Fix MPU9250 Mag Offset bugs

Author: Heltec-Aaron-Lee

libraries/SensorBasic/examples/MPU9250/GetMagOffset/GetMagOffset.ino

@@ -1,13 +1,40 @@
-#include <MPU9250_asukiaaa.h>
-
-#ifdef _ESP32_HAL_I2C_H_
-#define SDA_PIN 21
-#define SCL_PIN 22
-#endif
+/* Heltec Automation MPU9520 Sensors test example
+ *
+ * Function:
+ * 9-axis sensor
+ *
+ * Description:
+ *  1.The MPU9250 integrates a 3-axis gyroscope, a 3-axis accelerometer, 
+ * and a 3-axis magnetometer. The output is 16-bit digital.
+ *
+ *  2. Data can be exchanged via the Integrated Circuit Bus (IIC) interface 
+ * and the microcontroller with a transfer rate of up to 400 kHz / s.
+ *
+ *  3. The accelerometer's measurement range is up to ??16g (g is gravitational
+ * acceleration), and the static measurement accuracy is high.
+ *
+ *  4. The magnetometer uses a high-intensity Hall-type sensor for data acquisition. 
+ * The magnetic induction measurement range is ??4800??T, which can be used for auxiliary
+ * measurement of yaw angle.
+ *
+ *  5.The MPU9250's built-in digital motion processor (DMP: Hardware Motion Processor)
+ * hardware acceleration engine integrates nine-axis sensor  data and outputs 
+ * complete 9-axis fusion calculation data to the application.
+ *
+ * HelTec AutoMation, Chengdu, China
+ * www.heltec.org
+ *
+ * this project also realess in GitHub:
+ * https://github.com/HelTecAutomation/ASR650x-Arduino
+ * 
+ * MPU9250 Get Mag Offset original project available here: https://github.com/asukiaaa/MPU9250_asukiaaa
+ */
+
+#include <MPU9250.h>
 
 #define CALIB_SEC 20
 
-MPU9250_asukiaaa mySensor;
+MPU9250 mySensor;
 
 uint8_t sensorId;
 float mDirection, mX, mY, mZ;
@@ -17,12 +44,6 @@ void setup() {
   while(!Serial);
   Serial.println("started");
 
-#ifdef _ESP32_HAL_I2C_H_ // For ESP32
-  Wire.begin(SDA_PIN, SCL_PIN); // SDA, SCL
-#else
-  Wire.begin();
-#endif
-
   mySensor.setWire(&Wire);
   while (mySensor.readId(&sensorId) != 0) {
     Serial.println("Cannot find device to read sensorId");
@@ -38,7 +59,7 @@ void setup() {
   Serial.println("Finished setting offset values.");
 }
 
-void setMagMinMaxAndSetOffset(MPU9250_asukiaaa* sensor, int seconds) {
+void setMagMinMaxAndSetOffset(MPU9250* sensor, int seconds) {
   unsigned long calibStartAt = millis();
   float magX, magXMin, magXMax, magY, magYMin, magYMax, magZ, magZMin, magZMax;
 
@@ -85,4 +106,4 @@ void loop() {
   Serial.println("at " + String(millis()) + "ms");
   Serial.println(""); // Add an empty line
   delay(500);
-}
+}