Ultrasonic Distance Measurement Function in Embedded Systems

This is a function in an embedded system that is used to measure distance using an ultrasonic sensor. The function starts by checking if a trigger signal has been received from the sensor. If it has, the function sends a high pulse to the sensor to start the measurement process. It then waits for a response from the sensor and measures the time it takes for the response to be received. This time is converted to distance using a formula that takes into account the speed of sound and the time it took for the response to be received. The distance value is then stored in a variable called 'Dist'. There is also some commented out code that seems to be related to filtering the distance value, but it is not currently being used.