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+# openUC2 Raspberry Pi HAT+ (FRAME Controller)
+
+**Technical specification, integration & bring-up guide**
+
+## 0) Quick links (hardware, firmware, docs)
+
+- Schematics PDF (HAT+ Rev D): https://openuc2.github.io/kicad/hatplus-for-raspberrypi-5.pdf
+- Schematics PDF (Panel Board): https://openuc2.github.io/kicad/hat-panelboard.pdf
+- Firmware config reference (ESP32, HAT Master v2): https://github.com/youseetoo/uc2-esp32/blob/main/sdkconfig.UC2_3_CAN_HAT_Master_v2
+
+## 1) Purpose & feature summary
+
+- HAT+ for Raspberry Pi (40-pin header) providing:
+ - 12 V input -> on-board **5.1 V / 5 A** buck for Pi, plus **3.3 V** LDO for the ESP32-WROOM-32 and various sensors, E-Stop logic and interface chips.
+ - Safety chain with **Emergency-STOP** (3.5 mm TRS) gating the 12 V output to the backbone. Momentary "Buspower OFF" button for quick cut.
+ - **CAN bus** for distributed module control:
+ - Raspi: MCP2515 SPI controller + SN65HVD230 transceiver
+ - ESP32: Built-in CAN (TWAI) controller + SN65HVD230 transceiver
+ - Optional 120 ohm termination and CAN activity LED by solder jumpers.
+ - **ESP32-WROOM-32E** co-processor (USB-C + CP2102; also flashable via Pi UART with auto-program DTR/RTS).
+ - **Sensors & I/O**:
+ - INA226 current sensor (I2C addr 0x46)
+ - two TMP102 temperature sensors (I2C addrs typically 0x4A and 0x4B)
+ - NeoPixel header/extend, camera trigger out, fan tacho feedback, front-panel header
+ - Dual **HAT+ EEPROMs** (Standard class + Power MODE1 class "5 A capable") for automatic OS configuration. (not working currently, workaround through our Raspi OS)
+
+
+
+## 2) Electrical architecture
+
+### 2.1 Power path (12 V in -> 5 V / 3.3 V)
+
+- **Input**: Barrel jack J101 (5.5 mm OD / 2.5 mm ID, center-positive), protected by a **7 A resettable fuse**. Backfeed/ESD diodes protect rails and ports.
+- **Buck**: TI **TPS54560** set to about **5.1 V**, rated for 5 A continuous (thermal-limited), with output network sized for step loads (design spreadsheet notes in schematic).
+- **LDO**: **AMS1117-3.3** (up to 1 A) generating 3.3 V for logic/sensors from the 5 V rail.
+- **Indicators & supervisors**:
+ - 5 V present / OK window with MAX809 (2.93 V threshold in sensing chain) driving red/green LEDs (D401/D402). 5 V "OK" when above about 4.9 V.
+ - 3.3 V and switched 12 V likewise instrumented with LEDs/supervisors for fast bring-up diagnosis.
+
+### 2.2 High-current "bus power" switching & safety
+
+- **Emergency-STOP chain** (TRS jack J501): tip-ring must be **normally closed** externally; opening latches OFF.
+ - Sleeve supplies LED ground for the external box; power budget about 33 mA at 3.3 V.
+- **Main bus power switch**: PMOS (Q602) producing `+12V_switched`
+ - Gate logic is driven by `BUSPOWER_EN` and hard-gated by E-STOP and "buspower-off" lines.
+ - `BUSPOWER_EN` has to be actively driven HIGH to turn on the big PMOS (see schematic note).
+- **Bypasses (for troubleshooting only)**:
+ - **JP601** "circumvent-buspower-switch": forces main PMOS ON (disables E-STOP, use only for lab debugging).
+ - **JP201** "circumvent-power-software-switching": prevents Pi/ESP from cutting bus power via GPIO (safety-critical behavior may be altered).
+
+## 3) Communication & control
+
+### 3.1 Raspberry Pi interface (physical pin numbers)
+
+- 3 (SDA1) / 5 (SCL1): I2C-1
+ - Solder jumpers **JP101/JP102** can bridge Pi I2C to the board's shared I2C net (and to the ESP32 I2C if you close the bridge).
+- 8 (GPIO14 TXD) / 10 (GPIO15 RXD): UART to ESP32 (paralleled with CP2102).
+- 11 / 36: handshake lines used for ESP32 auto-program (via CP2102 wiring, see USB-UART sheet). Open **JP901/JP902** to isolate if needed.
+- 16 (GPIO23): **buspower-off when HIGH** (wired into the power gating logic).
+- 19/21/23/24: SPI0 (MOSI/MISO/SCLK/CE0) to **MCP2515**.
+- 32 (GPIO12): **MCP2515 INT**.
+- 27/28 (GPIO0/GPIO1): I2C-0 for **HAT+ EEPROMs** (spec-reserved).
+
+### 3.2 ESP32 pinout (Rev D / v2, used signals)
+
+This is the pinout that matches the `UC2_3_CAN_HAT_Master` v2 definition and the Rev D schematic:
+
+| ESP32 GPIO | Net / Function | Notes |
+|:|||
+| 21 | I2C-1 SDA | Shared sensor bus |
+| 22 | I2C-1 SCL | Shared sensor bus |
+| 17 | CAN RX (TWAI) | To ESP-side SN65HVD230 |
+| 18 | CAN TX (TWAI) | To ESP-side SN65HVD230 |
+| 19 | NeoPixel data | On-board WS2812 + `neopixel-extend` |
+| 32 | Camera trigger out | Drives Panel Board camera trigger interface |
+| 27 | Camera IO0 in | Reserved / optional |
+| 33 | Camera IO2 IO | Reserved / optional |
+| 4 | BUSPOWER_OFF (HIGH = off) | Software cut of `+12V_switched` |
+| 34 | E-STOP sense (`sense-emg-stop`) | Input-only pin; HIGH = E-STOP asserted |
+
+> If you saw a PR in the `uc2-esp32` repo that added this v2 pinout, this table is the consolidated version to keep here in the hardware README.
+
+
+
+## 4) I2C pins (answer)
+
+### Raspberry Pi I2C (primary)
+- Pi I2C-1 is on header pins:
+ - Pin 3: GPIO2 / SDA1
+ - Pin 5: GPIO3 / SCL1
+
+### ESP32 I2C (on the HAT)
+- ESP32 uses:
+ - GPIO21 = SDA
+ - GPIO22 = SCL
+
+### Bridging Pi <-> ESP I2C
+- **JP101 (SDA)** and **JP102 (SCL)** are the solder jumpers that connect the Pi I2C-1 lines into the HAT shared I2C net (and therefore to the ESP32 I2C pins and the I2C header ecosystem).
+ - Default should be OPEN unless you explicitly want the shared bus.
+
+**Practical note:** the Pi has its own pullups on I2C-1. If the Pi is unpowered, the bus can behave oddly or backpower through pullups, so treat shared I2C with care when mixing power domains.
+
+
+
+## 5) Temperature sensor (which one, pins, addresses)
+
+- The HAT has **two TMP102** temperature sensors on the shared I2C bus.
+ - Typical addresses on this design: **0x4A** (ambient) and **0x4B** (PCB temp), depending on ADDR strap.
+- Pins:
+ - They sit on **I2C-1 SDA/SCL** (shared bus): ESP32 GPIO21/22 and optionally Pi pins 3/5 if bridged by JP101/JP102.
+- ALERT:
+ - TMP102 supports ALERT, routed as open-drain in the design (board-level integration exists but may be left unpopulated or unused in firmware).
+
+
+
+## 6) Buzzer (how it works)
+
+- The buzzer is a 3.3 V driven beeper (BZ1501) switched by an NPN transistor (Q1501 SS8050).
+- Signal is `buzzer-input` into a base resistor network (R1501 5.6k, etc.). The transistor sinks current through the buzzer.
+- Recommended drive for loudest beep:
+ - **2.7 kHz, 50% duty cycle** PWM.
+ - Arbitrary waveforms also work.
+
+
+
+## 7) Emergency stop (how to detect)
+
+### Hardware behavior
+- E-STOP is a TRS 3.5 mm jack (J501):
+ - Remote box uses an NC switch between Tip and Ring.
+ - Opening the loop triggers the safety chain and disables `+12V_switched` (latched OFF by the gating logic).
+- There is also an "override" (SW501 / `emg-stop_OVERRIDE`) intended as a last-resort field bypass, protected against accidental use.
+
+### Firmware detection (ESP32)
+- Read the E-STOP sense net on ESP32:
+ - `sense-emg-stop` is wired to **GPIO34** (input-only).
+ - Logic on this board: **HIGH = E-STOP asserted**, **LOW = operational** (normal).
+
+Pseudo-code:
+
+```cpp
+pinMode(34, INPUT);
+bool estop_hit = (digitalRead(34) == HIGH);
+```
+
+
+
+## 8) Switching off 12 V from ESP32 or Raspberry Pi (answer)
+
+Yes: you can shut off the **switched 12 V rail** (`+12V_switched`) in two ways:
+
+### 8.1 Software kill (fast, intended)
+
+* Two "buspower-off" lines are wired into the power gating logic:
+
+ * ESP32: `buspower-off_ESP` on **GPIO4** (HIGH = OFF)
+ * Raspberry Pi: `buspower-off_raspi` on **GPIO23** (Pi header pin 16; HIGH = OFF)
+
+This is a hard gate: if either line requests OFF, the switched 12 V is disabled.
+
+### 8.2 Physical kill (local momentary)
+
+* SW601 is a momentary "Buspower OFF" that forces OFF in hardware.
+
+
+
+## 9) CAN activity and termination (which solder jumpers to bridge)
+
+These are the useful field jumpers for CAN diagnostics and bus correctness:
+
+* **JP801**: enable on-board **120 ohm termination**
+
+ * Bridge it only if this node is at one end of the CAN bus (one terminator per end).
+* **JP802**: enable CAN **dominant-state indicator LED**
+
+ * Helpful to visually confirm activity (adds a small load to the bus).
+
+
+
+Other jumpers worth knowing:
+
+* **JP101 / JP102**: bridge Pi I2C SDA/SCL into the shared I2C net (only if you want a shared bus).
+* **JP601** and **JP201**: bypass safety behavior (debug only, not for normal operation or shipping).
+
+
+
+## 10) High current mode (reproducible activation, automated)
+
+Goal: reliably allow high USB current draw on Raspberry Pi 5 (and avoid brownouts) by combining:
+
+1. correct power hardware (5.1 V / 5 A capability), and
+2. OS configuration that lifts the Pi USB current policy.
+
+### 10.1 Current workaround (works today)
+
+Add this to `/boot/firmware/config.txt`:
+
+```ini
+usb_max_current_enable=1
+```
+More information about that here: https://github.com/openUC2/rpi-imswitch-os/pull/48
+
+This is OS-image controllable (automate it in your ImSwitch OS build / image pipeline).
+
+### 10.2 Intended automated method (HAT+ EEPROM)
+
+The design contains **two HAT+ EEPROMs** on Pi I2C-0 (GPIO0/1) to advertise the HAT class, including a **Power MODE1** class ("5 A capable") so the Pi can lift power limits automatically.
+
+Status: on early bring-up this is "not working currently" in the project notes, so keep the config.txt method in place until EEPROM programming + detection is validated end-to-end.
+
+
+
+## 11) Firmware (ESP32 HAT Master v2)
+
+* Use this firmware config as the canonical reference for the v2 board:
+
+ * [https://github.com/youseetoo/uc2-esp32/blob/main/sdkconfig.UC2_3_CAN_HAT_Master_v2](https://github.com/youseetoo/uc2-esp32/blob/main/sdkconfig.UC2_3_CAN_HAT_Master_v2)
+
+Suggested repo structure for releases:
+
+* Provide prebuilt binaries for:
+
+ * `UC2_3_CAN_HAT_Master_v2.bin`
+ * plus `bootloader.bin` and `partitions.bin` if you are not using merged images
+* Link them from GitHub Releases and also from this README.
+
+
+
+## 12) Panel Board (more information)
+
+The Panel Board is a small front-panel / breakout PCB powered by the HAT and intended to:
+
+* Provide convenient connectors for:
+
+ * STEMMA / STEMMA QT I2C at 3.3 V
+ * 5 V addressable LED headers (ARGB-style)
+ * SMA camera trigger output (for HIKROBOT camera Line 0)
+ * Fan header with tacho and controllable supply
+
+### 12.1 Panel Board input connector from HAT (J101, 7-pin)
+
+The harness from HAT to Panel Board carries:
+
+* `I2C_SDA`
+* `I2C_SCL`
+* `neopixel` (data)
+* `camera-trigger_esp-gpio`
+* `fan_tacho`
+* `GND`
+* `+12V`
+
+The Panel Board generates its local 5 V and 3.3 V from the 12 V input.
+
+### 12.2 STEMMA / STEMMA QT (I2C expansion)
+
+* Two connectors:
+
+ * JST-PH STEMMA (J107)
+ * JST-SH STEMMA QT (J106)
+* Output: 3.3 V + I2C, with max about 200 mA average (design note: 1 A peak), pullups are on the HAT (so do not duplicate aggressively).
+
+### 12.3 5 V LED headers (ARGB / NeoPixel ecosystem)
+
+* LED headers provide:
+
+ * 5 V (up to 3 A from the local 12 -> 5 V buck on the Panel Board)
+ * NeoPixel data
+ * GND
+* There are multiple header styles to match common PC ARGB ecosystems (notes in schematic).
+
+### 12.4 Camera trigger output to HIKROBOT (SMA)
+
+* The Panel Board includes a level interface that takes the ESP32 3.3 V trigger (`trigger_from-ESP`) and drives a 12 V level suitable for the camera input (HIKROBOT Cam In Line 0).
+* Implementation:
+
+ * NPN transistor + PMOS high-side stage (AO3401A) to drive the camera optoisolator input correctly.
+* Important notes from the schematic:
+
+ * Camera input is effectively an optocoupler LED with an internal resistor and needs a minimum voltage.
+ * This board drives a "12 V signal level" to meet the camera input requirements.
+
+### 12.5 Fan header and controllable fan supply
+
+* The Panel Board provides a 3-pin fan connector (J401) with:
+
+ * GND
+ * `Tacho` (open-drain from fan)
+ * a controllable supply rail (`DCDC_FAN_VOUT`)
+* Fan supply generation:
+
+ * A buck converter stage that can produce a variable output (design notes indicate 12 V down to about 3 V).
+ * Control uses an I2C digital potentiometer **MCP4017** at I2C address **0x2F** (design note).
+ * There is a local 3.3 V LDO supply dedicated for the fan control subsystem.
+
+
+
+## 13) Linux integration (CAN & sensors)
+
+### 13.1 MCP2515 overlay (Pi-side CAN on Linux)
+
+* SPI0 CE0 (CS), INT at GPIO12, SCK/MOSI/MISO on pins 23/19/21.
+* Example `/boot/firmware/config.txt`:
+
+```ini
+dtparam=spi=on
+dtoverlay=mcp2515,spi0-0,interrupt=12,oscillator=16000000
+```
+
+Then:
+
+```bash
+sudo ip link set can0 up type can bitrate 500000
+candump can0
+```
+
+### 13.2 Sensors (I2C)
+
+```bash
+sudo apt install i2c-tools
+i2cdetect -y 1
+```
+
+Expected addresses:
+
+* INA226: 0x46
+* TMP102: typically 0x4A and 0x4B
+
+
+
+## 14) Field solder-jumpers quick table
+
+| Jumper | Action |
+| -- | -- |
+| JP801 | Add 120 ohm CAN termination |
+| JP802 | Enable CAN dominant-state LED |
+| JP101 | Bridge Pi I2C SDA into shared I2C net |
+| JP102 | Bridge Pi I2C SCL into shared I2C net |
+| JP601 | Force bus power ON (bypass E-STOP) |
+| JP201 | Disable Pi/ESP software power-off |
+| JP901/JP902 | Open to isolate Pi from CP2102 RTS/DTR |
+
+
+
+## 15) Appendix: default pin maps
+
+### 15.1 Default Raspberry Pi header map (summary)
+
+| Pin | Function |
+| -: | |
+| 3 / 5 | I2C-1 SDA/SCL (bridgeable via JP101/JP102) |
+| 8 / 10 | UART TX/RX to ESP (paralleled with CP2102) |
+| 16 | buspower-off (HIGH = off) |
+| 19/21/23/24 | SPI0 MOSI/MISO/SCLK/CS0 -> MCP2515 |
+| 32 | MCP2515 INT (GPIO12) |
+| 27 / 28 | I2C-0 SCL/SDA -> HAT+ EEPROMs |
+
+### 15.2 ESP32 used pins (summary)
+
+| GPIO | Function |
+| : | |
+| 21 / 22 | I2C SDA/SCL |
+| 17 / 18 | CAN RX/TX (TWAI) |
+| 19 | NeoPixel |
+| 4 | BUSPOWER_OFF (HIGH = off) |
+| 34 | E-STOP sense (HIGH = asserted) |
+| 32 | Camera trigger out |
+| 27 / 33 | Camera IO (reserved) |
+
+
+### 15.3 Trigger Layout for HIK CAmera
+
+The colour code is: camera in opto pin 2 => yellow, camera gnd opto pin 5 => white.
+It's soldered to the SMA connector. Can you please document that in the HATv2
+More info openUC2/TechnicalDocs-openUC2-FRAME#134
+
+
+
+## 16) Interactive BOMs (iBOMs)
+
+### HAT v2:
+
+
+
+### Panel Board:
+
+
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+ Interactive BOM for KiCAD
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