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me-no-devme-no-dev
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Merge pull request espressif#11643 from espressif/feat/touch-ng-all-socs
feat(touch): Support all touch versions in NG driver
2 parents 8ec6d47 + 6b91048 commit d673d26

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14 files changed

+257
-181
lines changed

14 files changed

+257
-181
lines changed

‎.github/scripts/tests_run.sh

Lines changed: 4 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -115,14 +115,14 @@ function run_test {
115115
rm "$sketchdir"/diagram.json 2>/dev/null || true
116116

117117
result=0
118-
printf "\033[95mpytest \"%s/test_%s.py\" --build-dir \"%s\" --junit-xml=\"%s\" -o junit_suite_name=%s_%s_%s_%s%s %s\033[0m\n" "$sketchdir" "$sketchname" "$build_dir" "$report_file" "$test_type" "$platform" "$target" "$sketchname" "$i" "${extra_args[*]@Q}"
119-
bash -c "set +e; pytest \"$sketchdir/test_$sketchname.py\" --build-dir \"$build_dir\" --junit-xml=\"$report_file\" -o junit_suite_name=${test_type}_${platform}_${target}_${sketchname}${i} ${extra_args[*]@Q}; exit \$?" || result=$?
118+
printf "\033[95mpytest -s \"%s/test_%s.py\" --build-dir \"%s\" --junit-xml=\"%s\" -o junit_suite_name=%s_%s_%s_%s%s %s\033[0m\n" "$sketchdir" "$sketchname" "$build_dir" "$report_file" "$test_type" "$platform" "$target" "$sketchname" "$i" "${extra_args[*]@Q}"
119+
bash -c "set +e; pytest -s \"$sketchdir/test_$sketchname.py\" --build-dir \"$build_dir\" --junit-xml=\"$report_file\" -o junit_suite_name=${test_type}_${platform}_${target}_${sketchname}${i} ${extra_args[*]@Q}; exit \$?" || result=$?
120120
printf "\n"
121121
if [ $result -ne 0 ]; then
122122
result=0
123123
printf "\033[95mRetrying test: %s -- Config: %s\033[0m\n" "$sketchname" "$i"
124-
printf "\033[95mpytest \"%s/test_%s.py\" --build-dir \"%s\" --junit-xml=\"%s\" -o junit_suite_name=%s_%s_%s_%s%s %s\033[0m\n" "$sketchdir" "$sketchname" "$build_dir" "$report_file" "$test_type" "$platform" "$target" "$sketchname" "$i" "${extra_args[*]@Q}"
125-
bash -c "set +e; pytest \"$sketchdir/test_$sketchname.py\" --build-dir \"$build_dir\" --junit-xml=\"$report_file\" -o junit_suite_name=${test_type}_${platform}_${target}_${sketchname}${i} ${extra_args[*]@Q}; exit \$?" || result=$?
124+
printf "\033[95mpytest -s \"%s/test_%s.py\" --build-dir \"%s\" --junit-xml=\"%s\" -o junit_suite_name=%s_%s_%s_%s%s %s\033[0m\n" "$sketchdir" "$sketchname" "$build_dir" "$report_file" "$test_type" "$platform" "$target" "$sketchname" "$i" "${extra_args[*]@Q}"
125+
bash -c "set +e; pytest -s \"$sketchdir/test_$sketchname.py\" --build-dir \"$build_dir\" --junit-xml=\"$report_file\" -o junit_suite_name=${test_type}_${platform}_${target}_${sketchname}${i} ${extra_args[*]@Q}; exit \$?" || result=$?
126126
printf "\n"
127127
if [ $result -ne 0 ]; then
128128
printf "\033[91mFailed test: %s -- Config: %s\033[0m\n\n" "$sketchname" "$i"

‎CMakeLists.txt

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -373,7 +373,7 @@ if(NOT CONFIG_ARDUINO_SELECTIVE_COMPILATION OR CONFIG_ARDUINO_SELECTIVE_OpenThre
373373
endif()
374374
endif()
375375

376-
if(IDF_TARGET STREQUAL "esp32p4")
376+
if(IDF_TARGET STREQUAL "esp32" OR IDF_TARGET STREQUAL "esp32s2" OR IDF_TARGET STREQUAL "esp32s3" OR IDF_TARGET STREQUAL "esp32p4")
377377
list(APPEND requires esp_driver_touch_sens)
378378
endif()
379379

‎cores/esp32/esp32-hal-touch-ng.c

Lines changed: 126 additions & 24 deletions
Original file line numberDiff line numberDiff line change
@@ -12,11 +12,11 @@
1212
// See the License for the specific language governing permissions and
1313
// limitations under the License.
1414
#include "soc/soc_caps.h"
15+
#include "esp_idf_version.h"
1516

1617
#if SOC_TOUCH_SENSOR_SUPPORTED
17-
#if SOC_TOUCH_SENSOR_VERSION == 3 // ESP32P4 for now
18+
#if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(5, 5, 0) || SOC_TOUCH_SENSOR_VERSION == 3
1819

19-
#include "driver/touch_sens.h"
2020
#include "esp32-hal-touch-ng.h"
2121
#include "esp32-hal-periman.h"
2222

@@ -37,11 +37,24 @@ typedef struct {
3737
static TouchInterruptHandle_t __touchInterruptHandlers[SOC_TOUCH_SENSOR_NUM] = {
3838
0,
3939
};
40-
41-
static uint8_t _sample_num = 1;
40+
#if SOC_TOUCH_SENSOR_VERSION == 1 // ESP32
41+
static uint8_t _sample_num = 1; // only one sample configuration supported
42+
static float _duration_ms = 5.0f;
43+
static touch_volt_lim_l_t _volt_low = TOUCH_VOLT_LIM_L_0V5;
44+
static touch_volt_lim_h_t _volt_high = TOUCH_VOLT_LIM_H_1V7;
45+
static touch_intr_trig_mode_t _intr_trig_mode = TOUCH_INTR_TRIG_ON_BELOW_THRESH;
46+
#elif SOC_TOUCH_SENSOR_VERSION == 2 // ESP32S2, ESP32S3
47+
static uint8_t _sample_num = 1; // only one sample configuration supported
48+
static uint32_t _chg_times = 500;
49+
static touch_volt_lim_l_t _volt_low = TOUCH_VOLT_LIM_L_0V5;
50+
static touch_volt_lim_h_t _volt_high = TOUCH_VOLT_LIM_H_2V2;
51+
#elif SOC_TOUCH_SENSOR_VERSION == 3 // ESP32P4
52+
static uint8_t _sample_num = 1; // TODO: can be extended to multiple samples
4253
static uint32_t _div_num = 1;
4354
static uint8_t _coarse_freq_tune = 1;
4455
static uint8_t _fine_freq_tune = 1;
56+
#endif
57+
4558
static uint8_t used_pads = 0;
4659

4760
static uint32_t __touchSleepTime = 256;
@@ -156,15 +169,28 @@ bool touchBenchmarkThreshold(uint8_t pad) {
156169

157170
// Reconfigure passed pad with new threshold
158171
uint32_t benchmark[_sample_num] = {};
172+
#if SOC_TOUCH_SUPPORT_BENCHMARK // ESP32S2, ESP32S3,ESP32P4
159173
if (touch_channel_read_data(touch_channel_handle[pad], TOUCH_CHAN_DATA_TYPE_BENCHMARK, benchmark) != ESP_OK) {
160174
log_e("Touch channel read data failed!");
161175
return false;
162176
}
177+
#else
178+
if (touch_channel_read_data(touch_channel_handle[pad], TOUCH_CHAN_DATA_TYPE_SMOOTH, benchmark) != ESP_OK) {
179+
log_e("Touch channel read data failed!");
180+
return false;
181+
}
182+
#endif
183+
163184
/* Calculate the proper active thresholds regarding the initial benchmark */
164-
touch_channel_config_t chan_cfg = {};
185+
touch_channel_config_t chan_cfg = TOUCH_CHANNEL_DEFAULT_CONFIG();
165186
for (int i = 0; i < _sample_num; i++) {
187+
#if SOC_TOUCH_SENSOR_VERSION == 1 // ESP32
188+
chan_cfg.abs_active_thresh[i] = (uint32_t)(benchmark[i] * (1 - s_thresh2bm_ratio));
189+
log_v("Configured [CH %d] sample %d: benchmark = %" PRIu32 ", threshold = %" PRIu32 "\t", pad, i, benchmark[i], chan_cfg.abs_active_thresh[i]);
190+
#else
166191
chan_cfg.active_thresh[i] = (uint32_t)(benchmark[i] * s_thresh2bm_ratio);
167192
log_v("Configured [CH %d] sample %d: benchmark = %" PRIu32 ", threshold = %" PRIu32 "\t", pad, i, benchmark[i], chan_cfg.active_thresh[i]);
193+
#endif
168194
}
169195
/* Update the channel configuration */
170196
if (touch_sensor_reconfig_channel(touch_channel_handle[pad], &chan_cfg) != ESP_OK) {
@@ -178,17 +204,26 @@ static bool touchDetachBus(void *pin) {
178204
int8_t pad = digitalPinToTouchChannel((int)(pin - 1));
179205
channels_initialized[pad] = false;
180206
//disable touch pad and delete the channel
207+
if (!touchStop()) {
208+
log_e("touchStop() failed!");
209+
return false;
210+
}
211+
if (!touchDisable()) {
212+
log_e("touchDisable() failed!");
213+
return false;
214+
}
181215
touch_sensor_del_channel(touch_channel_handle[pad]);
182216
used_pads--;
183217
if (used_pads == 0) {
184-
touchStop();
185-
touchDisable();
186218
if (touch_sensor_del_controller(touch_sensor_handle) != ESP_OK) //deinit touch module, as no pads are used
187219
{
188220
log_e("Touch module deinit failed!");
189221
return false;
190222
}
191223
initialized = false;
224+
} else {
225+
touchEnable();
226+
touchStart();
192227
}
193228
return true;
194229
}
@@ -198,21 +233,40 @@ static void __touchInit() {
198233
return;
199234
}
200235
// Support only one sample configuration for now
236+
#if SOC_TOUCH_SENSOR_VERSION == 1 // ESP32
237+
touch_sensor_sample_config_t single_sample_cfg = TOUCH_SENSOR_V1_DEFAULT_SAMPLE_CONFIG(_duration_ms, _volt_low, _volt_high);
238+
#elif SOC_TOUCH_SENSOR_VERSION == 2 // ESP32S2, ESP32S3
239+
touch_sensor_sample_config_t single_sample_cfg = TOUCH_SENSOR_V2_DEFAULT_SAMPLE_CONFIG(_chg_times, _volt_low, _volt_high);
240+
#elif SOC_TOUCH_SENSOR_VERSION == 3 // ESP32P4
201241
touch_sensor_sample_config_t single_sample_cfg = TOUCH_SENSOR_V3_DEFAULT_SAMPLE_CONFIG(_div_num, _coarse_freq_tune, _fine_freq_tune);
242+
#endif
202243
touch_sensor_sample_config_t sample_cfg[_sample_num] = {};
203244
sample_cfg[0] = single_sample_cfg;
204245

205-
/* Allocate new touch controller handle */
206246
touch_sensor_config_t sens_cfg = {
247+
#if SOC_TOUCH_SENSOR_VERSION == 1 // ESP32
248+
.power_on_wait_us = __touchSleepTime,
249+
.meas_interval_us = __touchMeasureTime,
250+
.intr_trig_mode = _intr_trig_mode,
251+
.intr_trig_group = TOUCH_INTR_TRIG_GROUP_BOTH,
252+
.sample_cfg_num = _sample_num,
253+
.sample_cfg = sample_cfg,
254+
#elif SOC_TOUCH_SENSOR_VERSION == 2 // ESP32S2, ESP32S3
255+
.power_on_wait_us = __touchSleepTime,
256+
.meas_interval_us = __touchMeasureTime,
257+
.max_meas_time_us = 0,
258+
.sample_cfg_num = _sample_num,
259+
.sample_cfg = sample_cfg,
260+
#elif SOC_TOUCH_SENSOR_VERSION == 3 // ESP32P4
207261
.power_on_wait_us = __touchSleepTime,
208262
.meas_interval_us = __touchMeasureTime,
209263
.max_meas_time_us = 0,
210264
.output_mode = TOUCH_PAD_OUT_AS_CLOCK,
211265
.sample_cfg_num = _sample_num,
212266
.sample_cfg = sample_cfg,
267+
#endif
213268
};
214269

215-
// touch_sensor_config_t sens_cfg = TOUCH_SENSOR_DEFAULT_BASIC_CONFIG(_sample_num, sample_cfg);
216270
if (touch_sensor_new_controller(&sens_cfg, &touch_sensor_handle) != ESP_OK) {
217271
goto err;
218272
}
@@ -225,14 +279,10 @@ static void __touchInit() {
225279
}
226280

227281
/* Register the touch sensor on_active and on_inactive callbacks */
228-
touch_event_callbacks_t callbacks = {
229-
.on_active = __touchOnActiveISR,
230-
.on_inactive = __touchOnInactiveISR,
231-
.on_measure_done = NULL,
232-
.on_scan_done = NULL,
233-
.on_timeout = NULL,
234-
.on_proximity_meas_done = NULL,
235-
};
282+
touch_event_callbacks_t callbacks = {0};
283+
callbacks.on_active = __touchOnActiveISR;
284+
callbacks.on_inactive = __touchOnInactiveISR;
285+
236286
if (touch_sensor_register_callbacks(touch_sensor_handle, &callbacks, NULL) != ESP_OK) {
237287
goto err;
238288
}
@@ -253,9 +303,7 @@ static void __touchChannelInit(int pad) {
253303
// Initial setup with default Threshold
254304
__touchInterruptHandlers[pad].fn = NULL;
255305

256-
touch_channel_config_t chan_cfg = {
257-
.active_thresh = {1000} // default threshold, will be updated after benchmark
258-
};
306+
touch_channel_config_t chan_cfg = TOUCH_CHANNEL_DEFAULT_CONFIG();
259307

260308
if (!touchStop() || !touchDisable()) {
261309
log_e("Touch sensor stop and disable failed!");
@@ -323,8 +371,21 @@ static void __touchConfigInterrupt(uint8_t pin, void (*userFunc)(void), void *Ar
323371
__touchInterruptHandlers[pad].arg = NULL;
324372
} else {
325373
// attach ISR User Call
326-
__touchInit();
327-
__touchChannelInit(pad);
374+
if (perimanGetPinBus(pin, ESP32_BUS_TYPE_TOUCH) == NULL) {
375+
perimanSetBusDeinit(ESP32_BUS_TYPE_TOUCH, touchDetachBus);
376+
if (!perimanClearPinBus(pin)) {
377+
log_e("Failed to clear pin bus");
378+
return;
379+
}
380+
__touchInit();
381+
__touchChannelInit(pad);
382+
383+
if (!perimanSetPinBus(pin, ESP32_BUS_TYPE_TOUCH, (void *)(pin + 1), -1, pad)) {
384+
touchDetachBus((void *)(pin + 1));
385+
log_e("Failed to set bus to Peripheral manager");
386+
return;
387+
}
388+
}
328389
__touchInterruptHandlers[pad].fn = userFunc;
329390
__touchInterruptHandlers[pad].callWithArgs = callWithArgs;
330391
__touchInterruptHandlers[pad].arg = Args;
@@ -338,7 +399,11 @@ static void __touchConfigInterrupt(uint8_t pin, void (*userFunc)(void), void *Ar
338399

339400
touch_channel_config_t chan_cfg = {};
340401
for (int i = 0; i < _sample_num; i++) {
402+
#if SOC_TOUCH_SENSOR_VERSION == 1 // ESP32
403+
chan_cfg.abs_active_thresh[i] = threshold;
404+
#else
341405
chan_cfg.active_thresh[i] = threshold;
406+
#endif
342407
}
343408

344409
if (touch_sensor_reconfig_channel(touch_channel_handle[pad], &chan_cfg) != ESP_OK) {
@@ -375,7 +440,6 @@ bool touchInterruptGetLastStatus(uint8_t pin) {
375440
if (pad < 0) {
376441
return false;
377442
}
378-
379443
return __touchInterruptHandlers[pad].lastStatusIsPressed;
380444
}
381445

@@ -405,9 +469,13 @@ void touchSleepWakeUpEnable(uint8_t pin, touch_value_t threshold) {
405469

406470
touch_sleep_config_t deep_slp_cfg = {
407471
.slp_wakeup_lvl = TOUCH_DEEP_SLEEP_WAKEUP,
472+
#if SOC_TOUCH_SENSOR_VERSION == 1 // ESP32
473+
.deep_slp_sens_cfg = NULL, // Use the original touch sensor configuration
474+
#else // SOC_TOUCH_SENSOR_VERSION 2 and 3// ESP32S2, ESP32S3, ESP32P4
408475
.deep_slp_chan = touch_channel_handle[pad],
409476
.deep_slp_thresh = {threshold},
410477
.deep_slp_sens_cfg = NULL, // Use the original touch sensor configuration
478+
#endif
411479
};
412480

413481
// Register the deep sleep wake-up
@@ -434,6 +502,29 @@ void touchSetTiming(float measure, uint32_t sleep) {
434502
__touchMeasureTime = measure;
435503
}
436504

505+
#if SOC_TOUCH_SENSOR_VERSION == 1 // ESP32
506+
void touchSetConfig(float duration_ms, touch_volt_lim_l_t volt_low, touch_volt_lim_h_t volt_high) {
507+
if (initialized) {
508+
log_e("Touch sensor already initialized. Cannot set configuration.");
509+
return;
510+
}
511+
_duration_ms = duration_ms;
512+
_volt_low = volt_low;
513+
_volt_high = volt_high;
514+
}
515+
516+
#elif SOC_TOUCH_SENSOR_VERSION == 2 // ESP32S2, ESP32S3
517+
void touchSetConfig(uint32_t chg_times, touch_volt_lim_l_t volt_low, touch_volt_lim_h_t volt_high) {
518+
if (initialized) {
519+
log_e("Touch sensor already initialized. Cannot set configuration.");
520+
return;
521+
}
522+
_chg_times = chg_times;
523+
_volt_low = volt_low;
524+
_volt_high = volt_high;
525+
}
526+
527+
#elif SOC_TOUCH_SENSOR_VERSION == 3 // ESP32P4
437528
void touchSetConfig(uint32_t div_num, uint8_t coarse_freq_tune, uint8_t fine_freq_tune) {
438529
if (initialized) {
439530
log_e("Touch sensor already initialized. Cannot set configuration.");
@@ -443,11 +534,22 @@ void touchSetConfig(uint32_t div_num, uint8_t coarse_freq_tune, uint8_t fine_fre
443534
_coarse_freq_tune = coarse_freq_tune;
444535
_fine_freq_tune = fine_freq_tune;
445536
}
537+
#endif
538+
539+
#if SOC_TOUCH_SENSOR_VERSION == 1 // ESP32
540+
void touchInterruptSetThresholdDirection(bool mustbeLower) {
541+
if (mustbeLower) {
542+
_intr_trig_mode = TOUCH_INTR_TRIG_ON_BELOW_THRESH;
543+
} else {
544+
_intr_trig_mode = TOUCH_INTR_TRIG_ON_ABOVE_THRESH;
545+
}
546+
}
547+
#endif
446548

447549
extern touch_value_t touchRead(uint8_t) __attribute__((weak, alias("__touchRead")));
448550
extern void touchAttachInterrupt(uint8_t, voidFuncPtr, touch_value_t) __attribute__((weak, alias("__touchAttachInterrupt")));
449551
extern void touchAttachInterruptArg(uint8_t, voidArgFuncPtr, void *, touch_value_t) __attribute__((weak, alias("__touchAttachArgsInterrupt")));
450552
extern void touchDetachInterrupt(uint8_t) __attribute__((weak, alias("__touchDettachInterrupt")));
451553

452-
#endif /* SOC_TOUCH_SENSOR_VERSION == 3 */
554+
#endif /* ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(5, 5, 0) || SOC_TOUCH_SENSOR_VERSION == 3 */
453555
#endif /* SOC_TOUCH_SENSOR_SUPPORTED */

‎cores/esp32/esp32-hal-touch-ng.h

Lines changed: 47 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -21,14 +21,31 @@
2121
#define MAIN_ESP32_HAL_TOUCH_NEW_H_
2222

2323
#include "soc/soc_caps.h"
24+
#include "esp_idf_version.h"
25+
2426
#if SOC_TOUCH_SENSOR_SUPPORTED
25-
#if SOC_TOUCH_SENSOR_VERSION == 3 // ESP32P4
27+
#if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(5, 5, 0) || SOC_TOUCH_SENSOR_VERSION == 3
2628

2729
#ifdef __cplusplus
2830
extern "C" {
2931
#endif
3032

3133
#include "esp32-hal.h"
34+
#include "driver/touch_sens.h"
35+
36+
#if SOC_TOUCH_SENSOR_VERSION == 1 // ESP32
37+
#define TOUCH_CHANNEL_DEFAULT_CONFIG() \
38+
{ \
39+
.abs_active_thresh = {1000}, .charge_speed = TOUCH_CHARGE_SPEED_7, .init_charge_volt = TOUCH_INIT_CHARGE_VOLT_DEFAULT, \
40+
.group = TOUCH_CHAN_TRIG_GROUP_BOTH, \
41+
}
42+
#elif SOC_TOUCH_SENSOR_VERSION == 2 // ESP32-S2 & ESP32-S3
43+
#define TOUCH_CHANNEL_DEFAULT_CONFIG() \
44+
{ .active_thresh = {2000}, .charge_speed = TOUCH_CHARGE_SPEED_7, .init_charge_volt = TOUCH_INIT_CHARGE_VOLT_DEFAULT, }
45+
#elif SOC_TOUCH_SENSOR_VERSION == 3 // ESP32-P4
46+
#define TOUCH_CHANNEL_DEFAULT_CONFIG() \
47+
{ .active_thresh = {1000}, }
48+
#endif
3249

3350
typedef uint32_t touch_value_t;
3451

@@ -40,11 +57,39 @@ typedef uint32_t touch_value_t;
4057
**/
4158
void touchSetTiming(float measure, uint32_t sleep);
4259

60+
#if SOC_TOUCH_SENSOR_VERSION == 1 // ESP32
61+
/*
62+
* @param[in] duration_ms The measurement duration of the touch channel
63+
* @param[in] volt_low The low voltage limit of the touch channel
64+
* @param[in] volt_high The high voltage limit of the touch channel
65+
*/
66+
void touchSetConfig(float duration_ms, touch_volt_lim_l_t volt_low, touch_volt_lim_h_t volt_high);
67+
68+
#elif SOC_TOUCH_SENSOR_VERSION == 2 // ESP32S2, ESP32S3
69+
/*
70+
* @param[in] chg_times The charge times of the touch channel
71+
* @param[in] volt_low The low voltage limit of the touch channel
72+
* @param[in] volt_high The high voltage limit of the touch channel
73+
*/
74+
void touchSetConfig(uint32_t chg_times, touch_volt_lim_l_t volt_low, touch_volt_lim_h_t volt_high);
75+
76+
#elif SOC_TOUCH_SENSOR_VERSION == 3 // ESP32P4
4377
/*
4478
* Tune the touch pad frequency.
4579
* Note: Must be called before setting up touch pads
4680
*/
4781
void touchSetConfig(uint32_t _div_num, uint8_t coarse_freq_tune, uint8_t fine_freq_tune);
82+
#endif
83+
84+
#if SOC_TOUCH_SENSOR_VERSION == 1
85+
/*
86+
* Specific functions to ESP32
87+
* Tells the driver if it shall activate the ISR if the sensor is Lower or Higher than the Threshold
88+
* Default if Lower.
89+
* Note: Must be called before setting up touch pads
90+
**/
91+
void touchInterruptSetThresholdDirection(bool mustbeLower);
92+
#endif
4893

4994
/*
5095
* Read touch pad value.
@@ -86,6 +131,6 @@ void touchSleepWakeUpEnable(uint8_t pin, touch_value_t threshold);
86131
}
87132
#endif
88133

89-
#endif /* SOC_TOUCH_SENSOR_VERSION == 3 */
134+
#endif /* ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(5, 5, 0) || SOC_TOUCH_SENSOR_VERSION == 3 */
90135
#endif /* SOC_TOUCH_SENSOR_SUPPORTED */
91136
#endif /* MAIN_ESP32_HAL_TOUCH_H_ */

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