1.测试了QMI8658的驱动，正常读出x，y,z轴数据，得到的pitch, roll, yaw正常

Lib/I2C_Driver/I2C_Driver.c

@@ -0,0 +1,54 @@
+#include "I2C_Driver.h"
+
+
+#define I2C_TRANS_BUF_MINIMUM_SIZE     (sizeof(i2c_cmd_desc_t) + \
+                                        sizeof(i2c_cmd_link_t) * 8) /* It is required to have allocate one i2c_cmd_desc_t per command:
+                                                                     * start + write (device address) + write buffer +
+                                                                     * start + write (device address) + read buffer + read buffer for NACK +
+                                                                     * stop */
+static const char *I2C_TAG = "I2C";
+/**
+ * @brief i2c master initialization
+ */
+static esp_err_t i2c_master_init(void)
+{
+    int i2c_master_port = I2C_MASTER_NUM;
+
+    i2c_config_t conf = {
+        .mode = I2C_MODE_MASTER,
+        .sda_io_num = I2C_SDA_IO,
+        .scl_io_num = I2C_SCL_IO,
+        .sda_pullup_en = GPIO_PULLUP_ENABLE,
+        .scl_pullup_en = GPIO_PULLUP_ENABLE,
+        .master.clk_speed = I2C_MASTER_FREQ_HZ,
+    };
+
+    i2c_param_config(i2c_master_port, &conf);
+
+    return i2c_driver_install(i2c_master_port, conf.mode, I2C_MASTER_RX_BUF_DISABLE, I2C_MASTER_TX_BUF_DISABLE, 0);
+}
+void I2C_Init(void)
+{
+    /********************* I2C *********************/
+    ESP_ERROR_CHECK(i2c_master_init());
+    ESP_LOGI(I2C_TAG, "I2C initialized successfully");  
+}
+
+
+// Reg addr is 8 bit
+esp_err_t I2C_Write(uint8_t Driver_addr, uint8_t Reg_addr, const uint8_t *Reg_data, uint32_t Length)
+{
+    uint8_t buf[Length+1];
+    
+    buf[0] = Reg_addr;
+    // Copy Reg_data to buf starting at buf[1]
+    memcpy(&buf[1], Reg_data, Length);
+    return i2c_master_write_to_device(I2C_MASTER_NUM, Driver_addr, buf, Length+1, I2C_MASTER_TIMEOUT_MS / portTICK_PERIOD_MS);
+}
+
+
+
+esp_err_t I2C_Read(uint8_t Driver_addr, uint8_t Reg_addr, uint8_t *Reg_data, uint32_t Length)
+{
+    return i2c_master_write_read_device(I2C_MASTER_NUM, Driver_addr, &Reg_addr, 1, Reg_data, Length, I2C_MASTER_TIMEOUT_MS / portTICK_PERIOD_MS);
+}

Lib/I2C_Driver/I2C_Driver.h

@@ -0,0 +1,23 @@
+#pragma once
+
+#include <stdint.h>
+#include <string.h>  // For memcpy
+#include "esp_log.h"
+#include "driver/gpio.h"
+#include "driver/i2c.h"
+
+
+/********************* I2C *********************/
+#define I2C_SCL_IO                  10         /*!< GPIO number used for I2C master clock */
+#define I2C_SDA_IO                  11         /*!< GPIO number used for I2C master data  */
+#define I2C_MASTER_NUM              0         /*!< I2C master i2c port number, the number of i2c peripheral interfaces available will depend on the chip */
+#define I2C_MASTER_FREQ_HZ          400000    /*!< I2C master clock frequency */
+#define I2C_MASTER_TX_BUF_DISABLE   0         /*!< I2C master doesn't need buffer */
+#define I2C_MASTER_RX_BUF_DISABLE   0         /*!< I2C master doesn't need buffer */
+#define I2C_MASTER_TIMEOUT_MS       1000
+
+
+void I2C_Init(void);
+// Reg addr is 8 bit
+esp_err_t I2C_Write(uint8_t Driver_addr, uint8_t Reg_addr, const uint8_t *Reg_data, uint32_t Length);
+esp_err_t I2C_Read(uint8_t Driver_addr, uint8_t Reg_addr, uint8_t *Reg_data, uint32_t Length);