Esp idf v5.1 migration

[SylvianHemus]

I want to request this is moved into a new branch (not master) as my changes are likely unstable. However git doesn't give me an option when I make a pull request. Fair warning that I have little experience with C or C++, and just started learning ESP-IDF. But it compiles now with ESP-IDF v5.1 and recent versions of GCC. Likely has some functional bugs, will continue working on project and report any I find