# Slope

**Repository Path**: boolean_2/Slope

## Basic Information

- **Project Name**: Slope
- **Description**: 坡度
- **Primary Language**: C
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2026-06-16
- **Last Updated**: 2026-06-24

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# Slope - Vehicle Slope Detection System

[View Chinese Version](#chinese-version)

## Project Overview

Slope is a vehicle slope detection system based on the STM32F407 microcontroller. The system collects acceleration and gyroscope data from an IMU (Inertial Measurement Unit) sensor, processes it using a Kalman filter algorithm to calculate road slope in real time, and transmits the results via CAN bus to the vehicle control system.

## Hardware Platform

- **MCU**: STM32F407ZETx (ARM Cortex-M4, 168MHz)
- **IMU**: ASM330LHB (3-axis accelerometer + 3-axis gyroscope)
- **Communication**: CAN bus
- **Debug**: USART1 (serial debug output)

## Features

- Real-time acquisition of raw acceleration and gyroscope data
- Kalman filter algorithm for sensor data processing
- Detection of uphill/downhill/flat road conditions
- Calculation of road slope angle
- CAN bus data communication
- Flash storage for parameter retention

## Project Structure

```
Application/
├── CODE/
│   ├── DRIVER/           # Low-level drivers
│   │   ├── can_driver.c   # CAN driver
│   │   ├── delay.c        # Delay functions
│   │   ├── iic_driver.c   # I2C driver
│   │   ├── led_driver.c   # LED driver
│   │   ├── tim.c          # Timer
│   │   └── usart_driver.c # UART driver
│   ├── MAIN/
│   │   └── main.c         # Main program
│   └── SERVICE/
│       ├── ASM330LHB.c    # IMU sensor driver
│       ├── flash_service.c # Flash storage service
│       └── SLOPE/         # Slope detection algorithm
│           ├── slope_new.c
│           ├── slope_new_data.c
│           └── rt_nonfinite.c
├── PROJECT/
│   └── MDK/               # Keil project files
└── STDLIB/
    ├── CORE/              # STM32 core files
    └── FWLIB/             # STM32 peripheral libraries
```

## Quick Start

### Compilation

Open `Application/PROJECT/MDK/Application.uvprojx` with Keil MDK and compile.

### Flashing

Flash `Application/PROJECT/BIN/Application.bin` to the MCU using J-Link or ST-Link.

### Debugging

The default serial baud rate is 115200. Monitor debug output via the serial port.

## CAN Communication Protocol

| CAN ID | Description |
|--------|-------------|
| 0x01   | Accelerometer data |
| 0x02   | Slope and status data |

## Dependencies

- STM32F4xx HAL Library
- CMSIS

---

## License

This project is for learning and research purposes only.