Control Message (0x5F0 + ADDR)
FALCON can be controlled over CAN by an external VCU using the control message. This message allows setting the throttle command and switching between control modes (freewheel, e-stop, docking, or direct command).
info
The CAN ID is 0x5F0 + ADDR, where ADDR is the device address. For example, if the controller address is 0, the control message CAN ID is 0x5F0.
note
- The control message has a 200 ms timeout. If no message is received within this period, the CAN command signal (
sig_can) is set to NaN and CAN control is deactivated. - When a valid CAN control message is active, it overrides the local PWM and analog throttle inputs.
Message Layout
| Byte | Type | Name | Description |
|---|---|---|---|
| 0-1 | INT_16 | cmd | Command value, scaled to -32767..32767 (maps to -1.0..1.0) |
| 2 | UINT_8 | control_mode | Control mode selector (see below) |
Total length: 3 bytes
Control Modes
States
The following states are available in the /can directory for monitoring CAN control status:
| State | Type | Description |
|---|---|---|
sig_can | FLOAT | Normalized CAN command signal (-1.0 to 1.0), NaN when inactive or timeout. |
control_mode | UINT_8 | Currently active control mode (see table above) |