add: Cirque Pinnacle trackpad driver

app/drivers/sensor/CMakeLists.txt

@@ -3,3 +3,4 @@
 
 add_subdirectory_ifdef(CONFIG_ZMK_BATTERY battery)
 add_subdirectory_ifdef(CONFIG_EC11 ec11)
+add_subdirectory_ifdef(CONFIG_PINNACLE cirque_trackpad)

app/drivers/sensor/Kconfig

@@ -3,3 +3,4 @@
 
 rsource "battery/Kconfig"
 rsource "ec11/Kconfig"
+rsource "cirque_trackpad/Kconfig"

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)

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

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);

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
+};

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

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,
+};