diff --git a/CMakeLists.txt b/CMakeLists.txt
new file mode 100644
index 00000000..0efbb93f
--- /dev/null
+++ b/CMakeLists.txt
@@ -0,0 +1,4 @@
+idf_component_register(SRC_DIRS src/source
+                       INCLUDE_DIRS "src"
+)
+target_compile_options(${COMPONENT_LIB} PRIVATE -Wfatal-errors)
diff --git a/src/TMCStepper.h b/src/TMCStepper.h
index 566b1fb7..e662728f 100644
--- a/src/TMCStepper.h
+++ b/src/TMCStepper.h
@@ -32,6 +32,9 @@
 	#include <bcm2835.h>
 	#include "source/bcm2835_spi.h"
 	#include "source/bcm2835_stream.h"
+#elif defined(ESP_PLATFORM)
+	#include "source/ESP32_Serial.h"
+	#include "source/ESP32_SPI.h"
 #elif defined(__has_include)
 	#if __has_include(<Arduino.h>)
 		#include <Arduino.h>
diff --git a/src/source/ESP32_Adapter.cpp b/src/source/ESP32_Adapter.cpp
new file mode 100644
index 00000000..8800db21
--- /dev/null
+++ b/src/source/ESP32_Adapter.cpp
@@ -0,0 +1,25 @@
+#include "ESP32_Adapter.h"
+
+#ifdef ESP_PLATFORM
+    void pinMode( uint16_t num, gpio_dir_t mode ) {
+        switch( mode ) {
+            case OUTPUT:
+                gpio_set_direction( (gpio_num_t)num, GPIO_MODE_OUTPUT );
+                break;
+            case INPUT:
+                gpio_set_direction( (gpio_num_t)num, GPIO_MODE_INPUT );
+                gpio_set_pull_mode( (gpio_num_t)num, GPIO_FLOATING );
+                break;
+            case INPUT_PULLUP:
+                gpio_set_direction( (gpio_num_t)num, GPIO_MODE_INPUT );
+                gpio_set_pull_mode( (gpio_num_t)num, GPIO_PULLUP_ONLY );
+                break;
+        }
+    }
+    void digitalWrite( uint16_t num, uint32_t level ) {
+        gpio_set_level( (gpio_num_t)num, level );
+    }
+    int digitalRead( uint16_t num ) {
+        return gpio_get_level( (gpio_num_t)num );
+    }
+#endif
diff --git a/src/source/ESP32_Adapter.h b/src/source/ESP32_Adapter.h
new file mode 100644
index 00000000..244fa748
--- /dev/null
+++ b/src/source/ESP32_Adapter.h
@@ -0,0 +1,16 @@
+#pragma once
+
+#ifdef ESP_PLATFORM
+	#include <cstdint>
+	#include <driver/gpio.h>
+	#define LOW  0
+	#define HIGH 1
+	typedef enum {
+		OUTPUT,
+		INPUT,
+		INPUT_PULLUP
+	} gpio_dir_t;
+	void pinMode( uint16_t num, gpio_dir_t mode );
+	void digitalWrite( uint16_t num, uint32_t level );
+	int digitalRead( uint16_t num );
+#endif
diff --git a/src/source/ESP32_SPI.cpp b/src/source/ESP32_SPI.cpp
new file mode 100644
index 00000000..dc91aa55
--- /dev/null
+++ b/src/source/ESP32_SPI.cpp
@@ -0,0 +1,7 @@
+#ifdef ESP_PLATFORM
+
+#include "ESP32_SPI.h"
+
+SPIClass SPI;
+
+#endif
diff --git a/src/source/ESP32_SPI.h b/src/source/ESP32_SPI.h
new file mode 100644
index 00000000..0e870ee4
--- /dev/null
+++ b/src/source/ESP32_SPI.h
@@ -0,0 +1,48 @@
+#pragma once
+
+/*
+****************************************************
+DUMMY IMPLEMENTATION
+****************************************************
+DOES NOT ACTUALLY DO ANYTHING
+****************************************************
+*/
+
+#ifdef ESP_PLATFORM
+
+#include <cstdint>
+
+#define MSBFIRST 0
+#define SPI_MODE0 0
+#define SPI_MODE1 1
+#define SPI_MODE2 2
+#define SPI_MODE3 3
+
+class SPIClass;
+
+struct SPISettings
+{
+	friend class SPIClass;
+	SPISettings(uint32_t s, uint32_t o, uint32_t m) {
+		speed = s;
+		order = o;
+		mode = m;
+	}
+
+	uint32_t speed;
+	uint32_t order;
+	uint32_t mode;
+};
+
+class SPIClass
+{
+public:
+	void beginTransaction(SPISettings settings) {}
+	void endTransaction() {}
+	uint8_t transfer(uint8_t) {
+		return 0;
+	}
+};
+
+extern SPIClass SPI;
+#endif
diff --git a/src/source/ESP32_Serial.cpp b/src/source/ESP32_Serial.cpp
new file mode 100644
index 00000000..07c6ec70
--- /dev/null
+++ b/src/source/ESP32_Serial.cpp
@@ -0,0 +1,80 @@
+#include "ESP32_Serial.h"
+
+#ifdef ESP_PLATFORM
+
+	#define LOG_LOCAL_LEVEL ESP_LOG_INFO
+	#define TAG_EPS32_SERIAL "ESP32_UART"
+	#include <esp_log.h>
+	#include <hal/gpio_types.h>
+
+	ESP32_Serial::ESP32_Serial( int baud_rate, int rx_pin, int tx_pin, uart_port_t uart_num_new ) {
+		uart_num = uart_num_new;
+		ready = false;
+		uart_config_t uart_config = {
+			.baud_rate = baud_rate,
+			.data_bits = UART_DATA_8_BITS,
+			.parity    = UART_PARITY_DISABLE,
+			.stop_bits = UART_STOP_BITS_1,
+			.flow_ctrl = UART_HW_FLOWCTRL_DISABLE,
+			.rx_flow_ctrl_thresh = 0,
+			.source_clk = UART_SCLK_APB,
+		};
+		if( ESP_OK == uart_driver_install( uart_num, 2048, 0, 0, NULL, 0 ) ) {
+			if( ESP_OK == uart_param_config( uart_num, &uart_config ) ) {
+				if( ESP_OK == uart_set_pin( uart_num, tx_pin, rx_pin, UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE ) ) {
+					ready = true;
+				}
+				else {
+					ESP_LOGE( TAG_EPS32_SERIAL, "Unable to set UART pins." );
+				}
+			}
+			else {
+				ESP_LOGE( TAG_EPS32_SERIAL, "Unable to configure UART." );
+			}
+		}
+		else {
+			ESP_LOGE( TAG_EPS32_SERIAL, "Unable to install UART driver." );
+		}
+	}
+
+	int16_t ESP32_Serial::read() {
+		if( !ready ) {
+			ESP_LOGE( TAG_EPS32_SERIAL, "Trying to read from not ready UART." );
+			return -1;
+		}
+		uint8_t data = 0;
+		int len = uart_read_bytes( uart_num, &data, 1, 0 );
+		ESP_LOGD( TAG_EPS32_SERIAL, "Read data: %X (length %d)", data, len );
+		if( len < 1 ) return -1;
+		else return data;
+	}
+
+	uint8_t ESP32_Serial::write( const uint8_t data ) {
+		if( !ready ) {
+			ESP_LOGE( TAG_EPS32_SERIAL, "Trying to write to not ready UART." );
+			return 0;
+		}
+		ESP_LOGD( TAG_EPS32_SERIAL, "Write data: %X", data );
+		int len = uart_write_bytes( uart_num, (const char*)&data, 1);
+		ESP_LOGD( TAG_EPS32_SERIAL, "Number of bytes written: %d", len );
+		if( len < 1 ) return 0;
+		else return len;
+	}
+
+	size_t ESP32_Serial::available() {
+		if( !ready ) {
+			ESP_LOGE( TAG_EPS32_SERIAL, "Trying to get available bytes from not ready UART." );
+			return 0;
+		}
+		size_t len = 0;
+		if( ESP_OK == uart_get_buffered_data_len( uart_num, &len ) ) {
+			ESP_LOGD( TAG_EPS32_SERIAL, "Number of bytes available: %d", len );
+			return len;
+		}
+		else {
+			ESP_LOGE( TAG_EPS32_SERIAL, "Error getting available bytes." );
+			return 0;
+		}
+	}
+
+#endif // ESP_PLATFORM
diff --git a/src/source/ESP32_Serial.h b/src/source/ESP32_Serial.h
new file mode 100644
index 00000000..33a8026f
--- /dev/null
+++ b/src/source/ESP32_Serial.h
@@ -0,0 +1,20 @@
+#pragma once
+
+#ifdef ESP_PLATFORM
+	#include <cstdint>
+
+	#include <driver/uart.h>
+
+	class ESP32_Serial {
+		public:
+			ESP32_Serial( int baud_rate, int rx_pin = 16, int tx_pin = 17, uart_port_t uart_num_new = UART_NUM_2 );
+
+			int16_t read();
+			uint8_t write( const uint8_t data );
+			size_t available();
+
+		private:
+			bool ready;
+			uart_port_t uart_num;
+	};
+#endif
diff --git a/src/source/SERIAL_SWITCH.cpp b/src/source/SERIAL_SWITCH.cpp
index 62545bf1..4587b31f 100644
--- a/src/source/SERIAL_SWITCH.cpp
+++ b/src/source/SERIAL_SWITCH.cpp
@@ -3,6 +3,7 @@
  * SERIAL_SWITCH.cpp - Serial Switch for Arduino / Raspberry Pi
  */
 #include "SERIAL_SWITCH.h"
+#include "ESP32_Adapter.h"
 
 SSwitch::SSwitch( const uint16_t pin1, const uint16_t pin2, const uint8_t address) :
   p1(pin1),
diff --git a/src/source/SERIAL_SWITCH.h b/src/source/SERIAL_SWITCH.h
index 9f06be45..e8e606fb 100644
--- a/src/source/SERIAL_SWITCH.h
+++ b/src/source/SERIAL_SWITCH.h
@@ -14,6 +14,7 @@
 		#include <Arduino.h>
 	#endif
 #endif
+#include <cstdint>
 
 #include "TMC_platforms.h"
 
diff --git a/src/source/SW_SPI.cpp b/src/source/SW_SPI.cpp
index cce83679..a4a25334 100644
--- a/src/source/SW_SPI.cpp
+++ b/src/source/SW_SPI.cpp
@@ -3,6 +3,7 @@
  * SW_SPI.cpp - Software SPI for Arduino or Raspberry Pi
  */
 #include "SW_SPI.h"
+#include "ESP32_Adapter.h"
 
 SW_SPIClass::SW_SPIClass(uint16_t mosi, uint16_t miso, uint16_t sck) :
   mosi_pin(mosi),
diff --git a/src/source/SW_SPI.h b/src/source/SW_SPI.h
index 4f852470..be679768 100644
--- a/src/source/SW_SPI.h
+++ b/src/source/SW_SPI.h
@@ -4,6 +4,8 @@
  */
 #pragma once
 
+#include <cstdint>
+
 #if defined(ARDUINO) && ARDUINO >= 100
 	#include <Arduino.h>
 #elif defined(bcm2835)
@@ -22,16 +24,16 @@ class SW_SPIClass {
 	public:
 		SW_SPIClass(uint16_t sw_mosi_pin, uint16_t sw_miso_pin, uint16_t sw_sck_pin);
 		void init();
-		void begin() {};
+		void begin() {}
 		uint8_t transfer(uint8_t ulVal);
 		uint16_t transfer16(uint16_t data);
-		void endTransaction() {};
+		void endTransaction() {}
 	private:
 		const uint16_t	mosi_pin,
 						miso_pin,
 						sck_pin;
 
-		#if defined(ARDUINO_ARCH_AVR)
+		#ifdef ARDUINO_ARCH_AVR
 			fastio_bm mosi_bm,
 					miso_bm,
 					sck_bm;
diff --git a/src/source/TMC2130Stepper.cpp b/src/source/TMC2130Stepper.cpp
index 46b9a585..c0ff3e67 100644
--- a/src/source/TMC2130Stepper.cpp
+++ b/src/source/TMC2130Stepper.cpp
@@ -9,16 +9,18 @@
 int8_t TMC2130Stepper::chain_length = 0;
 uint32_t TMC2130Stepper::spi_speed = 16000000/8;
 
-TMC2130Stepper::TMC2130Stepper(uint16_t pinCS, float RS, int8_t link) :
-  TMCStepper(RS),
-  _pinCS(pinCS),
-  link_index(link)
+#ifndef ESP_PLATFORM
+  TMC2130Stepper::TMC2130Stepper(uint16_t pinCS, float RS, int8_t link) :
+    TMCStepper(RS),
+    _pinCS(pinCS),
+    link_index(link)
   {
     defaults();
 
     if (link > chain_length)
       chain_length = link;
   }
+#endif
 
 TMC2130Stepper::TMC2130Stepper(uint16_t pinCS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link) :
   TMCStepper(default_RS),
diff --git a/src/source/TMC2130Stepper.h b/src/source/TMC2130Stepper.h
index 3a2649eb..7dddb6ff 100644
--- a/src/source/TMC2130Stepper.h
+++ b/src/source/TMC2130Stepper.h
@@ -10,7 +10,9 @@
 
 class TMC2130Stepper : public TMCStepper {
 	public:
-		TMC2130Stepper(uint16_t pinCS, float RS = default_RS, int8_t link_index = -1);
+		#ifndef ESP_PLATFORM
+			TMC2130Stepper(uint16_t pinCS, float RS = default_RS, int8_t link_index = -1);
+		#endif
 		TMC2130Stepper(uint16_t pinCS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link_index = -1);
 		TMC2130Stepper(uint16_t pinCS, float RS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link_index = -1);
 		void begin();
diff --git a/src/source/TMC2160Stepper.cpp b/src/source/TMC2160Stepper.cpp
index 1ce3bd46..afed2896 100644
--- a/src/source/TMC2160Stepper.cpp
+++ b/src/source/TMC2160Stepper.cpp
@@ -6,8 +6,10 @@
 #include "../TMCStepper.h"
 #include "TMC_MACROS.h"
 
-TMC2160Stepper::TMC2160Stepper(uint16_t pinCS, float RS, int8_t link) : TMC2130Stepper(pinCS, RS, link)
-  { defaults(); }
+#ifndef ESP_PLATFORM
+  TMC2160Stepper::TMC2160Stepper(uint16_t pinCS, float RS, int8_t link) : TMC2130Stepper(pinCS, RS, link)
+    { defaults(); }
+#endif
 TMC2160Stepper::TMC2160Stepper(uint16_t pinCS, float RS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link) :
   TMC2130Stepper(pinCS, RS, pinMOSI, pinMISO, pinSCK, link)
   { defaults(); }
diff --git a/src/source/TMC2160Stepper.h b/src/source/TMC2160Stepper.h
index d64d194a..e10135c3 100644
--- a/src/source/TMC2160Stepper.h
+++ b/src/source/TMC2160Stepper.h
@@ -10,7 +10,9 @@
 
 class TMC2160Stepper : public TMC2130Stepper {
 	public:
-		TMC2160Stepper(uint16_t pinCS, float RS = default_RS, int8_t link_index = -1);
+		#ifndef ESP_PLATFORM
+			TMC2160Stepper(uint16_t pinCS, float RS = default_RS, int8_t link_index = -1);
+		#endif
 		TMC2160Stepper(uint16_t pinCS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link_index = -1);
 		TMC2160Stepper(uint16_t pinCS, float RS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link_index = -1);
 		void begin();
diff --git a/src/source/TMC2208Stepper.cpp b/src/source/TMC2208Stepper.cpp
index a5dd227f..7ea91bb8 100644
--- a/src/source/TMC2208Stepper.cpp
+++ b/src/source/TMC2208Stepper.cpp
@@ -7,9 +7,21 @@
 #include "TMC_MACROS.h"
 #include "SERIAL_SWITCH.h"
 
+#ifdef ESP_PLATFORM
+	#include <esp32/rom/ets_sys.h>
+	#include <esp_timer.h>
+	uint32_t millis() {
+		return esp_timer_get_time() / 1000;
+	}
+#endif
+
 // Protected
 // addr needed for TMC2209
+#ifdef ESP_PLATFORM
+TMC2208Stepper::TMC2208Stepper(ESP32_Serial * SerialPort, float RS, uint8_t addr) :
+#else
 TMC2208Stepper::TMC2208Stepper(Stream * SerialPort, float RS, uint8_t addr) :
+#endif
 	TMCStepper(RS),
 	slave_address(addr)
 	{
@@ -17,7 +29,11 @@ TMC2208Stepper::TMC2208Stepper(Stream * SerialPort, float RS, uint8_t addr) :
 		defaults();
 	}
 
+#ifdef ESP_PLATFORM
+TMC2208Stepper::TMC2208Stepper( ESP32_Serial * SerialPort, float RS, uint8_t addr, uint16_t mul_pin1, uint16_t mul_pin2) :
+#else
 TMC2208Stepper::TMC2208Stepper(Stream * SerialPort, float RS, uint8_t addr, uint16_t mul_pin1, uint16_t mul_pin2) :
+#endif
 	TMC2208Stepper(SerialPort, RS)
 	{
 		SSwitch *SMulObj = new SSwitch(mul_pin1, mul_pin2, addr);
@@ -230,7 +246,11 @@ void TMC2208Stepper::write(uint8_t addr, uint32_t regVal) {
 	}
 	postWriteCommunication();
 
-	delay(replyDelay);
+	#ifdef ESP_PLATFORM
+		ets_delay_us( replyDelay * 1000 );
+	#else
+		delay(replyDelay);
+	#endif
 }
 
 uint64_t TMC2208Stepper::_sendDatagram(uint8_t datagram[], const uint8_t len, uint16_t timeout) {
@@ -251,7 +271,11 @@ uint64_t TMC2208Stepper::_sendDatagram(uint8_t datagram[], const uint8_t len, ui
 		}
 	#endif
 
-	delay(this->replyDelay);
+	#ifdef ESP_PLATFORM
+		ets_delay_us( replyDelay * 1000 );
+	#else
+		delay(this->replyDelay);
+	#endif
 
 	// scan for the rx frame and read it
 	uint32_t ms = millis();
@@ -323,7 +347,11 @@ uint32_t TMC2208Stepper::read(uint8_t addr) {
 		out = _sendDatagram(datagram, len, abort_window);
 		postReadCommunication();
 
-		delay(replyDelay);
+		#ifdef ESP_PLATFORM
+			ets_delay_us( replyDelay * 1000 );
+		#else
+			delay(replyDelay);
+		#endif
 
 		CRCerror = false;
 		uint8_t out_datagram[] = {
diff --git a/src/source/TMC2208Stepper.h b/src/source/TMC2208Stepper.h
index 23a0ffb1..bd9b4461 100644
--- a/src/source/TMC2208Stepper.h
+++ b/src/source/TMC2208Stepper.h
@@ -10,10 +10,17 @@
 
 class TMC2208Stepper : public TMCStepper {
 	public:
-		TMC2208Stepper(Stream * SerialPort, float RS, uint8_t addr, uint16_t mul_pin1, uint16_t mul_pin2);
-		TMC2208Stepper(Stream * SerialPort, float RS) :
-			TMC2208Stepper(SerialPort, RS, TMC2208_SLAVE_ADDR)
-			{}
+		#ifdef ESP_PLATFORM
+			TMC2208Stepper( ESP32_Serial * SerialPort, float RS, uint8_t addr, uint16_t mul_pin1, uint16_t mul_pin2);
+			TMC2208Stepper( ESP32_Serial * SerialPort, float RS) :
+				TMC2208Stepper(SerialPort, RS, TMC2208_SLAVE_ADDR)
+				{}
+		#else
+			TMC2208Stepper(Stream * SerialPort, float RS, uint8_t addr, uint16_t mul_pin1, uint16_t mul_pin2);
+			TMC2208Stepper(Stream * SerialPort, float RS) :
+				TMC2208Stepper(SerialPort, RS, TMC2208_SLAVE_ADDR)
+				{}
+		#endif
 		#if TMCSTEPPER_SW_SERIAL
 			TMC2208Stepper(uint16_t SW_RX_pin, uint16_t SW_TX_pin, float RS) :
 				TMC2208Stepper(SW_RX_pin, SW_TX_pin, RS, TMC2208_SLAVE_ADDR)
@@ -22,7 +29,7 @@ class TMC2208Stepper : public TMCStepper {
 			__attribute__((deprecated("Boolean argument has been deprecated and does nothing")))
 			TMC2208Stepper(uint16_t SW_RX_pin, uint16_t SW_TX_pin, float RS, bool) :
 				TMC2208Stepper(SW_RX_pin, SW_TX_pin, RS, TMC2208_SLAVE_ADDR)
-				{};
+				{}
 		#else
 			TMC2208Stepper(uint16_t, uint16_t, float) = delete; // Your platform does not currently support Software Serial
 		#endif
diff --git a/src/source/TMC2209Stepper.h b/src/source/TMC2209Stepper.h
index acc1a096..b563a83f 100644
--- a/src/source/TMC2209Stepper.h
+++ b/src/source/TMC2209Stepper.h
@@ -10,8 +10,13 @@
 
 class TMC2209Stepper : public TMC2208Stepper {
 	public:
-		TMC2209Stepper(Stream * SerialPort, float RS, uint8_t addr) :
-			TMC2208Stepper(SerialPort, RS, addr) {}
+		#ifdef ESP_PLATFORM
+			TMC2209Stepper(ESP32_Serial * SerialPort, float RS, uint8_t addr);
+			ESP32_Serial * HWSerial = nullptr;
+		#else
+			TMC2209Stepper(Stream * SerialPort, float RS, uint8_t addr) :
+				TMC2208Stepper(SerialPort, RS, addr) {}
+		#endif
 
 		#if TMCSTEPPER_SW_SERIAL
 			TMC2209Stepper(uint16_t SW_RX_pin, uint16_t SW_TX_pin, float RS, uint8_t addr) :
diff --git a/src/source/TMC5130Stepper.cpp b/src/source/TMC5130Stepper.cpp
index 7db963db..7734031e 100644
--- a/src/source/TMC5130Stepper.cpp
+++ b/src/source/TMC5130Stepper.cpp
@@ -6,8 +6,10 @@
 #include "../TMCStepper.h"
 #include "TMC_MACROS.h"
 
-TMC5130Stepper::TMC5130Stepper(uint16_t pinCS, float RS, int8_t link) : TMC2160Stepper(pinCS, RS, link)
-  { defaults(); }
+#ifndef ESP_PLATFORM
+  TMC5130Stepper::TMC5130Stepper(uint16_t pinCS, float RS, int8_t link) : TMC2160Stepper(pinCS, RS, link)
+    { defaults(); }
+#endif
 TMC5130Stepper::TMC5130Stepper(uint16_t pinCS, float RS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link):
   TMC2160Stepper(pinCS, RS, pinMOSI, pinMISO, pinSCK, link)
   { defaults(); }
diff --git a/src/source/TMC5130Stepper.h b/src/source/TMC5130Stepper.h
index b8461335..6e964df0 100644
--- a/src/source/TMC5130Stepper.h
+++ b/src/source/TMC5130Stepper.h
@@ -10,7 +10,9 @@
 
 class TMC5130Stepper : public TMC2160Stepper {
 	public:
-		TMC5130Stepper(uint16_t pinCS, float RS = default_RS, int8_t link_index = -1);
+		#ifndef ESP_PLATFORM
+			TMC5130Stepper(uint16_t pinCS, float RS = default_RS, int8_t link_index = -1);
+		#endif
 		TMC5130Stepper(uint16_t pinCS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link_index = -1);
 		TMC5130Stepper(uint16_t pinCS, float RS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link_index = -1);
 
diff --git a/src/source/TMC5160Stepper.cpp b/src/source/TMC5160Stepper.cpp
index 96e1d0b2..65c60883 100644
--- a/src/source/TMC5160Stepper.cpp
+++ b/src/source/TMC5160Stepper.cpp
@@ -6,8 +6,10 @@
 #include "../TMCStepper.h"
 #include "TMC_MACROS.h"
 
-TMC5160Stepper::TMC5160Stepper(uint16_t pinCS, float RS, int8_t link) : TMC5130Stepper(pinCS, RS, link)
-  { defaults(); }
+#ifndef ESP_PLATFORM
+  TMC5160Stepper::TMC5160Stepper(uint16_t pinCS, float RS, int8_t link) : TMC5130Stepper(pinCS, RS, link)
+    { defaults(); }
+#endif
 TMC5160Stepper::TMC5160Stepper(uint16_t pinCS, float RS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link) :
   TMC5130Stepper(pinCS, RS, pinMOSI, pinMISO, pinSCK, link)
   { defaults(); }
diff --git a/src/source/TMC5160Stepper.h b/src/source/TMC5160Stepper.h
index 39cbd729..f22d214e 100644
--- a/src/source/TMC5160Stepper.h
+++ b/src/source/TMC5160Stepper.h
@@ -10,7 +10,9 @@
 
 class TMC5160Stepper : public TMC5130Stepper {
 	public:
-		TMC5160Stepper(uint16_t pinCS, float RS = default_RS, int8_t link_index = -1);
+		#ifndef ESP_PLATFORM
+			TMC5160Stepper(uint16_t pinCS, float RS = default_RS, int8_t link_index = -1);
+		#endif
 		TMC5160Stepper(uint16_t pinCS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link_index = -1);
 		TMC5160Stepper(uint16_t pinCS, float RS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link_index = -1);
 
diff --git a/src/source/TMC5161Stepper.h b/src/source/TMC5161Stepper.h
index ad728561..98196290 100644
--- a/src/source/TMC5161Stepper.h
+++ b/src/source/TMC5161Stepper.h
@@ -8,7 +8,10 @@
 
 class TMC5161Stepper : public TMC5160Stepper {
 	public:
-		TMC5161Stepper(uint16_t pinCS, float RS = default_RS, int8_t link_index = -1) : TMC5160Stepper(pinCS, RS, link_index) {}
+		#ifndef ESP_PLATFORM
+			TMC5161Stepper(uint16_t pinCS, float RS = default_RS, int8_t link_index = -1) :
+				TMC5160Stepper(pinCS, RS, link_index) {}
+		#endif
 		TMC5161Stepper(uint16_t pinCS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link_index = -1) :
 			TMC5160Stepper(pinCS, pinMOSI, pinMISO, pinSCK, link_index) {}
 		TMC5161Stepper(uint16_t pinCS, float RS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link_index = -1) :
diff --git a/src/source/TMC_platforms.h b/src/source/TMC_platforms.h
index 483e4908..cb753ee0 100644
--- a/src/source/TMC_platforms.h
+++ b/src/source/TMC_platforms.h
@@ -4,6 +4,8 @@
  *
  * Define SPI accessors for AVR, DUE (700kHz), LPC1768, STM32, DUE (116kHz)
  */
+#include "ESP32_Adapter.h"
+
 #ifdef ARDUINO_ARCH_AVR // 125kHz
   typedef volatile uint8_t* fastio_reg;
   typedef uint8_t fastio_bm;