diff --git a/docs/esp32/general.rst b/docs/esp32/general.rst
index 51918d4e18..8137c042d9 100644
--- a/docs/esp32/general.rst
+++ b/docs/esp32/general.rst
@@ -52,6 +52,7 @@ For your convenience, some of technical specifications are provided below:
 * I2S: 2
 * ADC: 12-bit SAR ADC up to 18 channels
 * DAC: 2 8-bit DACs
+* RMT: 8 channels allowing accurate pulse transmit/receive
 * Programming: using BootROM bootloader from UART - due to external FlashROM
   and always-available BootROM bootloader, the ESP32 is not brickable
 
diff --git a/docs/esp32/quickref.rst b/docs/esp32/quickref.rst
index ef9b0a2e8c..cfe31664e7 100644
--- a/docs/esp32/quickref.rst
+++ b/docs/esp32/quickref.rst
@@ -365,6 +365,20 @@ Notes:
 
     p1 = Pin(4, Pin.OUT, None)
 
+RMT
+---
+
+The RMT is ESP32-specific and allows generation of accurate digital pulses with
+12.5ns resolution.  See :ref:`esp32.RMT <esp32.RMT>` for details.  Usage is::
+
+    import esp32
+    from machine import Pin
+
+    r = esp32.RMT(0, pin=Pin(18), clock_div=8)
+    r   # RMT(channel=0, pin=18, source_freq=80000000, clock_div=8)
+    # The channel resolution is 100ns (1/(source_freq/clock_div)).
+    r.write_pulses((1, 20, 2, 40), start=0) # Send 0 for 100ns, 1 for 2000ns, 0 for 200ns, 1 for 4000ns
+
 OneWire driver
 --------------
 
diff --git a/docs/library/esp32.rst b/docs/library/esp32.rst
index 68379624e6..467af0ff0f 100644
--- a/docs/library/esp32.rst
+++ b/docs/library/esp32.rst
@@ -1,3 +1,5 @@
+.. currentmodule:: esp32
+
 :mod:`esp32` --- functionality specific to the ESP32
 ====================================================
 
@@ -86,6 +88,91 @@ Constants
 
     Used in `Partition.find` to specify the partition type.
 
+
+.. _esp32.RMT:
+
+RMT
+---
+
+The RMT (Remote Control) module, specific to the ESP32, was originally designed
+to send and receive infrared remote control signals. However, due to a flexible
+design and very accurate (as low as 12.5ns) pulse generation, it can also be
+used to transmit or receive many other types of digital signals::
+
+    import esp32
+    from machine import Pin
+
+    r = esp32.RMT(0, pin=Pin(18), clock_div=8)
+    r  # RMT(channel=0, pin=18, source_freq=80000000, clock_div=8)
+    # The channel resolution is 100ns (1/(source_freq/clock_div)).
+    r.write_pulses((1, 20, 2, 40), start=0)  # Send 0 for 100ns, 1 for 2000ns, 0 for 200ns, 1 for 4000ns
+
+The input to the RMT module is an 80MHz clock (in the future it may be able to
+configure the input clock but, for now, it's fixed). ``clock_div`` *divides*
+the clock input which determines the resolution of the RMT channel. The
+numbers specificed in ``write_pulses`` are multiplied by the resolution to
+define the pulses.
+
+``clock_div`` is an 8-bit divider (0-255) and each pulse can be defined by
+multiplying the resolution by a 15-bit (0-32,768) number. There are eight
+channels (0-7) and each can have a different clock divider.
+
+So, in the example above, the 80MHz clock is divided by 8. Thus the
+resolution is (1/(80Mhz/8)) 100ns. Since the ``start`` level is 0 and toggles
+with each number, the bitstream is ``0101`` with durations of [100ns, 2000ns,
+100ns, 4000ns].
+
+For more details see Espressif's `ESP-IDF RMT documentation.
+<https://docs.espressif.com/projects/esp-idf/en/latest/api-reference/peripherals/rmt.html>`_.
+
+.. Warning::
+   The current MicroPython RMT implementation lacks some features, most notably
+   receiving pulses and carrier transmit. RMT should be considered a
+   *beta feature* and the interface may change in the future.
+
+
+.. class:: RMT(channel, \*, pin=None, clock_div=8)
+
+    This class provides access to one of the eight RMT channels. *channel* is
+    required and identifies which RMT channel (0-7) will be configured. *pin*,
+    also required, configures which Pin is bound to the RMT channel. *clock_div*
+    is an 8-bit clock divider that divides the source clock (80MHz) to the RMT
+    channel allowing the resolution to be specified.
+
+.. method:: RMT.source_freq()
+
+    Returns the source clock frequency. Currently the source clock is not
+    configurable so this will always return 80MHz.
+
+.. method:: RMT.clock_div()
+
+    Return the clock divider. Note that the channel resolution is
+    ``1 / (source_freq / clock_div)``.
+
+.. method:: RMT.wait_done(timeout=0)
+
+    Returns True if `RMT.write_pulses` has completed.
+
+    If *timeout* (defined in ticks of ``source_freq / clock_div``) is specified
+    the method will wait for *timeout* or until `RMT.write_pulses` is complete,
+    returning ``False`` if the channel continues to transmit.
+
+.. Warning::
+    Avoid using ``wait_done()`` if looping is enabled.
+
+.. method:: RMT.loop(enable_loop)
+
+    Configure looping on the channel, allowing a stream of pulses to be
+    indefinitely repeated. *enable_loop* is bool, set to True to enable looping.
+
+.. method:: RMT.write_pulses(pulses, start)
+
+    Begin sending *pulses*, a list or tuple defining the stream of pulses. The
+    length of each pulse is defined by a number to be multiplied by the channel
+    resolution ``(1 / (source_freq / clock_div))``. *start* defines whether the
+    stream starts at 0 or 1.
+
+
 The Ultra-Low-Power co-processor
 --------------------------------