File content as of revision 0:99043f8d668d:

//icm20601 最新版
#include "mbed.h"
Serial pc(USBTX, USBRX);
I2C i2c(PB_7,PB_6);
DigitalOut conv(PA_4);

const int addr_accel_gyro = 0xD0;
char cmd[2];
char data[1];
char xh[1];
char xl[1];

int main()
{
    conv = 1;
    i2c.frequency(100000);
    char cmdd;
    wait(2);
    data[0] = 0x75;
    i2c.write(addr_accel_gyro,data,1);
    i2c.read(addr_accel_gyro|0x01,xh,1);
    pc.printf("xh = 0x%02X\r\n",xh[0]);
    while(1){
        cmdd = pc.getc();
        if(cmdd == 'a'){
            data[0] = 0x75;
            i2c.write(addr_accel_gyro,data,1);
            i2c.read(addr_accel_gyro|0x01,xh,1);
            pc.printf("xh = 0x%02X\r\n",xh[0]);
            
            cmd[0]=0x6B;
            cmd[1]=0x00;
            i2c.write(addr_accel_gyro,cmd,2);
            
            cmd[0]=0x6C;
            cmd[1]=0x00;
            i2c.write(addr_accel_gyro,cmd,2);
            
            
            cmd[0] = 0x37;
            cmd[1] = 0x02;
            i2c.write(addr_accel_gyro,cmd,2);
            
            
            while(1) {
                data[0] = 0x3F;
                i2c.write(addr_accel_gyro,data,1);
                i2c.read(addr_accel_gyro|0x01,xh,1);
                data[0] = 0x40;
                i2c.write(addr_accel_gyro,data,1);
                i2c.read(addr_accel_gyro|0x01,xl,1);
                //pc.printf("xh = 0x%02X,xl = 0x%02X\r\n",xh[0],xl[0]);
                double  acc_ax = short((xh[0]<<8) | (xl[0]));
                double AX = (acc_ax)*4/32764*9.81;
                pc.printf("AZ = %f\r\n",AX);
                wait(0.5);
            }
        }
    }
    
    
    
}