Note: This works after r290171

Test on a RPI2 using this image: https://download.freebsd.org/releases/arm/armv7/ISO-IMAGES/12.4/FreeBSD-12.4-RELEASE-arm-armv7-RPI2.img.xz

Setting up the Raspberry Pi Camera

Install the Raspberry Pi Userland tools:
- pkg install raspberrypi-userland if available (if not, you'll need to compile misc/raspberrypi-userland from source)
Enable the video core and up the RAM allocated to the GPU, by adding the following to /boot/msdos/CONFIG.TXT:
- start_x=1
- gpu_mem=128
Reboot
Test:
- raspistill -t 100 -n -o snap-`date +%Y%m%d-%H%M%S`.jpg