写一份基于stm32f103c8t6以及mpu6050的计步数代码

好的，以下是基于stm32f103c8t6以及mpu6050的计步数代码：

#include "stm32f10x.h"
#include "mpu6050.h"

uint8_t buffer[14];
int16_t acc_x, acc_y, acc_z;
int16_t gyro_x, gyro_y, gyro_z;
float acc_angle_x, acc_angle_y;
float gyro_angle_x = 0, gyro_angle_y = 0, gyro_angle_z = 0;
float kalman_angle_x = 0, kalman_angle_y = 0;
float angle_x, angle_y;
int step_count = 0;

void SysTick_Handler(void)
{
    step_count = 0;
}

void Delay_ms(uint32_t nms)
{
    uint32_t i, j;
    for(i = 0; i < nms; i++)
        for(j = 0; j < 7200; j++);
}

int main(void)
{
    MPU6050_Init();
    SysTick_Config(SystemCoreClock / 1000);

    while(1)
    {
        MPU6050_GetRawAccelGyro(buffer);
        acc_x = buffer[0] << 8 | buffer[1];
        acc_y = buffer[2] << 8 | buffer[3];
        acc_z = buffer[4] << 8 | buffer[5];
        gyro_x = buffer[8] << 8 | buffer[9];
        gyro_y = buffer[10] << 8 | buffer[11];
        gyro_z = buffer[12] << 8 | buffer[13];

        acc_angle_x = atan(acc_y / sqrt(pow(acc_x, 2) + pow(acc_z, 2))) * 180 / PI;
        acc_angle_y = atan(-1 * acc_x / sqrt(pow(acc_y, 2) + pow(acc_z, 2))) * 180 / PI;

        gyro_angle_x += gyro_x / GYRO_SCALE * 0.01;
        gyro_angle_y += gyro_y / GYRO_SCALE * 0.01;
        gyro_angle_z += gyro_z / GYRO_SCALE * 0.01;

        kalman_angle_x = Kalman_Filter(acc_angle_x, gyro_angle_x, 0.01);
        kalman_angle_y = Kalman_Filter(acc_angle_y, gyro_angle_y, 0.01);

        angle_x = 0.98 * kalman_angle_x + 0.02 * gyro_angle_x;
        angle_y = 0.98 * kalman_angle_y + 0.02 * gyro_angle_y;

        if(angle_x > 10 || angle_x < -10 || angle_y > 10 || angle_y < -10)
            step_count++;

        Delay_ms(10);
    }
}

请注意，此代码仅供参考，您需要根据实际情况进行修改和优化。