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

#pragma once

#include <ch.h>
#include <hal.h>
#include <stdio.h>
#include <stdint.h>
#include <stdbool.h>
#include <fix16.h>

void parameters_save();
bool parameters_load();
void parameters_print(BaseChannel *f, bool machine_readable);
bool parameter_set(const char *name, const char *value);
bool parameter_get(const char *name, char value[13]);

// This is an X-macro list of the parameters to save.
// Type can be either fix16_t or int.
// X(type, variable, default)
#define PARAMETERS \
    X(int, mag_bias_x, 0) \
    X(int, mag_bias_y, 0) \
    X(int, mag_bias_z, 0) \
    X(int, mag_scale_x, 600) \
    X(int, mag_scale_y, 600) \
    X(int, mag_scale_z, 600) \
    X(int, acc_bias_x, 0) \
    X(int, acc_bias_y, 0) \
    X(int, acc_bias_z, 0) \
    X(int, acc_scale_x, 16000) \
    X(int, acc_scale_y, 16000) \
    X(int, acc_scale_z, 16000) \
    PARAMETERS_TARGET

#ifdef SPHERE_RX
#define PARAMETERS_TARGET \
    X(int, servo_center, 1500) \
    X(int, servo_delta, 400) \
    X(fix16_t, motor_pid_p, F16(0.1)) \
    X(fix16_t, motor_pid_i, F16(5.0)) \
    X(fix16_t, motor_pid_d, F16(0.01)) \
    X(fix16_t, max_speed, F16(2.0)) \
    X(fix16_t, servo_pid_p, F16(0.1)) \
    X(fix16_t, servo_pid_i, F16(1.0)) \
    X(fix16_t, servo_pid_d, F16(0.01)) \
    X(fix16_t, servo_pid_lowpass, F16(0.9)) \
    X(fix16_t, motor_pid_lowpass, F16(0.9)) \
    X(fix16_t, servo_y_prefer, F16(0.1)) \
    X(fix16_t, servo_output_lowpass, F16(0.9)) \
    X(fix16_t, servo_output_deadband, F16(0.1))
#else
#define PARAMETERS_TARGET
#endif

// 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 2

// Now declare the variables to access the parameters
typedef struct {
#define X(type, name, default) type name;
PARAMETERS
#undef X
} parameters_t;

extern parameters_t params;