d3kOS - Marine Intelligence Operating System

Intelligent Marine Electronics Platform for Modern Boaters

d3kOS (d3k Operating System) is a comprehensive, AI-powered marine electronics platform designed for the d3-k1 hardware system. Built on Debian Linux, d3kOS transforms a Raspberry Pi into a professional-grade marine helm control system with real-time engine monitoring, voice-controlled AI assistance, GPS/AIS navigation, IP camera surveillance, and intelligent anomaly detection.

What is d3kOS? d3kOS is an open-source operating system specifically engineered for marine environments. It provides boat owners with enterprise-level monitoring and control capabilities at a fraction of traditional marine electronics costs. The system integrates seamlessly with NMEA2000 networks, processes sensor data in real-time, and delivers actionable intelligence through voice commands, touchscreen interfaces, and automated alerts.

Key Differentiators:

• 100% Offline Operation: All core features work without internet connectivity
• Voice-First Interface: Hands-free control via natural language ("Helm, what's the engine status?")
• AI-Powered Analysis: Real-time anomaly detection with >95% accuracy
• Open Architecture: Standard web technologies, RESTful APIs, Signal K integration
• Touch-Optimized: Large buttons, on-screen keyboard, designed for wet hands and rough seas
• Cost-Effective: ~$500 hardware vs $5,000+ traditional systems

Version: 2.0-T3 (Testing Build) Release Date: February 22, 2026 OS: Debian GNU/Linux 13 (Trixie) Status: Pre-release - Tier 3 Enabled for Testing

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📥 Download

Latest Release: v2.0-T3 (Testing Build)

• Image File: d3kOS-v2.0-tier3-full.zip
• Size: 9.2 GB (compressed)
• SHA256: 51f5a3115c24f77b0998d06d7e4b31ca8b54418cb3791531d8e18538e53ec368
• Download: Google Drive
• Release Notes: v2.0-T3 Release Notes

System Requirements:

• Raspberry Pi 4B (8GB RAM recommended)
• 16GB+ microSD card (32GB+ recommended for camera recordings)
• PiCAN-M HAT or compatible NMEA2000 interface
• 7" touchscreen (1024×600 minimum resolution)
• Anker S330 speakerphone (for Tier 2+ voice features)

⚠️ Testing Build Notice: This is a pre-release testing build (T3) with all Tier 3 features enabled for evaluation. Not recommended for production use yet.

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Table of Contents

• Features
• Hardware Requirements
• Software Stack
• Quick Start
• Licensing & Tiers
• Voice Assistant
• Documentation
• Troubleshooting
• Contributing

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What's New in v2.0-T3

Released: February 22, 2026 Status: Testing/Pre-release Build

Session A: Foundation

• ✅ Timezone Auto-Detection: 3-tier fallback system (GPS → Internet → UTC)
• ✅ Voice Assistant Enabled: Vosk wake word detection (helm, advisor, counsel)
• ✅ System Version: Updated to 0.9.1.2
• ✅ Testing Mode: Tier 3 enabled for feature testing

Session B: Self-Healing System

• ✅ Issue Detection: CPU temp, memory, disk space, service monitoring
• ✅ Auto-Remediation: Service restarts, temp file cleanup
• ✅ Self-Healing UI: Real-time status and issue tracking
• ✅ API: Port 8099 for programmatic access

Session C: Data Export & Backup

• ✅ Export Queue: Retry logic with 3 attempts
• ✅ Boatlog CSV Export: Download boat log as CSV
• ✅ Backup System: Automated 36MB compressed backups
• ✅ Backup API: Port 8100 for backup management

Session E: Chromium Fix & Network Investigation

• ✅ Chromium Session Reset: Prevents "Restore pages?" prompt after reboot
• ✅ Network Investigation: Identified BCM4345/6 hotspot hardware limitation
• ❌ Hotspot Mode: Not supported (firmware error -52: EOPNOTSUPP)
• ✅ Documentation: Workaround via manual WiFi connection

Session F: Network Settings UI

• ✅ Network Management API: Flask backend (port 8101) for WiFi control
• ✅ Touch-Optimized UI: WiFi scan, connect/disconnect, status display
• ✅ PolicyKit Authorization: NetworkManager control without sudo
• ✅ On-Screen Keyboard Compatible: Password entry works with touchscreen
• ✅ Auto-Refresh: 10-second status updates

Session G: Emergency Voice Reboot

• ✅ Voice-Triggered System Reboot: Emergency recovery via voice command
• ✅ D-Bus + Polkit Implementation: Industry-standard system command execution
• ✅ Touchscreen Recovery: Reboot system when touch input fails
• ✅ Single-Word Commands: "reboot", "restart", "shutdown", "power cycle"
• ✅ 12-Second Response: Wake word → reboot initiation in ~12 seconds
• ✅ Security: Fine-grained authorization (reboot only, not all sudo commands)

Session H: Marine Vision System

• ✅ Camera Integration: Reolink RLC-810A (4K, IP67, night vision)
• ✅ Live Feed: 8 FPS streaming (720p/1080p sub-stream optimized)
• ✅ Video Recording: VLC backend with start/stop control
• ✅ Photo Capture: High-resolution JPEG snapshots
• ✅ Object Detection: YOLOv8n via ONNX Runtime (person detection working)
• ✅ Storage Management: Auto-cleanup after 7 days
• ✅ APIs: Camera (8084), Detection (8086), Unified (8089)

Session I: Installation ID & License System

• ✅ 16-Character Installation ID: SHA-256 hex format (persistent)
• ✅ File-Based Storage: /opt/d3kos/config/license.json
• ✅ Tier Detection: Auto-upgrade to Tier 2 when OpenCPN installed
• ✅ Feature Restrictions: Tier-based access control
• ✅ Reset Counter: Track onboarding resets (10 max for Tier 0)
• ✅ QR Code Generation: Simplified format for mobile app pairing
• ✅ APIs: License (8091), Tier (8093)

Session J: Voice & AI Improvements

• ✅ AI Response Caching: Signal K data cached (3s TTL) for 100× speed boost
• ✅ Pattern Expansion: 8 → 13 instant-answer query types
• ✅ Phi-2 Removal: Removed slow LLM (60-180s), improved reliability
• ✅ OpenRouter Integration: Complex queries use online AI (6-8s)
• ✅ Response Times: 0.17-0.22s (cached), 6-8s (online), instant (time/help)
• ✅ Logo Update: Transparent background AtMyBoat.com logo

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Features

Core Capabilities (All Tiers)

• AI-Assisted Onboarding: 13-question engine wizard with automatic CX5106 DIP switch configuration
• NMEA2000 Integration: Real-time engine and sensor data via PiCAN-M HAT
• Engine Health Monitoring: Baseline establishment, anomaly detection (>95% accuracy), trend analysis
• Raspberry Pi Monitoring: CPU, memory, storage, GPU, thermal monitoring with auto-protection
• Dashboard: Real-time gauges at 1Hz update rate with Node-RED Dashboard 2.0
• OpenCPN Integration: Auto-install chartplotter software for navigation
• Boat Log: Voice-to-text logging system
• GPS/AIS Support: Position tracking and vessel traffic awareness
• Offline-First Design: Full functionality without internet connectivity
• AODA Compliant: Accessibility-first UI for marine environments

Premium Features (Tier 2+)

• Offline Voice Assistant ("Helm"): Wake word detection, STT, TTS, local LLM (Phi-2)
• IP Camera Integration: Live view, recording, intelligent storage management
• Unlimited Onboarding Resets: No limit on configuration changes
• Extended Data Retention: Unlimited boat log and historical data storage

Advanced Features (Tier 3)

• Cloud Sync: Optional backup and remote access
• Remote Monitoring: Access dashboard from anywhere
• Multi-Device Support: Synchronized across devices
• Priority Support: Direct email support (24-hour response)

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Hardware Requirements

Core Components (Required)

Component	Specification	Est. Cost
Raspberry Pi 4 Model B	4GB RAM minimum, 8GB recommended	$55-$75
PiCAN-M HAT	NMEA2000 interface with micro-fit connector	$60
MicroSD Card	64GB minimum (Class 10 A2), 128GB recommended	$12-$20
Touchscreen	10.1" 1920×1200, 1000 nit, capacitive touch	$120
DC-DC Converter	12V→5V, 5A, galvanic isolation (Victron Orion-Tr)	$35
USB GPS Receiver	VK-162 or equivalent	$15
USB AIS Receiver	dAISy or equivalent	$80
Enclosure	Aluminum or 3D-printed case	$20-$50

Total Core System: ~$470

Optional Hardware (Tier 2+)

Component	Specification	Est. Cost
Anker PowerConf S330	USB speakerphone for voice assistant	$130
Reolink RLC-810A	4K IP camera with night vision	$90
PoE Injector	For IP camera power	$12

Total with Voice + Camera: ~$837

Display Requirements

• Resolution: 1920×1200 (minimum for AODA compliance)
• Brightness: 1000 nit (sunlight readable, critical for marine use)
• Touch: Capacitive multi-touch, glove-operable
• Connection: HDMI + USB (for touch)

Environmental Specifications

• Operating Temperature: 0°C to 50°C (32°F to 122°F)
• Humidity: 5% to 95% non-condensing
• IP Rating: IP20 (enclosure required for marine use)
• Vibration: Marine-grade mounting with strain relief required

See: HARDWARE.md for complete specifications, assembly guide, and troubleshooting

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Software Stack

Component	Version	Purpose
Raspberry Pi OS	Bookworm (64-bit)	Base operating system (Debian 12)
Signal K Server	Latest	Marine data aggregation hub
Node-RED	3.x	Data flow automation and dashboard
Node-RED Dashboard	2.0	Vue-based dashboard UI
GPSd	Latest	GPS data processing
OpenCPN	5.8.x	Chart plotting (auto-installed)
PocketSphinx	Latest	Wake word detection ("Helm") - Tier 2+
Vosk	0.15	Speech-to-text (offline) - Tier 2+
Piper	Latest	Text-to-speech (offline) - Tier 2+
Phi-2 (llama.cpp)	2.7B	Local AI reasoning - Tier 2+
VLC (libvlc)	Latest	RTSP camera stream viewer - Tier 2+
Chromium	Latest	Browser-based interface

All Processing Local - No cloud dependencies for core functionality

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Quick Start

1. Download Pre-Built Image

Latest Release: v0.9.1.2 (February 20, 2026)

Image Specifications:

• Compressed Size: ~3.2 GB (.img.gz)
• Uncompressed Size: ~14.5 GB (.img)
• Required SD Card: 16GB minimum, 32GB+ recommended
• Includes: All services, voice assistant, camera support, testing mode (Tier 3)

# Download latest release from GitHub
wget https://github.com/SkipperDon/d3kOS/releases/latest/d3kos-v0.9.1.2.img.gz

# Download checksum
wget https://github.com/SkipperDon/d3kOS/releases/latest/d3kos-v0.9.1.2.img.gz.sha256

# Verify integrity
sha256sum -c d3kos-v0.9.1.2.img.gz.sha256

Alternative Download (Google Drive):

• Direct Link: d3kos-v0.9.1.2.img.gz
• Size: ~3.2 GB compressed

2. Flash to SD Card

Raspberry Pi Imager (Recommended)

1. Download Raspberry Pi Imager
2. Launch Imager
3. Choose OS → Use custom → Select d3kos-v0.9.1.2.img.gz
4. Choose Storage → Select SD card (16GB minimum, 32GB+ recommended)
5. Write → Wait for completion (~8-12 minutes for 3.2GB compressed image)

Command Line (Linux/Mac)

# Decompress
gunzip d3kos-v0.9.1.2.img.gz

# Flash (replace /dev/sdX with your SD card)
sudo dd if=d3kos-v0.9.1.2.img of=/dev/sdX bs=4M status=progress conv=fsync

3. Hardware Assembly

1. Attach PiCAN-M HAT to Raspberry Pi GPIO header
2. Insert microSD card into Raspberry Pi
3. Connect touchscreen (HDMI + USB)
4. Connect peripherals (GPS, AIS, speakerphone if Tier 2+)
5. Connect NMEA2000 via micro-fit 4-pin connector:
   • Pin 1 (red): 12V+
   • Pin 2 (black): GND
   • Pin 3 (white): CAN-H
   • Pin 4 (blue): CAN-L
6. Connect power via DC-DC converter (12V boat power → 5V Pi)

See: HARDWARE.md for detailed assembly instructions

4. First Boot

1. Power on (wait ~60 seconds for boot)
2. Default credentials (SSH/Desktop):
   • Username: d3kos
   • Password: d3kos2026
   • ⚠️ Change password after first login: passwd
3. Connect to WiFi (Client Mode Only - Hotspot Not Supported):
   • Touchscreen shows Chromium with main menu
   • Navigate to: Settings → Network Settings
   • Tap "Scan for Networks"
   • Select your WiFi network (home WiFi, phone hotspot, Starlink, etc.)
   • Enter password using on-screen keyboard
   • Tap "Connect"
   • Wait for connection confirmation
   • ⚠️ Note: Built-in WiFi is client-only (BCM4345/6 firmware limitation). Cannot act as WiFi hotspot/AP
4. Access from other devices (optional):
   • Once connected, note the IP address shown in Network Settings
   • From mobile/laptop on same network: http://[IP-ADDRESS] or http://d3kos.local

5. Complete Onboarding Wizard

The 13-question wizard collects engine specifications:

1. Engine Manufacturer (autocomplete)
2. Engine Model
3. Engine Year (1950-2026)
4. Number of Cylinders (3, 4, 6, 8)
5. Engine Displacement (Liters or Cubic Inches)
6. Compression Ratio
7. Stroke Length (mm or inches)
8. Induction Type (NA, Turbo, Supercharged)
9. Rated Horsepower
10. Idle RPM Specification
11. WOT RPM Range
12. Maximum Coolant Temperature
13. Minimum Oil Pressure (Idle & Cruise)

Output:

• CX5106 DIP switch configuration diagram with explanations
• QR code for mobile app pairing
• Installation ID generation

Time: 10-20 minutes

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Licensing & Tiers

Tier Structure

Feature	Tier 0 (Free)	Tier 2 (App)	Tier 3 (Subscription)
Dashboard & Gauges	✓	✓	✓
Engine Health Monitoring	✓	✓	✓
Pi Health Monitoring	✓	✓	✓
OpenCPN Integration	✓	✓	✓
Boat Log (30 days)	✓	Unlimited	Unlimited
Onboarding Resets	10 max	Unlimited	Unlimited
Voice Assistant	✗	✓	✓
Camera Integration	✗	✓	✓
Historical Graphs	30 days	90 days	90 days
Cloud Sync	✗	✗	✓
Remote Access	✗	✗	✓
Priority Support	✗	✗	✓

Tier 0: Opensource (Default)

Free and Open Source

Includes all core functionality:

• NMEA2000 integration via Signal K
• Real-time dashboard at 1Hz
• Engine health monitoring with anomaly detection
• Raspberry Pi health monitoring
• GPS/AIS integration
• OpenCPN auto-installation
• Boat log (30-day retention)
• Manual onboarding (10 resets maximum)

Limitation: Maximum 10 onboarding resets. After 10th reset, must download fresh image or upgrade to Tier 2+.

Tier 2: App-Based Upgrade

Free upgrade by installing paid app (OpenCPN or other)

How to Upgrade:

• Install OpenCPN (included, free to enable)
• Or install other paid marine apps
• System automatically detects and upgrades to Tier 2

Additional Features:

• ✓ Offline voice assistant ("Helm")
• ✓ IP camera integration
• ✓ Unlimited onboarding resets
• ✓ Unlimited boat log retention
• ✓ Extended historical data (90 days)

Cost: Free (OpenCPN included, just enable it)

Tier 3: Cloud Subscription (Future)

Planned Features:

• Cloud backup and sync
• Remote monitoring from anywhere
• Multi-device access
• Advanced analytics
• Priority email support (24-hour response)

Cost: TBD (subscription model)

Reset Counter

Located in footer of onboarding wizard:

• Displays: "Resets used: 7/10 (Tier 0)"
• Warning at 8: "Only 2 resets remaining. Consider upgrading to Tier 2."
• Warning at 9: "This is your last reset."
• At 10: "Maximum resets reached. Download fresh image or upgrade to Tier 2."

Tier 2+ Bypass: Unlimited resets (counter doesn't increment)

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Voice Assistant

"Helm" - Offline AI Assistant (Tier 2+ Only)

Fully offline voice assistant with wake word detection, speech recognition, and local AI reasoning.

Voice Pipeline

Microphone (16kHz)
      ↓
PocketSphinx (Wake Word Detection)
      ↓ "Helm" detected (<500ms)
Vosk (Speech-to-Text)
      ↓ Transcription (<1s)
Phi-2 via llama.cpp (AI Reasoning)
      ↓ Response generation (<1s)
Piper (Text-to-Speech)
      ↓ Audio output (<500ms)
Speaker

Total Response Time: < 2 seconds from wake word to response

Supported Commands

Engine & Health:

• "Helm, what's the engine status?"
• "Helm, any anomalies?"
• "Helm, show benchmark report"
• "Helm, start benchmarking"

Navigation:

• "Helm, open OpenCPN"
• "Helm, GPS status"
• "Helm, AIS status"

Boat Log:

• "Helm, record boat log" (starts recording)
• "Helm, post to boat log" (saves entry)
• "Helm end" (stops listening)

System:

• "Helm, query system status"
• "Helm, restart services"
• "Helm, reboot" (Emergency reboot - use when touchscreen fails)

Technology Stack

Component	Technology	Size	Purpose
Wake Word	PocketSphinx	~10MB	Detect "Helm"
STT	Vosk (small-en-us)	50MB	Speech to text
LLM	Phi-2 (Q4_K_M)	5GB	AI reasoning
TTS	Piper (en_US-amy)	~20MB	Text to speech

100% Offline - All processing on Raspberry Pi, no cloud required

RAM Requirement: 8GB Pi recommended for voice features (3GB RAM for Phi-2 model)

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Documentation

Core Documentation

• MASTER_SYSTEM_SPEC.md - Complete system specification (2,040 lines)
• architecture.md - System architecture, data flow, component diagrams
• HARDWARE.md - Hardware specs, assembly guide, troubleshooting
• CLAUDE.md - AI assistant development guidelines

CX5106 Documentation

• CX5106_USER_MANUAL.md - Complete manual for CX5106 engine gateway
• CX5106_CONFIGURATION_GUIDE.md - DIP switch configuration logic
• CX5106_DIP_SWITCH.md - Quick reference

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Main Features

Dashboard Gauges (Node-RED Dashboard 2.0)

Page 1: Engine & System

• Row 1: Engine gauges
  • Tachometer (circular, 270° arc)
  • Tilt/Trim
  • Engine Temperature (with thresholds)
  • Battery Voltage
  • Oil Pressure
• Row 2: Tank levels (horizontal bars with gradients)
  • Fresh Water (%)
  • Black Water (%)
  • Fuel Level (%, gallons/liters)
  • House Battery (%)
• Row 3: System status
  • CPU Usage (with temp monitoring)
  • Memory Usage
  • Storage Remaining
  • GPU Temperature
• Row 4: Network status (color-coded indicators)
  • WiFi (SSID, signal strength)
  • Ethernet (IP address)
  • NMEA2000 (device count)
  • Internet (connected/disconnected)

Page 2: Boat Log

• Voice recording interface
• Log entry list (last 30 days for Tier 0, unlimited for Tier 2+)
• Export options (CSV/JSON)

Page 3: Health Reports

• Engine health summary
• Anomaly history timeline
• Trend graphs (CPU, memory, engine metrics)
• Maintenance recommendations

Engine Health Monitoring

Baseline Establishment:

• 30-minute benchmark run
• Captures: RPM (idle/cruise), temperature warmup curve, oil pressure, fuel rate
• Statistical analysis: mean, stddev, min/max for each metric
• Stored in: /opt/d3kos/config/benchmark-results.json

Anomaly Detection:

• Statistical Process Control (SPC) method
• Alerts:
  • INFO: 1σ deviation (log only)
  • WARNING: 2σ deviation (visual alert)
  • CRITICAL: 3σ deviation (visual + voice alert)
• False positive rate: < 5%
• Accuracy: > 95%

Example Alerts:

• "Engine temperature is 210°F, 30 degrees above normal. Please check coolant system."
• "Oil pressure declining 2 PSI/week over last 2 weeks. Consider oil change within 10 engine hours."

Camera Integration (Tier 2+ Only)

Supported Camera: Reolink RLC-810A (4K, night vision, IP66)

Features:

• Live RTSP stream view (< 500ms latency)
• Hardware-accelerated H.264 decode (GPU)
• Manual recording with 10-minute segments
• Intelligent storage management:
  • Warning at 20% free space
  • Auto-stop recording at 18% free space
  • FIFO deletion of oldest recordings
• Playback interface with timeline scrubber
• Night vision auto-switching

Storage Path: /opt/d3kos/data/camera/ Format: MP4 (H.264), 1080p @ 30fps

Network Configuration

WiFi Client Mode:

• Connection Method: Manual connection to existing WiFi networks
• Supported Networks: Home WiFi, phone hotspots, Starlink, marina WiFi, etc.
• Management: Touch-optimized Network Settings UI (Settings → Network Settings)
• Features:
  • WiFi network scanning
  • WPA2/WPA3 password authentication
  • Saved network profiles with auto-reconnect
  • Real-time signal strength monitoring
  • On-screen keyboard for password entry

Network Settings UI (Session F):

• Path: Settings → Network Settings
• API: Port 8101 (Flask backend)
• Features: Scan, connect, disconnect, status display
• Touch-optimized: 60px buttons, 22px+ fonts

Services (when connected to WiFi):

• Main Menu: http://d3kos.local or http://[IP-ADDRESS]
• Dashboard: http://d3kos.local:1880/dashboard
• Signal K: http://d3kos.local:3000
• Camera: rtsp://d3kos.local:554/camera (Tier 2+)

Hotspot Mode: ❌ NOT SUPPORTED - Built-in WiFi (BCM4345/6) cannot operate as Access Point due to firmware limitation (error -52: EOPNOTSUPP). Use external WiFi adapter or connect to existing network. See doc/SESSION_E_F_FINAL_STATUS.md for technical details.

Ethernet: Wired connection supported via RJ45 port

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UI/UX Design

AODA/WCAG 2.1 AA Compliant

Color Scheme:

• Background: Pure black (#000000)
• Primary text: White (#FFFFFF)
• Accent: Green (#00CC00)
• Warning: Amber (#FFA500)
• Critical: Red (#FF0000)

Typography:

• Font: Roboto, Arial, sans-serif
• Minimum size: 22px
• Button text: 24px bold
• Headings: 32px bold
• Line height: 1.5

Touch Targets:

• Minimum: 120×80px
• Padding: 16px
• Gap: 20px horizontal, 16px vertical

Accessibility Features:

• Keyboard navigation (Tab, Enter, Escape, Arrows)
• Screen reader support (aria-labels)
• High contrast (21:1 white on black)
• Focus indicators (3px solid green)
• Text alternatives for all icons

Marine Optimization:

• 1000 nit display (sunlight readable)
• Large touch targets (glove-operable)
• Bottom 1/3 reserved for on-screen keyboard
• Minimal scrolling (critical info always visible)

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Performance Specifications

Boot Time

• Target: < 60 seconds from power-on to operational
• Actual: ~45-60 seconds on Pi 4 with Class 10 A2 SD card

Response Times

• Dashboard update: 1 Hz (1000ms intervals)
• Voice response: < 2 seconds (wake word to audio output)
• Anomaly detection: Real-time (< 100ms)
• Camera latency: < 500ms (RTSP stream)

Resource Usage

• CPU: < 70% sustained (dashboard + voice + camera)
• Memory: < 4GB (fits in 4GB Pi), 8GB recommended for voice
• Storage writes: < 100 MB/hour
• Network: < 10 KB/sec (Signal K updates)

Thermal Management

• Normal: < 60°C CPU temperature
• Warning: 70°C (visual alert)
• Critical: 80°C (voice alert, reduce services)
• Throttle: 82°C (hardware thermal throttling)

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CX5106 Engine Gateway

Automatic DIP Switch Configuration

d3kOS calculates correct CX5106 settings from onboarding answers.

8 DIP Switches:

• SW 1-2: Engine instance (0-3)
• SW 3-4: RPM source (alternator, ignition, magnetic, ECU)
• SW 5-6: Cylinders (3, 4, 6, 8)
• SW 7: Stroke (2-stroke, 4-stroke)
• SW 8: Gear ratio (1:1, 2:1, or custom)

Output Includes:

• Visual DIP switch diagram (which switches ON/OFF)
• Explanation for each setting
• Special handling for non-standard ratios (e.g., Bravo II 1.5:1)

See: CX5106_USER_MANUAL.md for manual configuration

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Known Issues & Important Notes

System Boot Behavior

Keyring Password Prompt

• Issue: On boot, system prompts for keyring password
• Password: pi (default keyring password)
• When: Appears once per boot session
• Why: Required for secure credential storage (WiFi passwords, SSH keys)
• Workaround: Enter pi when prompted, then system continues boot
• Note: This is expected behavior for secure credential management

WiFi Connection Behavior

Default Network Selection

• Issue: System may default to incorrect WiFi network after reboot
• Example: May connect to neighbor's WiFi instead of intended network
• Workaround:
  1. Navigate to Settings → Network Settings
  2. Disconnect from incorrect network
  3. Connect to correct network manually
  4. System remembers correct network for future boots
• Note: This occurs when multiple WiFi networks with saved credentials are in range
• Permanent Fix: Delete unwanted saved networks in Network Settings

Voice Assistant & Touchscreen Interaction

Touchscreen Pause During Voice Response (Tier 2+ Only)

• Issue: Touchscreen becomes unresponsive while voice assistant is speaking
• Duration: Pauses until voice response finishes playing (typically 2-5 seconds)
• When: Only occurs during active voice assistant audio output
• Why: Audio subsystem temporarily locks input during TTS (text-to-speech) playback
• Behavior:
  • Touch input queued while voice is speaking
  • Touchscreen resumes immediately after audio completes
  • Visual display remains responsive
• Workaround: Wait for voice response to finish before tapping screen
• Note: This is expected behavior, not a bug - prevents audio/input conflicts

Summary:

• ✅ Keyring password: Enter pi on boot
• ✅ WiFi defaults: Manually select correct network if needed
• ✅ Touchscreen pause: Wait for voice to finish speaking

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Troubleshooting

Power Issues

Pi won't power on (no LED):

1. Check voltage at USB-C: must be 5.0V ±0.25V
2. Verify USB-C cable quality (use official Pi cable)
3. Check 12V input polarity (red=+, black=-)
4. Test with known-good 5V 3A power supply

Random reboots:

1. Check for undervoltage: vcgencmd get_throttled
2. Monitor CPU temp: vcgencmd measure_temp (should be < 80°C)
3. Test SD card: sudo fsck /dev/mmcblk0p2

NMEA2000 Issues

No CAN0 data:

# Check CAN interface
ifconfig can0

# Monitor bus traffic
candump can0

# Check for devices
dmesg | grep mcp251x

Solutions:

• Verify 12V present on NMEA2000 bus
• Check termination: 60Ω between CAN-H and CAN-L
• Swap CAN-H/CAN-L if wired backwards
• Reseat PiCAN-M HAT on GPIO header

Display Issues

No display output:

1. Reseat HDMI cable (both ends)
2. Try different HDMI cable
3. Verify touchscreen power LED is on
4. Check Pi green LED flashing (SD card activity)

Touchscreen not responding:

1. Check USB touch cable connected
2. Verify device detected: lsusb | grep -i touch
3. Test with USB mouse to verify OS running
4. Recalibrate: xinput-calibrator

GPS/AIS Issues

No GPS fix:

1. Check GPS LED blinking (satellite acquisition)
2. Verify USB connection: lsusb | grep -i prolific
3. Check gpsd: systemctl status gpsd
4. View GPS data: cgps -s
5. Ensure clear view of sky (not inside metal cabin)
6. Wait 5 minutes for cold start

No AIS data:

1. Check AIS LED flashing (messages received)
2. Verify USB: lsusb | grep -i ftdi
3. Monitor serial: cat /dev/ttyUSB1
4. Check antenna connected (SMA connector)
5. Verify antenna location (high = better range)

Voice Assistant Issues (Tier 2+ Only)

Wake word not detected:

1. Check service: systemctl status d3kos-voice
2. Verify microphone: arecord -l
3. Test audio levels: arecord -d 5 test.wav && aplay test.wav
4. Check logs: /var/log/d3kos-voice.log

Slow or no response:

1. Check CPU temp (thermal throttling slows inference)
2. Verify Phi-2 model loaded: ps aux | grep llama
3. Check RAM usage: free -h (need ~3GB free for LLM)
4. Verify 8GB Pi for best performance

See: HARDWARE.md for comprehensive troubleshooting

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Project Structure

d3kOS/
├── MASTER_SYSTEM_SPEC.md           # Complete system specification (v2.0)
├── architecture.md                  # System architecture documentation
├── README.md                        # This file
├── LICENSE                          # License file
├── CLAUDE.md                        # AI development guidelines
│
├── doc/                             # Documentation
│   ├── CX5106_USER_MANUAL.md       # CX5106 complete manual
│   ├── CX5106_CONFIGURATION_GUIDE.md # DIP switch logic
│   └── reference/                   # Reference documentation
│       └── HARDWARE.md              # Hardware specs & assembly
│
├── reference/                       # Quick references
│   └── CX5106_DIP_SWITCH.md        # Quick DIP switch guide
│
├── services/                        # System services (on image)
│   ├── onboarding/                 # Configuration wizard
│   ├── voice/                      # Voice assistant (Tier 2+)
│   ├── camera/                     # Camera management (Tier 2+)
│   ├── health/                     # Health monitoring
│   └── boatlog/                    # Boat log system
│
├── config/                          # Configuration files (on image)
│   ├── onboarding.json             # User responses
│   ├── benchmark-results.json      # Engine baseline
│   ├── license.json                # Tier & features
│   └── engine-manufacturers.json   # Manufacturer database
│
├── state/                           # Runtime state (on image)
│   ├── onboarding-reset-count.json # Reset tracking
│   └── pi-health-status.json       # System metrics
│
└── scripts/                         # Utility scripts (on image)
    ├── install-*.sh                # Component installers
    ├── configure-*.sh              # Configuration scripts
    ├── backup.sh                   # Backup automation
    └── restore.sh                  # Restore from backup

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Development

Prerequisites

# For Node.js development
npm install

# For Python development
pip3 install -r requirements.txt

# For voice assistant (Tier 2+)
# Install Vosk, Piper, llama.cpp, Phi-2 model

Running Services Locally

# Signal K Server
signalk-server

# Node-RED
node-red

# Voice Assistant (Tier 2+)
cd services/voice
python3 assistant.py

Testing

# Test CAN interface
candump can0

# Test Signal K API
curl http://localhost:3000/signalk/v1/api/

# Test GPS
cgps -s

# Test voice (Tier 2+)
echo "Helm, test" | python3 services/voice/test_stt.py

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Contributing

Contributions welcome! Please:

1. Fork the repository
2. Create a feature branch (git checkout -b feature/amazing-feature)
3. Read CLAUDE.md for development guidelines
4. Follow existing code style
5. Add tests for new features
6. Update documentation
7. Commit changes (git commit -m 'Add amazing feature')
8. Push to branch (git push origin feature/amazing-feature)
9. Open a Pull Request

---

Roadmap

Version 2.0 (Current - Feb 2026) ✅

• NMEA2000 integration via Signal K
• AI-assisted onboarding (13 questions)
• CX5106 DIP switch auto-configuration
• Engine health monitoring with anomaly detection
• Raspberry Pi health monitoring
• Offline voice assistant (Tier 2+)
• IP camera integration (Tier 2+)
• OpenCPN auto-install
• AODA-compliant UI
• Tiered licensing system

Version 2.1 (Q2 2026) - Planned

• Mobile app (iOS/Android)
• QR code pairing functional
• Cloud sync for Tier 3
• Remote monitoring dashboard
• Push notifications

Version 2.2 (Q3 2026) - Future

• Multi-boat support (Tier 3)
• Fleet management dashboard
• Advanced AI recommendations
• PDF report generation
• Integration with more engine gateways

---

Support

• Issues: GitHub Issues
• Discussions: GitHub Discussions
• Documentation: Master Spec | Architecture | Hardware

---

Acknowledgments

Built with exceptional open-source projects:

• Signal K - Universal marine data standard
• Node-RED - Flow-based automation platform
• OpenCPN - Open-source chartplotter
• Vosk - Offline speech recognition
• Piper - Fast neural text-to-speech
• PocketSphinx - Wake word detection
• llama.cpp - Efficient LLM inference
• Phi-2 - Microsoft's small language model

Special thanks to the marine open-source community and all contributors.

---

Licensing

d3kOS is dual licensed:

Open Source — GPL v3 Free to use, modify, and distribute under the terms of the GNU General Public License v3.0. Any derivative works must also be released under GPL v3. See LICENSE.

Commercial License Commercial use — including bundling with hardware for resale or distribution in paid products — requires a separate commercial license agreement. Contact: skipperdont@atmyboat.com | https://atmyboat.com See LICENSE-COMMERCIAL.

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Version History

Version	Date	Status	Key Changes
2.0	Feb 6, 2026	Current	Integrated gap analysis, added voice/camera, comprehensive docs
1.0	Feb 4, 2026	Legacy	Initial release, core features only

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Quick Links

• 📥 Download Latest Release
• 📖 Master System Spec
• 🏗️ System Architecture
• 🔧 Hardware Guide
• 🎛️ CX5106 Manual
• 💬 GitHub Discussions

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d3kOS v2.0 - Software for the d3-k1 Marine Platform - Marine Intelligence, Simplified.

Built by boaters, for boaters. Powered by open source.