From bdc8b9ba2d7e4bcee1f742de623a222ec2ead254 Mon Sep 17 00:00:00 2001
From: crides <zhuhaoqing@live.cn>
Date: Sun, 23 Jan 2022 14:47:23 -0600
Subject: [PATCH 01/11] add: Cirque Pinnacle trackpad driver

---
 app/drivers/sensor/CMakeLists.txt             |   3 +-
 app/drivers/sensor/Kconfig                    |   3 +-
 .../sensor/cirque_trackpad/CMakeLists.txt     |   8 +
 app/drivers/sensor/cirque_trackpad/Kconfig    |  51 ++++
 .../sensor/cirque_trackpad/cirque_trackpad.c  | 260 ++++++++++++++++++
 .../sensor/cirque_trackpad/cirque_trackpad.h  |  80 ++++++
 .../dts/bindings/sensor/cirque,pinnacle.yaml  |  27 ++
 app/include/zmk/sensors.h                     |   7 +
 8 files changed, 437 insertions(+), 2 deletions(-)
 create mode 100644 app/drivers/sensor/cirque_trackpad/CMakeLists.txt
 create mode 100644 app/drivers/sensor/cirque_trackpad/Kconfig
 create mode 100644 app/drivers/sensor/cirque_trackpad/cirque_trackpad.c
 create mode 100644 app/drivers/sensor/cirque_trackpad/cirque_trackpad.h
 create mode 100644 app/drivers/zephyr/dts/bindings/sensor/cirque,pinnacle.yaml

diff --git a/app/drivers/sensor/CMakeLists.txt b/app/drivers/sensor/CMakeLists.txt
index b549320f121..c8931edacb5 100644
--- a/app/drivers/sensor/CMakeLists.txt
+++ b/app/drivers/sensor/CMakeLists.txt
@@ -2,4 +2,5 @@
 # SPDX-License-Identifier: MIT
 
 add_subdirectory_ifdef(CONFIG_ZMK_BATTERY battery)
-add_subdirectory_ifdef(CONFIG_EC11 ec11)
\ No newline at end of file
+add_subdirectory_ifdef(CONFIG_EC11 ec11)
+add_subdirectory_ifdef(CONFIG_PINNACLE cirque_trackpad)
diff --git a/app/drivers/sensor/Kconfig b/app/drivers/sensor/Kconfig
index a828f6c63ab..01a8c49169d 100644
--- a/app/drivers/sensor/Kconfig
+++ b/app/drivers/sensor/Kconfig
@@ -2,4 +2,5 @@
 # SPDX-License-Identifier: MIT
 
 rsource "battery/Kconfig"
-rsource "ec11/Kconfig"
\ No newline at end of file
+rsource "ec11/Kconfig"
+rsource "cirque_trackpad/Kconfig"
diff --git a/app/drivers/sensor/cirque_trackpad/CMakeLists.txt b/app/drivers/sensor/cirque_trackpad/CMakeLists.txt
new file mode 100644
index 00000000000..92b6744cc53
--- /dev/null
+++ b/app/drivers/sensor/cirque_trackpad/CMakeLists.txt
@@ -0,0 +1,8 @@
+# Copyright (c) 2022 The ZMK Contributors
+# SPDX-License-Identifier: MIT
+
+zephyr_include_directories(.)
+
+zephyr_library()
+
+zephyr_library_sources(cirque_trackpad.c)
diff --git a/app/drivers/sensor/cirque_trackpad/Kconfig b/app/drivers/sensor/cirque_trackpad/Kconfig
new file mode 100644
index 00000000000..16a4792482c
--- /dev/null
+++ b/app/drivers/sensor/cirque_trackpad/Kconfig
@@ -0,0 +1,51 @@
+# Copyright (c) 2022 The ZMK Contributors
+# SPDX-License-Identifier: MIT
+
+menuconfig PINNACLE
+	bool "PINNACLE Incremental Encoder Sensor"
+	depends on GPIO
+	depends on SPI
+	help
+	  Enable driver for Cirque Pinnacle trackpads
+
+if PINNACLE
+
+choice
+	prompt "Trigger mode"
+	default PINNACLE_TRIGGER_NONE
+	help
+	  Specify the type of triggering to be used by the driver.
+
+config PINNACLE_TRIGGER_NONE
+	bool "No trigger"
+
+config PINNACLE_TRIGGER_GLOBAL_THREAD
+	bool "Use global thread"
+	depends on GPIO
+	select PINNACLE_TRIGGER
+
+config PINNACLE_TRIGGER_OWN_THREAD
+	bool "Use own thread"
+	depends on GPIO
+	select PINNACLE_TRIGGER
+
+endchoice
+
+config PINNACLE_TRIGGER
+	bool
+
+config PINNACLE_THREAD_PRIORITY
+	int "Thread priority"
+	depends on PINNACLE_TRIGGER_OWN_THREAD
+	default 10
+	help
+	  Priority of thread used by the driver to handle interrupts.
+
+config PINNACLE_THREAD_STACK_SIZE
+	int "Thread stack size"
+	depends on PINNACLE_TRIGGER_OWN_THREAD
+	default 1024
+	help
+	  Stack size of thread used by the driver to handle interrupts.
+
+endif # PINNACLE
diff --git a/app/drivers/sensor/cirque_trackpad/cirque_trackpad.c b/app/drivers/sensor/cirque_trackpad/cirque_trackpad.c
new file mode 100644
index 00000000000..779595ce4c5
--- /dev/null
+++ b/app/drivers/sensor/cirque_trackpad/cirque_trackpad.c
@@ -0,0 +1,260 @@
+#define DT_DRV_COMPAT cirque_pinnacle
+
+#include <drivers/spi.h>
+#include <init.h>
+#include <drivers/sensor.h>
+#include <zmk/sensors.h>
+#include <logging/log.h>
+
+#include "cirque_trackpad.h"
+
+LOG_MODULE_REGISTER(pinnacle, CONFIG_SENSOR_LOG_LEVEL);
+
+static int pinnacle_seq_read(const struct device *dev, const uint8_t start, uint8_t *buf, const uint8_t len) {
+    uint8_t tx_buffer[len + 3], rx_dummy[3];
+    tx_buffer[0] = PINNACLE_READ | start;
+    memset(&tx_buffer[1], PINNACLE_AUTOINC, len + 1);
+    tx_buffer[len + 2] = PINNACLE_DUMMY;
+
+    const struct spi_buf tx_buf = {
+        .buf = tx_buffer,
+        .len = len + 3,
+    };
+    const struct spi_buf_set tx = {
+        .buffers = &tx_buf,
+        .count = 1,
+    };
+	struct spi_buf rx_buf[2] = {
+		{
+			.buf = rx_dummy,
+			.len = 3,
+		},
+		{
+			.buf = buf,
+			.len = len,
+		},
+	};
+	const struct spi_buf_set rx = {
+		.buffers = rx_buf,
+		.count = 2,
+	};
+    const struct pinnacle_data *data = dev->data;
+    const struct pinnacle_config *config = dev->config;
+    return spi_transceive(data->spi, &config->spi_config, &tx, &rx);
+}
+
+static int pinnacle_write(const struct device *dev, const uint8_t addr, const uint8_t val) {
+    uint8_t tx_buffer[2] = { PINNACLE_WRITE | addr, val };
+    uint8_t rx_buffer[2];
+
+    const struct spi_buf tx_buf = {
+        .buf = tx_buffer,
+        .len = 2,
+    };
+    const struct spi_buf_set tx = {
+        .buffers = &tx_buf,
+        .count = 1,
+    };
+	const struct spi_buf rx_buf[1] = {
+		{
+			.buf = rx_buffer,
+			.len = sizeof(rx_buffer),
+		},
+	};
+	const struct spi_buf_set rx = {
+		.buffers = rx_buf,
+		.count = 1,
+	};
+    const struct pinnacle_data *data = dev->data;
+    const struct pinnacle_config *config = dev->config;
+    const int ret = spi_transceive(data->spi, &config->spi_config, &tx, &rx);
+    if (rx_buffer[1] != 0xFB) {
+        LOG_ERR("bad ret val");
+        return -EIO;
+    }
+    if (ret < 0) {
+        LOG_ERR("spi ret: %d", ret);
+    }
+    return ret;
+}
+
+static int pinnacle_channel_get(const struct device *dev, enum sensor_channel chan, struct sensor_value *val) {
+    const struct pinnacle_data *data = dev->data;
+    switch (chan) {
+    case SENSOR_CHAN_POS_DX: val->val1 = data->dx; break;
+    case SENSOR_CHAN_POS_DY: val->val1 = data->dy; break;
+    case SENSOR_CHAN_PRESS: val->val1 = data->btn; break;
+    default: return -ENOTSUP;
+    }
+    return 0;
+}
+
+static int pinnacle_attr_set(const struct device *dev, enum sensor_channel chan, enum sensor_attribute attr, const struct sensor_value *val) {
+    const struct pinnacle_config *config = dev->config;
+    if (attr == SENSOR_ATTR_PINNACLE_GE) {
+        const uint8_t ge_set = val->val1 ? 0 : PINNACLE_FEED_CFG2_DIS_GE;
+        const uint8_t taps_set = config->no_taps ? PINNACLE_FEED_CFG2_DIS_TAP : 0;
+        pinnacle_write(dev, PINNACLE_FEED_CFG2, ge_set | taps_set);
+        return 0;
+    }
+    return -ENOTSUP;
+}
+
+static int pinnacle_sample_fetch(const struct device *dev, enum sensor_channel chan) {
+    uint8_t packet[3];
+    int res = pinnacle_seq_read(dev, PINNACLE_2_2_PACKET0, packet, 3);
+    if (res < 0) {
+        LOG_ERR("res: %d", res);
+        return res;
+    }
+    struct pinnacle_data *data = dev->data;
+    data->btn = packet[0] & PINNACLE_PACKET0_BTN_PRIM;
+    data->dx = (int16_t) (int8_t) packet[1];
+    data->dy = (int16_t) (int8_t) packet[2];
+    return 0;
+}
+
+#ifdef CONFIG_PINNACLE_TRIGGER
+static void set_int(const struct device *dev, const bool en) {
+    const struct pinnacle_config *config = dev->config;
+    int ret = gpio_pin_interrupt_configure(config->dr_port, config->dr_pin, en ? GPIO_INT_LEVEL_ACTIVE : GPIO_INT_DISABLE);
+    if (ret < 0) {
+        LOG_ERR("can't set interrupt");
+    }
+}
+    
+static int pinnacle_trigger_set(const struct device *dev, const struct sensor_trigger *trig, sensor_trigger_handler_t handler) {
+    struct pinnacle_data *data = dev->data;
+
+    set_int(dev, false);
+    if (trig->type != SENSOR_TRIG_DATA_READY) {
+        return -ENOTSUP;
+    }
+    data->data_ready_trigger = trig;
+    data->data_ready_handler = handler;
+    set_int(dev, true);
+    return 0;
+}
+
+static void pinnacle_int_cb(const struct device *dev) {
+    struct pinnacle_data *data = dev->data;
+    data->data_ready_handler(dev, data->data_ready_trigger);
+    set_int(dev, true);
+}
+
+#ifdef CONFIG_PINNACLE_TRIGGER_OWN_THREAD
+static void pinnacle_thread(void *arg) {
+    const struct device *dev = arg;
+    struct pinnacle_data *data = dev->data;
+
+    while (1) {
+        k_sem_take(&data->gpio_sem, K_FOREVER);
+        pinnacle_int_cb(dev);
+        pinnacle_write(dev, PINNACLE_STATUS1, 0);   // Clear SW_DR
+    }
+}
+#elif defined(CONFIG_PINNACLE_TRIGGER_GLOBAL_THREAD)
+static void pinnacle_work_cb(struct k_work *work) {
+    struct pinnacle_data *data = CONTAINER_OF(work, struct pinnacle_data, work);
+    pinnacle_int_cb(data->dev);
+    pinnacle_write(dev, PINNACLE_STATUS1, 0);   // Clear SW_DR
+}
+#endif
+
+static void pinnacle_gpio_cb(const struct device *port, struct gpio_callback *cb, uint32_t pins) {
+    struct pinnacle_data *data = CONTAINER_OF(cb, struct pinnacle_data, gpio_cb);
+    const struct device *dev = data->dev;
+#if defined(CONFIG_PINNACLE_TRIGGER_OWN_THREAD)
+    k_sem_give(&data->gpio_sem);
+#elif defined(CONFIG_PINNACLE_TRIGGER_GLOBAL_THREAD)
+    k_work_submit(&data->work);
+#endif
+}
+#endif
+
+#define SPI_BUS DT_BUS(DT_DRV_INST(0))
+#define SPI_REG DT_REG_ADDR(DT_DRV_INST(0))
+
+static int pinnacle_init(const struct device *dev) {
+    struct pinnacle_data *data = dev->data;
+    const struct pinnacle_config *config = dev->config;
+    data->spi = DEVICE_DT_GET(SPI_BUS);
+
+    pinnacle_write(dev, PINNACLE_STATUS1, 0);   // Clear CC
+    pinnacle_write(dev, PINNACLE_Z_IDLE, 0);    // No Z-Idle packets
+    if (config->sleep_en) {
+        pinnacle_write(dev, PINNACLE_SYS_CFG, PINNACLE_SYS_CFG_EN_SLEEP);
+    }
+    if (config->no_taps) {
+        pinnacle_write(dev, PINNACLE_FEED_CFG2, PINNACLE_FEED_CFG2_DIS_TAP);
+    }
+    uint8_t feed_cfg1 = PINNACLE_FEED_CFG1_EN_FEED;
+    if (config->invert_x) {
+        feed_cfg1 |= PINNACLE_FEED_CFG1_INV_X;
+    }
+    if (config->invert_y) {
+        feed_cfg1 |= PINNACLE_FEED_CFG1_INV_Y;
+    }
+    if (feed_cfg1) {
+        pinnacle_write(dev, PINNACLE_FEED_CFG1, feed_cfg1);
+    }
+
+#ifdef CONFIG_PINNACLE_TRIGGER
+    data->dev = dev;
+    gpio_pin_configure(config->dr_port, config->dr_pin, GPIO_INPUT | config->dr_flags);
+    gpio_init_callback(&data->gpio_cb, pinnacle_gpio_cb, BIT(config->dr_pin));
+    int ret = gpio_add_callback(config->dr_port, &data->gpio_cb);
+    if (ret < 0) {
+        LOG_ERR("Failed to set DR callback: %d", ret);
+        return -EIO;
+    }
+
+#if defined(CONFIG_PINNACLE_TRIGGER_OWN_THREAD)
+    k_sem_init(&data->gpio_sem, 0, UINT_MAX);
+
+    k_thread_create(&data->thread, data->thread_stack, CONFIG_PINNACLE_THREAD_STACK_SIZE,
+                    (k_thread_entry_t) pinnacle_thread, (void *) dev, 0, NULL,
+                    K_PRIO_COOP(CONFIG_PINNACLE_THREAD_PRIORITY), 0, K_NO_WAIT);
+#elif defined(CONFIG_PINNACLE_TRIGGER_GLOBAL_THREAD)
+    k_work_init(&data->work, pinnacle_work_cb);
+#endif
+    pinnacle_write(dev, PINNACLE_FEED_CFG1, feed_cfg1);
+#endif
+    return 0;
+}
+
+static const struct sensor_driver_api pinnacle_driver_api = {
+#if CONFIG_PINNACLE_TRIGGER
+	.trigger_set = pinnacle_trigger_set,
+#endif
+	.sample_fetch = pinnacle_sample_fetch,
+	.channel_get = pinnacle_channel_get,
+    .attr_set = pinnacle_attr_set,
+};
+
+static struct pinnacle_data pinnacle_data;
+static const struct pinnacle_config pinnacle_config = {
+    .spi_cs = {
+        .gpio_dev = DEVICE_DT_GET(DT_GPIO_CTLR_BY_IDX(SPI_BUS, cs_gpios, SPI_REG)),
+        .gpio_pin = DT_GPIO_PIN_BY_IDX(SPI_BUS, cs_gpios, SPI_REG),
+        .delay = 0,
+        .gpio_dt_flags = DT_GPIO_FLAGS_BY_IDX(SPI_BUS, cs_gpios, SPI_REG),
+    },
+    .spi_config = {
+        .cs = &pinnacle_config.spi_cs,
+        .frequency = DT_INST_PROP(0, spi_max_frequency),
+        .slave = DT_INST_REG_ADDR(0),
+        .operation = (SPI_OP_MODE_MASTER | SPI_WORD_SET(8) | SPI_LINES_SINGLE | SPI_TRANSFER_MSB),
+    },
+    .invert_x = DT_INST_PROP(0, invert_x),
+    .invert_y = DT_INST_PROP(0, invert_y),
+    .sleep_en = DT_INST_PROP(0, sleep),
+    .no_taps = DT_INST_PROP(0, no_taps),
+#ifdef CONFIG_PINNACLE_TRIGGER
+    .dr_port = DEVICE_DT_GET(DT_GPIO_CTLR(DT_DRV_INST(0), dr_gpios)),
+    .dr_pin = DT_INST_GPIO_PIN(0, dr_gpios),
+    .dr_flags = DT_INST_GPIO_FLAGS(0, dr_gpios),
+#endif
+};
+
+DEVICE_DT_INST_DEFINE(0, pinnacle_init, device_pm_control_nop, &pinnacle_data, &pinnacle_config, POST_KERNEL, CONFIG_SENSOR_INIT_PRIORITY, &pinnacle_driver_api);
diff --git a/app/drivers/sensor/cirque_trackpad/cirque_trackpad.h b/app/drivers/sensor/cirque_trackpad/cirque_trackpad.h
new file mode 100644
index 00000000000..95c01a01ce1
--- /dev/null
+++ b/app/drivers/sensor/cirque_trackpad/cirque_trackpad.h
@@ -0,0 +1,80 @@
+#pragma once
+
+#include <device.h>
+
+#define PINNACLE_READ       0xA0
+#define PINNACLE_WRITE      0x80
+
+#define PINNACLE_AUTOINC    0xFC
+#define PINNACLE_DUMMY      0xFB
+
+// Registers
+#define PINNACLE_FW_ID              0x00 // ASIC ID.
+#define PINNACLE_FW_VER             0x01 // Firmware Version Firmware revision number.
+#define PINNACLE_STATUS1            0x02 // Contains status flags about the state of Pinnacle.
+#define PINNACLE_SYS_CFG            0x03 // Contains system operation and configuration bits.
+#define PINNACLE_SYS_CFG_EN_SLEEP   BIT(2)
+#define PINNACLE_SYS_CFG_SHUTDOWN   BIT(1)
+#define PINNACLE_SYS_CFG_RESET      BIT(0)
+
+#define PINNACLE_FEED_CFG1          0x04 // Contains feed operation and configuration bits.
+#define PINNACLE_FEED_CFG1_EN_FEED  BIT(0)
+#define PINNACLE_FEED_CFG1_ABS_MODE BIT(1)
+#define PINNACLE_FEED_CFG1_DIS_FILT BIT(2)
+#define PINNACLE_FEED_CFG1_DIS_X    BIT(3)
+#define PINNACLE_FEED_CFG1_DIS_Y    BIT(4)
+#define PINNACLE_FEED_CFG1_INV_X    BIT(6)
+#define PINNACLE_FEED_CFG1_INV_Y    BIT(7)
+#define PINNACLE_FEED_CFG2          0x05 // Contains feed operation and configuration bits.
+#define PINNACLE_FEED_CFG2_EN_IM    BIT(0)  // Intellimouse
+#define PINNACLE_FEED_CFG2_DIS_TAP  BIT(1)  // Disable all taps
+#define PINNACLE_FEED_CFG2_DIS_SEC  BIT(2)  // Disable secondary tap
+#define PINNACLE_FEED_CFG2_DIS_SCRL BIT(3)  // Disable scroll
+#define PINNACLE_FEED_CFG2_DIS_GE   BIT(4)  // Disable GlideExtend
+#define PINNACLE_FEED_CFG2_SWAP_XY  BIT(7)  // Swap X & Y
+#define PINNACLE_CAL_CFG            0x07 // Contains calibration configuration bits.
+#define PINNACLE_PS2_AUX            0x08 // Contains Data register for PS/2 Aux Control.
+#define PINNACLE_SAMPLE             0x09 // Sample Rate Number of samples generated per second.
+#define PINNACLE_Z_IDLE             0x0A // Number of Z=0 packets sent when Z goes from >0 to 0.
+#define PINNACLE_Z_SCALER           0x0B // Contains the pen Z_On threshold.
+#define PINNACLE_SLEEP_INTERVAL     0x0C // Sleep Interval
+#define PINNACLE_SLEEP_TIMER        0x0D // Sleep Timer
+#define PINNACLE_AG_PACKET0         0x10 // trackpad Data (Pinnacle AG)
+#define PINNACLE_2_2_PACKET0        0x12 // trackpad Data
+#define PINNACLE_REG_COUNT          0x18
+
+#define PINNACLE_PACKET0_BTN_PRIM   BIT(0)  // Primary button
+#define PINNACLE_PACKET0_BTN_SEC    BIT(1)  // Secondary button
+#define PINNACLE_PACKET0_BTN_AUX    BIT(2)  // Auxiliary (middle?) button
+#define PINNACLE_PACKET0_X_SIGN     BIT(4)  // X delta sign
+#define PINNACLE_PACKET0_Y_SIGN     BIT(5)  // Y delta sign
+
+struct pinnacle_data {
+    const struct device *spi;
+    int16_t dx, dy;
+    int8_t wheel;
+    uint8_t btn;
+#ifdef CONFIG_PINNACLE_TRIGGER
+    const struct device *dev;
+    const struct sensor_trigger *data_ready_trigger;
+	struct gpio_callback gpio_cb;
+    sensor_trigger_handler_t data_ready_handler;
+#if defined(CONFIG_PINNACLE_TRIGGER_OWN_THREAD)
+    K_THREAD_STACK_MEMBER(thread_stack, CONFIG_PINNACLE_THREAD_STACK_SIZE);
+    struct k_sem gpio_sem;
+    struct k_thread thread;
+#elif defined(CONFIG_PINNACLE_TRIGGER_GLOBAL_THREAD)
+    struct k_work work;
+#endif
+#endif
+};
+
+struct pinnacle_config {
+	struct spi_cs_control spi_cs;
+	struct spi_config spi_config;
+    bool invert_x, invert_y, sleep_en, no_taps;
+#ifdef CONFIG_PINNACLE_TRIGGER
+    const struct device *dr_port;
+    uint8_t dr_pin, dr_flags;
+#endif
+};
diff --git a/app/drivers/zephyr/dts/bindings/sensor/cirque,pinnacle.yaml b/app/drivers/zephyr/dts/bindings/sensor/cirque,pinnacle.yaml
new file mode 100644
index 00000000000..fa7e561d07f
--- /dev/null
+++ b/app/drivers/zephyr/dts/bindings/sensor/cirque,pinnacle.yaml
@@ -0,0 +1,27 @@
+description: |
+  Sensor driver for the Cirque Pinnacle trackpad ASICs
+
+compatible: "cirque,pinnacle"
+
+include: base.yaml
+
+on-bus: spi
+
+properties:
+  spi-max-frequency:
+    type: int
+    required: true
+    description: |
+      Maximum SPI clock speed supported by the device, in Hz.
+  dr-gpios:
+    type: phandle-array
+    required: true
+    description: Data ready pin for the trackpad
+  invert-x:
+    type: boolean
+  invert-y:
+    type: boolean
+  sleep:
+    type: boolean
+  no-taps:
+    type: boolean
diff --git a/app/include/zmk/sensors.h b/app/include/zmk/sensors.h
index 8c6c28b3848..09fbd5f69bc 100644
--- a/app/include/zmk/sensors.h
+++ b/app/include/zmk/sensors.h
@@ -10,3 +10,10 @@
 #define ZMK_KEYMAP_HAS_SENSORS DT_NODE_HAS_STATUS(ZMK_KEYMAP_SENSORS_NODE, okay)
 #define ZMK_KEYMAP_SENSORS_LEN DT_PROP_LEN(ZMK_KEYMAP_SENSORS_NODE, sensors)
 #define ZMK_KEYMAP_SENSORS_BY_IDX(idx) DT_PHANDLE_BY_IDX(ZMK_KEYMAP_SENSORS_NODE, sensors, idx)
+
+#include <drivers/sensor.h>
+
+enum {
+    // Cirque Pinnacle Glide Extend
+    SENSOR_ATTR_PINNACLE_GE = SENSOR_ATTR_PRIV_START,
+};

From 2e0050fa8f9b7c2b2a26a8001e39135246b92678 Mon Sep 17 00:00:00 2001
From: crides <zhuhaoqing@live.cn>
Date: Sun, 12 Jun 2022 22:12:08 -0500
Subject: [PATCH 02/11] fix dts binding include

---
 app/drivers/zephyr/dts/bindings/sensor/cirque,pinnacle.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/app/drivers/zephyr/dts/bindings/sensor/cirque,pinnacle.yaml b/app/drivers/zephyr/dts/bindings/sensor/cirque,pinnacle.yaml
index fa7e561d07f..62a8c5ab15f 100644
--- a/app/drivers/zephyr/dts/bindings/sensor/cirque,pinnacle.yaml
+++ b/app/drivers/zephyr/dts/bindings/sensor/cirque,pinnacle.yaml
@@ -3,7 +3,7 @@ description: |
 
 compatible: "cirque,pinnacle"
 
-include: base.yaml
+include: spi-device.yaml
 
 on-bus: spi
 

From 56a1d796af52aeca61200715eeeab000c9c9504e Mon Sep 17 00:00:00 2001
From: crides <zhuhaoqing@live.cn>
Date: Fri, 25 Nov 2022 17:24:58 -0600
Subject: [PATCH 03/11] Add I2C driver

---
 .../sensor/cirque_trackpad/cirque_trackpad.c  | 54 +++++++++----------
 .../sensor/cirque_trackpad/cirque_trackpad.h  | 13 +++--
 .../sensor/cirque,pinnacle-common.yaml        | 12 +++++
 .../bindings/sensor/cirque,pinnacle-i2c.yaml  |  6 +++
 .../bindings/sensor/cirque,pinnacle-spi.yaml  |  6 +++
 .../dts/bindings/sensor/cirque,pinnacle.yaml  | 27 ----------
 6 files changed, 57 insertions(+), 61 deletions(-)
 create mode 100644 app/drivers/zephyr/dts/bindings/sensor/cirque,pinnacle-common.yaml
 create mode 100644 app/drivers/zephyr/dts/bindings/sensor/cirque,pinnacle-i2c.yaml
 create mode 100644 app/drivers/zephyr/dts/bindings/sensor/cirque,pinnacle-spi.yaml
 delete mode 100644 app/drivers/zephyr/dts/bindings/sensor/cirque,pinnacle.yaml

diff --git a/app/drivers/sensor/cirque_trackpad/cirque_trackpad.c b/app/drivers/sensor/cirque_trackpad/cirque_trackpad.c
index 779595ce4c5..975811e67f6 100644
--- a/app/drivers/sensor/cirque_trackpad/cirque_trackpad.c
+++ b/app/drivers/sensor/cirque_trackpad/cirque_trackpad.c
@@ -1,6 +1,5 @@
 #define DT_DRV_COMPAT cirque_pinnacle
 
-#include <drivers/spi.h>
 #include <init.h>
 #include <drivers/sensor.h>
 #include <zmk/sensors.h>
@@ -10,9 +9,11 @@
 
 LOG_MODULE_REGISTER(pinnacle, CONFIG_SENSOR_LOG_LEVEL);
 
-static int pinnacle_seq_read(const struct device *dev, const uint8_t start, uint8_t *buf, const uint8_t len) {
+static int pinnacle_seq_read(const struct device *dev, const uint8_t addr, uint8_t *buf, const uint8_t len) {
+    const struct pinnacle_config *config = dev->config;
+#if DT_INST_ON_BUS(0, spi)
     uint8_t tx_buffer[len + 3], rx_dummy[3];
-    tx_buffer[0] = PINNACLE_READ | start;
+    tx_buffer[0] = PINNACLE_READ | addr;
     memset(&tx_buffer[1], PINNACLE_AUTOINC, len + 1);
     tx_buffer[len + 2] = PINNACLE_DUMMY;
 
@@ -38,12 +39,15 @@ static int pinnacle_seq_read(const struct device *dev, const uint8_t start, uint
 		.buffers = rx_buf,
 		.count = 2,
 	};
-    const struct pinnacle_data *data = dev->data;
-    const struct pinnacle_config *config = dev->config;
-    return spi_transceive(data->spi, &config->spi_config, &tx, &rx);
+    return spi_transceive_dt(&config->bus, &tx, &rx);
+#elif DT_INST_ON_BUS(0, i2c)
+    return i2c_burst_read_dt(&config->bus, PINNACLE_READ | addr, buf, len);
+#endif
 }
 
 static int pinnacle_write(const struct device *dev, const uint8_t addr, const uint8_t val) {
+    const struct pinnacle_config *config = dev->config;
+#if DT_INST_ON_BUS(0, spi)
     uint8_t tx_buffer[2] = { PINNACLE_WRITE | addr, val };
     uint8_t rx_buffer[2];
 
@@ -65,9 +69,7 @@ static int pinnacle_write(const struct device *dev, const uint8_t addr, const ui
 		.buffers = rx_buf,
 		.count = 1,
 	};
-    const struct pinnacle_data *data = dev->data;
-    const struct pinnacle_config *config = dev->config;
-    const int ret = spi_transceive(data->spi, &config->spi_config, &tx, &rx);
+    const int ret = spi_transceive_dt(&config->bus, &tx, &rx);
     if (rx_buffer[1] != 0xFB) {
         LOG_ERR("bad ret val");
         return -EIO;
@@ -76,6 +78,9 @@ static int pinnacle_write(const struct device *dev, const uint8_t addr, const ui
         LOG_ERR("spi ret: %d", ret);
     }
     return ret;
+#elif DT_INST_ON_BUS(0, i2c)
+    return i2c_reg_write_byte_dt(&config->bus, PINNACLE_WRITE | addr, val);
+#endif
 }
 
 static int pinnacle_channel_get(const struct device *dev, enum sensor_channel chan, struct sensor_value *val) {
@@ -117,7 +122,7 @@ static int pinnacle_sample_fetch(const struct device *dev, enum sensor_channel c
 #ifdef CONFIG_PINNACLE_TRIGGER
 static void set_int(const struct device *dev, const bool en) {
     const struct pinnacle_config *config = dev->config;
-    int ret = gpio_pin_interrupt_configure(config->dr_port, config->dr_pin, en ? GPIO_INT_LEVEL_ACTIVE : GPIO_INT_DISABLE);
+    int ret = gpio_pin_interrupt_configure_dt(&config->dr, en ? GPIO_INT_LEVEL_ACTIVE : GPIO_INT_DISABLE);
     if (ret < 0) {
         LOG_ERR("can't set interrupt");
     }
@@ -178,7 +183,6 @@ static void pinnacle_gpio_cb(const struct device *port, struct gpio_callback *cb
 static int pinnacle_init(const struct device *dev) {
     struct pinnacle_data *data = dev->data;
     const struct pinnacle_config *config = dev->config;
-    data->spi = DEVICE_DT_GET(SPI_BUS);
 
     pinnacle_write(dev, PINNACLE_STATUS1, 0);   // Clear CC
     pinnacle_write(dev, PINNACLE_Z_IDLE, 0);    // No Z-Idle packets
@@ -201,9 +205,9 @@ static int pinnacle_init(const struct device *dev) {
 
 #ifdef CONFIG_PINNACLE_TRIGGER
     data->dev = dev;
-    gpio_pin_configure(config->dr_port, config->dr_pin, GPIO_INPUT | config->dr_flags);
-    gpio_init_callback(&data->gpio_cb, pinnacle_gpio_cb, BIT(config->dr_pin));
-    int ret = gpio_add_callback(config->dr_port, &data->gpio_cb);
+    gpio_pin_configure_dt(&config->dr, GPIO_INPUT);
+    gpio_init_callback(&data->gpio_cb, pinnacle_gpio_cb, BIT(config->dr.pin));
+    int ret = gpio_add_callback(config->dr.port, &data->gpio_cb);
     if (ret < 0) {
         LOG_ERR("Failed to set DR callback: %d", ret);
         return -EIO;
@@ -220,6 +224,7 @@ static int pinnacle_init(const struct device *dev) {
 #endif
     pinnacle_write(dev, PINNACLE_FEED_CFG1, feed_cfg1);
 #endif
+    LOG_WRN("inited");
     return 0;
 }
 
@@ -234,26 +239,17 @@ static const struct sensor_driver_api pinnacle_driver_api = {
 
 static struct pinnacle_data pinnacle_data;
 static const struct pinnacle_config pinnacle_config = {
-    .spi_cs = {
-        .gpio_dev = DEVICE_DT_GET(DT_GPIO_CTLR_BY_IDX(SPI_BUS, cs_gpios, SPI_REG)),
-        .gpio_pin = DT_GPIO_PIN_BY_IDX(SPI_BUS, cs_gpios, SPI_REG),
-        .delay = 0,
-        .gpio_dt_flags = DT_GPIO_FLAGS_BY_IDX(SPI_BUS, cs_gpios, SPI_REG),
-    },
-    .spi_config = {
-        .cs = &pinnacle_config.spi_cs,
-        .frequency = DT_INST_PROP(0, spi_max_frequency),
-        .slave = DT_INST_REG_ADDR(0),
-        .operation = (SPI_OP_MODE_MASTER | SPI_WORD_SET(8) | SPI_LINES_SINGLE | SPI_TRANSFER_MSB),
-    },
+#if DT_INST_ON_BUS(0, i2c)
+	.bus = I2C_DT_SPEC_INST_GET(0),
+#elif DT_INST_ON_BUS(0, spi)
+	.bus = SPI_DT_SPEC_INST_GET(0, SPI_OP_MODE_MASTER | SPI_WORD_SET(8) | SPI_LINES_SINGLE | SPI_TRANSFER_MSB, 0),
+#endif
     .invert_x = DT_INST_PROP(0, invert_x),
     .invert_y = DT_INST_PROP(0, invert_y),
     .sleep_en = DT_INST_PROP(0, sleep),
     .no_taps = DT_INST_PROP(0, no_taps),
 #ifdef CONFIG_PINNACLE_TRIGGER
-    .dr_port = DEVICE_DT_GET(DT_GPIO_CTLR(DT_DRV_INST(0), dr_gpios)),
-    .dr_pin = DT_INST_GPIO_PIN(0, dr_gpios),
-    .dr_flags = DT_INST_GPIO_FLAGS(0, dr_gpios),
+    .dr = GPIO_DT_SPEC_GET(DT_DRV_INST(0), dr_gpios),
 #endif
 };
 
diff --git a/app/drivers/sensor/cirque_trackpad/cirque_trackpad.h b/app/drivers/sensor/cirque_trackpad/cirque_trackpad.h
index 95c01a01ce1..c0569fb240c 100644
--- a/app/drivers/sensor/cirque_trackpad/cirque_trackpad.h
+++ b/app/drivers/sensor/cirque_trackpad/cirque_trackpad.h
@@ -1,6 +1,8 @@
 #pragma once
 
 #include <device.h>
+#include <drivers/spi.h>
+#include <drivers/i2c.h>
 
 #define PINNACLE_READ       0xA0
 #define PINNACLE_WRITE      0x80
@@ -50,7 +52,6 @@
 #define PINNACLE_PACKET0_Y_SIGN     BIT(5)  // Y delta sign
 
 struct pinnacle_data {
-    const struct device *spi;
     int16_t dx, dy;
     int8_t wheel;
     uint8_t btn;
@@ -70,11 +71,13 @@ struct pinnacle_data {
 };
 
 struct pinnacle_config {
-	struct spi_cs_control spi_cs;
-	struct spi_config spi_config;
+#if DT_INST_ON_BUS(0, i2c)
+	const struct i2c_dt_spec bus;
+#elif DT_INST_ON_BUS(0, spi)
+	const struct spi_dt_spec bus;
+#endif
     bool invert_x, invert_y, sleep_en, no_taps;
 #ifdef CONFIG_PINNACLE_TRIGGER
-    const struct device *dr_port;
-    uint8_t dr_pin, dr_flags;
+    const struct gpio_dt_spec dr;
 #endif
 };
diff --git a/app/drivers/zephyr/dts/bindings/sensor/cirque,pinnacle-common.yaml b/app/drivers/zephyr/dts/bindings/sensor/cirque,pinnacle-common.yaml
new file mode 100644
index 00000000000..b38645886d6
--- /dev/null
+++ b/app/drivers/zephyr/dts/bindings/sensor/cirque,pinnacle-common.yaml
@@ -0,0 +1,12 @@
+properties:
+  dr-gpios:
+    type: phandle-array
+    description: Data ready pin for the trackpad
+  invert-x:
+    type: boolean
+  invert-y:
+    type: boolean
+  sleep:
+    type: boolean
+  no-taps:
+    type: boolean
diff --git a/app/drivers/zephyr/dts/bindings/sensor/cirque,pinnacle-i2c.yaml b/app/drivers/zephyr/dts/bindings/sensor/cirque,pinnacle-i2c.yaml
new file mode 100644
index 00000000000..da2603a73b0
--- /dev/null
+++ b/app/drivers/zephyr/dts/bindings/sensor/cirque,pinnacle-i2c.yaml
@@ -0,0 +1,6 @@
+description: |
+  Sensor driver for the Cirque Pinnacle trackpad ASICs, using the I2C interface
+
+compatible: "cirque,pinnacle"
+
+include: ["i2c-device.yaml", "cirque,pinnacle-common.yaml"]
diff --git a/app/drivers/zephyr/dts/bindings/sensor/cirque,pinnacle-spi.yaml b/app/drivers/zephyr/dts/bindings/sensor/cirque,pinnacle-spi.yaml
new file mode 100644
index 00000000000..0bd70ee15d4
--- /dev/null
+++ b/app/drivers/zephyr/dts/bindings/sensor/cirque,pinnacle-spi.yaml
@@ -0,0 +1,6 @@
+description: |
+  Sensor driver for the Cirque Pinnacle trackpad ASICs, using the SPI interface
+
+compatible: "cirque,pinnacle"
+
+include: ["spi-device.yaml", "cirque,pinnacle-common.yaml"]
diff --git a/app/drivers/zephyr/dts/bindings/sensor/cirque,pinnacle.yaml b/app/drivers/zephyr/dts/bindings/sensor/cirque,pinnacle.yaml
deleted file mode 100644
index 62a8c5ab15f..00000000000
--- a/app/drivers/zephyr/dts/bindings/sensor/cirque,pinnacle.yaml
+++ /dev/null
@@ -1,27 +0,0 @@
-description: |
-  Sensor driver for the Cirque Pinnacle trackpad ASICs
-
-compatible: "cirque,pinnacle"
-
-include: spi-device.yaml
-
-on-bus: spi
-
-properties:
-  spi-max-frequency:
-    type: int
-    required: true
-    description: |
-      Maximum SPI clock speed supported by the device, in Hz.
-  dr-gpios:
-    type: phandle-array
-    required: true
-    description: Data ready pin for the trackpad
-  invert-x:
-    type: boolean
-  invert-y:
-    type: boolean
-  sleep:
-    type: boolean
-  no-taps:
-    type: boolean

From e72d668648857cc383a560bd6451c16bc06af6fc Mon Sep 17 00:00:00 2001
From: crides <zhuhaoqing@live.cn>
Date: Fri, 25 Nov 2022 23:37:29 -0600
Subject: [PATCH 04/11] fix dep, multi insts

---
 app/drivers/sensor/cirque_trackpad/Kconfig    |  2 +-
 .../sensor/cirque_trackpad/cirque_trackpad.c  | 30 ++++++++-----------
 2 files changed, 14 insertions(+), 18 deletions(-)

diff --git a/app/drivers/sensor/cirque_trackpad/Kconfig b/app/drivers/sensor/cirque_trackpad/Kconfig
index 16a4792482c..908f812dc25 100644
--- a/app/drivers/sensor/cirque_trackpad/Kconfig
+++ b/app/drivers/sensor/cirque_trackpad/Kconfig
@@ -4,7 +4,7 @@
 menuconfig PINNACLE
 	bool "PINNACLE Incremental Encoder Sensor"
 	depends on GPIO
-	depends on SPI
+	depends on SPI || I2C
 	help
 	  Enable driver for Cirque Pinnacle trackpads
 
diff --git a/app/drivers/sensor/cirque_trackpad/cirque_trackpad.c b/app/drivers/sensor/cirque_trackpad/cirque_trackpad.c
index 975811e67f6..9332dc2411d 100644
--- a/app/drivers/sensor/cirque_trackpad/cirque_trackpad.c
+++ b/app/drivers/sensor/cirque_trackpad/cirque_trackpad.c
@@ -237,20 +237,16 @@ static const struct sensor_driver_api pinnacle_driver_api = {
     .attr_set = pinnacle_attr_set,
 };
 
-static struct pinnacle_data pinnacle_data;
-static const struct pinnacle_config pinnacle_config = {
-#if DT_INST_ON_BUS(0, i2c)
-	.bus = I2C_DT_SPEC_INST_GET(0),
-#elif DT_INST_ON_BUS(0, spi)
-	.bus = SPI_DT_SPEC_INST_GET(0, SPI_OP_MODE_MASTER | SPI_WORD_SET(8) | SPI_LINES_SINGLE | SPI_TRANSFER_MSB, 0),
-#endif
-    .invert_x = DT_INST_PROP(0, invert_x),
-    .invert_y = DT_INST_PROP(0, invert_y),
-    .sleep_en = DT_INST_PROP(0, sleep),
-    .no_taps = DT_INST_PROP(0, no_taps),
-#ifdef CONFIG_PINNACLE_TRIGGER
-    .dr = GPIO_DT_SPEC_GET(DT_DRV_INST(0), dr_gpios),
-#endif
-};
-
-DEVICE_DT_INST_DEFINE(0, pinnacle_init, device_pm_control_nop, &pinnacle_data, &pinnacle_config, POST_KERNEL, CONFIG_SENSOR_INIT_PRIORITY, &pinnacle_driver_api);
+#define CIRQUE_INST(n) \
+    static struct pinnacle_data pinnacle_data_##n; \
+    static const struct pinnacle_config pinnacle_config_##n = { \
+        .bus = COND_CODE_1(DT_INST_ON_BUS(0, i2c), I2C_DT_SPEC_INST_GET(0), (SPI_DT_SPEC_INST_GET(0, SPI_OP_MODE_MASTER | SPI_WORD_SET(8) | SPI_LINES_SINGLE | SPI_TRANSFER_MSB, 0))), \
+        .invert_x = DT_INST_PROP(0, invert_x), \
+        .invert_y = DT_INST_PROP(0, invert_y), \
+        .sleep_en = DT_INST_PROP(0, sleep), \
+        .no_taps = DT_INST_PROP(0, no_taps), \
+        COND_CODE_1(CONFIG_PINNACLE_TRIGGER, (.dr = GPIO_DT_SPEC_GET(DT_DRV_INST(0), dr_gpios),), ) \
+    }; \
+    DEVICE_DT_INST_DEFINE(n, pinnacle_init, device_pm_control_nop, &pinnacle_data_##n, &pinnacle_config_##n, POST_KERNEL, CONFIG_SENSOR_INIT_PRIORITY, &pinnacle_driver_api);
+
+DT_INST_FOREACH_STATUS_OKAY(CIRQUE_INST)

From ecf60a316c396c97fe1f93b11351eb62cef3d309 Mon Sep 17 00:00:00 2001
From: crides <zhuhaoqing@live.cn>
Date: Sun, 27 Nov 2022 19:53:02 -0600
Subject: [PATCH 05/11] Remove attr set

---
 .../sensor/cirque_trackpad/cirque_trackpad.c      | 15 +--------------
 app/include/zmk/sensors.h                         |  7 -------
 2 files changed, 1 insertion(+), 21 deletions(-)

diff --git a/app/drivers/sensor/cirque_trackpad/cirque_trackpad.c b/app/drivers/sensor/cirque_trackpad/cirque_trackpad.c
index 9332dc2411d..44ed81fa5eb 100644
--- a/app/drivers/sensor/cirque_trackpad/cirque_trackpad.c
+++ b/app/drivers/sensor/cirque_trackpad/cirque_trackpad.c
@@ -2,7 +2,6 @@
 
 #include <init.h>
 #include <drivers/sensor.h>
-#include <zmk/sensors.h>
 #include <logging/log.h>
 
 #include "cirque_trackpad.h"
@@ -94,17 +93,6 @@ static int pinnacle_channel_get(const struct device *dev, enum sensor_channel ch
     return 0;
 }
 
-static int pinnacle_attr_set(const struct device *dev, enum sensor_channel chan, enum sensor_attribute attr, const struct sensor_value *val) {
-    const struct pinnacle_config *config = dev->config;
-    if (attr == SENSOR_ATTR_PINNACLE_GE) {
-        const uint8_t ge_set = val->val1 ? 0 : PINNACLE_FEED_CFG2_DIS_GE;
-        const uint8_t taps_set = config->no_taps ? PINNACLE_FEED_CFG2_DIS_TAP : 0;
-        pinnacle_write(dev, PINNACLE_FEED_CFG2, ge_set | taps_set);
-        return 0;
-    }
-    return -ENOTSUP;
-}
-
 static int pinnacle_sample_fetch(const struct device *dev, enum sensor_channel chan) {
     uint8_t packet[3];
     int res = pinnacle_seq_read(dev, PINNACLE_2_2_PACKET0, packet, 3);
@@ -234,13 +222,12 @@ static const struct sensor_driver_api pinnacle_driver_api = {
 #endif
 	.sample_fetch = pinnacle_sample_fetch,
 	.channel_get = pinnacle_channel_get,
-    .attr_set = pinnacle_attr_set,
 };
 
 #define CIRQUE_INST(n) \
     static struct pinnacle_data pinnacle_data_##n; \
     static const struct pinnacle_config pinnacle_config_##n = { \
-        .bus = COND_CODE_1(DT_INST_ON_BUS(0, i2c), I2C_DT_SPEC_INST_GET(0), (SPI_DT_SPEC_INST_GET(0, SPI_OP_MODE_MASTER | SPI_WORD_SET(8) | SPI_LINES_SINGLE | SPI_TRANSFER_MSB, 0))), \
+        .bus = COND_CODE_1(DT_INST_ON_BUS(0, i2c), (I2C_DT_SPEC_INST_GET(0)), (SPI_DT_SPEC_INST_GET(0, SPI_OP_MODE_MASTER | SPI_WORD_SET(8) | SPI_LINES_SINGLE | SPI_TRANSFER_MSB, 0))), \
         .invert_x = DT_INST_PROP(0, invert_x), \
         .invert_y = DT_INST_PROP(0, invert_y), \
         .sleep_en = DT_INST_PROP(0, sleep), \
diff --git a/app/include/zmk/sensors.h b/app/include/zmk/sensors.h
index 09fbd5f69bc..8c6c28b3848 100644
--- a/app/include/zmk/sensors.h
+++ b/app/include/zmk/sensors.h
@@ -10,10 +10,3 @@
 #define ZMK_KEYMAP_HAS_SENSORS DT_NODE_HAS_STATUS(ZMK_KEYMAP_SENSORS_NODE, okay)
 #define ZMK_KEYMAP_SENSORS_LEN DT_PROP_LEN(ZMK_KEYMAP_SENSORS_NODE, sensors)
 #define ZMK_KEYMAP_SENSORS_BY_IDX(idx) DT_PHANDLE_BY_IDX(ZMK_KEYMAP_SENSORS_NODE, sensors, idx)
-
-#include <drivers/sensor.h>
-
-enum {
-    // Cirque Pinnacle Glide Extend
-    SENSOR_ATTR_PINNACLE_GE = SENSOR_ATTR_PRIV_START,
-};

From 1e6185439a4e39df774492970888c5542fd25505 Mon Sep 17 00:00:00 2001
From: crides <zhuhaoqing@live.cn>
Date: Sun, 27 Nov 2022 20:19:39 -0600
Subject: [PATCH 06/11] fix dr clear, bit cleanup

---
 app/drivers/sensor/cirque_trackpad/cirque_trackpad.c | 5 +----
 1 file changed, 1 insertion(+), 4 deletions(-)

diff --git a/app/drivers/sensor/cirque_trackpad/cirque_trackpad.c b/app/drivers/sensor/cirque_trackpad/cirque_trackpad.c
index 44ed81fa5eb..58b50112356 100644
--- a/app/drivers/sensor/cirque_trackpad/cirque_trackpad.c
+++ b/app/drivers/sensor/cirque_trackpad/cirque_trackpad.c
@@ -150,7 +150,7 @@ static void pinnacle_thread(void *arg) {
 static void pinnacle_work_cb(struct k_work *work) {
     struct pinnacle_data *data = CONTAINER_OF(work, struct pinnacle_data, work);
     pinnacle_int_cb(data->dev);
-    pinnacle_write(dev, PINNACLE_STATUS1, 0);   // Clear SW_DR
+    pinnacle_write(data->dev, PINNACLE_STATUS1, 0);   // Clear SW_DR
 }
 #endif
 
@@ -165,9 +165,6 @@ static void pinnacle_gpio_cb(const struct device *port, struct gpio_callback *cb
 }
 #endif
 
-#define SPI_BUS DT_BUS(DT_DRV_INST(0))
-#define SPI_REG DT_REG_ADDR(DT_DRV_INST(0))
-
 static int pinnacle_init(const struct device *dev) {
     struct pinnacle_data *data = dev->data;
     const struct pinnacle_config *config = dev->config;

From 52b43a72e8bdda6ad93419a50a9c4a6a4ccdff72 Mon Sep 17 00:00:00 2001
From: crides <zhuhaoqing@live.cn>
Date: Sun, 5 Feb 2023 02:22:19 -0600
Subject: [PATCH 07/11] f trackpad: drop wheel, check error, drop invert x y,
 add rotate 90

---
 .../sensor/cirque_trackpad/cirque_trackpad.c  | 58 ++++++++++----
 .../sensor/cirque_trackpad/cirque_trackpad.h  | 77 +++++++++----------
 .../sensor/cirque,pinnacle-common.yaml        |  4 +-
 3 files changed, 81 insertions(+), 58 deletions(-)

diff --git a/app/drivers/sensor/cirque_trackpad/cirque_trackpad.c b/app/drivers/sensor/cirque_trackpad/cirque_trackpad.c
index 58b50112356..a6c88016aa1 100644
--- a/app/drivers/sensor/cirque_trackpad/cirque_trackpad.c
+++ b/app/drivers/sensor/cirque_trackpad/cirque_trackpad.c
@@ -110,7 +110,7 @@ static int pinnacle_sample_fetch(const struct device *dev, enum sensor_channel c
 #ifdef CONFIG_PINNACLE_TRIGGER
 static void set_int(const struct device *dev, const bool en) {
     const struct pinnacle_config *config = dev->config;
-    int ret = gpio_pin_interrupt_configure_dt(&config->dr, en ? GPIO_INT_LEVEL_ACTIVE : GPIO_INT_DISABLE);
+    int ret = gpio_pin_interrupt_configure_dt(&config->dr, en ? GPIO_INT_EDGE_TO_ACTIVE : GPIO_INT_DISABLE);
     if (ret < 0) {
         LOG_ERR("can't set interrupt");
     }
@@ -156,7 +156,6 @@ static void pinnacle_work_cb(struct k_work *work) {
 
 static void pinnacle_gpio_cb(const struct device *port, struct gpio_callback *cb, uint32_t pins) {
     struct pinnacle_data *data = CONTAINER_OF(cb, struct pinnacle_data, gpio_cb);
-    const struct device *dev = data->dev;
 #if defined(CONFIG_PINNACLE_TRIGGER_OWN_THREAD)
     k_sem_give(&data->gpio_sem);
 #elif defined(CONFIG_PINNACLE_TRIGGER_GLOBAL_THREAD)
@@ -169,30 +168,58 @@ static int pinnacle_init(const struct device *dev) {
     struct pinnacle_data *data = dev->data;
     const struct pinnacle_config *config = dev->config;
 
-    pinnacle_write(dev, PINNACLE_STATUS1, 0);   // Clear CC
-    pinnacle_write(dev, PINNACLE_Z_IDLE, 0);    // No Z-Idle packets
+    LOG_WRN("pinnacle start");
+    int ret;
+    ret = pinnacle_write(dev, PINNACLE_STATUS1, PINNACLE_SYS_CFG_RESET);
+    if (ret < 0) {
+        LOG_ERR("can't reset %d", ret);
+        return ret;
+    }
+    k_msleep(20);
+    ret = pinnacle_write(dev, PINNACLE_STATUS1, 0);   // Clear CC
+    if (ret < 0) {
+        LOG_ERR("can't write %d", ret);
+        return ret;
+    }
+    k_usleep(50);
+    ret = pinnacle_write(dev, PINNACLE_Z_IDLE, 0);    // No Z-Idle packets
+    if (ret < 0) {
+        LOG_ERR("can't write %d", ret);
+        return ret;
+    }
     if (config->sleep_en) {
-        pinnacle_write(dev, PINNACLE_SYS_CFG, PINNACLE_SYS_CFG_EN_SLEEP);
+        ret = pinnacle_write(dev, PINNACLE_SYS_CFG, PINNACLE_SYS_CFG_EN_SLEEP);
+        if (ret < 0) {
+            LOG_ERR("can't write %d", ret);
+            return ret;
+        }
     }
+    uint8_t feed_cfg2 = PINNACLE_FEED_CFG2_EN_IM;
     if (config->no_taps) {
-        pinnacle_write(dev, PINNACLE_FEED_CFG2, PINNACLE_FEED_CFG2_DIS_TAP);
+        feed_cfg2 |= PINNACLE_FEED_CFG2_DIS_TAP;
     }
-    uint8_t feed_cfg1 = PINNACLE_FEED_CFG1_EN_FEED;
-    if (config->invert_x) {
-        feed_cfg1 |= PINNACLE_FEED_CFG1_INV_X;
+    if (config->rotate_90) {
+        feed_cfg2 |= PINNACLE_FEED_CFG2_ROTATE_90;
     }
-    if (config->invert_y) {
-        feed_cfg1 |= PINNACLE_FEED_CFG1_INV_Y;
+    ret = pinnacle_write(dev, PINNACLE_FEED_CFG2, feed_cfg2);
+    if (ret < 0) {
+        LOG_ERR("can't write %d", ret);
+        return ret;
     }
+    uint8_t feed_cfg1 = PINNACLE_FEED_CFG1_EN_FEED;
     if (feed_cfg1) {
-        pinnacle_write(dev, PINNACLE_FEED_CFG1, feed_cfg1);
+        ret = pinnacle_write(dev, PINNACLE_FEED_CFG1, feed_cfg1);
+    }
+    if (ret < 0) {
+        LOG_ERR("can't write %d", ret);
+        return ret;
     }
 
 #ifdef CONFIG_PINNACLE_TRIGGER
     data->dev = dev;
     gpio_pin_configure_dt(&config->dr, GPIO_INPUT);
     gpio_init_callback(&data->gpio_cb, pinnacle_gpio_cb, BIT(config->dr.pin));
-    int ret = gpio_add_callback(config->dr.port, &data->gpio_cb);
+    ret = gpio_add_callback(config->dr.port, &data->gpio_cb);
     if (ret < 0) {
         LOG_ERR("Failed to set DR callback: %d", ret);
         return -EIO;
@@ -225,12 +252,11 @@ static const struct sensor_driver_api pinnacle_driver_api = {
     static struct pinnacle_data pinnacle_data_##n; \
     static const struct pinnacle_config pinnacle_config_##n = { \
         .bus = COND_CODE_1(DT_INST_ON_BUS(0, i2c), (I2C_DT_SPEC_INST_GET(0)), (SPI_DT_SPEC_INST_GET(0, SPI_OP_MODE_MASTER | SPI_WORD_SET(8) | SPI_LINES_SINGLE | SPI_TRANSFER_MSB, 0))), \
-        .invert_x = DT_INST_PROP(0, invert_x), \
-        .invert_y = DT_INST_PROP(0, invert_y), \
+        .rotate_90 = DT_INST_PROP(0, rotate_90), \
         .sleep_en = DT_INST_PROP(0, sleep), \
         .no_taps = DT_INST_PROP(0, no_taps), \
         COND_CODE_1(CONFIG_PINNACLE_TRIGGER, (.dr = GPIO_DT_SPEC_GET(DT_DRV_INST(0), dr_gpios),), ) \
     }; \
-    DEVICE_DT_INST_DEFINE(n, pinnacle_init, device_pm_control_nop, &pinnacle_data_##n, &pinnacle_config_##n, POST_KERNEL, CONFIG_SENSOR_INIT_PRIORITY, &pinnacle_driver_api);
+    DEVICE_DT_INST_DEFINE(n, pinnacle_init, NULL, &pinnacle_data_##n, &pinnacle_config_##n, POST_KERNEL, CONFIG_SENSOR_INIT_PRIORITY, &pinnacle_driver_api);
 
 DT_INST_FOREACH_STATUS_OKAY(CIRQUE_INST)
diff --git a/app/drivers/sensor/cirque_trackpad/cirque_trackpad.h b/app/drivers/sensor/cirque_trackpad/cirque_trackpad.h
index c0569fb240c..25d3bd8b884 100644
--- a/app/drivers/sensor/cirque_trackpad/cirque_trackpad.h
+++ b/app/drivers/sensor/cirque_trackpad/cirque_trackpad.h
@@ -11,49 +11,48 @@
 #define PINNACLE_DUMMY      0xFB
 
 // Registers
-#define PINNACLE_FW_ID              0x00 // ASIC ID.
-#define PINNACLE_FW_VER             0x01 // Firmware Version Firmware revision number.
-#define PINNACLE_STATUS1            0x02 // Contains status flags about the state of Pinnacle.
-#define PINNACLE_SYS_CFG            0x03 // Contains system operation and configuration bits.
-#define PINNACLE_SYS_CFG_EN_SLEEP   BIT(2)
-#define PINNACLE_SYS_CFG_SHUTDOWN   BIT(1)
-#define PINNACLE_SYS_CFG_RESET      BIT(0)
+#define PINNACLE_FW_ID               0x00 // ASIC ID.
+#define PINNACLE_FW_VER              0x01 // Firmware Version Firmware revision number.
+#define PINNACLE_STATUS1             0x02 // Contains status flags about the state of Pinnacle.
+#define PINNACLE_SYS_CFG             0x03 // Contains system operation and configuration bits.
+#define PINNACLE_SYS_CFG_EN_SLEEP    BIT(2)
+#define PINNACLE_SYS_CFG_SHUTDOWN    BIT(1)
+#define PINNACLE_SYS_CFG_RESET       BIT(0)
 
-#define PINNACLE_FEED_CFG1          0x04 // Contains feed operation and configuration bits.
-#define PINNACLE_FEED_CFG1_EN_FEED  BIT(0)
-#define PINNACLE_FEED_CFG1_ABS_MODE BIT(1)
-#define PINNACLE_FEED_CFG1_DIS_FILT BIT(2)
-#define PINNACLE_FEED_CFG1_DIS_X    BIT(3)
-#define PINNACLE_FEED_CFG1_DIS_Y    BIT(4)
-#define PINNACLE_FEED_CFG1_INV_X    BIT(6)
-#define PINNACLE_FEED_CFG1_INV_Y    BIT(7)
-#define PINNACLE_FEED_CFG2          0x05 // Contains feed operation and configuration bits.
-#define PINNACLE_FEED_CFG2_EN_IM    BIT(0)  // Intellimouse
-#define PINNACLE_FEED_CFG2_DIS_TAP  BIT(1)  // Disable all taps
-#define PINNACLE_FEED_CFG2_DIS_SEC  BIT(2)  // Disable secondary tap
-#define PINNACLE_FEED_CFG2_DIS_SCRL BIT(3)  // Disable scroll
-#define PINNACLE_FEED_CFG2_DIS_GE   BIT(4)  // Disable GlideExtend
-#define PINNACLE_FEED_CFG2_SWAP_XY  BIT(7)  // Swap X & Y
-#define PINNACLE_CAL_CFG            0x07 // Contains calibration configuration bits.
-#define PINNACLE_PS2_AUX            0x08 // Contains Data register for PS/2 Aux Control.
-#define PINNACLE_SAMPLE             0x09 // Sample Rate Number of samples generated per second.
-#define PINNACLE_Z_IDLE             0x0A // Number of Z=0 packets sent when Z goes from >0 to 0.
-#define PINNACLE_Z_SCALER           0x0B // Contains the pen Z_On threshold.
-#define PINNACLE_SLEEP_INTERVAL     0x0C // Sleep Interval
-#define PINNACLE_SLEEP_TIMER        0x0D // Sleep Timer
-#define PINNACLE_AG_PACKET0         0x10 // trackpad Data (Pinnacle AG)
-#define PINNACLE_2_2_PACKET0        0x12 // trackpad Data
-#define PINNACLE_REG_COUNT          0x18
+#define PINNACLE_FEED_CFG1           0x04 // Contains feed operation and configuration bits.
+#define PINNACLE_FEED_CFG1_EN_FEED   BIT(0)
+#define PINNACLE_FEED_CFG1_ABS_MODE  BIT(1)
+#define PINNACLE_FEED_CFG1_DIS_FILT  BIT(2)
+#define PINNACLE_FEED_CFG1_DIS_X     BIT(3)
+#define PINNACLE_FEED_CFG1_DIS_Y     BIT(4)
+#define PINNACLE_FEED_CFG1_INV_X     BIT(6)
+#define PINNACLE_FEED_CFG1_INV_Y     BIT(7)
+#define PINNACLE_FEED_CFG2           0x05 // Contains feed operation and configuration bits.
+#define PINNACLE_FEED_CFG2_EN_IM     BIT(0)  // Intellimouse
+#define PINNACLE_FEED_CFG2_DIS_TAP   BIT(1)  // Disable all taps
+#define PINNACLE_FEED_CFG2_DIS_SEC   BIT(2)  // Disable secondary tap
+#define PINNACLE_FEED_CFG2_DIS_SCRL  BIT(3)  // Disable scroll
+#define PINNACLE_FEED_CFG2_DIS_GE    BIT(4)  // Disable GlideExtend
+#define PINNACLE_FEED_CFG2_ROTATE_90 BIT(7)  // Swap X & Y
+#define PINNACLE_CAL_CFG             0x07 // Contains calibration configuration bits.
+#define PINNACLE_PS2_AUX             0x08 // Contains Data register for PS/2 Aux Control.
+#define PINNACLE_SAMPLE              0x09 // Sample Rate Number of samples generated per second.
+#define PINNACLE_Z_IDLE              0x0A // Number of Z=0 packets sent when Z goes from >0 to 0.
+#define PINNACLE_Z_SCALER            0x0B // Contains the pen Z_On threshold.
+#define PINNACLE_SLEEP_INTERVAL      0x0C // Sleep Interval
+#define PINNACLE_SLEEP_TIMER         0x0D // Sleep Timer
+#define PINNACLE_AG_PACKET0          0x10 // trackpad Data (Pinnacle AG)
+#define PINNACLE_2_2_PACKET0         0x12 // trackpad Data
+#define PINNACLE_REG_COUNT           0x18
 
-#define PINNACLE_PACKET0_BTN_PRIM   BIT(0)  // Primary button
-#define PINNACLE_PACKET0_BTN_SEC    BIT(1)  // Secondary button
-#define PINNACLE_PACKET0_BTN_AUX    BIT(2)  // Auxiliary (middle?) button
-#define PINNACLE_PACKET0_X_SIGN     BIT(4)  // X delta sign
-#define PINNACLE_PACKET0_Y_SIGN     BIT(5)  // Y delta sign
+#define PINNACLE_PACKET0_BTN_PRIM    BIT(0)  // Primary button
+#define PINNACLE_PACKET0_BTN_SEC     BIT(1)  // Secondary button
+#define PINNACLE_PACKET0_BTN_AUX     BIT(2)  // Auxiliary (middle?) button
+#define PINNACLE_PACKET0_X_SIGN      BIT(4)  // X delta sign
+#define PINNACLE_PACKET0_Y_SIGN      BIT(5)  // Y delta sign
 
 struct pinnacle_data {
     int16_t dx, dy;
-    int8_t wheel;
     uint8_t btn;
 #ifdef CONFIG_PINNACLE_TRIGGER
     const struct device *dev;
@@ -76,7 +75,7 @@ struct pinnacle_config {
 #elif DT_INST_ON_BUS(0, spi)
 	const struct spi_dt_spec bus;
 #endif
-    bool invert_x, invert_y, sleep_en, no_taps;
+    bool rotate_90, sleep_en, no_taps;
 #ifdef CONFIG_PINNACLE_TRIGGER
     const struct gpio_dt_spec dr;
 #endif
diff --git a/app/drivers/zephyr/dts/bindings/sensor/cirque,pinnacle-common.yaml b/app/drivers/zephyr/dts/bindings/sensor/cirque,pinnacle-common.yaml
index b38645886d6..0798ba0106d 100644
--- a/app/drivers/zephyr/dts/bindings/sensor/cirque,pinnacle-common.yaml
+++ b/app/drivers/zephyr/dts/bindings/sensor/cirque,pinnacle-common.yaml
@@ -2,9 +2,7 @@ properties:
   dr-gpios:
     type: phandle-array
     description: Data ready pin for the trackpad
-  invert-x:
-    type: boolean
-  invert-y:
+  rotate-90:
     type: boolean
   sleep:
     type: boolean

From 4b5efc0278502856b91134b6b569184bd12c807a Mon Sep 17 00:00:00 2001
From: crides <zhuhaoqing@live.cn>
Date: Thu, 16 Feb 2023 20:52:51 -0600
Subject: [PATCH 08/11] rename

---
 .../sensor/{cirque_trackpad => pinnacle}/CMakeLists.txt     | 2 +-
 app/drivers/sensor/{cirque_trackpad => pinnacle}/Kconfig    | 2 +-
 .../cirque_trackpad.c => pinnacle/pinnacle.c}               | 6 +++---
 .../cirque_trackpad.h => pinnacle/pinnacle.h}               | 0
 4 files changed, 5 insertions(+), 5 deletions(-)
 rename app/drivers/sensor/{cirque_trackpad => pinnacle}/CMakeLists.txt (74%)
 rename app/drivers/sensor/{cirque_trackpad => pinnacle}/Kconfig (95%)
 rename app/drivers/sensor/{cirque_trackpad/cirque_trackpad.c => pinnacle/pinnacle.c} (98%)
 rename app/drivers/sensor/{cirque_trackpad/cirque_trackpad.h => pinnacle/pinnacle.h} (100%)

diff --git a/app/drivers/sensor/cirque_trackpad/CMakeLists.txt b/app/drivers/sensor/pinnacle/CMakeLists.txt
similarity index 74%
rename from app/drivers/sensor/cirque_trackpad/CMakeLists.txt
rename to app/drivers/sensor/pinnacle/CMakeLists.txt
index 92b6744cc53..ef674040f22 100644
--- a/app/drivers/sensor/cirque_trackpad/CMakeLists.txt
+++ b/app/drivers/sensor/pinnacle/CMakeLists.txt
@@ -5,4 +5,4 @@ zephyr_include_directories(.)
 
 zephyr_library()
 
-zephyr_library_sources(cirque_trackpad.c)
+zephyr_library_sources(pinnacle.c)
diff --git a/app/drivers/sensor/cirque_trackpad/Kconfig b/app/drivers/sensor/pinnacle/Kconfig
similarity index 95%
rename from app/drivers/sensor/cirque_trackpad/Kconfig
rename to app/drivers/sensor/pinnacle/Kconfig
index 908f812dc25..34810bacd9b 100644
--- a/app/drivers/sensor/cirque_trackpad/Kconfig
+++ b/app/drivers/sensor/pinnacle/Kconfig
@@ -2,7 +2,7 @@
 # SPDX-License-Identifier: MIT
 
 menuconfig PINNACLE
-	bool "PINNACLE Incremental Encoder Sensor"
+	bool "Cirque Pinnacle trackpads"
 	depends on GPIO
 	depends on SPI || I2C
 	help
diff --git a/app/drivers/sensor/cirque_trackpad/cirque_trackpad.c b/app/drivers/sensor/pinnacle/pinnacle.c
similarity index 98%
rename from app/drivers/sensor/cirque_trackpad/cirque_trackpad.c
rename to app/drivers/sensor/pinnacle/pinnacle.c
index a6c88016aa1..23a36142190 100644
--- a/app/drivers/sensor/cirque_trackpad/cirque_trackpad.c
+++ b/app/drivers/sensor/pinnacle/pinnacle.c
@@ -4,7 +4,7 @@
 #include <drivers/sensor.h>
 #include <logging/log.h>
 
-#include "cirque_trackpad.h"
+#include "pinnacle.h"
 
 LOG_MODULE_REGISTER(pinnacle, CONFIG_SENSOR_LOG_LEVEL);
 
@@ -248,7 +248,7 @@ static const struct sensor_driver_api pinnacle_driver_api = {
 	.channel_get = pinnacle_channel_get,
 };
 
-#define CIRQUE_INST(n) \
+#define PINNACLE_INST(n) \
     static struct pinnacle_data pinnacle_data_##n; \
     static const struct pinnacle_config pinnacle_config_##n = { \
         .bus = COND_CODE_1(DT_INST_ON_BUS(0, i2c), (I2C_DT_SPEC_INST_GET(0)), (SPI_DT_SPEC_INST_GET(0, SPI_OP_MODE_MASTER | SPI_WORD_SET(8) | SPI_LINES_SINGLE | SPI_TRANSFER_MSB, 0))), \
@@ -259,4 +259,4 @@ static const struct sensor_driver_api pinnacle_driver_api = {
     }; \
     DEVICE_DT_INST_DEFINE(n, pinnacle_init, NULL, &pinnacle_data_##n, &pinnacle_config_##n, POST_KERNEL, CONFIG_SENSOR_INIT_PRIORITY, &pinnacle_driver_api);
 
-DT_INST_FOREACH_STATUS_OKAY(CIRQUE_INST)
+DT_INST_FOREACH_STATUS_OKAY(PINNACLE_INST)
diff --git a/app/drivers/sensor/cirque_trackpad/cirque_trackpad.h b/app/drivers/sensor/pinnacle/pinnacle.h
similarity index 100%
rename from app/drivers/sensor/cirque_trackpad/cirque_trackpad.h
rename to app/drivers/sensor/pinnacle/pinnacle.h

From 9edbced5b71a0a39c2c49a38645df7e543162aaf Mon Sep 17 00:00:00 2001
From: crides <zhuhaoqing@live.cn>
Date: Sat, 18 Feb 2023 02:22:42 -0600
Subject: [PATCH 09/11] fix no dr error

---
 app/drivers/sensor/pinnacle/pinnacle.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/app/drivers/sensor/pinnacle/pinnacle.c b/app/drivers/sensor/pinnacle/pinnacle.c
index 23a36142190..b54ad093079 100644
--- a/app/drivers/sensor/pinnacle/pinnacle.c
+++ b/app/drivers/sensor/pinnacle/pinnacle.c
@@ -255,7 +255,7 @@ static const struct sensor_driver_api pinnacle_driver_api = {
         .rotate_90 = DT_INST_PROP(0, rotate_90), \
         .sleep_en = DT_INST_PROP(0, sleep), \
         .no_taps = DT_INST_PROP(0, no_taps), \
-        COND_CODE_1(CONFIG_PINNACLE_TRIGGER, (.dr = GPIO_DT_SPEC_GET(DT_DRV_INST(0), dr_gpios),), ) \
+        COND_CODE_1(CONFIG_PINNACLE_TRIGGER, (.dr = GPIO_DT_SPEC_GET(DT_DRV_INST(0), dr_gpios),), ()) \
     }; \
     DEVICE_DT_INST_DEFINE(n, pinnacle_init, NULL, &pinnacle_data_##n, &pinnacle_config_##n, POST_KERNEL, CONFIG_SENSOR_INIT_PRIORITY, &pinnacle_driver_api);
 

From d76df014aa6f07f04875aa46eb964ae3fe68d906 Mon Sep 17 00:00:00 2001
From: crides <zhuhaoqing@live.cn>
Date: Thu, 16 Mar 2023 20:45:19 -0500
Subject: [PATCH 10/11] fix dr?

---
 app/drivers/sensor/pinnacle/pinnacle.c | 35 ++++++++++++++++++++------
 app/drivers/sensor/pinnacle/pinnacle.h |  3 +++
 2 files changed, 31 insertions(+), 7 deletions(-)

diff --git a/app/drivers/sensor/pinnacle/pinnacle.c b/app/drivers/sensor/pinnacle/pinnacle.c
index b54ad093079..f8aa34f90e6 100644
--- a/app/drivers/sensor/pinnacle/pinnacle.c
+++ b/app/drivers/sensor/pinnacle/pinnacle.c
@@ -95,15 +95,31 @@ static int pinnacle_channel_get(const struct device *dev, enum sensor_channel ch
 
 static int pinnacle_sample_fetch(const struct device *dev, enum sensor_channel chan) {
     uint8_t packet[3];
-    int res = pinnacle_seq_read(dev, PINNACLE_2_2_PACKET0, packet, 3);
-    if (res < 0) {
-        LOG_ERR("res: %d", res);
-        return res;
+    int ret;
+    ret = pinnacle_seq_read(dev, PINNACLE_STATUS1, packet, 0);
+    if (ret < 0) {
+        LOG_ERR("read status: %d", ret);
+        return ret;
+    }
+    if (!(packet[0] & PINNACLE_STATUS1_SW_DR)) {
+        return -EAGAIN;
+    }
+    ret = pinnacle_seq_read(dev, PINNACLE_2_2_PACKET0, packet, 3);
+    if (ret < 0) {
+        LOG_ERR("read packet: %d", ret);
+        return ret;
     }
     struct pinnacle_data *data = dev->data;
     data->btn = packet[0] & PINNACLE_PACKET0_BTN_PRIM;
     data->dx = (int16_t) (int8_t) packet[1];
     data->dy = (int16_t) (int8_t) packet[2];
+    if (!data->in_int) {
+        ret = pinnacle_write(dev, PINNACLE_STATUS1, 0);   // Clear SW_DR
+        if (ret < 0) {
+            LOG_ERR("clear dr: %d", ret);
+            return ret;
+        }
+    }
     return 0;
 }
 
@@ -133,6 +149,11 @@ static void pinnacle_int_cb(const struct device *dev) {
     struct pinnacle_data *data = dev->data;
     data->data_ready_handler(dev, data->data_ready_trigger);
     set_int(dev, true);
+    int ret = pinnacle_write(dev, PINNACLE_STATUS1, 0);   // Clear SW_DR
+    if (ret < 0) {
+        LOG_ERR("clear dr: %d", ret);
+    }
+    data->in_int = false;
 }
 
 #ifdef CONFIG_PINNACLE_TRIGGER_OWN_THREAD
@@ -143,19 +164,18 @@ static void pinnacle_thread(void *arg) {
     while (1) {
         k_sem_take(&data->gpio_sem, K_FOREVER);
         pinnacle_int_cb(dev);
-        pinnacle_write(dev, PINNACLE_STATUS1, 0);   // Clear SW_DR
     }
 }
 #elif defined(CONFIG_PINNACLE_TRIGGER_GLOBAL_THREAD)
 static void pinnacle_work_cb(struct k_work *work) {
     struct pinnacle_data *data = CONTAINER_OF(work, struct pinnacle_data, work);
     pinnacle_int_cb(data->dev);
-    pinnacle_write(data->dev, PINNACLE_STATUS1, 0);   // Clear SW_DR
 }
 #endif
 
 static void pinnacle_gpio_cb(const struct device *port, struct gpio_callback *cb, uint32_t pins) {
     struct pinnacle_data *data = CONTAINER_OF(cb, struct pinnacle_data, gpio_cb);
+    data->in_int = true;
 #if defined(CONFIG_PINNACLE_TRIGGER_OWN_THREAD)
     k_sem_give(&data->gpio_sem);
 #elif defined(CONFIG_PINNACLE_TRIGGER_GLOBAL_THREAD)
@@ -169,8 +189,9 @@ static int pinnacle_init(const struct device *dev) {
     const struct pinnacle_config *config = dev->config;
 
     LOG_WRN("pinnacle start");
+    data->in_int = false;
     int ret;
-    ret = pinnacle_write(dev, PINNACLE_STATUS1, PINNACLE_SYS_CFG_RESET);
+    ret = pinnacle_write(dev, PINNACLE_SYS_CFG, PINNACLE_SYS_CFG_RESET);
     if (ret < 0) {
         LOG_ERR("can't reset %d", ret);
         return ret;
diff --git a/app/drivers/sensor/pinnacle/pinnacle.h b/app/drivers/sensor/pinnacle/pinnacle.h
index 25d3bd8b884..1b74e902342 100644
--- a/app/drivers/sensor/pinnacle/pinnacle.h
+++ b/app/drivers/sensor/pinnacle/pinnacle.h
@@ -14,6 +14,8 @@
 #define PINNACLE_FW_ID               0x00 // ASIC ID.
 #define PINNACLE_FW_VER              0x01 // Firmware Version Firmware revision number.
 #define PINNACLE_STATUS1             0x02 // Contains status flags about the state of Pinnacle.
+#define PINNACLE_STATUS1_SW_DR       BIT(2)
+#define PINNACLE_STATUS1_SW_CC       BIT(3)
 #define PINNACLE_SYS_CFG             0x03 // Contains system operation and configuration bits.
 #define PINNACLE_SYS_CFG_EN_SLEEP    BIT(2)
 #define PINNACLE_SYS_CFG_SHUTDOWN    BIT(1)
@@ -54,6 +56,7 @@
 struct pinnacle_data {
     int16_t dx, dy;
     uint8_t btn;
+    bool in_int;
 #ifdef CONFIG_PINNACLE_TRIGGER
     const struct device *dev;
     const struct sensor_trigger *data_ready_trigger;

From c09183a92625620fc136a349e6d0fd035e3a1e88 Mon Sep 17 00:00:00 2001
From: crides <zhuhaoqing@live.cn>
Date: Wed, 26 Apr 2023 21:46:48 -0500
Subject: [PATCH 11/11] oops

---
 app/drivers/sensor/Kconfig | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/app/drivers/sensor/Kconfig b/app/drivers/sensor/Kconfig
index 01a8c49169d..e13c4e8ed56 100644
--- a/app/drivers/sensor/Kconfig
+++ b/app/drivers/sensor/Kconfig
@@ -3,4 +3,4 @@
 
 rsource "battery/Kconfig"
 rsource "ec11/Kconfig"
-rsource "cirque_trackpad/Kconfig"
+rsource "pinnacle/Kconfig"