Add GPS Drivers

[EricPedley]

Add GPS drivers for u-blox m8 receiver. To test this, I'm using this main program on EVE and running it with breakpoints in the debugger to see what statements it gets to and for inspecting variables:

#include "main.h"
#include "gpio.h"
#include "i2c.h"
#include "gps.h"

void SystemClock_Config(void);

typedef GpsUbxM8I2c GPS;


int main(void)
{
    /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
    HAL_Init();

    /* Configure the system clock */
    SystemClock_Config();

    /* Initialize all configured peripherals */
    MX_GPIO_Init();

    MX_I2C1_Init();

    /* USER CODE BEGIN 2 */
    GPS gps(GPS_RST_GPIO_Port, GPS_RST_Pin, &hi2c1, PVT_MESSAGE);
    gps.Init();
    HAL_Delay(1000);

    int lastITOW = 0;
    while(1) {
        volatile GPS::PollResult res = gps.PollUpdate();    
        auto state = gps.GetState();
        if(state == GPS::State::RESPONSE_READY) {
            UBX_NAV_PVT_PAYLOAD sol = *(UBX_NAV_PVT_PAYLOAD*)gps.GetSolution();            
            volatile int diff = sol.iTOW - lastITOW;
            lastITOW = sol.iTOW;
            if((GPSFixType)sol.fixType == GPSFixType::FIX_3D) {
                HAL_Delay(1000);
            }
            gps.Reset();
        } else {
            HAL_Delay(100);
        }
    }
}



void SystemClock_Config(void) {
    RCC_OscInitTypeDef RCC_OscInitStruct = {0};
    RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

    RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
    RCC_OscInitStruct.HSIState = RCC_HSI_ON;
    RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
    RCC_OscInitStruct.Prediv1Source = RCC_PREDIV1_SOURCE_HSE;
    RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
    RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI_DIV2;
    RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
    RCC_OscInitStruct.PLL2.PLL2State = RCC_PLL_NONE;
    if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) {
        Error_Handler();
    }

    RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
    RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
    RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
    RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
    RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

    if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_1) != HAL_OK) {
        Error_Handler();
    }

    __HAL_RCC_PLLI2S_ENABLE();
}

void Error_Handler(void) {
    __disable_irq();
    while (1) {
    }
}

[DanielHeEGG]

Oh and could you add the ECEF conversion code, after that I think we're good to go

[EricPedley]

@DanielHeEGG can u look at this again? You didn't request changes last time so there's no request re-review button for me RN.

[DanielHeEGG]

looks good! some more minor suggestions, little functional change. Plz fix file namings and ensure snake case. @MichaelKrinsky plz take a look as well

[MichaelKrinsky]

Looked through everything. Daniel covered everything I found. Once done with his changes should be good.

[EricPedley]

so we merging this or what? At this point I think any changes are just bugfixes and they make more sense as separate PRs instead of tacking onto this one.