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The common mod to connect pic to palm via Ir, is an IrDA connection (w*w.irda.org). PalmOS support this kind of connection. You will view the IrDA connection like an ordinary com port (trough IrComm)
...so search web for IrDA apps,
The SirPic is a rather crude way IMHO of doing IR on a Palm, it requires a hardware dongle to the Palm's serial port.
For IRDA to a pic, you could do raw IR but it does not work on Palm's with an OMAP processor. but even here you would need to add a IRDA transciever to your pic which would cost about $2. so maybe this does not meet your price point?
SirPic requires NO DONGLES to the serial port.
You can transmit raw IR from your PIC to palm using the IrTx interface, which is a simple transistor+IR LEDS interface.
If you have an existing serial out from your PIC, you can use the PS2IR interface which converts serial pulses to infra red pulses, which drives the raw IrTx interface.
SirPic is raw and lightweight, ideal for PIC projects which dont need to be burdened with the IrDA stack.
Any questions please email me at email@example.com.