From 4e10353203e276341a987da3ef7518769c67ba23 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Wed, 24 Apr 2024 11:34:43 -0400
Subject: [PATCH] keep more things happy

---
 selfdrive/car/hyundai/carcontroller.py |  2 +
 selfdrive/car/hyundai/hyundaicanfd.py  | 52 ++++++++++++++++++++++++++
 2 files changed, 54 insertions(+)

diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
index c964bcf750..aaf772fc66 100644
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@@ -132,6 +132,8 @@ class CarController(CarControllerBase):
       if self.CP.openpilotLongitudinalControl:
         if hda2:
           can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.CAN, self.frame))
+          if can_canfd:
+            can_sends.extend(hyundaicanfd.create_radar_aux_messages(self.packer, self.CAN, self.frame))
         if self.frame % 2 == 0:
           if can_canfd:
             can_sends.extend(hyundaicanfd.create_acc_commands_can_canfd(self.packer, self.CAN, CC.enabled, accel,
diff --git a/selfdrive/car/hyundai/hyundaicanfd.py b/selfdrive/car/hyundai/hyundaicanfd.py
index 5b630f6ed4..b35f1b9155 100644
--- a/selfdrive/car/hyundai/hyundaicanfd.py
+++ b/selfdrive/car/hyundai/hyundaicanfd.py
@@ -324,3 +324,55 @@ def create_adrv_messages(packer, CAN, frame):
     ret.append(packer.make_can_msg("ADRV_0x1da", CAN.ECAN, values))
 
   return ret
+
+
+def create_radar_aux_messages(packer, CAN, frame):
+  ret = []
+
+  if frame % 2 == 0:
+    values = {
+      "COUNTER": frame % 0xF,
+      "FCA_ESA": 1,
+    }
+    ret.append(packer.make_can_msg("RADAR_0x363", CAN.ECAN, values))
+
+  if frame % 5 == 0:
+    values = {
+      "COUNTER": frame % 0xF,
+      "BYTE4": 0x80,
+      "BYTE5": 0x5D,
+    }
+    ret.append(packer.make_can_msg("RADAR_0x398", CAN.ECAN, values))
+
+    values = {
+      "COUNTER": frame % 0xF,
+      "BYTE2": 0x02,
+    }
+    ret.append(packer.make_can_msg("RADAR_0x399", CAN.ECAN, values))
+
+    values = {
+      "COUNTER": frame % 0xF,
+      "BYTE7": 0xFF,
+    }
+    ret.append(packer.make_can_msg("RADAR_0x39a", CAN.ECAN, values))
+
+    values = {
+      "COUNTER": frame % 0xF,
+    }
+    ret.append(packer.make_can_msg("RADAR_0x39b", CAN.ECAN, values))
+
+    values = {
+      "COUNTER": frame % 0xF,
+      "BYTE5": 0xE0,
+      "BYTE6": 0x79,
+    }
+    ret.append(packer.make_can_msg("RADAR_0x39c", CAN.ECAN, values))
+
+  if frame % 20 == 0:
+    values = {
+      "COUNTER": frame % 0xF,
+      "BYTE2": 0x07,
+    }
+    ret.append(packer.make_can_msg("RADAR_0x43a", CAN.ECAN, values))
+
+  return ret