diff --git a/src/SoftwareSerial.cpp b/src/SoftwareSerial.cpp
index ef8bf4b..f044854 100644
--- a/src/SoftwareSerial.cpp
+++ b/src/SoftwareSerial.cpp
@@ -87,6 +87,7 @@ void UARTBase::begin(uint32_t baud, Config config,
     m_stopBits = 1 + ((config & 0300) ? 1 : 0);
     m_pduBits = m_dataBits + static_cast<bool>(m_parityMode) + m_stopBits;
     m_bitTicks = (microsToTicks(1000000UL) + baud / 2) / baud;
+    m_origBitTicks = m_bitTicks;
     m_intTxEnabled = true;
 }
 
@@ -153,6 +154,12 @@ void UARTBase::enableIntTx(bool on) {
     m_intTxEnabled = on;
 }
 
+void UARTBase::enableAutoBaud(bool on, uint8_t sep) {
+    m_autoBaudEnabled = on;
+    m_autoBaud = false;
+    m_frameSep = sep;
+}
+
 void UARTBase::enableRxGPIOPullUp(bool on) {
     m_rxGPIOPullUpEnabled = on;
     setRxGPIOPinMode();
@@ -163,6 +170,12 @@ void UARTBase::enableTxGPIOOpenDrain(bool on) {
     setTxGPIOPinMode();
 }
 
+#ifdef xTaskNotify
+void UARTBase::enableNotify(TaskHandle_t task) {
+    m_notifyTask = task;
+}
+#endif
+
 void UARTBase::enableTx(bool on) {
     if (m_txValid && m_oneWire) {
         if (on) {
@@ -493,6 +506,11 @@ void UARTBase::rxBits(const uint32_t isrTick) {
     uint32_t ticksDiff = isrTick - m_isrLastTick;
     m_isrLastTick = isrTick;
 
+    if (m_autoBaudEnabled && (ticksDiff > m_origBitTicks*(m_pduBits+1))) {
+        m_autoBaud = true;
+        m_bitTicks = m_origBitTicks;
+    }
+
     uint32_t bits = ticksDiff / m_bitTicks;
     if (ticksDiff % m_bitTicks > (m_bitTicks >> 1)) ++bits;
     while (bits > 0) {
@@ -502,6 +520,9 @@ void UARTBase::rxBits(const uint32_t isrTick) {
             if (level) break;
             m_rxLastBit = -1;
             --bits;
+            if (m_autoBaud) {
+                m_rxByteTicks = 0;
+            }
             continue;
         }
         // data bits
@@ -511,6 +532,9 @@ void UARTBase::rxBits(const uint32_t isrTick) {
             bits -= dataBits;
             m_rxCurByte >>= dataBits;
             if (level) { m_rxCurByte |= (BYTE_ALL_BITS_SET << (8 - dataBits)); }
+            if (m_autoBaud) {
+                m_rxByteTicks += ticksDiff;
+            }
             continue;
         }
         // parity bit
@@ -525,6 +549,10 @@ void UARTBase::rxBits(const uint32_t isrTick) {
         // if not high stop bit level, discard word
         if (bits >= static_cast<uint32_t>(m_pduBits - 1 - m_rxLastBit) && level) {
             m_rxCurByte >>= (sizeof(uint8_t) * 8 - m_dataBits);
+            if (m_autoBaud && (m_rxCurByte == m_frameSep)) {
+                m_bitTicks = (m_rxByteTicks + (m_dataBits>>1)) / m_dataBits;
+                m_autoBaud = false;
+            }
             if (!m_buffer->push(m_rxCurByte)) {
                 m_overflow = true;
             }
@@ -545,6 +573,11 @@ void UARTBase::rxBits(const uint32_t isrTick) {
                     }
                 }
             }
+#ifdef xTaskNotify
+            if (m_notifyTask) {
+                xTaskNotify(m_notifyTask, 0, eSetValueWithOverwrite);
+            }
+#endif
         }
         m_rxLastBit = m_pduBits - 1;
         // reset to 0 is important for masked bit logic
diff --git a/src/SoftwareSerial.h b/src/SoftwareSerial.h
index 4ddb157..2fbec2d 100644
--- a/src/SoftwareSerial.h
+++ b/src/SoftwareSerial.h
@@ -194,10 +194,16 @@ class UARTBase : public Stream {
     void setTransmitEnablePin(int8_t txEnablePin);
     /// Enable (default) or disable interrupts during tx.
     void enableIntTx(bool on);
+    /// Enable baud rate estimation based on frame separator
+    void enableAutoBaud(bool on, uint8_t sep = 0x55);
     /// Enable (default) or disable internal rx GPIO pull-up.
     void enableRxGPIOPullUp(bool on);
     /// Enable or disable (default) tx GPIO output mode.
     void enableTxGPIOOpenDrain(bool on);
+#ifdef xTaskNotify
+    /// Enable or disable (default) FreeRTOS task notify
+    void enableNotify(TaskHandle_t task);
+#endif
 
     bool overflow();
 
@@ -371,7 +377,12 @@ class UARTBase : public Stream {
     uint8_t m_stopBits;
     bool m_lastReadParity;
     bool m_overflow = false;
+    bool m_autoBaud = false;
+    bool m_autoBaudEnabled = false;
+    uint8_t m_frameSep;
+    uint32_t m_rxByteTicks;
     uint32_t m_bitTicks;
+    uint32_t m_origBitTicks;
     uint8_t m_parityInPos;
     uint8_t m_parityOutPos;
     int8_t m_rxLastBit; // 0 thru (m_pduBits - m_stopBits - 1): data/parity bits. -1: start bit. (m_pduBits - 1): stop bit.
@@ -380,6 +391,9 @@ class UARTBase : public Stream {
     std::unique_ptr<circular_queue<uint8_t> > m_parityBuffer;
     uint32_t m_periodStart;
     uint32_t m_periodDuration;
+#ifdef xTaskNotify
+    TaskHandle_t m_notifyTask = nullptr;
+#endif
 #ifndef ESP32
     static uint32_t m_savedPS;
 #else