File content as of revision 2:e09ad9c1f751:

#include "CMPS03.h"

CMPS03::CMPS03(PinName pwm, PinName sda, PinName scl, int address) : _boussole(pwm)
{
    _boussole.rise(callback(this, &CMPS03::rise));
    _boussole.fall(callback(this, &CMPS03::fall));
    _tim.start();
    _i2c = new I2C(sda, scl);
    //Compass designed to work at 100KHz. See datasheet for details.
    _i2c->frequency(100000);
    _i2cAddress = address;
}

char CMPS03::readSoftwareRevision(void)
{

    char registerNumber   = SOFTWARE_REVISION_REG;
    char registerContents = 0;

    //First, send the number of register we wish to read,
    //in this case, command register, number 0.
    _i2c->write(_i2cAddress, &registerNumber, 1);

    //Now, read one byte, which will be the contents of the command register.
    _i2c->read(_i2cAddress, &registerContents, 1);

    return registerContents;

}

double CMPS03::readBearing(void)
{

    char registerNumber = COMPASS_BEARING_WORD_REG;
    char registerContents[2] = {0x00, 0x00};

    //First, send the number of register we wish to read,
    //in this case, register numbers 2, 3, which hold the
    //compass bearing as a 16-bit word.
    _i2c->write(_i2cAddress, &registerNumber, 1);

    //Now read two bytes which will be the contents of
    //these registers.
    _i2c->read(_i2cAddress, registerContents, 2);

    //Register 2 [read first], was the high byte, followed by
    //register 3 [read second], which was the low byte.
    double _i2cbearing = (((int)registerContents[0] << 8) | ((int)registerContents[1]))/10.0;

    return _i2cbearing;

}

void CMPS03::rise(void)
{
    _startTime = _tim.read_us();
}

void CMPS03::fall(void)
{

    _stopTime = _tim.read_us();
    _pwmBearing = (_stopTime - _startTime)/100.0;
}


double CMPS03::getBearing(void)
{
    return _pwmBearing;
}

CMPS03::operator double() {
    return _pwmBearing;
}