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+====== compas2OSC.py ======
+=====  CMPS10 - Tilt Compensated Compass Module =====
+  * [[http://www.robotshop.com/en/devantech-tilt-magnetic-compass.html]]
+  * http://www.hobbytronics.co.uk/cmps10-tilt-compass
+** Registre de 23 bytes :**
+  * 0 	Software version
+  * 1  	Compass Bearing as a byte, i.e. 0-255 for a full circle
+  * 2,3 Compass Bearing as a word, i.e. 0-3599 for a full circle, representing 0-359.9 degrees.
+  * 4  	Pitch angle - signed byte giving angle in degrees from the horizontal plane
+  * 5  	Roll angle - signed byte giving angle in degrees from the horizontal plane
+  * 6,,7,8,9 	Unused
+  * 10,11 Magnetometer X axis raw output, 16 bit signed integer with register 10 being the upper 8 bits
+  * 12,13 Magnetometer Y axis raw output, 16 bit signed integer with register 12 being the upper 8 bits
+  * 14,15 Magnetometer Z axis raw output, 16 bit signed integer with register 14 being the upper 8 bits
+  * 16,17 Accelerometer  X axis raw output, 16 bit signed integer with register 16 being the upper 8 bits
+  * 18,19 Accelerometer  Y axis raw output, 16 bit signed integer with register 18 being the upper 8 bits
+  * 20,21 Accelerometer  Z axis raw output, 16 bit signed integer with register 20 being the upper 8 bits
+  * 22    Command register
+===== HMC6352 =====
+la boussole HMC6352 est sur un bus i2c.
+Donne l'angle au nord en degré dans le sens horaire (heading)
+Mais pas de compensation en fonction de l'inclinaison de la tête !
+d'ou pas d'usage ..
+<code>
+#!/usr/bin/python
+# -*- coding: utf-8 -*-
+import sys,time,liblo
+from smbus import SMBus
+BUS_NUMBER = 2
+IP='127.0.0.1'
+PORT=9001
+ADRS=33 # 0x21 - compass
+osc_path='/pos/compas'
+b = SMBus(BUS_NUMBER) # 0 indicates /dev/i2c-0
+data = {}
+try:
+        target = liblo.Address('127.0.0.1',9001)
+except liblo.AddressError, err:
+        print str(err)
+        sys.exit()
+while True:
+        try:
+                b.write_byte(0x21,0x41) # send 'A' to HMC6352 compass
+                time.sleep(0.02)
+                data_block = b.read_i2c_block_data(0x21,2)
+                heading = (data_block[0] * 2**8 + data_block[1]) / 10
+                time.sleep(0.02)
+#               print('Compas',heading)
+                liblo.send(target, osc_path, heading)
+        except KeyError:
+                pass
+        except KeyboardInterrupt:
+                quit()
+        except StopIteration:
+                session = None
+                print "end"
+        except:
+#               print('echec')
+                continue
+</code>