main: Add feature flag for GNSS module

Cargo.toml

@@ -30,16 +30,17 @@ esp = [
   "dep:esp-backtrace",
   "dep:esp-println",
   "dep:esp-radio",
-  "dep:embassy_gps",
 ]
 std = ["c-its-parser/std"]
 
+# enable L67K GNSS module
+gnss = ["dep:embassy_gps"]
 # echo CAM data on serial
 cam = ["c-its-parser/cam"]
 # echo DENM events on serial and BLE
 denm = ["c-its-parser/denm"]
 # evaluate SPAT information
-spat = ["c-its-parser/spatem", "c-its-parser/mapem"]
+spat = ["gnss", "c-its-parser/spatem", "c-its-parser/mapem"]
 # enable some debug printing (without enabling debug logging of the ESP RTOS)
 spat_debug = []
 

Readme.md

@@ -6,11 +6,14 @@ Displays different C-ITS receive-only use cases for cheap.
 The code is currently tailored to:
 - Seeed XIAO ESP32-C5 (8MB PSRAM)
 - Seeed XIAO L67K (connected on GPIO12 (RX), GPIO11 (TX), GPIO1 (wakeup) and GPIO25 (reset))  
-TODO: only enable in `spat` feature?
+only available with `gnss` feature (which is included in `spat` feature)
 - TODO: display (when using `spat` feature)
 
 ## Features
 
+### GNSS
+Enable L67K GNSS module and in main application logic/ state.
+
 ### SPAT
 Takes the current position and heading from the GNSS receiver and displays the signal phases of the upcoming intersection.
 The upcoming intersection is selected when the own position is "inside" some ingress approach of the intersection.

src/applogic/mod.rs

@@ -9,6 +9,7 @@ use alloc::vec::Vec;
 use esp_println::println;
 #[cfg(feature = "spat")]
 use log::{debug, error};
+#[cfg(feature = "gnss")]
 use log::{info, warn};
 
 #[cfg(feature = "spat")]
@@ -39,12 +40,16 @@ const GLOSA_LANE_LEFT_OFFSET_M: f64 = 20.;
 #[cfg(feature = "spat")]
 const GLOSA_STOP_LINE_PASSED_M: f64 = 10.;
 
+#[allow(unused)]
 pub struct State {
     initialized: bool,
     time: chrono::NaiveDateTime,
 
+    #[allow(unused)]
     position: geo_types::Point,
+    #[allow(unused)]
     heading_deg: Option<f32>,
+    #[allow(unused)]
     speed_mps: Option<f32>,
 
     #[cfg(feature = "spat")]
@@ -96,7 +101,7 @@ impl State {
         }
     }
 
-    #[cfg(feature = "esp")]
+    #[cfg(all(feature = "esp", feature = "gnss"))]
     pub fn update_with_gpsfix(&mut self, fix: &embassy_gps::types::GpsFix) {
         self.position = geo_types::Point::new(fix.longitude_deg, fix.latitude_deg);
 
@@ -122,6 +127,7 @@ impl State {
         }
     }
 
+    #[cfg(feature = "gnss")]
     pub fn print_fix(&self) -> alloc::string::String {
         alloc::format!(
             "{:?}, {:.4} N, {:.4} E, {:.0}°, {:.2} m/s",

src/main.rs

@@ -13,6 +13,7 @@ use core::cell::RefCell;
 use critical_section::Mutex;
 use crossbeam_queue::ArrayQueue;
 use embassy_executor::Spawner;
+#[cfg(feature = "gnss")]
 use embassy_gps::gps::l76k;
 use esp_backtrace as _;
 use esp_hal::clock::CpuClock;
@@ -34,6 +35,7 @@ const WIFI_CHANNEL: radio::Channel = 180;
 // For more information see: <https://docs.espressif.com/projects/esp-idf/en/stable/esp32/api-reference/system/app_image_format.html#application-description>
 esp_bootloader_esp_idf::esp_app_desc!();
 
+#[cfg(feature = "gnss")]
 static GNSS_UPDATE: Mutex<RefCell<Option<embassy_gps::types::GpsFix>>> =
     Mutex::new(RefCell::new(None));
 static WIFI_RX_QUEUE: Mutex<RefCell<Option<ArrayQueue<Vec<u8>>>>> = Mutex::new(RefCell::new(None));
@@ -93,6 +95,7 @@ async fn main(spawner: Spawner) -> ! {
     // TX:      D6/ GPIO11
     // WAKEUP:  D0/ GPIO1 -> HIGH for active, LOW for Sleep
     // RESET:   D2/ GPIO25 -> HIGH for normal, LOW for Reset
+    #[cfg(feature = "gnss")]
     spawner.spawn(
         gnss_task(
             peripherals.GPIO1,
@@ -109,6 +112,7 @@ async fn main(spawner: Spawner) -> ! {
     loop {
         embassy_time::Timer::after(embassy_time::Duration::from_millis(5)).await;
 
+        #[cfg(feature = "gnss")]
         critical_section::with(|cs| {
             let gnss_update_ref = GNSS_UPDATE.borrow(cs);
 
@@ -236,6 +240,7 @@ fn handle_frame(frame: wifi::sniffer::PromiscuousPkt<'_>) {
     });
 }
 
+#[cfg(feature = "gnss")]
 #[allow(clippy::large_stack_frames, reason = "GNSS driver needs some space")]
 #[embassy_executor::task]
 async fn gnss_task(