diff --git a/components/esp_hw_support/port/esp32c6/pmu_sleep.c b/components/esp_hw_support/port/esp32c6/pmu_sleep.c
index 9628cc794f8..2f0ab685f5b 100644
--- a/components/esp_hw_support/port/esp32c6/pmu_sleep.c
+++ b/components/esp_hw_support/port/esp32c6/pmu_sleep.c
@@ -289,5 +289,6 @@ void pmu_sleep_enable_hp_sleep_sysclk(bool enable)
 
 uint32_t pmu_sleep_get_wakup_retention_cost(void)
 {
-    return PMU_REGDMA_S2A_WORK_TIME_US;
+    const pmu_sleep_machine_constant_t *mc = (pmu_sleep_machine_constant_t *)PMU_instance()->mc;
+    return mc->hp.regdma_s2a_work_time_us;
 }
diff --git a/components/esp_hw_support/port/esp32h2/pmu_sleep.c b/components/esp_hw_support/port/esp32h2/pmu_sleep.c
index 75a170d6a4c..80c39d80d5f 100644
--- a/components/esp_hw_support/port/esp32h2/pmu_sleep.c
+++ b/components/esp_hw_support/port/esp32h2/pmu_sleep.c
@@ -24,20 +24,22 @@
 
 void pmu_sleep_enable_regdma_backup(void)
 {
-    /* ESP32H2 does not have PMU HP_AON power domain. because the registers
-     * of PAU REGDMA is included to PMU TOP power domain, cause the contents
-     * of PAU REGDMA registers will be lost when the TOP domain is powered down
-     * during light sleep, so we does not need to enable REGDMA backup here.
-     * We will use the software to trigger REGDMA to backup or restore. */
+    assert(PMU_instance()->hal);
+    /* entry 0, 1, 2 is used by pmu HP_SLEEP and HP_ACTIVE, HP_SLEEP
+        * and HP_MODEM or HP_MODEM and HP_ACTIVE states switching,
+        * respectively. entry 3 is reserved, not used yet! */
+    pmu_hal_hp_set_sleep_active_backup_enable(PMU_instance()->hal);
 }
 
 void pmu_sleep_disable_regdma_backup(void)
 {
+    assert(PMU_instance()->hal);
+    pmu_hal_hp_set_sleep_active_backup_disable(PMU_instance()->hal);
 }
 
 uint32_t pmu_sleep_calculate_hw_wait_time(uint32_t pd_flags, uint32_t slowclk_period, uint32_t fastclk_period)
 {
-    const pmu_sleep_machine_constant_t *mc = (pmu_sleep_machine_constant_t *)PMU_instance()->mc;
+    pmu_sleep_machine_constant_t *mc = (pmu_sleep_machine_constant_t *)PMU_instance()->mc;
 
     /* LP core hardware wait time, microsecond */
     const int lp_clk_switch_time_us         = rtc_time_slowclk_to_us(mc->lp.clk_switch_cycle, slowclk_period);
@@ -49,6 +51,11 @@ uint32_t pmu_sleep_calculate_hw_wait_time(uint32_t pd_flags, uint32_t slowclk_pe
 
     /* HP core hardware wait time, microsecond */
     const int hp_digital_power_up_wait_time_us = mc->hp.power_supply_wait_time_us + mc->hp.power_up_wait_time_us;
+    if (pd_flags & PMU_SLEEP_PD_TOP) {
+        mc->hp.regdma_s2a_work_time_us = PMU_REGDMA_S2A_WORK_TIME_PD_TOP_US;
+    } else {
+        mc->hp.regdma_s2a_work_time_us = PMU_REGDMA_S2A_WORK_TIME_PU_TOP_US;
+    }
     const int hp_regdma_wait_time_us = mc->hp.regdma_s2a_work_time_us;
     const int hp_clock_wait_time_us = mc->hp.xtal_wait_stable_time_us + mc->hp.pll_wait_stable_time_us;
 
@@ -231,5 +238,6 @@ bool pmu_sleep_finish(void)
 
 uint32_t pmu_sleep_get_wakup_retention_cost(void)
 {
-    return PMU_REGDMA_S2A_WORK_TIME_US;
+    const pmu_sleep_machine_constant_t *mc = (pmu_sleep_machine_constant_t *)PMU_instance()->mc;
+    return mc->hp.regdma_s2a_work_time_us;
 }
diff --git a/components/esp_hw_support/port/esp32h2/private_include/pmu_param.h b/components/esp_hw_support/port/esp32h2/private_include/pmu_param.h
index 50f55ed258c..f66827d0a0a 100644
--- a/components/esp_hw_support/port/esp32h2/private_include/pmu_param.h
+++ b/components/esp_hw_support/port/esp32h2/private_include/pmu_param.h
@@ -41,7 +41,9 @@ extern "C" {
 #define PMU_HP_DBIAS_LIGHTSLEEP_0V6 1
 #define PMU_LP_DBIAS_LIGHTSLEEP_0V7 6
 
-#define PMU_REGDMA_S2A_WORK_TIME_US     0
+#define PMU_REGDMA_S2A_WORK_TIME_PD_TOP_US     0
+// The current value of this depends on the restoration time overhead of the longest chain in regdma
+#define PMU_REGDMA_S2A_WORK_TIME_PU_TOP_US     390
 
 // FOR DEEPSLEEP
 #define PMU_HP_XPD_DEEPSLEEP    0
@@ -440,7 +442,7 @@ typedef struct pmu_sleep_machine_constant {
         .analog_wait_time_us            = 154,  \
         .power_supply_wait_time_us      = 2,    \
         .power_up_wait_time_us          = 2,    \
-        .regdma_s2a_work_time_us        = PMU_REGDMA_S2A_WORK_TIME_US, \
+        .regdma_s2a_work_time_us        = PMU_REGDMA_S2A_WORK_TIME_PD_TOP_US, \
         .regdma_a2s_work_time_us        = 0,    \
         .xtal_wait_stable_time_us       = 250,  \
         .pll_wait_stable_time_us        = 1     \
diff --git a/components/esp_hw_support/sleep_retention.c b/components/esp_hw_support/sleep_retention.c
index 744b9808635..3228840e38e 100644
--- a/components/esp_hw_support/sleep_retention.c
+++ b/components/esp_hw_support/sleep_retention.c
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2022-2023 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2022-2024 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -523,6 +523,8 @@ void IRAM_ATTR sleep_retention_do_system_retention(bool backup_or_restore)
         s_retention.highpri <= SLEEP_RETENTION_REGDMA_LINK_LOWEST_PRIORITY) {
         // Set extra linked list head pointer to hardware
         pau_regdma_set_system_link_addr(s_retention.lists[s_retention.highpri].entries[SYSTEM_LINK_NUM]);
+        // When PD TOP, we need to prevent the PMU from triggering the REGDMA backup, because REGDMA will power off
+        pmu_sleep_disable_regdma_backup();
         if (backup_or_restore) {
             pau_regdma_trigger_system_link_backup();
         } else {
diff --git a/components/hal/esp32c6/pmu_hal.c b/components/hal/esp32c6/pmu_hal.c
index 4997eacce66..1d0dfc49bb8 100644
--- a/components/hal/esp32c6/pmu_hal.c
+++ b/components/hal/esp32c6/pmu_hal.c
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2023 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2023-2024 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -11,26 +11,26 @@
 #include "hal/pmu_hal.h"
 #include "hal/pmu_types.h"
 
-void IRAM_ATTR pmu_hal_hp_set_digital_power_up_wait_cycle(pmu_hal_context_t *hal, uint32_t power_supply_wait_cycle, uint32_t power_up_wait_cycle)
+void pmu_hal_hp_set_digital_power_up_wait_cycle(pmu_hal_context_t *hal, uint32_t power_supply_wait_cycle, uint32_t power_up_wait_cycle)
 {
     pmu_ll_hp_set_digital_power_supply_wait_cycle(hal->dev, power_supply_wait_cycle);
     pmu_ll_hp_set_digital_power_up_wait_cycle(hal->dev, power_up_wait_cycle);
 }
 
-uint32_t IRAM_ATTR pmu_hal_hp_get_digital_power_up_wait_cycle(pmu_hal_context_t *hal)
+uint32_t pmu_hal_hp_get_digital_power_up_wait_cycle(pmu_hal_context_t *hal)
 {
     uint32_t power_supply_wait_cycle = pmu_ll_hp_get_digital_power_supply_wait_cycle(hal->dev);
     uint32_t power_up_wait_cycle = pmu_ll_hp_get_digital_power_up_wait_cycle(hal->dev);
     return power_supply_wait_cycle + power_up_wait_cycle;
 }
 
-void IRAM_ATTR pmu_hal_lp_set_digital_power_up_wait_cycle(pmu_hal_context_t *hal, uint32_t power_supply_wait_cycle, uint32_t power_up_wait_cycle)
+void pmu_hal_lp_set_digital_power_up_wait_cycle(pmu_hal_context_t *hal, uint32_t power_supply_wait_cycle, uint32_t power_up_wait_cycle)
 {
     pmu_ll_lp_set_digital_power_supply_wait_cycle(hal->dev, power_supply_wait_cycle);
     pmu_ll_lp_set_digital_power_up_wait_cycle(hal->dev, power_up_wait_cycle);
 }
 
-uint32_t IRAM_ATTR pmu_hal_lp_get_digital_power_up_wait_cycle(pmu_hal_context_t *hal)
+uint32_t pmu_hal_lp_get_digital_power_up_wait_cycle(pmu_hal_context_t *hal)
 {
     uint32_t power_supply_wait_cycle = pmu_ll_lp_get_digital_power_supply_wait_cycle(hal->dev);
     uint32_t power_up_wait_cycle = pmu_ll_lp_get_digital_power_up_wait_cycle(hal->dev);
diff --git a/components/hal/esp32h2/pau_hal.c b/components/hal/esp32h2/pau_hal.c
index 59f13e633e2..6eeaaef002c 100644
--- a/components/hal/esp32h2/pau_hal.c
+++ b/components/hal/esp32h2/pau_hal.c
@@ -15,11 +15,7 @@
 
 void pau_hal_set_regdma_entry_link_addr(pau_hal_context_t *hal, pau_regdma_link_addr_t *link_addr)
 {
-    /* ESP32H2 does not have PMU HP_AON power domain. because the registers
-     * of PAU REGDMA is included to PMU TOP power domain, cause the contents
-     * of PAU REGDMA registers will be lost when the TOP domain is powered down
-     * during light sleep, so we does not need to enable REGDMA backup here.
-     * We will use the software to trigger REGDMA to backup or restore. */
+    pau_ll_set_regdma_link0_addr(hal->dev, (*link_addr)[0]);
 }
 
 void IRAM_ATTR pau_hal_start_regdma_system_link(pau_hal_context_t *hal, bool backup_or_restore)
diff --git a/components/hal/esp32h2/pmu_hal.c b/components/hal/esp32h2/pmu_hal.c
index 9da9eaed80b..4e710ca103f 100644
--- a/components/hal/esp32h2/pmu_hal.c
+++ b/components/hal/esp32h2/pmu_hal.c
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2023 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2023-2024 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -11,26 +11,26 @@
 #include "hal/pmu_hal.h"
 #include "hal/pmu_types.h"
 
-void IRAM_ATTR pmu_hal_hp_set_digital_power_up_wait_cycle(pmu_hal_context_t *hal, uint32_t power_supply_wait_cycle, uint32_t power_up_wait_cycle)
+void pmu_hal_hp_set_digital_power_up_wait_cycle(pmu_hal_context_t *hal, uint32_t power_supply_wait_cycle, uint32_t power_up_wait_cycle)
 {
     pmu_ll_hp_set_digital_power_supply_wait_cycle(hal->dev, power_supply_wait_cycle);
     pmu_ll_hp_set_digital_power_up_wait_cycle(hal->dev, power_up_wait_cycle);
 }
 
-uint32_t IRAM_ATTR pmu_hal_hp_get_digital_power_up_wait_cycle(pmu_hal_context_t *hal)
+uint32_t pmu_hal_hp_get_digital_power_up_wait_cycle(pmu_hal_context_t *hal)
 {
     uint32_t power_supply_wait_cycle = pmu_ll_hp_get_digital_power_supply_wait_cycle(hal->dev);
     uint32_t power_up_wait_cycle = pmu_ll_hp_get_digital_power_up_wait_cycle(hal->dev);
     return power_supply_wait_cycle + power_up_wait_cycle;
 }
 
-void IRAM_ATTR pmu_hal_lp_set_digital_power_up_wait_cycle(pmu_hal_context_t *hal, uint32_t power_supply_wait_cycle, uint32_t power_up_wait_cycle)
+void pmu_hal_lp_set_digital_power_up_wait_cycle(pmu_hal_context_t *hal, uint32_t power_supply_wait_cycle, uint32_t power_up_wait_cycle)
 {
     pmu_ll_lp_set_digital_power_supply_wait_cycle(hal->dev, power_supply_wait_cycle);
     pmu_ll_lp_set_digital_power_up_wait_cycle(hal->dev, power_up_wait_cycle);
 }
 
-uint32_t IRAM_ATTR pmu_hal_lp_get_digital_power_up_wait_cycle(pmu_hal_context_t *hal)
+uint32_t pmu_hal_lp_get_digital_power_up_wait_cycle(pmu_hal_context_t *hal)
 {
     uint32_t power_supply_wait_cycle = pmu_ll_lp_get_digital_power_supply_wait_cycle(hal->dev);
     uint32_t power_up_wait_cycle = pmu_ll_lp_get_digital_power_up_wait_cycle(hal->dev);
diff --git a/components/hal/linker.lf b/components/hal/linker.lf
index 94c958e9764..3287d444a05 100644
--- a/components/hal/linker.lf
+++ b/components/hal/linker.lf
@@ -34,3 +34,5 @@ entries:
         gpio_hal: gpio_hal_intr_disable (noflash)
     if LCD_RGB_ISR_IRAM_SAFE = y:
         lcd_hal: lcd_hal_cal_pclk_freq (noflash)
+    if SOC_PMU_SUPPORTED = y:
+        pmu_hal (noflash)