File content as of revision 0:d738e3a03cf8:

#include "mbed.h"
#include "VL53L0X_SH.h"

#define Rms 5000            //TT rate
#define dt  0.005f
#define NN  200

#define constrain(amt,low,high) ((amt)<(low)?(low):((amt)>(high)?(high):(amt)))

//↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓GPIO registor↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓//
//~~~structure~~~//
DigitalOut  led(D13);           //detection
DigitalOut  TT_ext(D12);

//~~~VL53L0X_I2C~~~//
//I2C         i2c(D14, D15);      //I2C reg(SDA, SCL)
VL53L0X sensor;
//~~~Serial~~~//
Serial      pc(D1, D0);         //Serial reg(TX RX)
//↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑end of GPIO registor↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑//
//↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓Varible registor↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓//
//~~~globle~~~//
Ticker  TT;                     //call a timer
int     count = 0;              //one second counter for extrenal led blink

//~~~VL53L0X_I2C~~~//
int     Distance = 0;
//↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑end of Varible registor↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑//
//↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓Function registor↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓//
void    init_TIMER();           //set TT_main() rate
void    TT_main();              //timebase function rated by TT
void    init_IO();              //initialize IO state
float   lpf(float input, float output_old, float frequency);    //lpf discrete
//↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑end of Function registor↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑//
//↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓main funtion↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓//
int main()
{
    init_IO();                  //initialized value
    sensor.init();              //init SENSOR
    sensor.setTimeout(500);
    sensor.startContinuous();
    NVIC_SetPriority(TIM5_IRQn, 51);    //!!!!!!!!!!!!!!!!!!!!!!!!!
    init_TIMER();               //start TT_main

    while(1) {                  //main() loop
        if(count >= NN) {       //check if main working
            count=0;
            led = !led;
        }
    }

}
//↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑end of main funtion↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑//
//↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓Timebase funtion↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓//
void init_TIMER()                   //set TT_main{} rate
{
    TT.attach_us(&TT_main, Rms);
}
void TT_main()                      //interrupt function by TT
{
    TT_ext = !TT_ext;               //indicate TT_main() function working
    count = count+1;                //one second counter
    Distance = sensor.readRangeContinuousMillimeters();

//for Serial-Oscilloscope
    pc.printf("%d\r", Distance);
}
//↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑end of Timebase funtion↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑//
//↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓init_IO funtion↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓//
void init_IO(void)                  //initialize
{
    pc.baud(9600);            //set baud rate
    TT_ext = 0;
    led = 0;
}
//↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑end of init_IO funtion↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑//
//↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓lpf funtion↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓//
float lpf(float input, float output_old, float frequency)
{
    float output = 0;
    output = (output_old + frequency*dt*input) / (1 + frequency*dt);
    return output;
}
//↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑end of lpf funtion↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑//