drivers/input/input_esp32_touch_sensor.c - third_party/github/zephyrproject-rtos/zephyr - Git at Google

 /*
  * Copyright (c) 2023 Espressif Systems (Shanghai) Co., Ltd.
  *
  * SPDX-License-Identifier: Apache-2.0
  */

 #define DT_DRV_COMPAT espressif_esp32_touch

 #include <zephyr/device.h>
 #include <zephyr/input/input.h>
 #include <zephyr/kernel.h>
 #include <zephyr/logging/log.h>

 #include <esp_err.h>
 #include <soc/soc_pins.h>
 #include <soc/periph_defs.h>
 #include <hal/touch_sensor_types.h>
 #include <hal/touch_sensor_hal.h>
 #include <driver/rtc_io.h>
 #include <esp_intr_alloc.h>

 LOG_MODULE_REGISTER(espressif_esp32_touch, CONFIG_INPUT_LOG_LEVEL);

 BUILD_ASSERT(!IS_ENABLED(CONFIG_COUNTER_RTC_ESP32),
 	     "Conflict detected: COUNTER_RTC_ESP32 enabled");

 #define ESP32_SCAN_DONE_MAX_COUNT 5

 #if defined(CONFIG_SOC_SERIES_ESP32)
 #define ESP32_RTC_INTR_MSK RTC_CNTL_TOUCH_INT_ST_M
 #elif defined(CONFIG_SOC_SERIES_ESP32S2) || defined(CONFIG_SOC_SERIES_ESP32S3)

 #define ESP32_RTC_INTR_MSK (RTC_CNTL_TOUCH_DONE_INT_ST_M |		\
 			    RTC_CNTL_TOUCH_ACTIVE_INT_ST_M |		\
 			    RTC_CNTL_TOUCH_INACTIVE_INT_ST_M |		\
 			    RTC_CNTL_TOUCH_SCAN_DONE_INT_ST_M |		\
 			    RTC_CNTL_TOUCH_TIMEOUT_INT_ST_M)

 #define ESP32_TOUCH_PAD_INTR_MASK (TOUCH_PAD_INTR_MASK_ACTIVE |		\
 				   TOUCH_PAD_INTR_MASK_INACTIVE |	\
 				   TOUCH_PAD_INTR_MASK_TIMEOUT |	\
 				   TOUCH_PAD_INTR_MASK_SCAN_DONE)

 #endif /* defined(CONFIG_SOC_SERIES_ESP32) */

 struct esp32_touch_sensor_channel_config {
 	int32_t channel_num;
 	int32_t channel_sens;
 	uint32_t zephyr_code;
 };

 struct esp32_touch_sensor_config {
 	uint32_t debounce_interval_ms;
 	int num_channels;
 	int href_microvolt_enum_idx;
 	int lref_microvolt_enum_idx;
 	int href_atten_microvolt_enum_idx;
 	int filter_mode;
 	int filter_debounce_cnt;
 	int filter_noise_thr;
 	int filter_jitter_step;
 	int filter_smooth_level;
 	const struct esp32_touch_sensor_channel_config *channel_cfg;
 	struct esp32_touch_sensor_channel_data *channel_data;
 };

 struct esp32_touch_sensor_channel_data {
 	const struct device *dev;
 	struct k_work_delayable work;
 	uint32_t status;
 #if defined(CONFIG_SOC_SERIES_ESP32S2) || defined(CONFIG_SOC_SERIES_ESP32S3)
 	uint32_t last_status;
 #endif /* defined(CONFIG_SOC_SERIES_ESP32S2) || defined(CONFIG_SOC_SERIES_ESP32S3) */
 };

 struct esp32_touch_sensor_data {
 	uint32_t rtc_intr_msk;
 };

 static void esp32_touch_sensor_interrupt_cb(void *arg)
 {
 	const struct device *dev = arg;
 	struct esp32_touch_sensor_data *dev_data = dev->data;
 	const struct esp32_touch_sensor_config *dev_cfg = dev->config;
 	const struct esp32_touch_sensor_channel_config *channel_cfg;
 	const int num_channels = dev_cfg->num_channels;
 	uint32_t pad_status;

 #if defined(CONFIG_SOC_SERIES_ESP32)
 	touch_hal_intr_clear();

 #elif defined(CONFIG_SOC_SERIES_ESP32S2) || defined(CONFIG_SOC_SERIES_ESP32S3)
 	static uint8_t scan_done_counter;

 	touch_pad_intr_mask_t intr_mask = touch_hal_read_intr_status_mask();

 	if (intr_mask & TOUCH_PAD_INTR_MASK_SCAN_DONE) {
 		if (++scan_done_counter == ESP32_SCAN_DONE_MAX_COUNT) {
 			touch_hal_intr_disable(TOUCH_PAD_INTR_MASK_SCAN_DONE);
 			for (int i = 0; i < num_channels; i++) {
 				channel_cfg = &dev_cfg->channel_cfg[i];

 				/* Set interrupt threshold */
 				uint32_t benchmark_value;

 				touch_hal_read_benchmark(channel_cfg->channel_num,
 					&benchmark_value);
 				touch_hal_set_threshold(channel_cfg->channel_num,
 					channel_cfg->channel_sens * benchmark_value / 100);
 			}
 		}
 		return;
 	}
 #endif /* defined(CONFIG_SOC_SERIES_ESP32) */

 	touch_hal_read_trigger_status_mask(&pad_status);
 #if defined(CONFIG_SOC_SERIES_ESP32)
 	touch_hal_clear_trigger_status_mask();
 #endif /* defined(CONFIG_SOC_SERIES_ESP32) */
 	for (int i = 0; i < num_channels; i++) {
 		uint32_t channel_status;

 		channel_cfg = &dev_cfg->channel_cfg[i];
 		channel_status = (pad_status >> channel_cfg->channel_num) & 0x01;

 #if defined(CONFIG_SOC_SERIES_ESP32)
 		if (channel_status != 0) {
 #elif defined(CONFIG_SOC_SERIES_ESP32S2) || defined(CONFIG_SOC_SERIES_ESP32S3)
 		uint32_t channel_num = (uint32_t)touch_hal_get_current_meas_channel();

 		if (channel_cfg->channel_num == channel_num) {
 #endif /* CONFIG_SOC_SERIES_ESP32 */
 			struct esp32_touch_sensor_channel_data
 				*channel_data = &dev_cfg->channel_data[i];

 			channel_data->status = channel_status;
 			(void)k_work_reschedule(&channel_data->work,
 						K_MSEC(dev_cfg->debounce_interval_ms));
 		}
 	}
 }

 static void esp32_rtc_isr(void *arg)
 {
 	uint32_t status = REG_READ(RTC_CNTL_INT_ST_REG);

 	if (arg != NULL) {
 		const struct device *dev = arg;
 		struct esp32_touch_sensor_data *dev_data = dev->data;

 		if (dev_data->rtc_intr_msk & status) {
 			esp32_touch_sensor_interrupt_cb(arg);
 		}
 	}

 	REG_WRITE(RTC_CNTL_INT_CLR_REG, status);
 }

 static esp_err_t esp32_rtc_isr_install(intr_handler_t intr_handler, const void *handler_arg)
 {
 	esp_err_t err;

 	REG_WRITE(RTC_CNTL_INT_ENA_REG, 0);
 	REG_WRITE(RTC_CNTL_INT_CLR_REG, UINT32_MAX);
 	err = esp_intr_alloc(ETS_RTC_CORE_INTR_SOURCE, 0, intr_handler, (void *)handler_arg, NULL);

 	return err;
 }

 /**
  * Handle debounced touch sensor touch state.
  */
 static void esp32_touch_sensor_change_deferred(struct k_work *work)
 {
 	struct k_work_delayable *dwork = k_work_delayable_from_work(work);
 	struct esp32_touch_sensor_channel_data *channel_data =
 			CONTAINER_OF(dwork, struct esp32_touch_sensor_channel_data, work);
 	const struct device *dev = channel_data->dev;
 	const struct esp32_touch_sensor_config *dev_cfg = dev->config;
 	int key_index = channel_data - &dev_cfg->channel_data[0];
 	const struct esp32_touch_sensor_channel_config
 		*channel_cfg = &dev_cfg->channel_cfg[key_index];

 #if defined(CONFIG_SOC_SERIES_ESP32S2) || defined(CONFIG_SOC_SERIES_ESP32S3)
 	if (channel_data->last_status != channel_data->status) {
 #endif /* defined(CONFIG_SOC_SERIES_ESP32S2) || defined(CONFIG_SOC_SERIES_ESP32S3) */
 		input_report_key(dev, channel_cfg->zephyr_code,
 				channel_data->status, true, K_FOREVER);
 #if defined(CONFIG_SOC_SERIES_ESP32S2) || defined(CONFIG_SOC_SERIES_ESP32S3)
 		channel_data->last_status = channel_data->status;
 	}
 #endif /* defined(CONFIG_SOC_SERIES_ESP32S2) || defined(CONFIG_SOC_SERIES_ESP32S3) */
 }

 static int esp32_touch_sensor_init(const struct device *dev)
 {
 	struct esp32_touch_sensor_data *dev_data = dev->data;
 	const struct esp32_touch_sensor_config *dev_cfg = dev->config;
 	const int num_channels = dev_cfg->num_channels;

 	touch_hal_init();

 #if defined(CONFIG_SOC_SERIES_ESP32)
 	touch_hal_volt_t volt = {
 		.refh = dev_cfg->href_microvolt_enum_idx,
 		.refh = dev_cfg->href_microvolt_enum_idx,
 		.atten = dev_cfg->href_atten_microvolt_enum_idx
 	};

 	touch_hal_set_voltage(&volt);
 	touch_hal_set_fsm_mode(TOUCH_FSM_MODE_TIMER);
 #endif /* defined(CONFIG_SOC_SERIES_ESP32) */

 	for (int i = 0; i < num_channels; i++) {
 		struct esp32_touch_sensor_channel_data *channel_data = &dev_cfg->channel_data[i];
 		const struct esp32_touch_sensor_channel_config *channel_cfg =
 			&dev_cfg->channel_cfg[i];

 		if (!(channel_cfg->channel_num > 0 &&
 			channel_cfg->channel_num < SOC_TOUCH_SENSOR_NUM)) {
 			LOG_ERR("Touch %d configuration failed: "
 				"Touch channel error", i);
 			return -EINVAL;
 		}

 #if defined(CONFIG_SOC_SERIES_ESP32S2) || defined(CONFIG_SOC_SERIES_ESP32S3)
 		if (channel_cfg->channel_num == SOC_TOUCH_DENOISE_CHANNEL) {
 			LOG_ERR("Touch %d configuration failed: "
 				"TOUCH0 is internal denoise channel", i);
 			return -EINVAL;
 		}
 #endif  /* defined(CONFIG_SOC_SERIES_ESP32S2) || defined(CONFIG_SOC_SERIES_ESP32S3) */

 		gpio_num_t gpio_num = touch_sensor_channel_io_map[channel_cfg->channel_num];

 		rtc_gpio_init(gpio_num);
 		rtc_gpio_set_direction(gpio_num, RTC_GPIO_MODE_DISABLED);
 		rtc_gpio_pulldown_dis(gpio_num);
 		rtc_gpio_pullup_dis(gpio_num);

 		touch_hal_config(channel_cfg->channel_num);
 #if defined(CONFIG_SOC_SERIES_ESP32)
 		touch_hal_set_threshold(channel_cfg->channel_num, 0);
 		touch_hal_set_group_mask(BIT(channel_cfg->channel_num),
 					 BIT(channel_cfg->channel_num));
 #endif /* defined(CONFIG_SOC_SERIES_ESP32) */
 		touch_hal_set_channel_mask(BIT(channel_cfg->channel_num));

 		channel_data->status = 0;
 #if defined(CONFIG_SOC_SERIES_ESP32S2) || defined(CONFIG_SOC_SERIES_ESP32S3)
 		channel_data->last_status = 0;
 #endif /* defined(CONFIG_SOC_SERIES_ESP32S2) || defined(CONFIG_SOC_SERIES_ESP32S3) */
 		channel_data->dev = dev;

 		k_work_init_delayable(&channel_data->work, esp32_touch_sensor_change_deferred);
 	}

 #if defined(CONFIG_SOC_SERIES_ESP32)
 	for (int i = 0; i < num_channels; i++) {
 		const struct esp32_touch_sensor_channel_config *channel_cfg =
 			&dev_cfg->channel_cfg[i];
 		uint32_t ref_time;

 		ref_time = k_uptime_get_32();
 		while (!touch_hal_meas_is_done()) {
 			if (k_uptime_get_32() - ref_time > 500) {
 				return -ETIMEDOUT;
 			}
 			k_busy_wait(1000);
 		}
 		uint16_t touch_value = touch_hal_read_raw_data(channel_cfg->channel_num);

 		touch_hal_set_threshold(channel_cfg->channel_num,
 					touch_value * (100 - channel_cfg->channel_num) / 100);
 	}

 #elif defined(CONFIG_SOC_SERIES_ESP32S2) || defined(CONFIG_SOC_SERIES_ESP32S3)
 	touch_filter_config_t filter_info = {
 		.mode = dev_cfg->filter_mode,
 		.debounce_cnt = dev_cfg->filter_debounce_cnt,
 		.noise_thr = dev_cfg->filter_noise_thr,
 		.jitter_step = dev_cfg->filter_jitter_step,
 		.smh_lvl = dev_cfg->filter_smooth_level,
 	};
 	touch_hal_filter_set_config(&filter_info);
 	touch_hal_filter_enable();

 	touch_hal_timeout_enable();
 	touch_hal_timeout_set_threshold(SOC_TOUCH_PAD_THRESHOLD_MAX);
 #endif /* defined(CONFIG_SOC_SERIES_ESP32) */

 	dev_data->rtc_intr_msk = ESP32_RTC_INTR_MSK;
 	esp32_rtc_isr_install(&esp32_rtc_isr, dev);
 #if defined(CONFIG_SOC_SERIES_ESP32)
 	touch_hal_intr_enable();
 #elif defined(CONFIG_SOC_SERIES_ESP32S2) || defined(CONFIG_SOC_SERIES_ESP32S3)
 	touch_hal_intr_enable(ESP32_TOUCH_PAD_INTR_MASK);
 	touch_hal_set_fsm_mode(TOUCH_FSM_MODE_TIMER);
 #endif /* defined(CONFIG_SOC_SERIES_ESP32) */

 	touch_hal_start_fsm();

 	return 0;
 }

 #define ESP32_TOUCH_SENSOR_CHANNEL_CFG_INIT(node_id)						\
 	{											\
 		.channel_num  = DT_PROP(node_id, channel_num),					\
 		.channel_sens = DT_PROP(node_id, channel_sens),					\
 		.zephyr_code  = DT_PROP(node_id, zephyr_code),					\
 	}

 #define ESP32_TOUCH_SENSOR_INIT(inst)								\
 	static const struct esp32_touch_sensor_channel_config					\
 		esp32_touch_sensor_channel_config_##inst[] = {					\
 			DT_INST_FOREACH_CHILD_STATUS_OKAY_SEP(inst,				\
 				ESP32_TOUCH_SENSOR_CHANNEL_CFG_INIT, (,))			\
 		};										\
 												\
 	static struct esp32_touch_sensor_channel_data esp32_touch_sensor_channel_data_##inst	\
 				[ARRAY_SIZE(esp32_touch_sensor_channel_config_##inst)];		\
 												\
 	static const struct esp32_touch_sensor_config esp32_touch_sensor_config_##inst = {	\
 		.debounce_interval_ms = DT_INST_PROP(inst, debounce_interval_ms),		\
 		.num_channels = ARRAY_SIZE(esp32_touch_sensor_channel_config_##inst),		\
 		.href_microvolt_enum_idx = DT_INST_ENUM_IDX(inst, href_microvolt),		\
 		.lref_microvolt_enum_idx = DT_INST_ENUM_IDX(inst, lref_microvolt),		\
 		.href_atten_microvolt_enum_idx = DT_INST_ENUM_IDX(inst, href_atten_microvolt),	\
 		.filter_mode = DT_INST_PROP(inst, filter_mode),					\
 		.filter_debounce_cnt = DT_INST_PROP(inst, filter_debounce_cnt),			\
 		.filter_noise_thr = DT_INST_PROP(inst, filter_noise_thr),			\
 		.filter_jitter_step = DT_INST_PROP(inst, filter_jitter_step),			\
 		.filter_smooth_level = DT_INST_PROP(inst, filter_smooth_level),			\
 		.channel_cfg = esp32_touch_sensor_channel_config_##inst,			\
 		.channel_data = esp32_touch_sensor_channel_data_##inst,				\
 	};											\
 												\
 	static struct esp32_touch_sensor_data esp32_touch_sensor_data_##inst;			\
 												\
 	DEVICE_DT_INST_DEFINE(inst,								\
 			      &esp32_touch_sensor_init,						\
 			      NULL,								\
 			      &esp32_touch_sensor_data_##inst,					\
 			      &esp32_touch_sensor_config_##inst,				\
 			      POST_KERNEL, CONFIG_INPUT_INIT_PRIORITY,				\
 			      NULL);

 DT_INST_FOREACH_STATUS_OKAY(ESP32_TOUCH_SENSOR_INIT)
	/*
	* Copyright (c) 2023 Espressif Systems (Shanghai) Co., Ltd.
	*
	* SPDX-License-Identifier: Apache-2.0
	*/

	#define DT_DRV_COMPAT espressif_esp32_touch

	#include <zephyr/device.h>
	#include <zephyr/input/input.h>
	#include <zephyr/kernel.h>
	#include <zephyr/logging/log.h>

	#include <esp_err.h>
	#include <soc/soc_pins.h>
	#include <soc/periph_defs.h>
	#include <hal/touch_sensor_types.h>
	#include <hal/touch_sensor_hal.h>
	#include <driver/rtc_io.h>
	#include <esp_intr_alloc.h>

	LOG_MODULE_REGISTER(espressif_esp32_touch, CONFIG_INPUT_LOG_LEVEL);

	BUILD_ASSERT(!IS_ENABLED(CONFIG_COUNTER_RTC_ESP32),
	"Conflict detected: COUNTER_RTC_ESP32 enabled");

	#define ESP32_SCAN_DONE_MAX_COUNT 5

	#if defined(CONFIG_SOC_SERIES_ESP32)
	#define ESP32_RTC_INTR_MSK RTC_CNTL_TOUCH_INT_ST_M
	#elif defined(CONFIG_SOC_SERIES_ESP32S2) \|\| defined(CONFIG_SOC_SERIES_ESP32S3)

	#define ESP32_RTC_INTR_MSK (RTC_CNTL_TOUCH_DONE_INT_ST_M \| \
	RTC_CNTL_TOUCH_ACTIVE_INT_ST_M \| \
	RTC_CNTL_TOUCH_INACTIVE_INT_ST_M \| \
	RTC_CNTL_TOUCH_SCAN_DONE_INT_ST_M \| \
	RTC_CNTL_TOUCH_TIMEOUT_INT_ST_M)

	#define ESP32_TOUCH_PAD_INTR_MASK (TOUCH_PAD_INTR_MASK_ACTIVE \| \
	TOUCH_PAD_INTR_MASK_INACTIVE \| \
	TOUCH_PAD_INTR_MASK_TIMEOUT \| \
	TOUCH_PAD_INTR_MASK_SCAN_DONE)

	#endif /* defined(CONFIG_SOC_SERIES_ESP32) */

	struct esp32_touch_sensor_channel_config {
	int32_t channel_num;
	int32_t channel_sens;
	uint32_t zephyr_code;
	};

	struct esp32_touch_sensor_config {
	uint32_t debounce_interval_ms;
	int num_channels;
	int href_microvolt_enum_idx;
	int lref_microvolt_enum_idx;
	int href_atten_microvolt_enum_idx;
	int filter_mode;
	int filter_debounce_cnt;
	int filter_noise_thr;
	int filter_jitter_step;
	int filter_smooth_level;
	const struct esp32_touch_sensor_channel_config *channel_cfg;
	struct esp32_touch_sensor_channel_data *channel_data;
	};

	struct esp32_touch_sensor_channel_data {
	const struct device *dev;
	struct k_work_delayable work;
	uint32_t status;
	#if defined(CONFIG_SOC_SERIES_ESP32S2) \|\| defined(CONFIG_SOC_SERIES_ESP32S3)
	uint32_t last_status;
	#endif /* defined(CONFIG_SOC_SERIES_ESP32S2) \|\| defined(CONFIG_SOC_SERIES_ESP32S3) */
	};

	struct esp32_touch_sensor_data {
	uint32_t rtc_intr_msk;
	};

	static void esp32_touch_sensor_interrupt_cb(void *arg)
	{
	const struct device *dev = arg;
	struct esp32_touch_sensor_data *dev_data = dev->data;
	const struct esp32_touch_sensor_config *dev_cfg = dev->config;
	const struct esp32_touch_sensor_channel_config *channel_cfg;
	const int num_channels = dev_cfg->num_channels;
	uint32_t pad_status;

	#if defined(CONFIG_SOC_SERIES_ESP32)
	touch_hal_intr_clear();

	#elif defined(CONFIG_SOC_SERIES_ESP32S2) \|\| defined(CONFIG_SOC_SERIES_ESP32S3)
	static uint8_t scan_done_counter;

	touch_pad_intr_mask_t intr_mask = touch_hal_read_intr_status_mask();

	if (intr_mask & TOUCH_PAD_INTR_MASK_SCAN_DONE) {
	if (++scan_done_counter == ESP32_SCAN_DONE_MAX_COUNT) {
	touch_hal_intr_disable(TOUCH_PAD_INTR_MASK_SCAN_DONE);
	for (int i = 0; i < num_channels; i++) {
	channel_cfg = &dev_cfg->channel_cfg[i];

	/* Set interrupt threshold */
	uint32_t benchmark_value;

	touch_hal_read_benchmark(channel_cfg->channel_num,
	&benchmark_value);
	touch_hal_set_threshold(channel_cfg->channel_num,
	channel_cfg->channel_sens * benchmark_value / 100);
	}
	}
	return;
	}
	#endif /* defined(CONFIG_SOC_SERIES_ESP32) */

	touch_hal_read_trigger_status_mask(&pad_status);
	#if defined(CONFIG_SOC_SERIES_ESP32)
	touch_hal_clear_trigger_status_mask();
	#endif /* defined(CONFIG_SOC_SERIES_ESP32) */
	for (int i = 0; i < num_channels; i++) {
	uint32_t channel_status;

	channel_cfg = &dev_cfg->channel_cfg[i];
	channel_status = (pad_status >> channel_cfg->channel_num) & 0x01;

	#if defined(CONFIG_SOC_SERIES_ESP32)
	if (channel_status != 0) {
	#elif defined(CONFIG_SOC_SERIES_ESP32S2) \|\| defined(CONFIG_SOC_SERIES_ESP32S3)
	uint32_t channel_num = (uint32_t)touch_hal_get_current_meas_channel();

	if (channel_cfg->channel_num == channel_num) {
	#endif /* CONFIG_SOC_SERIES_ESP32 */
	struct esp32_touch_sensor_channel_data
	*channel_data = &dev_cfg->channel_data[i];

	channel_data->status = channel_status;
	(void)k_work_reschedule(&channel_data->work,
	K_MSEC(dev_cfg->debounce_interval_ms));
	}
	}
	}

	static void esp32_rtc_isr(void *arg)
	{
	uint32_t status = REG_READ(RTC_CNTL_INT_ST_REG);

	if (arg != NULL) {
	const struct device *dev = arg;
	struct esp32_touch_sensor_data *dev_data = dev->data;

	if (dev_data->rtc_intr_msk & status) {
	esp32_touch_sensor_interrupt_cb(arg);
	}
	}

	REG_WRITE(RTC_CNTL_INT_CLR_REG, status);
	}

	static esp_err_t esp32_rtc_isr_install(intr_handler_t intr_handler, const void *handler_arg)
	{
	esp_err_t err;

	REG_WRITE(RTC_CNTL_INT_ENA_REG, 0);
	REG_WRITE(RTC_CNTL_INT_CLR_REG, UINT32_MAX);
	err = esp_intr_alloc(ETS_RTC_CORE_INTR_SOURCE, 0, intr_handler, (void *)handler_arg, NULL);

	return err;
	}

	/**
	* Handle debounced touch sensor touch state.
	*/
	static void esp32_touch_sensor_change_deferred(struct k_work *work)
	{
	struct k_work_delayable *dwork = k_work_delayable_from_work(work);
	struct esp32_touch_sensor_channel_data *channel_data =
	CONTAINER_OF(dwork, struct esp32_touch_sensor_channel_data, work);
	const struct device *dev = channel_data->dev;
	const struct esp32_touch_sensor_config *dev_cfg = dev->config;
	int key_index = channel_data - &dev_cfg->channel_data[0];
	const struct esp32_touch_sensor_channel_config
	*channel_cfg = &dev_cfg->channel_cfg[key_index];

	#if defined(CONFIG_SOC_SERIES_ESP32S2) \|\| defined(CONFIG_SOC_SERIES_ESP32S3)
	if (channel_data->last_status != channel_data->status) {
	#endif /* defined(CONFIG_SOC_SERIES_ESP32S2) \|\| defined(CONFIG_SOC_SERIES_ESP32S3) */
	input_report_key(dev, channel_cfg->zephyr_code,
	channel_data->status, true, K_FOREVER);
	#if defined(CONFIG_SOC_SERIES_ESP32S2) \|\| defined(CONFIG_SOC_SERIES_ESP32S3)
	channel_data->last_status = channel_data->status;
	}
	#endif /* defined(CONFIG_SOC_SERIES_ESP32S2) \|\| defined(CONFIG_SOC_SERIES_ESP32S3) */
	}

	static int esp32_touch_sensor_init(const struct device *dev)
	{
	struct esp32_touch_sensor_data *dev_data = dev->data;
	const struct esp32_touch_sensor_config *dev_cfg = dev->config;
	const int num_channels = dev_cfg->num_channels;

	touch_hal_init();

	#if defined(CONFIG_SOC_SERIES_ESP32)
	touch_hal_volt_t volt = {
	.refh = dev_cfg->href_microvolt_enum_idx,
	.refh = dev_cfg->href_microvolt_enum_idx,
	.atten = dev_cfg->href_atten_microvolt_enum_idx
	};

	touch_hal_set_voltage(&volt);
	touch_hal_set_fsm_mode(TOUCH_FSM_MODE_TIMER);
	#endif /* defined(CONFIG_SOC_SERIES_ESP32) */

	for (int i = 0; i < num_channels; i++) {
	struct esp32_touch_sensor_channel_data *channel_data = &dev_cfg->channel_data[i];
	const struct esp32_touch_sensor_channel_config *channel_cfg =
	&dev_cfg->channel_cfg[i];

	if (!(channel_cfg->channel_num > 0 &&
	channel_cfg->channel_num < SOC_TOUCH_SENSOR_NUM)) {
	LOG_ERR("Touch %d configuration failed: "
	"Touch channel error", i);
	return -EINVAL;
	}

	#if defined(CONFIG_SOC_SERIES_ESP32S2) \|\| defined(CONFIG_SOC_SERIES_ESP32S3)
	if (channel_cfg->channel_num == SOC_TOUCH_DENOISE_CHANNEL) {
	LOG_ERR("Touch %d configuration failed: "
	"TOUCH0 is internal denoise channel", i);
	return -EINVAL;
	}
	#endif /* defined(CONFIG_SOC_SERIES_ESP32S2) \|\| defined(CONFIG_SOC_SERIES_ESP32S3) */

	gpio_num_t gpio_num = touch_sensor_channel_io_map[channel_cfg->channel_num];

	rtc_gpio_init(gpio_num);
	rtc_gpio_set_direction(gpio_num, RTC_GPIO_MODE_DISABLED);
	rtc_gpio_pulldown_dis(gpio_num);
	rtc_gpio_pullup_dis(gpio_num);

	touch_hal_config(channel_cfg->channel_num);
	#if defined(CONFIG_SOC_SERIES_ESP32)
	touch_hal_set_threshold(channel_cfg->channel_num, 0);
	touch_hal_set_group_mask(BIT(channel_cfg->channel_num),
	BIT(channel_cfg->channel_num));
	#endif /* defined(CONFIG_SOC_SERIES_ESP32) */
	touch_hal_set_channel_mask(BIT(channel_cfg->channel_num));

	channel_data->status = 0;
	#if defined(CONFIG_SOC_SERIES_ESP32S2) \|\| defined(CONFIG_SOC_SERIES_ESP32S3)
	channel_data->last_status = 0;
	#endif /* defined(CONFIG_SOC_SERIES_ESP32S2) \|\| defined(CONFIG_SOC_SERIES_ESP32S3) */
	channel_data->dev = dev;

	k_work_init_delayable(&channel_data->work, esp32_touch_sensor_change_deferred);
	}

	#if defined(CONFIG_SOC_SERIES_ESP32)
	for (int i = 0; i < num_channels; i++) {
	const struct esp32_touch_sensor_channel_config *channel_cfg =
	&dev_cfg->channel_cfg[i];
	uint32_t ref_time;

	ref_time = k_uptime_get_32();
	while (!touch_hal_meas_is_done()) {
	if (k_uptime_get_32() - ref_time > 500) {
	return -ETIMEDOUT;
	}
	k_busy_wait(1000);
	}
	uint16_t touch_value = touch_hal_read_raw_data(channel_cfg->channel_num);

	touch_hal_set_threshold(channel_cfg->channel_num,
	touch_value * (100 - channel_cfg->channel_num) / 100);
	}

	#elif defined(CONFIG_SOC_SERIES_ESP32S2) \|\| defined(CONFIG_SOC_SERIES_ESP32S3)
	touch_filter_config_t filter_info = {
	.mode = dev_cfg->filter_mode,
	.debounce_cnt = dev_cfg->filter_debounce_cnt,
	.noise_thr = dev_cfg->filter_noise_thr,
	.jitter_step = dev_cfg->filter_jitter_step,
	.smh_lvl = dev_cfg->filter_smooth_level,
	};
	touch_hal_filter_set_config(&filter_info);
	touch_hal_filter_enable();

	touch_hal_timeout_enable();
	touch_hal_timeout_set_threshold(SOC_TOUCH_PAD_THRESHOLD_MAX);
	#endif /* defined(CONFIG_SOC_SERIES_ESP32) */

	dev_data->rtc_intr_msk = ESP32_RTC_INTR_MSK;
	esp32_rtc_isr_install(&esp32_rtc_isr, dev);
	#if defined(CONFIG_SOC_SERIES_ESP32)
	touch_hal_intr_enable();
	#elif defined(CONFIG_SOC_SERIES_ESP32S2) \|\| defined(CONFIG_SOC_SERIES_ESP32S3)
	touch_hal_intr_enable(ESP32_TOUCH_PAD_INTR_MASK);
	touch_hal_set_fsm_mode(TOUCH_FSM_MODE_TIMER);
	#endif /* defined(CONFIG_SOC_SERIES_ESP32) */

	touch_hal_start_fsm();

	return 0;
	}

	#define ESP32_TOUCH_SENSOR_CHANNEL_CFG_INIT(node_id) \
	{ \
	.channel_num = DT_PROP(node_id, channel_num), \
	.channel_sens = DT_PROP(node_id, channel_sens), \
	.zephyr_code = DT_PROP(node_id, zephyr_code), \
	}

	#define ESP32_TOUCH_SENSOR_INIT(inst) \
	static const struct esp32_touch_sensor_channel_config \
	esp32_touch_sensor_channel_config_##inst[] = { \
	DT_INST_FOREACH_CHILD_STATUS_OKAY_SEP(inst, \
	ESP32_TOUCH_SENSOR_CHANNEL_CFG_INIT, (,)) \
	}; \
	\
	static struct esp32_touch_sensor_channel_data esp32_touch_sensor_channel_data_##inst \
	[ARRAY_SIZE(esp32_touch_sensor_channel_config_##inst)]; \
	\
	static const struct esp32_touch_sensor_config esp32_touch_sensor_config_##inst = { \
	.debounce_interval_ms = DT_INST_PROP(inst, debounce_interval_ms), \
	.num_channels = ARRAY_SIZE(esp32_touch_sensor_channel_config_##inst), \
	.href_microvolt_enum_idx = DT_INST_ENUM_IDX(inst, href_microvolt), \
	.lref_microvolt_enum_idx = DT_INST_ENUM_IDX(inst, lref_microvolt), \
	.href_atten_microvolt_enum_idx = DT_INST_ENUM_IDX(inst, href_atten_microvolt), \
	.filter_mode = DT_INST_PROP(inst, filter_mode), \
	.filter_debounce_cnt = DT_INST_PROP(inst, filter_debounce_cnt), \
	.filter_noise_thr = DT_INST_PROP(inst, filter_noise_thr), \
	.filter_jitter_step = DT_INST_PROP(inst, filter_jitter_step), \
	.filter_smooth_level = DT_INST_PROP(inst, filter_smooth_level), \
	.channel_cfg = esp32_touch_sensor_channel_config_##inst, \
	.channel_data = esp32_touch_sensor_channel_data_##inst, \
	}; \
	\
	static struct esp32_touch_sensor_data esp32_touch_sensor_data_##inst; \
	\
	DEVICE_DT_INST_DEFINE(inst, \
	&esp32_touch_sensor_init, \
	NULL, \
	&esp32_touch_sensor_data_##inst, \
	&esp32_touch_sensor_config_##inst, \
	POST_KERNEL, CONFIG_INPUT_INIT_PRIORITY, \
	NULL);

	DT_INST_FOREACH_STATUS_OKAY(ESP32_TOUCH_SENSOR_INIT)