 void setup()
 {
   Serial.begin(38400); // Start serial at 38400 bps
- 
+  
   // Set up interrupt pins as inputs:
   pinMode(INT1XM, INPUT);
   pinMode(INT2XM, INPUT);

float ax, ay, az, gx, gy, gz, mx, my, mz; // variables to hold latest sensor data values 
float q[4] = {1.0f, 0.0f, 0.0f, 0.0f};    // vector to hold quaternion
float eInt[3] = {0.0f, 0.0f, 0.0f};       // vector to hold integral error for Mahony method
float temperature;

double XYZ[3];
double XYZmin[] = {258.758,283.705,140.1667};

    my = dof.calcMag(dof.my);
    mz = dof.calcMag(dof.mz);
    
    //dof.readTemp();
    //temperature = 21.0 + (float) dof.temperature/8.; // slope is 8 LSB per degree C, just guessing at the intercept
  }

  Now = micros();
