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

test/driver_test/drivers_test.c

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+//
+// Created by misaki on 2025/8/23.
+//
+
+#include <esp_log.h>
+
+
+#include <I2C_Driver.h>
+#include <QMI8658.h>
+extern IMUdata Accel;
+extern IMUdata Gyro;
+void imu_test(void)
+{
+    I2C_Init();
+    QMI8658_Init();
+    while (1) {
+        QMI8658_Loop();
+        ESP_LOGI("app_main", "Accel x: %f, y: %f, z: %f", Accel.x, Accel.y, Accel.z);
+        ESP_LOGD("app_main", "Gyro X: %f, Y: %f, Z: %f", Gyro.x, Gyro.y, Gyro.z);
+    }
+}

test/driver_test/drivers_test.h

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+//
+// Created by misaki on 2025/8/23.
+//
+
+#ifndef BIONIC_SPHERE_DRIVERS_TEST_H
+#define BIONIC_SPHERE_DRIVERS_TEST_H
+
+// imu测试
+void imu_test(void);
+
+
+#endif //BIONIC_SPHERE_DRIVERS_TEST_H