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用于EagleEye3.0 规则集漏报和误报测试的示例项目，项目收集于github和gitee
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test-example-projects/qt_projects/MyCar_demo/USER/mpu6050.h

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#ifndef __MPU6050_H
#define __MPU6050_H
#include "mpuiic.h"
//#define MPU_ACCEL_OFFS_REG 0X06 //accel_offs<EFBFBD>Ĵ<EFBFBD><EFBFBD><EFBFBD>,<EFBFBD>ɶ<EFBFBD>ȡ<EFBFBD>汾<EFBFBD><EFBFBD>,<EFBFBD>Ĵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֲ<EFBFBD>δ<EFBFBD>ᵽ
//#define MPU_PROD_ID_REG 0X0C //prod id<EFBFBD>Ĵ<EFBFBD><EFBFBD><EFBFBD>,<EFBFBD>ڼĴ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֲ<EFBFBD>δ<EFBFBD>ᵽ
#define MPU_SELF_TESTX_REG 0X0D //<EFBFBD>Լ<EFBFBD><EFBFBD>Ĵ<EFBFBD><EFBFBD><EFBFBD>X
#define MPU_SELF_TESTY_REG 0X0E //<EFBFBD>Լ<EFBFBD><EFBFBD>Ĵ<EFBFBD><EFBFBD><EFBFBD>Y
#define MPU_SELF_TESTZ_REG 0X0F //<EFBFBD>Լ<EFBFBD><EFBFBD>Ĵ<EFBFBD><EFBFBD><EFBFBD>Z
#define MPU_SELF_TESTA_REG 0X10 //<EFBFBD>Լ<EFBFBD><EFBFBD>Ĵ<EFBFBD><EFBFBD><EFBFBD>A
#define MPU_SAMPLE_RATE_REG 0X19 //<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƶ<EFBFBD>ʷ<EFBFBD>Ƶ<EFBFBD><EFBFBD>
#define MPU_CFG_REG 0X1A //<EFBFBD><EFBFBD><EFBFBD>üĴ<EFBFBD><EFBFBD><EFBFBD>
#define MPU_GYRO_CFG_REG 0X1B //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>üĴ<EFBFBD><EFBFBD><EFBFBD>
#define MPU_ACCEL_CFG_REG 0X1C //<EFBFBD><EFBFBD><EFBFBD>ٶȼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>üĴ<EFBFBD><EFBFBD><EFBFBD>
#define MPU_MOTION_DET_REG 0X1F //<EFBFBD>˶<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵⷧ<EFBFBD><EFBFBD><EFBFBD>üĴ<EFBFBD><EFBFBD><EFBFBD>
#define MPU_FIFO_EN_REG 0X23 //FIFOʹ<EFBFBD>ܼĴ<EFBFBD><EFBFBD><EFBFBD>
#define MPU_I2CMST_CTRL_REG 0X24 //IIC<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ƼĴ<EFBFBD><EFBFBD><EFBFBD>
#define MPU_I2CSLV0_ADDR_REG 0X25 //IIC<EFBFBD>ӻ<EFBFBD>0<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ַ<EFBFBD>Ĵ<EFBFBD><EFBFBD><EFBFBD>
#define MPU_I2CSLV0_REG 0X26 //IIC<EFBFBD>ӻ<EFBFBD>0<EFBFBD><EFBFBD><EFBFBD>ݵ<EFBFBD>ַ<EFBFBD>Ĵ<EFBFBD><EFBFBD><EFBFBD>
#define MPU_I2CSLV0_CTRL_REG 0X27 //IIC<EFBFBD>ӻ<EFBFBD>0<EFBFBD><EFBFBD><EFBFBD>ƼĴ<EFBFBD><EFBFBD><EFBFBD>
#define MPU_I2CSLV1_ADDR_REG 0X28 //IIC<EFBFBD>ӻ<EFBFBD>1<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ַ<EFBFBD>Ĵ<EFBFBD><EFBFBD><EFBFBD>
#define MPU_I2CSLV1_REG 0X29 //IIC<EFBFBD>ӻ<EFBFBD>1<EFBFBD><EFBFBD><EFBFBD>ݵ<EFBFBD>ַ<EFBFBD>Ĵ<EFBFBD><EFBFBD><EFBFBD>
#define MPU_I2CSLV1_CTRL_REG 0X2A //IIC<EFBFBD>ӻ<EFBFBD>1<EFBFBD><EFBFBD><EFBFBD>ƼĴ<EFBFBD><EFBFBD><EFBFBD>
#define MPU_I2CSLV2_ADDR_REG 0X2B //IIC<EFBFBD>ӻ<EFBFBD>2<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ַ<EFBFBD>Ĵ<EFBFBD><EFBFBD><EFBFBD>
#define MPU_I2CSLV2_REG 0X2C //IIC<EFBFBD>ӻ<EFBFBD>2<EFBFBD><EFBFBD><EFBFBD>ݵ<EFBFBD>ַ<EFBFBD>Ĵ<EFBFBD><EFBFBD><EFBFBD>
#define MPU_I2CSLV2_CTRL_REG 0X2D //IIC<EFBFBD>ӻ<EFBFBD>2<EFBFBD><EFBFBD><EFBFBD>ƼĴ<EFBFBD><EFBFBD><EFBFBD>
#define MPU_I2CSLV3_ADDR_REG 0X2E //IIC<EFBFBD>ӻ<EFBFBD>3<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ַ<EFBFBD>Ĵ<EFBFBD><EFBFBD><EFBFBD>
#define MPU_I2CSLV3_REG 0X2F //IIC<EFBFBD>ӻ<EFBFBD>3<EFBFBD><EFBFBD><EFBFBD>ݵ<EFBFBD>ַ<EFBFBD>Ĵ<EFBFBD><EFBFBD><EFBFBD>
#define MPU_I2CSLV3_CTRL_REG 0X30 //IIC<EFBFBD>ӻ<EFBFBD>3<EFBFBD><EFBFBD><EFBFBD>ƼĴ<EFBFBD><EFBFBD><EFBFBD>
#define MPU_I2CSLV4_ADDR_REG 0X31 //IIC<EFBFBD>ӻ<EFBFBD>4<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ַ<EFBFBD>Ĵ<EFBFBD><EFBFBD><EFBFBD>
#define MPU_I2CSLV4_REG 0X32 //IIC<EFBFBD>ӻ<EFBFBD>4<EFBFBD><EFBFBD><EFBFBD>ݵ<EFBFBD>ַ<EFBFBD>Ĵ<EFBFBD><EFBFBD><EFBFBD>
#define MPU_I2CSLV4_DO_REG 0X33 //IIC<EFBFBD>ӻ<EFBFBD>4д<EFBFBD><EFBFBD><EFBFBD>ݼĴ<EFBFBD><EFBFBD><EFBFBD>
#define MPU_I2CSLV4_CTRL_REG 0X34 //IIC<EFBFBD>ӻ<EFBFBD>4<EFBFBD><EFBFBD><EFBFBD>ƼĴ<EFBFBD><EFBFBD><EFBFBD>
#define MPU_I2CSLV4_DI_REG 0X35 //IIC<EFBFBD>ӻ<EFBFBD>4<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݼĴ<EFBFBD><EFBFBD><EFBFBD>
#define MPU_I2CMST_STA_REG 0X36 //IIC<EFBFBD><EFBFBD><EFBFBD><EFBFBD>״̬<EFBFBD>Ĵ<EFBFBD><EFBFBD><EFBFBD>
#define MPU_INTBP_CFG_REG 0X37 //<EFBFBD>ж<EFBFBD>/<EFBFBD><EFBFBD>·<EFBFBD><EFBFBD><EFBFBD>üĴ<EFBFBD><EFBFBD><EFBFBD>
#define MPU_INT_EN_REG 0X38 //<EFBFBD>ж<EFBFBD>ʹ<EFBFBD>ܼĴ<EFBFBD><EFBFBD><EFBFBD>
#define MPU_INT_STA_REG 0X3A //<EFBFBD>ж<EFBFBD>״̬<EFBFBD>Ĵ<EFBFBD><EFBFBD><EFBFBD>
#define MPU_ACCEL_XOUTH_REG 0X3B //<EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>ֵ,X<EFBFBD><EFBFBD><EFBFBD><EFBFBD>8λ<EFBFBD>Ĵ<EFBFBD><EFBFBD><EFBFBD>
#define MPU_ACCEL_XOUTL_REG 0X3C //<EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>ֵ,X<EFBFBD><EFBFBD><EFBFBD><EFBFBD>8λ<EFBFBD>Ĵ<EFBFBD><EFBFBD><EFBFBD>
#define MPU_ACCEL_YOUTH_REG 0X3D //<EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>ֵ,Y<EFBFBD><EFBFBD><EFBFBD><EFBFBD>8λ<EFBFBD>Ĵ<EFBFBD><EFBFBD><EFBFBD>
#define MPU_ACCEL_YOUTL_REG 0X3E //<EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>ֵ,Y<EFBFBD><EFBFBD><EFBFBD><EFBFBD>8λ<EFBFBD>Ĵ<EFBFBD><EFBFBD><EFBFBD>
#define MPU_ACCEL_ZOUTH_REG 0X3F //<EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>ֵ,Z<EFBFBD><EFBFBD><EFBFBD><EFBFBD>8λ<EFBFBD>Ĵ<EFBFBD><EFBFBD><EFBFBD>
#define MPU_ACCEL_ZOUTL_REG 0X40 //<EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>ֵ,Z<EFBFBD><EFBFBD><EFBFBD><EFBFBD>8λ<EFBFBD>Ĵ<EFBFBD><EFBFBD><EFBFBD>
#define MPU_TEMP_OUTH_REG 0X41 //<EFBFBD><EFBFBD>ֵ<EFBFBD>߰<EFBFBD>λ<EFBFBD>Ĵ<EFBFBD><EFBFBD><EFBFBD>
#define MPU_TEMP_OUTL_REG 0X42 //<EFBFBD><EFBFBD>ֵ<EFBFBD><EFBFBD>8λ<EFBFBD>Ĵ<EFBFBD><EFBFBD><EFBFBD>
#define MPU_GYRO_XOUTH_REG 0X43 //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ,X<EFBFBD><EFBFBD><EFBFBD><EFBFBD>8λ<EFBFBD>Ĵ<EFBFBD><EFBFBD><EFBFBD>
#define MPU_GYRO_XOUTL_REG 0X44 //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ,X<EFBFBD><EFBFBD><EFBFBD><EFBFBD>8λ<EFBFBD>Ĵ<EFBFBD><EFBFBD><EFBFBD>
#define MPU_GYRO_YOUTH_REG 0X45 //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ,Y<EFBFBD><EFBFBD><EFBFBD><EFBFBD>8λ<EFBFBD>Ĵ<EFBFBD><EFBFBD><EFBFBD>
#define MPU_GYRO_YOUTL_REG 0X46 //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ,Y<EFBFBD><EFBFBD><EFBFBD><EFBFBD>8λ<EFBFBD>Ĵ<EFBFBD><EFBFBD><EFBFBD>
#define MPU_GYRO_ZOUTH_REG 0X47 //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ,Z<EFBFBD><EFBFBD><EFBFBD><EFBFBD>8λ<EFBFBD>Ĵ<EFBFBD><EFBFBD><EFBFBD>
#define MPU_GYRO_ZOUTL_REG 0X48 //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ,Z<EFBFBD><EFBFBD><EFBFBD><EFBFBD>8λ<EFBFBD>Ĵ<EFBFBD><EFBFBD><EFBFBD>
#define MPU_I2CSLV0_DO_REG 0X63 //IIC<EFBFBD>ӻ<EFBFBD>0<EFBFBD><EFBFBD><EFBFBD>ݼĴ<EFBFBD><EFBFBD><EFBFBD>
#define MPU_I2CSLV1_DO_REG 0X64 //IIC<EFBFBD>ӻ<EFBFBD>1<EFBFBD><EFBFBD><EFBFBD>ݼĴ<EFBFBD><EFBFBD><EFBFBD>
#define MPU_I2CSLV2_DO_REG 0X65 //IIC<EFBFBD>ӻ<EFBFBD>2<EFBFBD><EFBFBD><EFBFBD>ݼĴ<EFBFBD><EFBFBD><EFBFBD>
#define MPU_I2CSLV3_DO_REG 0X66 //IIC<EFBFBD>ӻ<EFBFBD>3<EFBFBD><EFBFBD><EFBFBD>ݼĴ<EFBFBD><EFBFBD><EFBFBD>
#define MPU_I2CMST_DELAY_REG 0X67 //IIC<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ĵ<EFBFBD><EFBFBD><EFBFBD>
#define MPU_SIGPATH_RST_REG 0X68 //<EFBFBD>ź<EFBFBD>ͨ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD>Ĵ<EFBFBD><EFBFBD><EFBFBD>
#define MPU_MDETECT_CTRL_REG 0X69 //<EFBFBD>˶<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ƼĴ<EFBFBD><EFBFBD><EFBFBD>
#define MPU_USER_CTRL_REG 0X6A //<EFBFBD>û<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ƼĴ<EFBFBD><EFBFBD><EFBFBD>
#define MPU_PWR_MGMT1_REG 0X6B //<EFBFBD><EFBFBD>Դ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ĵ<EFBFBD><EFBFBD><EFBFBD>1
#define MPU_PWR_MGMT2_REG 0X6C //<EFBFBD><EFBFBD>Դ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ĵ<EFBFBD><EFBFBD><EFBFBD>2
#define MPU_FIFO_CNTH_REG 0X72 //FIFO<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ĵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>߰<EFBFBD>λ
#define MPU_FIFO_CNTL_REG 0X73 //FIFO<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ĵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ͱ<EFBFBD>λ
#define MPU_FIFO_RW_REG 0X74 //FIFO<EFBFBD><EFBFBD>д<EFBFBD>Ĵ<EFBFBD><EFBFBD><EFBFBD>
#define MPU_DEVICE_ID_REG 0X75 //<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ID<EFBFBD>Ĵ<EFBFBD><EFBFBD><EFBFBD>
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>AD0<EFBFBD><EFBFBD>(9<EFBFBD><EFBFBD>)<EFBFBD>ӵ<EFBFBD>,IIC<EFBFBD><EFBFBD>ַΪ0X68(<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ).
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>V3.3,<EFBFBD><EFBFBD>IIC<EFBFBD><EFBFBD>ַΪ0X69(<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ).
#define MPU_ADDR 0X68
////<EFBFBD><EFBFBD>Ϊģ<EFBFBD><EFBFBD>AD0Ĭ<EFBFBD>Ͻ<EFBFBD>GND,<EFBFBD><EFBFBD><EFBFBD><EFBFBD>תΪ<EFBFBD><EFBFBD>д<EFBFBD><EFBFBD>ַ<EFBFBD><EFBFBD>,Ϊ0XD1<EFBFBD><EFBFBD>0XD0(<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>VCC,<EFBFBD><EFBFBD>Ϊ0XD3<EFBFBD><EFBFBD>0XD2)
//#define MPU_READ 0XD1
//#define MPU_WRITE 0XD0
u8 MPU_Init(void); //<EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD>MPU6050
u8 MPU_Write_Len(u8 addr,u8 reg,u8 len,u8 *buf);//IIC<EFBFBD><EFBFBD><EFBFBD><EFBFBD>д
u8 MPU_Read_Len(u8 addr,u8 reg,u8 len,u8 *buf); //IIC<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
u8 MPU_Write_Byte(u8 reg,u8 data); //IICдһ<EFBFBD><EFBFBD><EFBFBD>ֽ<EFBFBD>
u8 MPU_Read_Byte(u8 reg); //IIC<EFBFBD><EFBFBD>һ<EFBFBD><EFBFBD><EFBFBD>ֽ<EFBFBD>
u8 MPU_Set_Gyro_Fsr(u8 fsr);
u8 MPU_Set_Accel_Fsr(u8 fsr);
u8 MPU_Set_LPF(u16 lpf);
u8 MPU_Set_Rate(u16 rate);
u8 MPU_Set_Fifo(u8 sens);
short MPU_Get_Temperature(void);
u8 MPU_Get_Gyroscope(short *gx,short *gy,short *gz);
u8 MPU_Get_Accelerometer(short *ax,short *ay,short *az);
#endif