Decoded Z27AG signals: layouts in signals.json can blocks, the only source

engine_rpm moves to source z27ag (no OBD-II on this car's CAN). Ten more: accelerator, brake, handbrake, indicators, side lights, dipped beam, doors, A/C compressor. Guideline 6: no service writes a CAN ID of its own. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01DDwfd6Ki8UfG4hK6W5YpJz
Z27AG first decoding pass: rpm, pedal, brake, handbrake, indicators, lights, doors, wheel speeds
2026-10-13 21:31:51 +09:00 · 2026-10-13 20:47:20 +09:00
4 changed files with 228 additions and 6 deletions
@@ -17,11 +17,14 @@ definitions from here.
 |---|---|
 | [`schema/topics.json`](schema/topics.json) | Topic namespace: payload kind, retention, rate, publisher |
 | [`schema/envelope.json`](schema/envelope.json) | JSON Schema for the decoded-signal envelope |
-| [`schema/signals.json`](schema/signals.json) | Signal registry — the single source for name, unit, type and range |
+| [`schema/signals.json`](schema/signals.json) | Signal registry — the single source for name, unit, type and range, and for where each decoded Z27AG signal sits in its CAN frame (`can` block) |
 | [`docs/BOUNDARY.md`](docs/BOUNDARY.md) | Display boundary protocol: what crosses between `svc-gw` and the app |
 | [`checklists/`](checklists/) | Recording checklists as data; the app bundles exact copies (its **Captures** page) |

-The Z27AG DBC lands here too, once Phase 2 produces one.
+Decoded Z27AG signals (source `z27ag`) carry their frame layout in `signals.json` itself,
+so name, unit and bits cannot drift apart. A DBC for tools like SavvyCAN or cantools,
+if one is wanted, is generated from it, never edited by hand. Findings behind each
+layout: [`docs/impl/reports/`](docs/impl/reports/).

 - For implementation practice guidelines, refer to the [guidelines](docs/GUIDELINES.md);  
 - For implementation plans and history, refer to [them](docs/impl/);
@@ -33,4 +33,14 @@ type: guidelines
 - There is no version in any topic or payload. A recorded session names the
  contracts tag it was captured under, which is what keeps old captures readable.

-## 6. To be added
+## 6. A decoded signal's layout lives only in its registry entry
+- Every `source: z27ag` signal has a `can` block in `signals.json`: frame ID, byte,
+  bit or length, byte order, scale and offset. The decoder reads those blocks and
+  nothing else, so a correction lands in one file and every consumer sees it.
+- ⚠ **No CAN ID or bit position is written in any service's code.** A layout
+  hard-coded downstream is a second source that silently disagrees the day the
+  registry is corrected.
+- Each block names the report with its evidence (`evidence`). A layout without
+  evidence is a guess and does not go in.
+
+## 7. To be added
@@ -0,0 +1,65 @@
+---
+type: report
+date: 2026-10-13
+---
+# Z27AG CAN: first decoding pass
+
+Session `z27ag-20261013-170050-checklist` (yukart-data `can-captures/`), checklist v1,
+117 marks. Method: list every transition of every rarely-changing bit and read it
+against the marks; for blinking signals, count toggles inside each marked range
+against the seconds before it; for values, dump bytes across the marked range; for
+speed, correlate every 16-bit word with GNSS speed over the crawls. Marks lag the
+action by a fraction of a second to a few seconds (the operator presses after doing),
+so a change shortly *before* a start mark is normal.
+
+Bit numbering: `ID.byte.bit`, byte 0 first, bit 7 the MSB.
+
+## Found
+
+| Signal | Where | Evidence | Confidence |
+|---|---|---|---|
+| Engine speed | `210` bytes 4–5, BE, 1 rpm | idle 740–870; holds at ~1410 and ~1900 for "1500" / "2000" (operator: revs not exact); blip peak 2887 | High |
+| Engine speed, finer | `13D` bytes 0–1, LE, ≈ rpm × 2.048 | moves in lockstep with `210` | High |
+| Accelerator pedal | `210` byte 0, 0x00 released … 0xFA full (÷2.5 → %) | engine-off sweep: 0 → 0xFA → 0 | High |
+| Accelerator sensors 1 and 2 | `139` bytes 0 and 1 (raw, 0x33 rest … 0xEE full, track each other) | same sweep | High |
+| Throttle-related | `139` byte 2 (0x21 … 0xD5) | same sweep; plate or target | Medium |
+| Pedal-pressed flag | `210` byte 3 bit 7 | set exactly while the pedal is off rest | Medium |
+| Brake pedal switch | `231.4.1` (1 = pressed) | 3/3 presses, plus the foot-brake holds around the handbrake step and the crawls | High |
+| Handbrake | `239.0.2` (1 = applied) | set through every engaged stretch, clear during the crawls and the handbrake releases | High |
+| Left indicator | `423.2.6` blinking | 2/2 | High |
+| Right indicator | `423.2.5` blinking | 2/2 | High |
+| Hazards | `423.2.6` only blinks, 2/2 | odd: `2.5` stays still. Maybe `2.6` is "left or hazard", maybe the hazard has its own bit elsewhere at a rate this method missed | Low |
+| Side lights | `423.2.2` and `570.7.3` (1 = on) | on/off and during dipped | High |
+| Dipped beam | `423.3.1` (1 = on) | 1/1 | Medium (one sample) |
+| Any door open | `423.2.1` | driver and passenger | Medium |
+| Driver door | `423.0.4` | driver only, not passenger | Medium |
+| Driver belt unbuckled | `573.5.7` (1 = unbuckled) | set at ignition on, cleared at buckle; no release seen | Low |
+| A/C request / blower | `443` bytes 1–2 and `711` bytes 5–6, multi-bit | change with A/C and blower; not separated yet | Low |
+| A/C compressor engaged | `13D.6.7` | engine running, A/C on; set ~0.5 s after the request, cleared with A/C off | Medium |
+| Four wheel speeds | `235` four 16-bit words (bytes 0–1, 2–3, 4–5, 6–7) | zero parked, all four move together in the crawls | High (signal), **scale open** |
+| Vehicle speed | `231` byte 6 (and probably byte 7) | tracks the wheel words | Medium |
+
+**Wheel-speed scale.** Crawls topped out at ~6 km/h, and so far only the first byte of each word moved
+(0x4C at GNSS 3.5 km/h). Read as little-endian ×0.05 km/h (the forfour's `200`
+scale), that is 3.8 km/h, which is plausible given GNSS lag. Big-endian is not ruled out. The
+jack-stands session and a GNSS-matched drive settle both the byte order and the scale.
+
+## Not on this bus (or not seen)
+
+- **Clutch pedal:** nothing changed in 3 presses, engine off.
+- **Gear position:** nothing in 5 gears, reverse or neutral. Expected for a manual. The
+  gear can be computed from rpm ÷ wheel speed once the scale is known.
+- **Reverse:** no reverse bit found. The reverse lamp is probably wired directly.
+- **Steering angle:** not analysed yet (step 5 was done with the engine on, at the end).
+
+## Not analysed yet
+
+- `312` (four noisy 16-bit words that follow the throttle: MAP/load/air candidates)
+- `449` temperatures (coolant candidate), `710`–`713` slow body/meter frames
+- `0C0`, `119`, `149`, `156` (counters/checksums; `149` inertial candidate)
+
+## Scripts
+
+Scratch analysis for now: a session loader, a transition timeline, a blink counter and a
+GNSS correlator, in Python with numpy. They become a tool once a DBC exists to check
+against.
@@ -1,15 +1,24 @@
 {
-  "$comment": "Single source for signal identity. Topic name and envelope unit are both derived from these entries and are never authored separately. source=obd2 is standardised; source=z27ag is reverse-engineered and lives in the DBC. source=host is the Orin itself (orin-status), not the car.",
+  "$comment": "Single source for signal identity. Topic name and envelope unit are both derived from these entries and are never authored separately. source=obd2 is standardised; source=host is the Orin itself (orin-status), not the car. source=z27ag is reverse-engineered from the car's own broadcast frames, and its 'can' block is the only place its layout is written down: id (11-bit, hex string), byte (first data byte, 0-7), length in bits (1, 8 or 16), bit (length 1 only: 0 = LSB of that byte), order (length 16: big = byte first is most significant, little = the reverse), scale and offset (value = raw * scale + offset; booleans are raw != 0). 'evidence' names the contracts report that found it.",
  "signals": {
    "engine_rpm": {
      "unit": "rpm",
      "type": "number",
-      "source": "obd2",
+      "source": "z27ag",
      "description": "Engine speed",
      "range": [
        0,
        8000
-      ]
+      ],
+      "can": {
+        "id": "0x210",
+        "byte": 4,
+        "length": 16,
+        "order": "big",
+        "scale": 1,
+        "offset": 0,
+        "evidence": "Z27AG-DECODE-1"
+      }
    },
    "vehicle_speed_kph": {
      "unit": "kph",
@@ -91,6 +100,141 @@
        656
      ]
    },
+    "accel_pedal_pct": {
+      "unit": "percent",
+      "type": "number",
+      "source": "z27ag",
+      "description": "Accelerator pedal position (0x00 at rest, 0xFA flat)",
+      "range": [
+        0,
+        100
+      ],
+      "can": {
+        "id": "0x210",
+        "byte": 0,
+        "length": 8,
+        "scale": 0.4,
+        "offset": 0,
+        "evidence": "Z27AG-DECODE-1"
+      }
+    },
+    "brake_pedal": {
+      "unit": "",
+      "type": "boolean",
+      "source": "z27ag",
+      "description": "Brake pedal switch: pressed",
+      "can": {
+        "id": "0x231",
+        "byte": 4,
+        "bit": 1,
+        "length": 1,
+        "evidence": "Z27AG-DECODE-1"
+      }
+    },
+    "handbrake": {
+      "unit": "",
+      "type": "boolean",
+      "source": "z27ag",
+      "description": "Handbrake applied",
+      "can": {
+        "id": "0x239",
+        "byte": 0,
+        "bit": 2,
+        "length": 1,
+        "evidence": "Z27AG-DECODE-1"
+      }
+    },
+    "indicator_left": {
+      "unit": "",
+      "type": "boolean",
+      "source": "z27ag",
+      "description": "Left indicator lamp, as it flashes (on and off at the flasher's rate)",
+      "can": {
+        "id": "0x423",
+        "byte": 2,
+        "bit": 6,
+        "length": 1,
+        "evidence": "Z27AG-DECODE-1"
+      }
+    },
+    "indicator_right": {
+      "unit": "",
+      "type": "boolean",
+      "source": "z27ag",
+      "description": "Right indicator lamp, as it flashes. Hazards were seen on the left bit only: open",
+      "can": {
+        "id": "0x423",
+        "byte": 2,
+        "bit": 5,
+        "length": 1,
+        "evidence": "Z27AG-DECODE-1"
+      }
+    },
+    "side_lights": {
+      "unit": "",
+      "type": "boolean",
+      "source": "z27ag",
+      "description": "Side (position) lights on; also on with dipped beam",
+      "can": {
+        "id": "0x423",
+        "byte": 2,
+        "bit": 2,
+        "length": 1,
+        "evidence": "Z27AG-DECODE-1"
+      }
+    },
+    "dipped_beam": {
+      "unit": "",
+      "type": "boolean",
+      "source": "z27ag",
+      "description": "Dipped headlights on",
+      "can": {
+        "id": "0x423",
+        "byte": 3,
+        "bit": 1,
+        "length": 1,
+        "evidence": "Z27AG-DECODE-1"
+      }
+    },
+    "door_open": {
+      "unit": "",
+      "type": "boolean",
+      "source": "z27ag",
+      "description": "Any door open",
+      "can": {
+        "id": "0x423",
+        "byte": 2,
+        "bit": 1,
+        "length": 1,
+        "evidence": "Z27AG-DECODE-1"
+      }
+    },
+    "driver_door_open": {
+      "unit": "",
+      "type": "boolean",
+      "source": "z27ag",
+      "description": "Driver's door open",
+      "can": {
+        "id": "0x423",
+        "byte": 0,
+        "bit": 4,
+        "length": 1,
+        "evidence": "Z27AG-DECODE-1"
+      }
+    },
+    "ac_compressor": {
+      "unit": "",
+      "type": "boolean",
+      "source": "z27ag",
+      "description": "A/C compressor engaged (engine running)",
+      "can": {
+        "id": "0x13D",
+        "byte": 6,
+        "bit": 7,
+        "length": 1,
+        "evidence": "Z27AG-DECODE-1"
+      }
+    },
    "orin_cpu_temp_c": {
      "unit": "celsius",
      "type": "number",