/****************************************************************************
 Module
   Angels_IRDetectModule.c

 Revision
   1.0.1

 Description
   This is a file for implementing flat state machines under the 
   Gen2 Events and Services Framework.

 Notes

 History
 When           Who     What/Why
 -------------- ---     --------
 01/15/12 11:12 jec      revisions for Gen2 framework
 11/07/11 11:26 jec      made the queue static
 10/30/11 17:59 jec      fixed references to CurrentEvent in RunMotorSM()
 10/23/11 18:20 jec      began conversion from SMTMotor.c (02/20/07 rev)
****************************************************************************/

/****************************************************************************
 Function initBeaconDetectors
 	Takes nothing
	Returns nothing
****************************************************************************/

Enable interrupt timers
Set Timer Rate for Prescale to 15 to give 1.5MHz

Initialize the pin for the left phototransistor		
Initialize the pin for the right phototransistor

Set timer 0, channel 5 to interrupt on a leading edge only 
Set timer 0, channel 6 to interupt on a falling edge only 

Enable input captures on timer 0, channel 5
Enable input captures on timer 0, channel 6

Enable interrupts

End of initBeaconDetectors

/****************************************************************************
 Function interrupt _Vec_tim0ch5 RespondLeftIR
 	Takes nothing
	Returns nothing
****************************************************************************/

Calculate the current period picked in the left phototransistor
Convert that value into uS
Save the current period value
Reset the timer0, channel 5 flag

End of interrupt _Vec_tim0ch5 RespondLeftIR


/****************************************************************************
 Function interrupt _Vec_tim0ch6 RespondRightIR
 	Takes nothing
	Returns nothing
****************************************************************************/
Calculate the current period picked in the right phototransistor
Convert that value into uS
Save the current period value
Reset the timer0, channel 6 flag

End of interrupt _Vec_tim0ch6 RespondRightIR

/****************************************************************************
 Function RightFreq
 	Takes nothing
	Returns float
****************************************************************************/

Return calculated frequency from the right period

End of RightFreq

/****************************************************************************
 Function LeftFreq
 	Takes nothing
	Returns float
****************************************************************************/

Return calculated frequency from the left period

End of LeftFreq

/****************************************************************************
 Function RightPeriod_uS
 	Takes nothing
	Returns unsigned int
****************************************************************************/

Return the variable holding the right period in uS

End of RightPeriod_uS

/****************************************************************************
 Function LeftPeriod_uS
 	Takes nothing
	Returns unsigned int
****************************************************************************/

Return the variable holding the left period in uS

End of LeftPeriod_uS