// This module implements saving and restoring the configurable parameters
// to/from the data eeprom memory.

#pragma once

#include <stdbool.h>
#include <ch.h>
#include "ahrs_task.h"
#include "control.h"
#include "motor.h"
#include "rf_task.h"

void parameters_save();
bool parameters_load();
void parameters_print(BaseSequentialStream *chp, bool machine_readable);
bool parameter_set(const char *name, int32_t value);
bool parameter_get(const char *name, int32_t *value);

// This is an X-macro list of the parameters to save.
// All variables should be 32-bit integers.
// X(variable)
#define PARAMETERS \
    X(pitch_ctrl.P) \
    X(pitch_ctrl.I) \
    X(pitch_ctrl.D) \
    X(pitch_ctrl.lowpass) \
    X(pitch_ctrl.min_output) \
    X(pitch_ctrl.max_output) \
    X(heading_ctrl.P) \
    X(heading_ctrl.I) \
    X(heading_ctrl.D) \
    X(heading_ctrl.lowpass) \
    X(heading_ctrl.min_output) \
    X(heading_ctrl.max_output) \
    X(servo_center) \
    X(servo_delta) \
    X(AHRS_MAG_BIAS_X) \
    X(AHRS_MAG_BIAS_Y) \
    X(AHRS_MAG_BIAS_Z) \
    X(AHRS_MAG_SCALE_X) \
    X(AHRS_MAG_SCALE_Y) \
    X(AHRS_MAG_SCALE_Z) \
    X(AHRS_ACC_BIAS_X) \
    X(AHRS_ACC_BIAS_Y) \
    X(AHRS_ACC_BIAS_Z) \
    X(AHRS_ACC_SCALE_X) \
    X(AHRS_ACC_SCALE_Y) \
    X(AHRS_ACC_SCALE_Z) \
    X(AHRS_MAG_SERVO_BIAS_X_A) \
    X(AHRS_MAG_SERVO_BIAS_X_B) \
    X(AHRS_MAG_SERVO_BIAS_X_C) \
    X(AHRS_MAG_SERVO_BIAS_Y_A) \
    X(AHRS_MAG_SERVO_BIAS_Y_B) \
    X(AHRS_MAG_SERVO_BIAS_Y_C) \
    X(AHRS_MAG_SERVO_BIAS_Z_A) \
    X(AHRS_MAG_SERVO_BIAS_Z_B) \
    X(AHRS_MAG_SERVO_BIAS_Z_C) \
    X(rf_max_delay_ms) \
    X(CONTROL_ZERO_PITCH)

// Increment this to force reset of all parameters.
// Do that if you reorder the existing items, adding new items to end is ok.
#define PARAMETERS_VERSION 1