diff --git a/docs/library/esp32.rst b/docs/library/esp32.rst
index 12d0890217..d9241d545c 100644
--- a/docs/library/esp32.rst
+++ b/docs/library/esp32.rst
@@ -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.
diff --git a/ports/esp32/esp32_ulp.c b/ports/esp32/esp32_ulp.c
index 843bdb2366..e7962ce1ac 100644
--- a/ports/esp32/esp32_ulp.c
+++ b/ports/esp32/esp32_ulp.c
@@ -26,7 +26,8 @@
 
 #include "py/runtime.h"
 
-#if CONFIG_IDF_TARGET_ESP32
+
+#if CONFIG_IDF_TARGET_ESP32 || CONFIG_IDF_TARGET_ESP32S2 || CONFIG_IDF_TARGET_ESP32S3
 
 #include "esp32/ulp.h"
 #include "esp_err.h"
@@ -87,7 +88,13 @@ STATIC const mp_rom_map_elem_t esp32_ulp_locals_dict_table[] = {
     { MP_ROM_QSTR(MP_QSTR_set_wakeup_period), MP_ROM_PTR(&esp32_ulp_set_wakeup_period_obj) },
     { MP_ROM_QSTR(MP_QSTR_load_binary), MP_ROM_PTR(&esp32_ulp_load_binary_obj) },
     { MP_ROM_QSTR(MP_QSTR_run), MP_ROM_PTR(&esp32_ulp_run_obj) },
+    #if CONFIG_IDF_TARGET_ESP32
     { MP_ROM_QSTR(MP_QSTR_RESERVE_MEM), MP_ROM_INT(CONFIG_ESP32_ULP_COPROC_RESERVE_MEM) },
+    #elif CONFIG_IDF_TARGET_ESP32S2
+    { MP_ROM_QSTR(MP_QSTR_RESERVE_MEM), MP_ROM_INT(CONFIG_ESP32S2_ULP_COPROC_RESERVE_MEM) },
+    #elif CONFIG_IDF_TARGET_ESP32S3
+    { MP_ROM_QSTR(MP_QSTR_RESERVE_MEM), MP_ROM_INT(CONFIG_ESP32S3_ULP_COPROC_RESERVE_MEM) },
+    #endif
 };
 STATIC MP_DEFINE_CONST_DICT(esp32_ulp_locals_dict, esp32_ulp_locals_dict_table);
 
diff --git a/ports/esp32/modesp32.c b/ports/esp32/modesp32.c
index 017db36e22..7a436bf77c 100644
--- a/ports/esp32/modesp32.c
+++ b/ports/esp32/modesp32.c
@@ -217,7 +217,7 @@ STATIC const mp_rom_map_elem_t esp32_module_globals_table[] = {
     { MP_ROM_QSTR(MP_QSTR_NVS), MP_ROM_PTR(&esp32_nvs_type) },
     { MP_ROM_QSTR(MP_QSTR_Partition), MP_ROM_PTR(&esp32_partition_type) },
     { MP_ROM_QSTR(MP_QSTR_RMT), MP_ROM_PTR(&esp32_rmt_type) },
-    #if CONFIG_IDF_TARGET_ESP32
+    #if CONFIG_IDF_TARGET_ESP32 || CONFIG_IDF_TARGET_ESP32S2 || CONFIG_IDF_TARGET_ESP32S3
     { MP_ROM_QSTR(MP_QSTR_ULP), MP_ROM_PTR(&esp32_ulp_type) },
     #endif