diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt
index 430c18e..5664404 100644
--- a/examples/CMakeLists.txt
+++ b/examples/CMakeLists.txt
@@ -1,9 +1,9 @@
-add_executable (readi2c readi2c.cpp)
+add_executable (i2c_HMC5883L i2c_HMC5883L.cpp)
 add_executable (hellomaa hellomaa.cpp)
 add_executable (cycle-pwm3 cycle-pwm3.cpp)
 
 include_directories(${PROJECT_SOURCE_DIR}/api ${PROJECT_SOURCE_DIR}/include)
 
 target_link_libraries (hellomaa maa)
-target_link_libraries (readi2c maa)
+target_link_libraries (i2c_HMC5883L maa)
 target_link_libraries (cycle-pwm3 maa)
diff --git a/examples/i2c_HMC5883L.cpp b/examples/i2c_HMC5883L.cpp
new file mode 100644
index 0000000..a6dee12
--- /dev/null
+++ b/examples/i2c_HMC5883L.cpp
@@ -0,0 +1,94 @@
+#include "maa.h"
+#include "math.h"
+
+#define MAX_BUFFER_LENGTH 6
+#define HMC5883L_I2C_ADDR 0x1E
+
+//configuration registers
+#define HMC5883L_CONF_REG_A 0x00
+#define HMC5883L_CONF_REG_B 0x01
+
+//mode register
+#define HMC5883L_MODE_REG 0x02
+
+//data register
+#define HMC5883L_X_MSB_REG 0
+#define HMC5883L_X_LSB_REG 1
+#define HMC5883L_Z_MSB_REG 2
+#define HMC5883L_Z_LSB_REG 3
+#define HMC5883L_Y_MSB_REG 4
+#define HMC5883L_Y_LSB_REG 5
+#define DATA_REG_SIZE 6
+
+//status register
+#define HMC5883L_STATUS_REG 0x09
+
+//ID registers
+#define HMC5883L_ID_A_REG 0x0A
+#define HMC5883L_ID_B_REG 0x0B
+#define HMC5883L_ID_C_REG 0x0C
+
+#define HMC5883L_CONT_MODE 0x00
+#define HMC5883L_DATA_REG 0x03
+
+//scales
+#define GA_0_88_REG 0x00 << 5
+#define GA_1_3_REG 0x01 << 5
+#define GA_1_9_REG 0x02 << 5
+#define GA_2_5_REG 0x03 << 5
+#define GA_4_0_REG 0x04 << 5
+#define GA_4_7_REG 0x05 << 5
+#define GA_5_6_REG 0x06 << 5
+#define GA_8_1_REG 0x07 << 5
+
+//digital resolutions
+#define SCALE_0_73_MG 0.73
+#define SCALE_0_92_MG 0.92
+#define SCALE_1_22_MG 1.22
+#define SCALE_1_52_MG 1.52
+#define SCALE_2_27_MG 2.27
+#define SCALE_2_56_MG 2.56
+#define SCALE_3_03_MG 3.03
+#define SCALE_4_35_MG 4.35
+
+int
+main ()
+{
+  float direction = 0;
+  int16_t x = 0, y = 0, z = 0;
+  char rx_tx_buf[MAX_BUFFER_LENGTH];
+
+  maa::I2CSlave i2c(26, 27);
+
+  i2c.address(HMC5883L_I2C_ADDR);
+  rx_tx_buf[0] = HMC5883L_CONF_REG_B;
+  rx_tx_buf[1] = GA_1_3_REG;
+  i2c.write(rx_tx_buf, 2);
+
+  i2c.address(HMC5883L_I2C_ADDR);
+  rx_tx_buf[0] = HMC5883L_MODE_REG;
+  rx_tx_buf[1] = HMC5883L_CONT_MODE;
+  i2c.write(rx_tx_buf, 2);
+
+  for(;;) {
+    i2c.address(HMC5883L_I2C_ADDR);
+    i2c.write(HMC5883L_DATA_REG);
+
+    i2c.address(HMC5883L_I2C_ADDR);
+    i2c.read(rx_tx_buf, DATA_REG_SIZE);
+
+    x = (rx_tx_buf[HMC5883L_X_MSB_REG] << 8 ) | rx_tx_buf[HMC5883L_X_LSB_REG] ;
+    z = (rx_tx_buf[HMC5883L_Z_MSB_REG] << 8 ) | rx_tx_buf[HMC5883L_Z_LSB_REG] ;
+    y = (rx_tx_buf[HMC5883L_Y_MSB_REG] << 8 ) | rx_tx_buf[HMC5883L_Y_LSB_REG] ;
+
+    //scale and calculate direction
+    direction = atan2(y * SCALE_0_92_MG, x * SCALE_0_92_MG);
+
+    //check if the signs are reversed
+    if (direction < 0)
+      direction += 2 * M_PI;
+
+    printf("Compass scaled data x : %f, y : %f, z : %f\n", x * SCALE_0_92_MG, y * SCALE_0_92_MG, z * SCALE_0_92_MG) ;
+    printf("Heading : %f\n", direction * 180/M_PI) ;
+  }
+}
diff --git a/examples/readi2c.cpp b/examples/readi2c.cpp
deleted file mode 100644
index 5ab7b01..0000000
--- a/examples/readi2c.cpp
+++ /dev/null
@@ -1,14 +0,0 @@
-#include "maa.h"
-
-int
-main ()
-{
-  maa::I2CSlave i2c(26, 27);
-
-  int addr = 0x62;
-  i2c.address(addr);
-
-  char data[2];
-  int ret = i2c.read(data, 2);
-  return ret;
-}