Hyundai CAN Longitudinal: Enable for Camera SCC cars (#1563)

* Hyundai CAN Longitudinal: Enable for Camera SCC cars

* fix

Author: sunnyhaibin

opendbc/car/hyundai/carcontroller.py

@@ -90,7 +90,7 @@ def update(self, CC, CS, now_nanos):
     # *** common hyundai stuff ***
 
     # 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:
+    if self.frame % 100 == 0 and not (self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC) and self.CP.openpilotLongitudinalControl:
       # for longitudinal control, either radar or ADAS driving ECU
       addr, bus = 0x7d0, 0
       if self.CP.flags & HyundaiFlags.CANFD_HDA2.value:
@@ -147,15 +147,15 @@ def update(self, CC, CS, now_nanos):
         use_fca = self.CP.flags & HyundaiFlags.USE_FCA.value
         can_sends.extend(hyundaican.create_acc_commands(self.packer, CC.enabled, accel, jerk, int(self.frame / 2),
                                                         hud_control, set_speed_in_units, stopping,
-                                                        CC.cruiseControl.override, use_fca))
+                                                        CC.cruiseControl.override, use_fca, self.CP))
 
       # 20 Hz LFA MFA message
       if self.frame % 5 == 0 and self.CP.flags & HyundaiFlags.SEND_LFA.value:
         can_sends.append(hyundaican.create_lfahda_mfc(self.packer, CC.enabled))
 
       # 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, self.CP))
 
       # 2 Hz front radar options
       if self.frame % 50 == 0 and self.CP.openpilotLongitudinalControl:

opendbc/car/hyundai/carstate.py

@@ -153,7 +153,7 @@ def update(self, can_parsers) -> structs.CarState:
 
     ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear))
 
-    if not self.CP.openpilotLongitudinalControl:
+    if not self.CP.openpilotLongitudinalControl or self.CP.flags & HyundaiFlags.CAMERA_SCC:
       aeb_src = "FCA11" if self.CP.flags & HyundaiFlags.USE_FCA.value else "SCC12"
       aeb_sig = "FCA_CmdAct" if self.CP.flags & HyundaiFlags.USE_FCA.value else "AEB_CmdAct"
       aeb_warning = cp_cruise.vl[aeb_src]["CF_VSM_Warn"] != 0
@@ -372,7 +372,7 @@ def get_can_parsers(self, CP):
       ("LKAS11", 100)
     ]
 
-    if not CP.openpilotLongitudinalControl and CP.flags & HyundaiFlags.CAMERA_SCC:
+    if CP.flags & HyundaiFlags.CAMERA_SCC:
       cam_messages += [
         ("SCC11", 50),
         ("SCC12", 50),

opendbc/car/hyundai/hyundaican.py

@@ -123,7 +123,7 @@ def create_lfahda_mfc(packer, enabled):
   }
   return packer.make_can_msg("LFAHDA_MFC", 0, values)
 
-def create_acc_commands(packer, enabled, accel, upper_jerk, idx, hud_control, set_speed, stopping, long_override, use_fca):
+def create_acc_commands(packer, enabled, accel, upper_jerk, idx, hud_control, set_speed, stopping, long_override, use_fca, CP):
   commands = []
 
   scc11_values = {
@@ -169,7 +169,8 @@ def create_acc_commands(packer, enabled, accel, upper_jerk, idx, hud_control, se
   commands.append(packer.make_can_msg("SCC14", 0, scc14_values))
 
   # Only send FCA11 on cars where it exists on the bus
-  if use_fca:
+  # On Camera SCC cars, FCA11 is not disabled, so we forward stock FCA11 back to the car forward hooks
+  if use_fca and not (CP.flags & HyundaiFlags.CAMERA_SCC):
     # note that some vehicles most likely have an alternate checksum/counter definition
     # https://github.com/commaai/opendbc/commit/9ddcdb22c4929baf310295e832668e6e7fcfa602
     fca11_values = {
@@ -184,7 +185,7 @@ def create_acc_commands(packer, enabled, accel, upper_jerk, idx, hud_control, se
 
   return commands
 
-def create_acc_opt(packer):
+def create_acc_opt(packer, CP):
   commands = []
 
   scc13_values = {
@@ -195,11 +196,13 @@ def create_acc_opt(packer):
   commands.append(packer.make_can_msg("SCC13", 0, scc13_values))
 
   # TODO: this needs to be detected and conditionally sent on unsupported long cars
-  fca12_values = {
-    "FCA_DrvSetState": 2,
-    "FCA_USM": 1, # AEB disabled
-  }
-  commands.append(packer.make_can_msg("FCA12", 0, fca12_values))
+  # On Camera SCC cars, FCA12 is not disabled, so we forward stock FCA12 back to the car forward hooks
+  if not (CP.flags & HyundaiFlags.CAMERA_SCC):
+    fca12_values = {
+      "FCA_DrvSetState": 2,
+      "FCA_USM": 1, # AEB disabled
+    }
+    commands.append(packer.make_can_msg("FCA12", 0, fca12_values))
 
   return commands
 

opendbc/car/hyundai/interface.py

@@ -1,7 +1,7 @@
 from panda import Panda
 from opendbc.car import Bus, get_safety_config, structs
 from opendbc.car.hyundai.hyundaicanfd import CanBus
-from opendbc.car.hyundai.values import HyundaiFlags, CAR, DBC, CAMERA_SCC_CAR, CANFD_RADAR_SCC_CAR, \
+from opendbc.car.hyundai.values import HyundaiFlags, CAR, DBC, CANFD_RADAR_SCC_CAR, \
                                                    CANFD_UNSUPPORTED_LONGITUDINAL_CAR, \
                                                    UNSUPPORTED_LONGITUDINAL_CAR
 from opendbc.car.hyundai.radar_interface import RADAR_START_ADDR
@@ -68,7 +68,7 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
 
     else:
       # Shared configuration for non CAN-FD cars
-      ret.experimentalLongitudinalAvailable = candidate not in (UNSUPPORTED_LONGITUDINAL_CAR | CAMERA_SCC_CAR)
+      ret.experimentalLongitudinalAvailable = candidate not in UNSUPPORTED_LONGITUDINAL_CAR
       ret.enableBsm = 0x58b in fingerprint[0]
 
       # Send LFA message on cars with HDA
@@ -128,7 +128,7 @@ 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):
+    if CP.openpilotLongitudinalControl and not (CP.flags & (HyundaiFlags.CANFD_CAMERA_SCC | HyundaiFlags.CAMERA_SCC)):
       addr, bus = 0x7d0, 0
       if CP.flags & HyundaiFlags.CANFD_HDA2.value:
         addr, bus = 0x730, CanBus(CP).ECAN