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

main/Bionic_sphere.c

@@ -3,7 +3,10 @@
 
 #include <esp_log.h>
 
+#include <drivers_test.h>
+
+
 void app_main(void)
 {
-    ESP_LOGI("main", "Now is Misaki");
+    imu_test();     // imu测试
 }

main/CMakeLists.txt

@@ -1,2 +1,9 @@
 idf_component_register(SRCS "Bionic_sphere.c"
-                    INCLUDE_DIRS ".")
+        "../test/driver_test/drivers_test.c"        # 测试用例
+                            "../Lib/I2C_Driver/I2C_Driver.c"    # IIC底层驱动库
+                            "../Lib/QMI8658/QMI8658.c"          # IMU驱动库
+                    INCLUDE_DIRS "."
+        "../test/driver_test"
+                            "../Lib/I2C_Driver"
+                            "../Lib/QMI8658"
+)