diff --git a/CMakeLists.txt b/CMakeLists.txt
index 3219703..05b4484 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -8,18 +8,30 @@
 #   (i2c_master_bus_handle_t) is the one used in non-Arduino builds.
 # - googletest helpers (src/googletest/*) are EXCLUDED — they pull in
 #   <M5Unified.h> for test scaffolding only and are not needed at runtime.
+include($ENV{IDF_PATH}/tools/cmake/version.cmake)
+
 file(GLOB_RECURSE SRCS "src/*.cpp")
 list(FILTER SRCS EXCLUDE REGEX "/googletest/")
-# REQUIRES = public deps (exposed through src/ public headers); PRIV_REQUIRES = used only in .cpp.
-# Use the `driver` meta-component (exists in all IDF 5.x and publicly aggregates esp_driver_*),
-# NOT the split esp_driver_* components which only exist from IDF 5.3 and would break >=5.0.
+
+set(public_requires driver M5HAL)
+set(private_requires esp_adc esp_timer M5Utility)
+
+# Keep IDF 5.x on the driver meta-component. IDF v6 no longer exposes all split
+# driver include paths transitively, so add only the v6-specific component deps.
+if("${IDF_VERSION_MAJOR}" VERSION_GREATER_EQUAL "6")
+    list(APPEND public_requires esp_driver_gpio esp_driver_i2c esp_driver_rmt esp_driver_spi esp_driver_uart esp_hw_support)
+    list(APPEND private_requires esp_driver_ledc esp_ringbuf)
+endif()
+
 idf_component_register(
     SRCS ${SRCS}
     INCLUDE_DIRS "src"
-    REQUIRES driver M5HAL
-    PRIV_REQUIRES esp_adc esp_timer M5Utility
+    REQUIRES ${public_requires}
+    PRIV_REQUIRES ${private_requires}
 )
 
+idf_build_set_property(CXX_COMPILE_OPTIONS "-std=gnu++17" APPEND)
+
 # Optionally link M5Unified only when it is already part of the build (e.g. a M5Unified-based
 # app or example). This puts M5GFX's <utility/I2C_Class.hpp> on adapter_i2c.cpp's include path,
 # so the real m5::I2C_Class adapter is compiled instead of the stub. Pure ESP-IDF builds without
diff --git a/src/m5_unit_component/adapter_gpio_v2.cpp b/src/m5_unit_component/adapter_gpio_v2.cpp
index 0a0ed56..282adf7 100644
--- a/src/m5_unit_component/adapter_gpio_v2.cpp
+++ b/src/m5_unit_component/adapter_gpio_v2.cpp
@@ -27,11 +27,13 @@ rmt_tx_channel_config_t to_rmt_tx_config(const adapter_config_t &cfg, const uint
     out.clk_src = RMT_CLK_SRC_DEFAULT;
     out.mem_block_symbols =
         std::max<uint32_t>(SOC_RMT_MEM_WORDS_PER_CHANNEL, cfg.tx.mem_blocks * SOC_RMT_MEM_WORDS_PER_CHANNEL);
-    out.resolution_hz      = calculate_rmt_resolution_hz(apb_freq_hz, cfg.tx.tick_ns);
-    out.trans_queue_depth  = 4;
-    out.flags.with_dma     = cfg.tx.with_dma;
+    out.resolution_hz     = calculate_rmt_resolution_hz(apb_freq_hz, cfg.tx.tick_ns);
+    out.trans_queue_depth = 4;
+    out.flags.with_dma    = cfg.tx.with_dma;
+#if ESP_IDF_VERSION < ESP_IDF_VERSION_VAL(6, 0, 0)
     out.flags.io_loop_back = cfg.tx.loop_enabled;
-    out.flags.invert_out   = cfg.tx.invert_signal;
+#endif
+    out.flags.invert_out = cfg.tx.invert_signal;
     return out;
 }
 
diff --git a/src/m5_unit_component/adapter_spi.cpp b/src/m5_unit_component/adapter_spi.cpp
index c37dcf8..00d80e8 100644
--- a/src/m5_unit_component/adapter_spi.cpp
+++ b/src/m5_unit_component/adapter_spi.cpp
@@ -11,6 +11,7 @@
 #include "adapter_spi.hpp"
 #if defined(ESP_PLATFORM)
 #include <driver/gpio.h>
+#include <freertos/FreeRTOS.h>
 #endif
 #include <M5HAL.hpp>
 #include <M5Utility.hpp>
diff --git a/src/m5_unit_component/pin.cpp b/src/m5_unit_component/pin.cpp
index 3089e96..0ddabb9 100644
--- a/src/m5_unit_component/pin.cpp
+++ b/src/m5_unit_component/pin.cpp
@@ -14,6 +14,7 @@
 #include <driver/i2c.h>
 #include <soc/gpio_struct.h>
 #include <soc/gpio_periph.h>
+#include <soc/gpio_reg.h>
 
 namespace m5 {
 namespace unit {