Input Devices

1. VL53L0X ToF and camera firmware

Adafruit_VL53L0X on custom SDA/SCL pins; camera pin map matches a common ESP32 module layout (QVGA JPEG, 20 MHz XCLK). The loop prints range in millimetres when valid and reports each JPEG capture size over Serial.

#include "esp_camera.h"
#include <Wire.h>
#include "Adafruit_VL53L0X.h"

// ToF on a custom I2C bus (not the default ESP32 pins)
#define I2C_SDA 14
#define I2C_SCL 15

// Camera pin map for this ESP32 module
#define PWDN_GPIO_NUM     32
#define RESET_GPIO_NUM    -1
#define XCLK_GPIO_NUM      0
#define SIOD_GPIO_NUM     26
#define SIOC_GPIO_NUM     27
#define Y9_GPIO_NUM       35
#define Y8_GPIO_NUM       34
#define Y7_GPIO_NUM       39
#define Y6_GPIO_NUM       36
#define Y5_GPIO_NUM       21
#define Y4_GPIO_NUM       19
#define Y3_GPIO_NUM       18
#define Y2_GPIO_NUM        5
#define VSYNC_GPIO_NUM    25
#define HREF_GPIO_NUM     23
#define PCLK_GPIO_NUM     22

Adafruit_VL53L0X lox = Adafruit_VL53L0X();

// --- Module Initializers ---

void initToF() {
  Wire.begin(I2C_SDA, I2C_SCL); // start I2C on the pins above
  if (!lox.begin()) {
    Serial.println("ToF Failed");
    while (1); // stop here if the sensor does not answer
  }
}

void initCamera() {
  camera_config_t config;
  config.ledc_channel = LEDC_CHANNEL_0;
  config.ledc_timer = LEDC_TIMER_0;
  config.pin_d0 = Y2_GPIO_NUM;
  config.pin_d1 = Y3_GPIO_NUM;
  config.pin_d2 = Y4_GPIO_NUM;
  config.pin_d3 = Y5_GPIO_NUM;
  config.pin_d4 = Y6_GPIO_NUM;
  config.pin_d5 = Y7_GPIO_NUM;
  config.pin_d6 = Y8_GPIO_NUM;
  config.pin_d7 = Y9_GPIO_NUM;
  config.pin_xclk = XCLK_GPIO_NUM;
  config.pin_pclk = PCLK_GPIO_NUM;
  config.pin_vsync = VSYNC_GPIO_NUM;
  config.pin_href = HREF_GPIO_NUM;
  config.pin_sscb_sda = SIOD_GPIO_NUM;
  config.pin_sscb_scl = SIOC_GPIO_NUM;
  config.pin_pwdn = PWDN_GPIO_NUM;
  config.pin_reset = RESET_GPIO_NUM;
  config.xclk_freq_hz = 20000000;      // 20 MHz clock to the camera
  config.pixel_format = PIXFORMAT_JPEG;
  config.frame_size = FRAMESIZE_QVGA;   // 320 x 240
  config.jpeg_quality = 12;             // lower number = larger file
  config.fb_count = 1;                  // one frame buffer

  esp_err_t err = esp_camera_init(&config);
  if (err != ESP_OK) {
    Serial.println("Camera Failed");
    while (1);
  }
}

// --- Main Logic ---

void setup() {
  Serial.begin(115200);
  initToF();     // distance sensor first
  initCamera();  // then the camera
  Serial.println("System Ready");
}

void loop() {
  // Read one range. Status 4 means the reading is not valid.
  VL53L0X_RangingMeasurementData_t measure;
  lox.rangingTest(&measure, false);
  
  if (measure.RangeStatus != 4) {
    Serial.printf("Distance: %d mm\n", measure.RangeMilliMeter);
  }

  // Grab one JPEG, print its size, then give the buffer back
  camera_fb_t * fb = esp_camera_fb_get();
  if (fb) {
    Serial.printf("Captured: %zu bytes\n", fb->len);
    esp_camera_fb_return(fb);
  }

  delay(500); // half a second between samples
}