xiao_esp32s3 - simple application builds on v3.6, breaks on main

[OOHehir]

Hello all,
I've created a PR to add a sample to demonstrate the touch peripheral on the ESP32 device. It builds successfully on Zephyr v3.6 but currently on main shows errors as listed below. Is this a known issue?

Thanks for all your hard work!

/opt/zephyr-sdk-0.16.5-1/xtensa-espressif_esp32s3_zephyr-elf/bin/../lib/gcc/xtensa-espressif_esp32s3_zephyr-elf/12.2.0/../../../../xtensa-espressif_esp32s3_zephyr-elf/bin/ld.bfd: zephyr/drivers/input/libdrivers__input.a(input_esp32_touch_sensor.c.obj):(.literal.esp32_touch_sensor_init+0x0): undefined reference to `touch_sensor_channel_io_map' /opt/zephyr-sdk-0.16.5-1/xtensa-espressif_esp32s3_zephyr-elf/bin/../lib/gcc/xtensa-espressif_esp32s3_zephyr-elf/12.2.0/../../../../xtensa-espressif_esp32s3_zephyr-elf/bin/ld.bfd: zephyr/drivers/input/libdrivers__input.a(input_esp32_touch_sensor.c.obj):(.literal.esp32_touch_sensor_init+0x1c): undefined reference to `touch_hal_init' /opt/zephyr-sdk-0.16.5-1/xtensa-espressif_esp32s3_zephyr-elf/bin/../lib/gcc/xtensa-espressif_esp32s3_zephyr-elf/12.2.0/../../../../xtensa-espressif_esp32s3_zephyr-elf/bin/ld.bfd: zephyr/drivers/input/libdrivers__input.a(input_esp32_touch_sensor.c.obj):(.literal.esp32_touch_sensor_init+0x20): undefined reference to `rtc_gpio_init' /opt/zephyr-sdk-0.16.5-1/xtensa-espressif_esp32s3_zephyr-elf/bin/../lib/gcc/xtensa-espressif_esp32s3_zephyr-elf/12.2.0/../../../../xtensa-espressif_esp32s3_zephyr-elf/bin/ld.bfd: zephyr/drivers/input/libdrivers__input.a(input_esp32_touch_sensor.c.obj):(.literal.esp32_touch_sensor_init+0x24): undefined reference to `rtc_gpio_set_direction' /opt/zephyr-sdk-0.16.5-1/xtensa-espressif_esp32s3_zephyr-elf/bin/../lib/gcc/xtensa-espressif_esp32s3_zephyr-elf/12.2.0/../../../../xtensa-espressif_esp32s3_zephyr-elf/bin/ld.bfd: zephyr/drivers/input/libdrivers__input.a(input_esp32_touch_sensor.c.obj):(.literal.esp32_touch_sensor_init+0x28): undefined reference to `rtc_gpio_pulldown_dis' /opt/zephyr-sdk-0.16.5-1/xtensa-espressif_esp32s3_zephyr-elf/bin/../lib/gcc/xtensa-espressif_esp32s3_zephyr-elf/12.2.0/../../../../xtensa-espressif_esp32s3_zephyr-elf/bin/ld.bfd: zephyr/drivers/input/libdrivers__input.a(input_esp32_touch_sensor.c.obj):(.literal.esp32_touch_sensor_init+0x2c): undefined reference to `rtc_gpio_pullup_dis' /opt/zephyr-sdk-0.16.5-1/xtensa-espressif_esp32s3_zephyr-elf/bin/../lib/gcc/xtensa-espressif_esp32s3_zephyr-elf/12.2.0/../../../../xtensa-espressif_esp32s3_zephyr-elf/bin/ld.bfd: zephyr/drivers/input/libdrivers__input.a(input_esp32_touch_sensor.c.obj):(.literal.esp32_touch_sensor_init+0x30): undefined reference to `touch_hal_config' /opt/zephyr-sdk-0.16.5-1/xtensa-espressif_esp32s3_zephyr-elf/bin/../lib/gcc/xtensa-espressif_esp32s3_zephyr-elf/12.2.0/../../../../xtensa-espressif_esp32s3_zephyr-elf/bin/ld.bfd: zephyr/drivers/input/libdrivers__input.a(input_esp32_touch_sensor.c.obj):(.literal.esp32_touch_sensor_init+0x38): undefined reference to `touch_hal_filter_set_config' /opt/zephyr-sdk-0.16.5-1/xtensa-espressif_esp32s3_zephyr-elf/bin/../lib/gcc/xtensa-espressif_esp32s3_zephyr-elf/12.2.0/../../../../xtensa-espressif_esp32s3_zephyr-elf/bin/ld.bfd: zephyr/drivers/input/libdrivers__input.a(input_esp32_touch_sensor.c.obj): in function `esp32_touch_sensor_init':

[kartben]

Sorry for asking but you did run west update, yes? Espressif recently updated their HAL (#68760) so the issue is probably somewhere there.
cc @sylvioalves

[OOHehir]

@kartben cc @sylvioalves No bother. The procedure I'm following is:
from zephyr directory:

git checkout v3.6-branch
Updating files: 100% (24585/24585), done.
Switched to branch 'v3.6-branch'
Your branch is up to date with 'origin/v3.6-branch'.

I'm building an independent application & so from application directory:

source ../zephyrproject/.venv/bin/activate
source ../zephyrproject/zephyr/zephyr-env.sh
west update
west blobs fetch hal_espressif
west build -b xiao_esp32s3 ./ -p always

... successful build.

For main, similar enough:

git checkout main
Updating files: 100% (24585/24585), done.
Switched to branch 'main'
Your branch is up to date with 'origin/main'.

from application directory:

source ../zephyrproject/.venv/bin/activate
source ../zephyrproject/zephyr/zephyr-env.sh
west update
west blobs fetch hal_espressif 
(significant changes ):
Fetching blob hal_espressif: /home/projects/zephyrproject/modules/hal/espressif/zephyr/blobs/lib/esp32c3/libbtdm_app.a
Fetching blob hal_espressif: /home/projects/zephyrproject/modules/hal/espressif/zephyr/blobs/lib/esp32s3/libbtdm_app.a
Fetching blob hal_espressif: /home/projects/zephyrproject/modules/hal/espressif/zephyr/blobs/lib/esp32/libbtdm_app.a
Fetching blob hal_espressif: /home/projects/zephyrproject/modules/hal/espressif/zephyr/blobs/lib/esp32/libcore.a
Fetching blob hal_espressif: /home/projects/zephyrproject/modules/hal/espressif/zephyr/blobs/lib/esp32/libmesh.a
Fetching blob hal_espressif: /home/projects/zephyrproject/modules/hal/espressif/zephyr/blobs/lib/esp32/libsmartconfig.a
Fetching blob hal_espressif: /home/projects/zephyrproject/modules/hal/espressif/zephyr/blobs/lib/esp32/libnet80211.a
Fetching blob hal_espressif: /home/projects/zephyrproject/modules/hal/espressif/zephyr/blobs/lib/esp32/libpp.a
Fetching blob hal_espressif: /home/projects/zephyrproject/modules/hal/espressif/zephyr/blobs/lib/esp32/libespnow.a
Fetching blob hal_espressif: /home/projects/zephyrproject/modules/hal/espressif/zephyr/blobs/lib/esp32/libwapi.a
Fetching blob hal_espressif: /home/projects/zephyrproject/modules/hal/espressif/zephyr/blobs/lib/esp32s2/libcore.a
Fetching blob hal_espressif: /home/projects/zephyrproject/modules/hal/espressif/zephyr/blobs/lib/esp32s2/libmesh.a
Fetching blob hal_espressif: /home/projects/zephyrproject/modules/hal/espressif/zephyr/blobs/lib/esp32s2/libsmartconfig.a
Fetching blob hal_espressif: /home/projects/zephyrproject/modules/hal/espressif/zephyr/blobs/lib/esp32s2/libnet80211.a
Fetching blob hal_espressif: /home/projects/zephyrproject/modules/hal/espressif/zephyr/blobs/lib/esp32s2/libpp.a
Fetching blob hal_espressif: /home/projects/zephyrproject/modules/hal/espressif/zephyr/blobs/lib/esp32s2/libespnow.a
Fetching blob hal_espressif: /home/projects/zephyrproject/modules/hal/espressif/zephyr/blobs/lib/esp32s2/libwapi.a
Fetching blob hal_espressif: /home/projects/zephyrproject/modules/hal/espressif/zephyr/blobs/lib/esp32c3/libcore.a
Fetching blob hal_espressif: /home/projects/zephyrproject/modules/hal/espressif/zephyr/blobs/lib/esp32c3/libmesh.a
Fetching blob hal_espressif: /home/projects/zephyrproject/modules/hal/espressif/zephyr/blobs/lib/esp32c3/libsmartconfig.a
Fetching blob hal_espressif: /home/projects/zephyrproject/modules/hal/espressif/zephyr/blobs/lib/esp32c3/libnet80211.a
Fetching blob hal_espressif: /home/projects/zephyrproject/modules/hal/espressif/zephyr/blobs/lib/esp32c3/libpp.a
Fetching blob hal_espressif: /home/projects/zephyrproject/modules/hal/espressif/zephyr/blobs/lib/esp32c3/libespnow.a
Fetching blob hal_espressif: /home/projects/zephyrproject/modules/hal/espressif/zephyr/blobs/lib/esp32c3/libwapi.a
Fetching blob hal_espressif: /home/projects/zephyrproject/modules/hal/espressif/zephyr/blobs/lib/esp32s3/libcore.a
Fetching blob hal_espressif: /home/projects/zephyrproject/modules/hal/espressif/zephyr/blobs/lib/esp32s3/libmesh.a
Fetching blob hal_espressif: /home/projects/zephyrproject/modules/hal/espressif/zephyr/blobs/lib/esp32s3/libsmartconfig.a
Fetching blob hal_espressif: /home/projects/zephyrproject/modules/hal/espressif/zephyr/blobs/lib/esp32s3/libnet80211.a
Fetching blob hal_espressif: /home/projects/zephyrproject/modules/hal/espressif/zephyr/blobs/lib/esp32s3/libpp.a
Fetching blob hal_espressif: /home/projects/zephyrproject/modules/hal/espressif/zephyr/blobs/lib/esp32s3/libespnow.a
Fetching blob hal_espressif: /home/projects/zephyrproject/modules/hal/espressif/zephyr/blobs/lib/esp32s3/libwapi.a
Fetching blob hal_espressif: /home/projects/zephyrproject/modules/hal/espressif/zephyr/blobs/lib/esp32s2/libphy.a
Fetching blob hal_espressif: /home/projects/zephyrproject/modules/hal/espressif/zephyr/blobs/lib/esp32c3/libphy.a
Fetching blob hal_espressif: /home/projects/zephyrproject/modules/hal/espressif/zephyr/blobs/lib/esp32c3/libbtbb.a
Fetching blob hal_espressif: /home/projects/zephyrproject/modules/hal/espressif/zephyr/blobs/lib/esp32s3/libphy.a
Fetching blob hal_espressif: /home/projects/zephyrproject/modules/hal/espressif/zephyr/blobs/lib/esp32s3/libbtbb.a

Due to changes I then use an overlay:

xiao_esp32s3_esp32s3_procpu.overlay

& build with:

west build -b xiao_esp32s3/esp32s3/procpu ./ -p always

... unsuccessful build

[sylvioalves]

I have just tried rm -rf build; west build -b xiao_esp32s3 samples/hello_world/ and it worked. Can you check with hello_world to make sure whether it works?

[OOHehir]

@sylvioalves I can probably do something better..
My prj.conf is fairly simple

CONFIG_INPUT=y
CONFIG_INPUT_ESP32_TOUCH_SENSOR=y

If I comment out CONFIG_INPUT_ESP32_TOUCH_SENSOR (& remove any associated dependencies in the application) the build is successful for branch main.

[sylvioalves]

Tested building with rm -rf build; west build -b xiao_esp32s3/esp32s3/procpu samples/hello_world/ -DCONFIG_INPUT=y -DCONFIG_INPUT_ESP32_TOUCH_SENSOR=y and see no issues. Will close this.

[RomainPelletant]

I am facing the same issue on main branch (esp32-wroom)
Environment (same results in both):

• zephyrprojectrtos/ci:v0.26.12 (zephyr-sdk-0.16.6)
• MacOS (zephyr-sdk-0.16.8)

The CMakeLists.txt in components/hal seems not called
Succeed to compile by adding manually the following lines in hal/espressif/zephyr/esp32/CMakeLists.txt

zephyr_sources(
    ../../components/hal/touch_sensor_hal.c
    ../../components/hal/${CONFIG_SOC_SERIES}/touch_sensor_hal.c
    ../../components/hal/${CONFIG_SOC_SERIES}/gpio_hal_workaround.c
    ../../components/driver/gpio/rtc_io.c
    ../../components/hal/rtc_io_hal.c
    ../../components/soc/${CONFIG_SOC_SERIES}/touch_sensor_periph.c
    )