From b310398dd23f7921fa6ca16bcedc4ef356f532e4 Mon Sep 17 00:00:00 2001
From: Greg Hogan <gregjhogan@gmail.com>
Date: Tue, 12 Jan 2021 11:50:08 -0800
Subject: [PATCH] hyundai: support for controlling cruise speed via HDA
 (#19635)

old-commit-hash: f205f97be0599f6ae025860e80e4c626690bf186
---
 opendbc                                |  2 +-
 selfdrive/car/hyundai/carcontroller.py |  4 ++--
 selfdrive/car/hyundai/carstate.py      |  2 +-
 selfdrive/car/hyundai/hyundaican.py    | 20 +++++---------------
 4 files changed, 9 insertions(+), 19 deletions(-)

diff --git a/opendbc b/opendbc
index b54a68d140..4e8914f0c2 160000
--- a/opendbc
+++ b/opendbc
@@ -1 +1 @@
-Subproject commit b54a68d14075a64a4c70a677518bfff2d7cfa3be
+Subproject commit 4e8914f0c22eb4a7754e80b229b2eeec3ac22ec6
diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
index dc14bfb342..4c1dba1099 100644
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@@ -1,7 +1,7 @@
 from cereal import car
 from common.realtime import DT_CTRL
 from selfdrive.car import apply_std_steer_torque_limits
-from selfdrive.car.hyundai.hyundaican import create_lkas11, create_clu11, create_lfa_mfa
+from selfdrive.car.hyundai.hyundaican import create_lkas11, create_clu11, create_lfahda_mfc
 from selfdrive.car.hyundai.values import Buttons, CarControllerParams, CAR
 from opendbc.can.packer import CANPacker
 
@@ -82,6 +82,6 @@ class CarController():
 
     # 20 Hz LFA MFA message
     if frame % 5 == 0 and self.car_fingerprint in [CAR.SONATA, CAR.PALISADE, CAR.IONIQ, CAR.KIA_NIRO_EV, CAR.IONIQ_EV_2020]:
-      can_sends.append(create_lfa_mfa(self.packer, frame, enabled))
+      can_sends.append(create_lfahda_mfc(self.packer, enabled))
 
     return can_sends
diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py
index b799a13fe3..4768e6670c 100644
--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@@ -294,7 +294,7 @@ class CarState(CarStateBase):
       ("CF_Lkas_FcwCollisionWarning", "LKAS11", 0),
       ("CF_Lkas_FusionState", "LKAS11", 0),
       ("CF_Lkas_FcwOpt_USM", "LKAS11", 0),
-      ("CF_Lkas_LdwsOpt_USM", "LKAS11", 0)
+      ("CF_Lkas_LdwsOpt_USM", "LKAS11", 0),
     ]
 
     checks = [
diff --git a/selfdrive/car/hyundai/hyundaican.py b/selfdrive/car/hyundai/hyundaican.py
index 9f064edff1..0f52322827 100644
--- a/selfdrive/car/hyundai/hyundaican.py
+++ b/selfdrive/car/hyundai/hyundaican.py
@@ -67,21 +67,11 @@ def create_clu11(packer, frame, clu11, button):
   return packer.make_can_msg("CLU11", 0, values)
 
 
-def create_lfa_mfa(packer, frame, enabled):
+def create_lfahda_mfc(packer, enabled, hda_set_speed=0):
   values = {
-    "ACTIVE": enabled,
+    "LFA_Icon_State": 2 if enabled else 0,
+    "HDA_Active": 1 if hda_set_speed else 0,
+    "HDA_Icon_State": 2 if hda_set_speed else 0,
+    "HDA_VSetReq": hda_set_speed,
   }
-
-  # ACTIVE 1 = Green steering wheel icon
-
-  # LFA_USM 2 & 3 = LFA cancelled, fast loud beeping
-  # LFA_USM 0 & 1 = No mesage
-
-  # LFA_SysWarning 1 = "Switching to HDA", short beep
-  # LFA_SysWarning 2 = "Switching to Smart Cruise control", short beep
-  # LFA_SysWarning 3 =  LFA error
-
-  # ACTIVE2: nothing
-  # HDA_USM: nothing
-
   return packer.make_can_msg("LFAHDA_MFC", 0, values)