Add support for Renesas RA CEU (Capture Engine Unit) for RA8M1 and RA8D1 #92146

thaoluonguw · 2025-06-25T04:36:39Z

Add support for Renesas RA CEU (Capture Engine Unit):

Add video driver use CEU
Add dts for CEU on RA8M1 and RA8D1
Enable CEU support for EK-RA8D1
Add support for EK-RA8D1 on Video capture to LVGL sample.
It works with OV7670 camera, and MIPI graphics expansion board included in the Kit

github-actions · 2025-06-25T04:38:07Z

The following west manifest projects have changed revision in this Pull Request:

Name	Old Revision	New Revision	Diff

✅ All manifest checks OK

Note: This message is automatically posted and updated by the Manifest GitHub Action.

josuah

Thank you for implementing the Renesas video driver!

The driver appears in a good shape WRT video APIs, with a few key points to modify (marked with :x), and a few proposal to improve it further, non-blocking (i.e. could be improved over time eventually, although appreciated if modified now).

Let me know if anything needs clarifications.

drivers/video/Kconfig.renesas_ra_ceu

drivers/video/video_renesas_ra_ceu.c

samples/drivers/video/capture_to_lvgl/boards/ek_ra8d1.overlay

josuah · 2025-06-26T00:09:58Z

[blocking ❌]
In order to make sure this driver always compiles even after Video APIs are refactored, you may want to add it to this test that will run on CI on every video-related commit:
tests/drivers/build_all/video/app.overlay

ngphibang · 2025-06-27T23:04:04Z

drivers/video/video_renesas_ra_ceu.c

+	}
+}
+
+static int video_renesas_ra_ceu_get_format(const struct device *dev, struct video_format *fmt)


Function name is rather long, could it be shorten like ra_ceu_get_format ?. Idem for others

@thaoluonguw : This is a small point but do you think it's better to shorten the function name a bit ? The prefix video_renesas_ seems not needed as all these functions are static, no worry that other functions will have the same name

I think there is a _csi variant coming at some point. This would become ra_csi_get_format then I guess...

As my viewpoint, better to keep the video_renesas_ra_* prefix for consistency with the name-spacing rule. With the *_ceu surfix, as mentioned by @josuah , an *_csi variant driver will be sent out later, so let's keep it to specific hardware function.

With the csi variant coming : ceu_get_format() / csi_get_format() is sufficient.
video_renesas_ could be simplified. But well, it's up to you.

drivers/video/video_renesas_ra_ceu.c

dts/bindings/video/renesas,ra-ceu.yaml

khoa-nguyen-18

I have some comments regarding camera support on the board and in the shield layer

boards/renesas/ek_ra8d1/ek_ra8d1.dts

boards/renesas/ek_ra8d1/ek_ra8d1-pinctrl.dtsi

khoa-nguyen-18 · 2025-07-17T04:09:30Z

dts/arm/renesas/ra/ra8/r7fa8d1xh.dtsi

+		ceu: ceu@40348000 {
+			compatible = "renesas,ra-ceu";
+			reg = <0x40348000 0x8000>;
+			clocks = <&pclka MSTPC 16>;


I think it's missing clock-names here

boards/renesas/ek_ra8d1/doc/index.rst

thenguyenyf

Just a comment for nit. Others LGTM.

boards/renesas/ek_ra8d1/ek_ra8d1-pinctrl.dtsi

josuah · 2025-07-22T09:17:32Z

FYI, to summarize what allows this PR to be merged in practice:

The "change requests" are both to add this board to the "build-all" target so that CI keeps compiling the driver making sure it works in the future (comment)
A git conflict preventing it to be merged.

Then of course letting time for PR author to check all comments.

leiche-cid · 2025-08-20T02:14:48Z

Hi, thanks for your work, any plans to move this forward?

leiche-cid · 2025-09-11T09:11:45Z

@thaoluonguw @KhanhNguyen-RVC Politely asking, is there any plans to move this work forward?

quytranpzz · 2025-09-11T16:04:00Z

@thaoluonguw @KhanhNguyen-RVC Politely asking, is there any plans to move this work forward?

@leiche-cid, Sorry for the late response. I’ve rebased and added a test case in the build_all yaml.
@ngphibang , @josuah: Please take a look. Thank you very much.

Add support for the Renesas RA Capture Engine Unit (CEU), including driver source files, Kconfig options, and DTS bindings. - Add initial implementation of the RA CEU driver - Add dedicated Kconfig and CMake integration - Provide Devicetree bindings for the RA CEU - Update module Kconfig to include the new driver This enables image capture functionality using the CEU peripheral on Renesas RA series MCUs. Signed-off-by: Duy Vo <duy.vo.xc@bp.renesas.com> Signed-off-by: Khanh Nguyen <khanh.nguyen.wz@bp.renesas.com>

Add pin definitions required by the RA Capture Engine Unit Signed-off-by: Duy Vo <duy.vo.xc@bp.renesas.com> Signed-off-by: Khanh Nguyen <khanh.nguyen.wz@bp.renesas.com>

Add CEU to r7fa8d1xh.dtsi and r7fa8m1xh.dtsi Signed-off-by: Khanh Nguyen <khanh.nguyen.wz@bp.renesas.com>

- Add CEU pin configuration to ek_ra8d1-pinctrl.dtsi - Enable CEU node and Arducam 20-pin connector in ek_ra8d1.dts - Configure PWM3 as external XCLK via pwm-clock node - Update board YAML to declare video support Signed-off-by: Duy Vo <duy.vo.xc@bp.renesas.com> Signed-off-by: Khanh Nguyen <khanh.nguyen.wz@bp.renesas.com>

Support OV7670 DVP 20-pin shield on the EK-RA8D1 board Signed-off-by: Khanh Nguyen <khanh.nguyen.wz@bp.renesas.com>

Add EK-RA8D1 board support for capture and capture_to_lvgl samples Signed-off-by: Khanh Nguyen <khanh.nguyen.wz@bp.renesas.com>

Add SW1 configuration for using Camera Exapansion Port (J59) Signed-off-by: Thao Luong <thao.luong.uw@renesas.com>

Enable video driver build for Renesas RA8D1 Signed-off-by: Quy Tran <quy.tran.pz@renesas.com>

quytranpzz · 2025-09-15T06:29:59Z

Rebasing to resolve conflicts

sonarqubecloud · 2025-09-15T06:56:24Z

Quality Gate passed

Issues
0 New issues
0 Accepted issues

Measures
0 Security Hotspots
0.0% Coverage on New Code
0.0% Duplication on New Code

See analysis details on SonarQube Cloud

josuah

I do not find anything blocking anymore.

Waiting on feedback from other reviewers who might want some modifications done before or after merging...

I would still recommend to:

Remove the POLL API, which is optional, and currently incompletely supported. This intermediate situation would lead to some video samples to work (capture) and others to not work (UVC webcam).
Open an issue for filtering the video formats of the source to only support the formats allowed by this device, as soon as the API making it is introduced (no RFC for it yet).
Consider moving the call to enable the clock in the _init() function, if this is possible and makes sense in your opiinion.

Thank you for the modifications and for your patience!

josuah · 2025-09-16T13:18:17Z

drivers/video/video_renesas_ra_ceu.c

+	static int video_renesas_ra_ceu_cam_clock_init##inst(void)                                 \
+	{                                                                                          \
+		const struct device *dev = DEVICE_DT_INST_GET(inst);                               \
+		const struct video_renesas_ra_ceu_config *config = dev->config;                    \
+		int ret;                                                                           \
+                                                                                                   \
+		if (!device_is_ready(config->cam_xclk_dev)) {                                      \
+			LOG_DBG("Camera clock control device not ready");                          \
+			return -ENODEV;                                                            \
+		}                                                                                  \
+                                                                                                   \
+		ret = clock_control_on(config->cam_xclk_dev, (clock_control_subsys_t)0);           \
+		if (ret < 0) {                                                                     \
+			LOG_DBG("Failed to enable camera clock control");                          \
+			return ret;                                                                \
+		}                                                                                  \
+		return 0;                                                                          \
+	}                                                                                          \


Would it work to call this inside video_renesas_ra_ceu_init() directly?

josuah · 2025-09-16T15:03:26Z

drivers/video/video_renesas_ra_ceu.c

+	if (p_args->event & CEU_EVENT_FRAME_END) {
+		curr_vbuf = atomic_ptr_get(&data->vbuf);
+		if (curr_vbuf && atomic_ptr_cas(&data->vbuf, curr_vbuf, NULL)) {
+			curr_vbuf->timestamp = k_uptime_get_32();
+			k_fifo_put(&data->fifo_out, curr_vbuf);
+		}


If wanting a complete support for the polling API, you may want to raise a completion signal here, or remove support for the polling API altogether (given this will be automated soon).

zephyr/drivers/video/video_sw_generator.c

Lines 312 to 314 in 5525941

if (IS_ENABLED(CONFIG_POLL) && data->sig) {

k_poll_signal_raise(data->sig, VIDEO_BUF_DONE);

}

josuah · 2025-09-16T15:05:15Z

drivers/video/video_renesas_ra_ceu.c

+		err = R_CEU_CaptureStart(data->fsp_ctrl, next_vbuf->buffer);
+		if (err != FSP_SUCCESS) {
+			atomic_ptr_clear(&data->vbuf);
+			k_fifo_put(&data->fifo_out, next_vbuf);


If wanting a complete support for the polling API, you may want to raise a error signal here, or remove support for the polling API altogether (given this will be automated soon).

zephyr/drivers/video/video_mcux_csi.c

Line 55 in 5525941

result = VIDEO_BUF_ERROR;

zephyr/drivers/video/video_esp32_dvp.c

Line 116 in 5525941

VIDEO_ESP32_RAISE_OUT_SIG_IF_ENABLED(VIDEO_BUF_ERROR)

josuah · 2025-09-16T15:13:14Z

drivers/video/video_renesas_ra_ceu.c

+	caps->min_line_count = LINE_COUNT_HEIGHT;
+	caps->max_line_count = LINE_COUNT_HEIGHT;
+
+	return video_get_caps(config->source_dev, caps);


It seems like not all image sensor resolutions will be supported because of VIDEO_RA_CEU_WIDTH_ALIGN requirements.

The complete solution would have been to filter the list of video formats from the source to apply the padding requirement (via .width_step and .height_step for instance).

However this is currently slightly inconvenient as this requires setting a temporary buffer that is not freed:

zephyr/drivers/video/video_mcux_csi.c

Lines 292 to 322 in 5525941

if (config->source_dev) {

err = video_get_caps(config->source_dev, caps);

#if defined(CONFIG_VIDEO_MCUX_MIPI_CSI2RX)

/*

* On i.MX RT11xx SoCs which have MIPI CSI-2 Rx, image data from the camera sensor

* after passing through the pipeline (MIPI CSI-2 Rx --> Video Mux --> CSI) will be

* implicitly converted to a 32-bits pixel format. For example, an input in RGB565

* or YUYV (2-bytes format) will become an XRGB32 or XYUV32 (4-bytes format)

* respectively, at the output of the CSI. So, we change the pixel formats of the

* source caps to reflect this.

*/

int ind = 0;

while (caps->format_caps[ind].pixelformat) {

ind++;

}

k_heap_free(&csi_heap, fmts);

fmts = k_heap_alloc(&csi_heap, (ind + 1) * sizeof(struct video_format_cap),

K_FOREVER);

for (int i = 0; i <= ind; i++) {

memcpy(&fmts[i], &caps->format_caps[i], sizeof(fmts[i]));

if (fmts[i].pixelformat == VIDEO_PIX_FMT_RGB565) {

fmts[i].pixelformat = VIDEO_PIX_FMT_XRGB32;

} else if (fmts[i].pixelformat == VIDEO_PIX_FMT_YUYV) {

fmts[i].pixelformat = VIDEO_PIX_FMT_XYUV32;

}

}

caps->format_caps = fmts;

#endif

}

So it might be possible to wait a better API to become available first.

thenguyenyf · 2025-09-17T03:13:38Z

Hello @ngphibang . All change requests have been addressed. Still remain small nits as your comment but it can be sent out later as a subsequence PR. Could you please revisit and verify it?

ngphibang

Thank you for this contribution !

There are a few reviewer comments that haven’t been addressed yet, though none are blocking. For future PRs, it might be helpful to share more of your thoughts on the commented points — it can really help reviewers better understand your perspective.

thaoluonguw requested review from soburi, KhiemNguyenT, thenguyenyf and duynguyenxa June 25, 2025 04:36

thaoluonguw added this to the v4.3.0 milestone Jun 25, 2025

github-actions bot added area: Pinctrl platform: Renesas RA Renesas Electronics Corporation, RA area: Video Video subsystem area: Samples Samples labels Jun 25, 2025

github-actions bot requested review from avolmat-st, gmarull, josuah, kartben, loicpoulain, nashif and ngphibang June 25, 2025 04:37

github-actions bot assigned josuah and ngphibang Jun 25, 2025

github-actions bot added manifest manifest-hal_renesas DNM (manifest) This PR should not be merged (controlled by action-manifest) labels Jun 25, 2025

josuah requested changes Jun 26, 2025

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thaoluonguw force-pushed the support_renesas_ra_ceu branch from 92a4b3b to 03bdbce Compare July 4, 2025 04:15

github-actions bot added the area: Shields Shields (add-on boards) label Jul 4, 2025

github-actions bot requested review from avisconti, erwango and jfischer-no July 4, 2025 04:16

khoa-nguyen-18 reviewed Jul 17, 2025

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thenguyenyf previously approved these changes Jul 21, 2025

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boards/renesas/ek_ra8d1/ek_ra8d1-pinctrl.dtsi Show resolved Hide resolved

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quytranpzz dismissed thenguyenyf’s stale review via cff8ae6 September 11, 2025 11:44

quytranpzz force-pushed the support_renesas_ra_ceu branch from 356db7a to cff8ae6 Compare September 11, 2025 11:44

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KhanhNguyen-RVC and others added 8 commits September 15, 2025 06:22

include: dt-bindings: renesas: Add RA CEU pin definitions

618818a

Add pin definitions required by the RA Capture Engine Unit Signed-off-by: Duy Vo <duy.vo.xc@bp.renesas.com> Signed-off-by: Khanh Nguyen <khanh.nguyen.wz@bp.renesas.com>

dts: arm: renesas: Add CEU nodes for RA8D1 and RA8M1 SoCs

cbb013c

Add CEU to r7fa8d1xh.dtsi and r7fa8m1xh.dtsi Signed-off-by: Khanh Nguyen <khanh.nguyen.wz@bp.renesas.com>

boards: shields: Support OV7670 DVP 20-pin shield on EK-RA8D1 board

6733a41

Support OV7670 DVP 20-pin shield on the EK-RA8D1 board Signed-off-by: Khanh Nguyen <khanh.nguyen.wz@bp.renesas.com>

samples: video: Add CEU support for Renesas RA boards

763e7ef

Add EK-RA8D1 board support for capture and capture_to_lvgl samples Signed-off-by: Khanh Nguyen <khanh.nguyen.wz@bp.renesas.com>

boards: renesas: ek_ra8d1: Update document for using Camera

9e199d8

Add SW1 configuration for using Camera Exapansion Port (J59) Signed-off-by: Thao Luong <thao.luong.uw@renesas.com>

tests: drivers: build_all: Add Renesas RA video driver build

2136555

Enable video driver build for Renesas RA8D1 Signed-off-by: Quy Tran <quy.tran.pz@renesas.com>

quytranpzz dismissed thenguyenyf’s stale review via 2136555 September 15, 2025 06:27

quytranpzz force-pushed the support_renesas_ra_ceu branch from cff8ae6 to 2136555 Compare September 15, 2025 06:27

zephyrbot requested review from josuah and ngphibang September 15, 2025 06:29

thenguyenyf approved these changes Sep 15, 2025

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josuah approved these changes Sep 16, 2025

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ngphibang approved these changes Sep 17, 2025

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henrikbrixandersen merged commit 009144a into zephyrproject-rtos:main Sep 17, 2025
26 checks passed

	if (IS_ENABLED(CONFIG_POLL) && data->sig) {
	k_poll_signal_raise(data->sig, VIDEO_BUF_DONE);
	}

	if (config->source_dev) {
	err = video_get_caps(config->source_dev, caps);
	#if defined(CONFIG_VIDEO_MCUX_MIPI_CSI2RX)
	/*
	* On i.MX RT11xx SoCs which have MIPI CSI-2 Rx, image data from the camera sensor
	* after passing through the pipeline (MIPI CSI-2 Rx --> Video Mux --> CSI) will be
	* implicitly converted to a 32-bits pixel format. For example, an input in RGB565
	* or YUYV (2-bytes format) will become an XRGB32 or XYUV32 (4-bytes format)
	* respectively, at the output of the CSI. So, we change the pixel formats of the
	* source caps to reflect this.
	*/
	int ind = 0;

	while (caps->format_caps[ind].pixelformat) {
	ind++;
	}
	k_heap_free(&csi_heap, fmts);
	fmts = k_heap_alloc(&csi_heap, (ind + 1) * sizeof(struct video_format_cap),
	K_FOREVER);

	for (int i = 0; i <= ind; i++) {
	memcpy(&fmts[i], &caps->format_caps[i], sizeof(fmts[i]));
	if (fmts[i].pixelformat == VIDEO_PIX_FMT_RGB565) {
	fmts[i].pixelformat = VIDEO_PIX_FMT_XRGB32;
	} else if (fmts[i].pixelformat == VIDEO_PIX_FMT_YUYV) {
	fmts[i].pixelformat = VIDEO_PIX_FMT_XYUV32;
	}
	}
	caps->format_caps = fmts;
	#endif
	}

Add support for Renesas RA CEU (Capture Engine Unit) for RA8M1 and RA8D1 #92146

Add support for Renesas RA CEU (Capture Engine Unit) for RA8M1 and RA8D1 #92146

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