Yes, if any of the following:
CANivore USB-to-CAN Adapter
Falcon 500 Powered by Talon FX
You need to field upgrade PCM, PDP, or any of the above devices
You want to use Phoenix Tuner for CAN diagnostics (highly recommended)
PCM and PDP objects are already supported in the base FRC installation. However, Phoenix Tuner is required for setting the device ID, field-upgrade, and Self-test Snapshot.