diff --git a/components/esp32/cpu_start.c b/components/esp32/cpu_start.c
index 634a63eb0a..93379801b8 100644
--- a/components/esp32/cpu_start.c
+++ b/components/esp32/cpu_start.c
@@ -351,7 +351,6 @@ void start_cpu0_default(void)
     esp_cache_err_int_init();
     esp_crosscore_int_init();
 #ifndef CONFIG_FREERTOS_UNICORE
-    esp_ipc_init();
     esp_dport_access_int_init();
 #endif
     spi_flash_init();
diff --git a/components/esp32/include/esp_ipc.h b/components/esp32/include/esp_ipc.h
index b229cb3377..477b3d0af4 100644
--- a/components/esp32/include/esp_ipc.h
+++ b/components/esp32/include/esp_ipc.h
@@ -33,21 +33,6 @@ typedef void (*esp_ipc_func_t)(void* arg);
  * These APIs can only be used when FreeRTOS scheduler is running.
  */
 
-
-/*
- * Initialize inter-processor call module. This function is called automatically
- * on CPU start and should not be called from the application.
- *
- * This function start two tasks, one on each CPU. These tasks are started
- * with high priority. These tasks are normally inactive, waiting until one of
- * the esp_ipc_call_* functions to be used. One of these tasks will be
- * woken up to execute the callback provided to esp_ipc_call_nonblocking or
- * esp_ipc_call_blocking.
- */
-/** @cond */
-void esp_ipc_init();
-/** @endcond */
-
 /**
  * @brief Execute a function on the given CPU
  *
diff --git a/components/esp32/ipc.c b/components/esp32/ipc.c
index d10e8e819e..b54ae2846f 100644
--- a/components/esp32/ipc.c
+++ b/components/esp32/ipc.c
@@ -72,7 +72,19 @@ static void IRAM_ATTR ipc_task(void* arg)
     vTaskDelete(NULL);
 }
 
-void esp_ipc_init()
+/*
+ * Initialize inter-processor call module. This function is called automatically
+ * on CPU start and should not be called from the application.
+ *
+ * This function start two tasks, one on each CPU. These tasks are started
+ * with high priority. These tasks are normally inactive, waiting until one of
+ * the esp_ipc_call_* functions to be used. One of these tasks will be
+ * woken up to execute the callback provided to esp_ipc_call_nonblocking or
+ * esp_ipc_call_blocking.
+ */
+static void esp_ipc_init() __attribute__((constructor));
+
+static void esp_ipc_init()
 {
     s_ipc_mutex = xSemaphoreCreateMutex();
     s_ipc_ack = xSemaphoreCreateBinary();