dingopdm-hardware

# dingo hardware / wiring (dingoPDM + CANBoard) Physical wiring reference for the **dingoPDM** / **dingoPDM-Max** PDMs and the **CANBoard** CAN I/O expander. For the *configuration* side (the dingoConfig JSON, var-map, applying with `dingo-cli`) see the companion **`dingopdm-config`** skill — this skill is the hardware/pin layer. Source of truth: the official hardware docs at https://github.com/corygrant/dingoPDM/blob/master/docs/hardware/connections.md and https://github.com/corygrant/CANBoard (pulled 2026-06-20). The signal/I-O logic lives in firmware: https://github.com/corygrant/dingoFW . Reference copies of the source diagrams/schematics are vendored under `assets/` next to this file. Verify pin numbers against the molded numbers on the connector and the pin-number diagram before crimping — current ratings below are connector **estimates**, not firmware limits. ## Connectors (the three external interfaces) | ID | Connector | Part | Notes | |---|---|---|---| | 1 | Main signal/output | **DT 12-position, `DT06-12SA`** (+ `W12S` wedgelock) | all outputs, inputs, and CAN | | 2 | 12V DC power | `M6` / `1/4"` ring lug | **4–10 AWG** (large-gauge battery feed) | | 3 | Ground | `M6` / `1/4"` ring lug | 18–20 AWG ok | | 4 | USB Type-C | — | firmware config/flash; see USB caveat | dingoPDM outputs are **high-side** (they switch +12 V to the load); each load returns to chassis ground **directly, not through the PDM**, so the ground lug only carries the module's own reference current — hence the modest gauge. **Contacts for the DT12** (solid, size-16 Deutsch): - `0462-209-16141` — 14–16 AWG — **×2** (use for the two 13 A outputs) - `0462-201-16141` — 16–20 AWG — **×10** (everything else) ## dingoPDM pinout — DT06-12SA (12 pin) | Pin | Function | Rated current | |---|---|---| | 1 | CAN L | — | | 2 | CAN H | — | | 3 | Output 8 | 8 A | | 4 | Output 7 | 8 A | | 5 | Output 6 | 8 A | | 6 | Output 5 | 8 A | | 7 | **Output 1** | **13 A** | | 8 | Input 1 | — | | 9 | Output 4 | 8 A | | 10 | Output 3 | 8 A | | 11 | Input 2 | — | | 12 | **Output 2** | **13 A** | - **Outputs 1 and 2 are the high-current (13 A) channels** (pins 7 and 12) — use the 14–16 AWG contacts here and put your heaviest loads (motors, pumps) on them. Outputs 3–8 are 8 A. - Main 12 V feed and ground are on the **separate lugs**, not the DT connector. - **Inputs** (pins 8, 11) are typically wired **switch-to-GND**; pick `pull` / `invert` in the config to match (see `dingopdm-config` → inputs). Only Input 1 (pin 8) can wake the device from sleep. ## dingoPDM-Max pinout — DT06-12SA (12 pin) The Max has 4 outputs, each on a **doubled pair of pins** (~26 A/output). Different pin order from the standard PDM — do not assume they match. | Pin | Function | Rated current | |---|---|---| | 1 | Output 4 | 26 A | | 2 | Output 4 | 26 A | | 3 | CAN L | — | | 4 | CAN H | — | | 5 | Output 3 | 26 A | | 6 | Output 3 | 26 A | | 7 | Output 1 | 26 A | | 8 | Output 1 | 26 A | | 9 | Input 1 | — | | 10 | Input 2 | — | | 11 | Output 2 | 26 A | | 12 | Output 2 | 26 A | (Both pins of an output pair are the same channel — land both for full current.) ## CAN - **No internal termination.** There is no 120 Ω terminating resistor on the PDM's CAN — add one externally (the PDM should sit at a bus end with a terminator, or the bus must already be terminated at both ends). - CAN L / CAN H are pins 1 / 2 on dingoPDM (pins 3 / 4 on the Max). ## USB USB-C is for configuration/flashing (this is the port `dingo-cli` talks to). | Hardware | USB C–C cable | USB A–C cable | |---|---|---| | **v7.2** | ❌ not supported | ✅ | | v7.3 and up | ✅ | ✅ | If a v7.2 board won't enumerate, suspect a C-to-C cable — use an A-to-C cable. ## Physical pin ↔ config mapping The config (dingoConfig JSON / var-map, see `dingopdm-config`) addresses outputs and inputs by **number**, 1-based; arrays are 0-based so `outputs[i]` = Output `i+1`. Map number → physical pin with the table above. For the standard dingoPDM: | Config | Array idx | DT pin | var-map (Active) | |---|---|---|---| | Output 1 | `outputs[0]` | 7 (13 A) | 87 | | Output 2 | `outputs[1]` | 12 (13 A) | 91 | | Output 3 | `outputs[2]` | 10 | 95 | | Output 4 | `outputs[3]` | 9 | 99 | | Output 5 | `outputs[4]` | 6 | 103 | | Output 6 | `outputs[5]` | 5 | 107 | | Output 7 | `outputs[6]` | 4 | 111 | | Output 8 | `outputs[7]` | 3 | 115 | | Input 1 | `inputs[0]` | 8 | DigIn1 = 5 | | Input 2 | `inputs[1]` | 11 | DigIn2 = 6 | (Out{n}Active = 87 + 4·(n-1); Current/Overcurrent/Fault are +1/+2/+3.) So "drive the motor from OUT1" = land it on **DT pin 7**, and only DigIn1 (pin 8) can wake the device from sleep. ## Test points (debug / extra I/O headers) | Label | Function | MCU pin | |---|---|---| | I2C | I2C1 clock | PB6 | | I2D | I2C1 data | PB7 | | CR | CAN receive | PB8 | | CT | CAN transmit | PB9 | | E1 | Extra 1 | PC10 | | E2 | Extra 2 | PC11 | | E3 | Extra 3 | PC13 | | GND | Ground | — | | TagConnect | Debugger | — | ## Wipers Driving a wiper motor directly needs a separate **WiperModule** (3 relays for slow / fast / brake; slow input also supplies motor power, ground and park pass through). See https://github.com/corygrant/WiperModule . The PDM's wiper *logic* and output vars are documented in `dingopdm-config`. ## CANBoard (CAN I/O expander) A separate CAN node — a small I/O board (steering wheels, switch panels, button boxes) the PDM reads and commands over CAN. Hardware repo: https://github.com/corygrant/CANBoard ; firmware: https://github.com/corygrant/dingoFW . The PDM-side config recipe is in `dingopdm-config` → "Driving a CANBoard from a PDM"; this is the hardware/electrical layer. MCU: STM32F303K8T6. **I/O capability:** - **8 digital inputs (DI1–8)** — *ground-switching*: each idles **high** (internal pull-up) and is asserted by connecting it to **GND**. Wire a switch between the DI pin and a GND pin — no external voltage. 10 kΩ series protection per input. - **5 analog inputs (AI1–5)** — **0–5 V max**, RC-filtered and internally scaled to the 3.3 V ADC (4.7 kΩ series + 10 kΩ to GND). For pots / 2–3-wire sensors; the 5 V and GND header rails are there to power them. - **4 digital outputs (DO1–4, silk `DIGOUT1–4`)** — **low-side open-drain N-FET (DMN2004WK), 0.5 A max each.** The pin sinks to GND when on; wire the load between **+12 V and the DIGOUT pin**. **0.5 A will not drive a motor or lamp directly — switch a relay (or a PDM output).** Add an external **flyback diode** across any inductive load (relay coil); the board has none on the outputs. For a standard automotive relay: coil terminal **86 → +12 V**, terminal **85 → the DIGOUT pin**, flyback diode across 85–86 with its **cathode to +12 V**. (A horn or lamp draws several amps — well over 0.5 A — so always relay it, never direct.) **Power:** 12 V in → onboard 5 V (TPS56339 buck) and 3.3 V (LD1117S33). The 5 V rail is exposed on the headers for sensors / switch LEDs. **CAN:** - Transceiver MCP2562 with ESD protection. **Optional 120 Ω termination** via the **CAN Term** solder jumper (JP3 / `TERM_SB`) — solder only if the board is at a bus end. - **Base CAN ID is set by two solder jumpers** (silk `JP1` / `JP2`; *Closed* = soldered bridge, *Open* = not soldered) so several CANBoards can share a bus: | Jumper 1 | Jumper 2 | Base ID | |---|---|---| | Open | Open | 0x640 | | Closed | Open | 0x650 | | Open | Closed | 0x660 | | Closed | Closed | 0x670 | **CAN frame layout (ids are relative to the base; default base 0x640):** - **Broadcast — base+2 (`0x642`):** byte 4 = digital-input bitfield (bit0 = DI1 … bit7 = DI8, 1 = asserted/closed-to-ground); byte 6 = output-state bitfield (bit0 = DO1 … bit3 = DO4); byte 7 = heartbeat. (Analog values are also broadcast — see firmware/DBC for exact bytes.) - **Command — base+3 (`0x643`), DLC ≥ 4:** byte0 bit0 = DO1, byte1 bit0 = DO2, byte2 bit0 = DO3, byte3 bit0 = DO4 (0x01 = on). The PDM must send this continuously; pad to DLC 4. - Non-default base shifts everything (base 0x650 → broadcast 0x652, command 0x653). - In a PDM config these are decimal: read DIs from `id` 1602 (0x642), command DOs to `id` 1603 (0x643). See `dingopdm-config`. **Connectors:** four 8-pin single-row headers (`Conn_01x08`, J1–J4), grouped by function: - **Digital inputs** — DI1…DI8 in pin order (one full header). - **Digital outputs** — DIGOUT1…DIGOUT4 (+ 5 V / GND). - **Analog inputs** — AI1…AI5 (+ 5 V / GND sensor supply). - **CAN + power** — CAN H, CAN L, +12 V, GND. The digital-input header is straight DI1→DI8; for the exact pin order of the power/CAN/analog/output headers, check the vendored connections diagram (`assets/canboard-connections.png`) and schematic (`assets/canboard-schematic-v2.pdf`) against the board silkscreen before crimping. **Programming:** TC2030 Tag-Connect (J5: SWDIO / SWCLK / NRST / 3V3 / GND); firmware = dingoFW. ## Provenance - dingoPDM pinout, connector/contact part numbers, USB table, test points: `corygrant/dingoPDM` `docs/hardware/connections.md` (master, 2026-06-20). - CANBoard electrical spec, jumper tables, programming: `corygrant/CANBoard` `README.md` + `Export/V2/CANBoard_HW_V2.pdf` (main, 2026-06-20). CAN frame map cross-checked against `dingopdm-config` / dingoFW. - Vendored source docs live in `assets/` beside this skill (CANBoard connections diagram + schematic; dingoPDM connection/pinout diagrams + hardware PDF). - Current ratings are connector estimates; actual capacity depends on wire gauge, install, and config. Firmware enforces the per-output current limits you set in the config, not these connector numbers. CANBoard outputs are a hard 0.5 A.