Forward modified FCA11 and FCA12 messages

selfdrive/car/hyundai/carcontroller.py

@@ -162,7 +162,7 @@ class CarController:
       if self.frame % 2 == 0 and self.CP.openpilotLongitudinalControl:
         # TODO: unclear if this is needed
         jerk = 3.0 if actuators.longControlState == LongCtrlState.pid else 1.0
-        can_sends.extend(hyundaican.create_acc_commands(self.packer, CC.enabled, accel, jerk, int(self.frame / 2),
+        can_sends.extend(hyundaican.create_acc_commands(self.packer, CC.enabled, accel, jerk, int(self.frame / 2), CS.fca11, self.CP.carFingerprint,
                                                         hud_control.leadVisible, set_speed_in_units, stopping, CC.cruiseControl.override))
 
       # 20 Hz LFA MFA message
@@ -174,7 +174,7 @@ class CarController:
 
       # 5 Hz ACC options
       if self.frame % 20 == 0 and self.CP.openpilotLongitudinalControl:
-        can_sends.extend(hyundaican.create_acc_opt(self.packer))
+        can_sends.extend(hyundaican.create_acc_opt(self.packer, CS.fca12, self.CP.carFingerprint))
 
       # 2 Hz front radar options
       if self.frame % 50 == 0 and self.CP.openpilotLongitudinalControl:

selfdrive/car/hyundai/carstate.py

@@ -143,6 +143,8 @@ class CarState(CarStateBase):
     # save the entire LKAS11 and CLU11
     self.lkas11 = copy.copy(cp_cam.vl["LKAS11"])
     self.clu11 = copy.copy(cp.vl["CLU11"])
+    self.fca11 = copy.copy(cp_cruise.vl["FCA11"])
+    self.fca12 = copy.copy(cp_cruise.vl["FCA12"])
     self.steer_state = cp.vl["MDPS12"]["CF_Mdps_ToiActive"]  # 0 NOT ACTIVE, 1 ACTIVE
     self.brake_error = cp.vl["TCS13"]["ACCEnable"] != 0  # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED
     self.prev_cruise_buttons = self.cruise_buttons[-1]
@@ -390,11 +392,30 @@ class CarState(CarStateBase):
 
       if CP.carFingerprint in FEATURES["use_fca"]:
         signals += [
+          ("CF_VSM_Prefill", "FCA11"),
+          ("CF_VSM_HBACmd", "FCA11"),
+          ("CF_VSM_BeltCmd", "FCA11"),
+          ("CR_VSM_DecCmd", "FCA11"),
+          ("FCA_Status", "FCA11"),
+          ("FCA_StopReq", "FCA11"),
+          ("FCA_DrvSetStatus", "FCA11"),
+          ("FCA_Failinfo", "FCA11"),
+          ("CR_FCA_Alive", "FCA11"),
+          ("FCA_RelativeVelocity", "FCA11"),
+          ("FCA_TimetoCollision", "FCA11"),
+          ("CR_FCA_ChkSum", "FCA11"),
+          ("PAINT1_Status", "FCA11"),
           ("FCA_CmdAct", "FCA11"),
           ("CF_VSM_Warn", "FCA11"),
           ("CF_VSM_DecCmdAct", "FCA11"),
+
+          ("FCA_USM", "FCA12"),
+          ("FCA_DrvSetState", "FCA12"),
+        ]
+        checks += [
+          ("FCA11", 50),
+          ("FCA12", 50),
         ]
-        checks.append(("FCA11", 50))
       else:
         signals += [
           ("AEB_CmdAct", "SCC12"),

selfdrive/car/hyundai/hyundaican.py

@@ -95,7 +95,7 @@ def create_lfahda_mfc(packer, enabled, hda_set_speed=0):
   }
   return packer.make_can_msg("LFAHDA_MFC", 0, values)
 
-def create_acc_commands(packer, enabled, accel, upper_jerk, idx, lead_visible, set_speed, stopping, long_override):
+def create_acc_commands(packer, enabled, accel, upper_jerk, idx, fca11, car_fingerprint, lead_visible, set_speed, stopping, long_override):
   commands = []
 
   scc11_values = {
@@ -133,21 +133,27 @@ def create_acc_commands(packer, enabled, accel, upper_jerk, idx, lead_visible, s
   }
   commands.append(packer.make_can_msg("SCC14", 0, scc14_values))
 
-  # note that some vehicles most likely have an alternate checksum/counter definition
-  # https://github.com/commaai/opendbc/commit/9ddcdb22c4929baf310295e832668e6e7fcfa602
-  fca11_values = {
-    "CR_FCA_Alive": idx % 0xF,
-    "PAINT1_Status": 1,
-    "FCA_DrvSetStatus": 1,
-    "FCA_Status": 1, # AEB disabled
-  }
-  fca11_dat = packer.make_can_msg("FCA11", 0, fca11_values)[2]
-  fca11_values["CR_FCA_ChkSum"] = hyundai_checksum(fca11_dat[:7])
+  if car_fingerprint in CAMERA_SCC_CAR:
+    fca11_values = fca11
+    fca11_values["PAINT1_Status"] = 1
+    fca11_values["FCA_DrvSetStatus"] = 1
+    fca11_values["FCA_Status"] = 1 # AEB disabled, until a route with AEB or FCW trigger is verified
+  else:
+    # note that some vehicles most likely have an alternate checksum/counter definition
+    # https://github.com/commaai/opendbc/commit/9ddcdb22c4929baf310295e832668e6e7fcfa602
+    fca11_values = {
+      "CR_FCA_Alive": idx % 0xF,
+      "PAINT1_Status": 1,
+      "FCA_DrvSetStatus": 1,
+      "FCA_Status": 1, # AEB disabled
+    }
+    fca11_dat = packer.make_can_msg("FCA11", 0, fca11_values)[2]
+    fca11_values["CR_FCA_ChkSum"] = hyundai_checksum(fca11_dat[:7])
   commands.append(packer.make_can_msg("FCA11", 0, fca11_values))
 
   return commands
 
-def create_acc_opt(packer):
+def create_acc_opt(packer, fca12, car_fingerprint):
   commands = []
 
   scc13_values = {
@@ -157,10 +163,15 @@ def create_acc_opt(packer):
   }
   commands.append(packer.make_can_msg("SCC13", 0, scc13_values))
 
-  fca12_values = {
-    "FCA_DrvSetState": 2,
-    "FCA_USM": 1, # AEB disabled
-  }
+  if car_fingerprint in CAMERA_SCC_CAR:
+    fca12_values = fca12
+    fca12_values["FCA_DrvSetState"] = 2
+    fca12_values["FCA_USM"] = 1 # AEB disabled, until a route with AEB or FCW trigger is verified
+  else:
+    fca12_values = {
+      "FCA_DrvSetState": 2,
+      "FCA_USM": 1, # AEB disabled
+    }
   commands.append(packer.make_can_msg("FCA12", 0, fca12_values))
 
   return commands