feat: PMW3360 and PMW3389 input devices #689

Schievel1 · 2025-12-28T18:53:52Z

Inplemented InputDevice for PMW3360 and PMW3389 optical mouse sensors. The driver is based on the existing PWM3610 driver in RMK and Zephyr's implementation.

Please note that this needs HaoboGu/rmk-template#18 in order for new projects from rmkit to work. (At least for RP2040 and STM32). Otherwise users need to do cargo add embassy-embedded-hal. Users of RP2040 and STM32 also need to add embassy-embedded-hal to their keyboards Cargo.toml to use the PMW33xx sensor.

BREAKING: PointingDevice and PointingProcessor replace Pmw3610Device and Pmw3610Processor. For the Pmw3610 the calls of ::new() for these stay the same, only the name changes. If using Rust to configure the keyboard change the calls, if using Toml nothing needs to be done.

Example Usage

[[input_device.pmw33xx]]
name = "trackball0"
sensor_type = "PMW3360" # or PMW3389

spi.instance = "SPI0"
spi.sck = "PIN_18"
spi.mosi = "PIN_19"
spi.miso = "PIN_16"
spi.cs = "PIN_17"
# By default this driver uses blocking SPI. For a small performance gain,
# you can define the DMA channels. Then the driver is using SPI with DMA.
# Figure out the DMA channel using the Peripherals from the embassy hal crate
# (embassy-rp, embassy-stm32 etc.) similar to the PINs.
# On nrf52 the driver alsways uses DMA, the channels do not need to be specified.
# spi.tx_dma = "DMA_CH2" # omit for nrf52
# spi.rx_dma = "DMA_CH3" # omit for nrf52

motion = "PIN_20" # Optional. If omitted, the sensor is polled.

cpi = 1600
rot_trans_angle = -15
liftoff_dist = 8
invert_x = true
# invert_y = true
# swap_xy = true

Todos

In the future, refactoring is needed to share implementation with JoyStick/ PWM3610 sensor or to handle SPI/I2C configs or generic processing like input transformation for pointing devices.

github-actions · 2025-12-28T19:02:42Z

Binary Size Report

use_config/nrf52832_ble

   text	   data	    bss	    dec	    hex	filename
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Diff

    FILE SIZE        VM SIZE    
 --------------  -------------- 
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use_config/nrf52840_ble

   text	   data	    bss	    dec	    hex	filename
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Diff

    FILE SIZE        VM SIZE    
 --------------  -------------- 
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use_config/nrf52840_ble_split

   text	   data	    bss	    dec	    hex	filename
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   text	   data	    bss	    dec	    hex	filename
 282920	   5740	  26212	 314872	  4cdf8	peripheral

Diff

Central Diff

    FILE SIZE        VM SIZE    
 --------------  -------------- 
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Peripheral Diff

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 --------------  -------------- 
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use_rust/nrf52840_ble_split

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   text	   data	    bss	    dec	    hex	filename
 281260	   5196	  24932	 311388	  4c05c	peripheral

Diff

Central Diff

    FILE SIZE        VM SIZE    
 --------------  -------------- 
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Peripheral Diff

    FILE SIZE        VM SIZE    
 --------------  -------------- 
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use_config/pi_pico_w_ble

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Diff

    FILE SIZE        VM SIZE    
 --------------  -------------- 
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use_config/pi_pico_w_ble_split

   text	   data	    bss	    dec	    hex	filename
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   text	   data	    bss	    dec	    hex	filename
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Diff

Central Diff

    FILE SIZE        VM SIZE    
 --------------  -------------- 
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Peripheral Diff

    FILE SIZE        VM SIZE    
 --------------  -------------- 
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use_rust/pi_pico_w_ble_split

   text	   data	    bss	    dec	    hex	filename
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   text	   data	    bss	    dec	    hex	filename
 496100	      0	  42224	 538324	  836d4	peripheral

Diff

Central Diff

    FILE SIZE        VM SIZE    
 --------------  -------------- 
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  -0.8% -17.1Ki  [ = ]       0    .debug_info
  -0.3% -22.4Ki  +0.5% +3.40Ki    TOTAL

Peripheral Diff

    FILE SIZE        VM SIZE    
 --------------  -------------- 
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use_config/rp2040

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Diff

    FILE SIZE        VM SIZE    
 --------------  -------------- 
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  -1.2% -35.8Ki  +2.3% +3.26Ki    TOTAL

use_config/rp2040_split

   text	   data	    bss	    dec	    hex	filename
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   text	   data	    bss	    dec	    hex	filename
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Diff

Central Diff

    FILE SIZE        VM SIZE    
 --------------  -------------- 
  +4.8% +5.88Ki  +4.8% +5.88Ki    .text
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Peripheral Diff

    FILE SIZE        VM SIZE    
 --------------  -------------- 
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use_rust/rp2040_split

   text	   data	    bss	    dec	    hex	filename
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   text	   data	    bss	    dec	    hex	filename
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Diff

Central Diff

    FILE SIZE        VM SIZE    
 --------------  -------------- 
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Peripheral Diff

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 --------------  -------------- 
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  -0.5% -5.59Ki   +25% +7.44Ki    TOTAL

use_config/stm32f1

   text	   data	    bss	    dec	    hex	filename
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Diff

    FILE SIZE        VM SIZE    
 --------------  -------------- 
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use_config/stm32f4

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use_config/stm32h7

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 --------------  -------------- 
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   +25%  +786Ki   +34% +35.2Ki    TOTAL

Schievel1 · 2025-12-30T18:05:21Z

This builds on NRF52xy, STM32 and RP2040 at least. I am lacking hardware right now to test out if the sensor really works on the NRF52 chips and STM32.

Schievel1 · 2025-12-31T01:00:14Z

@whitelynx Maybe you can test the PMW3389 support when your mouse is ready. I am lacking the hardware and that sensor is too expensive for me to buy it just to test that out.

See also HaoboGu/rmk#689 Using BlockingAsync for the PMW33xx sensors requires the dependency

Schievel1 · 2026-01-01T08:17:36Z

I think the PointingDevices should be able to set the resolution and rotational transform angle at runtime.

For this I would implement Controller for the PointingDevice, and the new functions of PointingDevice would require an ID for the sensor.

Then I would like to add to the keyboardevents(?) the event Keyboardevents::PointingSetResolution((u8, i16)).
The u8 being the ID, the i16 the desired resolution.

Is this the best way to do it? I'm not sure if this should be in keyboardevents or if pointing devices should get their own events enum.

HaoboGu · 2026-01-01T14:36:26Z

I think the PointingDevices should be able to set the resolution and rotational transform angle at runtime.

For this I would implement Controller for the PointingDevice, and the new functions of PointingDevice would require an ID for the sensor.

Then I would like to add to the keyboardevents(?) the event Keyboardevents::PointingSetResolution((u8, i16)). The u8 being the ID, the i16 the desired resolution.

Is this the best way to do it? I'm not sure if this should be in keyboardevents or if pointing devices should get their own events enum.

Yeah, the simplest way is to add a PointingSetResolution(u8, i16) variant to ControllerEvent.

I think it still needs some design. The main issues of the current event system are

Now once a variant of ControllerEvent is added, it exists even no subscriber uses it at all, ideally in the enum only the variant which will be consumed exists
If users don't want to modify RMK source code, now there's no way to make runtime change of a device/processor/controller
Now there's no id for controllers, and the published events have no id too

Schievel1 · 2026-01-01T19:10:32Z

I solved the ID thing, at least for Pointing devices, and with your other PR we solve the thing with custom processors.
For the first point I have no idea how you could solve this. Other than Feature mess. But is it really a big problem not all variants of the enum are used?

HaoboGu · 2026-01-02T03:26:12Z

It isn't a big problem, it's just not very elegant -- having unnecessary variants wastes some RAM

I'm thinking about introducing some feature gates, but if we want users to add their own event, the current event enum should be revised maybe?

See also HaoboGu/rmk#689 Using BlockingAsync for the PMW33xx sensors requires the dependency

add PMW3360 driver

79787fa

add docs

636d48b

Schievel1 changed the title ~~add PMW3360 driver~~ feat: PMW3360 input device Dec 28, 2025

Schievel1 added 7 commits December 29, 2025 01:24

add macros for PMW3360

9667f46

fix doc

7f47560

make stm32 compile

55a3378

add trait PointingDriver and make common PointingDevice

a8fa0da

add PointingProcessor, change macros

a68e371

refactor PMW3610 to use pointing.rs

2527711

add bind interrupt for the nrf52 chips

3a4b74f

Schievel1 changed the title ~~feat: PMW3360 input device~~ feat: PMW3360 and PMW3389 input devices Dec 31, 2025

Schievel1 added 2 commits December 31, 2025 12:27

add support for PWM3389

f41f59a

Use blocking SPI by default

9203ca2

Schievel1 force-pushed the main branch from cbc4a46 to 9203ca2 Compare December 31, 2025 11:27

Schievel1 added a commit to Schievel1/rmk-template that referenced this pull request Dec 31, 2025

add embassy-embedded-hal to dependencies for stm32 / rp2040

ed18d19

See also HaoboGu/rmk#689 Using BlockingAsync for the PMW33xx sensors requires the dependency

Schievel1 mentioned this pull request Dec 31, 2025

add embassy-embedded-hal to dependencies for stm32 / rp2040 HaoboGu/rmk-template#18

Merged

Schievel1 added a commit to Schievel1/rmk-template that referenced this pull request Dec 31, 2025

add embassy-embedded-hal to dependencies for stm32 / rp2040

b5a9e50

See also HaoboGu/rmk#689 Using BlockingAsync for the PMW33xx sensors requires the dependency

Schievel1 force-pushed the main branch from d7b5f42 to 347161b Compare January 1, 2026 23:14

add ControllerEvent system for PointingDevice

7eac7c4

Schievel1 force-pushed the main branch from 347161b to 7eac7c4 Compare January 2, 2026 10:54

update doc for pmw33xx

c7ad586

HaoboGu pushed a commit to HaoboGu/rmk-template that referenced this pull request Jan 3, 2026

add embassy-embedded-hal to dependencies for stm32 / rp2040

7900375

See also HaoboGu/rmk#689 Using BlockingAsync for the PMW33xx sensors requires the dependency

Jaraxzus mentioned this pull request Jan 4, 2026

Scroll and other mode for pointing devices #703

Open

add tests wireframe for pmw33xx

dbbe4ae

Schievel1 force-pushed the main branch from 18316d7 to dbbe4ae Compare January 6, 2026 10:41

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feat: PMW3360 and PMW3389 input devices #689

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feat: PMW3360 and PMW3389 input devices #689

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use_config/nrf52832_ble

use_config/nrf52840_ble

use_config/nrf52840_ble_split

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Peripheral Diff

use_rust/nrf52840_ble_split

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use_config/pi_pico_w_ble

use_config/pi_pico_w_ble_split

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use_rust/pi_pico_w_ble_split

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use_config/rp2040

use_config/rp2040_split

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use_rust/rp2040_split

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use_config/stm32f1

use_config/stm32f4

use_config/stm32h7

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