From feab0bcb81d00eaf8dc3691375e1da696d7f88be Mon Sep 17 00:00:00 2001
From: jflyper <shinoda@jaist.ac.jp>
Date: Mon, 10 Dec 2018 22:04:14 +0900
Subject: [PATCH] Speed up the first boot on generic firmware

---
 src/main/fc/config.c          | 31 +++++++++++++++++++++++++++----
 src/main/fc/config.h          |  3 +++
 src/main/fc/init.c            |  4 +++-
 src/main/target/common_post.h |  6 ++++--
 4 files changed, 37 insertions(+), 7 deletions(-)

diff --git a/src/main/fc/config.c b/src/main/fc/config.c
index 840030f70a..e31f72cfe4 100644
--- a/src/main/fc/config.c
+++ b/src/main/fc/config.c
@@ -87,6 +87,7 @@ PG_RESET_TEMPLATE(systemConfig_t, systemConfig,
     .powerOnArmingGraceTime = 5,
     .boardIdentifier = TARGET_BOARD_IDENTIFIER,
     .hseMhz = SYSTEM_HSE_VALUE,  // Not used for non-F4 targets
+    .configured = false,
 );
 
 uint8_t getCurrentPidProfileIndex(void)
@@ -527,30 +528,43 @@ bool readEEPROM(void)
     return success;
 }
 
-void writeEEPROM(void)
+static void ValidateAndWriteConfigToEEPROM(bool setConfigured)
 {
     validateAndFixConfig();
 
     suspendRxPwmPpmSignal();
 
+#ifdef USE_CONFIGURATION_STATE
+    if (setConfigured) {
+        systemConfigMutable()->configured = true;
+    }
+#else
+    UNUSED(setConfigured);
+#endif
+
     writeConfigToEEPROM();
 
     resumeRxPwmPpmSignal();
 }
 
+void writeEEPROM(void)
+{
+    ValidateAndWriteConfigToEEPROM(true);
+}
+
 void writeEEPROMWithFeatures(uint32_t features)
 {
     featureDisableAll();
     featureEnable(features);
 
-    writeEEPROM();
+    ValidateAndWriteConfigToEEPROM(true);
 }
 
 void resetEEPROM(void)
 {
     resetConfigs();
 
-    writeEEPROM();
+    ValidateAndWriteConfigToEEPROM(false);
 
     activateConfig();
 }
@@ -565,7 +579,7 @@ void ensureEEPROMStructureIsValid(void)
 
 void saveConfigAndNotify(void)
 {
-    writeEEPROM();
+    ValidateAndWriteConfigToEEPROM(true);
     readEEPROM();
     beeperConfirmationBeeps(1);
 }
@@ -581,3 +595,12 @@ void changePidProfile(uint8_t pidProfileIndex)
 
     beeperConfirmationBeeps(pidProfileIndex + 1);
 }
+
+bool isSystemConfigured(void)
+{
+#ifdef USE_CONFIGURATION_STATE
+    return systemConfig()->configured;
+#else
+    return true;
+#endif
+}
diff --git a/src/main/fc/config.h b/src/main/fc/config.h
index 7816a8eb0b..168b52c5e8 100644
--- a/src/main/fc/config.h
+++ b/src/main/fc/config.h
@@ -43,6 +43,7 @@ typedef struct systemConfig_s {
     uint8_t powerOnArmingGraceTime; // in seconds
     char boardIdentifier[sizeof(TARGET_BOARD_IDENTIFIER) + 1];
     uint8_t hseMhz; // Not used for non-F4 targets
+    uint8_t configured;
 } systemConfig_t;
 
 PG_DECLARE(systemConfig_t, systemConfig);
@@ -75,3 +76,5 @@ uint16_t getCurrentMinthrottle(void);
 void resetConfigs(void);
 void targetConfiguration(void);
 void targetValidateConfiguration(void);
+
+bool isSystemConfigured(void);
diff --git a/src/main/fc/init.c b/src/main/fc/init.c
index 016214ef9e..61975cd7be 100644
--- a/src/main/fc/init.c
+++ b/src/main/fc/init.c
@@ -503,7 +503,9 @@ void init(void)
 
     if (!sensorsAutodetect()) {
         // if gyro was not detected due to whatever reason, notify and don't arm.
-        indicateFailure(FAILURE_MISSING_ACC, 2);
+        if (isSystemConfigured()) {
+            indicateFailure(FAILURE_MISSING_ACC, 2);
+        }
         setArmingDisabled(ARMING_DISABLED_NO_GYRO);
     }
 
diff --git a/src/main/target/common_post.h b/src/main/target/common_post.h
index 8fa15bf231..41c4e0e49c 100644
--- a/src/main/target/common_post.h
+++ b/src/main/target/common_post.h
@@ -205,9 +205,11 @@
 #define USE_RX_XN297
 #endif
 
+#ifdef GENERIC_TARGET
+#define USE_CONFIGURATION_STATE
+
 // Setup crystal frequency for backward compatibility
 // Should be set to zero for generic targets and set with CLI variable set system_hse_value.
-#ifdef GENERIC_TARGET
 #define SYSTEM_HSE_VALUE 0
 #else
 #ifdef TARGET_XTAL_MHZ
@@ -215,7 +217,7 @@
 #else
 #define SYSTEM_HSE_VALUE (HSE_VALUE/1000000U)
 #endif
-#endif
+#endif // GENERIC_TARGET
 
 // Number of pins that needs pre-init
 #ifdef USE_SPI