/subproject/components/ulp_riscv/ld`` 目录中。
 
     3. **将对象文件链接到一个 ELF 输出文件中，** 即 ``ulp_app_name.elf``。在此阶段生成的映射文件 ``ulp_app_name.map`` 可用于调试。
 
diff --git a/tools/ci/executable-list.txt b/tools/ci/executable-list.txt
index 0ebf0d55f63..3b3b81eccb8 100644
--- a/tools/ci/executable-list.txt
+++ b/tools/ci/executable-list.txt
@@ -25,7 +25,7 @@ components/partition_table/test_gen_esp32part_host/check_sizes_test.py
 components/partition_table/test_gen_esp32part_host/gen_esp32part_tests.py
 components/spiffs/spiffsgen.py
 components/spiffs/test_spiffsgen/test_spiffsgen.py
-components/ulp/esp32ulp_mapgen.py
+components/ulp/subproject/esp32ulp_mapgen.py
 docs/check_lang_folder_sync.sh
 examples/build_system/cmake/idf_as_lib/build-esp32.sh
 examples/build_system/cmake/idf_as_lib/build-esp32c2.sh
diff --git a/tools/test_apps/system/ulp/full_subproject/combined/main/ulp_fsm/CMakeLists.txt b/tools/test_apps/system/ulp/full_subproject/combined/main/ulp_fsm/CMakeLists.txt
index b48a7286f3e..4105a4fa745 100644
--- a/tools/test_apps/system/ulp/full_subproject/combined/main/ulp_fsm/CMakeLists.txt
+++ b/tools/test_apps/system/ulp/full_subproject/combined/main/ulp_fsm/CMakeLists.txt
@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.22)
 
-include(${IDF_PATH}/components/ulp/cmake/ulp_project.cmake)
+include(${IDF_PATH}/components/ulp/subproject/ulp_project.cmake)
 
 project(${IDF_DEFAULT_PROJECT_NAME} ASM)
 
diff --git a/tools/test_apps/system/ulp/full_subproject/combined/main/ulp_fsm/main/CMakeLists.txt b/tools/test_apps/system/ulp/full_subproject/combined/main/ulp_fsm/main/CMakeLists.txt
index 5021b10db9f..37d4277a338 100644
--- a/tools/test_apps/system/ulp/full_subproject/combined/main/ulp_fsm/main/CMakeLists.txt
+++ b/tools/test_apps/system/ulp/full_subproject/combined/main/ulp_fsm/main/CMakeLists.txt
@@ -1,2 +1 @@
-idf_component_register(SRCS "main.S"
-                       REQUIRES ulp)
+idf_component_register(SRCS "main.S")
diff --git a/tools/test_apps/system/ulp/full_subproject/combined/main/ulp_riscv/CMakeLists.txt b/tools/test_apps/system/ulp/full_subproject/combined/main/ulp_riscv/CMakeLists.txt
index ec8b058fc29..99d21d6d5a7 100644
--- a/tools/test_apps/system/ulp/full_subproject/combined/main/ulp_riscv/CMakeLists.txt
+++ b/tools/test_apps/system/ulp/full_subproject/combined/main/ulp_riscv/CMakeLists.txt
@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.22)
 
-include(${IDF_PATH}/components/ulp/cmake/ulp_project.cmake)
+include(${IDF_PATH}/components/ulp/subproject/ulp_project.cmake)
 
 project(${IDF_DEFAULT_PROJECT_NAME} C CXX ASM)
 
diff --git a/tools/test_apps/system/ulp/full_subproject/combined/main/ulp_riscv/main/CMakeLists.txt b/tools/test_apps/system/ulp/full_subproject/combined/main/ulp_riscv/main/CMakeLists.txt
index 9d04d40931e..34613e8e3cd 100644
--- a/tools/test_apps/system/ulp/full_subproject/combined/main/ulp_riscv/main/CMakeLists.txt
+++ b/tools/test_apps/system/ulp/full_subproject/combined/main/ulp_riscv/main/CMakeLists.txt
@@ -1,2 +1 @@
-idf_component_register(SRCS "main.c"
-                       REQUIRES ulp)
+idf_component_register(SRCS "main.c")
diff --git a/tools/test_apps/system/ulp/full_subproject/fsm/main/ulp/CMakeLists.txt b/tools/test_apps/system/ulp/full_subproject/fsm/main/ulp/CMakeLists.txt
index b48a7286f3e..4105a4fa745 100644
--- a/tools/test_apps/system/ulp/full_subproject/fsm/main/ulp/CMakeLists.txt
+++ b/tools/test_apps/system/ulp/full_subproject/fsm/main/ulp/CMakeLists.txt
@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.22)
 
-include(${IDF_PATH}/components/ulp/cmake/ulp_project.cmake)
+include(${IDF_PATH}/components/ulp/subproject/ulp_project.cmake)
 
 project(${IDF_DEFAULT_PROJECT_NAME} ASM)
 
diff --git a/tools/test_apps/system/ulp/full_subproject/fsm/main/ulp/components/ulp_wake/CMakeLists.txt b/tools/test_apps/system/ulp/full_subproject/fsm/main/ulp/components/ulp_wake/CMakeLists.txt
index 694ddcfaa66..9bd5443dd4e 100644
--- a/tools/test_apps/system/ulp/full_subproject/fsm/main/ulp/components/ulp_wake/CMakeLists.txt
+++ b/tools/test_apps/system/ulp/full_subproject/fsm/main/ulp/components/ulp_wake/CMakeLists.txt
@@ -1,2 +1 @@
-idf_component_register(SRCS "wake_up.S"
-                       REQUIRES ulp)
+idf_component_register(SRCS "wake_up.S")
diff --git a/tools/test_apps/system/ulp/full_subproject/fsm/main/ulp/main/CMakeLists.txt b/tools/test_apps/system/ulp/full_subproject/fsm/main/ulp/main/CMakeLists.txt
index 81958e793d6..f04ec9d5c05 100644
--- a/tools/test_apps/system/ulp/full_subproject/fsm/main/ulp/main/CMakeLists.txt
+++ b/tools/test_apps/system/ulp/full_subproject/fsm/main/ulp/main/CMakeLists.txt
@@ -2,7 +2,7 @@ set(srcs
     "counter.S")
 
 idf_component_register(SRCS ${srcs}
-                       REQUIRES ulp ulp_wake
+                       REQUIRES ulp_wake
                        LDFRAGMENTS "ulp_fsm_sections.lf")
 
 target_compile_definitions(${COMPONENT_LIB} PRIVATE ULP_BUILD_SYSTEM_FSM_EXAMPLE=1)
diff --git a/tools/test_apps/system/ulp/full_subproject/lp_core/main/ulp/CMakeLists.txt b/tools/test_apps/system/ulp/full_subproject/lp_core/main/ulp/CMakeLists.txt
index ec8b058fc29..99d21d6d5a7 100644
--- a/tools/test_apps/system/ulp/full_subproject/lp_core/main/ulp/CMakeLists.txt
+++ b/tools/test_apps/system/ulp/full_subproject/lp_core/main/ulp/CMakeLists.txt
@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.22)
 
-include(${IDF_PATH}/components/ulp/cmake/ulp_project.cmake)
+include(${IDF_PATH}/components/ulp/subproject/ulp_project.cmake)
 
 project(${IDF_DEFAULT_PROJECT_NAME} C CXX ASM)
 
diff --git a/tools/test_apps/system/ulp/full_subproject/lp_core/main/ulp/main/CMakeLists.txt b/tools/test_apps/system/ulp/full_subproject/lp_core/main/ulp/main/CMakeLists.txt
index 09d8933709d..5b867f38515 100644
--- a/tools/test_apps/system/ulp/full_subproject/lp_core/main/ulp/main/CMakeLists.txt
+++ b/tools/test_apps/system/ulp/full_subproject/lp_core/main/ulp/main/CMakeLists.txt
@@ -1,5 +1,5 @@
 idf_component_register(SRCS "main.c"
-                       REQUIRES ulp ulp_sum ulp_math)
+                       REQUIRES ulp_sum ulp_math)
 
 # Linker script template processed by ldgen. The mapping[ulp_math_fast]
 # marker is resolved using the .lf fragment from the ulp_math component.
diff --git a/tools/test_apps/system/ulp/full_subproject/multi_binary/main/ulp/CMakeLists.txt b/tools/test_apps/system/ulp/full_subproject/multi_binary/main/ulp/CMakeLists.txt
index 1df774c07fb..c30110b29d3 100644
--- a/tools/test_apps/system/ulp/full_subproject/multi_binary/main/ulp/CMakeLists.txt
+++ b/tools/test_apps/system/ulp/full_subproject/multi_binary/main/ulp/CMakeLists.txt
@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.22)
 
-include(${IDF_PATH}/components/ulp/cmake/ulp_project.cmake)
+include(${IDF_PATH}/components/ulp/subproject/ulp_project.cmake)
 
 project(${IDF_DEFAULT_PROJECT_NAME} C CXX ASM)
 
diff --git a/tools/test_apps/system/ulp/full_subproject/multi_binary/main/ulp/components/ulp_add_main/CMakeLists.txt b/tools/test_apps/system/ulp/full_subproject/multi_binary/main/ulp/components/ulp_add_main/CMakeLists.txt
index 9d04d40931e..34613e8e3cd 100644
--- a/tools/test_apps/system/ulp/full_subproject/multi_binary/main/ulp/components/ulp_add_main/CMakeLists.txt
+++ b/tools/test_apps/system/ulp/full_subproject/multi_binary/main/ulp/components/ulp_add_main/CMakeLists.txt
@@ -1,2 +1 @@
-idf_component_register(SRCS "main.c"
-                       REQUIRES ulp)
+idf_component_register(SRCS "main.c")
diff --git a/tools/test_apps/system/ulp/full_subproject/multi_binary/main/ulp/components/ulp_multiply_main/CMakeLists.txt b/tools/test_apps/system/ulp/full_subproject/multi_binary/main/ulp/components/ulp_multiply_main/CMakeLists.txt
index 9d04d40931e..34613e8e3cd 100644
--- a/tools/test_apps/system/ulp/full_subproject/multi_binary/main/ulp/components/ulp_multiply_main/CMakeLists.txt
+++ b/tools/test_apps/system/ulp/full_subproject/multi_binary/main/ulp/components/ulp_multiply_main/CMakeLists.txt
@@ -1,2 +1 @@
-idf_component_register(SRCS "main.c"
-                       REQUIRES ulp)
+idf_component_register(SRCS "main.c")
diff --git a/tools/test_apps/system/ulp/full_subproject/riscv/main/ulp/CMakeLists.txt b/tools/test_apps/system/ulp/full_subproject/riscv/main/ulp/CMakeLists.txt
index ec8b058fc29..99d21d6d5a7 100644
--- a/tools/test_apps/system/ulp/full_subproject/riscv/main/ulp/CMakeLists.txt
+++ b/tools/test_apps/system/ulp/full_subproject/riscv/main/ulp/CMakeLists.txt
@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.22)
 
-include(${IDF_PATH}/components/ulp/cmake/ulp_project.cmake)
+include(${IDF_PATH}/components/ulp/subproject/ulp_project.cmake)
 
 project(${IDF_DEFAULT_PROJECT_NAME} C CXX ASM)
 
diff --git a/tools/test_apps/system/ulp/full_subproject/riscv/main/ulp/main/CMakeLists.txt b/tools/test_apps/system/ulp/full_subproject/riscv/main/ulp/main/CMakeLists.txt
index a6e1be0adc6..561bab33a0c 100644
--- a/tools/test_apps/system/ulp/full_subproject/riscv/main/ulp/main/CMakeLists.txt
+++ b/tools/test_apps/system/ulp/full_subproject/riscv/main/ulp/main/CMakeLists.txt
@@ -1,5 +1,4 @@
 idf_component_register(SRCS "main.c"
-                       REQUIRES ulp
                        LDFRAGMENTS "ulp_riscv_sections.lf")
 
 # Supplementary linker script template processed by ldgen. The mapping marker
diff --git a/tools/test_build_system/buildv2/test_ulp.py b/tools/test_build_system/buildv2/test_ulp.py
index 77750628a34..30bc3a6dc0e 100644
--- a/tools/test_build_system/buildv2/test_ulp.py
+++ b/tools/test_build_system/buildv2/test_ulp.py
@@ -87,7 +87,7 @@ def _sha256(path: Path) -> str:
     'entry_point,add_native_executable,expected_available,expected_unavailable',
     (
         (
-            '${IDF_PATH}/components/ulp/cmake/ulp_project.cmake',
+            '${IDF_PATH}/components/ulp/subproject/ulp_project.cmake',
             False,
             FULL_PROJECT_APIS,
             LEGACY_PROJECT_APIS,
@@ -116,7 +116,8 @@ def test_ulp_cmake_api_availability(
     build_dir = tmp_path / 'build'
     project_dir.mkdir()
     _write_api_probe_project(project_dir, entry_point, add_native_executable)
-    ulp_cmake_dir = idf_path / 'components' / 'ulp' / 'cmake'
+    ulp_subproject_dir = idf_path / 'components' / 'ulp' / 'subproject'
+    lp_core_toolchain = ulp_subproject_dir / 'components' / 'lp_core' / 'toolchain-lp-core-riscv.cmake'
 
     cmake_args = (
         'cmake',
@@ -126,8 +127,8 @@ def test_ulp_cmake_api_availability(
         _cmake_path(project_dir),
         '-B',
         _cmake_path(build_dir),
-        f'-DCMAKE_MODULE_PATH={_cmake_path(ulp_cmake_dir)}',
-        f'-DCMAKE_TOOLCHAIN_FILE={_cmake_path(ulp_cmake_dir / "toolchain-lp-core-riscv.cmake")}',
+        f'-DCMAKE_MODULE_PATH={_cmake_path(ulp_subproject_dir)}',
+        f'-DCMAKE_TOOLCHAIN_FILE={_cmake_path(lp_core_toolchain)}',
         f'-DIDF_PATH={_cmake_path(idf_path)}',
         '-DIDF_TARGET=esp32c6',
         f'-DSDKCONFIG_CMAKE={_cmake_path(project_dir / "sdkconfig.cmake")}',