Design

Device State

dingoFW uses a simple state machine to control overtemperature, sleep and error behavior.

stateDiagram
    [*] --> Run : Power On
    Run --> OverTemp : Temp > 55°C
    OverTemp --> Run : Temp < 55°C
    Run --> Sleep : Sleep conditions met
    Sleep --> Run : Wake input
    Run --> Error : Fatal error
    OverTemp --> Error : Temp > 80°C
    Error --> [*] : Power Cycle Required

See Sleep for information on the sleep timeout and wake

See Errors for information on possible fatal errors

See LEDs for possible status and error LED states

• Run
  • Default state
• Sleep
  • All outputs off
  • Low power state
• OverTemp
  • Board temperature over the warning limit (55°C)
  • Warning message sent
  • Outputs remain on
• Error
  • All outputs off
  • Fatal error state, power cycle required to recover
  • Board temperature over the critical limit (80°C) also goes to Error

Main Loop

The device thread runs every 2ms and updates everything in this order, so outputs always act on this cycle's inputs and logic:

1. Received CAN messages (CAN inputs, keypads)
2. Digital inputs, analog inputs, CAN input timeouts
3. Virtual inputs
4. Wiper, starter disable
5. Flashers, counters, conditions, timers
6. Keypads
7. Outputs, digital outputs, CAN outputs

Other threads:

Thread	Rate	Job
Slow	250ms	Battery voltage and temperature sensor
CAN Cyclic Tx	100ms	Cyclic status messages
CAN Tx / Rx	As needed	Send and receive CAN frames
USB Tx / Rx	As needed	Send and receive USB frames
Param	As needed	Parameter reads/writes and requests
Keypad	100ms	Keypad LED and backlight messages

Files

dingoFW files are split between ChibiOS, OpenOCD and dingoFW files.

ChibiOS

• ChibiOS/
  • ChibiOS repository (git submodule)
• boards/<board>/cfg/
  • ChibiOS configuration (chconf.h, halconf.h, mcuconf.h)
• boards/<board>/board.c, board.h, board.mk
  • ChibiOS board files, pin setup

OpenOCD

• interface/
  • ST-Link debug interface
• target/
  • STM32F3/F4 debug configuration

dingoFW

Folder	Contents
boards/<board>/	Board specific code: pins, output/input declarations, cyclic messages, parameter list
boards/cortex-m3/	STM32F3 utilities (CANBoard)
boards/cortex-m4/	STM32F4 utilities (stop mode, bootloader jump)
comms/	CAN, USB, mailboxes, info messages, requests
core/	Device state, configuration, parameters, sleep, LEDs, errors
functions/	Outputs, inputs, logic, wipers, keypads
hardware/	FRAM (mb85rc) and temperature sensor (mcp9808) drivers
utils/	CRC and DBC signal encode/decode
dbc/	DBC files and the DBC builder

Core

File	Description
main.cpp	Start ChibiOS and the device
core/device_config.h	Firmware version, timing, temperature and voltage limits
core/device	Device thread, state machine, variable map
core/enums.h	All enums
core/config	Configuration struct, read/write memory
core/config_handler	Apply parameter changes to the functions
core/param_defs.h	Parameter definitions (index, subindex, type, default, min, max)
core/param_registry	Parameter table lookup, read, write
core/param_protocol	Parameter CAN protocol
core/sleep	Sleep conditions and wake sources
core/status	Getters used by the cyclic messages
core/led	Status/Error LEDs
core/error	Fatal error handling

Comms

File	Description
comms/can	CAN Tx/Rx threads, hardware filters
comms/usb	USB CDC (SLCAN format) Tx/Rx
comms/mailbox	CAN/USB Tx/Rx buffers
comms/request_msg	Burn, sleep, bootloader, restart, version requests
comms/infomsg	Info/warning/error messages

Functions

File	Description
analog_input	Analog inputs, rotary switch and switch modes
can_input	CAN input decoding and logic
can_outputs	CAN output encoding and sending
condition	Conditions
counter	Counters
digital_input	Digital inputs, debounce
digital_output	Digital outputs
edge	Rising/falling edge detection
flasher	Flashers
input	Momentary/latching logic
profet	Output control, current measurement, overcurrent, paired outputs
pwm	Output PWM and soft start
starter	Starter disable
timer	Timers
virtual_input	Virtual inputs
neopixels	Addressable LEDs
keypad/	Blink Marine and Grayhill keypads
wiper/	Wiper modes