# CAN bus 1, LIFT, phase one: bought Vimdrones S50 ESCs (one CAN pad set each) on the same harness
# cables as phase two. A GH-4 joiner at every pod takes the harness legs plus the S50's 80 mm
# pigtail; at a front pod the terminator plug goes in the joiner's third header. Phase two removes
# the pod joiners. Joiner headers (th-main 7598bf5; header 1 nearest the spar slot): rear pod 1 = leg from
# the FC tee, 2 = leg to the front pod, 3 = S50 pigtail; front pod 1 = leg from the rear pod, 2 = S50
# pigtail, 3 = terminator plug. In this file header 1/2/3 are the joiner pins A/B/C (1-4, 5-8, 9-12). The S50's G pad is left UNWIRED (it is grounded through its power leads; see the
# ground-loop note in can-bus1-lift.yml).
metadata:
  title: TerraHawk CAN bus 1 (lift), phase one with S50s, v1

connectors:
  J_M3: &join
    type: GH-4 joiner at the front port pod
    subtype: 3 x GH-4, pins bussed
    pinlabels: [A_VCC, A_CAN_H, A_CAN_L, A_GND, B_VCC, B_CAN_H, B_CAN_L, B_GND, C_VCC, C_CAN_H, C_CAN_L, C_GND]
    shorts: {VCC: [1, 5, 9], CAN_H: [2, 6, 10], CAN_L: [3, 7, 11], GND: [4, 8, 12]}
  J_M2: {<<: *join, type: GH-4 joiner at the rear port pod}
  J_M4: {<<: *join, type: GH-4 joiner at the rear stbd pod}
  J_M1: {<<: *join, type: GH-4 joiner at the front stbd pod}
  JOIN_CAN1: {<<: *join, type: '"CAN1 LIFT" joiner at the FC'}
  S50_M3: &s50
    type: Vimdrones S50, node 26, motor 3
    subtype: CAN pads H, L, G (G unwired)
    pinlabels: [CAN_H, CAN_L, G]
  S50_M2: {<<: *s50, type: "Vimdrones S50, node 25, motor 2"}
  S50_M4: {<<: *s50, type: "Vimdrones S50, node 27, motor 4"}
  S50_M1: {<<: *s50, type: "Vimdrones S50, node 24, motor 1"}
  TERM_PORT: &term
    type: Terminator plug
    subtype: GH-4, 120 ohm CAN_H to CAN_L
    pinlabels: [VCC, CAN_H, CAN_L, GND]
  TERM_STBD: *term
  FC_CAN1:
    type: FC CAN1 (Pixhawk 6C Mini)
    pinlabels: [VCC, CAN_H, CAN_L, GND]

cables:
  W2: &lead
    type: GH-4 lead, pin 1 empty
    wirecount: 3
    wirelabels: [CAN_H, CAN_L, GND]
    colors: [YE, GN, BK]
    length: 470 mm
  W3: {<<: *lead, length: 620 mm}
  STUB1: {<<: *lead, length: 60 mm}
  W4: {<<: *lead, length: 645 mm}
  W5: {<<: *lead, length: 470 mm}
  PT: &pig
    type: S50 CAN pigtail, H and L only
    wirecount: 2
    wirelabels: [CAN_H, CAN_L]
    colors: [YE, GN]
    length: 160 mm
    notes: up to 160 mm, cut to fit
  PT_M3: *pig
  PT_M2: *pig
  PT_M4: *pig
  PT_M1: *pig

connections:
  # front port pod: 1 leg from the rear pod, 2 S50, 3 terminator
  - - J_M2: [6-8]
    - W2: [1-3]
    - J_M3: [2-4]
  - - J_M3: [6-7]
    - PT_M3: [1-2]
    - S50_M3: [1-2]
  - - J_M3: [10-12]
    - [-->, -->, -->]
    - TERM_PORT: [2-4]
  # rear port pod: 1 leg from the FC tee, 2 leg to the front pod, 3 S50
  - - JOIN_CAN1: [2-4]
    - W3: [1-3]
    - J_M2: [2-4]
  - - J_M2: [10-11]
    - PT_M2: [1-2]
    - S50_M2: [1-2]
  - - JOIN_CAN1: [6-8]
    - STUB1: [1-3]
    - FC_CAN1: [2-4]
  # rear stbd pod: 1 leg from the FC tee, 2 leg to the front pod, 3 S50
  - - JOIN_CAN1: [10-12]
    - W4: [1-3]
    - J_M4: [2-4]
  - - J_M4: [10-11]
    - PT_M4: [1-2]
    - S50_M4: [1-2]
  - - J_M4: [6-8]
    - W5: [1-3]
    - J_M1: [2-4]
  # front stbd pod: 1 leg from the rear pod, 2 S50, 3 terminator
  - - J_M1: [6-7]
    - PT_M1: [1-2]
    - S50_M1: [1-2]
  - - J_M1: [10-12]
    - [-->, -->, -->]
    - TERM_STBD: [2-4]