CANivore Intro¶
The CANivore is a multipurpose USB-to-CAN FD device. The CANivore:
Adds a secondary CAN FD bus to the roboRIO
CAN FD improves upon CAN with increased device bandwidth and transfer speed.
Allows the control of CTR Electronics devices on Supported Devices.
Important
Details on licensing your CANivore is available on the licensing page.
Initial Setup
Setting up a CANivore for robot projects and desktop development.
API Usage
Using the CANivore with devices in API.
Hardware-Attached Simulation
Using a CANivore with hardware devices in a desktop environment.
Advanced Configuration
Advanced configuration options for the CANivore.
Status Light Reference¶
| Blink Codes | |||
|---|---|---|---|
| STAT Codes | |||
| Animation (Click to play) | LED State | Cause | Possible Fix |
| LED Off | No Power | Provide 12V to V+/V-, or plug in USB. | |
| Red Double-Blink | Device powered through V+/V-, but no USB. | Plug in USB and ensure the robot controller is powered on. | |
| Red Fast-Strobe | USB plugged in, but no USB communication. | Ensure robot controller is fully booted and enumerated USB. Then consider replacing the USB cable. | |
| Orange Double-Blink | Good USB connection, CAN streaming disabled. V+/V- is NOT powered. | Ensure a robot program using Phoenix is running. | |
| Orange Fast-Strobe | Good USB connection, CAN streaming disabled. V+/V- is powered. | Ensure a robot program using Phoenix is running. | |
| Green Double-Blink | Good USB connection, CAN streaming enabled. V+/V- is NOT powered. | ||
| Green Fast-Strobe | Good USB connection, CAN streaming enabled. V+/V- is powered. | ||
| Alternate Red/Orange | Damaged Hardware. | Contact CTRE Support. | |
| Alternate Orange/Green | CANivore in bootloader. | Field-upgrade device in Tuner X. | |
| Wi-Fi Codes | |||
| LED Off | Wi-Fi is disabled. | Enable the ESP32. | |
| Green Blink | Wi-Fi is enabled, or ESP32 custom application is allowed to use Wi-Fi. | ||
| BT Codes | |||
| LED Off | Bluetooth is disabled. | Enable the ESP32. | |
| Green Blink | Bluetooth is enabled, or ESP32 custom application is allowed to use Bluetooth. | ||
| CAN Codes | |||
| Solid Red | Voltage too low for CAN bus. | Ensure device is receiving 5 V over USB and optionally 12 V over V+/V-. | |
| Red Double-Blink | No CAN communication. CAN termination is disabled. | Ensure good connections on CANH and CANL (Yellow and Green), all connected devices support CAN FD, and the bus is properly terminated with two 120-Ω resistors, one on each end. | |
| Red Fast-Strobe | No CAN communication. CAN termination is enabled. | Ensure good connections on CANH and CANL (Yellow and Green), all connected devices support CAN FD, and the bus is properly terminated with a 120-Ω resistor on the other end. | |
| Orange Double-Blink | Reserved for CAN 2.0B legacy mode. CAN termination is disabled. | ||
| Orange Fast-Strobe | Reserved for CAN 2.0B legacy mode. CAN termination is enabled. | ||
| Green Double-Blink | CAN FD is active. CAN termination is disabled. | ||
| Green Fast-Strobe | CAN FD is active. CAN termination is enabled. | ||