From 5c2ebf4eee5978d2acac0a8dd3bc4c179010c536 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Jan=20Proch=C3=A1zka?=
 <90197375+P-R-O-C-H-Y@users.noreply.github.com>
Date: Fri, 25 Jul 2025 17:31:22 +0200
Subject: [PATCH 1/9] feat(touch): Support all touch versions in NG driver

---
 cores/esp32/esp32-hal-touch-ng.c              | 133 +++++--
 cores/esp32/esp32-hal-touch-ng.h              |  42 ++-
 cores/esp32/esp32-hal-touch.c                 | 329 ------------------
 cores/esp32/esp32-hal-touch.h                 | 103 ------
 cores/esp32/esp32-hal.h                       |   1 -
 .../Touch/TouchButton/TouchButton.ino         |  57 +--
 .../ESP32/examples/Touch/TouchButton/ci.json  |   2 +-
 .../Touch/TouchButtonV2/TouchButtonV2.ino     |  51 ---
 .../examples/Touch/TouchButtonV2/ci.json      |   5 -
 tests/validation/touch/touch.ino              |  13 +-
 10 files changed, 189 insertions(+), 547 deletions(-)
 delete mode 100644 cores/esp32/esp32-hal-touch.c
 delete mode 100644 cores/esp32/esp32-hal-touch.h
 delete mode 100644 libraries/ESP32/examples/Touch/TouchButtonV2/TouchButtonV2.ino
 delete mode 100644 libraries/ESP32/examples/Touch/TouchButtonV2/ci.json

diff --git a/cores/esp32/esp32-hal-touch-ng.c b/cores/esp32/esp32-hal-touch-ng.c
index 888a299ec0c..392f404bae6 100644
--- a/cores/esp32/esp32-hal-touch-ng.c
+++ b/cores/esp32/esp32-hal-touch-ng.c
@@ -14,9 +14,8 @@
 #include "soc/soc_caps.h"
 
 #if SOC_TOUCH_SENSOR_SUPPORTED
-#if SOC_TOUCH_SENSOR_VERSION == 3  // ESP32P4 for now
+//#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"
 
@@ -37,11 +36,24 @@ typedef struct {
 static TouchInterruptHandle_t __touchInterruptHandlers[SOC_TOUCH_SENSOR_NUM] = {
   0,
 };
-
-static uint8_t _sample_num = 1;
+#if SOC_TOUCH_SENSOR_VERSION == 1 // ESP32
+static uint8_t _sample_num = 1; // only one sample configuration supported
+static float _duration_ms = 5.0f;
+static touch_volt_lim_l_t _volt_low = TOUCH_VOLT_LIM_L_0V5;
+static touch_volt_lim_h_t _volt_high = TOUCH_VOLT_LIM_H_1V7;
+static touch_intr_trig_mode_t _intr_trig_mode = TOUCH_INTR_TRIG_ON_BELOW_THRESH;
+#elif SOC_TOUCH_SENSOR_VERSION == 2 // ESP32S2, ESP32S3
+static uint8_t _sample_num = 1; // only one sample configuration supported
+static float _duration_ms = 500.0f;
+static touch_volt_lim_l_t _volt_low = TOUCH_VOLT_LIM_L_0V5;
+static touch_volt_lim_h_t _volt_high = TOUCH_VOLT_LIM_H_2V2;
+#elif SOC_TOUCH_SENSOR_VERSION == 3 // ESP32P4
+static uint8_t _sample_num = 1; // TODO: can be extended to multiple samples
 static uint32_t _div_num = 1;
 static uint8_t _coarse_freq_tune = 1;
 static uint8_t _fine_freq_tune = 1;
+#endif
+
 static uint8_t used_pads = 0;
 
 static uint32_t __touchSleepTime = 256;
@@ -156,15 +168,28 @@ bool touchBenchmarkThreshold(uint8_t pad) {
 
   // Reconfigure passed pad with new threshold
   uint32_t benchmark[_sample_num] = {};
+  #if SOC_TOUCH_SUPPORT_BENCHMARK // ESP32S2, ESP32S3,ESP32P4
   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;
   }
+  #else
+  if (touch_channel_read_data(touch_channel_handle[pad], TOUCH_CHAN_DATA_TYPE_SMOOTH, benchmark) != ESP_OK) {
+    log_e("Touch channel read data failed!");
+    return false;
+  }
+  #endif
+
   /* Calculate the proper active thresholds regarding the initial benchmark */
-  touch_channel_config_t chan_cfg = {};
+  touch_channel_config_t chan_cfg = TOUCH_CHANNEL_DEFAULT_CONFIG();
   for (int i = 0; i < _sample_num; i++) {
+#if SOC_TOUCH_SENSOR_VERSION == 1 // ESP32
+    chan_cfg.abs_active_thresh[i] = (uint32_t)(benchmark[i] * (1 - s_thresh2bm_ratio));
+    log_v("Configured [CH %d] sample %d: benchmark = %"PRIu32", threshold = %"PRIu32"\t", pad, i, benchmark[i], chan_cfg.abs_active_thresh[i]);
+#else
     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]);
+    log_v("Configured [CH %d] sample %d: benchmark = %"PRIu32", threshold = %"PRIu32"\t", pad, i, benchmark[i], chan_cfg.active_thresh[i]);
+#endif
   }
   /* Update the channel configuration */
   if (touch_sensor_reconfig_channel(touch_channel_handle[pad], &chan_cfg) != ESP_OK) {
@@ -198,21 +223,40 @@ static void __touchInit() {
     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);
+#if SOC_TOUCH_SENSOR_VERSION == 1 // ESP32
+  touch_sensor_sample_config_t single_sample_cfg = TOUCH_SENSOR_V1_DEFAULT_SAMPLE_CONFIG(_duration_ms, _volt_low, _volt_high);
+#elif SOC_TOUCH_SENSOR_VERSION == 2 // ESP32S2, ESP32S3
+  touch_sensor_sample_config_t single_sample_cfg = TOUCH_SENSOR_V2_DEFAULT_SAMPLE_CONFIG(_duration_ms, _volt_low, _volt_high);
+#elif SOC_TOUCH_SENSOR_VERSION == 3 // ESP32P4
+  touch_sensor_sample_config_t single_sample_cfg = TOUCH_SENSOR_V3_DEFAULT_SAMPLE_CONFIG(_sample_num, _div_num, _coarse_freq_tune, _fine_freq_tune);
+#endif
   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 = {
+#if SOC_TOUCH_SENSOR_VERSION == 1 // ESP32
+    .power_on_wait_us = __touchSleepTime,
+    .meas_interval_us = __touchMeasureTime,
+    .intr_trig_mode = _intr_trig_mode,
+    .intr_trig_group = TOUCH_INTR_TRIG_GROUP_BOTH,
+    .sample_cfg_num = _sample_num,
+    .sample_cfg = sample_cfg,
+#elif SOC_TOUCH_SENSOR_VERSION == 2 // ESP32S2, ESP32S3
+    .power_on_wait_us = __touchSleepTime,
+    .meas_interval_us = __touchMeasureTime,
+    .max_meas_time_us = 0,
+    .sample_cfg_num = _sample_num,
+    .sample_cfg = sample_cfg,
+#elif SOC_TOUCH_SENSOR_VERSION == 3 // ESP32P4
     .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,
+#endif
   };
 
-  // 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;
   }
@@ -225,14 +269,10 @@ static void __touchInit() {
   }
 
   /* 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,
-  };
+  touch_event_callbacks_t callbacks = {0};
+  callbacks.on_active = __touchOnActiveISR;
+  callbacks.on_inactive = __touchOnInactiveISR;
+
   if (touch_sensor_register_callbacks(touch_sensor_handle, &callbacks, NULL) != ESP_OK) {
     goto err;
   }
@@ -253,10 +293,8 @@ static void __touchChannelInit(int pad) {
   // 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
-  };
-
+  touch_channel_config_t chan_cfg = TOUCH_CHANNEL_DEFAULT_CONFIG();
+  
   if (!touchStop() || !touchDisable()) {
     log_e("Touch sensor stop and disable failed!");
     return;
@@ -323,8 +361,21 @@ static void __touchConfigInterrupt(uint8_t pin, void (*userFunc)(void), void *Ar
     __touchInterruptHandlers[pad].arg = NULL;
   } else {
     // attach ISR User Call
-    __touchInit();
-    __touchChannelInit(pad);
+    if (perimanGetPinBus(pin, ESP32_BUS_TYPE_TOUCH) == NULL) {
+      perimanSetBusDeinit(ESP32_BUS_TYPE_TOUCH, touchDetachBus);
+      if (!perimanClearPinBus(pin)) {
+        log_e("Failed to clear pin bus");
+        return;
+      }
+      __touchInit();
+      __touchChannelInit(pad);
+
+      if (!perimanSetPinBus(pin, ESP32_BUS_TYPE_TOUCH, (void *)(pin + 1), -1, pad)) {
+        touchDetachBus((void *)(pin + 1));
+        log_e("Failed to set bus to Peripheral manager");
+        return;
+      }
+    }
     __touchInterruptHandlers[pad].fn = userFunc;
     __touchInterruptHandlers[pad].callWithArgs = callWithArgs;
     __touchInterruptHandlers[pad].arg = Args;
@@ -338,7 +389,11 @@ static void __touchConfigInterrupt(uint8_t pin, void (*userFunc)(void), void *Ar
 
     touch_channel_config_t chan_cfg = {};
     for (int i = 0; i < _sample_num; i++) {
+#if SOC_TOUCH_SENSOR_VERSION == 1 // ESP32
+      chan_cfg.abs_active_thresh[i] = threshold;
+#else
       chan_cfg.active_thresh[i] = threshold;
+#endif
     }
 
     if (touch_sensor_reconfig_channel(touch_channel_handle[pad], &chan_cfg) != ESP_OK) {
@@ -375,7 +430,6 @@ bool touchInterruptGetLastStatus(uint8_t pin) {
   if (pad < 0) {
     return false;
   }
-
   return __touchInterruptHandlers[pad].lastStatusIsPressed;
 }
 
@@ -405,9 +459,13 @@ void touchSleepWakeUpEnable(uint8_t pin, touch_value_t threshold) {
 
   touch_sleep_config_t deep_slp_cfg = {
     .slp_wakeup_lvl = TOUCH_DEEP_SLEEP_WAKEUP,
+#if SOC_TOUCH_SENSOR_VERSION == 1 // ESP32
+    .deep_slp_sens_cfg = NULL,  // Use the original touch sensor configuration
+#else // SOC_TOUCH_SENSOR_VERSION 2 and 3// ESP32S2, ESP32S3, ESP32P4
     .deep_slp_chan = touch_channel_handle[pad],
     .deep_slp_thresh = {threshold},
     .deep_slp_sens_cfg = NULL,  // Use the original touch sensor configuration
+#endif
   };
 
   // Register the deep sleep wake-up
@@ -434,6 +492,20 @@ void touchSetTiming(float measure, uint32_t sleep) {
   __touchMeasureTime = measure;
 }
 
+#if SOC_TOUCH_SENSOR_VERSION == 1 || SOC_TOUCH_SENSOR_VERSION == 2 // ESP32, ESP32S2, ESP32S3
+
+void touchSetConfig(float duration_ms, touch_volt_lim_l_t volt_low, touch_volt_lim_h_t volt_high) {
+  if (initialized) {
+    log_e("Touch sensor already initialized. Cannot set configuration.");
+    return;
+  }
+  _duration_ms = duration_ms;
+  _volt_low = volt_low;
+  _volt_high = volt_high;
+}
+
+#elif SOC_TOUCH_SENSOR_VERSION == 3 // ESP32P4
+
 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.");
@@ -443,11 +515,22 @@ void touchSetConfig(uint32_t div_num, uint8_t coarse_freq_tune, uint8_t fine_fre
   _coarse_freq_tune = coarse_freq_tune;
   _fine_freq_tune = fine_freq_tune;
 }
+#endif
+
+#if SOC_TOUCH_SENSOR_VERSION == 1 // ESP32
+void touchInterruptSetThresholdDirection(bool mustbeLower) {
+  if (mustbeLower) {
+    _intr_trig_mode = TOUCH_INTR_TRIG_ON_BELOW_THRESH;
+  } else {
+    _intr_trig_mode = TOUCH_INTR_TRIG_ON_ABOVE_THRESH;
+  }
+}
+#endif
 
 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_VERSION == 3 */
 #endif /* SOC_TOUCH_SENSOR_SUPPORTED */
diff --git a/cores/esp32/esp32-hal-touch-ng.h b/cores/esp32/esp32-hal-touch-ng.h
index 0d4eb79ac58..23c00983092 100644
--- a/cores/esp32/esp32-hal-touch-ng.h
+++ b/cores/esp32/esp32-hal-touch-ng.h
@@ -22,13 +22,32 @@
 
 #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"
+#include "driver/touch_sens.h"
+
+#if SOC_TOUCH_SENSOR_VERSION == 1 // ESP32
+#define TOUCH_CHANNEL_DEFAULT_CONFIG()        {  \
+    .abs_active_thresh = {1000},  \
+    .charge_speed = TOUCH_CHARGE_SPEED_7,  \
+    .init_charge_volt = TOUCH_INIT_CHARGE_VOLT_DEFAULT,  \
+    .group = TOUCH_CHAN_TRIG_GROUP_BOTH,  \
+}
+#elif SOC_TOUCH_SENSOR_VERSION == 2     // ESP32-S2 & ESP32-S3
+#define TOUCH_CHANNEL_DEFAULT_CONFIG()        {  \
+    .active_thresh = {2000},  \
+    .charge_speed = TOUCH_CHARGE_SPEED_7,  \
+    .init_charge_volt = TOUCH_INIT_CHARGE_VOLT_DEFAULT,  \
+}
+#elif SOC_TOUCH_SENSOR_VERSION == 3     // ESP32-P4
+#define TOUCH_CHANNEL_DEFAULT_CONFIG()        {  \
+    .active_thresh = {1000},  \
+}
+#endif
 
 typedef uint32_t touch_value_t;
 
@@ -40,11 +59,31 @@ typedef uint32_t touch_value_t;
  **/
 void touchSetTiming(float measure, uint32_t sleep);
 
+#if SOC_TOUCH_SENSOR_VERSION == 1 || SOC_TOUCH_SENSOR_VERSION == 2 // ESP32, ESP32S2, ESP32S3
+/*
+ * @param[in] duration_ms   The measurement duration of the touch channel
+ * @param[in] volt_low      The low voltage limit of the touch channel
+ * @param[in] volt_high     The high voltage limit of the touch channel
+ */
+void touchSetConfig(float duration_ms, touch_volt_lim_l_t volt_low, touch_volt_lim_h_t volt_high);
+
+#elif SOC_TOUCH_SENSOR_VERSION == 3 // ESP32P4
 /*
  * 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);
+#endif
+
+#if SOC_TOUCH_SENSOR_VERSION == 1
+/*
+ * Specific functions to ESP32
+ * Tells the driver if it shall activate the ISR if the sensor is Lower or Higher than the Threshold
+ * Default if Lower.
+ * Note: Must be called before setting up touch pads
+ **/
+void touchInterruptSetThresholdDirection(bool mustbeLower);
+#endif
 
 /*
  * Read touch pad value.
@@ -86,6 +125,5 @@ void touchSleepWakeUpEnable(uint8_t pin, touch_value_t threshold);
 }
 #endif
 
-#endif /* SOC_TOUCH_SENSOR_VERSION == 3 */
 #endif /* SOC_TOUCH_SENSOR_SUPPORTED */
 #endif /* MAIN_ESP32_HAL_TOUCH_H_ */
diff --git a/cores/esp32/esp32-hal-touch.c b/cores/esp32/esp32-hal-touch.c
deleted file mode 100644
index 701bf6d16c9..00000000000
--- a/cores/esp32/esp32-hal-touch.c
+++ /dev/null
@@ -1,329 +0,0 @@
-// Copyright 2015-2016 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 <= 2  // ESP32, ESP32S2, ESP32S3
-
-#include "driver/touch_sensor.h"
-#include "esp32-hal-touch.h"
-#include "esp32-hal-periman.h"
-
-/*
-    Internal Private Touch Data Structure and Functions
-*/
-
-#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
-static uint16_t __touchSleepCycles = TOUCH_PAD_SLEEP_CYCLE_DEFAULT;
-static uint16_t __touchMeasureCycles = TOUCH_PAD_MEASURE_CYCLE_DEFAULT;
-#endif
-
-typedef void (*voidFuncPtr)(void);
-typedef void (*voidArgFuncPtr)(void *);
-
-typedef struct {
-  voidFuncPtr fn;
-  bool callWithArgs;
-  void *arg;
-#if SOC_TOUCH_SENSOR_VERSION == 2  // Only for ESP32S2 and ESP32S3
-  bool lastStatusIsPressed;
-#endif
-} TouchInterruptHandle_t;
-
-static TouchInterruptHandle_t __touchInterruptHandlers[SOC_TOUCH_SENSOR_NUM] = {
-  0,
-};
-
-static uint8_t used_pads = 0;
-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
-  uint32_t pad_intr = touch_pad_get_status();
-  //clear interrupt
-  touch_pad_clear_status();
-  // call Pad ISR User callback
-  for (int i = 0; i < SOC_TOUCH_SENSOR_NUM; i++) {
-    if ((pad_intr >> i) & 0x01) {
-      if (__touchInterruptHandlers[i].fn) {
-        // keeping backward compatibility with "void cb(void)" and with new "void cb(vooid *)"
-        if (__touchInterruptHandlers[i].callWithArgs) {
-          ((voidArgFuncPtr)__touchInterruptHandlers[i].fn)(__touchInterruptHandlers[i].arg);
-        } else {
-          __touchInterruptHandlers[i].fn();
-        }
-      }
-    }
-  }
-#elif SOC_TOUCH_SENSOR_VERSION == 2  // ESP32S2, ESP32S3
-  touch_pad_intr_mask_t evt = touch_pad_read_intr_status_mask();
-  uint8_t pad_num = touch_pad_get_current_meas_channel();
-  if (evt & TOUCH_PAD_INTR_MASK_ACTIVE) {
-    // touch has been pressed / touched
-    __touchInterruptHandlers[pad_num].lastStatusIsPressed = true;
-  }
-  if (evt & TOUCH_PAD_INTR_MASK_INACTIVE) {
-    // touch has been released / untouched
-    __touchInterruptHandlers[pad_num].lastStatusIsPressed = false;
-  }
-  if (__touchInterruptHandlers[pad_num].fn) {
-    // keeping backward compatibility with "void cb(void)" and with new "void cb(vooid *)"
-    if (__touchInterruptHandlers[pad_num].callWithArgs) {
-      ((voidArgFuncPtr)__touchInterruptHandlers[pad_num].fn)(__touchInterruptHandlers[pad_num].arg);
-    } else {
-      __touchInterruptHandlers[pad_num].fn();
-    }
-  }
-#endif
-}
-
-static void __touchSetCycles(uint16_t measure, uint16_t sleep) {
-  __touchSleepCycles = sleep;
-  __touchMeasureCycles = measure;
-#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);
-#endif
-  touch_pad_set_measurement_interval(sleep);
-}
-
-static bool touchDetachBus(void *pin) {
-  int8_t pad = digitalPinToTouchChannel((int)(pin - 1));
-  channels_initialized[pad] = false;
-  used_pads--;
-  if (used_pads == 0) {
-    if (touch_pad_deinit() != 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;
-  }
-
-  esp_err_t err = ESP_OK;
-
-#if SOC_TOUCH_SENSOR_VERSION == 1  // ESP32
-  err = touch_pad_init();
-  if (err != ESP_OK) {
-    goto err;
-  }
-  // the next two lines will drive the touch reading values -- both will return ESP_OK
-  touch_pad_set_voltage(TOUCH_HVOLT_2V7, TOUCH_LVOLT_0V5, TOUCH_HVOLT_ATTEN_0V);
-  touch_pad_set_measurement_clock_cycles(__touchMeasureCycles);
-  touch_pad_set_measurement_interval(__touchSleepCycles);
-  // Touch Sensor Timer initiated
-  touch_pad_set_fsm_mode(TOUCH_FSM_MODE_TIMER);  // returns ESP_OK
-  err = touch_pad_filter_start(10);
-  if (err != ESP_OK) {
-    goto err;
-  }
-  // keep ISR activated - it can run all together (ISR + touchRead())
-  err = touch_pad_isr_register(__touchISR, NULL);
-  if (err != ESP_OK) {
-    goto err;
-  }
-  touch_pad_intr_enable();           // returns ESP_OK
-#elif SOC_TOUCH_SENSOR_VERSION == 2  // ESP32S2, ESP32S3
-  err = touch_pad_init();
-  if (err != ESP_OK) {
-    goto err;
-  }
-  // the next lines will drive the touch reading values -- all os them return ESP_OK
-  touch_pad_set_charge_discharge_times(__touchMeasureCycles);
-  touch_pad_set_measurement_interval(__touchSleepCycles);
-  touch_pad_set_voltage(TOUCH_PAD_HIGH_VOLTAGE_THRESHOLD, TOUCH_PAD_LOW_VOLTAGE_THRESHOLD, TOUCH_PAD_ATTEN_VOLTAGE_THRESHOLD);
-  touch_pad_set_idle_channel_connect(TOUCH_PAD_IDLE_CH_CONNECT_DEFAULT);
-  touch_pad_denoise_t denoise = {
-    .grade = TOUCH_PAD_DENOISE_BIT4,
-    .cap_level = TOUCH_PAD_DENOISE_CAP_L4,
-  };
-  touch_pad_denoise_set_config(&denoise);
-  touch_pad_denoise_enable();
-  // Touch Sensor Timer initiated
-  touch_pad_set_fsm_mode(TOUCH_FSM_MODE_TIMER);  // returns ESP_OK
-  touch_pad_fsm_start();                         // returns ESP_OK
-  //ISR setup moved to __touchChannelInit
-#endif
-  initialized = true;
-  return;
-err:
-  log_e(" Touch sensor initialization error.");
-  initialized = false;
-  return;
-}
-
-static void __touchChannelInit(int pad) {
-  if (channels_initialized[pad]) {
-    return;
-  }
-
-#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
-  // Initial no Threshold and setup
-  __touchInterruptHandlers[pad].fn = NULL;
-  touch_pad_config(pad);  // returns ESP_OK
-  // keep ISR activated - it can run all together (ISR + touchRead())
-  esp_err_t err = touch_pad_isr_register(__touchISR, NULL, TOUCH_PAD_INTR_MASK_ACTIVE | TOUCH_PAD_INTR_MASK_INACTIVE);
-  if (err != ESP_OK) {
-    log_e(" Touch sensor initialization error.");
-    return;
-  }
-  touch_pad_intr_enable(TOUCH_PAD_INTR_MASK_ACTIVE | TOUCH_PAD_INTR_MASK_INACTIVE);  // returns ESP_OK
-#endif
-
-  channels_initialized[pad] = true;
-  used_pads++;
-  delay(20);  //delay needed before reading from touch channel after config
-}
-
-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;
-    }
-  }
-
-  touch_value_t touch_value;
-  touch_pad_read_raw_data(pad, &touch_value);
-
-  return touch_value;
-}
-
-static void __touchConfigInterrupt(uint8_t pin, void (*userFunc)(void), void *Args, touch_value_t threshold, bool callWithArgs) {
-  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;
-    threshold = TOUCH_PAD_THRESHOLD_MAX;  // deactivate the ISR with SOC_TOUCH_PAD_THRESHOLD_MAX
-  } else {
-    // attach ISR User Call
-    __touchInit();
-    __touchChannelInit(pad);
-    __touchInterruptHandlers[pad].fn = userFunc;
-    __touchInterruptHandlers[pad].callWithArgs = callWithArgs;
-    __touchInterruptHandlers[pad].arg = Args;
-  }
-
-  touch_pad_set_thresh(pad, threshold);
-}
-
-// 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
-*/
-
-#if SOC_TOUCH_SENSOR_VERSION == 1  // Only for ESP32 SoC
-void touchInterruptSetThresholdDirection(bool mustbeLower) {
-  if (mustbeLower) {
-    touch_pad_set_trigger_mode(TOUCH_TRIGGER_BELOW);
-  } else {
-    touch_pad_set_trigger_mode(TOUCH_TRIGGER_ABOVE);
-  }
-}
-#elif SOC_TOUCH_SENSOR_VERSION == 2  // Only for ESP32S2 and ESP32S3
-// returns true if touch pad has been and continues pressed and false otherwise
-bool touchInterruptGetLastStatus(uint8_t pin) {
-  int8_t pad = digitalPinToTouchChannel(pin);
-  if (pad < 0) {
-    return false;
-  }
-
-  return __touchInterruptHandlers[pad].lastStatusIsPressed;
-}
-#endif
-
-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;
-    }
-  }
-#if SOC_TOUCH_SENSOR_VERSION == 1  // Only for ESP32 SoC
-  touch_pad_set_thresh(pad, threshold);
-
-#elif SOC_TOUCH_SENSOR_VERSION == 2
-  touch_pad_sleep_channel_enable(pad, true);
-  touch_pad_sleep_set_threshold(pad, threshold);
-
-#endif
-  esp_sleep_enable_touchpad_wakeup();
-}
-
-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")));
-extern void touchSetCycles(uint16_t, uint16_t) __attribute__((weak, alias("__touchSetCycles")));
-
-#endif /* SOC_TOUCH_SENSOR_VERSION <= 2 */
-#endif /* SOC_TOUCH_SENSOR_SUPPORTED */
diff --git a/cores/esp32/esp32-hal-touch.h b/cores/esp32/esp32-hal-touch.h
deleted file mode 100644
index 4b06c7db766..00000000000
--- a/cores/esp32/esp32-hal-touch.h
+++ /dev/null
@@ -1,103 +0,0 @@
-/*
- 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_H_
-#define MAIN_ESP32_HAL_TOUCH_H_
-
-#include "soc/soc_caps.h"
-#if SOC_TOUCH_SENSOR_SUPPORTED
-#if SOC_TOUCH_SENSOR_VERSION <= 2  // ESP32 ESP32S2 ESP32S3
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "esp32-hal.h"
-
-#if !SOC_TOUCH_SENSOR_SUPPORTED
-#error Touch IDF driver Not supported!
-#endif
-
-#if SOC_TOUCH_SENSOR_VERSION == 1  // ESP32
-typedef uint16_t touch_value_t;
-#elif SOC_TOUCH_SENSOR_VERSION == 2  // ESP32S2 ESP32S3
-typedef uint32_t touch_value_t;
-#endif
-
-/*
- * Set cycles that measurement operation takes
- * The result from touchRead, threshold and detection
- * accuracy depend on these values. Defaults are
- * 0x1000 for measure and 0x1000 for sleep.
- * With default values touchRead takes 0.5ms
- * */
-void touchSetCycles(uint16_t measure, uint16_t sleep);
-
-/*
- * Read touch pad (for ESP32 values close to 0 mean touch detected /
- * for ESP32-S2/S3 higher values mean touch detected)
- * 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 falls (ESP32)
- * below the given threshold / rises (ESP32-S2/S3) 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);
-
-/*
- * Specific functions to ESP32
- * Tells the driver if it shall activate the ISR if the sensor is Lower or Higher than the Threshold
- * Default if Lower.
- **/
-
-#if SOC_TOUCH_SENSOR_VERSION == 1  // Only for ESP32 SoC
-void touchInterruptSetThresholdDirection(bool mustbeLower);
-#endif
-
-/*
- * Specific functions to ESP32-S2 and ESP32-S3
- * 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
- **/
-
-#if SOC_TOUCH_SENSOR_VERSION == 2  // Only for ESP32S2 and ESP32S3
-// returns true if touch pad has been and continues pressed and false otherwise
-bool touchInterruptGetLastStatus(uint8_t pin);
-#endif
-
-/*
- * Setup touch pad wake up from deep sleep with given threshold.
- **/
-void touchSleepWakeUpEnable(uint8_t pin, touch_value_t threshold);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* SOC_TOUCH_SENSOR_VERSION <= 2 */
-#endif /* SOC_TOUCH_SENSOR_SUPPORTED */
-#endif /* MAIN_ESP32_HAL_TOUCH_H_ */
diff --git a/cores/esp32/esp32-hal.h b/cores/esp32/esp32-hal.h
index 5ed99aeb205..e2ca9309fe0 100644
--- a/cores/esp32/esp32-hal.h
+++ b/cores/esp32/esp32-hal.h
@@ -86,7 +86,6 @@ void yield(void);
 #include "esp32-hal-matrix.h"
 #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"
diff --git a/libraries/ESP32/examples/Touch/TouchButton/TouchButton.ino b/libraries/ESP32/examples/Touch/TouchButton/TouchButton.ino
index 43f3bc36592..8ebe2f00cbc 100644
--- a/libraries/ESP32/examples/Touch/TouchButton/TouchButton.ino
+++ b/libraries/ESP32/examples/Touch/TouchButton/TouchButton.ino
@@ -3,44 +3,53 @@
 This is an example how to use Touch Intrrerupts
 The sketch will tell when it is touched and then released as like a push-button
 
-This method based on touchInterruptSetThresholdDirection() is only available for ESP32
+This method based on touchInterruptGetLastStatus()
 */
 
 #include "Arduino.h"
 
-int threshold = 40;
-bool touchActive = false;
-bool lastTouchActive = false;
-bool testingLower = true;
-
-void gotTouchEvent() {
-  if (lastTouchActive != testingLower) {
-    touchActive = !touchActive;
-    testingLower = !testingLower;
-    // Touch ISR will be inverted: Lower <--> Higher than the Threshold after ISR event is noticed
-    touchInterruptSetThresholdDirection(testingLower);
-  }
+int threshold = 0;  // if 0 is used, benchmark value is used. Its by default 1,5% change, can be changed by touchSetDefaultThreshold(float percentage)
+bool touch1detected = false;
+bool touch2detected = false;
+
+void gotTouch1() {
+  touch1detected = true;
+}
+
+void gotTouch2() {
+  touch2detected = true;
 }
 
 void setup() {
   Serial.begin(115200);
   delay(1000);  // give me time to bring up serial monitor
-  Serial.println("ESP32 Touch Interrupt Test");
-  touchAttachInterrupt(T2, gotTouchEvent, threshold);
 
-  // Touch ISR will be activated when touchRead is lower than the Threshold
-  touchInterruptSetThresholdDirection(testingLower);
+  //Optional: Set the threshold to 5% of the benchmark value. Only effective if threshold = 0.
+  touchSetDefaultThreshold(5);
+
+  //Set the touch pads
+  Serial.println("\n ESP32 Touch Interrupt Test\n");
+  touchAttachInterrupt(T0, gotTouch1, threshold);
+  touchAttachInterrupt(T2, gotTouch2, threshold);
 }
 
 void loop() {
-  if (lastTouchActive != touchActive) {
-    lastTouchActive = touchActive;
-    if (touchActive) {
-      Serial.println("  ---- Touch was Pressed");
+  if (touch1detected) {
+    touch1detected = false;
+    if (touchInterruptGetLastStatus(T1)) {
+      Serial.println(" --- T1 Touched");
     } else {
-      Serial.println("  ---- Touch was Released");
+      Serial.println(" --- T1 Released");
     }
   }
-  Serial.printf("T2 pin2 = %d \n", touchRead(T2));
-  delay(125);
+  if (touch2detected) {
+    touch2detected = false;
+    if (touchInterruptGetLastStatus(T2)) {
+      Serial.println(" --- T2 Touched");
+    } else {
+      Serial.println(" --- T2 Released");
+    }
+  }
+
+  delay(80);
 }
diff --git a/libraries/ESP32/examples/Touch/TouchButton/ci.json b/libraries/ESP32/examples/Touch/TouchButton/ci.json
index cec76a84f9d..c0ecf9fc0a5 100644
--- a/libraries/ESP32/examples/Touch/TouchButton/ci.json
+++ b/libraries/ESP32/examples/Touch/TouchButton/ci.json
@@ -1,5 +1,5 @@
 {
   "requires": [
-    "CONFIG_SOC_TOUCH_VERSION_1=y"
+    "CONFIG_SOC_TOUCH_SENSOR_SUPPORTED=y"
   ]
 }
diff --git a/libraries/ESP32/examples/Touch/TouchButtonV2/TouchButtonV2.ino b/libraries/ESP32/examples/Touch/TouchButtonV2/TouchButtonV2.ino
deleted file mode 100644
index df9b3f41149..00000000000
--- a/libraries/ESP32/examples/Touch/TouchButtonV2/TouchButtonV2.ino
+++ /dev/null
@@ -1,51 +0,0 @@
-/*
-
-This is an example how to use Touch Intrrerupts
-The sketch will tell when it is touched and then released as like a push-button
-
-This method based on touchInterruptGetLastStatus() is only available for ESP32 S2 and S3
-*/
-
-#include "Arduino.h"
-
-int threshold = 1500;  // ESP32S2
-bool touch1detected = false;
-bool touch2detected = false;
-
-void gotTouch1() {
-  touch1detected = true;
-}
-
-void gotTouch2() {
-  touch2detected = true;
-}
-
-void setup() {
-  Serial.begin(115200);
-  delay(1000);  // give me time to bring up serial monitor
-
-  Serial.println("\n ESP32 Touch Interrupt Test\n");
-  touchAttachInterrupt(T1, gotTouch1, threshold);
-  touchAttachInterrupt(T2, gotTouch2, threshold);
-}
-
-void loop() {
-  if (touch1detected) {
-    touch1detected = false;
-    if (touchInterruptGetLastStatus(T1)) {
-      Serial.println(" --- T1 Touched");
-    } else {
-      Serial.println(" --- T1 Released");
-    }
-  }
-  if (touch2detected) {
-    touch2detected = false;
-    if (touchInterruptGetLastStatus(T2)) {
-      Serial.println(" --- T2 Touched");
-    } else {
-      Serial.println(" --- T2 Released");
-    }
-  }
-
-  delay(80);
-}
diff --git a/libraries/ESP32/examples/Touch/TouchButtonV2/ci.json b/libraries/ESP32/examples/Touch/TouchButtonV2/ci.json
deleted file mode 100644
index 2710fa7940e..00000000000
--- a/libraries/ESP32/examples/Touch/TouchButtonV2/ci.json
+++ /dev/null
@@ -1,5 +0,0 @@
-{
-  "requires": [
-    "CONFIG_SOC_TOUCH_VERSION_2=y"
-  ]
-}
diff --git a/tests/validation/touch/touch.ino b/tests/validation/touch/touch.ino
index 97aac8a65e6..2e5910fbb26 100644
--- a/tests/validation/touch/touch.ino
+++ b/tests/validation/touch/touch.ino
@@ -1,10 +1,6 @@
 #include <unity.h>
 #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
 
@@ -82,7 +78,7 @@ void gotTouch2() {
  */
 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);
+  touch_ll_set_charge_speed(pad_num,TOUCH_CHARGE_SPEED_4);
 #else
   touch_ll_set_internal_capacitor(0x7f);
 #endif
@@ -93,7 +89,7 @@ static void test_press_fake(touch_pad_t pad_num) {
  */
 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);
+  touch_ll_set_charge_speed(pad_num, TOUCH_CHARGE_SPEED_7); 
 #else
   touch_ll_set_internal_capacitor(0);
 #endif
@@ -192,6 +188,11 @@ void setup() {
 
   UNITY_BEGIN();
   RUN_TEST(test_touch_read);
+
+#if SOC_TOUCH_SENSOR_VERSION == 3
+  touch_ll_enable_internal_capacitor(true);
+#endif
+
   RUN_TEST(test_touch_interrtupt);
   RUN_TEST(test_touch_errors);
   UNITY_END();

From 41287a37b8a277fa1379c7d87031157074b05525 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Jan=20Proch=C3=A1zka?=
 <90197375+P-R-O-C-H-Y@users.noreply.github.com>
Date: Fri, 25 Jul 2025 18:29:35 +0200
Subject: [PATCH 2/9] fix(ci): Update touch test

---
 tests/validation/touch/touch.ino | 52 +++++++-------------------------
 1 file changed, 11 insertions(+), 41 deletions(-)

diff --git a/tests/validation/touch/touch.ino b/tests/validation/touch/touch.ino
index 2e5910fbb26..315df0a5ee2 100644
--- a/tests/validation/touch/touch.ino
+++ b/tests/validation/touch/touch.ino
@@ -43,21 +43,14 @@ uint8_t TOUCH_GPIOS[] = {2, 3, 4, 5, 6 /*, 7, 8, 9, 10, 11, 12 ,13, 14, 15*/};
 #define NO_TOUCH_GPIO 17
 #endif
 
+#define INTERRUPT_THRESHOLD      0    // Use benchmarked threshold
+
 #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
-#elif CONFIG_IDF_TARGET_ESP32S3
-#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
+#elif CONFIG_IDF_TARGET_ESP32S3 || CONFIG_IDF_TARGET_ESP32S2
+#define PRESSED_VALUE_DIFFERENCE 2000  //2000+ read value difference against the unpressed value
+#elif CONFIG_IDF_TARGET_ESP32P4 || CONFIG_IDF_TARGET_ESP32S2 || CONFIG_IDF_TARGET_ESP32S3
 #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
@@ -109,31 +102,6 @@ void tearDown(void) {
  * Test Touch read on all available channels - compare values if reading is right
  */
 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
-    TEST_ASSERT_GREATER_THAN(RELEASED_VALUE, touchRead(TOUCH_GPIOS[i]));
-#else
-    TEST_ASSERT_LESS_THAN(RELEASED_VALUE, touchRead(TOUCH_GPIOS[i]));
-#endif
-  }
-
-  // TEST PRESS STATE
-  for (int j = 0; j < TEST_TOUCH_CHANNEL; j++) {
-    test_press_fake(touch_list[j]);
-  }
-  delay(100);
-
-  for (int k = 0; k < sizeof(TOUCH_GPIOS); k++) {
-#ifdef CONFIG_IDF_TARGET_ESP32
-    TEST_ASSERT_LESS_THAN(PRESSED_VALUE, touchRead(TOUCH_GPIOS[k]));
-#else
-    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++) {
@@ -151,11 +119,14 @@ void test_touch_read(void) {
     touch_pressed[k] = touchRead(TOUCH_GPIOS[k]);
   }
 
-  // COMPARE PRESSED > UNPRESSED
+  // COMPARE PRESSED <-> UNPRESSED
   for (int l = 0; l < sizeof(TOUCH_GPIOS); l++) {
+#if CONFIG_IDF_TARGET_ESP32
+    TEST_ASSERT_LESS_THAN((touch_unpressed[l] - PRESSED_VALUE_DIFFERENCE), touch_pressed[l]);
+#else
     TEST_ASSERT_GREATER_THAN((touch_unpressed[l] + PRESSED_VALUE_DIFFERENCE), touch_pressed[l]);
-  }
 #endif
+  }
 }
 
 void test_touch_interrtupt(void) {
@@ -166,7 +137,6 @@ void test_touch_interrtupt(void) {
   test_press_fake(touch_list[0]);
   test_press_fake(touch_list[1]);
 
-  delay(300);
 
   touchDetachInterrupt(TOUCH_GPIOS[0]);
   touchDetachInterrupt(TOUCH_GPIOS[1]);

From 0a3658044fa78c1f770b34c051d11855e8e25886 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Jan=20Proch=C3=A1zka?=
 <90197375+P-R-O-C-H-Y@users.noreply.github.com>
Date: Fri, 25 Jul 2025 18:42:28 +0200
Subject: [PATCH 3/9] fix(touch): Update example and fix config

---
 cores/esp32/esp32-hal-touch-ng.c                       |  4 +---
 .../examples/Touch/TouchInterrupt/TouchInterrupt.ino   | 10 +++++-----
 libraries/ESP32/examples/Touch/TouchRead/TouchRead.ino |  4 ++--
 3 files changed, 8 insertions(+), 10 deletions(-)

diff --git a/cores/esp32/esp32-hal-touch-ng.c b/cores/esp32/esp32-hal-touch-ng.c
index 392f404bae6..479427861a3 100644
--- a/cores/esp32/esp32-hal-touch-ng.c
+++ b/cores/esp32/esp32-hal-touch-ng.c
@@ -14,7 +14,6 @@
 #include "soc/soc_caps.h"
 
 #if SOC_TOUCH_SENSOR_SUPPORTED
-//#if SOC_TOUCH_SENSOR_VERSION == 3  // ESP32P4 for now
 
 #include "esp32-hal-touch-ng.h"
 #include "esp32-hal-periman.h"
@@ -228,7 +227,7 @@ static void __touchInit() {
 #elif SOC_TOUCH_SENSOR_VERSION == 2 // ESP32S2, ESP32S3
   touch_sensor_sample_config_t single_sample_cfg = TOUCH_SENSOR_V2_DEFAULT_SAMPLE_CONFIG(_duration_ms, _volt_low, _volt_high);
 #elif SOC_TOUCH_SENSOR_VERSION == 3 // ESP32P4
-  touch_sensor_sample_config_t single_sample_cfg = TOUCH_SENSOR_V3_DEFAULT_SAMPLE_CONFIG(_sample_num, _div_num, _coarse_freq_tune, _fine_freq_tune);
+  touch_sensor_sample_config_t single_sample_cfg = TOUCH_SENSOR_V3_DEFAULT_SAMPLE_CONFIG(_div_num, _coarse_freq_tune, _fine_freq_tune);
 #endif
   touch_sensor_sample_config_t sample_cfg[_sample_num] = {};
   sample_cfg[0] = single_sample_cfg;
@@ -532,5 +531,4 @@ extern void touchAttachInterrupt(uint8_t, voidFuncPtr, touch_value_t) __attribut
 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 */
diff --git a/libraries/ESP32/examples/Touch/TouchInterrupt/TouchInterrupt.ino b/libraries/ESP32/examples/Touch/TouchInterrupt/TouchInterrupt.ino
index 3b4e5f0b9e9..08e10dc0fac 100644
--- a/libraries/ESP32/examples/Touch/TouchInterrupt/TouchInterrupt.ino
+++ b/libraries/ESP32/examples/Touch/TouchInterrupt/TouchInterrupt.ino
@@ -3,11 +3,7 @@ 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
+int threshold = 0;  // if 0 is used, benchmark value is used. Its by default 1,5% change, can be changed by touchSetDefaultThreshold(float percentage)
 
 bool touch1detected = false;
 bool touch2detected = false;
@@ -23,6 +19,10 @@ void gotTouch2() {
 void setup() {
   Serial.begin(115200);
   delay(1000);  // give me time to bring up serial monitor
+
+  //Optional: Set the threshold to 5% of the benchmark value. Only effective if threshold = 0.
+  touchSetDefaultThreshold(5);
+  
   Serial.println("ESP32 Touch Interrupt Test");
   touchAttachInterrupt(T2, gotTouch1, threshold);
   touchAttachInterrupt(T3, gotTouch2, threshold);
diff --git a/libraries/ESP32/examples/Touch/TouchRead/TouchRead.ino b/libraries/ESP32/examples/Touch/TouchRead/TouchRead.ino
index 8e93ba44691..ba221f3048f 100644
--- a/libraries/ESP32/examples/Touch/TouchRead/TouchRead.ino
+++ b/libraries/ESP32/examples/Touch/TouchRead/TouchRead.ino
@@ -1,5 +1,5 @@
 // ESP32 Touch Test
-// Just test touch pin - Touch0 is T0 which is on GPIO 4.
+// Just test touch pin - Touch2 is T2 which is on GPIO 2.
 
 void setup() {
   Serial.begin(115200);
@@ -8,6 +8,6 @@ void setup() {
 }
 
 void loop() {
-  Serial.println(touchRead(T1));  // get value using T0
+  Serial.println(touchRead(T2));  // get value using T2
   delay(1000);
 }

From 09336ac7f73cc96491b98307a1e5e7f5e95898b5 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Jan=20Proch=C3=A1zka?=
 <90197375+P-R-O-C-H-Y@users.noreply.github.com>
Date: Fri, 25 Jul 2025 18:45:32 +0200
Subject: [PATCH 4/9] fix(touch): Use correct type

---
 cores/esp32/esp32-hal-touch-ng.c | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/cores/esp32/esp32-hal-touch-ng.c b/cores/esp32/esp32-hal-touch-ng.c
index 479427861a3..c3c5919a02d 100644
--- a/cores/esp32/esp32-hal-touch-ng.c
+++ b/cores/esp32/esp32-hal-touch-ng.c
@@ -43,7 +43,7 @@ static touch_volt_lim_h_t _volt_high = TOUCH_VOLT_LIM_H_1V7;
 static touch_intr_trig_mode_t _intr_trig_mode = TOUCH_INTR_TRIG_ON_BELOW_THRESH;
 #elif SOC_TOUCH_SENSOR_VERSION == 2 // ESP32S2, ESP32S3
 static uint8_t _sample_num = 1; // only one sample configuration supported
-static float _duration_ms = 500.0f;
+static uint32_t _chg_times = 500;
 static touch_volt_lim_l_t _volt_low = TOUCH_VOLT_LIM_L_0V5;
 static touch_volt_lim_h_t _volt_high = TOUCH_VOLT_LIM_H_2V2;
 #elif SOC_TOUCH_SENSOR_VERSION == 3 // ESP32P4
@@ -225,7 +225,7 @@ static void __touchInit() {
 #if SOC_TOUCH_SENSOR_VERSION == 1 // ESP32
   touch_sensor_sample_config_t single_sample_cfg = TOUCH_SENSOR_V1_DEFAULT_SAMPLE_CONFIG(_duration_ms, _volt_low, _volt_high);
 #elif SOC_TOUCH_SENSOR_VERSION == 2 // ESP32S2, ESP32S3
-  touch_sensor_sample_config_t single_sample_cfg = TOUCH_SENSOR_V2_DEFAULT_SAMPLE_CONFIG(_duration_ms, _volt_low, _volt_high);
+  touch_sensor_sample_config_t single_sample_cfg = TOUCH_SENSOR_V2_DEFAULT_SAMPLE_CONFIG(_chg_times, _volt_low, _volt_high);
 #elif SOC_TOUCH_SENSOR_VERSION == 3 // ESP32P4
   touch_sensor_sample_config_t single_sample_cfg = TOUCH_SENSOR_V3_DEFAULT_SAMPLE_CONFIG(_div_num, _coarse_freq_tune, _fine_freq_tune);
 #endif

From 399094d2f805e63fefc093094624ae895d09ab02 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Jan=20Proch=C3=A1zka?=
 <90197375+P-R-O-C-H-Y@users.noreply.github.com>
Date: Fri, 25 Jul 2025 18:49:01 +0200
Subject: [PATCH 5/9] fix(touch): Remove old driver from cmake

---
 CMakeLists.txt | 1 -
 1 file changed, 1 deletion(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 3c9800dfe2b..34b1c3e77fb 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -46,7 +46,6 @@ set(CORE_SRCS
   cores/esp32/esp32-hal-time.c
   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

From ec720a8e8d133e12466a63bdd2382fe5e46fd5f2 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Jan=20Proch=C3=A1zka?=
 <90197375+P-R-O-C-H-Y@users.noreply.github.com>
Date: Fri, 25 Jul 2025 18:52:46 +0200
Subject: [PATCH 6/9] fix(touch): Update touchSetConfig for S2 and S3

---
 cores/esp32/esp32-hal-touch-ng.c | 15 ++++++++++++---
 cores/esp32/esp32-hal-touch-ng.h | 10 +++++++++-
 2 files changed, 21 insertions(+), 4 deletions(-)

diff --git a/cores/esp32/esp32-hal-touch-ng.c b/cores/esp32/esp32-hal-touch-ng.c
index c3c5919a02d..357db07746b 100644
--- a/cores/esp32/esp32-hal-touch-ng.c
+++ b/cores/esp32/esp32-hal-touch-ng.c
@@ -491,8 +491,7 @@ void touchSetTiming(float measure, uint32_t sleep) {
   __touchMeasureTime = measure;
 }
 
-#if SOC_TOUCH_SENSOR_VERSION == 1 || SOC_TOUCH_SENSOR_VERSION == 2 // ESP32, ESP32S2, ESP32S3
-
+#if SOC_TOUCH_SENSOR_VERSION == 1 // ESP32
 void touchSetConfig(float duration_ms, touch_volt_lim_l_t volt_low, touch_volt_lim_h_t volt_high) {
   if (initialized) {
     log_e("Touch sensor already initialized. Cannot set configuration.");
@@ -503,8 +502,18 @@ void touchSetConfig(float duration_ms, touch_volt_lim_l_t volt_low, touch_volt_l
   _volt_high = volt_high;
 }
 
-#elif SOC_TOUCH_SENSOR_VERSION == 3 // ESP32P4
+#elif SOC_TOUCH_SENSOR_VERSION == 2 // ESP32S2, ESP32S3
+void touchSetConfig(uint32_t chg_times, touch_volt_lim_l_t volt_low, touch_volt_lim_h_t volt_high) {
+  if (initialized) {
+    log_e("Touch sensor already initialized. Cannot set configuration.");
+    return;
+  }
+  _chg_times = chg_times;
+  _volt_low = volt_low;
+  _volt_high = volt_high;
+}
 
+#elif SOC_TOUCH_SENSOR_VERSION == 3 // ESP32P4
 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.");
diff --git a/cores/esp32/esp32-hal-touch-ng.h b/cores/esp32/esp32-hal-touch-ng.h
index 23c00983092..fba69db4ec7 100644
--- a/cores/esp32/esp32-hal-touch-ng.h
+++ b/cores/esp32/esp32-hal-touch-ng.h
@@ -59,7 +59,7 @@ typedef uint32_t touch_value_t;
  **/
 void touchSetTiming(float measure, uint32_t sleep);
 
-#if SOC_TOUCH_SENSOR_VERSION == 1 || SOC_TOUCH_SENSOR_VERSION == 2 // ESP32, ESP32S2, ESP32S3
+#if SOC_TOUCH_SENSOR_VERSION == 1 // ESP32
 /*
  * @param[in] duration_ms   The measurement duration of the touch channel
  * @param[in] volt_low      The low voltage limit of the touch channel
@@ -67,6 +67,14 @@ void touchSetTiming(float measure, uint32_t sleep);
  */
 void touchSetConfig(float duration_ms, touch_volt_lim_l_t volt_low, touch_volt_lim_h_t volt_high);
 
+#elif SOC_TOUCH_SENSOR_VERSION == 2 // ESP32S2, ESP32S3
+/*
+ * @param[in] chg_times     The charge times of the touch channel
+ * @param[in] volt_low      The low voltage limit of the touch channel
+ * @param[in] volt_high     The high voltage limit of the touch channel
+ */
+void touchSetConfig(uint32_t chg_times, touch_volt_lim_l_t volt_low, touch_volt_lim_h_t volt_high);
+
 #elif SOC_TOUCH_SENSOR_VERSION == 3 // ESP32P4
 /*
  * Tune the touch pad frequency.

From 7143d08112615b1287a0f3c3da662e0ee665236c Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Jan=20Proch=C3=A1zka?=
 <90197375+P-R-O-C-H-Y@users.noreply.github.com>
Date: Fri, 25 Jul 2025 19:10:47 +0200
Subject: [PATCH 7/9] fix(touch): Revert old touch driver for older IDF

---
 cores/esp32/esp32-hal-touch-ng.c |   2 +
 cores/esp32/esp32-hal-touch-ng.h |   3 +
 cores/esp32/esp32-hal-touch.c    | 329 +++++++++++++++++++++++++++++++
 cores/esp32/esp32-hal-touch.h    | 104 ++++++++++
 cores/esp32/esp32-hal.h          |   1 +
 5 files changed, 439 insertions(+)
 create mode 100644 cores/esp32/esp32-hal-touch.c
 create mode 100644 cores/esp32/esp32-hal-touch.h

diff --git a/cores/esp32/esp32-hal-touch-ng.c b/cores/esp32/esp32-hal-touch-ng.c
index 357db07746b..8a550f01be8 100644
--- a/cores/esp32/esp32-hal-touch-ng.c
+++ b/cores/esp32/esp32-hal-touch-ng.c
@@ -14,6 +14,7 @@
 #include "soc/soc_caps.h"
 
 #if SOC_TOUCH_SENSOR_SUPPORTED
+#if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(5, 5, 0) || SOC_TOUCH_SENSOR_VERSION == 3
 
 #include "esp32-hal-touch-ng.h"
 #include "esp32-hal-periman.h"
@@ -540,4 +541,5 @@ extern void touchAttachInterrupt(uint8_t, voidFuncPtr, touch_value_t) __attribut
 extern void touchAttachInterruptArg(uint8_t, voidArgFuncPtr, void *, touch_value_t) __attribute__((weak, alias("__touchAttachArgsInterrupt")));
 extern void touchDetachInterrupt(uint8_t) __attribute__((weak, alias("__touchDettachInterrupt")));
 
+#endif /* ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(5, 5, 0) || SOC_TOUCH_SENSOR_VERSION == 3 */
 #endif /* SOC_TOUCH_SENSOR_SUPPORTED */
diff --git a/cores/esp32/esp32-hal-touch-ng.h b/cores/esp32/esp32-hal-touch-ng.h
index fba69db4ec7..ee5ff23b9fa 100644
--- a/cores/esp32/esp32-hal-touch-ng.h
+++ b/cores/esp32/esp32-hal-touch-ng.h
@@ -21,7 +21,9 @@
 #define MAIN_ESP32_HAL_TOUCH_NEW_H_
 
 #include "soc/soc_caps.h"
+
 #if SOC_TOUCH_SENSOR_SUPPORTED
+#if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(5, 5, 0) || SOC_TOUCH_SENSOR_VERSION == 3
 
 #ifdef __cplusplus
 extern "C" {
@@ -133,5 +135,6 @@ void touchSleepWakeUpEnable(uint8_t pin, touch_value_t threshold);
 }
 #endif
 
+#endif /* ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(5, 5, 0) || SOC_TOUCH_SENSOR_VERSION == 3 */
 #endif /* SOC_TOUCH_SENSOR_SUPPORTED */
 #endif /* MAIN_ESP32_HAL_TOUCH_H_ */
diff --git a/cores/esp32/esp32-hal-touch.c b/cores/esp32/esp32-hal-touch.c
new file mode 100644
index 00000000000..cc158aee634
--- /dev/null
+++ b/cores/esp32/esp32-hal-touch.c
@@ -0,0 +1,329 @@
+// Copyright 2015-2016 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 ESP_IDF_VERSION < ESP_IDF_VERSION_VAL(5, 5, 0) && SOC_TOUCH_SENSOR_VERSION <= 2  // ESP32, ESP32S2, ESP32S3
+
+#include "driver/touch_sensor.h"
+#include "esp32-hal-touch.h"
+#include "esp32-hal-periman.h"
+
+/*
+    Internal Private Touch Data Structure and Functions
+*/
+
+#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
+static uint16_t __touchSleepCycles = TOUCH_PAD_SLEEP_CYCLE_DEFAULT;
+static uint16_t __touchMeasureCycles = TOUCH_PAD_MEASURE_CYCLE_DEFAULT;
+#endif
+
+typedef void (*voidFuncPtr)(void);
+typedef void (*voidArgFuncPtr)(void *);
+
+typedef struct {
+  voidFuncPtr fn;
+  bool callWithArgs;
+  void *arg;
+#if SOC_TOUCH_SENSOR_VERSION == 2  // Only for ESP32S2 and ESP32S3
+  bool lastStatusIsPressed;
+#endif
+} TouchInterruptHandle_t;
+
+static TouchInterruptHandle_t __touchInterruptHandlers[SOC_TOUCH_SENSOR_NUM] = {
+  0,
+};
+
+static uint8_t used_pads = 0;
+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
+  uint32_t pad_intr = touch_pad_get_status();
+  //clear interrupt
+  touch_pad_clear_status();
+  // call Pad ISR User callback
+  for (int i = 0; i < SOC_TOUCH_SENSOR_NUM; i++) {
+    if ((pad_intr >> i) & 0x01) {
+      if (__touchInterruptHandlers[i].fn) {
+        // keeping backward compatibility with "void cb(void)" and with new "void cb(vooid *)"
+        if (__touchInterruptHandlers[i].callWithArgs) {
+          ((voidArgFuncPtr)__touchInterruptHandlers[i].fn)(__touchInterruptHandlers[i].arg);
+        } else {
+          __touchInterruptHandlers[i].fn();
+        }
+      }
+    }
+  }
+#elif SOC_TOUCH_SENSOR_VERSION == 2  // ESP32S2, ESP32S3
+  touch_pad_intr_mask_t evt = touch_pad_read_intr_status_mask();
+  uint8_t pad_num = touch_pad_get_current_meas_channel();
+  if (evt & TOUCH_PAD_INTR_MASK_ACTIVE) {
+    // touch has been pressed / touched
+    __touchInterruptHandlers[pad_num].lastStatusIsPressed = true;
+  }
+  if (evt & TOUCH_PAD_INTR_MASK_INACTIVE) {
+    // touch has been released / untouched
+    __touchInterruptHandlers[pad_num].lastStatusIsPressed = false;
+  }
+  if (__touchInterruptHandlers[pad_num].fn) {
+    // keeping backward compatibility with "void cb(void)" and with new "void cb(vooid *)"
+    if (__touchInterruptHandlers[pad_num].callWithArgs) {
+      ((voidArgFuncPtr)__touchInterruptHandlers[pad_num].fn)(__touchInterruptHandlers[pad_num].arg);
+    } else {
+      __touchInterruptHandlers[pad_num].fn();
+    }
+  }
+#endif
+}
+
+static void __touchSetCycles(uint16_t measure, uint16_t sleep) {
+  __touchSleepCycles = sleep;
+  __touchMeasureCycles = measure;
+#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);
+#endif
+  touch_pad_set_measurement_interval(sleep);
+}
+
+static bool touchDetachBus(void *pin) {
+  int8_t pad = digitalPinToTouchChannel((int)(pin - 1));
+  channels_initialized[pad] = false;
+  used_pads--;
+  if (used_pads == 0) {
+    if (touch_pad_deinit() != 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;
+  }
+
+  esp_err_t err = ESP_OK;
+
+#if SOC_TOUCH_SENSOR_VERSION == 1  // ESP32
+  err = touch_pad_init();
+  if (err != ESP_OK) {
+    goto err;
+  }
+  // the next two lines will drive the touch reading values -- both will return ESP_OK
+  touch_pad_set_voltage(TOUCH_HVOLT_2V7, TOUCH_LVOLT_0V5, TOUCH_HVOLT_ATTEN_0V);
+  touch_pad_set_measurement_clock_cycles(__touchMeasureCycles);
+  touch_pad_set_measurement_interval(__touchSleepCycles);
+  // Touch Sensor Timer initiated
+  touch_pad_set_fsm_mode(TOUCH_FSM_MODE_TIMER);  // returns ESP_OK
+  err = touch_pad_filter_start(10);
+  if (err != ESP_OK) {
+    goto err;
+  }
+  // keep ISR activated - it can run all together (ISR + touchRead())
+  err = touch_pad_isr_register(__touchISR, NULL);
+  if (err != ESP_OK) {
+    goto err;
+  }
+  touch_pad_intr_enable();           // returns ESP_OK
+#elif SOC_TOUCH_SENSOR_VERSION == 2  // ESP32S2, ESP32S3
+  err = touch_pad_init();
+  if (err != ESP_OK) {
+    goto err;
+  }
+  // the next lines will drive the touch reading values -- all os them return ESP_OK
+  touch_pad_set_charge_discharge_times(__touchMeasureCycles);
+  touch_pad_set_measurement_interval(__touchSleepCycles);
+  touch_pad_set_voltage(TOUCH_PAD_HIGH_VOLTAGE_THRESHOLD, TOUCH_PAD_LOW_VOLTAGE_THRESHOLD, TOUCH_PAD_ATTEN_VOLTAGE_THRESHOLD);
+  touch_pad_set_idle_channel_connect(TOUCH_PAD_IDLE_CH_CONNECT_DEFAULT);
+  touch_pad_denoise_t denoise = {
+    .grade = TOUCH_PAD_DENOISE_BIT4,
+    .cap_level = TOUCH_PAD_DENOISE_CAP_L4,
+  };
+  touch_pad_denoise_set_config(&denoise);
+  touch_pad_denoise_enable();
+  // Touch Sensor Timer initiated
+  touch_pad_set_fsm_mode(TOUCH_FSM_MODE_TIMER);  // returns ESP_OK
+  touch_pad_fsm_start();                         // returns ESP_OK
+  //ISR setup moved to __touchChannelInit
+#endif
+  initialized = true;
+  return;
+err:
+  log_e(" Touch sensor initialization error.");
+  initialized = false;
+  return;
+}
+
+static void __touchChannelInit(int pad) {
+  if (channels_initialized[pad]) {
+    return;
+  }
+
+#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
+  // Initial no Threshold and setup
+  __touchInterruptHandlers[pad].fn = NULL;
+  touch_pad_config(pad);  // returns ESP_OK
+  // keep ISR activated - it can run all together (ISR + touchRead())
+  esp_err_t err = touch_pad_isr_register(__touchISR, NULL, TOUCH_PAD_INTR_MASK_ACTIVE | TOUCH_PAD_INTR_MASK_INACTIVE);
+  if (err != ESP_OK) {
+    log_e(" Touch sensor initialization error.");
+    return;
+  }
+  touch_pad_intr_enable(TOUCH_PAD_INTR_MASK_ACTIVE | TOUCH_PAD_INTR_MASK_INACTIVE);  // returns ESP_OK
+#endif
+
+  channels_initialized[pad] = true;
+  used_pads++;
+  delay(20);  //delay needed before reading from touch channel after config
+}
+
+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;
+    }
+  }
+
+  touch_value_t touch_value;
+  touch_pad_read_raw_data(pad, &touch_value);
+
+  return touch_value;
+}
+
+static void __touchConfigInterrupt(uint8_t pin, void (*userFunc)(void), void *Args, touch_value_t threshold, bool callWithArgs) {
+  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;
+    threshold = TOUCH_PAD_THRESHOLD_MAX;  // deactivate the ISR with SOC_TOUCH_PAD_THRESHOLD_MAX
+  } else {
+    // attach ISR User Call
+    __touchInit();
+    __touchChannelInit(pad);
+    __touchInterruptHandlers[pad].fn = userFunc;
+    __touchInterruptHandlers[pad].callWithArgs = callWithArgs;
+    __touchInterruptHandlers[pad].arg = Args;
+  }
+
+  touch_pad_set_thresh(pad, threshold);
+}
+
+// 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
+*/
+
+#if SOC_TOUCH_SENSOR_VERSION == 1  // Only for ESP32 SoC
+void touchInterruptSetThresholdDirection(bool mustbeLower) {
+  if (mustbeLower) {
+    touch_pad_set_trigger_mode(TOUCH_TRIGGER_BELOW);
+  } else {
+    touch_pad_set_trigger_mode(TOUCH_TRIGGER_ABOVE);
+  }
+}
+#elif SOC_TOUCH_SENSOR_VERSION == 2  // Only for ESP32S2 and ESP32S3
+// returns true if touch pad has been and continues pressed and false otherwise
+bool touchInterruptGetLastStatus(uint8_t pin) {
+  int8_t pad = digitalPinToTouchChannel(pin);
+  if (pad < 0) {
+    return false;
+  }
+
+  return __touchInterruptHandlers[pad].lastStatusIsPressed;
+}
+#endif
+
+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;
+    }
+  }
+#if SOC_TOUCH_SENSOR_VERSION == 1  // Only for ESP32 SoC
+  touch_pad_set_thresh(pad, threshold);
+
+#elif SOC_TOUCH_SENSOR_VERSION == 2
+  touch_pad_sleep_channel_enable(pad, true);
+  touch_pad_sleep_set_threshold(pad, threshold);
+
+#endif
+  esp_sleep_enable_touchpad_wakeup();
+}
+
+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")));
+extern void touchSetCycles(uint16_t, uint16_t) __attribute__((weak, alias("__touchSetCycles")));
+
+#endif /* ESP_IDF_VERSION < ESP_IDF_VERSION_VAL(5, 5, 0) && SOC_TOUCH_SENSOR_VERSION <= 2 */
+#endif /* SOC_TOUCH_SENSOR_SUPPORTED */
\ No newline at end of file
diff --git a/cores/esp32/esp32-hal-touch.h b/cores/esp32/esp32-hal-touch.h
new file mode 100644
index 00000000000..709691ef658
--- /dev/null
+++ b/cores/esp32/esp32-hal-touch.h
@@ -0,0 +1,104 @@
+/*
+ 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_H_
+#define MAIN_ESP32_HAL_TOUCH_H_
+
+#include "soc/soc_caps.h"
+
+#if SOC_TOUCH_SENSOR_SUPPORTED
+#if ESP_IDF_VERSION < ESP_IDF_VERSION_VAL(5, 5, 0) && SOC_TOUCH_SENSOR_VERSION <= 2  // ESP32, ESP32S2, ESP32S3
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "esp32-hal.h"
+
+#if !SOC_TOUCH_SENSOR_SUPPORTED
+#error Touch IDF driver Not supported!
+#endif
+
+#if SOC_TOUCH_SENSOR_VERSION == 1  // ESP32
+typedef uint16_t touch_value_t;
+#elif SOC_TOUCH_SENSOR_VERSION == 2  // ESP32S2 ESP32S3
+typedef uint32_t touch_value_t;
+#endif
+
+/*
+ * Set cycles that measurement operation takes
+ * The result from touchRead, threshold and detection
+ * accuracy depend on these values. Defaults are
+ * 0x1000 for measure and 0x1000 for sleep.
+ * With default values touchRead takes 0.5ms
+ * */
+void touchSetCycles(uint16_t measure, uint16_t sleep);
+
+/*
+ * Read touch pad (for ESP32 values close to 0 mean touch detected /
+ * for ESP32-S2/S3 higher values mean touch detected)
+ * 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 falls (ESP32)
+ * below the given threshold / rises (ESP32-S2/S3) 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);
+
+/*
+ * Specific functions to ESP32
+ * Tells the driver if it shall activate the ISR if the sensor is Lower or Higher than the Threshold
+ * Default if Lower.
+ **/
+
+#if SOC_TOUCH_SENSOR_VERSION == 1  // Only for ESP32 SoC
+void touchInterruptSetThresholdDirection(bool mustbeLower);
+#endif
+
+/*
+ * Specific functions to ESP32-S2 and ESP32-S3
+ * 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
+ **/
+
+#if SOC_TOUCH_SENSOR_VERSION == 2  // Only for ESP32S2 and ESP32S3
+// returns true if touch pad has been and continues pressed and false otherwise
+bool touchInterruptGetLastStatus(uint8_t pin);
+#endif
+
+/*
+ * Setup touch pad wake up from deep sleep with given threshold.
+ **/
+void touchSleepWakeUpEnable(uint8_t pin, touch_value_t threshold);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* ESP_IDF_VERSION < ESP_IDF_VERSION_VAL(5, 5, 0) && SOC_TOUCH_SENSOR_VERSION <= 2 */
+#endif /* SOC_TOUCH_SENSOR_SUPPORTED */
+#endif /* MAIN_ESP32_HAL_TOUCH_H_ */
diff --git a/cores/esp32/esp32-hal.h b/cores/esp32/esp32-hal.h
index e2ca9309fe0..5ed99aeb205 100644
--- a/cores/esp32/esp32-hal.h
+++ b/cores/esp32/esp32-hal.h
@@ -86,6 +86,7 @@ void yield(void);
 #include "esp32-hal-matrix.h"
 #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"

From f691a428270247ec893daf2bf315532c7e037695 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Jan=20Proch=C3=A1zka?=
 <90197375+P-R-O-C-H-Y@users.noreply.github.com>
Date: Fri, 25 Jul 2025 19:14:11 +0200
Subject: [PATCH 8/9] fix(touch): Add missing include

---
 cores/esp32/esp32-hal-touch-ng.c | 1 +
 cores/esp32/esp32-hal-touch-ng.h | 1 +
 cores/esp32/esp32-hal-touch.c    | 1 +
 cores/esp32/esp32-hal-touch.h    | 1 +
 4 files changed, 4 insertions(+)

diff --git a/cores/esp32/esp32-hal-touch-ng.c b/cores/esp32/esp32-hal-touch-ng.c
index 8a550f01be8..483a444b4a0 100644
--- a/cores/esp32/esp32-hal-touch-ng.c
+++ b/cores/esp32/esp32-hal-touch-ng.c
@@ -12,6 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 #include "soc/soc_caps.h"
+#include "esp_idf_version.h"
 
 #if SOC_TOUCH_SENSOR_SUPPORTED
 #if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(5, 5, 0) || SOC_TOUCH_SENSOR_VERSION == 3
diff --git a/cores/esp32/esp32-hal-touch-ng.h b/cores/esp32/esp32-hal-touch-ng.h
index ee5ff23b9fa..988fdccda00 100644
--- a/cores/esp32/esp32-hal-touch-ng.h
+++ b/cores/esp32/esp32-hal-touch-ng.h
@@ -21,6 +21,7 @@
 #define MAIN_ESP32_HAL_TOUCH_NEW_H_
 
 #include "soc/soc_caps.h"
+#include "esp_idf_version.h"
 
 #if SOC_TOUCH_SENSOR_SUPPORTED
 #if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(5, 5, 0) || SOC_TOUCH_SENSOR_VERSION == 3
diff --git a/cores/esp32/esp32-hal-touch.c b/cores/esp32/esp32-hal-touch.c
index cc158aee634..e611fa557f1 100644
--- a/cores/esp32/esp32-hal-touch.c
+++ b/cores/esp32/esp32-hal-touch.c
@@ -12,6 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 #include "soc/soc_caps.h"
+#include "esp_idf_version.h"
 
 #if SOC_TOUCH_SENSOR_SUPPORTED
 #if ESP_IDF_VERSION < ESP_IDF_VERSION_VAL(5, 5, 0) && SOC_TOUCH_SENSOR_VERSION <= 2  // ESP32, ESP32S2, ESP32S3
diff --git a/cores/esp32/esp32-hal-touch.h b/cores/esp32/esp32-hal-touch.h
index 709691ef658..44c99dce206 100644
--- a/cores/esp32/esp32-hal-touch.h
+++ b/cores/esp32/esp32-hal-touch.h
@@ -21,6 +21,7 @@
 #define MAIN_ESP32_HAL_TOUCH_H_
 
 #include "soc/soc_caps.h"
+#include "esp_idf_version.h"
 
 #if SOC_TOUCH_SENSOR_SUPPORTED
 #if ESP_IDF_VERSION < ESP_IDF_VERSION_VAL(5, 5, 0) && SOC_TOUCH_SENSOR_VERSION <= 2  // ESP32, ESP32S2, ESP32S3

From 04459faf480c9fc81043741c6f277276485ccdfb Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Jan=20Proch=C3=A1zka?=
 <90197375+P-R-O-C-H-Y@users.noreply.github.com>
Date: Fri, 25 Jul 2025 19:49:14 +0200
Subject: [PATCH 9/9] fix(touch): Update test and example

---
 CMakeLists.txt                                  |  1 +
 .../examples/Touch/TouchButton/TouchButton.ino  |  2 +-
 tests/validation/touch/touch.ino                | 17 +++++++++++------
 3 files changed, 13 insertions(+), 7 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 34b1c3e77fb..3c9800dfe2b 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -46,6 +46,7 @@ set(CORE_SRCS
   cores/esp32/esp32-hal-time.c
   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
diff --git a/libraries/ESP32/examples/Touch/TouchButton/TouchButton.ino b/libraries/ESP32/examples/Touch/TouchButton/TouchButton.ino
index 8ebe2f00cbc..ac2b641be40 100644
--- a/libraries/ESP32/examples/Touch/TouchButton/TouchButton.ino
+++ b/libraries/ESP32/examples/Touch/TouchButton/TouchButton.ino
@@ -29,7 +29,7 @@ void setup() {
 
   //Set the touch pads
   Serial.println("\n ESP32 Touch Interrupt Test\n");
-  touchAttachInterrupt(T0, gotTouch1, threshold);
+  touchAttachInterrupt(T1, gotTouch1, threshold);
   touchAttachInterrupt(T2, gotTouch2, threshold);
 }
 
diff --git a/tests/validation/touch/touch.ino b/tests/validation/touch/touch.ino
index 315df0a5ee2..abe450a27ab 100644
--- a/tests/validation/touch/touch.ino
+++ b/tests/validation/touch/touch.ino
@@ -4,28 +4,30 @@
 
 #if CONFIG_IDF_TARGET_ESP32
 
-#define TEST_TOUCH_CHANNEL (9)
+#define TEST_TOUCH_CHANNEL (7)
 static touch_pad_t touch_list[TEST_TOUCH_CHANNEL] = {
   TOUCH_PAD_NUM0,
   //TOUCH_PAD_NUM1 is GPIO0, for download.
-  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_NUM2, TOUCH_PAD_NUM3, TOUCH_PAD_NUM4, TOUCH_PAD_NUM5, TOUCH_PAD_NUM6, TOUCH_PAD_NUM7 /*,TOUCH_PAD_NUM8, TOUCH_PAD_NUM9*/
 };
 
-uint8_t TOUCH_GPIOS[] = {4, 2, 15, 13, 12, 14, 27, 33, 32};
+uint8_t TOUCH_GPIOS[] = {4,/* 0,*/ 2, 15, 13, 12, 14, 27/*, 33, 32*/};
 
 #define NO_TOUCH_GPIO 25
 
 #elif (CONFIG_IDF_TARGET_ESP32S2 || CONFIG_IDF_TARGET_ESP32S3)
 
-#define TEST_TOUCH_CHANNEL (12)  //14
+#define TEST_TOUCH_CHANNEL (9)  //14
 static touch_pad_t touch_list[TEST_TOUCH_CHANNEL] = {
   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_NUM8, /*TOUCH_PAD_NUM9,*/ TOUCH_PAD_NUM10
+  //TOUCH_PAD_NUM11, //Wrong reading
+  //TOUCH_PAD_NUM12, //Wrong reading
   //TOUCH_PAD_NUM13, //Wrong reading
   //TOUCH_PAD_NUM14
 };
 
-uint8_t TOUCH_GPIOS[] = {1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12 /*,13,14*/};
+uint8_t TOUCH_GPIOS[] = {1, 2, 3, 4, 5, 6, 7, 8,/*9,*/ 10/*, 11, 12, 13, 14*/};
 
 #define NO_TOUCH_GPIO 17
 
@@ -120,6 +122,9 @@ void test_touch_read(void) {
   }
 
   // COMPARE PRESSED <-> UNPRESSED
+  for (int l = 0; l < sizeof(TOUCH_GPIOS); l++) {
+    log_v("Touch %d: %d -> %d", TOUCH_GPIOS[l], touch_unpressed[l], touch_pressed[l]);
+  }
   for (int l = 0; l < sizeof(TOUCH_GPIOS); l++) {
 #if CONFIG_IDF_TARGET_ESP32
     TEST_ASSERT_LESS_THAN((touch_unpressed[l] - PRESSED_VALUE_DIFFERENCE), touch_pressed[l]);