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/*********************************************************************************************************************
* CH32V307VCT6 Opensourec Library <20><><EFBFBD><EFBFBD>CH32V307VCT6 <20><>Դ<EFBFBD>⣩<EFBFBD><E2A3A9>һ<EFBFBD><D2BB><EFBFBD><EFBFBD><EFBFBD>ڹٷ<DAB9> SDK <20>ӿڵĵ<DAB5><C4B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Դ<EFBFBD><D4B4>
* Copyright (c) 2022 SEEKFREE <20><><EFBFBD>ɿƼ<C9BF>
*
* <20><><EFBFBD>ļ<EFBFBD><C4BC><EFBFBD>CH32V307VCT6 <20><>Դ<EFBFBD><D4B4><EFBFBD><EFBFBD>һ<EFBFBD><D2BB><EFBFBD><EFBFBD>
*
* CH32V307VCT6 <20><>Դ<EFBFBD><D4B4> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
* <20><><EFBFBD><EFBFBD><EFBFBD>Ը<EFBFBD><D4B8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ᷢ<EFBFBD><E1B7A2><EFBFBD><EFBFBD> GPL<50><4C>GNU General Public License<73><65><EFBFBD><EFBFBD> GNUͨ<55>ù<EFBFBD><C3B9><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>֤<EFBFBD><D6A4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
* <20><> GPL <20>ĵ<EFBFBD>3<EFBFBD>棨<EFBFBD><E6A3A8> GPL3.0<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ѡ<EFBFBD><EFBFBD><EFBFBD>ģ<EFBFBD><EFBFBD>κκ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>İ汾<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>·<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>/<2F><><EFBFBD>޸<EFBFBD><DEB8><EFBFBD>
*
* <20><><EFBFBD><EFBFBD>Դ<EFBFBD><D4B4><EFBFBD>ķ<EFBFBD><C4B7><EFBFBD><EFBFBD><EFBFBD>ϣ<EFBFBD><CFA3><EFBFBD><EFBFBD><EFBFBD>ܷ<EFBFBD><DCB7><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ã<EFBFBD><C3A3><EFBFBD><EFBFBD><EFBFBD>δ<EFBFBD><CEB4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>κεı<CEB5>֤
* <20><><EFBFBD><EFBFBD>û<EFBFBD><C3BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ի<EFBFBD><D4BB>ʺ<EFBFBD><CABA>ض<EFBFBD><D8B6><EFBFBD>;<EFBFBD>ı<EFBFBD>֤
* <20><><EFBFBD><EFBFBD>ϸ<EFBFBD><CFB8><EFBFBD><EFBFBD><EFBFBD>μ<EFBFBD> GPL
*
* <20><>Ӧ<EFBFBD><D3A6><EFBFBD><EFBFBD><EFBFBD>յ<EFBFBD><D5B5><EFBFBD><EFBFBD><EFBFBD>Դ<EFBFBD><D4B4><EFBFBD><EFBFBD>ͬʱ<CDAC>յ<EFBFBD>һ<EFBFBD><D2BB> GPL <20>ĸ<EFBFBD><C4B8><EFBFBD>
* <20><><EFBFBD><EFBFBD>û<EFBFBD>У<EFBFBD><D0A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><https://www.gnu.org/licenses/>
*
* <20><><EFBFBD><EFBFBD>ע<EFBFBD><D7A2><EFBFBD><EFBFBD>
* <20><><EFBFBD><EFBFBD>Դ<EFBFBD><D4B4>ʹ<EFBFBD><CAB9> GPL3.0 <20><>Դ<EFBFBD><D4B4><EFBFBD><EFBFBD>֤Э<D6A4><D0AD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD><CEAA><EFBFBD>İ汾
* <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ӣ<EFBFBD>İ<EFBFBD><C4B0><EFBFBD> libraries/doc <20>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD>µ<EFBFBD> GPL3_permission_statement.txt <20>ļ<EFBFBD><C4BC><EFBFBD>
* <20><><EFBFBD><EFBFBD>֤<EFBFBD><D6A4><EFBFBD><EFBFBD><EFBFBD><EFBFBD> libraries <20>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD>µ<EFBFBD> LICENSE <20>ļ<EFBFBD>
* <20><>ӭ<EFBFBD><D3AD>λʹ<CEBB>ò<EFBFBD><C3B2><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD>޸<EFBFBD><DEB8><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD>뱣<EFBFBD><EBB1A3><EFBFBD><EFBFBD><EFBFBD>ɿƼ<C9BF><C6BC>İ<EFBFBD>Ȩ<EFBFBD><C8A8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
*
* <20>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD><EFBFBD> zf_device_mpu6050
* <20><>˾<EFBFBD><CBBE><EFBFBD><EFBFBD> <20>ɶ<EFBFBD><C9B6><EFBFBD><EFBFBD>ɿƼ<C9BF><C6BC><EFBFBD><EFBFBD>޹<EFBFBD>˾
* <20>汾<EFBFBD><E6B1BE>Ϣ <20>鿴 libraries/doc <20>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD><EFBFBD> version <20>ļ<EFBFBD> <20>汾˵<E6B1BE><CBB5>
* <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> MounRiver Studio V1.8.1
* <20><><EFBFBD><EFBFBD>ƽ̨ CH32V307VCT6
* <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> https://seekfree.taobao.com/
*
* <20>޸ļ<DEB8>¼
* <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><>ע
* 2022-09-15 <20><>W first version
********************************************************************************************************************/
/*********************************************************************************************************************
* <20><><EFBFBD>߶<EFBFBD><DFB6>壺
* ------------------------------------
* ģ<><C4A3><EFBFBD>ܽ<EFBFBD> <20><>Ƭ<EFBFBD><C6AC><EFBFBD>ܽ<EFBFBD>
* <20><><EFBFBD><EFBFBD> IIC ͨ<><CDA8><EFBFBD><EFBFBD><EFBFBD>Ŷ<EFBFBD>Ӧ<EFBFBD><D3A6>ϵ
* SCL <20>鿴 zf_device_mpu6050.h <20><> MPU6050_SOFT_IIC_SCL <20>궨<EFBFBD><EAB6A8>
* SDA <20>鿴 zf_device_mpu6050.h <20><> MPU6050_SOFT_IIC_SDA <20>궨<EFBFBD><EAB6A8>
* Ӳ<><D3B2> IIC ͨ<><CDA8><EFBFBD><EFBFBD><EFBFBD>Ŷ<EFBFBD>Ӧ<EFBFBD><D3A6>ϵ
* SCL <20>鿴 zf_device_mpu6050.h <20><> MPU6050_IIC_SCL <20>궨<EFBFBD><EAB6A8>
* SDA <20>鿴 zf_device_mpu6050.h <20><> MPU6050_IIC_SDA <20>궨<EFBFBD><EAB6A8>
* ------------------------------------
********************************************************************************************************************/
#ifndef _zf_device_mpu6050_h_
#define _zf_device_mpu6050_h_
#include "zf_common_clock.h"
#include "zf_common_debug.h"
#include "zf_driver_delay.h"
#include "zf_driver_soft_iic.h"
#define MPU6050_USE_SOFT_IIC (1) // Ĭ<><C4AC>ʹ<EFBFBD><CAB9><EFBFBD><EFBFBD><EFBFBD><EFBFBD> IIC <20><>ʽ<EFBFBD><CABD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>ʹ<EFBFBD><CAB9><EFBFBD><EFBFBD><EFBFBD><EFBFBD> IIC <20><>ʽ
#if MPU6050_USE_SOFT_IIC // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>ɫ<EFBFBD><C9AB><EFBFBD><EFBFBD><EFBFBD>IJ<EFBFBD><C4B2><EFBFBD><EFBFBD><EFBFBD>ȷ<EFBFBD><C8B7> <20><>ɫ<EFBFBD>ҵľ<D2B5><C4BE><EFBFBD>û<EFBFBD><C3BB><EFBFBD>õ<EFBFBD>
//====================================================<3D><><EFBFBD><EFBFBD> IIC <20><><EFBFBD><EFBFBD>====================================================
#define MPU6050_SOFT_IIC_DELAY (10 ) // <20><><EFBFBD><EFBFBD> IIC <20><>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD> <20><>ֵԽС IIC ͨ<><CDA8><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Խ<EFBFBD><D4BD>
#define MPU6050_SCL_PIN (B3 ) // <20><><EFBFBD><EFBFBD> IIC SCL <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> MPU6050 <20><> SCL <20><><EFBFBD><EFBFBD>
#define MPU6050_SDA_PIN (B5 ) // <20><><EFBFBD><EFBFBD> IIC SDA <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> MPU6050 <20><> SDA <20><><EFBFBD><EFBFBD>
//====================================================<3D><><EFBFBD><EFBFBD> IIC <20><><EFBFBD><EFBFBD>====================================================
#else
//====================================================Ӳ<><D3B2> IIC <20><><EFBFBD><EFBFBD>====================================================
#define MPU6050_IIC_SPEED (400000 ) // Ӳ<><D3B2> IIC ͨ<><CDA8><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> 400KHz <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> 40KHz
#define MPU6050_IIC (<28>ݲ<EFBFBD>֧<EFBFBD><D6A7> ) // Ӳ<><D3B2> IIC SCL <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> MPU6050 <20><> SCL <20><><EFBFBD><EFBFBD>
#define MPU6050_SCL_PIN (<28>ݲ<EFBFBD>֧<EFBFBD><D6A7> ) // Ӳ<><D3B2> IIC SCL <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> MPU6050 <20><> SCL <20><><EFBFBD><EFBFBD>
#define MPU6050_SDA_PIN (<28>ݲ<EFBFBD>֧<EFBFBD><D6A7> ) // Ӳ<><D3B2> IIC SDA <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> MPU6050 <20><> SDA <20><><EFBFBD><EFBFBD>
//====================================================Ӳ<><D3B2> IIC <20><><EFBFBD><EFBFBD>====================================================
#endif
#define MPU6050_TIMEOUT_COUNT (0x00FF) // MPU6050 <20><>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD>
//================================================<3D><><EFBFBD><EFBFBD> MPU6050 <20>ڲ<EFBFBD><DAB2><EFBFBD>ַ================================================
#define MPU6050_DEV_ADDR (0xD0>>1) // IICд<43><D0B4>ʱ<EFBFBD>ĵ<EFBFBD>ַ<EFBFBD>ֽ<EFBFBD><D6BD><EFBFBD><EFBFBD>ݣ<EFBFBD>+1Ϊ<31><CEAA>ȡ
#define MPU6050_SMPLRT_DIV (0x19) // <20><><EFBFBD><EFBFBD><EFBFBD>Dz<EFBFBD><C7B2><EFBFBD><EFBFBD>ʣ<EFBFBD><CAA3><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD><D6B5>0x07(125Hz)
#define MPU6050_CONFIG (0x1A) // <20><>ͨ<EFBFBD>˲<EFBFBD>Ƶ<EFBFBD>ʣ<EFBFBD><CAA3><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD><D6B5>0x06(5Hz)
#define MPU6050_GYRO_CONFIG (0x1B) // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Լ켰<D4BC><ECBCB0><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Χ<EFBFBD><CEA7><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD><D6B5>0x18(<28><><EFBFBD>Լ죬2000deg/s)
#define MPU6050_ACCEL_CONFIG (0x1C) // <20><><EFBFBD>ټ<EFBFBD><D9BC>Լ졢<D4BC><ECA1A2><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Χ<EFBFBD><CEA7><EFBFBD><EFBFBD>ͨ<EFBFBD>˲<EFBFBD>Ƶ<EFBFBD>ʣ<EFBFBD><CAA3><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD><D6B5>0x01(<28><><EFBFBD>Լ죬2G<32><47>5Hz)
#define MPU6050_INT_PIN_CFG (0x37) // <20><><EFBFBD><EFBFBD>6050<35><30><EFBFBD><EFBFBD>I2CΪֱͨģʽ<C4A3>Ĵ<EFBFBD><C4B4><EFBFBD>
#define MPU6050_ACCEL_XOUT_H (0x3B)
#define MPU6050_ACCEL_XOUT_L (0x3C)
#define MPU6050_ACCEL_YOUT_H (0x3D)
#define MPU6050_ACCEL_YOUT_L (0x3E)
#define MPU6050_ACCEL_ZOUT_H (0x3F)
#define MPU6050_ACCEL_ZOUT_L (0x40)
#define MPU6050_GYRO_XOUT_H (0x43)
#define MPU6050_GYRO_XOUT_L (0x44)
#define MPU6050_GYRO_YOUT_H (0x45)
#define MPU6050_GYRO_YOUT_L (0x46)
#define MPU6050_GYRO_ZOUT_H (0x47)
#define MPU6050_GYRO_ZOUT_L (0x48)
#define MPU6050_USER_CONTROL (0x6A) // <20>ر<EFBFBD>6050<35>Ը<EFBFBD><D4B8><EFBFBD>I2C<32>豸<EFBFBD>Ŀ<EFBFBD><C4BF><EFBFBD>
#define MPU6050_PWR_MGMT_1 (0x6B) // <20><>Դ<EFBFBD><D4B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD><D6B5>0x00(<28><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>)
#define MPU6050_WHO_AM_I (0x75) // IIC<49><43>ַ<EFBFBD>Ĵ<EFBFBD><C4B4><EFBFBD>(Ĭ<><C4AC><EFBFBD><EFBFBD>ֵ0x68<36><38>ֻ<EFBFBD><D6BB>)
#define MPU6050_ACC_SAMPLE (0x10) // <20><><EFBFBD>ٶȼ<D9B6><C8BC><EFBFBD><EFBFBD><EFBFBD>
// <20><><EFBFBD><EFBFBD>Ϊ:0x00 <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ:<3A><>250 dps <20><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݳ<EFBFBD><DDB3><EFBFBD>131.2 <20><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD>ݣ<EFBFBD><DDA3><EFBFBD>λΪ<CEBB><CEAA><EFBFBD><EFBFBD>/s
// <20><><EFBFBD><EFBFBD>Ϊ:0x08 <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ:<3A><>500 dps <20><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݳ<EFBFBD><DDB3><EFBFBD>65.6 <20><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD>ݣ<EFBFBD><DDA3><EFBFBD>λΪ<CEBB><CEAA><EFBFBD><EFBFBD>/s
// <20><><EFBFBD><EFBFBD>Ϊ:0x10 <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ:<3A><>1000dps <20><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݳ<EFBFBD><DDB3><EFBFBD>32.8 <20><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD>ݣ<EFBFBD><DDA3><EFBFBD>λΪ<CEBB><CEAA><EFBFBD><EFBFBD>/s
// <20><><EFBFBD><EFBFBD>Ϊ:0x18 <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ:<3A><>2000dps <20><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݳ<EFBFBD><DDB3><EFBFBD>16.4 <20><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD>ݣ<EFBFBD><DDA3><EFBFBD>λΪ<CEBB><CEAA><EFBFBD><EFBFBD>/s
#define MPU6050_GYR_SAMPLE (0x18) // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// <20><><EFBFBD><EFBFBD>Ϊ:0x00 <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ:<3A><>250 dps <20><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݳ<EFBFBD><DDB3><EFBFBD>131.2 <20><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD>ݣ<EFBFBD><DDA3><EFBFBD>λΪ<CEBB><CEAA><EFBFBD><EFBFBD>/s
// <20><><EFBFBD><EFBFBD>Ϊ:0x08 <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ:<3A><>500 dps <20><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݳ<EFBFBD><DDB3><EFBFBD>65.6 <20><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD>ݣ<EFBFBD><DDA3><EFBFBD>λΪ<CEBB><CEAA><EFBFBD><EFBFBD>/s
// <20><><EFBFBD><EFBFBD>Ϊ:0x10 <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ:<3A><>1000dps <20><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݳ<EFBFBD><DDB3><EFBFBD>32.8 <20><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD>ݣ<EFBFBD><DDA3><EFBFBD>λΪ<CEBB><CEAA><EFBFBD><EFBFBD>/s
// <20><><EFBFBD><EFBFBD>Ϊ:0x18 <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ:<3A><>2000dps <20><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݳ<EFBFBD><DDB3><EFBFBD>16.4 <20><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD>ݣ<EFBFBD><DDA3><EFBFBD>λΪ<CEBB><CEAA><EFBFBD><EFBFBD>/s
//================================================<3D><><EFBFBD><EFBFBD> MPU6050 <20>ڲ<EFBFBD><DAB2><EFBFBD>ַ================================================
extern int16 mpu6050_gyro_x, mpu6050_gyro_y, mpu6050_gyro_z; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> gyro (<28><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>)
extern int16 mpu6050_acc_x, mpu6050_acc_y, mpu6050_acc_z; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٶȼ<D9B6><C8BC><EFBFBD><EFBFBD><EFBFBD> acc (accelerometer <20><><EFBFBD>ٶȼ<D9B6>)
void mpu6050_get_acc (void);
void mpu6050_get_gyro (void);
float mpu6050_acc_transition (int16 acc_value); // <20><> MPU6050 <20><><EFBFBD>ٶȼ<D9B6><C8BC><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>Ϊʵ<CEAA><CAB5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
float mpu6050_gyro_transition (int16 gyro_value); // <20><> MPU6050 <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>Ϊʵ<CEAA><CAB5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
uint8 mpu6050_init (void);
#endif