diff --git a/MPU6050/Inc/mpu6050.h b/MPU6050/Inc/mpu6050.h
new file mode 100644
index 0000000000000000000000000000000000000000..44bbfc4abd42b4607c23a48a08f231ddcac6514c
--- /dev/null
+++ b/MPU6050/Inc/mpu6050.h
@@ -0,0 +1,67 @@
+#ifndef __MPU6050_H__
+#define __MPU6050_H__
+
+#include "i2c.h"
+#include <math.h>
+
+#define MPU6050_ADDR 0xD0
+
+#define	MPU6050_SMPLRT_DIV		0x19
+#define	MPU6050_CONFIG			0x1A
+#define	MPU6050_GYRO_CONFIG		0x1B
+#define	MPU6050_ACCEL_CONFIG	0x1C
+
+#define	MPU6050_ACCEL_XOUT_H	0x3B
+#define	MPU6050_ACCEL_XOUT_L	0x3C
+#define	MPU6050_ACCEL_YOUT_H	0x3D
+#define	MPU6050_ACCEL_YOUT_L	0x3E
+#define	MPU6050_ACCEL_ZOUT_H	0x3F
+#define	MPU6050_ACCEL_ZOUT_L	0x40
+#define	MPU6050_TEMP_OUT_H		0x41
+#define	MPU6050_TEMP_OUT_L		0x42
+#define	MPU6050_GYRO_XOUT_H		0x43
+#define	MPU6050_GYRO_XOUT_L		0x44
+#define	MPU6050_GYRO_YOUT_H		0x45
+#define	MPU6050_GYRO_YOUT_L		0x46
+#define	MPU6050_GYRO_ZOUT_H		0x47
+#define	MPU6050_GYRO_ZOUT_L		0x48
+
+#define	MPU6050_PWR_MGMT_1		0x6B
+#define	MPU6050_PWR_MGMT_2		0x6C
+#define	MPU6050_WHO_AM_I		0x75
+
+#define MPU6050_INT_ENABLE      0x38
+#define MPU6050_INT_PIN_CFG     0x37
+#define MPU6050_INT_STATUS      0x3A
+
+#define dt 0.001f
+
+// 根据实际情况修改此值
+#define YAW_COMPENSATION_FACTOR 0.0097262f
+
+typedef struct {
+    int16_t AccelX;
+    int16_t AccelY;
+    int16_t AccelZ;
+    int16_t GyroX;
+    int16_t GyroY;
+    int16_t GyroZ;
+} MPU6050_Raw;
+
+void MPU6050_Init(uint8_t samplerate_div, uint8_t gyro_config, uint8_t accel_config, uint8_t useint);
+void MPU6050_ClrInt();
+
+MPU6050_Raw MPU6050_GetRawData();
+void MPU6050_RawConv(MPU6050_Raw raw, float* data);
+int16_t MPU6050_GetTemp();
+uint8_t MPU6050_GetID();
+
+void MPU6050_Calibrate(uint16_t samples);
+void MPU6050_UpdateEuler();
+void MPU6050_UpdateYaw();
+
+float MPU6050_GetPitch();
+float MPU6050_GetRoll();
+float MPU6050_GetYaw();
+
+#endif
diff --git a/MPU6050/Src/mpu6050.c b/MPU6050/Src/mpu6050.c
new file mode 100644
index 0000000000000000000000000000000000000000..8d87ad593a92368959441aca44399f0acbbb4433
--- /dev/null
+++ b/MPU6050/Src/mpu6050.c
@@ -0,0 +1,266 @@
+#include "mpu6050.h"
+
+static float gyroX_offset = 0, gyroY_offset = 0, gyroZ_offset = 0;
+static float yaw = 0;
+static float pitch = 0, roll = 0;
+
+uint8_t MPU6050_IIC_BUS;
+uint8_t accel_cfg = 0, gyro_cfg = 0;
+
+/**
+  * @brief  初始化MPU6050
+  * @param  samplerate_div: 采样率分频器值 (值越小越快 0-255)
+  * @param  gyro_config: 陀螺仪量程 0 - +-250deg/s, 1 - +-500deg/s, 2 - +-1000deg/s, 3 - +-2000deg/s
+  * @param  accel_config: 加速度计量程 0 - +-2g, 1 - +-4g, 2 - +-8g, 3 - +-16g
+  * @param  useint: 是否使能中断
+  * @retval None
+  */
+void MPU6050_Init(uint8_t samplerate_div, uint8_t gyro_config, uint8_t accel_config, uint8_t useint) {
+
+	accel_cfg = accel_config;
+	gyro_cfg = gyro_config;
+
+    uint8_t data_buf = 0x01;
+    HAL_I2C_Mem_Write(&hi2c2, MPU6050_ADDR, MPU6050_PWR_MGMT_1, 1, &data_buf, 1, 0xff);
+    data_buf = 0x00;
+    HAL_I2C_Mem_Write(&hi2c2, MPU6050_ADDR, MPU6050_PWR_MGMT_2, 1, &data_buf, 1, 0xff);
+
+    HAL_I2C_Mem_Write(&hi2c2, MPU6050_ADDR, MPU6050_SMPLRT_DIV, 1, &samplerate_div, 1, 0xff);
+    data_buf = 0x04;
+    HAL_I2C_Mem_Write(&hi2c2, MPU6050_ADDR, MPU6050_CONFIG, 1, &data_buf, 1, 0xff);
+    data_buf = gyro_config << 3;
+    HAL_I2C_Mem_Write(&hi2c2, MPU6050_ADDR, MPU6050_GYRO_CONFIG, 1, &data_buf, 1, 0xff);
+    data_buf = accel_config << 3;
+    HAL_I2C_Mem_Write(&hi2c2, MPU6050_ADDR, MPU6050_ACCEL_CONFIG, 1, &data_buf, 1, 0xff);
+
+    if (useint) {
+        data_buf = 0x02;
+        HAL_I2C_Mem_Write(&hi2c2, MPU6050_ADDR, MPU6050_INT_PIN_CFG, 1, &data_buf, 1, 0xff);
+        data_buf = 0x01;
+        HAL_I2C_Mem_Write(&hi2c2, MPU6050_ADDR, MPU6050_INT_ENABLE, 1, &data_buf, 1, 0xff);
+
+        MPU6050_ClrInt();
+    }
+}
+
+/**
+  * @brief  清除MPU6050中断
+  * @param  None
+  * @retval None
+  */
+void MPU6050_ClrInt() {
+    uint8_t dummy;
+    HAL_I2C_Mem_Read(&hi2c2, MPU6050_ADDR, MPU6050_INT_STATUS, 1, &dummy, 1, 100);
+}
+
+/**
+  * @brief  获取 MPU6050 Accel 和 Gyro 数据寄存器原始数据
+  * @param  None
+  * @retval MPU6050_Raw 结构体
+  */
+MPU6050_Raw MPU6050_GetRawData() {
+    MPU6050_Raw data;
+    uint8_t acc_buf[6], gyro_buf[6];
+
+    HAL_I2C_Mem_Read(&hi2c2, MPU6050_ADDR, MPU6050_ACCEL_XOUT_H, 1, acc_buf, 6, 100);
+
+    data.AccelX = acc_buf[0] << 8 | acc_buf[1];
+    data.AccelY = acc_buf[2] << 8 | acc_buf[3];
+    data.AccelZ = acc_buf[4] << 8 | acc_buf[5];
+
+    HAL_I2C_Mem_Read(&hi2c2, MPU6050_ADDR, MPU6050_GYRO_XOUT_H, 1, gyro_buf, 6, 100);
+
+    data.GyroX = gyro_buf[0] << 8 | gyro_buf[1];
+    data.GyroY = gyro_buf[2] << 8 | gyro_buf[3];
+    data.GyroZ = gyro_buf[4] << 8 | gyro_buf[5];
+
+    return data;
+}
+
+/**
+ * @brief  转换原始数据到 SI 单位
+ * @param  raw 原始数据
+ * @param  data 转换后的数据
+ * @retval None
+ */
+void MPU6050_RawConv(MPU6050_Raw raw, float* data) {
+
+	float accel_sensitivity;
+	switch (accel_cfg) {
+		case 0: accel_sensitivity = 16384.0f; break; // ±2g
+		case 1: accel_sensitivity = 8192.0f; break;  // ±4g
+		case 2: accel_sensitivity = 4096.0f; break;  // ±8g
+		case 3: accel_sensitivity = 2048.0f; break;  // ±16g
+		default: accel_sensitivity = 16384.0f; break;
+	}
+
+	float gyro_sensitivity;
+	switch (gyro_cfg) {
+		case 0: gyro_sensitivity = 131.0f; break; // ±250dps
+		case 1: gyro_sensitivity = 65.5f; break;  // ±500dps
+		case 2: gyro_sensitivity = 32.8f; break;  // ±1000dps
+		case 3: gyro_sensitivity = 16.4f; break;  // ±2000dps
+		default: gyro_sensitivity = 131.0f; break;
+	}
+
+    data[0] = raw.AccelX / accel_sensitivity;
+    data[1] = raw.AccelY / accel_sensitivity;
+    data[2] = raw.AccelZ / accel_sensitivity;
+
+    data[3] = (raw.GyroX - gyroX_offset) / gyro_sensitivity;
+    data[4] = (raw.GyroY - gyroY_offset) / gyro_sensitivity;
+    data[5] = (raw.GyroZ - gyroZ_offset) / gyro_sensitivity;
+}
+
+/**
+  * @brief  获取 MPU6050 Temp 数据寄存器原始数据
+  * @param  None
+  * @retval MPU6050 Temp 数据寄存器原始数据
+  */
+int16_t MPU6050_GetTemp() {
+	int16_t temp;
+    uint8_t temp_buf[2];
+    HAL_I2C_Mem_Read(&hi2c2, MPU6050_ADDR, MPU6050_TEMP_OUT_H, 1, temp_buf, 2, 100);
+    temp = temp_buf[0] << 8 | temp_buf[1];
+    return temp;
+}
+
+/**
+  * @brief  获取 MPU6050 芯片ID
+  * @param  None
+  * @retval MPU6050 芯片ID
+  */
+uint8_t MPU6050_GetID() {
+    uint8_t id;
+    HAL_I2C_Mem_Read(&hi2c2, MPU6050_ADDR, MPU6050_WHO_AM_I, 1, &id, 1, 100);
+    return id;
+}
+
+/**
+ * @brief  校准陀螺仪
+ * @param  samples 校准样本数
+ * @retval None
+ */
+void MPU6050_Calibrate(uint16_t samples) {
+    MPU6050_Raw data;
+    
+    for (int i = 0; i < samples; i++) {
+        data = MPU6050_GetRawData();
+        gyroX_offset += data.GyroX;
+        gyroY_offset += data.GyroY;
+        gyroZ_offset += data.GyroZ;
+        HAL_Delay(1);
+    }
+    gyroX_offset /= samples;
+    gyroY_offset /= samples;
+    gyroZ_offset /= samples;
+}
+
+/**
+ * @brief 计算并更新欧拉角（不是获取）
+ * @param  None
+ * @retval None
+ */
+void MPU6050_UpdateEuler() {
+
+    float data_conv[6];
+    MPU6050_Raw data = MPU6050_GetRawData();
+    
+    MPU6050_RawConv(data, data_conv);
+
+    float accelX = data_conv[0];
+    float accelY = data_conv[1];
+    float accelZ = data_conv[2];
+
+    float gyroX = data_conv[3];
+    float gyroY = data_conv[4];
+    float gyroZ = data_conv[5];
+
+    // 计算加速度计角度（弧度）
+    float pitch_acc = atan2f(accelY, sqrtf(accelX * accelX + accelZ * accelZ));
+    float roll_acc = atan2f(accelX, sqrtf(accelY * accelY + accelZ * accelZ));
+
+    // 转换为角度
+    pitch_acc *= 180.0f / 3.1415926536;
+    roll_acc *= 180.0f / 3.1415926536;
+
+	// 积分得到Yaw角
+	yaw += gyroZ * YAW_COMPENSATION_FACTOR;
+
+    // 陀螺仪积分（需初始化时用加速度计角度赋值）
+    static uint8_t is_first_run = 1;
+    if (is_first_run) {
+        pitch = pitch_acc;
+        roll = roll_acc;
+        is_first_run = 0;
+    } else {
+        pitch += gyroY * dt; // 陀螺仪Y轴对应俯仰角速度
+        roll += gyroX * dt;  // 陀螺仪X轴对应横滚角速度
+    }
+
+	// 短期修正：当设备静止时，若加速度计稳定，可重置漂移（需自定义条件）
+	float accelMagnitude = sqrtf(
+		data.AccelX * data.AccelX + 
+		data.AccelY * data.AccelY + 
+		data.AccelZ * data.AccelZ
+	);
+	if (fabs(accelMagnitude - 1.0f) < 0.1f) { // 加速度接近1g时认为静止
+		// 可在此处重置Yaw或补偿漂移（例如：yaw *= 0.99;）
+	}
+
+    // 互补滤波（α=0.96，权重陀螺仪）
+    float alpha = 0.96f;
+    pitch = alpha * pitch + (1 - alpha) * pitch_acc;
+    roll = alpha * roll + (1 - alpha) * roll_acc;
+}
+
+
+/**
+ * @brief  更新偏航角
+ * @param  None
+ * @retval None
+ */
+void MPU6050_UpdateYaw() {
+
+	float gyro_sensitivity;
+	switch (gyro_cfg) {
+		case 0: gyro_sensitivity = 131.0f; break; // ±250dps
+		case 1: gyro_sensitivity = 65.5f; break;  // ±500dps
+		case 2: gyro_sensitivity = 32.8f; break;  // ±1000dps
+		case 3: gyro_sensitivity = 16.4f; break;  // ±2000dps
+		default: gyro_sensitivity = 131.0f; break;
+	}
+
+    MPU6050_Raw data = MPU6050_GetRawData();
+    float gyroZ = (data.GyroZ - gyroZ_offset) / gyro_sensitivity;
+    
+	yaw += gyroZ * YAW_COMPENSATION_FACTOR;
+}
+
+
+/**
+  * @brief  获取俯仰角
+  * @param  None
+  * @retval pitch
+  */
+float MPU6050_GetPitch() {
+    return pitch;
+}
+
+/**
+  * @brief  获取横滚角
+  * @param  None
+  * @retval roll
+  */
+float MPU6050_GetRoll() {
+    return roll;
+}
+
+/**
+  * @brief  获取偏航角
+  * @param  None
+  * @retval yaw
+  */
+float MPU6050_GetYaw() {
+    return yaw;
+}
diff --git a/MPU6050/readme.md b/MPU6050/readme.md
new file mode 100644
index 0000000000000000000000000000000000000000..84d55dbbf4de172920958b30229872b755ba3d5b
--- /dev/null
+++ b/MPU6050/readme.md
@@ -0,0 +1,10 @@
+## 此库为基本MPU6050库，能实现基本的获取数据，计算/获取欧拉角的功能。
+## 基于HAL，默认使用hi2c2。若需使用其他IIC接口请自行修改所有`&hi2c2`为需要的值
+
+### *注意事项：*
+- 若需获取欧拉角，请先调用MPU6050_Calibrate()函数，校准零飘。
+- **此库为自己乱写所以功能有欠缺：若需获取偏航角YAW，还需调整头文件中`YAW_COMPENSATION_FACTOR`一值，使其对应实际角度值**
+
+  **例如：当前YAW值为0.0，转动传感器180.0°后，若输出的值为205.0，则需修改`YAW_COMPENSATION_FACTOR`为原来的180.0/205.0倍。**
+
+  **也即：若输出的值为x，则需修改`YAW_COMPENSATION_FACTOR`为原来的180.0/x倍。**
\ No newline at end of file
diff --git a/TCS34725/Inc/tcs34725.h b/TCS34725/Inc/tcs34725.h
new file mode 100644
index 0000000000000000000000000000000000000000..8c83242fcd5413ec359883552e8ec952c682230e
--- /dev/null
+++ b/TCS34725/Inc/tcs34725.h
@@ -0,0 +1,22 @@
+#include "i2c.h"
+
+typedef struct {
+  uint16_t clear;
+  uint16_t red;
+  uint16_t green;
+  uint16_t blue;
+} TCS34725_RawData;
+
+#define COMMAND_BIT             0x80
+
+#define TCS34725_ADDR           (0x29 << 1)
+#define TCS34725_ENABLE_REG     (COMMAND_BIT | 0x00)
+#define TCS34725_ATIME_REG      (COMMAND_BIT | 0x01)
+#define TCS34725_CONTROL_REG    (COMMAND_BIT | 0x0F)
+#define TCS34725_ID_REG         (COMMAND_BIT | 0x12)
+#define TCS34725_STATUS_REG     (COMMAND_BIT | 0x13)
+#define TCS34725_CDATA_REG      (COMMAND_BIT | 0x14)
+
+uint8_t TCS34725_Init(I2C_HandleTypeDef *hi2c, uint8_t atime, uint8_t gain);
+TCS34725_RawData TCS34725_GetRawData(I2C_HandleTypeDef *hi2c);
+uint8_t TCS34725_DataReady(I2C_HandleTypeDef *hi2c);
diff --git a/TCS34725/Src/tcs34725.c b/TCS34725/Src/tcs34725.c
new file mode 100644
index 0000000000000000000000000000000000000000..44324ab18d408af6e47555532483f6fffe95411d
--- /dev/null
+++ b/TCS34725/Src/tcs34725.c
@@ -0,0 +1,56 @@
+#include "tcs34725.h"
+
+/**
+  * @brief  初始化TCS34725传感器
+  * @param  hi2c: I2C句柄
+  * @param  atime: 设置积分时间 (0x00 - 0xFF, 越大时间越短, 但精度越低) int.time = (256 - atime) × 2.4ms
+  * @param  gain: 设置增益 (0x00 - 1x, 0x01 - 4x, 0x02 - 16x, 0x03 - 60x)
+  * @retval 1: 初始化成功, 0: 初始化失败
+  */
+uint8_t TCS34725_Init(I2C_HandleTypeDef *hi2c, uint8_t atime, uint8_t gain) {
+	uint8_t device_id;
+	HAL_I2C_Mem_Read(hi2c, TCS34725_ADDR, TCS34725_ID_REG, 1, &device_id, 1, 100);
+
+	if (device_id != 0x44 && device_id != 0x4D) { return 0; }
+
+	HAL_I2C_Mem_Write(hi2c, TCS34725_ADDR, TCS34725_ATIME_REG, 1, &atime, 1, 100);
+
+	HAL_I2C_Mem_Write(hi2c, TCS34725_ADDR, TCS34725_CONTROL_REG, 1, &gain, 1, 100);
+
+	uint8_t enable = 0x03; // PON = 1, AEN = 1
+	HAL_I2C_Mem_Write(hi2c, TCS34725_ADDR, TCS34725_ENABLE_REG, 1, &enable, 1, 100);
+
+	HAL_Delay(50);
+	return 1;
+}
+
+/**
+  * @brief  获取TCS34725的 RGBC
+  * @param  data: 存储 RGBC 数据
+  * @retval None
+  */
+TCS34725_RawData TCS34725_GetRawData(I2C_HandleTypeDef *hi2c) {
+	uint8_t raw_data[8];
+	TCS34725_RawData data;
+
+	HAL_I2C_Mem_Read(hi2c, TCS34725_ADDR, TCS34725_CDATA_REG, 1, raw_data, 8, 100);
+
+	// 组合高低字节，数据低字节在前
+	data.clear = (raw_data[1] << 8) | raw_data[0];
+	data.red   = (raw_data[3] << 8) | raw_data[2];
+	data.green = (raw_data[5] << 8) | raw_data[4]; 
+	data.blue  = (raw_data[7] << 8) | raw_data[6];
+
+	return data;
+}
+
+/**
+  * @brief  检查TCS34725数据是否准备好
+  * @param  hi2c: I2C句柄
+  * @retval 1: 数据准备好, 0: 数据未准备好
+  */
+uint8_t TCS34725_DataReady(I2C_HandleTypeDef *hi2c) {
+	uint8_t status;
+	HAL_I2C_Mem_Read(hi2c, TCS34725_ADDR, TCS34725_STATUS_REG, 1, &status, 1, 100);
+	return (status & 0x01);
+}
diff --git a/TCS34725/readme.md b/TCS34725/readme.md
new file mode 100644
index 0000000000000000000000000000000000000000..5dd282be1c21246810bbbdb39a0d8eedd0a6613d
--- /dev/null
+++ b/TCS34725/readme.md
@@ -0,0 +1 @@
+## TCS34725颜色传感器模块的基础库 仅用于读出原始RGBC数据 不包含RGB转RGB888/RGB565
\ No newline at end of file