diff --git a/docs/library/esp32.rst b/docs/library/esp32.rst
index efdd6c1be289c..a1a87c07bd1e0 100644
--- a/docs/library/esp32.rst
+++ b/docs/library/esp32.rst
@@ -44,6 +44,23 @@ Functions
Read the raw value of the internal temperature sensor, returning an integer.
+ Only available on ESP32.
+
+.. function:: temperature()
+
+ Read the value of the internal temperature sensor in celsius, returning a float.
+
+ Available on ESP32-S2, S3 and C3.
+
+.. Note::
+ The temperature sensor is designed primarily to measure the temperature changes inside
+ the chip. The temperature value depends on factors like microcontroller clock frequency
+ or I/O load. Generally, the chip’s internal temperature might be higher than the ambient temperature.
+
+.. function:: hall_sensor()
+
+ Read the raw value of the internal Hall sensor, returning an integer.
+
.. function:: idf_heap_info(capabilities)
Returns information about the ESP-IDF heap memory regions. One of them contains
diff --git a/ports/esp32/modesp32.c b/ports/esp32/modesp32.c
index ef3ad0b76d459..56b6d2ddb020f 100644
--- a/ports/esp32/modesp32.c
+++ b/ports/esp32/modesp32.c
@@ -170,6 +170,26 @@ STATIC MP_DEFINE_CONST_FUN_OBJ_0(esp32_raw_temperature_obj, esp32_raw_temperatur
#endif
+#if CONFIG_IDF_TARGET_ESP32S2 || CONFIG_IDF_TARGET_ESP32S3 || CONFIG_IDF_TARGET_ESP32C3
+
+#include "driver/temperature_sensor.h"
+
+STATIC mp_obj_t esp32_temperature(void) {
+
+ temperature_sensor_handle_t temp_sensor = NULL;
+ temperature_sensor_config_t temp_sensor_config = TEMPERATURE_SENSOR_CONFIG_DEFAULT(0, 50);
+ temperature_sensor_install(&temp_sensor_config, &temp_sensor);
+ temperature_sensor_enable(temp_sensor);
+ float tsens_out;
+ temperature_sensor_get_celsius(temp_sensor, &tsens_out);
+ temperature_sensor_disable(temp_sensor);
+ temperature_sensor_uninstall(temp_sensor);
+
+ return mp_obj_new_float(tsens_out);
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_0(esp32_temperature_obj, esp32_temperature);
+#endif
+
STATIC mp_obj_t esp32_idf_heap_info(const mp_obj_t cap_in) {
mp_int_t cap = mp_obj_get_int(cap_in);
multi_heap_info_t info;
@@ -203,6 +223,9 @@ STATIC const mp_rom_map_elem_t esp32_module_globals_table[] = {
#if CONFIG_IDF_TARGET_ESP32
{ MP_ROM_QSTR(MP_QSTR_raw_temperature), MP_ROM_PTR(&esp32_raw_temperature_obj) },
#endif
+ #if CONFIG_IDF_TARGET_ESP32S2 || CONFIG_IDF_TARGET_ESP32S3 || CONFIG_IDF_TARGET_ESP32C3
+ { MP_ROM_QSTR(MP_QSTR_temperature), MP_ROM_PTR(&esp32_temperature_obj) },
+ #endif
{ MP_ROM_QSTR(MP_QSTR_idf_heap_info), MP_ROM_PTR(&esp32_idf_heap_info_obj) },
{ MP_ROM_QSTR(MP_QSTR_NVS), MP_ROM_PTR(&esp32_nvs_type) },
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