Rework and expand Pointing Device support (#14343)

Co-authored-by: Dasky <32983009+daskygit@users.noreply.github.com>

17 files changed, 1281 insertions, 437 deletions

diff --git a/drivers/sensors/adns5050.c b/drivers/sensors/adns5050.c
index 254ef2ee87..c23d24d5af 100644
--- a/drivers/sensors/adns5050.c
+++ b/drivers/sensors/adns5050.c
@@ -20,81 +20,95 @@
 #include "adns5050.h"
 #include "wait.h"
 #include "debug.h"
-#include "print.h"
 #include "gpio.h"
 
-#ifndef OPTIC_ROTATED
-#    define OPTIC_ROTATED false
-#endif
-
-// Definitions for the ADNS serial line.
-#ifndef ADNS_SCLK_PIN
-#    define ADNS_SCLK_PIN B7
-#endif
-
-#ifndef ADNS_SDIO_PIN
-#    define ADNS_SDIO_PIN C6
-#endif
-
-#ifndef ADNS_CS_PIN
-#    define ADNS_CS_PIN B4
-#endif
-
-#ifdef CONSOLE_ENABLE
-void print_byte(uint8_t byte) { dprintf("%c%c%c%c%c%c%c%c|", (byte & 0x80 ? '1' : '0'), (byte & 0x40 ? '1' : '0'), (byte & 0x20 ? '1' : '0'), (byte & 0x10 ? '1' : '0'), (byte & 0x08 ? '1' : '0'), (byte & 0x04 ? '1' : '0'), (byte & 0x02 ? '1' : '0'), (byte & 0x01 ? '1' : '0')); }
-#endif
-
-// Initialize the ADNS serial pins.
-void adns_init(void) {
-    setPinOutput(ADNS_SCLK_PIN);
-    setPinOutput(ADNS_SDIO_PIN);
-    setPinOutput(ADNS_CS_PIN);
+// Registers
+// clang-format off
+#define REG_PRODUCT_ID     0x00
+#define REG_REVISION_ID    0x01
+#define REG_MOTION         0x02
+#define REG_DELTA_X        0x03
+#define REG_DELTA_Y        0x04
+#define REG_SQUAL          0x05
+#define REG_SHUTTER_UPPER  0x06
+#define REG_SHUTTER_LOWER  0x07
+#define REG_MAXIMUM_PIXEL  0x08
+#define REG_PIXEL_SUM      0x09
+#define REG_MINIMUM_PIXEL  0x0a
+#define REG_PIXEL_GRAB     0x0b
+#define REG_MOUSE_CONTROL  0x0d
+#define REG_MOUSE_CONTROL2 0x19
+#define REG_LED_DC_MODE    0x22
+#define REG_CHIP_RESET     0x3a
+#define REG_PRODUCT_ID2    0x3e
+#define REG_INV_REV_ID     0x3f
+#define REG_MOTION_BURST   0x63
+// clang-format on
+
+void adns5050_init(void) {
+    // Initialize the ADNS serial pins.
+    setPinOutput(ADNS5050_SCLK_PIN);
+    setPinOutput(ADNS5050_SDIO_PIN);
+    setPinOutput(ADNS5050_CS_PIN);
+
+    // reboot the adns.
+    // if the adns hasn't initialized yet, this is harmless.
+    adns5050_write_reg(REG_CHIP_RESET, 0x5a);
+
+    // wait maximum time before adns is ready.
+    // this ensures that the adns is actuall ready after reset.
+    wait_ms(55);
+
+    // read a burst from the adns and then discard it.
+    // gets the adns ready for write commands
+    // (for example, setting the dpi).
+    adns5050_read_burst();
 }
 
 // Perform a synchronization with the ADNS.
 // Just as with the serial protocol, this is used by the slave to send a
 // synchronization signal to the master.
-void adns_sync(void) {
-    writePinLow(ADNS_CS_PIN);
+void adns5050_sync(void) {
+    writePinLow(ADNS5050_CS_PIN);
     wait_us(1);
-    writePinHigh(ADNS_CS_PIN);
+    writePinHigh(ADNS5050_CS_PIN);
 }
 
-void adns_cs_select(void) { writePinLow(ADNS_CS_PIN); }
+void adns5050_cs_select(void) { writePinLow(ADNS5050_CS_PIN); }
 
-void adns_cs_deselect(void) { writePinHigh(ADNS_CS_PIN); }
+void adns5050_cs_deselect(void) { writePinHigh(ADNS5050_CS_PIN); }
 
-uint8_t adns_serial_read(void) {
-    setPinInput(ADNS_SDIO_PIN);
+uint8_t adns5050_serial_read(void) {
+    setPinInput(ADNS5050_SDIO_PIN);
     uint8_t byte = 0;
 
     for (uint8_t i = 0; i < 8; ++i) {
-        writePinLow(ADNS_SCLK_PIN);
+        writePinLow(ADNS5050_SCLK_PIN);
         wait_us(1);
 
-        byte = (byte << 1) | readPin(ADNS_SDIO_PIN);
+        byte = (byte << 1) | readPin(ADNS5050_SDIO_PIN);
 
-        writePinHigh(ADNS_SCLK_PIN);
+        writePinHigh(ADNS5050_SCLK_PIN);
         wait_us(1);
     }
 
     return byte;
 }
 
-void adns_serial_write(uint8_t data) {
-    setPinOutput(ADNS_SDIO_PIN);
+void adns5050_serial_write(uint8_t data) {
+    setPinOutput(ADNS5050_SDIO_PIN);
 
     for (int8_t b = 7; b >= 0; b--) {
-        writePinLow(ADNS_SCLK_PIN);
+        writePinLow(ADNS5050_SCLK_PIN);
 
         if (data & (1 << b))
-            writePinHigh(ADNS_SDIO_PIN);
+            writePinHigh(ADNS5050_SDIO_PIN);
         else
-            writePinLow(ADNS_SDIO_PIN);
+            writePinLow(ADNS5050_SDIO_PIN);
 
         wait_us(2);
 
-        writePinHigh(ADNS_SCLK_PIN);
+        writePinHigh(ADNS5050_SCLK_PIN);
     }
 
     // tSWR. See page 15 of the ADNS spec sheet.
@@ -108,17 +122,17 @@ void adns_serial_write(uint8_t data) {
 
 // Read a byte of data from a register on the ADNS.
 // Don't forget to use the register map (as defined in the header file).
-uint8_t adns_read_reg(uint8_t reg_addr) {
-    adns_cs_select();
+uint8_t adns5050_read_reg(uint8_t reg_addr) {
+    adns5050_cs_select();
 
-    adns_serial_write(reg_addr);
+    adns5050_serial_write(reg_addr);
 
     // We don't need a minimum tSRAD here. That's because a 4ms wait time is
-    // already included in adns_serial_write(), so we're good.
+    // already included in adns5050_serial_write(), so we're good.
     // See page 10 and 15 of the ADNS spec sheet.
     // wait_us(4);
 
-    uint8_t byte = adns_serial_read();
+    uint8_t byte = adns5050_serial_read();
 
     // tSRW & tSRR. See page 15 of the ADNS spec sheet.
     // Technically, this is only necessary if the next operation is an SDIO
@@ -126,38 +140,38 @@ uint8_t adns_read_reg(uint8_t reg_addr) {
     // Honestly, this wait could probably be removed.
     wait_us(1);
 
-    adns_cs_deselect();
+    adns5050_cs_deselect();
 
     return byte;
 }
 
-void adns_write_reg(uint8_t reg_addr, uint8_t data) {
-    adns_cs_select();
-    adns_serial_write(0b10000000 | reg_addr);
-    adns_serial_write(data);
-    adns_cs_deselect();
+void adns5050_write_reg(uint8_t reg_addr, uint8_t data) {
+    adns5050_cs_select();
+    adns5050_serial_write(0b10000000 | reg_addr);
+    adns5050_serial_write(data);
+    adns5050_cs_deselect();
 }
 
-report_adns_t adns_read_burst(void) {
-    adns_cs_select();
+report_adns5050_t adns5050_read_burst(void) {
+    adns5050_cs_select();
 
-    report_adns_t data;
+    report_adns5050_t data;
     data.dx = 0;
     data.dy = 0;
 
-    adns_serial_write(REG_MOTION_BURST);
+    adns5050_serial_write(REG_MOTION_BURST);
 
     // We don't need a minimum tSRAD here. That's because a 4ms wait time is
-    // already included in adns_serial_write(), so we're good.
+    // already included in adns5050_serial_write(), so we're good.
     // See page 10 and 15 of the ADNS spec sheet.
     // wait_us(4);
 
-    uint8_t x = adns_serial_read();
-    uint8_t y = adns_serial_read();
+    uint8_t x = adns5050_serial_read();
+    uint8_t y = adns5050_serial_read();
 
     // Burst mode returns a bunch of other shit that we don't really need.
     // Setting CS to high ends burst mode early.
-    adns_cs_deselect();
+    adns5050_cs_deselect();
 
     data.dx = convert_twoscomp(x);
     data.dy = convert_twoscomp(y);
@@ -175,12 +189,21 @@ int8_t convert_twoscomp(uint8_t data) {
 }
 
 // Don't forget to use the definitions for CPI in the header file.
-void adns_set_cpi(uint8_t cpi) { adns_write_reg(REG_MOUSE_CONTROL2, cpi); }
+void adns5050_set_cpi(uint16_t cpi) {
+    uint8_t cpival = constrain((cpi / 125), 0x1, 0xD);  // limits to 0--119
+
+    adns5050_write_reg(REG_MOUSE_CONTROL2, 0b10000 | cpival);
+}
+
+uint16_t adns5050_get_cpi(void) {
+    uint8_t cpival = adns5050_read_reg(REG_MOUSE_CONTROL2);
+    return (uint16_t)((cpival & 0b10000) * 125);
+}
 
-bool adns_check_signature(void) {
-    uint8_t pid  = adns_read_reg(REG_PRODUCT_ID);
-    uint8_t rid  = adns_read_reg(REG_REVISION_ID);
-    uint8_t pid2 = adns_read_reg(REG_PRODUCT_ID2);
+bool adns5050_check_signature(void) {
+    uint8_t pid  = adns5050_read_reg(REG_PRODUCT_ID);
+    uint8_t rid  = adns5050_read_reg(REG_REVISION_ID);
+    uint8_t pid2 = adns5050_read_reg(REG_PRODUCT_ID2);
 
     return (pid == 0x12 && rid == 0x01 && pid2 == 0x26);
 }
diff --git a/drivers/sensors/adns5050.h b/drivers/sensors/adns5050.h
index 5e9edc2962..e45a250196 100644
--- a/drivers/sensors/adns5050.h
+++ b/drivers/sensors/adns5050.h
@@ -21,59 +21,52 @@
 
 #include <stdbool.h>
 
-// Registers
-#define REG_PRODUCT_ID 0x00
-#define REG_REVISION_ID 0x01
-#define REG_MOTION 0x02
-#define REG_DELTA_X 0x03
-#define REG_DELTA_Y 0x04
-#define REG_SQUAL 0x05
-#define REG_SHUTTER_UPPER 0x06
-#define REG_SHUTTER_LOWER 0x07
-#define REG_MAXIMUM_PIXEL 0x08
-#define REG_PIXEL_SUM 0x09
-#define REG_MINIMUM_PIXEL 0x0a
-#define REG_PIXEL_GRAB 0x0b
-#define REG_MOUSE_CONTROL 0x0d
-#define REG_MOUSE_CONTROL2 0x19
-#define REG_LED_DC_MODE 0x22
-#define REG_CHIP_RESET 0x3a
-#define REG_PRODUCT_ID2 0x3e
-#define REG_INV_REV_ID 0x3f
-#define REG_MOTION_BURST 0x63
-
 // CPI values
-#define CPI125 0x11
-#define CPI250 0x12
-#define CPI375 0x13
-#define CPI500 0x14
-#define CPI625 0x15
-#define CPI750 0x16
-#define CPI875 0x17
+// clang-format off
+#define CPI125  0x11
+#define CPI250  0x12
+#define CPI375  0x13
+#define CPI500  0x14
+#define CPI625  0x15
+#define CPI750  0x16
+#define CPI875  0x17
 #define CPI1000 0x18
 #define CPI1125 0x19
 #define CPI1250 0x1a
 #define CPI1375 0x1b
+// clang-format on
+
+#define constrain(amt, low, high) ((amt) < (low) ? (low) : ((amt) > (high) ? (high) : (amt)))
+
+// Definitions for the ADNS serial line.
+#ifndef ADNS5050_SCLK_PIN
+#    error "No clock pin defined -- missing ADNS5050_SCLK_PIN"
+#endif
+
+#ifndef ADNS5050_SDIO_PIN
+#    error "No data pin defined -- missing ADNS5050_SDIO_PIN"
+#endif
 
-#ifdef CONSOLE_ENABLE
-void print_byte(uint8_t byte);
+#ifndef ADNS5050_CS_PIN
+#    error "No chip select pin defined -- missing ADNS5050_CS_PIN"
 #endif
 
 typedef struct {
     int8_t dx;
     int8_t dy;
-} report_adns_t;
+} report_adns5050_t;
 
 // A bunch of functions to implement the ADNS5050-specific serial protocol.
 // Note that the "serial.h" driver is insufficient, because it does not
 // manually manipulate a serial clock signal.
-void          adns_init(void);
-void          adns_sync(void);
-uint8_t       adns_serial_read(void);
-void          adns_serial_write(uint8_t data);
-uint8_t       adns_read_reg(uint8_t reg_addr);
-void          adns_write_reg(uint8_t reg_addr, uint8_t data);
-report_adns_t adns_read_burst(void);
-int8_t        convert_twoscomp(uint8_t data);
-void          adns_set_cpi(uint8_t cpi);
-bool          adns_check_signature(void);
+void              adns5050_init(void);
+void              adns5050_sync(void);
+uint8_t           adns5050_serial_read(void);
+void              adns5050_serial_write(uint8_t data);
+uint8_t           adns5050_read_reg(uint8_t reg_addr);
+void              adns5050_write_reg(uint8_t reg_addr, uint8_t data);
+report_adns5050_t adns5050_read_burst(void);
+void              adns5050_set_cpi(uint16_t cpi);
+uint16_t          adns5050_get_cpi(void);
+int8_t            convert_twoscomp(uint8_t data);
+bool              adns5050_check_signature(void);
diff --git a/drivers/sensors/adns9800.c b/drivers/sensors/adns9800.c
index b4f683452c..c52f991804 100644
--- a/drivers/sensors/adns9800.c
+++ b/drivers/sensors/adns9800.c
@@ -15,83 +15,80 @@
  */
 
 #include "spi_master.h"
-#include "quantum.h"
 #include "adns9800_srom_A6.h"
 #include "adns9800.h"
+#include "wait.h"
 
 // registers
-#define REG_Product_ID 0x00
-#define REG_Revision_ID 0x01
-#define REG_Motion 0x02
-#define REG_Delta_X_L 0x03
-#define REG_Delta_X_H 0x04
-#define REG_Delta_Y_L 0x05
-#define REG_Delta_Y_H 0x06
-#define REG_SQUAL 0x07
-#define REG_Pixel_Sum 0x08
-#define REG_Maximum_Pixel 0x09
-#define REG_Minimum_Pixel 0x0a
-#define REG_Shutter_Lower 0x0b
-#define REG_Shutter_Upper 0x0c
-#define REG_Frame_Period_Lower 0x0d
-#define REG_Frame_Period_Upper 0x0e
-#define REG_Configuration_I 0x0f
-#define REG_Configuration_II 0x10
-#define REG_Frame_Capture 0x12
-#define REG_SROM_Enable 0x13
-#define REG_Run_Downshift 0x14
-#define REG_Rest1_Rate 0x15
-#define REG_Rest1_Downshift 0x16
-#define REG_Rest2_Rate 0x17
-#define REG_Rest2_Downshift 0x18
-#define REG_Rest3_Rate 0x19
+// clang-format off
+#define REG_Product_ID                   0x00
+#define REG_Revision_ID                  0x01
+#define REG_Motion                       0x02
+#define REG_Delta_X_L                    0x03
+#define REG_Delta_X_H                    0x04
+#define REG_Delta_Y_L                    0x05
+#define REG_Delta_Y_H                    0x06
+#define REG_SQUAL                        0x07
+#define REG_Pixel_Sum                    0x08
+#define REG_Maximum_Pixel                0x09
+#define REG_Minimum_Pixel                0x0a
+#define REG_Shutter_Lower                0x0b
+#define REG_Shutter_Upper                0x0c
+#define REG_Frame_Period_Lower           0x0d
+#define REG_Frame_Period_Upper           0x0e
+#define REG_Configuration_I              0x0f
+#define REG_Configuration_II             0x10
+#define REG_Frame_Capture                0x12
+#define REG_SROM_Enable                  0x13
+#define REG_Run_Downshift                0x14
+#define REG_Rest1_Rate                   0x15
+#define REG_Rest1_Downshift              0x16
+#define REG_Rest2_Rate                   0x17
+#define REG_Rest2_Downshift              0x18
+#define REG_Rest3_Rate                   0x19
 #define REG_Frame_Period_Max_Bound_Lower 0x1a
 #define REG_Frame_Period_Max_Bound_Upper 0x1b
 #define REG_Frame_Period_Min_Bound_Lower 0x1c
 #define REG_Frame_Period_Min_Bound_Upper 0x1d
-#define REG_Shutter_Max_Bound_Lower 0x1e
-#define REG_Shutter_Max_Bound_Upper 0x1f
-#define REG_LASER_CTRL0 0x20
-#define REG_Observation 0x24
-#define REG_Data_Out_Lower 0x25
-#define REG_Data_Out_Upper 0x26
-#define REG_SROM_ID 0x2a
-#define REG_Lift_Detection_Thr 0x2e
-#define REG_Configuration_V 0x2f
-#define REG_Configuration_IV 0x39
-#define REG_Power_Up_Reset 0x3a
-#define REG_Shutdown 0x3b
-#define REG_Inverse_Product_ID 0x3f
-#define REG_Motion_Burst 0x50
-#define REG_SROM_Load_Burst 0x62
-#define REG_Pixel_Burst 0x64
-
-#define ADNS_CLOCK_SPEED 2000000
-#define MIN_CPI 200
-#define MAX_CPI 8200
-#define CPI_STEP 200
-#define CLAMP_CPI(value) value<MIN_CPI ? MIN_CPI : value> MAX_CPI ? MAX_CPI : value
-#define SPI_MODE 3
-#define SPI_DIVISOR (F_CPU / ADNS_CLOCK_SPEED)
+#define REG_Shutter_Max_Bound_Lower      0x1e
+#define REG_Shutter_Max_Bound_Upper      0x1f
+#define REG_LASER_CTRL0                  0x20
+#define REG_Observation                  0x24
+#define REG_Data_Out_Lower               0x25
+#define REG_Data_Out_Upper               0x26
+#define REG_SROM_ID                      0x2a
+#define REG_Lift_Detection_Thr           0x2e
+#define REG_Configuration_V              0x2f
+#define REG_Configuration_IV             0x39
+#define REG_Power_Up_Reset               0x3a
+#define REG_Shutdown                     0x3b
+#define REG_Inverse_Product_ID           0x3f
+#define REG_Motion_Burst                 0x50
+#define REG_SROM_Load_Burst              0x62
+#define REG_Pixel_Burst                  0x64
+
+#define MIN_CPI           200
+#define MAX_CPI           8200
+#define CPI_STEP          200
+#define CLAMP_CPI(value)  value<MIN_CPI ? MIN_CPI : value> MAX_CPI ? MAX_CPI : value
 #define US_BETWEEN_WRITES 120
-#define US_BETWEEN_READS 20
-#define US_BEFORE_MOTION 100
-#define MSB1 0x80
+#define US_BETWEEN_READS  20
+#define US_BEFORE_MOTION  100
+#define MSB1              0x80
+// clang-format on
 
-extern const uint8_t firmware_data[];
+void adns9800_spi_start(void) { spi_start(ADNS9800_CS_PIN, false, ADNS9800_SPI_MODE, ADNS9800_SPI_DIVISOR); }
 
-void adns_spi_start(void) { spi_start(SPI_SS_PIN, false, SPI_MODE, SPI_DIVISOR); }
-
-void adns_write(uint8_t reg_addr, uint8_t data) {
-    adns_spi_start();
+void adns9800_write(uint8_t reg_addr, uint8_t data) {
+    adns9800_spi_start();
     spi_write(reg_addr | MSB1);
     spi_write(data);
     spi_stop();
     wait_us(US_BETWEEN_WRITES);
 }
 
-uint8_t adns_read(uint8_t reg_addr) {
-    adns_spi_start();
+uint8_t adns9800_read(uint8_t reg_addr) {
+    adns9800_spi_start();
     spi_write(reg_addr & 0x7f);
     uint8_t data = spi_read();
     spi_stop();
@@ -100,39 +97,39 @@ uint8_t adns_read(uint8_t reg_addr) {
     return data;
 }
 
-void adns_init() {
-    setPinOutput(SPI_SS_PIN);
+void adns9800_init() {
+    setPinOutput(ADNS9800_CS_PIN);
 
     spi_init();
 
     // reboot
-    adns_write(REG_Power_Up_Reset, 0x5a);
+    adns9800_write(REG_Power_Up_Reset, 0x5a);
     wait_ms(50);
 
     // read registers and discard
-    adns_read(REG_Motion);
-    adns_read(REG_Delta_X_L);
-    adns_read(REG_Delta_X_H);
-    adns_read(REG_Delta_Y_L);
-    adns_read(REG_Delta_Y_H);
+    adns9800_read(REG_Motion);
+    adns9800_read(REG_Delta_X_L);
+    adns9800_read(REG_Delta_X_H);
+    adns9800_read(REG_Delta_Y_L);
+    adns9800_read(REG_Delta_Y_H);
 
     // upload firmware
 
     // 3k firmware mode
-    adns_write(REG_Configuration_IV, 0x02);
+    adns9800_write(REG_Configuration_IV, 0x02);
 
     // enable initialisation
-    adns_write(REG_SROM_Enable, 0x1d);
+    adns9800_write(REG_SROM_Enable, 0x1d);
 
     // wait a frame
     wait_ms(10);
 
     // start SROM download
-    adns_write(REG_SROM_Enable, 0x18);
+    adns9800_write(REG_SROM_Enable, 0x18);
 
     // write the SROM file
 
-    adns_spi_start();
+    adns9800_spi_start();
 
     spi_write(REG_SROM_Load_Burst | 0x80);
     wait_us(15);
@@ -140,7 +137,7 @@ void adns_init() {
     // send all bytes of the firmware
     unsigned char c;
     for (int i = 0; i < FIRMWARE_LENGTH; i++) {
-        c = (unsigned char)pgm_read_byte(firmware_data + i);
+        c = (unsigned char)pgm_read_byte(adns9800_firmware_data + i);
         spi_write(c);
         wait_us(15);
     }
@@ -150,18 +147,30 @@ void adns_init() {
     wait_ms(10);
 
     // enable laser
-    uint8_t laser_ctrl0 = adns_read(REG_LASER_CTRL0);
-    adns_write(REG_LASER_CTRL0, laser_ctrl0 & 0xf0);
+    uint8_t laser_ctrl0 = adns9800_read(REG_LASER_CTRL0);
+    adns9800_write(REG_LASER_CTRL0, laser_ctrl0 & 0xf0);
+
+    adns9800_set_cpi(ADNS9800_CPI);
 }
 
-config_adns_t adns_get_config(void) {
-    uint8_t config_1 = adns_read(REG_Configuration_I);
-    return (config_adns_t){(config_1 & 0xFF) * CPI_STEP};
+config_adns9800_t adns9800_get_config(void) {
+    uint8_t config_1 = adns9800_read(REG_Configuration_I);
+    return (config_adns9800_t){(config_1 & 0xFF) * CPI_STEP};
 }
 
-void adns_set_config(config_adns_t config) {
+void adns9800_set_config(config_adns9800_t config) {
     uint8_t config_1 = (CLAMP_CPI(config.cpi) / CPI_STEP) & 0xFF;
-    adns_write(REG_Configuration_I, config_1);
+    adns9800_write(REG_Configuration_I, config_1);
+}
+
+uint16_t adns9800_get_cpi(void) {
+    uint8_t config_1 = adns9800_read(REG_Configuration_I);
+    return (uint16_t){(config_1 & 0xFF) * CPI_STEP};
+}
+
+void adns9800_set_cpi(uint16_t cpi) {
+    uint8_t config_1 = (CLAMP_CPI(cpi) / CPI_STEP) & 0xFF;
+    adns9800_write(REG_Configuration_I, config_1);
 }
 
 static int16_t convertDeltaToInt(uint8_t high, uint8_t low) {
@@ -174,10 +183,10 @@ static int16_t convertDeltaToInt(uint8_t high, uint8_t low) {
     return twos_comp;
 }
 
-report_adns_t adns_get_report(void) {
-    report_adns_t report = {0, 0};
+report_adns9800_t adns9800_get_report(void) {
+    report_adns9800_t report = {0, 0};
 
-    adns_spi_start();
+    adns9800_spi_start();
 
     // start burst mode
     spi_write(REG_Motion_Burst & 0x7f);
diff --git a/drivers/sensors/adns9800.h b/drivers/sensors/adns9800.h
index d19ded4012..e75a869c03 100644
--- a/drivers/sensors/adns9800.h
+++ b/drivers/sensors/adns9800.h
@@ -18,18 +18,48 @@
 
 #include <stdint.h>
 
+#ifndef ADNS9800_CPI
+#    define ADNS9800_CPI 1600
+#endif
+
+#ifndef ADNS9800_CLOCK_SPEED
+#    define ADNS9800_CLOCK_SPEED 2000000
+#endif
+
+#ifndef ADNS9800_SPI_LSBFIRST
+#    define ADNS9800_SPI_LSBFIRST false
+#endif
+
+#ifndef ADNS9800_SPI_MODE
+#    define ADNS9800_SPI_MODE 3
+#endif
+
+#ifndef ADNS9800_SPI_DIVISOR
+#    ifdef __AVR__
+#        define ADNS9800_SPI_DIVISOR (F_CPU / ADNS9800_CLOCK_SPEED)
+#    else
+#        define ADNS9800_SPI_DIVISOR 64
+#    endif
+#endif
+
+#ifndef ADNS9800_CS_PIN
+#    error "No chip select pin defined -- missing ADNS9800_CS_PIN"
+#endif
+
 typedef struct {
     /* 200 - 8200 CPI supported */
     uint16_t cpi;
-} config_adns_t;
+} config_adns9800_t;
 
 typedef struct {
     int16_t x;
     int16_t y;
-} report_adns_t;
+} report_adns9800_t;
 
-void          adns_init(void);
-config_adns_t adns_get_config(void);
-void          adns_set_config(config_adns_t);
+void              adns9800_init(void);
+config_adns9800_t adns9800_get_config(void);
+void              adns9800_set_config(config_adns9800_t);
+uint16_t          adns9800_get_cpi(void);
+void              adns9800_set_cpi(uint16_t cpi);
 /* Reads and clears the current delta values on the ADNS sensor */
-report_adns_t adns_get_report(void);
+report_adns9800_t adns9800_get_report(void);
diff --git a/drivers/sensors/adns9800_srom_A6.h b/drivers/sensors/adns9800_srom_A6.h
index e698a401b9..d86ecbbd9e 100644
--- a/drivers/sensors/adns9800_srom_A6.h
+++ b/drivers/sensors/adns9800_srom_A6.h
@@ -6,7 +6,7 @@
 
 // clang-format off
 
-const uint8_t firmware_data[FIRMWARE_LENGTH] PROGMEM = {
+const uint8_t adns9800_firmware_data[FIRMWARE_LENGTH] PROGMEM = {
     0x03, 0xA6, 0x68, 0x1E, 0x7D, 0x10, 0x7E, 0x7E, 0x5F, 0x1C, 0xB8, 0xF2, 0x47, 0x0C, 0x7B, 0x74,
     0x4B, 0x14, 0x8B, 0x75, 0x66, 0x51, 0x0B, 0x8C, 0x76, 0x74, 0x4B, 0x14, 0xAA, 0xD6, 0x0F, 0x9C,
     0xBA, 0xF6, 0x6E, 0x3F, 0xDD, 0x38, 0xD5, 0x02, 0x80, 0x9B, 0x82, 0x6D, 0x58, 0x13, 0xA4, 0xAB,
diff --git a/drivers/sensors/analog_joystick.c b/drivers/sensors/analog_joystick.c
new file mode 100644
index 0000000000..0f4d1d7a4c
--- /dev/null
+++ b/drivers/sensors/analog_joystick.c
@@ -0,0 +1,94 @@
+/* Copyright 2020 Christopher Courtney, aka Drashna Jael're  (@drashna) <drashna@live.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 "analog_joystick.h"
+#include "analog.h"
+#include "gpio.h"
+#include "wait.h"
+
+// Set Parameters
+uint16_t minAxisValue = ANALOG_JOYSTICK_AXIS_MIN;
+uint16_t maxAxisValue = ANALOG_JOYSTICK_AXIS_MAX;
+
+uint8_t maxCursorSpeed = ANALOG_JOYSTICK_SPEED_MAX;
+uint8_t speedRegulator = ANALOG_JOYSTICK_SPEED_REGULATOR;  // Lower Values Create Faster Movement
+
+int16_t xOrigin, yOrigin;
+
+uint16_t lastCursor = 0;
+
+int16_t axisCoordinate(uint8_t pin, uint16_t origin) {
+    int8_t  direction;
+    int16_t distanceFromOrigin;
+    int16_t range;
+
+    int16_t position = analogReadPin(pin);
+
+    if (origin == position) {
+        return 0;
+    } else if (origin > position) {
+        distanceFromOrigin = origin - position;
+        range              = origin - minAxisValue;
+        direction          = -1;
+    } else {
+        distanceFromOrigin = position - origin;
+        range              = maxAxisValue - origin;
+        direction          = 1;
+    }
+
+    float   percent    = (float)distanceFromOrigin / range;
+    int16_t coordinate = (int16_t)(percent * 100);
+    if (coordinate < 0) {
+        return 0;
+    } else if (coordinate > 100) {
+        return 100 * direction;
+    } else {
+        return coordinate * direction;
+    }
+}
+
+int8_t axisToMouseComponent(uint8_t pin, int16_t origin, uint8_t maxSpeed) {
+    int16_t coordinate = axisCoordinate(pin, origin);
+    if (coordinate != 0) {
+        float percent = (float)coordinate / 100;
+        return percent * maxCursorSpeed * (abs(coordinate) / speedRegulator);
+    } else {
+        return 0;
+    }
+}
+
+report_analog_joystick_t analog_joystick_read(void) {
+    report_analog_joystick_t report = {0};
+
+    if (timer_elapsed(lastCursor) > ANALOG_JOYSTICK_READ_INTERVAL) {
+        lastCursor = timer_read();
+        report.x   = axisToMouseComponent(ANALOG_JOYSTICK_X_AXIS_PIN, xOrigin, maxCursorSpeed);
+        report.y   = axisToMouseComponent(ANALOG_JOYSTICK_Y_AXIS_PIN, yOrigin, maxCursorSpeed);
+    }
+#ifdef ANALOG_JOYSTICK_CLICK_PIN
+    report.button = !readPin(ANALOG_JOYSTICK_CLICK_PIN);
+#endif
+    return report;
+}
+
+void analog_joystick_init(void) {
+#ifdef ANALOG_JOYSTICK_CLICK_PIN
+    setPinInputHigh(ANALOG_JOYSTICK_CLICK_PIN);
+#endif
+    // Account for drift
+    xOrigin = analogReadPin(ANALOG_JOYSTICK_X_AXIS_PIN);
+    yOrigin = analogReadPin(ANALOG_JOYSTICK_Y_AXIS_PIN);
+}
diff --git a/drivers/sensors/analog_joystick.h b/drivers/sensors/analog_joystick.h
new file mode 100644
index 0000000000..6892a08817
--- /dev/null
+++ b/drivers/sensors/analog_joystick.h
@@ -0,0 +1,51 @@
+/* Copyright 2020 Christopher Courtney, aka Drashna Jael're  (@drashna) <drashna@live.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 <stdbool.h>
+#include <stdint.h>
+
+#ifndef ANALOG_JOYSTICK_X_AXIS_PIN
+#    error No pin specified for X Axis
+#endif
+#ifndef ANALOG_JOYSTICK_Y_AXIS_PIN
+#    error No pin specified for Y Axis
+#endif
+
+#ifndef ANALOG_JOYSTICK_AXIS_MIN
+#    define ANALOG_JOYSTICK_AXIS_MIN 0
+#endif
+#ifndef ANALOG_JOYSTICK_AXIS_MAX
+#    define ANALOG_JOYSTICK_AXIS_MAX 1023
+#endif
+#ifndef ANALOG_JOYSTICK_SPEED_REGULATOR
+#    define ANALOG_JOYSTICK_SPEED_REGULATOR 20
+#endif
+#ifndef ANALOG_JOYSTICK_READ_INTERVAL
+#    define ANALOG_JOYSTICK_READ_INTERVAL 10
+#endif
+#ifndef ANALOG_JOYSTICK_SPEED_MAX
+#    define ANALOG_JOYSTICK_SPEED_MAX 2
+#endif
+
+typedef struct {
+    int8_t x;
+    int8_t y;
+    bool   button;
+} report_analog_joystick_t;
+report_analog_joystick_t analog_joystick_read(void);
+void                     analog_joystick_init(void);
diff --git a/drivers/sensors/cirque_pinnacle.c b/drivers/sensors/cirque_pinnacle.c
new file mode 100644
index 0000000000..b807c4f076
--- /dev/null
+++ b/drivers/sensors/cirque_pinnacle.c
@@ -0,0 +1,232 @@
+// Copyright (c) 2018 Cirque Corp. Restrictions apply. See: www.cirque.com/sw-license
+#include "cirque_pinnacle.h"
+#include "print.h"
+#include "debug.h"
+#include "wait.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
+
+// Register config values for this demo
+#define SYSCONFIG_1_VALUE    0x00
+#define FEEDCONFIG_1_VALUE   0x03  // 0x03 for absolute mode 0x01 for relative mode
+#define FEEDCONFIG_2_VALUE   0x1C  // 0x1F for normal functionality 0x1E for intellimouse disabled
+#define Z_IDLE_COUNT_VALUE   0x05
+// clang-format on
+
+bool     touchpad_init;
+uint16_t scale_data = 1024;
+
+void cirque_pinnacle_clear_flags(void);
+void cirque_pinnacle_enable_feed(bool feedEnable);
+void RAP_ReadBytes(uint8_t address, uint8_t* data, uint8_t count);
+void RAP_Write(uint8_t address, uint8_t data);
+
+#ifdef CONSOLE_ENABLE
+void print_byte(uint8_t byte) { xprintf("%c%c%c%c%c%c%c%c|", (byte & 0x80 ? '1' : '0'), (byte & 0x40 ? '1' : '0'), (byte & 0x20 ? '1' : '0'), (byte & 0x10 ? '1' : '0'), (byte & 0x08 ? '1' : '0'), (byte & 0x04 ? '1' : '0'), (byte & 0x02 ? '1' : '0'), (byte & 0x01 ? '1' : '0')); }
+#endif
+
+/*  Logical Scaling Functions */
+// Clips raw coordinates to "reachable" window of sensor
+// NOTE: values outside this window can only appear as a result of noise
+void ClipCoordinates(pinnacle_data_t* coordinates) {
+    if (coordinates->xValue < CIRQUE_PINNACLE_X_LOWER) {
+        coordinates->xValue = CIRQUE_PINNACLE_X_LOWER;
+    } else if (coordinates->xValue > CIRQUE_PINNACLE_X_UPPER) {
+        coordinates->xValue = CIRQUE_PINNACLE_X_UPPER;
+    }
+    if (coordinates->yValue < CIRQUE_PINNACLE_Y_LOWER) {
+        coordinates->yValue = CIRQUE_PINNACLE_Y_LOWER;
+    } else if (coordinates->yValue > CIRQUE_PINNACLE_Y_UPPER) {
+        coordinates->yValue = CIRQUE_PINNACLE_Y_UPPER;
+    }
+}
+
+uint16_t cirque_pinnacle_get_scale(void) { return scale_data; }
+void     cirque_pinnacle_set_scale(uint16_t scale) { scale_data = scale; }
+
+// Scales data to desired X & Y resolution
+void cirque_pinnacle_scale_data(pinnacle_data_t* coordinates, uint16_t xResolution, uint16_t yResolution) {
+    uint32_t xTemp = 0;
+    uint32_t yTemp = 0;
+
+    ClipCoordinates(coordinates);
+
+    xTemp = coordinates->xValue;
+    yTemp = coordinates->yValue;
+
+    // translate coordinates to (0, 0) reference by subtracting edge-offset
+    xTemp -= CIRQUE_PINNACLE_X_LOWER;
+    yTemp -= CIRQUE_PINNACLE_Y_LOWER;
+
+    // scale coordinates to (xResolution, yResolution) range
+    coordinates->xValue = (uint16_t)(xTemp * xResolution / CIRQUE_PINNACLE_X_RANGE);
+    coordinates->yValue = (uint16_t)(yTemp * yResolution / CIRQUE_PINNACLE_Y_RANGE);
+}
+
+// Clears Status1 register flags (SW_CC and SW_DR)
+void cirque_pinnacle_clear_flags() {
+    RAP_Write(STATUS_1, 0x00);
+    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
+
+    if (feedEnable) {
+        temp |= 0x01;  // Set Feed Enable bit
+        RAP_Write(0x04, temp);
+    } else {
+        temp &= ~0x01;  // Clear Feed Enable bit
+        RAP_Write(0x04, temp);
+    }
+}
+
+/*  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;
+
+    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
+
+    for (uint16_t i = 0; i < count; i++) {
+        RAP_Write(ERA_CONTROL, 0x05);  // Signal ERA-read (auto-increment) to Pinnacle
+
+        // Wait for status register 0x1E to clear
+        do {
+            RAP_ReadBytes(ERA_CONTROL, &ERAControlValue, 1);
+        } while (ERAControlValue != 0x00);
+
+        RAP_ReadBytes(ERA_VALUE, data + i, 1);
+
+        cirque_pinnacle_clear_flags();
+    }
+}
+
+// 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;
+
+    cirque_pinnacle_enable_feed(false);  // Disable feed
+
+    RAP_Write(ERA_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(ERA_CONTROL, 0x02);  // Signal an ERA-write to Pinnacle
+
+    // Wait for status register 0x1E to clear
+    do {
+        RAP_ReadBytes(ERA_CONTROL, &ERAControlValue, 1);
+    } while (ERAControlValue != 0x00);
+
+    cirque_pinnacle_clear_flags();
+}
+
+void cirque_pinnacle_set_adc_attenuation(uint8_t adcGain) {
+    uint8_t temp = 0x00;
+
+    ERA_ReadBytes(0x0187, &temp, 1);
+    temp &= 0x3F;  // clear top two bits
+    temp |= adcGain;
+    ERA_WriteByte(0x0187, temp);
+    ERA_ReadBytes(0x0187, &temp, 1);
+}
+
+// Changes thresholds to improve detection of fingers
+void cirque_pinnacle_tune_edge_sensitivity(void) {
+    uint8_t temp = 0x00;
+
+    ERA_ReadBytes(0x0149, &temp, 1);
+    ERA_WriteByte(0x0149, 0x04);
+    ERA_ReadBytes(0x0149, &temp, 1);
+
+    ERA_ReadBytes(0x0168, &temp, 1);
+    ERA_WriteByte(0x0168, 0x03);
+    ERA_ReadBytes(0x0168, &temp, 1);
+}
+
+/*  Pinnacle-based TM040040 Functions  */
+void cirque_pinnacle_init(void) {
+#if defined(POINTING_DEVICE_DRIVER_cirque_pinnacle_spi)
+    spi_init();
+#elif defined(POINTING_DEVICE_DRIVER_cirque_pinnacle_i2c)
+    i2c_init();
+#endif
+
+    touchpad_init = true;
+    // Host clears SW_CC flag
+    cirque_pinnacle_clear_flags();
+
+    // Host configures bits of registers 0x03 and 0x05
+    RAP_Write(SYSCONFIG_1, SYSCONFIG_1_VALUE);
+    RAP_Write(FEEDCONFIG_2, FEEDCONFIG_2_VALUE);
+
+    // Host enables preferred output mode (absolute)
+    RAP_Write(FEEDCONFIG_1, FEEDCONFIG_1_VALUE);
+
+    // Host sets z-idle packet count to 5 (default is 30)
+    RAP_Write(Z_IDLE_COUNT, Z_IDLE_COUNT_VALUE);
+
+    cirque_pinnacle_set_adc_attenuation(0xFF);
+    cirque_pinnacle_tune_edge_sensitivity();
+    cirque_pinnacle_enable_feed(true);
+}
+
+// Reads XYZ data from Pinnacle registers 0x14 through 0x17
+// Stores result in pinnacle_data_t struct with xValue, yValue, and zValue members
+pinnacle_data_t cirque_pinnacle_read_data(void) {
+    uint8_t         data[6] = {0};
+    pinnacle_data_t result  = {0};
+    RAP_ReadBytes(PACKET_BYTE_0, data, 6);
+
+    cirque_pinnacle_clear_flags();
+
+    result.buttonFlags = data[0] & 0x3F;
+    result.xValue      = data[2] | ((data[4] & 0x0F) << 8);
+    result.yValue      = data[3] | ((data[4] & 0xF0) << 4);
+    result.zValue      = data[5] & 0x3F;
+
+    result.touchDown = (result.xValue != 0 || result.yValue != 0);
+
+    return result;
+}
diff --git a/drivers/sensors/cirque_pinnacle.h b/drivers/sensors/cirque_pinnacle.h
new file mode 100644
index 0000000000..db891122a6
--- /dev/null
+++ b/drivers/sensors/cirque_pinnacle.h
@@ -0,0 +1,74 @@
+// Copyright (c) 2018 Cirque Corp. Restrictions apply. See: www.cirque.com/sw-license
+
+#pragma once
+
+#include <stdint.h>
+#include <stdbool.h>
+
+// Convenient way to store and access measurements
+typedef struct {
+    uint16_t xValue;
+    uint16_t yValue;
+    uint16_t zValue;
+    uint8_t  buttonFlags;
+    bool     touchDown;
+} pinnacle_data_t;
+
+void            cirque_pinnacle_init(void);
+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);
+void            cirque_pinnacle_set_scale(uint16_t scale);
+
+#ifndef CIRQUE_PINNACLE_TIMEOUT
+#    define CIRQUE_PINNACLE_TIMEOUT 20
+#endif
+
+// Coordinate scaling values
+#ifndef CIRQUE_PINNACLE_X_LOWER
+#    define CIRQUE_PINNACLE_X_LOWER 127  // min "reachable" X value
+#endif
+#ifndef CIRQUE_PINNACLE_X_UPPER
+#    define CIRQUE_PINNACLE_X_UPPER 1919  // max "reachable" X value
+#endif
+#ifndef CIRQUE_PINNACLE_Y_LOWER
+#    define CIRQUE_PINNACLE_Y_LOWER 63  // min "reachable" Y value
+#endif
+#ifndef CIRQUE_PINNACLE_Y_UPPER
+#    define CIRQUE_PINNACLE_Y_UPPER 1471  // max "reachable" Y value
+#endif
+#ifndef CIRQUE_PINNACLE_X_RANGE
+#    define CIRQUE_PINNACLE_X_RANGE (CIRQUE_PINNACLE_X_UPPER - CIRQUE_PINNACLE_X_LOWER)
+#endif
+#ifndef CIRQUE_PINNACLE_Y_RANGE
+#    define CIRQUE_PINNACLE_Y_RANGE (CIRQUE_PINNACLE_Y_UPPER - CIRQUE_PINNACLE_Y_LOWER)
+#endif
+
+#if defined(POINTING_DEVICE_DRIVER_cirque_pinnacle_i2c)
+#    include "i2c_master.h"
+// Cirque's 7-bit I2C Slave Address
+#    ifndef CIRQUE_PINNACLE_ADDR
+#        define CIRQUE_PINNACLE_ADDR 0x2A
+#    endif
+#elif defined(POINTING_DEVICE_DRIVER_cirque_pinnacle_spi)
+#    include "spi_master.h"
+#    ifndef CIRQUE_PINNACLE_CLOCK_SPEED
+#        define CIRQUE_PINNACLE_CLOCK_SPEED 10000000
+#    endif
+#    ifndef CIRQUE_PINNACLE_SPI_LSBFIRST
+#        define CIRQUE_PINNACLE_SPI_LSBFIRST false
+#    endif
+#    ifndef CIRQUE_PINNACLE_SPI_MODE
+#        define CIRQUE_PINNACLE_SPI_MODE 1
+#    endif
+#    ifndef CIRQUE_PINNACLE_SPI_DIVISOR
+#        ifdef __AVR__
+#            define CIRQUE_PINNACLE_SPI_DIVISOR (F_CPU / CIRQUE_PINNACLE_CLOCK_SPEED)
+#        else
+#            define CIRQUE_PINNACLE_SPI_DIVISOR 64
+#        endif
+#        ifndef CIRQUE_PINNACLE_SPI_CS_PIN
+#            error "No Chip Select pin has been defined -- missing CIRQUE_PINNACLE_SPI_CS_PIN define"
+#        endif
+#    endif
+#endif
diff --git a/drivers/sensors/cirque_pinnacle_i2c.c b/drivers/sensors/cirque_pinnacle_i2c.c
new file mode 100644
index 0000000000..81dd982b0c
--- /dev/null
+++ b/drivers/sensors/cirque_pinnacle_i2c.c
@@ -0,0 +1,43 @@
+// Copyright (c) 2018 Cirque Corp. Restrictions apply. See: www.cirque.com/sw-license
+#include "cirque_pinnacle.h"
+#include "i2c_master.h"
+#include "print.h"
+#include "debug.h"
+#include "stdio.h"
+
+// Masks for Cirque Register Access Protocol (RAP)
+#define WRITE_MASK 0x80
+#define READ_MASK 0xA0
+
+extern bool touchpad_init;
+
+/*  RAP Functions */
+// Reads <count> Pinnacle registers starting at <address>
+void RAP_ReadBytes(uint8_t address, uint8_t* data, uint8_t count) {
+    uint8_t cmdByte = READ_MASK | address;  // Form the READ command byte
+    if (touchpad_init) {
+        i2c_writeReg(CIRQUE_PINNACLE_ADDR << 1, cmdByte, NULL, 0, CIRQUE_PINNACLE_TIMEOUT);
+        if (i2c_readReg(CIRQUE_PINNACLE_ADDR << 1, cmdByte, data, count, CIRQUE_PINNACLE_TIMEOUT) != I2C_STATUS_SUCCESS) {
+#ifdef CONSOLE_ENABLE
+            dprintf("error right touchpad\n");
+#endif
+            touchpad_init = false;
+        }
+        i2c_stop();
+    }
+}
+
+// Writes single-byte <data> to <address>
+void RAP_Write(uint8_t address, uint8_t data) {
+    uint8_t cmdByte = WRITE_MASK | address;  // Form the WRITE command byte
+
+    if (touchpad_init) {
+        if (i2c_writeReg(CIRQUE_PINNACLE_ADDR << 1, cmdByte, &data, sizeof(data), CIRQUE_PINNACLE_TIMEOUT) != I2C_STATUS_SUCCESS) {
+#ifdef CONSOLE_ENABLE
+            dprintf("error right touchpad\n");
+#endif
+            touchpad_init = false;
+        }
+        i2c_stop();
+    }
+}
diff --git a/drivers/sensors/cirque_pinnacle_spi.c b/drivers/sensors/cirque_pinnacle_spi.c
new file mode 100644
index 0000000000..f3eee88758
--- /dev/null
+++ b/drivers/sensors/cirque_pinnacle_spi.c
@@ -0,0 +1,52 @@
+// Copyright (c) 2018 Cirque Corp. Restrictions apply. See: www.cirque.com/sw-license
+#include "cirque_pinnacle.h"
+#include "spi_master.h"
+#include "print.h"
+#include "debug.h"
+
+// Masks for Cirque Register Access Protocol (RAP)
+#define WRITE_MASK 0x80
+#define READ_MASK 0xA0
+
+extern bool touchpad_init;
+
+/*  RAP Functions */
+// Reads <count> Pinnacle registers starting at <address>
+void RAP_ReadBytes(uint8_t address, uint8_t* data, uint8_t count) {
+    uint8_t cmdByte = READ_MASK | address;  // Form the READ command byte
+    if (touchpad_init) {
+        if (spi_start(CIRQUE_PINNACLE_SPI_CS_PIN, CIRQUE_TRACKPAD_SPI_LSBFIRST, CIRQUE_PINNACLE_SPI_MODE, CIRQUE_PINNACLE_SPI_DIVISOR)) {
+            spi_write(cmdByte);
+            spi_read();  // filler
+            spi_read();  // filler
+            for (uint8_t i = 0; i < count; i++) {
+                data[i] = spi_read();  // each sepsequent read gets another register's contents
+            }
+        } else {
+#ifdef CONSOLE_ENABLE
+            dprintf("error right touchpad\n");
+#endif
+            touchpad_init = false;
+            j
+        }
+        spi_stop();
+    }
+}
+
+// Writes single-byte <data> to <address>
+void RAP_Write(uint8_t address, uint8_t data) {
+    uint8_t cmdByte = WRITE_MASK | address;  // Form the WRITE command byte
+
+    if (touchpad_init) {
+        if (spi_start(CIRQUE_PINNACLE_SPI_CS_PIN, CIRQUE_TRACKPAD_SPI_LSBFIRST, CIRQUE_PINNACLE_SPI_MODE, CIRQUE_PINNACLE_SPI_DIVISOR)) {
+            spi_write(cmdByte);
+            spi_write(data);
+        } else {
+#ifdef CONSOLE_ENABLE
+            dprintf("error right touchpad\n");
+#endif
+            touchpad_init = false;
+        }
+        spi_stop();
+    }
+}
diff --git a/drivers/sensors/pimoroni_trackball.c b/drivers/sensors/pimoroni_trackball.c
index 48098ff0cc..7d390056ea 100644
--- a/drivers/sensors/pimoroni_trackball.c
+++ b/drivers/sensors/pimoroni_trackball.c
@@ -17,73 +17,55 @@
 #include "pimoroni_trackball.h"
 #include "i2c_master.h"
 #include "print.h"
-
-#ifndef PIMORONI_TRACKBALL_ADDRESS
-#    define PIMORONI_TRACKBALL_ADDRESS 0x0A
-#endif
-#ifndef PIMORONI_TRACKBALL_INTERVAL_MS
-#    define PIMORONI_TRACKBALL_INTERVAL_MS 8
-#endif
-#ifndef PIMORONI_TRACKBALL_MOUSE_SCALE
-#    define PIMORONI_TRACKBALL_MOUSE_SCALE 5
-#endif
-#ifndef PIMORONI_TRACKBALL_SCROLL_SCALE
-#    define PIMORONI_TRACKBALL_SCROLL_SCALE 1
-#endif
-#ifndef PIMORONI_TRACKBALL_DEBOUNCE_CYCLES
-#    define PIMORONI_TRACKBALL_DEBOUNCE_CYCLES 20
-#endif
-#ifndef PIMORONI_TRACKBALL_ERROR_COUNT
-#    define PIMORONI_TRACKBALL_ERROR_COUNT 10
-#endif
-
-#define TRACKBALL_TIMEOUT 100
-#define TRACKBALL_REG_LED_RED 0x00
-#define TRACKBALL_REG_LED_GRN 0x01
-#define TRACKBALL_REG_LED_BLU 0x02
-#define TRACKBALL_REG_LED_WHT 0x03
-#define TRACKBALL_REG_LEFT 0x04
-#define TRACKBALL_REG_RIGHT 0x05
-#define TRACKBALL_REG_UP 0x06
-#define TRACKBALL_REG_DOWN 0x07
-
-static pimoroni_data  current_pimoroni_data;
-static report_mouse_t mouse_report;
-static bool           scrolling   = false;
-static int16_t        x_offset    = 0;
-static int16_t        y_offset    = 0;
-static int16_t        h_offset    = 0;
-static int16_t        v_offset    = 0;
-static uint16_t       precision   = 128;
-static uint8_t        error_count = 0;
-
-float trackball_get_precision(void) { return ((float)precision / 128); }
-void  trackball_set_precision(float floatprecision) { precision = (floatprecision * 128); }
-bool  trackball_is_scrolling(void) { return scrolling; }
-void  trackball_set_scrolling(bool scroll) { scrolling = scroll; }
-
-void trackball_set_rgbw(uint8_t r, uint8_t g, uint8_t b, uint8_t w) {
+#include "debug.h"
+#include "timer.h"
+
+// clang-format off
+#define PIMORONI_TRACKBALL_REG_LED_RED 0x00
+#define PIMORONI_TRACKBALL_REG_LED_GRN 0x01
+#define PIMORONI_TRACKBALL_REG_LED_BLU 0x02
+#define PIMORONI_TRACKBALL_REG_LED_WHT 0x03
+#define PIMORONI_TRACKBALL_REG_LEFT    0x04
+#define PIMORONI_TRACKBALL_REG_RIGHT   0x05
+#define PIMORONI_TRACKBALL_REG_UP      0x06
+#define PIMORONI_TRACKBALL_REG_DOWN    0x07
+// clang-format on
+
+static uint16_t precision = 128;
+
+float pimoroni_trackball_get_precision(void) { return ((float)precision / 128); }
+void  pimoroni_trackball_set_precision(float floatprecision) { precision = (floatprecision * 128); }
+
+void pimoroni_trackball_set_rgbw(uint8_t r, uint8_t g, uint8_t b, uint8_t w) {
     uint8_t                              data[4] = {r, g, b, w};
-    __attribute__((unused)) i2c_status_t status  = i2c_writeReg(PIMORONI_TRACKBALL_ADDRESS << 1, TRACKBALL_REG_LED_RED, data, sizeof(data), TRACKBALL_TIMEOUT);
-#ifdef TRACKBALL_DEBUG
-    dprintf("Trackball RGBW i2c_status_t: %d\n", status);
+    __attribute__((unused)) i2c_status_t status  = i2c_writeReg(PIMORONI_TRACKBALL_ADDRESS << 1, PIMORONI_TRACKBALL_REG_LED_RED, data, sizeof(data), PIMORONI_TRACKBALL_TIMEOUT);
+
+#ifdef CONSOLE_ENABLE
+    if (debug_mouse) dprintf("Trackball RGBW i2c_status_t: %d\n", status);
 #endif
 }
 
-i2c_status_t read_pimoroni_trackball(pimoroni_data* data) {
-    i2c_status_t status = i2c_readReg(PIMORONI_TRACKBALL_ADDRESS << 1, TRACKBALL_REG_LEFT, (uint8_t*)data, sizeof(*data), TRACKBALL_TIMEOUT);
-#ifdef TRACKBALL_DEBUG
-    dprintf("Trackball READ i2c_status_t: %d\nLeft: %d\nRight: %d\nUp: %d\nDown: %d\nSwtich: %d\n", status, data->left, data->right, data->up, data->down, data->click);
+i2c_status_t read_pimoroni_trackball(pimoroni_data_t* data) {
+    i2c_status_t status = i2c_readReg(PIMORONI_TRACKBALL_ADDRESS << 1, PIMORONI_TRACKBALL_REG_LEFT, (uint8_t*)data, sizeof(*data), PIMORONI_TRACKBALL_TIMEOUT);
+#ifdef CONSOLE_ENABLE
+    if (debug_mouse) {
+        static uint16_t d_timer;
+        if (timer_elapsed(d_timer) > PIMORONI_TRACKBALL_DEBUG_INTERVAL) {
+            dprintf("Trackball READ i2c_status_t: %d L: %d R: %d Up: %d D: %d SW: %d\n", status, data->left, data->right, data->up, data->down, data->click);
+            d_timer = timer_read();
+        }
+    }
 #endif
+
     return status;
 }
 
-__attribute__((weak)) void pointing_device_init(void) {
+__attribute__((weak)) void pimironi_trackball_device_init(void) {
     i2c_init();
-    trackball_set_rgbw(0x00, 0x00, 0x00, 0x00);
+    pimoroni_trackball_set_rgbw(0x00, 0x00, 0x00, 0x00);
 }
 
-int16_t trackball_get_offsets(uint8_t negative_dir, uint8_t positive_dir, uint8_t scale) {
+int16_t pimoroni_trackball_get_offsets(uint8_t negative_dir, uint8_t positive_dir, uint8_t scale) {
     uint8_t offset     = 0;
     bool    isnegative = false;
     if (negative_dir > positive_dir) {
@@ -96,7 +78,7 @@ int16_t trackball_get_offsets(uint8_t negative_dir, uint8_t positive_dir, uint8_
     return isnegative ? -(int16_t)(magnitude) : (int16_t)(magnitude);
 }
 
-void trackball_adapt_values(int8_t* mouse, int16_t* offset) {
+void pimoroni_trackball_adapt_values(int8_t* mouse, int16_t* offset) {
     if (*offset > 127) {
         *mouse = 127;
         *offset -= 127;
@@ -108,94 +90,3 @@ void trackball_adapt_values(int8_t* mouse, int16_t* offset) {
         *offset = 0;
     }
 }
-
-__attribute__((weak)) void trackball_click(bool pressed, report_mouse_t* mouse) {
-#ifdef PIMORONI_TRACKBALL_CLICK
-    if (pressed) {
-        mouse->buttons |= MOUSE_BTN1;
-    } else {
-        mouse->buttons &= ~MOUSE_BTN1;
-    }
-#endif
-}
-
-__attribute__((weak)) bool pointing_device_task_user(pimoroni_data* trackball_data) { return true; };
-
-__attribute__((weak)) void pointing_device_task() {
-    static fast_timer_t throttle = 0;
-    static uint16_t     debounce = 0;
-
-    if (error_count < PIMORONI_TRACKBALL_ERROR_COUNT && timer_elapsed_fast(throttle) >= PIMORONI_TRACKBALL_INTERVAL_MS) {
-        i2c_status_t status = read_pimoroni_trackball(&current_pimoroni_data);
-
-        if (status == I2C_STATUS_SUCCESS) {
-            error_count = 0;
-
-            if (pointing_device_task_user(&current_pimoroni_data)) {
-                mouse_report = pointing_device_get_report();
-
-                if (!(current_pimoroni_data.click & 128)) {
-                    trackball_click(false, &mouse_report);
-                    if (!debounce) {
-                        if (scrolling) {
-#ifdef PIMORONI_TRACKBALL_INVERT_X
-                            h_offset += trackball_get_offsets(current_pimoroni_data.right, current_pimoroni_data.left, PIMORONI_TRACKBALL_SCROLL_SCALE);
-#else
-                            h_offset -= trackball_get_offsets(current_pimoroni_data.right, current_pimoroni_data.left, PIMORONI_TRACKBALL_SCROLL_SCALE);
-#endif
-#ifdef PIMORONI_TRACKBALL_INVERT_Y
-                            v_offset += trackball_get_offsets(current_pimoroni_data.down, current_pimoroni_data.up, PIMORONI_TRACKBALL_SCROLL_SCALE);
-#else
-                            v_offset -= trackball_get_offsets(current_pimoroni_data.down, current_pimoroni_data.up, PIMORONI_TRACKBALL_SCROLL_SCALE);
-#endif
-                        } else {
-#ifdef PIMORONI_TRACKBALL_INVERT_X
-                            x_offset -= trackball_get_offsets(current_pimoroni_data.right, current_pimoroni_data.left, PIMORONI_TRACKBALL_MOUSE_SCALE);
-#else
-                            x_offset += trackball_get_offsets(current_pimoroni_data.right, current_pimoroni_data.left, PIMORONI_TRACKBALL_MOUSE_SCALE);
-#endif
-#ifdef PIMORONI_TRACKBALL_INVERT_Y
-                            y_offset -= trackball_get_offsets(current_pimoroni_data.down, current_pimoroni_data.up, PIMORONI_TRACKBALL_MOUSE_SCALE);
-#else
-                            y_offset += trackball_get_offsets(current_pimoroni_data.down, current_pimoroni_data.up, PIMORONI_TRACKBALL_MOUSE_SCALE);
-#endif
-                        }
-                        if (scrolling) {
-#ifndef PIMORONI_TRACKBALL_ROTATE
-                            trackball_adapt_values(&mouse_report.h, &h_offset);
-                            trackball_adapt_values(&mouse_report.v, &v_offset);
-#else
-                            trackball_adapt_values(&mouse_report.h, &v_offset);
-                            trackball_adapt_values(&mouse_report.v, &h_offset);
-#endif
-                            mouse_report.x = 0;
-                            mouse_report.y = 0;
-                        } else {
-#ifndef PIMORONI_TRACKBALL_ROTATE
-                            trackball_adapt_values(&mouse_report.x, &x_offset);
-                            trackball_adapt_values(&mouse_report.y, &y_offset);
-#else
-                            trackball_adapt_values(&mouse_report.x, &y_offset);
-                            trackball_adapt_values(&mouse_report.y, &x_offset);
-#endif
-                            mouse_report.h = 0;
-                            mouse_report.v = 0;
-                        }
-                    } else {
-                        debounce--;
-                    }
-                } else {
-                    trackball_click(true, &mouse_report);
-                    debounce = PIMORONI_TRACKBALL_DEBOUNCE_CYCLES;
-                }
-            }
-        } else {
-            error_count++;
-        }
-
-        pointing_device_set_report(mouse_report);
-        pointing_device_send();
-
-        throttle = timer_read_fast();
-    }
-}
diff --git a/drivers/sensors/pimoroni_trackball.h b/drivers/sensors/pimoroni_trackball.h
index 6b2a41425d..59ee8724ba 100644
--- a/drivers/sensors/pimoroni_trackball.h
+++ b/drivers/sensors/pimoroni_trackball.h
@@ -16,22 +16,46 @@
  */
 #pragma once
 
-#include "quantum.h"
-#include "pointing_device.h"
+#include <stdint.h>
+#include "report.h"
+#include "i2c_master.h"
 
-typedef struct pimoroni_data {
+#ifndef PIMORONI_TRACKBALL_ADDRESS
+#    define PIMORONI_TRACKBALL_ADDRESS 0x0A
+#endif
+#ifndef PIMORONI_TRACKBALL_INTERVAL_MS
+#    define PIMORONI_TRACKBALL_INTERVAL_MS 8
+#endif
+#ifndef PIMORONI_TRACKBALL_SCALE
+#    define PIMORONI_TRACKBALL_SCALE 5
+#endif
+#ifndef PIMORONI_TRACKBALL_DEBOUNCE_CYCLES
+#    define PIMORONI_TRACKBALL_DEBOUNCE_CYCLES 20
+#endif
+#ifndef PIMORONI_TRACKBALL_ERROR_COUNT
+#    define PIMORONI_TRACKBALL_ERROR_COUNT 10
+#endif
+
+#ifndef PIMORONI_TRACKBALL_TIMEOUT
+#    define PIMORONI_TRACKBALL_TIMEOUT 100
+#endif
+
+#ifndef PIMORONI_TRACKBALL_DEBUG_INTERVAL
+#    define PIMORONI_TRACKBALL_DEBUG_INTERVAL 100
+#endif
+
+typedef struct {
     uint8_t left;
     uint8_t right;
     uint8_t up;
     uint8_t down;
     uint8_t click;
-} pimoroni_data;
+} pimoroni_data_t;
 
-void    trackball_set_rgbw(uint8_t red, uint8_t green, uint8_t blue, uint8_t white);
-void    trackball_click(bool pressed, report_mouse_t* mouse);
-int16_t trackball_get_offsets(uint8_t negative_dir, uint8_t positive_dir, uint8_t scale);
-void    trackball_adapt_values(int8_t* mouse, int16_t* offset);
-float   trackball_get_precision(void);
-void    trackball_set_precision(float precision);
-bool    trackball_is_scrolling(void);
-void    trackball_set_scrolling(bool scroll);
+void         pimironi_trackball_device_init(void);
+void         pimoroni_trackball_set_rgbw(uint8_t red, uint8_t green, uint8_t blue, uint8_t white);
+int16_t      pimoroni_trackball_get_offsets(uint8_t negative_dir, uint8_t positive_dir, uint8_t scale);
+void         pimoroni_trackball_adapt_values(int8_t* mouse, int16_t* offset);
+float        pimoroni_trackball_get_precision(void);
+void         pimoroni_trackball_set_precision(float precision);
+i2c_status_t read_pimoroni_trackball(pimoroni_data_t* data);
diff --git a/drivers/sensors/pmw3360.c b/drivers/sensors/pmw3360.c
index 79b653e452..2b27dccbb6 100644
--- a/drivers/sensors/pmw3360.c
+++ b/drivers/sensors/pmw3360.c
@@ -20,62 +20,71 @@
 #include "wait.h"
 #include "debug.h"
 #include "print.h"
-#include "pmw3360_firmware.h"
+#include PMW3360_FIRMWARE_H
 
 // Registers
-#define REG_Product_ID 0x00
-#define REG_Revision_ID 0x01
-#define REG_Motion 0x02
-#define REG_Delta_X_L 0x03
-#define REG_Delta_X_H 0x04
-#define REG_Delta_Y_L 0x05
-#define REG_Delta_Y_H 0x06
-#define REG_SQUAL 0x07
-#define REG_Raw_Data_Sum 0x08
-#define REG_Maximum_Raw_data 0x09
-#define REG_Minimum_Raw_data 0x0A
-#define REG_Shutter_Lower 0x0B
-#define REG_Shutter_Upper 0x0C
-#define REG_Control 0x0D
-#define REG_Config1 0x0F
-#define REG_Config2 0x10
-#define REG_Angle_Tune 0x11
-#define REG_Frame_Capture 0x12
-#define REG_SROM_Enable 0x13
-#define REG_Run_Downshift 0x14
-#define REG_Rest1_Rate_Lower 0x15
-#define REG_Rest1_Rate_Upper 0x16
-#define REG_Rest1_Downshift 0x17
-#define REG_Rest2_Rate_Lower 0x18
-#define REG_Rest2_Rate_Upper 0x19
-#define REG_Rest2_Downshift 0x1A
-#define REG_Rest3_Rate_Lower 0x1B
-#define REG_Rest3_Rate_Upper 0x1C
-#define REG_Observation 0x24
-#define REG_Data_Out_Lower 0x25
-#define REG_Data_Out_Upper 0x26
-#define REG_Raw_Data_Dump 0x29
-#define REG_SROM_ID 0x2A
-#define REG_Min_SQ_Run 0x2B
-#define REG_Raw_Data_Threshold 0x2C
-#define REG_Config5 0x2F
-#define REG_Power_Up_Reset 0x3A
-#define REG_Shutdown 0x3B
-#define REG_Inverse_Product_ID 0x3F
-#define REG_LiftCutoff_Tune3 0x41
-#define REG_Angle_Snap 0x42
-#define REG_LiftCutoff_Tune1 0x4A
-#define REG_Motion_Burst 0x50
-#define REG_LiftCutoff_Tune_Timeout 0x58
+// clang-format off
+#define REG_Product_ID                 0x00
+#define REG_Revision_ID                0x01
+#define REG_Motion                     0x02
+#define REG_Delta_X_L                  0x03
+#define REG_Delta_X_H                  0x04
+#define REG_Delta_Y_L                  0x05
+#define REG_Delta_Y_H                  0x06
+#define REG_SQUAL                      0x07
+#define REG_Raw_Data_Sum               0x08
+#define REG_Maximum_Raw_data           0x09
+#define REG_Minimum_Raw_data           0x0A
+#define REG_Shutter_Lower              0x0B
+#define REG_Shutter_Upper              0x0C
+#define REG_Control                    0x0D
+#define REG_Config1                    0x0F
+#define REG_Config2                    0x10
+#define REG_Angle_Tune                 0x11
+#define REG_Frame_Capture              0x12
+#define REG_SROM_Enable                0x13
+#define REG_Run_Downshift              0x14
+#define REG_Rest1_Rate_Lower           0x15
+#define REG_Rest1_Rate_Upper           0x16
+#define REG_Rest1_Downshift            0x17
+#define REG_Rest2_Rate_Lower           0x18
+#define REG_Rest2_Rate_Upper           0x19
+#define REG_Rest2_Downshift            0x1A
+#define REG_Rest3_Rate_Lower           0x1B
+#define REG_Rest3_Rate_Upper           0x1C
+#define REG_Observation                0x24
+#define REG_Data_Out_Lower             0x25
+#define REG_Data_Out_Upper             0x26
+#define REG_Raw_Data_Dump              0x29
+#define REG_SROM_ID                    0x2A
+#define REG_Min_SQ_Run                 0x2B
+#define REG_Raw_Data_Threshold         0x2C
+#define REG_Config5                    0x2F
+#define REG_Power_Up_Reset             0x3A
+#define REG_Shutdown                   0x3B
+#define REG_Inverse_Product_ID         0x3F
+#define REG_LiftCutoff_Tune3           0x41
+#define REG_Angle_Snap                 0x42
+#define REG_LiftCutoff_Tune1           0x4A
+#define REG_Motion_Burst               0x50
+#define REG_LiftCutoff_Tune_Timeout    0x58
 #define REG_LiftCutoff_Tune_Min_Length 0x5A
-#define REG_SROM_Load_Burst 0x62
-#define REG_Lift_Config 0x63
-#define REG_Raw_Data_Burst 0x64
-#define REG_LiftCutoff_Tune2 0x65
+#define REG_SROM_Load_Burst            0x62
+#define REG_Lift_Config                0x63
+#define REG_Raw_Data_Burst             0x64
+#define REG_LiftCutoff_Tune2           0x65
+// clang-format on
+
+#ifndef MAX_CPI
+#    define MAX_CPI 0x77  // limits to 0--119, should be max cpi/100
+#endif
 
 bool _inBurst = false;
 
+#ifdef CONSOLE_ENABLE
 void print_byte(uint8_t byte) { dprintf("%c%c%c%c%c%c%c%c|", (byte & 0x80 ? '1' : '0'), (byte & 0x40 ? '1' : '0'), (byte & 0x20 ? '1' : '0'), (byte & 0x10 ? '1' : '0'), (byte & 0x08 ? '1' : '0'), (byte & 0x04 ? '1' : '0'), (byte & 0x02 ? '1' : '0'), (byte & 0x01 ? '1' : '0')); }
+#endif
+#define constrain(amt, low, high) ((amt) < (low) ? (low) : ((amt) > (high) ? (high) : (amt)))
 
 bool spi_start_adv(void) {
     bool status = spi_start(PMW3360_CS_PIN, PMW3360_SPI_LSBFIRST, PMW3360_SPI_MODE, PMW3360_SPI_DIVISOR);
@@ -124,20 +133,20 @@ uint8_t spi_read_adv(uint8_t reg_addr) {
     return data;
 }
 
-void pmw_set_cpi(uint16_t cpi) {
-    uint8_t cpival = constrain((cpi / 100) - 1, 0, 0x77);  // limits to 0--119
+void pmw3360_set_cpi(uint16_t cpi) {
+    uint8_t cpival = constrain((cpi / 100) - 1, 0, MAX_CPI);
 
     spi_start_adv();
     spi_write_adv(REG_Config1, cpival);
     spi_stop();
 }
 
-uint16_t pmw_get_cpi(void) {
+uint16_t pmw3360_get_cpi(void) {
     uint8_t cpival = spi_read_adv(REG_Config1);
     return (uint16_t)(cpival & 0xFF) * 100;
 }
 
-bool pmw_spi_init(void) {
+bool pmw3360_init(void) {
     setPinOutput(PMW3360_CS_PIN);
 
     spi_init();
@@ -164,12 +173,12 @@ bool pmw_spi_init(void) {
     spi_read_adv(REG_Delta_Y_L);
     spi_read_adv(REG_Delta_Y_H);
 
-    pmw_upload_firmware();
+    pmw3360_upload_firmware();
 
     spi_stop_adv();
 
     wait_ms(10);
-    pmw_set_cpi(PMW3360_CPI);
+    pmw3360_set_cpi(PMW3360_CPI);
 
     wait_ms(1);
 
@@ -177,14 +186,14 @@ bool pmw_spi_init(void) {
 
     spi_write_adv(REG_Angle_Tune, constrain(ROTATIONAL_TRANSFORM_ANGLE, -30, 30));
 
-    bool init_success = pmw_check_signature();
+    bool init_success = pmw3360_check_signature();
 
     writePinLow(PMW3360_CS_PIN);
 
     return init_success;
 }
 
-void pmw_upload_firmware(void) {
+void pmw3360_upload_firmware(void) {
     spi_write_adv(REG_SROM_Enable, 0x1d);
 
     wait_ms(10);
@@ -211,16 +220,18 @@ void pmw_upload_firmware(void) {
     wait_ms(10);
 }
 
-bool pmw_check_signature(void) {
+bool pmw3360_check_signature(void) {
     uint8_t pid      = spi_read_adv(REG_Product_ID);
     uint8_t iv_pid   = spi_read_adv(REG_Inverse_Product_ID);
     uint8_t SROM_ver = spi_read_adv(REG_SROM_ID);
-    return (pid == 0x42 && iv_pid == 0xBD && SROM_ver == 0x04);  // signature for SROM 0x04
+    return (pid == firmware_signature[0] && iv_pid == firmware_signature[1] && SROM_ver == firmware_signature[2]);  // signature for SROM 0x04
 }
 
-report_pmw_t pmw_read_burst(void) {
+report_pmw3360_t pmw3360_read_burst(void) {
     if (!_inBurst) {
+#ifdef CONSOLE_ENABLE
         dprintf("burst on");
+#endif
         spi_write_adv(REG_Motion_Burst, 0x00);
         _inBurst = true;
     }
@@ -229,12 +240,7 @@ report_pmw_t pmw_read_burst(void) {
     spi_write(REG_Motion_Burst);
     wait_us(35);  // waits for tSRAD
 
-    report_pmw_t data;
-    data.motion = 0;
-    data.dx     = 0;
-    data.mdx    = 0;
-    data.dy     = 0;
-    data.mdx    = 0;
+    report_pmw3360_t data = {0};
 
     data.motion = spi_read();
     spi_write(0x00);  // skip Observation
@@ -245,6 +251,7 @@ report_pmw_t pmw_read_burst(void) {
 
     spi_stop();
 
+#ifdef CONSOLE_ENABLE
     if (debug_mouse) {
         print_byte(data.motion);
         print_byte(data.dx);
@@ -253,6 +260,7 @@ report_pmw_t pmw_read_burst(void) {
         print_byte(data.mdy);
         dprintf("\n");
     }
+#endif
 
     data.isMotion    = (data.motion & 0x80) != 0;
     data.isOnSurface = (data.motion & 0x08) == 0;
diff --git a/drivers/sensors/pmw3360.h b/drivers/sensors/pmw3360.h
index 7429a6ba09..7b2bef5b80 100644
--- a/drivers/sensors/pmw3360.h
+++ b/drivers/sensors/pmw3360.h
@@ -18,6 +18,8 @@
 
 #pragma once
 
+#include <stdint.h>
+#include "report.h"
 #include "spi_master.h"
 
 #ifndef PMW3360_CPI
@@ -25,7 +27,7 @@
 #endif
 
 #ifndef PMW3360_CLOCK_SPEED
-#    define PMW3360_CLOCK_SPEED 70000000
+#    define PMW3360_CLOCK_SPEED 2000000
 #endif
 
 #ifndef PMW3360_SPI_LSBFIRST
@@ -52,6 +54,17 @@
 #    error "No chip select pin defined -- missing PMW3360_CS_PIN"
 #endif
 
+/*
+The pmw33660 and pmw3389 use the same registers and timing and such.
+The only differences between the two is the firmware used, and the
+range for the DPI. So add a semi-secret hack to allow use of the
+pmw3389's firmware blob.  Also, can set the max cpi range too.
+This should work for the 3390 and 3391 too, in theory.
+*/
+#ifndef PMW3360_FIRMWARE_H
+#    define PMW3360_FIRMWARE_H "pmw3360_firmware.h"
+#endif
+
 #ifdef CONSOLE_ENABLE
 void print_byte(uint8_t byte);
 #endif
@@ -64,19 +77,18 @@ typedef struct {
     int8_t  mdx;
     int16_t dy;  // displacement on y directions.
     int8_t  mdy;
-} report_pmw_t;
+} report_pmw3360_t;
 
-bool         spi_start_adv(void);
-void         spi_stop_adv(void);
-spi_status_t spi_write_adv(uint8_t reg_addr, uint8_t data);
-uint8_t      spi_read_adv(uint8_t reg_addr);
-bool         pmw_spi_init(void);
-void         pmw_set_cpi(uint16_t cpi);
-uint16_t     pmw_get_cpi(void);
-void         pmw_upload_firmware(void);
-bool         pmw_check_signature(void);
-report_pmw_t pmw_read_burst(void);
+bool             spi_start_adv(void);
+void             spi_stop_adv(void);
+spi_status_t     spi_write_adv(uint8_t reg_addr, uint8_t data);
+uint8_t          spi_read_adv(uint8_t reg_addr);
+bool             pmw3360_init(void);
+void             pmw3360_set_cpi(uint16_t cpi);
+uint16_t         pmw3360_get_cpi(void);
+void             pmw3360_upload_firmware(void);
+bool             pmw3360_check_signature(void);
+report_pmw3360_t pmw3360_read_burst(void);
 
 #define degToRad(angleInDegrees) ((angleInDegrees)*M_PI / 180.0)
 #define radToDeg(angleInRadians) ((angleInRadians)*180.0 / M_PI)
-#define constrain(amt, low, high) ((amt) < (low) ? (low) : ((amt) > (high) ? (high) : (amt)))
diff --git a/drivers/sensors/pmw3360_firmware.h b/drivers/sensors/pmw3360_firmware.h
index 4d5fe7a0b9..ed9fda5a75 100644
--- a/drivers/sensors/pmw3360_firmware.h
+++ b/drivers/sensors/pmw3360_firmware.h
@@ -20,8 +20,13 @@
 
 #include "progmem.h"
 
+// PID, Inverse PID, SROM version
+const uint8_t firmware_signature[] PROGMEM = {0x42, 0xBD, 0x04};
+
 #define FIRMWARE_LENGTH 4094
 
+// Firmware Blob foor PMW3360
+
 // clang-format off
 const uint8_t firmware_data[FIRMWARE_LENGTH] PROGMEM = {
     0x01, 0x04, 0x8E, 0x96, 0x6E, 0x77, 0x3E, 0xFE, 0x7E, 0x5F, 0x1D, 0xB8, 0xF2, 0x66, 0x4E, 0xFF,
diff --git a/drivers/sensors/pmw3389_firmware.h b/drivers/sensors/pmw3389_firmware.h
new file mode 100644
index 0000000000..0564dab73a
--- /dev/null
+++ b/drivers/sensors/pmw3389_firmware.h
@@ -0,0 +1,303 @@
+/* Copyright 2020 Christopher Courtney, aka Drashna Jael're  (@drashna) <drashna@live.com>
+ * Copyright 2019 Sunjun Kim
+ * Copyright 2020 Ploopy Corporation
+ *
+ * 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
+
+// PID, Inverse PID, SROM version
+const uint8_t firmware_signature[] PROGMEM = {0x42, 0xBD, 0x04};
+
+// clang-format off
+// Firmware Blob foor PMW3389
+const uint16_t firmware_length = 4094;
+// clang-format off
+const uint8_t firmware_data[] PROGMEM = {    // SROM 0x04
+0x01, 0xe8, 0xba, 0x26, 0x0b, 0xb2, 0xbe, 0xfe, 0x7e, 0x5f, 0x3c, 0xdb, 0x15, 0xa8, 0xb3,
+0xe4, 0x2b, 0xb5, 0xe8, 0x53, 0x07, 0x6d, 0x3b, 0xd1, 0x20, 0xc2, 0x06, 0x6f, 0x3d, 0xd9,
+0x11, 0xa0, 0xc2, 0xe7, 0x2d, 0xb9, 0xd1, 0x20, 0xa3, 0xa5, 0xc8, 0xf3, 0x64, 0x4a, 0xf7,
+0x4d, 0x18, 0x93, 0xa4, 0xca, 0xf7, 0x6c, 0x5a, 0x36, 0xee, 0x5e, 0x3e, 0xfe, 0x7e, 0x7e,
+0x5f, 0x1d, 0x99, 0xb0, 0xc3, 0xe5, 0x29, 0xd3, 0x03, 0x65, 0x48, 0x12, 0x87, 0x6d, 0x58,
+0x32, 0xe6, 0x2f, 0xdc, 0x3a, 0xf2, 0x4f, 0xfd, 0x59, 0x11, 0x81, 0x61, 0x21, 0xc0, 0x02,
+0x86, 0x8e, 0x7f, 0x5d, 0x38, 0xf2, 0x47, 0x0c, 0x7b, 0x55, 0x28, 0xb3, 0xe4, 0x4a, 0x16,
+0xab, 0xbf, 0xdd, 0x38, 0xf2, 0x66, 0x4e, 0xff, 0x5d, 0x19, 0x91, 0xa0, 0xa3, 0xa5, 0xc8,
+0x12, 0xa6, 0xaf, 0xdc, 0x3a, 0xd1, 0x41, 0x60, 0x75, 0x58, 0x24, 0x92, 0xd4, 0x72, 0x6c,
+0xe0, 0x2f, 0xfd, 0x23, 0x8d, 0x1c, 0x5b, 0xb2, 0x97, 0x36, 0x3d, 0x0b, 0xa2, 0x49, 0xb1,
+0x58, 0xf2, 0x1f, 0xc0, 0xcb, 0xf8, 0x41, 0x4f, 0xcd, 0x1e, 0x6b, 0x39, 0xa7, 0x2b, 0xe9,
+0x30, 0x16, 0x83, 0xd2, 0x0e, 0x47, 0x8f, 0xe3, 0xb1, 0xdf, 0xa2, 0x15, 0xdb, 0x5d, 0x30,
+0xc5, 0x1a, 0xab, 0x31, 0x99, 0xf3, 0xfa, 0xb2, 0x86, 0x69, 0xad, 0x7a, 0xe8, 0xa7, 0x18,
+0x6a, 0xcc, 0xc8, 0x65, 0x23, 0x87, 0xa8, 0x5f, 0xf5, 0x21, 0x59, 0x75, 0x09, 0x71, 0x45,
+0x55, 0x25, 0x4b, 0xda, 0xa1, 0xc3, 0xf7, 0x41, 0xab, 0x59, 0xd9, 0x74, 0x12, 0x55, 0x5f,
+0xbc, 0xaf, 0xd9, 0xfd, 0xb0, 0x1e, 0xa3, 0x0f, 0xff, 0xde, 0x11, 0x16, 0x6a, 0xae, 0x0e,
+0xe1, 0x5d, 0x3c, 0x10, 0x43, 0x9a, 0xa1, 0x0b, 0x24, 0x8f, 0x0d, 0x7f, 0x0b, 0x5e, 0x4c,
+0x42, 0xa4, 0x84, 0x2c, 0x40, 0xd0, 0x55, 0x39, 0xe6, 0x4b, 0xf8, 0x9b, 0x2f, 0xdc, 0x28,
+0xff, 0xfa, 0xb5, 0x85, 0x19, 0xe5, 0x28, 0xa1, 0x77, 0xaa, 0x73, 0xf3, 0x03, 0xc7, 0x62,
+0xa6, 0x91, 0x18, 0xc9, 0xb0, 0xcd, 0x05, 0xdc, 0xca, 0x81, 0x26, 0x1a, 0x47, 0x40, 0xda,
+0x36, 0x7d, 0x6a, 0x53, 0xc8, 0x5a, 0x77, 0x5d, 0x19, 0xa4, 0x1b, 0x23, 0x83, 0xd0, 0xb2,
+0xaa, 0x0e, 0xbf, 0x77, 0x4e, 0x3a, 0x3b, 0x59, 0x00, 0x31, 0x0d, 0x02, 0x1b, 0x88, 0x7a,
+0xd4, 0xbd, 0x9d, 0xcc, 0x58, 0x04, 0x69, 0xf6, 0x3b, 0xca, 0x42, 0xe2, 0xfd, 0xc3, 0x3d,
+0x39, 0xc5, 0xd0, 0x71, 0xe4, 0xc8, 0xb7, 0x3e, 0x3f, 0xc8, 0xe9, 0xca, 0xc9, 0x3f, 0x04,
+0x4e, 0x1b, 0x79, 0xca, 0xa5, 0x61, 0xc2, 0xed, 0x1d, 0xa6, 0xda, 0x5a, 0xe9, 0x7f, 0x65,
+0x8c, 0xbe, 0x12, 0x6e, 0xa4, 0x5b, 0x33, 0x2f, 0x84, 0x28, 0x9c, 0x1c, 0x88, 0x2d, 0xff,
+0x07, 0xbf, 0xa6, 0xd7, 0x5a, 0x88, 0x86, 0xb0, 0x3f, 0xf6, 0x31, 0x5b, 0x11, 0x6d, 0xf5,
+0x58, 0xeb, 0x58, 0x02, 0x9e, 0xb5, 0x9a, 0xb1, 0xff, 0x25, 0x9d, 0x8b, 0x4f, 0xb6, 0x0a,
+0xf9, 0xea, 0x3e, 0x3f, 0x21, 0x09, 0x65, 0x21, 0x22, 0xfe, 0x3d, 0x4e, 0x11, 0x5b, 0x9e,
+0x5a, 0x59, 0x8b, 0xdd, 0xd8, 0xce, 0xd6, 0xd9, 0x59, 0xd2, 0x1e, 0xfd, 0xef, 0x0d, 0x1b,
+0xd9, 0x61, 0x7f, 0xd7, 0x2d, 0xad, 0x62, 0x09, 0xe5, 0x22, 0x63, 0xea, 0xc7, 0x31, 0xd9,
+0xa1, 0x38, 0x80, 0x5c, 0xa7, 0x32, 0x82, 0xec, 0x1b, 0xa2, 0x49, 0x5a, 0x06, 0xd2, 0x7c,
+0xc9, 0x96, 0x57, 0xbb, 0x17, 0x75, 0xfc, 0x7a, 0x8f, 0x0d, 0x77, 0xb5, 0x7a, 0x8e, 0x3e,
+0xf4, 0xba, 0x2f, 0x69, 0x13, 0x26, 0xd6, 0xd9, 0x21, 0x60, 0x2f, 0x21, 0x3e, 0x87, 0xee,
+0xfd, 0x87, 0x16, 0x0d, 0xc8, 0x08, 0x00, 0x25, 0x71, 0xac, 0x2c, 0x03, 0x2a, 0x37, 0x2d,
+0xb3, 0x34, 0x09, 0x91, 0xe3, 0x06, 0x2c, 0x38, 0x37, 0x95, 0x3b, 0x17, 0x7a, 0xaf, 0xac,
+0x99, 0x55, 0xab, 0x41, 0x39, 0x5f, 0x8e, 0xa6, 0x43, 0x80, 0x03, 0x88, 0x6f, 0x7d, 0xbd,
+0x5a, 0xb4, 0x2b, 0x32, 0x23, 0x5a, 0xa9, 0x31, 0x32, 0x39, 0x4c, 0x5b, 0xf4, 0x6b, 0xaf,
+0x66, 0x6f, 0x3c, 0x8e, 0x2d, 0x82, 0x97, 0x9f, 0x4a, 0x01, 0xdc, 0x99, 0x98, 0x00, 0xec,
+0x38, 0x7a, 0x79, 0x70, 0xa6, 0x85, 0xd6, 0x21, 0x63, 0x0d, 0x45, 0x9a, 0x2e, 0x5e, 0xa7,
+0xb1, 0xea, 0x66, 0x6a, 0xbc, 0x62, 0x2d, 0x7b, 0x7d, 0x85, 0xea, 0x95, 0x2f, 0xc0, 0xe8,
+0x6f, 0x35, 0xa0, 0x3a, 0x02, 0x25, 0xbc, 0xb2, 0x5f, 0x5c, 0x43, 0x96, 0xcc, 0x26, 0xd2,
+0x16, 0xb4, 0x96, 0x73, 0xd7, 0x13, 0xc7, 0xae, 0x53, 0x15, 0x31, 0x89, 0x68, 0x66, 0x6d,
+0x2c, 0x92, 0x1f, 0xcc, 0x5b, 0xa7, 0x8f, 0x5d, 0xbb, 0xc9, 0xdb, 0xe8, 0x3b, 0x9d, 0x61,
+0x74, 0x8b, 0x05, 0xa1, 0x58, 0x52, 0x68, 0xee, 0x3d, 0x39, 0x79, 0xa0, 0x9b, 0xdd, 0xe1,
+0x55, 0xc9, 0x60, 0xeb, 0xad, 0xb8, 0x5b, 0xc2, 0x5a, 0xb5, 0x2c, 0x18, 0x55, 0xa9, 0x50,
+0xc3, 0xf6, 0x72, 0x5f, 0xcc, 0xe2, 0xf4, 0x55, 0xb5, 0xd6, 0xb5, 0x4a, 0x99, 0xa5, 0x28,
+0x74, 0x97, 0x18, 0xe8, 0xc0, 0x84, 0x89, 0x50, 0x03, 0x86, 0x4d, 0x1a, 0xb7, 0x09, 0x90,
+0xa2, 0x01, 0x04, 0xbb, 0x73, 0x62, 0xcb, 0x97, 0x22, 0x70, 0x5d, 0x52, 0x41, 0x8e, 0xd9,
+0x90, 0x15, 0xaa, 0xab, 0x0a, 0x31, 0x65, 0xb4, 0xda, 0xd0, 0xee, 0x24, 0xc9, 0x41, 0x91,
+0x1e, 0xbc, 0x46, 0x70, 0x40, 0x9d, 0xda, 0x0e, 0x2a, 0xe4, 0xb2, 0x4c, 0x9f, 0xf2, 0xfc,
+0xf3, 0x84, 0x17, 0x44, 0x1e, 0xd7, 0xca, 0x23, 0x1f, 0x3f, 0x5a, 0x22, 0x3d, 0xaf, 0x9b,
+0x2d, 0xfc, 0x41, 0xad, 0x26, 0xb4, 0x45, 0x67, 0x0b, 0x80, 0x0e, 0xf9, 0x61, 0x37, 0xec,
+0x3b, 0xf4, 0x4b, 0x14, 0xdf, 0x5a, 0x0c, 0x3a, 0x50, 0x0b, 0x14, 0x0c, 0x72, 0xae, 0xc6,
+0xc5, 0xec, 0x35, 0x53, 0x2d, 0x59, 0xed, 0x91, 0x74, 0xe2, 0xc4, 0xc8, 0xf2, 0x25, 0x6b,
+0x97, 0x6f, 0xc9, 0x76, 0xce, 0xa9, 0xb1, 0x99, 0x8f, 0x5a, 0x92, 0x3b, 0xc4, 0x8d, 0x54,
+0x50, 0x40, 0x72, 0xd6, 0x90, 0x83, 0xfc, 0xe5, 0x49, 0x8b, 0x17, 0xf5, 0xfd, 0x6b, 0x8d,
+0x32, 0x02, 0xe9, 0x0a, 0xfe, 0xbf, 0x00, 0x6b, 0xa3, 0xad, 0x5f, 0x09, 0x4b, 0x97, 0x2b,
+0x00, 0x58, 0x65, 0x2e, 0x07, 0x49, 0x0a, 0x3b, 0x6b, 0x2e, 0x50, 0x6c, 0x1d, 0xac, 0xb7,
+0x6a, 0x26, 0xd8, 0x13, 0xa4, 0xca, 0x16, 0xae, 0xab, 0x93, 0xb9, 0x1c, 0x1c, 0xb4, 0x47,
+0x6a, 0x38, 0x36, 0x17, 0x27, 0xc9, 0x7f, 0xc7, 0x64, 0xcb, 0x89, 0x58, 0xc5, 0x61, 0xc2,
+0xc6, 0xea, 0x15, 0x0b, 0x34, 0x0c, 0x5d, 0x61, 0x76, 0x6e, 0x2b, 0x62, 0x40, 0x92, 0xa3,
+0x6c, 0xef, 0xf4, 0xe4, 0xc3, 0xa1, 0xa8, 0xf5, 0x94, 0x79, 0x0d, 0xd1, 0x3d, 0xcb, 0x3d,
+0x40, 0xb6, 0xd0, 0xf0, 0x10, 0x54, 0xd8, 0x47, 0x25, 0x51, 0xc5, 0x41, 0x79, 0x00, 0xe5,
+0xa0, 0x72, 0xde, 0xbb, 0x3b, 0x62, 0x17, 0xf6, 0xbc, 0x5d, 0x00, 0x76, 0x2e, 0xa7, 0x3b,
+0xb6, 0xf1, 0x98, 0x72, 0x59, 0x2a, 0x73, 0xb0, 0x21, 0xd6, 0x49, 0xe0, 0xc0, 0xd5, 0xeb,
+0x02, 0x7d, 0x4b, 0x41, 0x28, 0x70, 0x2d, 0xec, 0x2b, 0x71, 0x1f, 0x0b, 0xb9, 0x71, 0x63,
+0x06, 0xe6, 0xbc, 0x60, 0xbb, 0xf4, 0x9a, 0x62, 0x43, 0x09, 0x18, 0x4e, 0x93, 0x06, 0x4d,
+0x76, 0xfa, 0x7f, 0xbd, 0x02, 0xe4, 0x50, 0x91, 0x12, 0xe5, 0x86, 0xff, 0x64, 0x1e, 0xaf,
+0x7e, 0xb3, 0xb2, 0xde, 0x89, 0xc1, 0xa2, 0x6f, 0x40, 0x7b, 0x41, 0x51, 0x63, 0xea, 0x25,
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+
+// clang-format off