Looking for update on "Ultrasonic Distance Measuring" 2001 application report moved to Energia & Grace??

[cape...@gmail.com]

If you've looked at doing ultrasonic ranging with the MSP430, you have no doubt run across the TI application note:

"Ultrasonic Distance Measuring with the MSP430" by Raju written in 2001.  This uses a nice circuit, but it is written assembly language to do math calculations and run the timers.  I'm wondering if There has been an update or similarly sophisticated driver program written in Energia and Grace?

I know there have been several posts here and elsewhere on ultrasonic applications using the Devantec SFR, the HC-SR04, and MaxBotic range finder "modules", but I don't want to be subject to the limitations of a prepackaged module. 

Any pointers would be appreciated.

Thanks