diff --git a/CMakeLists.txt b/CMakeLists.txt
index 43aedfd..e165d47 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1 +1,6 @@
-idf_component_register(SRCS "zh_inclinometer.c" INCLUDE_DIRS "include" REQUIRES driver)
\ No newline at end of file
+if(${IDF_VERSION_MAJOR} STREQUAL 6)
+    set(requires esp_driver_gpio esp_driver_pcnt)
+else()
+    set(requires driver)
+endif()
+idf_component_register(SRCS "zh_inclinometer.c" INCLUDE_DIRS "include" REQUIRES ${requires})
\ No newline at end of file
diff --git a/README.md b/README.md
index 5f89d2b..d85a326 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
 
diff --git a/version.txt b/version.txt
index 7c32728..e3a4f19 100644
--- a/version.txt
+++ b/version.txt
@@ -1 +1 @@
-2.1.1
\ No newline at end of file
+2.2.0
\ No newline at end of file