diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index 40ff18d..82045fe 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -13,7 +13,7 @@ jobs:
         # https://docs.espressif.com/projects/esp-idf/en/latest/esp32/api-guides/tools/idf-docker-image.html
         # for details.
         idf_ver: ["release-v4.4", "release-v5.1"]
-        idf_target: ["esp32", "esp32s3", "esp32c3"]
+        idf_target: ["esp32", "esp32s3", "esp32c3", "esp32c6"]
         example:
           - Advanced/NimBLE_Client
           - Advanced/NimBLE_Server
@@ -32,6 +32,8 @@ jobs:
             example: Bluetooth_5/NimBLE_extended_server
           - idf_target: "esp32"
             example: Bluetooth_5/NimBLE_multi_advertiser
+          - idf_ver: release-v4.4
+            idf_target: esp32c6
 
     container: espressif/idf:${{ matrix.idf_ver }}
     steps:
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 0458198..d1b518d 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -29,6 +29,7 @@ idf_component_register(
     "esp32"
     "esp32s3"
     "esp32c3"
+    "esp32c6"
   INCLUDE_DIRS
     "src"
   SRCS
diff --git a/src/NimBLEDevice.cpp b/src/NimBLEDevice.cpp
index 8f7627c..eb9c177 100644
--- a/src/NimBLEDevice.cpp
+++ b/src/NimBLEDevice.cpp
@@ -23,7 +23,9 @@
 #  include "esp_bt.h"
 #  include "nvs_flash.h"
 #  if defined(CONFIG_NIMBLE_CPP_IDF)
-#    include "esp_nimble_hci.h"
+#    if (ESP_IDF_VERSION < ESP_IDF_VERSION_VAL(5, 0, 0) || CONFIG_BT_NIMBLE_LEGACY_VHCI_ENABLE)
+#       include "esp_nimble_hci.h"
+#    endif
 #    include "nimble/nimble_port.h"
 #    include "nimble/nimble_port_freertos.h"
 #    include "host/ble_hs.h"