From 934c4b2bee09f2cc75af12b42587c1696866739d Mon Sep 17 00:00:00 2001
From: "kaia.ai" <33589365+kaiaai@users.noreply.github.com>
Date: Sun, 3 Nov 2024 20:24:59 -0800
Subject: [PATCH] ESP32-C3

---
 README.md | 24 ++++++++++++++++++++++--
 1 file changed, 22 insertions(+), 2 deletions(-)

diff --git a/README.md b/README.md
index 26d32f1..17f2a1f 100644
--- a/README.md
+++ b/README.md
@@ -68,9 +68,29 @@ Some LiDAR/LDS models do not have built-in motor control and therefore require a
 - for Neato XV11 use [this board](https://github.com/makerspet/pcb/tree/main/neato_delta_adapter)
 - for 3irobotix Delta-2A, -2B, -2C PRO, -2D, -2G use [this board](https://github.com/makerspet/pcb/tree/main/neato_delta_adapter)
 
-### ESP32 Modules
+### ESP32 Module Variants
 - When using the ESP32 WROVER board, it's worth using pins 32 and 33 instead of pins 16 and 17, which are used for QSPI
-- When using the YD ESP32-S3, consider the default TX1, RX1 GPIO15 and GPIO16 pins and change the example code to `HardwareSerial LidarSerial(1);`
+- ESP32-S3 has only two UARTs, as opposed to ESP32 having 3 UARTS
+  - When using the YD ESP32-S3, consider the default TX1, RX1 GPIO15 and GPIO16 pins and change the example code to `HardwareSerial LidarSerial(1);`
+```
+//ESP32-S3
+//HardwareSerial LidarSerial(2);
+HardwareSerial LidarSerial(1);
+...
+//LidarSerial.begin(baud_rate); // Use default GPIO TX 17, RX 16
+LidarSerial.begin(baud_rate, SERIAL_8N1, 16, 15); // GPIO16 as RX1, GPIO15 as TX1
+```
+
+- ESP32-C3 has only two UARTs, as opposed to ESP32 having 3 UARTS
+  - use UART1 for LiDAR and, for example, GPIO4 as RX1 and GPIO5 as TX
+```
+//ESP32-C3
+//HardwareSerial LidarSerial(2);
+HardwareSerial LidarSerial(1);
+...
+//LidarSerial.begin(baud_rate); // Use default GPIO TX 17, RX 16
+LidarSerial.begin(baud_rate, SERIAL_8N1, 4, 5); // GPIO4 as RX1, GPIO5 as TX1
+```
 
 ## Performance Notes
 - currently Delta-2A, -2B, -2G exhibit mysterious fixed pattern noise