From b587098c57383f0035f954ccc955aa5496cd3dca Mon Sep 17 00:00:00 2001
From: MoreTore <ryleymccarroll22@gmail.com>
Date: Sat, 15 Feb 2025 00:08:29 -0600
Subject: [PATCH] No FSC

---
 selfdrive/car/mazda/carcontroller.py |  3 ++-
 selfdrive/car/mazda/carstate.py      | 20 +++++++++++---------
 selfdrive/car/mazda/mazdacan.py      | 27 ++++++++++++++-------------
 3 files changed, 27 insertions(+), 23 deletions(-)

diff --git a/selfdrive/car/mazda/carcontroller.py b/selfdrive/car/mazda/carcontroller.py
index 2210562a7c..383fc68120 100644
--- a/selfdrive/car/mazda/carcontroller.py
+++ b/selfdrive/car/mazda/carcontroller.py
@@ -74,7 +74,8 @@ class CarController(CarControllerBase):
         steer_required = CC.hudControl.visualAlert == VisualAlert.steerRequired
         # TODO: find a way to silence audible warnings so we can add more hud alerts
         steer_required = steer_required and CS.lkas_allowed_speed
-        can_sends.append(mazdacan.create_alert_command(self.packer, CS.cam_laneinfo, ldw, steer_required))
+        if not self.CP.flags & MazdaFlags.NO_FSC:
+          can_sends.append(mazdacan.create_alert_command(self.packer, CS.cam_laneinfo, ldw, steer_required))
 
       if self.CP.flags & MazdaFlags.RADAR_INTERCEPTOR:
         hold = False
diff --git a/selfdrive/car/mazda/carstate.py b/selfdrive/car/mazda/carstate.py
index b1be120eb2..dd8752a5d0 100644
--- a/selfdrive/car/mazda/carstate.py
+++ b/selfdrive/car/mazda/carstate.py
@@ -147,10 +147,11 @@ class CarState(CarStateBase):
     self.crz_btns_counter = cp.vl["CRZ_BTNS"]["CTR"]
 
     # camera signals
-    self.lkas_disabled = cp_cam.vl["CAM_LANEINFO"]["LANE_LINES"] == 0 if not self.CP.flags & MazdaFlags.TORQUE_INTERCEPTOR else False
-    self.cam_lkas = cp_cam.vl["CAM_LKAS"]
-    self.cam_laneinfo = cp_cam.vl["CAM_LANEINFO"]
-    ret.steerFaultPermanent = cp_cam.vl["CAM_LKAS"]["ERR_BIT_1"] == 1 if not self.CP.flags & MazdaFlags.TORQUE_INTERCEPTOR else False
+    if not self.CP.flags & MazdaFlags.NO_FSC:
+      self.lkas_disabled = cp_cam.vl["CAM_LANEINFO"]["LANE_LINES"] == 0 if not self.CP.flags & MazdaFlags.TORQUE_INTERCEPTOR else False
+      self.cam_lkas = cp_cam.vl["CAM_LKAS"]
+      self.cam_laneinfo = cp_cam.vl["CAM_LANEINFO"]
+      ret.steerFaultPermanent = cp_cam.vl["CAM_LKAS"]["ERR_BIT_1"] == 1 if not self.CP.flags & MazdaFlags.TORQUE_INTERCEPTOR else False
     self.cp_cam = cp_cam
     self.cp = cp
 
@@ -281,11 +282,12 @@ class CarState(CarStateBase):
     messages = []
 
     if CP.flags & MazdaFlags.GEN1:
-      messages += [
-        #  address, frequency
-        ("CAM_LANEINFO", 2),
-        ("CAM_LKAS", 16),
-      ]
+      if not CP.flags & MazdaFlags.NO_FSC:
+        messages += [
+          #  address, frequency
+          ("CAM_LANEINFO", 2),
+          ("CAM_LKAS", 16),
+        ]
 
       if CP.flags & MazdaFlags.RADAR_INTERCEPTOR:
         messages += [
diff --git a/selfdrive/car/mazda/mazdacan.py b/selfdrive/car/mazda/mazdacan.py
index a9b1fe7e25..eb721ffca5 100644
--- a/selfdrive/car/mazda/mazdacan.py
+++ b/selfdrive/car/mazda/mazdacan.py
@@ -46,19 +46,20 @@ def create_steering_control(packer, CP, frame, apply_steer, lkas):
     csum = csum % 256
     values = {}
     if CP.flags & MazdaFlags.GEN1:
-      values = {
-        "LKAS_REQUEST": apply_steer,
-        "CTR": ctr,
-        "ERR_BIT_1": er1,
-        "LINE_NOT_VISIBLE" : lnv,
-        "LDW": ldw,
-        "BIT_1": b1,
-        "ERR_BIT_2": er2,
-        "STEERING_ANGLE": steering_angle,
-        "ANGLE_ENABLED": b2,
-        "CHKSUM": csum
-      }
-      msgs.append(packer.make_can_msg("CAM_LKAS", 0, values))
+      if not CP.flags & MazdaFlags.NO_FSC:
+        values = {
+          "LKAS_REQUEST": apply_steer,
+          "CTR": ctr,
+          "ERR_BIT_1": er1,
+          "LINE_NOT_VISIBLE" : lnv,
+          "LDW": ldw,
+          "BIT_1": b1,
+          "ERR_BIT_2": er2,
+          "STEERING_ANGLE": steering_angle,
+          "ANGLE_ENABLED": b2,
+          "CHKSUM": csum
+        }
+        msgs.append(packer.make_can_msg("CAM_LKAS", 0, values))
 
       if CP.flags & MazdaFlags.TORQUE_INTERCEPTOR:
         values = {