How to connect MPU 6050 and HMC 5883L to i2c bus?

Other Hardware Sensors
1

I'm trying to connect the MPU 6050 module and HMC 5883L module for my IMU of the Autonomous Car. But there is one i2c connection in Nano (A4, A5). When I run the code for MPU 6050, it shows the results. the code is here.

#include <MPU6050_tockn.h>
#include <Wire.h>

MPU6050 mpu6050(Wire);

void setup() {
 Serial.begin(9600);
 Wire.begin();
 mpu6050.begin();
 mpu6050.calcGyroOffsets(true);
}

void loop() {
mpu6050.update();
Serial.print("angleX : ");
Serial.print(mpu6050.getAngleX());
Serial.print("\tangleY : ");
Serial.print(mpu6050.getAngleY());
Serial.print("\tangleZ : ");
Serial.println(mpu6050.getAngleZ());
}

But when I run the Magnetometer Code, it doesn't give the data.

#include <Wire.h>
#include <DFRobot_QMC5883.h>

DFRobot_QMC5883 compass;

void setup()
{
Serial.begin(115200);
while (!compass.begin())
{
Serial.println("Could not find a valid QMC5883 sensor, check wiring!");
  delay(500);
}

if(compass.isHMC()){
    Serial.println("Initialize HMC5883");
    compass.setRange(HMC5883L_RANGE_1_3GA);
    compass.setMeasurementMode(HMC5883L_CONTINOUS);
    compass.setDataRate(HMC5883L_DATARATE_15HZ);
    compass.setSamples(HMC5883L_SAMPLES_8);
}
  else if(compass.isQMC()){
    Serial.println("Initialize QMC5883");
    compass.setRange(QMC5883_RANGE_2GA);
    compass.setMeasurementMode(QMC5883_CONTINOUS); 
    compass.setDataRate(QMC5883_DATARATE_50HZ);
    compass.setSamples(QMC5883_SAMPLES_8);
   }
  }
void loop()
{
 Vector norm = compass.readNormalize();

 float heading = atan2(norm.YAxis, norm.XAxis);
 float declinationAngle = (4.0 + (26.0 / 60.0)) / (180 / PI);
 heading += declinationAngle;

 if (heading < 0){
 heading += 2 * PI;
 }

 if (heading > 2 * PI){
 heading -= 2 * PI;
 }

 // Convert to degrees
 float headingDegrees = heading * 180/M_PI; 

 // Output
 Serial.print(" Heading = ");
 Serial.print(heading);
 Serial.print(" Degress = ");
 Serial.print(headingDegrees);
 Serial.println();

 delay(100);
 }

Circuit diagram

IMG_20220123_113258-min
IMG_20220123_113258-min1920×2567 158 KB

I have already scan i2c. but only one device is shown.

2

Connect them in parallel. I2C is a bus, intended for several devices in parallel. The schematic does not show power and ground connections.

Logic level shifters are required to connect a 5V Arduino to 3.3V sensors.