NEO-M9N Driver Implementation

[APBashara]

Use the I2C driver to create functions for the NEO-M9N GPS Module

[APBashara]

Issue with I2C Driver on the Telem board
For some reason the start bit is getting sent but the bus reads as busy
I tried removing the pull up resistors as the GPS data sheet says the internal ones should be enough but that did not solve it

[APBashara]

Need to step through and see where the BUSY flag gets set

[APBashara]

Fixed I2C Driver issue; solution was to redo the GPIO configuration to better support I2C Functionality

[APBashara]

Need to look into how to configure and read messages from M9N -- Use the ublox interface manual
https://content.u-blox.com/sites/default/files/u-blox-M9-SPG-4.04_InterfaceDescription_UBX-21022436.pdf

[APBashara]

Able to send a CFG message and get an UBX-ACK back. Need to find a better way to read messages other than just parse a giant buffer

[APBashara]

See Sparkfun library waitForResponse function

[APBashara]

I think there is an issue with the I2C driver not sending start and stop conditions correctly in combination with some issues for ACK and NACK responses

[APBashara]

Fixed the I2C driver and got the GPS to work
Need to improve the way that we are reading message responses still
UBX-NAV-PVT is the message that will be used for reading Lat, Long, and Speed

[APBashara]

Need to also Delay the config message slightly in order to allow the GPS to boot fully
Will look at adding the config in the GPS Task, this also would prevent I2C comms from locking the whole system.
Will ultimately need to add timeout functions for the I2C while loops to reset comms