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/* compass.c
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/* compass.c
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 *
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 *
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 * Software to read from the CMPS03 magnetic compass.
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 * Software to read from the CMPS03 magnetic compass.
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 *
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 *
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 * By Josh Marshall, joshua dot marshall at studentmail dot newcastle dot edu dot au
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 * October 15, 2004.
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 *
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 * Adapted from code for the SP03 speech synthesiser
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 * By Bram Stolk, b.stolk at chello.nl
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 *
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 * Bram Stolk's notes:
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 * In linux, you can do I2C stuff in user-space, if you enable
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 * the device-interface to i2c. You can use plain read() and
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 * write() calls on your /dev/i2c-0 file.
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 *
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 * NOTE: Check if you have an i2c adapter active by doing:
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 * cat /proc/bus/i2c
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 * If this comes up empty, then you have no adapters. If the
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 * file does not exist at all, you probably lack i2c kernel
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 * support alltogether.
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 */
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#include <errno.h>
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#include <errno.h>
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#include <string.h>
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#include <string.h>
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#include <stdio.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <stdlib.h>
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/* Note that the documentation for the compass states its address as 0xC0.
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/* Note that the documentation for the compass states its address as 0xC0.
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 * However, this includes the low bit which specifies read or write.
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 * However, this includes the low bit which specifies read or write.
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 * Linux i2c does not include this bit in this address, so the actual
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 * Linux i2c does not include this bit in this address, so the actual
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 * address is 0xC0 shifted down, 0x60.
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 * address is 0xC0 shifted down, 0x60.
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 */
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 */
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#define CMPS03_ADDR	0x60
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#define CMPS_Addr	(0xC0>>1)
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#define I2C_SLAVE	0x0B	/* Change slave address
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#define I2C_SLAVE	0x0B	/* Change slave address
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/* The important registers on the compass. Internal/test registers omitted. */
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/* The important registers on the compass. Internal/test registers omitted. */
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#define CMPS03_SOFTWARE_REVISION 0x0
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#define CMPS03_SOFTWARE_REVISION 0x0
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#define CMPS03_BEARING_BYTE 0x1
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#define CMPS03_BEARING_BYTE 0x1
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#define CMPS03_BEARING_WORD_HIGH 0x2
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#define CMPS03_BEARING_WORD_HIGH 0x2
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#define CMPS03_BEARING_WORD_LOW 0x3
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#define CMPS03_BEARING_WORD_LOW 0x3
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#define CMPS03_CALIBRATE_CMD 0xF
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#define CMPS03_CALIBRATE_CMD 0xF
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void I2C_addr (int Addr)  // vybere adresu cidla se kterym se bude komunikovat
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{
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    if (ioctl(file, I2C_SLAVE, Addr) == -1)
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    {
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        fprintf(stderr, "Failed to set address to 0x%02x.\n", Addr);
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        exit(-5);
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    }
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}
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int i2c_init()   // zinicializuje i2c
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{
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	file = open("/dev/i2c-0", O_RDWR);
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	if (file < 0)
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	{
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		cerr << "Could not open /dev/i2c-0." << endl;
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		return -1;
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	}
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	return 0;
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}
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unsigned char read_azimut_mag()  // precte azimut z kompasu
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{
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    char Buf[3];      // promena pro manipulaci s i2c
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    I2C_addr(CMPS_Addr);
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    Buf[0]=1;
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    write(file,Buf,1);
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    read(file, Buf,1);
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    return (Buf[0]-SEVER);
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}
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void calib()  // kalibrace kompasu
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{
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    char Buf[3];      // promena pro manipulaci s i2c
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    I2C_addr(CMPS_Addr);
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    Buf[0]=15;
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    Buf[1]=0xFF;
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    write(file,Buf,2);
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}
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int main(int argc, char *argv[]) {
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int main(int argc, char *argv[])
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{
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   char *end;
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   char *end;
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   int res,file;
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   int res,file;
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   int error;
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   int error;
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   char filename[20] ;
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   char filename[20] ;
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   long funcs;
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   long funcs;