diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index 756c36eaa..82d3eaa45 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -988,6 +988,31 @@ UT_005_02:
     - UT_T1_SPIMODE
     - psram
 
+UT_006_01:
+  <<: *unit_test_template
+  tags:
+    - ESP32_IDF
+    - UT_T1_GPIO
+
+UT_006_02:
+  <<: *unit_test_template
+  tags:
+    - ESP32_IDF
+    - UT_T1_GPIO
+
+UT_006_03:
+  <<: *unit_test_template
+  tags:
+    - ESP32_IDF
+    - UT_T1_GPIO
+
+UT_006_04:
+  <<: *unit_test_template
+  tags:
+    - ESP32_IDF
+    - UT_T1_GPIO
+    - psram
+
 IT_001_01:
   <<: *test_template
   tags:
diff --git a/components/driver/test/test_gpio.c b/components/driver/test/test_gpio.c
new file mode 100644
index 000000000..442b5b130
--- /dev/null
+++ b/components/driver/test/test_gpio.c
@@ -0,0 +1,587 @@
+/**
+ * About test environment UT_T1_GPIO:
+ * Please connect GPIO18 and GPIO19
+ */
+#include <stdio.h>
+#include <string.h>
+#include "rom/uart.h"
+#include "esp_system.h"
+#include "esp_sleep.h"
+#include "unity.h"
+#include "driver/gpio.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "freertos/queue.h"
+
+#define GPIO_OUTPUT_IO   18  // default output GPIO
+#define GPIO_INPUT_IO   19  // default input GPIO
+#define GPIO_OUTPUT_MAX GPIO_NUM_34
+static volatile int disable_intr_times = 0;  // use this to calculate how many times it go into interrupt
+static volatile int level_intr_times = 0;  // use this to get how many times the level interrupt happened
+static volatile int edge_intr_times = 0;   // use this to get how many times the edge interrupt happened
+static bool wake_up_result = false;  // use this to judge the wake up event happen or not
+
+/**
+ * do some initialization operation in this function
+ * @param num: it is the destination GPIO wanted to be initialized
+ *
+ */
+static gpio_config_t init_io(gpio_num_t num)
+{
+    TEST_ASSERT(num < GPIO_OUTPUT_MAX);
+    gpio_config_t io_conf;
+    io_conf.intr_type = GPIO_PIN_INTR_DISABLE;
+    io_conf.mode = GPIO_MODE_OUTPUT;
+    io_conf.pin_bit_mask = (1ULL << num);
+    io_conf.pull_down_en = 0;
+    io_conf.pull_up_en = 0;
+    return io_conf;
+}
+
+// edge interrupt event
+static void gpio_isr_edge_handler(void* arg)
+{
+    uint32_t gpio_num = (uint32_t) arg;
+    ets_printf("GPIO[%d] intr, val: %d\n", gpio_num, gpio_get_level(gpio_num));
+    edge_intr_times++;
+}
+
+// level interrupt event with "gpio_intr_disable"
+static void gpio_isr_level_handler(void* arg)
+{
+    uint32_t gpio_num = (uint32_t) arg;
+    disable_intr_times++;
+    ets_printf("GPIO[%d] intr, val: %d, disable_intr_times = %d\n", gpio_num, gpio_get_level(gpio_num), disable_intr_times);
+    gpio_intr_disable(gpio_num);
+}
+
+// level interrupt event
+static void gpio_isr_level_handler2(void* arg)
+{
+    uint32_t gpio_num = (uint32_t) arg;
+    level_intr_times++;
+    ets_printf("GPIO[%d] intr, val: %d\n", gpio_num, gpio_get_level(gpio_num));
+    if(gpio_get_level(gpio_num)) {
+        gpio_set_level(GPIO_OUTPUT_IO, 0);
+    }else{
+        gpio_set_level(GPIO_OUTPUT_IO, 1);
+    }
+    ets_printf("GPIO[%d] intr, val: %d, level_intr_times = %d\n", GPIO_OUTPUT_IO, gpio_get_level(GPIO_OUTPUT_IO), level_intr_times);
+    ets_printf("GPIO[%d] intr, val: %d, level_intr_times = %d\n", gpio_num, gpio_get_level(gpio_num), level_intr_times);
+}
+
+// get result of waking up or not
+static void sleep_wake_up(void *arg)
+{
+    gpio_config_t io_config = init_io(GPIO_INPUT_IO);
+    io_config.mode = GPIO_MODE_INPUT;
+    gpio_config(&io_config);
+    TEST_ESP_OK(gpio_wakeup_enable(GPIO_INPUT_IO, GPIO_INTR_HIGH_LEVEL));
+    esp_light_sleep_start();
+    wake_up_result = true;
+}
+
+// wake up light sleep event
+static void trigger_wake_up(void *arg)
+{
+    gpio_config_t io_config = init_io(GPIO_OUTPUT_IO);
+    gpio_config(&io_config);
+    gpio_set_level(GPIO_OUTPUT_IO, 0);
+    gpio_install_isr_service(0);
+    gpio_isr_handler_add(GPIO_OUTPUT_IO, gpio_isr_level_handler, (void*) GPIO_INPUT_IO);
+    gpio_set_level(GPIO_OUTPUT_IO, 1);
+    vTaskDelay(100 / portTICK_RATE_MS);
+}
+
+
+static void prompt_to_continue(const char* str)
+{
+    printf("%s , please press \"Enter\" to go on!\n", str);
+    char sign[5] = {0};
+    while(strlen(sign) == 0) {
+        /* Flush anything already in the RX buffer */
+        while(uart_rx_one_char((uint8_t *) sign) == OK) {
+        }
+        /* Read line */
+        UartRxString((uint8_t*) sign, sizeof(sign) - 1);
+    }
+}
+
+static void drive_capability_set_get(gpio_num_t num, gpio_drive_cap_t capability)
+{
+    gpio_config_t pad_io = init_io(num);
+    TEST_ESP_OK(gpio_config(&pad_io));
+    TEST_ASSERT(gpio_set_drive_capability(num, GPIO_DRIVE_CAP_MAX) == ESP_ERR_INVALID_ARG);
+
+    gpio_drive_cap_t cap;
+    TEST_ESP_OK(gpio_set_drive_capability(num, capability));
+    TEST_ESP_OK(gpio_get_drive_capability(num, &cap));
+    TEST_ASSERT_EQUAL_INT(cap, capability);
+}
+
+
+// test the basic configuration function with right parameters and error parameters
+TEST_CASE("GPIO config parameters test", "[gpio]")
+{
+    //error param test
+    //test 41 bit
+    gpio_config_t io_config;
+    io_config.pin_bit_mask = ((uint64_t)1<<(GPIO_NUM_MAX+1));
+    TEST_ASSERT(gpio_config(&io_config) == ESP_ERR_INVALID_ARG);
+
+    // test 0
+    io_config.pin_bit_mask = 0;
+    TEST_ASSERT(gpio_config(&io_config) == ESP_ERR_INVALID_ARG);
+
+    //test 40 bit
+    io_config.pin_bit_mask = ((uint64_t)1<<GPIO_NUM_MAX);
+    TEST_ASSERT(gpio_config(&io_config) == ESP_ERR_INVALID_ARG);
+
+    io_config.pin_bit_mask = (uint64_t)1<<23;
+    TEST_ESP_OK(gpio_config(&io_config));
+
+    io_config.pin_bit_mask = ((uint64_t)1 << 34);
+    io_config.mode = GPIO_MODE_INPUT;
+    TEST_ESP_OK(gpio_config(&io_config));
+    io_config.mode = GPIO_MODE_OUTPUT;
+    // 34-39 input only, once set as output should log something
+    TEST_ASSERT(gpio_config(&io_config) == ESP_ERR_INVALID_ARG);
+}
+
+TEST_CASE("GPIO rising edge interrupt test", "[gpio][test_env=UT_T1_GPIO]")
+{
+    edge_intr_times = 0;  // set it as 0 prepare to test
+    //init input and output gpio
+    gpio_config_t output_io = init_io(GPIO_OUTPUT_IO);
+    gpio_config_t input_io = init_io(GPIO_INPUT_IO);
+    input_io.intr_type = GPIO_INTR_POSEDGE;
+    input_io.mode = GPIO_MODE_INPUT;
+    input_io.pull_up_en = 1;
+    TEST_ESP_OK(gpio_config(&output_io));
+    TEST_ESP_OK(gpio_config(&input_io));
+    TEST_ESP_OK(gpio_set_level(GPIO_OUTPUT_IO, 0));
+
+    //rising edge intr
+    TEST_ESP_OK(gpio_set_intr_type(GPIO_INPUT_IO, GPIO_INTR_POSEDGE));
+    TEST_ESP_OK(gpio_install_isr_service(0));
+    gpio_isr_handler_add(GPIO_INPUT_IO, gpio_isr_edge_handler, (void*)GPIO_INPUT_IO);
+    TEST_ESP_OK(gpio_set_level(GPIO_OUTPUT_IO, 1));
+    TEST_ASSERT_EQUAL_INT(edge_intr_times, 1);
+    vTaskDelay(100 / portTICK_RATE_MS);
+    gpio_isr_handler_remove(GPIO_INPUT_IO);
+    gpio_uninstall_isr_service();
+}
+
+TEST_CASE("GPIO falling edge interrupt test", "[gpio][test_env=UT_T1_GPIO]")
+{
+    edge_intr_times = 0;
+    gpio_config_t output_io = init_io(GPIO_OUTPUT_IO);
+    gpio_config_t input_io = init_io(GPIO_INPUT_IO);
+    input_io.intr_type = GPIO_INTR_POSEDGE;
+    input_io.mode = GPIO_MODE_INPUT;
+    input_io.pull_up_en = 1;
+    TEST_ESP_OK(gpio_config(&output_io));
+    TEST_ESP_OK(gpio_config(&input_io));
+    TEST_ESP_OK(gpio_set_level(GPIO_OUTPUT_IO, 1));
+
+    gpio_set_intr_type(GPIO_INPUT_IO, GPIO_INTR_NEGEDGE);
+    gpio_install_isr_service(0);
+    gpio_isr_handler_add(GPIO_INPUT_IO, gpio_isr_edge_handler, (void*) GPIO_INPUT_IO);
+    gpio_set_level(GPIO_OUTPUT_IO, 0);
+    vTaskDelay(100 / portTICK_RATE_MS);
+    TEST_ASSERT_EQUAL_INT(edge_intr_times, 1);
+    vTaskDelay(100 / portTICK_RATE_MS);
+    gpio_isr_handler_remove(GPIO_INPUT_IO);
+    gpio_uninstall_isr_service();
+}
+
+TEST_CASE("GPIO both rising and falling edge interrupt test", "[gpio][test_env=UT_T1_GPIO]")
+{
+    edge_intr_times = 0;
+    gpio_config_t output_io = init_io(GPIO_OUTPUT_IO);
+    gpio_config_t input_io = init_io(GPIO_INPUT_IO);
+    input_io.intr_type = GPIO_INTR_POSEDGE;
+    input_io.mode = GPIO_MODE_INPUT;
+    input_io.pull_up_en = 1;
+    TEST_ESP_OK(gpio_config(&output_io));
+    TEST_ESP_OK(gpio_config(&input_io));
+    TEST_ESP_OK(gpio_set_level(GPIO_OUTPUT_IO, 0));
+    int level = 0;
+
+    gpio_set_intr_type(GPIO_INPUT_IO, GPIO_INTR_ANYEDGE);
+    gpio_install_isr_service(0);
+    gpio_isr_handler_add(GPIO_INPUT_IO, gpio_isr_edge_handler, (void*) GPIO_INPUT_IO);
+    // for rising edge in GPIO_INTR_ANYEDGE
+    while(1) {
+        level = level + 1;
+        gpio_set_level(GPIO_OUTPUT_IO, level*0.2);
+        if(level > 10) {
+            break;
+        }
+        vTaskDelay(100 / portTICK_RATE_MS);
+    }
+    vTaskDelay(100 / portTICK_RATE_MS);
+    // for falling rdge in GPIO_INTR_ANYEDGE
+    while(1) {
+        level = level - 1;
+        gpio_set_level(GPIO_OUTPUT_IO, level/5);
+        if(level < 0) {
+            break;
+        }
+        vTaskDelay(100 / portTICK_RATE_MS);
+    }
+    vTaskDelay(100 / portTICK_RATE_MS);
+    TEST_ASSERT_EQUAL_INT(edge_intr_times, 2);
+    vTaskDelay(100 / portTICK_RATE_MS);
+    gpio_isr_handler_remove(GPIO_INPUT_IO);
+    gpio_uninstall_isr_service();
+}
+
+TEST_CASE("GPIO input high level trigger, cut the interrupt source exit interrupt test", "[gpio][test_env=UT_T1_GPIO]")
+{
+    level_intr_times=0;
+    gpio_config_t output_io = init_io(GPIO_OUTPUT_IO);
+    gpio_config_t input_io = init_io(GPIO_INPUT_IO);
+    input_io.intr_type = GPIO_INTR_POSEDGE;
+    input_io.mode = GPIO_MODE_INPUT;
+    input_io.pull_up_en = 1;
+    TEST_ESP_OK(gpio_config(&output_io));
+    TEST_ESP_OK(gpio_config(&input_io));
+    TEST_ESP_OK(gpio_set_level(GPIO_OUTPUT_IO, 0));
+
+    gpio_set_intr_type(GPIO_INPUT_IO, GPIO_INTR_HIGH_LEVEL);
+    gpio_install_isr_service(0);
+    gpio_isr_handler_add(GPIO_INPUT_IO, gpio_isr_level_handler2, (void*) GPIO_INPUT_IO);
+    gpio_set_level(GPIO_OUTPUT_IO, 1);
+    vTaskDelay(100 / portTICK_RATE_MS);
+    TEST_ASSERT_EQUAL_INT_MESSAGE(level_intr_times, 1, "go into high-level interrupt more than once with cur interrupt source way");
+    gpio_isr_handler_remove(GPIO_INPUT_IO);
+    gpio_uninstall_isr_service();
+
+}
+
+TEST_CASE("GPIO low level interrupt test", "[gpio][test_env=UT_T1_GPIO]")
+{
+    disable_intr_times=0;
+    gpio_config_t output_io = init_io(GPIO_OUTPUT_IO);
+    gpio_config_t input_io = init_io(GPIO_INPUT_IO);
+    input_io.intr_type = GPIO_INTR_POSEDGE;
+    input_io.mode = GPIO_MODE_INPUT;
+    input_io.pull_up_en = 1;
+    TEST_ESP_OK(gpio_config(&output_io));
+    TEST_ESP_OK(gpio_config(&input_io));
+    TEST_ESP_OK(gpio_set_level(GPIO_OUTPUT_IO, 1));
+
+    gpio_set_intr_type(GPIO_INPUT_IO, GPIO_INTR_LOW_LEVEL);
+    gpio_install_isr_service(0);
+    gpio_isr_handler_add(GPIO_INPUT_IO, gpio_isr_level_handler, (void*) GPIO_INPUT_IO);
+    gpio_set_level(GPIO_OUTPUT_IO, 0);
+    printf("get level:%d\n",gpio_get_level(GPIO_INPUT_IO));
+    vTaskDelay(100 / portTICK_RATE_MS);
+    TEST_ASSERT_EQUAL_INT_MESSAGE(disable_intr_times, 1, "go into low-level interrupt more than once with disable way");
+    gpio_isr_handler_remove(GPIO_INPUT_IO);
+    gpio_uninstall_isr_service();
+}
+
+TEST_CASE("GPIO enable and disable interrupt test", "[gpio][test_env=UT_T1_GPIO]")
+{
+    gpio_config_t output_io = init_io(GPIO_OUTPUT_IO);
+    gpio_config_t input_io = init_io(GPIO_INPUT_IO);
+    input_io.intr_type = GPIO_INTR_POSEDGE;
+    input_io.mode = GPIO_MODE_INPUT;
+    input_io.pull_up_en = 1;
+    TEST_ESP_OK(gpio_config(&output_io));
+    TEST_ESP_OK(gpio_config(&input_io));
+
+    TEST_ESP_OK(gpio_set_intr_type(GPIO_INPUT_IO, GPIO_INTR_HIGH_LEVEL));
+    TEST_ESP_OK(gpio_install_isr_service(0));
+    TEST_ESP_OK(gpio_isr_handler_add(GPIO_INPUT_IO, gpio_isr_level_handler, (void*) GPIO_INPUT_IO));
+    TEST_ESP_OK(gpio_set_level(GPIO_OUTPUT_IO, 1));
+    TEST_ESP_OK(gpio_isr_handler_remove(GPIO_INPUT_IO));
+    TEST_ESP_OK(gpio_set_level(GPIO_OUTPUT_IO, 0));
+    TEST_ASSERT_EQUAL_INT_MESSAGE(disable_intr_times, 1, "go into high-level interrupt more than once with disable way");
+
+    // not install service now
+    vTaskDelay(100 / portTICK_RATE_MS);
+    TEST_ESP_OK(gpio_intr_disable(GPIO_INPUT_IO));
+    TEST_ESP_OK(gpio_set_level(GPIO_OUTPUT_IO, 1));
+    TEST_ASSERT_EQUAL_INT_MESSAGE(disable_intr_times, 1, "disable interrupt does not work, still go into interrupt!");
+
+    gpio_uninstall_isr_service();  //uninstall the service
+    TEST_ASSERT(gpio_isr_handler_add(GPIO_INPUT_IO, gpio_isr_level_handler, (void*) GPIO_INPUT_IO) == ESP_ERR_INVALID_STATE);
+    TEST_ASSERT(gpio_isr_handler_remove(GPIO_INPUT_IO) == ESP_ERR_INVALID_STATE);
+}
+
+// Connect GPIO18 with GPIO19
+// use multimeter to test the voltage, so it is ignored in CI
+TEST_CASE("GPIO set gpio output level test", "[gpio][ignore]")
+{
+    gpio_config_t io_conf;
+    io_conf.intr_type = GPIO_PIN_INTR_DISABLE;
+    io_conf.mode = GPIO_MODE_OUTPUT;
+    io_conf.pin_bit_mask = (1<<GPIO_OUTPUT_IO);
+    io_conf.pull_down_en = 0;
+    io_conf.pull_up_en = 0;
+    gpio_config(&io_conf);
+
+    io_conf.pin_bit_mask = (1<<GPIO_INPUT_IO);
+    io_conf.mode = GPIO_MODE_INPUT;
+    gpio_config(&io_conf);
+
+    gpio_set_level(GPIO_OUTPUT_IO, 0);
+    // tested voltage is around 0v
+    TEST_ASSERT_EQUAL_INT_MESSAGE(gpio_get_level(GPIO_INPUT_IO), 0, "get level error! the level should be low!");
+    vTaskDelay(1000 / portTICK_RATE_MS);
+    gpio_set_level(GPIO_OUTPUT_IO, 1);
+    // tested voltage is around 3.3v
+    TEST_ASSERT_EQUAL_INT_MESSAGE(gpio_get_level(GPIO_INPUT_IO), 1, "get level error! the level should be high!");
+
+    //IO34-39 are just used for input
+    io_conf.pin_bit_mask = ((uint64_t)1<<34);
+    io_conf.mode = GPIO_MODE_OUTPUT;
+    gpio_config(&io_conf);
+    TEST_ASSERT(gpio_config(&io_conf) == ESP_ERR_INVALID_ARG);
+
+}
+
+// gpio17 connects to 3.3v pin, gpio19 connects to the GND pin
+// use multimeter to test the voltage, so it is ignored in CI
+TEST_CASE("GPIO get input level test", "[gpio][ignore]")
+{
+    gpio_num_t num = 17;
+    int level = gpio_get_level(num);
+    printf("gpio17's level is: %d\n", level);
+    TEST_ASSERT_EQUAL_INT_MESSAGE(level, 1, "get level error! the level should be high!");
+
+    gpio_num_t num2 = 19;
+    int level2 = gpio_get_level(num2);
+    printf("gpio19's level is: %d\n", level2);
+    TEST_ASSERT_EQUAL_INT_MESSAGE(level2, 0, "get level error! the level should be low!");
+    printf("the memory get: %d\n", esp_get_free_heap_size());
+
+    gpio_num_t num3 = 34;  // connect with 3.3v
+    int level3 = gpio_get_level(num3);
+    printf("gpio19's level is: %d\n", level3);
+    TEST_ASSERT_EQUAL_INT_MESSAGE(level3, 0, "get level error! the level should be low!");
+    printf("the memory get: %d\n", esp_get_free_heap_size());
+    //when case finish, get the result from multimeter, the pin17 is 3.3v, the pin19 is 0.00v
+}
+
+TEST_CASE("GPIO io pull up/down function", "[gpio]")
+{
+    gpio_config_t  io_conf = init_io(GPIO_INPUT_IO);
+    gpio_config(&io_conf);
+    gpio_set_direction(GPIO_INPUT_IO, GPIO_MODE_INPUT);
+    TEST_ESP_OK(gpio_pullup_en(GPIO_INPUT_IO));  // pull up first
+    vTaskDelay(100 / portTICK_RATE_MS);
+    TEST_ASSERT_EQUAL_INT_MESSAGE(gpio_get_level(GPIO_INPUT_IO), 1, "gpio_pullup_en error, it can't pull up");
+    TEST_ESP_OK(gpio_pulldown_dis(GPIO_INPUT_IO)); //can't be pull down
+    vTaskDelay(100 / portTICK_RATE_MS);
+    TEST_ASSERT_EQUAL_INT_MESSAGE(gpio_get_level(GPIO_INPUT_IO), 1, "gpio_pulldown_dis error, it can pull down");
+    TEST_ESP_OK(gpio_pulldown_en(GPIO_INPUT_IO)); // can be pull down now
+    vTaskDelay(100 / portTICK_RATE_MS);
+    TEST_ASSERT_EQUAL_INT_MESSAGE(gpio_get_level(GPIO_INPUT_IO), 0, "gpio_pulldown_en error, it can't pull down");
+    TEST_ESP_OK(gpio_pullup_dis(GPIO_INPUT_IO)); // can't be pull up
+    vTaskDelay(100 / portTICK_RATE_MS);
+    TEST_ASSERT_EQUAL_INT_MESSAGE(gpio_get_level(GPIO_INPUT_IO), 0, "gpio_pullup_dis error, it can pull up");
+}
+
+TEST_CASE("GPIO output and input mode test", "[gpio][test_env=UT_T1_GPIO]")
+{
+    //connect io18 and io5
+    gpio_config_t output_io = init_io(GPIO_OUTPUT_IO);
+    gpio_config_t input_io = init_io(GPIO_INPUT_IO);
+    gpio_config(&output_io);
+    gpio_config(&input_io);
+    int level = gpio_get_level(GPIO_INPUT_IO);
+
+    //disable mode
+    gpio_set_direction(GPIO_OUTPUT_IO, GPIO_MODE_DISABLE);
+    gpio_set_direction(GPIO_INPUT_IO, GPIO_MODE_OUTPUT);
+    gpio_set_level(GPIO_OUTPUT_IO, !level);
+    TEST_ASSERT_EQUAL_INT_MESSAGE(gpio_get_level(GPIO_INPUT_IO), level, "direction GPIO_MODE_DISABLE set error, it can output");
+
+    //input mode and output mode
+    gpio_set_direction(GPIO_OUTPUT_IO, GPIO_MODE_OUTPUT);
+    gpio_set_direction(GPIO_INPUT_IO, GPIO_MODE_INPUT);
+    gpio_set_level(GPIO_OUTPUT_IO, 1);
+    TEST_ASSERT_EQUAL_INT_MESSAGE(gpio_get_level(GPIO_INPUT_IO), 1, "direction GPIO_MODE_OUTPUT set error, it can't output");
+    gpio_set_level(GPIO_OUTPUT_IO, 0);
+    TEST_ASSERT_EQUAL_INT_MESSAGE(gpio_get_level(GPIO_INPUT_IO), 0, "direction GPIO_MODE_OUTPUT set error, it can't output");
+
+    // open drain mode(output), can just output low level
+    gpio_set_direction(GPIO_OUTPUT_IO, GPIO_MODE_OUTPUT_OD);
+    gpio_set_direction(GPIO_INPUT_IO, GPIO_MODE_INPUT);
+    gpio_set_level(GPIO_OUTPUT_IO, 1);
+    TEST_ASSERT_EQUAL_INT_MESSAGE(gpio_get_level(GPIO_INPUT_IO), 0, "direction GPIO_MODE_OUTPUT set error, it can't output");
+    gpio_set_level(GPIO_OUTPUT_IO, 0);
+    TEST_ASSERT_EQUAL_INT_MESSAGE(gpio_get_level(GPIO_INPUT_IO), 0, "direction GPIO_MODE_OUTPUT set error, it can't output");
+
+    // open drain mode(output and input), can just output low level
+    // output test
+    gpio_set_direction(GPIO_OUTPUT_IO, GPIO_MODE_INPUT_OUTPUT_OD);
+    gpio_set_direction(GPIO_INPUT_IO, GPIO_MODE_INPUT);
+    gpio_set_level(GPIO_OUTPUT_IO, 1);
+    TEST_ASSERT_EQUAL_INT_MESSAGE(gpio_get_level(GPIO_INPUT_IO), 0, "direction GPIO_MODE_OUTPUT set error, it can't output");
+    gpio_set_level(GPIO_OUTPUT_IO, 0);
+    TEST_ASSERT_EQUAL_INT_MESSAGE(gpio_get_level(GPIO_INPUT_IO), 0, "direction GPIO_MODE_OUTPUT set error, it can't output");
+
+    // GPIO_MODE_INPUT_OUTPUT mode
+    // output test
+    level = gpio_get_level(GPIO_INPUT_IO);
+    gpio_set_direction(GPIO_OUTPUT_IO, GPIO_MODE_INPUT_OUTPUT);
+    gpio_set_direction(GPIO_INPUT_IO, GPIO_MODE_INPUT);
+    gpio_set_level(GPIO_OUTPUT_IO, !level);
+    TEST_ASSERT_EQUAL_INT_MESSAGE(gpio_get_level(GPIO_INPUT_IO), !level, "direction set error, it can't output");
+    // input test
+    gpio_set_direction(GPIO_OUTPUT_IO, GPIO_MODE_OUTPUT);
+    gpio_set_direction(GPIO_INPUT_IO, GPIO_MODE_INPUT_OUTPUT);
+    level = gpio_get_level(GPIO_INPUT_IO);
+    gpio_set_level(GPIO_OUTPUT_IO, !level);
+    TEST_ASSERT_EQUAL_INT_MESSAGE(gpio_get_level(GPIO_INPUT_IO), !level, "direction set error, it can't output");
+}
+
+TEST_CASE("GPIO repeate call service and isr has no memory leak test","[gpio][test_env=UT_T1_GPIO][timeout=90]")
+{
+    gpio_config_t output_io = init_io(GPIO_OUTPUT_IO);
+    gpio_config_t input_io = init_io(GPIO_INPUT_IO);
+    input_io.intr_type = GPIO_INTR_POSEDGE;
+    input_io.mode = GPIO_MODE_INPUT;
+    input_io.pull_up_en = 1;
+    TEST_ESP_OK(gpio_config(&output_io));
+    TEST_ESP_OK(gpio_config(&input_io));
+    TEST_ESP_OK(gpio_set_level(GPIO_OUTPUT_IO, 0));
+    //rising edge
+    uint32_t size = esp_get_free_heap_size();
+    for(int i=0;i<1000;i++) {
+        TEST_ESP_OK(gpio_set_intr_type(GPIO_INPUT_IO, GPIO_INTR_POSEDGE));
+        TEST_ESP_OK(gpio_install_isr_service(0));
+        TEST_ESP_OK(gpio_isr_handler_add(GPIO_INPUT_IO, gpio_isr_edge_handler, (void*)GPIO_INPUT_IO));
+        gpio_set_level(GPIO_OUTPUT_IO, 1);
+        TEST_ESP_OK(gpio_isr_handler_remove(GPIO_INPUT_IO));
+        gpio_set_level(GPIO_OUTPUT_IO, 0);
+        gpio_uninstall_isr_service();
+    }
+    TEST_ASSERT_INT32_WITHIN(size, esp_get_free_heap_size(), 100);
+}
+
+//this function development is not completed yet, set it ignored
+TEST_CASE("GPIO wake up enable and disenable test", "[gpio][ignore]")
+{
+    xTaskCreate(sleep_wake_up, "sleep_wake_up", 4096, NULL, 5, NULL);
+    xTaskCreate(trigger_wake_up, "trigger_wake_up", 4096, NULL, 5, NULL);
+    vTaskDelay(100 / portTICK_RATE_MS);
+    TEST_ASSERT_TRUE(wake_up_result);
+
+    wake_up_result = false;
+    TEST_ESP_OK(gpio_wakeup_disable(GPIO_INPUT_IO));
+    gpio_set_level(GPIO_OUTPUT_IO, 1);
+    vTaskDelay(100 / portTICK_RATE_MS);
+    TEST_ASSERT_FALSE(wake_up_result);
+}
+
+// this case need the resistance to pull up the voltage or pull down the voltage
+// ignored because the voltage needs to be tested with multimeter
+TEST_CASE("GPIO verify only the gpio with input ability can be set pull/down", "[gpio][ignore]")
+{
+    gpio_config_t  output_io = init_io(GPIO_OUTPUT_IO);
+    gpio_config_t  input_io = init_io(GPIO_INPUT_IO);
+    gpio_config(&output_io);
+    input_io.mode = GPIO_MODE_INPUT;
+    gpio_config(&input_io);
+
+    printf("pull up test!\n");
+    // pull up test
+    gpio_set_direction(GPIO_OUTPUT_IO, GPIO_MODE_OUTPUT);
+    TEST_ESP_OK(gpio_set_pull_mode(GPIO_OUTPUT_IO, GPIO_PULLUP_ONLY));
+    prompt_to_continue("mode: GPIO_MODE_OUTPUT");
+
+    gpio_set_direction(GPIO_OUTPUT_IO, GPIO_MODE_OUTPUT_OD);
+    TEST_ESP_OK(gpio_set_pull_mode(GPIO_OUTPUT_IO, GPIO_PULLUP_ONLY));
+
+    // open drain just can output low level
+    gpio_set_direction(GPIO_OUTPUT_IO, GPIO_MODE_INPUT_OUTPUT_OD);
+    TEST_ESP_OK(gpio_set_pull_mode(GPIO_OUTPUT_IO, GPIO_PULLUP_ONLY));
+    prompt_to_continue("mode: GPIO_MODE_OUTPUT_OD");
+
+    gpio_set_direction(GPIO_OUTPUT_IO, GPIO_MODE_INPUT_OUTPUT);
+    TEST_ESP_OK(gpio_set_pull_mode(GPIO_OUTPUT_IO, GPIO_PULLUP_ONLY));
+    prompt_to_continue("mode: GPIO_MODE_INPUT_OUTPUT");
+
+    gpio_set_direction(GPIO_OUTPUT_IO, GPIO_MODE_INPUT);
+    TEST_ESP_OK(gpio_set_pull_mode(GPIO_OUTPUT_IO, GPIO_PULLUP_ONLY));
+    prompt_to_continue("mode: GPIO_MODE_INPUT");
+
+    // after pull up the level is high now
+    // pull down test
+    printf("pull down test!\n");
+
+    gpio_set_direction(GPIO_OUTPUT_IO, GPIO_MODE_OUTPUT);
+    TEST_ESP_OK(gpio_set_pull_mode(GPIO_OUTPUT_IO, GPIO_PULLDOWN_ONLY));
+    prompt_to_continue("mode: GPIO_MODE_OUTPUT");
+
+    gpio_set_direction(GPIO_OUTPUT_IO, GPIO_MODE_OUTPUT_OD);
+    TEST_ESP_OK(gpio_set_pull_mode(GPIO_OUTPUT_IO, GPIO_PULLDOWN_ONLY));
+    prompt_to_continue("mode: GPIO_MODE_OUTPUT_OD");
+
+    gpio_set_direction(GPIO_OUTPUT_IO, GPIO_MODE_INPUT_OUTPUT_OD);
+    TEST_ESP_OK(gpio_set_pull_mode(GPIO_OUTPUT_IO, GPIO_PULLDOWN_ONLY));
+    prompt_to_continue("mode: GPIO_MODE_INPUT_OUTPUT_OD");
+
+    gpio_set_direction(GPIO_OUTPUT_IO, GPIO_MODE_INPUT_OUTPUT);
+    TEST_ESP_OK(gpio_set_pull_mode(GPIO_OUTPUT_IO, GPIO_PULLDOWN_ONLY));
+    prompt_to_continue("mode: GPIO_MODE_INPUT_OUTPUT");
+
+    gpio_set_direction(GPIO_OUTPUT_IO, GPIO_MODE_INPUT);
+    TEST_ESP_OK(gpio_set_pull_mode(GPIO_OUTPUT_IO, GPIO_PULLDOWN_ONLY));
+    prompt_to_continue("mode: GPIO_MODE_INPUT");
+}
+
+/**
+ * There are 5 situation for the GPIO drive capability:
+ * 1. GPIO drive weak capability test
+ * 2. GPIO drive stronger capability test
+ * 3. GPIO drive default capability test
+ * 4. GPIO drive default capability test2
+ * 5. GPIO drive strongest capability test
+ *
+ * How to test:
+ * when testing, use the sliding resistor and a multimeter
+ * adjust the resistor from low to high, 0-10k
+ * watch the current change
+ * the current test result:
+ * weak capability: (0.32-10.1)mA
+ * stronger capability: (0.32-20.0)mA
+ * default capability: (0.33-39.8)mA
+ * default capability2: (0.33-39.9)mA
+ * strongest capability: (0.33-64.2)mA
+ *
+ * the data shows:
+ * weak capability<stronger capability<default capability=default capability2<strongest capability
+ *
+ * all of these cases should be ignored that it will not run in CI
+ */
+
+// drive capability test
+TEST_CASE("GPIO drive capability test", "[gpio][ignore]")
+{
+    printf("weak capability test! please view the current change!\n");
+    drive_capability_set_get(GPIO_OUTPUT_IO, GPIO_DRIVE_CAP_0);
+    prompt_to_continue("If this test finishes");
+
+    printf("stronger capability test! please view the current change!\n");
+    drive_capability_set_get(GPIO_OUTPUT_IO, GPIO_DRIVE_CAP_1);
+    prompt_to_continue("If this test finishes");
+
+    printf("default capability test! please view the current change!\n");
+    drive_capability_set_get(GPIO_OUTPUT_IO, GPIO_DRIVE_CAP_2);
+    prompt_to_continue("If this test finishes");
+
+    printf("default capability2 test! please view the current change!\n");
+    drive_capability_set_get(GPIO_OUTPUT_IO, GPIO_DRIVE_CAP_DEFAULT);
+    prompt_to_continue("If this test finishes");
+
+    printf("strongest capability test! please view the current change!\n");
+    drive_capability_set_get(GPIO_OUTPUT_IO, GPIO_DRIVE_CAP_3);
+    prompt_to_continue("If this test finishes");
+}