integrate GPS module

CMakeLists.txt

@@ -59,26 +59,19 @@ add_subdirectory(${PROJECT_SOURCE_DIR}/lib/BMP388-Pico)
 add_subdirectory(${PROJECT_SOURCE_DIR}/lib/BNO055-Pico)
 add_subdirectory(${PROJECT_SOURCE_DIR}/lib/LIS3DH-Pico)
 add_subdirectory(${PROJECT_SOURCE_DIR}/lib/Si7021-Pico)
+add_subdirectory(${PROJECT_SOURCE_DIR}/lib/ublox-MX-Pico)
 
 # Ignore warnings from RadioLib
 target_compile_options(RadioLib PRIVATE -w)
 
-# Link library directories
-target_link_directories(${PROJECT_NAME} 
-    PRIVATE
-    ${PROJECT_SOURCE_DIR}/lib/BMP388-Pico
-    ${PROJECT_SOURCE_DIR}/lib/BNO055-Pico
-    ${PROJECT_SOURCE_DIR}/lib/LIS3DH-Pico
-    ${PROJECT_SOURCE_DIR}/lib/Si7021-Pico
-)
-
 # Include library headers
 target_include_directories(${PROJECT_NAME}
     PRIVATE
     ${PROJECT_SOURCE_DIR}/lib/BMP388-Pico
     ${PROJECT_SOURCE_DIR}/lib/BNO055-Pico
     ${PROJECT_SOURCE_DIR}/lib/LIS3DH-Pico
     ${PROJECT_SOURCE_DIR}/lib/Si7021-Pico
+    ${PROJECT_SOURCE_DIR}/lib/ublox-MX-Pico
 )
 
 # Pull in common dependencies
@@ -93,6 +86,7 @@ target_link_libraries(${PROJECT_NAME}
     BNO055-Pico
     LIS3DH-Pico 
     Si7021-Pico
+    ublox-MX-Pico
 )
 
 # Enable serial over USB

lib/ublox-MX-Pico/.clang-format

@@ -0,0 +1,11 @@
+Language: Cpp
+BasedOnStyle: LLVM
+AccessModifierOffset: -4
+AlignAfterOpenBracket: BlockIndent
+AlignTrailingComments:
+  Kind: Leave
+AllowShortIfStatementsOnASingleLine: true
+ColumnLimit: 0
+IndentWidth: 4
+NamespaceIndentation: All
+SpaceBeforeCpp11BracedList: true

lib/ublox-MX-Pico/.gitignore

@@ -0,0 +1,5 @@
+# Build directories
+**/build
+
+# macOS
+**/.DS_Store

lib/ublox-MX-Pico/CMakeLists.txt

@@ -0,0 +1,10 @@
+add_library(ublox-MX-Pico INTERFACE)
+
+target_sources(ublox-MX-Pico INTERFACE
+    ${CMAKE_CURRENT_LIST_DIR}/ublox_mx.cpp
+)
+
+target_link_libraries(ublox-MX-Pico INTERFACE
+    pico_stdlib
+    hardware_i2c
+)

lib/ublox-MX-Pico/README.md

@@ -0,0 +1,3 @@
+# ublox-MX-Pico
+
+A u-blox MAX-MX GNSS library written for the Raspberry Pi Pico with the Pico SDK. This library implements only a subset of all the features provided by the MAX-MX series, as needed by Cornell Rocketry.

lib/ublox-MX-Pico/examples/CMakeLists.txt

@@ -0,0 +1,33 @@
+cmake_minimum_required(VERSION 3.27)
+
+# Pull in SDK (must be before project)
+include(pico_sdk_import.cmake)
+
+project(gps C CXX ASM)
+set(CMAKE_C_STANDARD 11)
+set(CMAKE_CXX_STANDARD 17)
+
+# Initialize the SDK
+pico_sdk_init()
+
+add_compile_options(
+    -Wall
+    -Wno-format          
+    -Wno-unused-function
+)
+
+add_executable(${PROJECT_NAME}
+    poll_data.cpp
+    ../ublox_mx.cpp
+)
+# Pull in common dependencies
+target_link_libraries(${PROJECT_NAME}
+    pico_stdlib
+    hardware_i2c
+)
+
+pico_enable_stdio_usb(${PROJECT_NAME} 1)
+pico_enable_stdio_uart(${PROJECT_NAME} 0)
+
+# Create uf2 file
+pico_add_uf2_output(${PROJECT_NAME})

lib/ublox-MX-Pico/examples/pico_sdk_import.cmake

@@ -0,0 +1,73 @@
+# This is a copy of <PICO_SDK_PATH>/external/pico_sdk_import.cmake
+
+# This can be dropped into an external project to help locate this SDK
+# It should be include()ed prior to project()
+
+if (DEFINED ENV{PICO_SDK_PATH} AND (NOT PICO_SDK_PATH))
+    set(PICO_SDK_PATH $ENV{PICO_SDK_PATH})
+    message("Using PICO_SDK_PATH from environment ('${PICO_SDK_PATH}')")
+endif ()
+
+if (DEFINED ENV{PICO_SDK_FETCH_FROM_GIT} AND (NOT PICO_SDK_FETCH_FROM_GIT))
+    set(PICO_SDK_FETCH_FROM_GIT $ENV{PICO_SDK_FETCH_FROM_GIT})
+    message("Using PICO_SDK_FETCH_FROM_GIT from environment ('${PICO_SDK_FETCH_FROM_GIT}')")
+endif ()
+
+if (DEFINED ENV{PICO_SDK_FETCH_FROM_GIT_PATH} AND (NOT PICO_SDK_FETCH_FROM_GIT_PATH))
+    set(PICO_SDK_FETCH_FROM_GIT_PATH $ENV{PICO_SDK_FETCH_FROM_GIT_PATH})
+    message("Using PICO_SDK_FETCH_FROM_GIT_PATH from environment ('${PICO_SDK_FETCH_FROM_GIT_PATH}')")
+endif ()
+
+set(PICO_SDK_PATH "${PICO_SDK_PATH}" CACHE PATH "Path to the Raspberry Pi Pico SDK")
+set(PICO_SDK_FETCH_FROM_GIT "${PICO_SDK_FETCH_FROM_GIT}" CACHE BOOL "Set to ON to fetch copy of SDK from git if not otherwise locatable")
+set(PICO_SDK_FETCH_FROM_GIT_PATH "${PICO_SDK_FETCH_FROM_GIT_PATH}" CACHE FILEPATH "location to download SDK")
+
+if (NOT PICO_SDK_PATH)
+    if (PICO_SDK_FETCH_FROM_GIT)
+        include(FetchContent)
+        set(FETCHCONTENT_BASE_DIR_SAVE ${FETCHCONTENT_BASE_DIR})
+        if (PICO_SDK_FETCH_FROM_GIT_PATH)
+            get_filename_component(FETCHCONTENT_BASE_DIR "${PICO_SDK_FETCH_FROM_GIT_PATH}" REALPATH BASE_DIR "${CMAKE_SOURCE_DIR}")
+        endif ()
+        # GIT_SUBMODULES_RECURSE was added in 3.17
+        if (${CMAKE_VERSION} VERSION_GREATER_EQUAL "3.17.0")
+            FetchContent_Declare(
+                    pico_sdk
+                    GIT_REPOSITORY https://github.com/raspberrypi/pico-sdk
+                    GIT_TAG master
+                    GIT_SUBMODULES_RECURSE FALSE
+            )
+        else ()
+            FetchContent_Declare(
+                    pico_sdk
+                    GIT_REPOSITORY https://github.com/raspberrypi/pico-sdk
+                    GIT_TAG master
+            )
+        endif ()
+
+        if (NOT pico_sdk)
+            message("Downloading Raspberry Pi Pico SDK")
+            FetchContent_Populate(pico_sdk)
+            set(PICO_SDK_PATH ${pico_sdk_SOURCE_DIR})
+        endif ()
+        set(FETCHCONTENT_BASE_DIR ${FETCHCONTENT_BASE_DIR_SAVE})
+    else ()
+        message(FATAL_ERROR
+                "SDK location was not specified. Please set PICO_SDK_PATH or set PICO_SDK_FETCH_FROM_GIT to on to fetch from git."
+                )
+    endif ()
+endif ()
+
+get_filename_component(PICO_SDK_PATH "${PICO_SDK_PATH}" REALPATH BASE_DIR "${CMAKE_BINARY_DIR}")
+if (NOT EXISTS ${PICO_SDK_PATH})
+    message(FATAL_ERROR "Directory '${PICO_SDK_PATH}' not found")
+endif ()
+
+set(PICO_SDK_INIT_CMAKE_FILE ${PICO_SDK_PATH}/pico_sdk_init.cmake)
+if (NOT EXISTS ${PICO_SDK_INIT_CMAKE_FILE})
+    message(FATAL_ERROR "Directory '${PICO_SDK_PATH}' does not appear to contain the Raspberry Pi Pico SDK")
+endif ()
+
+set(PICO_SDK_PATH ${PICO_SDK_PATH} CACHE PATH "Path to the Raspberry Pi Pico SDK" FORCE)
+
+include(${PICO_SDK_INIT_CMAKE_FILE})

lib/ublox-MX-Pico/examples/poll_data.cpp

@@ -0,0 +1,47 @@
+#include "../ublox_mx.hpp"
+#include "tusb.h"
+
+#define I2C_PORT i2c0
+#define I2C_SDA 12
+#define I2C_SCL 13
+
+GNSS gps(I2C_PORT);
+
+int main() {
+    stdio_init_all();
+
+    i2c_init(I2C_PORT, 400 * 1000);
+    gpio_set_function(I2C_SDA, GPIO_FUNC_I2C);
+    gpio_set_function(I2C_SCL, GPIO_FUNC_I2C);
+
+    gpio_pull_up(I2C_SDA);
+    gpio_pull_up(I2C_SCL);
+
+    while (!tud_cdc_connected()) {
+        sleep_ms(500);
+    }
+    printf("Connected\n");
+
+    if (gps.begin()) {
+        printf("Init successful\n");
+    } else {
+        printf("Init failed\n");
+        return 1;
+    }
+
+    // gps.disable_message();
+    sleep_ms(100);
+    // gps.send_config_msg(0);
+
+    gnss_data_t data = {0};
+
+    while (true) {
+        if (gps.read_data(&data)) {
+            printf("UTC Time: %d\n", data.utc_time);
+            printf("Latitude: %f\n", data.latitude);
+            printf("Longitude: %f\n", data.longitude);
+            printf("Num Satellites: %d\n", data.num_satellites);
+        }
+        sleep_ms(1000);
+    }
+}

lib/ublox-MX-Pico/format.sh

@@ -0,0 +1,4 @@
+#!/bin/bash
+# Format all C++ source files
+
+clang-format -i ./*.cpp ./*.hpp ./examples/*.cpp

lib/ublox-MX-Pico/ublox_defs.hpp

@@ -0,0 +1,60 @@
+#ifndef UBLOX_DEFS_HPP
+#define UBLOX_DEFS_HPP
+
+// TODO: Change representation of UTC time
+typedef struct {
+    uint32_t utc_time;
+    float latitude;
+    float longitude;
+    float altitude;
+    int num_satellites;
+
+    bool valid;
+} gnss_data_t;
+
+struct UBXFrame {
+    uint8_t sync_1 = 0xB5;
+    uint8_t sync_2 = 0x62;
+    uint8_t msg_class;
+    uint8_t msg_id;
+    uint16_t len;
+    uint8_t *payload;
+    uint8_t ck_a;
+    uint8_t ck_b;
+};
+
+// Ublox classes
+#define UBX_CLASS_ACK (0x05)
+#define UBX_CLASS_CFG (0x06)
+
+// Ublox IDs
+#define UBX_ACK_ACK (0x01)
+#define UBX_ACK_NAK (0x00)
+
+#define UBX_CFG_VALSET (0x8a)
+
+// NMEA message IDs
+#define NMEA_STANDARD_GGA (0x00)
+#define NMEA_STANDARD_GLL (0x01)
+#define NMEA_STANDARD_GSA (0x02)
+#define NMEA_STANDARD_GSV (0x03)
+#define NMEA_STANDARD_RMC (0x04)
+#define NMEA_STANDARD_VTG (0x05)
+
+// Message output configuration
+#define CFG_MSGOUT_NMEA_ID_DTM_I2C (0x209100a6)
+#define CFG_MSGOUT_NMEA_ID_GBS_I2C (0x209100dd)
+#define CFG_MSGOUT_NMEA_ID_GGA_I2C (0x209100ba)
+#define CFG_MSGOUT_NMEA_ID_GLL_I2C (0x209100c9)
+#define CFG_MSGOUT_NMEA_ID_GNS_I2C (0x209100b5)
+#define CFG_MSGOUT_NMEA_ID_GRS_I2C (0x209100ce)
+#define CFG_MSGOUT_NMEA_ID_GSA_I2C (0x209100bf)
+#define CFG_MSGOUT_NMEA_ID_GST_I2C (0x209100d3)
+#define CFG_MSGOUT_NMEA_ID_GSV_I2C (0x209100c4)
+#define CFG_MSGOUT_NMEA_ID_RLM_I2C (0x20910400)
+#define CFG_MSGOUT_NMEA_ID_RMC_I2C (0x209100ab)
+#define CFG_MSGOUT_NMEA_ID_VLW_I2C (0x209100e7)
+#define CFG_MSGOUT_NMEA_ID_VTG_I2C (0x209100b0)
+#define CFG_MSGOUT_NMEA_ID_ZDA_I2C (0x209100d8)
+
+#endif // UBLOX_DEFS_HPP