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diff --git a/docs/library/esp32.rst b/docs/library/esp32.rst
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@@ -279,6 +279,14 @@ For more details see Espressif's `ESP-IDF RMT documentation.
Ultra-Low-Power co-processor
----------------------------
+This class gives access to the Ultra Low Power (ULP) co-processor on the ESP32,
+ESP32-S2 and ESP32-S3 chips.
+
+.. warning::
+
+ This class does not provide access to the RISCV ULP co-processor available
+ on the ESP32-S2 and ESP32-S3 chips.
+
.. class:: ULP()
This class provides access to the Ultra-Low-Power co-processor.