From 39485dd95405d0a0cb682a4fcc8fe0cc4ede5cfc Mon Sep 17 00:00:00 2001
From: Peppe21 <14368925+Peppe21@users.noreply.github.com>
Date: Tue, 3 Jan 2023 20:53:08 +0100
Subject: [PATCH] New config 0_9_X_WT901 : IMU Connected on the MPU9250 Slot
 using SerialPIO

---
 Firmware/LowLevel/lib/JY901_SERIAL/JY901.cpp   |  4 ++++
 Firmware/LowLevel/lib/JY901_SERIAL/JY901.h     | 10 +++++++++-
 Firmware/LowLevel/platformio.ini               |  9 +++++++++
 Firmware/LowLevel/src/imu/WT901_SERIAL/imu.cpp |  7 +++++++
 Firmware/LowLevel/src/pins.h                   | 14 ++++++++------
 5 files changed, 37 insertions(+), 7 deletions(-)

diff --git a/Firmware/LowLevel/lib/JY901_SERIAL/JY901.cpp b/Firmware/LowLevel/lib/JY901_SERIAL/JY901.cpp
index 4c70945d..3175e9fe 100644
--- a/Firmware/LowLevel/lib/JY901_SERIAL/JY901.cpp
+++ b/Firmware/LowLevel/lib/JY901_SERIAL/JY901.cpp
@@ -1,7 +1,11 @@
 #include "JY901.h"
 #include "string.h"
 
+#ifdef WT901_INSTEAD_OF_SOUND
 CJY901 ::CJY901(HardwareSerial *serial)
+#elif WT901
+CJY901 ::CJY901(SerialPIO *serial)
+#endif
 {
 	this->serial = serial;
 }
diff --git a/Firmware/LowLevel/lib/JY901_SERIAL/JY901.h b/Firmware/LowLevel/lib/JY901_SERIAL/JY901.h
index 5a036d68..094c0e55 100644
--- a/Firmware/LowLevel/lib/JY901_SERIAL/JY901.h
+++ b/Firmware/LowLevel/lib/JY901_SERIAL/JY901.h
@@ -141,7 +141,11 @@ class CJY901
 	struct SLonLat 		stcLonLat;
 	struct SGPSV 		stcGPSV;
 	
-    CJY901 (HardwareSerial *serial); 
+    #ifdef WT901_INSTEAD_OF_SOUND
+	CJY901 (HardwareSerial *serial); 
+	#elif WT901
+	CJY901 (SerialPIO *serial); 
+	#endif 
 	
 	void begin(int baudrate = 9600);
 	// Call as often as possible to fetch data from serial
@@ -150,7 +154,11 @@ class CJY901
 	
 	
   private: 
+	#ifdef WT901_INSTEAD_OF_SOUND
 	HardwareSerial *serial;
+	#elif WT901
+	SerialPIO *serial;
+	#endif
 	unsigned char ucRxBuffer[250];
 	unsigned char ucRxCnt = 0;	
 
diff --git a/Firmware/LowLevel/platformio.ini b/Firmware/LowLevel/platformio.ini
index d8efac24..0eaa13cd 100644
--- a/Firmware/LowLevel/platformio.ini
+++ b/Firmware/LowLevel/platformio.ini
@@ -77,3 +77,12 @@ lib_deps = ${env.lib_deps}
     JY901_SERIAL
 build_flags =
     ${env.build_flags} -DWT901_INSTEAD_OF_SOUND -DHW_0_9_X
+
+[env:0_9_X_WT901]
+lib_ignore = JY901_I2C
+build_src_filter = ${env.build_src_filter} +<imu/WT901_SERIAL/> +<soundsystem.cpp>
+lib_deps = ${env.lib_deps} 
+    JY901_SERIAL
+    powerbroker2/DFPlayerMini_Fast@^1.2.4	
+build_flags =
+    ${env.build_flags} -DWT901 -DHW_0_9_X -DENABLE_SOUND_MODULE
\ No newline at end of file
diff --git a/Firmware/LowLevel/src/imu/WT901_SERIAL/imu.cpp b/Firmware/LowLevel/src/imu/WT901_SERIAL/imu.cpp
index 33e88773..7127e081 100644
--- a/Firmware/LowLevel/src/imu/WT901_SERIAL/imu.cpp
+++ b/Firmware/LowLevel/src/imu/WT901_SERIAL/imu.cpp
@@ -2,12 +2,19 @@
 #include "pins.h"
 #include <JY901.h>
 
+#ifdef WT901_INSTEAD_OF_SOUND
 CJY901 IMU(&Serial2);
+#elif WT901
+SerialPIO imuSerial(PIN_WT901_TX, PIN_WT901_RX, 250); // set hardware pin
+CJY901 IMU(&imuSerial);
+#endif
 
 bool init_imu()
 {
+    #ifdef WT901_INSTEAD_OF_SOUND
     Serial2.setRX(PIN_WT901_RX); // set hardware pin
     Serial2.setTX(PIN_WT901_TX);
+    #endif
 
     IMU.begin();
 
diff --git a/Firmware/LowLevel/src/pins.h b/Firmware/LowLevel/src/pins.h
index 3db7b638..e7f717c9 100644
--- a/Firmware/LowLevel/src/pins.h
+++ b/Firmware/LowLevel/src/pins.h
@@ -32,13 +32,15 @@
 #define PIN_SOUND_RX 9
 #endif
 
-//This is used as a hack to use WT901 on older mainboards.
 #ifdef WT901_INSTEAD_OF_SOUND
-#ifdef ENABLE_SOUND_MODULE
-#error you can not enable sound and have wt901 on sound port at the same time.
-#endif
-#define PIN_WT901_TX 8
-#define PIN_WT901_RX 9
+    #ifdef ENABLE_SOUND_MODULE
+        #error you can not enable sound and have wt901 on sound port at the same time.
+    #endif
+    #define PIN_WT901_TX 8
+    #define PIN_WT901_RX 9
+#elif WT901 //This is to use WT901 on MPU9250 Slot via Serial.
+    #define PIN_WT901_TX 17
+    #define PIN_WT901_RX 16
 #endif
 
 #elif HW_0_10_X