For future reference, I saw "OpenDog" and thought we were discussing James Bruton's (XRobots) OpenDog/Mini-Dog, which is where the firmware I linked above comes

For future reference, I saw "OpenDog" and thought we were discussing James Bruton's (XRobots) OpenDog/Mini-Dog, which is where the firmware I linked above comes from. NanoDog is something different, apparently! Sorry for any confusion I might've caused there.