FALCON Periodic Messages
Messages automatically broadcast by the FALCON master vehicle controller after initialization.
info
- All messages use little endian format
- All the messages use device address as CAN ID offset. This allows to have multiple FALCON controllers on the same CAN bus.
Status Messages (0x600 + ADDR)
Broadcast interval: 100ms
| Byte | Type | Description |
|---|---|---|
| 0 | UINT_8 | FALCON ID (11) |
| 1 | UINT_8 | FALCON mode - /mode |
| 2 | UINT_8 | Driver mode - /driver/mode |
| 3 | UINT_8 | Driver status word - /driver/stat |
| 4-5 | UINT_16 | Driver limit word - /driver/limit |
| 6-7 | UINT_16 | Driver error word - /driver/error |
Motor Status (0x610 + ADDR)
Broadcast interval: 100ms
| Byte | Type | Description |
|---|---|---|
| 0-1 | INT_16 | Motor current [A] - /driver/motor/currentqf |
| 2-3 | INT_16 | Motor rpm |
| 4-5 | UINT_16 | /driver/totallimit scaled to 0-65535 |
| 6-7 | INT_16 | Motor power [W] |
Battery Status (0x620 + ADDR)
Broadcast interval: 100ms
| Byte | Type | Description |
|---|---|---|
| 0-3 | Reserved | |
| 4-5 | INT_16 | Battery voltage [0.01 V] |
| 6-7 | INT_16 | Battery current [0.02 A] |
Temperature Data (0x630 + ADDR)
Broadcast interval: 800ms
| Byte | Type | Description |
|---|---|---|
| 0-1 | UINT_16 | Driver /driver/motor/RThermistor (0xFFFF = Disconnected) |
| 2-3 | UINT_16 | Driver /driver/ptctemp |
| 4 | UINT_8 | Driver /drivet/temp |
| 5 | UINT_8 | /disarm_reason |
| 5-7 | UINT_8 | Reserved |