diff --git a/components/esp32/test/test_dport.c b/components/esp32/test/test_dport.c
new file mode 100644
index 000000000..930d8cdce
--- /dev/null
+++ b/components/esp32/test/test_dport.c
@@ -0,0 +1,93 @@
+
+#include <esp_types.h>
+#include <stdio.h>
+#include <stdlib.h>
+
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "freertos/semphr.h"
+
+#include "unity.h"
+
+#include "soc/uart_reg.h"
+#include "soc/dport_reg.h"
+
+static volatile bool exit_flag;
+static bool dport_test_result;
+static bool apb_test_result;
+
+static void accessDPORT(void *pvParameters)
+{
+    xSemaphoreHandle *sema = (xSemaphoreHandle *) pvParameters;
+    uint32_t dport_date = DPORT_REG_READ(DPORT_DATE_REG);
+
+    dport_test_result = true;
+
+    // although exit flag is set in another task, checking (exit_flag == false) is safe
+    while (exit_flag == false) {
+        if (dport_date != DPORT_REG_READ(DPORT_DATE_REG)) {
+            dport_test_result = false;
+            break;
+        }
+    }
+
+    xSemaphoreGive(*sema);
+    vTaskDelete(NULL);
+}
+
+static void accessAPB(void *pvParameters)
+{
+    xSemaphoreHandle *sema = (xSemaphoreHandle *) pvParameters;
+    uint32_t uart_date = REG_READ(UART_DATE_REG(0));
+
+    apb_test_result = true;
+
+    // although exit flag is set in another task, checking (exit_flag == false) is safe
+    while (exit_flag == false) {
+        if (uart_date != REG_READ(UART_DATE_REG(0))) {
+            apb_test_result = false;
+            break;
+        }
+    }
+
+    xSemaphoreGive(*sema);
+    vTaskDelete(NULL);
+}
+
+TEST_CASE("access DPORT and APB at same time", "[esp32]")
+{
+    int i;
+    TaskHandle_t th[2];
+    xSemaphoreHandle exit_sema[2];
+
+    for (i=0; i<2; i++) {
+        exit_sema[i] = xSemaphoreCreateMutex();
+        xSemaphoreTake(exit_sema[i], portMAX_DELAY);
+    }
+
+    exit_flag = false;
+
+#ifndef CONFIG_FREERTOS_UNICORE
+    printf("assign task accessing DPORT to core 0 and task accessing APB to core 1\n");
+    xTaskCreatePinnedToCore(accessDPORT  , "accessDPORT"  , 2048, &exit_sema[0], UNITY_FREERTOS_PRIORITY - 1, &th[0], 0);
+    xTaskCreatePinnedToCore(accessAPB  , "accessAPB"  , 2048, &exit_sema[1], UNITY_FREERTOS_PRIORITY - 1, &th[1], 1);
+#else
+    printf("assign task accessing DPORT and accessing APB\n");
+    xTaskCreate(accessDPORT  , "accessDPORT"  , 2048, &exit_sema[0], UNITY_FREERTOS_PRIORITY - 1, &th[0]);
+    xTaskCreate(accessAPB  , "accessAPB"  , 2048, &exit_sema[1], UNITY_FREERTOS_PRIORITY - 1, &th[1]);
+#endif
+
+    printf("start wait for 10 seconds\n");
+    vTaskDelay(10000 / portTICK_PERIOD_MS);
+
+    // set exit flag to let thread exit
+    exit_flag = true;
+
+    for (i=0; i<2; i++) {
+        xSemaphoreTake(exit_sema[i], portMAX_DELAY);
+        vSemaphoreDelete(exit_sema[i]);
+    }
+
+    TEST_ASSERT(dport_test_result == true && apb_test_result == true);
+}
+