Brain-inspired hyperdimensional computing (HDC) is a new computational paradigm that encodes input sample into a hypervector (generally with dimensions of $2K-10K$), and performs simple arithmetic and logic operations in the hyperdimensional space to complete perceptual tasks like human brain. Due to its simplicity, interpretability, and robustness, HDC has gradually become a competitor and substitute for deep neural network (DNN) in many tasks. However, there exists an accuracy gap between existing heuristic HDC algorithms and DNN in computer vision tasks, as existing encoding methods have difficulty in filtering out large amount of background and noise in the images, and effectively extracting the spatial structure features of images. In addition, the existing hardware for HDC deployment mainly focuses on in-memory computing (IMC), application specific integrated circuit (ASIC), or high-capacity field programmable gate array (high-capacity FPGA), which cannot meet the flexibility, small area, and low power requirements of edge-side applications. In this paper, a fully learnable HDC framework with learnable preprocessing, encoding and querying, is proposed to boost the accuracy in computer vision tasks, as well as an ultra-tiny accelerator based on edge-side FPGA which matches the proposed framework. Experiments show that on multiple commonly-used image datasets, the proposed HDC framework has an average computation reduction of 80% compared to other most advanced strategies, while achieves a 1.2% accuracy increase. Evaluation on edge-side FPGA shows that compared to other FPGA based state-of-the-art designs, the proposed accelerator saves more than $10\boldsymbol{\times}$ hardware resource and power consumption.