Merge branch 'esp32_touch_isr' into esp32_touch_isr_loop_runtime_stats_always_select

Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>

esphome/components/esp32_touch/esp32_touch.cpp

@@ -1,355 +0,0 @@
-#ifdef USE_ESP32
-
-#include "esp32_touch.h"
-#include "esphome/core/application.h"
-#include "esphome/core/log.h"
-#include "esphome/core/hal.h"
-
-#include <cinttypes>
-
-namespace esphome {
-namespace esp32_touch {
-
-static const char *const TAG = "esp32_touch";
-
-void ESP32TouchComponent::setup() {
-  ESP_LOGCONFIG(TAG, "Running setup");
-  touch_pad_init();
-// set up and enable/start filtering based on ESP32 variant
-#if defined(USE_ESP32_VARIANT_ESP32S2) || defined(USE_ESP32_VARIANT_ESP32S3)
-  if (this->filter_configured_()) {
-    touch_filter_config_t filter_info = {
-        .mode = this->filter_mode_,
-        .debounce_cnt = this->debounce_count_,
-        .noise_thr = this->noise_threshold_,
-        .jitter_step = this->jitter_step_,
-        .smh_lvl = this->smooth_level_,
-    };
-    touch_pad_filter_set_config(&filter_info);
-    touch_pad_filter_enable();
-  }
-
-  if (this->denoise_configured_()) {
-    touch_pad_denoise_t denoise = {
-        .grade = this->grade_,
-        .cap_level = this->cap_level_,
-    };
-    touch_pad_denoise_set_config(&denoise);
-    touch_pad_denoise_enable();
-  }
-
-  if (this->waterproof_configured_()) {
-    touch_pad_waterproof_t waterproof = {
-        .guard_ring_pad = this->waterproof_guard_ring_pad_,
-        .shield_driver = this->waterproof_shield_driver_,
-    };
-    touch_pad_waterproof_set_config(&waterproof);
-    touch_pad_waterproof_enable();
-  }
-#else
-  if (this->iir_filter_enabled_()) {
-    touch_pad_filter_start(this->iir_filter_);
-  }
-#endif
-
-#if ESP_IDF_VERSION_MAJOR >= 5 && defined(USE_ESP32_VARIANT_ESP32)
-  touch_pad_set_measurement_clock_cycles(this->meas_cycle_);
-  touch_pad_set_measurement_interval(this->sleep_cycle_);
-#else
-  touch_pad_set_meas_time(this->sleep_cycle_, this->meas_cycle_);
-#endif
-  touch_pad_set_voltage(this->high_voltage_reference_, this->low_voltage_reference_, this->voltage_attenuation_);
-
-  for (auto *child : this->children_) {
-#if defined(USE_ESP32_VARIANT_ESP32S2) || defined(USE_ESP32_VARIANT_ESP32S3)
-    touch_pad_config(child->get_touch_pad());
-#else
-    // Disable interrupt threshold
-    touch_pad_config(child->get_touch_pad(), 0);
-#endif
-  }
-#if defined(USE_ESP32_VARIANT_ESP32S2) || defined(USE_ESP32_VARIANT_ESP32S3)
-  touch_pad_set_fsm_mode(TOUCH_FSM_MODE_TIMER);
-  touch_pad_fsm_start();
-#endif
-}
-
-void ESP32TouchComponent::dump_config() {
-  ESP_LOGCONFIG(TAG,
-                "Config for ESP32 Touch Hub:\n"
-                "  Meas cycle: %.2fms\n"
-                "  Sleep cycle: %.2fms",
-                this->meas_cycle_ / (8000000.0f / 1000.0f), this->sleep_cycle_ / (150000.0f / 1000.0f));
-
-  const char *lv_s;
-  switch (this->low_voltage_reference_) {
-    case TOUCH_LVOLT_0V5:
-      lv_s = "0.5V";
-      break;
-    case TOUCH_LVOLT_0V6:
-      lv_s = "0.6V";
-      break;
-    case TOUCH_LVOLT_0V7:
-      lv_s = "0.7V";
-      break;
-    case TOUCH_LVOLT_0V8:
-      lv_s = "0.8V";
-      break;
-    default:
-      lv_s = "UNKNOWN";
-      break;
-  }
-  ESP_LOGCONFIG(TAG, "  Low Voltage Reference: %s", lv_s);
-
-  const char *hv_s;
-  switch (this->high_voltage_reference_) {
-    case TOUCH_HVOLT_2V4:
-      hv_s = "2.4V";
-      break;
-    case TOUCH_HVOLT_2V5:
-      hv_s = "2.5V";
-      break;
-    case TOUCH_HVOLT_2V6:
-      hv_s = "2.6V";
-      break;
-    case TOUCH_HVOLT_2V7:
-      hv_s = "2.7V";
-      break;
-    default:
-      hv_s = "UNKNOWN";
-      break;
-  }
-  ESP_LOGCONFIG(TAG, "  High Voltage Reference: %s", hv_s);
-
-  const char *atten_s;
-  switch (this->voltage_attenuation_) {
-    case TOUCH_HVOLT_ATTEN_1V5:
-      atten_s = "1.5V";
-      break;
-    case TOUCH_HVOLT_ATTEN_1V:
-      atten_s = "1V";
-      break;
-    case TOUCH_HVOLT_ATTEN_0V5:
-      atten_s = "0.5V";
-      break;
-    case TOUCH_HVOLT_ATTEN_0V:
-      atten_s = "0V";
-      break;
-    default:
-      atten_s = "UNKNOWN";
-      break;
-  }
-  ESP_LOGCONFIG(TAG, "  Voltage Attenuation: %s", atten_s);
-
-#if defined(USE_ESP32_VARIANT_ESP32S2) || defined(USE_ESP32_VARIANT_ESP32S3)
-  if (this->filter_configured_()) {
-    const char *filter_mode_s;
-    switch (this->filter_mode_) {
-      case TOUCH_PAD_FILTER_IIR_4:
-        filter_mode_s = "IIR_4";
-        break;
-      case TOUCH_PAD_FILTER_IIR_8:
-        filter_mode_s = "IIR_8";
-        break;
-      case TOUCH_PAD_FILTER_IIR_16:
-        filter_mode_s = "IIR_16";
-        break;
-      case TOUCH_PAD_FILTER_IIR_32:
-        filter_mode_s = "IIR_32";
-        break;
-      case TOUCH_PAD_FILTER_IIR_64:
-        filter_mode_s = "IIR_64";
-        break;
-      case TOUCH_PAD_FILTER_IIR_128:
-        filter_mode_s = "IIR_128";
-        break;
-      case TOUCH_PAD_FILTER_IIR_256:
-        filter_mode_s = "IIR_256";
-        break;
-      case TOUCH_PAD_FILTER_JITTER:
-        filter_mode_s = "JITTER";
-        break;
-      default:
-        filter_mode_s = "UNKNOWN";
-        break;
-    }
-    ESP_LOGCONFIG(TAG,
-                  "  Filter mode: %s\n"
-                  "  Debounce count: %" PRIu32 "\n"
-                  "  Noise threshold coefficient: %" PRIu32 "\n"
-                  "  Jitter filter step size: %" PRIu32,
-                  filter_mode_s, this->debounce_count_, this->noise_threshold_, this->jitter_step_);
-    const char *smooth_level_s;
-    switch (this->smooth_level_) {
-      case TOUCH_PAD_SMOOTH_OFF:
-        smooth_level_s = "OFF";
-        break;
-      case TOUCH_PAD_SMOOTH_IIR_2:
-        smooth_level_s = "IIR_2";
-        break;
-      case TOUCH_PAD_SMOOTH_IIR_4:
-        smooth_level_s = "IIR_4";
-        break;
-      case TOUCH_PAD_SMOOTH_IIR_8:
-        smooth_level_s = "IIR_8";
-        break;
-      default:
-        smooth_level_s = "UNKNOWN";
-        break;
-    }
-    ESP_LOGCONFIG(TAG, "  Smooth level: %s", smooth_level_s);
-  }
-
-  if (this->denoise_configured_()) {
-    const char *grade_s;
-    switch (this->grade_) {
-      case TOUCH_PAD_DENOISE_BIT12:
-        grade_s = "BIT12";
-        break;
-      case TOUCH_PAD_DENOISE_BIT10:
-        grade_s = "BIT10";
-        break;
-      case TOUCH_PAD_DENOISE_BIT8:
-        grade_s = "BIT8";
-        break;
-      case TOUCH_PAD_DENOISE_BIT4:
-        grade_s = "BIT4";
-        break;
-      default:
-        grade_s = "UNKNOWN";
-        break;
-    }
-    ESP_LOGCONFIG(TAG, "  Denoise grade: %s", grade_s);
-
-    const char *cap_level_s;
-    switch (this->cap_level_) {
-      case TOUCH_PAD_DENOISE_CAP_L0:
-        cap_level_s = "L0";
-        break;
-      case TOUCH_PAD_DENOISE_CAP_L1:
-        cap_level_s = "L1";
-        break;
-      case TOUCH_PAD_DENOISE_CAP_L2:
-        cap_level_s = "L2";
-        break;
-      case TOUCH_PAD_DENOISE_CAP_L3:
-        cap_level_s = "L3";
-        break;
-      case TOUCH_PAD_DENOISE_CAP_L4:
-        cap_level_s = "L4";
-        break;
-      case TOUCH_PAD_DENOISE_CAP_L5:
-        cap_level_s = "L5";
-        break;
-      case TOUCH_PAD_DENOISE_CAP_L6:
-        cap_level_s = "L6";
-        break;
-      case TOUCH_PAD_DENOISE_CAP_L7:
-        cap_level_s = "L7";
-        break;
-      default:
-        cap_level_s = "UNKNOWN";
-        break;
-    }
-    ESP_LOGCONFIG(TAG, "  Denoise capacitance level: %s", cap_level_s);
-  }
-#else
-  if (this->iir_filter_enabled_()) {
-    ESP_LOGCONFIG(TAG, "    IIR Filter: %" PRIu32 "ms", this->iir_filter_);
-  } else {
-    ESP_LOGCONFIG(TAG, "  IIR Filter DISABLED");
-  }
-#endif
-
-  if (this->setup_mode_) {
-    ESP_LOGCONFIG(TAG, "  Setup Mode ENABLED");
-  }
-
-  for (auto *child : this->children_) {
-    LOG_BINARY_SENSOR("  ", "Touch Pad", child);
-    ESP_LOGCONFIG(TAG, "    Pad: T%" PRIu32, (uint32_t) child->get_touch_pad());
-    ESP_LOGCONFIG(TAG, "    Threshold: %" PRIu32, child->get_threshold());
-  }
-}
-
-uint32_t ESP32TouchComponent::component_touch_pad_read(touch_pad_t tp) {
-#if defined(USE_ESP32_VARIANT_ESP32S2) || defined(USE_ESP32_VARIANT_ESP32S3)
-  uint32_t value = 0;
-  if (this->filter_configured_()) {
-    touch_pad_filter_read_smooth(tp, &value);
-  } else {
-    touch_pad_read_raw_data(tp, &value);
-  }
-#else
-  uint16_t value = 0;
-  if (this->iir_filter_enabled_()) {
-    touch_pad_read_filtered(tp, &value);
-  } else {
-    touch_pad_read(tp, &value);
-  }
-#endif
-  return value;
-}
-
-void ESP32TouchComponent::loop() {
-  const uint32_t now = App.get_loop_component_start_time();
-  bool should_print = this->setup_mode_ && now - this->setup_mode_last_log_print_ > 250;
-  for (auto *child : this->children_) {
-    child->value_ = this->component_touch_pad_read(child->get_touch_pad());
-#if !(defined(USE_ESP32_VARIANT_ESP32S2) || defined(USE_ESP32_VARIANT_ESP32S3))
-    child->publish_state(child->value_ < child->get_threshold());
-#else
-    child->publish_state(child->value_ > child->get_threshold());
-#endif
-
-    if (should_print) {
-      ESP_LOGD(TAG, "Touch Pad '%s' (T%" PRIu32 "): %" PRIu32, child->get_name().c_str(),
-               (uint32_t) child->get_touch_pad(), child->value_);
-    }
-
-    App.feed_wdt();
-  }
-
-  if (should_print) {
-    // Avoid spamming logs
-    this->setup_mode_last_log_print_ = now;
-  }
-}
-
-void ESP32TouchComponent::on_shutdown() {
-  bool is_wakeup_source = false;
-
-#if !(defined(USE_ESP32_VARIANT_ESP32S2) || defined(USE_ESP32_VARIANT_ESP32S3))
-  if (this->iir_filter_enabled_()) {
-    touch_pad_filter_stop();
-    touch_pad_filter_delete();
-  }
-#endif
-
-  for (auto *child : this->children_) {
-    if (child->get_wakeup_threshold() != 0) {
-      if (!is_wakeup_source) {
-        is_wakeup_source = true;
-        // Touch sensor FSM mode must be 'TOUCH_FSM_MODE_TIMER' to use it to wake-up.
-        touch_pad_set_fsm_mode(TOUCH_FSM_MODE_TIMER);
-      }
-
-#if !(defined(USE_ESP32_VARIANT_ESP32S2) || defined(USE_ESP32_VARIANT_ESP32S3))
-      // No filter available when using as wake-up source.
-      touch_pad_config(child->get_touch_pad(), child->get_wakeup_threshold());
-#endif
-    }
-  }
-
-  if (!is_wakeup_source) {
-    touch_pad_deinit();
-  }
-}
-
-ESP32TouchBinarySensor::ESP32TouchBinarySensor(touch_pad_t touch_pad, uint32_t threshold, uint32_t wakeup_threshold)
-    : touch_pad_(touch_pad), threshold_(threshold), wakeup_threshold_(wakeup_threshold) {}
-
-}  // namespace esp32_touch
-}  // namespace esphome
-
-#endif

esphome/components/esp32_touch/esp32_touch.h

@@ -9,10 +9,19 @@
 #include <vector>
 
 #include <driver/touch_sensor.h>
+#include <freertos/FreeRTOS.h>
+#include <freertos/queue.h>
 
 namespace esphome {
 namespace esp32_touch {
 
+// IMPORTANT: Touch detection logic differs between ESP32 variants:
+// - ESP32 v1 (original): Touch detected when value < threshold (capacitance increase causes value decrease)
+// - ESP32-S2/S3 v2: Touch detected when value > threshold (capacitance increase causes value increase)
+// This inversion is due to different hardware implementations between chip generations.
+
+static const uint32_t SETUP_MODE_LOG_INTERVAL_MS = 250;
+
 class ESP32TouchBinarySensor;
 
 class ESP32TouchComponent : public Component {
@@ -31,6 +40,14 @@ class ESP32TouchComponent : public Component {
   void set_voltage_attenuation(touch_volt_atten_t voltage_attenuation) {
     this->voltage_attenuation_ = voltage_attenuation;
   }
+
+  void setup() override;
+  void dump_config() override;
+  void loop() override;
+  float get_setup_priority() const override { return setup_priority::DATA; }
+
+  void on_shutdown() override;
+
 #if defined(USE_ESP32_VARIANT_ESP32S2) || defined(USE_ESP32_VARIANT_ESP32S3)
   void set_filter_mode(touch_filter_mode_t filter_mode) { this->filter_mode_ = filter_mode; }
   void set_debounce_count(uint32_t debounce_count) { this->debounce_count_ = debounce_count; }
@@ -47,17 +64,87 @@ class ESP32TouchComponent : public Component {
   void set_iir_filter(uint32_t iir_filter) { this->iir_filter_ = iir_filter; }
 #endif
 
-  uint32_t component_touch_pad_read(touch_pad_t tp);
+ protected:
+  // Common helper methods
+  void dump_config_base_();
+  void dump_config_sensors_();
+  bool create_touch_queue_();
+  void cleanup_touch_queue_();
+  void configure_wakeup_pads_();
 
-  void setup() override;
-  void dump_config() override;
-  void loop() override;
-  float get_setup_priority() const override { return setup_priority::DATA; }
+  // Common members
+  std::vector<ESP32TouchBinarySensor *> children_;
+  bool setup_mode_{false};
+  uint32_t setup_mode_last_log_print_{0};
 
-  void on_shutdown() override;
+  // Common configuration parameters
+  uint16_t sleep_cycle_{4095};
+  uint16_t meas_cycle_{65535};
+  touch_low_volt_t low_voltage_reference_{TOUCH_LVOLT_0V5};
+  touch_high_volt_t high_voltage_reference_{TOUCH_HVOLT_2V7};
+  touch_volt_atten_t voltage_attenuation_{TOUCH_HVOLT_ATTEN_0V};
+
+  // ==================== PLATFORM SPECIFIC ====================
+
+#ifdef USE_ESP32_VARIANT_ESP32
+  // ESP32 v1 specific
+  static constexpr uint32_t MINIMUM_RELEASE_TIME_MS = 100;
+
+  static void touch_isr_handler(void *arg);
+  QueueHandle_t touch_queue_{nullptr};
+
+ private:
+  // Touch event structure for ESP32 v1
+  // Contains touch pad info, value, and touch state for queue communication
+  struct TouchPadEventV1 {
+    touch_pad_t pad;
+    uint32_t value;
+    bool is_touched;
+  };
 
  protected:
-#if defined(USE_ESP32_VARIANT_ESP32S2) || defined(USE_ESP32_VARIANT_ESP32S3)
+  // Design note: last_touch_time_ does not require synchronization primitives because:
+  // 1. ESP32 guarantees atomic 32-bit aligned reads/writes
+  // 2. ISR only writes timestamps, main loop only reads (except sentinel value 1)
+  // 3. Timing tolerance allows for occasional stale reads (50ms check interval)
+  // 4. Queue operations provide implicit memory barriers
+  // Using atomic/critical sections would add overhead without meaningful benefit
+  uint32_t last_touch_time_[TOUCH_PAD_MAX] = {0};
+  uint32_t release_timeout_ms_{1500};
+  uint32_t release_check_interval_ms_{50};
+  uint32_t iir_filter_{0};
+
+  bool iir_filter_enabled_() const { return this->iir_filter_ > 0; }
+
+#elif defined(USE_ESP32_VARIANT_ESP32S2) || defined(USE_ESP32_VARIANT_ESP32S3)
+  // ESP32-S2/S3 v2 specific
+  static void touch_isr_handler(void *arg);
+  QueueHandle_t touch_queue_{nullptr};
+
+ private:
+  // Touch event structure for ESP32 v2 (S2/S3)
+  // Contains touch pad and interrupt mask for queue communication
+  struct TouchPadEventV2 {
+    touch_pad_t pad;
+    uint32_t intr_mask;
+  };
+
+ protected:
+  // Filter configuration
+  touch_filter_mode_t filter_mode_{TOUCH_PAD_FILTER_MAX};
+  uint32_t debounce_count_{0};
+  uint32_t noise_threshold_{0};
+  uint32_t jitter_step_{0};
+  touch_smooth_mode_t smooth_level_{TOUCH_PAD_SMOOTH_MAX};
+
+  // Denoise configuration
+  touch_pad_denoise_grade_t grade_{TOUCH_PAD_DENOISE_MAX};
+  touch_pad_denoise_cap_t cap_level_{TOUCH_PAD_DENOISE_CAP_MAX};
+
+  // Waterproof configuration
+  touch_pad_t waterproof_guard_ring_pad_{TOUCH_PAD_MAX};
+  touch_pad_shield_driver_t waterproof_shield_driver_{TOUCH_PAD_SHIELD_DRV_MAX};
+
   bool filter_configured_() const {
     return (this->filter_mode_ != TOUCH_PAD_FILTER_MAX) && (this->smooth_level_ != TOUCH_PAD_SMOOTH_MAX);
   }
@@ -68,43 +155,78 @@ class ESP32TouchComponent : public Component {
     return (this->waterproof_guard_ring_pad_ != TOUCH_PAD_MAX) &&
            (this->waterproof_shield_driver_ != TOUCH_PAD_SHIELD_DRV_MAX);
   }
-#else
-  bool iir_filter_enabled_() const { return this->iir_filter_ > 0; }
+
+  // Helper method to read touch values - non-blocking operation
+  // Returns the current touch pad value using either filtered or raw reading
+  // based on the filter configuration
+  uint32_t read_touch_value(touch_pad_t pad) const;
+
+  // Helper to update touch state with a known state
+  void update_touch_state_(ESP32TouchBinarySensor *child, bool is_touched);
+
+  // Helper to read touch value and update state for a given child
+  void check_and_update_touch_state_(ESP32TouchBinarySensor *child);
 #endif
 
-  std::vector<ESP32TouchBinarySensor *> children_;
-  bool setup_mode_{false};
-  uint32_t setup_mode_last_log_print_{0};
-  // common parameters
-  uint16_t sleep_cycle_{4095};
-  uint16_t meas_cycle_{65535};
-  touch_low_volt_t low_voltage_reference_{TOUCH_LVOLT_0V5};
-  touch_high_volt_t high_voltage_reference_{TOUCH_HVOLT_2V7};
-  touch_volt_atten_t voltage_attenuation_{TOUCH_HVOLT_ATTEN_0V};
-#if defined(USE_ESP32_VARIANT_ESP32S2) || defined(USE_ESP32_VARIANT_ESP32S3)
-  touch_filter_mode_t filter_mode_{TOUCH_PAD_FILTER_MAX};
-  uint32_t debounce_count_{0};
-  uint32_t noise_threshold_{0};
-  uint32_t jitter_step_{0};
-  touch_smooth_mode_t smooth_level_{TOUCH_PAD_SMOOTH_MAX};
-  touch_pad_denoise_grade_t grade_{TOUCH_PAD_DENOISE_MAX};
-  touch_pad_denoise_cap_t cap_level_{TOUCH_PAD_DENOISE_CAP_MAX};
-  touch_pad_t waterproof_guard_ring_pad_{TOUCH_PAD_MAX};
-  touch_pad_shield_driver_t waterproof_shield_driver_{TOUCH_PAD_SHIELD_DRV_MAX};
-#else
-  uint32_t iir_filter_{0};
-#endif
+  // Helper functions for dump_config - common to both implementations
+  static const char *get_low_voltage_reference_str(touch_low_volt_t ref) {
+    switch (ref) {
+      case TOUCH_LVOLT_0V5:
+        return "0.5V";
+      case TOUCH_LVOLT_0V6:
+        return "0.6V";
+      case TOUCH_LVOLT_0V7:
+        return "0.7V";
+      case TOUCH_LVOLT_0V8:
+        return "0.8V";
+      default:
+        return "UNKNOWN";
+    }
+  }
+
+  static const char *get_high_voltage_reference_str(touch_high_volt_t ref) {
+    switch (ref) {
+      case TOUCH_HVOLT_2V4:
+        return "2.4V";
+      case TOUCH_HVOLT_2V5:
+        return "2.5V";
+      case TOUCH_HVOLT_2V6:
+        return "2.6V";
+      case TOUCH_HVOLT_2V7:
+        return "2.7V";
+      default:
+        return "UNKNOWN";
+    }
+  }
+
+  static const char *get_voltage_attenuation_str(touch_volt_atten_t atten) {
+    switch (atten) {
+      case TOUCH_HVOLT_ATTEN_1V5:
+        return "1.5V";
+      case TOUCH_HVOLT_ATTEN_1V:
+        return "1V";
+      case TOUCH_HVOLT_ATTEN_0V5:
+        return "0.5V";
+      case TOUCH_HVOLT_ATTEN_0V:
+        return "0V";
+      default:
+        return "UNKNOWN";
+    }
+  }
 };
 
 /// Simple helper class to expose a touch pad value as a binary sensor.
 class ESP32TouchBinarySensor : public binary_sensor::BinarySensor {
  public:
-  ESP32TouchBinarySensor(touch_pad_t touch_pad, uint32_t threshold, uint32_t wakeup_threshold);
+  ESP32TouchBinarySensor(touch_pad_t touch_pad, uint32_t threshold, uint32_t wakeup_threshold)
+      : touch_pad_(touch_pad), threshold_(threshold), wakeup_threshold_(wakeup_threshold) {}
 
   touch_pad_t get_touch_pad() const { return this->touch_pad_; }
   uint32_t get_threshold() const { return this->threshold_; }
   void set_threshold(uint32_t threshold) { this->threshold_ = threshold; }
+#ifdef USE_ESP32_VARIANT_ESP32
   uint32_t get_value() const { return this->value_; }
+#endif
   uint32_t get_wakeup_threshold() const { return this->wakeup_threshold_; }
 
  protected:
@@ -112,7 +234,10 @@ class ESP32TouchBinarySensor : public binary_sensor::BinarySensor {
 
   touch_pad_t touch_pad_{TOUCH_PAD_MAX};
   uint32_t threshold_{0};
+#ifdef USE_ESP32_VARIANT_ESP32
   uint32_t value_{0};
+#endif
+  bool last_state_{false};
   const uint32_t wakeup_threshold_{0};
 };
 

esphome/components/esp32_touch/esp32_touch_common.cpp

@@ -0,0 +1,91 @@
+#ifdef USE_ESP32
+
+#include "esp32_touch.h"
+#include "esphome/core/log.h"
+#include <cinttypes>
+
+namespace esphome {
+namespace esp32_touch {
+
+static const char *const TAG = "esp32_touch";
+
+void ESP32TouchComponent::dump_config_base_() {
+  const char *lv_s = get_low_voltage_reference_str(this->low_voltage_reference_);
+  const char *hv_s = get_high_voltage_reference_str(this->high_voltage_reference_);
+  const char *atten_s = get_voltage_attenuation_str(this->voltage_attenuation_);
+
+  ESP_LOGCONFIG(TAG,
+                "Config for ESP32 Touch Hub:\n"
+                "  Meas cycle: %.2fms\n"
+                "  Sleep cycle: %.2fms\n"
+                "  Low Voltage Reference: %s\n"
+                "  High Voltage Reference: %s\n"
+                "  Voltage Attenuation: %s",
+                this->meas_cycle_ / (8000000.0f / 1000.0f), this->sleep_cycle_ / (150000.0f / 1000.0f), lv_s, hv_s,
+                atten_s);
+}
+
+void ESP32TouchComponent::dump_config_sensors_() {
+  for (auto *child : this->children_) {
+    LOG_BINARY_SENSOR("  ", "Touch Pad", child);
+    ESP_LOGCONFIG(TAG, "    Pad: T%" PRIu32, (uint32_t) child->get_touch_pad());
+    ESP_LOGCONFIG(TAG, "    Threshold: %" PRIu32, child->get_threshold());
+  }
+}
+
+bool ESP32TouchComponent::create_touch_queue_() {
+  // Queue size calculation: children * 4 allows for burst scenarios where ISR
+  // fires multiple times before main loop processes.
+  size_t queue_size = this->children_.size() * 4;
+  if (queue_size < 8)
+    queue_size = 8;
+
+#ifdef USE_ESP32_VARIANT_ESP32
+  this->touch_queue_ = xQueueCreate(queue_size, sizeof(TouchPadEventV1));
+#else
+  this->touch_queue_ = xQueueCreate(queue_size, sizeof(TouchPadEventV2));
+#endif
+
+  if (this->touch_queue_ == nullptr) {
+    ESP_LOGE(TAG, "Failed to create touch event queue of size %" PRIu32, (uint32_t) queue_size);
+    this->mark_failed();
+    return false;
+  }
+  return true;
+}
+
+void ESP32TouchComponent::cleanup_touch_queue_() {
+  if (this->touch_queue_) {
+    vQueueDelete(this->touch_queue_);
+    this->touch_queue_ = nullptr;
+  }
+}
+
+void ESP32TouchComponent::configure_wakeup_pads_() {
+  bool is_wakeup_source = false;
+
+  // Check if any pad is configured for wakeup
+  for (auto *child : this->children_) {
+    if (child->get_wakeup_threshold() != 0) {
+      is_wakeup_source = true;
+
+#ifdef USE_ESP32_VARIANT_ESP32
+      // ESP32 v1: No filter available when using as wake-up source.
+      touch_pad_config(child->get_touch_pad(), child->get_wakeup_threshold());
+#else
+      // ESP32-S2/S3 v2: Set threshold for wakeup
+      touch_pad_set_thresh(child->get_touch_pad(), child->get_wakeup_threshold());
+#endif
+    }
+  }
+
+  if (!is_wakeup_source) {
+    // If no pad is configured for wakeup, deinitialize touch pad
+    touch_pad_deinit();
+  }
+}
+
+}  // namespace esp32_touch
+}  // namespace esphome
+
+#endif  // USE_ESP32

esphome/components/esp32_touch/esp32_touch_v1.cpp

@@ -0,0 +1,248 @@
+#ifdef USE_ESP32_VARIANT_ESP32
+
+#include "esp32_touch.h"
+#include "esphome/core/application.h"
+#include "esphome/core/log.h"
+#include "esphome/core/hal.h"
+
+#include <algorithm>
+#include <cinttypes>
+
+// Include HAL for ISR-safe touch reading
+#include "hal/touch_sensor_ll.h"
+// Include for RTC clock frequency
+#include "soc/rtc.h"
+
+namespace esphome {
+namespace esp32_touch {
+
+static const char *const TAG = "esp32_touch";
+
+void ESP32TouchComponent::setup() {
+  // Create queue for touch events
+  // Queue size calculation: children * 4 allows for burst scenarios where ISR
+  // fires multiple times before main loop processes. This is important because
+  // ESP32 v1 scans all pads on each interrupt, potentially sending multiple events.
+  if (!this->create_touch_queue_()) {
+    return;
+  }
+
+  touch_pad_init();
+  touch_pad_set_fsm_mode(TOUCH_FSM_MODE_TIMER);
+
+  // Set up IIR filter if enabled
+  if (this->iir_filter_enabled_()) {
+    touch_pad_filter_start(this->iir_filter_);
+  }
+
+  // Configure measurement parameters
+#if ESP_IDF_VERSION_MAJOR >= 5
+  touch_pad_set_measurement_clock_cycles(this->meas_cycle_);
+  touch_pad_set_measurement_interval(this->sleep_cycle_);
+#else
+  touch_pad_set_meas_time(this->sleep_cycle_, this->meas_cycle_);
+#endif
+  touch_pad_set_voltage(this->high_voltage_reference_, this->low_voltage_reference_, this->voltage_attenuation_);
+
+  // Configure each touch pad
+  for (auto *child : this->children_) {
+    touch_pad_config(child->get_touch_pad(), child->get_threshold());
+  }
+
+  // Register ISR handler
+  esp_err_t err = touch_pad_isr_register(touch_isr_handler, this);
+  if (err != ESP_OK) {
+    ESP_LOGE(TAG, "Failed to register touch ISR: %s", esp_err_to_name(err));
+    this->cleanup_touch_queue_();
+    this->mark_failed();
+    return;
+  }
+
+  // Calculate release timeout based on sleep cycle
+  // Design note: ESP32 v1 hardware limitation - interrupts only fire on touch (not release)
+  // We must use timeout-based detection for release events
+  // Formula: 3 sleep cycles converted to ms, with MINIMUM_RELEASE_TIME_MS minimum
+  // The division by 2 accounts for the fact that sleep_cycle is in half-cycles
+  uint32_t rtc_freq = rtc_clk_slow_freq_get_hz();
+  this->release_timeout_ms_ = (this->sleep_cycle_ * 1000 * 3) / (rtc_freq * 2);
+  if (this->release_timeout_ms_ < MINIMUM_RELEASE_TIME_MS) {
+    this->release_timeout_ms_ = MINIMUM_RELEASE_TIME_MS;
+  }
+  // Check for releases at 1/4 the timeout interval, capped at 50ms
+  this->release_check_interval_ms_ = std::min(this->release_timeout_ms_ / 4, (uint32_t) 50);
+
+  // Enable touch pad interrupt
+  touch_pad_intr_enable();
+}
+
+void ESP32TouchComponent::dump_config() {
+  this->dump_config_base_();
+
+  if (this->iir_filter_enabled_()) {
+    ESP_LOGCONFIG(TAG, "    IIR Filter: %" PRIu32 "ms", this->iir_filter_);
+  } else {
+    ESP_LOGCONFIG(TAG, "  IIR Filter DISABLED");
+  }
+
+  if (this->setup_mode_) {
+    ESP_LOGCONFIG(TAG, "  Setup Mode ENABLED");
+  }
+
+  this->dump_config_sensors_();
+}
+
+void ESP32TouchComponent::loop() {
+  const uint32_t now = App.get_loop_component_start_time();
+
+  // Print debug info for all pads in setup mode
+  if (this->setup_mode_ && now - this->setup_mode_last_log_print_ > SETUP_MODE_LOG_INTERVAL_MS) {
+    for (auto *child : this->children_) {
+      ESP_LOGD(TAG, "Touch Pad '%s' (T%" PRIu32 "): %" PRIu32, child->get_name().c_str(),
+               (uint32_t) child->get_touch_pad(), child->value_);
+    }
+    this->setup_mode_last_log_print_ = now;
+  }
+
+  // Process any queued touch events from interrupts
+  // Note: Events are only sent by ISR for pads that were measured in that cycle (value != 0)
+  // This is more efficient than sending all pad states every interrupt
+  TouchPadEventV1 event;
+  while (xQueueReceive(this->touch_queue_, &event, 0) == pdTRUE) {
+    // Find the corresponding sensor - O(n) search is acceptable since events are infrequent
+    for (auto *child : this->children_) {
+      if (child->get_touch_pad() != event.pad) {
+        continue;
+      }
+
+      // Found matching pad - process it
+      child->value_ = event.value;
+
+      // The interrupt gives us the touch state directly
+      bool new_state = event.is_touched;
+
+      // Track when we last saw this pad as touched
+      if (new_state) {
+        this->last_touch_time_[event.pad] = now;
+      }
+
+      // Only publish if state changed - this filters out repeated events
+      if (new_state != child->last_state_) {
+        child->last_state_ = new_state;
+        child->publish_state(new_state);
+        // Original ESP32: ISR only fires when touched, release is detected by timeout
+        // Note: ESP32 v1 uses inverted logic - touched when value < threshold
+        ESP_LOGV(TAG, "Touch Pad '%s' state: ON (value: %" PRIu32 " < threshold: %" PRIu32 ")",
+                 child->get_name().c_str(), event.value, child->get_threshold());
+      }
+      break;  // Exit inner loop after processing matching pad
+    }
+  }
+
+  // Check for released pads periodically
+  static uint32_t last_release_check = 0;
+  if (now - last_release_check < this->release_check_interval_ms_) {
+    return;
+  }
+  last_release_check = now;
+
+  for (auto *child : this->children_) {
+    touch_pad_t pad = child->get_touch_pad();
+    uint32_t last_time = this->last_touch_time_[pad];
+
+    // Design note: Sentinel value pattern explanation
+    // - 0: Never touched since boot (waiting for initial timeout)
+    // - 1: Initial OFF state has been published (prevents repeated publishes)
+    // - >1: Actual timestamp of last touch event
+    // This avoids needing a separate boolean flag for initial state tracking
+
+    // If we've never seen this pad touched (last_time == 0) and enough time has passed
+    // since startup, publish OFF state and mark as published with value 1
+    if (last_time == 0 && now > this->release_timeout_ms_) {
+      child->publish_initial_state(false);
+      this->last_touch_time_[pad] = 1;  // Mark as "initial state published"
+      ESP_LOGV(TAG, "Touch Pad '%s' state: OFF (initial)", child->get_name().c_str());
+    } else if (child->last_state_ && last_time > 1) {  // last_time > 1 means it's a real timestamp
+      uint32_t time_diff = now - last_time;
+
+      // Check if we haven't seen this pad recently
+      if (time_diff > this->release_timeout_ms_) {
+        // Haven't seen this pad recently, assume it's released
+        child->last_state_ = false;
+        child->publish_state(false);
+        this->last_touch_time_[pad] = 1;  // Reset to "initial published" state
+        ESP_LOGV(TAG, "Touch Pad '%s' state: OFF (timeout)", child->get_name().c_str());
+      }
+    }
+  }
+}
+
+void ESP32TouchComponent::on_shutdown() {
+  touch_pad_intr_disable();
+  touch_pad_isr_deregister(touch_isr_handler, this);
+  this->cleanup_touch_queue_();
+
+  if (this->iir_filter_enabled_()) {
+    touch_pad_filter_stop();
+    touch_pad_filter_delete();
+  }
+
+  // Configure wakeup pads if any are set
+  this->configure_wakeup_pads_();
+}
+
+void IRAM_ATTR ESP32TouchComponent::touch_isr_handler(void *arg) {
+  ESP32TouchComponent *component = static_cast<ESP32TouchComponent *>(arg);
+
+  touch_pad_clear_status();
+
+  // Process all configured pads to check their current state
+  // Note: ESP32 v1 doesn't tell us which specific pad triggered the interrupt,
+  // so we must scan all configured pads to find which ones were touched
+  for (auto *child : component->children_) {
+    touch_pad_t pad = child->get_touch_pad();
+
+    // Read current value using ISR-safe API
+    uint32_t value;
+    if (component->iir_filter_enabled_()) {
+      uint16_t temp_value = 0;
+      touch_pad_read_filtered(pad, &temp_value);
+      value = temp_value;
+    } else {
+      // Use low-level HAL function when filter is not enabled
+      value = touch_ll_read_raw_data(pad);
+    }
+
+    // Skip pads with 0 value - they haven't been measured in this cycle
+    // This is important: not all pads are measured every interrupt cycle,
+    // only those that the hardware has updated
+    if (value == 0) {
+      continue;
+    }
+
+    // IMPORTANT: ESP32 v1 touch detection logic - INVERTED compared to v2!
+    // ESP32 v1: Touch is detected when capacitance INCREASES, causing the measured value to DECREASE
+    // Therefore: touched = (value < threshold)
+    // This is opposite to ESP32-S2/S3 v2 where touched = (value > threshold)
+    bool is_touched = value < child->get_threshold();
+
+    // Always send the current state - the main loop will filter for changes
+    // We send both touched and untouched states because the ISR doesn't
+    // track previous state (to keep ISR fast and simple)
+    TouchPadEventV1 event;
+    event.pad = pad;
+    event.value = value;
+    event.is_touched = is_touched;
+
+    // Send to queue from ISR - non-blocking, drops if queue full
+    BaseType_t x_higher_priority_task_woken = pdFALSE;
+    xQueueSendFromISR(component->touch_queue_, &event, &x_higher_priority_task_woken);
+    if (x_higher_priority_task_woken) {
+      portYIELD_FROM_ISR();
+    }
+  }
+}
+
+}  // namespace esp32_touch
+}  // namespace esphome
+
+#endif  // USE_ESP32_VARIANT_ESP32

esphome/components/esp32_touch/esp32_touch_v2.cpp

@@ -0,0 +1,354 @@
+#if defined(USE_ESP32_VARIANT_ESP32S2) || defined(USE_ESP32_VARIANT_ESP32S3)
+
+#include "esp32_touch.h"
+#include "esphome/core/application.h"
+#include "esphome/core/log.h"
+#include "esphome/core/hal.h"
+
+namespace esphome {
+namespace esp32_touch {
+
+static const char *const TAG = "esp32_touch";
+
+// Helper to update touch state with a known state
+void ESP32TouchComponent::update_touch_state_(ESP32TouchBinarySensor *child, bool is_touched) {
+  if (child->last_state_ != is_touched) {
+    // Read value for logging
+    uint32_t value = this->read_touch_value(child->get_touch_pad());
+
+    child->last_state_ = is_touched;
+    child->publish_state(is_touched);
+    ESP_LOGD(TAG, "Touch Pad '%s' %s (value: %" PRIu32 " %s threshold: %" PRIu32 ")", child->get_name().c_str(),
+             is_touched ? "touched" : "released", value, is_touched ? ">" : "<=", child->get_threshold());
+  }
+}
+
+// Helper to read touch value and update state for a given child (used for timeout events)
+void ESP32TouchComponent::check_and_update_touch_state_(ESP32TouchBinarySensor *child) {
+  // Read current touch value
+  uint32_t value = this->read_touch_value(child->get_touch_pad());
+
+  // ESP32-S2/S3 v2: Touch is detected when value > threshold
+  bool is_touched = value > child->get_threshold();
+
+  this->update_touch_state_(child, is_touched);
+}
+
+void ESP32TouchComponent::setup() {
+  // Create queue for touch events first
+  if (!this->create_touch_queue_()) {
+    return;
+  }
+
+  // Initialize touch pad peripheral
+  esp_err_t init_err = touch_pad_init();
+  if (init_err != ESP_OK) {
+    ESP_LOGE(TAG, "Failed to initialize touch pad: %s", esp_err_to_name(init_err));
+    this->mark_failed();
+    return;
+  }
+
+  // Configure each touch pad first
+  for (auto *child : this->children_) {
+    esp_err_t config_err = touch_pad_config(child->get_touch_pad());
+    if (config_err != ESP_OK) {
+      ESP_LOGE(TAG, "Failed to configure touch pad %d: %s", child->get_touch_pad(), esp_err_to_name(config_err));
+    }
+  }
+
+  // Set up filtering if configured
+  if (this->filter_configured_()) {
+    touch_filter_config_t filter_info = {
+        .mode = this->filter_mode_,
+        .debounce_cnt = this->debounce_count_,
+        .noise_thr = this->noise_threshold_,
+        .jitter_step = this->jitter_step_,
+        .smh_lvl = this->smooth_level_,
+    };
+    touch_pad_filter_set_config(&filter_info);
+    touch_pad_filter_enable();
+  }
+
+  if (this->denoise_configured_()) {
+    touch_pad_denoise_t denoise = {
+        .grade = this->grade_,
+        .cap_level = this->cap_level_,
+    };
+    touch_pad_denoise_set_config(&denoise);
+    touch_pad_denoise_enable();
+  }
+
+  if (this->waterproof_configured_()) {
+    touch_pad_waterproof_t waterproof = {
+        .guard_ring_pad = this->waterproof_guard_ring_pad_,
+        .shield_driver = this->waterproof_shield_driver_,
+    };
+    touch_pad_waterproof_set_config(&waterproof);
+    touch_pad_waterproof_enable();
+  }
+
+  // Configure measurement parameters
+  touch_pad_set_voltage(this->high_voltage_reference_, this->low_voltage_reference_, this->voltage_attenuation_);
+  // ESP32-S2/S3 always use the older API
+  touch_pad_set_meas_time(this->sleep_cycle_, this->meas_cycle_);
+
+  // Configure timeout if needed
+  touch_pad_timeout_set(true, TOUCH_PAD_THRESHOLD_MAX);
+
+  // Register ISR handler with interrupt mask
+  esp_err_t err =
+      touch_pad_isr_register(touch_isr_handler, this, static_cast<touch_pad_intr_mask_t>(TOUCH_PAD_INTR_MASK_ALL));
+  if (err != ESP_OK) {
+    ESP_LOGE(TAG, "Failed to register touch ISR: %s", esp_err_to_name(err));
+    this->cleanup_touch_queue_();
+    this->mark_failed();
+    return;
+  }
+
+  // Set thresholds for each pad BEFORE starting FSM
+  for (auto *child : this->children_) {
+    if (child->get_threshold() != 0) {
+      touch_pad_set_thresh(child->get_touch_pad(), child->get_threshold());
+    }
+  }
+
+  // Enable interrupts
+  touch_pad_intr_enable(static_cast<touch_pad_intr_mask_t>(TOUCH_PAD_INTR_MASK_ACTIVE | TOUCH_PAD_INTR_MASK_INACTIVE |
+                                                           TOUCH_PAD_INTR_MASK_TIMEOUT));
+
+  // Set FSM mode before starting
+  touch_pad_set_fsm_mode(TOUCH_FSM_MODE_TIMER);
+
+  // Start FSM
+  touch_pad_fsm_start();
+
+  // Read initial states after all hardware is initialized
+  for (auto *child : this->children_) {
+    // Read current value
+    uint32_t value = this->read_touch_value(child->get_touch_pad());
+
+    // Set initial state and publish
+    bool is_touched = value > child->get_threshold();
+    child->last_state_ = is_touched;
+    child->publish_initial_state(is_touched);
+
+    ESP_LOGD(TAG, "Touch Pad '%s' initial state: %s (value: %d %s threshold: %d)", child->get_name().c_str(),
+             is_touched ? "touched" : "released", value, is_touched ? ">" : "<=", child->get_threshold());
+  }
+}
+
+void ESP32TouchComponent::dump_config() {
+  this->dump_config_base_();
+
+  if (this->filter_configured_()) {
+    const char *filter_mode_s;
+    switch (this->filter_mode_) {
+      case TOUCH_PAD_FILTER_IIR_4:
+        filter_mode_s = "IIR_4";
+        break;
+      case TOUCH_PAD_FILTER_IIR_8:
+        filter_mode_s = "IIR_8";
+        break;
+      case TOUCH_PAD_FILTER_IIR_16:
+        filter_mode_s = "IIR_16";
+        break;
+      case TOUCH_PAD_FILTER_IIR_32:
+        filter_mode_s = "IIR_32";
+        break;
+      case TOUCH_PAD_FILTER_IIR_64:
+        filter_mode_s = "IIR_64";
+        break;
+      case TOUCH_PAD_FILTER_IIR_128:
+        filter_mode_s = "IIR_128";
+        break;
+      case TOUCH_PAD_FILTER_IIR_256:
+        filter_mode_s = "IIR_256";
+        break;
+      case TOUCH_PAD_FILTER_JITTER:
+        filter_mode_s = "JITTER";
+        break;
+      default:
+        filter_mode_s = "UNKNOWN";
+        break;
+    }
+    ESP_LOGCONFIG(TAG,
+                  "  Filter mode: %s\n"
+                  "  Debounce count: %" PRIu32 "\n"
+                  "  Noise threshold coefficient: %" PRIu32 "\n"
+                  "  Jitter filter step size: %" PRIu32,
+                  filter_mode_s, this->debounce_count_, this->noise_threshold_, this->jitter_step_);
+    const char *smooth_level_s;
+    switch (this->smooth_level_) {
+      case TOUCH_PAD_SMOOTH_OFF:
+        smooth_level_s = "OFF";
+        break;
+      case TOUCH_PAD_SMOOTH_IIR_2:
+        smooth_level_s = "IIR_2";
+        break;
+      case TOUCH_PAD_SMOOTH_IIR_4:
+        smooth_level_s = "IIR_4";
+        break;
+      case TOUCH_PAD_SMOOTH_IIR_8:
+        smooth_level_s = "IIR_8";
+        break;
+      default:
+        smooth_level_s = "UNKNOWN";
+        break;
+    }
+    ESP_LOGCONFIG(TAG, "  Smooth level: %s", smooth_level_s);
+  }
+
+  if (this->denoise_configured_()) {
+    const char *grade_s;
+    switch (this->grade_) {
+      case TOUCH_PAD_DENOISE_BIT12:
+        grade_s = "BIT12";
+        break;
+      case TOUCH_PAD_DENOISE_BIT10:
+        grade_s = "BIT10";
+        break;
+      case TOUCH_PAD_DENOISE_BIT8:
+        grade_s = "BIT8";
+        break;
+      case TOUCH_PAD_DENOISE_BIT4:
+        grade_s = "BIT4";
+        break;
+      default:
+        grade_s = "UNKNOWN";
+        break;
+    }
+    ESP_LOGCONFIG(TAG, "  Denoise grade: %s", grade_s);
+
+    const char *cap_level_s;
+    switch (this->cap_level_) {
+      case TOUCH_PAD_DENOISE_CAP_L0:
+        cap_level_s = "L0";
+        break;
+      case TOUCH_PAD_DENOISE_CAP_L1:
+        cap_level_s = "L1";
+        break;
+      case TOUCH_PAD_DENOISE_CAP_L2:
+        cap_level_s = "L2";
+        break;
+      case TOUCH_PAD_DENOISE_CAP_L3:
+        cap_level_s = "L3";
+        break;
+      case TOUCH_PAD_DENOISE_CAP_L4:
+        cap_level_s = "L4";
+        break;
+      case TOUCH_PAD_DENOISE_CAP_L5:
+        cap_level_s = "L5";
+        break;
+      case TOUCH_PAD_DENOISE_CAP_L6:
+        cap_level_s = "L6";
+        break;
+      case TOUCH_PAD_DENOISE_CAP_L7:
+        cap_level_s = "L7";
+        break;
+      default:
+        cap_level_s = "UNKNOWN";
+        break;
+    }
+    ESP_LOGCONFIG(TAG, "  Denoise capacitance level: %s", cap_level_s);
+  }
+
+  if (this->setup_mode_) {
+    ESP_LOGCONFIG(TAG, "  Setup Mode ENABLED");
+  }
+
+  this->dump_config_sensors_();
+}
+
+void ESP32TouchComponent::loop() {
+  const uint32_t now = App.get_loop_component_start_time();
+
+  // In setup mode, periodically log all pad values
+  if (this->setup_mode_ && now - this->setup_mode_last_log_print_ > SETUP_MODE_LOG_INTERVAL_MS) {
+    for (auto *child : this->children_) {
+      // Read the value being used for touch detection
+      uint32_t value = this->read_touch_value(child->get_touch_pad());
+
+      ESP_LOGD(TAG, "Touch Pad '%s' (T%d): %d", child->get_name().c_str(), child->get_touch_pad(), value);
+    }
+    this->setup_mode_last_log_print_ = now;
+  }
+
+  // Process any queued touch events from interrupts
+  TouchPadEventV2 event;
+  while (xQueueReceive(this->touch_queue_, &event, 0) == pdTRUE) {
+    // Handle timeout events
+    if (event.intr_mask & TOUCH_PAD_INTR_MASK_TIMEOUT) {
+      // Resume measurement after timeout
+      touch_pad_timeout_resume();
+      // For timeout events, always check the current state
+    } else if (!(event.intr_mask & (TOUCH_PAD_INTR_MASK_ACTIVE | TOUCH_PAD_INTR_MASK_INACTIVE))) {
+      // Skip if not an active/inactive/timeout event
+      continue;
+    }
+
+    // Find the child for the pad that triggered the interrupt
+    for (auto *child : this->children_) {
+      if (child->get_touch_pad() != event.pad) {
+        continue;
+      }
+
+      if (event.intr_mask & TOUCH_PAD_INTR_MASK_TIMEOUT) {
+        // For timeout events, we need to read the value to determine state
+        this->check_and_update_touch_state_(child);
+      } else {
+        // For ACTIVE/INACTIVE events, the interrupt tells us the state
+        bool is_touched = (event.intr_mask & TOUCH_PAD_INTR_MASK_ACTIVE) != 0;
+        this->update_touch_state_(child, is_touched);
+      }
+      break;
+    }
+  }
+}
+
+void ESP32TouchComponent::on_shutdown() {
+  // Disable interrupts
+  touch_pad_intr_disable(static_cast<touch_pad_intr_mask_t>(TOUCH_PAD_INTR_MASK_ACTIVE | TOUCH_PAD_INTR_MASK_INACTIVE |
+                                                            TOUCH_PAD_INTR_MASK_TIMEOUT));
+  touch_pad_isr_deregister(touch_isr_handler, this);
+  this->cleanup_touch_queue_();
+
+  // Configure wakeup pads if any are set
+  this->configure_wakeup_pads_();
+}
+
+void IRAM_ATTR ESP32TouchComponent::touch_isr_handler(void *arg) {
+  ESP32TouchComponent *component = static_cast<ESP32TouchComponent *>(arg);
+  BaseType_t x_higher_priority_task_woken = pdFALSE;
+
+  // Read interrupt status
+  TouchPadEventV2 event;
+  event.intr_mask = touch_pad_read_intr_status_mask();
+  event.pad = touch_pad_get_current_meas_channel();
+
+  // Send event to queue for processing in main loop
+  xQueueSendFromISR(component->touch_queue_, &event, &x_higher_priority_task_woken);
+
+  if (x_higher_priority_task_woken) {
+    portYIELD_FROM_ISR();
+  }
+}
+
+uint32_t ESP32TouchComponent::read_touch_value(touch_pad_t pad) const {
+  // Unlike ESP32 v1, touch reads on ESP32-S2/S3 v2 are non-blocking operations.
+  // The hardware continuously samples in the background and we can read the
+  // latest value at any time without waiting.
+  uint32_t value = 0;
+  if (this->filter_configured_()) {
+    // Read filtered/smoothed value when filter is enabled
+    touch_pad_filter_read_smooth(pad, &value);
+  } else {
+    // Read raw value when filter is not configured
+    touch_pad_read_raw_data(pad, &value);
+  }
+  return value;
+}
+
+}  // namespace esp32_touch
+}  // namespace esphome
+
+#endif  // USE_ESP32_VARIANT_ESP32S2 || USE_ESP32_VARIANT_ESP32S3

esphome/core/application.cpp

@@ -117,7 +117,9 @@ void Application::loop() {
   // Use the last component's end time instead of calling millis() again
   auto elapsed = last_op_end_time - this->last_loop_;
   if (elapsed >= this->loop_interval_ || HighFrequencyLoopRequester::is_high_frequency()) {
-    yield();
+    // Even if we overran the loop interval, we still need to select()
+    // to know if any sockets have data ready
+    this->yield_with_select_(0);
   } else {
     uint32_t delay_time = this->loop_interval_ - elapsed;
     uint32_t next_schedule = this->scheduler.next_schedule_in().value_or(delay_time);
@@ -126,7 +128,7 @@ void Application::loop() {
     next_schedule = std::max(next_schedule, delay_time / 2);
     delay_time = std::min(next_schedule, delay_time);
 
-    this->delay_with_select_(delay_time);
+    this->yield_with_select_(delay_time);
   }
   this->last_loop_ = last_op_end_time;
 
@@ -215,7 +217,7 @@ void Application::teardown_components(uint32_t timeout_ms) {
 
     // Give some time for I/O operations if components are still pending
     if (!pending_components.empty()) {
-      this->delay_with_select_(1);
+      this->yield_with_select_(1);
     }
 
     // Update time for next iteration
@@ -293,8 +295,6 @@ bool Application::is_socket_ready(int fd) const {
   // This function is thread-safe for reading the result of select()
   // However, it should only be called after select() has been executed in the main loop
   // The read_fds_ is only modified by select() in the main loop
-  if (HighFrequencyLoopRequester::is_high_frequency())
-    return true;  // fd sets via select are not updated in high frequency looping - so force true fallback behavior
   if (fd < 0 || fd >= FD_SETSIZE)
     return false;
 
@@ -302,7 +302,9 @@ bool Application::is_socket_ready(int fd) const {
 }
 #endif
 
-void Application::delay_with_select_(uint32_t delay_ms) {
+void Application::yield_with_select_(uint32_t delay_ms) {
+  // Delay while monitoring sockets. When delay_ms is 0, always yield() to ensure other tasks run
+  // since select() with 0 timeout only polls without yielding.
 #ifdef USE_SOCKET_SELECT_SUPPORT
   if (!this->socket_fds_.empty()) {
     // Update fd_set if socket list has changed
@@ -340,6 +342,10 @@ void Application::delay_with_select_(uint32_t delay_ms) {
       ESP_LOGW(TAG, "select() failed with errno %d", errno);
       delay(delay_ms);
     }
+    // When delay_ms is 0, we need to yield since select(0) doesn't yield
+    if (delay_ms == 0) {
+      yield();
+    }
   } else {
     // No sockets registered, use regular delay
     delay(delay_ms);

esphome/core/application.h

@@ -588,7 +588,7 @@ class Application {
   void feed_wdt_arch_();
 
   /// Perform a delay while also monitoring socket file descriptors for readiness
-  void delay_with_select_(uint32_t delay_ms);
+  void yield_with_select_(uint32_t delay_ms);
 
   std::vector<Component *> components_{};
   std::vector<Component *> looping_components_{};

requirements_test.txt

@@ -6,7 +6,7 @@ pre-commit
 
 # Unit tests
 pytest==8.4.0
-pytest-cov==6.1.1
+pytest-cov==6.2.1
 pytest-mock==3.14.1
 pytest-asyncio==0.26.0
 pytest-xdist==3.7.0