 
 // Counter
 long int cpt=0;
+
+uint8_t Buf[6];
+int16_t ax, ay, az;
+int16_t gx, gy, gz;
+int16_t mx, my, mz;
+uint8_t Mag[7]; 
+
 
 void callback()
 { 

  // Request continuous magnetometer measurements in 16 bits
  I2CwriteByte(MAG_ADDRESS,0x0A,0x16);
  
  pinMode(13, OUTPUT);
  Timer1.initialize(10000);         // initialize timer1, and set a 1/2 second period
  Timer1.attachInterrupt(callback);  // attaches callback() as a timer overflow interrupt
  
  

{
  // Arduino initializations
  Wire.begin();
  Serial.begin(9600);
  
  // Set accelerometers low pass filter at 5Hz
  I2CwriteByte(MPU9250_ADDRESS,29,0x06);
