diff --git a/.github/workflows/build_idf_examples_matrix.yml b/.github/workflows/build_idf_examples_matrix.yml
index 89c92b4..03c631a 100644
--- a/.github/workflows/build_idf_examples_matrix.yml
+++ b/.github/workflows/build_idf_examples_matrix.yml
@@ -14,9 +14,15 @@ jobs:
           - esp32_idf_V4_4_0
           - esp32_idf_V5_0_0
           - esp32_idf_V5_1_0
-#          - esp32c3_idf_V5_0_0
-#          - esp32s2_idf_V5_0_0
-#          - esp32s3_idf_V5_0_0
+          - esp32_idf_V5_2_0
+          - esp32_idf_V5_3_0
+          # - esp32_idf_V6_0_0   fails
+          - esp32c3_idf_V5_3_0
+          # - esp32c3_idf_V6_0_0 fails
+          - esp32s2_idf_V5_3_0
+          # - esp32s2_idf_V6_0_0 fails
+          - esp32s3_idf_V5_3_0
+          # - esp32s3_idf_V6_0_0 fails
 
     runs-on: ubuntu-latest
 
diff --git a/extras/ci/platformio.ini b/extras/ci/platformio.ini
index 9128c20..0d2fdd0 100644
--- a/extras/ci/platformio.ini
+++ b/extras/ci/platformio.ini
@@ -317,6 +317,30 @@ build_flags = -Wall
 board_build.f_cpu = 240000000L
 lib_extra_dirs = ../../..
 
+[env:esp32_idf_V6_3_0]
+platform    = espressif32 @ 5.3.0
+board       = esp32dev
+framework   = espidf
+build_flags = -Werror -Wall -Wno-deprecated-declarations -Wno-error=incompatible-pointer-types -Wno-unused-function -Wno-error=attributes
+board_build.f_cpu = 240000000L
+lib_extra_dirs = ../..
+
+[env:esp32_idf_V6_0_0]
+platform    = espressif32 @ 6.0.0
+board       = esp32dev
+framework   = espidf
+build_flags = -Werror -Wall -Wno-deprecated-declarations -Wno-error=incompatible-pointer-types -Wno-unused-function -Wno-error=attributes
+board_build.f_cpu = 240000000L
+lib_extra_dirs = ../..
+
+[env:esp32_idf_V5_3_0]
+platform    = espressif32 @ 5.3.0
+board       = esp32dev
+framework   = espidf
+build_flags = -Werror -Wall -Wno-deprecated-declarations -Wno-error=incompatible-pointer-types -Wno-unused-function -Wno-error=attributes
+board_build.f_cpu = 240000000L
+lib_extra_dirs = ../..
+
 [env:esp32_idf_V5_2_0]
 platform    = espressif32 @ 5.2.0
 board       = esp32dev
@@ -349,24 +373,48 @@ build_flags = -Werror -Wall -Wno-deprecated-declarations -Wno-error=incompatible
 board_build.f_cpu = 240000000L
 lib_extra_dirs = ../../
 
-[env:esp32c3_idf_V5_0_0]
-platform    = espressif32 @ 5.0.0
+[env:esp32c3_idf_V6_0_0]
+platform    = espressif32 @ 6.0.0
 board       = esp32-c3-devkitm-1
 framework   = espidf
 build_flags = -Werror -Wall -Wno-deprecated-declarations -Wno-error=incompatible-pointer-types -Wno-unused-function -Wno-error=attributes
 board_build.f_cpu = 240000000L
 lib_extra_dirs = ../..
 
-[env:esp32s2_idf_V5_0_0]
-platform    = espressif32 @ 5.0.0
+[env:esp32c3_idf_V5_3_0]
+platform    = espressif32 @ 5.3.0
+board       = esp32-c3-devkitm-1
+framework   = espidf
+build_flags = -Werror -Wall -Wno-deprecated-declarations -Wno-error=incompatible-pointer-types -Wno-unused-function -Wno-error=attributes
+board_build.f_cpu = 240000000L
+lib_extra_dirs = ../..
+
+[env:esp32s2_idf_V6_0_0]
+platform    = espressif32 @ 6.0.0
 board       = esp32-s2-saola-1
 framework   = espidf
 build_flags = -Werror -Wall -Wno-deprecated-declarations -Wno-error=incompatible-pointer-types -Wno-unused-function -Wno-error=attributes
 board_build.f_cpu = 240000000L
 lib_extra_dirs = ../..
 
-[env:esp32s3_idf_V5_0_0]
-platform    = espressif32 @ 5.0.0
+[env:esp32s2_idf_V5_3_0]
+platform    = espressif32 @ 5.3.0
+board       = esp32-s2-saola-1
+framework   = espidf
+build_flags = -Werror -Wall -Wno-deprecated-declarations -Wno-error=incompatible-pointer-types -Wno-unused-function -Wno-error=attributes
+board_build.f_cpu = 240000000L
+lib_extra_dirs = ../..
+
+[env:esp32s3_idf_V6_0_0]
+platform    = espressif32 @ 6.0.0
+board       = esp32-s3-devkitc-1
+framework   = espidf
+build_flags = -Werror -Wall -Wno-deprecated-declarations -Wno-error=incompatible-pointer-types -Wno-unused-function -Wno-error=attributes
+board_build.f_cpu = 240000000L
+lib_extra_dirs = ../..
+
+[env:esp32s3_idf_V5_3_0]
+platform    = espressif32 @ 5.3.0
 board       = esp32-s3-devkitc-1
 framework   = espidf
 build_flags = -Werror -Wall -Wno-deprecated-declarations -Wno-error=incompatible-pointer-types -Wno-unused-function -Wno-error=attributes
diff --git a/extras/idf_examples/UsageExample/UsageExample.cpp b/extras/idf_examples/UsageExample/UsageExample.cpp
index f011887..f754fd3 100644
--- a/extras/idf_examples/UsageExample/UsageExample.cpp
+++ b/extras/idf_examples/UsageExample/UsageExample.cpp
@@ -1,5 +1,7 @@
 #include "FastAccelStepper.h"
 
+#include <cinttypes>
+
 // As in StepperDemo for Motor 1 on ESP32
 #define dirPinStepper 18
 #define enablePinStepper 26
@@ -61,7 +63,7 @@ void setup() {
 void loop() {
   while (stepper->isRunning()) {
     esp_task_wdt_reset();
-    printf("pos=%d\n", stepper->getCurrentPosition());
+    printf("pos=%" PRId32 "\n", stepper->getCurrentPosition());
     vTaskDelay(pdMS_TO_TICKS(500));
   }
   stepper->move(1000);
diff --git a/src/fas_arch/arduino_esp32.h b/src/fas_arch/arduino_esp32.h
index 7456de9..691b119 100644
--- a/src/fas_arch/arduino_esp32.h
+++ b/src/fas_arch/arduino_esp32.h
@@ -3,160 +3,11 @@
 
 // this is an arduino platform, so include the Arduino.h header file
 #include <Arduino.h>
-#include <sdkconfig.h>
-
-#define SUPPORT_ESP32
-#define SUPPORT_EXTERNAL_DIRECTION_PIN
-#define SUPPORT_UNSAFE_ABS_SPEED_LIMIT_SETTING 1
-
-// Some more esp32 specific includes
-#include <driver/gpio.h>
-#include <esp_task_wdt.h>
-
-//==========================================================================
-//
-// ESP32 derivate - the first one
-//
-//==========================================================================
-
-#if CONFIG_IDF_TARGET_ESP32
-#include <driver/mcpwm.h>
-#include <driver/pcnt.h>
-#include <soc/mcpwm_reg.h>
-#include <soc/mcpwm_struct.h>
-#include <soc/pcnt_reg.h>
-#include <soc/pcnt_struct.h>
-
-#define SUPPORT_ESP32_MCPWM_PCNT
-#define SUPPORT_ESP32_RMT
-#include <driver/rmt.h>
-#define QUEUES_MCPWM_PCNT 6
-#define QUEUES_RMT 8
-
-// have support for pulse counter
-#define SUPPORT_ESP32_PULSE_COUNTER
-#define FAS_RMT_MEM(channel) ((uint32_t *)RMT_CHANNEL_MEM(channel))
-
-//==========================================================================
-//
-// ESP32 derivate - ESP32S2
-//
-//==========================================================================
-#elif CONFIG_IDF_TARGET_ESP32S2
-#define SUPPORT_ESP32S3_PULSE_COUNTER
-#define SUPPORT_ESP32_RMT
-#include <driver/pcnt.h>
-#include <driver/periph_ctrl.h>
-#include <driver/rmt.h>
-#include <soc/pcnt_reg.h>
-#include <soc/pcnt_struct.h>
-#define QUEUES_MCPWM_PCNT 0
-#define QUEUES_RMT 4
-#define FAS_RMT_MEM(channel) ((uint32_t *)RMTMEM.chan[channel].data32)
-
-//==========================================================================
-//
-// ESP32 derivate - ESP32S3
-//
-//==========================================================================
-#elif CONFIG_IDF_TARGET_ESP32S3
-#define SUPPORT_ESP32_MCPWM_PCNT
-#define SUPPORT_ESP32S3_MCPWM_PCNT
-#include <driver/mcpwm.h>
-#include <driver/pcnt.h>
-#include <soc/mcpwm_reg.h>
-#include <soc/mcpwm_struct.h>
-#include <soc/pcnt_reg.h>
-#include <soc/pcnt_struct.h>
-
-#define SUPPORT_ESP32_RMT
-#define SUPPORT_ESP32S3_RMT
-#include <driver/periph_ctrl.h>
-#include <driver/rmt.h>
-#include <soc/rmt_periph.h>
-#include <soc/rmt_reg.h>
-#include <soc/rmt_struct.h>
-#define FAS_RMT_MEM(channel) ((uint32_t *)RMTMEM.chan[channel].data32)
-
-#define QUEUES_MCPWM_PCNT 4
-#define QUEUES_RMT 4
-
-// have support for pulse counter
-#define SUPPORT_ESP32_PULSE_COUNTER
-
-//==========================================================================
-//
-// ESP32 derivate - ESP32C3
-//
-//==========================================================================
-#elif CONFIG_IDF_TARGET_ESP32C3
-#define SUPPORT_ESP32_RMT
-#define SUPPORT_ESP32C3_RMT
-#include <driver/periph_ctrl.h>
-#include <driver/rmt.h>
-#include <soc/rmt_periph.h>
-#include <soc/rmt_reg.h>
-#include <soc/rmt_struct.h>
-#define QUEUES_MCPWM_PCNT 0
-#define QUEUES_RMT 2
-#define FAS_RMT_MEM(channel) ((uint32_t *)RMTMEM.chan[channel].data32)
-
-//==========================================================================
-//
-// For all unsupported ESP32 derivates
-//
-//==========================================================================
-#else
-#error "Unsupported derivate"
-#endif
 
 // For esp32 using arduino, just use arduino definition
 #define fasEnableInterrupts interrupts
 #define fasDisableInterrupts noInterrupts
 
-#if ESP_IDF_VERSION_MAJOR == 4
-#define __ESP32_IDF_V44__
-#include <driver/periph_ctrl.h>
-#include <soc/periph_defs.h>
-#include <soc/rmt_periph.h>
-#include <soc/rmt_reg.h>
-#include <soc/rmt_struct.h>
-#elif ESP_IDF_VERSION_MAJOR == 3
-#endif
-
-// Esp32 queue definitions
-#define NUM_QUEUES (QUEUES_MCPWM_PCNT + QUEUES_RMT)
-#define MAX_STEPPER (NUM_QUEUES)
-#define QUEUE_LEN 32
-
-// Esp32 timing definition
-#define TICKS_PER_S 16000000L
-#define MIN_CMD_TICKS (TICKS_PER_S / 5000)
-#define MIN_DIR_DELAY_US (MIN_CMD_TICKS / (TICKS_PER_S / 1000000))
-#define MAX_DIR_DELAY_US (65535 / (TICKS_PER_S / 1000000))
-#define DELAY_MS_BASE 4
-
-#define SUPPORT_QUEUE_ENTRY_START_POS_U16
-
-// debug led timing
-#define DEBUG_LED_HALF_PERIOD 50
-
-#define noop_or_wait vTaskDelay(1)
-
-// have more than one core
-#define SUPPORT_CPU_AFFINITY
-
-#ifdef __ESP32_IDF_V44__
-#include <driver/periph_ctrl.h>
-#include <soc/periph_defs.h>
-#endif /* __ESP32_IDF_V44__ */
-
-//==========================================================================
-// determine, if driver type selection should be supported
-#if defined(QUEUES_MCPWM_PCNT) && defined(QUEUES_RMT)
-#if (QUEUES_MCPWM_PCNT > 0) && (QUEUES_RMT > 0)
-#define SUPPORT_SELECT_DRIVER_TYPE
-#endif
-#endif
+#include "fas_arch/common_esp32.h"
 
 #endif /* FAS_ARCH_ARDUINO_ESP32_H */
diff --git a/src/fas_arch/common_esp32.h b/src/fas_arch/common_esp32.h
new file mode 100644
index 0000000..1becdb8
--- /dev/null
+++ b/src/fas_arch/common_esp32.h
@@ -0,0 +1,151 @@
+#ifndef FAS_ARCH_COMMON_ESP32_H
+#define FAS_ARCH_COMMON_ESP32_H
+
+#include <sdkconfig.h>
+
+#define SUPPORT_ESP32
+#define SUPPORT_EXTERNAL_DIRECTION_PIN
+#define SUPPORT_UNSAFE_ABS_SPEED_LIMIT_SETTING 1
+
+// Some more esp32 specific includes
+#include <driver/gpio.h>
+#include <esp_task_wdt.h>
+
+//==========================================================================
+//
+// ESP32 derivate - the first one
+//
+//==========================================================================
+
+#if CONFIG_IDF_TARGET_ESP32
+#include <driver/mcpwm.h>
+#include <driver/pcnt.h>
+#include <soc/mcpwm_reg.h>
+#include <soc/mcpwm_struct.h>
+#include <soc/pcnt_reg.h>
+#include <soc/pcnt_struct.h>
+#include <driver/rmt.h>
+
+#define SUPPORT_ESP32_MCPWM_PCNT
+#define SUPPORT_ESP32_RMT
+#define QUEUES_MCPWM_PCNT 6
+#define QUEUES_RMT 8
+
+// have support for pulse counter
+#define SUPPORT_ESP32_PULSE_COUNTER
+#define FAS_RMT_MEM(channel) ((uint32_t *)RMT_CHANNEL_MEM(channel))
+
+//==========================================================================
+//
+// ESP32 derivate - ESP32S2
+//
+//==========================================================================
+#elif CONFIG_IDF_TARGET_ESP32S2
+#define SUPPORT_ESP32S3_PULSE_COUNTER
+#define SUPPORT_ESP32_RMT
+#include <driver/pcnt.h>
+#include <driver/periph_ctrl.h>
+#include <driver/rmt.h>
+#include <soc/pcnt_reg.h>
+#include <soc/pcnt_struct.h>
+#define QUEUES_MCPWM_PCNT 0
+#define QUEUES_RMT 4
+#define FAS_RMT_MEM(channel) ((uint32_t *)RMTMEM.chan[channel].data32)
+
+//==========================================================================
+//
+// ESP32 derivate - ESP32S3
+//
+//==========================================================================
+#elif CONFIG_IDF_TARGET_ESP32S3
+#define SUPPORT_ESP32_MCPWM_PCNT
+#define SUPPORT_ESP32S3_MCPWM_PCNT
+#include <driver/mcpwm.h>
+#include <driver/pcnt.h>
+#include <soc/mcpwm_reg.h>
+#include <soc/mcpwm_struct.h>
+#include <soc/pcnt_reg.h>
+#include <soc/pcnt_struct.h>
+
+#define SUPPORT_ESP32_RMT
+#define SUPPORT_ESP32S3_RMT
+#include <driver/periph_ctrl.h>
+#include <driver/rmt.h>
+#include <soc/rmt_periph.h>
+#include <soc/rmt_reg.h>
+#include <soc/rmt_struct.h>
+#define FAS_RMT_MEM(channel) ((uint32_t *)RMTMEM.chan[channel].data32)
+
+#define QUEUES_MCPWM_PCNT 4
+#define QUEUES_RMT 4
+
+// have support for pulse counter
+#define SUPPORT_ESP32_PULSE_COUNTER
+
+//==========================================================================
+//
+// ESP32 derivate - ESP32C3
+//
+//==========================================================================
+#elif CONFIG_IDF_TARGET_ESP32C3
+#define SUPPORT_ESP32_RMT
+#define SUPPORT_ESP32C3_RMT
+#include <driver/periph_ctrl.h>
+#include <driver/rmt.h>
+#include <soc/rmt_periph.h>
+#include <soc/rmt_reg.h>
+#include <soc/rmt_struct.h>
+#define QUEUES_MCPWM_PCNT 0
+#define QUEUES_RMT 2
+#define FAS_RMT_MEM(channel) ((uint32_t *)RMTMEM.chan[channel].data32)
+
+//==========================================================================
+//
+// For all unsupported ESP32 derivates
+//
+//==========================================================================
+#else
+#error "Unsupported derivate"
+#endif
+
+#if ESP_IDF_VERSION_MAJOR == 4
+#define __ESP32_IDF_V44__
+#include <driver/periph_ctrl.h>
+#include <soc/periph_defs.h>
+#include <soc/rmt_periph.h>
+#include <soc/rmt_reg.h>
+#include <soc/rmt_struct.h>
+#elif ESP_IDF_VERSION_MAJOR == 3
+#endif
+
+// Esp32 queue definitions
+#define NUM_QUEUES (QUEUES_MCPWM_PCNT + QUEUES_RMT)
+#define MAX_STEPPER (NUM_QUEUES)
+#define QUEUE_LEN 32
+
+// Esp32 timing definition
+#define TICKS_PER_S 16000000L
+#define MIN_CMD_TICKS (TICKS_PER_S / 5000)
+#define MIN_DIR_DELAY_US (MIN_CMD_TICKS / (TICKS_PER_S / 1000000))
+#define MAX_DIR_DELAY_US (65535 / (TICKS_PER_S / 1000000))
+#define DELAY_MS_BASE 4
+
+#define SUPPORT_QUEUE_ENTRY_START_POS_U16
+
+// debug led timing
+#define DEBUG_LED_HALF_PERIOD 50
+
+#define noop_or_wait vTaskDelay(1)
+
+// have more than one core
+#define SUPPORT_CPU_AFFINITY
+
+//==========================================================================
+// determine, if driver type selection should be supported
+#if defined(QUEUES_MCPWM_PCNT) && defined(QUEUES_RMT)
+#if (QUEUES_MCPWM_PCNT > 0) && (QUEUES_RMT > 0)
+#define SUPPORT_SELECT_DRIVER_TYPE
+#endif
+#endif
+
+#endif /* FAS_ARCH_COMMON_ESP32_H */
diff --git a/src/fas_arch/espidf_esp32.h b/src/fas_arch/espidf_esp32.h
index c21c935..41b7dfb 100644
--- a/src/fas_arch/espidf_esp32.h
+++ b/src/fas_arch/espidf_esp32.h
@@ -1,26 +1,8 @@
 #ifndef FAS_ARCH_ESPIDF_ESP32_H
 #define FAS_ARCH_ESPIDF_ESP32_H
 
-#define SUPPORT_ESP32
-#define SUPPORT_UNSAFE_ABS_SPEED_LIMIT_SETTING 1
-
-#define SUPPORT_ESP32_RMT
-#define SUPPORT_ESP32_MCPWM_PCNT
-
 // esp32 specific includes
-#include <driver/gpio.h>
-#include <driver/mcpwm.h>
-#include <driver/pcnt.h>
-#include <driver/rmt.h>
-#include <esp_task_wdt.h>
 #include <math.h>
-#include <soc/mcpwm_reg.h>
-#include <soc/mcpwm_struct.h>
-#include <soc/pcnt_reg.h>
-#include <soc/pcnt_struct.h>
-#include <soc/rmt_periph.h>
-#include <soc/rmt_reg.h>
-#include <soc/rmt_struct.h>
 
 // on espidf need to use portDISABLE/ENABLE_INTERRUPTS
 #include <freertos/FreeRTOS.h>
@@ -28,27 +10,6 @@
 #define fasDisableInterrupts portDISABLE_INTERRUPTS
 #define fasEnableInterrupts portENABLE_INTERRUPTS
 
-// Only since esp-idf v4.4 MCPWM_TIMER0_PHASE_DIRECTION_S is defined. So use
-// this to distinguish between the two versions
-#if defined(MCPWM_TIMER0_PHASE_DIRECTION_S)
-#define __ESP32_IDF_V44__
-#endif
-
-// Esp32 queue definitions
-#define MAX_STEPPER 6
-#define NUM_QUEUES 6
-#define QUEUES_MCPWM_PCNT 6
-#define QUEUES_RMT 8
-#define QUEUE_LEN 32
-#define SUPPORT_EXTERNAL_DIRECTION_PIN
-
-// Esp32 timing definition
-#define TICKS_PER_S 16000000L
-#define MIN_CMD_TICKS (TICKS_PER_S / 2000)
-#define MIN_DIR_DELAY_US (MIN_CMD_TICKS / (TICKS_PER_S / 1000000))
-#define MAX_DIR_DELAY_US (65535 / (TICKS_PER_S / 1000000))
-#define DELAY_MS_BASE 4
-
 // The espidf-platform needs a couple of arduino like definitions
 #define LOW 0
 #define HIGH 1
@@ -56,37 +17,6 @@
 #define pinMode(pin, mode) gpio_set_direction((gpio_num_t)pin, mode)
 #define digitalWrite(pin, level) gpio_set_level((gpio_num_t)pin, level)
 
-// debug led timing
-#define DEBUG_LED_HALF_PERIOD 50
-
-#define noop_or_wait vTaskDelay(1)
-
-#define SUPPORT_QUEUE_ENTRY_START_POS_U16
-
-// have support for pulse counter
-#define SUPPORT_ESP32_PULSE_COUNTER
-
-// have more than one core
-#define SUPPORT_CPU_AFFINITY
-
-#if defined(ARDUINO_ESP32_RELEASE_3_0_0)
-#else
-// have support for pulse counter
-#define SUPPORT_ESP32_PULSE_COUNTER
-#define FAS_RMT_MEM(channel) ((uint32_t *)RMT_CHANNEL_MEM(channel))
-#endif
-
-#ifdef __ESP32_IDF_V44__
-#include <driver/periph_ctrl.h>
-#include <soc/periph_defs.h>
-#endif /* __ESP32_IDF_V44__ */
-
-//==========================================================================
-// determine, if driver type selection should be supported
-#if defined(QUEUES_MCPWM_PCNT) && defined(QUEUES_RMT)
-#if (QUEUES_MCPWM_PCNT > 0) && (QUEUES_RMT > 0)
-#define SUPPORT_SELECT_DRIVER_TYPE
-#endif
-#endif
+#include "fas_arch/common_esp32.h"
 
 #endif /* FAS_ARCH_ESPIDF_ESP32_H */