TOF400C-VL53L1X Distance sensor Time-Of-Flight very accurate 4-400cm

#include <Wire.h>

const uint8_t SENSOR_I2C_ADDR = 0x29;
const uint8_t REG_SOFT_RESET = 0x0000;
const uint8_t REG_START = 0x000E;
const uint8_t REG_RANGE_STATUS = 0x0089;
const uint8_t REG_DISTANCE = 0x0096;

void write8(uint16_t reg, uint8_t value) {
  Wire.beginTransmission(SENSOR_I2C_ADDR);
  Wire.write((uint8_t)(reg >> 8));
  Wire.write((uint8_t)(reg & 0xFF));
  Wire.write(value);
  Wire.endTransmission();
}

uint8_t read8(uint16_t reg) {
  Wire.beginTransmission(SENSOR_I2C_ADDR);
  Wire.write((uint8_t)(reg >> 8));
  Wire.write((uint8_t)(reg & 0xFF));
  Wire.endTransmission(false);
  Wire.requestFrom(SENSOR_I2C_ADDR, (uint8_t)1);
  return Wire.available() ? Wire.read() : 0;
}

uint16_t read16(uint16_t reg) {
  Wire.beginTransmission(SENSOR_I2C_ADDR);
  Wire.write((uint8_t)(reg >> 8));
  Wire.write((uint8_t)(reg & 0xFF));
  Wire.endTransmission(false);
  Wire.requestFrom(SENSOR_I2C_ADDR, (uint8_t)2);
  uint16_t value = 0;
  if (Wire.available() >= 2) {
    value = (uint16_t)Wire.read() << 8;
    value |= Wire.read();
  }
  return value;
}

bool sensorPresent() {
  Wire.beginTransmission(SENSOR_I2C_ADDR);
  return Wire.endTransmission() == 0;
}

void setupSensor() {
  // VL53L1X-style boot sequence: soft reset, then start ranging.
  write8(REG_SOFT_RESET, 0x00);
  delay(10);
  write8(REG_SOFT_RESET, 0x01);
  delay(10);
  write8(REG_START, 0x01);
  delay(50);
}

void setup() {
  Serial.begin(115200);
  while (!Serial) {
    ;
  }

  Wire.begin();
  Serial.println("TOF400C VL53L1X distance sensor example");

  if (!sensorPresent()) {
    Serial.println("Sensor not found at I2C address 0x29. Check wiring.");
    while (true) {
      delay(1000);
    }
  }

  setupSensor();
  Serial.println("Sensor initialized.");
}

void loop() {
  uint8_t status = read8(REG_RANGE_STATUS);
  uint16_t distanceMm = read16(REG_DISTANCE);

  Serial.print("Range status: ");
  Serial.print(status);
  Serial.print("  Distance: ");
  Serial.print(distanceMm);
  Serial.println(" mm");

  delay(200);
}