Ahhhh I found the problem…
Problem was in function readfromspi where receive function was wrote in LL(Low Layer) [If I will have time, will try debug LL], in comment above was wrote that HAL function had problem with reading bytes (but this API was wrote a few years ago). Now I backed to HAL_SPI_Receive function and everything is ok (thank God).
Here is a body function:
and here are good results about distance!:
@AndyA thank you very much that you devoted your time to help find problems and gave tips how to search bugs!
Best regards
Pianista