mpu6050中文datash：

void mpu6050_init(void)
{
       printf("who am i:0x%x\r\n",mpu6050_read_reg(0x75));    
       mpu6050_write_reg(0x6b,0x80);//PWR_MGMT_1：电源模式 复位 温度使能  时钟源    //reset
       tls_os_time_delay(50);
       printf("reset(0x6b):0x%x\r\n",mpu6050_read_reg(0x6b));
       mpu6050_write_reg(0x6b,0);//start
       printf("reset(0x6b):0x%x\r\n",mpu6050_read_reg(0x6b));//确认跳出休眠模式     
 
       mpu6050_write_reg(0x6b, 1);//[2:0]time1 pll_x 时钟源
       //mpu6050_write_reg(0x6c, 0);//power manage reg2:start jiaosudu,jiasudu 0
       mpu6050_write_reg(0x1b,0x18);//陀螺仪配置GYRO_CONFIG reg:full_sr ;
       mpu6050_write_reg(0x1c,0);//加速度配置 ACCEL_CONFIG reg
       //mpu6050_write_reg(0x38,0);//int_en reg:stop intrupt
       //mpu6050_write_reg(0x6a,);//user_ctr reg:stop aux_i2c
       //mpu6050_write_reg(0x23,0);//fifo_en reg:stop fifo
       mpu6050_write_reg(0x19,2);//陀螺仪输出分频采样率SMPLRT_div reg:50
       mpu6050_write_reg(0x1a,4);//配置外部引脚采样和数字低通滤波器DLPF reg:1/2
       //mpu6050_write_reg(0x6c, 0);
}
 
void mpu6050_dispxyz(void)
{
       float x1,x2,y1,y2,z1,z2;
       int16_t mpu_x,mpu_y,mpu_z;
       int16_t spd_x,spd_y,spd_z;
       int16_t temp_h,temp_l;
       float dtemp;
 
       //各轴角速度GYR
       mpu_x=((mpu6050_read_reg(0x43)<<8)+mpu6050_read_reg(0x44));
       mpu_y=((mpu6050_read_reg(0x45)<<8)+mpu6050_read_reg(0x46));
       mpu_z=((mpu6050_read_reg(0x47)<<8)+mpu6050_read_reg(0x48));
       x1=(float)(2000*mpu_x/32768);
       y1=(float)(2000*mpu_y/32768);
       z1=(float)(2000*mpu_z/32768);
       printf("角速度    GYR_x:%f  GYR_y:%f  GYR_z:%f\r\n",x1,y1,z1);
 
       //各轴加速度计分量ACC
       spd_x=(mpu6050_read_reg(0x3b)<<8)+mpu6050_read_reg(0x3c);
       spd_y=(mpu6050_read_reg(0x3d)<<8)+mpu6050_read_reg(0x3e);
       spd_z=(mpu6050_read_reg(0x3f)<<8)+mpu6050_read_reg(0x40);
       x2=(float)(20*spd_x/32768);
       y2=(float)(20*spd_y/32768);
       z2=(float)(20*spd_z/32768);
       //printf("spd_x:%d  spd_y:%d  spd_z:%d\r\n",spd_x,spd_y,spd_z);
       printf("各轴加速度ACC_x:%f  ACC_y:%f  ACC_z:%f\r\n",x2,y2,z2);   
       printf("倾斜角: angle[x]=atan2(x,y)*180/3.14   :%f\r\n",atan2(spd_x, spd_y)*180/3.14);
       printf("倾斜角: angle[z]=atan2(z,y)*180/3.14   :%f\r\n",atan2(spd_z, spd_y)*180/3.14);
 
       //温度
       temp_h=mpu6050_read_reg(0x41)<<8;
       temp_l=mpu6050_read_reg(0x42);
       dtemp=36.53+(temp_h+temp_l)/340;
       printf("temputure:%f \r\n\n",dtemp);
}

原始数据就得到了！