...

asibfm700/asibfm700_servocontroller.h

@@ -89,8 +89,8 @@ public:
         std::string EncoderXDevPath;
         std::string EncoderYDevPath;
 
-        conf_t devConfig;
-        hardware_configuration_t hwConfig;
+        conf_t devConfig;                   // devices paths and PIDs parameters
+        hardware_configuration_t hwConfig;  // EEPROM-located configuration
 
         std::chrono::milliseconds pollingInterval{300};   // hardware polling interval
         std::chrono::milliseconds pollingTimeout{30000};  // hardware polling timeout
@@ -121,7 +121,13 @@ public:
     error_t hardwareInit();
 
     void hardwareUpdateConfig(conf_t cfg);
-    void hardwareUpdateConfig(hardware_configuration_t cfg);
+
+    // save config to EEPROM
+    error_t hardwareUpdateConfig(hardware_configuration_t cfg);
+    // load config from EEPROM
+    error_t hardwareUpdateConfig();
+
+    hardware_config_t hardwareConfig() const;
 
 private:
     hardware_config_t _hardwareConfig;