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System diagrams
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Different sensors and actuators connected to Henry are shown in the diagram below.

System
======

.. image:: images/Henry_physical_connection_diagram_with_IPs.png
   :width: 1000
   :alt: System diagram of Henry

Power diagram
=============

.. image:: images/Henry_power_diagram.png
   :width: 1000
   :alt: Power diagram of Henry

Signal diagram
==============

.. image:: images/Henry_signal_diagram.png
   :width: 1000
   :alt: Signal diagram of Henry

CAN bus
=======

The platform has access to 3 different high speed CAN networks. All the networks are presented below.

.. image:: images/henry_can_connections.png
   :width: 1000
   :alt: CAN bus networks

List of available control units in each network. 

1. **HS 1 CAN (C-1) (W2.13-1)**
   
   - A1.1 Engine Control Unit
   - A3.440 Differential Control Unit (optional)
   - A3.8 Automatic Transmission Control Unit (optional)
   - A6.30 Central Electronics Control Unit
   - A7.14 Parking Aid Control Unit (optional)
   - A7.45 Media Interface Control Unit
   - X9.2 OBD Socket
 
2. **HS 2 CAN (C-2) (W2.13-2)**
   
   - A2.1 ABS Control Unit
   - A2.42 Vehicle Dynamics Control Unit
   - A4.1 Airbag Control Unit
   - A6.269 Image Processing Unit (optional)
   - A8.612 Headlamp Control Unit (optional)
   - A18.3 Selector Lever Control Unit 
   - A41.10 Steering Booster Control Unit
   - A41.15 Steering Column Electronics Control Unit
   - X9.2 OBD Socket
 
3. **HS 3 CAN (C-3) (W2.13-3)**
   
   - A3.7 Cruise Control Unit (optional)
   - A6.269 Image Processing Unit (optional)

CAN bus connection to the vehicle is done via the gateway unit (at the same time gateway is providing the OBD socket) which is located under the steering wheel, behind OBD connector.

.. image:: images/henry_gateway.png
   :width: 1000
   :alt: CAN bus diagram of Henry

.. image:: images/can_topic.png
   :width: 1000
   :alt: CAN bus topic diagram of Henry