ESCC: Forward FCA11 and FCA12 for all stock FCW/AEB commands

CHANGELOGS.md

@@ -28,6 +28,8 @@ sunnypilot - 0.9.6.0 (2024-xx-xx)
 * UPDATED: Custom Offsets
   * Continued support for Legacy Driving Models (e.g., ND, BDv2, BDv1, FV, NS)
   * Deprecate support for newer Driving Models (e.g., CHv2, CH, LAv2, LAv1)
+* UPDATED: Hyundai/Kia/Genesis - ESCC Radar Interceptor
+  * Message parsing improvements with the latest firmware update: https://github.com/sunnypilot/panda/tree/test-escc-smdps
 * UI Updates
   * NEW❗: Visuals: Display Feature Status toggle
     * Display the statuses of certain features on the driving screen

selfdrive/car/hyundai/carstate.py

@@ -169,19 +169,20 @@ class CarState(CarStateBase):
       ret.stockFcw = (aeb_warning or scc_warning) and not aeb_braking
       ret.stockAeb = aeb_warning and aeb_braking
     elif self.CP.spFlags & HyundaiFlagsSP.SP_ENHANCED_SCC:
-      aeb_src = "ESCC"
+      aeb_src = "FCA11" if self.CP.flags & HyundaiFlags.USE_FCA else "ESCC"
       aeb_sig = "FCA_CmdAct" if self.CP.flags & HyundaiFlags.USE_FCA.value else "AEB_CmdAct"
-      aeb_warning_sig = "CF_VSM_Warn_FCA11" if self.CP.flags & HyundaiFlags.USE_FCA.value else "CF_VSM_Warn_SCC12"
-      aeb_braking_sig = "CF_VSM_DecCmdAct_FCA11" if self.CP.flags & HyundaiFlags.USE_FCA.value else "CF_VSM_DecCmdAct_SCC12"
+      aeb_warning_sig = "CF_VSM_Warn" if self.CP.flags & HyundaiFlags.USE_FCA.value else "CF_VSM_Warn_SCC12"
+      aeb_braking_sig = "CF_VSM_DecCmdAct" if self.CP.flags & HyundaiFlags.USE_FCA.value else "CF_VSM_DecCmdAct_SCC12"
       aeb_braking_cmd = "CR_VSM_DecCmd_FCA11" if self.CP.flags & HyundaiFlags.USE_FCA.value else "CR_VSM_DecCmd_SCC12"
       aeb_warning = cp.vl[aeb_src][aeb_warning_sig] != 0
       aeb_braking = cp.vl[aeb_src][aeb_braking_sig] != 0 or cp.vl[aeb_src][aeb_sig] != 0
       ret.stockFcw = aeb_warning and not aeb_braking
       ret.stockAeb = aeb_warning and aeb_braking
-      self.escc_aeb_warning = cp.vl[aeb_src][aeb_warning_sig]
-      self.escc_aeb_dec_cmd_act = cp.vl[aeb_src][aeb_braking_sig]
-      self.escc_cmd_act = cp.vl[aeb_src][aeb_sig]
-      self.escc_aeb_dec_cmd = cp.vl[aeb_src][aeb_braking_cmd]
+      if not self.CP.flags & HyundaiFlags.USE_FCA:
+        self.escc_aeb_warning = cp.vl[aeb_src][aeb_warning_sig]
+        self.escc_aeb_dec_cmd_act = cp.vl[aeb_src][aeb_braking_sig]
+        self.escc_cmd_act = cp.vl[aeb_src][aeb_sig]
+        self.escc_aeb_dec_cmd = cp.vl[aeb_src][aeb_braking_cmd]
 
     if self.CP.enableBsm:
       ret.leftBlindspot = cp.vl["LCA11"]["CF_Lca_IndLeft"] != 0
@@ -374,6 +375,9 @@ class CarState(CarStateBase):
     if CP.spFlags & HyundaiFlagsSP.SP_ENHANCED_SCC.value:
       messages.append(("ESCC", 50))
 
+      if CP.flags & HyundaiFlags.USE_FCA.value and not any([msg[0] == "FCA11" for msg in messages]):
+        messages.append(("FCA11", 50))
+
     if CP.spFlags & HyundaiFlagsSP.SP_NAV_MSG:
       messages.append(("Navi_HU", 5))
 

selfdrive/car/hyundai/hyundaican.py

@@ -152,18 +152,18 @@ def create_acc_commands(packer, enabled, accel, upper_jerk, idx, lead_distance,
     "aReqRaw": accel,
     "aReqValue": accel,  # stock ramps up and down respecting jerk limit until it reaches aReqRaw
     "CR_VSM_Alive": idx % 0xF,
-
-    "AEB_CmdAct": CS.escc_cmd_act,
-    "CF_VSM_Warn": CS.escc_aeb_warning,
-    "CF_VSM_DecCmdAct": CS.escc_aeb_dec_cmd_act,
-    "CR_VSM_DecCmd": CS.escc_aeb_dec_cmd,
   }
 
   # show AEB disabled indicator on dash with SCC12 if not sending FCA messages.
   # these signals also prevent a TCS fault on non-FCA cars with alpha longitudinal
   if not use_fca:
     scc12_values["CF_VSM_ConfMode"] = 1
-    scc12_values["AEB_Status"] = 1  # AEB disabled
+    scc12_values["AEB_Status"] = 2 if escc else 1  # AEB disabled
+    if escc:
+      scc12_values["AEB_CmdAct"] = CS.escc_cmd_act
+      scc12_values["CF_VSM_Warn"] = CS.escc_aeb_warning
+      scc12_values["CF_VSM_DecCmdAct"] = CS.escc_aeb_dec_cmd_act
+      scc12_values["CR_VSM_DecCmd"] = CS.escc_aeb_dec_cmd
 
   scc12_dat = packer.make_can_msg("SCC12", 0, scc12_values)[2]
   scc12_values["CR_VSM_ChkSum"] = 0x10 - sum(sum(divmod(i, 16)) for i in scc12_dat) % 0x10
@@ -181,7 +181,7 @@ def create_acc_commands(packer, enabled, accel, upper_jerk, idx, lead_distance,
   commands.append(packer.make_can_msg("SCC14", 0, scc14_values))
 
   # Only send FCA11 on cars where it exists on the bus
-  if use_fca:
+  if use_fca and not escc:
     if car_fingerprint in CAMERA_SCC_CAR:
       fca11_values = CS.fca11
       fca11_values["PAINT1_Status"] = 1
@@ -192,14 +192,9 @@ def create_acc_commands(packer, enabled, accel, upper_jerk, idx, lead_distance,
       # https://github.com/commaai/opendbc/commit/9ddcdb22c4929baf310295e832668e6e7fcfa602
       fca11_values = {
         "CR_FCA_Alive": idx % 0xF,
-        "PAINT1_Status": 0 if escc else 1,
-        "FCA_DrvSetStatus": 0 if escc else 1,
-        "FCA_Status": 0 if escc else 1,  # AEB disabled
-
-        "FCA_CmdAct": CS.escc_cmd_act,
-        "CF_VSM_Warn": CS.escc_aeb_warning,
-        "CF_VSM_DecCmdAct": CS.escc_aeb_dec_cmd_act,
-        "CR_VSM_DecCmd": CS.escc_aeb_dec_cmd,
+        "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])
@@ -217,17 +212,18 @@ def create_acc_opt(packer, escc, CS, car_fingerprint):
   }
   commands.append(packer.make_can_msg("SCC13", 0, scc13_values))
 
-  # TODO: this needs to be detected and conditionally sent on unsupported long cars
-  if car_fingerprint in CAMERA_SCC_CAR:
-    fca12_values = CS.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": 0 if escc else 2,
-      "FCA_USM": 0 if escc else 1, # AEB disabled
-    }
-  commands.append(packer.make_can_msg("FCA12", 0, fca12_values))
+  if not escc:
+    # TODO: this needs to be detected and conditionally sent on unsupported long cars
+    if car_fingerprint in CAMERA_SCC_CAR:
+      fca12_values = CS.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