ESP32 touch_sensor not working

[wmrsouza]

Describe the bug

Zephyr branch: main (commit 52540d8)
Board: esp32s2_saola
App: zephyr/samples/subsys/input/input_dump/
Build cmd: west build -b esp32s2_saola zephyr/samples/subsys/input/input_dump/ -DCONFIG_INPUT_ESP32_TOUCH_SENSOR=y --pristine

input_dump sample is not working for Expressif boards after build process succeeds.
First invetigation shows CONFIG_INPUT_ESP32_TOUCH_SENSOR parameter enabling is missing for Espressif boards whose overlay files are present on input_dump sample boards directory.
After creating .conf files inside input_dump sample boards directory for those Espressif boards with overlay files with the contents CONFIG_INPUT_ESP32_TOUCH_SENSOR=y, build process failed showing some hal functions regarding touch_sensor were missing during link stage.

"git bisect" points the commit 37f9958 as the last one (if I keep CONFIG_INPUT_ESP32_TOUCH_SENSOR=y) where the build process of input_dump succeeds and the application runs as expected on the target board (reporting when I touch some specific pins informed under touch node on the board dts overlay file) .

The commit fe57a12 is the one where build process starts to fail and coincides with the preparation for transition for hal_espressif v5.1. Until this point examining the contents of modules/hal/espressif/zephyr/esp32s2/CMakeLists.txt it is possible to observe a section inside this file conditioned to CONFIG_INPUT_ESP32_TOUCH_SENSOR parameter adding touch_sensor related source code files to the list of files that must be compiled.

Further observation shows that when the transition to hal_espressif v5.1 is completed on commit 46a0a72, the hal_espressif revision is updated to 742df6bfc595591603361eb703ac9462ed6384c6 in west.yml file and the section conditoned to the conditioned to CONFIG_INPUT_ESP32_TOUCH_SENSOR parameter inside modules/hal/espressif/zephyr/esp32s2/CMakeLists.txt is missing.

This behavior is also observed for the files modules/hal/espressif/zephyr/esp32/CMakeLists.txt, and modules/hal/espressif/zephyr/esp32s3/CMakeLists.txt

To Reproduce

[building the input_dump for esp32s2_saola board]
$ west init
$ west update
$ cd zephyr; git checkout a501050; cd ..
$ west update
$ west build -b esp32s2_saola zephyr/samples/subsys/input/input_dump/ --pristine
$ west flash
$ west espressif monitor
at this point boot messages can be ovserved, but nothing new happens when I touch board pins with my fingers

[building the input_dump for esp32s2_saola board, but enabling CONFIG_INPUT_ESP32_TOUCH_SENSOR]
$ west init
$ west update
$ cd zephyr; git checkout a501050; cd ..
$ west update
$ west build -b esp32s2_saola zephyr/samples/subsys/input/input_dump/ -DCONFIG_INPUT_ESP32_TOUCH_SENSOR=y --pristine
after that command, the build process fails

Expected behavior

Impact

This issue prevents any application that requires the input_esp32_touch_sensor from working.

Logs and console output

$ west build -b esp32s2_saola zephyr/samples/subsys/input/input_dump/ -DCONFIG_INPUT_ESP32_TOUCH_SENSOR=y --pristine

-- west build: making build dir /home/wmrsouza/projects/espressif/01_feature_cap_touch/build pristine
-- west build: generating a build system
Loading Zephyr default modules (Zephyr base).
-- Application: /home/wmrsouza/projects/espressif/01_feature_cap_touch/zephyr/samples/subsys/input/input_dump
-- CMake version: 3.25.1
-- Found Python3: /usr/bin/python3 (found suitable version "3.10.12", minimum required is "3.10") found components: Interpreter
-- Cache files will be written to: /home/wmrsouza/.cache/zephyr
-- Zephyr version: 3.7.99 (/home/wmrsouza/projects/espressif/01_feature_cap_touch/zephyr)
-- Found west (found suitable version "1.2.0", minimum required is "0.14.0")
-- Board: esp32s2_saola, qualifiers: esp32s2
-- ZEPHYR_TOOLCHAIN_VARIANT not set, trying to locate Zephyr SDK
-- Found host-tools: zephyr 0.16.8 (/opt/zephyr-sdk-0.16.8)
-- Found toolchain: zephyr 0.16.8 (/opt/zephyr-sdk-0.16.8)
-- Found Dtc: /opt/zephyr-sdk-0.16.8/sysroots/x86_64-pokysdk-linux/usr/bin/dtc (found suitable version "1.6.0", minimum required is "1.4.6")
-- Found BOARD.dts: /home/wmrsouza/projects/espressif/01_feature_cap_touch/zephyr/boards/espressif/esp32s2_saola/esp32s2_saola.dts
-- Found devicetree overlay: /home/wmrsouza/projects/espressif/01_feature_cap_touch/zephyr/samples/subsys/input/input_dump/boards/esp32s2_saola.overlay
-- Generated zephyr.dts: /home/wmrsouza/projects/espressif/01_feature_cap_touch/build/zephyr/zephyr.dts
-- Generated pickled edt: /home/wmrsouza/projects/espressif/01_feature_cap_touch/build/zephyr/edt.pickle
-- Generated zephyr.dts: /home/wmrsouza/projects/espressif/01_feature_cap_touch/build/zephyr/zephyr.dts
-- Generated devicetree_generated.h: /home/wmrsouza/projects/espressif/01_feature_cap_touch/build/zephyr/include/generated/zephyr/devicetree_generated.h
-- Including generated dts.cmake file: /home/wmrsouza/projects/espressif/01_feature_cap_touch/build/zephyr/dts.cmake
Parsing /home/wmrsouza/projects/espressif/01_feature_cap_touch/zephyr/samples/subsys/input/input_dump/Kconfig
Loaded configuration '/home/wmrsouza/projects/espressif/01_feature_cap_touch/zephyr/boards/espressif/esp32s2_saola/esp32s2_saola_defconfig'
Merged configuration '/home/wmrsouza/projects/espressif/01_feature_cap_touch/zephyr/samples/subsys/input/input_dump/prj.conf'
Merged configuration '/home/wmrsouza/projects/espressif/01_feature_cap_touch/build/zephyr/misc/generated/extra_kconfig_options.conf'
Configuration saved to '/home/wmrsouza/projects/espressif/01_feature_cap_touch/build/zephyr/.config'
Kconfig header saved to '/home/wmrsouza/projects/espressif/01_feature_cap_touch/build/zephyr/include/generated/zephyr/autoconf.h'
-- Found GnuLd: /opt/zephyr-sdk-0.16.8/xtensa-espressif_esp32s2_zephyr-elf/xtensa-espressif_esp32s2_zephyr-elf/bin/ld.bfd (found version "2.38")
-- The C compiler identification is GNU 12.2.0
-- The CXX compiler identification is GNU 12.2.0
-- The ASM compiler identification is GNU
-- Found assembler: /opt/zephyr-sdk-0.16.8/xtensa-espressif_esp32s2_zephyr-elf/bin/xtensa-espressif_esp32s2_zephyr-elf-gcc
ESP-IDF path: /home/wmrsouza/projects/espressif/01_feature_cap_touch/modules/hal/espressif
esptool path: /home/wmrsouza/projects/espressif/01_feature_cap_touch/modules/hal/espressif/tools/esptool_py/esptool.py
-- Using ccache: /usr/bin/ccache
-- Configuring done
-- Generating done
-- Build files have been written to: /home/wmrsouza/projects/espressif/01_feature_cap_touch/build
-- west build: building application
[1/212] Preparing syscall dependency handling

[8/212] Generating include/generated/zephyr/version.h
-- Zephyr version: 3.7.99 (/home/wmrsouza/projects/espressif/01_feature_cap_touch/zephyr), build: v3.7.0-4564-ga5010504bc71
[203/212] Building C object zephyr/drivers/input/CMakeFiles/drivers__input.dir/input_esp32_touch_sensor.c.obj
/home/wmrsouza/projects/espressif/01_feature_cap_touch/zephyr/drivers/input/input_esp32_touch_sensor.c: In function 'esp32_touch_sensor_interrupt_cb':
/home/wmrsouza/projects/espressif/01_feature_cap_touch/zephyr/drivers/input/input_esp32_touch_sensor.c:83:41: warning: unused variable 'dev_data' [-Wunused-variable]
83 | struct esp32_touch_sensor_data *dev_data = dev->data;
| ^~~~~~~~
/home/wmrsouza/projects/espressif/01_feature_cap_touch/zephyr/drivers/input/input_esp32_touch_sensor.c: In function 'esp32_rtc_isr_install':
/home/wmrsouza/projects/espressif/01_feature_cap_touch/zephyr/drivers/input/input_esp32_touch_sensor.c:167:25: warning: implicit declaration of function 'ESP_PRIO_TO_FLAGS' [-Wimplicit-function-declaration]
167 | ESP_PRIO_TO_FLAGS(DT_IRQ_BY_IDX(DT_NODELABEL(touch), 0, priority)) |
| ^~~~~~~~~~~~~~~~~
/home/wmrsouza/projects/espressif/01_feature_cap_touch/zephyr/drivers/input/input_esp32_touch_sensor.c:168:25: warning: implicit declaration of function 'ESP_INT_FLAGS_CHECK' [-Wimplicit-function-declaration]
168 | ESP_INT_FLAGS_CHECK(DT_IRQ_BY_IDX(DT_NODELABEL(touch), 0, flags)),
| ^~~~~~~~~~~~~~~~~~~
[207/212] Linking C executable zephyr/zephyr_pre0.elf
FAILED: zephyr/zephyr_pre0.elf zephyr/zephyr_pre0.map /home/wmrsouza/projects/espressif/01_feature_cap_touch/build/zephyr/zephyr_pre0.map
: && ccache /opt/zephyr-sdk-0.16.8/xtensa-espressif_esp32s2_zephyr-elf/bin/xtensa-espressif_esp32s2_zephyr-elf-gcc -gdwarf-4 -gdwarf-4 zephyr/CMakeFiles/zephyr_pre0.dir/misc/empty_file.c.obj -o zephyr/zephyr_pre0.elf zephyr/CMakeFiles/offsets.dir/./arch/xtensa/core/offsets/offsets.c.obj -T zephyr/linker_zephyr_pre0.cmd -Wl,-Map=/home/wmrsouza/projects/espressif/01_feature_cap_touch/build/zephyr/zephyr_pre0.map -Wl,--whole-archive app/libapp.a zephyr/libzephyr.a zephyr/arch/common/libarch__common.a zephyr/arch/arch/xtensa/core/libarch__xtensa__core.a zephyr/lib/libc/picolibc/liblib__libc__picolibc.a zephyr/lib/libc/common/liblib__libc__common.a zephyr/subsys/random/libsubsys__random.a zephyr/subsys/input/libsubsys__input.a zephyr/drivers/interrupt_controller/libdrivers__interrupt_controller.a zephyr/drivers/clock_control/libdrivers__clock_control.a zephyr/drivers/console/libdrivers__console.a zephyr/drivers/entropy/libdrivers__entropy.a zephyr/drivers/gpio/libdrivers__gpio.a zephyr/drivers/input/libdrivers__input.a zephyr/drivers/pinctrl/libdrivers__pinctrl.a zephyr/drivers/serial/libdrivers__serial.a zephyr/drivers/timer/libdrivers__timer.a -Wl,--no-whole-archive zephyr/kernel/libkernel.a -L/home/wmrsouza/projects/espressif/01_feature_cap_touch/build/zephyr zephyr/arch/common/libisr_tables.a -fuse-ld=bfd -Wl,--gc-sections -Wl,--build-id=none -Wl,--sort-common=descending -Wl,--sort-section=alignment -Wl,-u,_OffsetAbsSyms -Wl,-u,_ConfigAbsSyms -nostdlib -static -Wl,-X -Wl,-N -Wl,--orphan-handling=warn -Wl,-no-pie -specs=picolibc.specs -DPICOLIBC_LONG_LONG_PRINTF_SCANF -lgcc -T/home/wmrsouza/projects/espressif/01_feature_cap_touch/hal_espressif/zephyr/esp32s2/src/linker/esp32s2.rom.alias.ld -T/home/wmrsouza/projects/espressif/01_feature_cap_touch/hal_espressif/zephyr/esp32s2/../../components/esp_rom/esp32s2/ld/esp32s2.rom.ld -T/home/wmrsouza/projects/espressif/01_feature_cap_touch/hal_espressif/zephyr/esp32s2/../../components/esp_rom/esp32s2/ld/esp32s2.rom.api.ld -T/home/wmrsouza/projects/espressif/01_feature_cap_touch/hal_espressif/zephyr/esp32s2/../../components/esp_rom/esp32s2/ld/esp32s2.rom.libgcc.ld -T/home/wmrsouza/projects/espressif/01_feature_cap_touch/hal_espressif/zephyr/esp32s2/../../components/esp_rom/esp32s2/ld/esp32s2.rom.newlib-funcs.ld -T/home/wmrsouza/projects/espressif/01_feature_cap_touch/hal_espressif/zephyr/esp32s2/../../components/esp_rom/esp32s2/ld/esp32s2.rom.newlib-data.ld -T/home/wmrsouza/projects/espressif/01_feature_cap_touch/hal_espressif/zephyr/esp32s2/../../components/esp_rom/esp32s2/ld/esp32s2.rom.spiflash.ld -T/home/wmrsouza/projects/espressif/01_feature_cap_touch/hal_espressif/zephyr/esp32s2/../../components/soc/esp32s2/ld/esp32s2.peripherals.ld -Wl,--wrap=longjmp -L"/opt/zephyr-sdk-0.16.8/xtensa-espressif_esp32s2_zephyr-elf/bin/../lib/gcc/xtensa-espressif_esp32s2_zephyr-elf/12.2.0" -lc -lgcc && cd /home/wmrsouza/projects/espressif/01_feature_cap_touch/build/zephyr && /usr/bin/cmake -E true
/opt/zephyr-sdk-0.16.8/xtensa-espressif_esp32s2_zephyr-elf/bin/../lib/gcc/xtensa-espressif_esp32s2_zephyr-elf/12.2.0/../../../../xtensa-espressif_esp32s2_zephyr-elf/bin/ld.bfd: zephyr/drivers/input/libdrivers__input.a(input_esp32_touch_sensor.c.obj):(.literal.esp32_touch_sensor_init+0x4): undefined reference to touch_sensor_channel_io_map' /opt/zephyr-sdk-0.16.8/xtensa-espressif_esp32s2_zephyr-elf/bin/../lib/gcc/xtensa-espressif_esp32s2_zephyr-elf/12.2.0/../../../../xtensa-espressif_esp32s2_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 touch_hal_init'
/opt/zephyr-sdk-0.16.8/xtensa-espressif_esp32s2_zephyr-elf/bin/../lib/gcc/xtensa-espressif_esp32s2_zephyr-elf/12.2.0/../../../../xtensa-espressif_esp32s2_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_init' /opt/zephyr-sdk-0.16.8/xtensa-espressif_esp32s2_zephyr-elf/bin/../lib/gcc/xtensa-espressif_esp32s2_zephyr-elf/12.2.0/../../../../xtensa-espressif_esp32s2_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_set_direction'
/opt/zephyr-sdk-0.16.8/xtensa-espressif_esp32s2_zephyr-elf/bin/../lib/gcc/xtensa-espressif_esp32s2_zephyr-elf/12.2.0/../../../../xtensa-espressif_esp32s2_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_pulldown_dis' /opt/zephyr-sdk-0.16.8/xtensa-espressif_esp32s2_zephyr-elf/bin/../lib/gcc/xtensa-espressif_esp32s2_zephyr-elf/12.2.0/../../../../xtensa-espressif_esp32s2_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 rtc_gpio_pullup_dis'
/opt/zephyr-sdk-0.16.8/xtensa-espressif_esp32s2_zephyr-elf/bin/../lib/gcc/xtensa-espressif_esp32s2_zephyr-elf/12.2.0/../../../../xtensa-espressif_esp32s2_zephyr-elf/bin/ld.bfd: zephyr/drivers/input/libdrivers__input.a(input_esp32_touch_sensor.c.obj):(.literal.esp32_touch_sensor_init+0x34): undefined reference to touch_hal_config' /opt/zephyr-sdk-0.16.8/xtensa-espressif_esp32s2_zephyr-elf/bin/../lib/gcc/xtensa-espressif_esp32s2_zephyr-elf/12.2.0/../../../../xtensa-espressif_esp32s2_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-0.16.8/xtensa-espressif_esp32s2_zephyr-elf/bin/../lib/gcc/xtensa-espressif_esp32s2_zephyr-elf/12.2.0/../../../../xtensa-espressif_esp32s2_zephyr-elf/bin/ld.bfd: zephyr/drivers/input/libdrivers__input.a(input_esp32_touch_sensor.c.obj):(.literal.esp32_touch_sensor_init+0x3c): undefined reference to ESP_PRIO_TO_FLAGS' /opt/zephyr-sdk-0.16.8/xtensa-espressif_esp32s2_zephyr-elf/bin/../lib/gcc/xtensa-espressif_esp32s2_zephyr-elf/12.2.0/../../../../xtensa-espressif_esp32s2_zephyr-elf/bin/ld.bfd: zephyr/drivers/input/libdrivers__input.a(input_esp32_touch_sensor.c.obj):(.literal.esp32_touch_sensor_init+0x40): undefined reference to ESP_INT_FLAGS_CHECK'
/opt/zephyr-sdk-0.16.8/xtensa-espressif_esp32s2_zephyr-elf/bin/../lib/gcc/xtensa-espressif_esp32s2_zephyr-elf/12.2.0/../../../../xtensa-espressif_esp32s2_zephyr-elf/bin/ld.bfd: zephyr/drivers/input/libdrivers__input.a(input_esp32_touch_sensor.c.obj): in function esp32_touch_sensor_init': /home/wmrsouza/projects/espressif/01_feature_cap_touch/zephyr/drivers/input/input_esp32_touch_sensor.c:205: undefined reference to touch_hal_init'
/opt/zephyr-sdk-0.16.8/xtensa-espressif_esp32s2_zephyr-elf/bin/../lib/gcc/xtensa-espressif_esp32s2_zephyr-elf/12.2.0/../../../../xtensa-espressif_esp32s2_zephyr-elf/bin/ld.bfd: /home/wmrsouza/projects/espressif/01_feature_cap_touch/zephyr/drivers/input/input_esp32_touch_sensor.c:240: undefined reference to rtc_gpio_init' /opt/zephyr-sdk-0.16.8/xtensa-espressif_esp32s2_zephyr-elf/bin/../lib/gcc/xtensa-espressif_esp32s2_zephyr-elf/12.2.0/../../../../xtensa-espressif_esp32s2_zephyr-elf/bin/ld.bfd: /home/wmrsouza/projects/espressif/01_feature_cap_touch/zephyr/drivers/input/input_esp32_touch_sensor.c:241: undefined reference to rtc_gpio_set_direction'
/opt/zephyr-sdk-0.16.8/xtensa-espressif_esp32s2_zephyr-elf/bin/../lib/gcc/xtensa-espressif_esp32s2_zephyr-elf/12.2.0/../../../../xtensa-espressif_esp32s2_zephyr-elf/bin/ld.bfd: /home/wmrsouza/projects/espressif/01_feature_cap_touch/zephyr/drivers/input/input_esp32_touch_sensor.c:241: undefined reference to rtc_gpio_pulldown_dis' /opt/zephyr-sdk-0.16.8/xtensa-espressif_esp32s2_zephyr-elf/bin/../lib/gcc/xtensa-espressif_esp32s2_zephyr-elf/12.2.0/../../../../xtensa-espressif_esp32s2_zephyr-elf/bin/ld.bfd: /home/wmrsouza/projects/espressif/01_feature_cap_touch/zephyr/drivers/input/input_esp32_touch_sensor.c:242: undefined reference to rtc_gpio_pullup_dis'
/opt/zephyr-sdk-0.16.8/xtensa-espressif_esp32s2_zephyr-elf/bin/../lib/gcc/xtensa-espressif_esp32s2_zephyr-elf/12.2.0/../../../../xtensa-espressif_esp32s2_zephyr-elf/bin/ld.bfd: /home/wmrsouza/projects/espressif/01_feature_cap_touch/zephyr/drivers/input/input_esp32_touch_sensor.c:245: undefined reference to touch_hal_config' /opt/zephyr-sdk-0.16.8/xtensa-espressif_esp32s2_zephyr-elf/bin/../lib/gcc/xtensa-espressif_esp32s2_zephyr-elf/12.2.0/../../../../xtensa-espressif_esp32s2_zephyr-elf/bin/ld.bfd: /home/wmrsouza/projects/espressif/01_feature_cap_touch/zephyr/drivers/input/input_esp32_touch_sensor.c:282: undefined reference to touch_hal_filter_set_config'
/opt/zephyr-sdk-0.16.8/xtensa-espressif_esp32s2_zephyr-elf/bin/../lib/gcc/xtensa-espressif_esp32s2_zephyr-elf/12.2.0/../../../../xtensa-espressif_esp32s2_zephyr-elf/bin/ld.bfd: zephyr/drivers/input/libdrivers__input.a(input_esp32_touch_sensor.c.obj): in function esp32_rtc_isr_install': /home/wmrsouza/projects/espressif/01_feature_cap_touch/zephyr/drivers/input/input_esp32_touch_sensor.c:167: undefined reference to ESP_PRIO_TO_FLAGS'
/opt/zephyr-sdk-0.16.8/xtensa-espressif_esp32s2_zephyr-elf/bin/../lib/gcc/xtensa-espressif_esp32s2_zephyr-elf/12.2.0/../../../../xtensa-espressif_esp32s2_zephyr-elf/bin/ld.bfd: /home/wmrsouza/projects/espressif/01_feature_cap_touch/zephyr/drivers/input/input_esp32_touch_sensor.c:167: undefined reference to `ESP_INT_FLAGS_CHECK'
collect2: error: ld returned 1 exit status
ninja: build stopped: subcommand failed.
'''

Environment (please complete the following information):

• OS: Linux Ubuntu 22.04.1
• Toolchain: zephyr-sdk-0.16.8 and zephyr-sdk-0.16.9-rc2
• Commit SHA or Version used: 52540d8

Additional context

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