#include <math.h> // For atan2() function
#include <stdint.h>

#ifndef M_PI
#define M_PI 3.14159265358979323846
#endif


// I2C address of HMC5883 magnetometer
#define adresa 0x1E

typedef unsigned char byte;

#define I2C_FREQ 100000UL // I2C bus frequency (100 kHz)
#define I2C_TIMEOUT 1000  // I2C timeout (1 second)


// Function to initialize I2C communication
void wireBegin() {
    // Initialize I2C bus with specified frequency
    // Implementation specific to the hardware
}

// Function to start an I2C transmission to a specified device address
void wireBeginTransmission(uint8_t address) {
    // Start I2C transmission to the specified device address
    // Implementation specific to the hardware
}

// Function to write data to the I2C bus
void wireWrite(uint8_t data) {
    // Write data to the I2C bus
    // Implementation specific to the hardware
}

// Function to end an I2C transmission
void wireEndTransmission() {
    // End I2C transmission
    // Implementation specific to the hardware
}

// Function to request data from an I2C device
void wireRequestFrom(uint8_t address, uint8_t quantity) {
    // Request data from the specified device address
    // Implementation specific to the hardware
}

// Function to read data from the I2C bus
uint8_t wireRead() {
    // Read data from the I2C bus
    // Implementation specific to the hardware

    return 0;
}

// Function to write data to a specific register of HMC5883
void writeRegister(byte reg, byte data) {
    // Begin I2C transmission
    wireBeginTransmission(adresa);
    // Send register address
    wireWrite(reg);
    // Send data
    wireWrite(data);
    // End I2C transmission
    wireEndTransmission();
}

// Function to read data from HMC5883
void readData(int x, int y, int z) {
    // Request 6 bytes of data from HMC5883
    wireBeginTransmission(adresa);
    wireWrite(0x03); // Start reading from register 0x03
    wireEndTransmission();
    wireRequestFrom(adresa, 6); // Request 6 bytes
    // Read 6 bytes of data
    if (wireAvailable() >= 6) {
        x = wireRead() << 8 | wireRead(); // MSB x
        z = wireRead() << 8 | wireRead(); // MSB z
        y = wireRead() << 8 | wireRead(); // MSB y
    }
}

// Declare the baud rate for serial communication
#define BAUD_RATE 9600

// Function to initialize serial communication
void serialBegin(long baudRate) {
    // Code to initialize serial communication with the specified baud rate
}

// Function to send data to serial port
void serialPrint(const char* data) {
    // Code to send data to serial port
}

// Function to send data to serial port
void serialPrintln(const char* data) {
    // Code to send data to serial port
}

void setup() {
    serialBegin(BAUD_RATE);
    wireBegin();
    // Configure HMC5883 to continuously measure
    writeRegister(0x02, 0x00);
}

void loop() {
    int x, y, z; // Variables for x, y, z axis values
    // Read data from HMC5883
    readData(x, y, z);
    // Calculate heading in degrees and add tilt angle
    float heading = atan2(-y, x) / M_PI * 180.0;
    float tiltAngle = 0.052; // Tilt angle in radians
    heading += tiltAngle;

    if (heading < 0) {
        heading += 360;
    }

    if (heading > 360) {
        heading -= 360;
    }

    // Print values
    serialPrint("X axis: ");
    serialPrintln(x);
    serialPrint("Y axis: ");
    serialPrintln(y);
    serialPrint("Z axis: ");