ARDUINO - CMPS10 Example

#include <Wire.h> // Use I2C library
#define ADDRESS 0x60 // Address of CMPS10

void setup()
{
  Serial.begin(9600);
  Wire.begin(); // Connect to I2C
}

void loop()
{
  byte byteHigh, byteLow, fine; // byteHigh/byteLow store high and low bytes of the bearing
// fine stores decimal place of bearing
  char pitch, roll; // Stores pitch and roll (signed values)
  int bearing; // Full bearing

  Wire.beginTransmission(ADDRESS); // begin communication with CMPS09
  Wire.write(2); // Start read
  Wire.endTransmission();
  Wire.requestFrom(ADDRESS, 4); // Request 4 bytes from CMPS09
  while(Wire.available() < 4); // Wait for the bytes to arrive
  byteHigh = Wire.read(); // Store values
  byteLow = Wire.read();
  pitch = Wire.read();
  roll = Wire.read();

  bearing = ((byteHigh<<8) + byteLow) / 10; // Calculate full bearing
  fine = ((byteHigh<<8) + byteLow) % 10; // Calculate bearing decimal
  print_data(bearing, fine, pitch, roll); // Print data

//delay(500);
}

void print_data(int bearing, int fine, int pitch, int roll)
{
// Print data to Serial Monitor window
  Serial.print("Bearing=");
  Serial.print(bearing, DEC);
//Serial.print(".");
//Serial.print(fine, DEC);

  Serial.print("\t");
  Serial.print("Pitch=");
  Serial.print(pitch, DEC);

  Serial.print("\t");
  Serial.print("Roll=");
  Serial.print(roll, DEC);
  Serial.println("");
}