Line data    Source code

       1           0 : /*
       2             :  * Copyright (c) 2023 Trackunit Corporation
       3             :  *
       4             :  * SPDX-License-Identifier: Apache-2.0
       5             :  */
       6             : 
       7             : #ifndef ZEPHYR_INCLUDE_DATA_NAVIGATION_H_
       8             : #define ZEPHYR_INCLUDE_DATA_NAVIGATION_H_
       9             : 
      10             : #include <zephyr/types.h>
      11             : 
      12             : /**
      13             :  * @brief Navigation utilities
      14             :  * @defgroup navigation Navigation
      15             :  * @ingroup utilities
      16             :  * @{
      17             :  */
      18             : 
      19             : /**
      20             :  * @brief Navigation data structure
      21             :  *
      22             :  * @details The structure describes the momentary navigation details of a
      23             :  * point relative to a sphere (commonly Earth)
      24             :  */
      25           1 : struct navigation_data {
      26             :         /** Latitudal position in nanodegrees (0 to +-180E9) */
      27           1 :         int64_t latitude;
      28             :         /** Longitudal position in nanodegrees (0 to +-180E9) */
      29           1 :         int64_t longitude;
      30             :         /** Bearing angle in millidegrees (0 to 360E3) */
      31           1 :         uint32_t bearing;
      32             :         /** Speed in millimeters per second */
      33           1 :         uint32_t speed;
      34             :         /** Altitude in millimeters */
      35           1 :         int32_t altitude;
      36             : };
      37             : 
      38             : /**
      39             :  * @brief Calculate the distance between two navigation points along the
      40             :  * surface of the sphere they are relative to.
      41             :  *
      42             :  * @param distance Destination for calculated distance in millimeters
      43             :  * @param p1 First navigation point
      44             :  * @param p2 Second navigation point
      45             :  *
      46             :  * @return 0 if successful
      47             :  * @return -EINVAL if either navigation point is invalid
      48             :  */
      49           1 : int navigation_distance(uint64_t *distance, const struct navigation_data *p1,
      50             :                         const struct navigation_data *p2);
      51             : 
      52             : /**
      53             :  * @brief Calculate the bearing from one navigation point to another
      54             :  *
      55             :  * @param bearing Destination for calculated bearing angle in millidegrees
      56             :  * @param from First navigation point
      57             :  * @param to Second navigation point
      58             :  *
      59             :  * @return 0 if successful
      60             :  * @return -EINVAL if either navigation point is invalid
      61             :  */
      62           1 : int navigation_bearing(uint32_t *bearing, const struct navigation_data *from,
      63             :                        const struct navigation_data *to);
      64             : 
      65             : /**
      66             :  * @}
      67             :  */
      68             : 
      69             : #endif /* ZEPHYR_INCLUDE_DATA_NAVIGATION_H_ */