v1.oled added

#include "Wire.h"
#include "I2Cdev.h"
#include "MPU6050.h"
#include <MPU6050.h>
MPU6050 mpu;
#define MPU6050_RA_TEMP_OUT_H       0x41
#include <GPRS_Shield_Arduino.h>
#include <SoftwareSerial.h>
#include <SPI.h>
#include <Wire.h>
#include <Adafruit_SSD1306.h>
#include <Adafruit_GFX.h>
#define SCREEN_WIDTH 128 // OLED display width, in pixels
#define SCREEN_HEIGHT 64
#define OLED_ADDR   0x3C
#include <Fonts/Org_01.h>

Adafruit_SSD1306 display(-1);
#define OLED_RESET    -1// Reset pin # (or -1 if sharing Arduino reset pin)
//Adafruit_SSD1306 display(SCREEN_WIDTH, SCREEN_HEIGHT, &Wire, OLED_RESET);

int led = 11;
#define PIN_TX    7
#define PIN_RX    8
#define BAUDRATE  9600
#define PHONE_NUMBER  "+8801521430081"

MPU6050 accelgyro; 
GPRS gprs(PIN_TX,PIN_RX,BAUDRATE);//RX,TX,PWR,BaudRate


unsigned long now, lastTime = 0;
float dt;                                   //微分时间

int16_t ax, ay, az, gx, gy, gz;             //加速度计陀螺仪原始数据
float aax=0, aay=0,aaz=0, agx=0, agy=0, agz=0;    //角度变量
long axo = 0, ayo = 0, azo = 0;             //加速度计偏移量
long gxo = 0, gyo = 0, gzo = 0;             //陀螺仪偏移量

float pi = 3.1415926;
float AcceRatio = 16384.0;                  //加速度计比例系数
float GyroRatio = 131.0;                    //陀螺仪比例系数

uint8_t n_sample = 8;                       //加速度计滤波算法采样个数
float aaxs[8] = {0}, aays[8] = {0}, aazs[8] = {0};         //x,y轴采样队列
long aax_sum, aay_sum,aaz_sum;                      //x,y轴采样和

float a_x[10]={0}, a_y[10]={0},a_z[10]={0} ,g_x[10]={0} ,g_y[10]={0},g_z[10]={0}; //加速度计协方差计算队列
float Px=1, Rx, Kx, Sx, Vx, Qx;             //x轴卡尔曼变量
float Py=1, Ry, Ky, Sy, Vy, Qy;             //y轴卡尔曼变量
float Pz=1, Rz, Kz, Sz, Vz, Qz;             //z轴卡尔曼变量
void setup()
{

    gprs.checkPowerUp(); // Ai code ta diye gsm k kaj korano suru kori
    Wire.begin();
    Serial.begin(2000000);
    if(!display.begin(SSD1306_SWITCHCAPVCC, 0x3C)) { // Address 0x3D for 128x64
    Serial.println(F("SSD1306 allocation failed"));
    for(;;);
  }
  delay(200);
  
    pinMode(led, OUTPUT);
    accelgyro.initialize();                 //初始化

    unsigned short times = 200;             //采样次数
    for(int i=0;i<times;i++)
    {
        accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz); //读取六轴原始数值
        axo += ax; ayo += ay; azo += az;      //采样和
        gxo += gx; gyo += gy; gzo += gz;
    
    }
    
    axo /= times; ayo /= times; azo /= times; //计算加速度计偏移
    gxo /= times; gyo /= times; gzo /= times; //计算陀螺仪偏移
}

void loop()
{  
    unsigned long now = millis();             //当前时间(ms)
    dt = (now - lastTime) / 1000.0;           //微分时间(s)
    lastTime = now;                           //上一次采样时间(ms)

    accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz); //读取六轴原始数值

    float accx = ax / AcceRatio;              //x轴加速度
    float accy = ay / AcceRatio;              //y轴加速度
    float accz = az / AcceRatio;              //z轴加速度

    aax = atan(accy / accz) * (-180) / pi;    //y轴对于z轴的夹角
    aay = atan(accx / accz) * 180 / pi;       //x轴对于z轴的夹角
    aaz = atan(accz / accy) * 180 / pi;       //z轴对于y轴的夹角

    aax_sum = 0;                              // 对于加速度计原始数据的滑动加权滤波算法
    aay_sum = 0;
    aaz_sum = 0;
  
    for(int i=1;i<n_sample;i++)
    {
        aaxs[i-1] = aaxs[i];
        aax_sum += aaxs[i] * i;
        aays[i-1] = aays[i];
        aay_sum += aays[i] * i;
        aazs[i-1] = aazs[i];
        aaz_sum += aazs[i] * i;
    
    }
    
    aaxs[n_sample-1] = aax;
    aax_sum += aax * n_sample;
    aax = (aax_sum / (11*n_sample/2.0)) * 9 / 7.0; //角度调幅至0-90°
    aays[n_sample-1] = aay;                        //此处应用实验法取得合适的系数
    aay_sum += aay * n_sample;                     //本例系数为9/7
    aay = (aay_sum / (11*n_sample/2.0)) * 9 / 7.0;
    aazs[n_sample-1] = aaz; 
    aaz_sum += aaz * n_sample;
    aaz = (aaz_sum / (11*n_sample/2.0)) * 9 / 7.0;

    float gyrox = - (gx-gxo) / GyroRatio * dt; //x轴角速度
    float gyroy = - (gy-gyo) / GyroRatio * dt; //y轴角速度
    float gyroz = - (gz-gzo) / GyroRatio * dt; //z轴角速度
    agx += gyrox;                             //x轴角速度积分
    agy += gyroy;                             //x轴角速度积分
    agz += gyroz;
    
    /* kalman start */
    Sx = 0; Rx = 0;
    Sy = 0; Ry = 0;
    Sz = 0; Rz = 0;
    
    for(int i=1;i<10;i++)
    {                 //测量值平均值运算
        a_x[i-1] = a_x[i];                      //即加速度平均值
        Sx += a_x[i];
        a_y[i-1] = a_y[i];
        Sy += a_y[i];
        a_z[i-1] = a_z[i];
        Sz += a_z[i];
    
    }
    
    a_x[9] = aax;
    Sx += aax;
    Sx /= 10;                                 //x轴加速度平均值
    a_y[9] = aay;
    Sy += aay;
    Sy /= 10;                                 //y轴加速度平均值
    a_z[9] = aaz;
    Sz += aaz;
    Sz /= 10;

    for(int i=0;i<10;i++)
    {
        Rx += sq(a_x[i] - Sx);
        Ry += sq(a_y[i] - Sy);
        Rz += sq(a_z[i] - Sz);
    
    }
    
    Rx = Rx / 9;                              //得到方差
    Ry = Ry / 9;                        
    Rz = Rz / 9;
  
    Px = Px + 0.0025;                         // 0.0025在下面有说明...
    Kx = Px / (Px + Rx);                      //计算卡尔曼增益
    agx = agx + Kx * (aax - agx);             //陀螺仪角度与加速度计速度叠加
    Px = (1 - Kx) * Px;                       //更新p值

    Py = Py + 0.0025;
    Ky = Py / (Py + Ry);
    agy = agy + Ky * (aay - agy); 
    Py = (1 - Ky) * Py;
  
    Pz = Pz + 0.0025;
    Kz = Pz / (Pz + Rz);
    agz = agz + Kz * (aaz - agz); 
    Pz = (1 - Kz) * Pz;

    if ((agx > 45) && (agx < 50)){
    gprs.callUp(PHONE_NUMBER);
    display.clearDisplay();
    display.setTextSize(1);
    display.setTextColor(WHITE);  
   
    display.setCursor(0,16);
    display.setTextSize(2);
    display.println("SMS SENT ");
    display.display(); 

    }
    else if ((agx > 5) && (agx < 10))
{   display.clearDisplay();
    display.setTextSize(2);
    display.setTextColor(WHITE);  
    display.setCursor(0,16);
    display.println("HIGH 1 "); 
    display.display(); 
}
   else if ((agx > -1) && (agx < 1))
{   display.clearDisplay();
    display.setTextSize(2);
    display.setTextColor(WHITE); 
    
    display.setCursor(40,10);
    //display.startscrollright(0x00, 0x07);
    //delay(1000); 
    display.println(" LEVEL"); 
    
    display.display(); 
    
}
   else { display.clearDisplay();
  display.setTextSize(1);
  display.setFont(&Org_01);
  display.setTextColor(WHITE);
  display.setCursor(0, 5);  // Display static text
  display.println("Car Front");
  display.setCursor(55,5);
  display.println(agx);
  display.setCursor(0,12);
  display.println("Car Right");
  display.setCursor(55,12);
  display.println(agy);
  display.setCursor(108,5);
  display.println("M/S");
  display.setCursor(85,5);
  display.println(aax);
    
  //display.drawRect(82, 0, 45, 15, WHITE);
  display.setCursor(108,12); 
  display.println("M/S");
  display.setCursor(85,12);
  display.println(aay);
   }



    /* kalman end */

    //Serial.print(agx);Serial.print(",");Serial.print(" X axis\t\n"); 
    
    //Serial.print(agy);Serial.print(",");Serial.print(" Y axis\t\n"); 
  


  
  
   
   
  //display.startscrollright(0x00, 0x00);
  //delay(5000);
  
 
  //display.drawRect(70, 2, 15, 10, WHITE);
  // Scroll part of the screen
  
  
    


  display.display(); 
    
}