CAN Communication

Salient Motion's CANbus support and implementation

The Salient Motion CAN (SM-CAN) protocol is a simple, lightweight implementation that's designed to help you get your motor spinning as quickly as possible.

SM-CAN supports CAN FD, allowing up to 1Mbps for the message ID and 5Mbps for the data payload. SM-CAN is capable of communicating with any CAN bus transceiver.

Note: The Cyclone has termination resistors that are always ON, while Dust Devil does not. Contact the team when placing an order to configure the termination resistors.

Supported Protocols: If you need the Salient Motion motor controller to support other protocols (droneCAN, CANopen, J1939, etc), feel free to reach out to our team at [e-mail] and we will do our best to accommodate your requirements.

Protocol Specifications

Baud Rate: 1Mbps

Endianess: big endian

Default Node ID: 0x01

SM-CAN Commands

Control Signal

Control Signal service frame

The control signal is specified as a service frame and is how you command the motor to spin.

Note: You must set the upper, lower, and center limit prior to sending the controller a CAN frame! This is done through the user interface tool.

For CAN ID byte 1, set the request not response bit to 1. Note, the node ID: 0x01

Priority	Service type ID	Request not response
any	0xEC	1

Below is the payload of the control signal service message:

Data Payload	Units	Type
Commanded Value	Counts	uint16

Warning: The CANbus has a timeout period of 300ms. Upon timeout, the controller will reset to the off (center) position.

Live Telemetry

Live telemetry message ID frame

The live telemetry message identifier is as follows:

Priority	Message type ID	Source node ID
0x1F	0xEEAB	0x01

The live telemetry data payload (in order) is listed below:

Data Payload	Units	Type
Motor Speed	erad/sec	float32
Motor Current	amps	float32
Battery Voltage	voltage	float32
Battery Current	amps	float32
Commanded Value	counts	float32
Mosfet Temperature	celsius	float32