Reading data from external sensor from MPU using XDA and XCL

Hello everyone,

I am working on a project that requires 2 MPU 6050 and 2 magnetometers. the 2 MPUs have been connected with different addresses (0x68 and 0x69).

the problem is that both of my magnetometers have the same i2c address. so i could connect only one to the primay i2c bus.

for the second i am planning to use the auxiliary i2c bus with the MPU (0x69). but i have no luck so far. reading the register map i could gather few information. but i could not find out the sequence of operations for reading from external sensors.

Anyone here with such experience of successful data extraction from external sensor with mpu6050? can you please provide me a walkthrough or any reference code? it will be much appreciated.