Is there a rule for the order in which adjectives are strung together?

Most of what I know about grammar comes from a lifetime of reading rather than from formal study, so all that I have to go on are hunches. “A warm, cheerful fire” sounds better to me than “a cheerful warm fire.” Same for “the scratchy wool sweater,” and “the smelly yapping dog.”
But if there are rules, I’d like to know them.