A-Emile · watak · May 12, 2026
diff --git a/README.md b/README.md
@@ -2,51 +2,54 @@
 
 ![A picture of a cat](/assets/_MG_6227.JPG)
 
-VescBLEBridge is a project that lets you add Bluetooth connectivity to your Vesc Controller for only 3€. It utilizes the ESP32 C3 microcontroller as a cost-effective BLE (Bluetooth Low Energy) module. It allows seamless communication between your Vesc controllers and the Vesc Tool App.
+VescBLEBridge is a project that lets you add Bluetooth connectivity to your Vesc Controller for only 3€. It utilizes cheap, readily available microcontrollers like the ESP32-C3 and ESP32-C6 as cost-effective BLE (Bluetooth Low Energy) modules. It allows seamless communication between your VESC controllers and the official Vesc Tool App.
 
 ## Features
 
-- **Compact Design:** The ESP32 C3's small form factor makes it an ideal choice for applications where space is a constraint.
-
-- **Cost-Effective:** Utilizing the ESP32 C3 as a BLE module provides a budget-friendly alternative to an NRF module for integrating Bluetooth connectivity into Vesc controllers.
-
-- **User-Friendly:** VescBLEBridge is designed to be easy to use, with straightforward setup and configuration. Prebuild versions with flashed firmware and soldered connectors are also planned.
+- **Compact Design:** The small form factor of ESP32 dev boards makes them an ideal choice for applications where space is a constraint (skateboards, e-bikes, e-SUPs).
+- **Cost-Effective:** Utilizing an ESP32 as a BLE module provides a budget-friendly alternative to an NRF module for integrating Bluetooth connectivity.
+- **Multi-Board Support:** Fully supports both the generic ESP32-C3 and the ultra-compact Seeed Studio XIAO ESP32-C6 out of the box.
+- **User-Friendly:** Designed to be easy to use with straightforward setup and configuration via PlatformIO. 
 
 ## Getting Started
 
-### Hardware Setup:
+### Hardware Setup
 **What you need:**
-- [ESP32 C3 Dev Board](https://de.aliexpress.com/item/1005005967641936.html)
-- Some Wires
-- Fitting connector for your Vesc Uart port (Most likely JST-PH2.0)
-- USB C Cable
+- An ESP32 Dev Board (e.g., [ESP32-C3](https://de.aliexpress.com/item/1005005967641936.html) or Seeed XIAO ESP32-C6)
+- Some wires
+- Fitting connector for your VESC UART port (Most likely JST-PH2.0)
+- USB-C Cable
 
-Connect the ESP32 C3 to your Vesc controller following the table below.
+Connect the ESP32 to your VESC controller following the table below based on which board you are using. *(Remember: TX goes to RX, and RX goes to TX!)*
 
-| ESP32 C3    || VESC          |
-| ----------- |-| -------------|
-| 5V          |->| 5V          |
-| GND         |->| GND         |
-| 20          |->| RX          |
-| 21          |->| TX          |
+| VESC | ESP32-C3 (Generic) | ESP32-C6 (Seeed XIAO) |
+| :--- | :--- | :--- |
+| **5V** | 5V | 5V |
+| **GND** | GND | GND |
+| **RX** | TX (Pin 21) | TX (Pin D9) |
+| **TX** | RX (Pin 20) | RX (Pin D10) |
 
-If it doesnt work you can try swapping rx and tx pins cause they are swapped on some vesc controllers.
+*Note: If it doesn't work, try swapping the RX and TX pins, as the labeling convention can vary on some VESC controllers.*
 
-### Flashing Firmware:
-To flash the firmware to the esp you need the following prerequisites:
+### Flashing Firmware
+To flash the firmware to the ESP, you need the following prerequisites:
 - [Visual Studio Code](https://code.visualstudio.com/)
-- [PlattformIO IDE](https://marketplace.visualstudio.com/items?itemName=platformio.platformio-ide)  extension for VSCode
+- [PlatformIO IDE](https://marketplace.visualstudio.com/items?itemName=platformio.platformio-ide) extension for VSCode
 
-Once you have VSCode and its PlattformIO extension installed, you need to open this git repo in VSCode. Then connect the esp32 to your computer and hit upload.
+Once you have VSCode and its PlatformIO extension installed:
+1. Open this git repo folder in VSCode. 
+2. Connect the ESP32 to your computer via USB.
+3. PlatformIO is configured with multiple environments. Select your target board (`esp32-c3-devkitm-1` or `seeed_xiao_esp32c6`) from the project tasks menu.
+4. Hit **Upload**.
 
-If you have trouble you can read the official [PlattformIO docs](https://docs.platformio.org/en/latest/integration/ide/vscode.html#ide-vscode)
+If you have trouble, you can read the official [PlatformIO docs](https://docs.platformio.org/en/latest/integration/ide/vscode.html#ide-vscode).
 
 ## Contributing
 
 We welcome contributions from the community! If you have ideas for improvements, feature requests, or bug reports, please open an issue or submit a pull request.
 
 ## Support
 
-For any questions or issues, feel free open an issue.
+For any questions or issues, feel free to open an issue.
 
-Happy riding!
+Happy riding!
diff --git a/platformio.ini b/platformio.ini
@@ -8,12 +8,24 @@
 ; Please visit documentation for the other options and examples
 ; https://docs.platformio.org/page/projectconf.html
 
+; Original C3 Environment (Upgraded to NimBLE v2)
 [env:esp32-c3-devkitm-1]
 platform = espressif32
 board = esp32-c3-devkitm-1
 framework = arduino
 build_flags = 
-	-DARDUINO_USB_MODE=1
-	-DARDUINO_USB_CDC_ON_BOOT=1
+    -DARDUINO_USB_MODE=1
+    -DARDUINO_USB_CDC_ON_BOOT=1
 monitor_speed = 115200
-lib_deps = h2zero/NimBLE-Arduino@^1.4.1
+lib_deps = h2zero/NimBLE-Arduino@^2.0.0
+
+; seeed_xiao_esp32c6 Environment (Upgraded to NimBLE v2)
+[env:seeed_xiao_esp32c6]
+platform = https://github.com/pioarduino/platform-espressif32/releases/download/stable/platform-espressif32.zip
+board = seeed_xiao_esp32c6
+framework = arduino
+build_flags = 
+    -DARDUINO_USB_MODE=1
+    -DARDUINO_USB_CDC_ON_BOOT=1
+monitor_speed = 115200
+lib_deps = h2zero/NimBLE-Arduino@^2.0.0
diff --git a/src/main.cpp b/src/main.cpp
@@ -20,28 +20,37 @@ uint8_t txValue = 0;
 #define VESC_CHARACTERISTIC_UUID_RX "6E400002-B5A3-F393-E0A9-E50E24DCCA9E"
 #define VESC_CHARACTERISTIC_UUID_TX "6E400003-B5A3-F393-E0A9-E50E24DCCA9E"
 
+#define LOG_TAG_BLESERVER "BleServer" 
+
+
+// Detect if the board is the Seeed XIAO C6
+#if defined(ARDUINO_SEEED_XIAO_ESP32C6)
+  #define VESC_RX_PIN D10
+  #define VESC_TX_PIN D9
+// Otherwise, default to the original C3 pins
+#else
+  #define VESC_RX_PIN 20
+  #define VESC_TX_PIN 21
+#endif
+
 /**  None of these are required as they will be handled by the library with defaults. **
  **                       Remove as you see fit for your needs                        */
-class MyServerCallbacks : public BLEServerCallbacks
-{
-  void onConnect(NimBLEServer *pServer, ble_gap_conn_desc *desc)
-  {
-    ESP_LOGI(LOG_TAG_BLESERVER, "Client connected: %s", NimBLEAddress(desc->peer_ota_addr).toString().c_str());
+class MyServerCallbacks : public NimBLEServerCallbacks {
+  void onConnect(NimBLEServer *pServer, NimBLEConnInfo& connInfo) override {
+    ESP_LOGI(LOG_TAG_BLESERVER, "Client connected: %s", connInfo.getAddress().toString().c_str());
     ESP_LOGI(LOG_TAG_BLESERVER, "Multi-connect support: start advertising");
     deviceConnected = true;
     NimBLEDevice::startAdvertising();
   }
 
-  void onDisconnect(NimBLEServer *pServer)
-  {
+  void onDisconnect(NimBLEServer *pServer, NimBLEConnInfo& connInfo, int reason) override {
     ESP_LOGI(LOG_TAG_BLESERVER, "Client disconnected - start advertising");
     deviceConnected = false;
     NimBLEDevice::startAdvertising();
   }
 
-  void onMTUChange(uint16_t MTU, ble_gap_conn_desc *desc)
-  {
-    ESP_LOGI(LOG_TAG_BLESERVER, "MTU changed - new size %d, peer %s", MTU, NimBLEAddress(desc->peer_ota_addr).toString().c_str());
+  void onMTUChange(uint16_t MTU, NimBLEConnInfo& connInfo) override {
+    ESP_LOGI(LOG_TAG_BLESERVER, "MTU changed - new size %d, peer %s", MTU, connInfo.getAddress().toString().c_str());
     MTU_SIZE = MTU;
     PACKET_SIZE = MTU_SIZE - 3;
   }
@@ -63,19 +72,14 @@ void dumpBuffer(std::string header, std::string buffer)
   ESP_LOGD(LOG_TAG_BLESERVER, "%s", tmpbuf);
 }
 
-class MyCallbacks : public BLECharacteristicCallbacks
-{
-  void onWrite(BLECharacteristic *pCharacteristic)
-  {
+class MyCallbacks : public NimBLECharacteristicCallbacks {
+  void onWrite(NimBLECharacteristic *pCharacteristic, NimBLEConnInfo& connInfo) override {
     ESP_LOGD(LOG_TAG_BLESERVER, "onWrite to characteristics: %s", pCharacteristic->getUUID().toString().c_str());
     std::string rxValue = pCharacteristic->getValue();
-    if (rxValue.length() > 0)
-    {
-      if (pCharacteristic->getUUID().equals(pCharacteristicVescRx->getUUID()))
-      {
+    if (rxValue.length() > 0) {
+      if (pCharacteristic->getUUID().equals(pCharacteristicVescRx->getUUID())) {
         dumpBuffer("BLE/UART => VESC: ", rxValue);
-        for (int i = 0; i < rxValue.length(); i++)
-        {
+        for (int i = 0; i < rxValue.length(); i++) {
           Serial1.write(rxValue[i]);
         }
       }
@@ -86,7 +90,7 @@ class MyCallbacks : public BLECharacteristicCallbacks
 void setup()
 {
   Serial.begin(115200);
-  Serial1.begin(115200, SERIAL_8N1, 20, 21); // RX=20, TX=21
+  Serial1.begin(115200, SERIAL_8N1, VESC_RX_PIN, VESC_TX_PIN);
 
   // Create the BLE Device
   NimBLEDevice::init("VescBLEBridge");
@@ -95,8 +99,10 @@ void setup()
   // Create the BLE Server
   pServer = NimBLEDevice::createServer();
   pServer->setCallbacks(new MyServerCallbacks());
-  auto pSecurity = new NimBLESecurity();
-  pSecurity->setAuthenticationMode(ESP_LE_AUTH_BOND);
+  //auto pSecurity = new NimBLESecurity();
+  //pSecurity->setAuthenticationMode(ESP_LE_AUTH_BOND);
+
+  NimBLEDevice::setSecurityAuth(true, false, false); // Enable bonding
 
   // Create the BLE Service
   BLEService *pService = pServer->createService(VESC_SERVICE_UUID);
@@ -115,15 +121,10 @@ void setup()
 
   pCharacteristicVescRx->setCallbacks(new MyCallbacks());
 
-  // Start the VESC service
-  pService->start();
 
   // Start advertising
   NimBLEAdvertising *pAdvertising = NimBLEDevice::getAdvertising();
   pAdvertising->addServiceUUID(VESC_SERVICE_UUID);
-  //    pAdvertising->setAppearance(0x00);
-  //    pAdvertising->setScanResponse(true);
-  //    pAdvertising->setMinPreferred(0x0);  // set value to 0x00 to not advertise this parameter
 
   pAdvertising->start();
   ESP_LOGI(LOG_TAG_BLESERVER, "waiting a client connection to notify...");