From ce36b82444db06cd0be1dcd171d198bfa8f643d8 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Thu, 24 Aug 2023 04:15:50 -0400
Subject: [PATCH] Try 0x364

---
 opendbc                                |  2 +-
 panda                                  |  2 +-
 selfdrive/car/hyundai/carcontroller.py |  2 +-
 selfdrive/car/hyundai/carstate.py      |  4 ++--
 selfdrive/car/hyundai/hyundaicanfd.py  | 10 +++++-----
 5 files changed, 10 insertions(+), 10 deletions(-)

diff --git a/opendbc b/opendbc
index d6d0540ba2..aa8a3c432c 160000
--- a/opendbc
+++ b/opendbc
@@ -1 +1 @@
-Subproject commit d6d0540ba24523b46a506b15bf55d573bd65c65d
+Subproject commit aa8a3c432cba45b366f528fab4ecf66a68e645f4
diff --git a/panda b/panda
index 586ac91629..601881ef10 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 586ac91629b364a285a2b844d953ff0c3673b705
+Subproject commit 601881ef1005061b83a0195777178ca975ced376
diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
index ff50a83308..cfd805b900 100644
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@@ -116,7 +116,7 @@ class CarController:
         if not hda2_alt_steering:
           can_sends.append(hyundaicanfd.create_cam_0x2a4(self.packer, self.CAN, CS.cam_0x2a4))
         elif hda2_alt_steering:
-          can_sends.append(hyundaicanfd.create_cam_0x230(self.packer, self.CAN, CS.cam_0x230))
+          can_sends.append(hyundaicanfd.create_cam_0x364(self.packer, self.CAN, CS.cam_0x364))
 
       # LFA and HDA icons
       if self.frame % 5 == 0 and (not hda2 or hda2_long):
diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py
index 5f6328f4fe..7313597abd 100644
--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@@ -230,7 +230,7 @@ class CarState(CarStateBase):
     if self.CP.flags & HyundaiFlags.CANFD_HDA2 and not self.CP.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING:
       self.cam_0x2a4 = copy.copy(cp_cam.vl["CAM_0x2a4"])
     if self.CP.flags & HyundaiFlags.CANFD_HDA2 and self.CP.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING:
-      self.cam_0x230 = copy.copy(cp_cam.vl["CAM_0x230"])
+      self.cam_0x364 = copy.copy(cp_cam.vl["CAM_0x364"])
 
     return ret
 
@@ -335,7 +335,7 @@ class CarState(CarStateBase):
     if CP.flags & HyundaiFlags.CANFD_HDA2 and not CP.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING:
       messages += [("CAM_0x2a4", 20)]
     elif CP.flags & HyundaiFlags.CANFD_HDA2 and CP.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING:
-      messages += [("CAM_0x230", 33)]
+      messages += [("CAM_0x364", 33)]
     elif CP.flags & HyundaiFlags.CANFD_CAMERA_SCC:
       messages += [
         ("SCC_CONTROL", 50),
diff --git a/selfdrive/car/hyundai/hyundaicanfd.py b/selfdrive/car/hyundai/hyundaicanfd.py
index fb63a54069..0df207f0d5 100644
--- a/selfdrive/car/hyundai/hyundaicanfd.py
+++ b/selfdrive/car/hyundai/hyundaicanfd.py
@@ -67,11 +67,11 @@ def create_cam_0x2a4(packer, CAN, cam_0x2a4):
   values["BYTE7"] = 0
   return packer.make_can_msg("CAM_0x2a4", CAN.ACAN, values)
 
-def create_cam_0x230(packer, CAN, cam_0x230):
-  values = {f"BYTE{i}": cam_0x230[f"BYTE{i}"] for i in range(3, 16)}
-  values['COUNTER'] = cam_0x230['COUNTER']
-  values["BYTE4"] = 0
-  return packer.make_can_msg("CAM_0x230", CAN.ACAN, values)
+def create_cam_0x364(packer, CAN, cam_0x364):
+  values = {f"BYTE{i}": cam_0x364[f"BYTE{i}"] for i in range(3, 32)}
+  values['COUNTER'] = cam_0x364['COUNTER']
+  values["BYTE6"] = 0
+  return packer.make_can_msg("CAM_0x364", CAN.ACAN, values)
 
 def create_buttons(packer, CP, CAN, cnt, btn):
   values = {