FALCON Periodic Messages
Messages automatically broadcast by the FALCON controller after initialization.
info
All messages use little endian format. All messages use the device address as CAN ID offset, allowing multiple FALCON controllers on the same CAN bus.
can_id
CAN base IDs for telemetry messages. The array contains four values, one for each message group (status, speed, battery, temperature).
can_period [ms]
Broadcast period for each CAN message group. The array contains four values, one for each message (0x600, 0x610, 0x620, 0x630).
Status Messages (0x600 + ADDR)
| Byte | Type | Description |
|---|---|---|
| 0 | UINT_8 | FALCON ID (11) |
| 1 | UINT_8 | FALCON mode |
| 2 | UINT_8 | Driver mode |
| 3 | UINT_8 | Driver status word |
| 4-5 | UINT_16 | Driver limit word |
| 6-7 | UINT_16 | Common error word |
Motor Status (0x610 + ADDR)
| Byte | Type | Description |
|---|---|---|
| 0-1 | INT_16 | Motor current [A] (q-axis, averaged) |
| 2-3 | INT_16 | Motor speed [RPM] (averaged) |
| 4-5 | UINT_16 | Total limit scaled to 0–65535 |
| 6-7 | INT_16 | Motor power [W] (averaged) |
Battery Status (0x620 + ADDR)
| Byte | Type | Description |
|---|---|---|
| 0-1 | INT_16 | Max battery temperature [0.01 °C] (0x7FFF = N/A) |
| 2-3 | INT_16 | Min battery temperature [0.01 °C] (0x7FFF = N/A) |
| 4-5 | INT_16 | Battery voltage [0.01 V] |
| 6-7 | INT_16 | Battery current [0.02 A] |
Temperature Data (0x630 + ADDR)
| Byte | Type | Description |
|---|---|---|
| 0-1 | INT_16 | Motor temperature [0.01 °C] (0x7FFF = N/A) |
| 2-3 | INT_16 | PTC temperature |
| 4 | UINT_8 | Controller temperature |
| 5 | UINT_8 | Disarm reason |
| 6-7 | - | Reserved |