Preparation for conversion to parameter groups 3

src/main/config/parameter_group.h

@@ -140,6 +140,7 @@ extern const uint8_t __pg_resetdata_end[];
 
 #endif // USE_PARAMETER_GROUPS
 
+#ifdef USE_PARAMETER_GROUPS
 // Register system config
 #define PG_REGISTER_I(_type, _name, _pgn, _version, _reset)             \
     _type _name ## _System;                                             \
@@ -242,6 +243,29 @@ extern const uint8_t __pg_resetdata_end[];
         __VA_ARGS__                                                     \
     }                                                                   \
     /**/
+#else
+#define PG_REGISTER_I(_type, _name, _pgn, _version, _reset)             \
+    _type _name ## _System
+
+#define PG_REGISTER(_type, _name, _pgn, _version)                       \
+    PG_REGISTER_I(_type, _name, _pgn, _version, .reset = {.ptr = 0})    \
+    /**/
+
+#define PG_REGISTER_WITH_RESET_FN(_type, _name, _pgn, _version)         \
+    extern void pgResetFn_ ## _name(_type *);                           \
+    PG_REGISTER_I(_type, _name, _pgn, _version, .reset = {.fn = (pgResetFunc*)&pgResetFn_ ## _name }) \
+    /**/
+
+#define PG_REGISTER_WITH_RESET_TEMPLATE(_type, _name, _pgn, _version)   \
+    extern const _type pgResetTemplate_ ## _name;                       \
+    PG_REGISTER_I(_type, _name, _pgn, _version, .reset = {.ptr = (void*)&pgResetTemplate_ ## _name}) \
+    /**/
+#define PG_RESET_TEMPLATE(_type, _name, ...)                            \
+    const _type pgResetTemplate_ ## _name PG_RESETDATA_ATTRIBUTES = {   \
+        __VA_ARGS__                                                     \
+    }                                                                   \
+    /**/
+#endif
 
 const pgRegistry_t* pgFind(pgn_t pgn);
 

src/main/fc/fc_init.c

@@ -403,12 +403,7 @@ void init(void)
     }
 #endif
 
-#ifdef SONAR
+    if (!sensorsAutodetect()) {
-    const sonarConfig_t *sonarConfig = sonarConfig();
-#else
-    const void *sonarConfig = NULL;
-#endif
-    if (!sensorsAutodetect(gyroConfig(), accelerometerConfig(), compassConfig(), barometerConfig(), sonarConfig)) {
         // if gyro was not detected due to whatever reason, we give up now.
         failureMode(FAILURE_MISSING_ACC);
     }

src/main/sensors/gyro.c

@@ -72,9 +72,6 @@ gyro_t gyro;                      // gyro access functions
 static int32_t gyroADC[XYZ_AXIS_COUNT];
 
 static int32_t gyroZero[XYZ_AXIS_COUNT] = { 0, 0, 0 };
-#ifndef USE_PARAMETER_GROUPS
-static const gyroConfig_t *gyroConfig;
-#endif
 static uint16_t calibratingG = 0;
 
 static filterApplyFnPtr softLpfFilterApplyFn;
@@ -86,6 +83,29 @@ static void *notchFilter2[3];
 
 #define DEBUG_GYRO_CALIBRATION 3
 
+#ifdef STM32F10X
+#define GYRO_SYNC_DENOM_DEFAULT 8
+#elif defined(USE_GYRO_SPI_MPU6000) || defined(USE_GYRO_SPI_MPU6500)  || defined(USE_GYRO_SPI_ICM20689)
+#define GYRO_SYNC_DENOM_DEFAULT 1
+#else
+#define GYRO_SYNC_DENOM_DEFAULT 4
+#endif
+
+PG_REGISTER_WITH_RESET_TEMPLATE(gyroConfig_t, gyroConfig, PG_GYRO_CONFIG, 0);
+
+PG_RESET_TEMPLATE(gyroConfig_t, gyroConfig,
+    .gyro_lpf = GYRO_LPF_256HZ,
+    .gyro_sync_denom = GYRO_SYNC_DENOM_DEFAULT,
+    .gyro_soft_lpf_type = FILTER_PT1,
+    .gyro_soft_lpf_hz = 90,
+    .gyro_soft_notch_hz_1 = 400,
+    .gyro_soft_notch_cutoff_1 = 300,
+    .gyro_soft_notch_hz_2 = 200,
+    .gyro_soft_notch_cutoff_2 = 100,
+    .gyro_align = ALIGN_DEFAULT,
+    .gyroMovementCalibrationThreshold = 32
+);
+
 static const extiConfig_t *selectMPUIntExtiConfig(void)
 {
 #if defined(MPU_INT_EXTI)
@@ -236,13 +256,8 @@ static bool gyroDetect(gyroDev_t *dev)
     return true;
 }
 
-bool gyroInit(const gyroConfig_t *gyroConfigToUse)
+bool gyroInit(void)
 {
-#ifdef USE_PARAMETER_GROUPS
-    (void)(gyroConfigToUse);
-#else
-    gyroConfig = gyroConfigToUse;
-#endif
     memset(&gyro, 0, sizeof(gyro));
 #if defined(USE_GYRO_MPU6050) || defined(USE_GYRO_MPU3050) || defined(USE_GYRO_MPU6500) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU6000) || defined(USE_ACC_MPU6050) || defined(USE_GYRO_SPI_MPU9250) || defined(USE_GYRO_SPI_ICM20689)
     gyro.dev.mpuIntExtiConfig = selectMPUIntExtiConfig();
@@ -257,8 +272,7 @@ bool gyroInit(const gyroConfig_t *gyroConfigToUse)
     switch (detectedSensors[SENSOR_INDEX_GYRO]) {
     default:
         // gyro does not support 32kHz
-        // cast away constness, legitimate as this is cross-validation
+        gyroConfigMutable()->gyro_use_32khz = false;
-        ((gyroConfig_t*)gyroConfig)->gyro_use_32khz = false;
         break;
     case GYRO_MPU6500:
     case GYRO_MPU9250:

src/main/sensors/gyro.h

@@ -63,7 +63,7 @@ typedef struct gyroConfig_s {
 PG_DECLARE(gyroConfig_t, gyroConfig);
 
 void gyroSetCalibrationCycles(void);
-bool gyroInit(const gyroConfig_t *gyroConfigToUse);
+bool gyroInit(void);
 void gyroInitFilters(void);
 void gyroUpdate(void);
 bool isGyroCalibrationComplete(void);

src/main/sensors/initialisation.c

@@ -24,6 +24,8 @@
 #include "common/utils.h"
 
 #include "config/feature.h"
+#include "config/parameter_group.h"
+#include "config/parameter_group_ids.h"
 
 #include "fc/config.h"
 #include "fc/runtime_config.h"
@@ -52,50 +54,40 @@ static bool sonarDetect(void)
 }
 #endif
 
-bool sensorsAutodetect(const gyroConfig_t *gyroConfig,
+bool sensorsAutodetect(void)
-        const accelerometerConfig_t *accelerometerConfig,
-        const compassConfig_t *compassConfig,
-        const barometerConfig_t *barometerConfig,
-        const sonarConfig_t *sonarConfig)
 {
     // gyro must be initialised before accelerometer
-    if (!gyroInit(gyroConfig)) {
+    if (!gyroInit()) {
         return false;
     }
 
-    accInit(accelerometerConfig, gyro.targetLooptime);
+    accInit(accelerometerConfig(), gyro.targetLooptime);
 
     mag.magneticDeclination = 0.0f; // TODO investigate if this is actually needed if there is no mag sensor or if the value stored in the config should be used.
 #ifdef MAG
-    if (compassDetect(&mag.dev, compassConfig->mag_hardware)) {
+    if (compassDetect(&mag.dev, compassConfig()->mag_hardware)) {
-        compassInit(compassConfig);
+        compassInit(compassConfig());
     }
-#else
-    UNUSED(compassConfig);
 #endif
 
 #ifdef BARO
-    baroDetect(&baro.dev, barometerConfig->baro_hardware);
+    baroDetect(&baro.dev, barometerConfig()->baro_hardware);
-#else
-    UNUSED(barometerConfig);
 #endif
 
 #ifdef SONAR
     if (sonarDetect()) {
-        sonarInit(sonarConfig);
+        sonarInit(sonarConfig());
     }
-#else
-    UNUSED(sonarConfig);
 #endif
 
-    if (gyroConfig->gyro_align != ALIGN_DEFAULT) {
+    if (gyroConfig()->gyro_align != ALIGN_DEFAULT) {
-        gyro.dev.gyroAlign = gyroConfig->gyro_align;
+        gyro.dev.gyroAlign = gyroConfig()->gyro_align;
     }
-    if (accelerometerConfig->acc_align != ALIGN_DEFAULT) {
+    if (accelerometerConfig()->acc_align != ALIGN_DEFAULT) {
-        acc.dev.accAlign = accelerometerConfig->acc_align;
+        acc.dev.accAlign = accelerometerConfig()->acc_align;
     }
-    if (compassConfig->mag_align != ALIGN_DEFAULT) {
+    if (compassConfig()->mag_align != ALIGN_DEFAULT) {
-        mag.dev.magAlign = compassConfig->mag_align;
+        mag.dev.magAlign = compassConfig()->mag_align;
     }
 
     return true;

src/main/sensors/initialisation.h

@@ -17,8 +17,4 @@
 
 #pragma once
 
-bool sensorsAutodetect(const gyroConfig_t *gyroConfig,
+bool sensorsAutodetect(void);
-        const accelerometerConfig_t *accConfig,
-        const compassConfig_t *compassConfig,
-        const barometerConfig_t *baroConfig,
-        const sonarConfig_t *sonarConfig);