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Add abs-rel mode and BTN_TOUCH notification. #6

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9767677
add absolute mode and the corresponding configuration
halfdane Feb 24, 2025
3b62964
Add abs-rel mode.
geeksville Jan 21, 2026
e0de316
Generate a couple of extra ZIDLE irqs to protect against missed inter…
geeksville Jan 25, 2026
b5bfde7
Change to level triggered interrupts
geeksville Jan 26, 2026
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226 changes: 197 additions & 29 deletions drivers/input/input_pinnacle.c
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Original file line number Diff line number Diff line change
Expand Up @@ -21,6 +21,12 @@ static int pinnacle_write(const struct device *dev, const uint8_t addr, const ui
return config->write(dev, addr, val);
}

// Now that we are counting ZIDLEs it would be very bad to miss one. But in my testing I see that happen (rarely - once every
// couple of days of usage). The fact that the current irq system is edge triggered probably isn't great for this reason.
// But for now just have the touch controller emit NUM_ZIDLE_PAD extra idles
#define NUM_ZIDLE 3
#define NUM_ZIDLE_PAD 2

#if DT_ANY_INST_ON_BUS_STATUS_OKAY(i2c)

static int pinnacle_i2c_seq_read(const struct device *dev, const uint8_t addr, uint8_t *buf,
Expand Down Expand Up @@ -117,7 +123,7 @@ static int pinnacle_spi_write(const struct device *dev, const uint8_t addr, cons
static int 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_EDGE_TO_ACTIVE : GPIO_INT_DISABLE);
en ? GPIO_INT_LEVEL_ACTIVE : GPIO_INT_DISABLE);
if (ret < 0) {
LOG_ERR("can't set interrupt");
}
Expand Down Expand Up @@ -229,8 +235,166 @@ static int pinnacle_era_write(const struct device *dev, const uint16_t addr, uin
return ret;
}

static void pinnacle_report_data(const struct device *dev) {
static void pinnacle_send_rel(const struct device *dev, int8_t dx, int8_t dy) {
const struct pinnacle_config *config = dev->config;
struct pinnacle_data *data = dev->data;

pinnacle_clear_status(dev);
set_int(dev, true);

bool must_send = false;

uint8_t btn = data->last_btn;
if (!config->no_taps && (btn || data->btn_cache)) {
for (int i = 0; i < 3; i++) {
uint8_t btn_val = btn & BIT(i);
if (btn_val != (data->btn_cache & BIT(i))) {
input_report_key(dev, INPUT_BTN_0 + i, btn_val ? 1 : 0, false, K_FOREVER);
must_send = true;
}
}
}

data->btn_cache = btn;
bool is_touching = (data->last_z > 0);
bool touch_changed = false;
if(is_touching) {
must_send = true;

if(data->num_z_idle > 0) { // we just recently had z idles
touch_changed = true;
data->num_z_idle = 0;
dx = 0;
dy = 0; // starting a new press, must reset deltas
}
} else {
data->num_z_idle++;
if(data->num_z_idle == NUM_ZIDLE) {
touch_changed = true;
}
dx = 0;
dy = 0;
}

LOG_DBG("Rel move: touch_changed=%d z=%d dx=%d dy=%d", touch_changed, data->last_z, dx, dy);

if(touch_changed)
{
// Finalize the input event only if we have something to report
input_report_key(dev, INPUT_BTN_TOUCH, is_touching ? 1 : 0, false, K_FOREVER);
must_send = true;
}

if(must_send) {
input_report_rel(dev, INPUT_REL_X, dx, false, K_FOREVER);
input_report_rel(dev, INPUT_REL_Y, dy, true, K_FOREVER);
}
}

static void pinnacle_send_abs(const struct device *dev) {
const struct pinnacle_config *config = dev->config;
struct pinnacle_data *data = dev->data;
int16_t x = data->last_x;
int16_t y = data->last_y;
int8_t z = data->last_z;

LOG_DBG("Clearing status bit");
pinnacle_clear_status(dev);
set_int(dev, true);

uint8_t btn = data->last_btn;
if (!config->no_taps && (btn || data->btn_cache)) {
for (int i = 0; i < 3; i++) {
uint8_t btn_val = btn & BIT(i);
if (btn_val != (data->btn_cache & BIT(i))) {
input_report_key(dev, INPUT_BTN_0 + i, btn_val ? 1 : 0, false, K_FOREVER);
}
}
}

data->btn_cache = btn;

if (z > 0) {
if (x < config->absolute_mode_clamp_min_x) {
x = config->absolute_mode_clamp_min_x;
} else if (x > config->absolute_mode_clamp_max_x) {
x = config->absolute_mode_clamp_max_x;
}
if (y < config->absolute_mode_clamp_min_y) {
y = config->absolute_mode_clamp_min_y;
} else if (y > config->absolute_mode_clamp_max_y) {
y = config->absolute_mode_clamp_max_y;
}

// scale to be in the configured interval
x = ((x - config->absolute_mode_clamp_min_x) * config->absolute_mode_scale_to_width) / (config->absolute_mode_clamp_max_x - config->absolute_mode_clamp_min_x);
y = ((y - config->absolute_mode_clamp_min_y) * config->absolute_mode_scale_to_height) / (config->absolute_mode_clamp_max_y - config->absolute_mode_clamp_min_y);

input_report_abs(dev, INPUT_ABS_X, x, false, K_FOREVER);
input_report_abs(dev, INPUT_ABS_Y, y, true, K_FOREVER);
}

return;
}

static int pinnacle_read_abs(const struct device *dev) {
uint8_t packet[6];
int ret;
ret = pinnacle_seq_read(dev, PINNACLE_STATUS1, packet, 1);
if (ret < 0) {
LOG_ERR("read status: %d", ret);
return ret;
}
if (!(packet[0] & PINNACLE_STATUS1_SW_DR)) {
return -1;
}
ret = pinnacle_seq_read(dev, PINNACLE_2_2_PACKET0, packet, 6);
if (ret < 0) {
LOG_ERR("read packet: %d", ret);
return ret;
}
struct pinnacle_data *data = dev->data;
// TODO: Enable SW3-SW5 as well
data->last_btn = packet[0] &
(PINNACLE_PACKET0_BTN_PRIM | PINNACLE_PACKET0_BTN_SEC | PINNACLE_PACKET0_BTN_AUX);
uint8_t x_low = packet[2];
uint8_t y_low = packet[3];
uint8_t xy_high = packet[4];
data->last_x = ((xy_high & 0x0F) << 8) | x_low;
data->last_y = ((xy_high & 0xF0) << 4) | y_low;
data->last_z = (uint8_t)(packet[5] & 0x1F);

LOG_DBG("button: %d, x: %d y: %d z: %d", data->last_btn, data->last_x, data->last_y, data->last_z);
return 0;
}

static void pinnacle_report_data_abs(const struct device *dev) {
int ret = pinnacle_read_abs(dev);
if (ret == 0) {
pinnacle_send_abs(dev);
}
}

static void pinnacle_report_data_abs_rel(const struct device *dev) {
struct pinnacle_data *data = dev->data;
int16_t old_x = data->last_x;
int16_t old_y = data->last_y;

int ret = pinnacle_read_abs(dev);

if (ret == 0) {
int16_t dx = data->last_x - old_x;
int16_t dy = data->last_y - old_y;
const struct pinnacle_config *config = dev->config;

dx /= config->abs_rel_divisor;
dy /= config->abs_rel_divisor;

pinnacle_send_rel(dev, (int8_t) dx, (int8_t) dy);
}
}

static void pinnacle_report_data_rel(const struct device *dev) {
uint8_t packet[3];
int ret;
ret = pinnacle_seq_read(dev, PINNACLE_STATUS1, packet, 1);
Expand All @@ -254,7 +418,7 @@ static void pinnacle_report_data(const struct device *dev) {
LOG_HEXDUMP_DBG(packet, 3, "Pinnacle Packets");

struct pinnacle_data *data = dev->data;
uint8_t btn = packet[0] &
data->last_btn = packet[0] &
(PINNACLE_PACKET0_BTN_PRIM | PINNACLE_PACKET0_BTN_SEC | PINNACLE_PACKET0_BTN_AUX);

int8_t dx = (int8_t)packet[1];
Expand All @@ -267,39 +431,30 @@ static void pinnacle_report_data(const struct device *dev) {
WRITE_BIT(dy, 7, 1);
}

if (data->in_int) {
LOG_DBG("Clearing status bit");
ret = pinnacle_clear_status(dev);
data->in_int = true;
}

if (!config->no_taps && (btn || data->btn_cache)) {
for (int i = 0; i < 3; i++) {
uint8_t btn_val = btn & BIT(i);
if (btn_val != (data->btn_cache & BIT(i))) {
input_report_key(dev, INPUT_BTN_0 + i, btn_val ? 1 : 0, false, K_FOREVER);
}
}
}

data->btn_cache = btn;

input_report_rel(dev, INPUT_REL_X, dx, false, K_FOREVER);
input_report_rel(dev, INPUT_REL_Y, dy, true, K_FOREVER);

return;
// always claim touch changed
data->last_z = 1;
pinnacle_send_rel(dev, (int8_t) dx, (int8_t) dy);
}

static void pinnacle_work_cb(struct k_work *work) {
struct pinnacle_data *data = CONTAINER_OF(work, struct pinnacle_data, work);
pinnacle_report_data(data->dev);
const struct device *dev = data->dev;
const struct pinnacle_config *config = dev->config;

if (config->absolute_mode) {
pinnacle_report_data_abs(dev);
} else if (config->abs_rel_divisor) {
pinnacle_report_data_abs_rel(dev);
} else {
pinnacle_report_data_rel(dev);
}
}

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);

LOG_DBG("HW DR asserted");
data->in_int = true;
set_int(data->dev, false); // mask the int until we've handled it (now level triggered)
k_work_submit(&data->work);
}

Expand Down Expand Up @@ -434,7 +589,6 @@ static int pinnacle_init(const struct device *dev) {

LOG_DBG("Found device with FW ID: 0x%02x, Version: 0x%02x", fw_id[0], fw_id[1]);

data->in_int = false;
k_msleep(10);
ret = pinnacle_write(dev, PINNACLE_STATUS1, 0); // Clear CC
if (ret < 0) {
Expand All @@ -448,7 +602,7 @@ static int pinnacle_init(const struct device *dev) {
return ret;
}
k_msleep(20);
ret = pinnacle_write(dev, PINNACLE_Z_IDLE, 0x05); // No Z-Idle packets
ret = pinnacle_write(dev, PINNACLE_Z_IDLE, NUM_ZIDLE + NUM_ZIDLE_PAD);
if (ret < 0) {
LOG_ERR("can't write %d", ret);
return ret;
Expand Down Expand Up @@ -480,7 +634,7 @@ static int pinnacle_init(const struct device *dev) {

uint8_t packet[1];
ret = pinnacle_seq_read(dev, PINNACLE_SLEEP_INTERVAL, packet, 1);

if (ret >= 0) {
LOG_DBG("Default sleep interval %d", packet[0]);
}
Expand Down Expand Up @@ -508,6 +662,12 @@ static int pinnacle_init(const struct device *dev) {
return ret;
}
uint8_t feed_cfg1 = PINNACLE_FEED_CFG1_EN_FEED;
if (config->absolute_mode || config->abs_rel_divisor) {
feed_cfg1 |= PINNACLE_FEED_CFG1_ABS_MODE;
LOG_ERR("Using absolute mode");
} else {
LOG_ERR("Using relative mode");
}
if (config->x_invert) {
feed_cfg1 |= PINNACLE_FEED_CFG1_INV_X;
}
Expand Down Expand Up @@ -576,6 +736,14 @@ static int pinnacle_pm_action(const struct device *dev, enum pm_device_action ac
.sleep_en = DT_INST_PROP(n, sleep), \
.no_taps = DT_INST_PROP(n, no_taps), \
.no_secondary_tap = DT_INST_PROP(n, no_secondary_tap), \
.absolute_mode = DT_INST_PROP(n, absolute_mode), \
.abs_rel_divisor = DT_INST_PROP(n, abs_rel_divisor), \
.absolute_mode_scale_to_width = DT_INST_PROP(n, absolute_mode_scale_to_width), \
.absolute_mode_scale_to_height = DT_INST_PROP(n, absolute_mode_scale_to_height), \
.absolute_mode_clamp_min_x = DT_INST_PROP(n, absolute_mode_clamp_min_x), \
.absolute_mode_clamp_max_x = DT_INST_PROP(n, absolute_mode_clamp_max_x), \
.absolute_mode_clamp_min_y = DT_INST_PROP(n, absolute_mode_clamp_min_y), \
.absolute_mode_clamp_max_y = DT_INST_PROP(n, absolute_mode_clamp_max_y), \
.x_axis_z_min = DT_INST_PROP_OR(n, x_axis_z_min, 5), \
.y_axis_z_min = DT_INST_PROP_OR(n, y_axis_z_min, 4), \
.sensitivity = DT_INST_ENUM_IDX_OR(n, sensitivity, PINNACLE_SENSITIVITY_1X), \
Expand Down
12 changes: 9 additions & 3 deletions drivers/input/input_pinnacle.h
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Original file line number Diff line number Diff line change
Expand Up @@ -73,8 +73,12 @@
#define PINNACLE_PACKET0_Y_SIGN BIT(5) // Y delta sign

struct pinnacle_data {
uint8_t btn_cache;
bool in_int;
uint8_t btn_cache; // the prior button reading
uint8_t last_btn; // the current button reading
int8_t last_z;
int8_t num_z_idle;
int16_t last_x, last_y; // last abs reading

const struct device *dev;
struct gpio_callback gpio_cb;
struct k_work work;
Expand All @@ -100,9 +104,11 @@ struct pinnacle_config {
pinnacle_seq_read_t seq_read;
pinnacle_write_t write;

bool rotate_90, sleep_en, no_taps, no_secondary_tap, x_invert, y_invert;
bool rotate_90, sleep_en, no_taps, no_secondary_tap, x_invert, y_invert, absolute_mode;
uint8_t abs_rel_divisor;
enum pinnacle_sensitivity sensitivity;
uint8_t x_axis_z_min, y_axis_z_min;
uint16_t absolute_mode_scale_to_width, absolute_mode_scale_to_height, absolute_mode_clamp_min_x, absolute_mode_clamp_max_x, absolute_mode_clamp_min_y, absolute_mode_clamp_max_y;
const struct gpio_dt_spec dr;
};

Expand Down
38 changes: 38 additions & 0 deletions dts/bindings/input/cirque,pinnacle-common.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -28,4 +28,42 @@ properties:
y-axis-z-min:
type: int
default: 4
absolute-mode:
type: boolean
abs-rel-divisor:
type: int
description: If non zero, uses pad in absmode, but sends relative events (and touch press/release)
default: 0
absolute-mode-scale-to-width:
type: int
default: 1024
description: Scale reported x values to [0-1024]
absolute-mode-scale-to-height:
type: int
default: 1024
description: Scale reported y values to [0-1024]
absolute-mode-clamp-min-x:
type: int
default: 128
description: |
Specification says that active reporting of absolute position
is: 128 ≤ X ≤1920 and 64 ≤ Y ≤ 1472, but on my touchpad, I need other values.
absolute-mode-clamp-max-x:
type: int
default: 1920
description: |
Specification says that active reporting of absolute position
is: 128 ≤ X ≤1920 and 64 ≤ Y ≤ 1472, but on my touchpad, I need other values.
absolute-mode-clamp-min-y:
type: int
default: 64
description: |
Specification says that active reporting of absolute position
is: 128 ≤ X ≤1920 and 64 ≤ Y ≤ 1472, but on my touchpad, I need other values.
absolute-mode-clamp-max-y:
type: int
default: 1472
description: |
Specification says that active reporting of absolute position
is: 128 ≤ X ≤1920 and 64 ≤ Y ≤ 1472, but on my touchpad, I need other values.