diff --git a/esphome/components/camera_encoder/__init__.py b/esphome/components/camera_encoder/__init__.py
index 89181d27b4..a0c59a517a 100644
--- a/esphome/components/camera_encoder/__init__.py
+++ b/esphome/components/camera_encoder/__init__.py
@@ -50,7 +50,7 @@ async def to_code(config: ConfigType) -> None:
     buffer = cg.new_Pvariable(config[CONF_ENCODER_BUFFER_ID])
     cg.add(buffer.set_buffer_size(config[CONF_BUFFER_SIZE]))
     if config[CONF_TYPE] == ESP32_CAMERA_ENCODER:
-        add_idf_component(name="espressif/esp32-camera", ref="2.1.1")
+        add_idf_component(name="espressif/esp32-camera", ref="2.1.5")
         cg.add_define("USE_ESP32_CAMERA_JPEG_ENCODER")
         var = cg.new_Pvariable(
             config[CONF_ID],
diff --git a/esphome/components/esp32_camera/__init__.py b/esphome/components/esp32_camera/__init__.py
index 3a5d87792b..afab849a7c 100644
--- a/esphome/components/esp32_camera/__init__.py
+++ b/esphome/components/esp32_camera/__init__.py
@@ -400,7 +400,7 @@ async def to_code(config):
     if config[CONF_JPEG_QUALITY] != 0 and config[CONF_PIXEL_FORMAT] != "JPEG":
         cg.add_define("USE_ESP32_CAMERA_JPEG_CONVERSION")
 
-    add_idf_component(name="espressif/esp32-camera", ref="2.1.1")
+    add_idf_component(name="espressif/esp32-camera", ref="2.1.5")
     add_idf_sdkconfig_option("CONFIG_SCCB_HARDWARE_I2C_DRIVER_NEW", True)
     add_idf_sdkconfig_option("CONFIG_SCCB_HARDWARE_I2C_DRIVER_LEGACY", False)
 
diff --git a/esphome/components/ledc/ledc_output.cpp b/esphome/components/ledc/ledc_output.cpp
index 592fc7bd0c..a3d1e4d392 100644
--- a/esphome/components/ledc/ledc_output.cpp
+++ b/esphome/components/ledc/ledc_output.cpp
@@ -5,10 +5,9 @@
 
 #include <driver/ledc.h>
 #include <cinttypes>
+#include <esp_idf_version.h>
 #include <esp_private/periph_ctrl.h>
-#if !defined(SOC_LEDC_SUPPORT_FADE_STOP)
 #include <hal/ledc_ll.h>
-#endif
 
 #define CLOCK_FREQUENCY 80e6f
 
@@ -161,7 +160,14 @@ void LEDCOutput::write_state(float state) {
 void LEDCOutput::setup() {
   if (!ledc_peripheral_reset_done) {
     ESP_LOGV(TAG, "Resetting LEDC peripheral to clear stale state after reboot");
+#if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(6, 0, 0)
+    PERIPH_RCC_ATOMIC() {
+      ledc_ll_enable_reset_reg(true);
+      ledc_ll_enable_reset_reg(false);
+    }
+#else
     periph_module_reset(PERIPH_LEDC_MODULE);
+#endif
     ledc_peripheral_reset_done = true;
   }
 
diff --git a/esphome/components/mipi_dsi/mipi_dsi.cpp b/esphome/components/mipi_dsi/mipi_dsi.cpp
index 7103e0868d..e8e9ca2bfb 100644
--- a/esphome/components/mipi_dsi/mipi_dsi.cpp
+++ b/esphome/components/mipi_dsi/mipi_dsi.cpp
@@ -87,7 +87,9 @@ void MIPI_DSI::setup() {
                                                    .vsync_front_porch = this->vsync_front_porch_,
                                                },
                                            .flags = {
+#if ESP_IDF_VERSION < ESP_IDF_VERSION_VAL(6, 0, 0)
                                                .use_dma2d = true,
+#endif
                                            }};
   // clang-format on
   err = esp_lcd_new_panel_dpi(this->bus_handle_, &dpi_config, &this->handle_);
@@ -95,6 +97,13 @@ void MIPI_DSI::setup() {
     this->smark_failed(LOG_STR("esp_lcd_new_panel_dpi failed"), err);
     return;
   }
+#if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(6, 0, 0)
+  err = esp_lcd_dpi_panel_enable_dma2d(this->handle_);
+  if (err != ESP_OK) {
+    this->smark_failed(LOG_STR("esp_lcd_dpi_panel_enable_dma2d failed"), err);
+    return;
+  }
+#endif
   if (this->reset_pin_ != nullptr) {
     this->reset_pin_->setup();
     this->reset_pin_->digital_write(true);
diff --git a/esphome/components/online_image/online_image.cpp b/esphome/components/online_image/online_image.cpp
index da866599c9..22bf6a3056 100644
--- a/esphome/components/online_image/online_image.cpp
+++ b/esphome/components/online_image/online_image.cpp
@@ -129,7 +129,7 @@ void OnlineImage::update() {
   }
 
   ESP_LOGI(TAG, "Downloading image (Size: %zu)", total_size);
-  this->start_time_ = ::time(nullptr);
+  this->start_time_ = millis();
   this->enable_loop();
 }
 
@@ -155,8 +155,8 @@ void OnlineImage::loop() {
     // Finalize decoding
     this->end_decode();
 
-    ESP_LOGD(TAG, "Image fully downloaded, %zu bytes in %" PRIu32 "s", this->downloader_->get_bytes_read(),
-             (uint32_t) (::time(nullptr) - this->start_time_));
+    ESP_LOGD(TAG, "Image fully downloaded, %zu bytes in %" PRIu32 " ms", this->downloader_->get_bytes_read(),
+             millis() - this->start_time_);
 
     // Save caching headers
     this->etag_ = this->downloader_->get_response_header(ETAG_HEADER_NAME);
diff --git a/esphome/components/online_image/online_image.h b/esphome/components/online_image/online_image.h
index c7c80c7c66..12c2564526 100644
--- a/esphome/components/online_image/online_image.h
+++ b/esphome/components/online_image/online_image.h
@@ -97,7 +97,7 @@ class OnlineImage : public PollingComponent,
    */
   std::string last_modified_ = "";
 
-  time_t start_time_;
+  uint32_t start_time_{0};
 };
 
 template<typename... Ts> class OnlineImageSetUrlAction : public Action<Ts...> {
diff --git a/esphome/components/output/float_output.cpp b/esphome/components/output/float_output.cpp
index 3b83c85716..46014e0903 100644
--- a/esphome/components/output/float_output.cpp
+++ b/esphome/components/output/float_output.cpp
@@ -11,16 +11,10 @@ void FloatOutput::set_max_power(float max_power) {
   this->max_power_ = clamp(max_power, this->min_power_, 1.0f);  // Clamp to MIN>=MAX>=1.0
 }
 
-float FloatOutput::get_max_power() const { return this->max_power_; }
-
 void FloatOutput::set_min_power(float min_power) {
   this->min_power_ = clamp(min_power, 0.0f, this->max_power_);  // Clamp to 0.0>=MIN>=MAX
 }
 
-void FloatOutput::set_zero_means_zero(bool zero_means_zero) { this->zero_means_zero_ = zero_means_zero; }
-
-float FloatOutput::get_min_power() const { return this->min_power_; }
-
 void FloatOutput::set_level(float state) {
   state = clamp(state, 0.0f, 1.0f);
 
diff --git a/esphome/components/output/float_output.h b/esphome/components/output/float_output.h
index 3e2b3ada8d..5225f88c66 100644
--- a/esphome/components/output/float_output.h
+++ b/esphome/components/output/float_output.h
@@ -48,9 +48,9 @@ class FloatOutput : public BinaryOutput {
 
   /** Sets this output to ignore min_power for a 0 state
    *
-   * @param zero True if a 0 state should mean 0 and not min_power.
+   * @param zero_means_zero True if a 0 state should mean 0 and not min_power.
    */
-  void set_zero_means_zero(bool zero_means_zero);
+  void set_zero_means_zero(bool zero_means_zero) { this->zero_means_zero_ = zero_means_zero; }
 
   /** Set the level of this float output, this is called from the front-end.
    *
@@ -70,10 +70,10 @@ class FloatOutput : public BinaryOutput {
   // (In most use cases you won't need these)
 
   /// Get the maximum power output.
-  float get_max_power() const;
+  float get_max_power() const { return this->max_power_; }
 
   /// Get the minimum power output.
-  float get_min_power() const;
+  float get_min_power() const { return this->min_power_; }
 
  protected:
   /// Implement BinarySensor's write_enabled; this should never be called.
diff --git a/esphome/components/psram/__init__.py b/esphome/components/psram/__init__.py
index 39afb407f1..9b364584ff 100644
--- a/esphome/components/psram/__init__.py
+++ b/esphome/components/psram/__init__.py
@@ -8,6 +8,7 @@ from esphome.components.esp32 import (
     CONF_ENABLE_IDF_EXPERIMENTAL_FEATURES,
     VARIANT_ESP32,
     VARIANT_ESP32C5,
+    VARIANT_ESP32C61,
     VARIANT_ESP32P4,
     VARIANT_ESP32S2,
     VARIANT_ESP32S3,
@@ -53,6 +54,7 @@ CONF_ENABLE_ECC = "enable_ecc"
 SPIRAM_MODES = {
     VARIANT_ESP32: (TYPE_QUAD,),
     VARIANT_ESP32C5: (TYPE_QUAD,),
+    VARIANT_ESP32C61: (TYPE_QUAD,),
     VARIANT_ESP32S2: (TYPE_QUAD,),
     VARIANT_ESP32S3: (TYPE_QUAD, TYPE_OCTAL),
     VARIANT_ESP32P4: (TYPE_HEX,),
@@ -62,6 +64,7 @@ SPIRAM_MODES = {
 SPIRAM_SPEEDS = {
     VARIANT_ESP32: (40, 80, 120),
     VARIANT_ESP32C5: (40, 80, 120),
+    VARIANT_ESP32C61: (40, 80),
     VARIANT_ESP32S2: (40, 80, 120),
     VARIANT_ESP32S3: (40, 80, 120),
     VARIANT_ESP32P4: (20, 100, 200),
@@ -178,9 +181,6 @@ async def to_code(config):
         if config[CONF_MODE] == TYPE_OCTAL:
             cg.add_platformio_option("board_build.arduino.memory_type", "qio_opi")
 
-    add_idf_sdkconfig_option(
-        f"CONFIG_{get_esp32_variant().upper()}_SPIRAM_SUPPORT", True
-    )
     add_idf_sdkconfig_option("CONFIG_SOC_SPIRAM_SUPPORTED", True)
     add_idf_sdkconfig_option("CONFIG_SPIRAM", True)
     add_idf_sdkconfig_option("CONFIG_SPIRAM_USE", True)
@@ -195,11 +195,19 @@ async def to_code(config):
     speed = int(config[CONF_SPEED][:-3])
     add_idf_sdkconfig_option(f"CONFIG_SPIRAM_SPEED_{speed}M", True)
     add_idf_sdkconfig_option("CONFIG_SPIRAM_SPEED", speed)
-    if config[CONF_MODE] == TYPE_OCTAL and speed == 120:
-        add_idf_sdkconfig_option("CONFIG_ESPTOOLPY_FLASHFREQ_120M", True)
-        if CORE.data[KEY_CORE][KEY_FRAMEWORK_VERSION] >= cv.Version(5, 4, 0):
+    if speed == 120:
+        variant = get_esp32_variant()
+        # On chips with MSPI timing tuning, FLASH and PSRAM share the core
+        # clock so flash frequency must match PSRAM frequency.
+        # ESP32 and ESP32-S2 don't have this constraint.
+        if variant not in (VARIANT_ESP32, VARIANT_ESP32S2):
+            add_idf_sdkconfig_option("CONFIG_ESPTOOLPY_FLASHFREQ_120M", True)
+        if config[CONF_MODE] == TYPE_OCTAL and CORE.data[KEY_CORE][
+            KEY_FRAMEWORK_VERSION
+        ] >= cv.Version(5, 4, 0):
             add_idf_sdkconfig_option(
-                "CONFIG_SPIRAM_TIMING_TUNING_POINT_VIA_TEMPERATURE_SENSOR", True
+                "CONFIG_SPIRAM_TIMING_TUNING_POINT_VIA_TEMPERATURE_SENSOR",
+                True,
             )
     if config[CONF_ENABLE_ECC]:
         add_idf_sdkconfig_option("CONFIG_SPIRAM_ECC_ENABLE", True)
diff --git a/esphome/components/sha256/sha256.cpp b/esphome/components/sha256/sha256.cpp
index 23995e6534..079665c959 100644
--- a/esphome/components/sha256/sha256.cpp
+++ b/esphome/components/sha256/sha256.cpp
@@ -8,7 +8,28 @@
 
 namespace esphome::sha256 {
 
-#if defined(USE_ESP32) || defined(USE_LIBRETINY)
+#if defined(USE_SHA256_PSA)
+
+// ESP-IDF 6.0 ships mbedtls 4.0 which removed the legacy mbedtls_sha256_* API.
+// Use the PSA Crypto API instead. PSA crypto is auto-initialized by ESP-IDF
+// at startup, so no psa_crypto_init() call is needed.
+
+SHA256::~SHA256() { psa_hash_abort(&this->op_); }
+
+void SHA256::init() {
+  psa_hash_abort(&this->op_);
+  this->op_ = PSA_HASH_OPERATION_INIT;
+  psa_hash_setup(&this->op_, PSA_ALG_SHA_256);
+}
+
+void SHA256::add(const uint8_t *data, size_t len) { psa_hash_update(&this->op_, data, len); }
+
+void SHA256::calculate() {
+  size_t hash_length;
+  psa_hash_finish(&this->op_, this->digest_, sizeof(this->digest_), &hash_length);
+}
+
+#elif defined(USE_SHA256_MBEDTLS)
 
 // CRITICAL ESP32 HARDWARE SHA ACCELERATION REQUIREMENTS (IDF 5.5.x):
 //
diff --git a/esphome/components/sha256/sha256.h b/esphome/components/sha256/sha256.h
index bafb359485..0f995fcd91 100644
--- a/esphome/components/sha256/sha256.h
+++ b/esphome/components/sha256/sha256.h
@@ -10,7 +10,20 @@
 #include <memory>
 #include "esphome/core/hash_base.h"
 
-#if defined(USE_ESP32) || defined(USE_LIBRETINY)
+#if defined(USE_ESP32)
+#include <esp_idf_version.h>
+#if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(6, 0, 0)
+// mbedtls 4.0 (IDF 6.0) removed the legacy mbedtls_sha256_* API.
+// Use the PSA Crypto API instead. PSA crypto is auto-initialized by
+// ESP-IDF at startup (esp_psa_crypto_init.c, priority 104).
+#define USE_SHA256_PSA
+#include <psa/crypto.h>
+#else
+#define USE_SHA256_MBEDTLS
+#include "mbedtls/sha256.h"
+#endif
+#elif defined(USE_LIBRETINY)
+#define USE_SHA256_MBEDTLS
 #include "mbedtls/sha256.h"
 #elif defined(USE_ESP8266) || defined(USE_RP2040)
 #include <bearssl/bearssl_hash.h>
@@ -51,7 +64,9 @@ class SHA256 : public esphome::HashBase {
   size_t get_size() const override { return 32; }
 
  protected:
-#if defined(USE_ESP32) || defined(USE_LIBRETINY)
+#if defined(USE_SHA256_PSA)
+  psa_hash_operation_t op_ = PSA_HASH_OPERATION_INIT;
+#elif defined(USE_SHA256_MBEDTLS)
   // The mbedtls context for ESP32-S3 hardware SHA requires proper alignment and stack frame constraints.
   // See class documentation above for critical requirements.
   mbedtls_sha256_context ctx_{};
diff --git a/esphome/components/tinyusb/__init__.py b/esphome/components/tinyusb/__init__.py
index 90043e969c..df94ad7534 100644
--- a/esphome/components/tinyusb/__init__.py
+++ b/esphome/components/tinyusb/__init__.py
@@ -54,7 +54,7 @@ async def to_code(config):
     if config[CONF_USB_SERIAL_STR]:
         cg.add(var.set_usb_desc_serial(config[CONF_USB_SERIAL_STR]))
 
-    add_idf_component(name="espressif/esp_tinyusb", ref="1.7.6~1")
+    add_idf_component(name="espressif/esp_tinyusb", ref="2.1.1")
 
     add_idf_sdkconfig_option("CONFIG_TINYUSB_DESC_USE_ESPRESSIF_VID", False)
     add_idf_sdkconfig_option("CONFIG_TINYUSB_DESC_USE_DEFAULT_PID", False)
diff --git a/esphome/components/tinyusb/tinyusb_component.cpp b/esphome/components/tinyusb/tinyusb_component.cpp
index 19bb545c4b..7f8fea5264 100644
--- a/esphome/components/tinyusb/tinyusb_component.cpp
+++ b/esphome/components/tinyusb/tinyusb_component.cpp
@@ -16,10 +16,14 @@ void TinyUSB::setup() {
   }
 
   this->tusb_cfg_ = {
-      .descriptor = &this->usb_descriptor_,
-      .string_descriptor = this->string_descriptor_,
-      .string_descriptor_count = SIZE,
-      .external_phy = false,
+      .port = TINYUSB_PORT_FULL_SPEED_0,
+      .phy = {.skip_setup = false},
+      .descriptor =
+          {
+              .device = &this->usb_descriptor_,
+              .string = this->string_descriptor_,
+              .string_count = SIZE,
+          },
   };
 
   esp_err_t result = tinyusb_driver_install(&this->tusb_cfg_);
diff --git a/esphome/components/usb_cdc_acm/usb_cdc_acm.h b/esphome/components/usb_cdc_acm/usb_cdc_acm.h
index 624f41cf8c..020542e749 100644
--- a/esphome/components/usb_cdc_acm/usb_cdc_acm.h
+++ b/esphome/components/usb_cdc_acm/usb_cdc_acm.h
@@ -8,7 +8,7 @@
 
 #include <functional>
 #include "freertos/ringbuf.h"
-#include "tusb_cdc_acm.h"
+#include "tinyusb_cdc_acm.h"
 
 namespace esphome::usb_cdc_acm {
 
diff --git a/esphome/components/usb_cdc_acm/usb_cdc_acm_esp32.cpp b/esphome/components/usb_cdc_acm/usb_cdc_acm_esp32.cpp
index 1a36ef9f31..583aa77d06 100644
--- a/esphome/components/usb_cdc_acm/usb_cdc_acm_esp32.cpp
+++ b/esphome/components/usb_cdc_acm/usb_cdc_acm_esp32.cpp
@@ -11,7 +11,7 @@
 #include "esp_log.h"
 
 #include "tusb.h"
-#include "tusb_cdc_acm.h"
+#include "tinyusb_cdc_acm.h"
 
 namespace esphome::usb_cdc_acm {
 
@@ -140,7 +140,6 @@ void USBCDCACMInstance::setup() {
 
   // Configure this CDC interface
   const tinyusb_config_cdcacm_t acm_cfg = {
-      .usb_dev = TINYUSB_USBDEV_0,
       .cdc_port = static_cast<tinyusb_cdcacm_itf_t>(this->itf_),
       .callback_rx = &tinyusb_cdc_rx_callback,
       .callback_rx_wanted_char = NULL,
@@ -148,9 +147,9 @@ void USBCDCACMInstance::setup() {
       .callback_line_coding_changed = &tinyusb_cdc_line_coding_changed_callback,
   };
 
-  esp_err_t result = tusb_cdc_acm_init(&acm_cfg);
+  esp_err_t result = tinyusb_cdcacm_init(&acm_cfg);
   if (result != ESP_OK) {
-    ESP_LOGE(TAG, "tusb_cdc_acm_init failed: %d", result);
+    ESP_LOGE(TAG, "tinyusb_cdcacm_init failed: %d", result);
     this->parent_->mark_failed();
     return;
   }
diff --git a/esphome/idf_component.yml b/esphome/idf_component.yml
index df651ae15d..bb94de7e05 100644
--- a/esphome/idf_component.yml
+++ b/esphome/idf_component.yml
@@ -8,7 +8,7 @@ dependencies:
   espressif/esp-tflite-micro:
     version: 1.3.3~1
   espressif/esp32-camera:
-    version: 2.1.1
+    version: 2.1.5
   espressif/mdns:
     version: 1.10.0
   espressif/esp_wifi_remote:
@@ -30,7 +30,7 @@ dependencies:
     rules:
       - if: "target in [esp32, esp32p4]"
   espressif/esp_tinyusb:
-    version: "1.7.6~1"
+    version: "2.1.1"
     rules:
       - if: "target in [esp32s2, esp32s3, esp32p4]"
   esphome/esp-hub75:
diff --git a/tests/components/psram/test.esp32-c61-idf.yaml b/tests/components/psram/test.esp32-c61-idf.yaml
new file mode 100644
index 0000000000..d443aab951
--- /dev/null
+++ b/tests/components/psram/test.esp32-c61-idf.yaml
@@ -0,0 +1,7 @@
+esp32:
+  framework:
+    type: esp-idf
+
+psram:
+  speed: 80MHz
+  ignore_not_found: false