开发环境：

RT-Thread Studio：v2.2.7

开发板：RA8D1 Vision Board开发板

MCU：R7FA8D1BHEC337AS02

1 硬件连接

Camera Interface接口如下：

USB Interface接口如下：

2 RA8D1 Camera与USB配置

接下来配置Camera与USB，只需要简单配置就可使用。双击工程中的 RA Smart Configurator 图标，第一次打开需要配置正确的 FSP 安装路径。

• FSP配置Camera

在 FSP 配置界面里面我们依次点击 “Stacks”-> “New Stack”-> “Graphics”-> “Capture Engine Unit(r_ceu) ”

主要配置Camera的尺寸，Swap和回调函数名字。

• FSP配置USB

依次点击 “Pin”-> “USB”，然后打开USB。

配置完成之后可以按下快捷键“Ctrl + S”保存， 最后点右上角的 “Generate Project Content” 按钮，让软件自动生成配置代码即可。

• RT-Thread Studio配置Camera

需要打开SRAM，Camera UVC等设备硬件。

另外还需要打开TinyUSB软件包。

并配置相应的参数。

3 Camera代码实现

这里需要适配Camera和LCD硬件，参考官网的代码。

核心应用代码如下：

#include <drv_lcd.h>
#include <tusb.h>
#include "sensor.h"

#define CAM_WIDTH   320
#define CAM_HEIGHT  240

extern sensor_t sensor;
uint8_t g_image_yuv422_sdram_buffer[CAM_WIDTH * CAM_HEIGHT * 16 / 8] BSP_PLACE_IN_SECTION(".sdram") BSP_ALIGN_VARIABLE(8);

void hal_entry(void)
{
    sensor_init();
    sensor_reset();
    sensor_set_hmirror(true);
    sensor_set_vflip(true);
    sensor_set_pixformat(PIXFORMAT_YUV422);
    sensor_set_framesize(FRAMESIZE_QVGA);

    while (1)
    {
        sensor_snapshot(&sensor, g_image_yuv422_sdram_buffer, 0);
        if (tud_video_n_streaming(0, 0))
        {
            tud_video_n_frame_xfer(0, 0, (void *)g_image_yuv422_sdram_buffer, CAM_WIDTH * CAM_HEIGHT * 16 / 8);
        }
        rt_thread_mdelay(20);
    }
}

值得注意的是，USB UVC需要相应的中断函数，如果使用FSP生成则需要修改相应的切换中断上下文以此适配RT-Thread，为了方便，直接在ra_gen/vector_data.c和ra_gen/vector_data.h文件中修改，修改后如下。

【vector_data.c】

/* generated vector source file - do not edit */
        #include "bsp_api.h"
        /* Do not build these data structures if no interrupts are currently allocated because IAR will have build errors. */
        #if VECTOR_DATA_IRQ_COUNT > 0
        #if __has_include("r_ioport.h")
        BSP_DONT_REMOVE const fsp_vector_t g_vector_table[BSP_ICU_VECTOR_MAX_ENTRIES] BSP_PLACE_IN_SECTION(BSP_SECTION_APPLICATION_VECTORS) =
        {
                        [0] = sci_b_uart_rxi_isr, /* SCI9 RXI (Receive data full) */
            [1] = sci_b_uart_txi_isr, /* SCI9 TXI (Transmit data empty) */
            [2] = sci_b_uart_tei_isr, /* SCI9 TEI (Transmit end) */
            [3] = sci_b_uart_eri_isr, /* SCI9 ERI (Receive error) */
            [4] = ceu_isr, /* CEU CEUI (CEU interrupt) */
            [5] = usbfs_interrupt_handler, /* USBFS INT (USBFS interrupt) */
            [6] = usbfs_resume_handler, /* USBFS RESUME (USBFS resume interrupt) */
            [7] = usbfs_d0fifo_handler, /* USBFS FIFO 0 (DMA transfer request 0) */
            [8] = usbfs_d1fifo_handler, /* USBFS FIFO 1 (DMA transfer request 1) */
            [9] = usbhs_interrupt_handler, /* USBHS USB INT RESUME (USBHS interr) */
            [10] = usbhs_d0fifo_handler, /* USBHS FIFO 0 (DMA transfer request 0) */
            [11] = usbhs_d1fifo_handler, /* USBHS FIFO 1 (DMA transfer request 1) */
        };
        const bsp_interrupt_event_t g_interrupt_event_link_select[BSP_ICU_VECTOR_MAX_ENTRIES] =
        {
            [0] = BSP_PRV_IELS_ENUM(EVENT_SCI9_RXI), /* SCI9 RXI (Receive data full) */
            [1] = BSP_PRV_IELS_ENUM(EVENT_SCI9_TXI), /* SCI9 TXI (Transmit data empty) */
            [2] = BSP_PRV_IELS_ENUM(EVENT_SCI9_TEI), /* SCI9 TEI (Transmit end) */
            [3] = BSP_PRV_IELS_ENUM(EVENT_SCI9_ERI), /* SCI9 ERI (Receive error) */
            [4] = BSP_PRV_IELS_ENUM(EVENT_CEU_CEUI), /* CEU CEUI (CEU interrupt) */
            [5] = BSP_PRV_IELS_ENUM(EVENT_USBFS_INT), /* USBFS INT (USBFS interrupt) */
            [6] = BSP_PRV_IELS_ENUM(EVENT_USBFS_RESUME), /* USBFS RESUME (USBFS resume interrupt) */
            [7] = BSP_PRV_IELS_ENUM(EVENT_USBFS_FIFO_0), /* USBFS FIFO 0 (DMA transfer request 0) */
            [8] = BSP_PRV_IELS_ENUM(EVENT_USBFS_FIFO_1), /* USBFS FIFO 1 (DMA transfer request 1) */
            [9] = BSP_PRV_IELS_ENUM(EVENT_USBHS_USB_INT_RESUME), /* USBHS USB INT RESUME (USBHS interr) */
            [10] = BSP_PRV_IELS_ENUM(EVENT_USBHS_FIFO_0), /* USBHS FIFO 0 (DMA transfer request 0) */
            [11] = BSP_PRV_IELS_ENUM(EVENT_USBHS_FIFO_1), /* USBHS FIFO 1 (DMA transfer request 1) */
        };
        #elif __has_include("r_ioport_b.h")
        BSP_DONT_REMOVE const fsp_vector_t g_vector_table[BSP_IRQ_VECTOR_MAX_ENTRIES] BSP_PLACE_IN_SECTION(BSP_SECTION_APPLICATION_VECTORS) =
        {
            [BSP_PRV_IELS_ENUM(SCI9_RXI)] = sci_b_uart_rxi_isr, /* SCI9 RXI (Receive data full) */
            [BSP_PRV_IELS_ENUM(SCI9_TXI)] = sci_b_uart_txi_isr, /* SCI9 TXI (Transmit data empty) */
            [BSP_PRV_IELS_ENUM(SCI9_TEI)] = sci_b_uart_tei_isr, /* SCI9 TEI (Transmit end) */
            [BSP_PRV_IELS_ENUM(SCI9_ERI)] = sci_b_uart_eri_isr, /* SCI9 ERI (Receive error) */
            [BSP_PRV_IELS_ENUM(CEU_CEUI)] = ceu_isr, /* CEU CEUI (CEU interrupt) */
            [BSP_PRV_IELS_ENUM(USBFS_INT)] = usbfs_interrupt_handler, /* USBFS INT (USBFS interrupt) */
            [BSP_PRV_IELS_ENUM(USBFS_RESUME)] = usbfs_resume_handler, /* USBFS RESUME (USBFS resume interrupt) */
            [BSP_PRV_IELS_ENUM(USBFS_FIFO_0)] = usbfs_d0fifo_handler, /* USBFS FIFO 0 (DMA transfer request 0) */
            [BSP_PRV_IELS_ENUM(USBFS_FIFO_1)] = usbfs_d1fifo_handler, /* USBFS FIFO 1 (DMA transfer request 1) */
            [BSP_PRV_IELS_ENUM(USBHS_USB_INT_RESUME)] = usbhs_interrupt_handler, /* USBHS USB INT RESUME (USBHS interr) */
            [BSP_PRV_IELS_ENUM(USBHS_FIFO_0)] = usbhs_d0fifo_handler, /* USBHS FIFO 0 (DMA transfer request 0) */
            [BSP_PRV_IELS_ENUM(USBHS_FIFO_1)] = usbhs_d1fifo_handler, /* USBHS FIFO 1 (DMA transfer request 1) */
        };
        #endif
        #endif

【vector_data.h】

/* generated vector header file - do not edit */
        #ifndef VECTOR_DATA_H
        #define VECTOR_DATA_H
        #ifdef __cplusplus
        extern "C" {
        #endif
                /* Number of interrupts allocated */
        #ifndef VECTOR_DATA_IRQ_COUNT
        #define VECTOR_DATA_IRQ_COUNT    (20)
        #endif
        /* ISR prototypes */
        void sci_b_uart_rxi_isr(void);
        void sci_b_uart_txi_isr(void);
        void sci_b_uart_tei_isr(void);
        void sci_b_uart_eri_isr(void);
        void ceu_isr(void);
        void usbfs_interrupt_handler(void);
        void usbfs_resume_handler(void);
        void usbfs_d0fifo_handler(void);
        void usbfs_d1fifo_handler(void);
        void usbhs_interrupt_handler(void);
        void usbhs_d0fifo_handler(void);
        void usbhs_d1fifo_handler(void);

        #if __has_include("r_ioport.h")
        /* Vector table allocations */
        #define VECTOR_NUMBER_SCI9_RXI ((IRQn_Type) 0) /* SCI9 RXI (Receive data full) */
        #define SCI9_RXI_IRQn          ((IRQn_Type) 0) /* SCI9 RXI (Receive data full) */
        #define VECTOR_NUMBER_SCI9_TXI ((IRQn_Type) 1) /* SCI9 TXI (Transmit data empty) */
        #define SCI9_TXI_IRQn          ((IRQn_Type) 1) /* SCI9 TXI (Transmit data empty) */
        #define VECTOR_NUMBER_SCI9_TEI ((IRQn_Type) 2) /* SCI9 TEI (Transmit end) */
        #define SCI9_TEI_IRQn          ((IRQn_Type) 2) /* SCI9 TEI (Transmit end) */
        #define VECTOR_NUMBER_SCI9_ERI ((IRQn_Type) 3) /* SCI9 ERI (Receive error) */
        #define SCI9_ERI_IRQn          ((IRQn_Type) 3) /* SCI9 ERI (Receive error) */
        #define VECTOR_NUMBER_CEU_CEUI ((IRQn_Type) 4) /* CEU CEUI (CEU interrupt) */
        #define CEU_CEUI_IRQn          ((IRQn_Type) 4) /* CEU CEUI (CEU interrupt) */
        #define VECTOR_NUMBER_USBFS_INT ((IRQn_Type) 13) /* USBFS INT (USBFS interrupt) */
        #define USBFS_INT_IRQn          ((IRQn_Type) 13) /* USBFS INT (USBFS interrupt) */
        #define VECTOR_NUMBER_USBFS_RESUME ((IRQn_Type) 14) /* USBFS RESUME (USBFS resume interrupt) */
        #define USBFS_RESUME_IRQn          ((IRQn_Type) 14) /* USBFS RESUME (USBFS resume interrupt) */
        #define VECTOR_NUMBER_USBFS_FIFO_0 ((IRQn_Type) 15) /* USBFS FIFO 0 (DMA transfer request 0) */
        #define USBFS_FIFO_0_IRQn          ((IRQn_Type) 15) /* USBFS FIFO 0 (DMA transfer request 0) */
        #define VECTOR_NUMBER_USBFS_FIFO_1 ((IRQn_Type) 16) /* USBFS FIFO 1 (DMA transfer request 1) */
        #define USBFS_FIFO_1_IRQn          ((IRQn_Type) 16) /* USBFS FIFO 1 (DMA transfer request 1) */
        #define VECTOR_NUMBER_USBHS_USB_INT_RESUME ((IRQn_Type) 17) /* USBHS USB INT RESUME (USBHS interr) */
        #define USBHS_USB_INT_RESUME_IRQn          ((IRQn_Type) 17) /* USBHS USB INT RESUME (USBHS interr) */
        #define VECTOR_NUMBER_USBHS_FIFO_0 ((IRQn_Type) 18) /* USBHS FIFO 0 (DMA transfer request 0) */
        #define USBHS_FIFO_0_IRQn          ((IRQn_Type) 18) /* USBHS FIFO 0 (DMA transfer request 0) */
        #define VECTOR_NUMBER_USBHS_FIFO_1 ((IRQn_Type) 19) /* USBHS FIFO 1 (DMA transfer request 1) */
        #define USBHS_FIFO_1_IRQn          ((IRQn_Type) 19) /* USBHS FIFO 1 (DMA transfer request 1) */
        #endif

        #ifdef __cplusplus
        }
        #endif
        #endif /* VECTOR_DATA_H */

4 测试验证

编译下载，调试信息如下：

笔者这里开发一个上位机来接收UVC数据，效果如下。