Legal Question in Family Law in California

My mother has had my 4 month old son for the last 5 days without letting me pick him up unless I follow through with options she had given me. These options consist of me either going back to the boyfriend and have Child Protective Services called and have my son taken away or join the navy or job corps. Now shes trying to say she found a marijuana pipe in his diaper bag which I knew nothing about 3 months ago, saying I had abandoned my son after she and my father had physically assaulted me then threw me out of their house at 430 in the morning when that night I had texted her to pick my son up but she never replied. Now is what she's doing legal? How and when can I get my son back? Can CPS get involved and can my mother have him taken away?

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