CAN

Info

To reduce complexity, USB uses the same message format as CAN

dingoPDM sends the same messages over CAN and USB

dingoPDM can also receive the same settings change messages over USB

There is no difference in message formatting between CAN and USB

DBC

DBC files can be found in the firmware repo here

Info

DBC files are built using the python dbc_builder in the dbc_builder folder

Input

CAN input format is not restricted or defined by the firmware.

The handling of CAN inputs is defined by the user using DingoConfigurator.

Warning

If timeout is enabled, CAN messages must be received at least every timeout interval or the input will be set to 0

• ID:
  • CAN ID of the message to evaluate
  • 11-bit standard IDs and 29-bit extended IDs are valid
• Start Byte:
  • First byte of the message to evaluate
• # Bytes:
  • 1 or 2 bytes
  • Number of bytes to evaluate
• Operator:
  • Equal:
    • Result = Byte value(s) == Arg
  • Not Equal:
    • Result = Byte value(s) != Arg
  • Greater Than:
    • Result = Byte value(s) > Arg
  • Less Than
    • Result = Byte value(s) < Arg
  • Greater Than or Equal:
    • Result = Byte value(s) >= Arg
  • Less Than or Equal
    • Result = Byte value(s) <= Arg
  • BitwiseAnd
    • Result = Byte value(s) & Arg
  • BitwiseNand
    • Result = !(Byte value(s) & Arg)
• Mode:
  • Momentary
    • Result true when message solves to true
  • Latching
    • Result transitions between true/false when message solves to true
• Timeout:
  • Enable
    • When enabled, messages must be received before the timeout expires
    • If the timeout expires, the result will be false

Input Examples

• Blink Marine Button 1 (Message 405, byte 0, bit 0)

  • ID = 405
  • Start Byte = 0
  • Num Bytes = 1
  • Operator = BitwiseAnd
  • Arg = 1
  • Mode = Latching or Momentary

• CANBoard Rotary Switch 4 at Position 2, Base ID 0x640 (Message 1602, byte 1 (high nibble))

  • ID = 1600
  • Start Byte = 1
  • Num Bytes = 1
  • Operator = Equal
  • Arg = 32 = (2 << 4)
  • Mode = Momentary

• CANBoard Analog In 2 > 500mV, Base ID 0x650 (Message 1616, byte 2-3)

  • ID = 1616
  • Start Byte = 2
  • Num Bytes = 2
  • Operator = GreaterThan
  • Arg = 500
  • Mode = Momentary

Output

dingoPDM sends output, input and device information over CAN (and/or USB) cyclically.

Note

Default output transmit is every 100ms (10Hz)

Warning

The output format is under development and subject to change

Note

Messages not marked as always sent are only sent when their contents are enabled

Always Sent	CAN ID	DLC	Byte 0	Byte 1	Byte 2	Byte 3	Byte 4	Byte 5	Byte 6	Byte 7
	Base ID + 0	8	DI	DS	TC	TC	BV	BV	BT	BT
	Base ID + 1	8	OC1	OC1	OC2	OC2	OC3	OC3	OC4	OC4
	Base ID + 2	8	OC5	OC5	OC6	OC6	OC7	OC7	OC8	OC8
	Base ID + 3	8	OS12	OS34	OS56	OS78	WO	WSS	FIO	0
	Base ID + 4	8	OR1	OR2	OR3	OR4	OR5	OR6	OR7	OR8
	Base ID + 5	8	CI	CI	CI	CI	VI	VI	0	0
	Base ID + 6	8	CNT1	CNT2	CNT3	CNT4	CON	CON	CON	CON
	Base ID + 7	8	CIV1	CIV1	CIV2	CIV2	CIV3	CIV3	CIV4	CIV4
	Base ID + 8	8	CIV5	CIV5	CIV6	CIV6	CIV7	CIV7	CIV8	CIV8
	Base ID + 9	8	CIV9	CIV9	CIV10	CIV10	CIV11	CIV11	CIV12	CIV12
	Base ID + 10	8	CIV13	CIV13	CIV14	CIV14	CIV15	CIV15	CIV16	CIV16
	Base ID + 11	8	CIV17	CIV17	CIV18	CIV18	CIV19	CIV19	CIV20	CIV20
	Base ID + 12	8	CIV21	CIV21	CIV22	CIV22	CIV23	CIV23	CIV24	CIV24
	Base ID + 13	8	CIV25	CIV25	CIV26	CIV26	CIV27	CIV27	CIV28	CIV28
	Base ID + 14	8	CIV29	CIV29	CIV30	CIV30	CIV31	CIV31	CIV32	CIV32
	Base ID + 15	8	ODC1	ODC2	ODC3	ODC4	ODC5	ODC6	ODC7	ODC8

• Base ID + 0
  • DI - Digital Inputs
    • Bit 0 - Input 1
    • Bit 1 - Input 2
  • DS - Device State
    • Bits 0 to 3
      • Device State
        • 0 = Run
        • 1 = Sleep
        • 2 = Overtemp
        • 3 = Error
    • Bits 4 to 7
      • PDM Type
        • 0 = dingoPDM
        • 1 = dingoPDM-Max
  • TC - Total Current (Amps * 10)
    • 2 bytes
  • BV - Battery Voltage (V * 10)
    • 2 bytes
  • BT - Board Temperature (deg C * 10)
    • 2 bytes
• Base ID + 1
  • OC1 to OC4 - Output n Current (Amps * 10)
    • 2 bytes each
• Base ID + 2
  • OC5 to OC8 - Output n Current (Amps * 10)
    • 2 bytes each
• Base ID + 3
  • OSxy - Output States x/y
    • Bits 0 to 3 - State x
    • Bits 4 to 8 - State y
      • 0 = Off
      • 1 = On
      • 2 = Overcurrent
      • 3 = Fault
  • WO - Wiper Outputs
    • Bit 0 - Wiper Slow Speed Output
    • Bit 1 - Wiper Fast Speed Output
  • WSS - Wiper State and Speed
    • Bits 0 to 3 - Wiper Speed
      • 0 = Park
      • 1 = Slow
      • 2 = Fast
      • 3 = Intermittent Speed 1
      • 4 = Intermittent Speed 2
      • 5 = Intermittent Speed 3
      • 6 = Intermittent Speed 4
      • 7 = Intermittent Speed 5
      • 8 = Intermittent Speed 6
    • Bits 4 to 8 - Wiper State
      • 0 = Parked
      • 1 = Parking
      • 2 = Slow
      • 3 = Fast
      • 4 = Intermittent Pause
      • 5 = Intermittent On
      • 6 = Wash
      • 7 = Swipe
  • FIO - Flasher Inputs/Outputs
    • Bit 0 - Out 1
    • Bit 1 - Out 2
    • Bit 2 - Out 3
    • Bit 3 - Out 4
• Base ID + 4
  • OR1 to OR8 - Output n Reset Count
• Base ID + 5
  • CI - CAN Input Results
    • Byte 0 - Inputs 1 to 8
    • Byte 1 - Inputs 9 to 16
    • Byte 2 - Inputs 17 to 24
    • Byte 3 - Inputs 25 to 32
  • VI - Virtual Input Results
    • Byte 4 - Inputs 1 to 8
    • Byte 5 - Inputs 9 to 16
• Base ID + 6
  • CNT1 to CNT4 - Counter Values
  • CON - Condition Results
    • Byte 4 - Conditions 0 to 8
    • Byte 5 - Conditions 9 to 16
    • Byte 6 - Conditions 17 to 24
    • Byte 7 - Conditions 25 to 32
• Base ID + 7 TO Base ID + 14
  • CIV1 to CIV32 - CAN Input Values
    • 2 bytes each
• Base ID + 15
  • ODC1 to ODC8 - Output Duty Cycle (%)

Settings

To change configuration settings on the PDM, settings messages must be sent over CAN (or USB).

These settings messages have a prefix that is sent in the first byte of the message.

They must also be sent with a special CAN message ID, Base ID - 1

Warning

Only messages with the ID = Base ID - 1 will be evaluated for settings changes

For every valid settings message, a response message will be sent back.

The response message will be the prefix + 128 and will respond on ID = Base ID + 30

Setting	Prefix	Response
CAN	1	129
Inputs	5	133
Outputs	10	138
Outputs PWM	11	139
Virtual Inputs	15	143
Wiper	20	148
Wiper Speed	21	149
Wiper Delays	22	150
Flashers	25	153
Starter Disable	30	158
CAN Inputs	35	163
CAN Inputs IDs	36	164
Counters	40	168
Conditions	45	173
Version Info	120	248
Sleep	121	249
Enter Bootloader	125	253
Burn Settings	127	255

CAN

Type	DLC	Byte 0	Byte 1	Byte 2	Byte 3	Byte 4	Byte 5	Byte 6	Byte 7
Get	1	1
Set	4	1	SPE	IDH	IDL
Response	4	129	SPE	IDH	IDL

• SPE
  • Bit 0 = Sleep enable/disable
    • 0 = Disable
    • 1 = Enable
  • Bit 1 = CAN filters enable/disable
    • 0 = Disable
    • 1 = Enable
  • Bit 4 to 7 = CAN speed
    • 0 = 1000K
    • 1 = 500K
    • 2 = 250K
    • 3 = 125K
• IDH - Base ID high byte
• IDL - Base ID low byte

Input

Type	DLC	Byte 0	Byte 1	Byte 2	Byte 3	Byte 4	Byte 5	Byte 6	Byte 7
Get	2	5	NUM
Set	4	5	INS	DBT	PUL
Response	4	133	INS	DBT	PUL

• NUM - Input number
• INS
  • Bit 0 = Input enable/disable
    • 0 = Disable
    • 1 = Enable
  • Bit 1-2 = Mode
    • 0 = Momentary
    • 1 = Latching
  • Bit 3 = Invert input logic
  • Bit 4-7 = Input number
• DBT - Debounce time (ms / 10)
• PUL - Pullup/pulldown
  • 0 = No pull
  • 1 = Pullup
  • 2 = Pulldown

Output

Type	DLC	Byte 0	Byte 1	Byte 2	Byte 3	Byte 4	Byte 5	Byte 6	Byte 7
Get	2	10	NUM
Set	8	10	NUM	IN	CL	RES	RT	INL	INT
Response	8	138	NUM	IN	CL	RES	RT	INL	INT

• NUM
  • Bit 0 = Output enable/disable
    • 0 = Disable
    • 1 = Enable
  • Bit 4-7 = Output number
• IN - Input number (see Variable Map)
• CL - Current limit (A)
• RES
  • Bit 0-3 = Reset Mode
    • 0 = None
    • 1 = Count
    • 2 = Endless
  • Bit 4-7 = Reset Count Limit
• RT - Reset time (ms / 10)
• INL - Inrush limit (A)
• INT - Inrush time (ms / 10)

Output PWM

Type	DLC	Byte 0	Byte 1	Byte 2	Byte 3	Byte 4	Byte 5	Byte 6	Byte 7
Get	2	11	NUM
Set	8	11	NUM	IN	FRQ	FDC	SSR	SSR	DCI
Response	8	139	NUM	IN	FRQ	FDC	SSR	SSR	DCI

• NUM
  • Bit 0 = PWM enable/disable
    • 0 = Disable
    • 1 = Enable
  • Bit 1 = Soft start enable/disable
    • 0 = Disable
    • 1 = Enable
  • Bit 2 = Variable duty cycle
    • 0 = Fixed duty cycle
    • 1 = Variable duty cycle
  • Bit 4-7 = Output number
• IN - Duty cycle input number (see Variable Map)
• CL - Current limit (A)
• FRQ- PWM base frequency (Hz)
  • 9 bit value
  • Bits 1-8 in Byte 3
  • Bit 0 in FDC
• FDC - Fixed duty cycle (%)
  • Bit 0 = PWM base frequency bit 0
  • Bits 1-8 = Fixed duty cycle
• SSR - Soft start ramp time (ms)
• DCI - Duty cycle denominator input (see Variable Map)
  • CAN Input Values are the only valid inputs
  • All other input values are boolean

Virtual Input

Type	DLC	Byte 0	Byte 1	Byte 2	Byte 3	Byte 4	Byte 5	Byte 6	Byte 7
Get	2	15	NUM
Set	7	15	NOT	NUM	VR0	VR1	VR2	MDC
Response	7	143	NOT	NUM	VR0	VR1	VR2	MDC

• NUM - Virtual input number
• NOT
  • Bit 0 = Virtual input enable/disable
    • 0 = Disable
    • 1 = Enable
  • Bit 1 = Not variable 0
    • 0 = No invert
    • 1 = Invert
  • Bit 2 = Not variable 1
  • Bit 3 = Not variable 2
• VR0 - Variable 0 (see Variable Map)
• VR1 - Variable 1 (see Variable Map)
• VR2 - Variable 2 (see Variable Map)
• MDC
  • Bit 0-1 = Condition 0
    • 0 = And
    • 1 = Or
    • 2 = Nor
  • Bit 2-3 = Condition 1
  • Bit 6-7 = Mode
    • 0 = Momentary
    • 1 = Latching

Wiper

Type	DLC	Byte 0	Byte 1	Byte 2	Byte 3	Byte 4	Byte 5	Byte 6	Byte 7
Get	1	20
Set	8	20	CLM	SIN	FIN	IIN	OIN	PIN	WIN
Response	8	148	CLM	SIN	FIN	IIN	OIN	PIN	WIN

• CLM
  • Bit 0 = Wiper enable/disable
    • 0 = Disable
    • 1 = Enable
  • Bit 1-2 = Mode
    • 0 = Dig Digital inputs for speed
      • Must use at least Slow and Park inputs
      • Fast and Intermittent inputs optional
    • 1 = Int Integer speed input to select slow/fast/intermittent/park. Digital input for park
      • One speed input value must be park (0)
      • Must use Speed and Park inputs
      • Use case: Rotary switch to select wiper on/speed
    • 2 = Mix Integer input for slow/fast/intermittent. Digital inputs for on and park
      • Must use Speed, On and Park input
      • Use case: Rotary switch to select speed, latching button to turn wipers on/off
  • Bit 3 = Park level
    • 0 = Stop when input is low
    • 1 = Stop when input is high
  • Bit 4-7 = Wash cycles count, number of swipes after wash
• SIN - Slow speed input (see Variable Map)
• FIN - Fast speed input (see Variable Map)
• IIN - Intermittent speed input (see Variable Map)
• OIN - On input (see Variable Map)
• PIN - Park input (see Variable Map)
• WIN - Wash input (see Variable Map)

Wiper Speed

Type	DLC	Byte 0	Byte 1	Byte 2	Byte 3	Byte 4	Byte 5	Byte 6	Byte 7
Get	1	21
Set	7	21	SWI	SPI	S01	S23	S45	S67
Response	7	149	SWI	SPI	S01	S23	S45	S67

• SWI - Swipe input (see Variable Map)
• SPI - Speed integer input (see Variable Map)
• S01
  • Bit 0-3 = Speed map 0
  • Bit 4-7 = Speed map 1
• S23
  • Bit 0-3 = Speed map 2
  • Bit 4-7 = Speed map 3
• S45
  • Bit 0-3 = Speed map 4
  • Bit 4-7 = Speed map 5
• S67
  • Bit 0-3 = Speed map 6
  • Bit 4-7 = Speed map 7
• Speed map values are used when Mode is set to Int or Mix
• The values of the speed map correspond to different speeds/states when the Speed input has that value
  • 0 = Park
  • 1 = Slow
  • 2 = Fast
  • 3 = Intermittent 0
  • 4 = Intermittent 1
  • 5 = Intermittent 2
  • 6 = Intermittent 3
  • 7 = Intermittent 4
  • 8 = Intermittent 5

Wiper Delay

Type	DLC	Byte 0	Byte 1	Byte 2	Byte 3	Byte 4	Byte 5	Byte 6	Byte 7
Get	1	22
Set	7	22	IT0	IT1	IT2	IT3	IT4	IT5
Response	7	150	IT0	IT1	IT2	IT3	IT4	IT5

• ITn - Wiper intermittent time (ms / 100)

Flasher

Type	DLC	Byte 0	Byte 1	Byte 2	Byte 3	Byte 4	Byte 5	Byte 6	Byte 7
Get	2	25	NUM
Set	6	25	NUM	IN		ON	OFF
Response	6	153	NUM	IN		ON	OFF

• NUM
  • Bit 0 = Flasher enable/disable
    • 0 = Disable
    • 1 = Enable
  • Bit 1 = Single/continous flash
  • Bit 4-7 = Flasher number
• IN - Flasher input (see Variable Map)
• ON - Flash on time (ms / 10)
• OFF - Flash off time (ms / 10)

Starter Disable

Type	DLC	Byte 0	Byte 1	Byte 2	Byte 3	Byte 4	Byte 5	Byte 6	Byte 7
Get	1	30
Set	4	30	EN	IN	OUT
Response	4	158	EN	IN	OUT

• EN
  • Bit 0 = Starter disable enable/disable
    • 0 = Disable
    • 1 = Enable
• IN - Starter disable input (see Variable Map)
• OUT - Starter disable outputs
  • Bit 0 = Output 1
  • Bit n = Output n+1
  • Bit 7 = Output 8

CAN Input

Type	DLC	Byte 0	Byte 1	Byte 2	Byte 3	Byte 4	Byte 5	Byte 6	Byte 7
Get	2	35	NUM
Set	7	35	NUM	OME	POS	ARG	ARG	TIM
Response	7	163	NUM	OME	POS	ARG	ARG	TIM

• NUM - Input number
• OME
  • Bit 0 = Input enable/disable
    • 0 = Disable
    • 1 = Enable
  • Bit 1 to Bit 2 = Mode
    • 0 = Num
    • 1 = Momentary
    • 2 = Latching
  • Bit 3 = Timeout enable/disable
    • 0 = Disable
    • 1 = Enable
  • Bit 4 to 7 = Operator
    • 0 = Equal
    • 1 = Not Equal
    • 2 = Greater Than
    • 3 = Less Than
    • 4 = Greater Than or Equal
    • 5 = Less Than or Equal
    • 6 = Bitwise And
    • 7 = Bitwise Nand
• POS - Value Position
  • Bit 0 to 3 = Starting Byte
  • Bit 4 to 7 = Number of bytes (1 or 2)
• ARG - Argument (2 bytes)
• TIM - Timeout Time (ms / 100)

CAN Input ID

Type	DLC	Byte 0	Byte 1	Byte 2	Byte 3	Byte 4	Byte 5	Byte 6	Byte 7
Get	2	36	NUM
Set	8	36	NUM	SID	SID	EID	EID	EID	EID
Response	8	164	NUM	SID	SID	EID	EID	EID	EID

• NUM - Input number
• SID - Standard CAN ID
  • 11 bit
  • 3 bits of Byte 2 (0x07)
• EID - Extended CAN ID
  • 29 bit
  • 6 bits of Byte 4 (0x1F)

Counter

Type	DLC	Byte 0	Byte 1	Byte 2	Byte 3	Byte 4	Byte 5	Byte 6	Byte 7
Get	2	40	NUM
Set	8	40	NUM	ENA	ICI	DCI	RSI	CNT	EDG
Response	8	168	NUM	ENA	ICI	DCI	RSI	CNT	EDG

• NUM - Counter number
• ENA - Counter enable/disable
  • Bit 0
  • 0 = Disable
  • 1 = Enable
  • Bit 1 = Value Wraparound
• ICI - Increment input (see Variable Map)
• DCI - Decrement input (see Variable Map)
• RSI - Reset input (see Variable Map)
• CNT - Count min/max
  • Bits 0 to 3 = Minimum value
  • Bits 4 to 7 = Maximum value
• EDG - Edge type
  • Bits 0 to 1 = Increment edge type
  • Bits 2 to 3 = Decrement edge type
  • Bits 4 to 5 = Reset edge type
  • 0 = Rising
  • 1 = Falling
  • 2 = Both

Condition

Type	DLC	Byte 0	Byte 1	Byte 2	Byte 3	Byte 4	Byte 5	Byte 6	Byte 7
Get	2	45	NUM
Set	6	45	NUM	OPE	IN	ARG	ARG
Response	6	173	NUM	OPE	IN	ARG	ARG

• NUM - Condition number
• OPE
  • Bit 0 = Condition enable/disable
  • 0 = Disable
  • 1 = Enable
  • Bits 4 to 7 = Operator
  • 0 = Equal
  • 1 = Not Equal
  • 2 = Greater Than
  • 3 = Less Than
  • 4 = Greater Than or Equal
  • 5 = Less Than or Equal
  • 6 = Bitwise And
  • 7 = Bitwise Nand
• IN - Condition input (see Variable Map)
• ARG - Argument

Special

There are some special messages that are used for special functions.

Version

This message gets the firmware version

Type	DLC	Byte 0	Byte 1	Byte 2	Byte 3	Byte 4	Byte 5	Byte 6	Byte 7
Get	1	120
Response	5	248	MA	MI	BH	BL

• MA - Major
• MI - Minor
• BH - Build High Byte
• BL - Build Low Byte

Sleep

The sleep message triggers the PDM to immediately go to sleep.

Type	DLC	Byte 0	Byte 1	Byte 2	Byte 3	Byte 4	Byte 5	Byte 6	Byte 7
Get	4	121	U	I	T
Response	2	249	OK

Note

This message will not have an effect if the sleep conditions are not met, see Sleep

Bootloader

This message jumps to the bootloader for firmware updating | Type | DLC | Byte 0 | Byte 1 | Byte 2 | Byte 3 | Byte 4 | Byte 5 | Byte 6 | Byte 7| |:------:|:---:|:------:|:------:|:------:|:------:|:------:|:------:|:------:|:-----:| |Get | 4 | 125 | | | | | | | | |Response| 2 | 253 | OK | | | | | | |

Burn

The burn message triggers the PDM to save the configuration to FRAM memory.

Without this message, any settings change will be lost on a power cycle

A response will be sent with the result of the Burn

Type	DLC	Byte 0	Byte 1	Byte 2	Byte 3	Byte 4	Byte 5	Byte 6	Byte 7
Get	4	127	1	3	8
Response	2	255	OK

Tip

This is an easy way to test new settings. Try new settings without Burn and then cycle power to restore the old settings

Wake Up

This message triggers the PDM to wake up from sleep.

There is no response to this message.

Tip

The format of this message is not critical, any CAN message will wake the PDM

Messages

Periodically, the device will send info, warning or error messages to facilitate debugging.

These messages will have the format below.

The first byte is a message type, the second is the ID number and 3rd-5th are extra integer parameters that are added to some messages.

Type	DLC	Byte 0	Byte 1	Byte 2	Byte 3	Byte 4	Byte 5	Byte 6	Byte 7
Info	5	F	SRC	N1	N2	N3
Warning	5	R	SRC	N1	N2	N3
Error	5	E	SRC	N1	N2	N3

• SRC - Source, see table below
• N1 - Integer parameter
• N2 - Integer parameter
• N3 - Integer parameter

Errors

Errors messages are sent when a non-recoverable issue occurs.

The only way to reset is to cycle power on the device.

N1 will contain the error number.

Source

SRC Num	Description	Parameter 1	Parameter 2	Parameter 3	Description
1	State Power On				Device is in it's initial state
2	State Starting				Initializing peripherals
3	State Run				Normal operating state
4	State Over Temp	Temp (C*10)			Board temp > Max, outputs off
5	State Error				Fatal error, power cycle
6	State Sleep				Low power sleep, no activity
7	State Wake				Wake from low power sleep
8	Overcurrent	Output Num	Current (A*10)		Overcurrent on output
9	Battery Voltage	Volts (V*10)			Battery voltage under/over
10	CAN				CAN warning or error
11	USB				USB warning or error
12	Over Temperature	Temp (C*10)			Board temp warning or error
13	Configuration				Device config init error
14	FRAM				FRAM init error
15	ADC				ADC DMA init error
16	I2C				I2C init error
17	Temperature Sensor				Temperature sensor init error
18	USB Connected				USB cable connection detected
19	Init				Error during initialization