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BMI160原版Datasheet，非常详细，各种寄存器配置说明等等

Introduction The magnetoresistive sensors within the nIMU and µIMU units have been calibrated under a controlled magnetic environment to determine temperature corrections to their bias and sensitivity. Additional corrections will be necessary to the magnetometer output if these devices will be operated in an environment containing additional local magnetic fields.

STM32做主控，IR2184搭建的H桥驱动电路，直流有刷电机