IRSensor.c

void initIRSensing(void)

Turn on timer system to allow input capture

Set pre-scale to /1 = 24.0MHz

Set to capture falling edges

Clear interrupt flag

Enable interrupt

Globally enable interrupts

Make sure 1 ms timer is running

Set lastReadTime to current [ms] time

void interrupt _Vec_tim1ch4 IRSensorICRoutine(void)

Set timeoutTime to current time [ms]

Record period of time since last edge as uPeriod

Clear flag

char isAlignedWithBeacon(void)

If uPeriod is within a calibrated range of values

Return True

Else

Return False