Write a program, sonar$\_$range$\_$finder.c$,$ compiled with GCC on the RPi $,$ that performs the following steps:

a$.$ Include the pigpio.h$,$ stdio.h$,$ and unistd.h files

b$.$ Initializes the RPI GPIO by calling gpioInitialize$()$

c$.$ Initializes the TRIGGER pin to be an output by calling gpioSetMode$()$

d$.$ Initializes the ECHO pin to be an input by calling gpioSetMode$(),$ and gpioSetPullUpDown$(),$ Use PI$\_$PUD$\_$OFF in the call to gpioSetPullIpDown$()$

e$.$ Start a while$(1)$ loop.

f$.$ Set Trig signal high $(1)$

g$.$ Call sleep$(1)$ to delay for a second

h$.$ Set Trig signal low $(0)$

i$.$ Zero a count variable

j$.$ Enter a while loop that waits until the Echo signal goes high. There is no code in the while loop

k$.$ Call gpioTime to store the current time.

l$.$ Enter another while loop that waits until the Echo signal goes low. The while loop contains code that increments the count variable

m$.$ Call gpioTime$()$ to capture the current time. The elapsed time is then calculated by subtracting the time stored in step $($k$)$ from the time recorded in this step.

n$.$ Print out the count value and the elapsed time $($calculated in step $($m$)).$

o$.$ Calculate the distance using the elapsed time and the speed of sound. Note how the count of executed instructions is roughly proportional to the elapsed time.

p$.$ Print out the distance in cm and inches. $($As a check of your results, the desk is about $4$ feet or $122$ cm in length. The distance from the desk to the floor is about $24$ inches.$)$

q$.$ End the loop started in step e

r$.$ Call gpioTerminate$().$ Note this function will never execute, because the infinite loop above will only exit with a abort entered by the user.