diff --git a/components/adc/include/adc_types.hpp b/components/adc/include/adc_types.hpp
index 89d3936a4..a69d902ba 100644
--- a/components/adc/include/adc_types.hpp
+++ b/components/adc/include/adc_types.hpp
@@ -12,7 +12,7 @@ struct AdcConfig {
   adc_unit_t unit;       /**< Which adc unit is this channel associated with, e.g. ADC_UNIT_1. */
   adc_channel_t channel; /**< The actual channel, e.g. ADC_CHANNEL_2. */
   adc_atten_t
-      attenuation; /**< The attenuation associated with this channel, e.g. ADC_ATTEN_DB_11. */
+      attenuation; /**< The attenuation associated with this channel, e.g. ADC_ATTEN_DB_12. */
 };
 
 static bool operator!=(const AdcConfig &lhs, const AdcConfig &rhs) {
diff --git a/components/bldc_driver/CMakeLists.txt b/components/bldc_driver/CMakeLists.txt
index 958dab252..306babb8b 100644
--- a/components/bldc_driver/CMakeLists.txt
+++ b/components/bldc_driver/CMakeLists.txt
@@ -1,4 +1,4 @@
 idf_component_register(
   INCLUDE_DIRS "include"
   SRC_DIRS "src"
-  REQUIRES base_component driver)
+  REQUIRES base_component driver esp_driver_gpio esp_driver_mcpwm)
diff --git a/components/bldc_driver/include/bldc_driver.hpp b/components/bldc_driver/include/bldc_driver.hpp
index 3db2066f2..0255d0155 100644
--- a/components/bldc_driver/include/bldc_driver.hpp
+++ b/components/bldc_driver/include/bldc_driver.hpp
@@ -6,6 +6,8 @@
 
 #include "driver/gpio.h"
 #include "driver/mcpwm_prelude.h"
+#include "esp_idf_version.h"
+#include "soc/soc_caps.h"
 
 #include "base_component.hpp"
 
@@ -260,10 +262,12 @@ class BldcDriver : public BaseComponent {
   static int GROUP_ID;
 
   void init(const Config &config) {
+#if defined(SOC_MCPWM_GROUPS)
     if (GROUP_ID >= SOC_MCPWM_GROUPS) {
       GROUP_ID = 0;
       logger_.error("Exceeded max number of MCPWM groups ({}), resetting to 0", SOC_MCPWM_GROUPS);
     }
+#endif
     configure_enable_gpio();
     configure_timer();
     configure_operators();
@@ -324,8 +328,10 @@ class BldcDriver : public BaseComponent {
     gpio_fault_config.gpio_num = (gpio_num_t)gpio_fault_;
     gpio_fault_config.group_id = GROUP_ID;
     gpio_fault_config.flags.active_level = 1; // high level means fault, refer to TMC6300 datasheet
-    gpio_fault_config.flags.pull_down = true; // internally pull down
+#if ESP_IDF_VERSION < ESP_IDF_VERSION_VAL(6, 0, 0)
+    gpio_fault_config.flags.pull_down = true;    // internally pull down
     gpio_fault_config.flags.io_loop_back = true; // enable loop back to GPIO input
+#endif
     ESP_ERROR_CHECK(mcpwm_new_gpio_fault(&gpio_fault_config, &fault_handle_));
 
     logger_.info("Set brake mode on the fault event");
diff --git a/components/cli/CMakeLists.txt b/components/cli/CMakeLists.txt
index dde0c216c..3b904b451 100644
--- a/components/cli/CMakeLists.txt
+++ b/components/cli/CMakeLists.txt
@@ -1,4 +1,14 @@
+include($ENV{IDF_PATH}/tools/cmake/version.cmake)
+
+set(cli_requires driver esp_driver_uart esp_driver_usb_serial_jtag vfs logger)
+
+if(IDF_VERSION_MAJOR GREATER_EQUAL 6)
+  list(APPEND cli_requires esp_stdio esp_usb_cdc_rom_console)
+else()
+  list(APPEND cli_requires esp_vfs_console)
+endif()
+
 idf_component_register(
   INCLUDE_DIRS "include" "detail/cli/include"
   SRC_DIRS "src"
-  REQUIRES driver esp_driver_uart esp_driver_usb_serial_jtag vfs esp_vfs_console logger)
+  REQUIRES ${cli_requires})
diff --git a/components/cli/include/cli.hpp b/components/cli/include/cli.hpp
index 9509b00d3..5d144aabd 100644
--- a/components/cli/include/cli.hpp
+++ b/components/cli/include/cli.hpp
@@ -15,7 +15,11 @@
 
 #include "esp_vfs_cdcacm.h"
 #include "esp_vfs_dev.h"
+
+#include "esp_idf_version.h"
+#if ESP_IDF_VERSION < ESP_IDF_VERSION_VAL(6, 0, 0)
 #include "esp_vfs_usb_serial_jtag.h"
+#endif
 
 #include "line_input.hpp"
 
diff --git a/components/encoder/CMakeLists.txt b/components/encoder/CMakeLists.txt
index 4e90d84c0..ee92b315d 100644
--- a/components/encoder/CMakeLists.txt
+++ b/components/encoder/CMakeLists.txt
@@ -1,3 +1,3 @@
 idf_component_register(
   INCLUDE_DIRS "include"
-  REQUIRES base_component driver)
+  REQUIRES base_component driver esp_driver_pcnt)
diff --git a/components/esp-box/CMakeLists.txt b/components/esp-box/CMakeLists.txt
index 110166c8f..09c5f20d8 100644
--- a/components/esp-box/CMakeLists.txt
+++ b/components/esp-box/CMakeLists.txt
@@ -1,6 +1,6 @@
 idf_component_register(
   INCLUDE_DIRS "include"
   SRC_DIRS "src"
-  REQUIRES driver base_component codec display display_drivers i2c input_drivers interrupt gt911 task tt21100 icm42607
+  REQUIRES driver esp_driver_i2s base_component codec display display_drivers i2c input_drivers interrupt gt911 task tt21100 icm42607
   REQUIRED_IDF_TARGETS "esp32s3"
   )
diff --git a/components/esp-dsp b/components/esp-dsp
index eedf2a508..921baa14c 160000
--- a/components/esp-dsp
+++ b/components/esp-dsp
@@ -1 +1 @@
-Subproject commit eedf2a50811195224f07f941250a99bf1368d69e
+Subproject commit 921baa14ce8120831cdc1ddafb2d1f40ca1ea43f
diff --git a/components/esp32-timer-cam/CMakeLists.txt b/components/esp32-timer-cam/CMakeLists.txt
index 94c1f4057..2adb331ff 100644
--- a/components/esp32-timer-cam/CMakeLists.txt
+++ b/components/esp32-timer-cam/CMakeLists.txt
@@ -1,6 +1,6 @@
 idf_component_register(
   INCLUDE_DIRS "include"
   SRC_DIRS "src"
-  REQUIRES driver adc base_component bm8563 i2c interrupt led math task
+  REQUIRES driver esp_driver_i2s esp_driver_spi adc base_component bm8563 i2c interrupt led math task
   REQUIRED_IDF_TARGETS "esp32"
   )
diff --git a/components/interrupt/CMakeLists.txt b/components/interrupt/CMakeLists.txt
index 2d60c96bd..3740dd14e 100644
--- a/components/interrupt/CMakeLists.txt
+++ b/components/interrupt/CMakeLists.txt
@@ -1,4 +1,4 @@
 idf_component_register(
   INCLUDE_DIRS "include"
   SRC_DIRS "src"
-  REQUIRES driver base_component task)
+  REQUIRES driver esp_driver_gpio base_component task)
diff --git a/components/led/CMakeLists.txt b/components/led/CMakeLists.txt
index 8c9da24c9..e812c8089 100644
--- a/components/led/CMakeLists.txt
+++ b/components/led/CMakeLists.txt
@@ -1,4 +1,4 @@
 idf_component_register(
   INCLUDE_DIRS "include"
   SRC_DIRS "src"
-  REQUIRES base_component driver task)
+  REQUIRES base_component driver esp_driver_ledc task)
diff --git a/components/m5stack-tab5/CMakeLists.txt b/components/m5stack-tab5/CMakeLists.txt
index 20e5c74f3..6342405f1 100644
--- a/components/m5stack-tab5/CMakeLists.txt
+++ b/components/m5stack-tab5/CMakeLists.txt
@@ -1,6 +1,6 @@
 idf_component_register(
   INCLUDE_DIRS "include"
   SRC_DIRS "src"
-  REQUIRES driver esp_lcd fatfs base_component bmi270 codec display display_drivers gt911 i2c ina226 input_drivers interrupt pi4ioe5v rx8130ce task
+  REQUIRES driver esp_driver_i2s esp_driver_sdmmc esp_driver_spi esp_lcd fatfs base_component bmi270 codec display display_drivers gt911 i2c ina226 input_drivers interrupt pi4ioe5v rx8130ce task
   REQUIRED_IDF_TARGETS "esp32p4"
   )
diff --git a/components/m5stack-tab5/src/video.cpp b/components/m5stack-tab5/src/video.cpp
index 872c73b0a..28e2a4666 100644
--- a/components/m5stack-tab5/src/video.cpp
+++ b/components/m5stack-tab5/src/video.cpp
@@ -1,8 +1,11 @@
 #include "m5stack-tab5.hpp"
 
+#include "esp_idf_version.h"
+
 #include <algorithm>
 #include <cstdlib>
 
+#include <esp_idf_version.h>
 #include <esp_lcd_mipi_dsi.h>
 #include <esp_lcd_panel_io.h>
 #include <esp_lcd_panel_ops.h>
@@ -91,11 +94,15 @@ bool M5StackTab5::initialize_lcd() {
   if (lcd_handles_.mipi_dsi_bus == nullptr) {
     logger_.info("Creating MIPI DSI bus");
     esp_lcd_dsi_bus_config_t bus_config = {
-        .bus_id = 0,
-        .num_data_lanes = 2,
-        .phy_clk_src = MIPI_DSI_PHY_CLK_SRC_DEFAULT,
-        .lane_bit_rate_mbps =
-            (uint32_t)(detected_controller == DisplayController::ILI9881 ? 730 : 965),
+      .bus_id = 0,
+      .num_data_lanes = 2,
+      .phy_clk_src = MIPI_DSI_PHY_CLK_SRC_DEFAULT,
+      .lane_bit_rate_mbps =
+#if ESP_IDF_VERSION < ESP_IDF_VERSION_VAL(6, 0, 0)
+          static_cast<uint32_t>(detected_controller == DisplayController::ILI9881 ? 730 : 965),
+#else
+          static_cast<float>(detected_controller == DisplayController::ILI9881 ? 730 : 965),
+#endif
     };
     ret = esp_lcd_new_dsi_bus(&bus_config, &lcd_handles_.mipi_dsi_bus);
     if (ret != ESP_OK) {
@@ -135,7 +142,12 @@ bool M5StackTab5::initialize_lcd() {
     dpi_cfg.virtual_channel = 0;
     dpi_cfg.dpi_clk_src = MIPI_DSI_DPI_CLK_SRC_DEFAULT;
     dpi_cfg.dpi_clock_freq_mhz = 60;
+#if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(6, 0, 0)
+    dpi_cfg.in_color_format = LCD_COLOR_FMT_RGB565;
+    dpi_cfg.out_color_format = LCD_COLOR_FMT_RGB565;
+#else
     dpi_cfg.pixel_format = LCD_COLOR_PIXEL_FORMAT_RGB565;
+#endif
     dpi_cfg.num_fbs = 1;
     dpi_cfg.video_timing.h_size = display_width_;
     dpi_cfg.video_timing.v_size = display_height_;
@@ -145,13 +157,20 @@ bool M5StackTab5::initialize_lcd() {
     dpi_cfg.video_timing.vsync_back_porch = 20;
     dpi_cfg.video_timing.vsync_pulse_width = 4;
     dpi_cfg.video_timing.vsync_front_porch = 20;
+#if ESP_IDF_VERSION < ESP_IDF_VERSION_VAL(6, 0, 0)
     dpi_cfg.flags.use_dma2d = true;
+#endif
 
   } else if (detected_controller == DisplayController::ST7123 && lcd_handles_.panel == nullptr) {
     dpi_cfg.virtual_channel = 0;
     dpi_cfg.dpi_clk_src = MIPI_DSI_DPI_CLK_SRC_DEFAULT;
     dpi_cfg.dpi_clock_freq_mhz = 100;
+#if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(6, 0, 0)
+    dpi_cfg.in_color_format = LCD_COLOR_FMT_RGB565;
+    dpi_cfg.out_color_format = LCD_COLOR_FMT_RGB565;
+#else
     dpi_cfg.pixel_format = LCD_COLOR_PIXEL_FORMAT_RGB565;
+#endif
     dpi_cfg.num_fbs = 1;
     dpi_cfg.video_timing.h_size = display_width_;
     dpi_cfg.video_timing.v_size = display_height_;
@@ -161,7 +180,9 @@ bool M5StackTab5::initialize_lcd() {
     dpi_cfg.video_timing.vsync_back_porch = 8;
     dpi_cfg.video_timing.vsync_pulse_width = 2;
     dpi_cfg.video_timing.vsync_front_porch = 220;
+#if ESP_IDF_VERSION < ESP_IDF_VERSION_VAL(6, 0, 0)
     dpi_cfg.flags.use_dma2d = true;
+#endif
   }
 
   if (lcd_handles_.panel == nullptr) {
diff --git a/components/monitor/src/heap_monitor.cpp b/components/monitor/src/heap_monitor.cpp
index 0932e0eb1..2dec92cfe 100644
--- a/components/monitor/src/heap_monitor.cpp
+++ b/components/monitor/src/heap_monitor.cpp
@@ -1,5 +1,16 @@
 #include "heap_monitor.hpp"
 
+#include "esp_idf_version.h"
+
+// MALLOC_CAP_TCM was renamed to MALLOC_CAP_SPM in ESP-IDF v6.0
+#if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(6, 0, 0)
+#define ESPP_MALLOC_CAP_TCM MALLOC_CAP_SPM
+#define ESPP_MALLOC_CAP_TCM_NAME "SPM "
+#else
+#define ESPP_MALLOC_CAP_TCM MALLOC_CAP_TCM
+#define ESPP_MALLOC_CAP_TCM_NAME "TCM "
+#endif
+
 using namespace espp;
 
 std::string HeapMonitor::get_region_name(int heap_flags) {
@@ -25,8 +36,8 @@ std::string HeapMonitor::get_region_name(int heap_flags) {
   if (heap_flags & MALLOC_CAP_RTCRAM) {
     name += "RTCRAM ";
   }
-  if (heap_flags & MALLOC_CAP_TCM) {
-    name += "TCM ";
+  if (heap_flags & ESPP_MALLOC_CAP_TCM) {
+    name += ESPP_MALLOC_CAP_TCM_NAME;
   }
   if (heap_flags & MALLOC_CAP_DMA_DESC_AHB) {
     name += "DMA AHB ";
diff --git a/components/motorgo-mini/CMakeLists.txt b/components/motorgo-mini/CMakeLists.txt
index 4fd247e6d..68fb249ca 100644
--- a/components/motorgo-mini/CMakeLists.txt
+++ b/components/motorgo-mini/CMakeLists.txt
@@ -1,6 +1,6 @@
 idf_component_register(
   INCLUDE_DIRS "include"
   SRC_DIRS "src"
-  REQUIRES base_component interrupt filters led math mt6701 pid task bldc_driver bldc_motor i2c adc
+  REQUIRES base_component interrupt filters led math mt6701 pid task bldc_driver bldc_motor i2c adc esp_driver_spi
   REQUIRED_IDF_TARGETS "esp32s3"
   )
diff --git a/components/motorgo-mini/src/motorgo-mini.cpp b/components/motorgo-mini/src/motorgo-mini.cpp
index f146fa25b..1efcbe936 100644
--- a/components/motorgo-mini/src/motorgo-mini.cpp
+++ b/components/motorgo-mini/src/motorgo-mini.cpp
@@ -208,16 +208,11 @@ float MotorGoMini::breathe(float breathing_period, uint64_t start_us, bool resta
 
 bool IRAM_ATTR MotorGoMini::read_encoder(const auto &encoder_handle, uint8_t *data, size_t size) {
   static constexpr uint8_t SPIBUS_READ = 0x80;
-  spi_transaction_t t = {
-      .flags = 0,
-      .cmd = 0,
-      .addr = SPIBUS_READ,
-      .length = size * 8,
-      .rxlength = size * 8,
-      .user = nullptr,
-      .tx_buffer = nullptr,
-      .rx_buffer = data,
-  };
+  spi_transaction_t t{};
+  t.addr = SPIBUS_READ;
+  t.length = size * 8;
+  t.rxlength = size * 8;
+  t.rx_buffer = data;
   if (size <= 4) {
     t.flags = SPI_TRANS_USE_RXDATA;
     t.rx_buffer = nullptr;
diff --git a/components/mt6701/example/CMakeLists.txt b/components/mt6701/example/CMakeLists.txt
index 290570849..041db1485 100644
--- a/components/mt6701/example/CMakeLists.txt
+++ b/components/mt6701/example/CMakeLists.txt
@@ -12,7 +12,7 @@ set(EXTRA_COMPONENT_DIRS
 
 set(
   COMPONENTS
-  "main esptool_py driver filters i2c task mt6701"
+  "main esptool_py driver esp_driver_spi filters i2c task mt6701"
   CACHE STRING
   "List of components to include"
   )
diff --git a/components/neopixel/CMakeLists.txt b/components/neopixel/CMakeLists.txt
index 520f47b74..356220cc0 100644
--- a/components/neopixel/CMakeLists.txt
+++ b/components/neopixel/CMakeLists.txt
@@ -1,5 +1,5 @@
 idf_component_register(
   INCLUDE_DIRS "include"
   SRC_DIRS "src"
-  REQUIRES base_component color rmt
+  REQUIRES base_component color esp_driver_gpio rmt
   )
diff --git a/components/remote_debug/CMakeLists.txt b/components/remote_debug/CMakeLists.txt
index bd6b97c6b..d156de9b9 100644
--- a/components/remote_debug/CMakeLists.txt
+++ b/components/remote_debug/CMakeLists.txt
@@ -1,5 +1,5 @@
 idf_component_register(
     INCLUDE_DIRS "include"
     SRC_DIRS "src"
-    REQUIRES esp_http_server driver adc base_component file_system timer
+    REQUIRES esp_http_server driver esp_driver_gpio adc base_component file_system timer
 )
diff --git a/components/rmt/CMakeLists.txt b/components/rmt/CMakeLists.txt
index a069fc182..a13314281 100644
--- a/components/rmt/CMakeLists.txt
+++ b/components/rmt/CMakeLists.txt
@@ -1,4 +1,4 @@
 idf_component_register(
   INCLUDE_DIRS "include"
-  REQUIRES base_component driver
+  REQUIRES base_component driver esp_driver_rmt
   )
diff --git a/components/socket/src/socket.cpp b/components/socket/src/socket.cpp
index e6265c0e1..83df9d1bd 100644
--- a/components/socket/src/socket.cpp
+++ b/components/socket/src/socket.cpp
@@ -127,7 +127,7 @@ bool Socket::set_receive_timeout(const std::chrono::duration<float> &timeout) {
     return true;
   }
   float intpart;
-  float fractpart = modf(seconds, &intpart);
+  float fractpart = modff(seconds, &intpart);
   const time_t response_timeout_s = (int)intpart;
   const time_t response_timeout_us = (int)(fractpart * 1E6);
   //// Alternatively we could do this:
diff --git a/components/state_machine/example/main/Complex_generated_states.cpp b/components/state_machine/example/main/Complex_generated_states.cpp
index 48b26ea96..d176f7c58 100644
--- a/components/state_machine/example/main/Complex_generated_states.cpp
+++ b/components/state_machine/example/main/Complex_generated_states.cpp
@@ -867,8 +867,6 @@ bool Root::State_2::ChildState3::Grand2::handleEvent(GeneratedEventBase *event)
   // take care of all event types that this branch will not handle -
   // for more consistent run-time performnace
   switch (event->get_type()) {
-    handled = true;
-    break;
   default:
     handled = false;
     break;
@@ -1631,8 +1629,6 @@ bool Root::State3::ChildState::handleEvent(GeneratedEventBase *event) {
   // take care of all event types that this branch will not handle -
   // for more consistent run-time performnace
   switch (event->get_type()) {
-    handled = true;
-    break;
   default:
     handled = false;
     break;
diff --git a/components/t-deck/CMakeLists.txt b/components/t-deck/CMakeLists.txt
index 08a1d816a..1a70a27c3 100644
--- a/components/t-deck/CMakeLists.txt
+++ b/components/t-deck/CMakeLists.txt
@@ -2,6 +2,6 @@
 idf_component_register(
   INCLUDE_DIRS "include"
   SRC_DIRS "src"
-  REQUIRES driver base_component display display_drivers fatfs i2c input_drivers interrupt gt911 task t_keyboard
+  REQUIRES driver esp_driver_i2s esp_driver_spi base_component display display_drivers fatfs i2c input_drivers interrupt gt911 task t_keyboard
   REQUIRED_IDF_TARGETS "esp32s3"
   )
diff --git a/components/thermistor/example/main/thermistor_example.cpp b/components/thermistor/example/main/thermistor_example.cpp
index b00a3cefb..927299649 100644
--- a/components/thermistor/example/main/thermistor_example.cpp
+++ b/components/thermistor/example/main/thermistor_example.cpp
@@ -75,7 +75,7 @@ extern "C" void app_main(void) {
   // create a continuous ADC which will sample and filter the thermistor
   // voltage on ADC1 channel 7
   std::vector<espp::AdcConfig> channels{
-      {.unit = ADC_UNIT_1, .channel = ADC_CHANNEL_7, .attenuation = ADC_ATTEN_DB_11}};
+      {.unit = ADC_UNIT_1, .channel = ADC_CHANNEL_7, .attenuation = ADC_ATTEN_DB_12}};
   // this initailizes the DMA and filter task for the continuous adc
   espp::ContinuousAdc adc(
       {.sample_rate_hz = 20 * 1000,
diff --git a/components/ws-s3-touch/example/main/ws_s3_touch_example.cpp b/components/ws-s3-touch/example/main/ws_s3_touch_example.cpp
index 774714168..4f9bf85f5 100644
--- a/components/ws-s3-touch/example/main/ws_s3_touch_example.cpp
+++ b/components/ws-s3-touch/example/main/ws_s3_touch_example.cpp
@@ -115,14 +115,15 @@ extern "C" void app_main(void) {
     return;
   }
   // now set the time on the RTC
-  std::tm timeinfo{
-      .tm_sec = 0,
-      .tm_min = 42,
-      .tm_hour = 13,
-      .tm_mday = 24,
-      .tm_mon = 10,  // 0-11, so 10 is November
-      .tm_year = 123 // years since 1900, so 100 is 2000
-  };
+  std::tm timeinfo{};
+  timeinfo.tm_sec = 0;
+  timeinfo.tm_min = 42;
+  timeinfo.tm_hour = 13;
+  timeinfo.tm_mday = 24;
+  timeinfo.tm_mon = 10;           // 0-11, so 10 is November
+  timeinfo.tm_year = 2023 - 1900; // years since 1900
+  std::mktime(&timeinfo);
+
   std::error_code ec;
   bsp.rtc()->set_time(timeinfo, ec);
   if (ec) {