diff --git a/src/drivers/hardware_specific/esp32/esp32_driver_mcpwm.h b/src/drivers/hardware_specific/esp32/esp32_driver_mcpwm.h
index 4f8ad131..806d0577 100644
--- a/src/drivers/hardware_specific/esp32/esp32_driver_mcpwm.h
+++ b/src/drivers/hardware_specific/esp32/esp32_driver_mcpwm.h
@@ -81,6 +81,7 @@ typedef struct ESP32MCPWMDriverParams {
   mcpwm_unit_t mcpwm_unit;
   mcpwm_operator_t mcpwm_operator1;
   mcpwm_operator_t mcpwm_operator2;
+  float deadtime;
 } ESP32MCPWMDriverParams;
 
 
diff --git a/src/drivers/hardware_specific/esp32/esp32_mcu.cpp b/src/drivers/hardware_specific/esp32/esp32_mcu.cpp
index 0afaa1f7..2cbf5e24 100644
--- a/src/drivers/hardware_specific/esp32/esp32_mcu.cpp
+++ b/src/drivers/hardware_specific/esp32/esp32_mcu.cpp
@@ -49,15 +49,28 @@ void _configureTimerFrequency(long pwm_frequency, mcpwm_dev_t* mcpwm_num,  mcpwm
 
   if (_isset(dead_zone)){
     // dead zone is configured
-    float dead_time = (float)(_MCPWM_FREQ / (pwm_frequency)) * dead_zone;
-    mcpwm_deadtime_type_t pwm_mode;
-    if      ((SIMPLEFOC_PWM_HIGHSIDE_ACTIVE_HIGH == true)  && (SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH == true)) {pwm_mode = MCPWM_ACTIVE_HIGH_COMPLIMENT_MODE;}  // Normal, noninverting driver
-    else if ((SIMPLEFOC_PWM_HIGHSIDE_ACTIVE_HIGH == true)  && (SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH == false)){pwm_mode = MCPWM_ACTIVE_HIGH_MODE;}             // Inverted lowside driver
-    else if ((SIMPLEFOC_PWM_HIGHSIDE_ACTIVE_HIGH == false) && (SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH == true)) {pwm_mode = MCPWM_ACTIVE_LOW_MODE;}              // Inverted highside driver
-    else if ((SIMPLEFOC_PWM_HIGHSIDE_ACTIVE_HIGH == false) && (SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH == false)){pwm_mode = MCPWM_ACTIVE_LOW_COMPLIMENT_MODE;}   // Inverted low- & highside driver. Caution: This may short the FETs on reset of the ESP32, as both pins get pulled low!
-    mcpwm_deadtime_enable(mcpwm_unit, MCPWM_TIMER_0, pwm_mode, dead_time/2.0, dead_time/2.0);
-    mcpwm_deadtime_enable(mcpwm_unit, MCPWM_TIMER_1, pwm_mode, dead_time/2.0, dead_time/2.0);
-    mcpwm_deadtime_enable(mcpwm_unit, MCPWM_TIMER_2, pwm_mode, dead_time/2.0, dead_time/2.0);
+
+    // When using hardware deadtime, setting the phase_state parameter is not supported.
+    #if SIMPLEFOC_ESP32_HW_DEADTIME == true
+      float dead_time = (float)(_MCPWM_FREQ / (pwm_frequency)) * dead_zone;
+      mcpwm_deadtime_type_t pwm_mode;
+      if      ((SIMPLEFOC_PWM_HIGHSIDE_ACTIVE_HIGH == true)  && (SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH == true)) {pwm_mode = MCPWM_ACTIVE_HIGH_COMPLIMENT_MODE;}  // Normal, noninverting driver
+      else if ((SIMPLEFOC_PWM_HIGHSIDE_ACTIVE_HIGH == true)  && (SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH == false)){pwm_mode = MCPWM_ACTIVE_HIGH_MODE;}             // Inverted lowside driver
+      else if ((SIMPLEFOC_PWM_HIGHSIDE_ACTIVE_HIGH == false) && (SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH == true)) {pwm_mode = MCPWM_ACTIVE_LOW_MODE;}              // Inverted highside driver
+      else if ((SIMPLEFOC_PWM_HIGHSIDE_ACTIVE_HIGH == false) && (SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH == false)){pwm_mode = MCPWM_ACTIVE_LOW_COMPLIMENT_MODE;}   // Inverted low- & highside driver. Caution: This may short the FETs on reset of the ESP32, as both pins get pulled low!
+      mcpwm_deadtime_enable(mcpwm_unit, MCPWM_TIMER_0, pwm_mode, dead_time/2.0, dead_time/2.0);
+      mcpwm_deadtime_enable(mcpwm_unit, MCPWM_TIMER_1, pwm_mode, dead_time/2.0, dead_time/2.0);
+      mcpwm_deadtime_enable(mcpwm_unit, MCPWM_TIMER_2, pwm_mode, dead_time/2.0, dead_time/2.0);
+    #else // Software deadtime
+      for (int i = 0; i < 3; i++){
+        if      (SIMPLEFOC_PWM_HIGHSIDE_ACTIVE_HIGH == true) {mcpwm_set_duty_type(mcpwm_unit, (mcpwm_timer_t) i, MCPWM_GEN_A, MCPWM_DUTY_MODE_0);}  // Normal, noninverted highside
+        else if (SIMPLEFOC_PWM_HIGHSIDE_ACTIVE_HIGH == false) {mcpwm_set_duty_type(mcpwm_unit, (mcpwm_timer_t) i, MCPWM_GEN_A, MCPWM_DUTY_MODE_1);} // Inverted highside driver
+        
+        if      (SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH == true) {mcpwm_set_duty_type(mcpwm_unit, (mcpwm_timer_t) i, MCPWM_GEN_B, MCPWM_DUTY_MODE_1);}  // Normal, complementary lowside
+        else if (SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH == false) {mcpwm_set_duty_type(mcpwm_unit, (mcpwm_timer_t) i, MCPWM_GEN_B, MCPWM_DUTY_MODE_0);} // Inverted lowside driver
+      }
+    #endif
+
   }
   _delay(100);
 
@@ -374,7 +387,10 @@ void* _configure6PWM(long pwm_frequency, float dead_zone, const int pinA_h, cons
   ESP32MCPWMDriverParams* params = new ESP32MCPWMDriverParams {
     .pwm_frequency = pwm_frequency,
     .mcpwm_dev = m_slot.mcpwm_num,
-    .mcpwm_unit = m_slot.mcpwm_unit
+    .mcpwm_unit = m_slot.mcpwm_unit,
+    .mcpwm_operator1 = m_slot.mcpwm_operator1,
+    .mcpwm_operator2 = m_slot.mcpwm_operator2,
+    .deadtime = _isset(dead_zone) ? dead_zone : 0
   };
   return params;
 }
@@ -386,15 +402,26 @@ void* _configure6PWM(long pwm_frequency, float dead_zone, const int pinA_h, cons
 // - BLDC driver - 6PWM setting
 // - hardware specific
 void _writeDutyCycle6PWM(float dc_a,  float dc_b, float dc_c, PhaseState *phase_state, void* params){
-      // se the PWM on the slot timers
+      // set the PWM on the slot timers
       // transform duty cycle from [0,1] to [0,100.0]
-      mcpwm_set_duty(((ESP32MCPWMDriverParams*)params)->mcpwm_unit, MCPWM_TIMER_0, MCPWM_OPR_A, dc_a*100.0);
-      mcpwm_set_duty(((ESP32MCPWMDriverParams*)params)->mcpwm_unit, MCPWM_TIMER_0, MCPWM_OPR_B, dc_a*100.0);
-      mcpwm_set_duty(((ESP32MCPWMDriverParams*)params)->mcpwm_unit, MCPWM_TIMER_1, MCPWM_OPR_A, dc_b*100.0);
-      mcpwm_set_duty(((ESP32MCPWMDriverParams*)params)->mcpwm_unit, MCPWM_TIMER_1, MCPWM_OPR_B, dc_b*100.0);
-      mcpwm_set_duty(((ESP32MCPWMDriverParams*)params)->mcpwm_unit, MCPWM_TIMER_2, MCPWM_OPR_A, dc_c*100.0);
-      mcpwm_set_duty(((ESP32MCPWMDriverParams*)params)->mcpwm_unit, MCPWM_TIMER_2, MCPWM_OPR_B, dc_c*100.0);
-      _UNUSED(phase_state);
+      #if SIMPLEFOC_ESP32_HW_DEADTIME == true
+        // Hardware deadtime does deadtime insertion internally
+        mcpwm_set_duty(((ESP32MCPWMDriverParams*)params)->mcpwm_unit, MCPWM_TIMER_0, MCPWM_OPR_A, dc_a*100.0f);
+        mcpwm_set_duty(((ESP32MCPWMDriverParams*)params)->mcpwm_unit, MCPWM_TIMER_0, MCPWM_OPR_B, dc_a*100.0f);
+        mcpwm_set_duty(((ESP32MCPWMDriverParams*)params)->mcpwm_unit, MCPWM_TIMER_1, MCPWM_OPR_A, dc_b*100.0f);
+        mcpwm_set_duty(((ESP32MCPWMDriverParams*)params)->mcpwm_unit, MCPWM_TIMER_1, MCPWM_OPR_B, dc_b*100.0f);
+        mcpwm_set_duty(((ESP32MCPWMDriverParams*)params)->mcpwm_unit, MCPWM_TIMER_2, MCPWM_OPR_A, dc_c*100.0f);
+        mcpwm_set_duty(((ESP32MCPWMDriverParams*)params)->mcpwm_unit, MCPWM_TIMER_2, MCPWM_OPR_B, dc_c*100.0f);
+        _UNUSED(phase_state);
+      #else                           
+        float deadtime = 0.5f*((ESP32MCPWMDriverParams*)params)->deadtime;
+        mcpwm_set_duty(((ESP32MCPWMDriverParams*)params)->mcpwm_unit, MCPWM_TIMER_0, MCPWM_OPR_A, (phase_state[0] == PHASE_ON || phase_state[0] == PHASE_HI) ? _constrain(dc_a-deadtime, 0.0f, 1.0f) * 100.0f : 0);
+        mcpwm_set_duty(((ESP32MCPWMDriverParams*)params)->mcpwm_unit, MCPWM_TIMER_0, MCPWM_OPR_B, (phase_state[0] == PHASE_ON || phase_state[0] == PHASE_LO) ? _constrain(dc_a+deadtime, 0.0f, 1.0f) * 100.0f : 100.0f);
+        mcpwm_set_duty(((ESP32MCPWMDriverParams*)params)->mcpwm_unit, MCPWM_TIMER_1, MCPWM_OPR_A, (phase_state[1] == PHASE_ON || phase_state[1] == PHASE_HI) ? _constrain(dc_b-deadtime, 0.0f, 1.0f) * 100.0f : 0);
+        mcpwm_set_duty(((ESP32MCPWMDriverParams*)params)->mcpwm_unit, MCPWM_TIMER_1, MCPWM_OPR_B, (phase_state[1] == PHASE_ON || phase_state[1] == PHASE_LO) ? _constrain(dc_b+deadtime, 0.0f, 1.0f) * 100.0f : 100.0f);
+        mcpwm_set_duty(((ESP32MCPWMDriverParams*)params)->mcpwm_unit, MCPWM_TIMER_2, MCPWM_OPR_A, (phase_state[2] == PHASE_ON || phase_state[2] == PHASE_HI) ? _constrain(dc_c-deadtime, 0.0f, 1.0f) * 100.0f : 0);
+        mcpwm_set_duty(((ESP32MCPWMDriverParams*)params)->mcpwm_unit, MCPWM_TIMER_2, MCPWM_OPR_B, (phase_state[2] == PHASE_ON || phase_state[2] == PHASE_LO) ? _constrain(dc_c+deadtime, 0.0f, 1.0f) * 100.0f : 100.0f);
+      #endif
 }
 
 #endif