diff --git a/CMakeLists.txt b/CMakeLists.txt
index 0fbc965..9a488c8 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1 +1,6 @@
-idf_component_register(SRCS "zh_encoder.c" INCLUDE_DIRS "include" REQUIRES esp_event driver esp_timer)
\ No newline at end of file
+if(${IDF_VERSION_MAJOR} STREQUAL 6)
+    set(requires esp_driver_gpio esp_driver_pcnt esp_timer esp_event)
+else()
+    set(requires driver esp_timer esp_event)
+endif()
+idf_component_register(SRCS "zh_encoder.c" INCLUDE_DIRS "include" REQUIRES ${requires})
\ No newline at end of file
diff --git a/README.md b/README.md
index ad06fe0..901dec1 100644
--- a/README.md
+++ b/README.md
@@ -2,7 +2,7 @@
 
 ## Tested on
 
-1. [ESP32 ESP-IDF v5.5.3](https://docs.espressif.com/projects/esp-idf/en/v5.5.3/esp32/index.html)
+1. [ESP32 ESP-IDF v6.0.0](https://docs.espressif.com/projects/esp-idf/en/v6.0/esp32/index.html)
 
 ## SAST Tools
 
@@ -10,7 +10,7 @@
 
 ## Features
 
-1. Support some encoders on one device.
+1. Support up to 8 encoders on one device.
 
 ## Attention
 
diff --git a/version.txt b/version.txt
index a625450..9183195 100644
--- a/version.txt
+++ b/version.txt
@@ -1 +1 @@
-2.3.1
\ No newline at end of file
+2.4.0
\ No newline at end of file
diff --git a/zh_encoder.c b/zh_encoder.c
index 075d9ef..5667639 100644
--- a/zh_encoder.c
+++ b/zh_encoder.c
@@ -22,7 +22,7 @@ static portMUX_TYPE _spinlock = portMUX_INITIALIZER_UNLOCKED;
 
 volatile static uint8_t _encoder_counter = 0;
 static zh_encoder_stats_t _stats = {0};
-volatile static uint8_t _encoder_number_matrix[CONFIG_SOC_PCNT_UNITS_PER_GROUP] = {0};
+volatile static uint8_t _encoder_number_matrix[8] = {0};
 
 static esp_err_t _zh_encoder_validate_config(const zh_encoder_init_config_t *config, zh_encoder_handle_t *handle);
 static esp_err_t _zh_encoder_pcnt_init(const zh_encoder_init_config_t *config, zh_encoder_handle_t *handle);