# CAN bus 1, LIFT, phase two (th-eda lift ESC boards). v1 from th-main's data,
# agent-threads/harness/20260928T051244Z-th-main-can-bus-harness-data.md (fadaa43).
# The harness stays in the airframe; ESCs and the FC unplug. Pin 1 (VCC) is empty on all of bus 1.
# Terminator plugs go straight into the front pods' free headers (no end leads).
# CAN GND at each ESC reaches board ground through 10 ohm (th-eda decision 2026-09-28): the wire
# otherwise parallels the pod's 16 AWG power return and would carry ~1 A at 25 A and ~2 A at 50 A
# (ESTIMATE), past the GH 1 A contact rating; the pod-to-FC ground offset stays under 0.3 V, well
# inside the TJA1051's +-12 V common-mode range.
metadata:
  title: TerraHawk CAN bus 1 (lift), phase two, v1
  notes: "GH-4 pinout 1 VCC (empty on bus 1), 2 CAN_H, 3 CAN_L, 4 GND. Lengths in mm from th-main (7598bf5, thread 20260928T053336Z): pod ends 110 mm; phase two stows about 70 mm spare per pod end under the duct."

connectors:
  M3_FRONT_PORT: &esc
    type: Lift ESC (th-eda rev A), node 26, motor 3
    subtype: 2 x GH-4, passed through; GND via 10 ohm to board ground
    pinlabels: [A_VCC, A_CAN_H, A_CAN_L, A_GND, B_VCC, B_CAN_H, B_CAN_L, B_GND]
    shorts: {VCC: [1, 5], CAN_H: [2, 6], CAN_L: [3, 7], GND: [4, 8]}
  M2_REAR_PORT: {<<: *esc, type: "Lift ESC (th-eda rev A), node 25, motor 2"}
  M4_REAR_STBD: {<<: *esc, type: "Lift ESC (th-eda rev A), node 27, motor 4"}
  M1_FRONT_STBD: {<<: *esc, type: "Lift ESC (th-eda rev A), 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
  JOIN_CAN1:
    type: '"CAN1 LIFT" joiner at the FC'
    subtype: 3 x GH-4, pins bussed, no terminator
    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]}
  FC_CAN1:
    type: FC CAN1 (Pixhawk 6C Mini; th-eda FC later)
    pinlabels: [VCC, CAN_H, CAN_L, GND]
    notes: CAN_P1_DRIVER 1

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
    notes: front port pod to rear port pod
  W3: {<<: *lead, length: 620 mm, notes: rear port pod to the FC joiner}
  STUB1: {<<: *lead, length: 60 mm, notes: joiner to FC CAN1}
  W4: {<<: *lead, length: 645 mm, notes: FC joiner to rear stbd pod}
  W5: {<<: *lead, length: 470 mm, notes: rear stbd pod to front stbd pod}

connections:
  - - TERM_PORT: [2-4]
    - [-->, -->, -->]
    - M3_FRONT_PORT: [2-4]
  - - M3_FRONT_PORT: [6-8]
    - W2: [1-3]
    - M2_REAR_PORT: [2-4]
  - - M2_REAR_PORT: [6-8]
    - W3: [1-3]
    - JOIN_CAN1: [2-4]
  - - JOIN_CAN1: [6-8]
    - STUB1: [1-3]
    - FC_CAN1: [2-4]
  - - JOIN_CAN1: [10-12]
    - W4: [1-3]
    - M4_REAR_STBD: [2-4]
  - - M4_REAR_STBD: [6-8]
    - W5: [1-3]
    - M1_FRONT_STBD: [2-4]
  - - M1_FRONT_STBD: [6-8]
    - [-->, -->, -->]
    - TERM_STBD: [2-4]