From 257f3c1f48db650202d175c02ac40a2788855975 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Thu, 1 Aug 2024 06:28:20 -0400
Subject: [PATCH] enable for CAN-FD

---
 selfdrive/car/hyundai/carcontroller.py | 7 ++++---
 selfdrive/car/hyundai/hyundaicanfd.py  | 6 +++---
 2 files changed, 7 insertions(+), 6 deletions(-)

diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
index 4b7c4ac52b..b41ff020a0 100644
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@@ -221,6 +221,9 @@ class CarController(CarControllerBase):
       if self.CP.flags & HyundaiFlags.ENABLE_BLINKERS:
         can_sends.append([0x7b1, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", self.CAN.ECAN])
 
+    if self.CP.openpilotLongitudinalControl:
+      self.make_jerk(CS, accel, actuators)
+
     # CAN-FD platforms
     if self.CP.carFingerprint in CANFD_CAR:
       hda2 = self.CP.flags & HyundaiFlags.CANFD_HDA2
@@ -249,7 +252,7 @@ class CarController(CarControllerBase):
           can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.CAN, self.frame))
         if self.frame % 2 == 0:
           can_sends.append(hyundaicanfd.create_acc_control(self.packer, self.CAN, CC.enabled and CS.out.cruiseState.enabled, self.accel_last, accel, stopping, CC.cruiseControl.override,
-                                                           set_speed_in_units, hud_control))
+                                                           set_speed_in_units, hud_control, self.jerk_u, self.jerk_l))
           self.accel_last = accel
       else:
         # button presses
@@ -287,8 +290,6 @@ class CarController(CarControllerBase):
                   self.last_button_frame = self.frame
             elif self.frame % 2 == 0:
               can_sends.extend([hyundaican.create_clu11(self.packer, (self.frame // 2) + 1, CS.clu11, self.cruise_button, self.CP)] * 25)
-      else:
-        self.make_jerk(CS, accel, actuators)
 
       # Parse lead distance from radarState and display the corresponding distance in the car's cluster
       if self.CP.openpilotLongitudinalControl and self.sm.updated['radarState'] and self.frame % 5 == 0:
diff --git a/selfdrive/car/hyundai/hyundaicanfd.py b/selfdrive/car/hyundai/hyundaicanfd.py
index 8225166bfa..cdb2d40c3c 100644
--- a/selfdrive/car/hyundai/hyundaicanfd.py
+++ b/selfdrive/car/hyundai/hyundaicanfd.py
@@ -121,7 +121,7 @@ def create_lfahda_cluster(packer, CAN, enabled, lat_active, lateral_paused, blin
   return packer.make_can_msg("LFAHDA_CLUSTER", CAN.ECAN, values)
 
 
-def create_acc_control(packer, CAN, enabled, accel_last, accel, stopping, gas_override, set_speed, hud_control):
+def create_acc_control(packer, CAN, enabled, accel_last, accel, stopping, gas_override, set_speed, hud_control, upper_jerk, lower_jerk):
   jerk = 5
   jn = jerk / 50
   if not enabled or gas_override:
@@ -137,8 +137,8 @@ def create_acc_control(packer, CAN, enabled, accel_last, accel, stopping, gas_ov
     "aReqValue": a_val,
     "aReqRaw": a_raw,
     "VSetDis": set_speed,
-    "JerkLowerLimit": jerk if enabled else 1,
-    "JerkUpperLimit": 3.0,
+    "JerkLowerLimit": lower_jerk,
+    "JerkUpperLimit": upper_jerk,
 
     "ACC_ObjDist": 1,
     "ObjValid": 0,