Fifo and slave - how to?

Hi everybody!

For my thesis in step recognisition i am using the MPU6050 and the HMC5883L magnetometer. To get a higher rate of readings i want to abord the method of bypassing the MPU when reading the magnetometer. I want to push data in the FIFO-bufffer, then read everything (acc, mag and gyro) from there via I²C. No DMP or anything is used, Matlab takes care of every calculation later.

My problem: I dont know how to configure this fifo-from-external-sensor-setup. Perhaps i swapped some instrucions, because nowhere i can find the right order/instructions. Only disabling the master mode and the enabling the bypass to configure the magnetometer worked so far in my program (language: C).

Thanks for your help!
Michael