基于arduino的运动计步器

6050或9250陀螺仪用来计步 I2C   A4-SDA  A5-SCL；OLED屏幕用来显示SPI接口 13-RES 12-CS 11-DC 10-SCK 9-SDA 。

代码：

#include "I2Cdev.h"
#include "MPU6050.h"
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
#include "Wire.h"
#include <MsTimer2.h> https://www.pjrc.com/teensy/td_libs_MsTimer2.html
#endif
MPU6050 accelgyro;
int16_t ax, ay, az;
int16_t gx, gy, gz;
int axoffs,ayoffs,azoffs;
float rax,ray,raz;
float ax0,ay0,az0;
float ax1,ay1,az1;
double t1;
double t0;
double t;
int sum;
int count=0;
#define OUTPUT_READABLE_ACCELGYRO
bool blinkState = false;

#include <SPI.h>
#include <Wire.h>
#include <Adafruit_GFX.h>
#include <Adafruit_SSD1306.h>
#include <MsTimer2.h>
#define OLED_MOSI   9
#define OLED_CLK   10
#define OLED_DC    11
#define OLED_CS    12
#define OLED_RESET 13
Adafruit_SSD1306 display(OLED_MOSI, OLED_CLK, OLED_DC, OLED_RESET, OLED_CS);
#define NUMFLAKES 10
#define XPOS 0
#define YPOS 1
#define DELTAY 2
//#define LOGO16_GLCD_HEIGHT 16 
//#define LOGO16_GLCD_WIDTH  16
unsigned char str_30[16];//个
unsigned char str_31[16];//十
unsigned char str_32[16];//百
unsigned char str_20[] =
{
  0xFF, 0xFF, 0xFF, 0xE7, 0xDB, 0xBD, 0xBD, 0xBD, 0xBD, 0xBD, 0xBD, 0xBD, 0xDB, 0xE7, 0xFF, 0xFF, /*"0",0*/
  0xFF, 0xFF, 0xFF, 0xEF, 0x8F, 0xEF, 0xEF, 0xEF, 0xEF, 0xEF, 0xEF, 0xEF, 0xEF, 0x83, 0xFF, 0xFF, /*"1",1*/
  0xFF, 0xFF, 0xFF, 0xC3, 0xBD, 0xBD, 0xBD, 0xFB, 0xFB, 0xF7, 0xEF, 0xDF, 0xBD, 0x81, 0xFF, 0xFF, /*"2",2*/
  0xFF, 0xFF, 0xFF, 0xC3, 0xBD, 0xBD, 0xFB, 0xE7, 0xFB, 0xFD, 0xFD, 0xBD, 0xBB, 0xC7, 0xFF, 0xFF, /*"3",3*/
  0xFF, 0xFF, 0xFF, 0xFB, 0xF3, 0xEB, 0xDB, 0xDB, 0xBB, 0xBB, 0x81, 0xFB, 0xFB, 0xE1, 0xFF, 0xFF, /*"4",4*/
  0xFF, 0xFF, 0xFF, 0x81, 0xBF, 0xBF, 0xBF, 0xA7, 0x9B, 0xFD, 0xFD, 0xBD, 0xBB, 0xC7, 0xFF, 0xFF, /*"5",5*/
  0xFF, 0xFF, 0xFF, 0xE3, 0xDB, 0xBF, 0xBF, 0xA7, 0x9B, 0xBD, 0xBD, 0xBD, 0xDB, 0xE7, 0xFF, 0xFF, /*"6",6*/
  0xFF, 0xFF, 0xFF, 0x81, 0xBB, 0xBB, 0xF7, 0xF7, 0xEF, 0xEF, 0xEF, 0xEF, 0xEF, 0xEF, 0xFF, 0xFF, /*"7",7*/
  0xFF, 0xFF, 0xFF, 0xC3, 0xBD, 0xBD, 0xBD, 0xDB, 0xE7, 0xDB, 0xBD, 0xBD, 0xBD, 0xC3, 0xFF, 0xFF, /*"8",8*/
  0xFF, 0xFF, 0xFF, 0xE7, 0xDB, 0xBD, 0xBD, 0xBD, 0xD9, 0xE5, 0xFD, 0xFD, 0xDB, 0xC7, 0xFF, 0xFF /*"9",9*/
};
#if (SSD1306_LCDHEIGHT != 64)
#error("Height incorrect, please fix Adafruit_SSD1306.h!");
#endif
int ge,shi,bai,qian;
void jisuan();
void setup() 
{
        #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
        Wire.begin();
        #elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
        Fastwire::setup(400, true);
        #endif
        Serial.begin(9600);
    display.clearDisplay();
    display.begin(SSD1306_SWITCHCAPVCC);
        Serial.println("Initializing I2C devices...");
        accelgyro.initialize();
        accelgyro.setFullScaleGyroRange(MPU6050_GYRO_FS_500);
        accelgyro.setFullScaleAccelRange(MPU6050_ACCEL_FS_2);
        Serial.println("Testing device connections...");
        Serial.println(accelgyro.testConnection() ? "MPU6050 connection successful" : "MPU6050 connection failed");
        getoffs();
        MsTimer2::set(1000,jisuan);
        MsTimer2::start();

}
void jisuan()
{
      sum=abs(abs(ax1)+abs(ay1)+abs(az1));
      if(sum>18)
      {
      count++;
      sum=0;
      }
      if(count<10) {ge=count; shi=0; bai=0;}
      if((count>=10)&&(count<100)) { ge=count%10; shi=count/10; bai=0;}
      if((count>=100)&&(count<1000)) {ge=count%100%10; shi=count%100/10; bai=count/100;}
      if(count>1000)          {ge=0;shi=0;bai=0;}
}
void xianshi()
{
  int i1,i2,i3;
  for(i1=0;i1<16;i1++)
      {
       str_30[i1]=str_20[ge*16+i1]; 
       }
  for(i2=0;i2<16;i2++)
      {
       str_31[i2]=str_20[shi*16+i2]; 
       }
   for(i3=0;i3<16;i3++)
        {
         str_32[i3]=str_20[bai*16+i3]; 
         }

   display.clearDisplay();  
  }
void zhi()
{
    accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
    t0=t1;
    t1=micros();
    t=(t1-t0)/1000000;
    ax=ax+axoffs;
    ay=ay+ayoffs;
    az=az+azoffs; 
    rax=ax;
    ray=ay;
    raz=az;
    ax1=(rax/16384)*9.80;
    ay1=(ray/16384)*9.80;
    az1=(raz/16384)*9.80;
  
  }
void getoffs()
{
      int16_t ax, ay, az;
      int16_t gx, gy, gz;
      long int axsum=0;
      long int aysum=0;
      long int azsum=0;
      int i;
          for(i=1;i<=2000;i++)
          {
              accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
              axsum=ax+axsum;
              aysum=ay+aysum;
              azsum=az+azsum-16384;
          }
      axoffs=-axsum/2000;
      ayoffs=-aysum/2000;
      azoffs=-azsum/2000;
}
void loop() 
{
    zhi();
    Serial.print(count);  Serial.print(bai);  Serial.print(shi);  Serial.println(ge); 
    xianshi();
   display.clearDisplay();
//   display.drawBitmap(39, 25, str_33, 8, 16, 1);//千
   display.drawBitmap(47, 25, str_32, 8, 16, 1);//百
   display.drawBitmap(55, 25, str_31, 8, 16, 1);//十
   display.drawBitmap(63, 25, str_30, 8, 16, 1);//个
//  display.setTextSize(1);             //设置字体大小
//  display.setTextColor(WHITE); //设置字体黑色，字体背景白色
//  display.setCursor(40,16);            //设置字体的起始位置
//  display.println("Steps:");   //输出字符并换行
    display.display();
   
}