Remove L67K GNSS support

The driver for the L67K GNSS is really flaky and causes performance issues.
So just remove it to not spread false hope.

Cargo.lock

@@ -624,21 +624,6 @@ dependencies = [
  "heapless 0.9.2",
 ]
 
-[[package]]
-name = "embassy_gps"
-version = "0.1.0"
-source = "git+https://github.com/jbeyerstedt/embassy_gps.git?branch=feat%2Frework-gpsfix#75f1a67a69372234330c0c9618a953c415380b99"
-dependencies = [
- "chrono",
- "embassy-futures",
- "embassy-time",
- "embedded-io-async 0.7.0",
- "esp-hal",
- "heapless 0.9.2",
- "log",
- "nmea",
-]
-
 [[package]]
 name = "embedded-can"
 version = "0.4.1"
@@ -1194,7 +1179,6 @@ dependencies = [
  "embassy-futures",
  "embassy-sync 0.7.2",
  "embassy-time",
- "embassy_gps",
  "embedded-graphics",
  "embedded-hal-bus",
  "embedded-io 0.7.1",
@@ -1782,20 +1766,6 @@ version = "1.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "8d5439c4ad607c3c23abf66de8c8bf57ba8adcd1f129e699851a6e43935d339d"
 
-[[package]]
-name = "nmea"
-version = "0.7.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2086c773d18da556c05ca235596d163c00379027189bafe2209ae40ebd19717c"
-dependencies = [
- "arrayvec",
- "cfg-if",
- "chrono",
- "heapless 0.8.0",
- "nom",
- "num-traits",
-]
-
 [[package]]
 name = "nom"
 version = "7.1.3"

Cargo.toml

@@ -40,8 +40,6 @@ std = ["c-its-parser/std", "esp32-cits-core/std"]
 
 # enable u-blox GNSS module
 gnss_ubx = ["_gnss", "_uart", "dep:ublox"]
-# enable L67K GNSS module
-gnss_l67k = ["_gnss", "dep:embassy_gps"]
 # echo CAM data on serial
 cam = ["c-its-parser/cam"]
 # send CAM autonomously
@@ -105,7 +103,6 @@ esp-radio = { version = "0.18.0", optional = true, features = [
 trouble-host = { version = "0.6.0", features = ["gatt", "central", "derive", "default-packet-pool"] }
 static_cell = "2"
 
-embassy_gps = { version = "0.1.0", optional = true, default-features = false, features = ["esp", "log-04"], git = "https://github.com/jbeyerstedt/embassy_gps.git", branch = "feat/rework-gpsfix" }
 esp32-cits-core = { version = "0.1.0", default-features = false, git = "https://git.hamburg.ccc.de/jtbx/esp32-cits-core", branch = "main" }
 embedded-hal-bus = { version = "0.3.0", optional = true }
 embedded-graphics = { version = "0.8.2", optional = true }

Readme.md

@@ -6,15 +6,14 @@ Displays different C-ITS receive-only use cases for cheap.
 The code is currently tailored to:
 - Seeed XIAO ESP32-C5 (8MB PSRAM)
 - U-Blox M10Q GNSS (connected on GPIO12 (RX), GPIO11 (TX), and GPIO25 (reset))  
-or Seeed XIAO L67K (connected on GPIO12 (RX), GPIO11 (TX), GPIO1 (wakeup) and GPIO25 (reset))  
-only available with `gnss_ubx` or `gnss_l67k` feature (which is included in `spat` feature)
+only available with `gnss_ubx` feature (which is included in `spat` feature)
 - Some ST7789 240*280px screen (connected on GPIO8 (SCL/ SCK), GPIO10 (SDA/ MOSI), GPIO7 (reset), GPIO23 (DC), GPIO24 (CS), GPIO0 (BL))  
 only available with `screen` feature (which is included in `spat` feature)
 
 ## Features
 
 ### GNSS
-Enable u-blox or L67K GNSS module and in main application logic/ state.
+Enable u-blox 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.

src/main.rs

@@ -8,16 +8,11 @@
 // #![deny(clippy::large_stack_frames)]
 
 // we can't use UART I/O and GNSS at the same time
-#[cfg(all(feature = "uart", feature = "gnss_ubx", feature = "gnss_l67k"))]
-compile_error!(
-    "feature \"uart\" and features \"gnss_ubx\" or \"gnss_l67k\" cannot be enabled at the same time"
-);
+#[cfg(all(feature = "uart", feature = "gnss_ubx"))]
+compile_error!("feature \"uart\" and feature \"gnss_ubx\" cannot be enabled at the same time");
 // autonomous CAM generation need a time and position source (aka _gnss)
 #[cfg(all(feature = "cam_tx", not(feature = "_gnss")))]
 compile_error!("feature \"cam_tx\" needs a time and position source (either GNSS or UART)");
-// we can't have both GNSS drivers enabled at the same time
-#[cfg(all(feature = "gnss_ubx", feature = "gnss_l67k"))]
-compile_error!("feature \"gnss_ubx\" and feature \"gnss_l67k\" cannot be enabled at the same time");
 // at least one V2X feature needs to be enabled
 #[cfg(not(any(feature = "spat", feature = "cam", feature = "denm")))]
 compile_error!("at least one V2X feature (\"spat\", \"cam\" or \"denm\") needs to be enabled");
@@ -34,8 +29,6 @@ use c_its_parser::standards::extensions::ItsStationType;
 use critical_section::Mutex;
 use crossbeam_queue::ArrayQueue;
 use embassy_executor::Spawner;
-#[cfg(feature = "gnss_l67k")]
-use embassy_gps::gps::l76k;
 use esp_backtrace as _;
 use esp_hal::clock::CpuClock;
 use esp_hal::timer::timg::TimerGroup;
@@ -222,24 +215,6 @@ async fn main(spawner: Spawner) -> ! {
         spawner.spawn(ble::run(controller).expect("Failed to spawn BLE task"));
     }
 
-    // Setup GNSS:
-    // Seeed XIAO L67K:
-    // RX:      D7/ GPIO12
-    // TX:      D6/ GPIO11
-    // WAKEUP:  D0/ GPIO1 -> HIGH for active, LOW for Sleep
-    // RESET:   D2/ GPIO25 -> HIGH for normal, LOW for Reset
-    #[cfg(feature = "gnss_l67k")]
-    spawner.spawn(
-        gnss_l67k_task(
-            peripherals.GPIO1,
-            peripherals.GPIO25,
-            peripherals.UART0,
-            peripherals.GPIO12,
-            peripherals.GPIO11,
-        )
-        .expect("Failed to spawn GNSS task"),
-    );
-
     // U-Blox module:
     // RX:      D7/ GPIO12
     // TX:      D6/ GPIO11
@@ -760,59 +735,6 @@ fn get_its_header<'p>(
     }
 }
 
-#[cfg(feature = "gnss_l67k")]
-#[allow(clippy::large_stack_frames, reason = "GNSS driver needs some space")]
-#[embassy_executor::task]
-async fn gnss_l67k_task(
-    gps_wakeup: esp_hal::peripherals::GPIO1<'static>,
-    gps_reset: esp_hal::peripherals::GPIO25<'static>,
-    uart: esp_hal::peripherals::UART0<'static>,
-    uart_rx: esp_hal::peripherals::GPIO12<'static>,
-    uart_tx: esp_hal::peripherals::GPIO11<'static>,
-) {
-    use embassy_gps::gps::GpsFsm;
-
-    let mut gps = l76k::esp::L76kFsm::new_sep(
-        l76k::esp::GpsHw {
-            reinit: gps_reset,
-            standby: gps_wakeup,
-        },
-        || {
-            esp_hal::uart::Uart::new(uart, esp_hal::uart::Config::default().with_baudrate(9600))
-                .expect("Failed to create UART for GNSS")
-                .with_rx(uart_rx)
-                .with_tx(uart_tx)
-                .into_async()
-        },
-    )
-    .await;
-
-    let mut fix_drop_message = false;
-    loop {
-        if let Ok(Some(embassy_gps::types::GpsEvent::Fix(fix))) = gps.step().await {
-            // drop every second message as we always get each fix twice
-            fix_drop_message = !fix_drop_message;
-            if fix_drop_message {
-                // send to main thread
-                let pos_state = applogic::GnssFix {
-                    time: fix.get_timestamp(),
-                    latitude_deg: fix.latitude_deg,
-                    longitude_deg: fix.longitude_deg,
-                    heading_deg: fix.true_course_deg,
-                    speed_mps: fix.speed_over_ground,
-                };
-
-                critical_section::with(|cs| {
-                    let gnss_update_ref = GNSS_UPDATE.borrow(cs);
-                    gnss_update_ref.replace(Some(pos_state));
-                });
-            }
-        } else {
-            // FSM will recover automatically from errors and ignore other event types
-        }
-    }
-}
-
 #[cfg(feature = "gnss_ubx")]
 #[embassy_executor::task]
 async fn gnss_ubx_config(reset_pin: esp_hal::peripherals::GPIO25<'static>) {