CapacitiveSensor Library Not Working on Arduino Nano ESP32

Official Hardware Nano Family Nano ESP32
1

Hi everyone!

I'm trying to use the CapacitiveSensor library on an Arduino Nano ESP32 to measure water levels. Here is my sketch:

#include <CapacitiveSensor.h>
//using Arduino pin names (default)
#define SENDER_PIN D4 // D4 corresponds to GPIO7 ESP32 W-106 
#define SENSOR_PIN D5 // D5 corresponds to GPIO8 ESP32 W-106

#define SAMPLES_NUMBER 1000
#define TIMEOUT_MS 500

#define MIN_READING 4200 // for 1M resistor and 1000 samples
#define MAX_READING 11000 // for 1M resistor and 1000 samples

byte mappedValue;
long readingRaw;

CapacitiveSensor sensor = CapacitiveSensor(SENDER_PIN, SENSOR_PIN); // 1M resistor between SENDER_PIN & SENSOR_PIN

void setup()                    
{
   sensor.set_CS_AutocaL_Millis(0xFFFFFFFF); // turn off autocalibrate
   sensor.set_CS_Timeout_Millis(TIMEOUT_MS);
   Serial.begin(9600);
}

void loop()                    
{    
  readingRaw = sensor.capacitiveSensorRaw(SAMPLES_NUMBER);
  Serial.println(readingRaw); // for calibration
  delay(1000);
}

The problem is that while the sketch compiles successfully on the ESP32C3, ESP32S3, and Arduino Nano ESP32, measurements only work on the ESP32C3 and ESP32S3 Dev Modules. I've tried different resistor values from 270k to 10M, but none work on the Arduino Nano ESP32, although resistors between 270k and 1M yield results on the other two boards. I'm trying to understand what unique characteristics of the Arduino Nano ESP32 might be causing this issue.

What are the unique characteristics of the Arduino Nano ESP32 board that might prevent getting the same results as on other boards? Any help or advice would be greatly appreciated!

CapacitiveSensor.h

/*
  CapacitiveSensor.h v.04 - Capacitive Sensing Library for 'duino / Wiring
  https://github.com/PaulStoffregen/CapacitiveSensor
  http://www.pjrc.com/teensy/td_libs_CapacitiveSensor.html
  http://playground.arduino.cc/Main/CapacitiveSensor
  Copyright (c) 2008 Paul Bagder  All rights reserved.
  Version 05 by Paul Stoffregen - Support non-AVR board: Teensy 3.x, Arduino Due
  Version 04 by Paul Stoffregen - Arduino 1.0 compatibility, issue 146 fix
  vim: set ts=4:
*/

// ensure this library description is only included once
#ifndef CapacitiveSensor_h
#define CapacitiveSensor_h

#if ARDUINO >= 100
#include "Arduino.h"
#else
#include "WProgram.h"
#endif

// Direct I/O through registers and bitmask (from OneWire library)

#if defined(__AVR__)
#define PIN_TO_BASEREG(pin)             (portInputRegister(digitalPinToPort(pin)))
#define PIN_TO_BITMASK(pin)             (digitalPinToBitMask(pin))
#define IO_REG_TYPE uint8_t
#define DIRECT_READ(base, mask)         (((*(base)) & (mask)) ? 1 : 0)
#define DIRECT_MODE_INPUT(base, mask)   ((*((base)+1)) &= ~(mask), (*((base)+2)) &= ~(mask))
#define DIRECT_MODE_OUTPUT(base, mask)  ((*((base)+1)) |= (mask))
#define DIRECT_WRITE_LOW(base, mask)    ((*((base)+2)) &= ~(mask))
#define DIRECT_WRITE_HIGH(base, mask)   ((*((base)+2)) |= (mask))

#elif defined(__MK20DX128__) || defined(__MK20DX256__) || defined(__MK66FX1M0__) || defined(__MK64FX512__)
#define PIN_TO_BASEREG(pin)             (portOutputRegister(pin))
#define PIN_TO_BITMASK(pin)             (1)
#define IO_REG_TYPE uint8_t
#define IO_REG_ASM
#define DIRECT_READ(base, mask)         (*((base)+512))
#define DIRECT_MODE_INPUT(base, mask)   (*((base)+640) = 0)
#define DIRECT_MODE_OUTPUT(base, mask)  (*((base)+640) = 1)
#define DIRECT_WRITE_LOW(base, mask)    (*((base)+256) = 1)
#define DIRECT_WRITE_HIGH(base, mask)   (*((base)+128) = 1)

#elif defined(__MKL26Z64__)
#define PIN_TO_BASEREG(pin)             (portOutputRegister(pin))
#define PIN_TO_BITMASK(pin)             (digitalPinToBitMask(pin))
#define IO_REG_TYPE uint8_t
#define IO_REG_ASM
#define DIRECT_READ(base, mask)         ((*((base)+16) & (mask)) ? 1 : 0)
#define DIRECT_MODE_INPUT(base, mask)   (*((base)+20) &= ~(mask))
#define DIRECT_MODE_OUTPUT(base, mask)  (*((base)+20) |= (mask))
#define DIRECT_WRITE_LOW(base, mask)    ((*((base)+8)) = (mask))
#define DIRECT_WRITE_HIGH(base, mask)   ((*((base)+4)) = (mask))

#elif defined(__SAM3X8E__)
#define PIN_TO_BASEREG(pin)             (&(digitalPinToPort(pin)->PIO_PER))
#define PIN_TO_BITMASK(pin)             (digitalPinToBitMask(pin))
#define IO_REG_TYPE uint32_t
#define IO_REG_ASM
#define DIRECT_READ(base, mask)         (((*((base)+15)) & (mask)) ? 1 : 0)
#define DIRECT_MODE_INPUT(base, mask)   ((*((base)+5)) = (mask))
#define DIRECT_MODE_OUTPUT(base, mask)  ((*((base)+4)) = (mask))
#define DIRECT_WRITE_LOW(base, mask)    ((*((base)+13)) = (mask))
#define DIRECT_WRITE_HIGH(base, mask)   ((*((base)+12)) = (mask))

#elif defined(__PIC32MX__)
#define PIN_TO_BASEREG(pin)             (portModeRegister(digitalPinToPort(pin)))
#define PIN_TO_BITMASK(pin)             (digitalPinToBitMask(pin))
#define IO_REG_TYPE uint32_t
#define IO_REG_ASM
#define DIRECT_READ(base, mask)         (((*(base+4)) & (mask)) ? 1 : 0)  //PORTX + 0x10
#define DIRECT_MODE_INPUT(base, mask)   ((*(base+2)) = (mask))            //TRISXSET + 0x08
#define DIRECT_MODE_OUTPUT(base, mask)  ((*(base+1)) = (mask))            //TRISXCLR + 0x04
#define DIRECT_WRITE_LOW(base, mask)    ((*(base+8+1)) = (mask))          //LATXCLR  + 0x24
#define DIRECT_WRITE_HIGH(base, mask)   ((*(base+8+2)) = (mask))          //LATXSET + 0x28

#elif defined(ARDUINO_ARCH_ESP8266)
#define PIN_TO_BASEREG(pin)             (portOutputRegister(digitalPinToPort(pin)))
#define PIN_TO_BITMASK(pin)             (digitalPinToBitMask(pin))
#define IO_REG_TYPE uint32_t
#define IO_REG_ASM
#define DIRECT_READ(base, mask)         (((*(base+6)) & (mask)) ? 1 : 0)    //GPIO_IN_ADDRESS
#define DIRECT_MODE_INPUT(base, mask)   ((*(base+5)) = (mask))              //GPIO_ENABLE_W1TC_ADDRESS
#define DIRECT_MODE_OUTPUT(base, mask)  ((*(base+4)) = (mask))              //GPIO_ENABLE_W1TS_ADDRESS
#define DIRECT_WRITE_LOW(base, mask)    ((*(base+2)) = (mask))              //GPIO_OUT_W1TC_ADDRESS
#define DIRECT_WRITE_HIGH(base, mask)   ((*(base+1)) = (mask))              //GPIO_OUT_W1TS_ADDRESS

#elif defined(__SAMD21G18A__)
#define PIN_TO_BASEREG(pin)             portModeRegister(digitalPinToPort(pin))
#define PIN_TO_BITMASK(pin)             (digitalPinToBitMask(pin))
#define IO_REG_TYPE uint32_t
#define IO_REG_ASM
#define DIRECT_READ(base, mask)         (((*((base)+8)) & (mask)) ? 1 : 0)
#define DIRECT_MODE_INPUT(base, mask)   ((*((base)+1)) = (mask))
#define DIRECT_MODE_OUTPUT(base, mask)  ((*((base)+2)) = (mask))
#define DIRECT_WRITE_LOW(base, mask)    ((*((base)+5)) = (mask))
#define DIRECT_WRITE_HIGH(base, mask)   ((*((base)+6)) = (mask))

#elif defined(RBL_NRF51822)
#define PIN_TO_BASEREG(pin)             (0)
#define PIN_TO_BITMASK(pin)             (pin)
#define IO_REG_TYPE uint32_t
#define IO_REG_ASM
#define DIRECT_READ(base, pin)          nrf_gpio_pin_read(pin)
#define DIRECT_WRITE_LOW(base, pin)     nrf_gpio_pin_clear(pin)
#define DIRECT_WRITE_HIGH(base, pin)    nrf_gpio_pin_set(pin)
#define DIRECT_MODE_INPUT(base, pin)    nrf_gpio_cfg_input(pin, NRF_GPIO_PIN_NOPULL)
#define DIRECT_MODE_OUTPUT(base, pin)   nrf_gpio_cfg_output(pin)

#elif defined(__arc__)

#include "scss_registers.h"
#include "portable.h"
#include "avr/pgmspace.h"

#define GPIO_ID(pin)            (g_APinDescription[pin].ulGPIOId)
#define GPIO_TYPE(pin)          (g_APinDescription[pin].ulGPIOType)
#define GPIO_BASE(pin)          (g_APinDescription[pin].ulGPIOBase)
#define DIR_OFFSET_SS           0x01
#define DIR_OFFSET_SOC          0x04
#define EXT_PORT_OFFSET_SS      0x0A
#define EXT_PORT_OFFSET_SOC     0x50

/* GPIO registers base address */
#define PIN_TO_BASEREG(pin)     ((volatile uint32_t *)g_APinDescription[pin].ulGPIOBase)
#define PIN_TO_BITMASK(pin)     pin
#define IO_REG_TYPE             uint32_t
#define IO_REG_ASM

static inline __attribute__((always_inline))
IO_REG_TYPE directRead(volatile IO_REG_TYPE *base, IO_REG_TYPE pin)
{
    IO_REG_TYPE ret;
    if (SS_GPIO == GPIO_TYPE(pin)) {
        ret = READ_ARC_REG(((IO_REG_TYPE)base + EXT_PORT_OFFSET_SS));
    } else {
        ret = MMIO_REG_VAL_FROM_BASE((IO_REG_TYPE)base, EXT_PORT_OFFSET_SOC);
    }
    return ((ret >> GPIO_ID(pin)) & 0x01);
}

static inline __attribute__((always_inline))
void directModeInput(volatile IO_REG_TYPE *base, IO_REG_TYPE pin)
{
    if (SS_GPIO == GPIO_TYPE(pin)) {
        WRITE_ARC_REG(READ_ARC_REG((((IO_REG_TYPE)base) + DIR_OFFSET_SS)) & ~(0x01 << GPIO_ID(pin)),
            ((IO_REG_TYPE)(base) + DIR_OFFSET_SS));
    } else {
        MMIO_REG_VAL_FROM_BASE((IO_REG_TYPE)base, DIR_OFFSET_SOC) &= ~(0x01 << GPIO_ID(pin));
    }
}

static inline __attribute__((always_inline))
void directModeOutput(volatile IO_REG_TYPE *base, IO_REG_TYPE pin)
{
    if (SS_GPIO == GPIO_TYPE(pin)) {
        WRITE_ARC_REG(READ_ARC_REG(((IO_REG_TYPE)(base) + DIR_OFFSET_SS)) | (0x01 << GPIO_ID(pin)),
            ((IO_REG_TYPE)(base) + DIR_OFFSET_SS));
    } else {
        MMIO_REG_VAL_FROM_BASE((IO_REG_TYPE)base, DIR_OFFSET_SOC) |= (0x01 << GPIO_ID(pin));
    }
}

static inline __attribute__((always_inline))
void directWriteLow(volatile IO_REG_TYPE *base, IO_REG_TYPE pin)
{
    if (SS_GPIO == GPIO_TYPE(pin)) {
        WRITE_ARC_REG(READ_ARC_REG(base) & ~(0x01 << GPIO_ID(pin)), base);
    } else {
        MMIO_REG_VAL(base) &= ~(0x01 << GPIO_ID(pin));
    }
}

static inline __attribute__((always_inline))
void directWriteHigh(volatile IO_REG_TYPE *base, IO_REG_TYPE pin)
{
    if (SS_GPIO == GPIO_TYPE(pin)) {
        WRITE_ARC_REG(READ_ARC_REG(base) | (0x01 << GPIO_ID(pin)), base);
    } else {
        MMIO_REG_VAL(base) |= (0x01 << GPIO_ID(pin));
    }
}

#define DIRECT_READ(base, pin)      directRead(base, pin)
#define DIRECT_MODE_INPUT(base, pin)    directModeInput(base, pin)
#define DIRECT_MODE_OUTPUT(base, pin)   directModeOutput(base, pin)
#define DIRECT_WRITE_LOW(base, pin) directWriteLow(base, pin)
#define DIRECT_WRITE_HIGH(base, pin)    directWriteHigh(base, pin)

#elif defined(ARDUINO_ARCH_ESP32)
#include <driver/rtc_io.h>
#include <soc/gpio_struct.h>
#define PIN_TO_BASEREG(pin)             (0)
#define PIN_TO_BITMASK(pin)             (pin)
#define IO_REG_TYPE uint32_t
#define IO_REG_BASE_ATTR
#define IO_REG_MASK_ATTR

static inline __attribute__((always_inline))
IO_REG_TYPE directRead(IO_REG_TYPE pin)
{
    if ( pin < 32 )
        return (GPIO.in >> pin) & 0x1;
    else if ( pin < 46 )
        return (GPIO.in1.val >> (pin - 32)) & 0x1;

    return 0;
}

static inline __attribute__((always_inline))
void directWriteLow(IO_REG_TYPE pin)
{
    if ( pin < 32 )
        GPIO.out_w1tc = ((uint32_t)1 << pin);
    else if ( pin < 46 )
        GPIO.out1_w1tc.val = ((uint32_t)1 << (pin - 32));
}

static inline __attribute__((always_inline))
void directWriteHigh(IO_REG_TYPE pin)
{
    if ( pin < 32 )
        GPIO.out_w1ts = ((uint32_t)1 << pin);
    else if ( pin < 46 )
        GPIO.out1_w1ts.val = ((uint32_t)1 << (pin - 32));
}

static inline __attribute__((always_inline))
void directModeInput(IO_REG_TYPE pin)
{
    if ( digitalPinIsValid(pin) )
    {
        // Input
        if ( pin < 32 )
            GPIO.enable_w1tc = ((uint32_t)1 << pin);
        else
            GPIO.enable1_w1tc.val = ((uint32_t)1 << (pin - 32));
    }
}

static inline __attribute__((always_inline))
void directModeOutput(IO_REG_TYPE pin)
{
    if ( digitalPinIsValid(pin) && pin <= 33 ) // pins above 33 can be only inputs
    {
        // Output
        if ( pin < 32 )
            GPIO.enable_w1ts = ((uint32_t)1 << pin);
        else // already validated to pins <= 33
            GPIO.enable1_w1ts.val = ((uint32_t)1 << (pin - 32));
    }
}

#define DIRECT_READ(base, pin)          directRead(pin)
#define DIRECT_WRITE_LOW(base, pin)     directWriteLow(pin)
#define DIRECT_WRITE_HIGH(base, pin)    directWriteHigh(pin)
#define DIRECT_MODE_INPUT(base, pin)    directModeInput(pin)
#define DIRECT_MODE_OUTPUT(base, pin)   directModeOutput(pin)
#endif

// some 3.3V chips with 5V tolerant pins need this workaround
//
#if defined(__MK20DX256__)
#define FIVE_VOLT_TOLERANCE_WORKAROUND
#endif

// library interface description
class CapacitiveSensor
{
  // user-accessible "public" interface
  public:
  // methods
    CapacitiveSensor(uint8_t sendPin, uint8_t receivePin);
    long capacitiveSensorRaw(uint8_t samples);
    long capacitiveSensor(uint8_t samples);
    void set_CS_Timeout_Millis(unsigned long timeout_millis);
    void reset_CS_AutoCal();
    void set_CS_AutocaL_Millis(unsigned long autoCal_millis);
  // library-accessible "private" interface
  private:
  // variables
    int error;
    unsigned long  leastTotal;
    unsigned int   loopTimingFactor;
    unsigned long  CS_Timeout_Millis;
    unsigned long  CS_AutocaL_Millis;
    unsigned long  lastCal;
    unsigned long  total;
    IO_REG_TYPE sBit;   // send pin's ports and bitmask
    volatile IO_REG_TYPE *sReg;
    IO_REG_TYPE rBit;    // receive pin's ports and bitmask
    volatile IO_REG_TYPE *rReg;
  // methods
    int SenseOneCycle(void);
};

#endif
2

Looks like your lib is old, try..
PaulStoffregen/CapacitiveSensor
i see esp32 support added in the above..

good luck.. ~q

3

I was informed that the latest version of the CapacitiveSensor library on GitHub supports ESP32. However, attempting to compile the example from the library results in errors, as does my sketch. Therefore, I attached my version of CapacitiveSensor.h, which allows successful compilation for esp32c3 dev module, esp32s3 dev module, and even Arduino Nano ESP32. Unfortunately, measurements do not work on Arduino Nano ESP32, and I am trying to understand and resolve the issue. Could you try it yourself and see if you encounter the compilation error with the latest version of CapacitiveSensor from GitHub, Arduino IDE 2, and Arduino core for the ESP32 3.0.0?

5

Hello @edgme , the issue is probably related to the peculiar way the Nano ESP32 names its pins. You can read more about this here, but the main takeaway is this:

  • Choose By GPIO number (legacy) in the Tools -> Pin Numbering menu in the IDE;
  • Use names and not numbers when referring to pins (in your code, write D4 and D5 instead of 4 and 5).

Let me know if this helps!

6

Hi @lburelli

Thanks for your suggestion. I have already tried using both pin numbering modes as per the documentation, setting the pin numbers by GPIO number (legacy) and by Arduino pin names (e.g., D4 and D5). Unfortunately, the issue persists.

image
image694×747 59.1 KB

using Arduino pin names (default)

#define SENDER_PIN D4 // D4 corresponds to GPIO7 ESP32 W-106
#define SENSOR_PIN D5 // D5 corresponds to GPIO8 ESP32 W-106

using GPIO number pin names (legacy)

#define SENDER_PIN 7 // SENDER PIN connected to D4 ARUINO  that corresponds to GPIO7 ESP32 W-106
#define SENSOR_PIN 8 // SENSOR PIN connected to D5 ARUINO that  corresponds to GPIO8 ESP32 W-106
7

Whoops, I wasn't clear but that was not an option: you need to do both at the same time :slight_smile:
Please use names and "By GPIO number" in your further tests.

8

I tried selecting "By GPIO number (legacy)" in the Tools -> Pin Numbering menu in the Arduino IDE and used names, not numbers when referring to pins in my code (e.g., D4 and D5 instead of 7 and 8). Unfortunately, I still couldn't obtain any measurements on my Arduino Nano ESP32. Additionally, I included the CapacitiveSensor.h header file, which compiles correctly. Any further suggestions would be greatly appreciated.

Thank you!

image
image745×566 39.1 KB

#define SENDER_PIN D4// D4 corresponds to GPIO7 ESP32 w -106
#define SENSOR_PIN D5 // D5 corresponds to GPIO8 ESP32 w -106

/*
 CapacitiveSense.h - Capacitive Sensing Library for 'duino / Wiring
 https://github.com/PaulStoffregen/CapacitiveSensor
 http://www.pjrc.com/teensy/td_libs_CapacitiveSensor.html
 http://playground.arduino.cc/Main/CapacitiveSensor
 Copyright (c) 2009 Paul Bagder
 Updates for other hardare by Paul Stoffregen, 2010-2016
 vim: set ts=4:

 Permission is hereby granted, free of charge, to any person obtaining a
 copy of this software and associated documentation files (the "Software"),
 to deal in the Software without restriction, including without limitation
 the rights to use, copy, modify, merge, publish, distribute, sublicense,
 and/or sell copies of the Software, and to permit persons to whom the
 Software is furnished to do so, subject to the following conditions:

 The above copyright notice and this permission notice shall be included in
 all copies or substantial portions of the Software.

 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
 FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
 DEALINGS IN THE SOFTWARE.
*/

// ensure this library description is only included once
#ifndef CapacitiveSensor_h
#define CapacitiveSensor_h

#if ARDUINO >= 100
#include "Arduino.h"
#else
#include "WProgram.h"
#endif

// Direct I/O through registers and bitmask (from OneWire library)

#if defined(__AVR__)
#define PIN_TO_BASEREG(pin)             (portInputRegister(digitalPinToPort(pin)))
#define PIN_TO_BITMASK(pin)             (digitalPinToBitMask(pin))
#define IO_REG_TYPE uint8_t
#define DIRECT_READ(base, mask)         (((*(base)) & (mask)) ? 1 : 0)
#define DIRECT_MODE_INPUT(base, mask)   ((*((base)+1)) &= ~(mask), (*((base)+2)) &= ~(mask))
#define DIRECT_MODE_OUTPUT(base, mask)  ((*((base)+1)) |= (mask))
#define DIRECT_WRITE_LOW(base, mask)    ((*((base)+2)) &= ~(mask))
#define DIRECT_WRITE_HIGH(base, mask)   ((*((base)+2)) |= (mask))

#elif defined(__MK20DX128__) || defined(__MK20DX256__) || defined(__MK66FX1M0__) || defined(__MK64FX512__)
#define PIN_TO_BASEREG(pin)             (portOutputRegister(pin))
#define PIN_TO_BITMASK(pin)             (1)
#define IO_REG_TYPE uint8_t
#define IO_REG_ASM
#define DIRECT_READ(base, mask)         (*((base)+512))
#define DIRECT_MODE_INPUT(base, mask)   (*((base)+640) = 0)
#define DIRECT_MODE_OUTPUT(base, mask)  (*((base)+640) = 1)
#define DIRECT_WRITE_LOW(base, mask)    (*((base)+256) = 1)
#define DIRECT_WRITE_HIGH(base, mask)   (*((base)+128) = 1)

#elif defined(__MKL26Z64__)
#define PIN_TO_BASEREG(pin)             (portOutputRegister(pin))
#define PIN_TO_BITMASK(pin)             (digitalPinToBitMask(pin))
#define IO_REG_TYPE uint8_t
#define IO_REG_ASM
#define DIRECT_READ(base, mask)         ((*((base)+16) & (mask)) ? 1 : 0)
#define DIRECT_MODE_INPUT(base, mask)   (*((base)+20) &= ~(mask))
#define DIRECT_MODE_OUTPUT(base, mask)  (*((base)+20) |= (mask))
#define DIRECT_WRITE_LOW(base, mask)    (*((base)+8) = (mask))
#define DIRECT_WRITE_HIGH(base, mask)   (*((base)+4) = (mask))

#elif defined(__IMXRT1052__) || defined(__IMXRT1062__)
#define PIN_TO_BASEREG(pin)             (portOutputRegister(pin))
#define PIN_TO_BITMASK(pin)             (digitalPinToBitMask(pin))
#define IO_REG_TYPE uint32_t
#define IO_REG_ASM
#define DIRECT_READ(base, mask)         ((*((base)+2) & (mask)) ? 1 : 0)
#define DIRECT_MODE_INPUT(base, mask)   (*((base)+1) &= ~(mask))
#define DIRECT_MODE_OUTPUT(base, mask)  (*((base)+1) |= (mask))
#define DIRECT_WRITE_LOW(base, mask)    (*((base)+34) = (mask))
#define DIRECT_WRITE_HIGH(base, mask)   (*((base)+33) = (mask))

#elif defined(__SAM3X8E__)
#define PIN_TO_BASEREG(pin)             (&(digitalPinToPort(pin)->PIO_PER))
#define PIN_TO_BITMASK(pin)             (digitalPinToBitMask(pin))
#define IO_REG_TYPE uint32_t
#define IO_REG_ASM
#define DIRECT_READ(base, mask)         (((*((base)+15)) & (mask)) ? 1 : 0)
#define DIRECT_MODE_INPUT(base, mask)   ((*((base)+5)) = (mask))
#define DIRECT_MODE_OUTPUT(base, mask)  ((*((base)+4)) = (mask))
#define DIRECT_WRITE_LOW(base, mask)    ((*((base)+13)) = (mask))
#define DIRECT_WRITE_HIGH(base, mask)   ((*((base)+12)) = (mask))

#elif defined(__PIC32MX__)
#define PIN_TO_BASEREG(pin)             (portModeRegister(digitalPinToPort(pin)))
#define PIN_TO_BITMASK(pin)             (digitalPinToBitMask(pin))
#define IO_REG_TYPE uint32_t
#define IO_REG_ASM
#define DIRECT_READ(base, mask)         (((*(base+4)) & (mask)) ? 1 : 0)  //PORTX + 0x10
#define DIRECT_MODE_INPUT(base, mask)   ((*(base+2)) = (mask))            //TRISXSET + 0x08
#define DIRECT_MODE_OUTPUT(base, mask)  ((*(base+1)) = (mask))            //TRISXCLR + 0x04
#define DIRECT_WRITE_LOW(base, mask)    ((*(base+8+1)) = (mask))          //LATXCLR  + 0x24
#define DIRECT_WRITE_HIGH(base, mask)   ((*(base+8+2)) = (mask))          //LATXSET + 0x28

#elif defined(ARDUINO_ARCH_ESP8266)
#define PIN_TO_BASEREG(pin) ((volatile uint32_t*) GPO)
#define PIN_TO_BITMASK(pin) (1 << pin)
#define IO_REG_TYPE uint32_t
#define IO_REG_ASM
#define DIRECT_READ(base, mask) ((GPI & (mask)) ? 1 : 0) //GPIO_IN_ADDRESS
#define DIRECT_MODE_INPUT(base, mask) (GPE &= ~(mask)) //GPIO_ENABLE_W1TC_ADDRESS
#define DIRECT_MODE_OUTPUT(base, mask) (GPE |= (mask)) //GPIO_ENABLE_W1TS_ADDRESS
#define DIRECT_WRITE_LOW(base, mask) (GPOC = (mask)) //GPIO_OUT_W1TC_ADDRESS
#define DIRECT_WRITE_HIGH(base, mask) (GPOS = (mask)) //GPIO_OUT_W1TS_ADDRESS

#elif defined(ARDUINO_ARCH_ESP32)
#include <driver/rtc_io.h>
#include <soc/gpio_struct.h>
#define PIN_TO_BASEREG(pin)             (0)
#define PIN_TO_BITMASK(pin)             (pin)
#define IO_REG_TYPE uint32_t
#define IO_REG_BASE_ATTR
#define IO_REG_MASK_ATTR

static inline __attribute__((always_inline))
IO_REG_TYPE directRead(IO_REG_TYPE pin)
{
#if CONFIG_IDF_TARGET_ESP32C3
    return (GPIO.in.val >> pin) & 0x1;
#else // plain ESP32
    if ( pin < 32 )
        return (GPIO.in >> pin) & 0x1;
    else if ( pin < 46 )
        return (GPIO.in1.val >> (pin - 32)) & 0x1;
#endif

    return 0;
}

static inline __attribute__((always_inline))
void directWriteLow(IO_REG_TYPE pin)
{
#if CONFIG_IDF_TARGET_ESP32C3
    GPIO.out_w1tc.val = ((uint32_t)1 << pin);
#else // plain ESP32
    if ( pin < 32 )
        GPIO.out_w1tc = ((uint32_t)1 << pin);
    else if ( pin < 46 )
        GPIO.out1_w1tc.val = ((uint32_t)1 << (pin - 32));
#endif
}

static inline __attribute__((always_inline))
void directWriteHigh(IO_REG_TYPE pin)
{
#if CONFIG_IDF_TARGET_ESP32C3
    GPIO.out_w1ts.val = ((uint32_t)1 << pin);
#else // plain ESP32
    if ( pin < 32 )
        GPIO.out_w1ts = ((uint32_t)1 << pin);
    else if ( pin < 46 )
        GPIO.out1_w1ts.val = ((uint32_t)1 << (pin - 32));
#endif
}

static inline __attribute__((always_inline))
void directModeInput(IO_REG_TYPE pin)
{
#if CONFIG_IDF_TARGET_ESP32C3
    GPIO.enable_w1tc.val = ((uint32_t)1 << (pin));
#else
    if ( digitalPinIsValid(pin) )
    {
#if ESP_IDF_VERSION_MAJOR < 4      // IDF 3.x ESP32/PICO-D4
        uint32_t rtc_reg(rtc_gpio_desc[pin].reg);

        if ( rtc_reg ) // RTC pins PULL settings
        {
            ESP_REG(rtc_reg) = ESP_REG(rtc_reg) & ~(rtc_gpio_desc[pin].mux);
            ESP_REG(rtc_reg) = ESP_REG(rtc_reg) & ~(rtc_gpio_desc[pin].pullup | rtc_gpio_desc[pin].pulldown);
        }
#endif
	// Input
        if ( pin < 32 )
            GPIO.enable_w1tc = ((uint32_t)1 << pin);
        else
            GPIO.enable1_w1tc.val = ((uint32_t)1 << (pin - 32));
    }
#endif
}

static inline __attribute__((always_inline))
void directModeOutput(IO_REG_TYPE pin)
{
#if CONFIG_IDF_TARGET_ESP32C3
    GPIO.enable_w1ts.val = ((uint32_t)1 << (pin));
#else
    if ( digitalPinIsValid(pin) && pin <= 33 ) // pins above 33 can be only inputs
    {
#if ESP_IDF_VERSION_MAJOR < 4      // IDF 3.x ESP32/PICO-D4
        uint32_t rtc_reg(rtc_gpio_desc[pin].reg);

        if ( rtc_reg ) // RTC pins PULL settings
        {
            ESP_REG(rtc_reg) = ESP_REG(rtc_reg) & ~(rtc_gpio_desc[pin].mux);
            ESP_REG(rtc_reg) = ESP_REG(rtc_reg) & ~(rtc_gpio_desc[pin].pullup | rtc_gpio_desc[pin].pulldown);
        }
#endif
        // Output
        if ( pin < 32 )
            GPIO.enable_w1ts = ((uint32_t)1 << pin);
        else // already validated to pins <= 33
            GPIO.enable1_w1ts.val = ((uint32_t)1 << (pin - 32));
    }
#endif
}

#define DIRECT_READ(base, pin)          directRead(pin)
#define DIRECT_WRITE_LOW(base, pin)     directWriteLow(pin)
#define DIRECT_WRITE_HIGH(base, pin)    directWriteHigh(pin)
#define DIRECT_MODE_INPUT(base, pin)    directModeInput(pin)
#define DIRECT_MODE_OUTPUT(base, pin)   directModeOutput(pin)
// https://github.com/PaulStoffregen/OneWire/pull/47
// https://github.com/stickbreaker/OneWire/commit/6eb7fc1c11a15b6ac8c60e5671cf36eb6829f82c
#ifdef  interrupts
#undef  interrupts
#endif
#ifdef  noInterrupts
#undef  noInterrupts
#endif
#define noInterrupts() {portMUX_TYPE mux = portMUX_INITIALIZER_UNLOCKED;portENTER_CRITICAL(&mux)
#define interrupts() portEXIT_CRITICAL(&mux);}
//#warning "ESP32 OneWire testing"
//#warning, code is copied from "ESP32 OneWire testing"

#elif defined(__SAMD21G18A__)
// runs extremely slow/unreliable on Arduino Zero - help wanted....
#define PIN_TO_BASEREG(pin)             portModeRegister(digitalPinToPort(pin))
#define PIN_TO_BITMASK(pin)             (digitalPinToBitMask(pin))
#define IO_REG_TYPE uint32_t
#define IO_REG_ASM
#define DIRECT_READ(base, mask)         (((*((base)+8)) & (mask)) ? 1 : 0)
#define DIRECT_MODE_INPUT(base, mask)   ((*((base)+1)) = (mask))
#define DIRECT_MODE_OUTPUT(base, mask)  ((*((base)+2)) = (mask))
#define DIRECT_WRITE_LOW(base, mask)    ((*((base)+5)) = (mask))
#define DIRECT_WRITE_HIGH(base, mask)   ((*((base)+6)) = (mask))

#elif defined(__SAMD51__)
#define PIN_TO_BASEREG(pin)             portModeRegister(digitalPinToPort(pin))
#define PIN_TO_BITMASK(pin)             (digitalPinToBitMask(pin))
#define IO_REG_TYPE uint32_t
#define IO_REG_ASM
#define DIRECT_READ(base, mask)         (((*((base)+8)) & (mask)) ? 1 : 0) // IN
#define DIRECT_MODE_INPUT(base, mask)   ((*((base)+1)) = (mask)) // DIRCLR
#define DIRECT_MODE_OUTPUT(base, mask)  ((*((base)+2)) = (mask)) // DIRSET
#define DIRECT_WRITE_LOW(base, mask)    ((*((base)+5)) = (mask)) // OUTCLR
#define DIRECT_WRITE_HIGH(base, mask)   ((*((base)+6)) = (mask)) /// OUTSET

#elif defined(ARDUINO_NRF52_ADAFRUIT) || defined(ARDUINO_ARCH_NRF52840)

/* 
Required for the Arduino Nano 33 BLE Sense to satisfy the compiler
as build.f_cpu is not defined in the boards.txt file.
The concept of F_CPU doesn't fully apply as mbed RTOS is used which uses preemption.
*/
#if defined(ARDUINO_ARCH_NRF52840) && !defined(F_CPU)
#define F_CPU 64000000L
#endif

#define PIN_TO_BASEREG(pin)             (0)
#define PIN_TO_BITMASK(pin)             digitalPinToPinName(pin)
#define IO_REG_TYPE uint32_t
#define IO_REG_ASM
#define DIRECT_READ(base, pin)          nrf_gpio_pin_read(pin)
#define DIRECT_WRITE_LOW(base, pin)     nrf_gpio_pin_clear(pin)
#define DIRECT_WRITE_HIGH(base, pin)    nrf_gpio_pin_set(pin)
#define DIRECT_MODE_INPUT(base, pin)    nrf_gpio_cfg_input(pin, NRF_GPIO_PIN_NOPULL)
#define DIRECT_MODE_OUTPUT(base, pin)   nrf_gpio_cfg_output(pin)

#elif defined(RBL_NRF51822)
#define PIN_TO_BASEREG(pin)             (0)
#define PIN_TO_BITMASK(pin)             (pin)
#define IO_REG_TYPE uint32_t
#define IO_REG_ASM
#define DIRECT_READ(base, pin)          nrf_gpio_pin_read(pin)
#define DIRECT_WRITE_LOW(base, pin)     nrf_gpio_pin_clear(pin)
#define DIRECT_WRITE_HIGH(base, pin)    nrf_gpio_pin_set(pin)
#define DIRECT_MODE_INPUT(base, pin)    nrf_gpio_cfg_input(pin, NRF_GPIO_PIN_NOPULL)
#define DIRECT_MODE_OUTPUT(base, pin)   nrf_gpio_cfg_output(pin)

#elif defined(__arc__)

#include "scss_registers.h"
#include "portable.h"
#include "avr/pgmspace.h"

#define GPIO_ID(pin)			(g_APinDescription[pin].ulGPIOId)
#define GPIO_TYPE(pin)			(g_APinDescription[pin].ulGPIOType)
#define GPIO_BASE(pin)			(g_APinDescription[pin].ulGPIOBase)
#define DIR_OFFSET_SS			0x01
#define DIR_OFFSET_SOC			0x04
#define EXT_PORT_OFFSET_SS		0x0A
#define EXT_PORT_OFFSET_SOC		0x50

/* GPIO registers base address */
#define PIN_TO_BASEREG(pin)		((volatile uint32_t *)g_APinDescription[pin].ulGPIOBase)
#define PIN_TO_BITMASK(pin)		pin
#define IO_REG_TYPE				uint32_t
#define IO_REG_ASM

static inline __attribute__((always_inline))
IO_REG_TYPE directRead(volatile IO_REG_TYPE *base, IO_REG_TYPE pin)
{
    IO_REG_TYPE ret;
    if (SS_GPIO == GPIO_TYPE(pin)) {
        ret = READ_ARC_REG(((IO_REG_TYPE)base + EXT_PORT_OFFSET_SS));
    } else {
        ret = MMIO_REG_VAL_FROM_BASE((IO_REG_TYPE)base, EXT_PORT_OFFSET_SOC);
    }
    return ((ret >> GPIO_ID(pin)) & 0x01);
}

static inline __attribute__((always_inline))
void directModeInput(volatile IO_REG_TYPE *base, IO_REG_TYPE pin)
{
    if (SS_GPIO == GPIO_TYPE(pin)) {
        WRITE_ARC_REG(READ_ARC_REG((((IO_REG_TYPE)base) + DIR_OFFSET_SS)) & ~(0x01 << GPIO_ID(pin)),
			((IO_REG_TYPE)(base) + DIR_OFFSET_SS));
    } else {
        MMIO_REG_VAL_FROM_BASE((IO_REG_TYPE)base, DIR_OFFSET_SOC) &= ~(0x01 << GPIO_ID(pin));
    }
}

static inline __attribute__((always_inline))
void directModeOutput(volatile IO_REG_TYPE *base, IO_REG_TYPE pin)
{
    if (SS_GPIO == GPIO_TYPE(pin)) {
        WRITE_ARC_REG(READ_ARC_REG(((IO_REG_TYPE)(base) + DIR_OFFSET_SS)) | (0x01 << GPIO_ID(pin)),
			((IO_REG_TYPE)(base) + DIR_OFFSET_SS));
    } else {
        MMIO_REG_VAL_FROM_BASE((IO_REG_TYPE)base, DIR_OFFSET_SOC) |= (0x01 << GPIO_ID(pin));
    }
}

static inline __attribute__((always_inline))
void directWriteLow(volatile IO_REG_TYPE *base, IO_REG_TYPE pin)
{
    if (SS_GPIO == GPIO_TYPE(pin)) {
        WRITE_ARC_REG(READ_ARC_REG(base) & ~(0x01 << GPIO_ID(pin)), base);
    } else {
        MMIO_REG_VAL(base) &= ~(0x01 << GPIO_ID(pin));
    }
}

static inline __attribute__((always_inline))
void directWriteHigh(volatile IO_REG_TYPE *base, IO_REG_TYPE pin)
{
    if (SS_GPIO == GPIO_TYPE(pin)) {
        WRITE_ARC_REG(READ_ARC_REG(base) | (0x01 << GPIO_ID(pin)), base);
    } else {
        MMIO_REG_VAL(base) |= (0x01 << GPIO_ID(pin));
    }
}

#define DIRECT_READ(base, pin)		directRead(base, pin)
#define DIRECT_MODE_INPUT(base, pin)	directModeInput(base, pin)
#define DIRECT_MODE_OUTPUT(base, pin)	directModeOutput(base, pin)
#define DIRECT_WRITE_LOW(base, pin)	directWriteLow(base, pin)
#define DIRECT_WRITE_HIGH(base, pin)	directWriteHigh(base, pin)


#elif defined(ARDUINO_ARCH_STM32)

#define PIN_TO_BASEREG(pin)             (0)
#define PIN_TO_BITMASK(pin)             (pin)
#define IO_REG_TYPE uint32_t
#define IO_REG_ASM

#define DIRECT_READ(base, pin)          digitalRead(pin)
#define DIRECT_MODE_INPUT(base, pin)    pinMode(pin,INPUT)
#define DIRECT_MODE_OUTPUT(base, pin)   pinMode(pin,OUTPUT)
#define DIRECT_WRITE_LOW(base, pin)     digitalWrite(pin, LOW)
#define DIRECT_WRITE_HIGH(base, pin)    digitalWrite(pin, HIGH)

#elif defined(ARDUINO_ARCH_APOLLO3)
#define PIN_TO_BASEREG(pin) (0)
#define PIN_TO_BITMASK(pin) (pin)
#define IO_REG_TYPE uint32_t
#define IO_REG_ASM
#define DIRECT_READ(base, mask) (am_hal_gpio_input_read(mask))
#define DIRECT_MODE_INPUT(base, mask) (am_hal_gpio_pinconfig(mask, g_AM_HAL_GPIO_INPUT))
#define DIRECT_MODE_OUTPUT(base, mask) (am_hal_gpio_pinconfig(mask, g_AM_HAL_GPIO_OUTPUT))
#define DIRECT_WRITE_LOW(base, mask) (am_hal_gpio_output_clear(mask))
#define DIRECT_WRITE_HIGH(base, mask) (am_hal_gpio_output_set(mask))

#elif defined(ARDUINO_ARCH_RTTHREAD)
#define PIN_TO_BASEREG(pin)             (0)
#define PIN_TO_BITMASK(pin)             (pin)
#define IO_REG_TYPE uint32_t
#define IO_REG_ASM
#define DIRECT_READ(base, pin)          digitalRead(pin)
#define DIRECT_MODE_INPUT(base, pin)    pinMode(pin,INPUT)
#define DIRECT_MODE_OUTPUT(base, pin)   pinMode(pin,OUTPUT)
#define DIRECT_WRITE_LOW(base, pin)     digitalWrite(pin, LOW)
#define DIRECT_WRITE_HIGH(base, pin)    digitalWrite(pin, HIGH)

#endif

// some 3.3V chips with 5V tolerant pins need this workaround
//
#if defined(__MK20DX256__)
#define FIVE_VOLT_TOLERANCE_WORKAROUND
#endif

// library interface description
class CapacitiveSensor
{
  // user-accessible "public" interface
  public:
  // methods
	CapacitiveSensor(uint8_t sendPin, uint8_t receivePin);
	long capacitiveSensorRaw(uint8_t samples);
	long capacitiveSensor(uint8_t samples);
	void set_CS_Timeout_Millis(unsigned long timeout_millis);
	void reset_CS_AutoCal();
	void set_CS_AutocaL_Millis(unsigned long autoCal_millis);
  // library-accessible "private" interface
  private:
  // variables
	int error;
	unsigned long  leastTotal;
	unsigned int   loopTimingFactor;
	unsigned long  CS_Timeout_Millis;
	unsigned long  CS_AutocaL_Millis;
	unsigned long  lastCal;
	unsigned long  total;
	IO_REG_TYPE sBit;   // send pin's ports and bitmask
	volatile IO_REG_TYPE *sReg;
	IO_REG_TYPE rBit;    // receive pin's ports and bitmask
	volatile IO_REG_TYPE *rReg;
  // methods
	int SenseOneCycle(void);
};

#endif
9

I'm sorry I can't be more helpful. This is the proper configuration that offers full compatibility with libraries, so if you still have issues I suggest looking into the library itself and its support for the ESP32-S3 platform.
Try posting in the "Using Arduino / Sensors" category. Good luck!