这是我从淘宝买的一套很不错的IMU（姿态测量单元）的学习套件，对与初学者来说，很好理解，STM32F103主控制器，集成了MPU-6050（集成3轴陀螺仪和3轴加速器）、HMC5883L（3轴地磁传感器）、BPM085（气压高度计、该传感器在高线性模式下，分辨率为0.03hPa、0.25米，可以满足机器人室内爬楼梯的的高度检测）、STM32F103T8 （32-bit ARM CortexM3处理器运行在72M时钟）STM32_AHRS_WorkDir\1.MPU6050Test\HardWareDriver\BMP085\BMP085.c ..................\.............\..............\......\BMP085.h ..................\.............\..............\delay.c ..................\.............\..............\delay.h ..................\.............\..............\HMC5883L\HMC5883L.c ..................\.............\..............\........\HMC5883L.h ..................\.............\..............\IMU\IMU.c ..................\.............\..............\...\IMU.h ..................\.............\..............\IOI2C.c ..................\.............\..............\IOI2C.h ..................\.............\..............\LED\LED.c ..................\.............\..............\...\LED.h ..................\.............\..............\MPU6050\MPU6050.c ..................\.............\..............\.......\MPU6050.h ..................\.............\..............\UART2\UART2.c ..................\.............\..............\.....\UART2.h ..................\.............\..............\....s\UARTs.c ..................\.............\..............\.....\UARTs.h ..................\.............\JLinkLog.txt ..................\.............\JLinkSettings.ini ..................\.............\Lib\inc\misc.h ..................\.............\...\...\stm32f10x_adc.h ..................\.............\...\...\stm32f10x_bkp.h ..................\.............\...\...\stm32f10x_can.h ..................\.............\...\...\stm32f10x_cec.h ..................\.............\...\...\stm32f10x_crc.h ..................\.............\...\...\stm32f10x_dac.h ..................\.............\...\...\stm32f10x_dbgmcu.h ..................\.............\...\...\stm32f10x_dma.h ..................\.............\...\...\stm32f10x_exti.h ..................\.............\...\...\stm32f10x_flash.h ..................\.............\...\...\stm32f10x_fsmc.h ..................\.............\...\...\stm32f10x_gpio.h ..................\.............\...\...\stm32f10x_i2c.h ..................\.............\...\...\stm32f10x_iwdg.h ..................\.............\...\...\stm32f10x_pwr.h ..................\.............\...\...\stm32f10x_rcc.h ..................\.............\...\...\stm32f10x_rtc.h ..................\.............\...\...\stm32f10x_sdio.h ..................\.............\...\...\stm32f10x_spi.h ..................\.............\...\...\stm32f10x_tim.h ..................\.............\...\...\stm32f10x_usart.h ..................\.............\...\...\stm32f10x_wwdg.h ..................\.............\...\Release_Notes.html ..................\.............\...\src\misc.c ..................\.............\...\...\stm32f10x_adc.c ..................\.............\...\...\stm32f10x_bkp.c ..................\.............\...\...\stm32f10x_can.c ..................\.............\...\...\stm32f10x_cec.c ..................\.............\...\...\stm32f10x_crc.c ..................\.............\...\...\stm32f10x_dac.c ..................\.............\...\...\stm32f10x_dbgmcu.c ..................\.............\...\...\stm32f10x_dma.c ..................\.............\...\...\stm32f10x_exti.c ..................\.............\...\...\stm32f10x_flash.c ..................\.............\...\...\stm32f10x_fsmc.c ..................\.............\...\...\stm32f10x_gpio.c ..................\.............\...\...\stm32f10x_i2c.c ..................\.............\...\...\stm32f10x_iwdg.c ..................\.............\...\...\stm32f10x_pwr.c ..................\.............\...\...\stm32f10x_rcc.c ..................\.............\...\...\stm32f10x_rtc.c ..................\.............\...\...\stm32f10x_sdio.c ..................\.............\...\...\stm32f10x_spi.c ..................\.............\...\...\stm32f10x_tim.c ..................\.............\...\...\stm32f10x_usart.c ..................\.............\...\...\stm32f10x_wwdg.c ..................\.............\..st\MPU6050_Test.map ..................\.............\....\startup_stm32f10x_md.lst ..................\.............\MPU6050_Test.plg ..................\.............\MPU6050_Test.uvgui.Administrator ..................\.............\MPU6050_Test.uvgui_Administrator.bak ..................\.............\MPU6050_Test.uvopt ..................\.............\MPU6050_Test.uvproj ..................\.............\MPU6050_Test_MPU6050_Test.dep ..................\.............\MPU6050_Test_Target 1.dep ..................\.............\MPU6050_Test_uvopt.bak ..................\.............\MPU6050_Test_uvproj.bak ..................\.............\OutPut\core_cm3.crf ..................\.............\......\core_cm3.d ..................\.............\......\core_cm3.o ..................\.............\......\delay.crf ..................\.............\......\delay.d ..................\.............\......\delay.o ..................\.............\......\delay.__i ..................\.............\......\ioi2c.crf ..................\.............\......\ioi2c.d ..................\.............\......\ioi2c.o ..................\.............\......\ioi2c.__i ..................\.............\......\led.crf ..................\.............\......\led.d ..................\.............\......\led.o ..................\.............\......\led.__i ..................\.............\......\main.crf ..................\.............\......\main.d ..................\.............\......\main.o ..................\.............\......\main.__i ..................\.............\......\misc.crf ..................\.............\......\misc.d ..................\.............\......\misc.o……