CTR Electronics CANifier Manuale utente

CANifier User’s Guide www.ctr-electronics.com 10/8/2017

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CANifier

User’s Guide

Revision 1.0

Cross The Road Electronics

www.ctr-electronics.com

CANifier User’s Guide www.ctr-electronics.com 10/8/2017

Cross The Road Electronics Page 2 10/8/2017

Table of Contents

1. What is CANifier?.......................................................................................................................................................................... 4

1.1. Features ................................................................................................................................................................................ 5

1.2. Pin Descriptions .................................................................................................................................................................... 6

1.3. Electrical Specifications......................................................................................................................................................... 7

1.3.1. Voltage Rail Dropout Plots. ........................................................................................................................................... 7

1.4. Electrical Schematic .............................................................................................................................................................. 8

1.5. LEDs....................................................................................................................................................................................... 9

1.5.1. LED Channel LEDs (3)..................................................................................................................................................... 9

1.5.2. Status LED States (2)...................................................................................................................................................... 9

2. Installation .................................................................................................................................................................................. 11

2.1. Installing CAN Bus and Power leads.................................................................................................................................... 11

2.2. Wiring Common-Anode LED Strip ....................................................................................................................................... 12

2.3. Wiring remaining signals..................................................................................................................................................... 12

2.3.1. Sensor examples ......................................................................................................................................................... 13

2.4. Test CANifier assembly and wiring...................................................................................................................................... 15

2.5. Enclose/Insulate CANifier assembly.................................................................................................................................... 16

3. Phoenix Framework (Software) .................................................................................................................................................. 17

3.1. Software Examples.............................................................................................................................................................. 17

3.2. Status Frame Rates ............................................................................................................................................................. 17

3.3. Custom Platforms................................................................................................................................................................ 17

3.4. HERO LifeBoat / roboRIO Web-based configuration........................................................................................................... 18

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. Silkscreen suggests max input voltage is 33V. Vdd-max is 28V.......................................................................................... 19

5. Frequently Asked Questions (FAQ) ............................................................................................................................................. 20

5.1. Certain features are not working, but this document indicates they should work............................................................. 20

5.2. Signals updates seem slow. There is stair-stepping in my signal plots............................................................................... 20

6. Firmware (CRF) Version History .................................................................................................................................................. 21

7. Revision History .......................................................................................................................................................................... 21

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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.

If you have any questions or comments regarding this document, or any CTRE product, please

contact support@crosstheroadelectronics.com

To obtain the most recent version of this document, please visit

www.ctr-electronics.com.

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1. What is CANifier?

The CTR Electronics CANifier is a CAN-controlled multipurpose LED and General Purpose Input/Output (GPIO)

controller. 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.

Example users are…

-Commercial Robots developed using

the CTRE HERO Control System.

-Robots developed for FRC

Competition (or similar).

-Academic robot courses/design

projects.

-Rapid Prototyping (need to quickly

add another sensor)

Example use-cases solved by CANifier…

-Integrates PWM sensors like LIDAR/Sonar into a CTRE-HERO/FRC/CAN Bus control system.

-Add more sensors into the FRC CAN bus without involving the roboRIO (no hardware SPI/I2C drivers to

struggle with). Native support coming in the CTRE Phoenix Framework.

-Allows direct communication between external sensors and various CTRE CAN products for future out-of-

box features that “just work”.

-Allows control of PWM motor controllers (1) like Victor SP via CAN bus commands through CANifier.

-LED Strip control via CAN bus.

-Integrate RC Radio control (PWM) into CTRE-HERO/FRC/CAN Bus control system.

-Sensors located far from central robot controller can instead tap into the CAN bus.

Note 1: FRC Teams must confirm what is deemed legal when using PWM motor controllers in competition. Typically, FRC rules require PWM

Motor controllers to be wired directly to roboRIO.

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1.1. Features

CAN bus controlled and field-upgradeable

3x LED channel drivers

oIndividual RGB control with 10bit resolution.

Support for many sensor types, including:

oSRX Mag Encoder / quadrature encoders

oLimit switches

oPixy/CMUcam5

oPulse width ultrasonic (e.g. MaxBotix MB1013)

oLIDAR-Lite v3

oTalon Tach

oDigital Sharp distance sensors

Outputs for common devices, including:

oPWM motor controllers

oSmall hobby servos

oPWM LED controllers

oAny PWM-controlled device

Electro-static Discharge (ESD) protection on exposed pins

Future features…

oSeveral sensor types supported directly in firmware.

oSPI/I2C-over-CANBus software driver.

oDirect communication with CTRE CAN Devices for a variety of features.

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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

SDA

I2C Data pin

SCL

I2C Clock pin

5V output

QUAD A

Quadrature channel A

GND

Ground

QUAD B

Quadrature channel B

INDEX

Quadrature Index

LIMF

Limit Switch Forward

GND

Ground

LIMR

Limit Switch Reverse

GND

Ground

CS/PWM3

SPI Chip Select / PWM input 3

CLK/PWM0

SPI Clock / PWM input 0

MOSI/PWM1

SPI Data Out / PWM input 1

MISO/PWM2

SPI Data In / PWM input 2

5V output

3.3V

3.3V output

3.3V

3.3V output

GND

Ground

GND

Ground

CANH

CAN High

CANL

CAN Low

V+

LED Source Voltage (Common anode)

LED Channel A (cathode)

LED Channel B (cathode)

LED Channel C (cathode)

Backside

VDD

Supply Voltage

Backside

GND

Ground

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1.3. Electrical Specifications

Note 1: A silkscreen error implies a maximum VDD of 33V. The real maximum VDD is 28V. VDD limits are for guaranteeing full functionality.

Note 2: See Section 1.3.1 (Figure 1.1. 5V rail dropout)

Note 3: See Section 1.3.1 (Figure 1.2. 3.3V rail dropout)

Note 4: See schematic for information on series resistors

Note 5: This will be configurable in future updates.

Note 6: All pins have TVS diodes for ESD protection except for LIMR.

1.3.1. Voltage Rail Dropout Plots.

Symbol

Parameter

Condition

Min

Typ

Max

Unit

Tamb

Ambient temperature

-40

+125

°C

Vdd

Supply voltage

28 (1)

Isupp

Supply Current

7.0V < Vdd < 28.0V

Vdrop_5V

5V rail dropout voltage

At Vdd

6.5 (2)

Vdrop_3.3V

3.3V rail dropout voltage

At Vdd

3.9 (3)

Vdrop_CAN

CAN dropout voltage

At Vdd

5.2

Imax_5V

Max continuous 5V current draw

500

Imax_3.3V

Max continuous 3.3V current draw

100

Imax_ABC

Max sink current per LED channel

3.5

GPIO Specs

VoL

Low level output voltage

GND+0.4

VoH

High level output voltage

2.8

3.3

Source/Sink current per output pin

RGPIO

GPIO series resistance (4)

Ω

ViL

Low level input voltage

-0.3

0.2

ViH

High level input voltage

2.7

5.5

fPWM_ABC

A, B, and C PWM switching frequency

kHz

fPWM_OUT_0123

PWM 0-3 Period (5)

As output

4.2

fPWM_IN_0123

Pulse Width Measurement Accuracy

As inputs

250

Default internal pull mode

As inputs

Pullup

ESD Rating

ESD Protection Contact Discharge (6)

±8

ESD Protection Air-Gap Discharge (6)

±8

Figure 1.1. 5V rail dropout voltage

Figure 1.2. 3.3V rail dropout voltage

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1.4. Electrical Schematic

Note that V+, 5V, 3.3V, GND, CANH, and CANL have exposed pads on the PCB

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1.5. LEDs

CANifier has multiple LEDs…

-Two bicolor LEDs for CAN and control status.

-Three red LEDs to instrument the individual LED channel outputs.

1.5.1. LED Channel LEDs (3)

Each LED channel has a dedicated red LED that will illuminate if the channel is

modulated (partially or full on). This can be used to confirm if the CANifier is

commanded to turn on LED Channels.

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.

Note 1: LEDs Alternate –Status LEDs are always different colors. The (2X) LEDs will swap colors when blinking.

Blink Codes

LEDs

Colors

CANifier State

None

No Power is being applied to CANifier

LEDs Alternate (1)

Off/Red

CAN bus is not detected

Check CAN cabling to the CANifier, check other devices

on CAN bus to confirm that the bus is operational

LEDs Alternate (1)

Off/Orange

CAN bus detected but no commands are being received.

Most likely no CANifier object was created in software.

LEDs Alternate (1)

Switching between Red/Orange and

Orange/Red

Damaged Hardware

LED1 Only

“closest” to

M+/V+

Green/Orange

In Boot-loader

LEDs Alternate (1)

Blinking Green

CAN is connected, the CANifier is being controlled by

robot controller.

Channel C

Channel B

Channel A

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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 red or orange at any

moment. The orange/red LED pattern will continue to blink this pattern with no intermittent change in LED

activity.

If this is being witnessed, ensure that the LED pattern isn’t simply an intermittent red LED blink superimposed on

to the typical orange LED pattern. This is typically observed when there is an intermittent wiring issue or when

two or more CANifiers with common device IDs are present on the CAN bus. Both can be checked by connecting

the CANifier directly to the robot controller. Do not connect any other CAN devices and avoid complex wire

harness strategies.

Erratic red and orange blink patterns are typically caused by intermittent cable issues, or not properly configuring

the device IDs of the CANifiers. Such LED patterns should not be misconstrued as the damaged LED code

mentioned above.

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