diff --git a/arch/risc-v/src/common/espressif/esp_mcpwm.c b/arch/risc-v/src/common/espressif/esp_mcpwm.c
index 6fef34243e5..495a535f3ca 100644
--- a/arch/risc-v/src/common/espressif/esp_mcpwm.c
+++ b/arch/risc-v/src/common/espressif/esp_mcpwm.c
@@ -200,9 +200,10 @@ struct mcpwm_motor_lowerhalf_s
 
 struct mcpwm_capture_event_data_s
 {
-  uint32_t pos_edge_count;
-  uint32_t neg_edge_count;
-  uint32_t last_pos_edge_count;
+  uint32_t pos_edge_count;         /* Counter value on positive edge */
+  uint32_t neg_edge_count;         /* Counter value on negative edge */
+  uint32_t last_pos_edge_count;    /* Last counter value on positive edge */
+  uint32_t pos_edge_square_count;  /* Number of positive edges */
 };
 
 /* Lowe-half data structure for a capture channel */
@@ -248,6 +249,8 @@ static int esp_capture_getduty(struct cap_lowerhalf_s *lower,
                                uint8_t *duty);
 static int esp_capture_getfreq(struct cap_lowerhalf_s *lower,
                                uint32_t *freq);
+static int esp_capture_getedges(struct cap_lowerhalf_s *lower,
+                                uint32_t *edges);
 #endif
 
 /* MCPWM Motor Control */
@@ -362,6 +365,7 @@ static const struct cap_ops_s mcpwm_cap_ops =
   .stop    = esp_capture_stop,
   .getduty = esp_capture_getduty,
   .getfreq = esp_capture_getfreq,
+  .getedges = esp_capture_getedges,
 };
 
 /* Data structures for the available capture channels */
@@ -1467,6 +1471,7 @@ static int esp_capture_start(struct cap_lowerhalf_s *lower)
   priv->isr_count = 0;
   priv->enabled = true;
   priv->ready = false;
+  priv->data->pos_edge_square_count = 0;
 
   spin_unlock_irqrestore(&priv->common->mcpwm_spinlock, flags);
   cpinfo("Channel enabled: %d\n", priv->channel_id);
@@ -1577,6 +1582,37 @@ static int esp_capture_getfreq(struct cap_lowerhalf_s *lower,
 }
 #endif
 
+/****************************************************************************
+ * Name: esp_capture_getedges
+ *
+ * Description:
+ *   This function is a requirement of the upper-half driver. Returns
+ *   the last edges count value.
+ *
+ * Input Parameters:
+ *   lower - Pointer to the capture channel lower-half data structure.
+ *   edges - uint32_t pointer where the edges count value is written.
+ *
+ * Returned Value:
+ *   Returns OK on success.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_ESP_MCPWM_CAPTURE
+static int esp_capture_getedges(struct cap_lowerhalf_s *lower,
+                                uint32_t *edges)
+{
+  struct mcpwm_cap_channel_lowerhalf_s *priv = (
+    struct mcpwm_cap_channel_lowerhalf_s *)lower;
+
+  DEBUGASSERT(priv != NULL);
+
+  *edges = priv->data->pos_edge_square_count;
+  cpinfo("Get edges called from channel %d\n", priv->channel_id);
+  return OK;
+}
+#endif
+
 /****************************************************************************
  * Name: esp_mcpwm_group_start
  *
@@ -1847,6 +1883,7 @@ static int IRAM_ATTR mcpwm_driver_isr_default(int irq, void *context,
       data->last_pos_edge_count = data->pos_edge_count;
       data->pos_edge_count = cap_value;
       data->neg_edge_count = data->pos_edge_count;
+      data->pos_edge_square_count++;
       mcpwm_ll_capture_enable_negedge(common->hal.dev,
                                       lower->channel_id,
                                       true);