first working (unoptimized) poller version tested with i2c only

app/boards/shields/splitkb_aurora_corne/trackpad.c

@@ -2,22 +2,29 @@
 #include <zephyr/logging/log.h>
 
 #include <zmk/hid.h>
+#include <zephyr/device.h>
+#include <zephyr/kernel.h>
 #include <zmk/endpoints.h>
 #include <zmk/keymap.h>
 #include <dt-bindings/zmk/mouse.h>
 
 #define SCROLL_DIV_FACTOR 5
 
+#define THREAD_STACK_SIZE 1024
+#define THREAD_PRIORITY 5
+
 LOG_MODULE_REGISTER(trackpad, CONFIG_SENSOR_LOG_LEVEL);
 
-const struct device *trackpad = DEVICE_DT_GET(DT_INST(0, cirque_pinnacle));
+const struct device *trackpad = DEVICE_DT_GET(DT_NODELABEL(trackpad));
 
 static void handle_trackpad(const struct device *dev, const struct sensor_trigger *trig) {
  static uint8_t last_pressed = 0;
  int ret = sensor_sample_fetch(dev);
- if (ret < 0) {
+ if (ret < 0 && ret != -EAGAIN) {
  LOG_ERR("fetch: %d", ret);
  return;
+ } else if (ret == -EAGAIN) {
+ return;
  }
  struct sensor_value dx, dy, btn;
  ret = sensor_channel_get(dev, SENSOR_CHAN_POS_DX, &dx);
@@ -63,6 +70,7 @@ static void handle_trackpad(const struct device *dev, const struct sensor_trigge
  last_pressed = btn.val1;
 }
 
+#ifdef CONFIG_PINNACLE_TRIGGER
 static int trackpad_init() {
  struct sensor_trigger trigger = {
  .type = SENSOR_TRIG_DATA_READY,
@@ -77,3 +85,13 @@ static int trackpad_init() {
 }
 
 SYS_INIT(trackpad_init, APPLICATION, CONFIG_KSCAN_INIT_PRIORITY);
+#else
+void poll_trackpad(void *a, void *b, void *c) {
+ while (1) {
+ handle_trackpad(trackpad, NULL);
+ k_sleep(K_MSEC(10));
+ }
+}
+
+K_THREAD_DEFINE(my_tid, THREAD_STACK_SIZE, poll_trackpad, NULL, NULL, NULL, THREAD_PRIORITY, 0, 0);
+#endif

app/module/drivers/sensor/pinnacle/pinnacle.c

@@ -96,7 +96,7 @@ 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 ret;
- ret = pinnacle_seq_read(dev, PINNACLE_STATUS1, packet, 0);
+ ret = pinnacle_seq_read(dev, PINNACLE_STATUS1, packet, 1);
  if (ret < 0) {
  LOG_ERR("read status: %d", ret);
  return ret;
@@ -113,13 +113,24 @@ static int pinnacle_sample_fetch(const struct device *dev, enum sensor_channel c
  data->btn = packet[0] & PINNACLE_PACKET0_BTN_PRIM;
  data->dx = (int16_t) (int8_t) packet[1];
  data->dy = (int16_t) (int8_t) packet[2];
+#ifdef CONFIG_PINNACLE_TRIGGER
  if (!data->in_int) {
- ret = pinnacle_write(dev, PINNACLE_STATUS1, 0);  // Clear SW_DR
+ ret = pinnacle_write(dev, PINNACLE_STATUS1, 0); // Clear SW_DR & SW_CC
  if (ret < 0) {
  LOG_ERR("clear dr: %d", ret);
  return ret;
  }
  }
+#else
+ // Clear SW_DR & SW_CC
+ ret = pinnacle_write(dev, PINNACLE_STATUS1, 0);
+ if (ret < 0) {
+ LOG_ERR("clear dr & cc: %d", ret);
+ return ret;
+ }
+ k_sleep(K_MSEC(50));
+#endif
+
  return 0;
 }
 
@@ -196,7 +207,7 @@ static int pinnacle_init(const struct device *dev) {
  LOG_ERR("can't reset %d", ret);
  return ret;
  }
- k_msleep(20);
+ k_msleep(30);
  ret = pinnacle_write(dev, PINNACLE_STATUS1, 0); // Clear CC
  if (ret < 0) {
  LOG_ERR("can't write %d", ret);
@@ -235,6 +246,13 @@ static int pinnacle_init(const struct device *dev) {
  LOG_ERR("can't write %d", ret);
  return ret;
  }
+ // Clear SW_DR & SW_CC
+ ret = pinnacle_write(dev, PINNACLE_STATUS1, 0);
+ if (ret < 0) {
+ LOG_ERR("clear dr & cc: %d", ret);
+ return ret;
+ }
+ k_sleep(K_MSEC(50));
 
 #ifdef CONFIG_PINNACLE_TRIGGER
  data->dev = dev;
@@ -263,10 +281,10 @@ static int pinnacle_init(const struct device *dev) {
 
 static const struct sensor_driver_api pinnacle_driver_api = {
 #if CONFIG_PINNACLE_TRIGGER
- .trigger_set = pinnacle_trigger_set,
+ .trigger_set = pinnacle_trigger_set,
 #endif
- .sample_fetch = pinnacle_sample_fetch,
- .channel_get = pinnacle_channel_get,
+ .sample_fetch = pinnacle_sample_fetch,
+ .channel_get = pinnacle_channel_get,
 };
 
 #define PINNACLE_INST(n) \