B4R Code Snippet RCWL-96xx ultrasonic distance sensors (HC-SR04+ or HC-SR04P modules)

Old sensors HC-SR04 are analog, with measuring the distance as the impulse width.
Latest models are with i2c interface based on some RCWL chips, like RCWL-9600, 9610, 9620 or so...

#Region Project Attributes
    #AutoFlushLogs: True
    #CheckArrayBounds: True
    #StackBufferSize: 600
#End Region

Sub Process_Globals
    Public Serial1 As Serial
    Public bc As ByteConverter
End Sub

Private Sub AppStart
    Serial1.Initialize(115200)
    Log("AppStart")
    esp_rcwl.Start_rcwl96
End Sub

'https://github.com/ftjuh/RCWL_1X05
'Adopted by Vlad Pomelov aka Peacemakerv to B4R.
'v.0.1
'I2C address: 0x57 - rcwl96xx
'module esp_rcwl

Private Sub Process_Globals
    'These global variables will be declared once when the application starts.
    'Public variables can be accessed from all modules.
    Dim Ready_flag As Boolean
    Private Busy As Boolean
    Dim init_temperature As Float = 20    'air temperature for calibration, for more correct distance measurement
    Dim distance As ULong    'millimeters
    Dim Timer1 As Timer
End Sub

Sub Start_rcwl96
    Log("Start reading rcwl96...")
    Dim res As Byte = RunNative("prepare_rcwl96", Null)
    If res > 0 Then
        Timer1.Initialize("Timer1_Tick", 100)
        Timer1.Enabled = True
        Timer1_Tick
    Else
        Log("rcwl96 - prepare error.")
    End If
End Sub

Sub Stop
    Timer1.Enabled = False
    Log("esp_rcwl96 stopped")
End Sub

Private Sub Timer1_Tick
    If Busy Then
        Return
    End If
    Busy = True
    Ready_flag = False
    RunNative("read_rcwl96", Null)
    Log("distance = ", distance)
    Ready_flag = True
    Busy = False
End Sub

#if C
#include <RCWL_1X05.h>
#include <Wire.h>

RCWL_1X05 sensor_rcwl;

B4R::Object returnvalue_rcwl96;

B4R::Object* prepare_rcwl96(B4R::Object* o) {
  Wire.begin(); // must be called before sensor_rcwl.begin()
  if (not sensor_rcwl.begin()) {
    return returnvalue_rcwl96.wrapNumber(0);
  }
 
  //Serial.print("One shot mode measurement (blocking) = ");
  //sensor_rcwl.setMode(RCWL_1X05::oneShot); // not really needed, it's the default mode
  //Serial.print(sensor_rcwl.read()); Serial.println(" mm\n\n");
  //delay(2000);
 
  //Serial.print("Triggered mode measurement (non blocking) = ");
  sensor_rcwl.setMode(RCWL_1X05::triggered);
  sensor_rcwl.trigger();
  delay(100); // do something meaningful here, but wait long enough before reading.
  //Serial.print(sensor_rcwl.read()); Serial.println(" mm\n\n");
  //delay(2000);
 
  //Serial.println("Switching to continuous mode measurement with filter and 50 ms timeout\n\n");
  sensor_rcwl.setFilter(true); // filter is turned off by default
  sensor_rcwl.setTimeout(100); // 100 ms is recommended, but lower values might work
  sensor_rcwl.setMode(RCWL_1X05::continuous);

  float temp = b4r_esp_rcwl::_init_temperature;
  sensor_rcwl.setTemperature(temp);

  return returnvalue_rcwl96.wrapNumber(1);
}

 
void read_rcwl96(B4R::Object* o) {
  bool newData = sensor_rcwl.update(); // calling update() repeatedly is crucial in continuous mode
  if (newData) {
    uint32_t res = sensor_rcwl.read();
      b4r_esp_rcwl::_distance = res;
    //Serial.print(sensor_rcwl.read()); Serial.println(" mm");
  }
}
#End If