Related Manuals for CTR Electronics CANifier
Summary of Contents for CTR Electronics CANifier
- Page 1 CANifier User’s Guide www.ctr-electronics.com 10/8/2017 CANifier User’s Guide Revision 1.0 Cross The Road Electronics www.ctr-electronics.com Cross The Road Electronics Page 1 10/8/2017...
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Page 2: Table Of Contents
4. Functional Limitations ................................. 19 4.1. Future features to be implemented............................ 19 4.2. When hot-swapping certain sensors, CANifier may reset....................19 4.3. roboRIO Self-test will be added in future..........................19 4.4. Reverse Limit signal is missing ESD diode........................... 19 4.5. - Page 3 CANifier User’s Guide www.ctr-electronics.com 10/8/2017 TO OUR VALUED CUSTOMERS It is our intention to provide our valued customers with the best documentation possible to ensure successful use of your CTRE products. To this end, we will continue to improve our publications, examples, and support to better suit your needs.
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Page 4: What Is Canifier
CANifier also supports a variety of sensors including Quadrature, Limit Switch, SPI, I2C, and PWM input/output. CANifier is designed to “CAN-ify” robot control system components that traditionally do not take advantage of CAN bus. This allows robot developers already using CAN bus to further expand their capabilities. -
Page 5: Features
CANifier User’s Guide www.ctr-electronics.com 10/8/2017 1.1. Features CAN bus controlled and field-upgradeable 3x LED channel drivers Individual RGB control with 10bit resolution. Support for many sensor types, including: SRX Mag Encoder / quadrature encoders Limit switches Pixy/CMUcam5 Pulse width ultrasonic (e.g. -
Page 6: Pin Descriptions
CANifier User’s Guide www.ctr-electronics.com 10/8/2017 1.2. Pin Descriptions The CANifier has a multitude of I/O pins. All pins are counted as GPIO (General Purpose Input/Output) except for power supply pins (5V, GND, 3.3V, VDD). Pin # Name Function I2C Data pin... -
Page 7: Electrical Specifications
CANifier User’s Guide www.ctr-electronics.com 10/8/2017 1.3. Electrical Specifications Symbol Parameter Condition Unit Ambient temperature +125 °C Supply voltage Supply Current 7.0V < V < 28.0V supp 5V rail dropout voltage At V drop_5V 3.3V rail dropout voltage At V drop_3.3V... -
Page 8: Electrical Schematic
CANifier User’s Guide www.ctr-electronics.com 10/8/2017 1.4. Electrical Schematic Note that V+, 5V, 3.3V, GND, CANH, and CANL have exposed pads on the PCB Cross The Road Electronics Page 8 10/8/2017... -
Page 9: Leds
Channel A 1.5.2. Status LED States (2) The CANifier features two bicolor LEDs that indicate the status of the CANifier. This feature can be used to confirm proper operation. The table below shows the possible color states and their respective operation. - Page 10 10/8/2017 1.5.2.1. Status LEDs – Damaged Hardware The CANifier can detect certain types of hardware damage. When damage is detected the CANifier will blink in a periodic fashion as mentioned in the table above. This is also illustrated below… Note that the LEDs never turn off when indicating this failure mode. Each LED is always...
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Page 11: Installation
CANifier User’s Guide www.ctr-electronics.com 10/8/2017 2. Installation Below is the typical procedure for installing a CANifier. 2.1. Installing CAN Bus and Power leads Prepare wires ahead of time to solder to CANifier. Generally, every use case will require power and ground wire leads, and CAN bus. -
Page 12: Wiring Common-Anode Led Strip
CANifier, or the LED strip can be directly soldered to the CANifier pads. Note the signal orientation (from top to bottom) of LED Strip (Blue, Red, Green, V+) to CANifier (C, B, A, V+). Ensure that the common + rail of the LED Strip connects to the V+ hole/pad on the CANifier. -
Page 13: Sensor Examples
CANifier User’s Guide www.ctr-electronics.com 10/8/2017 2.3.1. Sensor examples Various sensor example configurations are documented below. 2.3.1.1. LIDAR Lite V3 Distance Sensor More information can be found in the LIDAR Lite V3 Operation Manual. Be sure to tie pull down resistor to ensure LIDAR continuously samples distance. - Page 14 CANifier User’s Guide www.ctr-electronics.com 10/8/2017 2.3.1.3. Limit Switch Inputs Cross The Road Electronics Page 14 10/8/2017...
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Page 15: Test Canifier Assembly And Wiring
2.4. Test CANifier assembly and wiring Before installing CANifier into the final enclosure or heat shrink tubing, test CANifier in isolation. This is the best opportunity to field-upgrade CANifier to latest firmware, and test peripherals to ensure wiring is correct before burying the CANifier assembly into the final robot/platform. -
Page 16: Enclose/Insulate Canifier Assembly
CANifier User’s Guide www.ctr-electronics.com 10/8/2017 2.5. Enclose/Insulate CANifier assembly The recommended approach to insulate CANifier is to shroud entire wire assembly in 1” heat shrink tubing. Insert assembly into one side of a precut heat shrink tubing. Heat shrink should cover all exposed electrical areas of CANifier and LED strip. -
Page 17: Phoenix Framework (Software)
10/8/2017 3. Phoenix Framework (Software) Phoenix Framework is the CTRE Software API for CTRE CAN devices, including CANifier. The current version is in Alpha development and can be found at the CTRE site. http://www.ctr-electronics.com/control-system/hro.html#product_tabs_technical_resources Support will include the following platforms…... -
Page 18: Hero Lifeboat / Roborio Web-Based Configuration
CANifier User’s Guide www.ctr-electronics.com 10/8/2017 3.4. HERO LifeBoat / roboRIO Web-based configuration For CANifier(s) to appear in the roboRIO Web-based configuration page, run the latest HERO LifeBoat. Connect roboRIO with USB cable, and press the “Update RIO Web-based Config” button. -
Page 19: Functional Limitations
An example of this is the LIDAR-Lite V3 sensor, which has an initial current draw far greater than 500 mA. Thus, disconnecting/reconnecting the LIDAR Lite sensor while CANifier is powered may cause CANifier to reboot as the supply rail may reset. -
Page 20: Frequently Asked Questions (Faq)
5.1. Certain features are not working, but this document indicates they should work. Update to the latest CANifier firmware. CANifier ship firmware is 0.4 which is missing most features. 5.2. Signals updates seem slow. There is stair-stepping in my signal plots. -
Page 21: Firmware (Crf) Version History
CANifier User’s Guide www.ctr-electronics.com 10/8/2017 6. Firmware (CRF) Version History CRF Version Date Description 7-Sept-2017 First public release. 4-Sept-2017 Ship Firmware 7. Revision History Revision Date Description 8-Oct-2017 First public release. 22-Sept-2017 Initial Creation. Cross The Road Electronics Page 21...
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