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 * modification, are permitted provided that the following conditions
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 * 1. Redistributions of source code must retain the above copyright
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 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in
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 *    used to endorse or promote products derived from this software
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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/**
 * @file parameters.cpp
 *
 * @author Beat Kueng <beat-kueng@gmx.net>
 */

#include "parameters.h"

namespace sensors
{

void initialize_parameter_handles(ParameterHandles &parameter_handles)
{
	/* Differential pressure offset */
	parameter_handles.diff_pres_offset_pa = param_find("SENS_DPRES_OFF");
#ifdef ADC_AIRSPEED_VOLTAGE_CHANNEL
	parameter_handles.diff_pres_analog_scale = param_find("SENS_DPRES_ANSC");
#endif /* ADC_AIRSPEED_VOLTAGE_CHANNEL */

	/* rotations */
	parameter_handles.board_rotation = param_find("SENS_BOARD_ROT");

	/* rotation offsets */
	parameter_handles.board_offset[0] = param_find("SENS_BOARD_X_OFF");
	parameter_handles.board_offset[1] = param_find("SENS_BOARD_Y_OFF");
	parameter_handles.board_offset[2] = param_find("SENS_BOARD_Z_OFF");

	/* mag compensation */
	parameter_handles.mag_comp_type = param_find("CAL_MAG_COMP_TYP");

	parameter_handles.mag_comp_paramX[0] = param_find("CAL_MAG0_XCOMP");
	parameter_handles.mag_comp_paramX[1] = param_find("CAL_MAG1_XCOMP");
	parameter_handles.mag_comp_paramX[2] = param_find("CAL_MAG2_XCOMP");
	parameter_handles.mag_comp_paramX[3] = param_find("CAL_MAG3_XCOMP");

	parameter_handles.mag_comp_paramY[0] = param_find("CAL_MAG0_YCOMP");
	parameter_handles.mag_comp_paramY[1] = param_find("CAL_MAG1_YCOMP");
	parameter_handles.mag_comp_paramY[2] = param_find("CAL_MAG2_YCOMP");
	parameter_handles.mag_comp_paramY[3] = param_find("CAL_MAG3_YCOMP");

	parameter_handles.mag_comp_paramZ[0] = param_find("CAL_MAG0_ZCOMP");
	parameter_handles.mag_comp_paramZ[1] = param_find("CAL_MAG1_ZCOMP");
	parameter_handles.mag_comp_paramZ[2] = param_find("CAL_MAG2_ZCOMP");
	parameter_handles.mag_comp_paramZ[3] = param_find("CAL_MAG3_ZCOMP");

	parameter_handles.air_cmodel = param_find("CAL_AIR_CMODEL");
	parameter_handles.air_tube_length = param_find("CAL_AIR_TUBELEN");
	parameter_handles.air_tube_diameter_mm = param_find("CAL_AIR_TUBED_MM");

	(void)param_find("BAT_V_DIV");
	(void)param_find("BAT_A_PER_V");

	(void)param_find("CAL_ACC0_ID");
	(void)param_find("CAL_GYRO0_ID");

	(void)param_find("CAL_MAG0_ID");
	(void)param_find("CAL_MAG1_ID");
	(void)param_find("CAL_MAG2_ID");
	(void)param_find("CAL_MAG3_ID");
	(void)param_find("CAL_MAG0_ROT");
	(void)param_find("CAL_MAG1_ROT");
	(void)param_find("CAL_MAG2_ROT");
	(void)param_find("CAL_MAG3_ROT");
	(void)param_find("CAL_MAG_SIDES");

	(void)param_find("SYS_PARAM_VER");
	(void)param_find("SYS_AUTOSTART");
	(void)param_find("SYS_AUTOCONFIG");
	(void)param_find("TRIG_MODE");
	(void)param_find("UAVCAN_ENABLE");

	// Parameters controlling the on-board sensor thermal calibrator
	(void)param_find("SYS_CAL_TDEL");
	(void)param_find("SYS_CAL_TMAX");
	(void)param_find("SYS_CAL_TMIN");
}

void update_parameters(const ParameterHandles &parameter_handles, Parameters &parameters)
{
	/* Airspeed offset */
	param_get(parameter_handles.diff_pres_offset_pa, &(parameters.diff_pres_offset_pa));
#ifdef ADC_AIRSPEED_VOLTAGE_CHANNEL
	param_get(parameter_handles.diff_pres_analog_scale, &(parameters.diff_pres_analog_scale));
#endif /* ADC_AIRSPEED_VOLTAGE_CHANNEL */

	param_get(parameter_handles.board_rotation, &(parameters.board_rotation));

	param_get(parameter_handles.board_offset[0], &(parameters.board_offset[0]));
	param_get(parameter_handles.board_offset[1], &(parameters.board_offset[1]));
	param_get(parameter_handles.board_offset[2], &(parameters.board_offset[2]));

	param_get(parameter_handles.mag_comp_type, &(parameters.mag_comp_type));

	param_get(parameter_handles.mag_comp_paramX[0], &(parameters.mag_comp_paramX[0]));
	param_get(parameter_handles.mag_comp_paramX[1], &(parameters.mag_comp_paramX[1]));
	param_get(parameter_handles.mag_comp_paramX[2], &(parameters.mag_comp_paramX[2]));
	param_get(parameter_handles.mag_comp_paramX[3], &(parameters.mag_comp_paramX[3]));

	param_get(parameter_handles.mag_comp_paramY[0], &(parameters.mag_comp_paramY[0]));
	param_get(parameter_handles.mag_comp_paramY[1], &(parameters.mag_comp_paramY[1]));
	param_get(parameter_handles.mag_comp_paramY[2], &(parameters.mag_comp_paramY[2]));
	param_get(parameter_handles.mag_comp_paramY[3], &(parameters.mag_comp_paramY[3]));

	param_get(parameter_handles.mag_comp_paramZ[0], &(parameters.mag_comp_paramZ[0]));
	param_get(parameter_handles.mag_comp_paramZ[1], &(parameters.mag_comp_paramZ[1]));
	param_get(parameter_handles.mag_comp_paramZ[2], &(parameters.mag_comp_paramZ[2]));
	param_get(parameter_handles.mag_comp_paramZ[3], &(parameters.mag_comp_paramZ[3]));

	param_get(parameter_handles.air_cmodel, &parameters.air_cmodel);
	param_get(parameter_handles.air_tube_length, &parameters.air_tube_length);
	param_get(parameter_handles.air_tube_diameter_mm, &parameters.air_tube_diameter_mm);
}

} /* namespace sensors */