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
hal_renesas	zephyrproject-rtos/hal_renesas@`0769fe1`	zephyrproject-rtos/hal_renesas@`985d39b` (`main`)	zephyrproject-rtos/[email protected]

✅ 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...

drivers/video/video_renesas_ra_ceu.c

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

Update hal_renesas to support CEU on RA SoCs Signed-off-by: Duy Vo <[email protected]> Signed-off-by: Khanh Nguyen <[email protected]>

josuah

Thank you for the modifications!
I have "folded" the points it does resolve to allow you to keep track of feedback.
A few items left might need some adjustment (i.e. for CI), but I am looking forward to see this merged!

drivers/video/video_renesas_ra_ceu.c

samples/drivers/video/capture/sample.yaml

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 <[email protected]> Signed-off-by: Khanh Nguyen <[email protected]>

Add pin definitions required by the RA Capture Engine Unit Signed-off-by: Duy Vo <[email protected]> Signed-off-by: Khanh Nguyen <[email protected]>

Add CEU to r7fa8d1xh.dtsi and r7fa8m1xh.dtsi Signed-off-by: Khanh Nguyen <[email protected]>

- 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 <[email protected]> Signed-off-by: Khanh Nguyen <[email protected]>

Support OV7670 DVP 20-pin shield on the EK-RA8D1 board Signed-off-by: Khanh Nguyen <[email protected]>

Add EK-RA8D1 board support for capture and capture_to_lvgl samples Signed-off-by: Khanh Nguyen <[email protected]>

Add SW1 configuration for using Camera Exapansion Port (J59) Signed-off-by: Thao Luong <[email protected]>

sonarqubecloud · 2025-07-07T08:15:46Z

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

thaoluonguw · 2025-07-07T09:17:26Z

Thank you for the modifications! I have "folded" the points it does resolve to allow you to keep track of feedback. A few items left might need some adjustment (i.e. for CI), but I am looking forward to see this merged!

@josuah : Thank you so much for your review. And I am so sorry for my late responding to you.

josuah · 2025-07-07T11:39:47Z

No problem, it is possible to pause activity on PRs for as long as you need.

The last item I think is missing would be adding it to the build_all Twister test to make it easy to bulk test that all drivers still build well despite API changes.

Here is an example of how it can be done for renesas_ra_ceu:

[EDIT: see more recent version below]

diff --git a/tests/drivers/build_all/video/testcase.yaml b/tests/drivers/build_all/video/testcase.yaml

   [ see more recent version below ]

west twister -s drivers.video.renesas_ra_ceu.build

Renaming output directory to /home/tinyvision/zephyrproject/zephyr/twister-out.3
INFO    - Using Ninja..
INFO    - Zephyr version: v4.2.0-rc1-110-g356db7abcffd
INFO    - Using 'zephyr' toolchain.
INFO    - Selecting default platforms per testsuite scenario
INFO    - Building initial testsuite list...
INFO    - Writing JSON report /home/tinyvision/zephyrproject/zephyr/twister-out/testplan.json
INFO    - JOBS: 4
INFO    - Adding tasks to the queue...
INFO    - Added initial list of jobs to queue
INFO    - Total complete:    1/   1  100%  built (not run):    1, filtered:    0, failed:    0, error:    0
INFO    - 1 test scenarios (1 configurations) selected, 0 configurations filtered (0 by static filter, 0 at runtime).
INFO    - 0 of 1 executed test configurations passed (0.00%), 1 built (not run), 0 failed, 0 errored, with no warnings in 56.95 seconds.
INFO    - 0 of 0 executed test cases passed (0.00%) on 0 out of total 1115 platforms (0.00%).
INFO    - 1 selected test cases not executed: 1 not run (built only).
INFO    - 0 test configurations executed on platforms, 1 test configurations were only built.
INFO    - Saving reports...
INFO    - Writing JSON report /home/tinyvision/zephyrproject/zephyr/twister-out/twister.json
INFO    - Writing xunit report /home/tinyvision/zephyrproject/zephyr/twister-out/twister.xml...
INFO    - Writing xunit report /home/tinyvision/zephyrproject/zephyr/twister-out/twister_report.xml...
INFO    - Run completed

ngphibang · 2025-07-10T08:00:07Z

drivers/video/video_renesas_ra_ceu.c

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


@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

ngphibang · 2025-07-10T08:03:05Z

drivers/video/video_renesas_ra_ceu.c

+#include <soc.h>
+#include <errno.h>


It seems better to sort the headers byte alphabetical order ?

/* Common header */ #include <errno.h> #include <soc.h> /* Zephyr header */ /* Local header */ #include "r_ceu.h" #include "video_device.h"

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

ngphibang

Could you add a test case in build_all so that the driver build can be triggered by CI ?

diff --git a/tests/drivers/build_all/video/testcase.yaml b/tests/drivers/build_all/video/testcase.yaml
index c7a5e07161e..f8c03137bfa 100644
--- a/tests/drivers/build_all/video/testcase.yaml
+++ b/tests/drivers/build_all/video/testcase.yaml
@@ -36,3 +36,8 @@ tests:
       - stm32n6570_dk/stm32n657xx/sb
     extra_args:
       - platform:stm32n6570_dk/stm32n657xx/sb:SHIELD=st_b_cams_imx_mb1854
+  drivers.video.renesas_ra_ceu.build:
+    platform_allow:
+      - ek_ra8d1/r7fa8d1bhecbd
+    extra_args:
+      - platform:ek_ra8d1/r7fa8d1bhecbd:SHIELD="dvp_20pin_ov7670;rtkmipilcdb00000be"

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

khoa-nguyen-18 · 2025-07-17T04:01:02Z

boards/renesas/ek_ra8d1/ek_ra8d1.dts

+&pwm3 {
+	pinctrl-0 = <&pwm3_default>;
+	pinctrl-names = "default";
+	interrupts = <51 12>, <52 12>;
+	interrupt-names = "gtioca", "overflow";
+
+	cam_clock: pwmclock {
+		compatible = "pwm-clock";
+		status = "disabled";
+		#clock-cells = <1>;
+		clock-frequency = <24000000>;
+		pwms = <&pwm3 0 PWM_KHZ(24000) PWM_POLARITY_NORMAL>;
+	};
+};
+


Should we define this pwm3 and cam_clock in the shield layer? I feel it's wasting two interrupt lines on the board when they're not used, and the cam_clock properties are specific to each shield.

As long as there is status = "disabled";, then the driver instance will not be generated, and the resources will not be used.

The clock-frequency belongs to the shield I agree. A new standard label name need to be chosen for it. For instance, dvp_20pin_xclk: instead of cam_clock for instance.

This way this devkit can be compatible with any future camera shield contributed, which only specify this:

&dvp_20pin_xclk { clock-frequency = <24000000>; };

Thank you for raising this point!

khoa-nguyen-18 · 2025-07-17T04:05:36Z

boards/renesas/ek_ra8d1/ek_ra8d1-pinctrl.dtsi

+	ceu_default: ceu_default {
+		group1 {
+			/* CEU */
+			psels = <RA_PSEL(RA_PSEL_CEU, 4, 0)>, /* VIO_D0 */
+				<RA_PSEL(RA_PSEL_CEU, 4, 1)>, /* VIO_D1 */
+				<RA_PSEL(RA_PSEL_CEU, 4, 5)>, /* VIO_D2 */
+				<RA_PSEL(RA_PSEL_CEU, 4, 6)>, /* VIO_D3 */
+				<RA_PSEL(RA_PSEL_CEU, 7, 0)>, /* VIO_D4 */
+				<RA_PSEL(RA_PSEL_CEU, 7, 1)>, /* VIO_D5 */
+				<RA_PSEL(RA_PSEL_CEU, 7, 2)>, /* VIO_D6 */
+				<RA_PSEL(RA_PSEL_CEU, 7, 3)>, /* VIO_D7 */
+				<RA_PSEL(RA_PSEL_CEU, 7, 8)>, /* VIO_CLK */
+				<RA_PSEL(RA_PSEL_CEU, 7, 9)>, /* VIO_HD */
+				<RA_PSEL(RA_PSEL_CEU, 7, 10)>; /* VIO_VD */
+			drive-strength = "high";
+		};
+	};


Also, since the connector is already defined in the board dts, should we move this to shield layer?

The shield connector is nexus GPIO mapping, not related to this pinctrl define.
As my opinion, this pinctrl should be keeped at board layer due to it is board specific and the policy encourage enabling all the standard connector on board by default.

If this pinctrl definition is placed in the board layer, I think it would be nice to include /omit-if-no-ref/

It not necessary in this case. /omit-if-no-ref/ just have meaning in case you have multiple configuration for the pinctrl and actually use one in application. But with EK-RA8D1, the camera shield should only use the dvp_20pin connector on board.

/omit-if-no-ref/ just have meaning in case you have multiple configuration for the pinctrl and actually use one in application

From my view, the main reason is as below image - hardware/pinctrl page:

This ensures that when the ek_ra8d1 is built without the shield, the CEU pinctrl is not included. To minimize the DTS content, /omit-if-no-ref/ should be included.

The CEU should have the default pinctrl, even with or without the shield

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

khoa-nguyen-18 · 2025-07-17T04:15:28Z

boards/renesas/ek_ra8d1/doc/index.rst

+     +-------------+-------------+--------------+------------+------------+------------+-------------+-----------+
+     | SW1-1 PMOD1 | SW1-2 TRACE | SW1-3 CAMERA | SW1-4 ETHA | SW1-5 ETHB | SW1-6 GLCD | SW1-7 SDRAM | SW1-8 I3C |
+     +-------------+-------------+--------------+------------+------------+------------+-------------+-----------+
+     |     OFF     |     OFF     |      ON     |     OFF    |     OFF    |     OFF     |     ON      |    OFF    |
+     +-------------+-------------+--------------+------------+------------+------------+-------------+-----------+


Should we just set the OFF state for the conflicting SW and "don't care" state for the non-conflicting SW?

thenguyenyf

Just a comment for nit. Others LGTM.

thenguyenyf · 2025-07-21T12:14:42Z

boards/renesas/ek_ra8d1/ek_ra8d1-pinctrl.dtsi

+		group2 {
+			/* GTIOC3B */
+			psels = <RA_PSEL(RA_PSEL_GPT1, 4, 4)>;
+			drive-strength = "medium";
+		};


Because there is only channel 0 to use with camera clock, the definition for GTIOC3B pincfg could be removed

thenguyenyf · 2025-07-21T12:19:05Z

boards/renesas/ek_ra8d1/ek_ra8d1-pinctrl.dtsi

+	ceu_default: ceu_default {
+		group1 {
+			/* CEU */
+			psels = <RA_PSEL(RA_PSEL_CEU, 4, 0)>, /* VIO_D0 */
+				<RA_PSEL(RA_PSEL_CEU, 4, 1)>, /* VIO_D1 */
+				<RA_PSEL(RA_PSEL_CEU, 4, 5)>, /* VIO_D2 */
+				<RA_PSEL(RA_PSEL_CEU, 4, 6)>, /* VIO_D3 */
+				<RA_PSEL(RA_PSEL_CEU, 7, 0)>, /* VIO_D4 */
+				<RA_PSEL(RA_PSEL_CEU, 7, 1)>, /* VIO_D5 */
+				<RA_PSEL(RA_PSEL_CEU, 7, 2)>, /* VIO_D6 */
+				<RA_PSEL(RA_PSEL_CEU, 7, 3)>, /* VIO_D7 */
+				<RA_PSEL(RA_PSEL_CEU, 7, 8)>, /* VIO_CLK */
+				<RA_PSEL(RA_PSEL_CEU, 7, 9)>, /* VIO_HD */
+				<RA_PSEL(RA_PSEL_CEU, 7, 10)>; /* VIO_VD */
+			drive-strength = "high";
+		};
+	};


The shield connector is nexus GPIO mapping, not related to this pinctrl define.
As my opinion, this pinctrl should be keeped at board layer due to it is board specific and the policy encourage enabling all the standard connector on board by default.

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.

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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manifest: Update hal_renesas to support CEU on RA SoCs

14486c4

Update hal_renesas to support CEU on RA SoCs Signed-off-by: Duy Vo <[email protected]> Signed-off-by: Khanh Nguyen <[email protected]>

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 and erwango July 4, 2025 04:16

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

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drivers/video/video_renesas_ra_ceu.c Outdated Show resolved Hide resolved

samples/drivers/video/capture/sample.yaml Outdated Show resolved Hide resolved

thaoluonguw force-pushed the support_renesas_ra_ceu branch from 03bdbce to c5ed982 Compare July 7, 2025 07:12

KhanhNguyen-RVC and others added 7 commits July 7, 2025 14:21

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

07bab15

Add pin definitions required by the RA Capture Engine Unit Signed-off-by: Duy Vo <[email protected]> Signed-off-by: Khanh Nguyen <[email protected]>

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

26c6526

Add CEU to r7fa8d1xh.dtsi and r7fa8m1xh.dtsi Signed-off-by: Khanh Nguyen <[email protected]>

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

a2063e7

Support OV7670 DVP 20-pin shield on the EK-RA8D1 board Signed-off-by: Khanh Nguyen <[email protected]>

samples: video: Add CEU support for Renesas RA boards

c92f655

Add EK-RA8D1 board support for capture and capture_to_lvgl samples Signed-off-by: Khanh Nguyen <[email protected]>

boards: renesas: ek_ra8d1: Update document for using Camera

356db7a

Add SW1 configuration for using Camera Exapansion Port (J59) Signed-off-by: Thao Luong <[email protected]>

thaoluonguw force-pushed the support_renesas_ra_ceu branch from c5ed982 to 356db7a Compare July 7, 2025 07:32

josuah mentioned this pull request Jul 7, 2025

Video: Rework buffer management #92370

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ngphibang reviewed Jul 10, 2025

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ngphibang requested changes Jul 11, 2025

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thenguyenyf approved these changes Jul 21, 2025

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

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

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