fix: 修正限幅函数返回值类型错误问题

硬件上更换为 16MHz 的外部晶振，将PLL输入源更改为二分频之后的HSE，后续倍频系数不变（仅更改了144MHz下的配置）

app/by_buzzer.c

@@ -3,8 +3,10 @@
 #include <string.h>
 #include "zf_common_headfile.h"
 
-#define BUZZER_QUEUE_LENGTH 40
+#define BUZZER_TIME         (100) // 蜂鸣器音节长度
+#define BUZZER_QUEUE_LENGTH (40)
 
+uint32_t time_out   = 0;
 uint16_t queue_long = 0;
 uint32_t a[40]      = {0};
 
@@ -23,7 +25,7 @@ void queue_add_element(int element)
 }
 void queue_pop_element(void)
 {
-    memmove(a, &a[1], (queue_long - 1) * sizeof(a[0]));
+    memmove(a, &a[1], (queue_long - 1) * sizeof(a[0])); // FIXME 强迫症震怒，仅移动，未清除原位置上的值
     if (queue_long > 0) {
         queue_long--;
     }
@@ -51,6 +53,7 @@ void by_buzzer_init(void)
     by_buzzer_add(1500);
 }
 
+// TODO 异步写入问题，不可重入
 void by_buzzer_add(uint16_t tone)
 {
     queue_add_element(tone);
@@ -58,10 +61,19 @@ void by_buzzer_add(uint16_t tone)
 
 void by_buzzer_run(void)
 {
-    if (queue_long != 0) {
+    if (queue_long > 0) {
+
+        if (0 == time_out) {
             pwm_init(BUZZER_PIN, a[0], 5000);
             queue_pop_element();
-        system_delay_ms(100);
+            time_out = BUZZER_TIME;
+        }
+    } else {
+        if (0 == time_out)
             pwm_set_duty(BUZZER_PIN, 0);
     }
+
+    if (time_out) {
+        time_out--;
+    }
 }

app/by_fan_control.c

@@ -3,25 +3,39 @@
 #include "zf_common_headfile.h"
 #include "jj_blueteeth.h"
 
-#define FAN_LL_PWM_PIN TIM8_PWM_MAP0_CH1_C6  // 左升力风扇
-#define FAN_RL_PWM_PIN TIM8_PWM_MAP0_CH2_C7  // 右升力风扇
-#define FAN_LS_PWM_PIN TIM4_PWM_MAP1_CH4_D15 // 左侧动力风扇
-#define FAN_RS_PWM_PIN TIM4_PWM_MAP1_CH3_D14 // 右侧动力风扇
-#define FAN_LB_PWM_PIN TIM4_PWM_MAP1_CH2_D13 // 左后动力风扇
-#define FAN_RB_PWM_PIN TIM4_PWM_MAP1_CH1_D12 // 右后动力风扇
+#define FAN_LL_PWM_PIN TIM8_PWM_MAP1_CH1_B6 // 左升力风扇
+#define FAN_RL_PWM_PIN TIM8_PWM_MAP1_CH2_B7 // 右升力风扇
+// M4
+#define FAN_LS_PWM_A_PIN TIM10_PWM_MAP3_CH1_D1 // 左侧动力风扇
+#define FAN_LS_PWM_B_PIN TIM10_PWM_MAP3_CH2_D3 // 左侧动力风扇
+// M1
+#define FAN_RS_PWM_A_PIN TIM4_PWM_MAP1_CH1_D12 // 右侧动力风扇
+#define FAN_RS_PWM_B_PIN TIM4_PWM_MAP1_CH2_D13 // 右侧动力风扇
+// M3
+#define FAN_LB_PWM_A_PIN TIM10_PWM_MAP3_CH3_D5 // 左后动力风扇
+#define FAN_LB_PWM_B_PIN TIM10_PWM_MAP3_CH4_D7 // 左后动力风扇
+// M2
+#define FAN_RB_PWM_A_PIN TIM4_PWM_MAP1_CH3_D14 // 右后动力风扇
+#define FAN_RB_PWM_B_PIN TIM4_PWM_MAP1_CH4_D15 // 右后动力风扇
 
-uint32_t pwm_duty_ls_g;
-uint32_t pwm_duty_rs_g;
-uint32_t pwm_duty_lb_g;
-uint32_t pwm_duty_rb_g;
+int32_t pwm_duty_ls_g;
+int32_t pwm_duty_rs_g;
+int32_t pwm_duty_lb_g;
+int32_t pwm_duty_rb_g;
 
-static uint32_t myclip(uint32_t x, uint32_t low, uint32_t up)
+inline static uint32_t clip_u32(uint32_t x, uint32_t low, uint32_t up)
 {
     return (x > up ? up : x < low ? low
                                   : x);
 }
 
-static float myclip_f(float x, float low, float up)
+inline static int32_t clip_s32(int32_t x, int32_t low, int32_t up)
+{
+    return (x > up ? up : x < low ? low
+                                  : x);
+}
+
+inline static float clip_f32(float x, float low, float up)
 {
     return (x > up ? up : x < low ? low
                                   : x);
@@ -32,10 +46,43 @@ void by_pwm_init(void)
     pwm_init(FAN_LL_PWM_PIN, 50, 500);
     pwm_init(FAN_RL_PWM_PIN, 50, 500);
 
-    pwm_init(FAN_LS_PWM_PIN, 4000, 0);
-    pwm_init(FAN_RS_PWM_PIN, 4000, 0);
-    pwm_init(FAN_LB_PWM_PIN, 4000, 0);
-    pwm_init(FAN_RB_PWM_PIN, 4000, 0);
+    // 测试鸣叫
+    pwm_init(FAN_LS_PWM_A_PIN, 1500, 100);
+    pwm_init(FAN_LS_PWM_B_PIN, 4000, 0);
+    pwm_init(FAN_RS_PWM_A_PIN, 1500, 100);
+    pwm_init(FAN_RS_PWM_B_PIN, 4000, 0);
+    pwm_init(FAN_LB_PWM_A_PIN, 1500, 100);
+    pwm_init(FAN_LB_PWM_B_PIN, 4000, 0);
+    pwm_init(FAN_RB_PWM_A_PIN, 1500, 100);
+    pwm_init(FAN_RB_PWM_B_PIN, 4000, 0);
+    system_delay_ms(300);
+    pwm_init(FAN_LS_PWM_A_PIN, 2000, 100);
+    pwm_init(FAN_LS_PWM_B_PIN, 4000, 0);
+    pwm_init(FAN_RS_PWM_A_PIN, 2000, 100);
+    pwm_init(FAN_RS_PWM_B_PIN, 4000, 0);
+    pwm_init(FAN_LB_PWM_A_PIN, 2000, 100);
+    pwm_init(FAN_LB_PWM_B_PIN, 4000, 0);
+    pwm_init(FAN_RB_PWM_A_PIN, 2000, 100);
+    pwm_init(FAN_RB_PWM_B_PIN, 4000, 0);
+    system_delay_ms(300);
+    pwm_init(FAN_LS_PWM_A_PIN, 2500, 100);
+    pwm_init(FAN_LS_PWM_B_PIN, 4000, 0);
+    pwm_init(FAN_RS_PWM_A_PIN, 2500, 100);
+    pwm_init(FAN_RS_PWM_B_PIN, 4000, 0);
+    pwm_init(FAN_LB_PWM_A_PIN, 2500, 100);
+    pwm_init(FAN_LB_PWM_B_PIN, 4000, 0);
+    pwm_init(FAN_RB_PWM_A_PIN, 2500, 100);
+    pwm_init(FAN_RB_PWM_B_PIN, 4000, 0);
+    system_delay_ms(300);
+
+    pwm_init(FAN_LS_PWM_A_PIN, 4000, 0);
+    pwm_init(FAN_LS_PWM_B_PIN, 4000, 0);
+    pwm_init(FAN_RS_PWM_A_PIN, 4000, 0);
+    pwm_init(FAN_RS_PWM_B_PIN, 4000, 0);
+    pwm_init(FAN_LB_PWM_A_PIN, 4000, 0);
+    pwm_init(FAN_LB_PWM_B_PIN, 4000, 0);
+    pwm_init(FAN_RB_PWM_A_PIN, 4000, 0);
+    pwm_init(FAN_RB_PWM_B_PIN, 4000, 0);
     // system_delay_ms(3000);
     // // pwm_init(FAN_LS_PWM_PIN, 50, 1000); // 动力风扇左 1
     // // pwm_init(FAN_RS_PWM_PIN, 50, 1000); // 动力风扇右 1
@@ -57,8 +104,8 @@ void by_pwm_init(void)
  */
 void by_pwm_update_duty(uint32_t update_pwm_duty1, uint32_t update_pwm_duty2)
 {
-    update_pwm_duty1 = myclip(update_pwm_duty1, 500, 1000);
-    update_pwm_duty2 = myclip(update_pwm_duty2, 500, 1000);
+    update_pwm_duty1 = clip_u32(update_pwm_duty1, 500, 1000);
+    update_pwm_duty2 = clip_u32(update_pwm_duty2, 500, 1000);
     pwm_set_duty(FAN_LL_PWM_PIN, update_pwm_duty1);
     pwm_set_duty(FAN_RL_PWM_PIN, update_pwm_duty2);
 }
@@ -71,19 +118,47 @@ void by_pwm_update_duty(uint32_t update_pwm_duty1, uint32_t update_pwm_duty2)
  * @param pwm_duty_lb
  * @param pwm_duty_rb
  */
-void by_pwm_power_duty(uint32_t pwm_duty_ls, uint32_t pwm_duty_rs, uint32_t pwm_duty_lb, uint32_t pwm_duty_rb)
+void by_pwm_power_duty(int32_t pwm_duty_ls, int32_t pwm_duty_rs, int32_t pwm_duty_lb, int32_t pwm_duty_rb)
 {
-    pwm_duty_ls = myclip(pwm_duty_ls, 0, 8000);
-    pwm_duty_rs = myclip(pwm_duty_rs, 0, 8000);
-    pwm_duty_lb = myclip(pwm_duty_lb, 0, 8000);
-    pwm_duty_rb = myclip(pwm_duty_rb, 0, 8000);
+    pwm_duty_ls = clip_s32(pwm_duty_ls, 0, 8000);
+    pwm_duty_rs = clip_s32(pwm_duty_rs, 0, 8000);
+    pwm_duty_lb = clip_s32(pwm_duty_lb, 0, 8000);
+    pwm_duty_rb = clip_s32(pwm_duty_rb, 0, 8000);
 
     pwm_duty_ls_g = pwm_duty_ls;
     pwm_duty_rs_g = pwm_duty_rs;
     pwm_duty_lb_g = pwm_duty_lb;
     pwm_duty_rb_g = pwm_duty_rb;
-    pwm_set_duty(FAN_LS_PWM_PIN, pwm_duty_ls);
-    pwm_set_duty(FAN_RS_PWM_PIN, pwm_duty_rs);
-    pwm_set_duty(FAN_LB_PWM_PIN, pwm_duty_lb);
-    pwm_set_duty(FAN_RB_PWM_PIN, pwm_duty_rb);
+
+    if (pwm_duty_ls >= 0) {
+        pwm_set_duty(FAN_LS_PWM_A_PIN, pwm_duty_ls);
+        pwm_set_duty(FAN_LS_PWM_B_PIN, 0);
+    } else {
+        pwm_set_duty(FAN_LS_PWM_A_PIN, 0);
+        pwm_set_duty(FAN_LS_PWM_B_PIN, -1 * pwm_duty_ls);
+    }
+
+    if (pwm_duty_rs >= 0) {
+        pwm_set_duty(FAN_RS_PWM_A_PIN, pwm_duty_rs);
+        pwm_set_duty(FAN_RS_PWM_B_PIN, 0);
+    } else {
+        pwm_set_duty(FAN_RS_PWM_A_PIN, 0);
+        pwm_set_duty(FAN_RS_PWM_B_PIN, -1 * pwm_duty_rs);
+    }
+
+    if (pwm_duty_lb >= 0) {
+        pwm_set_duty(FAN_LB_PWM_A_PIN, pwm_duty_lb);
+        pwm_set_duty(FAN_LB_PWM_B_PIN, 0);
+    } else {
+        pwm_set_duty(FAN_LB_PWM_A_PIN, 0);
+        pwm_set_duty(FAN_LB_PWM_B_PIN, -1 * pwm_duty_lb);
+    }
+
+    if (pwm_duty_rb >= 0) {
+        pwm_set_duty(FAN_RB_PWM_A_PIN, pwm_duty_rb);
+        pwm_set_duty(FAN_RB_PWM_B_PIN, 0);
+    } else {
+        pwm_set_duty(FAN_RB_PWM_A_PIN, 0);
+        pwm_set_duty(FAN_RB_PWM_B_PIN, -1 * pwm_duty_rb);
+    }
 }

app/by_fan_control.h

@@ -4,13 +4,13 @@
 #include "stdio.h"
 #include "ch32v30x.h"
 
-extern uint32_t pwm_duty_ls_g;
-extern uint32_t pwm_duty_rs_g;
-extern uint32_t pwm_duty_lb_g;
-extern uint32_t pwm_duty_rb_g;
+extern int32_t pwm_duty_ls_g;
+extern int32_t pwm_duty_rs_g;
+extern int32_t pwm_duty_lb_g;
+extern int32_t pwm_duty_rb_g;
 
 extern void by_pwm_init(void);
 extern void by_pwm_update_duty(uint32_t update_pwm_duty1, uint32_t update_pwm_duty2);
-extern void by_pwm_power_duty(uint32_t power_pwm_duty_l1, uint32_t power_pwm_duty_r1,uint32_t power_pwm_duty_l2, uint32_t power_pwm_duty_r2);
+extern void by_pwm_power_duty(int32_t pwm_duty_ls, int32_t pwm_duty_rs, int32_t pwm_duty_lb, int32_t pwm_duty_rb);
 
 #endif

app/by_rt_button.c

@@ -17,10 +17,10 @@ uint8_t by_get_rb_status(void)
 
 void by_rb_init(void)
 {
-    gpio_init(E9, GPI, GPIO_HIGH, GPI_PULL_UP);
-    gpio_init(E10, GPI, GPIO_HIGH, GPI_PULL_UP);
-    gpio_init(E11, GPI, GPIO_HIGH, GPI_PULL_UP);
+    gpio_init(B9, GPI, GPIO_HIGH, GPI_PULL_UP);
+    gpio_init(E0, GPI, GPIO_HIGH, GPI_PULL_UP);
+    gpio_init(E1, GPI, GPIO_HIGH, GPI_PULL_UP);
 
-    exti_init(E9, EXTI_TRIGGER_FALLING);
-    exti_init(E11, EXTI_TRIGGER_BOTH);
+    exti_init(E0, EXTI_TRIGGER_FALLING);
+    exti_init(E1, EXTI_TRIGGER_BOTH);
 }

app/isr.c

@@ -152,6 +152,15 @@ void DVP_IRQHandler(void)
 void EXTI0_IRQHandler(void)
 {
     if (SET == EXTI_GetITStatus(EXTI_Line0)) {
+        if (rotate_button == rotate_button_none) {
+            if (SET == gpio_get_level(B9)) {
+                rotate_button = rotate_button_backward;
+                queue_add_element(BY_BACKWARD);
+            } else {
+                rotate_button = rotate_button_forward;
+                queue_add_element(BY_FORWARD);
+            }
+        }
         EXTI_ClearITPendingBit(EXTI_Line0);
     }
 }
@@ -159,6 +168,23 @@ void EXTI0_IRQHandler(void)
 void EXTI1_IRQHandler(void)
 {
     if (SET == EXTI_GetITStatus(EXTI_Line1)) {
+
+        static uint64_t time_via = 0;
+        system_delay_ms(10);
+        if (RESET == gpio_get_level(E1)) {
+            time_via = system_get_tick();
+        } else if (SET == gpio_get_level(E1)) {
+            time_via = system_get_tick() - time_via;
+            if (time_via > LONG_PRESS_THRESHOLD_TICK) {
+                rotate_button = rotate_button_press_long;
+                queue_add_element(BY_PRESS_LONG);
+
+            } else {
+                rotate_button = rotate_button_press_short;
+                queue_add_element(BY_PRESS_SHORT);
+            }
+            time_via = 0;
+        }
         EXTI_ClearITPendingBit(EXTI_Line1);
     }
 }
@@ -199,17 +225,6 @@ void EXTI9_5_IRQHandler(void)
         EXTI_ClearITPendingBit(EXTI_Line8);
     }
     if (SET == EXTI_GetITStatus(EXTI_Line9)) {
-
-        if (rotate_button == rotate_button_none) {
-            if (SET == gpio_get_level(E10)) {
-                rotate_button = rotate_button_backward;
-                queue_add_element(BY_BACKWARD);
-            } else {
-                rotate_button = rotate_button_forward;
-                queue_add_element(BY_FORWARD);
-            }
-        }
-
         EXTI_ClearITPendingBit(EXTI_Line9);
     }
 }
@@ -225,22 +240,6 @@ void EXTI15_10_IRQHandler(void)
         EXTI_ClearITPendingBit(EXTI_Line10);
     }
     if (SET == EXTI_GetITStatus(EXTI_Line11)) {
-        static uint64_t time_via = 0;
-        system_delay_ms(10);
-        if (RESET == gpio_get_level(E11)) {
-            time_via = system_get_tick();
-            EXTI_ClearITPendingBit(EXTI_Line11);
-        } else if (SET == gpio_get_level(E11)) {
-            time_via = system_get_tick() - time_via;
-            if (time_via > LONG_PRESS_THRESHOLD_TICK) {
-                rotate_button = rotate_button_press_long;
-                queue_add_element(BY_PRESS_LONG);
-
-            } else {
-                rotate_button = rotate_button_press_short;
-                queue_add_element(BY_PRESS_SHORT);
-            }
-            time_via = 0;
         EXTI_ClearITPendingBit(EXTI_Line11);
     }
     if (SET == EXTI_GetITStatus(EXTI_Line12)) {
@@ -269,14 +268,13 @@ void EXTI15_10_IRQHandler(void)
         EXTI_ClearITPendingBit(EXTI_Line15);
     }
 }
-}
 
 void TIM1_UP_IRQHandler(void)
 {
     if (TIM_GetITStatus(TIM1, TIM_IT_Update) != RESET) {
-        TIM_ClearITPendingBit(TIM1, TIM_IT_Update);
-
+        by_buzzer_run();
         sport_motion();
+        TIM_ClearITPendingBit(TIM1, TIM_IT_Update);
     }
 }
 

app/jj_motion.c

@@ -75,10 +75,9 @@ float sport_get_speed(void)
     static float speed_now  = 0;
     static float speed_last = 0;
 
-    speed_now  = ALPHA * (float)encoder_get_count(TIM5_ENCOEDER) + (1.0f - ALPHA) * speed_last;
+    speed_now  = ALPHA * (float)encoder_get_count(TIM3_ENCOEDER) + (1.0f - ALPHA) * speed_last;
     speed_last = speed_now;
-
-    encoder_clear_count(TIM5_ENCOEDER);
+    encoder_clear_count(TIM3_ENCOEDER);
 
     return speed_now;
 
@@ -125,7 +124,7 @@ void sport_motion(void)
         pwm_duty_lb = (uint32_t)myclip_f(1.f * out_speed + out_gyro, 0.0f, 8000.f);
         pwm_duty_rb = (uint32_t)myclip_f(1.f * out_speed - out_gyro, 0.0f, 8000.f);
 
-        by_pwm_power_duty(pwm_duty_ls, pwm_duty_rs, pwm_duty_lb, pwm_duty_rb);
+        by_pwm_power_duty((int32_t)pwm_duty_ls, (int32_t)pwm_duty_rs, (int32_t)pwm_duty_lb, (int32_t)pwm_duty_rb);
     } else {
         by_pwm_power_duty(0, 0, 0, 0);
     }

app/main.c

@@ -39,18 +39,18 @@ uint8_t last_state;
 int main(void)
 {
     TYPE_UNION test_data[BY_FRAME_DATA_NUM];
-    clock_init(SYSTEM_CLOCK_120M);
+    clock_init(SYSTEM_CLOCK_144M);
     system_delay_init();
     debug_init();
 
-    encoder_quad_init(TIM5_ENCOEDER, TIM5_ENCOEDER_MAP0_CH1_A0, TIM5_ENCOEDER_MAP0_CH2_A1);
+    encoder_quad_init(TIM3_ENCOEDER, TIM3_ENCOEDER_MAP3_CH1_C6, TIM3_ENCOEDER_MAP3_CH2_C7);
     ips200_init(IPS200_TYPE_SPI);
     while (imu660ra_init())
         ;
     jj_param_eeprom_init();
     jj_bt_init();
     by_rb_init();
-    by_pwm_init();
+    // by_pwm_init();
     by_buzzer_init();
     by_frame_init();
 
@@ -65,7 +65,6 @@ int main(void)
         // printf("pwm:%lu,%lu,%lu,%lu\r\n", pwm_duty_ls_g, pwm_duty_rs_g, pwm_duty_lb_g, pwm_duty_rb_g);
         Page_Run();
         by_frame_parse(&test_data[0].u32);
-        by_buzzer_run();
         jj_bt_run();
         in_pos   = test_data[1].f32;
         in_angle = test_data[0].f32;

libraries/sdk/Peripheral/ch32v30x.h

@@ -22,7 +22,7 @@
 #define __MPU_PRESENT             0 /* Other CH32 devices does not provide an MPU */
 #define __Vendor_SysTickConfig    0 /* Set to 1 if different SysTick Config is used */	 
 	 
-#define HSE_VALUE    ((uint32_t)8000000) /* Value of the External oscillator in Hz */
+#define HSE_VALUE    ((uint32_t)16000000) /* Value of the External oscillator in Hz */
 
 /* In the following line adjust the External High Speed oscillator (HSE) Startup Timeout value */
 #define HSE_STARTUP_TIMEOUT   ((uint16_t)0x1000) /* Time out for HSE start up */

libraries/zf_common/zf_common_clock.c

@@ -105,7 +105,7 @@ void clock_set_freq(uint32 clock)
                 | RCC_PLLMULL));
 
         if (clock == SYSTEM_CLOCK_144M)
-            RCC->CFGR0 |= (uint32) (RCC_PLLSRC_HSE | RCC_PLLXTPRE_HSE
+            RCC->CFGR0 |= (uint32) (RCC_PLLSRC_HSE | RCC_PLLXTPRE_HSE_Div2 
                     | RCC_PLLMULL18_EXTEN);
         else if (clock == SYSTEM_CLOCK_120M)
             RCC->CFGR0 |= (uint32) (RCC_PLLSRC_HSE | RCC_PLLXTPRE_HSE

libraries/zf_device/zf_device_imu660ra.c

@@ -223,6 +223,13 @@ void imu660ra_get_temperature(void)
 uint8 imu660ra_init(void)
 {
     uint8 return_state = 0;
+
+    // 先给 IMU660RA 断电重启
+    gpio_init(IMU660RA_PE_PIN, GPO, 0, GPO_PUSH_PULL); // 配置 IMU660RA 的 PE 端口
+    gpio_low(IMU660RA_PE_PIN);
+    system_delay_ms(100);
+    gpio_high(IMU660RA_PE_PIN);
+
     system_delay_ms(20); // 等待设备上电成功
 
 #if IMU660RA_USE_SOFT_IIC

libraries/zf_device/zf_device_imu660ra.h

@@ -62,8 +62,9 @@
 #if IMU660RA_USE_SOFT_IIC         // 这两段 颜色正常的才是正确的 颜色灰的就是没有用的
 //====================================================软件 IIC 驱动====================================================
 #define IMU660RA_SOFT_IIC_DELAY (10) // 软件 IIC 的时钟延时周期 数值越小 IIC 通信速率越快
-#define IMU660RA_SCL_PIN        (B3) // 软件 IIC SCL 引脚 连接 IMU660RA 的 SCL 引脚
-#define IMU660RA_SDA_PIN        (B5) // 软件 IIC SDA 引脚 连接 IMU660RA 的 SDA 引脚
+#define IMU660RA_SCL_PIN        (E5) // 软件 IIC SCL 引脚 连接 IMU660RA 的 SCL 引脚
+#define IMU660RA_SDA_PIN        (E4) // 软件 IIC SDA 引脚 连接 IMU660RA 的 SDA 引脚
+#define IMU660RA_PE_PIN         (E6) // 软件 IIC SDO 引脚 连接 IMU660RA 的 SDO 引脚
 //====================================================软件 IIC 驱动====================================================
 #else
 
@@ -100,7 +101,7 @@ typedef enum {
 #define IMU660RA_TIMEOUT_COUNT       (0x00FF) // IMU660RA 超时计数
 
 //================================================定义 IMU660RA 内部地址================================================
-#define IMU660RA_DEV_ADDR     (0x69) // SA0 接地：0x68 SA0 上拉：0x69 模块默认上拉
+#define IMU660RA_DEV_ADDR     (0x68) // SA0 接地：0x68 SA0 上拉：0x69 模块默认上拉
 #define IMU660RA_SPI_W        (0x00)
 #define IMU660RA_SPI_R        (0x80)