CAN Protocol

Info

This page describes dingoFW v0.6.x. Older firmware (v0.4 and earlier) used a different, prefix based settings protocol that is no longer supported.

USB uses the same frames as CAN. Over USB, frames are wrapped in SLCAN style ASCII (t<ID><DLC><DATA>\r), so the same messages work on both connections.

IDs

Every device uses a block of standard (11-bit) CAN IDs, starting at the Base ID.

CAN ID	Direction	Use
`Base ID + 0`	Device → dingoConfig	Parameter responses, request responses, info/warning/error messages
`Base ID + 1`	dingoConfig → Device	Parameter commands and requests (burn, sleep, bootloader, etc.)
`Base ID + 2` ...	Device → bus	Cyclic status messages

Device	Default Base ID	Cyclic messages
dingoPDM	`0x0DE` (222)	27 (`Base ID + 2` to `Base ID + 28`)
dingoPDM-Max	`0x0DE` (222)	27 (`Base ID + 2` to `Base ID + 28`)
CANBoard	`0x640` (1600)	9 (`Base ID + 2` to `Base ID + 10`)

Warning

When using more than one device on the same bus, give each device a Base ID far enough apart that the ID blocks don't overlap.

A dingoPDM uses 29 IDs (Base ID + 0 to Base ID + 28).

The Base ID and bitrate are changed in dingoConfig, see Changing the Base ID.

Supported bitrates: 1000K, 500K (default), 250K, 125K, 100K

DBC

DBC files are in the firmware repo: dingoFW/dbc

The DBC files use the default Base IDs (0x0DE for dingoPDM/dingoPDM-Max, 0x640 for CANBoard). If you change the Base ID, shift the message IDs by the same amount.

Note

CAN input values (CIVn) are encoded with each CAN input's own factor and offset, so the DBC files show them as raw 32-bit values.

CAN Inputs

CAN inputs read a signal out of any CAN message on the bus. The signal is defined the same way as a DBC signal.

Setting	Description
Enabled	Input is evaluated
ID Type	`0` = Standard (11-bit), `1` = Extended (29-bit)
ID	CAN ID to read
Start Bit	First bit of the signal (0 to 63)
Bit Length	Length of the signal (1 to 32 bits)
Byte Order	`0` = Little Endian (Intel), `1` = Big Endian (Motorola)
Signed	Signal is a signed value
Factor	Value = (raw × Factor) + Offset
Offset	Value = (raw × Factor) + Offset
Operator	Compares the value to the `Operand`
Operand	Value to compare against
Mode	`Momentary` or `Latching`
Timeout Enabled	Reset the input when messages stop
Timeout	Time without a message before the input resets (ms)

Each CAN input creates two variables:

CAN In n: result of the comparison, 0 or 1
CAN In Val n: the scaled signal value

Warning

If the timeout is enabled, the message must be received at least every timeout interval or both the value and the result will be set to 0.

Operators

#	Operator	Result true when
0	`Equal`	Value == Operand
1	`Not Equal`	Value != Operand
2	`Greater Than`	Value > Operand
3	`Less Than`	Value < Operand
4	`Greater Than or Equal`	Value >= Operand
5	`Less Than or Equal`	Value <= Operand
6	`Bitwise And`	(Value & Operand) != 0
7	`Bitwise Nand`	(Value & Operand) == 0

Modes

Momentary: result follows the comparison
Latching: result toggles every time the comparison becomes true

CAN Input Examples

Blink Marine keypad button 1 (CANopen node 0x15, message 0x195, byte 0, bit 0)
- ID = 0x195
- Start Bit = 0
- Bit Length = 1
- Operator = Equal
- Operand = 1
- Mode = Latching or Momentary

Tip

Supported keypads can be set up as keypads instead, which also controls the button LEDs.

CANBoard rotary switch 2 at position 3 (Base ID 0x640, message 0x644 = Base ID + 4, byte 0 high nibble)
- ID = 0x644
- Start Bit = 4
- Bit Length = 4
- Operator = Equal
- Operand = 3
- Mode = Momentary
CANBoard analog input 2 above 500mV (Base ID 0x640, message 0x642 = Base ID + 2, bytes 2-3)
- ID = 0x642
- Start Bit = 16
- Bit Length = 16
- Operator = Greater Than
- Operand = 500
- Mode = Momentary

CAN Outputs

CAN outputs send any variable out on the bus, encoded like a DBC signal.

Setting	Description
Enabled	Output is sent
Input	Variable to send
ID Type	`0` = Standard (11-bit), `1` = Extended (29-bit)
ID	CAN ID to send on
Start Bit	First bit of the signal (0 to 63)
Bit Length	Length of the signal (1 to 32 bits)
Byte Order	`0` = Little Endian (Intel), `1` = Big Endian (Motorola)
Signed	Signal is a signed value
Factor	raw = (Value - Offset) / Factor
Offset	raw = (Value - Offset) / Factor
Interval	Time between messages (ms), `0` = 100ms

CAN outputs that use the same ID are packed into one message. The message length (DLC) is set by the signal that ends furthest into the message, and the message uses the shortest interval of its signals.

Cyclic Messages

The device sends status messages every 100ms. Message n is sent on Base ID + 2 + n. All messages are 8 bytes, little endian.

Note

Messages not marked as always sent are only sent when one of their functions is enabled.

Note

Cyclic messages pause while dingoConfig is reading or writing all parameters (4 seconds max).

They can also be turned off with the Mute CAN TX input, see Device Settings.

dingoPDM / dingoPDM-Max

dingoPDM-Max has 4 outputs, the bytes for outputs 5 to 8 are always 0.

Msg	CAN ID	Byte 0	Byte 1	Byte 2	Byte 3	Byte 4	Byte 5	Byte 6	Byte 7
0	Base ID + 2	DI	DS	TC	TC	BV	BV	BT	BT
1	Base ID + 3	OC1	OC1	OC2	OC2	OC3	OC3	OC4	OC4
2	Base ID + 4	OC5	OC5	OC6	OC6	OC7	OC7	OC8	OC8
3	Base ID + 5	OS12	OS34	OS56	OS78	WO	WSS	FL	0
4	Base ID + 6	OR1	OR2	OR3	OR4	OR5	OR6	OR7	OR8
5	Base ID + 7	CI	CI	CI	CI	VI	VI	VI	VI
6	Base ID + 8	CNT1	CNT2	CNT3	CNT4	CON	CON	CON	CON
7	Base ID + 9	CIV1	CIV1	CIV1	CIV1	CIV2	CIV2	CIV2	CIV2
...	...
22	Base ID + 24	CIV31	CIV31	CIV31	CIV31	CIV32	CIV32	CIV32	CIV32
23	Base ID + 25	DC1	DC2	DC3	DC4	DC5	DC6	DC7	DC8
24	Base ID + 26	K1B	K1B	K1B	K2B	K2B	K2B	0	0
25	Base ID + 27	K1D1	K1D1	K1D2	K1D2	0	0	0	0
26	Base ID + 28	K2D1	K2D1	K2D2	K2D2	0	0	0	0
27	Base ID + 29	TO	TR	0	0	0	0	0	0
28	Base ID + 30	TE1	TE1	TE2	TE2	TE3	TE3	TE4	TE4
29	Base ID + 31	TE5	TE5	TE6	TE6	TE7	TE7	TE8	TE8

Msg 0
- DI - Digital inputs
  - Bit 0 = Input 1
  - Bit 1 = Input 2
- DS - Device state and type
  - Bits 0-3 = Device state
    - 0 = Run
    - 1 = Sleep
    - 2 = OverTemp
    - 3 = Error
  - Bits 4-7 = Device type
    - 0 = dingoPDM
    - 1 = dingoPDM-Max
- TC - Total current (A)
- BV - Battery voltage (V × 10)
- BT - Board temperature (°C × 10)
Msg 1, 2
- OCn - Output n current (A)
Msg 3
- OSxy - Output states
  - Bits 0-3 = Output x
  - Bits 4-7 = Output y
    - 0 = Off
    - 1 = On
    - 2 = Overcurrent
    - 3 = Fault
- WO - Wiper outputs
  - Bit 0 = Slow
  - Bit 1 = Fast
- WSS - Wiper speed and state
  - Bits 0-3 = Wiper speed
  - Bits 4-7 = Wiper state
- FL - Flashers
  - Bit 0 to 3 = Flasher 1 to 4
Msg 4
- ORn - Output n overcurrent count
Msg 5 - Sent when any CAN input or virtual input is enabled
- CI - CAN input results, bit 0 = CAN input 1 ... bit 31 = CAN input 32
- VI - Virtual input results, bit 32 = virtual input 1 ... bit 47 = virtual input 16
Msg 6 - Sent when any counter or condition is enabled
- CNTn - Counter n value
- CON - Condition results, bit 32 = condition 1 ... bit 63 = condition 32
Msg 7 to 22 - Sent when either CAN input in the message is enabled
- CIVn - CAN input n value, 32 bits
- Encoded using that CAN input's factor, offset and byte order (the raw value of the input signal)
Msg 23 - Sent when PWM is enabled on any output
- DCn - Output n duty cycle (%)
Msg 24 - Sent when any keypad is enabled
- K1B - Keypad 1 buttons, bit 0 = button 1 ... bit 19 = button 20
- K2B - Keypad 2 buttons, bit 24 = button 1 ... bit 43 = button 20
Msg 25, 26 - Sent when keypad 1 / keypad 2 is enabled
- KxDn - Keypad x dial n value, 16 bits (2 dials per keypad)
Msg 27 - Sent when any timer is enabled
- TO - Timer outputs, bit 0 = timer 1 ... bit 7 = timer 8
- TR - Timers running (timing), bit 8 = timer 1 ... bit 15 = timer 8
Msg 28, 29 - Sent when any timer is enabled
- TEn - Timer n elapsed time, 16 bits, 10ms per bit (s × 100)
- Held at the preset time once it is reached, 0 when the timer is not running

CANBoard

See CANBoard

Parameters

All settings are parameters, addressed by an Index and a SubIndex.

Parameters are read and written on Base ID + 1. The device responds on Base ID + 0. All parameter frames are 8 bytes:

Byte 0	Byte 1	Byte 2	Byte 3	Byte 4	Byte 5	Byte 6	Byte 7
Command	Index low	Index high	SubIndex	Value	Value	Value	Value

Value is 32 bits, little endian
- Float values are sent as the IEEE-754 bit pattern
- Signed values are sign-extended to 32 bits
- Bool = 0 or 1, Enum = the number of the enum value

Commands

Command	Name	Direction	Description
1	`Read`	Both	Read one parameter. Response has the current value
2	`Write`	Both	Write one parameter. Response has the new value. No response if the value is out of range
5	`ReadParamNotFound`	Response	Index/SubIndex does not exist
10	`ReadAll`	Both	Read every parameter. Device responds with `ReadAll`, then one `ReadAllRsp` per parameter, then `ReadAllComplete`
11	`ReadAllRsp`	Response	One parameter value
12	`ReadAllComplete`	Response	Bytes 1-2 = number of parameters sent, bytes 4-7 = CRC32 of the values
13	`ReadAllModified`	Both	Same as `ReadAll`, only parameters that are not the default value
20	`WriteAll`	Both	Start writing every parameter
21	`WriteAllVal`	Request	One parameter value
22	`WriteAllComplete`	Both	Request: bytes 1-2 = number of parameters sent, bytes 4-7 = CRC32 of the values. Response: bytes 1-2 = number received, byte 3 = `1` if applied, bytes 4-7 = CRC32
23	`WriteAllModified`	Both	Same as `WriteAll`, only parameters that are not the default value. Parameters not sent are set to default
24	`WriteAllMissing`	Response	Sent after a failed `WriteAll`, one per missing parameter
25	`WriteAllParamNotFound`	Response	`WriteAllVal` Index/SubIndex does not exist
26	`WriteAllOutOfRange`	Response	`WriteAllVal` value is out of range
27	`WriteAllMissingDone`	Response	End of the missing list. Bytes 1-2 = count, `0xFFFF` = too many to list
34	`CheckCrc`	Request	Request the CRC32 of all parameter values
35	`CheckCrcRsp`	Response	Bytes 4-7 = CRC32 of all parameter values

Note

WriteAll and WriteAllModified are only applied if the parameter count and CRC32 match. Otherwise none of the values are applied.

dingoConfig uses CheckCrc to compare its copy of the configuration with the device, a mismatch shows Config Mismatch.

Warning

Written values are used immediately, but are lost on a power cycle. Send a Burn to save them.

Parameter Indexes

n is the instance number starting at 0 (Output 1 = 0x1000, Output 2 = 0x1001, ...).

Index	Function
`0x0000`	Device
`0x1000 + n`	Outputs
`0x1200 + n`	Digital inputs
`0x1300 + n`	CAN inputs
`0x1400 + n`	Virtual inputs
`0x1500 + n`	Conditions
`0x1600 + n`	Counters
`0x1700 + n`	Flashers
`0x1800`	Starter disable
`0x1900`	Wiper
`0x1A00 + n`	Timers
`0x2000 + n`	CAN outputs
`0x2100 + n`	Digital outputs
`0x2200 + n`	Analog inputs
`0x3000 + n`	Keypads
`0x3100 + (keypad × 32) + button`	Keypad buttons
`0x3200 + (keypad × 4) + dial`	Keypad dials

Variable inputs (Var) are variable map indexes.

Device `0x0000`

Sub	Name	Type	Default	Range	Notes
0	Base ID	UInt16	`0x0DE`	0 - 0x7FF	Used right away
1	CAN bitrate	Enum	1	0 - 4	0 = 1000K, 1 = 500K, 2 = 250K, 3 = 125K, 4 = 100K. Used after a restart
2	Sleep enabled	Bool	0		See Sleep
3	CAN filter enabled	Bool	0		Hardware filter, only accept IDs the device uses
4	Disable digital input wake	Bool	0
5	Disable CAN wake	Bool	0
6	Connect USB to CAN	Bool	1		Bridge USB and CAN, the USB port works as a USB to CAN adapter
7	Mute CAN TX input	Var	0		Stop cyclic messages while the variable is true
8	Force sleep input	Var	0		Go to sleep while the variable is true

Outputs `0x1000`

Sub	Name	Type	Default	Range	Notes
0	Enabled	Bool	0
1	Input	Var	0		Output is on while the variable is not `0`
2	Current limit	Float	20	0 - 100	A
3	Inrush current limit	Float	50	0 - 100	A
4	Inrush time	UInt16	1000	0 - 10000	ms
5	Reset mode	Enum	0	0 - 2	0 = None, 1 = Count, 2 = Endless
6	Reset time	UInt16	1000	0 - 60000	ms
7	Reset limit	UInt8	3	0 - 20
8	PWM enabled	Bool	0
9	Soft start	Bool	0
10	Variable duty cycle	Bool	0
11	Duty cycle input	Var	0
12	Fixed duty cycle	UInt8	100	0 - 100	%
13	PWM frequency	UInt16	100	0 - 400	Hz
14	Soft start ramp time	UInt16	0	0 - 10000	ms
15	Duty cycle denominator	UInt16	100	1 - 5000	Duty cycle = input / denominator
16	Minimum duty cycle	UInt16	0	0 - 100	%
17	Primary output	Int8	-1	-1 -	Output to follow, `-1` = none. See Paired Outputs

Digital Inputs `0x1200`

Sub	Name	Type	Default	Range	Notes
0	Enabled	Bool	0
1	Mode	Enum	0	0 - 1	0 = Momentary, 1 = Latching
2	Invert	Bool	0
3	Debounce time	UInt16	20	0 - 1000	ms
4	Pull	Enum	0	0 - 2	0 = None, 1 = Pullup, 2 = Pulldown

CAN Inputs `0x1300`

Sub	Name	Type	Default	Range	Notes
0	Enabled	Bool	0
1	Timeout enabled	Bool	0
2	Timeout	UInt16	1000	0 - 60000	ms
3	ID type	UInt8	0	0 - 1	0 = Standard, 1 = Extended
4	ID	UInt32	0	0 - 0x1FFFFFFF
5	Start bit	UInt8	0	0 - 63
6	Bit length	UInt8	8	1 - 32
7	Factor	Float	1
8	Offset	Float	0
9	Byte order	Enum	0	0 - 1	0 = Little Endian, 1 = Big Endian
10	Signed	Bool	0
11	Operator	Enum	0	0 - 7	See operators
12	Operand	Float	0
13	Mode	Enum	0	0 - 1	0 = Momentary, 1 = Latching

Virtual Inputs `0x1400`

Sub	Name	Type	Range	Notes
0	Enabled	Bool
1	Not 0	Bool		Invert variable 0
2	Variable 0	Var
3	Condition 0	Enum	0 - 2	0 = And, 1 = Or, 2 = Nor
4	Not 1	Bool		Invert variable 1
5	Variable 1	Var
6	Condition 1	Enum	0 - 2	0 = And, 1 = Or, 2 = Nor
7	Not 2	Bool		Invert variable 2
8	Variable 2	Var		`0` = only use variables 0 and 1
9	Mode	Enum	0 - 1	0 = Momentary, 1 = Latching

Conditions `0x1500`

Sub	Name	Type	Range	Notes
0	Enabled	Bool
1	Input	Var
2	Operator	Enum	0 - 7	See operators
3	Argument	Float

Counters `0x1600`

Sub	Name	Type	Default	Range	Notes
0	Enabled	Bool	0
1	Increment input	Var	0
2	Decrement input	Var	0
3	Reset input	Var	0
4	Minimum	UInt8	0	0 - 255
5	Maximum	UInt8	10	0 - 255
6	Increment edge	Enum	0	0 - 2	0 = Rising, 1 = Falling, 2 = Both
7	Decrement edge	Enum	0	0 - 2
8	Reset edge	Enum	0	0 - 2
9	Wrap around	Bool	0
10	Hold to reset	Bool	0
11	Hold reset time	UInt16	2000	0 - 10000	ms

Flashers `0x1700`

Sub	Name	Type	Default	Range	Notes
0	Enabled	Bool	0
1	Input	Var	0
2	On time	UInt16	500	0 - 5000	ms
3	Off time	UInt16	500	0 - 5000	ms
4	Single	Bool	0		One flash per activation of the input

Starter Disable `0x1800`

Sub	Name	Type	Notes
0	Enabled	Bool
1	Input	Var
2+n	Disable output n+1	Bool	Turn this output off while the input is true

Wiper `0x1900`

Sub	Name	Type	Default	Range	Notes
0	Enabled	Bool	0
1	Mode	Enum	0	0 - 2	0 = DigIn, 1 = IntIn, 2 = MixIn
2	Slow input	Var	0
3	Fast input	Var	0
4	Intermittent input	Var	0
5	On input	Var	0
6	Speed input	Var	0
7	Park input	Var	0
8	Park stop level	Bool	0		0 = stop when park input is low, 1 = high
9	Swipe input	Var	0
10	Wash input	Var	0
11	Wash wipe cycles	UInt8	3	0 - 10
12 - 19	Speed map 0 - 7	Enum		0 - 8	See Speed Map
20 - 25	Intermittent time 1 - 6	UInt16	1000 - 6000	0 - 30000	ms

Timers `0x1A00`

Sub	Name	Type	Default	Range	Notes
0	Enabled	Bool	0
1	Input	Var	0
2	Reset input	Var	0		Level, timer is cleared while on
3	Mode	Enum	0	0 - 3	0 = On delay, 1 = Off delay, 2 = Pulse (retriggerable), 3 = Pulse (one shot)
4	Time	UInt32	1000	0 - 600000	ms

CAN Outputs `0x2000`

Sub	Name	Type	Default	Range	Notes
0	Enabled	Bool	0
1	Input	Var	0
2	ID type	UInt8	0	0 - 1	0 = Standard, 1 = Extended
3	ID	UInt32	0	0 - 0x1FFFFFFF
4	Start bit	UInt8	0	0 - 63
5	Bit length	UInt8	8	1 - 32
6	Factor	Float	1
7	Offset	Float	0
8	Byte order	Enum	0	0 - 1	0 = Little Endian, 1 = Big Endian
9	Signed	Bool	0
10	Interval	UInt16	1000	0 - 60000	ms

Digital Outputs `0x2100`

CANBoard only.

Sub	Name	Type	Default
0	Enabled	Bool	0
1	Input	Var	0

Analog Inputs `0x2200`

CANBoard only.

Sub	Name	Type	Default	Range	Notes
0	Enabled	Bool	0
1	Switch enabled	Bool	0		Use the input as a digital switch
2	Switch mode	Enum	0	0 - 1	0 = Momentary, 1 = Latching
3	Switch invert	Bool	0
4	Switch threshold	UInt16	2000	0 - 5000	mV, switch is on above this voltage
5	Rotary enabled	Bool	0		Use the input as a rotary switch
6	Rotary invert	Bool	0
7	Rotary offset	Float	0		mV at position 0
8	Rotary step	Float	100		mV per position
9	Rotary max position	Float	10

Keypads `0x3000`

Sub	Name	Type	Default	Range	Notes
0	Enabled	Bool	0
1	Node ID	UInt8	0	0 - 127	CANopen node ID
2	Timeout enabled	Bool	0
3	Timeout	UInt16	0	0 - 60000	ms
4	Model	Enum	6		See Keypad models
5	Backlight brightness	UInt8	63	0 - 63
6	Dim backlight brightness	UInt8	32	0 - 63
7	Backlight color	UInt8	0	0 - 9	See Backlight colors
8	Dimming input	Var	0		Use dim brightness while true
9	Button brightness	UInt8	63	0 - 63
10	Dim button brightness	UInt8	32	0 - 63

Keypad Buttons `0x3100`

Sub	Name	Type	Range	Notes
0	Enabled	Bool
1	Mode	Enum	0 - 1	0 = Momentary, 1 = Latching
2 - 5	Color 0 - 3	UInt8	0 - 7	See Button colors
6	Fault color	UInt8	0 - 7
7 - 10	Value variable 0 - 3	Var
11	Fault variable	Var
12 - 15	Blink 0 - 3	Bool
16	Fault blink	Bool
17 - 20	Blink color 0 - 3	UInt8	0 - 7
21	Fault blink color	UInt8	0 - 7

Keypad Dials `0x3200`

Sub	Name	Type	Default	Range
0	Enabled	Bool	0
1	Min count	UInt8	0	0 - 16
2	Max count	UInt8	16	0 - 16
3	LED offset	UInt8	0	0 - 16

Requests

Requests are sent on Base ID + 1 and answered on Base ID + 0. All request frames are 8 bytes, unused bytes are 0.

Burn

Saves the configuration to memory (FRAM on dingoPDM, flash on CANBoard). Without a Burn, changes are lost on a power cycle.

Type	Byte 0	Byte 1	Byte 2	Byte 3	Byte 4
Request	30	1	3	8
Response	30	1	3	8	Result (1 = success, 0 = fail)

Tip

This is an easy way to test new settings. Try new settings without a Burn, then cycle power to go back to the saved settings.

Version

Type	Byte 0	Byte 4	Byte 5	Byte 6	Byte 7
Request	31
Response	31	Major	Minor	Build high	Build low

Sleep

Puts the device to sleep immediately, even if the sleep conditions are not met. All outputs are turned off.

Type	Byte 0	Byte 1	Byte 2	Byte 3	Byte 4	Byte 5
Request	32	`Q`	`U`	`I`	`T`
Response	32	`Q`	`U`	`I`	`T`	1

Bootloader

Jumps to the STM32 USB bootloader for firmware updating. No response. Devices with USB only.

Type	Byte 0	Byte 1	Byte 2	Byte 3	Byte 4	Byte 5
Request	33	`B`	`O`	`O`	`T`	`L`

Restart

Resets the device. Needed after changing the bitrate. Settings that have not been burned are lost.

Type	Byte 0	Byte 1	Byte 2	Byte 3	Byte 4	Byte 5	Byte 6
Request	36	`R`	`E`	`S`	`E`	`T`
Response	36	`R`	`E`	`S`	`E`	`T`	1

Wake Up

Any CAN message wakes the device from sleep (unless CAN wake is disabled). There is no special wake up message.

Messages

The device sends info, warning and error messages on Base ID + 0 when something changes state. Each message is sent once when its condition becomes true.

Byte 0	Byte 1	Bytes 2-3	Bytes 4-5	Bytes 6-7
Type	Source	Data 1	Data 2	Data 3

Type
- F (70) = Info
- R (82) = Warning
- E (69) = Error

Source	Name	Type	Data 1	Data 2	Description
1	State Run	Info			Device entered `Run`
2	State Sleep	Info			Device entered `Sleep`
3	State Overtemp	Error	Board temp (°C × 10)		Device entered `OverTemp`
4	State Error	Error	Board temp (°C × 10), or error number	Total current (A × 10)	Device entered `Error`
5	Overcurrent	Warning/Error	Output number (0 = output 1)	Current (A)	Warning = overcurrent, Error = output fault
6	Voltage	Warning	Battery voltage (V × 10)		Battery under 10V or over 16V
7	CAN
8	USB
9	Overtemp
10	Config	Error	Error number		Configuration error
11	FRAM
12	Analog
13	I2C
14	Temp Sensor
15	USB Connection
16	Init	Error	Error number		Error during startup

Errors

Error messages are sent when a non-recoverable issue occurs. The only way to reset is to cycle power on the device.

For fatal errors, Data 1 is the error number.

CAN Protocol

IDs

DBC

CAN Inputs

CAN Input Examples

CAN Outputs

Cyclic Messages

dingoPDM / dingoPDM-Max

CANBoard

Parameters

Commands

Parameter Indexes

Device 0x0000

Outputs 0x1000

Digital Inputs 0x1200

CAN Inputs 0x1300

Virtual Inputs 0x1400

Conditions 0x1500

Counters 0x1600

Flashers 0x1700

Starter Disable 0x1800

Wiper 0x1900

Timers 0x1A00

CAN Outputs 0x2000

Digital Outputs 0x2100

Analog Inputs 0x2200

Keypads 0x3000

Keypad Buttons 0x3100

Keypad Dials 0x3200

Requests

Burn

Version

Sleep

Bootloader

Restart

Wake Up

Messages

Errors

Device `0x0000`

Outputs `0x1000`

Digital Inputs `0x1200`

CAN Inputs `0x1300`

Virtual Inputs `0x1400`

Conditions `0x1500`

Counters `0x1600`

Flashers `0x1700`

Starter Disable `0x1800`

Wiper `0x1900`

Timers `0x1A00`

CAN Outputs `0x2000`

Digital Outputs `0x2100`

Analog Inputs `0x2200`

Keypads `0x3000`

Keypad Buttons `0x3100`

Keypad Dials `0x3200`