Cirque trackpad features: circular scroll, inertial cursor (#17482)

5 files changed, 841 insertions, 102 deletions

diff --git a/drivers/sensors/cirque_pinnacle.c b/drivers/sensors/cirque_pinnacle.c
index 1d1e4ccfc6..c50d5a2525 100644
--- a/drivers/sensors/cirque_pinnacle.c
+++ b/drivers/sensors/cirque_pinnacle.c
@@ -9,47 +9,16 @@
 #include "wait.h"
 #include "timer.h"
 
-// Registers for RAP
-// clang-format off
-#define FIRMWARE_ID          0x00
-#define FIRMWARE_VERSION_C   0x01
-#define STATUS_1             0x02
-#define SYSCONFIG_1          0x03
-#define FEEDCONFIG_1         0x04
-#define FEEDCONFIG_2         0x05
-#define CALIBRATION_CONFIG_1 0x07
-#define PS2_AU_CONTROL       0x08
-#define SAMPLE_RATE          0x09
-#define Z_IDLE_COUNT         0x0A
-#define Z_SCALER             0x0B
-#define SLEEP_INTERVAL       0x0C
-#define SLEEP_TIMER          0x0D
-#define PACKET_BYTE_0        0x12
-#define PACKET_BYTE_1        0x13
-#define PACKET_BYTE_2        0x14
-#define PACKET_BYTE_3        0x15
-#define PACKET_BYTE_4        0x16
-#define PACKET_BYTE_5        0x17
-
-#define ERA_VALUE            0x1B
-#define ERA_HIGH_BYTE        0x1C
-#define ERA_LOW_BYTE         0x1D
-#define ERA_CONTROL          0x1E
-
-// ADC-attenuation settings (held in BIT_7 and BIT_6)
-// 1X = most sensitive, 4X = least sensitive
-#define ADC_ATTENUATE_1X     0x00
-#define ADC_ATTENUATE_2X     0x40
-#define ADC_ATTENUATE_3X     0x80
-#define ADC_ATTENUATE_4X     0xC0
-
 #ifndef CIRQUE_PINNACLE_ATTENUATION
-#    define CIRQUE_PINNACLE_ATTENUATION ADC_ATTENUATE_4X
+#    ifdef CIRQUE_PINNACLE_CURVED_OVERLAY
+#        define CIRQUE_PINNACLE_ATTENUATION EXTREG__TRACK_ADCCONFIG__ADC_ATTENUATE_2X
+#    else
+#        define CIRQUE_PINNACLE_ATTENUATION EXTREG__TRACK_ADCCONFIG__ADC_ATTENUATE_4X
+#    endif
 #endif
-// clang-format on
 
 bool     touchpad_init;
-uint16_t scale_data = 1024;
+uint16_t scale_data = CIRQUE_PINNACLE_DEFAULT_SCALE;
 
 void cirque_pinnacle_clear_flags(void);
 void cirque_pinnacle_enable_feed(bool feedEnable);
@@ -106,43 +75,45 @@ void cirque_pinnacle_scale_data(pinnacle_data_t* coordinates, uint16_t xResoluti
 
 // Clears Status1 register flags (SW_CC and SW_DR)
 void cirque_pinnacle_clear_flags() {
-    RAP_Write(STATUS_1, 0x00);
+    RAP_Write(HOSTREG__STATUS1, HOSTREG__STATUS1_DEFVAL & ~(HOSTREG__STATUS1__COMMAND_COMPLETE | HOSTREG__STATUS1__DATA_READY));
     wait_us(50);
 }
 
 // Enables/Disables the feed
 void cirque_pinnacle_enable_feed(bool feedEnable) {
-    uint8_t temp;
-    RAP_ReadBytes(FEEDCONFIG_1, &temp, 1); // Store contents of FeedConfig1 register
+    uint8_t feedconfig1;
+    RAP_ReadBytes(HOSTREG__FEEDCONFIG1, &feedconfig1, 1);
 
     if (feedEnable) {
-        temp |= 0x01; // Set Feed Enable bit
+        feedconfig1 |= HOSTREG__FEEDCONFIG1__FEED_ENABLE;
     } else {
-        temp &= ~0x01; // Clear Feed Enable bit
+        feedconfig1 &= ~HOSTREG__FEEDCONFIG1__FEED_ENABLE;
     }
-    RAP_Write(FEEDCONFIG_1, temp);
+    RAP_Write(HOSTREG__FEEDCONFIG1, feedconfig1);
 }
 
 /*  ERA (Extended Register Access) Functions  */
 // Reads <count> bytes from an extended register at <address> (16-bit address),
 // stores values in <*data>
 void ERA_ReadBytes(uint16_t address, uint8_t* data, uint16_t count) {
-    uint8_t ERAControlValue = 0xFF;
+    uint8_t  ERAControlValue = 0xFF;
+    uint16_t timeout_timer;
 
     cirque_pinnacle_enable_feed(false); // Disable feed
 
-    RAP_Write(ERA_HIGH_BYTE, (uint8_t)(address >> 8));    // Send upper byte of ERA address
-    RAP_Write(ERA_LOW_BYTE, (uint8_t)(address & 0x00FF)); // Send lower byte of ERA address
+    RAP_Write(HOSTREG__EXT_REG_AXS_ADDR_HIGH, (uint8_t)(address >> 8));    // Send upper byte of ERA address
+    RAP_Write(HOSTREG__EXT_REG_AXS_ADDR_LOW, (uint8_t)(address & 0x00FF)); // Send lower byte of ERA address
 
     for (uint16_t i = 0; i < count; i++) {
-        RAP_Write(ERA_CONTROL, 0x05); // Signal ERA-read (auto-increment) to Pinnacle
+        RAP_Write(HOSTREG__EXT_REG_AXS_CTRL, HOSTREG__EREG_AXS__INC_ADDR_READ | HOSTREG__EREG_AXS__READ); // Signal ERA-read (auto-increment) to Pinnacle
 
         // Wait for status register 0x1E to clear
+        timeout_timer = timer_read();
         do {
-            RAP_ReadBytes(ERA_CONTROL, &ERAControlValue, 1);
-        } while (ERAControlValue != 0x00);
+            RAP_ReadBytes(HOSTREG__EXT_REG_AXS_CTRL, &ERAControlValue, 1);
+        } while ((ERAControlValue != 0x00) && (timer_elapsed(timeout_timer) <= CIRQUE_PINNACLE_TIMEOUT));
 
-        RAP_ReadBytes(ERA_VALUE, data + i, 1);
+        RAP_ReadBytes(HOSTREG__EXT_REG_AXS_VALUE, data + i, 1);
 
         cirque_pinnacle_clear_flags();
     }
@@ -150,46 +121,80 @@ void ERA_ReadBytes(uint16_t address, uint8_t* data, uint16_t count) {
 
 // Writes a byte, <data>, to an extended register at <address> (16-bit address)
 void ERA_WriteByte(uint16_t address, uint8_t data) {
-    uint8_t ERAControlValue = 0xFF;
+    uint8_t  ERAControlValue = 0xFF;
+    uint16_t timeout_timer;
 
     cirque_pinnacle_enable_feed(false); // Disable feed
 
-    RAP_Write(ERA_VALUE, data); // Send data byte to be written
+    RAP_Write(HOSTREG__EXT_REG_AXS_VALUE, data); // Send data byte to be written
 
-    RAP_Write(ERA_HIGH_BYTE, (uint8_t)(address >> 8));    // Upper byte of ERA address
-    RAP_Write(ERA_LOW_BYTE, (uint8_t)(address & 0x00FF)); // Lower byte of ERA address
+    RAP_Write(HOSTREG__EXT_REG_AXS_ADDR_HIGH, (uint8_t)(address >> 8));    // Upper byte of ERA address
+    RAP_Write(HOSTREG__EXT_REG_AXS_ADDR_LOW, (uint8_t)(address & 0x00FF)); // Lower byte of ERA address
 
-    RAP_Write(ERA_CONTROL, 0x02); // Signal an ERA-write to Pinnacle
+    RAP_Write(HOSTREG__EXT_REG_AXS_CTRL, HOSTREG__EREG_AXS__WRITE); // Signal an ERA-write to Pinnacle
 
     // Wait for status register 0x1E to clear
+    timeout_timer = timer_read();
     do {
-        RAP_ReadBytes(ERA_CONTROL, &ERAControlValue, 1);
-    } while (ERAControlValue != 0x00);
+        RAP_ReadBytes(HOSTREG__EXT_REG_AXS_CTRL, &ERAControlValue, 1);
+    } while ((ERAControlValue != 0x00) && (timer_elapsed(timeout_timer) <= CIRQUE_PINNACLE_TIMEOUT));
 
     cirque_pinnacle_clear_flags();
 }
 
 void cirque_pinnacle_set_adc_attenuation(uint8_t adcGain) {
-    uint8_t temp = 0x00;
+    uint8_t adcconfig = 0x00;
 
-    ERA_ReadBytes(0x0187, &temp, 1);
-    temp &= 0x3F; // clear top two bits
-    temp |= adcGain;
-    ERA_WriteByte(0x0187, temp);
-    ERA_ReadBytes(0x0187, &temp, 1);
+    ERA_ReadBytes(EXTREG__TRACK_ADCCONFIG, &adcconfig, 1);
+    adcconfig &= EXTREG__TRACK_ADCCONFIG__ADC_ATTENUATE_MASK;
+    adcconfig |= adcGain;
+    ERA_WriteByte(EXTREG__TRACK_ADCCONFIG, adcconfig);
+    ERA_ReadBytes(EXTREG__TRACK_ADCCONFIG, &adcconfig, 1);
 }
 
 // Changes thresholds to improve detection of fingers
+// Not needed for flat overlay?
 void cirque_pinnacle_tune_edge_sensitivity(void) {
-    uint8_t temp = 0x00;
+    uint8_t widezmin = 0x00;
 
-    ERA_ReadBytes(0x0149, &temp, 1);
-    ERA_WriteByte(0x0149, 0x04);
-    ERA_ReadBytes(0x0149, &temp, 1);
+    ERA_ReadBytes(EXTREG__XAXIS_WIDEZMIN, &widezmin, 1);
+    ERA_WriteByte(EXTREG__XAXIS_WIDEZMIN, 0x04); // magic number from Cirque sample code
+    ERA_ReadBytes(EXTREG__XAXIS_WIDEZMIN, &widezmin, 1);
 
-    ERA_ReadBytes(0x0168, &temp, 1);
-    ERA_WriteByte(0x0168, 0x03);
-    ERA_ReadBytes(0x0168, &temp, 1);
+    ERA_ReadBytes(EXTREG__YAXIS_WIDEZMIN, &widezmin, 1);
+    ERA_WriteByte(EXTREG__YAXIS_WIDEZMIN, 0x03); // magic number from Cirque sample code
+    ERA_ReadBytes(EXTREG__YAXIS_WIDEZMIN, &widezmin, 1);
+}
+
+// Perform calibration
+void cirque_pinnacle_calibrate(void) {
+    uint8_t  calconfig;
+    uint16_t timeout_timer;
+
+    RAP_ReadBytes(HOSTREG__CALCONFIG1, &calconfig, 1);
+    calconfig |= HOSTREG__CALCONFIG1__CALIBRATE;
+    RAP_Write(HOSTREG__CALCONFIG1, calconfig);
+
+    // Calibration takes ~100ms according to GT-AN-090624, doubling the timeout just to be safe
+    timeout_timer = timer_read();
+    do {
+        RAP_ReadBytes(HOSTREG__CALCONFIG1, &calconfig, 1);
+    } while ((calconfig & HOSTREG__CALCONFIG1__CALIBRATE) && (timer_elapsed(timeout_timer) <= 200));
+
+    cirque_pinnacle_clear_flags();
+}
+
+// Enable/disable cursor smoothing, smoothing is enabled by default
+void cirque_pinnacle_cursor_smoothing(bool enable) {
+    uint8_t feedconfig3;
+
+    RAP_ReadBytes(HOSTREG__FEEDCONFIG3, &feedconfig3, 1);
+    if (enable) {
+        feedconfig3 &= ~HOSTREG__FEEDCONFIG3__DISABLE_CROSS_RATE_SMOOTHING;
+    } else {
+        feedconfig3 |= HOSTREG__FEEDCONFIG3__DISABLE_CROSS_RATE_SMOOTHING;
+    }
+    RAP_Write(HOSTREG__FEEDCONFIG3, feedconfig3);
 }
 
 /*  Pinnacle-based TM040040/TM035035/TM023023 Functions  */
@@ -205,44 +210,28 @@ void cirque_pinnacle_init(void) {
     // Host clears SW_CC flag
     cirque_pinnacle_clear_flags();
 
-    // SysConfig1 (Low Power Mode)
-    // Bit 0: Reset, 1=Reset
-    // Bit 1: Shutdown, 1=Shutdown, 0=Active
-    // Bit 2: Sleep Enable, 1=low power mode, 0=normal mode
     // send a RESET command now, in case QMK had a soft-reset without a power cycle
-    RAP_Write(SYSCONFIG_1, 0x01);
+    RAP_Write(HOSTREG__SYSCONFIG1, HOSTREG__SYSCONFIG1__RESET);
     wait_ms(30); // Pinnacle needs 10-15ms to boot, so wait long enough before configuring
-    RAP_Write(SYSCONFIG_1, 0x00);
+    RAP_Write(HOSTREG__SYSCONFIG1, HOSTREG__SYSCONFIG1_DEFVAL);
     wait_us(50);
 
     // FeedConfig2 (Feature flags for Relative Mode Only)
-    // Bit 0: IntelliMouse Enable, 1=enable, 0=disable
-    // Bit 1: All Taps Disable, 1=disable, 0=enable
-    // Bit 2: Secondary Tap Disable, 1=disable, 0=enable
-    // Bit 3: Scroll Disable, 1=disable, 0=enable
-    // Bit 4: GlideExtend® Disable, 1=disable, 0=enable
-    // Bit 5: reserved
-    // Bit 6: reserved
-    // Bit 7: Swap X & Y, 1=90° rotation, 0=0° rotation
-    RAP_Write(FEEDCONFIG_2, 0x00);
+    RAP_Write(HOSTREG__FEEDCONFIG2, HOSTREG__FEEDCONFIG2_DEFVAL);
 
     // FeedConfig1 (Data Output Flags)
-    // Bit 0: Feed enable, 1=feed, 0=no feed
-    // Bit 1: Data mode, 1=absolute, 0=relative
-    // Bit 2: Filter disable, 1=no filter, 0=filter
-    // Bit 3: X disable, 1=no X data, 0=X data
-    // Bit 4: Y disable, 1=no Y data, 0=Y data
-    // Bit 5: reserved
-    // Bit 6: X data Invert, 1=X max to 0, 0=0 to Y max
-    // Bit 7: Y data Invert, 1=Y max to 0, 0=0 to Y max
-    RAP_Write(FEEDCONFIG_1, CIRQUE_PINNACLE_POSITION_MODE << 1);
-
-    // Host sets z-idle packet count to 5 (default is 0x1F/30)
-    RAP_Write(Z_IDLE_COUNT, 5);
+    RAP_Write(HOSTREG__FEEDCONFIG1, CIRQUE_PINNACLE_POSITION_MODE ? HOSTREG__FEEDCONFIG1__DATA_TYPE__REL0_ABS1 : HOSTREG__FEEDCONFIG1_DEFVAL);
 
-    cirque_pinnacle_set_adc_attenuation(CIRQUE_PINNACLE_ATTENUATION);
+    // Host sets z-idle packet count to 5 (default is 0x1E/30)
+    RAP_Write(HOSTREG__ZIDLE, 5);
 
+    cirque_pinnacle_set_adc_attenuation(CIRQUE_PINNACLE_ATTENUATION);
+#ifdef CIRQUE_PINNACLE_CURVED_OVERLAY
     cirque_pinnacle_tune_edge_sensitivity();
+#endif
+    // Force a calibration after setting ADC attenuation
+    cirque_pinnacle_calibrate();
+
     cirque_pinnacle_enable_feed(true);
 }
 
@@ -252,15 +241,15 @@ pinnacle_data_t cirque_pinnacle_read_data(void) {
     pinnacle_data_t result     = {0};
 
     // Check if there is valid data available
-    RAP_ReadBytes(STATUS_1, &data_ready, 1); // bit2 is Software Data Ready, bit3 is Command Complete, bit0 and bit1 are reserved/unused
-    if ((data_ready & 0x04) == 0) {
+    RAP_ReadBytes(HOSTREG__STATUS1, &data_ready, 1);
+    if ((data_ready & HOSTREG__STATUS1__DATA_READY) == 0) {
         // no data available yet
         result.valid = false; // be explicit
         return result;
     }
 
     // Read all data bytes
-    RAP_ReadBytes(PACKET_BYTE_0, data, 6);
+    RAP_ReadBytes(HOSTREG__PACKETBYTE_0, data, 6);
 
     // Get ready for the next data sample
     cirque_pinnacle_clear_flags();
diff --git a/drivers/sensors/cirque_pinnacle.h b/drivers/sensors/cirque_pinnacle.h
index d65bdb41b6..1c9bf06fd3 100644
--- a/drivers/sensors/cirque_pinnacle.h
+++ b/drivers/sensors/cirque_pinnacle.h
@@ -2,6 +2,7 @@
 
 #pragma once
 
+#include "cirque_pinnacle_regdefs.h"
 #include <stdint.h>
 #include <stdbool.h>
 
@@ -15,6 +16,11 @@
 #    define CIRQUE_PINNACLE_POSITION_MODE CIRQUE_PINNACLE_ABSOLUTE_MODE
 #endif
 
+#define CIRQUE_PINNACLE_DEFAULT_SCALE 1024
+#ifndef CIRQUE_PINNACLE_DIAMETER_MM
+#    define CIRQUE_PINNACLE_DIAMETER_MM 40
+#endif
+
 // Coordinate scaling values
 #ifndef CIRQUE_PINNACLE_X_LOWER
 #    define CIRQUE_PINNACLE_X_LOWER 127 // min "reachable" X value
@@ -41,7 +47,7 @@
 #    include "i2c_master.h"
 // Cirque's 7-bit I2C Slave Address
 #    ifndef CIRQUE_PINNACLE_ADDR
-#        define CIRQUE_PINNACLE_ADDR 0x2A
+#        define CIRQUE_PINNACLE_ADDR I2C_ADDRESS_DEFAULT
 #    endif
 #elif defined(POINTING_DEVICE_DRIVER_cirque_pinnacle_spi)
 #    include "spi_master.h"
@@ -66,6 +72,10 @@
 #    endif
 #endif
 
+#define DIVIDE_UNSIGNED_ROUND(numerator, denominator) (((numerator) + ((denominator) / 2)) / (denominator))
+#define CIRQUE_PINNACLE_INCH_TO_PX(inch) (DIVIDE_UNSIGNED_ROUND((inch) * (uint32_t)CIRQUE_PINNACLE_DIAMETER_MM * 10, 254))
+#define CIRQUE_PINNACLE_PX_TO_INCH(px) (DIVIDE_UNSIGNED_ROUND((px) * (uint32_t)254, CIRQUE_PINNACLE_DIAMETER_MM * 10))
+
 // Convenient way to store and access measurements
 typedef struct {
     bool valid; // true if valid data was read, false if no data was ready
@@ -84,6 +94,8 @@ typedef struct {
 } pinnacle_data_t;
 
 void            cirque_pinnacle_init(void);
+void            cirque_pinnacle_calibrate(void);
+void            cirque_pinnacle_cursor_smoothing(bool enable);
 pinnacle_data_t cirque_pinnacle_read_data(void);
 void            cirque_pinnacle_scale_data(pinnacle_data_t* coordinates, uint16_t xResolution, uint16_t yResolution);
 uint16_t        cirque_pinnacle_get_scale(void);
diff --git a/drivers/sensors/cirque_pinnacle_gestures.c b/drivers/sensors/cirque_pinnacle_gestures.c
new file mode 100644
index 0000000000..f6f9177e08
--- /dev/null
+++ b/drivers/sensors/cirque_pinnacle_gestures.c
@@ -0,0 +1,226 @@
+/* Copyright 2020 Christopher Courtney, aka Drashna Jael're  (@drashna) <drashna@live.com>
+ * Copyright 2022 Daniel Kao <daniel.m.kao@gmail.com>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+#include <stdlib.h>
+#include <lib/lib8tion/lib8tion.h>
+#include "cirque_pinnacle_gestures.h"
+#include "pointing_device.h"
+#include "timer.h"
+
+#if defined(CIRQUE_PINNACLE_TAP_ENABLE) || defined(CIRQUE_PINNACLE_CIRCULAR_SCROLL_ENABLE)
+static cirque_pinnacle_features_t features = {.tap_enable = true, .circular_scroll_enable = true};
+#endif
+
+#ifdef CIRQUE_PINNACLE_TAP_ENABLE
+static trackpad_tap_context_t tap;
+
+static report_mouse_t trackpad_tap(report_mouse_t mouse_report, pinnacle_data_t touchData) {
+    if (touchData.touchDown != tap.touchDown) {
+        tap.touchDown = touchData.touchDown;
+        if (!touchData.zValue) {
+            if (timer_elapsed(tap.timer) < CIRQUE_PINNACLE_TAPPING_TERM && tap.timer != 0) {
+                mouse_report.buttons = pointing_device_handle_buttons(mouse_report.buttons, true, POINTING_DEVICE_BUTTON1);
+                pointing_device_set_report(mouse_report);
+                pointing_device_send();
+#    if TAP_CODE_DELAY > 0
+                wait_ms(TAP_CODE_DELAY);
+#    endif
+                mouse_report.buttons = pointing_device_handle_buttons(mouse_report.buttons, false, POINTING_DEVICE_BUTTON1);
+                pointing_device_set_report(mouse_report);
+                pointing_device_send();
+            }
+        }
+        tap.timer = timer_read();
+    }
+    if (timer_elapsed(tap.timer) > (CIRQUE_PINNACLE_TOUCH_DEBOUNCE)) {
+        tap.timer = 0;
+    }
+
+    return mouse_report;
+}
+
+void cirque_pinnacle_enable_tap(bool enable) {
+    features.tap_enable = enable;
+}
+#endif
+
+#ifdef CIRQUE_PINNACLE_CIRCULAR_SCROLL_ENABLE
+/* To set a trackpad exclusively as scroll wheel: outer_ring_pct = 100, trigger_px = 0, trigger_ang = 0 */
+static circular_scroll_context_t scroll = {.config = {.outer_ring_pct = 33,
+                                                      .trigger_px     = 16,
+                                                      .trigger_ang    = 9102, /* 50 degrees */
+                                                      .wheel_clicks   = 18}};
+
+static inline uint16_t atan2_16(int32_t dy, int32_t dx) {
+    if (dy == 0) {
+        if (dx >= 0) {
+            return 0;
+        } else {
+            return 32768;
+        }
+    }
+
+    int32_t abs_y = dy > 0 ? dy : -dy;
+    int16_t a;
+
+    if (dx >= 0) {
+        a = 8192 - (8192 * (dx - abs_y) / (dx + abs_y));
+    } else {
+        a = 24576 - (8192 * (dx + abs_y) / (abs_y - dx));
+    }
+
+    if (dy < 0) {
+        return -a; // negate if in quad III or IV
+    }
+    return a;
+}
+
+static circular_scroll_t circular_scroll(pinnacle_data_t touchData) {
+    circular_scroll_t report = {0, 0, false};
+    int8_t            x, y, wheel_clicks;
+    uint8_t           center = 256 / 2, mag;
+    int16_t           ang, dot, det, opposite_side, adjacent_side;
+    uint16_t          scale = cirque_pinnacle_get_scale();
+
+    if (touchData.zValue) {
+        /*
+         * Place origin at center of trackpad, treat coordinates as vectors.
+         * Scale to fixed int8_t size; angles are independent of resolution.
+         */
+        if (scale) {
+            x = (int8_t)((int32_t)touchData.xValue * 256 / scale - center);
+            y = (int8_t)((int32_t)touchData.yValue * 256 / scale - center);
+        } else {
+            x = 0;
+            y = 0;
+        }
+
+        /* Check if first touch */
+        if (!scroll.z) {
+            report.suppress_touch = false;
+            /* Check if touch falls within outer ring */
+            mag = sqrt16(x * x + y * y);
+            if (mag * 100 / center >= 100 - scroll.config.outer_ring_pct) {
+                scroll.state = SCROLL_DETECTING;
+                scroll.x     = x;
+                scroll.y     = y;
+                scroll.mag   = mag;
+                /*
+                 * Decide scroll axis:
+                 *   Vertical if started from righ half
+                 *   Horizontal if started from left half
+                 * Flipped for left-handed
+                 */
+#    if defined(POINTING_DEVICE_ROTATION_90)
+                scroll.axis = y < 0;
+#    elif defined(POINTING_DEVICE_ROTATION_180)
+                scroll.axis = x > 0;
+#    elif defined(POINTING_DEVICE_ROTATION_270)
+                scroll.axis = y > 0;
+#    else
+                scroll.axis = x < 0;
+#    endif
+            }
+        } else if (scroll.state == SCROLL_DETECTING) {
+            report.suppress_touch = true;
+            /* Already detecting scroll, check movement from touchdown location */
+            mag = sqrt16((x - scroll.x) * (x - scroll.x) + (y - scroll.y) * (y - scroll.y));
+            if (mag >= scroll.config.trigger_px) {
+                /*
+                 * Find angle of movement.
+                 * 0 degrees here means movement towards center of circle
+                 */
+                dot           = scroll.x * x + scroll.y * y;
+                det           = scroll.x * y - scroll.y * x;
+                opposite_side = abs(det);                                /* Based on scalar rejection */
+                adjacent_side = abs(scroll.mag * scroll.mag - abs(dot)); /* Based on scalar projection */
+                ang           = (int16_t)atan2_16(opposite_side, adjacent_side);
+                if (ang < scroll.config.trigger_ang) {
+                    /* Not a scroll, release coordinates */
+                    report.suppress_touch = false;
+                    scroll.state          = NOT_SCROLL;
+                } else {
+                    /* Scroll detected */
+                    scroll.state = SCROLL_VALID;
+                }
+            }
+        }
+        if (scroll.state == SCROLL_VALID) {
+            report.suppress_touch = true;
+            dot                   = scroll.x * x + scroll.y * y;
+            det                   = scroll.x * y - scroll.y * x;
+            ang                   = (int16_t)atan2_16(det, dot);
+            wheel_clicks          = ((int32_t)ang * scroll.config.wheel_clicks) / 65536;
+            if (wheel_clicks >= 1 || wheel_clicks <= -1) {
+                if (scroll.config.left_handed) {
+                    if (scroll.axis == 0) {
+                        report.h = -wheel_clicks;
+                    } else {
+                        report.v = wheel_clicks;
+                    }
+                } else {
+                    if (scroll.axis == 0) {
+                        report.v = -wheel_clicks;
+                    } else {
+                        report.h = wheel_clicks;
+                    }
+                }
+                scroll.x = x;
+                scroll.y = y;
+            }
+        }
+    }
+
+    scroll.z = touchData.zValue;
+    if (!scroll.z) scroll.state = SCROLL_UNINITIALIZED;
+
+    return report;
+}
+
+void cirque_pinnacle_enable_circular_scroll(bool enable) {
+    features.circular_scroll_enable = enable;
+}
+
+void cirque_pinnacle_configure_circular_scroll(uint8_t outer_ring_pct, uint8_t trigger_px, uint16_t trigger_ang, uint8_t wheel_clicks, bool left_handed) {
+    scroll.config.outer_ring_pct = outer_ring_pct;
+    scroll.config.trigger_px     = trigger_px;
+    scroll.config.trigger_ang    = trigger_ang;
+    scroll.config.wheel_clicks   = wheel_clicks;
+    scroll.config.left_handed    = left_handed;
+}
+#endif
+
+bool cirque_pinnacle_gestures(report_mouse_t* mouse_report, pinnacle_data_t touchData) {
+    bool suppress_mouse_update = false;
+
+#ifdef CIRQUE_PINNACLE_CIRCULAR_SCROLL_ENABLE
+    circular_scroll_t scroll_report;
+    if (features.circular_scroll_enable) {
+        scroll_report         = circular_scroll(touchData);
+        mouse_report->v       = scroll_report.v;
+        mouse_report->h       = scroll_report.h;
+        suppress_mouse_update = scroll_report.suppress_touch;
+    }
+#endif
+
+#ifdef CIRQUE_PINNACLE_TAP_ENABLE
+    if (features.tap_enable) {
+        *mouse_report = trackpad_tap(*mouse_report, touchData);
+    }
+#endif
+
+    return suppress_mouse_update;
+}
diff --git a/drivers/sensors/cirque_pinnacle_gestures.h b/drivers/sensors/cirque_pinnacle_gestures.h
new file mode 100644
index 0000000000..f39782b467
--- /dev/null
+++ b/drivers/sensors/cirque_pinnacle_gestures.h
@@ -0,0 +1,107 @@
+/* Copyright 2020 Christopher Courtney, aka Drashna Jael're  (@drashna) <drashna@live.com>
+ * Copyright 2022 Daniel Kao <daniel.m.kao@gmail.com>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+#pragma once
+
+#include "cirque_pinnacle.h"
+#include "report.h"
+
+typedef struct {
+    bool tap_enable;
+    bool circular_scroll_enable;
+} cirque_pinnacle_features_t;
+
+#ifdef CIRQUE_PINNACLE_TAP_ENABLE
+#    ifndef CIRQUE_PINNACLE_TAPPING_TERM
+#        include "action.h"
+#        include "action_tapping.h"
+#        define CIRQUE_PINNACLE_TAPPING_TERM GET_TAPPING_TERM(KC_BTN1, &(keyrecord_t){})
+#    endif
+#    ifndef CIRQUE_PINNACLE_TOUCH_DEBOUNCE
+#        define CIRQUE_PINNACLE_TOUCH_DEBOUNCE (CIRQUE_PINNACLE_TAPPING_TERM * 8)
+#    endif
+
+typedef struct {
+    uint16_t timer;
+    bool     touchDown;
+} trackpad_tap_context_t;
+
+/* Enable/disable tap gesture */
+void cirque_pinnacle_enable_tap(bool enable);
+#endif
+
+#ifdef CIRQUE_PINNACLE_CIRCULAR_SCROLL_ENABLE
+typedef enum {
+    SCROLL_UNINITIALIZED,
+    SCROLL_DETECTING,
+    SCROLL_VALID,
+    NOT_SCROLL,
+} circular_scroll_status_t;
+
+typedef struct {
+    int8_t v;
+    int8_t h;
+    bool   suppress_touch;
+} circular_scroll_t;
+
+typedef struct {
+    uint8_t  outer_ring_pct; /* Width of outer ring, given as a percentage of the radius */
+    uint8_t  trigger_px;     /* Amount of movement before triggering scroll validation, in pixels 0~127 */
+    uint16_t trigger_ang;    /* Angle required to validate scroll, in radians where pi = 32768 */
+    uint8_t  wheel_clicks;   /* How many clicks to report in a circle */
+    bool     left_handed;    /* Whether scrolling should be flipped for left handed use */
+} circular_scroll_config_t;
+
+typedef struct {
+    circular_scroll_config_t config;
+    circular_scroll_status_t state;
+    uint8_t                  mag;
+    int8_t                   x;
+    int8_t                   y;
+    uint16_t                 z;
+    bool                     axis;
+} circular_scroll_context_t;
+
+/* Enable/disable circular scroll gesture */
+void cirque_pinnacle_enable_circular_scroll(bool enable);
+
+/*
+ * Configure circular scroll gesture.
+ * Trackpad can be configured to act exclusively as a scroll wheel with outer_ring_pct = 0, trigger_px = 0, trigger_ang = 0.
+ * @param outer_ring_pct Width of outer ring from which to begin scroll validation, given as a percentage of the radius.
+ * @param trigger_px Amount of movement before triggering scroll validation. Expressed in pixels, trackpad coordinates are scaled to radius of 128 pixels for circular scroll.
+ * @param triger_ang Angle required to validate scroll, angle smaller than this will invalidate scroll. In radians where pi = 32768, 0 means movement towards center of trackpad, 16384 means movement perpendicular to center.
+ * @param wheel_clicks Number of scroll wheel clicks to report in a full rotation.
+ * @param left_handed Whether scrolling should be flipped for left-handed use.
+ */
+void cirque_pinnacle_configure_circular_scroll(uint8_t outer_ring_pct, uint8_t trigger_px, uint16_t trigger_ang, uint8_t wheel_clicks, bool left_handed);
+#endif
+
+#ifdef POINTING_DEVICE_GESTURES_CURSOR_GLIDE_ENABLE
+/* Implementation in pointing_device_drivers.c */
+
+/* Enable/disable inertial cursor */
+void cirque_pinnacle_enable_cursor_glide(bool enable);
+
+/*
+ * Configure inertial cursor.
+ * @param trigger_px Movement required to trigger cursor glide, set this to non-zero if you have some amount of hover.
+ */
+void cirque_pinnacle_configure_cursor_glide(float trigger_px);
+#endif
+
+/* Process available gestures */
+bool cirque_pinnacle_gestures(report_mouse_t* mouse_report, pinnacle_data_t touchData);
diff --git a/drivers/sensors/cirque_pinnacle_regdefs.h b/drivers/sensors/cirque_pinnacle_regdefs.h
new file mode 100644
index 0000000000..993da1e757
--- /dev/null
+++ b/drivers/sensors/cirque_pinnacle_regdefs.h
@@ -0,0 +1,405 @@
+// Copyright (c) 2018 Cirque Corp. Restrictions apply. See: www.cirque.com/sw-license
+// based on https://github.com/cirque-corp/Cirque_Pinnacle_1CA027/tree/master/Additional_Examples
+// with modifications and changes for QMK
+// refer to documentation: Gen2 and Gen3 (Pinnacle ASIC) at https://www.cirque.com/gen2gen3-asic-details
+
+#pragma once
+
+// clang-format off
+
+#define HostReg__0      (0x00)
+#define HostReg__1      (0x01)
+#define HostReg__2      (0x02)
+#define HostReg__3      (0x03)
+#define HostReg__4      (0x04)
+#define HostReg__5      (0x05)
+#define HostReg__6      (0x06)
+#define HostReg__7      (0x07)
+#define HostReg__8      (0x08)
+#define HostReg__9      (0x09)
+#define HostReg__10     (0x0A)
+#define HostReg__11     (0x0B)
+#define HostReg__12     (0x0C)
+#define HostReg__13     (0x0D)
+#define HostReg__14     (0x0E)
+#define HostReg__15     (0x0F)
+#define HostReg__16     (0x10)
+#define HostReg__17     (0x11)
+#define HostReg__18     (0x12)
+#define HostReg__19     (0x13)
+#define HostReg__20     (0x14)
+#define HostReg__21     (0x15)
+#define HostReg__22     (0x16)
+#define HostReg__23     (0x17)
+#define HostReg__24     (0x18)
+#define HostReg__25     (0x19)
+#define HostReg__26     (0x1A)
+#define HostReg__27     (0x1B)
+#define HostReg__28     (0x1C)
+#define HostReg__29     (0x1D)
+#define HostReg__30     (0x1E)
+#define HostReg__31     (0x1F)
+
+// ---------------- Register Assignments -------------------------------------
+
+/*--------------------------------------------------------------------------*\
+                           Chip ID / Version
+\*--------------------------------------------------------------------------*/
+// Chip ID Register
+#define HOSTREG__CHIPID                                             HostReg__0
+
+// Chip Version Register
+#define HOSTREG__VERSION                                            HostReg__1
+
+/*--------------------------------------------------------------------------*\
+                           Status Register
+\*--------------------------------------------------------------------------*/
+// Status 1 Register -- MUST BE HOSTREG__2
+#define HOSTREG__STATUS1                                            HostReg__2
+#    define HOSTREG__STATUS1__DATA_READY                            0x04
+#    define HOSTREG__STATUS1__COMMAND_COMPLETE                      0x08
+#define HOSTREG__STATUS1_DEFVAL                                     0x00
+
+/*--------------------------------------------------------------------------*\
+                           System Config Register
+\*--------------------------------------------------------------------------*/
+#define HOSTREG__SYSCONFIG1                                         HostReg__3
+#    define HOSTREG__SYSCONFIG1__RESET                              0x01
+#    define HOSTREG__SYSCONFIG1__STANDBY                            0x02
+#    define HOSTREG__SYSCONFIG1__AUTO_SLEEP                         0x04
+#    define HOSTREG__SYSCONFIG1__TRACK_DISABLE                      0x08
+#    define HOSTREG__SYSCONFIG1__ANYMEAS_ENABLE                     0x10
+#    define HOSTREG__SYSCONFIG1__GPIO_CTRL_ENABLE                   0x20
+#    define HOSTREG__SYSCONFIG1__WAKEUP_TOGGLE                      0x40
+#    define HOSTREG__SYSCONFIG1__FORCE_WAKEUP                       0x80
+#define HOSTREG__SYSCONFIG1_DEFVAL                                  0x00
+
+/*--------------------------------------------------------------------------*\
+                           Feed Config Registers
+\*--------------------------------------------------------------------------*/
+// Feed Config Register1
+#define HOSTREG__FEEDCONFIG1                                        HostReg__4
+#    define HOSTREG__FEEDCONFIG1__FEED_ENABLE                       0x01
+#    define HOSTREG__FEEDCONFIG1__DATA_TYPE__REL0_ABS1              0x02
+#    define HOSTREG__FEEDCONFIG1__FILTER_DISABLE                    0x04
+#    define HOSTREG__FEEDCONFIG1__X_AXIS_DISABLE                    0x08
+#    define HOSTREG__FEEDCONFIG1__Y_AXIS_DISABLE                    0x10
+#    define HOSTREG__FEEDCONFIG1__AXIS_FOR_Z__Y0_X1                 0x20
+#    define HOSTREG__FEEDCONFIG1__X_DATA_INVERT                     0x40
+#    define HOSTREG__FEEDCONFIG1__Y_DATA_INVERT                     0x80
+#define HOSTREG__FEEDCONFIG1_DEFVAL                                 0x00
+
+// Feed Config Register2
+#define HOSTREG__FEEDCONFIG2                                        HostReg__5
+#    define HOSTREG__FEEDCONFIG2__INTELLIMOUSE_MODE                 0x01
+#    define HOSTREG__FEEDCONFIG2__ALL_TAP_DISABLE                   0x02
+#    define HOSTREG__FEEDCONFIG2__SECONDARY_TAP_DISABLE             0x04
+#    define HOSTREG__FEEDCONFIG2__SCROLL_DISABLE                    0x08
+#    define HOSTREG__FEEDCONFIG2__GLIDE_EXTEND_DISABLE              0x10
+#    define HOSTREG__FEEDCONFIG2__PALM_BEFORE_Z_ENABLE              0x20
+#    define HOSTREG__FEEDCONFIG2__BUTNS_46_SCROLL_5_MIDDLE          0x40
+#    define HOSTREG__FEEDCONFIG2__SWAP_XY_RELATIVE                  0x80
+#define HOSTREG__FEEDCONFIG2_DEFVAL                                 0x00
+
+// Feed Config Register3
+#define HOSTREG__FEEDCONFIG3                                        HostReg__6
+#    define HOSTREG__FEEDCONFIG3__BTNS_456_TO_123_IN_REL            0x01
+#    define HOSTREG__FEEDCONFIG3__DISABLE_CROSS_RATE_SMOOTHING      0x02
+#    define HOSTREG__FEEDCONFIG3__DISABLE_PALM_NERD_MEAS            0x04
+#    define HOSTREG__FEEDCONFIG3__DISABLE_NOISE_AVOIDANCE           0x08
+#    define HOSTREG__FEEDCONFIG3__DISABLE_WRAP_LOCKOUT              0x10
+#    define HOSTREG__FEEDCONFIG3__DISABLE_DYNAMIC_EMI_ADJUST        0x20
+#    define HOSTREG__FEEDCONFIG3__DISABLE_HW_EMI_DETECT             0x40
+#    define HOSTREG__FEEDCONFIG3__DISABLE_SW_EMI_DETECT             0x80
+#define HOSTREG__FEEDCONFIG3_DEFVAL                                 0x00
+
+/*--------------------------------------------------------------------------*\
+                           Calibration Config
+\*--------------------------------------------------------------------------*/
+#define HOSTREG__CALCONFIG1                                         HostReg__7
+#    define HOSTREG__CALCONFIG1__CALIBRATE                          0x01
+#    define HOSTREG__CALCONFIG1__BACKGROUND_COMP_ENABLE             0x02
+#    define HOSTREG__CALCONFIG1__NERD_COMP_ENABLE                   0x04
+#    define HOSTREG__CALCONFIG1__TRACK_ERROR_COMP_ENABLE            0x08
+#    define HOSTREG__CALCONFIG1__TAP_COMP_ENABLE                    0x10
+#    define HOSTREG__CALCONFIG1__PALM_ERROR_COMP_ENABLE             0x20
+#    define HOSTREG__CALCONFIG1__CALIBRATION_MATRIX_DISABLE         0x40
+#    define HOSTREG__CALCONFIG1__FORCE_PRECALIBRATION_NOISE_CHECK   0x80
+#define HOSTREG__CALCONFIG1_DEFVAL                                  (HOSTREG__CALCONFIG1__BACKGROUND_COMP_ENABLE | HOSTREG__CALCONFIG1__NERD_COMP_ENABLE | HOSTREG__CALCONFIG1__TRACK_ERROR_COMP_ENABLE | HOSTREG__CALCONFIG1__TAP_COMP_ENABLE | HOSTREG__CALCONFIG1__PALM_ERROR_COMP_ENABLE)
+
+/*--------------------------------------------------------------------------*\
+                           PS2 Aux Control Register
+\*--------------------------------------------------------------------------*/
+#define HOSTREG__PS2AUX_CTRL                                        HostReg__8
+#    define HOSTREG__PS2AUX_CTRL__CMD_PASSTHRU_ENABLE               0x01
+#    define HOSTREG__PS2AUX_CTRL__SP_EXTENDED_MODE                  0x02
+#    define HOSTREG__PS2AUX_CTRL__GS_DISABLE                        0x04
+#    define HOSTREG__PS2AUX_CTRL__SP_DISABLE                        0x08
+#    define HOSTREG__PS2AUX_CTRL__GS_COORDINATE_DISABLE             0x10
+#    define HOSTREG__PS2AUX_CTRL__SP_COORDINATE_DISABLE             0x20
+#    define HOSTREG__PS2AUX_CTRL__DISABLE_AA00_DETECT               0x40
+#    define HOSTREG__PS2AUX_CTRL__AUX_PRESENT                       0x80
+#define HOSTREG__PR2AUX_CTRL_DEFVAL                                 0x00
+
+/*--------------------------------------------------------------------------*\
+                           Sample Rate Value
+\*--------------------------------------------------------------------------*/
+#define HOSTREG__SAMPLERATE                                         HostReg__9
+#    define HOSTREG__SAMPLERATE__10_SPS                             0x0A
+#    define HOSTREG__SAMPLERATE__20_SPS                             0x14
+#    define HOSTREG__SAMPLERATE__40_SPS                             0x28
+#    define HOSTREG__SAMPLERATE__60_SPS                             0x3C
+#    define HOSTREG__SAMPLERATE__80_SPS                             0x50
+#    define HOSTREG__SAMPLERATE__100_SPS                            0x64
+#    define HOSTREG__SAMPLERATE__200_SPS                            0xC8        // 200sps not supported
+                                                                                // only for ps2 compatibility
+                                                                                // rate set to 100sps
+#define HOSTREG__SAMPLERATE_DEFVAL                                  HOSTREG__SAMPLERATE__100_SPS
+
+/*--------------------------------------------------------------------------*\
+                           Z Idle Value
+\*--------------------------------------------------------------------------*/
+#define HOSTREG__ZIDLE                                              HostReg__10
+#define HOSTREG__ZIDLE_DEFVAL                                       30 // 0x1E
+
+/*--------------------------------------------------------------------------*\
+                           Z Scaler Value
+\*--------------------------------------------------------------------------*/
+#define HOSTREG__ZSCALER                                            HostReg__11
+#define HOSTREG__ZSCALER_DEFVAL                                     8