Rover CAN Protocol¶
This section details all CAN messages in the Rover. This page contains a list of all messages with links to the details. Before diving in, read the general information below.
General Information¶
Default Bitrate: 125 kbit/s
Implementation: Available on GitHub with DBC file for message decoding
CAN ID Configuration: All message CAN IDs can be configured offline and during runtime. Contact support@canedudev.com for instructions
Byte Order: All multi-byte values are transmitted in little-endian format
- Example:
0x1234is transmitted as byte 0 =0x34, byte 1 =0x12
Version Tags: Newer messages include a version tag (e.g. v0.14.0) indicating the minimum firmware version required to support that message. Ensure your firmware version meets or exceeds the specified version for the messages you intend to use.
Documentation: This document is updated regularly. Report errors or unclear sections to support@canedudev.com
List of Messages¶
| CAN ID | Message Name | DLC | Description |
|---|---|---|---|
| 0x100 | Steering | 5 | Set steering servo position |
| 0x101 | Throttle | 5 | Set throttle value |
| 0x120 | Light Array Front State | 4 | Set the front light array state |
| 0x121 | Light Array Rear State | 4 | Set the rear light array state |
| 0x122 | Buzzer Sound | 6 | Play sounds through the buzzer |
| 0x200 | Battery Cell Voltages | 7 | Report individual cell voltages |
| 0x201 | Battery Regulated Output | 8 | Report regulated power output voltage and current |
| 0x202 | Battery Output | 8 | Report battery output voltage and current |
| 0x203 | Servo Voltage | 2 | Report steering servo operating voltage |
| 0x204 | Servo Current | 2 | Report steering servo current usage |
| 0x205 | Battery Voltage | 2 | Report the battery voltage |
| 0x210 | Front Left Wheel Speed | 8 | Reports the front left wheel speed |
| 0x211 | Front Right Wheel Speed | 8 | Reports the front right wheel speed |
| 0x212 | Rear Left Wheel Speed | 8 | Reports the rear left wheel speed |
| 0x213 | Rear Right Wheel Speed | 8 | Reports the rear right wheel speed |
| 0x214 | Obstacle Detector Front Distance | 8 | Reports the front obstacle detector distances |
| 0x215 | Obstacle Detector Rear Distance | 8 | Reports the rear obstacle detector distances |
| 0x311 | Front Left Wheel Parameters | 8 | Configure wheel parameters for odometry |
| 0x312 | Front Right Wheel Parameters | 8 | Configure wheel parameters for odometry |
| 0x313 | Rear Left Wheel Parameters | 8 | Configure wheel parameters for odometry |
| 0x314 | Rear Right Wheel Parameters | 8 | Configure wheel parameters for odometry |
| 0x300 | Battery Jumper Config | 1 | Set battery current measurement jumper config |
| 0x301 | Battery Regulated Output Voltage | 4 | Set the regulated power output voltage |
| 0x302 | Battery Output ON/OFF | 2 | Set the main power and regulated power states |
| 0x303 | Battery Report Frequency | 2 | Set battery report frequency |
| 0x304 | Battery Low Voltage Cutoff | 8 | Configure low-voltage cutoff parameters |
| 0x305 | Servo Set Voltage | 2 | Set steering servo operating voltage |
| 0x306 | Servo PWM Config | 2 | Set servo PWM settings |
| 0x307 | Servo Report Frequency | 2 | Set servo report frequency |
| 0x308 | Motor PWM Config | 2 | Set motor controller PWM settings |
| 0x309 | Servo Reverse Direction | 0 | Reverse steering servo direction |
| 0x30A | Motor Reverse Direction | 0 | Reverse motor throttle direction |
| 0x30B | Servo Failsafe | 5 | Configure steering servo failsafe settings |
| 0x30C | Motor Failsafe | 5 | Configure motor failsafe settings |
| 0x30D | Steering Subtrim | 2 | Configure steering servo subtrim |
| 0x30E | Throttle Subtrim | 2 | Configure throttle subtrim |
| 0x30F | Battery main power overcurrent threshold | 4 | Set overcurrent threshold for main power output |
| 0x310 | Battery regulated output overcurrent threshold | 4 | Set overcurrent threshold for regulated power output |
| 0x500 | AD Battery Cell Voltages | 7 | Report individual cell voltages |
| 0x501 | AD Battery Regulated Output | 8 | Report regulated power output voltage and current |
| 0x502 | AD Battery Output | 8 | Report battery output voltage and current |
| 0x600 | AD Battery Jumper Config | 1 | Set battery current measurement jumper config |
| 0x601 | AD Battery Regulated Output Voltage | 4 | Set the regulated power output voltage |
| 0x602 | AD Battery Output ON/OFF | 2 | Set the main power and regulated power states |
| 0x603 | AD Battery Report Frequency | 2 | Set battery report frequency |
| 0x604 | AD Battery Low Voltage Cutoff | 8 | Configure low-voltage cutoff parameters |
| 0x60F | AD Battery main power overcurrent threshold | 4 | Set overcurrent threshold for main power output |
| 0x610 | AD Battery regulated output overcurrent threshold | 4 | Set overcurrent threshold for regulated power output |