diff --git a/ports/esp32/machine_touchpad.c b/ports/esp32/machine_touchpad.c
index ad1f6c9474..d9f4ef3ebc 100644
--- a/ports/esp32/machine_touchpad.c
+++ b/ports/esp32/machine_touchpad.c
@@ -27,10 +27,10 @@
 #include "py/runtime.h"
 #include "py/mphal.h"
 #include "modmachine.h"
-
-#if CONFIG_IDF_TARGET_ESP32
-
 #include "driver/gpio.h"
+
+#if CONFIG_IDF_TARGET_ESP32 || CONFIG_IDF_TARGET_ESP32S2 || CONFIG_IDF_TARGET_ESP32S3
+
 #if CONFIG_IDF_TARGET_ESP32
 #include "driver/touch_pad.h"
 #elif CONFIG_IDF_TARGET_ESP32S2 || CONFIG_IDF_TARGET_ESP32S3
@@ -43,8 +43,8 @@ typedef struct _mtp_obj_t {
     touch_pad_t touchpad_id;
 } mtp_obj_t;
 
-#if CONFIG_IDF_TARGET_ESP32
 STATIC const mtp_obj_t touchpad_obj[] = {
+    #if CONFIG_IDF_TARGET_ESP32
     {{&machine_touchpad_type}, GPIO_NUM_4, TOUCH_PAD_NUM0},
     {{&machine_touchpad_type}, GPIO_NUM_0, TOUCH_PAD_NUM1},
     {{&machine_touchpad_type}, GPIO_NUM_2, TOUCH_PAD_NUM2},
@@ -55,9 +55,7 @@ STATIC const mtp_obj_t touchpad_obj[] = {
     {{&machine_touchpad_type}, GPIO_NUM_27, TOUCH_PAD_NUM7},
     {{&machine_touchpad_type}, GPIO_NUM_33, TOUCH_PAD_NUM8},
     {{&machine_touchpad_type}, GPIO_NUM_32, TOUCH_PAD_NUM9},
-};
-#elif CONFIG_IDF_TARGET_ESP32S2 || CONFIG_IDF_TARGET_ESP32S3
-STATIC const mtp_obj_t touchpad_obj[] = {
+    #elif CONFIG_IDF_TARGET_ESP32S2 || CONFIG_IDF_TARGET_ESP32S3
     {{&machine_touchpad_type}, GPIO_NUM_1, TOUCH_PAD_NUM1},
     {{&machine_touchpad_type}, GPIO_NUM_2, TOUCH_PAD_NUM2},
     {{&machine_touchpad_type}, GPIO_NUM_3, TOUCH_PAD_NUM3},
@@ -72,12 +70,11 @@ STATIC const mtp_obj_t touchpad_obj[] = {
     {{&machine_touchpad_type}, GPIO_NUM_12, TOUCH_PAD_NUM12},
     {{&machine_touchpad_type}, GPIO_NUM_13, TOUCH_PAD_NUM13},
     {{&machine_touchpad_type}, GPIO_NUM_14, TOUCH_PAD_NUM14},
+    #endif
 };
-#endif
 
 STATIC mp_obj_t mtp_make_new(const mp_obj_type_t *type, size_t n_args, size_t n_kw,
     const mp_obj_t *args) {
-
     mp_arg_check_num(n_args, n_kw, 1, 1, true);
     gpio_num_t pin_id = machine_pin_get_id(args[0]);
     const mtp_obj_t *self = NULL;
@@ -95,9 +92,16 @@ STATIC mp_obj_t mtp_make_new(const mp_obj_type_t *type, size_t n_args, size_t n_
     if (!initialized) {
         touch_pad_init();
         touch_pad_set_fsm_mode(TOUCH_FSM_MODE_TIMER);
+        #if CONFIG_IDF_TARGET_ESP32S2 || CONFIG_IDF_TARGET_ESP32S3
+        touch_pad_fsm_start();
+        #endif
         initialized = 1;
     }
+    #if CONFIG_IDF_TARGET_ESP32
     esp_err_t err = touch_pad_config(self->touchpad_id, 0);
+    #elif CONFIG_IDF_TARGET_ESP32S2 || CONFIG_IDF_TARGET_ESP32S3
+    esp_err_t err = touch_pad_config(self->touchpad_id);
+    #endif
     if (err == ESP_OK) {
         return MP_OBJ_FROM_PTR(self);
     }
@@ -106,8 +110,12 @@ STATIC mp_obj_t mtp_make_new(const mp_obj_type_t *type, size_t n_args, size_t n_
 
 STATIC mp_obj_t mtp_config(mp_obj_t self_in, mp_obj_t value_in) {
     mtp_obj_t *self = self_in;
+    #if CONFIG_IDF_TARGET_ESP32
     uint16_t value = mp_obj_get_int(value_in);
     esp_err_t err = touch_pad_config(self->touchpad_id, value);
+    #elif CONFIG_IDF_TARGET_ESP32S2 || CONFIG_IDF_TARGET_ESP32S3
+    esp_err_t err = touch_pad_config(self->touchpad_id);
+    #endif
     if (err == ESP_OK) {
         return mp_const_none;
     }
@@ -117,8 +125,13 @@ MP_DEFINE_CONST_FUN_OBJ_2(mtp_config_obj, mtp_config);
 
 STATIC mp_obj_t mtp_read(mp_obj_t self_in) {
     mtp_obj_t *self = self_in;
+    #if CONFIG_IDF_TARGET_ESP32
     uint16_t value;
     esp_err_t err = touch_pad_read(self->touchpad_id, &value);
+    #elif CONFIG_IDF_TARGET_ESP32S2 || CONFIG_IDF_TARGET_ESP32S3
+    uint32_t value;
+    esp_err_t err = touch_pad_read_raw_data(self->touchpad_id, &value);
+    #endif
     if (err == ESP_OK) {
         return MP_OBJ_NEW_SMALL_INT(value);
     }
@@ -142,4 +155,4 @@ MP_DEFINE_CONST_OBJ_TYPE(
     locals_dict, &mtp_locals_dict
     );
 
-#endif // CONFIG_IDF_TARGET_ESP32
+#endif
diff --git a/ports/esp32/modmachine.c b/ports/esp32/modmachine.c
index 624e4d3203..37d4f424d4 100644
--- a/ports/esp32/modmachine.c
+++ b/ports/esp32/modmachine.c
@@ -309,7 +309,7 @@ STATIC const mp_rom_map_elem_t machine_module_globals_table[] = {
     { MP_ROM_QSTR(MP_QSTR_DEEPSLEEP), MP_ROM_INT(MACHINE_WAKE_DEEPSLEEP) },
     { MP_ROM_QSTR(MP_QSTR_Pin), MP_ROM_PTR(&machine_pin_type) },
     { MP_ROM_QSTR(MP_QSTR_Signal), MP_ROM_PTR(&machine_signal_type) },
-    #if CONFIG_IDF_TARGET_ESP32
+    #if CONFIG_IDF_TARGET_ESP32 || CONFIG_IDF_TARGET_ESP32S2 || CONFIG_IDF_TARGET_ESP32S3
     { MP_ROM_QSTR(MP_QSTR_TouchPad), MP_ROM_PTR(&machine_touchpad_type) },
     #endif
     { MP_ROM_QSTR(MP_QSTR_ADC), MP_ROM_PTR(&machine_adc_type) },