feat(touch): Support NG touch driver for P4 (#10448)

* feat(touch): Support NG touch driver for P4

* fix(ci): Touch test + IDF compilation fixes

* fix(ci): remove debug prints from touch test

* fix(ci): Fix touch test for esp32

* ci(pre-commit): Apply automatic fixes

---------

Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>

CMakeLists.txt

@@ -45,6 +45,7 @@ set(CORE_SRCS
   cores/esp32/esp32-hal-timer.c
   cores/esp32/esp32-hal-tinyusb.c
   cores/esp32/esp32-hal-touch.c
+  cores/esp32/esp32-hal-touch-ng.c
   cores/esp32/esp32-hal-uart.c
   cores/esp32/esp32-hal-rmt.c
   cores/esp32/Esp.cpp
@@ -317,6 +318,10 @@ if(NOT CONFIG_ARDUINO_SELECTIVE_COMPILATION OR CONFIG_ARDUINO_SELECTIVE_OpenThre
   endif()
 endif()
 
+if(IDF_TARGET STREQUAL "esp32p4")
+  list(APPEND requires esp_driver_touch_sens)
+endif()
+
 idf_component_register(INCLUDE_DIRS ${includedirs} PRIV_INCLUDE_DIRS ${priv_includes} SRCS ${srcs} REQUIRES ${requires} PRIV_REQUIRES ${priv_requires})
 
 if(NOT CONFIG_FREERTOS_HZ EQUAL 1000 AND NOT "$ENV{ARDUINO_SKIP_TICK_CHECK}")

cores/esp32/esp32-hal-touch-ng.c

@@ -0,0 +1,453 @@
+// Copyright 2024 Espressif Systems (Shanghai) PTE LTD
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+#include "soc/soc_caps.h"
+
+#if SOC_TOUCH_SENSOR_SUPPORTED
+#if SOC_TOUCH_SENSOR_VERSION == 3  // ESP32P4 for now
+
+#include "driver/touch_sens.h"
+#include "esp32-hal-touch-ng.h"
+#include "esp32-hal-periman.h"
+
+/*
+    Internal Private Touch Data Structure and Functions
+*/
+
+typedef void (*voidFuncPtr)(void);
+typedef void (*voidArgFuncPtr)(void *);
+
+typedef struct {
+  voidFuncPtr fn;
+  bool callWithArgs;
+  void *arg;
+  bool lastStatusIsPressed;
+} TouchInterruptHandle_t;
+
+static TouchInterruptHandle_t __touchInterruptHandlers[SOC_TOUCH_SENSOR_NUM] = {
+  0,
+};
+
+static uint8_t _sample_num = 1;
+static uint32_t _div_num = 1;
+static uint8_t _coarse_freq_tune = 1;
+static uint8_t _fine_freq_tune = 1;
+static uint8_t used_pads = 0;
+
+static uint32_t __touchSleepTime = 256;
+static float __touchMeasureTime = 32.0f;
+
+static touch_sensor_config_t sensor_config;
+
+static bool initialized = false;
+static bool enabled = false;
+static bool running = false;
+static bool channels_initialized[SOC_TOUCH_SENSOR_NUM] = {false};
+
+static touch_sensor_handle_t touch_sensor_handle = NULL;
+static touch_channel_handle_t touch_channel_handle[SOC_TOUCH_SENSOR_NUM] = {};
+
+// Active threshold to benchmark ratio. (i.e., touch will be activated when data >= benchmark * (1 + ratio))
+static float s_thresh2bm_ratio = 0.015f;  // 1.5% for all channels
+
+static bool ARDUINO_ISR_ATTR __touchOnActiveISR(touch_sensor_handle_t sens_handle, const touch_active_event_data_t *event, void *user_ctx) {
+  uint8_t pad_num = (uint8_t)event->chan_id;
+  __touchInterruptHandlers[pad_num].lastStatusIsPressed = true;
+  if (__touchInterruptHandlers[pad_num].fn) {
+    // keeping backward compatibility with "void cb(void)" and with new "void cb(void *)"
+    if (__touchInterruptHandlers[pad_num].callWithArgs) {
+      ((voidArgFuncPtr)__touchInterruptHandlers[pad_num].fn)(__touchInterruptHandlers[pad_num].arg);
+    } else {
+      __touchInterruptHandlers[pad_num].fn();
+    }
+  }
+  return false;
+}
+
+static bool ARDUINO_ISR_ATTR __touchOnInactiveISR(touch_sensor_handle_t sens_handle, const touch_inactive_event_data_t *event, void *user_ctx) {
+  uint8_t pad_num = (uint8_t)event->chan_id;
+  __touchInterruptHandlers[pad_num].lastStatusIsPressed = false;
+  if (__touchInterruptHandlers[pad_num].fn) {
+    // keeping backward compatibility with "void cb(void)" and with new "void cb(void *)"
+    if (__touchInterruptHandlers[pad_num].callWithArgs) {
+      ((voidArgFuncPtr)__touchInterruptHandlers[pad_num].fn)(__touchInterruptHandlers[pad_num].arg);
+    } else {
+      __touchInterruptHandlers[pad_num].fn();
+    }
+  }
+  return false;
+}
+
+bool touchStop() {
+  if (!running) {  // Already stopped
+    return true;
+  }
+  if (touch_sensor_stop_continuous_scanning(touch_sensor_handle) != ESP_OK) {
+    log_e("Touch sensor stop scanning failed!");
+    return false;
+  }
+  running = false;
+  return true;
+}
+
+bool touchDisable() {
+  if (!enabled) {  // Already disabled
+    return true;
+  }
+  if (!running && (touch_sensor_disable(touch_sensor_handle) != ESP_OK)) {
+    log_e("Touch sensor still running or disable failed!");
+    return false;
+  }
+  enabled = false;
+  return true;
+}
+
+bool touchStart() {
+  if (running) {  // Already running
+    return true;
+  }
+  if (enabled && (touch_sensor_start_continuous_scanning(touch_sensor_handle) != ESP_OK)) {
+    log_e("Touch sensor not enabled or failed to start continuous scanning failed!");
+    return false;
+  }
+  running = true;
+  return true;
+}
+
+bool touchEnable() {
+  if (enabled) {  // Already enabled
+    return true;
+  }
+  if (touch_sensor_enable(touch_sensor_handle) != ESP_OK) {
+    log_e("Touch sensor enable failed!");
+    return false;
+  }
+  enabled = true;
+  return true;
+}
+
+bool touchBenchmarkThreshold(uint8_t pad) {
+  if (!touchEnable()) {
+    return false;
+  }
+
+  /* Scan the enabled touch channels for several times, to make sure the initial channel data is stable */
+  for (int i = 0; i < 3; i++) {
+    if (touch_sensor_trigger_oneshot_scanning(touch_sensor_handle, 2000) != ESP_OK) {
+      log_e("Touch sensor trigger oneshot scanning failed!");
+      return false;
+    }
+  }
+
+  /* Disable the touch channel to rollback the state */
+  if (!touchDisable()) {
+    return false;
+  }
+
+  // Reconfigure passed pad with new threshold
+  uint32_t benchmark[_sample_num] = {};
+  if (touch_channel_read_data(touch_channel_handle[pad], TOUCH_CHAN_DATA_TYPE_BENCHMARK, benchmark) != ESP_OK) {
+    log_e("Touch channel read data failed!");
+    return false;
+  }
+  /* Calculate the proper active thresholds regarding the initial benchmark */
+  touch_channel_config_t chan_cfg = {};
+  for (int i = 0; i < _sample_num; i++) {
+    chan_cfg.active_thresh[i] = (uint32_t)(benchmark[i] * s_thresh2bm_ratio);
+    log_v("Configured [CH %d] sample %d: benchmark = %" PRIu32 ", threshold = %" PRIu32 "\t", pad, i, benchmark[i], chan_cfg.active_thresh[i]);
+  }
+  /* Update the channel configuration */
+  if (touch_sensor_reconfig_channel(touch_channel_handle[pad], &chan_cfg) != ESP_OK) {
+    log_e("Touch sensor threshold reconfig channel failed!");
+    return false;
+  }
+  return true;
+}
+
+static bool touchDetachBus(void *pin) {
+  int8_t pad = digitalPinToTouchChannel((int)(pin - 1));
+  channels_initialized[pad] = false;
+  //disable touch pad and delete the channel
+  touch_sensor_del_channel(touch_channel_handle[pad]);
+  used_pads--;
+  if (used_pads == 0) {
+    touchStop();
+    touchDisable();
+    if (touch_sensor_del_controller(touch_sensor_handle) != ESP_OK)  //deinit touch module, as no pads are used
+    {
+      log_e("Touch module deinit failed!");
+      return false;
+    }
+    initialized = false;
+  }
+  return true;
+}
+
+static void __touchInit() {
+  if (initialized) {
+    return;
+  }
+  // Support only one sample configuration for now
+  touch_sensor_sample_config_t single_sample_cfg = TOUCH_SENSOR_V3_DEFAULT_SAMPLE_CONFIG(_div_num, _coarse_freq_tune, _fine_freq_tune);
+  touch_sensor_sample_config_t sample_cfg[_sample_num] = {};
+  sample_cfg[0] = single_sample_cfg;
+
+  /* Allocate new touch controller handle */
+  touch_sensor_config_t sens_cfg = {
+    .power_on_wait_us = __touchSleepTime,
+    .meas_interval_us = __touchMeasureTime,
+    .max_meas_time_us = 0,
+    .output_mode = TOUCH_PAD_OUT_AS_CLOCK,
+    .sample_cfg_num = _sample_num,
+    .sample_cfg = sample_cfg,
+  };
+
+  // touch_sensor_config_t sens_cfg = TOUCH_SENSOR_DEFAULT_BASIC_CONFIG(_sample_num, sample_cfg);
+  if (touch_sensor_new_controller(&sens_cfg, &touch_sensor_handle) != ESP_OK) {
+    goto err;
+  }
+
+  sensor_config = sens_cfg;
+  /* Configure the touch sensor filter */
+  touch_sensor_filter_config_t filter_cfg = TOUCH_SENSOR_DEFAULT_FILTER_CONFIG();
+  if (touch_sensor_config_filter(touch_sensor_handle, &filter_cfg) != ESP_OK) {
+    goto err;
+  }
+
+  /* Register the touch sensor on_active and on_inactive callbacks */
+  touch_event_callbacks_t callbacks = {
+    .on_active = __touchOnActiveISR,
+    .on_inactive = __touchOnInactiveISR,
+    .on_measure_done = NULL,
+    .on_scan_done = NULL,
+    .on_timeout = NULL,
+    .on_proximity_meas_done = NULL,
+  };
+  if (touch_sensor_register_callbacks(touch_sensor_handle, &callbacks, NULL) != ESP_OK) {
+    goto err;
+  }
+
+  initialized = true;
+  return;
+err:
+  log_e(" Touch sensor initialization error.");
+  initialized = false;
+  return;
+}
+
+static void __touchChannelInit(int pad) {
+  if (channels_initialized[pad]) {
+    return;
+  }
+
+  // Initial setup with default Threshold
+  __touchInterruptHandlers[pad].fn = NULL;
+
+  touch_channel_config_t chan_cfg = {
+    .active_thresh = {1000}  // default threshold, will be updated after benchmark
+  };
+
+  if (!touchStop() || !touchDisable()) {
+    log_e("Touch sensor stop and disable failed!");
+    return;
+  }
+
+  if (touch_sensor_new_channel(touch_sensor_handle, pad, &chan_cfg, &touch_channel_handle[pad]) != ESP_OK) {
+    log_e("Touch sensor new channel failed!");
+    return;
+  }
+
+  // Benchmark active threshold and reconfigure pad
+  if (!touchBenchmarkThreshold(pad)) {
+    log_e("Touch sensor benchmark threshold failed!");
+    return;
+  }
+
+  channels_initialized[pad] = true;
+  used_pads++;
+
+  if (!touchEnable() || !touchStart()) {
+    log_e("Touch sensor enable and start failed!");
+  }
+}
+
+static touch_value_t __touchRead(uint8_t pin) {
+  int8_t pad = digitalPinToTouchChannel(pin);
+  if (pad < 0) {
+    log_e(" No touch pad on selected pin!");
+    return 0;
+  }
+
+  if (perimanGetPinBus(pin, ESP32_BUS_TYPE_TOUCH) == NULL) {
+    perimanSetBusDeinit(ESP32_BUS_TYPE_TOUCH, touchDetachBus);
+    if (!perimanClearPinBus(pin)) {
+      return 0;
+    }
+    __touchInit();
+    __touchChannelInit(pad);
+
+    if (!perimanSetPinBus(pin, ESP32_BUS_TYPE_TOUCH, (void *)(pin + 1), -1, pad)) {
+      touchDetachBus((void *)(pin + 1));
+      return 0;
+    }
+  }
+
+  uint32_t touch_read[_sample_num] = {};
+  touch_channel_read_data(touch_channel_handle[pad], TOUCH_CHAN_DATA_TYPE_SMOOTH, touch_read);
+  touch_value_t touch_value = touch_read[0];  // only one sample configuration for now
+
+  return touch_value;
+}
+
+static void __touchConfigInterrupt(uint8_t pin, void (*userFunc)(void), void *Args, bool callWithArgs, touch_value_t threshold) {
+  int8_t pad = digitalPinToTouchChannel(pin);
+  if (pad < 0) {
+    log_e(" No touch pad on selected pin!");
+    return;
+  }
+
+  if (userFunc == NULL) {
+    // detach ISR User Call
+    __touchInterruptHandlers[pad].fn = NULL;
+    __touchInterruptHandlers[pad].callWithArgs = false;
+    __touchInterruptHandlers[pad].arg = NULL;
+  } else {
+    // attach ISR User Call
+    __touchInit();
+    __touchChannelInit(pad);
+    __touchInterruptHandlers[pad].fn = userFunc;
+    __touchInterruptHandlers[pad].callWithArgs = callWithArgs;
+    __touchInterruptHandlers[pad].arg = Args;
+  }
+
+  if (threshold != 0) {
+    if (!touchStop() || !touchDisable()) {
+      log_e("Touch sensor stop and disable failed!");
+      return;
+    }
+
+    touch_channel_config_t chan_cfg = {};
+    for (int i = 0; i < _sample_num; i++) {
+      chan_cfg.active_thresh[i] = threshold;
+    }
+
+    if (touch_sensor_reconfig_channel(touch_channel_handle[pad], &chan_cfg) != ESP_OK) {
+      log_e("Touch sensor threshold reconfig channel failed!");
+    }
+
+    if (!touchEnable() || !touchStart()) {
+      log_e("Touch sensor enable and start failed!");
+    }
+  }
+}
+
+// it keeps backwards compatibility
+static void __touchAttachInterrupt(uint8_t pin, void (*userFunc)(void), touch_value_t threshold) {
+  __touchConfigInterrupt(pin, userFunc, NULL, threshold, false);
+}
+
+// new additional version of the API with User Args
+static void __touchAttachArgsInterrupt(uint8_t pin, void (*userFunc)(void), void *args, touch_value_t threshold) {
+  __touchConfigInterrupt(pin, userFunc, args, threshold, true);
+}
+
+// new additional API to detach touch ISR
+static void __touchDettachInterrupt(uint8_t pin) {
+  __touchConfigInterrupt(pin, NULL, NULL, 0, false);  // userFunc as NULL acts as detaching
+}
+
+// /*
+//     External Public Touch API Functions
+// */
+
+bool touchInterruptGetLastStatus(uint8_t pin) {
+  int8_t pad = digitalPinToTouchChannel(pin);
+  if (pad < 0) {
+    return false;
+  }
+
+  return __touchInterruptHandlers[pad].lastStatusIsPressed;
+}
+
+void touchSleepWakeUpEnable(uint8_t pin, touch_value_t threshold) {
+  int8_t pad = digitalPinToTouchChannel(pin);
+  if (pad < 0) {
+    log_e(" No touch pad on selected pin!");
+    return;
+  }
+
+  if (perimanGetPinBus(pin, ESP32_BUS_TYPE_TOUCH) == NULL) {
+    perimanSetBusDeinit(ESP32_BUS_TYPE_TOUCH, touchDetachBus);
+    __touchInit();
+    __touchChannelInit(pad);
+    if (!perimanSetPinBus(pin, ESP32_BUS_TYPE_TOUCH, (void *)(pin + 1), -1, pad)) {
+      log_e("Failed to set bus to Peripheral manager");
+      touchDetachBus((void *)(pin + 1));
+      return;
+    }
+  }
+
+  log_v("Touch sensor deep sleep wake-up configuration for pad %d with threshold %d", pad, threshold);
+  if (!touchStop() || !touchDisable()) {
+    log_e("Touch sensor stop and disable failed!");
+    return;
+  }
+
+  touch_sleep_config_t deep_slp_cfg = {
+    .slp_wakeup_lvl = TOUCH_DEEP_SLEEP_WAKEUP,
+    .deep_slp_chan = touch_channel_handle[pad],
+    .deep_slp_thresh = {threshold},
+    .deep_slp_sens_cfg = NULL,  // Use the original touch sensor configuration
+  };
+
+  // Register the deep sleep wake-up
+  if (touch_sensor_config_sleep_wakeup(touch_sensor_handle, &deep_slp_cfg) != ESP_OK) {
+    log_e("Touch sensor deep sleep wake-up failed!");
+    return;
+  }
+
+  if (!touchEnable() || !touchStart()) {
+    log_e("Touch sensor enable and start failed!");
+  }
+}
+
+void touchSetDefaultThreshold(float percentage) {
+  s_thresh2bm_ratio = (float)percentage / 100.0f;
+}
+
+void touchSetTiming(float measure, uint32_t sleep) {
+  if (initialized) {
+    log_e("Touch sensor already initialized. Cannot set cycles.");
+    return;
+  }
+  __touchSleepTime = sleep;
+  __touchMeasureTime = measure;
+}
+
+void touchSetConfig(uint32_t div_num, uint8_t coarse_freq_tune, uint8_t fine_freq_tune) {
+  if (initialized) {
+    log_e("Touch sensor already initialized. Cannot set configuration.");
+    return;
+  }
+  _div_num = div_num;
+  _coarse_freq_tune = coarse_freq_tune;
+  _fine_freq_tune = fine_freq_tune;
+}
+
+extern touch_value_t touchRead(uint8_t) __attribute__((weak, alias("__touchRead")));
+extern void touchAttachInterrupt(uint8_t, voidFuncPtr, touch_value_t) __attribute__((weak, alias("__touchAttachInterrupt")));
+extern void touchAttachInterruptArg(uint8_t, voidArgFuncPtr, void *, touch_value_t) __attribute__((weak, alias("__touchAttachArgsInterrupt")));
+extern void touchDetachInterrupt(uint8_t) __attribute__((weak, alias("__touchDettachInterrupt")));
+
+#endif /* SOC_TOUCH_SENSOR_VERSION == 3 */
+#endif /* SOC_TOUCH_SENSOR_SUPPORTED */

cores/esp32/esp32-hal-touch-ng.h

@@ -0,0 +1,91 @@
+/*
+ Arduino.h - Main include file for the Arduino SDK
+ Copyright (c) 2005-2013 Arduino Team.  All right reserved.
+
+ This library is free software; you can redistribute it and/or
+ modify it under the terms of the GNU Lesser General Public
+ License as published by the Free Software Foundation; either
+ version 2.1 of the License, or (at your option) any later version.
+
+ This library is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ Lesser General Public License for more details.
+
+ You should have received a copy of the GNU Lesser General Public
+ License along with this library; if not, write to the Free Software
+ Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+ */
+
+#ifndef MAIN_ESP32_HAL_TOUCH_NEW_H_
+#define MAIN_ESP32_HAL_TOUCH_NEW_H_
+
+#include "soc/soc_caps.h"
+#if SOC_TOUCH_SENSOR_SUPPORTED
+#if SOC_TOUCH_SENSOR_VERSION == 3  // ESP32P4
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "esp32-hal.h"
+
+typedef uint32_t touch_value_t;
+
+/*
+ * Set time in us that measurement operation takes
+ * The result from touchRead, threshold and detection
+ * accuracy depend on these values.
+ * Note: must be called before setting up touch pads
+ **/
+void touchSetTiming(float measure, uint32_t sleep);
+
+/*
+ * Tune the touch pad frequency.
+ * Note: Must be called before setting up touch pads
+*/
+void touchSetConfig(uint32_t _div_num, uint8_t coarse_freq_tune, uint8_t fine_freq_tune);
+
+/*
+ * Read touch pad value.
+ * You can use this method to chose a good threshold value
+ * to use as value for touchAttachInterrupt.
+ * */
+touch_value_t touchRead(uint8_t pin);
+
+/*
+ * Set function to be called if touch pad value rises by given increment (threshold).
+ * Use touchRead to determine a proper threshold between touched and untouched state.
+ * */
+void touchAttachInterrupt(uint8_t pin, void (*userFunc)(void), touch_value_t threshold);
+void touchAttachInterruptArg(uint8_t pin, void (*userFunc)(void *), void *arg, touch_value_t threshold);
+void touchDetachInterrupt(uint8_t pin);
+
+/*
+ * Returns true when the latest ISR status for the Touchpad is that it is touched (Active)
+ * and false when the Touchpad is untoouched (Inactive).
+ * This function can be used in conjunction with ISR User callback in order to take action
+ * as soon as the touchpad is touched and/or released.
+ **/
+bool touchInterruptGetLastStatus(uint8_t pin);
+
+/*
+ * Set the default threshold for touch pads.
+ * The threshold is a percentage of the benchmark value.
+ * The default value is 1.5%.
+ **/
+void touchSetDefaultThreshold(float percentage);
+
+/*
+ * Setup touch pad wake up from deep sleep /light sleep with given threshold.
+ * When light sleep is used, all used touch pads will be able to wake up the chip.
+ **/
+void touchSleepWakeUpEnable(uint8_t pin, touch_value_t threshold);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* SOC_TOUCH_SENSOR_VERSION == 3 */
+#endif /* SOC_TOUCH_SENSOR_SUPPORTED */
+#endif /* MAIN_ESP32_HAL_TOUCH_H_ */

cores/esp32/esp32-hal-touch.c

@@ -14,10 +14,8 @@
 #include "soc/soc_caps.h"
 
 #if SOC_TOUCH_SENSOR_SUPPORTED
-#if SOC_TOUCH_SENSOR_VERSION == 3  // ESP32P4
-// ToDo: Implement touch sensor for ESP32P4
-#warning "Touch sensor not implemented for ESP32P4 yet"
-#else
+#if SOC_TOUCH_SENSOR_VERSION <= 2  // ESP32, ESP32S2, ESP32S3
+
 #include "driver/touch_sensor.h"
 #include "esp32-hal-touch.h"
 #include "esp32-hal-periman.h"
@@ -26,10 +24,10 @@
     Internal Private Touch Data Structure and Functions
 */
 
-#if SOC_TOUCH_SENSOR_VERSION == 1    // ESP32
+#if SOC_TOUCH_SENSOR_VERSION == 1  // ESP32
 static uint16_t __touchSleepCycles = 0x1000;
 static uint16_t __touchMeasureCycles = 0x1000;
-#elif SOC_TOUCH_SENSOR_VERSION >= 2  // ESP32S2, ESP32S3, ESP32P4
+#elif SOC_TOUCH_SENSOR_VERSION == 2  // ESP32S2, ESP32S3
 static uint16_t __touchSleepCycles = TOUCH_PAD_SLEEP_CYCLE_DEFAULT;
 static uint16_t __touchMeasureCycles = TOUCH_PAD_MEASURE_CYCLE_DEFAULT;
 #endif
@@ -55,7 +53,7 @@ static bool initialized = false;
 static bool channels_initialized[SOC_TOUCH_SENSOR_NUM] = {false};
 
 static void ARDUINO_ISR_ATTR __touchISR(void *arg) {
-#if SOC_TOUCH_SENSOR_VERSION == 1    // ESP32
+#if SOC_TOUCH_SENSOR_VERSION == 1  // ESP32
   uint32_t pad_intr = touch_pad_get_status();
   //clear interrupt
   touch_pad_clear_status();
@@ -97,7 +95,7 @@ static void ARDUINO_ISR_ATTR __touchISR(void *arg) {
 static void __touchSetCycles(uint16_t measure, uint16_t sleep) {
   __touchSleepCycles = sleep;
   __touchMeasureCycles = measure;
-#if SOC_TOUCH_SENSOR_VERSION == 1    // ESP32
+#if SOC_TOUCH_SENSOR_VERSION == 1  // ESP32
   touch_pad_set_measurement_clock_cycles(measure);
 #elif SOC_TOUCH_SENSOR_VERSION == 2  // ESP32S2, ESP32S3
   touch_pad_set_charge_discharge_times(measure);
@@ -127,7 +125,7 @@ static void __touchInit() {
 
   esp_err_t err = ESP_OK;
 
-#if SOC_TOUCH_SENSOR_VERSION == 1    // ESP32
+#if SOC_TOUCH_SENSOR_VERSION == 1  // ESP32
   err = touch_pad_init();
   if (err != ESP_OK) {
     goto err;
@@ -147,7 +145,7 @@ static void __touchInit() {
   if (err != ESP_OK) {
     goto err;
   }
-  touch_pad_intr_enable();  // returns ESP_OK
+  touch_pad_intr_enable();           // returns ESP_OK
 #elif SOC_TOUCH_SENSOR_VERSION == 2  // ESP32S2, ESP32S3
   err = touch_pad_init();
   if (err != ESP_OK) {
@@ -169,7 +167,6 @@ static void __touchInit() {
   touch_pad_fsm_start();                         // returns ESP_OK
   //ISR setup moved to __touchChannelInit
 #endif
-
   initialized = true;
   return;
 err:
@@ -183,11 +180,11 @@ static void __touchChannelInit(int pad) {
     return;
   }
 
-#if SOC_TOUCH_SENSOR_VERSION == 1    // ESP32
+#if SOC_TOUCH_SENSOR_VERSION == 1  // ESP32
   // Initial no Threshold and setup
   __touchInterruptHandlers[pad].fn = NULL;
   touch_pad_config(pad, TOUCH_PAD_THRESHOLD_MAX);  // returns ESP_OK
-#elif SOC_TOUCH_SENSOR_VERSION == 2  // ESP32S2, ESP32S3
+#elif SOC_TOUCH_SENSOR_VERSION == 2                // ESP32S2, ESP32S3
   // Initial no Threshold and setup
   __touchInterruptHandlers[pad].fn = NULL;
   touch_pad_config(pad);  // returns ESP_OK
@@ -274,7 +271,7 @@ static void __touchDettachInterrupt(uint8_t pin) {
     External Public Touch API Functions
 */
 
-#if SOC_TOUCH_SENSOR_VERSION == 1    // Only for ESP32 SoC
+#if SOC_TOUCH_SENSOR_VERSION == 1  // Only for ESP32 SoC
 void touchInterruptSetThresholdDirection(bool mustbeLower) {
   if (mustbeLower) {
     touch_pad_set_trigger_mode(TOUCH_TRIGGER_BELOW);
@@ -328,5 +325,5 @@ extern void touchAttachInterruptArg(uint8_t, voidArgFuncPtr, void *, touch_value
 extern void touchDetachInterrupt(uint8_t) __attribute__((weak, alias("__touchDettachInterrupt")));
 extern void touchSetCycles(uint16_t, uint16_t) __attribute__((weak, alias("__touchSetCycles")));
 
-#endif /* SOC_TOUCH_SENSOR_VERSION == 3 */
+#endif /* SOC_TOUCH_SENSOR_VERSION <= 2 */
 #endif /* SOC_TOUCH_SENSOR_SUPPORTED */

cores/esp32/esp32-hal-touch.h

@@ -22,6 +22,7 @@
 
 #include "soc/soc_caps.h"
 #if SOC_TOUCH_SENSOR_SUPPORTED
+#if SOC_TOUCH_SENSOR_VERSION <= 2  // ESP32 ESP32S2 ESP32S3
 
 #ifdef __cplusplus
 extern "C" {
@@ -37,8 +38,6 @@ extern "C" {
 typedef uint16_t touch_value_t;
 #elif SOC_TOUCH_SENSOR_VERSION == 2  // ESP32S2 ESP32S3
 typedef uint32_t touch_value_t;
-#elif SOC_TOUCH_SENSOR_VERSION == 3  // ESP32P4
-typedef uint32_t touch_value_t;
 #endif
 
 /*
@@ -99,5 +98,6 @@ void touchSleepWakeUpEnable(uint8_t pin, touch_value_t threshold);
 }
 #endif
 
+#endif /* SOC_TOUCH_SENSOR_VERSION <= 2 */
 #endif /* SOC_TOUCH_SENSOR_SUPPORTED */
 #endif /* MAIN_ESP32_HAL_TOUCH_H_ */

cores/esp32/esp32-hal.h

@@ -74,6 +74,7 @@ void yield(void);
 #include "esp32-hal-uart.h"
 #include "esp32-hal-gpio.h"
 #include "esp32-hal-touch.h"
+#include "esp32-hal-touch-ng.h"
 #include "esp32-hal-dac.h"
 #include "esp32-hal-adc.h"
 #include "esp32-hal-spi.h"

cores/esp32/io_pin_remap.h

@@ -106,7 +106,7 @@ int8_t gpioNumberToDigitalPin(int8_t gpioNumber);
 #define spiAttachMOSI(spi, mosi)     spiAttachMOSI(spi, digitalPinToGPIONumber(mosi))
 #define spiAttachSS(spi, cs_num, ss) spiAttachSS(spi, cs_num, digitalPinToGPIONumber(ss))
 
-// cores/esp32/esp32-hal-touch.h
+// cores/esp32/esp32-hal-touch.h && cores/esp32/esp32-hal-touch-ng.h
 #define touchInterruptGetLastStatus(pin)                       touchInterruptGetLastStatus(digitalPinToGPIONumber(pin))
 #define touchRead(pin)                                         touchRead(digitalPinToGPIONumber(pin))
 #define touchAttachInterruptArg(pin, userFunc, arg, threshold) touchAttachInterruptArg(digitalPinToGPIONumber(pin), userFunc, arg, threshold)

libraries/ESP32/examples/DeepSleep/TouchWakeUp/TouchWakeUp.ino

@@ -15,9 +15,11 @@ Pranav Cherukupalli <cherukupallip@gmail.com>
 */
 
 #if CONFIG_IDF_TARGET_ESP32
-#define THRESHOLD 40   /* Greater the value, more the sensitivity */
-#else                  //ESP32-S2 and ESP32-S3 + default for other chips (to be adjusted) */
+#define THRESHOLD 40 /* Greater the value, more the sensitivity */
+#elif (CONFIG_IDF_TARGET_ESP32S2 || CONFIG_IDF_TARGET_ESP32S3)
 #define THRESHOLD 5000 /* Lower the value, more the sensitivity */
+#else                  // ESP32-P4 + default for other chips (to be adjusted) */
+#define THRESHOLD 500  /* Lower the value, more the sensitivity */
 #endif
 
 RTC_DATA_ATTR int bootCount = 0;
@@ -88,7 +90,7 @@ void setup() {
   touchSleepWakeUpEnable(T3, THRESHOLD);
   touchSleepWakeUpEnable(T7, THRESHOLD);
 
-#else  //ESP32-S2 + ESP32-S3
+#else  //ESP32-S2 + ESP32-S3 + ESP32-P4
   //Setup sleep wakeup on Touch Pad 3 (GPIO3)
   touchSleepWakeUpEnable(T3, THRESHOLD);
 

libraries/ESP32/examples/DeepSleep/TouchWakeUp/ci.json

@@ -2,7 +2,6 @@
   "targets": {
     "esp32c3": false,
     "esp32c6": false,
-    "esp32h2": false,
-    "esp32p4": false
+    "esp32h2": false
   }
 }

libraries/ESP32/examples/Touch/TouchInterrupt/TouchInterrupt.ino

@@ -3,7 +3,12 @@ This is an example how to use Touch Intrrerupts
 The bigger the threshold, the more sensible is the touch
 */
 
+#if CONFIG_IDF_TARGET_ESP32P4
+int threshold = 0;  // when 0 is used, the benchmarked value will be used
+#else
 int threshold = 40;
+#endif
+
 bool touch1detected = false;
 bool touch2detected = false;
 

libraries/ESP32/examples/Touch/TouchInterrupt/ci.json

@@ -1,8 +1,5 @@
 {
   "requires": [
     "CONFIG_SOC_TOUCH_SENSOR_SUPPORTED=y"
-  ],
-  "targets": {
-    "esp32p4": false
-  }
+  ]
 }

libraries/ESP32/examples/Touch/TouchRead/ci.json

@@ -1,8 +1,5 @@
 {
   "requires": [
     "CONFIG_SOC_TOUCH_SENSOR_SUPPORTED=y"
-  ],
-  "targets": {
-    "esp32p4": false
-  }
+  ]
 }

tests/validation/touch/ci.json

@@ -5,8 +5,5 @@
   },
   "requires": [
     "CONFIG_SOC_TOUCH_SENSOR_SUPPORTED=y"
-  ],
-  "targets": {
-    "esp32p4": false
-  }
+  ]
 }

tests/validation/touch/touch.ino

@@ -2,6 +2,10 @@
 #include "soc/soc_caps.h"
 #include "driver/touch_pad.h"
 
+#if SOC_TOUCH_SENSOR_VERSION == 3
+#include "hal/touch_sensor_ll.h"
+#endif
+
 #if CONFIG_IDF_TARGET_ESP32
 
 #define TEST_TOUCH_CHANNEL (9)
@@ -15,11 +19,7 @@ uint8_t TOUCH_GPIOS[] = {4, 2, 15, 13, 12, 14, 27, 33, 32};
 
 #define NO_TOUCH_GPIO 25
 
-#define RELEASED_VALUE      75  //75+ read value to pass test
-#define PRESSED_VALUE       20  //20- read value to pass test
-#define INTERRUPT_THRESHOLD 40
-
-#else  //ESP32S2 and ESP32S3
+#elif (CONFIG_IDF_TARGET_ESP32S2 || CONFIG_IDF_TARGET_ESP32S3)
 
 #define TEST_TOUCH_CHANNEL (12)  //14
 static touch_pad_t touch_list[TEST_TOUCH_CHANNEL] = {
@@ -33,7 +33,25 @@ uint8_t TOUCH_GPIOS[] = {1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12 /*,13,14*/};
 
 #define NO_TOUCH_GPIO 17
 
-#if CONFIG_IDF_TARGET_ESP32S2
+#else  //ESP32P4
+
+#define TEST_TOUCH_CHANNEL (5)  //14
+static touch_pad_t touch_list[TEST_TOUCH_CHANNEL] = {
+  TOUCH_PAD_NUM0, TOUCH_PAD_NUM1, TOUCH_PAD_NUM2,
+  TOUCH_PAD_NUM3, TOUCH_PAD_NUM4, /* TOUCH_PAD_NUM5, TOUCH_PAD_NUM6,
+  TOUCH_PAD_NUM7, TOUCH_PAD_NUM8, TOUCH_PAD_NUM9, TOUCH_PAD_NUM10, TOUCH_PAD_NUM11, TOUCH_PAD_NUM12, TOUCH_PAD_NUM13*/
+};
+
+uint8_t TOUCH_GPIOS[] = {2, 3, 4, 5, 6 /*, 7, 8, 9, 10, 11, 12 ,13, 14, 15*/};
+
+#define NO_TOUCH_GPIO 17
+#endif
+
+#if CONFIG_IDF_TARGET_ESP32
+#define RELEASED_VALUE      75  //75+ read value to pass test
+#define PRESSED_VALUE       20  //20- read value to pass test
+#define INTERRUPT_THRESHOLD 40
+#elif CONFIG_IDF_TARGET_ESP32S2
 #define RELEASED_VALUE      10000  //10000- read value to pass test
 #define PRESSED_VALUE       42000  //40000+ read value to pass test
 #define INTERRUPT_THRESHOLD 30000
@@ -41,12 +59,13 @@ uint8_t TOUCH_GPIOS[] = {1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12 /*,13,14*/};
 #define RELEASED_VALUE      25000  //25000- read value to pass test
 #define PRESSED_VALUE       90000  //90000+ read value to pass test
 #define INTERRUPT_THRESHOLD 80000
+#elif CONFIG_IDF_TARGET_ESP32P4
+#define PRESSED_VALUE_DIFFERENCE 200  //200+ read value difference against the unpressed value
+#define INTERRUPT_THRESHOLD      0    // Use benchmarked threshold
 #else
 #error Test not currently supported on this chip. Please adjust and try again!
 #endif
 
-#endif
-
 bool touch1detected = false;
 bool touch2detected = false;
 
@@ -59,17 +78,25 @@ void gotTouch2() {
 }
 
 /*
- * Change the slope to get larger value from touch sensor.
+ * Change the slope to get larger value from touch sensor. (Capacitor for ESP32P4)
  */
 static void test_press_fake(touch_pad_t pad_num) {
+#if SOC_TOUCH_SENSOR_VERSION <= 2
   touch_pad_set_cnt_mode(pad_num, TOUCH_PAD_SLOPE_1, TOUCH_PAD_TIE_OPT_DEFAULT);
+#else
+  touch_ll_set_internal_capacitor(0x7f);
+#endif
 }
 
 /*
- * Change the slope to get smaller value from touch sensor.
+ * Change the slope to get smaller value from touch sensor. (Capacitor for ESP32P4)
  */
 static void test_release_fake(touch_pad_t pad_num) {
+#if SOC_TOUCH_SENSOR_VERSION <= 2
   touch_pad_set_cnt_mode(pad_num, TOUCH_PAD_SLOPE_7, TOUCH_PAD_TIE_OPT_DEFAULT);
+#else
+  touch_ll_set_internal_capacitor(0);
+#endif
 }
 
 /* These functions are intended to be called before and after each test. */
@@ -87,6 +114,7 @@ void tearDown(void) {
  */
 void test_touch_read(void) {
 
+#if SOC_TOUCH_SENSOR_VERSION <= 2
   //TEST RELEASE STATE
   for (int i = 0; i < sizeof(TOUCH_GPIOS); i++) {
 #ifdef CONFIG_IDF_TARGET_ESP32
@@ -109,6 +137,29 @@ void test_touch_read(void) {
     TEST_ASSERT_GREATER_THAN(PRESSED_VALUE, touchRead(TOUCH_GPIOS[k]));
 #endif
   }
+#else  //TOUCH V3
+  //TEST RELEASE STATE
+  touch_value_t touch_unpressed[sizeof(TOUCH_GPIOS)];
+  for (int i = 0; i < sizeof(TOUCH_GPIOS); i++) {
+    touch_unpressed[i] = touchRead(TOUCH_GPIOS[i]);
+  }
+
+  // TEST PRESS STATE
+  for (int j = 0; j < TEST_TOUCH_CHANNEL; j++) {
+    test_press_fake(touch_list[j]);
+  }
+  delay(100);
+
+  touch_value_t touch_pressed[sizeof(TOUCH_GPIOS)];
+  for (int k = 0; k < sizeof(TOUCH_GPIOS); k++) {
+    touch_pressed[k] = touchRead(TOUCH_GPIOS[k]);
+  }
+
+  // COMPARE PRESSED > UNPRESSED
+  for (int l = 0; l < sizeof(TOUCH_GPIOS); l++) {
+    TEST_ASSERT_GREATER_THAN((touch_unpressed[l] + PRESSED_VALUE_DIFFERENCE), touch_pressed[l]);
+  }
+#endif
 }
 
 void test_touch_interrtupt(void) {
@@ -146,4 +197,6 @@ void setup() {
   UNITY_END();
 }
 
-void loop() {}
+void loop() {
+  delay(10);
+}