diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index 2616e9a..d28fb41 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -28,7 +28,6 @@ after_script:
   # Just for cleaning space, no other causes
   - git clean -ffdx
 
-
 # This template gets expanded multiple times, once for every IDF version.
 # IDF version is specified by setting the espressif/idf image tag.
 #
@@ -59,26 +58,36 @@ build_idf_v4.2:
   image: espressif/idf:release-v4.2
   variables:
     EXAMPLE_TARGETS: "esp32 esp32s2"
+    TEST_TARGETS: "esp32 esp32s2"
 
 build_idf_v4.3:
   extends: .build_template
   image: espressif/idf:release-v4.3
   variables:
     EXAMPLE_TARGETS: "esp32 esp32s2 esp32c3"
+    TEST_TARGETS: "esp32 esp32s2 esp32c3"
 
 build_idf_v4.4:
   extends: .build_template
   image: espressif/idf:release-v4.4
   variables:
     EXAMPLE_TARGETS: "esp32 esp32s2 esp32s3 esp32c3"
-    TEST_TARGETS: "esp32 esp32s3"
+    TEST_TARGETS: "esp32 esp32s2 esp32s3 esp32c3"
+
+build_idf_v5.0:
+  extends: .build_template
+  image: espressif/idf:release-v5.0
+  variables:
+    EXAMPLE_TARGETS: "esp32 esp32s2 esp32s3 esp32c2 esp32c3"
+    TEST_TARGETS: "esp32 esp32s2 esp32s3 esp32c2 esp32c3"
+    SKIP_GNU_MAKE_BUILD: 1
 
 build_idf_latest:
   extends: .build_template
   image: espressif/idf:latest
   variables:
-    EXAMPLE_TARGETS: "esp32 esp32s2 esp32s3 esp32c3 esp32c2"
-    TEST_TARGETS: "esp32 esp32s3 esp32c2"
+    EXAMPLE_TARGETS: "esp32 esp32s2 esp32s3 esp32c3 esp32c2 esp32c6"
+    TEST_TARGETS: "esp32 esp32s2 esp32s3 esp32c3 esp32c2 esp32c6"
     # GNU Make based build system is not supported starting from IDF v5.0
     SKIP_GNU_MAKE_BUILD: 1
 
diff --git a/build_all.sh b/build_all.sh
index 6fe4402..0be0e57 100755
--- a/build_all.sh
+++ b/build_all.sh
@@ -59,10 +59,15 @@ function build_for_targets
 
         echo "${STARS}"
         echo "Building in $PWD with CMake for ${IDF_TARGET}"
+        preview_target=
+        if [[ ${IDF_TARGET} == "esp32c6" ]]
+        then
+            preview_target="--preview"
+        fi
         if [[ ${IDF_TARGET} != "esp32" ]]
         then
             # IDF 4.0 doesn't support idf.py set-target, and only supports esp32.
-            idf.py set-target "${IDF_TARGET}"
+            idf.py ${preview_target} set-target "${IDF_TARGET}"
         fi
         idf.py build || die "CMake build in ${PWD} has failed for ${IDF_TARGET}"
         idf.py fullclean