#include <Wire.h>

#define ADDRESS 0x60 //defines address of compass

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

void loop(){
  byte highByte;
  byte lowByte;
  
   Wire.beginTransmission(ADDRESS);      //starts communication with cmps03
   Wire.write(2);                         //Sends the register we wish to read
   Wire.endTransmission();

   Wire.requestFrom(ADDRESS, 2);        //requests high byte
   while(Wire.available() < 2);         //while there is a byte to receive
   highByte = Wire.read();           //reads the byte as an integer
   lowByte = Wire.read();
   int bearing = ((highByte<<8)+lowByte)/10; 
   
   Serial.println(bearing);
   delay(100);
}

#include<Wire.h> 
#include <LiquidCrystal.h>
int HMC6352Address = 0x42;
// This is calculated in the setup() function
int slaveAddress;
int ledPin = 13;
int ledPin2 = 2;
int ledPin3 = 3;
int ledPin10 = 10;
boolean ledState = false;
byte headingData[2];
int i, headingValue;
LiquidCrystal lcd(8,9,4,5,6,7);

void setup()
{
// Shift the device's documented slave address (0x42) 1 bit right
// This compensates for how the TWI library only wants the
// 7 most significant bits (with the high bit padded with 0)
slaveAddress = HMC6352Address >> 1;   // This results in 0x21 as the address to pass to TWI
Serial.begin(9600);
pinMode(ledPin, OUTPUT);      // Set the LED pin as output
Wire.begin();
lcd.begin(8,2);
}
void loop()
{
  // Flash the LED on pin 13 just to show that something is happening
  // Also serves as an indication that we're not "stuck" waiting for TWI data
  ledState = !ledState;
  if (ledState) {
    digitalWrite(ledPin,HIGH);
  }
  else
  {
    digitalWrite(ledPin,LOW);
  }
  // Send a "A" command to the HMC6352
  // This requests the current heading data
  Wire.beginTransmission(slaveAddress);
  Wire.write("A");              // The "Get Data" command
  Wire.endTransmission();
  delay(10);                   // The HMC6352 needs at least a 70us (microsecond) delay
  // after this command.  Using 10ms just makes it safe
  // Read the 2 heading bytes, MSB first
  // The resulting 16bit word is the compass heading in 10th's of a degree
  // For example: a heading of 1345 would be 134.5 degrees
  Wire.requestFrom(slaveAddress, 2);        // Request the 2 byte heading (MSB comes first)
  i = 0;
  while(Wire.available() && i < 2)
  { 
    headingData[i] = Wire.read();
    i++;
  }
  headingValue = headingData[0]*256 + headingData[1];  // Put the MSB and LSB together
  int gradi = int(headingValue / 10);
  int fraction = int(headingValue % 10);
  lcd.clear();
  Serial.print("Current heading: ");
  Serial.print(gradi); lcd.print(gradi);    // The whole number part of the heading
  Serial.print("."); lcd.write('.');
  Serial.print(fraction); lcd.print(fraction);    // The fractional part of the heading
  Serial.print(" degrees Direction: "); lcd.print("deg");
  
  lcd.setCursor(1,1);
  if ((gradi >= 337 && gradi <= 359) || (gradi >= 0 && gradi < 22))
    { Serial.println("N"); lcd.print("North");
  digitalWrite(ledPin2, HIGH);
  delay(100);
  digitalWrite(ledPin2, LOW);}
  else if (gradi >= 292 && gradi <= 336)
    { Serial.println("NW"); lcd.print("N-West");
  digitalWrite(ledPin3, HIGH);
  delay(100);
  digitalWrite(ledPin3, LOW);}
  else if (gradi >= 252 && gradi <= 291)
    { Serial.println("W"); lcd.print("West");
  digitalWrite(ledPin10, HIGH);
  delay(100);
  digitalWrite(ledPin10, LOW);}
  else if (gradi >= 207 && gradi <= 251)
    { Serial.println("SW"); lcd.print("S-West");}
  else if (gradi >= 157 && gradi <= 206)
    { Serial.println("S"); lcd.print("South");}
  else if (gradi >= 112 && gradi <= 156)
    { Serial.println("SE"); lcd.print("S-East");}
  else if (gradi >= 67 && gradi <= 111)
    { Serial.println("E"); lcd.print("East");}
  else if (gradi >= 22 && gradi <= 66)
    { Serial.println("NE"); lcd.print("N-East");}
  else
    Serial.println("");
    delay(500);
}