Hyundai CAN-FD Longitudinal: Enable for radar-based SCC platforms (no…

…n-HDA2)

opendbc/car/hyundai/carcontroller.py

@@ -93,7 +93,7 @@ def update(self, CC, CS, now_nanos):
     # tester present - w/ no response (keeps relevant ECU disabled)
     if self.frame % 100 == 0 and not (self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value) and self.CP.openpilotLongitudinalControl:
       # for longitudinal control, either radar or ADAS driving ECU
-      addr, bus = 0x7d0, 0
+      addr, bus = 0x7d0, self.CAN.ECAN if self.CP.carFingerprint in CANFD_CAR else 0
       if self.CP.flags & HyundaiFlags.CANFD_HDA2.value:
         addr, bus = 0x730, self.CAN.ECAN
       can_sends.append(make_tester_present_msg(addr, bus, suppress_response=True))
@@ -126,6 +126,8 @@ def update(self, CC, CS, now_nanos):
       if self.CP.openpilotLongitudinalControl:
         if hda2:
           can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.CAN, self.frame))
+        else:
+          can_sends.extend(hyundaicanfd.create_fca_warning_light(self.packer, self.CAN, self.frame))
         if self.frame % 2 == 0:
           can_sends.append(hyundaicanfd.create_acc_control(self.packer, self.CAN, CC.enabled, self.accel_last, accel, stopping, CC.cruiseControl.override,
                                                            set_speed_in_units, hud_control))

opendbc/car/hyundai/hyundaicanfd.py

@@ -172,16 +172,9 @@ def create_spas_messages(packer, CAN, frame, left_blink, right_blink):
   return ret
 
 
-def create_adrv_messages(packer, CAN, frame):
-  # messages needed to car happy after disabling
-  # the ADAS Driving ECU to do longitudinal control
-
+def create_fca_warning_light(packer, CAN, frame):
   ret = []
 
-  values = {
-  }
-  ret.append(packer.make_can_msg("ADRV_0x51", CAN.ACAN, values))
-
   if frame % 2 == 0:
     values = {
       'AEB_SETTING': 0x1,  # show AEB disabled icon
@@ -191,6 +184,20 @@ def create_adrv_messages(packer, CAN, frame):
       'SET_ME_9': 0x9,
     }
     ret.append(packer.make_can_msg("ADRV_0x160", CAN.ECAN, values))
+  return ret
+
+
+def create_adrv_messages(packer, CAN, frame):
+  # messages needed to car happy after disabling
+  # the ADAS Driving ECU to do longitudinal control
+
+  ret = []
+
+  values = {
+  }
+  ret.append(packer.make_can_msg("ADRV_0x51", CAN.ACAN, values))
+
+  ret.extend(create_fca_warning_light(packer, CAN, frame))
 
   if frame % 5 == 0:
     values = {

opendbc/car/hyundai/interface.py

@@ -76,7 +76,7 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
 
     # *** longitudinal control ***
     if candidate in CANFD_CAR:
-      ret.experimentalLongitudinalAvailable = candidate not in (CANFD_UNSUPPORTED_LONGITUDINAL_CAR | CANFD_RADAR_SCC_CAR)
+      ret.experimentalLongitudinalAvailable = candidate not in CANFD_UNSUPPORTED_LONGITUDINAL_CAR
     else:
       ret.experimentalLongitudinalAvailable = candidate not in (UNSUPPORTED_LONGITUDINAL_CAR | CAMERA_SCC_CAR)
     ret.openpilotLongitudinalControl = experimental_long and ret.experimentalLongitudinalAvailable
@@ -137,7 +137,7 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
   @staticmethod
   def init(CP, can_recv, can_send):
     if CP.openpilotLongitudinalControl and not (CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value):
-      addr, bus = 0x7d0, 0
+      addr, bus = 0x7d0, CanBus(CP).ECAN if CP.carFingerprint in CANFD_CAR else 0
       if CP.flags & HyundaiFlags.CANFD_HDA2.value:
         addr, bus = 0x730, CanBus(CP).ECAN
       disable_ecu(can_recv, can_send, bus=bus, addr=addr, com_cont_req=b'\x28\x83\x01')