File content as of revision 1:b725652b9b42:

/*
 * rosserial Publisher Example
 * Prints "hello world!"
 */

#include"mbed.h"
#include <ros.h>
#include <std_msgs/String.h>
#include <std_msgs/Int32.h>

DigitalOut led = LED1;

// set-up serial to pc 
I2C i2c(I2C_SDA, I2C_SCL); 
// Set up I²C on the STM32 NUCLEO-401RE 
#define addr    (0x52) 
// I²C address of VL6180 shifted by 1 bit                        
//(0x29 << 1) so the R/W command can be added

/////////////////////////////////////////////////////////////////// 
// Split 16-bit register address into two bytes and write 
// the address + data via I²C 
/////////////////////////////////////////////////////////////////// 
void WriteByte(wchar_t reg,char data) {     
    char data_write[3];
    data_write[0] = (reg >> 8) & 0xFF;; 
    // MSB of register address    
    data_write[1] = reg  & 0xFF; 
    // LSB of register address    
    data_write[2] = data & 0xFF;
    i2c.write(addr, data_write, 3); 
}

/////////////////////////////////////////////////////////////////// 
// Split 16-bit register address into two bytes and write 
// required register address to VL6180 and read the data back 
/////////////////////////////////////////////////////////////////// 
char ReadByte(wchar_t reg) {    
    char data_write[2];    
    char data_read[1];
    
    data_write[0] = (reg >> 8) & 0xFF; // MSB of register address    
    data_write[1] = reg  & 0xFF; // LSB of register address
    
    i2c.write(addr, data_write, 2);    
    i2c.read(addr, data_read, 1);    
    return data_read[0]; 
}
    
/////////////////////////////////////////////////////////////////// 
// load settings 
/////////////////////////////////////////////////////////////////// 
int VL6180_Init() {    
    char reset;
    reset = ReadByte(0x016);    
    if (reset==1)
    {      
        // check to see has it be Initialised already
    
        /////////////////////////////////////////////////////////////////// 
        // Added latest settings here - see Section 9 
        ///////////////////////////////////////////////////////////////////
        // Mandatory : private registers 
        WriteByte(0x0207, 0x01); 
        WriteByte(0x0208, 0x01); 
        WriteByte(0x0096, 0x00); 
        WriteByte(0x0097, 0xfd); 
        WriteByte(0x00e3, 0x01); 
        WriteByte(0x00e4, 0x03); 
        WriteByte(0x00e5, 0x02); 
        WriteByte(0x00e6, 0x01); 
        WriteByte(0x00e7, 0x03); 
        WriteByte(0x00f5, 0x02); 
        WriteByte(0x00d9, 0x05); 
        WriteByte(0x00db, 0xce); 
        WriteByte(0x00dc, 0x03); 
        WriteByte(0x00dd, 0xf8); 
        WriteByte(0x009f, 0x00); 
        WriteByte(0x00a3, 0x3c); 
        WriteByte(0x00b7, 0x00); 
        WriteByte(0x00bb, 0x3c); 
        WriteByte(0x00b2, 0x09); 
        WriteByte(0x00ca, 0x09); 
        WriteByte(0x0198, 0x01); 
        WriteByte(0x01b0, 0x17); 
        WriteByte(0x01ad, 0x00); 
        WriteByte(0x00ff, 0x05); 
        WriteByte(0x0100, 0x05); 
        WriteByte(0x0199, 0x05); 
        WriteByte(0x01a6, 0x1b); 
        WriteByte(0x01ac, 0x3e); 
        WriteByte(0x01a7, 0x1f); 
        WriteByte(0x0030, 0x00);
        
        /*
        // Recommended : Public registers - See data sheet for more detail 
        WriteByte(0x0011, 0x10); // Enables polling for ‘New Sample ready’ when measurement completes 
        WriteByte(0x010a, 0x30); // Set the averaging sample period (compromise between lower noise and increased execution time) 
        WriteByte(0x003f, 0x46); // Sets the light and dark gain (upper  // nibble). Dark gain should not be       // changed. 
        WriteByte(0x0031, 0xFF); // sets the # of range measurements after  // which auto calibration of system is // performed 
        WriteByte(0x0041, 0x63); // Set ALS integration time to 100ms
        WriteByte(0x002e, 0x01); // perform a single temperature calibration // of the ranging sensor         
        */
        
        WriteByte(0x016, 0x00); //change fresh out of set status to 0    
    }    
    return 0; 
}

/////////////////////////////////////////////////////////////////// 
// Start a range measurement in single shot mode 
/////////////////////////////////////////////////////////////////// 
int VL6180_Start_Range() {    
    WriteByte(0x018,0x03);    
    return 0;
}

/////////////////////////////////////////////////////////////////// 
// poll for new sample ready ready 
/////////////////////////////////////////////////////////////////// 
int VL6180_Poll_Range() {    
    char status;    
    char range_status;  
          
    // check the status    
    status = ReadByte(0x04f);            
    range_status = status & 0x07; 
           
    // wait for new measurement ready status    
    while (range_status !=  0x04) 
    {         
        status = ReadByte(0x04f);        
        range_status = status & 0x07;        
        wait_ms(1); // (can be removed)        
    }
    
    return 0;     
}

/////////////////////////////////////////////////////////////////// 
// Read range result (mm) 
/////////////////////////////////////////////////////////////////// 
int VL6180_Read_Range() {    
    int range;    
    range=ReadByte(0x062);    
    return range; 
} 

/////////////////////////////////////////////////////////////////// 
// clear interrupts 
/////////////////////////////////////////////////////////////////// 
int VL6180_Clear_Interrupts() {    
    WriteByte(0x015,0x07);    
    return 0; 
}

/////////////////////////////////////////////////////////////////// 
//  Main Program loop 
/////////////////////////////////////////////////////////////////// 
int main() {   
 
    ros::NodeHandle  nh;
    nh.initNode();
    
    std_msgs::Int32 int_msg;
    std_msgs::String str_msg;
    ros::Publisher chatter("chatter", &str_msg);
    ros::Publisher range_pub("range", &int_msg);

    char hello[13] = "hello world!";
    
    nh.advertise(chatter);
    nh.advertise(range_pub);
    
    int range; 
    // load settings onto VL6180X    
    VL6180_Init(); 
  
    while (1)
    {    
        led = !led;
        str_msg.data = hello;
        chatter.publish( &str_msg );
        
        // start range measurement        
        VL6180_Start_Range();
        // poll the VL6180 till new sample ready        
        //VL6180_Poll_Range();              
        // read range result        
        range = VL6180_Read_Range();                         
        // clear the interrupt on VL6180        
        VL6180_Clear_Interrupts();                 
        // send range to pc by serial
         
        int_msg.data = range;    
        range_pub.publish(&int_msg);     
        nh.spinOnce();      
        wait(0.1); 
        
    } 
}