From 15539007770377f3780bbcf07633eec3a79bb647 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 15 Oct 2022 16:24:54 -0400
Subject: [PATCH] Hyundai: Longitudinal support for Camera SCC cars (CAN for
 now)

---
 panda                                  | 2 +-
 selfdrive/car/hyundai/carcontroller.py | 4 ++--
 selfdrive/car/hyundai/interface.py     | 4 ++--
 3 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/panda b/panda
index 62868c36a8..c22894274b 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 62868c36a80d1f44064da7b47423f0ef331f64e9
+Subproject commit c22894274b382e8ea0965eefc8d81006fa3c1212
diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
index a5d995df25..773cf9817e 100644
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@@ -5,7 +5,7 @@ from common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
 from selfdrive.car import apply_std_steer_torque_limits
 from selfdrive.car.hyundai import hyundaicanfd, hyundaican
-from selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR
+from selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR, CAMERA_SCC_CAR
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 LongCtrlState = car.CarControl.Actuators.LongControlState
@@ -84,7 +84,7 @@ class CarController:
     # *** common hyundai stuff ***
 
     # tester present - w/ no response (keeps relevant ECU disabled)
-    if self.frame % 100 == 0 and self.CP.openpilotLongitudinalControl:
+    if self.frame % 100 == 0 and self.CP.openpilotLongitudinalControl and self.CP.carFingerprint not in CAMERA_SCC_CAR:
       addr, bus = 0x7d0, 0
       if self.CP.flags & HyundaiFlags.CANFD_HDA2.value:
         addr, bus = 0x730, 5
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index 13e93c7d06..392ddf24bb 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -296,7 +296,7 @@ class CarInterface(CarInterfaceBase):
       ret.longitudinalTuning.kiV = [0.0]
       ret.longitudinalActuatorDelayLowerBound = 0.5
       ret.longitudinalActuatorDelayUpperBound = 0.5
-      ret.experimentalLongitudinalAvailable = candidate not in (LEGACY_SAFETY_MODE_CAR | CAMERA_SCC_CAR)
+      ret.experimentalLongitudinalAvailable = candidate not in LEGACY_SAFETY_MODE_CAR
     ret.openpilotLongitudinalControl = experimental_long and ret.experimentalLongitudinalAvailable
     ret.pcmCruise = not ret.openpilotLongitudinalControl
 
@@ -347,7 +347,7 @@ class CarInterface(CarInterfaceBase):
 
   @staticmethod
   def init(CP, logcan, sendcan):
-    if CP.openpilotLongitudinalControl:
+    if CP.openpilotLongitudinalControl and CP.carFingerprint not in CAMERA_SCC_CAR:
       addr, bus = 0x7d0, 0
       if CP.flags & HyundaiFlags.CANFD_HDA2.value:
         addr, bus = 0x730, 5