diff --git a/library.properties b/library.properties
index ebd907a..81d6f9a 100644
--- a/library.properties
+++ b/library.properties
@@ -1,5 +1,5 @@
 name=Adafruit SleepyDog Library
-version=1.6.4
+version=1.6.5
 author=Adafruit
 maintainer=Adafruit <info@adafruit.com>
 sentence=Arduino library to use the watchdog timer for system reset and low power sleep.
diff --git a/utility/WatchdogESP32.cpp b/utility/WatchdogESP32.cpp
index 006fc34..2b983eb 100644
--- a/utility/WatchdogESP32.cpp
+++ b/utility/WatchdogESP32.cpp
@@ -16,12 +16,24 @@ int WatchdogESP32::enable(int maxPeriodMS) {
   if (maxPeriodMS < 0)
     return 0;
 
-  // ESP32 expects TWDT in seconds
+#if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(5, 1, 1)
+  // Initialize the wdt configuration for ESP-IDF v5.x and above
+  esp_task_wdt_config_t wdt_config = {
+      .timeout_ms = (uint32_t)maxPeriodMS,
+      .idle_core_mask = 0, // Subscribe to the idle task on the APP CPU
+      .trigger_panic = true,
+  };
+  // TWDT already initialized by the RTOS, reconfigure it
+  esp_err_t err = esp_task_wdt_reconfigure(&wdt_config);
+#else
+  // IDF V4.x and below expect TWDT in seconds
   uint32_t maxPeriod = maxPeriodMS / 1000;
   // Enable the TWDT and execute the esp32 panic handler when TWDT times out
   esp_err_t err = esp_task_wdt_init(maxPeriod, true);
+#endif
+
   if (err != ESP_OK)
-    return 0; // Initialization failed due to lack of memory
+    return 0; // Failed to initialize TWDT
 
   // NULL to subscribe the current running task to the TWDT
   err = esp_task_wdt_add(NULL);