diff --git a/ports/esp32/machine_i2c.c b/ports/esp32/machine_i2c.c
index a9e5f0d3b32c..b28c73c55e52 100644
--- a/ports/esp32/machine_i2c.c
+++ b/ports/esp32/machine_i2c.c
@@ -30,7 +30,7 @@
 #include "extmod/modmachine.h"
 #include "machine_i2c.h"
 
-#include "driver/i2c.h"
+#include "driver/i2c_master.h"
 #include "hal/i2c_ll.h"
 
 #if MICROPY_PY_MACHINE_I2C || MICROPY_PY_MACHINE_SOFTI2C
@@ -49,92 +49,159 @@
 
 #define I2C_DEFAULT_TIMEOUT_US (50000) // 50ms
 
+// ---------------- Internal data structures ----------------
 typedef struct _machine_hw_i2c_obj_t {
     mp_obj_base_t base;
-    i2c_port_t port : 8;
+    i2c_master_bus_handle_t bus_handle;
+    i2c_master_dev_handle_t dev_handle;
+    uint8_t port : 8;
     gpio_num_t scl : 8;
     gpio_num_t sda : 8;
 } machine_hw_i2c_obj_t;
 
 static machine_hw_i2c_obj_t machine_hw_i2c_obj[I2C_NUM_MAX];
 
+// ---------------- Initialization ----------------
 static void machine_hw_i2c_init(machine_hw_i2c_obj_t *self, uint32_t freq, uint32_t timeout_us, bool first_init) {
-    if (!first_init) {
-        i2c_driver_delete(self->port);
+
+    // 1. If already initialized, uninstall the old driver first
+    if (!first_init && self->bus_handle) {
+        i2c_master_bus_rm_device(self->dev_handle);
+        i2c_del_master_bus(self->bus_handle);
+        self->bus_handle = NULL;
+        self->dev_handle = NULL;
     }
-    i2c_config_t conf = {
-        .mode = I2C_MODE_MASTER,
-        .sda_io_num = self->sda,
-        .sda_pullup_en = GPIO_PULLUP_ENABLE,
+
+    // 2. Configure the bus
+    i2c_master_bus_config_t bus_cfg = {
+        .i2c_port = self->port,
         .scl_io_num = self->scl,
-        .scl_pullup_en = GPIO_PULLUP_ENABLE,
-        .master.clk_speed = freq,
+        .sda_io_num = self->sda,
+        .clk_source = I2C_CLK_SRC_DEFAULT,
+        .glitch_ignore_cnt = 7,
+        .flags.enable_internal_pullup = true,
     };
-    i2c_param_config(self->port, &conf);
-    int timeout = I2C_SCLK_FREQ / 1000000 * timeout_us;
-    i2c_set_timeout(self->port, (timeout > I2C_LL_MAX_TIMEOUT) ? I2C_LL_MAX_TIMEOUT : timeout);
-    i2c_driver_install(self->port, I2C_MODE_MASTER, 0, 0, 0);
+    ESP_ERROR_CHECK(i2c_new_master_bus(&bus_cfg, &self->bus_handle));
+
+    // 3. Add a device (placeholder address; will be changed dynamically later)
+    i2c_device_config_t dev_cfg = {
+        .dev_addr_length = I2C_ADDR_BIT_LEN_7,
+        .device_address = 0x00,               // Placeholder
+        .scl_speed_hz = freq,
+    };
+    ESP_ERROR_CHECK(i2c_master_bus_add_device(self->bus_handle, &dev_cfg, &self->dev_handle));
 }
 
 int machine_hw_i2c_transfer(mp_obj_base_t *self_in, uint16_t addr, size_t n, mp_machine_i2c_buf_t *bufs, unsigned int flags) {
     machine_hw_i2c_obj_t *self = MP_OBJ_TO_PTR(self_in);
 
-    i2c_cmd_handle_t cmd = i2c_cmd_link_create();
+    /* 0. Probe the address to see if any device responds */
+    esp_err_t err = i2c_master_probe(self->bus_handle, addr, 1000);
+    if (err != ESP_OK) {
+        return -MP_ENODEV;          /* No device at address, return immediately */
+    }
+    /* 1. Create a temporary device handle for this transaction */
+    i2c_device_config_t dev_cfg = {
+        .dev_addr_length = I2C_ADDR_BIT_LEN_7,
+        .device_address = addr,
+        .scl_speed_hz = 100000,   /* Use bus frequency */
+    };
+    i2c_master_dev_handle_t dev_handle;
+    err = i2c_master_bus_add_device(self->bus_handle, &dev_cfg, &dev_handle);
+    if (err != ESP_OK) {
+        return -MP_ENODEV;
+    }
+
     int data_len = 0;
 
+    /* 2. If WRITE1 segment exists, perform the write first */
     if (flags & MP_MACHINE_I2C_FLAG_WRITE1) {
-        i2c_master_start(cmd);
-        i2c_master_write_byte(cmd, addr << 1, true);
-        i2c_master_write(cmd, bufs->buf, bufs->len, true);
+        if (bufs->len) {
+            err = i2c_master_transmit(dev_handle, bufs->buf, bufs->len, 1000);                 /* Block with 1 s timeout */
+            if (err != ESP_OK) {
+                goto cleanup;
+            }
+        }
         data_len += bufs->len;
         --n;
         ++bufs;
     }
+    if (flags & MP_MACHINE_I2C_FLAG_READ) {
+        /* 3. Main loop: remaining segments */
+        for (; n--; ++bufs) {
+            if (bufs->len == 0) {
+                continue;
+            }
+            err = i2c_master_receive(dev_handle, bufs->buf, bufs->len, 1000);
+            if (err != ESP_OK) {
+                break;
+            }
+
+            data_len += bufs->len;
+        }
+    } else {
+        // Write operation logic
+        size_t total_len = 0;
+        mp_machine_i2c_buf_t *original_bufs = bufs;  // Save original pointer
+        size_t yuann = n;
 
-    i2c_master_start(cmd);
-    i2c_master_write_byte(cmd, addr << 1 | (flags & MP_MACHINE_I2C_FLAG_READ), true);
+        // Calculate total length
+        for (; n--; ++bufs) {
+            total_len += bufs->len;
+        }
 
-    for (; n--; ++bufs) {
-        if (flags & MP_MACHINE_I2C_FLAG_READ) {
-            i2c_master_read(cmd, bufs->buf, bufs->len, n == 0 ? I2C_MASTER_LAST_NACK : I2C_MASTER_ACK);
-        } else {
-            if (bufs->len != 0) {
-                i2c_master_write(cmd, bufs->buf, bufs->len, true);
-            }
+        // Reset pointer
+        bufs = original_bufs;
+        // Reset n
+        n = yuann;
+        // Dynamically allocate write_buf
+        uint8_t *write_buf = (uint8_t *)malloc(total_len);
+        if (write_buf == NULL) {
+            return -MP_ENOMEM;
+        }
+
+        // Copy data into write_buf
+        size_t index = 0;
+        for (; n--; ++bufs) {
+            memcpy(write_buf + index, bufs->buf, bufs->len);
+            index += bufs->len;
+        }
+
+        // Transmit data
+        err = i2c_master_transmit(dev_handle, write_buf, total_len, 1000);
+        if (err != ESP_OK) {
+            goto cleanup;
         }
-        data_len += bufs->len;
-    }
 
-    if (flags & MP_MACHINE_I2C_FLAG_STOP) {
-        i2c_master_stop(cmd);
+        // Free dynamically allocated memory
+        free(write_buf);
     }
 
-    // TODO proper timeout
-    esp_err_t err = i2c_master_cmd_begin(self->port, cmd, 100 * (1 + data_len) / portTICK_PERIOD_MS);
-    i2c_cmd_link_delete(cmd);
+cleanup:
+    /* 4. Immediately destroy the temporary handle */
+    i2c_master_bus_rm_device(dev_handle);
 
+    /* 5. Map errors */
     if (err == ESP_FAIL) {
         return -MP_ENODEV;
-    } else if (err == ESP_ERR_TIMEOUT) {
+    }
+    if (err == ESP_ERR_TIMEOUT) {
         return -MP_ETIMEDOUT;
-    } else if (err != ESP_OK) {
+    }
+    if (err != ESP_OK) {
         return -abs(err);
     }
 
     return data_len;
 }
 
-/******************************************************************************/
-// MicroPython bindings for machine API
-
+// ---------------- Print ----------------
 static void machine_hw_i2c_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind) {
     machine_hw_i2c_obj_t *self = MP_OBJ_TO_PTR(self_in);
-    int h, l;
-    i2c_get_period(self->port, &h, &l);
-    mp_printf(print, "I2C(%u, scl=%u, sda=%u, freq=%u)",
-        self->port, self->scl, self->sda, I2C_SCLK_FREQ / (h + l));
+    mp_printf(print, "I2C(%u, scl=%u, sda=%u)", self->port, self->scl, self->sda);
 }
 
+// ---------------- Constructor ----------------
 mp_obj_t machine_hw_i2c_make_new(const mp_obj_type_t *type, size_t n_args, size_t n_kw, const mp_obj_t *all_args) {
     // Create a SoftI2C instance if no id is specified (or is -1) but other arguments are given
     if (n_args != 0) {
@@ -153,33 +220,21 @@ mp_obj_t machine_hw_i2c_make_new(const mp_obj_type_t *type, size_t n_args, size_
     mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
     mp_arg_parse_all_kw_array(n_args, n_kw, all_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
 
-    // Get I2C bus
     mp_int_t i2c_id = args[ARG_id].u_int;
-
-    // Check if the I2C bus is valid
     if (!(I2C_NUM_0 <= i2c_id && i2c_id < I2C_NUM_MAX)) {
         mp_raise_msg_varg(&mp_type_ValueError, MP_ERROR_TEXT("I2C(%d) doesn't exist"), i2c_id);
     }
 
-    // Get static peripheral object
-    machine_hw_i2c_obj_t *self = (machine_hw_i2c_obj_t *)&machine_hw_i2c_obj[i2c_id];
+    machine_hw_i2c_obj_t *self = &machine_hw_i2c_obj[i2c_id];
 
-    bool first_init = false;
-    if (self->base.type == NULL) {
-        // Created for the first time, set default pins
+    bool first_init = (self->base.type == NULL);
+    if (first_init) {
         self->base.type = &machine_i2c_type;
         self->port = i2c_id;
-        if (self->port == I2C_NUM_0) {
-            self->scl = MICROPY_HW_I2C0_SCL;
-            self->sda = MICROPY_HW_I2C0_SDA;
-        } else {
-            self->scl = MICROPY_HW_I2C1_SCL;
-            self->sda = MICROPY_HW_I2C1_SDA;
-        }
-        first_init = true;
+        self->scl = (i2c_id == I2C_NUM_0) ? MICROPY_HW_I2C0_SCL : MICROPY_HW_I2C1_SCL;
+        self->sda = (i2c_id == I2C_NUM_0) ? MICROPY_HW_I2C0_SDA : MICROPY_HW_I2C1_SDA;
     }
 
-    // Set SCL/SDA pins if given
     if (args[ARG_scl].u_obj != MP_OBJ_NULL) {
         self->scl = machine_pin_get_id(args[ARG_scl].u_obj);
     }
@@ -187,12 +242,11 @@ mp_obj_t machine_hw_i2c_make_new(const mp_obj_type_t *type, size_t n_args, size_
         self->sda = machine_pin_get_id(args[ARG_sda].u_obj);
     }
 
-    // Initialise the I2C peripheral
     machine_hw_i2c_init(self, args[ARG_freq].u_int, args[ARG_timeout].u_int, first_init);
-
     return MP_OBJ_FROM_PTR(self);
 }
 
+// ---------------- Protocol table ----------------
 static const mp_machine_i2c_p_t machine_hw_i2c_p = {
     .transfer_supports_write1 = true,
     .transfer = machine_hw_i2c_transfer,
@@ -208,4 +262,4 @@ MP_DEFINE_CONST_OBJ_TYPE(
     locals_dict, &mp_machine_i2c_locals_dict
     );
 
-#endif
+#endif // MICROPY_PY_MACHINE_I2C || MICROPY_PY_MACHINE_SOFTI2C